From 613686855779187db9b20ecee34a4f8b1dd5ce67 Mon Sep 17 00:00:00 2001 From: Adeeb Shihadeh Date: Thu, 8 Sep 2022 11:39:54 -0700 Subject: [PATCH 01/38] ui: fix network page crash --- selfdrive/ui/qt/widgets/controls.h | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/selfdrive/ui/qt/widgets/controls.h b/selfdrive/ui/qt/widgets/controls.h index 1ab7df717..d8546bb3b 100644 --- a/selfdrive/ui/qt/widgets/controls.h +++ b/selfdrive/ui/qt/widgets/controls.h @@ -165,7 +165,7 @@ private: p.setPen(Qt::gray); for (int i = 0; i < inner_layout.count() - 1; ++i) { QWidget *widget = inner_layout.itemAt(i)->widget(); - if (widget->isVisible()) { + if (widget == nullptr || widget->isVisible()) { QRect r = inner_layout.itemAt(i)->geometry(); int bottom = r.bottom() + inner_layout.spacing() / 2; p.drawLine(r.left() + 40, bottom, r.right() - 40, bottom); From 973ea7440c1db67d89fd3b77c94ba19b4a77717d Mon Sep 17 00:00:00 2001 From: Shane Smiskol Date: Thu, 8 Sep 2022 11:41:29 -0700 Subject: [PATCH 02/38] Car docs: CAN-FD cars do not yet have op long (#25707) * CAN-FD cars do not yet have op long * update refs Co-authored-by: Adeeb Shihadeh --- docs/CARS.md | 6 +++--- selfdrive/car/hyundai/interface.py | 2 +- selfdrive/test/process_replay/ref_commit | 2 +- 3 files changed, 5 insertions(+), 5 deletions(-) diff --git a/docs/CARS.md b/docs/CARS.md index e3cbea95c..47694fffe 100644 --- a/docs/CARS.md +++ b/docs/CARS.md @@ -57,7 +57,7 @@ A supported vehicle is one that just works when you install a comma three. All s |Hyundai|Elantra 2021-22|Smart Cruise Control (SCC) & LKAS|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai K| |Hyundai|Elantra Hybrid 2021-22|Smart Cruise Control (SCC)|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai K| |Hyundai|Genesis 2015-16|Smart Cruise Control (SCC) & LKAS|Stock|19 mph|37 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai J| -|Hyundai|Ioniq 5 2022|Highway Driving Assist II|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai Q| +|Hyundai|Ioniq 5 2022|Highway Driving Assist II|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai Q| |Hyundai|Ioniq Electric 2019|Smart Cruise Control (SCC) & LKAS|Stock|0 mph|32 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai C| |Hyundai|Ioniq Electric 2020|Smart Cruise Control (SCC) & LKAS|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai H| |Hyundai|Ioniq Hybrid 2017-19|Smart Cruise Control (SCC) & LKAS|Stock|0 mph|32 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai C| @@ -78,12 +78,12 @@ A supported vehicle is one that just works when you install a comma three. All s |Hyundai|Sonata Hybrid 2020-22|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai A| |Hyundai|Tucson 2021|Smart Cruise Control (SCC)|openpilot|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai L| |Hyundai|Tucson Diesel 2019|Smart Cruise Control (SCC)|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai L| -|Hyundai|Tucson Hybrid 2022|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai N| +|Hyundai|Tucson Hybrid 2022|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai N| |Hyundai|Veloster 2019-20|Smart Cruise Control (SCC)|Stock|5 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai E| |Jeep|Grand Cherokee 2016-18|Adaptive Cruise Control|Stock|0 mph|9 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|FCA| |Jeep|Grand Cherokee 2019-21|Adaptive Cruise Control|Stock|0 mph|39 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|FCA| |Kia|Ceed 2019|Smart Cruise Control (SCC) & LKAS|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai E| -|Kia|EV6 2022|Highway Driving Assist II|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai P| +|Kia|EV6 2022|Highway Driving Assist II|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai P| |Kia|Forte 2018|Smart Cruise Control (SCC) & LKAS|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai B| |Kia|Forte 2019-21|Smart Cruise Control (SCC) & LKAS|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai G| |Kia|K5 2021-22|Smart Cruise Control (SCC)|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai A| diff --git a/selfdrive/car/hyundai/interface.py b/selfdrive/car/hyundai/interface.py index f905586fb..c32cfbeec 100644 --- a/selfdrive/car/hyundai/interface.py +++ b/selfdrive/car/hyundai/interface.py @@ -28,7 +28,7 @@ class CarInterface(CarInterfaceBase): ret.radarOffCan = RADAR_START_ADDR not in fingerprint[1] or DBC[ret.carFingerprint]["radar"] is None # WARNING: disabling radar also disables AEB (and we show the same warning on the instrument cluster as if you manually disabled AEB) - ret.experimentalLongitudinalAvailable = candidate not in (LEGACY_SAFETY_MODE_CAR | CAMERA_SCC_CAR) + ret.experimentalLongitudinalAvailable = candidate not in (LEGACY_SAFETY_MODE_CAR | CAMERA_SCC_CAR | CANFD_CAR) ret.openpilotLongitudinalControl = experimental_long and ret.experimentalLongitudinalAvailable ret.pcmCruise = not ret.openpilotLongitudinalControl diff --git a/selfdrive/test/process_replay/ref_commit b/selfdrive/test/process_replay/ref_commit index 2821f957e..f46f39dd2 100644 --- a/selfdrive/test/process_replay/ref_commit +++ b/selfdrive/test/process_replay/ref_commit @@ -1 +1 @@ -bd712b78c1ef351343b60e7ea527d09583e8acb7 +48db2dee177706285226d1287912e191f1699865 From 015090de9237af02beb5414be65e97ee84c39c45 Mon Sep 17 00:00:00 2001 From: Lee Jong Mun <43285072+crwusiz@users.noreply.github.com> Date: Fri, 9 Sep 2022 03:55:21 +0900 Subject: [PATCH 03/38] Multilang: add missing translations (#25705) kor translation update Co-authored-by: Shane Smiskol --- selfdrive/ui/translations/main_ko.ts | 36 ++++++++++++++-------------- 1 file changed, 18 insertions(+), 18 deletions(-) diff --git a/selfdrive/ui/translations/main_ko.ts b/selfdrive/ui/translations/main_ko.ts index cc60ba7c8..5d7df2162 100644 --- a/selfdrive/ui/translations/main_ko.ts +++ b/selfdrive/ui/translations/main_ko.ts @@ -70,7 +70,7 @@ leave blank for automatic configuration - 자동설정을 하려면 공백으로 두세요 + 자동설정하려면 공백으로 두세요 @@ -92,7 +92,7 @@ You must accept the Terms and Conditions in order to use openpilot. - openpilot을 사용하려면 이용 약관에 동의해야 합니다. + openpilot을 사용하려면 이용약관에 동의해야 합니다. @@ -140,7 +140,7 @@ Reset Calibration - 캘리브레이션 재설정 + 캘리브레이션 @@ -155,7 +155,7 @@ Review Training Guide - 트레이닝 가이드 다시보기 + 트레이닝 가이드 @@ -210,12 +210,12 @@ openpilot requires the device to be mounted within 4° left or right and within 5° up or 8° down. openpilot is continuously calibrating, resetting is rarely required. - openpilot은 장치를 좌측 또는 우측은 4° 이내, 위쪽 5° 또는 아래쪽은 8° 이내로 설치해야 합니다. openpilot은 지속적으로 보정되므로 리셋이 거의 필요하지 않습니다. + openpilot은 좌우측은 4° 이내, 위쪽은 5° 아래쪽은 8° 이내로 장치를 설치해야 합니다. openpilot은 지속적으로 보정되므로 리셋은 거의 필요하지 않습니다. Your device is pointed %1° %2 and %3° %4. - 사용자의 장치가 %1° %2 및 %3° %4를 가리키고 있습니다. + 사용자의 장치가 %1° %2 및 %3° %4 위치에 설치되어있습니다. @@ -479,7 +479,7 @@ location set for "%1" - 하기위한 "%1" + "%1"에 접속하려면 인증이 필요합니다 @@ -684,7 +684,7 @@ location set System reset triggered. Press confirm to erase all content and settings. Press cancel to resume boot. - 장치를 초기화 합니다. 확인버튼을 누르면 모든 내용과 설정이 초기화됩니다. 취소를 누르면 다시 부팅합니다. + 장치를 초기화 합니다. 확인버튼을 누르면 모든 내용과 설정이 초기화됩니다. 부팅을 재개하려면 취소를 누르세요. @@ -797,7 +797,7 @@ location set Continue without Wi-Fi - wifi 없이 계속 + wifi 연결없이 계속하기 @@ -842,7 +842,7 @@ location set Ensure the entered URL is valid, and the device’s internet connection is good. - 입력된 URL이 유효하고 장치의 인터넷 연결이 잘 되어 있는지 확인합니다. + 입력된 URL이 유효하고 장치의 네트워크 연결이 잘 되어 있는지 확인하세요. @@ -1080,7 +1080,7 @@ location set Warning: This grants SSH access to all public keys in your GitHub settings. Never enter a GitHub username other than your own. A comma employee will NEVER ask you to add their GitHub username. - 경고：이렇게 하면 GitHub 설정의 모든 공용 키에 대한 SSH 액세스 권한이 부여됩니다. 자신의 사용자 이름이 아닌 GitHub 사용자 이름을 입력하지 마십시오. comma 직원은 GitHub 사용자 이름을 추가하도록 요청하지 않습니다. + 경고: 허용으로 설정하면 GitHub 설정의 모든 공용 키에 대한 SSH 액세스 권한이 부여됩니다. GitHub 사용자 ID 이외에는 입력하지 마십시오. comma에서는 GitHub ID를 추가하라는 요청을 하지 않습니다. @@ -1160,7 +1160,7 @@ location set Use the openpilot system for adaptive cruise control and lane keep driver assistance. Your attention is required at all times to use this feature. Changing this setting takes effect when the car is powered off. - 어댑티브 크루즈 컨트롤 및 차선 유지 운전자 보조를 위해 openpilot 시스템을 사용하십시오. 이 기능을 사용하려면 항상 주의를 기울여야 합니다. 이 설정을 변경하면 차량 전원이 꺼질 때 적용됩니다. + 어댑티브 크루즈 컨트롤 및 차선 유지 운전자 보조를 위해 openpilot 시스템을 사용하십시오. 이 기능을 사용하려면 항상 주의를 기울여야 합니다. 설정변경은 장치 재부팅후 적용됩니다. @@ -1170,7 +1170,7 @@ location set Receive alerts to steer back into the lane when your vehicle drifts over a detected lane line without a turn signal activated while driving over 31 mph (50 km/h). - 차량이 50km/h(31mph) 이상의 속도로 주행하는 동안 방향 지시등이 활성화되지 않은 상태에서 감지된 차선 위를 주행할 경우 차선이탈 경고를 사용합니다. + 차량이 50km/h(31mph) 이상의 속도로 주행하는 동안 방향지시등 없이 감지된 차선 위를 주행할 경우 차선이탈 경고를 표시합니다. @@ -1195,22 +1195,22 @@ location set 🌮 End-to-end longitudinal (extremely alpha) 🌮 - 🌮 e2e long 사용 (매우 실험적) 🌮 + 🌮 e2e 롱컨트롤 사용 (매우 실험적) 🌮 Experimental openpilot longitudinal control - + openpilot 롱컨트롤 (실험적) <b>WARNING: openpilot longitudinal control is experimental for this car and will disable AEB.</b> - + <b>경고: openpilot 롱컨트롤은 실험적인 기능으로 차량의 AEB를 비활성화합니다.</b> Let the driving model control the gas and brakes. openpilot will drive as it thinks a human would. Super experimental. - + 주행모델이 가속과 감속을 제어하도록 하면 openpilot은 운전자가 생각하는것처럼 운전합니다. (매우 실험적) @@ -1253,7 +1253,7 @@ location set An operating system update is required. Connect your device to Wi-Fi for the fastest update experience. The download size is approximately 1GB. - OS 업데이트가 필요합니다. 장치를 wifi에 연결하여 가장 빠른 업데이트 경험을 제공합니다. 다운로드 크기는 약 1GB입니다. + OS 업데이트가 필요합니다. 장치를 wifi에 연결하면 가장 빠른 업데이트 경험을 제공합니다. 다운로드 크기는 약 1GB입니다. From d9ca45ed1b2bc0316aad8ff11470e1a9b96fb09c Mon Sep 17 00:00:00 2001 From: Dean Lee Date: Fri, 9 Sep 2022 02:56:39 +0800 Subject: [PATCH 04/38] map_helpers: pass parameters by const reference (#25701) pass parameters by const reference --- selfdrive/ui/qt/maps/map_helpers.cc | 6 +++--- selfdrive/ui/qt/maps/map_helpers.h | 6 +++--- 2 files changed, 6 insertions(+), 6 deletions(-) diff --git a/selfdrive/ui/qt/maps/map_helpers.cc b/selfdrive/ui/qt/maps/map_helpers.cc index f97137a7f..ca81545f7 100644 --- a/selfdrive/ui/qt/maps/map_helpers.cc +++ b/selfdrive/ui/qt/maps/map_helpers.cc @@ -56,7 +56,7 @@ QMapbox::CoordinatesCollections model_to_collection( return collections; } -QMapbox::CoordinatesCollections coordinate_to_collection(QMapbox::Coordinate c) { +QMapbox::CoordinatesCollections coordinate_to_collection(const QMapbox::Coordinate &c) { QMapbox::Coordinates coordinates; coordinates.push_back(c); @@ -85,7 +85,7 @@ QMapbox::CoordinatesCollections capnp_coordinate_list_to_collection(const capnp: } -QMapbox::CoordinatesCollections coordinate_list_to_collection(QList coordinate_list) { +QMapbox::CoordinatesCollections coordinate_list_to_collection(const QList &coordinate_list) { QMapbox::Coordinates coordinates; for (auto &c : coordinate_list) { @@ -143,7 +143,7 @@ QList polyline_to_coordinate_list(const QString &polylineString) return path; } -std::optional coordinate_from_param(std::string param) { +std::optional coordinate_from_param(const std::string ¶m) { QString json_str = QString::fromStdString(Params().get(param)); if (json_str.isEmpty()) return {}; diff --git a/selfdrive/ui/qt/maps/map_helpers.h b/selfdrive/ui/qt/maps/map_helpers.h index 2e1402cce..6bd5b0f06 100644 --- a/selfdrive/ui/qt/maps/map_helpers.h +++ b/selfdrive/ui/qt/maps/map_helpers.h @@ -21,10 +21,10 @@ QMapbox::CoordinatesCollections model_to_collection( const cereal::LiveLocationKalman::Measurement::Reader &calibratedOrientationECEF, const cereal::LiveLocationKalman::Measurement::Reader &positionECEF, const cereal::ModelDataV2::XYZTData::Reader &line); -QMapbox::CoordinatesCollections coordinate_to_collection(QMapbox::Coordinate c); +QMapbox::CoordinatesCollections coordinate_to_collection(const QMapbox::Coordinate &c); QMapbox::CoordinatesCollections capnp_coordinate_list_to_collection(const capnp::List::Reader &coordinate_list); -QMapbox::CoordinatesCollections coordinate_list_to_collection(QList coordinate_list); +QMapbox::CoordinatesCollections coordinate_list_to_collection(const QList &coordinate_list); QList polyline_to_coordinate_list(const QString &polylineString); -std::optional coordinate_from_param(std::string param); +std::optional coordinate_from_param(const std::string ¶m); double angle_difference(double angle1, double angle2); From 9241de221099f6c65fd7ed5ed87d6296c17f668d Mon Sep 17 00:00:00 2001 From: Adeeb Shihadeh Date: Thu, 8 Sep 2022 15:49:51 -0700 Subject: [PATCH 05/38] Ford Explorer 2020-21 (#25614) * add model years * update Focus steer ratio * Ford: add EU label to Focus Mk4 * add packages * add Ford Explorer 2020 Package: Co-Pilot 360 Assist+ Optional on XLT Standard on Limited, Limited Hybrid, ST and Platinum https://cdn.dealereprocess.org/cdn/brochures/ford/2020-explorer.pdf * Ford: steering control with path angle * Ford: add TJA toggle to buttons * add Ford Explorer 2021 `62241b0c7fea4589|2022-08-30--11-58-24--0` Package: Co-Pilot 360 Assist+ Optional on XLT Standard on Limited, Limited Hybrid, ST and Platinum (same as 2020) https://cdn.dealereprocess.org/cdn/brochures/ford/2021-explorer.pdf * Ford: add shiftByWire ECU fw * angle/steer refactor * try always stop and go for US models * no dashcam * car info * send resume button * skip explorer * escape and focus back in dashcam * passthru buttons * fordcan set bus for button message * toggle off stock traffic jam assist so camera does not enforce driver presence checks * not used * update ramp rate/precision notes * cleanup * bump steering pressed torque to 0.8 Nm * add standstill * bump steer ratio * try increasing delay? * fix docs * add kuga car info * maybe fix tja toggle? * compensate for ford roll compensation?? * oops * better ui * block non-adaptive * add note on ui warning for hands on wheel * try only checking/toggling TJA every 2 seconds * add car test route * dashcam only again * send buttons to camera * add process replay segment * cleanup * bump panda * add extra FW Co-authored-by: Cameron Clough --- panda | 2 +- selfdrive/car/ford/carcontroller.py | 70 +++++++++++------- selfdrive/car/ford/carstate.py | 49 ++++++++++++- selfdrive/car/ford/fordcan.py | 98 ++++++++++++++++++------- selfdrive/car/ford/interface.py | 40 +++++----- selfdrive/car/ford/values.py | 56 ++++++++++++-- selfdrive/car/fw_versions.py | 2 +- selfdrive/car/tests/routes.py | 1 + selfdrive/car/torque_data/override.yaml | 1 + 9 files changed, 236 insertions(+), 83 deletions(-) diff --git a/panda b/panda index 0ca23b677..8f13ca3f6 160000 --- a/panda +++ b/panda @@ -1 +1 @@ -Subproject commit 0ca23b67786d0fa2a3162371aadeca52d24a8958 +Subproject commit 8f13ca3f66bcc72e3ac9028df7ce04851e7e3a48 diff --git a/selfdrive/car/ford/carcontroller.py b/selfdrive/car/ford/carcontroller.py index 11d9bb3c7..592d8586c 100644 --- a/selfdrive/car/ford/carcontroller.py +++ b/selfdrive/car/ford/carcontroller.py @@ -1,3 +1,4 @@ +import math from cereal import car from common.numpy_fast import clip, interp from opendbc.can.packer import CANPacker @@ -7,14 +8,19 @@ from selfdrive.car.ford.values import CarControllerParams VisualAlert = car.CarControl.HUDControl.VisualAlert -def apply_ford_steer_angle_limits(apply_steer, apply_steer_last, vEgo): +def apply_ford_steer_angle_limits(apply_angle, apply_angle_last, vEgo): # rate limit - steer_up = apply_steer * apply_steer_last > 0. and abs(apply_steer) > abs(apply_steer_last) - rate_limit = CarControllerParams.STEER_RATE_LIMIT_UP if steer_up else CarControllerParams.STEER_RATE_LIMIT_DOWN + steer_up = apply_angle_last * apply_angle > 0. and abs(apply_angle) > abs(apply_angle_last) + rate_limit = CarControllerParams.RATE_LIMIT_UP if steer_up else CarControllerParams.RATE_LIMIT_DOWN max_angle_diff = interp(vEgo, rate_limit.speed_points, rate_limit.max_angle_diff_points) - apply_steer = clip(apply_steer, (apply_steer_last - max_angle_diff), (apply_steer_last + max_angle_diff)) + apply_angle = clip(apply_angle, (apply_angle_last - max_angle_diff), (apply_angle_last + max_angle_diff)) - return apply_steer + # absolute limit (LatCtlPath_An_Actl) + apply_path_angle = math.radians(apply_angle) / CarControllerParams.STEER_RATIO + apply_path_angle = clip(apply_path_angle, -0.4995, 0.5240) + apply_angle = math.degrees(apply_path_angle) * CarControllerParams.STEER_RATIO + + return apply_angle class CarController: @@ -24,7 +30,7 @@ class CarController: self.packer = CANPacker(dbc_name) self.frame = 0 - self.apply_steer_last = 0 + self.apply_angle_last = 0 self.main_on_last = False self.lkas_enabled_last = False self.steer_alert_last = False @@ -38,52 +44,62 @@ class CarController: main_on = CS.out.cruiseState.available steer_alert = hud_control.visualAlert in (VisualAlert.steerRequired, VisualAlert.ldw) + ### acc buttons ### if CC.cruiseControl.cancel: - # cancel stock ACC - can_sends.append(fordcan.spam_cancel_button(self.packer)) + can_sends.append(fordcan.create_button_command(self.packer, CS.buttons_stock_values, cancel=True)) + elif CC.cruiseControl.resume: + can_sends.append(fordcan.create_button_command(self.packer, CS.buttons_stock_values, resume=True)) + + # if stock lane centering is active or in standby, toggle it off + # the stock system checks for steering pressed, and eventually disengages cruise control + if (self.frame % 200) == 0 and CS.acc_tja_status_stock_values["Tja_D_Stat"] != 0: + can_sends.append(fordcan.create_button_command(self.packer, CS.buttons_stock_values, tja_toggle=True)) + - # apply rate limits - new_steer = actuators.steeringAngleDeg - apply_steer = apply_ford_steer_angle_limits(new_steer, self.apply_steer_last, CS.out.vEgo) + ### lateral control ### + if CC.latActive: + apply_angle = apply_ford_steer_angle_limits(actuators.steeringAngleDeg, self.apply_angle_last, CS.out.vEgo) + else: + apply_angle = CS.out.steeringAngleDeg # send steering commands at 20Hz if (self.frame % CarControllerParams.LKAS_STEER_STEP) == 0: lca_rq = 1 if CC.latActive else 0 - # use LatCtlPath_An_Actl to actuate steering for now until curvature control is implemented - path_angle = apply_steer + # use LatCtlPath_An_Actl to actuate steering + # path angle is the car wheel angle, not the steering wheel angle + path_angle = math.radians(apply_angle) / CarControllerParams.STEER_RATIO - # convert steer angle to curvature - curvature = self.VM.calc_curvature(apply_steer, CS.out.vEgo, 0.0) + # ramp rate: 0=Slow, 1=Medium, 2=Fast, 3=Immediately + # TODO: try slower ramp speed when driver torque detected + ramp_type = 3 + precision = 1 # 0=Comfortable, 1=Precise (the stock system always uses comfortable) - # TODO: get other actuators - curvature_rate = 0 - path_offset = 0 + offset_roll_compensation_curvature = clip(self.VM.calc_curvature(0, CS.out.vEgo, -CS.yaw_data["VehYaw_W_Actl"]), -0.02, 0.02094) - ramp_type = 3 # 0=Slow, 1=Medium, 2=Fast, 3=Immediately - precision = 0 # 0=Comfortable, 1=Precise - - self.apply_steer_last = apply_steer - can_sends.append(fordcan.create_lkas_command(self.packer, apply_steer, curvature)) + self.apply_angle_last = apply_angle + can_sends.append(fordcan.create_lka_command(self.packer, apply_angle, 0)) can_sends.append(fordcan.create_tja_command(self.packer, lca_rq, ramp_type, precision, - path_offset, path_angle, curvature_rate, curvature)) + 0, path_angle, 0, offset_roll_compensation_curvature)) + + ### ui ### send_ui = (self.main_on_last != main_on) or (self.lkas_enabled_last != CC.latActive) or (self.steer_alert_last != steer_alert) # send lkas ui command at 1Hz or if ui state changes if (self.frame % CarControllerParams.LKAS_UI_STEP) == 0 or send_ui: - can_sends.append(fordcan.create_lkas_ui_command(self.packer, main_on, CC.latActive, steer_alert, CS.lkas_status_stock_values)) + can_sends.append(fordcan.create_lkas_ui_command(self.packer, main_on, CC.latActive, steer_alert, hud_control, CS.lkas_status_stock_values)) # send acc ui command at 20Hz or if ui state changes if (self.frame % CarControllerParams.ACC_UI_STEP) == 0 or send_ui: - can_sends.append(fordcan.create_acc_ui_command(self.packer, main_on, CC.latActive, CS.acc_tja_status_stock_values)) + can_sends.append(fordcan.create_acc_ui_command(self.packer, main_on, CC.latActive, hud_control, CS.acc_tja_status_stock_values)) self.main_on_last = main_on self.lkas_enabled_last = CC.latActive self.steer_alert_last = steer_alert new_actuators = actuators.copy() - new_actuators.steeringAngleDeg = apply_steer + new_actuators.steeringAngleDeg = apply_angle self.frame += 1 return new_actuators, can_sends diff --git a/selfdrive/car/ford/carstate.py b/selfdrive/car/ford/carstate.py index 3c9961e9e..a7ea19eff 100644 --- a/selfdrive/car/ford/carstate.py +++ b/selfdrive/car/ford/carstate.py @@ -3,7 +3,7 @@ from common.conversions import Conversions as CV from opendbc.can.can_define import CANDefine from opendbc.can.parser import CANParser from selfdrive.car.interfaces import CarStateBase -from selfdrive.car.ford.values import CANBUS, DBC +from selfdrive.car.ford.values import CANBUS, DBC, CarControllerParams GearShifter = car.CarState.GearShifter TransmissionType = car.CarParams.TransmissionType @@ -22,7 +22,7 @@ class CarState(CarStateBase): # car speed ret.vEgoRaw = cp.vl["EngVehicleSpThrottle2"]["Veh_V_ActlEng"] * CV.KPH_TO_MS ret.vEgo, ret.aEgo = self.update_speed_kf(ret.vEgoRaw) - ret.yawRate = cp.vl["Yaw_Data_FD1"]["VehYaw_W_Actl"] * CV.RAD_TO_DEG + ret.yawRate = cp.vl["Yaw_Data_FD1"]["VehYaw_W_Actl"] ret.standstill = cp.vl["DesiredTorqBrk"]["VehStop_D_Stat"] == 1 # gas pedal @@ -37,7 +37,7 @@ class CarState(CarStateBase): # steering wheel ret.steeringAngleDeg = cp.vl["SteeringPinion_Data"]["StePinComp_An_Est"] ret.steeringTorque = cp.vl["EPAS_INFO"]["SteeringColumnTorque"] - ret.steeringPressed = cp.vl["Lane_Assist_Data3_FD1"]["LaHandsOff_B_Actl"] == 0 + ret.steeringPressed = abs(ret.steeringTorque) > CarControllerParams.STEER_DRIVER_ALLOWANCE ret.steerFaultTemporary = cp.vl["EPAS_INFO"]["EPAS_Failure"] == 1 ret.steerFaultPermanent = cp.vl["EPAS_INFO"]["EPAS_Failure"] in (2, 3) # ret.espDisabled = False # TODO: find traction control signal @@ -46,6 +46,8 @@ class CarState(CarStateBase): ret.cruiseState.speed = cp.vl["EngBrakeData"]["Veh_V_DsplyCcSet"] * CV.MPH_TO_MS ret.cruiseState.enabled = cp.vl["EngBrakeData"]["CcStat_D_Actl"] in (4, 5) ret.cruiseState.available = cp.vl["EngBrakeData"]["CcStat_D_Actl"] in (3, 4, 5) + ret.cruiseState.nonAdaptive = cp.vl["Cluster_Info1_FD1"]["AccEnbl_B_RqDrv"] == 0 + ret.cruiseState.standstill = cp.vl["EngBrakeData"]["AccStopMde_D_Rq"] == 3 # gear if self.CP.transmissionType == TransmissionType.automatic: @@ -65,6 +67,7 @@ class CarState(CarStateBase): # button presses ret.leftBlinker = cp.vl["Steering_Data_FD1"]["TurnLghtSwtch_D_Stat"] == 1 ret.rightBlinker = cp.vl["Steering_Data_FD1"]["TurnLghtSwtch_D_Stat"] == 2 + # TODO: block this going to the camera otherwise it will enable stock TJA ret.genericToggle = bool(cp.vl["Steering_Data_FD1"]["TjaButtnOnOffPress"]) # lock info @@ -77,9 +80,13 @@ class CarState(CarStateBase): ret.leftBlindspot = cp.vl["Side_Detect_L_Stat"]["SodDetctLeft_D_Stat"] != 0 ret.rightBlindspot = cp.vl["Side_Detect_R_Stat"]["SodDetctRight_D_Stat"] != 0 + # Stock steering buttons so that we can passthru blinkers etc. + self.buttons_stock_values = cp.vl["Steering_Data_FD1"] # Stock values from IPMA so that we can retain some stock functionality self.acc_tja_status_stock_values = cp_cam.vl["ACCDATA_3"] self.lkas_status_stock_values = cp_cam.vl["IPMA_Data"] + # Use stock sensor values + self.yaw_data = cp.vl["Yaw_Data_FD1"] return ret @@ -97,6 +104,8 @@ class CarState(CarStateBase): ("Veh_V_DsplyCcSet", "EngBrakeData"), # PCM ACC set speed (mph) # The units might change with IPC settings? ("CcStat_D_Actl", "EngBrakeData"), # PCM ACC status + ("AccStopMde_D_Rq", "EngBrakeData"), # PCM ACC standstill + ("AccEnbl_B_RqDrv", "Cluster_Info1_FD1"), # PCM ACC enable ("StePinComp_An_Est", "SteeringPinion_Data"), # PSCM estimated steering angle (deg) # Calculates steering angle (and offset) from pinion # angle and driving measurements. @@ -104,7 +113,6 @@ class CarState(CarStateBase): # to zero at the beginning of the drive. ("SteeringColumnTorque", "EPAS_INFO"), # PSCM steering column torque (Nm) ("EPAS_Failure", "EPAS_INFO"), # PSCM EPAS status - ("LaHandsOff_B_Actl", "Lane_Assist_Data3_FD1"), # PSCM LKAS hands off wheel ("TurnLghtSwtch_D_Stat", "Steering_Data_FD1"), # SCCM Turn signal switch ("TjaButtnOnOffPress", "Steering_Data_FD1"), # SCCM ACC button, lane-centering/traffic jam assist toggle ("DrStatDrv_B_Actl", "BodyInfo_3_FD1"), # BCM Door open, driver @@ -112,6 +120,38 @@ class CarState(CarStateBase): ("DrStatRl_B_Actl", "BodyInfo_3_FD1"), # BCM Door open, rear left ("DrStatRr_B_Actl", "BodyInfo_3_FD1"), # BCM Door open, rear right ("FirstRowBuckleDriver", "RCMStatusMessage2_FD1"), # RCM Seatbelt status, driver + ("HeadLghtHiFlash_D_Stat", "Steering_Data_FD1"), # SCCM Passthru the remaining buttons + ("WiprFront_D_Stat", "Steering_Data_FD1"), + ("LghtAmb_D_Sns", "Steering_Data_FD1"), + ("AccButtnGapDecPress", "Steering_Data_FD1"), + ("AccButtnGapIncPress", "Steering_Data_FD1"), + ("AslButtnOnOffCnclPress", "Steering_Data_FD1"), + ("AslButtnOnOffPress", "Steering_Data_FD1"), + ("CcAslButtnCnclPress", "Steering_Data_FD1"), + ("LaSwtchPos_D_Stat", "Steering_Data_FD1"), + ("CcAslButtnCnclResPress", "Steering_Data_FD1"), + ("CcAslButtnDeny_B_Actl", "Steering_Data_FD1"), + ("CcAslButtnIndxDecPress", "Steering_Data_FD1"), + ("CcAslButtnIndxIncPress", "Steering_Data_FD1"), + ("CcAslButtnOffCnclPress", "Steering_Data_FD1"), + ("CcAslButtnOnOffCncl", "Steering_Data_FD1"), + ("CcAslButtnOnPress", "Steering_Data_FD1"), + ("CcAslButtnResDecPress", "Steering_Data_FD1"), + ("CcAslButtnResIncPress", "Steering_Data_FD1"), + ("CcAslButtnSetDecPress", "Steering_Data_FD1"), + ("CcAslButtnSetIncPress", "Steering_Data_FD1"), + ("CcAslButtnSetPress", "Steering_Data_FD1"), + ("CcAsllButtnResPress", "Steering_Data_FD1"), + ("CcButtnOffPress", "Steering_Data_FD1"), + ("CcButtnOnOffCnclPress", "Steering_Data_FD1"), + ("CcButtnOnOffPress", "Steering_Data_FD1"), + ("CcButtnOnPress", "Steering_Data_FD1"), + ("HeadLghtHiFlash_D_Actl", "Steering_Data_FD1"), + ("HeadLghtHiOn_B_StatAhb", "Steering_Data_FD1"), + ("AhbStat_B_Dsply", "Steering_Data_FD1"), + ("AccButtnGapTogglePress", "Steering_Data_FD1"), + ("WiprFrontSwtch_D_Stat", "Steering_Data_FD1"), + ("HeadLghtHiCtrl_D_RqAhb", "Steering_Data_FD1"), ] checks = [ @@ -122,6 +162,7 @@ class CarState(CarStateBase): ("EngVehicleSpThrottle", 100), ("BrakeSnData_4", 50), ("EngBrakeData", 10), + ("Cluster_Info1_FD1", 10), ("SteeringPinion_Data", 100), ("EPAS_INFO", 50), ("Lane_Assist_Data3_FD1", 33), diff --git a/selfdrive/car/ford/fordcan.py b/selfdrive/car/ford/fordcan.py index bb104aaf3..b42561df2 100644 --- a/selfdrive/car/ford/fordcan.py +++ b/selfdrive/car/ford/fordcan.py @@ -1,7 +1,10 @@ -from common.numpy_fast import clip +from cereal import car +from selfdrive.car.ford.values import CANBUS +HUDControl = car.CarControl.HUDControl -def create_lkas_command(packer, angle_deg: float, curvature: float): + +def create_lka_command(packer, angle_deg: float, curvature: float): """ Creates a CAN message for the Ford LKAS Command. @@ -20,7 +23,7 @@ def create_lkas_command(packer, angle_deg: float, curvature: float): "LdwActvStats_D_Req": 0, # LDW status [0|7] "LdwActvIntns_D_Req": 0, # LDW intensity [0|3], shake alert strength } - return packer.make_can_msg("Lane_Assist_Data1", 0, values) + return packer.make_can_msg("Lane_Assist_Data1", CANBUS.main, values) def create_tja_command(packer, lca_rq: int, ramp_type: int, precision: int, path_offset: float, path_angle: float, curvature_rate: float, curvature: float): @@ -38,20 +41,20 @@ def create_tja_command(packer, lca_rq: int, ramp_type: int, precision: int, path """ values = { - "LatCtlRng_L_Max": 0, # Unknown [0|126] meter - "HandsOffCnfm_B_Rq": 0, # Unknown: 0=Inactive, 1=Active [0|1] - "LatCtl_D_Rq": lca_rq, # Mode: 0=None, 1=ContinuousPathFollowing, 2=InterventionLeft, 3=InterventionRight, 4-7=NotUsed [0|7] - "LatCtlRampType_D_Rq": ramp_type, # Ramp speed: 0=Slow, 1=Medium, 2=Fast, 3=Immediate [0|3] - "LatCtlPrecision_D_Rq": precision, # Precision: 0=Comfortable, 1=Precise, 2/3=NotUsed [0|3] - "LatCtlPathOffst_L_Actl": clip(path_offset, -5.12, 5.11), # Path offset [-5.12|5.11] meter - "LatCtlPath_An_Actl": clip(path_angle, -0.5, 0.5235), # Path angle [-0.5|0.5235] radians - "LatCtlCurv_NoRate_Actl": clip(curvature_rate, -0.001024, 0.00102375), # Curvature rate [-0.001024|0.00102375] 1/meter^2 - "LatCtlCurv_No_Actl": clip(curvature, -0.02, 0.02094), # Curvature [-0.02|0.02094] 1/meter + "LatCtlRng_L_Max": 0, # Unknown [0|126] meter + "HandsOffCnfm_B_Rq": 0, # Unknown: 0=Inactive, 1=Active [0|1] + "LatCtl_D_Rq": lca_rq, # Mode: 0=None, 1=ContinuousPathFollowing, 2=InterventionLeft, 3=InterventionRight, 4-7=NotUsed [0|7] + "LatCtlRampType_D_Rq": ramp_type, # Ramp speed: 0=Slow, 1=Medium, 2=Fast, 3=Immediate [0|3] + "LatCtlPrecision_D_Rq": precision, # Precision: 0=Comfortable, 1=Precise, 2/3=NotUsed [0|3] + "LatCtlPathOffst_L_Actl": path_offset, # Path offset [-5.12|5.11] meter + "LatCtlPath_An_Actl": path_angle, # Path angle [-0.4995|0.5240] radians + "LatCtlCurv_NoRate_Actl": curvature_rate, # Curvature rate [-0.001024|0.00102375] 1/meter^2 + "LatCtlCurv_No_Actl": curvature, # Curvature [-0.02|0.02094] 1/meter } - return packer.make_can_msg("LateralMotionControl", 0, values) + return packer.make_can_msg("LateralMotionControl", CANBUS.main, values) -def create_lkas_ui_command(packer, main_on: bool, enabled: bool, steer_alert: bool, stock_values: dict): +def create_lkas_ui_command(packer, main_on: bool, enabled: bool, steer_alert: bool, hud_control, stock_values: dict): """ Creates a CAN message for the Ford IPC IPMA/LKAS status. @@ -63,23 +66,47 @@ def create_lkas_ui_command(packer, main_on: bool, enabled: bool, steer_alert: bo """ # LaActvStats_D_Dsply - # TODO: get LDW state from OP + # R Intvn Warn Supprs Avail No + # L + # Intvn 24 19 14 9 4 + # Warn 23 18 13 8 3 + # Supprs 22 17 12 7 2 + # Avail 21 16 11 6 1 + # No 20 15 10 5 0 + # + # TODO: test suppress state if enabled: - lines = 6 + lines = 0 # NoLeft_NoRight + if hud_control.leftLaneDepart: + lines += 4 + elif hud_control.leftLaneVisible: + lines += 1 + if hud_control.rightLaneDepart: + lines += 20 + elif hud_control.rightLaneVisible: + lines += 5 elif main_on: lines = 0 else: - lines = 30 + if hud_control.leftLaneDepart: + lines = 3 # WarnLeft_NoRight + elif hud_control.rightLaneDepart: + lines = 15 # NoLeft_WarnRight + else: + lines = 30 # LA_Off + + # TODO: use level 1 for no sound when less severe? + hands_on_wheel_dsply = 2 if steer_alert else 0 values = { **stock_values, "LaActvStats_D_Dsply": lines, # LKAS status (lines) [0|31] - "LaHandsOff_D_Dsply": 2 if steer_alert else 0, # 0=HandsOn, 1=Level1 (w/o chime), 2=Level2 (w/ chime), 3=Suppressed + "LaHandsOff_D_Dsply": hands_on_wheel_dsply, # 0=HandsOn, 1=Level1 (w/o chime), 2=Level2 (w/ chime), 3=Suppressed } - return packer.make_can_msg("IPMA_Data", 0, values) + return packer.make_can_msg("IPMA_Data", CANBUS.main, values) -def create_acc_ui_command(packer, main_on: bool, enabled: bool, stock_values: dict): +def create_acc_ui_command(packer, main_on: bool, enabled: bool, hud_control, stock_values: dict): """ Creates a CAN message for the Ford IPC adaptive cruise, forward collision warning and traffic jam assist status. @@ -89,14 +116,32 @@ def create_acc_ui_command(packer, main_on: bool, enabled: bool, stock_values: di Frequency is 20Hz. """ + # Tja_D_Stat + if enabled: + if hud_control.leftLaneDepart: + status = 3 # ActiveInterventionLeft + elif hud_control.rightLaneDepart: + status = 4 # ActiveInterventionRight + else: + status = 2 # Active + elif main_on: + if hud_control.leftLaneDepart: + status = 5 # ActiveWarningLeft + elif hud_control.rightLaneDepart: + status = 6 # ActiveWarningRight + else: + status = 1 # Standby + else: + status = 0 # Off + values = { **stock_values, - "Tja_D_Stat": 2 if enabled else (1 if main_on else 0), # TJA status: 0=Off, 1=Standby, 2=Active, 3=InterventionLeft, 4=InterventionRight, 5=WarningLeft, 6=WarningRight, 7=NotUsed [0|7] + "Tja_D_Stat": status, } - return packer.make_can_msg("ACCDATA_3", 0, values) + return packer.make_can_msg("ACCDATA_3", CANBUS.main, values) -def spam_cancel_button(packer, cancel=1): +def create_button_command(packer, stock_values: dict, cancel = False, resume = False, tja_toggle = False, bus = CANBUS.camera): """ Creates a CAN message for the Ford SCCM buttons/switches. @@ -104,6 +149,9 @@ def spam_cancel_button(packer, cancel=1): """ values = { - "CcAslButtnCnclPress": cancel, # CC cancel button + **stock_values, + "CcAslButtnCnclPress": 1 if cancel else 0, # CC cancel button + "CcAsllButtnResPress": 1 if resume else 0, # CC resume button + "TjaButtnOnOffPress": 1 if tja_toggle else 0, # TJA toggle button } - return packer.make_can_msg("Steering_Data_FD1", 0, values) + return packer.make_can_msg("Steering_Data_FD1", bus, values) diff --git a/selfdrive/car/ford/interface.py b/selfdrive/car/ford/interface.py index 271b34714..7d4c9eb94 100644 --- a/selfdrive/car/ford/interface.py +++ b/selfdrive/car/ford/interface.py @@ -1,8 +1,8 @@ #!/usr/bin/env python3 from cereal import car from common.conversions import Conversions as CV -from selfdrive.car import STD_CARGO_KG, scale_rot_inertia, scale_tire_stiffness, gen_empty_fingerprint -from selfdrive.car.ford.values import CAR, TransmissionType, GearShifter +from selfdrive.car import STD_CARGO_KG, scale_rot_inertia, scale_tire_stiffness, gen_empty_fingerprint, get_safety_config +from selfdrive.car.ford.values import CAR, Ecu, TransmissionType, GearShifter from selfdrive.car.interfaces import CarInterfaceBase @@ -12,59 +12,59 @@ EventName = car.CarEvent.EventName class CarInterface(CarInterfaceBase): @staticmethod def get_params(candidate, fingerprint=gen_empty_fingerprint(), car_fw=None, experimental_long=False): + if car_fw is None: + car_fw = [] + ret = CarInterfaceBase.get_std_params(candidate, fingerprint) ret.carName = "ford" - #ret.safetyConfigs = [get_safety_config(car.CarParams.SafetyModel.ford)] ret.dashcamOnly = True + ret.safetyConfigs = [get_safety_config(car.CarParams.SafetyModel.ford)] # Angle-based steering - # TODO: use curvature control when ready ret.steerControlType = car.CarParams.SteerControlType.angle - ret.steerActuatorDelay = 0.1 + ret.steerActuatorDelay = 0.4 ret.steerLimitTimer = 1.0 - - # TODO: detect stop-and-go vehicles - stop_and_go = False + tire_stiffness_factor = 1.0 if candidate == CAR.ESCAPE_MK4: ret.wheelbase = 2.71 ret.steerRatio = 14.3 # Copied from Focus - tire_stiffness_factor = 0.5328 # Copied from Focus ret.mass = 1750 + STD_CARGO_KG + elif candidate == CAR.EXPLORER_MK6: + ret.wheelbase = 3.025 + ret.steerRatio = 16.8 # learned + ret.mass = 2050 + STD_CARGO_KG + elif candidate == CAR.FOCUS_MK4: ret.wheelbase = 2.7 - ret.steerRatio = 14.3 - tire_stiffness_factor = 0.5328 + ret.steerRatio = 13.8 # learned ret.mass = 1350 + STD_CARGO_KG else: raise ValueError(f"Unsupported car: ${candidate}") - # Auto Transmission: Gear_Shift_by_Wire_FD1 - # TODO: detect transmission in car_fw? - if 0x5A in fingerprint[0]: + # Auto Transmission: 0x732 ECU or Gear_Shift_by_Wire_FD1 + found_ecus = [fw.ecu for fw in car_fw] + if Ecu.shiftByWire in found_ecus or 0x5A in fingerprint[0]: ret.transmissionType = TransmissionType.automatic else: ret.transmissionType = TransmissionType.manual + ret.minEnableSpeed = 20.0 * CV.MPH_TO_MS # BSM: Side_Detect_L_Stat, Side_Detect_R_Stat # TODO: detect bsm in car_fw? ret.enableBsm = 0x3A6 in fingerprint[0] and 0x3A7 in fingerprint[0] - # min speed to enable ACC. if car can do stop and go, then set enabling speed - # to a negative value, so it won't matter. - ret.minEnableSpeed = -1. if (stop_and_go) else 20. * CV.MPH_TO_MS # LCA can steer down to zero ret.minSteerSpeed = 0. - ret.centerToFront = ret.wheelbase * 0.44 - + ret.autoResumeSng = ret.minEnableSpeed == -1. ret.rotationalInertia = scale_rot_inertia(ret.mass, ret.wheelbase) + ret.centerToFront = ret.wheelbase * 0.44 ret.tireStiffnessFront, ret.tireStiffnessRear = scale_tire_stiffness(ret.mass, ret.wheelbase, ret.centerToFront, tire_stiffness_factor=tire_stiffness_factor) - return ret def _update(self, c): diff --git a/selfdrive/car/ford/values.py b/selfdrive/car/ford/values.py index 2624fd252..54ff043a3 100644 --- a/selfdrive/car/ford/values.py +++ b/selfdrive/car/ford/values.py @@ -1,9 +1,11 @@ from collections import namedtuple +from dataclasses import dataclass +from enum import Enum from typing import Dict, List, Union from cereal import car from selfdrive.car import dbc_dict -from selfdrive.car.docs_definitions import CarInfo +from selfdrive.car.docs_definitions import CarInfo, Harness Ecu = car.CarParams.Ecu TransmissionType = car.CarParams.TransmissionType @@ -20,8 +22,11 @@ class CarControllerParams: # Message: ACCDATA_3 ACC_UI_STEP = 5 - STEER_RATE_LIMIT_UP = AngleRateLimit(speed_points=[0., 5., 15.], max_angle_diff_points=[5., .8, .15]) - STEER_RATE_LIMIT_DOWN = AngleRateLimit(speed_points=[0., 5., 15.], max_angle_diff_points=[5., 3.5, 0.4]) + STEER_RATIO = 2.75 + STEER_DRIVER_ALLOWANCE = 0.8 + + RATE_LIMIT_UP = AngleRateLimit(speed_points=[0., 5., 15.], max_angle_diff_points=[5., .8, .15]) + RATE_LIMIT_DOWN = AngleRateLimit(speed_points=[0., 5., 15.], max_angle_diff_points=[5., 3.5, 0.4]) class RADAR: @@ -37,12 +42,23 @@ class CANBUS: class CAR: ESCAPE_MK4 = "FORD ESCAPE 4TH GEN" + EXPLORER_MK6 = "FORD EXPLORER 6TH GEN" FOCUS_MK4 = "FORD FOCUS 4TH GEN" +@dataclass +class FordCarInfo(CarInfo): + package: str = "Co-Pilot360 Assist+" + harness: Enum = Harness.ford_q3 + + CAR_INFO: Dict[str, Union[CarInfo, List[CarInfo]]] = { - CAR.ESCAPE_MK4: CarInfo("Ford Escape", "NA"), - CAR.FOCUS_MK4: CarInfo("Ford Focus", "NA"), + CAR.ESCAPE_MK4: [ + FordCarInfo("Ford Escape 2020"), + FordCarInfo("Ford Kuga EU", "Driver Assistance Pack"), + ], + CAR.EXPLORER_MK6: FordCarInfo("Ford Explorer 2020-21"), + CAR.FOCUS_MK4: FordCarInfo("Ford Focus EU 2019", "Driver Assistance Pack"), } @@ -63,6 +79,33 @@ FW_VERSIONS = { (Ecu.engine, 0x7E0, None): [ b'LX6A-14C204-ESG\x00\x00\x00\x00\x00\x00\x00\x00\x00', ], + (Ecu.shiftByWire, 0x732, None): [ + ], + }, + CAR.EXPLORER_MK6: { + (Ecu.eps, 0x730, None): [ + b'L1MC-14D003-AK\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', + b'L1MC-14D003-AL\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', + ], + (Ecu.abs, 0x760, None): [ + b'L1MC-2D053-BB\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', + b'L1MC-2D053-BF\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', + ], + (Ecu.fwdRadar, 0x764, None): [ + b'LB5T-14D049-AB\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', + ], + (Ecu.fwdCamera, 0x706, None): [ + b'LB5T-14F397-AE\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', + b'LB5T-14F397-AF\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', + ], + (Ecu.engine, 0x7E0, None): [ + b'LB5A-14C204-EAC\x00\x00\x00\x00\x00\x00\x00\x00\x00', + b'MB5A-14C204-MD\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', + ], + (Ecu.shiftByWire, 0x732, None): [ + b'L1MP-14G395-AD\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', + b'L1MP-14G395-AE\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', + ], }, CAR.FOCUS_MK4: { (Ecu.eps, 0x730, None): [ @@ -80,11 +123,14 @@ FW_VERSIONS = { (Ecu.engine, 0x7E0, None): [ b'JX6A-14C204-BPL\x00\x00\x00\x00\x00\x00\x00\x00\x00', ], + (Ecu.shiftByWire, 0x732, None): [ + ], }, } DBC = { CAR.ESCAPE_MK4: dbc_dict('ford_lincoln_base_pt', RADAR.DELPHI_MRR), + CAR.EXPLORER_MK6: dbc_dict('ford_lincoln_base_pt', RADAR.DELPHI_MRR), CAR.FOCUS_MK4: dbc_dict('ford_lincoln_base_pt', RADAR.DELPHI_MRR), } diff --git a/selfdrive/car/fw_versions.py b/selfdrive/car/fw_versions.py index e6faa0e95..376a743df 100755 --- a/selfdrive/car/fw_versions.py +++ b/selfdrive/car/fw_versions.py @@ -240,7 +240,7 @@ REQUESTS: List[Request] = [ [TESTER_PRESENT_REQUEST, FORD_VERSION_REQUEST], [TESTER_PRESENT_RESPONSE, FORD_VERSION_RESPONSE], bus=0, - whitelist_ecus=[Ecu.eps, Ecu.abs, Ecu.fwdRadar, Ecu.fwdCamera], + whitelist_ecus=[Ecu.eps, Ecu.abs, Ecu.fwdRadar, Ecu.fwdCamera, Ecu.shiftByWire], ), ] diff --git a/selfdrive/car/tests/routes.py b/selfdrive/car/tests/routes.py index b769cbe5f..635f43cc8 100644 --- a/selfdrive/car/tests/routes.py +++ b/selfdrive/car/tests/routes.py @@ -41,6 +41,7 @@ routes = [ CarTestRoute("221c253375af4ee9|2022-06-15--18-38-24", CHRYSLER.RAM_1500), CarTestRoute("8fb5eabf914632ae|2022-08-04--17-28-53", CHRYSLER.RAM_HD, segment=6), + CarTestRoute("62241b0c7fea4589|2022-09-01--15-32-49", FORD.EXPLORER_MK6), #TestRoute("f1b4c567731f4a1b|2018-04-30--10-15-35", FORD.FUSION), CarTestRoute("7cc2a8365b4dd8a9|2018-12-02--12-10-44", GM.ACADIA), diff --git a/selfdrive/car/torque_data/override.yaml b/selfdrive/car/torque_data/override.yaml index 14ee7e223..fcc762c2b 100644 --- a/selfdrive/car/torque_data/override.yaml +++ b/selfdrive/car/torque_data/override.yaml @@ -13,6 +13,7 @@ TESLA AP2 MODEL S: [.nan, 2.5, .nan] # Guess FORD ESCAPE 4TH GEN: [.nan, 1.5, .nan] +FORD EXPLORER 6TH GEN: [.nan, 1.5, .nan] FORD FOCUS 4TH GEN: [.nan, 1.5, .nan] ### From 69e9b285b3e125e319aedc9b587e4da44adb9913 Mon Sep 17 00:00:00 2001 From: Dean Lee Date: Fri, 9 Sep 2022 06:53:23 +0800 Subject: [PATCH 06/38] UI/map: remove redundant QString ctor (#25704) --- selfdrive/ui/qt/maps/map.cc | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/selfdrive/ui/qt/maps/map.cc b/selfdrive/ui/qt/maps/map.cc index 046814d51..71706fd35 100644 --- a/selfdrive/ui/qt/maps/map.cc +++ b/selfdrive/ui/qt/maps/map.cc @@ -486,9 +486,9 @@ void MapInstructions::updateInstructions(cereal::NavInstruction::Reader instruct // for rhd, reflect direction and then flip if (is_rhd) { if (fn.contains("left")) { - fn.replace(QString("left"), QString("right")); + fn.replace("left", "right"); } else if (fn.contains("right")) { - fn.replace(QString("right"), QString("left")); + fn.replace("right", "left"); } } From 9fb2c40cfdd5a4c05c65e90c7d91a2afd267e26b Mon Sep 17 00:00:00 2001 From: Cameron Clough Date: Thu, 8 Sep 2022 15:54:14 -0700 Subject: [PATCH 07/38] bump catch2 headers to v2.13.9 (#25678) --- third_party/catch2/include/catch2/catch.hpp | 705 +++++++++++------- .../catch2/catch_reporter_automake.hpp | 124 +-- .../catch2/catch_reporter_sonarqube.hpp | 360 ++++----- .../include/catch2/catch_reporter_tap.hpp | 508 ++++++------- .../catch2/catch_reporter_teamcity.hpp | 438 +++++------ 5 files changed, 1153 insertions(+), 982 deletions(-) diff --git a/third_party/catch2/include/catch2/catch.hpp b/third_party/catch2/include/catch2/catch.hpp index cf1fae15a..d2a12427b 100644 --- a/third_party/catch2/include/catch2/catch.hpp +++ b/third_party/catch2/include/catch2/catch.hpp @@ -1,9 +1,9 @@ /* - * Catch v2.13.0 - * Generated: 2020-07-12 20:07:49.015950 + * Catch v2.13.9 + * Generated: 2022-04-12 22:37:23.260201 * ---------------------------------------------------------- * This file has been merged from multiple headers. Please don't edit it directly - * Copyright (c) 2020 Two Blue Cubes Ltd. All rights reserved. + * Copyright (c) 2022 Two Blue Cubes Ltd. All rights reserved. * * Distributed under the Boost Software License, Version 1.0. (See accompanying * file LICENSE_1_0.txt or copy at http://www.boost.org/LICENSE_1_0.txt) @@ -15,7 +15,7 @@ #define CATCH_VERSION_MAJOR 2 #define CATCH_VERSION_MINOR 13 -#define CATCH_VERSION_PATCH 0 +#define CATCH_VERSION_PATCH 9 #ifdef __clang__ # pragma clang system_header @@ -66,13 +66,16 @@ #if !defined(CATCH_CONFIG_IMPL_ONLY) // start catch_platform.h +// See e.g.: +// https://opensource.apple.com/source/CarbonHeaders/CarbonHeaders-18.1/TargetConditionals.h.auto.html #ifdef __APPLE__ -# include -# if TARGET_OS_OSX == 1 -# define CATCH_PLATFORM_MAC -# elif TARGET_OS_IPHONE == 1 -# define CATCH_PLATFORM_IPHONE -# endif +# include +# if (defined(TARGET_OS_OSX) && TARGET_OS_OSX == 1) || \ + (defined(TARGET_OS_MAC) && TARGET_OS_MAC == 1) +# define CATCH_PLATFORM_MAC +# elif (defined(TARGET_OS_IPHONE) && TARGET_OS_IPHONE == 1) +# define CATCH_PLATFORM_IPHONE +# endif #elif defined(linux) || defined(__linux) || defined(__linux__) # define CATCH_PLATFORM_LINUX @@ -132,13 +135,9 @@ namespace Catch { #endif -#if defined(__cpp_lib_uncaught_exceptions) -# define CATCH_INTERNAL_CONFIG_CPP17_UNCAUGHT_EXCEPTIONS -#endif - -// We have to avoid both ICC and Clang, because they try to mask themselves -// as gcc, and we want only GCC in this block -#if defined(__GNUC__) && !defined(__clang__) && !defined(__ICC) +// Only GCC compiler should be used in this block, so other compilers trying to +// mask themselves as GCC should be ignored. +#if defined(__GNUC__) && !defined(__clang__) && !defined(__ICC) && !defined(__CUDACC__) && !defined(__LCC__) # define CATCH_INTERNAL_START_WARNINGS_SUPPRESSION _Pragma( "GCC diagnostic push" ) # define CATCH_INTERNAL_STOP_WARNINGS_SUPPRESSION _Pragma( "GCC diagnostic pop" ) @@ -162,7 +161,7 @@ namespace Catch { // ``` // // Therefore, `CATCH_INTERNAL_IGNORE_BUT_WARN` is not implemented. -# if !defined(__ibmxl__) +# if !defined(__ibmxl__) && !defined(__CUDACC__) # define CATCH_INTERNAL_IGNORE_BUT_WARN(...) (void)__builtin_constant_p(__VA_ARGS__) /* NOLINT(cppcoreguidelines-pro-type-vararg, hicpp-vararg) */ # endif @@ -241,13 +240,6 @@ namespace Catch { // Visual C++ #if defined(_MSC_VER) -# define CATCH_INTERNAL_START_WARNINGS_SUPPRESSION __pragma( warning(push) ) -# define CATCH_INTERNAL_STOP_WARNINGS_SUPPRESSION __pragma( warning(pop) ) - -# if _MSC_VER >= 1900 // Visual Studio 2015 or newer -# define CATCH_INTERNAL_CONFIG_CPP17_UNCAUGHT_EXCEPTIONS -# endif - // Universal Windows platform does not support SEH // Or console colours (or console at all...) # if defined(WINAPI_FAMILY) && (WINAPI_FAMILY == WINAPI_FAMILY_APP) @@ -256,13 +248,18 @@ namespace Catch { # define CATCH_INTERNAL_CONFIG_WINDOWS_SEH # endif +# if !defined(__clang__) // Handle Clang masquerading for msvc + // MSVC traditional preprocessor needs some workaround for __VA_ARGS__ // _MSVC_TRADITIONAL == 0 means new conformant preprocessor // _MSVC_TRADITIONAL == 1 means old traditional non-conformant preprocessor -# if !defined(__clang__) // Handle Clang masquerading for msvc # if !defined(_MSVC_TRADITIONAL) || (defined(_MSVC_TRADITIONAL) && _MSVC_TRADITIONAL) # define CATCH_INTERNAL_CONFIG_TRADITIONAL_MSVC_PREPROCESSOR # endif // MSVC_TRADITIONAL + +// Only do this if we're not using clang on Windows, which uses `diagnostic push` & `diagnostic pop` +# define CATCH_INTERNAL_START_WARNINGS_SUPPRESSION __pragma( warning(push) ) +# define CATCH_INTERNAL_STOP_WARNINGS_SUPPRESSION __pragma( warning(pop) ) # endif // __clang__ #endif // _MSC_VER @@ -330,7 +327,10 @@ namespace Catch { // Check if byte is available and usable # if __has_include() && defined(CATCH_CPP17_OR_GREATER) - # define CATCH_INTERNAL_CONFIG_CPP17_BYTE + # include + # if defined(__cpp_lib_byte) && (__cpp_lib_byte > 0) + # define CATCH_INTERNAL_CONFIG_CPP17_BYTE + # endif # endif // __has_include() && defined(CATCH_CPP17_OR_GREATER) // Check if variant is available and usable @@ -373,10 +373,6 @@ namespace Catch { # define CATCH_CONFIG_CPP17_OPTIONAL #endif -#if defined(CATCH_INTERNAL_CONFIG_CPP17_UNCAUGHT_EXCEPTIONS) && !defined(CATCH_CONFIG_NO_CPP17_UNCAUGHT_EXCEPTIONS) && !defined(CATCH_CONFIG_CPP17_UNCAUGHT_EXCEPTIONS) -# define CATCH_CONFIG_CPP17_UNCAUGHT_EXCEPTIONS -#endif - #if defined(CATCH_INTERNAL_CONFIG_CPP17_STRING_VIEW) && !defined(CATCH_CONFIG_NO_CPP17_STRING_VIEW) && !defined(CATCH_CONFIG_CPP17_STRING_VIEW) # define CATCH_CONFIG_CPP17_STRING_VIEW #endif @@ -1016,34 +1012,34 @@ struct AutoReg : NonCopyable { #ifndef CATCH_CONFIG_TRADITIONAL_MSVC_PREPROCESSOR #define INTERNAL_CATCH_TEMPLATE_TEST_CASE_NO_REGISTRATION(Name, Tags, ...) \ - INTERNAL_CATCH_TEMPLATE_TEST_CASE_NO_REGISTRATION_2( INTERNAL_CATCH_UNIQUE_NAME( ____C_A_T_C_H____T_E_M_P_L_A_T_E____T_E_S_T____ ), INTERNAL_CATCH_UNIQUE_NAME( ____C_A_T_C_H____T_E_M_P_L_A_T_E____T_E_S_T____F_U_N_C____ ), Name, Tags, typename TestType, __VA_ARGS__ ) + INTERNAL_CATCH_TEMPLATE_TEST_CASE_NO_REGISTRATION_2( INTERNAL_CATCH_UNIQUE_NAME( C_A_T_C_H_T_E_M_P_L_A_T_E_T_E_S_T_ ), INTERNAL_CATCH_UNIQUE_NAME( C_A_T_C_H_T_E_M_P_L_A_T_E_T_E_S_T_F_U_N_C_ ), Name, Tags, typename TestType, __VA_ARGS__ ) #else #define INTERNAL_CATCH_TEMPLATE_TEST_CASE_NO_REGISTRATION(Name, Tags, ...) \ - INTERNAL_CATCH_EXPAND_VARGS( INTERNAL_CATCH_TEMPLATE_TEST_CASE_NO_REGISTRATION_2( INTERNAL_CATCH_UNIQUE_NAME( ____C_A_T_C_H____T_E_M_P_L_A_T_E____T_E_S_T____ ), INTERNAL_CATCH_UNIQUE_NAME( ____C_A_T_C_H____T_E_M_P_L_A_T_E____T_E_S_T____F_U_N_C____ ), Name, Tags, typename TestType, __VA_ARGS__ ) ) + INTERNAL_CATCH_EXPAND_VARGS( INTERNAL_CATCH_TEMPLATE_TEST_CASE_NO_REGISTRATION_2( INTERNAL_CATCH_UNIQUE_NAME( C_A_T_C_H_T_E_M_P_L_A_T_E_T_E_S_T_ ), INTERNAL_CATCH_UNIQUE_NAME( C_A_T_C_H_T_E_M_P_L_A_T_E_T_E_S_T_F_U_N_C_ ), Name, Tags, typename TestType, __VA_ARGS__ ) ) #endif #ifndef CATCH_CONFIG_TRADITIONAL_MSVC_PREPROCESSOR #define INTERNAL_CATCH_TEMPLATE_TEST_CASE_SIG_NO_REGISTRATION(Name, Tags, Signature, ...) \ - INTERNAL_CATCH_TEMPLATE_TEST_CASE_NO_REGISTRATION_2( INTERNAL_CATCH_UNIQUE_NAME( ____C_A_T_C_H____T_E_M_P_L_A_T_E____T_E_S_T____ ), INTERNAL_CATCH_UNIQUE_NAME( ____C_A_T_C_H____T_E_M_P_L_A_T_E____T_E_S_T____F_U_N_C____ ), Name, Tags, Signature, __VA_ARGS__ ) + INTERNAL_CATCH_TEMPLATE_TEST_CASE_NO_REGISTRATION_2( INTERNAL_CATCH_UNIQUE_NAME( C_A_T_C_H_T_E_M_P_L_A_T_E_T_E_S_T_ ), INTERNAL_CATCH_UNIQUE_NAME( C_A_T_C_H_T_E_M_P_L_A_T_E_T_E_S_T_F_U_N_C_ ), Name, Tags, Signature, __VA_ARGS__ ) #else #define INTERNAL_CATCH_TEMPLATE_TEST_CASE_SIG_NO_REGISTRATION(Name, Tags, Signature, ...) \ - INTERNAL_CATCH_EXPAND_VARGS( INTERNAL_CATCH_TEMPLATE_TEST_CASE_NO_REGISTRATION_2( INTERNAL_CATCH_UNIQUE_NAME( ____C_A_T_C_H____T_E_M_P_L_A_T_E____T_E_S_T____ ), INTERNAL_CATCH_UNIQUE_NAME( ____C_A_T_C_H____T_E_M_P_L_A_T_E____T_E_S_T____F_U_N_C____ ), Name, Tags, Signature, __VA_ARGS__ ) ) + INTERNAL_CATCH_EXPAND_VARGS( INTERNAL_CATCH_TEMPLATE_TEST_CASE_NO_REGISTRATION_2( INTERNAL_CATCH_UNIQUE_NAME( C_A_T_C_H_T_E_M_P_L_A_T_E_T_E_S_T_ ), INTERNAL_CATCH_UNIQUE_NAME( C_A_T_C_H_T_E_M_P_L_A_T_E_T_E_S_T_F_U_N_C_ ), Name, Tags, Signature, __VA_ARGS__ ) ) #endif #ifndef CATCH_CONFIG_TRADITIONAL_MSVC_PREPROCESSOR #define INTERNAL_CATCH_TEMPLATE_TEST_CASE_METHOD_NO_REGISTRATION( ClassName, Name, Tags,... ) \ - INTERNAL_CATCH_TEMPLATE_TEST_CASE_METHOD_NO_REGISTRATION_2( INTERNAL_CATCH_UNIQUE_NAME( ____C_A_T_C_H____T_E_M_P_L_A_T_E____T_E_S_T____C_L_A_S_S____ ), INTERNAL_CATCH_UNIQUE_NAME( ____C_A_T_C_H____T_E_M_P_L_A_T_E____T_E_S_T____ ) , ClassName, Name, Tags, typename T, __VA_ARGS__ ) + INTERNAL_CATCH_TEMPLATE_TEST_CASE_METHOD_NO_REGISTRATION_2( INTERNAL_CATCH_UNIQUE_NAME( C_A_T_C_H_T_E_M_P_L_A_T_E_T_E_S_T_C_L_A_S_S_ ), INTERNAL_CATCH_UNIQUE_NAME( C_A_T_C_H_T_E_M_P_L_A_T_E_T_E_S_T_ ) , ClassName, Name, Tags, typename T, __VA_ARGS__ ) #else #define INTERNAL_CATCH_TEMPLATE_TEST_CASE_METHOD_NO_REGISTRATION( ClassName, Name, Tags,... ) \ - INTERNAL_CATCH_EXPAND_VARGS( INTERNAL_CATCH_TEMPLATE_TEST_CASE_METHOD_NO_REGISTRATION_2( INTERNAL_CATCH_UNIQUE_NAME( ____C_A_T_C_H____T_E_M_P_L_A_T_E____T_E_S_T____C_L_A_S_S____ ), INTERNAL_CATCH_UNIQUE_NAME( ____C_A_T_C_H____T_E_M_P_L_A_T_E____T_E_S_T____ ) , ClassName, Name, Tags, typename T, __VA_ARGS__ ) ) + INTERNAL_CATCH_EXPAND_VARGS( INTERNAL_CATCH_TEMPLATE_TEST_CASE_METHOD_NO_REGISTRATION_2( INTERNAL_CATCH_UNIQUE_NAME( C_A_T_C_H_T_E_M_P_L_A_T_E_T_E_S_T_C_L_A_S_S_ ), INTERNAL_CATCH_UNIQUE_NAME( C_A_T_C_H_T_E_M_P_L_A_T_E_T_E_S_T_ ) , ClassName, Name, Tags, typename T, __VA_ARGS__ ) ) #endif #ifndef CATCH_CONFIG_TRADITIONAL_MSVC_PREPROCESSOR #define INTERNAL_CATCH_TEMPLATE_TEST_CASE_METHOD_SIG_NO_REGISTRATION( ClassName, Name, Tags, Signature, ... ) \ - INTERNAL_CATCH_TEMPLATE_TEST_CASE_METHOD_NO_REGISTRATION_2( INTERNAL_CATCH_UNIQUE_NAME( ____C_A_T_C_H____T_E_M_P_L_A_T_E____T_E_S_T____C_L_A_S_S____ ), INTERNAL_CATCH_UNIQUE_NAME( ____C_A_T_C_H____T_E_M_P_L_A_T_E____T_E_S_T____ ) , ClassName, Name, Tags, Signature, __VA_ARGS__ ) + INTERNAL_CATCH_TEMPLATE_TEST_CASE_METHOD_NO_REGISTRATION_2( INTERNAL_CATCH_UNIQUE_NAME( C_A_T_C_H_T_E_M_P_L_A_T_E_T_E_S_T_C_L_A_S_S_ ), INTERNAL_CATCH_UNIQUE_NAME( C_A_T_C_H_T_E_M_P_L_A_T_E_T_E_S_T_ ) , ClassName, Name, Tags, Signature, __VA_ARGS__ ) #else #define INTERNAL_CATCH_TEMPLATE_TEST_CASE_METHOD_SIG_NO_REGISTRATION( ClassName, Name, Tags, Signature, ... ) \ - INTERNAL_CATCH_EXPAND_VARGS( INTERNAL_CATCH_TEMPLATE_TEST_CASE_METHOD_NO_REGISTRATION_2( INTERNAL_CATCH_UNIQUE_NAME( ____C_A_T_C_H____T_E_M_P_L_A_T_E____T_E_S_T____C_L_A_S_S____ ), INTERNAL_CATCH_UNIQUE_NAME( ____C_A_T_C_H____T_E_M_P_L_A_T_E____T_E_S_T____ ) , ClassName, Name, Tags, Signature, __VA_ARGS__ ) ) + INTERNAL_CATCH_EXPAND_VARGS( INTERNAL_CATCH_TEMPLATE_TEST_CASE_METHOD_NO_REGISTRATION_2( INTERNAL_CATCH_UNIQUE_NAME( C_A_T_C_H_T_E_M_P_L_A_T_E_T_E_S_T_C_L_A_S_S_ ), INTERNAL_CATCH_UNIQUE_NAME( C_A_T_C_H_T_E_M_P_L_A_T_E_T_E_S_T_ ) , ClassName, Name, Tags, Signature, __VA_ARGS__ ) ) #endif #endif @@ -1056,7 +1052,7 @@ struct AutoReg : NonCopyable { CATCH_INTERNAL_STOP_WARNINGS_SUPPRESSION \ static void TestName() #define INTERNAL_CATCH_TESTCASE( ... ) \ - INTERNAL_CATCH_TESTCASE2( INTERNAL_CATCH_UNIQUE_NAME( ____C_A_T_C_H____T_E_S_T____ ), __VA_ARGS__ ) + INTERNAL_CATCH_TESTCASE2( INTERNAL_CATCH_UNIQUE_NAME( C_A_T_C_H_T_E_S_T_ ), __VA_ARGS__ ) /////////////////////////////////////////////////////////////////////////////// #define INTERNAL_CATCH_METHOD_AS_TEST_CASE( QualifiedMethod, ... ) \ @@ -1078,7 +1074,7 @@ struct AutoReg : NonCopyable { CATCH_INTERNAL_STOP_WARNINGS_SUPPRESSION \ void TestName::test() #define INTERNAL_CATCH_TEST_CASE_METHOD( ClassName, ... ) \ - INTERNAL_CATCH_TEST_CASE_METHOD2( INTERNAL_CATCH_UNIQUE_NAME( ____C_A_T_C_H____T_E_S_T____ ), ClassName, __VA_ARGS__ ) + INTERNAL_CATCH_TEST_CASE_METHOD2( INTERNAL_CATCH_UNIQUE_NAME( C_A_T_C_H_T_E_S_T_ ), ClassName, __VA_ARGS__ ) /////////////////////////////////////////////////////////////////////////////// #define INTERNAL_CATCH_REGISTER_TESTCASE( Function, ... ) \ @@ -1105,7 +1101,7 @@ struct AutoReg : NonCopyable { int index = 0; \ constexpr char const* tmpl_types[] = {CATCH_REC_LIST(INTERNAL_CATCH_STRINGIZE_WITHOUT_PARENS, __VA_ARGS__)};\ using expander = int[];\ - (void)expander{(reg_test(Types{}, Catch::NameAndTags{ Name " - " + std::string(tmpl_types[index]), Tags } ), index++, 0)... };/* NOLINT */ \ + (void)expander{(reg_test(Types{}, Catch::NameAndTags{ Name " - " + std::string(tmpl_types[index]), Tags } ), index++)... };/* NOLINT */ \ }\ };\ static int INTERNAL_CATCH_UNIQUE_NAME( globalRegistrar ) = [](){\ @@ -1119,18 +1115,18 @@ struct AutoReg : NonCopyable { #ifndef CATCH_CONFIG_TRADITIONAL_MSVC_PREPROCESSOR #define INTERNAL_CATCH_TEMPLATE_TEST_CASE(Name, Tags, ...) \ - INTERNAL_CATCH_TEMPLATE_TEST_CASE_2( INTERNAL_CATCH_UNIQUE_NAME( ____C_A_T_C_H____T_E_M_P_L_A_T_E____T_E_S_T____ ), INTERNAL_CATCH_UNIQUE_NAME( ____C_A_T_C_H____T_E_M_P_L_A_T_E____T_E_S_T____F_U_N_C____ ), Name, Tags, typename TestType, __VA_ARGS__ ) + INTERNAL_CATCH_TEMPLATE_TEST_CASE_2( INTERNAL_CATCH_UNIQUE_NAME( C_A_T_C_H_T_E_M_P_L_A_T_E_T_E_S_T_ ), INTERNAL_CATCH_UNIQUE_NAME( C_A_T_C_H_T_E_M_P_L_A_T_E_T_E_S_T_F_U_N_C_ ), Name, Tags, typename TestType, __VA_ARGS__ ) #else #define INTERNAL_CATCH_TEMPLATE_TEST_CASE(Name, Tags, ...) \ - INTERNAL_CATCH_EXPAND_VARGS( INTERNAL_CATCH_TEMPLATE_TEST_CASE_2( INTERNAL_CATCH_UNIQUE_NAME( ____C_A_T_C_H____T_E_M_P_L_A_T_E____T_E_S_T____ ), INTERNAL_CATCH_UNIQUE_NAME( ____C_A_T_C_H____T_E_M_P_L_A_T_E____T_E_S_T____F_U_N_C____ ), Name, Tags, typename TestType, __VA_ARGS__ ) ) + INTERNAL_CATCH_EXPAND_VARGS( INTERNAL_CATCH_TEMPLATE_TEST_CASE_2( INTERNAL_CATCH_UNIQUE_NAME( C_A_T_C_H_T_E_M_P_L_A_T_E_T_E_S_T_ ), INTERNAL_CATCH_UNIQUE_NAME( C_A_T_C_H_T_E_M_P_L_A_T_E_T_E_S_T_F_U_N_C_ ), Name, Tags, typename TestType, __VA_ARGS__ ) ) #endif #ifndef CATCH_CONFIG_TRADITIONAL_MSVC_PREPROCESSOR #define INTERNAL_CATCH_TEMPLATE_TEST_CASE_SIG(Name, Tags, Signature, ...) \ - INTERNAL_CATCH_TEMPLATE_TEST_CASE_2( INTERNAL_CATCH_UNIQUE_NAME( ____C_A_T_C_H____T_E_M_P_L_A_T_E____T_E_S_T____ ), INTERNAL_CATCH_UNIQUE_NAME( ____C_A_T_C_H____T_E_M_P_L_A_T_E____T_E_S_T____F_U_N_C____ ), Name, Tags, Signature, __VA_ARGS__ ) + INTERNAL_CATCH_TEMPLATE_TEST_CASE_2( INTERNAL_CATCH_UNIQUE_NAME( C_A_T_C_H_T_E_M_P_L_A_T_E_T_E_S_T_ ), INTERNAL_CATCH_UNIQUE_NAME( C_A_T_C_H_T_E_M_P_L_A_T_E_T_E_S_T_F_U_N_C_ ), Name, Tags, Signature, __VA_ARGS__ ) #else #define INTERNAL_CATCH_TEMPLATE_TEST_CASE_SIG(Name, Tags, Signature, ...) \ - INTERNAL_CATCH_EXPAND_VARGS( INTERNAL_CATCH_TEMPLATE_TEST_CASE_2( INTERNAL_CATCH_UNIQUE_NAME( ____C_A_T_C_H____T_E_M_P_L_A_T_E____T_E_S_T____ ), INTERNAL_CATCH_UNIQUE_NAME( ____C_A_T_C_H____T_E_M_P_L_A_T_E____T_E_S_T____F_U_N_C____ ), Name, Tags, Signature, __VA_ARGS__ ) ) + INTERNAL_CATCH_EXPAND_VARGS( INTERNAL_CATCH_TEMPLATE_TEST_CASE_2( INTERNAL_CATCH_UNIQUE_NAME( C_A_T_C_H_T_E_M_P_L_A_T_E_T_E_S_T_ ), INTERNAL_CATCH_UNIQUE_NAME( C_A_T_C_H_T_E_M_P_L_A_T_E_T_E_S_T_F_U_N_C_ ), Name, Tags, Signature, __VA_ARGS__ ) ) #endif #define INTERNAL_CATCH_TEMPLATE_PRODUCT_TEST_CASE2(TestName, TestFuncName, Name, Tags, Signature, TmplTypes, TypesList) \ @@ -1151,7 +1147,7 @@ struct AutoReg : NonCopyable { constexpr char const* tmpl_types[] = {CATCH_REC_LIST(INTERNAL_CATCH_STRINGIZE_WITHOUT_PARENS, INTERNAL_CATCH_REMOVE_PARENS(TmplTypes))};\ constexpr char const* types_list[] = {CATCH_REC_LIST(INTERNAL_CATCH_STRINGIZE_WITHOUT_PARENS, INTERNAL_CATCH_REMOVE_PARENS(TypesList))};\ constexpr auto num_types = sizeof(types_list) / sizeof(types_list[0]);\ - (void)expander{(Catch::AutoReg( Catch::makeTestInvoker( &TestFuncName ), CATCH_INTERNAL_LINEINFO, Catch::StringRef(), Catch::NameAndTags{ Name " - " + std::string(tmpl_types[index / num_types]) + "<" + std::string(types_list[index % num_types]) + ">", Tags } ), index++, 0)... };/* NOLINT */\ + (void)expander{(Catch::AutoReg( Catch::makeTestInvoker( &TestFuncName ), CATCH_INTERNAL_LINEINFO, Catch::StringRef(), Catch::NameAndTags{ Name " - " + std::string(tmpl_types[index / num_types]) + "<" + std::string(types_list[index % num_types]) + ">", Tags } ), index++)... };/* NOLINT */\ } \ }; \ static int INTERNAL_CATCH_UNIQUE_NAME( globalRegistrar ) = [](){ \ @@ -1168,18 +1164,18 @@ struct AutoReg : NonCopyable { #ifndef CATCH_CONFIG_TRADITIONAL_MSVC_PREPROCESSOR #define INTERNAL_CATCH_TEMPLATE_PRODUCT_TEST_CASE(Name, Tags, ...)\ - INTERNAL_CATCH_TEMPLATE_PRODUCT_TEST_CASE2(INTERNAL_CATCH_UNIQUE_NAME( ____C_A_T_C_H____T_E_M_P_L_A_T_E____T_E_S_T____ ), INTERNAL_CATCH_UNIQUE_NAME( ____C_A_T_C_H____T_E_M_P_L_A_T_E____T_E_S_T____F_U_N_C____ ), Name, Tags, typename T,__VA_ARGS__) + INTERNAL_CATCH_TEMPLATE_PRODUCT_TEST_CASE2(INTERNAL_CATCH_UNIQUE_NAME( C_A_T_C_H_T_E_M_P_L_A_T_E_T_E_S_T_ ), INTERNAL_CATCH_UNIQUE_NAME( C_A_T_C_H_T_E_M_P_L_A_T_E_T_E_S_T_F_U_N_C_ ), Name, Tags, typename T,__VA_ARGS__) #else #define INTERNAL_CATCH_TEMPLATE_PRODUCT_TEST_CASE(Name, Tags, ...)\ - INTERNAL_CATCH_EXPAND_VARGS( INTERNAL_CATCH_TEMPLATE_PRODUCT_TEST_CASE2( INTERNAL_CATCH_UNIQUE_NAME( ____C_A_T_C_H____T_E_M_P_L_A_T_E____T_E_S_T____ ), INTERNAL_CATCH_UNIQUE_NAME( ____C_A_T_C_H____T_E_M_P_L_A_T_E____T_E_S_T____F_U_N_C____ ), Name, Tags, typename T, __VA_ARGS__ ) ) + INTERNAL_CATCH_EXPAND_VARGS( INTERNAL_CATCH_TEMPLATE_PRODUCT_TEST_CASE2( INTERNAL_CATCH_UNIQUE_NAME( C_A_T_C_H_T_E_M_P_L_A_T_E_T_E_S_T_ ), INTERNAL_CATCH_UNIQUE_NAME( C_A_T_C_H_T_E_M_P_L_A_T_E_T_E_S_T_F_U_N_C_ ), Name, Tags, typename T, __VA_ARGS__ ) ) #endif #ifndef CATCH_CONFIG_TRADITIONAL_MSVC_PREPROCESSOR #define INTERNAL_CATCH_TEMPLATE_PRODUCT_TEST_CASE_SIG(Name, Tags, Signature, ...)\ - INTERNAL_CATCH_TEMPLATE_PRODUCT_TEST_CASE2(INTERNAL_CATCH_UNIQUE_NAME( ____C_A_T_C_H____T_E_M_P_L_A_T_E____T_E_S_T____ ), INTERNAL_CATCH_UNIQUE_NAME( ____C_A_T_C_H____T_E_M_P_L_A_T_E____T_E_S_T____F_U_N_C____ ), Name, Tags, Signature, __VA_ARGS__) + INTERNAL_CATCH_TEMPLATE_PRODUCT_TEST_CASE2(INTERNAL_CATCH_UNIQUE_NAME( C_A_T_C_H_T_E_M_P_L_A_T_E_T_E_S_T_ ), INTERNAL_CATCH_UNIQUE_NAME( C_A_T_C_H_T_E_M_P_L_A_T_E_T_E_S_T_F_U_N_C_ ), Name, Tags, Signature, __VA_ARGS__) #else #define INTERNAL_CATCH_TEMPLATE_PRODUCT_TEST_CASE_SIG(Name, Tags, Signature, ...)\ - INTERNAL_CATCH_EXPAND_VARGS( INTERNAL_CATCH_TEMPLATE_PRODUCT_TEST_CASE2( INTERNAL_CATCH_UNIQUE_NAME( ____C_A_T_C_H____T_E_M_P_L_A_T_E____T_E_S_T____ ), INTERNAL_CATCH_UNIQUE_NAME( ____C_A_T_C_H____T_E_M_P_L_A_T_E____T_E_S_T____F_U_N_C____ ), Name, Tags, Signature, __VA_ARGS__ ) ) + INTERNAL_CATCH_EXPAND_VARGS( INTERNAL_CATCH_TEMPLATE_PRODUCT_TEST_CASE2( INTERNAL_CATCH_UNIQUE_NAME( C_A_T_C_H_T_E_M_P_L_A_T_E_T_E_S_T_ ), INTERNAL_CATCH_UNIQUE_NAME( C_A_T_C_H_T_E_M_P_L_A_T_E_T_E_S_T_F_U_N_C_ ), Name, Tags, Signature, __VA_ARGS__ ) ) #endif #define INTERNAL_CATCH_TEMPLATE_LIST_TEST_CASE_2(TestName, TestFunc, Name, Tags, TmplList)\ @@ -1195,7 +1191,7 @@ struct AutoReg : NonCopyable { void reg_tests() { \ int index = 0; \ using expander = int[]; \ - (void)expander{(Catch::AutoReg( Catch::makeTestInvoker( &TestFunc ), CATCH_INTERNAL_LINEINFO, Catch::StringRef(), Catch::NameAndTags{ Name " - " + std::string(INTERNAL_CATCH_STRINGIZE(TmplList)) + " - " + std::to_string(index), Tags } ), index++, 0)... };/* NOLINT */\ + (void)expander{(Catch::AutoReg( Catch::makeTestInvoker( &TestFunc ), CATCH_INTERNAL_LINEINFO, Catch::StringRef(), Catch::NameAndTags{ Name " - " + std::string(INTERNAL_CATCH_STRINGIZE(TmplList)) + " - " + std::to_string(index), Tags } ), index++)... };/* NOLINT */\ } \ };\ static int INTERNAL_CATCH_UNIQUE_NAME( globalRegistrar ) = [](){ \ @@ -1210,7 +1206,7 @@ struct AutoReg : NonCopyable { static void TestFunc() #define INTERNAL_CATCH_TEMPLATE_LIST_TEST_CASE(Name, Tags, TmplList) \ - INTERNAL_CATCH_TEMPLATE_LIST_TEST_CASE_2( INTERNAL_CATCH_UNIQUE_NAME( ____C_A_T_C_H____T_E_M_P_L_A_T_E____T_E_S_T____ ), INTERNAL_CATCH_UNIQUE_NAME( ____C_A_T_C_H____T_E_M_P_L_A_T_E____T_E_S_T____F_U_N_C____ ), Name, Tags, TmplList ) + INTERNAL_CATCH_TEMPLATE_LIST_TEST_CASE_2( INTERNAL_CATCH_UNIQUE_NAME( C_A_T_C_H_T_E_M_P_L_A_T_E_T_E_S_T_ ), INTERNAL_CATCH_UNIQUE_NAME( C_A_T_C_H_T_E_M_P_L_A_T_E_T_E_S_T_F_U_N_C_ ), Name, Tags, TmplList ) #define INTERNAL_CATCH_TEMPLATE_TEST_CASE_METHOD_2( TestNameClass, TestName, ClassName, Name, Tags, Signature, ... ) \ CATCH_INTERNAL_START_WARNINGS_SUPPRESSION \ @@ -1229,7 +1225,7 @@ struct AutoReg : NonCopyable { int index = 0; \ constexpr char const* tmpl_types[] = {CATCH_REC_LIST(INTERNAL_CATCH_STRINGIZE_WITHOUT_PARENS, __VA_ARGS__)};\ using expander = int[];\ - (void)expander{(reg_test(Types{}, #ClassName, Catch::NameAndTags{ Name " - " + std::string(tmpl_types[index]), Tags } ), index++, 0)... };/* NOLINT */ \ + (void)expander{(reg_test(Types{}, #ClassName, Catch::NameAndTags{ Name " - " + std::string(tmpl_types[index]), Tags } ), index++)... };/* NOLINT */ \ }\ };\ static int INTERNAL_CATCH_UNIQUE_NAME( globalRegistrar ) = [](){\ @@ -1243,18 +1239,18 @@ struct AutoReg : NonCopyable { #ifndef CATCH_CONFIG_TRADITIONAL_MSVC_PREPROCESSOR #define INTERNAL_CATCH_TEMPLATE_TEST_CASE_METHOD( ClassName, Name, Tags,... ) \ - INTERNAL_CATCH_TEMPLATE_TEST_CASE_METHOD_2( INTERNAL_CATCH_UNIQUE_NAME( ____C_A_T_C_H____T_E_M_P_L_A_T_E____T_E_S_T____C_L_A_S_S____ ), INTERNAL_CATCH_UNIQUE_NAME( ____C_A_T_C_H____T_E_M_P_L_A_T_E____T_E_S_T____ ) , ClassName, Name, Tags, typename T, __VA_ARGS__ ) + INTERNAL_CATCH_TEMPLATE_TEST_CASE_METHOD_2( INTERNAL_CATCH_UNIQUE_NAME( C_A_T_C_H_T_E_M_P_L_A_T_E_T_E_S_T_C_L_A_S_S_ ), INTERNAL_CATCH_UNIQUE_NAME( C_A_T_C_H_T_E_M_P_L_A_T_E_T_E_S_T_ ) , ClassName, Name, Tags, typename T, __VA_ARGS__ ) #else #define INTERNAL_CATCH_TEMPLATE_TEST_CASE_METHOD( ClassName, Name, Tags,... ) \ - INTERNAL_CATCH_EXPAND_VARGS( INTERNAL_CATCH_TEMPLATE_TEST_CASE_METHOD_2( INTERNAL_CATCH_UNIQUE_NAME( ____C_A_T_C_H____T_E_M_P_L_A_T_E____T_E_S_T____C_L_A_S_S____ ), INTERNAL_CATCH_UNIQUE_NAME( ____C_A_T_C_H____T_E_M_P_L_A_T_E____T_E_S_T____ ) , ClassName, Name, Tags, typename T, __VA_ARGS__ ) ) + INTERNAL_CATCH_EXPAND_VARGS( INTERNAL_CATCH_TEMPLATE_TEST_CASE_METHOD_2( INTERNAL_CATCH_UNIQUE_NAME( C_A_T_C_H_T_E_M_P_L_A_T_E_T_E_S_T_C_L_A_S_S_ ), INTERNAL_CATCH_UNIQUE_NAME( C_A_T_C_H_T_E_M_P_L_A_T_E_T_E_S_T_ ) , ClassName, Name, Tags, typename T, __VA_ARGS__ ) ) #endif #ifndef CATCH_CONFIG_TRADITIONAL_MSVC_PREPROCESSOR #define INTERNAL_CATCH_TEMPLATE_TEST_CASE_METHOD_SIG( ClassName, Name, Tags, Signature, ... ) \ - INTERNAL_CATCH_TEMPLATE_TEST_CASE_METHOD_2( INTERNAL_CATCH_UNIQUE_NAME( ____C_A_T_C_H____T_E_M_P_L_A_T_E____T_E_S_T____C_L_A_S_S____ ), INTERNAL_CATCH_UNIQUE_NAME( ____C_A_T_C_H____T_E_M_P_L_A_T_E____T_E_S_T____ ) , ClassName, Name, Tags, Signature, __VA_ARGS__ ) + INTERNAL_CATCH_TEMPLATE_TEST_CASE_METHOD_2( INTERNAL_CATCH_UNIQUE_NAME( C_A_T_C_H_T_E_M_P_L_A_T_E_T_E_S_T_C_L_A_S_S_ ), INTERNAL_CATCH_UNIQUE_NAME( C_A_T_C_H_T_E_M_P_L_A_T_E_T_E_S_T_ ) , ClassName, Name, Tags, Signature, __VA_ARGS__ ) #else #define INTERNAL_CATCH_TEMPLATE_TEST_CASE_METHOD_SIG( ClassName, Name, Tags, Signature, ... ) \ - INTERNAL_CATCH_EXPAND_VARGS( INTERNAL_CATCH_TEMPLATE_TEST_CASE_METHOD_2( INTERNAL_CATCH_UNIQUE_NAME( ____C_A_T_C_H____T_E_M_P_L_A_T_E____T_E_S_T____C_L_A_S_S____ ), INTERNAL_CATCH_UNIQUE_NAME( ____C_A_T_C_H____T_E_M_P_L_A_T_E____T_E_S_T____ ) , ClassName, Name, Tags, Signature, __VA_ARGS__ ) ) + INTERNAL_CATCH_EXPAND_VARGS( INTERNAL_CATCH_TEMPLATE_TEST_CASE_METHOD_2( INTERNAL_CATCH_UNIQUE_NAME( C_A_T_C_H_T_E_M_P_L_A_T_E_T_E_S_T_C_L_A_S_S_ ), INTERNAL_CATCH_UNIQUE_NAME( C_A_T_C_H_T_E_M_P_L_A_T_E_T_E_S_T_ ) , ClassName, Name, Tags, Signature, __VA_ARGS__ ) ) #endif #define INTERNAL_CATCH_TEMPLATE_PRODUCT_TEST_CASE_METHOD_2(TestNameClass, TestName, ClassName, Name, Tags, Signature, TmplTypes, TypesList)\ @@ -1278,7 +1274,7 @@ struct AutoReg : NonCopyable { constexpr char const* tmpl_types[] = {CATCH_REC_LIST(INTERNAL_CATCH_STRINGIZE_WITHOUT_PARENS, INTERNAL_CATCH_REMOVE_PARENS(TmplTypes))};\ constexpr char const* types_list[] = {CATCH_REC_LIST(INTERNAL_CATCH_STRINGIZE_WITHOUT_PARENS, INTERNAL_CATCH_REMOVE_PARENS(TypesList))};\ constexpr auto num_types = sizeof(types_list) / sizeof(types_list[0]);\ - (void)expander{(Catch::AutoReg( Catch::makeTestInvoker( &TestName::test ), CATCH_INTERNAL_LINEINFO, #ClassName, Catch::NameAndTags{ Name " - " + std::string(tmpl_types[index / num_types]) + "<" + std::string(types_list[index % num_types]) + ">", Tags } ), index++, 0)... };/* NOLINT */ \ + (void)expander{(Catch::AutoReg( Catch::makeTestInvoker( &TestName::test ), CATCH_INTERNAL_LINEINFO, #ClassName, Catch::NameAndTags{ Name " - " + std::string(tmpl_types[index / num_types]) + "<" + std::string(types_list[index % num_types]) + ">", Tags } ), index++)... };/* NOLINT */ \ }\ };\ static int INTERNAL_CATCH_UNIQUE_NAME( globalRegistrar ) = [](){\ @@ -1295,18 +1291,18 @@ struct AutoReg : NonCopyable { #ifndef CATCH_CONFIG_TRADITIONAL_MSVC_PREPROCESSOR #define INTERNAL_CATCH_TEMPLATE_PRODUCT_TEST_CASE_METHOD( ClassName, Name, Tags, ... )\ - INTERNAL_CATCH_TEMPLATE_PRODUCT_TEST_CASE_METHOD_2( INTERNAL_CATCH_UNIQUE_NAME( ____C_A_T_C_H____T_E_M_P_L_A_T_E____T_E_S_T____ ), INTERNAL_CATCH_UNIQUE_NAME( ____C_A_T_C_H____T_E_M_P_L_A_T_E____T_E_S_T____F_U_N_C____ ), ClassName, Name, Tags, typename T, __VA_ARGS__ ) + INTERNAL_CATCH_TEMPLATE_PRODUCT_TEST_CASE_METHOD_2( INTERNAL_CATCH_UNIQUE_NAME( C_A_T_C_H_T_E_M_P_L_A_T_E_T_E_S_T_ ), INTERNAL_CATCH_UNIQUE_NAME( C_A_T_C_H_T_E_M_P_L_A_T_E_T_E_S_T_F_U_N_C_ ), ClassName, Name, Tags, typename T, __VA_ARGS__ ) #else #define INTERNAL_CATCH_TEMPLATE_PRODUCT_TEST_CASE_METHOD( ClassName, Name, Tags, ... )\ - INTERNAL_CATCH_EXPAND_VARGS( INTERNAL_CATCH_TEMPLATE_PRODUCT_TEST_CASE_METHOD_2( INTERNAL_CATCH_UNIQUE_NAME( ____C_A_T_C_H____T_E_M_P_L_A_T_E____T_E_S_T____ ), INTERNAL_CATCH_UNIQUE_NAME( ____C_A_T_C_H____T_E_M_P_L_A_T_E____T_E_S_T____F_U_N_C____ ), ClassName, Name, Tags, typename T,__VA_ARGS__ ) ) + INTERNAL_CATCH_EXPAND_VARGS( INTERNAL_CATCH_TEMPLATE_PRODUCT_TEST_CASE_METHOD_2( INTERNAL_CATCH_UNIQUE_NAME( C_A_T_C_H_T_E_M_P_L_A_T_E_T_E_S_T_ ), INTERNAL_CATCH_UNIQUE_NAME( C_A_T_C_H_T_E_M_P_L_A_T_E_T_E_S_T_F_U_N_C_ ), ClassName, Name, Tags, typename T,__VA_ARGS__ ) ) #endif #ifndef CATCH_CONFIG_TRADITIONAL_MSVC_PREPROCESSOR #define INTERNAL_CATCH_TEMPLATE_PRODUCT_TEST_CASE_METHOD_SIG( ClassName, Name, Tags, Signature, ... )\ - INTERNAL_CATCH_TEMPLATE_PRODUCT_TEST_CASE_METHOD_2( INTERNAL_CATCH_UNIQUE_NAME( ____C_A_T_C_H____T_E_M_P_L_A_T_E____T_E_S_T____ ), INTERNAL_CATCH_UNIQUE_NAME( ____C_A_T_C_H____T_E_M_P_L_A_T_E____T_E_S_T____F_U_N_C____ ), ClassName, Name, Tags, Signature, __VA_ARGS__ ) + INTERNAL_CATCH_TEMPLATE_PRODUCT_TEST_CASE_METHOD_2( INTERNAL_CATCH_UNIQUE_NAME( C_A_T_C_H_T_E_M_P_L_A_T_E_T_E_S_T_ ), INTERNAL_CATCH_UNIQUE_NAME( C_A_T_C_H_T_E_M_P_L_A_T_E_T_E_S_T_F_U_N_C_ ), ClassName, Name, Tags, Signature, __VA_ARGS__ ) #else #define INTERNAL_CATCH_TEMPLATE_PRODUCT_TEST_CASE_METHOD_SIG( ClassName, Name, Tags, Signature, ... )\ - INTERNAL_CATCH_EXPAND_VARGS( INTERNAL_CATCH_TEMPLATE_PRODUCT_TEST_CASE_METHOD_2( INTERNAL_CATCH_UNIQUE_NAME( ____C_A_T_C_H____T_E_M_P_L_A_T_E____T_E_S_T____ ), INTERNAL_CATCH_UNIQUE_NAME( ____C_A_T_C_H____T_E_M_P_L_A_T_E____T_E_S_T____F_U_N_C____ ), ClassName, Name, Tags, Signature,__VA_ARGS__ ) ) + INTERNAL_CATCH_EXPAND_VARGS( INTERNAL_CATCH_TEMPLATE_PRODUCT_TEST_CASE_METHOD_2( INTERNAL_CATCH_UNIQUE_NAME( C_A_T_C_H_T_E_M_P_L_A_T_E_T_E_S_T_ ), INTERNAL_CATCH_UNIQUE_NAME( C_A_T_C_H_T_E_M_P_L_A_T_E_T_E_S_T_F_U_N_C_ ), ClassName, Name, Tags, Signature,__VA_ARGS__ ) ) #endif #define INTERNAL_CATCH_TEMPLATE_LIST_TEST_CASE_METHOD_2( TestNameClass, TestName, ClassName, Name, Tags, TmplList) \ @@ -1325,7 +1321,7 @@ struct AutoReg : NonCopyable { void reg_tests(){\ int index = 0;\ using expander = int[];\ - (void)expander{(Catch::AutoReg( Catch::makeTestInvoker( &TestName::test ), CATCH_INTERNAL_LINEINFO, #ClassName, Catch::NameAndTags{ Name " - " + std::string(INTERNAL_CATCH_STRINGIZE(TmplList)) + " - " + std::to_string(index), Tags } ), index++, 0)... };/* NOLINT */ \ + (void)expander{(Catch::AutoReg( Catch::makeTestInvoker( &TestName::test ), CATCH_INTERNAL_LINEINFO, #ClassName, Catch::NameAndTags{ Name " - " + std::string(INTERNAL_CATCH_STRINGIZE(TmplList)) + " - " + std::to_string(index), Tags } ), index++)... };/* NOLINT */ \ }\ };\ static int INTERNAL_CATCH_UNIQUE_NAME( globalRegistrar ) = [](){\ @@ -1340,7 +1336,7 @@ struct AutoReg : NonCopyable { void TestName::test() #define INTERNAL_CATCH_TEMPLATE_LIST_TEST_CASE_METHOD(ClassName, Name, Tags, TmplList) \ - INTERNAL_CATCH_TEMPLATE_LIST_TEST_CASE_METHOD_2( INTERNAL_CATCH_UNIQUE_NAME( ____C_A_T_C_H____T_E_M_P_L_A_T_E____T_E_S_T____ ), INTERNAL_CATCH_UNIQUE_NAME( ____C_A_T_C_H____T_E_M_P_L_A_T_E____T_E_S_T____F_U_N_C____ ), ClassName, Name, Tags, TmplList ) + INTERNAL_CATCH_TEMPLATE_LIST_TEST_CASE_METHOD_2( INTERNAL_CATCH_UNIQUE_NAME( C_A_T_C_H_T_E_M_P_L_A_T_E_T_E_S_T_ ), INTERNAL_CATCH_UNIQUE_NAME( C_A_T_C_H_T_E_M_P_L_A_T_E_T_E_S_T_F_U_N_C_ ), ClassName, Name, Tags, TmplList ) // end catch_test_registry.h // start catch_capture.hpp @@ -1829,8 +1825,8 @@ namespace Catch { #endif namespace Detail { - template - std::string rangeToString(InputIterator first, InputIterator last) { + template + std::string rangeToString(InputIterator first, Sentinel last) { ReusableStringStream rss; rss << "{ "; if (first != last) { @@ -3097,7 +3093,7 @@ namespace Detail { Approx operator-() const; template ::value>::type> - Approx operator()( T const& value ) { + Approx operator()( T const& value ) const { Approx approx( static_cast(value) ); approx.m_epsilon = m_epsilon; approx.m_margin = m_margin; @@ -4169,7 +4165,7 @@ namespace Generators { if (!m_predicate(m_generator.get())) { // It might happen that there are no values that pass the // filter. In that case we throw an exception. - auto has_initial_value = next(); + auto has_initial_value = nextImpl(); if (!has_initial_value) { Catch::throw_exception(GeneratorException("No valid value found in filtered generator")); } @@ -4181,6 +4177,11 @@ namespace Generators { } bool next() override { + return nextImpl(); + } + + private: + bool nextImpl() { bool success = m_generator.next(); if (!success) { return false; @@ -5464,6 +5465,8 @@ namespace Catch { } // namespace Catch // end catch_outlier_classification.hpp + +#include #endif // CATCH_CONFIG_ENABLE_BENCHMARKING #include @@ -6348,9 +6351,10 @@ namespace Catch { void writeTestCase(TestCaseNode const& testCaseNode); - void writeSection(std::string const& className, - std::string const& rootName, - SectionNode const& sectionNode); + void writeSection( std::string const& className, + std::string const& rootName, + SectionNode const& sectionNode, + bool testOkToFail ); void writeAssertions(SectionNode const& sectionNode); void writeAssertion(AssertionStats const& stats); @@ -6885,7 +6889,7 @@ namespace Catch { } iters *= 2; } - throw optimized_away_error{}; + Catch::throw_exception(optimized_away_error{}); } } // namespace Detail } // namespace Benchmark @@ -6893,6 +6897,7 @@ namespace Catch { // end catch_run_for_at_least.hpp #include +#include namespace Catch { namespace Benchmark { @@ -7063,8 +7068,8 @@ namespace Catch { double b2 = bias - z1; double a1 = a(b1); double a2 = a(b2); - auto lo = std::max(cumn(a1), 0); - auto hi = std::min(cumn(a2), n - 1); + auto lo = (std::max)(cumn(a1), 0); + auto hi = (std::min)(cumn(a2), n - 1); return { point, resample[lo], resample[hi], confidence_level }; } @@ -7133,7 +7138,9 @@ namespace Catch { } template EnvironmentEstimate> estimate_clock_cost(FloatDuration resolution) { - auto time_limit = std::min(resolution * clock_cost_estimation_tick_limit, FloatDuration(clock_cost_estimation_time_limit)); + auto time_limit = (std::min)( + resolution * clock_cost_estimation_tick_limit, + FloatDuration(clock_cost_estimation_time_limit)); auto time_clock = [](int k) { return Detail::measure([k] { for (int i = 0; i < k; ++i) { @@ -7611,6 +7618,10 @@ namespace TestCaseTracking { void addInitialFilters( std::vector const& filters ); void addNextFilters( std::vector const& filters ); + //! Returns filters active in this tracker + std::vector const& getFilters() const; + //! Returns whitespace-trimmed name of the tracked section + std::string const& trimmedName() const; }; } // namespace TestCaseTracking @@ -7776,7 +7787,7 @@ namespace Catch { double sb = stddev.point; double mn = mean.point / n; double mg_min = mn / 2.; - double sg = std::min(mg_min / 4., sb / std::sqrt(n)); + double sg = (std::min)(mg_min / 4., sb / std::sqrt(n)); double sg2 = sg * sg; double sb2 = sb * sb; @@ -7795,7 +7806,7 @@ namespace Catch { return (nc / n) * (sb2 - nc * sg2); }; - return std::min(var_out(1), var_out(std::min(c_max(0.), c_max(mg_min)))) / sb2; + return (std::min)(var_out(1), var_out((std::min)(c_max(0.), c_max(mg_min)))) / sb2; } bootstrap_analysis analyse_samples(double confidence_level, int n_resamples, std::vector::iterator first, std::vector::iterator last) { @@ -7985,86 +7996,58 @@ namespace Catch { // start catch_fatal_condition.h -// start catch_windows_h_proxy.h - - -#if defined(CATCH_PLATFORM_WINDOWS) - -#if !defined(NOMINMAX) && !defined(CATCH_CONFIG_NO_NOMINMAX) -# define CATCH_DEFINED_NOMINMAX -# define NOMINMAX -#endif -#if !defined(WIN32_LEAN_AND_MEAN) && !defined(CATCH_CONFIG_NO_WIN32_LEAN_AND_MEAN) -# define CATCH_DEFINED_WIN32_LEAN_AND_MEAN -# define WIN32_LEAN_AND_MEAN -#endif - -#ifdef __AFXDLL -#include -#else -#include -#endif - -#ifdef CATCH_DEFINED_NOMINMAX -# undef NOMINMAX -#endif -#ifdef CATCH_DEFINED_WIN32_LEAN_AND_MEAN -# undef WIN32_LEAN_AND_MEAN -#endif - -#endif // defined(CATCH_PLATFORM_WINDOWS) - -// end catch_windows_h_proxy.h -#if defined( CATCH_CONFIG_WINDOWS_SEH ) +#include namespace Catch { - struct FatalConditionHandler { - - static LONG CALLBACK handleVectoredException(PEXCEPTION_POINTERS ExceptionInfo); + // Wrapper for platform-specific fatal error (signals/SEH) handlers + // + // Tries to be cooperative with other handlers, and not step over + // other handlers. This means that unknown structured exceptions + // are passed on, previous signal handlers are called, and so on. + // + // Can only be instantiated once, and assumes that once a signal + // is caught, the binary will end up terminating. Thus, there + class FatalConditionHandler { + bool m_started = false; + + // Install/disengage implementation for specific platform. + // Should be if-defed to work on current platform, can assume + // engage-disengage 1:1 pairing. + void engage_platform(); + void disengage_platform(); + public: + // Should also have platform-specific implementations as needed FatalConditionHandler(); - static void reset(); ~FatalConditionHandler(); - private: - static bool isSet; - static ULONG guaranteeSize; - static PVOID exceptionHandlerHandle; - }; - -} // namespace Catch - -#elif defined ( CATCH_CONFIG_POSIX_SIGNALS ) - -#include - -namespace Catch { - - struct FatalConditionHandler { - - static bool isSet; - static struct sigaction oldSigActions[]; - static stack_t oldSigStack; - static char altStackMem[]; - - static void handleSignal( int sig ); + void engage() { + assert(!m_started && "Handler cannot be installed twice."); + m_started = true; + engage_platform(); + } - FatalConditionHandler(); - ~FatalConditionHandler(); - static void reset(); + void disengage() { + assert(m_started && "Handler cannot be uninstalled without being installed first"); + m_started = false; + disengage_platform(); + } }; -} // namespace Catch - -#else - -namespace Catch { - struct FatalConditionHandler { - void reset(); + //! Simple RAII guard for (dis)engaging the FatalConditionHandler + class FatalConditionHandlerGuard { + FatalConditionHandler* m_handler; + public: + FatalConditionHandlerGuard(FatalConditionHandler* handler): + m_handler(handler) { + m_handler->engage(); + } + ~FatalConditionHandlerGuard() { + m_handler->disengage(); + } }; -} -#endif +} // end namespace Catch // end catch_fatal_condition.h #include @@ -8190,6 +8173,7 @@ namespace Catch { std::vector m_unfinishedSections; std::vector m_activeSections; TrackerContext m_trackerContext; + FatalConditionHandler m_fatalConditionhandler; bool m_lastAssertionPassed = false; bool m_shouldReportUnexpected = true; bool m_includeSuccessfulResults; @@ -10062,6 +10046,36 @@ namespace Catch { } // end catch_errno_guard.h +// start catch_windows_h_proxy.h + + +#if defined(CATCH_PLATFORM_WINDOWS) + +#if !defined(NOMINMAX) && !defined(CATCH_CONFIG_NO_NOMINMAX) +# define CATCH_DEFINED_NOMINMAX +# define NOMINMAX +#endif +#if !defined(WIN32_LEAN_AND_MEAN) && !defined(CATCH_CONFIG_NO_WIN32_LEAN_AND_MEAN) +# define CATCH_DEFINED_WIN32_LEAN_AND_MEAN +# define WIN32_LEAN_AND_MEAN +#endif + +#ifdef __AFXDLL +#include +#else +#include +#endif + +#ifdef CATCH_DEFINED_NOMINMAX +# undef NOMINMAX +#endif +#ifdef CATCH_DEFINED_WIN32_LEAN_AND_MEAN +# undef WIN32_LEAN_AND_MEAN +#endif + +#endif // defined(CATCH_PLATFORM_WINDOWS) + +// end catch_windows_h_proxy.h #include namespace Catch { @@ -10578,7 +10592,7 @@ namespace Catch { // Extracts the actual name part of an enum instance // In other words, it returns the Blue part of Bikeshed::Colour::Blue StringRef extractInstanceName(StringRef enumInstance) { - // Find last occurence of ":" + // Find last occurrence of ":" size_t name_start = enumInstance.size(); while (name_start > 0 && enumInstance[name_start - 1] != ':') { --name_start; @@ -10740,25 +10754,47 @@ namespace Catch { // end catch_exception_translator_registry.cpp // start catch_fatal_condition.cpp -#if defined(__GNUC__) -# pragma GCC diagnostic push -# pragma GCC diagnostic ignored "-Wmissing-field-initializers" -#endif +#include + +#if !defined( CATCH_CONFIG_WINDOWS_SEH ) && !defined( CATCH_CONFIG_POSIX_SIGNALS ) + +namespace Catch { + + // If neither SEH nor signal handling is required, the handler impls + // do not have to do anything, and can be empty. + void FatalConditionHandler::engage_platform() {} + void FatalConditionHandler::disengage_platform() {} + FatalConditionHandler::FatalConditionHandler() = default; + FatalConditionHandler::~FatalConditionHandler() = default; + +} // end namespace Catch + +#endif // !CATCH_CONFIG_WINDOWS_SEH && !CATCH_CONFIG_POSIX_SIGNALS + +#if defined( CATCH_CONFIG_WINDOWS_SEH ) && defined( CATCH_CONFIG_POSIX_SIGNALS ) +#error "Inconsistent configuration: Windows' SEH handling and POSIX signals cannot be enabled at the same time" +#endif // CATCH_CONFIG_WINDOWS_SEH && CATCH_CONFIG_POSIX_SIGNALS #if defined( CATCH_CONFIG_WINDOWS_SEH ) || defined( CATCH_CONFIG_POSIX_SIGNALS ) namespace { - // Report the error condition + //! Signals fatal error message to the run context void reportFatal( char const * const message ) { Catch::getCurrentContext().getResultCapture()->handleFatalErrorCondition( message ); } -} -#endif // signals/SEH handling + //! Minimal size Catch2 needs for its own fatal error handling. + //! Picked anecdotally, so it might not be sufficient on all + //! platforms, and for all configurations. + constexpr std::size_t minStackSizeForErrors = 32 * 1024; +} // end unnamed namespace + +#endif // CATCH_CONFIG_WINDOWS_SEH || CATCH_CONFIG_POSIX_SIGNALS #if defined( CATCH_CONFIG_WINDOWS_SEH ) namespace Catch { + struct SignalDefs { DWORD id; const char* name; }; // There is no 1-1 mapping between signals and windows exceptions. @@ -10771,7 +10807,7 @@ namespace Catch { { static_cast(EXCEPTION_INT_DIVIDE_BY_ZERO), "Divide by zero error" }, }; - LONG CALLBACK FatalConditionHandler::handleVectoredException(PEXCEPTION_POINTERS ExceptionInfo) { + static LONG CALLBACK handleVectoredException(PEXCEPTION_POINTERS ExceptionInfo) { for (auto const& def : signalDefs) { if (ExceptionInfo->ExceptionRecord->ExceptionCode == def.id) { reportFatal(def.name); @@ -10782,38 +10818,50 @@ namespace Catch { return EXCEPTION_CONTINUE_SEARCH; } + // Since we do not support multiple instantiations, we put these + // into global variables and rely on cleaning them up in outlined + // constructors/destructors + static PVOID exceptionHandlerHandle = nullptr; + + // For MSVC, we reserve part of the stack memory for handling + // memory overflow structured exception. FatalConditionHandler::FatalConditionHandler() { - isSet = true; - // 32k seems enough for Catch to handle stack overflow, - // but the value was found experimentally, so there is no strong guarantee - guaranteeSize = 32 * 1024; - exceptionHandlerHandle = nullptr; + ULONG guaranteeSize = static_cast(minStackSizeForErrors); + if (!SetThreadStackGuarantee(&guaranteeSize)) { + // We do not want to fully error out, because needing + // the stack reserve should be rare enough anyway. + Catch::cerr() + << "Failed to reserve piece of stack." + << " Stack overflows will not be reported successfully."; + } + } + + // We do not attempt to unset the stack guarantee, because + // Windows does not support lowering the stack size guarantee. + FatalConditionHandler::~FatalConditionHandler() = default; + + void FatalConditionHandler::engage_platform() { // Register as first handler in current chain exceptionHandlerHandle = AddVectoredExceptionHandler(1, handleVectoredException); - // Pass in guarantee size to be filled - SetThreadStackGuarantee(&guaranteeSize); + if (!exceptionHandlerHandle) { + CATCH_RUNTIME_ERROR("Could not register vectored exception handler"); + } } - void FatalConditionHandler::reset() { - if (isSet) { - RemoveVectoredExceptionHandler(exceptionHandlerHandle); - SetThreadStackGuarantee(&guaranteeSize); - exceptionHandlerHandle = nullptr; - isSet = false; + void FatalConditionHandler::disengage_platform() { + if (!RemoveVectoredExceptionHandler(exceptionHandlerHandle)) { + CATCH_RUNTIME_ERROR("Could not unregister vectored exception handler"); } + exceptionHandlerHandle = nullptr; } - FatalConditionHandler::~FatalConditionHandler() { - reset(); - } +} // end namespace Catch -bool FatalConditionHandler::isSet = false; -ULONG FatalConditionHandler::guaranteeSize = 0; -PVOID FatalConditionHandler::exceptionHandlerHandle = nullptr; +#endif // CATCH_CONFIG_WINDOWS_SEH -} // namespace Catch +#if defined( CATCH_CONFIG_POSIX_SIGNALS ) -#elif defined( CATCH_CONFIG_POSIX_SIGNALS ) +#include namespace Catch { @@ -10822,10 +10870,6 @@ namespace Catch { const char* name; }; - // 32kb for the alternate stack seems to be sufficient. However, this value - // is experimentally determined, so that's not guaranteed. - static constexpr std::size_t sigStackSize = 32768 >= MINSIGSTKSZ ? 32768 : MINSIGSTKSZ; - static SignalDefs signalDefs[] = { { SIGINT, "SIGINT - Terminal interrupt signal" }, { SIGILL, "SIGILL - Illegal instruction signal" }, @@ -10835,7 +10879,32 @@ namespace Catch { { SIGABRT, "SIGABRT - Abort (abnormal termination) signal" } }; - void FatalConditionHandler::handleSignal( int sig ) { +// Older GCCs trigger -Wmissing-field-initializers for T foo = {} +// which is zero initialization, but not explicit. We want to avoid +// that. +#if defined(__GNUC__) +# pragma GCC diagnostic push +# pragma GCC diagnostic ignored "-Wmissing-field-initializers" +#endif + + static char* altStackMem = nullptr; + static std::size_t altStackSize = 0; + static stack_t oldSigStack{}; + static struct sigaction oldSigActions[sizeof(signalDefs) / sizeof(SignalDefs)]{}; + + static void restorePreviousSignalHandlers() { + // We set signal handlers back to the previous ones. Hopefully + // nobody overwrote them in the meantime, and doesn't expect + // their signal handlers to live past ours given that they + // installed them after ours.. + for (std::size_t i = 0; i < sizeof(signalDefs) / sizeof(SignalDefs); ++i) { + sigaction(signalDefs[i].id, &oldSigActions[i], nullptr); + } + // Return the old stack + sigaltstack(&oldSigStack, nullptr); + } + + static void handleSignal( int sig ) { char const * name = ""; for (auto const& def : signalDefs) { if (sig == def.id) { @@ -10843,16 +10912,33 @@ namespace Catch { break; } } - reset(); - reportFatal(name); + // We need to restore previous signal handlers and let them do + // their thing, so that the users can have the debugger break + // when a signal is raised, and so on. + restorePreviousSignalHandlers(); + reportFatal( name ); raise( sig ); } FatalConditionHandler::FatalConditionHandler() { - isSet = true; + assert(!altStackMem && "Cannot initialize POSIX signal handler when one already exists"); + if (altStackSize == 0) { + altStackSize = std::max(static_cast(SIGSTKSZ), minStackSizeForErrors); + } + altStackMem = new char[altStackSize](); + } + + FatalConditionHandler::~FatalConditionHandler() { + delete[] altStackMem; + // We signal that another instance can be constructed by zeroing + // out the pointer. + altStackMem = nullptr; + } + + void FatalConditionHandler::engage_platform() { stack_t sigStack; sigStack.ss_sp = altStackMem; - sigStack.ss_size = sigStackSize; + sigStack.ss_size = altStackSize; sigStack.ss_flags = 0; sigaltstack(&sigStack, &oldSigStack); struct sigaction sa = { }; @@ -10864,40 +10950,17 @@ namespace Catch { } } - FatalConditionHandler::~FatalConditionHandler() { - reset(); - } +#if defined(__GNUC__) +# pragma GCC diagnostic pop +#endif - void FatalConditionHandler::reset() { - if( isSet ) { - // Set signals back to previous values -- hopefully nobody overwrote them in the meantime - for( std::size_t i = 0; i < sizeof(signalDefs)/sizeof(SignalDefs); ++i ) { - sigaction(signalDefs[i].id, &oldSigActions[i], nullptr); - } - // Return the old stack - sigaltstack(&oldSigStack, nullptr); - isSet = false; - } + void FatalConditionHandler::disengage_platform() { + restorePreviousSignalHandlers(); } - bool FatalConditionHandler::isSet = false; - struct sigaction FatalConditionHandler::oldSigActions[sizeof(signalDefs)/sizeof(SignalDefs)] = {}; - stack_t FatalConditionHandler::oldSigStack = {}; - char FatalConditionHandler::altStackMem[sigStackSize] = {}; - -} // namespace Catch - -#else - -namespace Catch { - void FatalConditionHandler::reset() {} -} - -#endif // signals/SEH handling +} // end namespace Catch -#if defined(__GNUC__) -# pragma GCC diagnostic pop -#endif +#endif // CATCH_CONFIG_POSIX_SIGNALS // end catch_fatal_condition.cpp // start catch_generators.cpp @@ -11452,7 +11515,8 @@ namespace { return lhs == rhs; } - auto ulpDiff = std::abs(lc - rc); + // static cast as a workaround for IBM XLC + auto ulpDiff = std::abs(static_cast(lc - rc)); return static_cast(ulpDiff) <= maxUlpDiff; } @@ -11626,7 +11690,6 @@ Floating::WithinRelMatcher WithinRel(float target) { } // namespace Matchers } // namespace Catch - // end catch_matchers_floating.cpp // start catch_matchers_generic.cpp @@ -12042,7 +12105,7 @@ namespace Catch { if (tmpnam_s(m_buffer)) { CATCH_RUNTIME_ERROR("Could not get a temp filename"); } - if (fopen_s(&m_file, m_buffer, "w")) { + if (fopen_s(&m_file, m_buffer, "w+")) { char buffer[100]; if (strerror_s(buffer, errno)) { CATCH_RUNTIME_ERROR("Could not translate errno to a string"); @@ -12580,13 +12643,53 @@ namespace Catch { // `SECTION`s. // **The check for m_children.empty cannot be removed**. // doing so would break `GENERATE` _not_ followed by `SECTION`s. - const bool should_wait_for_child = - !m_children.empty() && - std::find_if( m_children.begin(), - m_children.end(), - []( TestCaseTracking::ITrackerPtr tracker ) { - return tracker->hasStarted(); - } ) == m_children.end(); + const bool should_wait_for_child = [&]() { + // No children -> nobody to wait for + if ( m_children.empty() ) { + return false; + } + // If at least one child started executing, don't wait + if ( std::find_if( + m_children.begin(), + m_children.end(), + []( TestCaseTracking::ITrackerPtr tracker ) { + return tracker->hasStarted(); + } ) != m_children.end() ) { + return false; + } + + // No children have started. We need to check if they _can_ + // start, and thus we should wait for them, or they cannot + // start (due to filters), and we shouldn't wait for them + auto* parent = m_parent; + // This is safe: there is always at least one section + // tracker in a test case tracking tree + while ( !parent->isSectionTracker() ) { + parent = &( parent->parent() ); + } + assert( parent && + "Missing root (test case) level section" ); + + auto const& parentSection = + static_cast( *parent ); + auto const& filters = parentSection.getFilters(); + // No filters -> no restrictions on running sections + if ( filters.empty() ) { + return true; + } + + for ( auto const& child : m_children ) { + if ( child->isSectionTracker() && + std::find( filters.begin(), + filters.end(), + static_cast( *child ) + .trimmedName() ) != + filters.end() ) { + return true; + } + } + return false; + }(); // This check is a bit tricky, because m_generator->next() // has a side-effect, where it consumes generator's current @@ -12920,9 +13023,8 @@ namespace Catch { } void RunContext::invokeActiveTestCase() { - FatalConditionHandler fatalConditionHandler; // Handle signals + FatalConditionHandlerGuard _(&m_fatalConditionhandler); m_activeTestCase->invoke(); - fatalConditionHandler.reset(); } void RunContext::handleUnfinishedSections() { @@ -13290,6 +13392,10 @@ namespace Catch { filename.erase(0, lastSlash); filename[0] = '#'; } + else + { + filename.insert(0, "#"); + } auto lastDot = filename.find_last_of('.'); if (lastDot != std::string::npos) { @@ -14091,24 +14197,28 @@ namespace Catch { namespace { struct TestHasher { - explicit TestHasher(Catch::SimplePcg32& rng) { - basis = rng(); - basis <<= 32; - basis |= rng(); - } + using hash_t = uint64_t; - uint64_t basis; + explicit TestHasher( hash_t hashSuffix ): + m_hashSuffix{ hashSuffix } {} - uint64_t operator()(TestCase const& t) const { - // Modified FNV-1a hash - static constexpr uint64_t prime = 1099511628211; - uint64_t hash = basis; - for (const char c : t.name) { + uint32_t operator()( TestCase const& t ) const { + // FNV-1a hash with multiplication fold. + const hash_t prime = 1099511628211u; + hash_t hash = 14695981039346656037u; + for ( const char c : t.name ) { hash ^= c; hash *= prime; } - return hash; + hash ^= m_hashSuffix; + hash *= prime; + const uint32_t low{ static_cast( hash ) }; + const uint32_t high{ static_cast( hash >> 32 ) }; + return low * high; } + + private: + hash_t m_hashSuffix; }; } // end unnamed namespace @@ -14126,9 +14236,9 @@ namespace Catch { case RunTests::InRandomOrder: { seedRng( config ); - TestHasher h( rng() ); + TestHasher h{ config.rngSeed() }; - using hashedTest = std::pair; + using hashedTest = std::pair; std::vector indexed_tests; indexed_tests.reserve( unsortedTestCases.size() ); @@ -14458,6 +14568,14 @@ namespace TestCaseTracking { m_filters.insert( m_filters.end(), filters.begin()+1, filters.end() ); } + std::vector const& SectionTracker::getFilters() const { + return m_filters; + } + + std::string const& SectionTracker::trimmedName() const { + return m_trimmed_name; + } + } // namespace TestCaseTracking using TestCaseTracking::ITracker; @@ -15192,6 +15310,41 @@ namespace Catch { // end catch_totals.cpp // start catch_uncaught_exceptions.cpp +// start catch_config_uncaught_exceptions.hpp + +// Copyright Catch2 Authors +// Distributed under the Boost Software License, Version 1.0. +// (See accompanying file LICENSE_1_0.txt or copy at +// https://www.boost.org/LICENSE_1_0.txt) + +// SPDX-License-Identifier: BSL-1.0 + +#ifndef CATCH_CONFIG_UNCAUGHT_EXCEPTIONS_HPP +#define CATCH_CONFIG_UNCAUGHT_EXCEPTIONS_HPP + +#if defined(_MSC_VER) +# if _MSC_VER >= 1900 // Visual Studio 2015 or newer +# define CATCH_INTERNAL_CONFIG_CPP17_UNCAUGHT_EXCEPTIONS +# endif +#endif + +#include + +#if defined(__cpp_lib_uncaught_exceptions) \ + && !defined(CATCH_INTERNAL_CONFIG_CPP17_UNCAUGHT_EXCEPTIONS) + +# define CATCH_INTERNAL_CONFIG_CPP17_UNCAUGHT_EXCEPTIONS +#endif // __cpp_lib_uncaught_exceptions + +#if defined(CATCH_INTERNAL_CONFIG_CPP17_UNCAUGHT_EXCEPTIONS) \ + && !defined(CATCH_CONFIG_NO_CPP17_UNCAUGHT_EXCEPTIONS) \ + && !defined(CATCH_CONFIG_CPP17_UNCAUGHT_EXCEPTIONS) + +# define CATCH_CONFIG_CPP17_UNCAUGHT_EXCEPTIONS +#endif + +#endif // CATCH_CONFIG_UNCAUGHT_EXCEPTIONS_HPP +// end catch_config_uncaught_exceptions.hpp #include namespace Catch { @@ -15238,7 +15391,7 @@ namespace Catch { } Version const& libraryVersion() { - static Version version( 2, 13, 0, "", 0 ); + static Version version( 2, 13, 9, "", 0 ); return version; } @@ -16651,6 +16804,7 @@ CATCH_REGISTER_REPORTER("console", ConsoleReporter) #include #include #include +#include namespace Catch { @@ -16678,7 +16832,7 @@ namespace Catch { #else std::strftime(timeStamp, timeStampSize, fmt, timeInfo); #endif - return std::string(timeStamp); + return std::string(timeStamp, timeStampSize-1); } std::string fileNameTag(const std::vector &tags) { @@ -16689,6 +16843,17 @@ namespace Catch { return it->substr(1); return std::string(); } + + // Formats the duration in seconds to 3 decimal places. + // This is done because some genius defined Maven Surefire schema + // in a way that only accepts 3 decimal places, and tools like + // Jenkins use that schema for validation JUnit reporter output. + std::string formatDuration( double seconds ) { + ReusableStringStream rss; + rss << std::fixed << std::setprecision( 3 ) << seconds; + return rss.str(); + } + } // anonymous namespace JunitReporter::JunitReporter( ReporterConfig const& _config ) @@ -16758,7 +16923,7 @@ namespace Catch { if( m_config->showDurations() == ShowDurations::Never ) xml.writeAttribute( "time", "" ); else - xml.writeAttribute( "time", suiteTime ); + xml.writeAttribute( "time", formatDuration( suiteTime ) ); xml.writeAttribute( "timestamp", getCurrentTimestamp() ); // Write properties if there are any @@ -16803,12 +16968,13 @@ namespace Catch { if ( !m_config->name().empty() ) className = m_config->name() + "." + className; - writeSection( className, "", rootSection ); + writeSection( className, "", rootSection, stats.testInfo.okToFail() ); } - void JunitReporter::writeSection( std::string const& className, - std::string const& rootName, - SectionNode const& sectionNode ) { + void JunitReporter::writeSection( std::string const& className, + std::string const& rootName, + SectionNode const& sectionNode, + bool testOkToFail) { std::string name = trim( sectionNode.stats.sectionInfo.name ); if( !rootName.empty() ) name = rootName + '/' + name; @@ -16825,13 +16991,18 @@ namespace Catch { xml.writeAttribute( "classname", className ); xml.writeAttribute( "name", name ); } - xml.writeAttribute( "time", ::Catch::Detail::stringify( sectionNode.stats.durationInSeconds ) ); + xml.writeAttribute( "time", formatDuration( sectionNode.stats.durationInSeconds ) ); // This is not ideal, but it should be enough to mimic gtest's // junit output. // Ideally the JUnit reporter would also handle `skipTest` // events and write those out appropriately. xml.writeAttribute( "status", "run" ); + if (sectionNode.stats.assertions.failedButOk) { + xml.scopedElement("skipped") + .writeAttribute("message", "TEST_CASE tagged with !mayfail"); + } + writeAssertions( sectionNode ); if( !sectionNode.stdOut.empty() ) @@ -16841,9 +17012,9 @@ namespace Catch { } for( auto const& childNode : sectionNode.childSections ) if( className.empty() ) - writeSection( name, "", *childNode ); + writeSection( name, "", *childNode, testOkToFail ); else - writeSection( className, name, *childNode ); + writeSection( className, name, *childNode, testOkToFail ); } void JunitReporter::writeAssertions( SectionNode const& sectionNode ) { @@ -17488,9 +17659,9 @@ int main (int argc, char * const argv[]) { #if defined(CATCH_CONFIG_ENABLE_BENCHMARKING) #define CATCH_BENCHMARK(...) \ - INTERNAL_CATCH_BENCHMARK(INTERNAL_CATCH_UNIQUE_NAME(____C_A_T_C_H____B_E_N_C_H____), INTERNAL_CATCH_GET_1_ARG(__VA_ARGS__,,), INTERNAL_CATCH_GET_2_ARG(__VA_ARGS__,,)) + INTERNAL_CATCH_BENCHMARK(INTERNAL_CATCH_UNIQUE_NAME(C_A_T_C_H_B_E_N_C_H_), INTERNAL_CATCH_GET_1_ARG(__VA_ARGS__,,), INTERNAL_CATCH_GET_2_ARG(__VA_ARGS__,,)) #define CATCH_BENCHMARK_ADVANCED(name) \ - INTERNAL_CATCH_BENCHMARK_ADVANCED(INTERNAL_CATCH_UNIQUE_NAME(____C_A_T_C_H____B_E_N_C_H____), name) + INTERNAL_CATCH_BENCHMARK_ADVANCED(INTERNAL_CATCH_UNIQUE_NAME(C_A_T_C_H_B_E_N_C_H_), name) #endif // CATCH_CONFIG_ENABLE_BENCHMARKING // If CATCH_CONFIG_PREFIX_ALL is not defined then the CATCH_ prefix is not required @@ -17592,9 +17763,9 @@ int main (int argc, char * const argv[]) { #if defined(CATCH_CONFIG_ENABLE_BENCHMARKING) #define BENCHMARK(...) \ - INTERNAL_CATCH_BENCHMARK(INTERNAL_CATCH_UNIQUE_NAME(____C_A_T_C_H____B_E_N_C_H____), INTERNAL_CATCH_GET_1_ARG(__VA_ARGS__,,), INTERNAL_CATCH_GET_2_ARG(__VA_ARGS__,,)) + INTERNAL_CATCH_BENCHMARK(INTERNAL_CATCH_UNIQUE_NAME(C_A_T_C_H_B_E_N_C_H_), INTERNAL_CATCH_GET_1_ARG(__VA_ARGS__,,), INTERNAL_CATCH_GET_2_ARG(__VA_ARGS__,,)) #define BENCHMARK_ADVANCED(name) \ - INTERNAL_CATCH_BENCHMARK_ADVANCED(INTERNAL_CATCH_UNIQUE_NAME(____C_A_T_C_H____B_E_N_C_H____), name) + INTERNAL_CATCH_BENCHMARK_ADVANCED(INTERNAL_CATCH_UNIQUE_NAME(C_A_T_C_H_B_E_N_C_H_), name) #endif // CATCH_CONFIG_ENABLE_BENCHMARKING using Catch::Detail::Approx; @@ -17641,8 +17812,8 @@ using Catch::Detail::Approx; #define CATCH_WARN( msg ) (void)(0) #define CATCH_CAPTURE( msg ) (void)(0) -#define CATCH_TEST_CASE( ... ) INTERNAL_CATCH_TESTCASE_NO_REGISTRATION(INTERNAL_CATCH_UNIQUE_NAME( ____C_A_T_C_H____T_E_S_T____ )) -#define CATCH_TEST_CASE_METHOD( className, ... ) INTERNAL_CATCH_TESTCASE_NO_REGISTRATION(INTERNAL_CATCH_UNIQUE_NAME( ____C_A_T_C_H____T_E_S_T____ )) +#define CATCH_TEST_CASE( ... ) INTERNAL_CATCH_TESTCASE_NO_REGISTRATION(INTERNAL_CATCH_UNIQUE_NAME( C_A_T_C_H_T_E_S_T_ )) +#define CATCH_TEST_CASE_METHOD( className, ... ) INTERNAL_CATCH_TESTCASE_NO_REGISTRATION(INTERNAL_CATCH_UNIQUE_NAME( C_A_T_C_H_T_E_S_T_ )) #define CATCH_METHOD_AS_TEST_CASE( method, ... ) #define CATCH_REGISTER_TEST_CASE( Function, ... ) (void)(0) #define CATCH_SECTION( ... ) @@ -17651,7 +17822,7 @@ using Catch::Detail::Approx; #define CATCH_FAIL_CHECK( ... ) (void)(0) #define CATCH_SUCCEED( ... ) (void)(0) -#define CATCH_ANON_TEST_CASE() INTERNAL_CATCH_TESTCASE_NO_REGISTRATION(INTERNAL_CATCH_UNIQUE_NAME( ____C_A_T_C_H____T_E_S_T____ )) +#define CATCH_ANON_TEST_CASE() INTERNAL_CATCH_TESTCASE_NO_REGISTRATION(INTERNAL_CATCH_UNIQUE_NAME( C_A_T_C_H_T_E_S_T_ )) #ifndef CATCH_CONFIG_TRADITIONAL_MSVC_PREPROCESSOR #define CATCH_TEMPLATE_TEST_CASE( ... ) INTERNAL_CATCH_TEMPLATE_TEST_CASE_NO_REGISTRATION(__VA_ARGS__) @@ -17674,8 +17845,8 @@ using Catch::Detail::Approx; #endif // "BDD-style" convenience wrappers -#define CATCH_SCENARIO( ... ) INTERNAL_CATCH_TESTCASE_NO_REGISTRATION(INTERNAL_CATCH_UNIQUE_NAME( ____C_A_T_C_H____T_E_S_T____ )) -#define CATCH_SCENARIO_METHOD( className, ... ) INTERNAL_CATCH_TESTCASE_METHOD_NO_REGISTRATION(INTERNAL_CATCH_UNIQUE_NAME( ____C_A_T_C_H____T_E_S_T____ ), className ) +#define CATCH_SCENARIO( ... ) INTERNAL_CATCH_TESTCASE_NO_REGISTRATION(INTERNAL_CATCH_UNIQUE_NAME( C_A_T_C_H_T_E_S_T_ )) +#define CATCH_SCENARIO_METHOD( className, ... ) INTERNAL_CATCH_TESTCASE_METHOD_NO_REGISTRATION(INTERNAL_CATCH_UNIQUE_NAME( C_A_T_C_H_T_E_S_T_ ), className ) #define CATCH_GIVEN( desc ) #define CATCH_AND_GIVEN( desc ) #define CATCH_WHEN( desc ) @@ -17723,10 +17894,10 @@ using Catch::Detail::Approx; #define INFO( msg ) (void)(0) #define UNSCOPED_INFO( msg ) (void)(0) #define WARN( msg ) (void)(0) -#define CAPTURE( msg ) (void)(0) +#define CAPTURE( ... ) (void)(0) -#define TEST_CASE( ... ) INTERNAL_CATCH_TESTCASE_NO_REGISTRATION(INTERNAL_CATCH_UNIQUE_NAME( ____C_A_T_C_H____T_E_S_T____ )) -#define TEST_CASE_METHOD( className, ... ) INTERNAL_CATCH_TESTCASE_NO_REGISTRATION(INTERNAL_CATCH_UNIQUE_NAME( ____C_A_T_C_H____T_E_S_T____ )) +#define TEST_CASE( ... ) INTERNAL_CATCH_TESTCASE_NO_REGISTRATION(INTERNAL_CATCH_UNIQUE_NAME( C_A_T_C_H_T_E_S_T_ )) +#define TEST_CASE_METHOD( className, ... ) INTERNAL_CATCH_TESTCASE_NO_REGISTRATION(INTERNAL_CATCH_UNIQUE_NAME( C_A_T_C_H_T_E_S_T_ )) #define METHOD_AS_TEST_CASE( method, ... ) #define REGISTER_TEST_CASE( Function, ... ) (void)(0) #define SECTION( ... ) @@ -17734,7 +17905,7 @@ using Catch::Detail::Approx; #define FAIL( ... ) (void)(0) #define FAIL_CHECK( ... ) (void)(0) #define SUCCEED( ... ) (void)(0) -#define ANON_TEST_CASE() INTERNAL_CATCH_TESTCASE_NO_REGISTRATION(INTERNAL_CATCH_UNIQUE_NAME( ____C_A_T_C_H____T_E_S_T____ )) +#define ANON_TEST_CASE() INTERNAL_CATCH_TESTCASE_NO_REGISTRATION(INTERNAL_CATCH_UNIQUE_NAME( C_A_T_C_H_T_E_S_T_ )) #ifndef CATCH_CONFIG_TRADITIONAL_MSVC_PREPROCESSOR #define TEMPLATE_TEST_CASE( ... ) INTERNAL_CATCH_TEMPLATE_TEST_CASE_NO_REGISTRATION(__VA_ARGS__) @@ -17764,8 +17935,8 @@ using Catch::Detail::Approx; #define CATCH_TRANSLATE_EXCEPTION( signature ) INTERNAL_CATCH_TRANSLATE_EXCEPTION_NO_REG( INTERNAL_CATCH_UNIQUE_NAME( catch_internal_ExceptionTranslator ), signature ) // "BDD-style" convenience wrappers -#define SCENARIO( ... ) INTERNAL_CATCH_TESTCASE_NO_REGISTRATION(INTERNAL_CATCH_UNIQUE_NAME( ____C_A_T_C_H____T_E_S_T____ ) ) -#define SCENARIO_METHOD( className, ... ) INTERNAL_CATCH_TESTCASE_METHOD_NO_REGISTRATION(INTERNAL_CATCH_UNIQUE_NAME( ____C_A_T_C_H____T_E_S_T____ ), className ) +#define SCENARIO( ... ) INTERNAL_CATCH_TESTCASE_NO_REGISTRATION(INTERNAL_CATCH_UNIQUE_NAME( C_A_T_C_H_T_E_S_T_ ) ) +#define SCENARIO_METHOD( className, ... ) INTERNAL_CATCH_TESTCASE_METHOD_NO_REGISTRATION(INTERNAL_CATCH_UNIQUE_NAME( C_A_T_C_H_T_E_S_T_ ), className ) #define GIVEN( desc ) #define AND_GIVEN( desc ) diff --git a/third_party/catch2/include/catch2/catch_reporter_automake.hpp b/third_party/catch2/include/catch2/catch_reporter_automake.hpp index dbebe9751..ba6f67f31 100644 --- a/third_party/catch2/include/catch2/catch_reporter_automake.hpp +++ b/third_party/catch2/include/catch2/catch_reporter_automake.hpp @@ -1,62 +1,62 @@ -/* - * Created by Justin R. Wilson on 2/19/2017. - * Copyright 2017 Justin R. Wilson. All rights reserved. - * - * Distributed under the Boost Software License, Version 1.0. (See accompanying - * file LICENSE_1_0.txt or copy at http://www.boost.org/LICENSE_1_0.txt) - */ -#ifndef TWOBLUECUBES_CATCH_REPORTER_AUTOMAKE_HPP_INCLUDED -#define TWOBLUECUBES_CATCH_REPORTER_AUTOMAKE_HPP_INCLUDED - -// Don't #include any Catch headers here - we can assume they are already -// included before this header. -// This is not good practice in general but is necessary in this case so this -// file can be distributed as a single header that works with the main -// Catch single header. - -namespace Catch { - - struct AutomakeReporter : StreamingReporterBase { - AutomakeReporter( ReporterConfig const& _config ) - : StreamingReporterBase( _config ) - {} - - ~AutomakeReporter() override; - - static std::string getDescription() { - return "Reports test results in the format of Automake .trs files"; - } - - void assertionStarting( AssertionInfo const& ) override {} - - bool assertionEnded( AssertionStats const& /*_assertionStats*/ ) override { return true; } - - void testCaseEnded( TestCaseStats const& _testCaseStats ) override { - // Possible values to emit are PASS, XFAIL, SKIP, FAIL, XPASS and ERROR. - stream << ":test-result: "; - if (_testCaseStats.totals.assertions.allPassed()) { - stream << "PASS"; - } else if (_testCaseStats.totals.assertions.allOk()) { - stream << "XFAIL"; - } else { - stream << "FAIL"; - } - stream << ' ' << _testCaseStats.testInfo.name << '\n'; - StreamingReporterBase::testCaseEnded( _testCaseStats ); - } - - void skipTest( TestCaseInfo const& testInfo ) override { - stream << ":test-result: SKIP " << testInfo.name << '\n'; - } - - }; - -#ifdef CATCH_IMPL - AutomakeReporter::~AutomakeReporter() {} -#endif - - CATCH_REGISTER_REPORTER( "automake", AutomakeReporter) - -} // end namespace Catch - -#endif // TWOBLUECUBES_CATCH_REPORTER_AUTOMAKE_HPP_INCLUDED +/* + * Created by Justin R. Wilson on 2/19/2017. + * Copyright 2017 Justin R. Wilson. All rights reserved. + * + * Distributed under the Boost Software License, Version 1.0. (See accompanying + * file LICENSE_1_0.txt or copy at http://www.boost.org/LICENSE_1_0.txt) + */ +#ifndef TWOBLUECUBES_CATCH_REPORTER_AUTOMAKE_HPP_INCLUDED +#define TWOBLUECUBES_CATCH_REPORTER_AUTOMAKE_HPP_INCLUDED + +// Don't #include any Catch headers here - we can assume they are already +// included before this header. +// This is not good practice in general but is necessary in this case so this +// file can be distributed as a single header that works with the main +// Catch single header. + +namespace Catch { + + struct AutomakeReporter : StreamingReporterBase { + AutomakeReporter( ReporterConfig const& _config ) + : StreamingReporterBase( _config ) + {} + + ~AutomakeReporter() override; + + static std::string getDescription() { + return "Reports test results in the format of Automake .trs files"; + } + + void assertionStarting( AssertionInfo const& ) override {} + + bool assertionEnded( AssertionStats const& /*_assertionStats*/ ) override { return true; } + + void testCaseEnded( TestCaseStats const& _testCaseStats ) override { + // Possible values to emit are PASS, XFAIL, SKIP, FAIL, XPASS and ERROR. + stream << ":test-result: "; + if (_testCaseStats.totals.assertions.allPassed()) { + stream << "PASS"; + } else if (_testCaseStats.totals.assertions.allOk()) { + stream << "XFAIL"; + } else { + stream << "FAIL"; + } + stream << ' ' << _testCaseStats.testInfo.name << '\n'; + StreamingReporterBase::testCaseEnded( _testCaseStats ); + } + + void skipTest( TestCaseInfo const& testInfo ) override { + stream << ":test-result: SKIP " << testInfo.name << '\n'; + } + + }; + +#ifdef CATCH_IMPL + AutomakeReporter::~AutomakeReporter() {} +#endif + + CATCH_REGISTER_REPORTER( "automake", AutomakeReporter) + +} // end namespace Catch + +#endif // TWOBLUECUBES_CATCH_REPORTER_AUTOMAKE_HPP_INCLUDED diff --git a/third_party/catch2/include/catch2/catch_reporter_sonarqube.hpp b/third_party/catch2/include/catch2/catch_reporter_sonarqube.hpp index bf7d9299a..06056f154 100644 --- a/third_party/catch2/include/catch2/catch_reporter_sonarqube.hpp +++ b/third_party/catch2/include/catch2/catch_reporter_sonarqube.hpp @@ -1,181 +1,181 @@ -/* - * Created by Daniel Garcia on 2018-12-04. - * Copyright Social Point SL. All rights reserved. - * - * Distributed under the Boost Software License, Version 1.0. (See accompanying - * file LICENSE_1_0.txt or copy at http://www.boost.org/LICENSE_1_0.txt) - */ -#ifndef CATCH_REPORTER_SONARQUBE_HPP_INCLUDED -#define CATCH_REPORTER_SONARQUBE_HPP_INCLUDED - - -// Don't #include any Catch headers here - we can assume they are already -// included before this header. -// This is not good practice in general but is necessary in this case so this -// file can be distributed as a single header that works with the main -// Catch single header. - -#include - -namespace Catch { - - struct SonarQubeReporter : CumulativeReporterBase { - - SonarQubeReporter(ReporterConfig const& config) - : CumulativeReporterBase(config) - , xml(config.stream()) { - m_reporterPrefs.shouldRedirectStdOut = true; - m_reporterPrefs.shouldReportAllAssertions = true; - } - - ~SonarQubeReporter() override; - - static std::string getDescription() { - return "Reports test results in the Generic Test Data SonarQube XML format"; - } - - static std::set getSupportedVerbosities() { - return { Verbosity::Normal }; - } - - void noMatchingTestCases(std::string const& /*spec*/) override {} - - void testRunStarting(TestRunInfo const& testRunInfo) override { - CumulativeReporterBase::testRunStarting(testRunInfo); - xml.startElement("testExecutions"); - xml.writeAttribute("version", "1"); - } - - void testGroupEnded(TestGroupStats const& testGroupStats) override { - CumulativeReporterBase::testGroupEnded(testGroupStats); - writeGroup(*m_testGroups.back()); - } - - void testRunEndedCumulative() override { - xml.endElement(); - } - - void writeGroup(TestGroupNode const& groupNode) { - std::map testsPerFile; - for(auto const& child : groupNode.children) - testsPerFile[child->value.testInfo.lineInfo.file].push_back(child); - - for(auto const& kv : testsPerFile) - writeTestFile(kv.first.c_str(), kv.second); - } - - void writeTestFile(const char* filename, TestGroupNode::ChildNodes const& testCaseNodes) { - XmlWriter::ScopedElement e = xml.scopedElement("file"); - xml.writeAttribute("path", filename); - - for(auto const& child : testCaseNodes) - writeTestCase(*child); - } - - void writeTestCase(TestCaseNode const& testCaseNode) { - // All test cases have exactly one section - which represents the - // test case itself. That section may have 0-n nested sections - assert(testCaseNode.children.size() == 1); - SectionNode const& rootSection = *testCaseNode.children.front(); - writeSection("", rootSection, testCaseNode.value.testInfo.okToFail()); - } - - void writeSection(std::string const& rootName, SectionNode const& sectionNode, bool okToFail) { - std::string name = trim(sectionNode.stats.sectionInfo.name); - if(!rootName.empty()) - name = rootName + '/' + name; - - if(!sectionNode.assertions.empty() || !sectionNode.stdOut.empty() || !sectionNode.stdErr.empty()) { - XmlWriter::ScopedElement e = xml.scopedElement("testCase"); - xml.writeAttribute("name", name); - xml.writeAttribute("duration", static_cast(sectionNode.stats.durationInSeconds * 1000)); - - writeAssertions(sectionNode, okToFail); - } - - for(auto const& childNode : sectionNode.childSections) - writeSection(name, *childNode, okToFail); - } - - void writeAssertions(SectionNode const& sectionNode, bool okToFail) { - for(auto const& assertion : sectionNode.assertions) - writeAssertion( assertion, okToFail); - } - - void writeAssertion(AssertionStats const& stats, bool okToFail) { - AssertionResult const& result = stats.assertionResult; - if(!result.isOk()) { - std::string elementName; - if(okToFail) { - elementName = "skipped"; - } - else { - switch(result.getResultType()) { - case ResultWas::ThrewException: - case ResultWas::FatalErrorCondition: - elementName = "error"; - break; - case ResultWas::ExplicitFailure: - elementName = "failure"; - break; - case ResultWas::ExpressionFailed: - elementName = "failure"; - break; - case ResultWas::DidntThrowException: - elementName = "failure"; - break; - - // We should never see these here: - case ResultWas::Info: - case ResultWas::Warning: - case ResultWas::Ok: - case ResultWas::Unknown: - case ResultWas::FailureBit: - case ResultWas::Exception: - elementName = "internalError"; - break; - } - } - - XmlWriter::ScopedElement e = xml.scopedElement(elementName); - - ReusableStringStream messageRss; - messageRss << result.getTestMacroName() << "(" << result.getExpression() << ")"; - xml.writeAttribute("message", messageRss.str()); - - ReusableStringStream textRss; - if (stats.totals.assertions.total() > 0) { - textRss << "FAILED:\n"; - if (result.hasExpression()) { - textRss << "\t" << result.getExpressionInMacro() << "\n"; - } - if (result.hasExpandedExpression()) { - textRss << "with expansion:\n\t" << result.getExpandedExpression() << "\n"; - } - } - - if(!result.getMessage().empty()) - textRss << result.getMessage() << "\n"; - - for(auto const& msg : stats.infoMessages) - if(msg.type == ResultWas::Info) - textRss << msg.message << "\n"; - - textRss << "at " << result.getSourceInfo(); - xml.writeText(textRss.str(), XmlFormatting::Newline); - } - } - - private: - XmlWriter xml; - }; - -#ifdef CATCH_IMPL - SonarQubeReporter::~SonarQubeReporter() {} -#endif - - CATCH_REGISTER_REPORTER( "sonarqube", SonarQubeReporter ) - -} // end namespace Catch - +/* + * Created by Daniel Garcia on 2018-12-04. + * Copyright Social Point SL. All rights reserved. + * + * Distributed under the Boost Software License, Version 1.0. (See accompanying + * file LICENSE_1_0.txt or copy at http://www.boost.org/LICENSE_1_0.txt) + */ +#ifndef CATCH_REPORTER_SONARQUBE_HPP_INCLUDED +#define CATCH_REPORTER_SONARQUBE_HPP_INCLUDED + + +// Don't #include any Catch headers here - we can assume they are already +// included before this header. +// This is not good practice in general but is necessary in this case so this +// file can be distributed as a single header that works with the main +// Catch single header. + +#include + +namespace Catch { + + struct SonarQubeReporter : CumulativeReporterBase { + + SonarQubeReporter(ReporterConfig const& config) + : CumulativeReporterBase(config) + , xml(config.stream()) { + m_reporterPrefs.shouldRedirectStdOut = true; + m_reporterPrefs.shouldReportAllAssertions = true; + } + + ~SonarQubeReporter() override; + + static std::string getDescription() { + return "Reports test results in the Generic Test Data SonarQube XML format"; + } + + static std::set getSupportedVerbosities() { + return { Verbosity::Normal }; + } + + void noMatchingTestCases(std::string const& /*spec*/) override {} + + void testRunStarting(TestRunInfo const& testRunInfo) override { + CumulativeReporterBase::testRunStarting(testRunInfo); + xml.startElement("testExecutions"); + xml.writeAttribute("version", "1"); + } + + void testGroupEnded(TestGroupStats const& testGroupStats) override { + CumulativeReporterBase::testGroupEnded(testGroupStats); + writeGroup(*m_testGroups.back()); + } + + void testRunEndedCumulative() override { + xml.endElement(); + } + + void writeGroup(TestGroupNode const& groupNode) { + std::map testsPerFile; + for(auto const& child : groupNode.children) + testsPerFile[child->value.testInfo.lineInfo.file].push_back(child); + + for(auto const& kv : testsPerFile) + writeTestFile(kv.first.c_str(), kv.second); + } + + void writeTestFile(const char* filename, TestGroupNode::ChildNodes const& testCaseNodes) { + XmlWriter::ScopedElement e = xml.scopedElement("file"); + xml.writeAttribute("path", filename); + + for(auto const& child : testCaseNodes) + writeTestCase(*child); + } + + void writeTestCase(TestCaseNode const& testCaseNode) { + // All test cases have exactly one section - which represents the + // test case itself. That section may have 0-n nested sections + assert(testCaseNode.children.size() == 1); + SectionNode const& rootSection = *testCaseNode.children.front(); + writeSection("", rootSection, testCaseNode.value.testInfo.okToFail()); + } + + void writeSection(std::string const& rootName, SectionNode const& sectionNode, bool okToFail) { + std::string name = trim(sectionNode.stats.sectionInfo.name); + if(!rootName.empty()) + name = rootName + '/' + name; + + if(!sectionNode.assertions.empty() || !sectionNode.stdOut.empty() || !sectionNode.stdErr.empty()) { + XmlWriter::ScopedElement e = xml.scopedElement("testCase"); + xml.writeAttribute("name", name); + xml.writeAttribute("duration", static_cast(sectionNode.stats.durationInSeconds * 1000)); + + writeAssertions(sectionNode, okToFail); + } + + for(auto const& childNode : sectionNode.childSections) + writeSection(name, *childNode, okToFail); + } + + void writeAssertions(SectionNode const& sectionNode, bool okToFail) { + for(auto const& assertion : sectionNode.assertions) + writeAssertion( assertion, okToFail); + } + + void writeAssertion(AssertionStats const& stats, bool okToFail) { + AssertionResult const& result = stats.assertionResult; + if(!result.isOk()) { + std::string elementName; + if(okToFail) { + elementName = "skipped"; + } + else { + switch(result.getResultType()) { + case ResultWas::ThrewException: + case ResultWas::FatalErrorCondition: + elementName = "error"; + break; + case ResultWas::ExplicitFailure: + elementName = "failure"; + break; + case ResultWas::ExpressionFailed: + elementName = "failure"; + break; + case ResultWas::DidntThrowException: + elementName = "failure"; + break; + + // We should never see these here: + case ResultWas::Info: + case ResultWas::Warning: + case ResultWas::Ok: + case ResultWas::Unknown: + case ResultWas::FailureBit: + case ResultWas::Exception: + elementName = "internalError"; + break; + } + } + + XmlWriter::ScopedElement e = xml.scopedElement(elementName); + + ReusableStringStream messageRss; + messageRss << result.getTestMacroName() << "(" << result.getExpression() << ")"; + xml.writeAttribute("message", messageRss.str()); + + ReusableStringStream textRss; + if (stats.totals.assertions.total() > 0) { + textRss << "FAILED:\n"; + if (result.hasExpression()) { + textRss << "\t" << result.getExpressionInMacro() << "\n"; + } + if (result.hasExpandedExpression()) { + textRss << "with expansion:\n\t" << result.getExpandedExpression() << "\n"; + } + } + + if(!result.getMessage().empty()) + textRss << result.getMessage() << "\n"; + + for(auto const& msg : stats.infoMessages) + if(msg.type == ResultWas::Info) + textRss << msg.message << "\n"; + + textRss << "at " << result.getSourceInfo(); + xml.writeText(textRss.str(), XmlFormatting::Newline); + } + } + + private: + XmlWriter xml; + }; + +#ifdef CATCH_IMPL + SonarQubeReporter::~SonarQubeReporter() {} +#endif + + CATCH_REGISTER_REPORTER( "sonarqube", SonarQubeReporter ) + +} // end namespace Catch + #endif // CATCH_REPORTER_SONARQUBE_HPP_INCLUDED \ No newline at end of file diff --git a/third_party/catch2/include/catch2/catch_reporter_tap.hpp b/third_party/catch2/include/catch2/catch_reporter_tap.hpp index 5ac8524ce..3acab5f39 100644 --- a/third_party/catch2/include/catch2/catch_reporter_tap.hpp +++ b/third_party/catch2/include/catch2/catch_reporter_tap.hpp @@ -1,254 +1,254 @@ -/* - * Created by Colton Wolkins on 2015-08-15. - * Copyright 2015 Martin Moene. All rights reserved. - * - * Distributed under the Boost Software License, Version 1.0. (See accompanying - * file LICENSE_1_0.txt or copy at http://www.boost.org/LICENSE_1_0.txt) - */ -#ifndef TWOBLUECUBES_CATCH_REPORTER_TAP_HPP_INCLUDED -#define TWOBLUECUBES_CATCH_REPORTER_TAP_HPP_INCLUDED - - -// Don't #include any Catch headers here - we can assume they are already -// included before this header. -// This is not good practice in general but is necessary in this case so this -// file can be distributed as a single header that works with the main -// Catch single header. - -#include - -namespace Catch { - - struct TAPReporter : StreamingReporterBase { - - using StreamingReporterBase::StreamingReporterBase; - - TAPReporter( ReporterConfig const& config ): - StreamingReporterBase( config ) { - m_reporterPrefs.shouldReportAllAssertions = true; - } - - ~TAPReporter() override; - - static std::string getDescription() { - return "Reports test results in TAP format, suitable for test harnesses"; - } - - void noMatchingTestCases( std::string const& spec ) override { - stream << "# No test cases matched '" << spec << "'" << std::endl; - } - - void assertionStarting( AssertionInfo const& ) override {} - - bool assertionEnded( AssertionStats const& _assertionStats ) override { - ++counter; - - stream << "# " << currentTestCaseInfo->name << std::endl; - AssertionPrinter printer( stream, _assertionStats, counter ); - printer.print(); - - stream << std::endl; - return true; - } - - void testRunEnded( TestRunStats const& _testRunStats ) override { - printTotals( _testRunStats.totals ); - stream << "\n" << std::endl; - StreamingReporterBase::testRunEnded( _testRunStats ); - } - - private: - std::size_t counter = 0; - class AssertionPrinter { - public: - AssertionPrinter& operator= ( AssertionPrinter const& ) = delete; - AssertionPrinter( AssertionPrinter const& ) = delete; - AssertionPrinter( std::ostream& _stream, AssertionStats const& _stats, std::size_t _counter ) - : stream( _stream ) - , result( _stats.assertionResult ) - , messages( _stats.infoMessages ) - , itMessage( _stats.infoMessages.begin() ) - , printInfoMessages( true ) - , counter(_counter) - {} - - void print() { - itMessage = messages.begin(); - - switch( result.getResultType() ) { - case ResultWas::Ok: - printResultType( passedString() ); - printOriginalExpression(); - printReconstructedExpression(); - if ( ! result.hasExpression() ) - printRemainingMessages( Colour::None ); - else - printRemainingMessages(); - break; - case ResultWas::ExpressionFailed: - if (result.isOk()) { - printResultType(passedString()); - } else { - printResultType(failedString()); - } - printOriginalExpression(); - printReconstructedExpression(); - if (result.isOk()) { - printIssue(" # TODO"); - } - printRemainingMessages(); - break; - case ResultWas::ThrewException: - printResultType( failedString() ); - printIssue( "unexpected exception with message:" ); - printMessage(); - printExpressionWas(); - printRemainingMessages(); - break; - case ResultWas::FatalErrorCondition: - printResultType( failedString() ); - printIssue( "fatal error condition with message:" ); - printMessage(); - printExpressionWas(); - printRemainingMessages(); - break; - case ResultWas::DidntThrowException: - printResultType( failedString() ); - printIssue( "expected exception, got none" ); - printExpressionWas(); - printRemainingMessages(); - break; - case ResultWas::Info: - printResultType( "info" ); - printMessage(); - printRemainingMessages(); - break; - case ResultWas::Warning: - printResultType( "warning" ); - printMessage(); - printRemainingMessages(); - break; - case ResultWas::ExplicitFailure: - printResultType( failedString() ); - printIssue( "explicitly" ); - printRemainingMessages( Colour::None ); - break; - // These cases are here to prevent compiler warnings - case ResultWas::Unknown: - case ResultWas::FailureBit: - case ResultWas::Exception: - printResultType( "** internal error **" ); - break; - } - } - - private: - static Colour::Code dimColour() { return Colour::FileName; } - - static const char* failedString() { return "not ok"; } - static const char* passedString() { return "ok"; } - - void printSourceInfo() const { - Colour colourGuard( dimColour() ); - stream << result.getSourceInfo() << ":"; - } - - void printResultType( std::string const& passOrFail ) const { - if( !passOrFail.empty() ) { - stream << passOrFail << ' ' << counter << " -"; - } - } - - void printIssue( std::string const& issue ) const { - stream << " " << issue; - } - - void printExpressionWas() { - if( result.hasExpression() ) { - stream << ";"; - { - Colour colour( dimColour() ); - stream << " expression was:"; - } - printOriginalExpression(); - } - } - - void printOriginalExpression() const { - if( result.hasExpression() ) { - stream << " " << result.getExpression(); - } - } - - void printReconstructedExpression() const { - if( result.hasExpandedExpression() ) { - { - Colour colour( dimColour() ); - stream << " for: "; - } - std::string expr = result.getExpandedExpression(); - std::replace( expr.begin(), expr.end(), '\n', ' '); - stream << expr; - } - } - - void printMessage() { - if ( itMessage != messages.end() ) { - stream << " '" << itMessage->message << "'"; - ++itMessage; - } - } - - void printRemainingMessages( Colour::Code colour = dimColour() ) { - if (itMessage == messages.end()) { - return; - } - - const auto itEnd = messages.cend(); - const auto N = static_cast( std::distance( itMessage, itEnd ) ); - - { - Colour colourGuard( colour ); - stream << " with " << pluralise( N, "message" ) << ":"; - } - - while( itMessage != itEnd ) { - // If this assertion is a warning ignore any INFO messages - if( printInfoMessages || itMessage->type != ResultWas::Info ) { - stream << " '" << itMessage->message << "'"; - if ( ++itMessage != itEnd ) { - Colour colourGuard( dimColour() ); - stream << " and"; - } - continue; - } - ++itMessage; - } - } - - private: - std::ostream& stream; - AssertionResult const& result; - std::vector messages; - std::vector::const_iterator itMessage; - bool printInfoMessages; - std::size_t counter; - }; - - void printTotals( const Totals& totals ) const { - stream << "1.." << totals.assertions.total(); - if( totals.testCases.total() == 0 ) { - stream << " # Skipped: No tests ran."; - } - } - }; - -#ifdef CATCH_IMPL - TAPReporter::~TAPReporter() {} -#endif - - CATCH_REGISTER_REPORTER( "tap", TAPReporter ) - -} // end namespace Catch - -#endif // TWOBLUECUBES_CATCH_REPORTER_TAP_HPP_INCLUDED +/* + * Created by Colton Wolkins on 2015-08-15. + * Copyright 2015 Martin Moene. All rights reserved. + * + * Distributed under the Boost Software License, Version 1.0. (See accompanying + * file LICENSE_1_0.txt or copy at http://www.boost.org/LICENSE_1_0.txt) + */ +#ifndef TWOBLUECUBES_CATCH_REPORTER_TAP_HPP_INCLUDED +#define TWOBLUECUBES_CATCH_REPORTER_TAP_HPP_INCLUDED + + +// Don't #include any Catch headers here - we can assume they are already +// included before this header. +// This is not good practice in general but is necessary in this case so this +// file can be distributed as a single header that works with the main +// Catch single header. + +#include + +namespace Catch { + + struct TAPReporter : StreamingReporterBase { + + using StreamingReporterBase::StreamingReporterBase; + + TAPReporter( ReporterConfig const& config ): + StreamingReporterBase( config ) { + m_reporterPrefs.shouldReportAllAssertions = true; + } + + ~TAPReporter() override; + + static std::string getDescription() { + return "Reports test results in TAP format, suitable for test harnesses"; + } + + void noMatchingTestCases( std::string const& spec ) override { + stream << "# No test cases matched '" << spec << "'" << std::endl; + } + + void assertionStarting( AssertionInfo const& ) override {} + + bool assertionEnded( AssertionStats const& _assertionStats ) override { + ++counter; + + stream << "# " << currentTestCaseInfo->name << std::endl; + AssertionPrinter printer( stream, _assertionStats, counter ); + printer.print(); + + stream << std::endl; + return true; + } + + void testRunEnded( TestRunStats const& _testRunStats ) override { + printTotals( _testRunStats.totals ); + stream << "\n" << std::endl; + StreamingReporterBase::testRunEnded( _testRunStats ); + } + + private: + std::size_t counter = 0; + class AssertionPrinter { + public: + AssertionPrinter& operator= ( AssertionPrinter const& ) = delete; + AssertionPrinter( AssertionPrinter const& ) = delete; + AssertionPrinter( std::ostream& _stream, AssertionStats const& _stats, std::size_t _counter ) + : stream( _stream ) + , result( _stats.assertionResult ) + , messages( _stats.infoMessages ) + , itMessage( _stats.infoMessages.begin() ) + , printInfoMessages( true ) + , counter(_counter) + {} + + void print() { + itMessage = messages.begin(); + + switch( result.getResultType() ) { + case ResultWas::Ok: + printResultType( passedString() ); + printOriginalExpression(); + printReconstructedExpression(); + if ( ! result.hasExpression() ) + printRemainingMessages( Colour::None ); + else + printRemainingMessages(); + break; + case ResultWas::ExpressionFailed: + if (result.isOk()) { + printResultType(passedString()); + } else { + printResultType(failedString()); + } + printOriginalExpression(); + printReconstructedExpression(); + if (result.isOk()) { + printIssue(" # TODO"); + } + printRemainingMessages(); + break; + case ResultWas::ThrewException: + printResultType( failedString() ); + printIssue( "unexpected exception with message:" ); + printMessage(); + printExpressionWas(); + printRemainingMessages(); + break; + case ResultWas::FatalErrorCondition: + printResultType( failedString() ); + printIssue( "fatal error condition with message:" ); + printMessage(); + printExpressionWas(); + printRemainingMessages(); + break; + case ResultWas::DidntThrowException: + printResultType( failedString() ); + printIssue( "expected exception, got none" ); + printExpressionWas(); + printRemainingMessages(); + break; + case ResultWas::Info: + printResultType( "info" ); + printMessage(); + printRemainingMessages(); + break; + case ResultWas::Warning: + printResultType( "warning" ); + printMessage(); + printRemainingMessages(); + break; + case ResultWas::ExplicitFailure: + printResultType( failedString() ); + printIssue( "explicitly" ); + printRemainingMessages( Colour::None ); + break; + // These cases are here to prevent compiler warnings + case ResultWas::Unknown: + case ResultWas::FailureBit: + case ResultWas::Exception: + printResultType( "** internal error **" ); + break; + } + } + + private: + static Colour::Code dimColour() { return Colour::FileName; } + + static const char* failedString() { return "not ok"; } + static const char* passedString() { return "ok"; } + + void printSourceInfo() const { + Colour colourGuard( dimColour() ); + stream << result.getSourceInfo() << ":"; + } + + void printResultType( std::string const& passOrFail ) const { + if( !passOrFail.empty() ) { + stream << passOrFail << ' ' << counter << " -"; + } + } + + void printIssue( std::string const& issue ) const { + stream << " " << issue; + } + + void printExpressionWas() { + if( result.hasExpression() ) { + stream << ";"; + { + Colour colour( dimColour() ); + stream << " expression was:"; + } + printOriginalExpression(); + } + } + + void printOriginalExpression() const { + if( result.hasExpression() ) { + stream << " " << result.getExpression(); + } + } + + void printReconstructedExpression() const { + if( result.hasExpandedExpression() ) { + { + Colour colour( dimColour() ); + stream << " for: "; + } + std::string expr = result.getExpandedExpression(); + std::replace( expr.begin(), expr.end(), '\n', ' '); + stream << expr; + } + } + + void printMessage() { + if ( itMessage != messages.end() ) { + stream << " '" << itMessage->message << "'"; + ++itMessage; + } + } + + void printRemainingMessages( Colour::Code colour = dimColour() ) { + if (itMessage == messages.end()) { + return; + } + + const auto itEnd = messages.cend(); + const auto N = static_cast( std::distance( itMessage, itEnd ) ); + + { + Colour colourGuard( colour ); + stream << " with " << pluralise( N, "message" ) << ":"; + } + + while( itMessage != itEnd ) { + // If this assertion is a warning ignore any INFO messages + if( printInfoMessages || itMessage->type != ResultWas::Info ) { + stream << " '" << itMessage->message << "'"; + if ( ++itMessage != itEnd ) { + Colour colourGuard( dimColour() ); + stream << " and"; + } + continue; + } + ++itMessage; + } + } + + private: + std::ostream& stream; + AssertionResult const& result; + std::vector messages; + std::vector::const_iterator itMessage; + bool printInfoMessages; + std::size_t counter; + }; + + void printTotals( const Totals& totals ) const { + stream << "1.." << totals.assertions.total(); + if( totals.testCases.total() == 0 ) { + stream << " # Skipped: No tests ran."; + } + } + }; + +#ifdef CATCH_IMPL + TAPReporter::~TAPReporter() {} +#endif + + CATCH_REGISTER_REPORTER( "tap", TAPReporter ) + +} // end namespace Catch + +#endif // TWOBLUECUBES_CATCH_REPORTER_TAP_HPP_INCLUDED diff --git a/third_party/catch2/include/catch2/catch_reporter_teamcity.hpp b/third_party/catch2/include/catch2/catch_reporter_teamcity.hpp index 47b7e4aac..5c985d2cc 100644 --- a/third_party/catch2/include/catch2/catch_reporter_teamcity.hpp +++ b/third_party/catch2/include/catch2/catch_reporter_teamcity.hpp @@ -1,219 +1,219 @@ -/* - * Created by Phil Nash on 19th December 2014 - * Copyright 2014 Two Blue Cubes Ltd. All rights reserved. - * - * Distributed under the Boost Software License, Version 1.0. (See accompanying - * file LICENSE_1_0.txt or copy at http://www.boost.org/LICENSE_1_0.txt) - */ -#ifndef TWOBLUECUBES_CATCH_REPORTER_TEAMCITY_HPP_INCLUDED -#define TWOBLUECUBES_CATCH_REPORTER_TEAMCITY_HPP_INCLUDED - -// Don't #include any Catch headers here - we can assume they are already -// included before this header. -// This is not good practice in general but is necessary in this case so this -// file can be distributed as a single header that works with the main -// Catch single header. - -#include - -#ifdef __clang__ -# pragma clang diagnostic push -# pragma clang diagnostic ignored "-Wpadded" -#endif - -namespace Catch { - - struct TeamCityReporter : StreamingReporterBase { - TeamCityReporter( ReporterConfig const& _config ) - : StreamingReporterBase( _config ) - { - m_reporterPrefs.shouldRedirectStdOut = true; - } - - static std::string escape( std::string const& str ) { - std::string escaped = str; - replaceInPlace( escaped, "|", "||" ); - replaceInPlace( escaped, "'", "|'" ); - replaceInPlace( escaped, "\n", "|n" ); - replaceInPlace( escaped, "\r", "|r" ); - replaceInPlace( escaped, "[", "|[" ); - replaceInPlace( escaped, "]", "|]" ); - return escaped; - } - ~TeamCityReporter() override; - - static std::string getDescription() { - return "Reports test results as TeamCity service messages"; - } - - void skipTest( TestCaseInfo const& /* testInfo */ ) override { - } - - void noMatchingTestCases( std::string const& /* spec */ ) override {} - - void testGroupStarting( GroupInfo const& groupInfo ) override { - StreamingReporterBase::testGroupStarting( groupInfo ); - stream << "##teamcity[testSuiteStarted name='" - << escape( groupInfo.name ) << "']\n"; - } - void testGroupEnded( TestGroupStats const& testGroupStats ) override { - StreamingReporterBase::testGroupEnded( testGroupStats ); - stream << "##teamcity[testSuiteFinished name='" - << escape( testGroupStats.groupInfo.name ) << "']\n"; - } - - - void assertionStarting( AssertionInfo const& ) override {} - - bool assertionEnded( AssertionStats const& assertionStats ) override { - AssertionResult const& result = assertionStats.assertionResult; - if( !result.isOk() ) { - - ReusableStringStream msg; - if( !m_headerPrintedForThisSection ) - printSectionHeader( msg.get() ); - m_headerPrintedForThisSection = true; - - msg << result.getSourceInfo() << "\n"; - - switch( result.getResultType() ) { - case ResultWas::ExpressionFailed: - msg << "expression failed"; - break; - case ResultWas::ThrewException: - msg << "unexpected exception"; - break; - case ResultWas::FatalErrorCondition: - msg << "fatal error condition"; - break; - case ResultWas::DidntThrowException: - msg << "no exception was thrown where one was expected"; - break; - case ResultWas::ExplicitFailure: - msg << "explicit failure"; - break; - - // We shouldn't get here because of the isOk() test - case ResultWas::Ok: - case ResultWas::Info: - case ResultWas::Warning: - CATCH_ERROR( "Internal error in TeamCity reporter" ); - // These cases are here to prevent compiler warnings - case ResultWas::Unknown: - case ResultWas::FailureBit: - case ResultWas::Exception: - CATCH_ERROR( "Not implemented" ); - } - if( assertionStats.infoMessages.size() == 1 ) - msg << " with message:"; - if( assertionStats.infoMessages.size() > 1 ) - msg << " with messages:"; - for( auto const& messageInfo : assertionStats.infoMessages ) - msg << "\n \"" << messageInfo.message << "\""; - - - if( result.hasExpression() ) { - msg << - "\n " << result.getExpressionInMacro() << "\n" - "with expansion:\n" << - " " << result.getExpandedExpression() << "\n"; - } - - if( currentTestCaseInfo->okToFail() ) { - msg << "- failure ignore as test marked as 'ok to fail'\n"; - stream << "##teamcity[testIgnored" - << " name='" << escape( currentTestCaseInfo->name )<< "'" - << " message='" << escape( msg.str() ) << "'" - << "]\n"; - } - else { - stream << "##teamcity[testFailed" - << " name='" << escape( currentTestCaseInfo->name )<< "'" - << " message='" << escape( msg.str() ) << "'" - << "]\n"; - } - } - stream.flush(); - return true; - } - - void sectionStarting( SectionInfo const& sectionInfo ) override { - m_headerPrintedForThisSection = false; - StreamingReporterBase::sectionStarting( sectionInfo ); - } - - void testCaseStarting( TestCaseInfo const& testInfo ) override { - m_testTimer.start(); - StreamingReporterBase::testCaseStarting( testInfo ); - stream << "##teamcity[testStarted name='" - << escape( testInfo.name ) << "']\n"; - stream.flush(); - } - - void testCaseEnded( TestCaseStats const& testCaseStats ) override { - StreamingReporterBase::testCaseEnded( testCaseStats ); - if( !testCaseStats.stdOut.empty() ) - stream << "##teamcity[testStdOut name='" - << escape( testCaseStats.testInfo.name ) - << "' out='" << escape( testCaseStats.stdOut ) << "']\n"; - if( !testCaseStats.stdErr.empty() ) - stream << "##teamcity[testStdErr name='" - << escape( testCaseStats.testInfo.name ) - << "' out='" << escape( testCaseStats.stdErr ) << "']\n"; - stream << "##teamcity[testFinished name='" - << escape( testCaseStats.testInfo.name ) << "' duration='" - << m_testTimer.getElapsedMilliseconds() << "']\n"; - stream.flush(); - } - - private: - void printSectionHeader( std::ostream& os ) { - assert( !m_sectionStack.empty() ); - - if( m_sectionStack.size() > 1 ) { - os << getLineOfChars<'-'>() << "\n"; - - std::vector::const_iterator - it = m_sectionStack.begin()+1, // Skip first section (test case) - itEnd = m_sectionStack.end(); - for( ; it != itEnd; ++it ) - printHeaderString( os, it->name ); - os << getLineOfChars<'-'>() << "\n"; - } - - SourceLineInfo lineInfo = m_sectionStack.front().lineInfo; - - os << lineInfo << "\n"; - os << getLineOfChars<'.'>() << "\n\n"; - } - - // if string has a : in first line will set indent to follow it on - // subsequent lines - static void printHeaderString( std::ostream& os, std::string const& _string, std::size_t indent = 0 ) { - std::size_t i = _string.find( ": " ); - if( i != std::string::npos ) - i+=2; - else - i = 0; - os << Column( _string ) - .indent( indent+i) - .initialIndent( indent ) << "\n"; - } - private: - bool m_headerPrintedForThisSection = false; - Timer m_testTimer; - }; - -#ifdef CATCH_IMPL - TeamCityReporter::~TeamCityReporter() {} -#endif - - CATCH_REGISTER_REPORTER( "teamcity", TeamCityReporter ) - -} // end namespace Catch - -#ifdef __clang__ -# pragma clang diagnostic pop -#endif - -#endif // TWOBLUECUBES_CATCH_REPORTER_TEAMCITY_HPP_INCLUDED +/* + * Created by Phil Nash on 19th December 2014 + * Copyright 2014 Two Blue Cubes Ltd. All rights reserved. + * + * Distributed under the Boost Software License, Version 1.0. (See accompanying + * file LICENSE_1_0.txt or copy at http://www.boost.org/LICENSE_1_0.txt) + */ +#ifndef TWOBLUECUBES_CATCH_REPORTER_TEAMCITY_HPP_INCLUDED +#define TWOBLUECUBES_CATCH_REPORTER_TEAMCITY_HPP_INCLUDED + +// Don't #include any Catch headers here - we can assume they are already +// included before this header. +// This is not good practice in general but is necessary in this case so this +// file can be distributed as a single header that works with the main +// Catch single header. + +#include + +#ifdef __clang__ +# pragma clang diagnostic push +# pragma clang diagnostic ignored "-Wpadded" +#endif + +namespace Catch { + + struct TeamCityReporter : StreamingReporterBase { + TeamCityReporter( ReporterConfig const& _config ) + : StreamingReporterBase( _config ) + { + m_reporterPrefs.shouldRedirectStdOut = true; + } + + static std::string escape( std::string const& str ) { + std::string escaped = str; + replaceInPlace( escaped, "|", "||" ); + replaceInPlace( escaped, "'", "|'" ); + replaceInPlace( escaped, "\n", "|n" ); + replaceInPlace( escaped, "\r", "|r" ); + replaceInPlace( escaped, "[", "|[" ); + replaceInPlace( escaped, "]", "|]" ); + return escaped; + } + ~TeamCityReporter() override; + + static std::string getDescription() { + return "Reports test results as TeamCity service messages"; + } + + void skipTest( TestCaseInfo const& /* testInfo */ ) override { + } + + void noMatchingTestCases( std::string const& /* spec */ ) override {} + + void testGroupStarting( GroupInfo const& groupInfo ) override { + StreamingReporterBase::testGroupStarting( groupInfo ); + stream << "##teamcity[testSuiteStarted name='" + << escape( groupInfo.name ) << "']\n"; + } + void testGroupEnded( TestGroupStats const& testGroupStats ) override { + StreamingReporterBase::testGroupEnded( testGroupStats ); + stream << "##teamcity[testSuiteFinished name='" + << escape( testGroupStats.groupInfo.name ) << "']\n"; + } + + + void assertionStarting( AssertionInfo const& ) override {} + + bool assertionEnded( AssertionStats const& assertionStats ) override { + AssertionResult const& result = assertionStats.assertionResult; + if( !result.isOk() ) { + + ReusableStringStream msg; + if( !m_headerPrintedForThisSection ) + printSectionHeader( msg.get() ); + m_headerPrintedForThisSection = true; + + msg << result.getSourceInfo() << "\n"; + + switch( result.getResultType() ) { + case ResultWas::ExpressionFailed: + msg << "expression failed"; + break; + case ResultWas::ThrewException: + msg << "unexpected exception"; + break; + case ResultWas::FatalErrorCondition: + msg << "fatal error condition"; + break; + case ResultWas::DidntThrowException: + msg << "no exception was thrown where one was expected"; + break; + case ResultWas::ExplicitFailure: + msg << "explicit failure"; + break; + + // We shouldn't get here because of the isOk() test + case ResultWas::Ok: + case ResultWas::Info: + case ResultWas::Warning: + CATCH_ERROR( "Internal error in TeamCity reporter" ); + // These cases are here to prevent compiler warnings + case ResultWas::Unknown: + case ResultWas::FailureBit: + case ResultWas::Exception: + CATCH_ERROR( "Not implemented" ); + } + if( assertionStats.infoMessages.size() == 1 ) + msg << " with message:"; + if( assertionStats.infoMessages.size() > 1 ) + msg << " with messages:"; + for( auto const& messageInfo : assertionStats.infoMessages ) + msg << "\n \"" << messageInfo.message << "\""; + + + if( result.hasExpression() ) { + msg << + "\n " << result.getExpressionInMacro() << "\n" + "with expansion:\n" << + " " << result.getExpandedExpression() << "\n"; + } + + if( currentTestCaseInfo->okToFail() ) { + msg << "- failure ignore as test marked as 'ok to fail'\n"; + stream << "##teamcity[testIgnored" + << " name='" << escape( currentTestCaseInfo->name )<< "'" + << " message='" << escape( msg.str() ) << "'" + << "]\n"; + } + else { + stream << "##teamcity[testFailed" + << " name='" << escape( currentTestCaseInfo->name )<< "'" + << " message='" << escape( msg.str() ) << "'" + << "]\n"; + } + } + stream.flush(); + return true; + } + + void sectionStarting( SectionInfo const& sectionInfo ) override { + m_headerPrintedForThisSection = false; + StreamingReporterBase::sectionStarting( sectionInfo ); + } + + void testCaseStarting( TestCaseInfo const& testInfo ) override { + m_testTimer.start(); + StreamingReporterBase::testCaseStarting( testInfo ); + stream << "##teamcity[testStarted name='" + << escape( testInfo.name ) << "']\n"; + stream.flush(); + } + + void testCaseEnded( TestCaseStats const& testCaseStats ) override { + StreamingReporterBase::testCaseEnded( testCaseStats ); + if( !testCaseStats.stdOut.empty() ) + stream << "##teamcity[testStdOut name='" + << escape( testCaseStats.testInfo.name ) + << "' out='" << escape( testCaseStats.stdOut ) << "']\n"; + if( !testCaseStats.stdErr.empty() ) + stream << "##teamcity[testStdErr name='" + << escape( testCaseStats.testInfo.name ) + << "' out='" << escape( testCaseStats.stdErr ) << "']\n"; + stream << "##teamcity[testFinished name='" + << escape( testCaseStats.testInfo.name ) << "' duration='" + << m_testTimer.getElapsedMilliseconds() << "']\n"; + stream.flush(); + } + + private: + void printSectionHeader( std::ostream& os ) { + assert( !m_sectionStack.empty() ); + + if( m_sectionStack.size() > 1 ) { + os << getLineOfChars<'-'>() << "\n"; + + std::vector::const_iterator + it = m_sectionStack.begin()+1, // Skip first section (test case) + itEnd = m_sectionStack.end(); + for( ; it != itEnd; ++it ) + printHeaderString( os, it->name ); + os << getLineOfChars<'-'>() << "\n"; + } + + SourceLineInfo lineInfo = m_sectionStack.front().lineInfo; + + os << lineInfo << "\n"; + os << getLineOfChars<'.'>() << "\n\n"; + } + + // if string has a : in first line will set indent to follow it on + // subsequent lines + static void printHeaderString( std::ostream& os, std::string const& _string, std::size_t indent = 0 ) { + std::size_t i = _string.find( ": " ); + if( i != std::string::npos ) + i+=2; + else + i = 0; + os << Column( _string ) + .indent( indent+i) + .initialIndent( indent ) << "\n"; + } + private: + bool m_headerPrintedForThisSection = false; + Timer m_testTimer; + }; + +#ifdef CATCH_IMPL + TeamCityReporter::~TeamCityReporter() {} +#endif + + CATCH_REGISTER_REPORTER( "teamcity", TeamCityReporter ) + +} // end namespace Catch + +#ifdef __clang__ +# pragma clang diagnostic pop +#endif + +#endif // TWOBLUECUBES_CATCH_REPORTER_TEAMCITY_HPP_INCLUDED From 0028e062b8f80ff6762f1517191d0a39e3457ed2 Mon Sep 17 00:00:00 2001 From: Ochi Yuma <44621609+Chizuchizu@users.noreply.github.com> Date: Fri, 9 Sep 2022 08:00:00 +0900 Subject: [PATCH 08/38] third party: add -Wno-unqualified-std-cast-call to fix json11 build (#25686) only for json11 Co-authored-by: Adeeb Shihadeh --- third_party/SConscript | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/third_party/SConscript b/third_party/SConscript index 5a7a62ae5..e5bbfaa07 100644 --- a/third_party/SConscript +++ b/third_party/SConscript @@ -1,6 +1,6 @@ Import('env') -env.Library('json11', ['json11/json11.cpp']) +env.Library('json11', ['json11/json11.cpp'], CCFLAGS=env['CCFLAGS'] + ['-Wno-unqualified-std-cast-call']) env.Append(CPPPATH=[Dir('json11')]) env.Library('kaitai', ['kaitai/kaitaistream.cpp'], CPPDEFINES=['KS_STR_ENCODING_NONE']) From 4974ca03a8ec1919075cd41da0a80eb1f32f53dd Mon Sep 17 00:00:00 2001 From: Dean Lee Date: Fri, 9 Sep 2022 07:46:52 +0800 Subject: [PATCH 09/38] ui: stop timer if PairingQRWidget is hidden (#25671) --- selfdrive/ui/qt/widgets/prime.cc | 16 +++++++++------- selfdrive/ui/qt/widgets/prime.h | 2 ++ 2 files changed, 11 insertions(+), 7 deletions(-) diff --git a/selfdrive/ui/qt/widgets/prime.cc b/selfdrive/ui/qt/widgets/prime.cc index 541947526..a8ceee4ca 100644 --- a/selfdrive/ui/qt/widgets/prime.cc +++ b/selfdrive/ui/qt/widgets/prime.cc @@ -18,21 +18,23 @@ using qrcodegen::QrCode; PairingQRWidget::PairingQRWidget(QWidget* parent) : QWidget(parent) { - QTimer* timer = new QTimer(this); - timer->start(5 * 60 * 1000); + timer = new QTimer(this); connect(timer, &QTimer::timeout, this, &PairingQRWidget::refresh); } void PairingQRWidget::showEvent(QShowEvent *event) { refresh(); + timer->start(5 * 60 * 1000); +} + +void PairingQRWidget::hideEvent(QHideEvent *event) { + timer->stop(); } void PairingQRWidget::refresh() { - if (isVisible()) { - QString pairToken = CommaApi::create_jwt({{"pair", true}}); - QString qrString = "https://connect.comma.ai/?pair=" + pairToken; - this->updateQrCode(qrString); - } + QString pairToken = CommaApi::create_jwt({{"pair", true}}); + QString qrString = "https://connect.comma.ai/?pair=" + pairToken; + this->updateQrCode(qrString); } void PairingQRWidget::updateQrCode(const QString &text) { diff --git a/selfdrive/ui/qt/widgets/prime.h b/selfdrive/ui/qt/widgets/prime.h index ce4baecfa..0a1d93250 100644 --- a/selfdrive/ui/qt/widgets/prime.h +++ b/selfdrive/ui/qt/widgets/prime.h @@ -25,8 +25,10 @@ public: private: QPixmap img; + QTimer *timer; void updateQrCode(const QString &text); void showEvent(QShowEvent *event) override; + void hideEvent(QHideEvent *event) override; private slots: void refresh(); From 056b2ec2edb40ce48871975bdbf19d9652c867f3 Mon Sep 17 00:00:00 2001 From: Shane Smiskol Date: Thu, 8 Sep 2022 21:43:04 -0700 Subject: [PATCH 10/38] Longcontrol: fix possible reference before assignment (#25715) fix possible reference before assignment --- selfdrive/controls/lib/longcontrol.py | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/selfdrive/controls/lib/longcontrol.py b/selfdrive/controls/lib/longcontrol.py index 082e7725d..f72995d41 100644 --- a/selfdrive/controls/lib/longcontrol.py +++ b/selfdrive/controls/lib/longcontrol.py @@ -92,6 +92,7 @@ class LongControl: v_target_1sec = interp(self.CP.longitudinalActuatorDelayUpperBound + t_since_plan + 1.0, T_IDXS[:CONTROL_N], speeds) else: v_target = 0.0 + v_target_now = 0.0 v_target_1sec = 0.0 a_target = 0.0 @@ -132,7 +133,6 @@ class LongControl: feedforward=a_target, freeze_integrator=freeze_integrator) - self.last_output_accel = clip(output_accel, accel_limits[0], accel_limits[1]) return self.last_output_accel From fc3bdef89143721172230bcf413a08a0091bca32 Mon Sep 17 00:00:00 2001 From: calledit <1573053+calledit@users.noreply.github.com> Date: Fri, 9 Sep 2022 20:20:59 +0200 Subject: [PATCH 11/38] VW MQB: Added support for APA racks to EPS configuration tool (#25556) * Added support for APA racks APA steering racks use a different bit to represent whether the ECU should enable steering assist. This change supports those APA steering racks. * Static analysis fix * Static analysis fix2 * Code cleanup * Update selfdrive/debug/vw_mqb_config.py * Apply suggestions from code review Co-authored-by: Jason Young <46612682+jyoung8607@users.noreply.github.com> Co-authored-by: Adeeb Shihadeh Co-authored-by: Jason Young <46612682+jyoung8607@users.noreply.github.com> --- selfdrive/debug/vw_mqb_config.py | 32 +++++++++++++++++++++----------- 1 file changed, 21 insertions(+), 11 deletions(-) diff --git a/selfdrive/debug/vw_mqb_config.py b/selfdrive/debug/vw_mqb_config.py index c55a05815..c1068bf06 100755 --- a/selfdrive/debug/vw_mqb_config.py +++ b/selfdrive/debug/vw_mqb_config.py @@ -67,20 +67,30 @@ if __name__ == "__main__": print("Timeout fetching data from EPS") quit() - coding_variant, current_coding_array = None, None + coding_variant, current_coding_array, coding_byte, coding_bit = None, None, 0, 0 + coding_length = len(current_coding) + # EV_SteerAssisMQB covers the majority of MQB racks (EPS_MQB_ZFLS) - # APA racks (MQB_PP_APA) have a different coding layout, which should - # be easy to support once we identify the specific config bit if odx_file == "EV_SteerAssisMQB\x00": coding_variant = "ZF" - current_coding_array = struct.unpack("!4B", current_coding) - hca_enabled = (current_coding_array[0] & (1 << 4) != 0) - hca_text = ("DISABLED", "ENABLED")[hca_enabled] - print(f" Lane Assist: {hca_text}") + coding_byte = 0 + coding_bit = 4 + + # APA racks (MQB_PP_APA) have a different coding layout + elif odx_file == "EV_SteerAssisVWBSMQBA\x00\x00\x00\x00": + coding_variant = "APA" + coding_byte = 3 + coding_bit = 0 + else: print("Configuration changes not yet supported on this EPS!") quit() + current_coding_array = struct.unpack(f"!{coding_length}B", current_coding) + hca_enabled = (current_coding_array[coding_byte] & (1 << coding_bit) != 0) + hca_text = ("DISABLED", "ENABLED")[hca_enabled] + print(f" Lane Assist: {hca_text}") + try: params = uds_client.read_data_by_identifier(DATA_IDENTIFIER_TYPE.APPLICATION_DATA_IDENTIFICATION).decode("utf-8") param_version_system_params = params[1:3] @@ -101,14 +111,14 @@ if __name__ == "__main__": if args.action in ["enable", "disable"]: print("\nAttempting configuration update") - assert(coding_variant == "ZF") # revisit when we have the APA rack coding bit + assert(coding_variant in ("ZF", "APA")) # ZF EPS config coding length can be anywhere from 1 to 4 bytes, but the # bit we care about is always in the same place in the first byte if args.action == "enable": - new_byte_0 = current_coding_array[0] | (1 << 4) + new_byte = current_coding_array[coding_byte] | (1 << coding_bit) else: - new_byte_0 = current_coding_array[0] & ~(1 << 4) - new_coding = new_byte_0.to_bytes(1, "little") + current_coding[1:] + new_byte = current_coding_array[coding_byte] & ~(1 << coding_bit) + new_coding = current_coding[0:coding_byte] + new_byte.to_bytes(1, "little") + current_coding[coding_byte+1:] try: seed = uds_client.security_access(ACCESS_TYPE_LEVEL_1.REQUEST_SEED) # type: ignore From 0ef6bb48df63fa07609c170b61584a1d3ef8c320 Mon Sep 17 00:00:00 2001 From: Shane Smiskol Date: Fri, 9 Sep 2022 16:24:29 -0700 Subject: [PATCH 12/38] FPv2: move car-specific configuration into interfaces (#25711) * Add VMCU address for EV6 * Rename vmcu * add to tests add to tests * rename to more generic name * more explicit * remove print * Like this much better, removes subtle fingerprinting problems * clean up * add test and clean up * remove hyundai stuffs * global * Fpv2Config class * fix missing fw versions from import order * unused * revert for now * test for fpv2 configs with subtests * subtests don't work that way * do toyota as an example * revert revert * do chrysler * do rest * stash * much smaller of a diff than the alternative * remove unused test * fix tests * remove brand from Request * Make StandardQueries class * add missing_ecus clean up * rename file * unused * test implemented * add comment and rename add comment and rename add comment and rename * should be impossible now * this is a fixme * rename to fw_query * rename this too * and this * move vin queries to class * order * can use p16! * formatting * whoops, this wasn't gated on not len(found_versions) * make this clear * Standardize manufacturer software version query --- release/files_common | 1 + selfdrive/car/body/values.py | 15 ++ selfdrive/car/chrysler/values.py | 36 +++ selfdrive/car/ford/values.py | 16 ++ selfdrive/car/fw_query_definitions.py | 66 +++++ selfdrive/car/fw_versions.py | 281 ++------------------- selfdrive/car/honda/values.py | 9 + selfdrive/car/hyundai/values.py | 23 ++ selfdrive/car/mazda/values.py | 16 +- selfdrive/car/nissan/values.py | 32 ++- selfdrive/car/subaru/values.py | 17 +- selfdrive/car/tests/test_fw_fingerprint.py | 19 +- selfdrive/car/toyota/values.py | 30 +++ selfdrive/car/vin.py | 11 +- selfdrive/car/volkswagen/values.py | 26 ++ 15 files changed, 326 insertions(+), 272 deletions(-) create mode 100755 selfdrive/car/fw_query_definitions.py diff --git a/release/files_common b/release/files_common index ad99af752..be0a4f0f0 100644 --- a/release/files_common +++ b/release/files_common @@ -101,6 +101,7 @@ selfdrive/car/interfaces.py selfdrive/car/vin.py selfdrive/car/disable_ecu.py selfdrive/car/fw_versions.py +selfdrive/car/fw_query_definitions.py selfdrive/car/ecu_addrs.py selfdrive/car/isotp_parallel_query.py selfdrive/car/tests/__init__.py diff --git a/selfdrive/car/body/values.py b/selfdrive/car/body/values.py index 61b72d5ad..66f1b947a 100644 --- a/selfdrive/car/body/values.py +++ b/selfdrive/car/body/values.py @@ -3,10 +3,13 @@ from typing import Dict from cereal import car from selfdrive.car import dbc_dict from selfdrive.car.docs_definitions import CarInfo +from selfdrive.car.fw_query_definitions import FwQueryConfig, Request, StdQueries + Ecu = car.CarParams.Ecu SPEED_FROM_RPM = 0.008587 + class CarControllerParams: ANGLE_DELTA_BP = [0., 5., 15.] ANGLE_DELTA_V = [5., .8, .15] # windup limit @@ -14,13 +17,25 @@ class CarControllerParams: LKAS_MAX_TORQUE = 1 # A value of 1 is easy to overpower STEER_THRESHOLD = 1.0 + class CAR: BODY = "COMMA BODY" + CAR_INFO: Dict[str, CarInfo] = { CAR.BODY: CarInfo("comma body", package="All"), } +FW_QUERY_CONFIG = FwQueryConfig( + requests=[ + Request( + [StdQueries.TESTER_PRESENT_REQUEST, StdQueries.UDS_VERSION_REQUEST], + [StdQueries.TESTER_PRESENT_RESPONSE, StdQueries.UDS_VERSION_RESPONSE], + bus=0, + ), + ], +) + FW_VERSIONS = { CAR.BODY: { (Ecu.engine, 0x720, None): [ diff --git a/selfdrive/car/chrysler/values.py b/selfdrive/car/chrysler/values.py index f495d06a1..3b3fc6e55 100644 --- a/selfdrive/car/chrysler/values.py +++ b/selfdrive/car/chrysler/values.py @@ -3,8 +3,11 @@ from enum import Enum from typing import Dict, List, Optional, Union from cereal import car +from panda.python import uds from selfdrive.car import dbc_dict from selfdrive.car.docs_definitions import CarInfo, Harness +from selfdrive.car.fw_query_definitions import FwQueryConfig, Request, p16 + Ecu = car.CarParams.Ecu @@ -129,6 +132,39 @@ FINGERPRINTS = { }], } +CHRYSLER_VERSION_REQUEST = bytes([uds.SERVICE_TYPE.READ_DATA_BY_IDENTIFIER]) + \ + p16(0xf132) +CHRYSLER_VERSION_RESPONSE = bytes([uds.SERVICE_TYPE.READ_DATA_BY_IDENTIFIER + 0x40]) + \ + p16(0xf132) + +CHRYSLER_SOFTWARE_VERSION_REQUEST = bytes([uds.SERVICE_TYPE.READ_DATA_BY_IDENTIFIER]) + \ + p16(uds.DATA_IDENTIFIER_TYPE.SYSTEM_SUPPLIER_ECU_SOFTWARE_NUMBER) +CHRYSLER_SOFTWARE_VERSION_RESPONSE = bytes([uds.SERVICE_TYPE.READ_DATA_BY_IDENTIFIER + 0x40]) + \ + p16(uds.DATA_IDENTIFIER_TYPE.SYSTEM_SUPPLIER_ECU_SOFTWARE_NUMBER) + +CHRYSLER_RX_OFFSET = -0x280 + +FW_QUERY_CONFIG = FwQueryConfig( + requests=[ + Request( + [CHRYSLER_VERSION_REQUEST], + [CHRYSLER_VERSION_RESPONSE], + whitelist_ecus=[Ecu.abs, Ecu.eps, Ecu.srs, Ecu.gateway, Ecu.fwdRadar, Ecu.fwdCamera, Ecu.combinationMeter], + rx_offset=CHRYSLER_RX_OFFSET, + ), + Request( + [CHRYSLER_VERSION_REQUEST], + [CHRYSLER_VERSION_RESPONSE], + whitelist_ecus=[Ecu.abs, Ecu.hcp, Ecu.engine, Ecu.transmission], + ), + Request( + [CHRYSLER_SOFTWARE_VERSION_REQUEST], + [CHRYSLER_SOFTWARE_VERSION_RESPONSE], + whitelist_ecus=[Ecu.engine, Ecu.transmission], + ), + ], +) + FW_VERSIONS = { CAR.PACIFICA_2019_HYBRID: { (Ecu.hcp, 0x7e2, None): [], diff --git a/selfdrive/car/ford/values.py b/selfdrive/car/ford/values.py index 54ff043a3..5820b5c9f 100644 --- a/selfdrive/car/ford/values.py +++ b/selfdrive/car/ford/values.py @@ -6,6 +6,7 @@ from typing import Dict, List, Union from cereal import car from selfdrive.car import dbc_dict from selfdrive.car.docs_definitions import CarInfo, Harness +from selfdrive.car.fw_query_definitions import FwQueryConfig, Request, StdQueries Ecu = car.CarParams.Ecu TransmissionType = car.CarParams.TransmissionType @@ -61,6 +62,21 @@ CAR_INFO: Dict[str, Union[CarInfo, List[CarInfo]]] = { CAR.FOCUS_MK4: FordCarInfo("Ford Focus EU 2019", "Driver Assistance Pack"), } +FW_QUERY_CONFIG = FwQueryConfig( + requests=[ + Request( + [StdQueries.TESTER_PRESENT_REQUEST, StdQueries.MANUFACTURER_SOFTWARE_VERSION_REQUEST], + [StdQueries.TESTER_PRESENT_RESPONSE, StdQueries.MANUFACTURER_SOFTWARE_VERSION_RESPONSE], + whitelist_ecus=[Ecu.engine], + ), + Request( + [StdQueries.TESTER_PRESENT_REQUEST, StdQueries.MANUFACTURER_SOFTWARE_VERSION_REQUEST], + [StdQueries.TESTER_PRESENT_RESPONSE, StdQueries.MANUFACTURER_SOFTWARE_VERSION_RESPONSE], + bus=0, + whitelist_ecus=[Ecu.eps, Ecu.abs, Ecu.fwdRadar, Ecu.fwdCamera, Ecu.shiftByWire], + ), + ], +) FW_VERSIONS = { CAR.ESCAPE_MK4: { diff --git a/selfdrive/car/fw_query_definitions.py b/selfdrive/car/fw_query_definitions.py new file mode 100755 index 000000000..c3b74da92 --- /dev/null +++ b/selfdrive/car/fw_query_definitions.py @@ -0,0 +1,66 @@ +#!/usr/bin/env python3 +import capnp +from dataclasses import dataclass, field +import struct +from typing import Dict, List + +import panda.python.uds as uds + + +def p16(val): + return struct.pack("!H", val) + + +class StdQueries: + # FW queries + TESTER_PRESENT_REQUEST = bytes([uds.SERVICE_TYPE.TESTER_PRESENT, 0x0]) + TESTER_PRESENT_RESPONSE = bytes([uds.SERVICE_TYPE.TESTER_PRESENT + 0x40, 0x0]) + + SHORT_TESTER_PRESENT_REQUEST = bytes([uds.SERVICE_TYPE.TESTER_PRESENT]) + SHORT_TESTER_PRESENT_RESPONSE = bytes([uds.SERVICE_TYPE.TESTER_PRESENT + 0x40]) + + DEFAULT_DIAGNOSTIC_REQUEST = bytes([uds.SERVICE_TYPE.DIAGNOSTIC_SESSION_CONTROL, + uds.SESSION_TYPE.DEFAULT]) + DEFAULT_DIAGNOSTIC_RESPONSE = bytes([uds.SERVICE_TYPE.DIAGNOSTIC_SESSION_CONTROL + 0x40, + uds.SESSION_TYPE.DEFAULT, 0x0, 0x32, 0x1, 0xf4]) + + EXTENDED_DIAGNOSTIC_REQUEST = bytes([uds.SERVICE_TYPE.DIAGNOSTIC_SESSION_CONTROL, + uds.SESSION_TYPE.EXTENDED_DIAGNOSTIC]) + EXTENDED_DIAGNOSTIC_RESPONSE = bytes([uds.SERVICE_TYPE.DIAGNOSTIC_SESSION_CONTROL + 0x40, + uds.SESSION_TYPE.EXTENDED_DIAGNOSTIC, 0x0, 0x32, 0x1, 0xf4]) + + MANUFACTURER_SOFTWARE_VERSION_REQUEST = bytes([uds.SERVICE_TYPE.READ_DATA_BY_IDENTIFIER]) + \ + p16(uds.DATA_IDENTIFIER_TYPE.VEHICLE_MANUFACTURER_ECU_SOFTWARE_NUMBER) + MANUFACTURER_SOFTWARE_VERSION_RESPONSE = bytes([uds.SERVICE_TYPE.READ_DATA_BY_IDENTIFIER + 0x40]) + \ + p16(uds.DATA_IDENTIFIER_TYPE.VEHICLE_MANUFACTURER_ECU_SOFTWARE_NUMBER) + + UDS_VERSION_REQUEST = bytes([uds.SERVICE_TYPE.READ_DATA_BY_IDENTIFIER]) + \ + p16(uds.DATA_IDENTIFIER_TYPE.APPLICATION_SOFTWARE_IDENTIFICATION) + UDS_VERSION_RESPONSE = bytes([uds.SERVICE_TYPE.READ_DATA_BY_IDENTIFIER + 0x40]) + \ + p16(uds.DATA_IDENTIFIER_TYPE.APPLICATION_SOFTWARE_IDENTIFICATION) + + OBD_VERSION_REQUEST = b'\x09\x04' + OBD_VERSION_RESPONSE = b'\x49\x04' + + # VIN queries + OBD_VIN_REQUEST = b'\x09\x02' + OBD_VIN_RESPONSE = b'\x49\x02\x01' + + UDS_VIN_REQUEST = bytes([uds.SERVICE_TYPE.READ_DATA_BY_IDENTIFIER]) + p16(uds.DATA_IDENTIFIER_TYPE.VIN) + UDS_VIN_RESPONSE = bytes([uds.SERVICE_TYPE.READ_DATA_BY_IDENTIFIER + 0x40]) + p16(uds.DATA_IDENTIFIER_TYPE.VIN) + + +@dataclass +class Request: + request: List[bytes] + response: List[bytes] + whitelist_ecus: List[int] = field(default_factory=list) + rx_offset: int = 0x8 + bus: int = 1 + + +@dataclass +class FwQueryConfig: + requests: List[Request] + # Overrides and removes from essential ecus for specific models and ecus (exact matching) + non_essential_ecus: Dict[capnp.lib.capnp._EnumModule, List[str]] = field(default_factory=dict) diff --git a/selfdrive/car/fw_versions.py b/selfdrive/car/fw_versions.py index 376a743df..9c0c406f1 100755 --- a/selfdrive/car/fw_versions.py +++ b/selfdrive/car/fw_versions.py @@ -1,9 +1,7 @@ #!/usr/bin/env python3 -import struct import traceback from collections import defaultdict -from dataclasses import dataclass, field -from typing import Any, List, Optional, Set, Tuple +from typing import Any, Optional, Set, Tuple from tqdm import tqdm import panda.python.uds as uds @@ -12,237 +10,16 @@ from selfdrive.car.ecu_addrs import get_ecu_addrs from selfdrive.car.interfaces import get_interface_attr from selfdrive.car.fingerprints import FW_VERSIONS from selfdrive.car.isotp_parallel_query import IsoTpParallelQuery -from selfdrive.car.toyota.values import CAR as TOYOTA from system.swaglog import cloudlog Ecu = car.CarParams.Ecu ESSENTIAL_ECUS = [Ecu.engine, Ecu.eps, Ecu.abs, Ecu.fwdRadar, Ecu.fwdCamera, Ecu.vsa] +FW_QUERY_CONFIGS = get_interface_attr('FW_QUERY_CONFIG', ignore_none=True) +VERSIONS = get_interface_attr('FW_VERSIONS', ignore_none=True) -def p16(val): - return struct.pack("!H", val) - - -TESTER_PRESENT_REQUEST = bytes([uds.SERVICE_TYPE.TESTER_PRESENT, 0x0]) -TESTER_PRESENT_RESPONSE = bytes([uds.SERVICE_TYPE.TESTER_PRESENT + 0x40, 0x0]) - -SHORT_TESTER_PRESENT_REQUEST = bytes([uds.SERVICE_TYPE.TESTER_PRESENT]) -SHORT_TESTER_PRESENT_RESPONSE = bytes([uds.SERVICE_TYPE.TESTER_PRESENT + 0x40]) - -DEFAULT_DIAGNOSTIC_REQUEST = bytes([uds.SERVICE_TYPE.DIAGNOSTIC_SESSION_CONTROL, - uds.SESSION_TYPE.DEFAULT]) -DEFAULT_DIAGNOSTIC_RESPONSE = bytes([uds.SERVICE_TYPE.DIAGNOSTIC_SESSION_CONTROL + 0x40, - uds.SESSION_TYPE.DEFAULT, 0x0, 0x32, 0x1, 0xf4]) - -EXTENDED_DIAGNOSTIC_REQUEST = bytes([uds.SERVICE_TYPE.DIAGNOSTIC_SESSION_CONTROL, - uds.SESSION_TYPE.EXTENDED_DIAGNOSTIC]) -EXTENDED_DIAGNOSTIC_RESPONSE = bytes([uds.SERVICE_TYPE.DIAGNOSTIC_SESSION_CONTROL + 0x40, - uds.SESSION_TYPE.EXTENDED_DIAGNOSTIC, 0x0, 0x32, 0x1, 0xf4]) - -UDS_VERSION_REQUEST = bytes([uds.SERVICE_TYPE.READ_DATA_BY_IDENTIFIER]) + \ - p16(uds.DATA_IDENTIFIER_TYPE.APPLICATION_SOFTWARE_IDENTIFICATION) -UDS_VERSION_RESPONSE = bytes([uds.SERVICE_TYPE.READ_DATA_BY_IDENTIFIER + 0x40]) + \ - p16(uds.DATA_IDENTIFIER_TYPE.APPLICATION_SOFTWARE_IDENTIFICATION) - - -HYUNDAI_VERSION_REQUEST_LONG = bytes([uds.SERVICE_TYPE.READ_DATA_BY_IDENTIFIER]) + \ - p16(0xf100) # Long description -HYUNDAI_VERSION_REQUEST_MULTI = bytes([uds.SERVICE_TYPE.READ_DATA_BY_IDENTIFIER]) + \ - p16(uds.DATA_IDENTIFIER_TYPE.VEHICLE_MANUFACTURER_SPARE_PART_NUMBER) + \ - p16(uds.DATA_IDENTIFIER_TYPE.APPLICATION_SOFTWARE_IDENTIFICATION) + \ - p16(0xf100) -HYUNDAI_VERSION_RESPONSE = bytes([uds.SERVICE_TYPE.READ_DATA_BY_IDENTIFIER + 0x40]) - - -TOYOTA_VERSION_REQUEST = b'\x1a\x88\x01' -TOYOTA_VERSION_RESPONSE = b'\x5a\x88\x01' - -VOLKSWAGEN_VERSION_REQUEST_MULTI = bytes([uds.SERVICE_TYPE.READ_DATA_BY_IDENTIFIER]) + \ - p16(uds.DATA_IDENTIFIER_TYPE.VEHICLE_MANUFACTURER_SPARE_PART_NUMBER) + \ - p16(uds.DATA_IDENTIFIER_TYPE.VEHICLE_MANUFACTURER_ECU_SOFTWARE_VERSION_NUMBER) + \ - p16(uds.DATA_IDENTIFIER_TYPE.APPLICATION_DATA_IDENTIFICATION) -VOLKSWAGEN_VERSION_RESPONSE = bytes([uds.SERVICE_TYPE.READ_DATA_BY_IDENTIFIER + 0x40]) - -OBD_VERSION_REQUEST = b'\x09\x04' -OBD_VERSION_RESPONSE = b'\x49\x04' - -DEFAULT_RX_OFFSET = 0x8 -VOLKSWAGEN_RX_OFFSET = 0x6a - -MAZDA_VERSION_REQUEST = bytes([uds.SERVICE_TYPE.READ_DATA_BY_IDENTIFIER]) + \ - p16(uds.DATA_IDENTIFIER_TYPE.VEHICLE_MANUFACTURER_ECU_SOFTWARE_NUMBER) -MAZDA_VERSION_RESPONSE = bytes([uds.SERVICE_TYPE.READ_DATA_BY_IDENTIFIER + 0x40]) + \ - p16(uds.DATA_IDENTIFIER_TYPE.VEHICLE_MANUFACTURER_ECU_SOFTWARE_NUMBER) - -NISSAN_DIAGNOSTIC_REQUEST_KWP = bytes([uds.SERVICE_TYPE.DIAGNOSTIC_SESSION_CONTROL, 0xc0]) -NISSAN_DIAGNOSTIC_RESPONSE_KWP = bytes([uds.SERVICE_TYPE.DIAGNOSTIC_SESSION_CONTROL + 0x40, 0xc0]) - -NISSAN_VERSION_REQUEST_KWP = b'\x21\x83' -NISSAN_VERSION_RESPONSE_KWP = b'\x61\x83' - -NISSAN_VERSION_REQUEST_STANDARD = bytes([uds.SERVICE_TYPE.READ_DATA_BY_IDENTIFIER]) + \ - p16(uds.DATA_IDENTIFIER_TYPE.VEHICLE_MANUFACTURER_ECU_SOFTWARE_NUMBER) -NISSAN_VERSION_RESPONSE_STANDARD = bytes([uds.SERVICE_TYPE.READ_DATA_BY_IDENTIFIER + 0x40]) + \ - p16(uds.DATA_IDENTIFIER_TYPE.VEHICLE_MANUFACTURER_ECU_SOFTWARE_NUMBER) - -NISSAN_RX_OFFSET = 0x20 - -SUBARU_VERSION_REQUEST = bytes([uds.SERVICE_TYPE.READ_DATA_BY_IDENTIFIER]) + \ - p16(uds.DATA_IDENTIFIER_TYPE.APPLICATION_DATA_IDENTIFICATION) -SUBARU_VERSION_RESPONSE = bytes([uds.SERVICE_TYPE.READ_DATA_BY_IDENTIFIER + 0x40]) + \ - p16(uds.DATA_IDENTIFIER_TYPE.APPLICATION_DATA_IDENTIFICATION) - -CHRYSLER_VERSION_REQUEST = bytes([uds.SERVICE_TYPE.READ_DATA_BY_IDENTIFIER]) + \ - p16(0xf132) -CHRYSLER_VERSION_RESPONSE = bytes([uds.SERVICE_TYPE.READ_DATA_BY_IDENTIFIER + 0x40]) + \ - p16(0xf132) - -CHRYSLER_SOFTWARE_VERSION_REQUEST = bytes([uds.SERVICE_TYPE.READ_DATA_BY_IDENTIFIER]) + \ - p16(uds.DATA_IDENTIFIER_TYPE.SYSTEM_SUPPLIER_ECU_SOFTWARE_NUMBER) -CHRYSLER_SOFTWARE_VERSION_RESPONSE = bytes([uds.SERVICE_TYPE.READ_DATA_BY_IDENTIFIER + 0x40]) + \ - p16(uds.DATA_IDENTIFIER_TYPE.SYSTEM_SUPPLIER_ECU_SOFTWARE_NUMBER) - -CHRYSLER_RX_OFFSET = -0x280 - -FORD_VERSION_REQUEST = bytes([uds.SERVICE_TYPE.READ_DATA_BY_IDENTIFIER]) + \ - p16(uds.DATA_IDENTIFIER_TYPE.VEHICLE_MANUFACTURER_ECU_SOFTWARE_NUMBER) -FORD_VERSION_RESPONSE = bytes([uds.SERVICE_TYPE.READ_DATA_BY_IDENTIFIER + 0x40]) + \ - p16(uds.DATA_IDENTIFIER_TYPE.VEHICLE_MANUFACTURER_ECU_SOFTWARE_NUMBER) - - -@dataclass -class Request: - brand: str - request: List[bytes] - response: List[bytes] - whitelist_ecus: List[int] = field(default_factory=list) - rx_offset: int = DEFAULT_RX_OFFSET - bus: int = 1 - - -REQUESTS: List[Request] = [ - # Subaru - Request( - "subaru", - [TESTER_PRESENT_REQUEST, SUBARU_VERSION_REQUEST], - [TESTER_PRESENT_RESPONSE, SUBARU_VERSION_RESPONSE], - ), - # Hyundai - Request( - "hyundai", - [HYUNDAI_VERSION_REQUEST_LONG], - [HYUNDAI_VERSION_RESPONSE], - ), - Request( - "hyundai", - [HYUNDAI_VERSION_REQUEST_MULTI], - [HYUNDAI_VERSION_RESPONSE], - ), - # Honda - Request( - "honda", - [UDS_VERSION_REQUEST], - [UDS_VERSION_RESPONSE], - ), - # Toyota - Request( - "toyota", - [SHORT_TESTER_PRESENT_REQUEST, TOYOTA_VERSION_REQUEST], - [SHORT_TESTER_PRESENT_RESPONSE, TOYOTA_VERSION_RESPONSE], - bus=0, - ), - Request( - "toyota", - [SHORT_TESTER_PRESENT_REQUEST, OBD_VERSION_REQUEST], - [SHORT_TESTER_PRESENT_RESPONSE, OBD_VERSION_RESPONSE], - bus=0, - ), - Request( - "toyota", - [TESTER_PRESENT_REQUEST, DEFAULT_DIAGNOSTIC_REQUEST, EXTENDED_DIAGNOSTIC_REQUEST, UDS_VERSION_REQUEST], - [TESTER_PRESENT_RESPONSE, DEFAULT_DIAGNOSTIC_RESPONSE, EXTENDED_DIAGNOSTIC_RESPONSE, UDS_VERSION_RESPONSE], - bus=0, - ), - # Volkswagen - Request( - "volkswagen", - [VOLKSWAGEN_VERSION_REQUEST_MULTI], - [VOLKSWAGEN_VERSION_RESPONSE], - whitelist_ecus=[Ecu.srs, Ecu.eps, Ecu.fwdRadar], - rx_offset=VOLKSWAGEN_RX_OFFSET, - ), - Request( - "volkswagen", - [VOLKSWAGEN_VERSION_REQUEST_MULTI], - [VOLKSWAGEN_VERSION_RESPONSE], - whitelist_ecus=[Ecu.engine, Ecu.transmission], - ), - # Mazda - Request( - "mazda", - [MAZDA_VERSION_REQUEST], - [MAZDA_VERSION_RESPONSE], - ), - # Nissan - Request( - "nissan", - [NISSAN_DIAGNOSTIC_REQUEST_KWP, NISSAN_VERSION_REQUEST_KWP], - [NISSAN_DIAGNOSTIC_RESPONSE_KWP, NISSAN_VERSION_RESPONSE_KWP], - ), - Request( - "nissan", - [NISSAN_DIAGNOSTIC_REQUEST_KWP, NISSAN_VERSION_REQUEST_KWP], - [NISSAN_DIAGNOSTIC_RESPONSE_KWP, NISSAN_VERSION_RESPONSE_KWP], - rx_offset=NISSAN_RX_OFFSET, - ), - Request( - "nissan", - [NISSAN_VERSION_REQUEST_STANDARD], - [NISSAN_VERSION_RESPONSE_STANDARD], - rx_offset=NISSAN_RX_OFFSET, - ), - # Body - Request( - "body", - [TESTER_PRESENT_REQUEST, UDS_VERSION_REQUEST], - [TESTER_PRESENT_RESPONSE, UDS_VERSION_RESPONSE], - bus=0, - ), - # Chrysler / FCA / Stellantis - Request( - "chrysler", - [CHRYSLER_VERSION_REQUEST], - [CHRYSLER_VERSION_RESPONSE], - whitelist_ecus=[Ecu.abs, Ecu.eps, Ecu.srs, Ecu.gateway, Ecu.fwdRadar, Ecu.fwdCamera, Ecu.combinationMeter], - rx_offset=CHRYSLER_RX_OFFSET, - ), - Request( - "chrysler", - [CHRYSLER_VERSION_REQUEST], - [CHRYSLER_VERSION_RESPONSE], - whitelist_ecus=[Ecu.abs, Ecu.hcp, Ecu.engine, Ecu.transmission], - ), - Request( - "chrysler", - [CHRYSLER_SOFTWARE_VERSION_REQUEST], - [CHRYSLER_SOFTWARE_VERSION_RESPONSE], - whitelist_ecus=[Ecu.engine, Ecu.transmission], - ), - # Ford - Request( - "ford", - [TESTER_PRESENT_REQUEST, FORD_VERSION_REQUEST], - [TESTER_PRESENT_RESPONSE, FORD_VERSION_RESPONSE], - whitelist_ecus=[Ecu.engine], - ), - Request( - "ford", - [TESTER_PRESENT_REQUEST, FORD_VERSION_REQUEST], - [TESTER_PRESENT_RESPONSE, FORD_VERSION_RESPONSE], - bus=0, - whitelist_ecus=[Ecu.eps, Ecu.abs, Ecu.fwdRadar, Ecu.fwdCamera, Ecu.shiftByWire], - ), -] +MODEL_TO_BRAND = {c: b for b, e in VERSIONS.items() for c in e} +REQUESTS = [(brand, r) for brand, config in FW_QUERY_CONFIGS.items() for r in config.requests] def chunks(l, n=128): @@ -261,9 +38,8 @@ def build_fw_dict(fw_versions, filter_brand=None): def get_brand_addrs(): - versions = get_interface_attr('FW_VERSIONS', ignore_none=True) brand_addrs = defaultdict(set) - for brand, cars in versions.items(): + for brand, cars in VERSIONS.items(): for fw in cars.values(): brand_addrs[brand] |= {(addr, sub_addr) for _, addr, sub_addr in fw.keys()} return brand_addrs @@ -325,19 +101,19 @@ def match_fw_to_car_exact(fw_versions_dict): for candidate, fws in candidates.items(): for ecu, expected_versions in fws.items(): + config = FW_QUERY_CONFIGS[MODEL_TO_BRAND[candidate]] ecu_type = ecu[0] addr = ecu[1:] - found_versions = fw_versions_dict.get(addr, set()) - if ecu_type == Ecu.abs and candidate in (TOYOTA.RAV4, TOYOTA.COROLLA, TOYOTA.HIGHLANDER, TOYOTA.SIENNA, TOYOTA.LEXUS_IS) and not len(found_versions): - continue - # On some Toyota models, the engine can show on two different addresses - if ecu_type == Ecu.engine and candidate in (TOYOTA.CAMRY, TOYOTA.COROLLA_TSS2, TOYOTA.CHR, TOYOTA.LEXUS_IS) and not len(found_versions): - continue + found_versions = fw_versions_dict.get(addr, set()) + if not len(found_versions): + # Some models can sometimes miss an ecu, or show on two different addresses + if candidate in config.non_essential_ecus.get(ecu_type, []): + continue - # Ignore non essential ecus - if ecu_type not in ESSENTIAL_ECUS and not len(found_versions): - continue + # Ignore non essential ecus + if ecu_type not in ESSENTIAL_ECUS: + continue # Virtual debug ecu doesn't need to match the database if ecu_type == Ecu.debug: @@ -358,11 +134,10 @@ def match_fw_to_car(fw_versions, allow_exact=True, allow_fuzzy=True): if allow_fuzzy: exact_matches.append((False, match_fw_to_car_fuzzy)) - brands = get_interface_attr('FW_VERSIONS', ignore_none=True).keys() for exact_match, match_func in exact_matches: # For each brand, attempt to fingerprint using all FW returned from its queries matches = set() - for brand in brands: + for brand in VERSIONS.keys(): fw_versions_dict = build_fw_dict(fw_versions, filter_brand=brand) matches |= match_func(fw_versions_dict) @@ -376,13 +151,9 @@ def get_present_ecus(logcan, sendcan): queries = list() parallel_queries = list() responses = set() - versions = get_interface_attr('FW_VERSIONS', ignore_none=True) - - for r in REQUESTS: - if r.brand not in versions: - continue - for brand_versions in versions[r.brand].values(): + for brand, r in REQUESTS: + for brand_versions in VERSIONS[brand].values(): for ecu_type, addr, sub_addr in brand_versions: # Only query ecus in whitelist if whitelist is not empty if len(r.whitelist_ecus) == 0 or ecu_type in r.whitelist_ecus: @@ -411,9 +182,9 @@ def get_brand_ecu_matches(ecu_rx_addrs): """Returns dictionary of brands and matches with ECUs in their FW versions""" brand_addrs = get_brand_addrs() - brand_matches = {r.brand: set() for r in REQUESTS} + brand_matches = {brand: set() for brand, _ in REQUESTS} - brand_rx_offsets = set((r.brand, r.rx_offset) for r in REQUESTS) + brand_rx_offsets = set((brand, r.rx_offset) for brand, r in REQUESTS) for addr, sub_addr, _ in ecu_rx_addrs: # Since we can't know what request an ecu responded to, add matches for all possible rx offsets for brand, rx_offset in brand_rx_offsets: @@ -442,7 +213,7 @@ def get_fw_versions_ordered(logcan, sendcan, ecu_rx_addrs, timeout=0.1, debug=Fa def get_fw_versions(logcan, sendcan, query_brand=None, extra=None, timeout=0.1, debug=False, progress=False): - versions = get_interface_attr('FW_VERSIONS', ignore_none=True) + versions = VERSIONS.copy() if query_brand is not None: versions = {query_brand: versions[query_brand]} @@ -473,12 +244,12 @@ def get_fw_versions(logcan, sendcan, query_brand=None, extra=None, timeout=0.1, # Get versions and build capnp list to put into CarParams car_fw = [] - requests = [r for r in REQUESTS if query_brand is None or r.brand == query_brand] + requests = [(brand, r) for brand, r in REQUESTS if query_brand is None or brand == query_brand] for addr in tqdm(addrs, disable=not progress): for addr_chunk in chunks(addr): - for r in requests: + for brand, r in requests: try: - addrs = [(a, s) for (b, a, s) in addr_chunk if b in (r.brand, 'any') and + addrs = [(a, s) for (b, a, s) in addr_chunk if b in (brand, 'any') and (len(r.whitelist_ecus) == 0 or ecu_types[(b, a, s)] in r.whitelist_ecus)] if addrs: @@ -486,12 +257,12 @@ def get_fw_versions(logcan, sendcan, query_brand=None, extra=None, timeout=0.1, for (addr, rx_addr), version in query.get_data(timeout).items(): f = car.CarParams.CarFw.new_message() - f.ecu = ecu_types.get((r.brand, addr[0], addr[1]), Ecu.unknown) + f.ecu = ecu_types.get((brand, addr[0], addr[1]), Ecu.unknown) f.fwVersion = version f.address = addr[0] f.responseAddress = rx_addr f.request = r.request - f.brand = r.brand + f.brand = brand f.bus = r.bus if addr[1] is not None: diff --git a/selfdrive/car/honda/values.py b/selfdrive/car/honda/values.py index ad4f73c01..43c3c7736 100644 --- a/selfdrive/car/honda/values.py +++ b/selfdrive/car/honda/values.py @@ -6,6 +6,7 @@ from cereal import car from common.conversions import Conversions as CV from selfdrive.car import dbc_dict from selfdrive.car.docs_definitions import CarFootnote, CarInfo, Column, Harness +from selfdrive.car.fw_query_definitions import FwQueryConfig, Request, StdQueries Ecu = car.CarParams.Ecu VisualAlert = car.CarControl.HUDControl.VisualAlert @@ -142,6 +143,14 @@ CAR_INFO: Dict[str, Optional[Union[HondaCarInfo, List[HondaCarInfo]]]] = { CAR.HONDA_E: HondaCarInfo("Honda e 2020", "All", min_steer_speed=3. * CV.MPH_TO_MS, harness=Harness.bosch_a), } +FW_QUERY_CONFIG = FwQueryConfig( + requests=[ + Request( + [StdQueries.UDS_VERSION_REQUEST], + [StdQueries.UDS_VERSION_RESPONSE], + ), + ], +) FW_VERSIONS = { CAR.ACCORD: { diff --git a/selfdrive/car/hyundai/values.py b/selfdrive/car/hyundai/values.py index e2374a1c0..4225826c1 100644 --- a/selfdrive/car/hyundai/values.py +++ b/selfdrive/car/hyundai/values.py @@ -3,9 +3,12 @@ from dataclasses import dataclass from typing import Dict, List, Optional, Union from cereal import car +from panda.python import uds from common.conversions import Conversions as CV from selfdrive.car import dbc_dict from selfdrive.car.docs_definitions import CarInfo, Harness +from selfdrive.car.fw_query_definitions import FwQueryConfig, Request, p16 + Ecu = car.CarParams.Ecu @@ -272,6 +275,26 @@ FINGERPRINTS = { }], } +HYUNDAI_VERSION_REQUEST_LONG = bytes([uds.SERVICE_TYPE.READ_DATA_BY_IDENTIFIER]) + \ + p16(0xf100) # Long description +HYUNDAI_VERSION_REQUEST_MULTI = bytes([uds.SERVICE_TYPE.READ_DATA_BY_IDENTIFIER]) + \ + p16(uds.DATA_IDENTIFIER_TYPE.VEHICLE_MANUFACTURER_SPARE_PART_NUMBER) + \ + p16(uds.DATA_IDENTIFIER_TYPE.APPLICATION_SOFTWARE_IDENTIFICATION) + \ + p16(0xf100) +HYUNDAI_VERSION_RESPONSE = bytes([uds.SERVICE_TYPE.READ_DATA_BY_IDENTIFIER + 0x40]) + +FW_QUERY_CONFIG = FwQueryConfig( + requests=[ + Request( + [HYUNDAI_VERSION_REQUEST_LONG], + [HYUNDAI_VERSION_RESPONSE], + ), + Request( + [HYUNDAI_VERSION_REQUEST_MULTI], + [HYUNDAI_VERSION_RESPONSE], + ), + ], +) FW_VERSIONS = { CAR.IONIQ: { diff --git a/selfdrive/car/mazda/values.py b/selfdrive/car/mazda/values.py index 95f140422..9befad4d0 100644 --- a/selfdrive/car/mazda/values.py +++ b/selfdrive/car/mazda/values.py @@ -2,9 +2,11 @@ from dataclasses import dataclass from enum import Enum from typing import Dict, List, Union +from cereal import car from selfdrive.car import dbc_dict from selfdrive.car.docs_definitions import CarInfo, Harness -from cereal import car +from selfdrive.car.fw_query_definitions import FwQueryConfig, Request, StdQueries + Ecu = car.CarParams.Ecu @@ -50,6 +52,7 @@ class LKAS_LIMITS: DISABLE_SPEED = 45 # kph ENABLE_SPEED = 52 # kph + class Buttons: NONE = 0 SET_PLUS = 1 @@ -58,8 +61,17 @@ class Buttons: CANCEL = 4 +FW_QUERY_CONFIG = FwQueryConfig( + requests=[ + Request( + [StdQueries.MANUFACTURER_SOFTWARE_VERSION_REQUEST], + [StdQueries.MANUFACTURER_SOFTWARE_VERSION_RESPONSE], + ), + ], +) + FW_VERSIONS = { - CAR.CX5_2022 : { + CAR.CX5_2022: { (Ecu.eps, 0x730, None): [ b'KSD5-3210X-C-00\x00\x00\x00\x00\x00\x00\x00\x00\x00', ], diff --git a/selfdrive/car/nissan/values.py b/selfdrive/car/nissan/values.py index 440c68249..09bd7ca83 100644 --- a/selfdrive/car/nissan/values.py +++ b/selfdrive/car/nissan/values.py @@ -2,9 +2,12 @@ from dataclasses import dataclass from typing import Dict, List, Optional, Union from enum import Enum +from cereal import car +from panda.python import uds from selfdrive.car import dbc_dict from selfdrive.car.docs_definitions import CarInfo, Harness -from cereal import car +from selfdrive.car.fw_query_definitions import FwQueryConfig, Request, StdQueries + Ecu = car.CarParams.Ecu @@ -75,6 +78,33 @@ FINGERPRINTS = { ] } +NISSAN_DIAGNOSTIC_REQUEST_KWP = bytes([uds.SERVICE_TYPE.DIAGNOSTIC_SESSION_CONTROL, 0xc0]) +NISSAN_DIAGNOSTIC_RESPONSE_KWP = bytes([uds.SERVICE_TYPE.DIAGNOSTIC_SESSION_CONTROL + 0x40, 0xc0]) + +NISSAN_VERSION_REQUEST_KWP = b'\x21\x83' +NISSAN_VERSION_RESPONSE_KWP = b'\x61\x83' + +NISSAN_RX_OFFSET = 0x20 + +FW_QUERY_CONFIG = FwQueryConfig( + requests=[ + Request( + [NISSAN_DIAGNOSTIC_REQUEST_KWP, NISSAN_VERSION_REQUEST_KWP], + [NISSAN_DIAGNOSTIC_RESPONSE_KWP, NISSAN_VERSION_RESPONSE_KWP], + ), + Request( + [NISSAN_DIAGNOSTIC_REQUEST_KWP, NISSAN_VERSION_REQUEST_KWP], + [NISSAN_DIAGNOSTIC_RESPONSE_KWP, NISSAN_VERSION_RESPONSE_KWP], + rx_offset=NISSAN_RX_OFFSET, + ), + Request( + [StdQueries.MANUFACTURER_SOFTWARE_VERSION_REQUEST], + [StdQueries.MANUFACTURER_SOFTWARE_VERSION_RESPONSE], + rx_offset=NISSAN_RX_OFFSET, + ), + ], +) + FW_VERSIONS = { CAR.ALTIMA: { (Ecu.fwdCamera, 0x707, None): [ diff --git a/selfdrive/car/subaru/values.py b/selfdrive/car/subaru/values.py index 53dd4a763..58fe111fb 100644 --- a/selfdrive/car/subaru/values.py +++ b/selfdrive/car/subaru/values.py @@ -2,9 +2,11 @@ from dataclasses import dataclass from enum import Enum from typing import Dict, List, Union +from cereal import car +from panda.python import uds from selfdrive.car import dbc_dict from selfdrive.car.docs_definitions import CarInfo, Harness -from cereal import car +from selfdrive.car.fw_query_definitions import FwQueryConfig, Request, StdQueries, p16 Ecu = car.CarParams.Ecu @@ -71,6 +73,19 @@ CAR_INFO: Dict[str, Union[SubaruCarInfo, List[SubaruCarInfo]]] = { CAR.OUTBACK_PREGLOBAL_2018: SubaruCarInfo("Subaru Outback 2018-19"), } +SUBARU_VERSION_REQUEST = bytes([uds.SERVICE_TYPE.READ_DATA_BY_IDENTIFIER]) + \ + p16(uds.DATA_IDENTIFIER_TYPE.APPLICATION_DATA_IDENTIFICATION) +SUBARU_VERSION_RESPONSE = bytes([uds.SERVICE_TYPE.READ_DATA_BY_IDENTIFIER + 0x40]) + \ + p16(uds.DATA_IDENTIFIER_TYPE.APPLICATION_DATA_IDENTIFICATION) + +FW_QUERY_CONFIG = FwQueryConfig( + requests=[ + Request( + [StdQueries.TESTER_PRESENT_REQUEST, SUBARU_VERSION_REQUEST], + [StdQueries.TESTER_PRESENT_RESPONSE, SUBARU_VERSION_RESPONSE], + ), + ], +) FW_VERSIONS = { CAR.ASCENT: { diff --git a/selfdrive/car/tests/test_fw_fingerprint.py b/selfdrive/car/tests/test_fw_fingerprint.py index 2a47c60bf..f0d2744a9 100755 --- a/selfdrive/car/tests/test_fw_fingerprint.py +++ b/selfdrive/car/tests/test_fw_fingerprint.py @@ -6,7 +6,7 @@ from parameterized import parameterized from cereal import car from selfdrive.car.car_helpers import get_interface_attr, interfaces from selfdrive.car.fingerprints import FW_VERSIONS -from selfdrive.car.fw_versions import REQUESTS, match_fw_to_car +from selfdrive.car.fw_versions import FW_QUERY_CONFIGS, match_fw_to_car CarFw = car.CarParams.CarFw Ecu = car.CarParams.Ecu @@ -59,14 +59,25 @@ class TestFwFingerprint(unittest.TestCase): for ecu in ecus.keys(): self.assertNotEqual(ecu[0], Ecu.transmission, f"{car_model}: Blacklisted ecu: (Ecu.{ECU_NAME[ecu[0]]}, {hex(ecu[1])})") + def test_missing_versions_and_configs(self): + brand_versions = set(VERSIONS.keys()) + brand_configs = set(FW_QUERY_CONFIGS.keys()) + if len(brand_configs - brand_versions): + with self.subTest(): + self.fail(f"Brands do not implement FW_VERSIONS: {brand_configs - brand_versions}") + + if len(brand_versions - brand_configs): + with self.subTest(): + self.fail(f"Brands do not implement FW_QUERY_CONFIG: {brand_versions - brand_configs}") + def test_fw_request_ecu_whitelist(self): - for brand in set(r.brand for r in REQUESTS): + for brand, config in FW_QUERY_CONFIGS.items(): with self.subTest(brand=brand): - whitelisted_ecus = [ecu for r in REQUESTS for ecu in r.whitelist_ecus if r.brand == brand] + whitelisted_ecus = set([ecu for r in config.requests for ecu in r.whitelist_ecus]) brand_ecus = set([fw[0] for car_fw in VERSIONS[brand].values() for fw in car_fw]) # each ecu in brand's fw versions needs to be whitelisted at least once - ecus_not_whitelisted = set(brand_ecus) - set(whitelisted_ecus) + ecus_not_whitelisted = brand_ecus - whitelisted_ecus ecu_strings = ", ".join([f'Ecu.{ECU_NAME[ecu]}' for ecu in ecus_not_whitelisted]) self.assertFalse(len(whitelisted_ecus) and len(ecus_not_whitelisted), diff --git a/selfdrive/car/toyota/values.py b/selfdrive/car/toyota/values.py index af2fc9f56..94fbdc8bf 100644 --- a/selfdrive/car/toyota/values.py +++ b/selfdrive/car/toyota/values.py @@ -7,6 +7,7 @@ from cereal import car from common.conversions import Conversions as CV from selfdrive.car import dbc_dict from selfdrive.car.docs_definitions import CarFootnote, CarInfo, Column, Harness +from selfdrive.car.fw_query_definitions import FwQueryConfig, Request, StdQueries Ecu = car.CarParams.Ecu MIN_ACC_SPEED = 19. * CV.MPH_TO_MS @@ -198,6 +199,35 @@ STATIC_DSU_MSGS = [ (0x4CB, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RXH, CAR.LEXUS_NXH, CAR.LEXUS_NX, CAR.RAV4, CAR.COROLLA, CAR.HIGHLANDERH, CAR.HIGHLANDER, CAR.AVALON, CAR.SIENNA, CAR.LEXUS_CTH, CAR.LEXUS_ESH, CAR.LEXUS_RX, CAR.PRIUS_V), 0, 100, b'\x0c\x00\x00\x00\x00\x00\x00\x00'), ] +TOYOTA_VERSION_REQUEST = b'\x1a\x88\x01' +TOYOTA_VERSION_RESPONSE = b'\x5a\x88\x01' + +FW_QUERY_CONFIG = FwQueryConfig( + requests=[ + Request( + [StdQueries.SHORT_TESTER_PRESENT_REQUEST, TOYOTA_VERSION_REQUEST], + [StdQueries.SHORT_TESTER_PRESENT_RESPONSE, TOYOTA_VERSION_RESPONSE], + bus=0, + ), + Request( + [StdQueries.SHORT_TESTER_PRESENT_REQUEST, StdQueries.OBD_VERSION_REQUEST], + [StdQueries.SHORT_TESTER_PRESENT_RESPONSE, StdQueries.OBD_VERSION_RESPONSE], + bus=0, + ), + Request( + [StdQueries.TESTER_PRESENT_REQUEST, StdQueries.DEFAULT_DIAGNOSTIC_REQUEST, StdQueries.EXTENDED_DIAGNOSTIC_REQUEST, StdQueries.UDS_VERSION_REQUEST], + [StdQueries.TESTER_PRESENT_RESPONSE, StdQueries.DEFAULT_DIAGNOSTIC_RESPONSE, StdQueries.EXTENDED_DIAGNOSTIC_RESPONSE, StdQueries.UDS_VERSION_RESPONSE], + bus=0, + ), + ], + non_essential_ecus={ + # FIXME: On some models, abs can sometimes be missing + Ecu.abs: [CAR.RAV4, CAR.COROLLA, CAR.HIGHLANDER, CAR.SIENNA, CAR.LEXUS_IS], + # On some models, the engine can show on two different addresses + Ecu.engine: [CAR.CAMRY, CAR.COROLLA_TSS2, CAR.CHR, CAR.LEXUS_IS], + } +) + FW_VERSIONS = { CAR.AVALON: { (Ecu.abs, 0x7b0, None): [ diff --git a/selfdrive/car/vin.py b/selfdrive/car/vin.py index ae3aa675c..fba0c54eb 100755 --- a/selfdrive/car/vin.py +++ b/selfdrive/car/vin.py @@ -1,19 +1,12 @@ #!/usr/bin/env python3 import re -import struct import traceback import cereal.messaging as messaging -import panda.python.uds as uds from selfdrive.car.isotp_parallel_query import IsoTpParallelQuery +from selfdrive.car.fw_query_definitions import StdQueries from system.swaglog import cloudlog -OBD_VIN_REQUEST = b'\x09\x02' -OBD_VIN_RESPONSE = b'\x49\x02\x01' - -UDS_VIN_REQUEST = bytes([uds.SERVICE_TYPE.READ_DATA_BY_IDENTIFIER]) + struct.pack("!H", uds.DATA_IDENTIFIER_TYPE.VIN) -UDS_VIN_RESPONSE = bytes([uds.SERVICE_TYPE.READ_DATA_BY_IDENTIFIER + 0x40]) + struct.pack("!H", uds.DATA_IDENTIFIER_TYPE.VIN) - VIN_UNKNOWN = "0" * 17 VIN_RE = "[A-HJ-NPR-Z0-9]{17}" @@ -25,7 +18,7 @@ def is_valid_vin(vin: str): def get_vin(logcan, sendcan, bus, timeout=0.1, retry=5, debug=False): addrs = [0x7e0, 0x7e2, 0x18da10f1, 0x18da0ef1] # engine, VMCU, 29-bit engine, PGM-FI for i in range(retry): - for request, response in ((UDS_VIN_REQUEST, UDS_VIN_RESPONSE), (OBD_VIN_REQUEST, OBD_VIN_RESPONSE)): + for request, response in ((StdQueries.UDS_VIN_REQUEST, StdQueries.UDS_VIN_RESPONSE), (StdQueries.OBD_VIN_REQUEST, StdQueries.OBD_VIN_RESPONSE)): try: query = IsoTpParallelQuery(sendcan, logcan, bus, addrs, [request, ], [response, ], debug=debug) for (addr, rx_addr), vin in query.get_data(timeout).items(): diff --git a/selfdrive/car/volkswagen/values.py b/selfdrive/car/volkswagen/values.py index 62d6dcdda..eaf6c042d 100755 --- a/selfdrive/car/volkswagen/values.py +++ b/selfdrive/car/volkswagen/values.py @@ -4,9 +4,11 @@ from enum import Enum from typing import Dict, List, Union from cereal import car +from panda.python import uds from opendbc.can.can_define import CANDefine from selfdrive.car import dbc_dict from selfdrive.car.docs_definitions import CarFootnote, CarInfo, Column, Harness +from selfdrive.car.fw_query_definitions import FwQueryConfig, Request, p16 Ecu = car.CarParams.Ecu NetworkLocation = car.CarParams.NetworkLocation @@ -243,6 +245,30 @@ CAR_INFO: Dict[str, Union[VWCarInfo, List[VWCarInfo]]] = { # ECU SW part numbers are invalid for vehicle ID and compatibility checks. Try to have # them repaired by the tuner before including them in openpilot. +VOLKSWAGEN_VERSION_REQUEST_MULTI = bytes([uds.SERVICE_TYPE.READ_DATA_BY_IDENTIFIER]) + \ + p16(uds.DATA_IDENTIFIER_TYPE.VEHICLE_MANUFACTURER_SPARE_PART_NUMBER) + \ + p16(uds.DATA_IDENTIFIER_TYPE.VEHICLE_MANUFACTURER_ECU_SOFTWARE_VERSION_NUMBER) + \ + p16(uds.DATA_IDENTIFIER_TYPE.APPLICATION_DATA_IDENTIFICATION) +VOLKSWAGEN_VERSION_RESPONSE = bytes([uds.SERVICE_TYPE.READ_DATA_BY_IDENTIFIER + 0x40]) + +VOLKSWAGEN_RX_OFFSET = 0x6a + +FW_QUERY_CONFIG = FwQueryConfig( + requests=[ + Request( + [VOLKSWAGEN_VERSION_REQUEST_MULTI], + [VOLKSWAGEN_VERSION_RESPONSE], + whitelist_ecus=[Ecu.srs, Ecu.eps, Ecu.fwdRadar], + rx_offset=VOLKSWAGEN_RX_OFFSET, + ), + Request( + [VOLKSWAGEN_VERSION_REQUEST_MULTI], + [VOLKSWAGEN_VERSION_RESPONSE], + whitelist_ecus=[Ecu.engine, Ecu.transmission], + ), + ], +) + FW_VERSIONS = { CAR.ARTEON_MK1: { (Ecu.engine, 0x7e0, None): [ From aea1a0d5e684daf7682703174233390b0cf79c83 Mon Sep 17 00:00:00 2001 From: George Hotz <72895+geohot@users.noreply.github.com> Date: Fri, 9 Sep 2022 22:38:00 -0700 Subject: [PATCH 13/38] port OX03C10 (#25161) * start porting OS04C10 * something * is the pll why this doesn't work * understand plls, still doesn't work * work * weee something * working? * timing * encoderd works with less cameras * 1928 * flip image * color balance * adjust black level * extra height maybe * cleanups * clean up sensor i2c * sensors * approx 20fps * remove mirror * 50ms, no fsin yet * remove imx390 support * some attempt at AE * linearize the response * OX changes (#25697) * organize * wb * best effort but probably messed up by artifacts * multicam sync Co-authored-by: Comma Device * clean up * more * fix multiexposure * start porting OS04C10 * something * is the pll why this doesn't work * understand plls, still doesn't work * work * weee something * working? * timing * encoderd works with less cameras * 1928 * flip image * color balance * adjust black level * extra height maybe * cleanups * clean up sensor i2c * sensors * approx 20fps * remove mirror * 50ms, no fsin yet * remove imx390 support * some attempt at AE * linearize the response * OX changes (#25697) * organize * wb * best effort but probably messed up by artifacts * multicam sync Co-authored-by: Comma Device * clean up * more * fix multiexposure * unbroken AE * oops * sort of good AE * both should work 1 * open then init * fix debayer * rename * fix test build Co-authored-by: Comma Device Co-authored-by: ZwX1616 Co-authored-by: Adeeb Shihadeh --- selfdrive/loggerd/encoderd.cc | 28 +- system/camerad/cameras/camera_common.cc | 6 +- system/camerad/cameras/camera_common.h | 2 +- system/camerad/cameras/camera_qcom2.cc | 251 +++++--- system/camerad/cameras/camera_qcom2.h | 22 +- system/camerad/cameras/real_debayer.cl | 35 ++ system/camerad/cameras/sensor2_i2c.h | 772 +++++++++++++++++++++++- system/camerad/test/camera_test.h | 2 + 8 files changed, 989 insertions(+), 129 deletions(-) diff --git a/selfdrive/loggerd/encoderd.cc b/selfdrive/loggerd/encoderd.cc index 9bd8e2f1d..db5f4b61a 100644 --- a/selfdrive/loggerd/encoderd.cc +++ b/selfdrive/loggerd/encoderd.cc @@ -52,17 +52,23 @@ void encoder_thread(EncoderdState *s, const LogCameraInfo &cam_info) { VisionBuf buf_info = vipc_client.buffers[0]; LOGW("encoder %s init %dx%d", cam_info.filename, buf_info.width, buf_info.height); - // main encoder - encoders.push_back(new Encoder(cam_info.filename, cam_info.type, buf_info.width, buf_info.height, - cam_info.fps, cam_info.bitrate, - cam_info.is_h265 ? cereal::EncodeIndex::Type::FULL_H_E_V_C : cereal::EncodeIndex::Type::QCAMERA_H264, - buf_info.width, buf_info.height, false)); - // qcamera encoder - if (cam_info.has_qcamera) { - encoders.push_back(new Encoder(qcam_info.filename, cam_info.type, buf_info.width, buf_info.height, - qcam_info.fps, qcam_info.bitrate, - qcam_info.is_h265 ? cereal::EncodeIndex::Type::FULL_H_E_V_C : cereal::EncodeIndex::Type::QCAMERA_H264, - qcam_info.frame_width, qcam_info.frame_height, false)); + if (buf_info.width > 0 && buf_info.height > 0) { + // main encoder + encoders.push_back(new Encoder(cam_info.filename, cam_info.type, buf_info.width, buf_info.height, + cam_info.fps, cam_info.bitrate, + cam_info.is_h265 ? cereal::EncodeIndex::Type::FULL_H_E_V_C : cereal::EncodeIndex::Type::QCAMERA_H264, + buf_info.width, buf_info.height, false)); + // qcamera encoder + if (cam_info.has_qcamera) { + encoders.push_back(new Encoder(qcam_info.filename, cam_info.type, buf_info.width, buf_info.height, + qcam_info.fps, qcam_info.bitrate, + qcam_info.is_h265 ? cereal::EncodeIndex::Type::FULL_H_E_V_C : cereal::EncodeIndex::Type::QCAMERA_H264, + qcam_info.frame_width, qcam_info.frame_height, false)); + } + } else { + LOGE("not initting empty encoder"); + s->max_waiting--; + break; } } diff --git a/system/camerad/cameras/camera_common.cc b/system/camerad/cameras/camera_common.cc index 1d4ecd526..313af00b5 100644 --- a/system/camerad/cameras/camera_common.cc +++ b/system/camerad/cameras/camera_common.cc @@ -36,10 +36,10 @@ public: "-cl-fast-relaxed-math -cl-denorms-are-zero " "-DFRAME_WIDTH=%d -DFRAME_HEIGHT=%d -DFRAME_STRIDE=%d -DFRAME_OFFSET=%d " "-DRGB_WIDTH=%d -DRGB_HEIGHT=%d -DRGB_STRIDE=%d -DYUV_STRIDE=%d -DUV_OFFSET=%d " - "-DCAM_NUM=%d%s", + "-DIS_OX=%d -DCAM_NUM=%d%s", ci->frame_width, ci->frame_height, ci->frame_stride, ci->frame_offset, b->rgb_width, b->rgb_height, b->rgb_stride, buf_width, uv_offset, - s->camera_num, s->camera_num==1 ? " -DVIGNETTING" : ""); + s->camera_id==CAMERA_ID_OX03C10 ? 1 : 0, s->camera_num, s->camera_num==1 ? " -DVIGNETTING" : ""); const char *cl_file = "cameras/real_debayer.cl"; cl_program prg_debayer = cl_program_from_file(context, device_id, cl_file, args); krnl_ = CL_CHECK_ERR(clCreateKernel(prg_debayer, "debayer10", &err)); @@ -348,8 +348,8 @@ void camerad_thread() { MultiCameraState cameras = {}; VisionIpcServer vipc_server("camerad", device_id, context); - cameras_init(&vipc_server, &cameras, device_id, context); cameras_open(&cameras); + cameras_init(&vipc_server, &cameras, device_id, context); vipc_server.start_listener(); diff --git a/system/camerad/cameras/camera_common.h b/system/camerad/cameras/camera_common.h index e87eaf4b9..7bbb13c75 100644 --- a/system/camerad/cameras/camera_common.h +++ b/system/camerad/cameras/camera_common.h @@ -23,7 +23,7 @@ #define CAMERA_ID_LGC920 6 #define CAMERA_ID_LGC615 7 #define CAMERA_ID_AR0231 8 -#define CAMERA_ID_IMX390 9 +#define CAMERA_ID_OX03C10 9 #define CAMERA_ID_MAX 10 const int YUV_BUFFER_COUNT = 40; diff --git a/system/camerad/cameras/camera_qcom2.cc b/system/camerad/cameras/camera_qcom2.cc index a86218c06..3d0cc3a70 100644 --- a/system/camerad/cameras/camera_qcom2.cc +++ b/system/camerad/cameras/camera_qcom2.cc @@ -32,7 +32,8 @@ const size_t FRAME_HEIGHT = 1208; const size_t FRAME_STRIDE = 2896; // for 12 bit output. 1928 * 12 / 8 + 4 (alignment) const size_t AR0231_REGISTERS_HEIGHT = 2; -const size_t AR0231_STATS_HEIGHT = 2; +// TODO: this extra height is universal and doesn't apply per camera +const size_t AR0231_STATS_HEIGHT = 2+8; const int MIPI_SETTLE_CNT = 33; // Calculated by camera_freqs.py @@ -47,26 +48,60 @@ CameraInfo cameras_supported[CAMERA_ID_MAX] = { .frame_offset = AR0231_REGISTERS_HEIGHT, .stats_offset = AR0231_REGISTERS_HEIGHT + FRAME_HEIGHT, }, - [CAMERA_ID_IMX390] = { + [CAMERA_ID_OX03C10] = { .frame_width = FRAME_WIDTH, .frame_height = FRAME_HEIGHT, - .frame_stride = FRAME_STRIDE, + .frame_stride = FRAME_STRIDE, // (0xa80*12//8) + .extra_height = 16, // this right? }, }; -const float DC_GAIN = 2.5; -const float sensor_analog_gains[] = { +const float DC_GAIN_AR0231 = 2.5; +const float DC_GAIN_OX03C10 = 7.32; + +const float DC_GAIN_ON_GREY_AR0231= 0.2; +const float DC_GAIN_OFF_GREY_AR0231 = 0.3; +const float DC_GAIN_ON_GREY_OX03C10= 0.3; +const float DC_GAIN_OFF_GREY_OX03C10 = 0.375; + +const int DC_GAIN_MIN_WEIGHT = 0; +const int DC_GAIN_MAX_WEIGHT_AR0231 = 1; +const int DC_GAIN_MAX_WEIGHT_OX03C10 = 32; + +const float sensor_analog_gains_AR0231[] = { 1.0/8.0, 2.0/8.0, 2.0/7.0, 3.0/7.0, // 0, 1, 2, 3 3.0/6.0, 4.0/6.0, 4.0/5.0, 5.0/5.0, // 4, 5, 6, 7 5.0/4.0, 6.0/4.0, 6.0/3.0, 7.0/3.0, // 8, 9, 10, 11 7.0/2.0, 8.0/2.0, 8.0/1.0}; // 12, 13, 14, 15 = bypass -const int ANALOG_GAIN_MIN_IDX = 0x1; // 0.25x -const int ANALOG_GAIN_REC_IDX = 0x6; // 0.8x -const int ANALOG_GAIN_MAX_IDX = 0xD; // 4.0x +// similar gain curve to AR +const float sensor_analog_gains_OX03C10[] = { + 1.0, 1.25, 1.3125, 1.5625, + 1.6875, 2.0, 2.25, 2.625, + 3.125, 3.625, 4.5, 5.0, + 7.25, 8.5, 12.0, 15.5}; + +const uint32_t ox03c10_analog_gains_reg[] = { + 0x100, 0x140, 0x150, 0x190, + 0x1B0, 0x200, 0x240, 0x2A0, + 0x320, 0x3A0, 0x480, 0x500, + 0x740, 0x880, 0xC00, 0xF80}; + +const int ANALOG_GAIN_MIN_IDX_AR0231 = 0x1; // 0.25x +const int ANALOG_GAIN_REC_IDX_AR0231 = 0x6; // 0.8x +const int ANALOG_GAIN_MAX_IDX_AR0231 = 0xD; // 4.0x + +const int ANALOG_GAIN_MIN_IDX_OX03C10 = 0x0; +const int ANALOG_GAIN_REC_IDX_OX03C10 = 0x5; // 2x +const int ANALOG_GAIN_MAX_IDX_OX03C10 = 0xF; + +const int EXPOSURE_TIME_MIN_AR0231 = 2; // with HDR, fastest ss +const int EXPOSURE_TIME_MAX_AR0231 = 0x0855; // with HDR, slowest ss, 40ms -const int EXPOSURE_TIME_MIN = 2; // with HDR, fastest ss -const int EXPOSURE_TIME_MAX = 0x0855; // with HDR, slowest ss, 40ms +const int EXPOSURE_TIME_MIN_OX03C10 = 2; // 1x +const int EXPOSURE_TIME_MAX_OX03C10 = 2016; +const uint32_t VS_TIME_MIN_OX03C10 = 1; +const uint32_t VS_TIME_MAX_OX03C10 = 34; // vs < 35 // ************** low level camera helpers **************** int do_cam_control(int fd, int op_code, void *handle, int size) { @@ -213,8 +248,8 @@ void CameraState::sensors_start() { LOGD("starting sensor %d", camera_num); if (camera_id == CAMERA_ID_AR0231) { sensors_i2c(start_reg_array_ar0231, std::size(start_reg_array_ar0231), CAM_SENSOR_PACKET_OPCODE_SENSOR_CONFIG, true); - } else if (camera_id == CAMERA_ID_IMX390) { - sensors_i2c(start_reg_array_imx390, std::size(start_reg_array_imx390), CAM_SENSOR_PACKET_OPCODE_SENSOR_CONFIG, false); + } else if (camera_id == CAMERA_ID_OX03C10) { + sensors_i2c(start_reg_array_ox03c10, std::size(start_reg_array_ox03c10), CAM_SENSOR_PACKET_OPCODE_SENSOR_CONFIG, false); } else { assert(false); } @@ -300,15 +335,15 @@ int CameraState::sensors_init() { switch (camera_num) { case 0: // port 0 - i2c_info->slave_addr = (camera_id == CAMERA_ID_AR0231) ? 0x20 : 0x34; + i2c_info->slave_addr = (camera_id == CAMERA_ID_AR0231) ? 0x20 : 0x6C; // 6C = 0x36*2 break; case 1: // port 1 - i2c_info->slave_addr = (camera_id == CAMERA_ID_AR0231) ? 0x30 : 0x36; + i2c_info->slave_addr = (camera_id == CAMERA_ID_AR0231) ? 0x30 : 0x20; break; case 2: // port 2 - i2c_info->slave_addr = (camera_id == CAMERA_ID_AR0231) ? 0x20 : 0x34; + i2c_info->slave_addr = (camera_id == CAMERA_ID_AR0231) ? 0x20 : 0x6C; break; } @@ -324,9 +359,9 @@ int CameraState::sensors_init() { if (camera_id == CAMERA_ID_AR0231) { probe->reg_addr = 0x3000; probe->expected_data = 0x354; - } else if (camera_id == CAMERA_ID_IMX390) { - probe->reg_addr = 0x330; - probe->expected_data = 0x1538; + } else if (camera_id == CAMERA_ID_OX03C10) { + probe->reg_addr = 0x300a; + probe->expected_data = 0x5803; } else { assert(false); } @@ -393,8 +428,8 @@ int CameraState::sensors_init() { power->power_settings[1].power_seq_type = 1; power->power_settings[2].power_seq_type = 3; - LOGD("probing the sensor"); int ret = do_cam_control(sensor_fd, CAM_SENSOR_PROBE_CMD, (void *)(uintptr_t)cam_packet_handle, 0); + LOGD("probing the sensor: %d", ret); mm.free(i2c_info); mm.free(power_settings); @@ -606,12 +641,67 @@ void CameraState::enqueue_req_multi(int start, int n, bool dp) { // ******************* camera ******************* -void CameraState::camera_init(MultiCameraState *multi_cam_state_, VisionIpcServer * v, int camera_id_, int camera_num_, unsigned int fps, cl_device_id device_id, cl_context ctx, VisionStreamType yuv_type, bool enabled_) { - multi_cam_state = multi_cam_state_; - camera_id = camera_id_; - camera_num = camera_num_; - enabled = enabled_; +void CameraState::camera_set_parameters() { + if (camera_id == CAMERA_ID_AR0231) { + dc_gain_factor = DC_GAIN_AR0231; + dc_gain_max_weight = DC_GAIN_MAX_WEIGHT_AR0231; + dc_gain_on_grey = DC_GAIN_ON_GREY_AR0231; + dc_gain_off_grey = DC_GAIN_OFF_GREY_AR0231; + exposure_time_min = EXPOSURE_TIME_MIN_AR0231; + exposure_time_max = EXPOSURE_TIME_MAX_AR0231; + analog_gain_min_idx = ANALOG_GAIN_MIN_IDX_AR0231; + analog_gain_rec_idx = ANALOG_GAIN_REC_IDX_AR0231; + analog_gain_max_idx = ANALOG_GAIN_MAX_IDX_AR0231; + for (int i=0; i<=analog_gain_max_idx; i++) { + sensor_analog_gains[i] = sensor_analog_gains_AR0231[i]; + } + min_ev = exposure_time_min * sensor_analog_gains[analog_gain_min_idx]; + } else if (camera_id == CAMERA_ID_OX03C10) { + dc_gain_factor = DC_GAIN_OX03C10; + dc_gain_max_weight = DC_GAIN_MAX_WEIGHT_OX03C10; + dc_gain_on_grey = DC_GAIN_ON_GREY_OX03C10; + dc_gain_off_grey = DC_GAIN_OFF_GREY_OX03C10; + exposure_time_min = EXPOSURE_TIME_MIN_OX03C10; + exposure_time_max = EXPOSURE_TIME_MAX_OX03C10; + analog_gain_min_idx = ANALOG_GAIN_MIN_IDX_OX03C10; + analog_gain_rec_idx = ANALOG_GAIN_REC_IDX_OX03C10; + analog_gain_max_idx = ANALOG_GAIN_MAX_IDX_OX03C10; + for (int i=0; i<=analog_gain_max_idx; i++) { + sensor_analog_gains[i] = sensor_analog_gains_OX03C10[i]; + } + min_ev = (exposure_time_min + VS_TIME_MIN_OX03C10) * sensor_analog_gains[analog_gain_min_idx]; + } else { + assert(false); + } + + max_ev = exposure_time_max * dc_gain_factor * sensor_analog_gains[analog_gain_max_idx]; + target_grey_fraction = 0.3; + + dc_gain_enabled = false; + dc_gain_weight = DC_GAIN_MIN_WEIGHT; + gain_idx = analog_gain_rec_idx; + exposure_time = 5; + cur_ev[0] = cur_ev[1] = cur_ev[2] = (1 + dc_gain_weight * (dc_gain_factor-1) / dc_gain_max_weight) * sensor_analog_gains[gain_idx] * exposure_time; +} + +void CameraState::camera_map_bufs(MultiCameraState *s) { + for (int i = 0; i < FRAME_BUF_COUNT; i++) { + // configure ISP to put the image in place + struct cam_mem_mgr_map_cmd mem_mgr_map_cmd = {0}; + mem_mgr_map_cmd.mmu_hdls[0] = s->device_iommu; + mem_mgr_map_cmd.num_hdl = 1; + mem_mgr_map_cmd.flags = CAM_MEM_FLAG_HW_READ_WRITE; + mem_mgr_map_cmd.fd = buf.camera_bufs[i].fd; + int ret = do_cam_control(s->video0_fd, CAM_REQ_MGR_MAP_BUF, &mem_mgr_map_cmd, sizeof(mem_mgr_map_cmd)); + LOGD("map buf req: (fd: %d) 0x%x %d", buf.camera_bufs[i].fd, mem_mgr_map_cmd.out.buf_handle, ret); + buf_handle[i] = mem_mgr_map_cmd.out.buf_handle; + } + enqueue_req_multi(1, FRAME_BUF_COUNT, 0); +} + +void CameraState::camera_init(MultiCameraState *s, VisionIpcServer * v, int camera_id_, unsigned int fps, cl_device_id device_id, cl_context ctx, VisionStreamType yuv_type) { if (!enabled) return; + camera_id = camera_id_; LOGD("camera init %d", camera_num); assert(camera_id < std::size(cameras_supported)); @@ -621,19 +711,18 @@ void CameraState::camera_init(MultiCameraState *multi_cam_state_, VisionIpcServe request_id_last = 0; skipped = true; - min_ev = EXPOSURE_TIME_MIN * sensor_analog_gains[ANALOG_GAIN_MIN_IDX]; - max_ev = EXPOSURE_TIME_MAX * sensor_analog_gains[ANALOG_GAIN_MAX_IDX] * DC_GAIN; - target_grey_fraction = 0.3; - - dc_gain_enabled = false; - gain_idx = ANALOG_GAIN_REC_IDX; - exposure_time = 5; - cur_ev[0] = cur_ev[1] = cur_ev[2] = (dc_gain_enabled ? DC_GAIN : 1) * sensor_analog_gains[gain_idx] * exposure_time; + camera_set_parameters(); buf.init(device_id, ctx, this, v, FRAME_BUF_COUNT, yuv_type); + camera_map_bufs(s); } -void CameraState::camera_open() { +void CameraState::camera_open(MultiCameraState *multi_cam_state_, int camera_num_, bool enabled_) { + multi_cam_state = multi_cam_state_; + camera_num = camera_num_; + enabled = enabled_; + if (!enabled) return; + int ret; sensor_fd = open_v4l_by_name_and_index("cam-sensor-driver", camera_num); assert(sensor_fd >= 0); @@ -644,10 +733,12 @@ void CameraState::camera_open() { // probe the sensor LOGD("-- Probing sensor %d", camera_num); + camera_id = CAMERA_ID_AR0231; ret = sensors_init(); if (ret != 0) { - LOGD("AR0231 init failed, trying IMX390"); - camera_id = CAMERA_ID_IMX390; + // TODO: use build flag instead? + LOGD("AR0231 init failed, trying OX03C10"); + camera_id = CAMERA_ID_OX03C10; ret = sensors_init(); } LOGD("-- Probing sensor %d done with %d", camera_num, ret); @@ -671,13 +762,18 @@ void CameraState::camera_open() { LOGD("acquire sensor dev"); LOG("-- Configuring sensor"); + uint32_t dt; if (camera_id == CAMERA_ID_AR0231) { sensors_i2c(init_array_ar0231, std::size(init_array_ar0231), CAM_SENSOR_PACKET_OPCODE_SENSOR_CONFIG, true); - } else if (camera_id == CAMERA_ID_IMX390) { - sensors_i2c(init_array_imx390, std::size(init_array_imx390), CAM_SENSOR_PACKET_OPCODE_SENSOR_CONFIG, false); + dt = 0x12; // Changing stats to 0x2C doesn't work, so change pixels to 0x12 instead + } else if (camera_id == CAMERA_ID_OX03C10) { + sensors_i2c(init_array_ox03c10, std::size(init_array_ox03c10), CAM_SENSOR_PACKET_OPCODE_SENSOR_CONFIG, false); + // one is 0x2a, two are 0x2b + dt = 0x2c; } else { assert(false); } + printf("dt is %x\n", dt); // NOTE: to be able to disable road and wide road, we still have to configure the sensor over i2c // If you don't do this, the strobe GPIO is an output (even in reset it seems!) @@ -691,7 +787,7 @@ void CameraState::camera_open() { .lane_cfg = 0x3210, .vc = 0x0, - .dt = 0x12, // Changing stats to 0x2C doesn't work, so change pixels to 0x12 instead + .dt = dt, .format = CAM_FORMAT_MIPI_RAW_12, .test_pattern = 0x2, // 0x3? @@ -805,29 +901,15 @@ void CameraState::camera_open() { ret = device_control(multi_cam_state->isp_fd, CAM_START_DEV, session_handle, isp_dev_handle); LOGD("start isp: %d", ret); - for (int i = 0; i < FRAME_BUF_COUNT; i++) { - // configure ISP to put the image in place - struct cam_mem_mgr_map_cmd mem_mgr_map_cmd = {0}; - mem_mgr_map_cmd.mmu_hdls[0] = multi_cam_state->device_iommu; - mem_mgr_map_cmd.num_hdl = 1; - mem_mgr_map_cmd.flags = CAM_MEM_FLAG_HW_READ_WRITE; - mem_mgr_map_cmd.fd = buf.camera_bufs[i].fd; - ret = do_cam_control(multi_cam_state->video0_fd, CAM_REQ_MGR_MAP_BUF, &mem_mgr_map_cmd, sizeof(mem_mgr_map_cmd)); - LOGD("map buf req: (fd: %d) 0x%x %d", buf.camera_bufs[i].fd, mem_mgr_map_cmd.out.buf_handle, ret); - buf_handle[i] = mem_mgr_map_cmd.out.buf_handle; - } - // TODO: this is unneeded, should we be doing the start i2c in a different way? //ret = device_control(sensor_fd, CAM_START_DEV, session_handle, sensor_dev_handle); //LOGD("start sensor: %d", ret); - - enqueue_req_multi(1, FRAME_BUF_COUNT, 0); } void cameras_init(VisionIpcServer *v, MultiCameraState *s, cl_device_id device_id, cl_context ctx) { - s->driver_cam.camera_init(s, v, CAMERA_ID_AR0231, 2, 20, device_id, ctx, VISION_STREAM_DRIVER, !env_disable_driver); - s->road_cam.camera_init(s, v, CAMERA_ID_AR0231, 1, 20, device_id, ctx, VISION_STREAM_ROAD, !env_disable_road); - s->wide_road_cam.camera_init(s, v, CAMERA_ID_AR0231, 0, 20, device_id, ctx, VISION_STREAM_WIDE_ROAD, !env_disable_wide_road); + s->driver_cam.camera_init(s, v, s->driver_cam.camera_id, 20, device_id, ctx, VISION_STREAM_DRIVER); + s->road_cam.camera_init(s, v, s->road_cam.camera_id, 20, device_id, ctx, VISION_STREAM_ROAD); + s->wide_road_cam.camera_init(s, v, s->wide_road_cam.camera_id, 20, device_id, ctx, VISION_STREAM_WIDE_ROAD); s->pm = new PubMaster({"roadCameraState", "driverCameraState", "wideRoadCameraState", "thumbnail"}); } @@ -873,11 +955,11 @@ void cameras_open(MultiCameraState *s) { ret = HANDLE_EINTR(ioctl(s->video0_fd, VIDIOC_SUBSCRIBE_EVENT, &sub)); LOGD("req mgr subscribe: %d", ret); - s->driver_cam.camera_open(); + s->driver_cam.camera_open(s, 2, !env_disable_driver); LOGD("driver camera opened"); - s->road_cam.camera_open(); + s->road_cam.camera_open(s, 1, !env_disable_road); LOGD("road camera opened"); - s->wide_road_cam.camera_open(); + s->wide_road_cam.camera_open(s, 0, !env_disable_wide_road); LOGD("wide road camera opened"); } @@ -1044,7 +1126,7 @@ void CameraState::handle_camera_event(void *evdat) { meta_data.frame_id = main_id - idx_offset; meta_data.timestamp_sof = timestamp; exp_lock.lock(); - meta_data.gain = dc_gain_enabled ? analog_gain_frac * DC_GAIN : analog_gain_frac; + meta_data.gain = analog_gain_frac * (1 + dc_gain_weight * (dc_gain_factor-1) / dc_gain_max_weight); meta_data.high_conversion_gain = dc_gain_enabled; meta_data.integ_lines = exposure_time; meta_data.measured_grey_fraction = measured_grey_fraction; @@ -1096,12 +1178,17 @@ void CameraState::set_camera_exposure(float grey_frac) { // Hysteresis around high conversion gain // We usually want this on since it results in lower noise, but turn off in very bright day scenes bool enable_dc_gain = dc_gain_enabled; - if (!enable_dc_gain && target_grey < 0.2) { + if (!enable_dc_gain && target_grey < dc_gain_on_grey) { enable_dc_gain = true; - } else if (enable_dc_gain && target_grey > 0.3) { + dc_gain_weight = DC_GAIN_MIN_WEIGHT; + } else if (enable_dc_gain && target_grey > dc_gain_off_grey) { enable_dc_gain = false; + dc_gain_weight = dc_gain_max_weight; } + if (enable_dc_gain && dc_gain_weight < dc_gain_max_weight) {dc_gain_weight += 1;} + if (!enable_dc_gain && dc_gain_weight > DC_GAIN_MIN_WEIGHT) {dc_gain_weight -= 1;} + std::string gain_bytes, time_bytes; if (env_ctrl_exp_from_params) { gain_bytes = Params().get("CameraDebugExpGain"); @@ -1119,14 +1206,14 @@ void CameraState::set_camera_exposure(float grey_frac) { } else { // Simple brute force optimizer to choose sensor parameters // to reach desired EV - for (int g = std::max((int)ANALOG_GAIN_MIN_IDX, gain_idx - 1); g <= std::min((int)ANALOG_GAIN_MAX_IDX, gain_idx + 1); g++) { - float gain = sensor_analog_gains[g] * (enable_dc_gain ? DC_GAIN : 1); + for (int g = std::max((int)analog_gain_min_idx, gain_idx - 1); g <= std::min((int)analog_gain_max_idx, gain_idx + 1); g++) { + float gain = sensor_analog_gains[g] * (1 + dc_gain_weight * (dc_gain_factor-1) / dc_gain_max_weight); // Compute optimal time for given gain - int t = std::clamp(int(std::round(desired_ev / gain)), EXPOSURE_TIME_MIN, EXPOSURE_TIME_MAX); + int t = std::clamp(int(std::round(desired_ev / gain)), exposure_time_min, exposure_time_max); // Only go below recommended gain when absolutely necessary to not overexpose - if (g < ANALOG_GAIN_REC_IDX && t > 20 && g < gain_idx) { + if (g < analog_gain_rec_idx && t > 20 && g < gain_idx) { continue; } @@ -1134,8 +1221,8 @@ void CameraState::set_camera_exposure(float grey_frac) { float score = std::abs(desired_ev - (t * gain)) * 10; // Going below recommended gain needs lower penalty to not overexpose - float m = g > ANALOG_GAIN_REC_IDX ? 5.0 : 0.1; - score += std::abs(g - (int)ANALOG_GAIN_REC_IDX) * m; + float m = g > analog_gain_rec_idx ? 5.0 : 0.1; + score += std::abs(g - (int)analog_gain_rec_idx) * m; // LOGE("cam: %d - gain: %d, t: %d (%.2f), score %.2f, score + gain %.2f, %.3f, %.3f", camera_num, g, t, desired_ev / gain, score, score + std::abs(g - gain_idx) * (score + 1.0) / 10.0, desired_ev, min_ev); @@ -1160,7 +1247,7 @@ void CameraState::set_camera_exposure(float grey_frac) { exposure_time = new_t; dc_gain_enabled = enable_dc_gain; - float gain = analog_gain_frac * (dc_gain_enabled ? DC_GAIN : 1.0); + float gain = analog_gain_frac * (1 + dc_gain_weight * (dc_gain_factor-1) / dc_gain_max_weight); cur_ev[buf.cur_frame_data.frame_id % 3] = exposure_time * gain; exp_lock.unlock(); @@ -1181,17 +1268,25 @@ void CameraState::set_camera_exposure(float grey_frac) { {0x3012, (uint16_t)exposure_time}, }; sensors_i2c(exp_reg_array, sizeof(exp_reg_array)/sizeof(struct i2c_random_wr_payload), CAM_SENSOR_PACKET_OPCODE_SENSOR_CONFIG, true); - } else if (camera_id == CAMERA_ID_IMX390) { - // if gain is sub 1, we have to use exposure to mimic sub 1 gains - uint32_t real_exposure_time = (gain < 1.0) ? (exposure_time*gain) : exposure_time; - // invert real_exposure_time, max exposure is 2 - real_exposure_time = (exposure_time >= 0x7cf) ? 2 : (0x7cf - exposure_time); - uint32_t real_gain = int((10*log10(fmax(1.0, gain)))/0.3); - //printf("%d expose: %d gain: %f = %d\n", camera_num, exposure_time, gain, real_gain); + } else if (camera_id == CAMERA_ID_OX03C10) { + // t_HCG + t_LCG + t_VS on LPD, t_SPD on SPD + uint32_t hcg_time = std::max((dc_gain_weight * exposure_time / dc_gain_max_weight), 0); + uint32_t lcg_time = std::max(((dc_gain_max_weight - dc_gain_weight) * exposure_time / dc_gain_max_weight), 0); + uint32_t spd_time = std::max(hcg_time / 16, (uint32_t)exposure_time_min); + uint32_t vs_time = std::min(std::max(hcg_time / 64, VS_TIME_MIN_OX03C10), VS_TIME_MAX_OX03C10); + + uint32_t real_gain = ox03c10_analog_gains_reg[new_g]; struct i2c_random_wr_payload exp_reg_array[] = { - {0x000c, real_exposure_time&0xFF}, {0x000d, real_exposure_time>>8}, - {0x0010, real_exposure_time&0xFF}, {0x0011, real_exposure_time>>8}, - {0x0018, real_gain&0xFF}, {0x0019, real_gain>>8}, + + {0x3501, hcg_time>>8}, {0x3502, hcg_time&0xFF}, + {0x3581, lcg_time>>8}, {0x3582, lcg_time&0xFF}, + {0x3541, spd_time>>8}, {0x3542, spd_time&0xFF}, + {0x35c1, vs_time>>8}, {0x35c2, vs_time&0xFF}, + + {0x3508, real_gain>>8}, {0x3509, real_gain&0xFF}, + {0x3588, real_gain>>8}, {0x3589, real_gain&0xFF}, + {0x3548, real_gain>>8}, {0x3549, real_gain&0xFF}, + {0x35c8, real_gain>>8}, {0x35c9, real_gain&0xFF}, }; sensors_i2c(exp_reg_array, sizeof(exp_reg_array)/sizeof(struct i2c_random_wr_payload), CAM_SENSOR_PACKET_OPCODE_SENSOR_CONFIG, false); } diff --git a/system/camerad/cameras/camera_qcom2.h b/system/camerad/cameras/camera_qcom2.h index e75e7e586..470576a1e 100644 --- a/system/camerad/cameras/camera_qcom2.h +++ b/system/camerad/cameras/camera_qcom2.h @@ -36,14 +36,28 @@ public: int exposure_time; bool dc_gain_enabled; + int dc_gain_weight; + int gain_idx; float analog_gain_frac; + int exposure_time_min; + int exposure_time_max; + + float dc_gain_factor; + int dc_gain_max_weight; + float dc_gain_on_grey; + float dc_gain_off_grey; + + float sensor_analog_gains[16]; + int analog_gain_min_idx; + int analog_gain_max_idx; + int analog_gain_rec_idx; + float cur_ev[3]; float min_ev, max_ev; float measured_grey_fraction; float target_grey_fraction; - int gain_idx; unique_fd sensor_fd; unique_fd csiphy_fd; @@ -55,8 +69,10 @@ public: void sensors_start(); - void camera_open(); - void camera_init(MultiCameraState *multi_cam_state, VisionIpcServer * v, int camera_id, int camera_num, unsigned int fps, cl_device_id device_id, cl_context ctx, VisionStreamType yuv_type, bool enabled); + void camera_open(MultiCameraState *multi_cam_state, int camera_num, bool enabled); + void camera_set_parameters(); + void camera_map_bufs(MultiCameraState *s); + void camera_init(MultiCameraState *s, VisionIpcServer *v, int camera_id, unsigned int fps, cl_device_id device_id, cl_context ctx, VisionStreamType yuv_type); void camera_close(); std::map ar0231_parse_registers(uint8_t *data, std::initializer_list addrs); diff --git a/system/camerad/cameras/real_debayer.cl b/system/camerad/cameras/real_debayer.cl index fc9f41049..4a36a03bf 100644 --- a/system/camerad/cameras/real_debayer.cl +++ b/system/camerad/cameras/real_debayer.cl @@ -8,9 +8,15 @@ float3 color_correct(float3 rgb) { // color correction + #if IS_OX + float3 x = rgb.x * (float3)(1.81485125, -0.51650643, -0.06985117); + x += rgb.y * (float3)(-0.51681964, 1.85935946, -0.49871889); + x += rgb.z * (float3)(-0.29803161, -0.34285304, 1.56857006); + #else float3 x = rgb.x * (float3)(1.82717181, -0.31231438, 0.07307673); x += rgb.y * (float3)(-0.5743977, 1.36858544, -0.53183455); x += rgb.z * (float3)(-0.25277411, -0.05627105, 1.45875782); + #endif // tone mapping params const float gamma_k = 0.75; @@ -36,14 +42,43 @@ float get_vignetting_s(float r) { } } +constant float ox03c10_lut[] = { + 0.0000e+00, 5.9488e-08, 1.1898e-07, 1.7846e-07, 2.3795e-07, 2.9744e-07, 3.5693e-07, 4.1642e-07, 4.7591e-07, 5.3539e-07, 5.9488e-07, 6.5437e-07, 7.1386e-07, 7.7335e-07, 8.3284e-07, 8.9232e-07, 9.5181e-07, 1.0113e-06, 1.0708e-06, 1.1303e-06, 1.1898e-06, 1.2493e-06, 1.3087e-06, 1.3682e-06, 1.4277e-06, 1.4872e-06, 1.5467e-06, 1.6062e-06, 1.6657e-06, 1.7252e-06, 1.7846e-06, 1.8441e-06, 1.9036e-06, 1.9631e-06, 2.0226e-06, 2.0821e-06, 2.1416e-06, 2.2011e-06, 2.2606e-06, 2.3200e-06, 2.3795e-06, 2.4390e-06, 2.4985e-06, 2.5580e-06, 2.6175e-06, 2.6770e-06, 2.7365e-06, 2.7959e-06, 2.8554e-06, 2.9149e-06, 2.9744e-06, 3.0339e-06, 3.0934e-06, 3.1529e-06, 3.2124e-06, 3.2719e-06, 3.3313e-06, 3.3908e-06, 3.4503e-06, 3.5098e-06, 3.5693e-06, 3.6288e-06, 3.6883e-06, 3.7478e-06, 3.8072e-06, 3.8667e-06, 3.9262e-06, 3.9857e-06, 4.0452e-06, 4.1047e-06, 4.1642e-06, 4.2237e-06, 4.2832e-06, 4.3426e-06, 4.4021e-06, 4.4616e-06, 4.5211e-06, 4.5806e-06, 4.6401e-06, 4.6996e-06, 4.7591e-06, 4.8185e-06, 4.8780e-06, 4.9375e-06, 4.9970e-06, 5.0565e-06, 5.1160e-06, 5.1755e-06, 5.2350e-06, 5.2945e-06, 5.3539e-06, 5.4134e-06, 5.4729e-06, 5.5324e-06, 5.5919e-06, 5.6514e-06, 5.7109e-06, 5.7704e-06, 5.8298e-06, 5.8893e-06, 5.9488e-06, 6.0083e-06, 6.0678e-06, 6.1273e-06, 6.1868e-06, 6.2463e-06, 6.3058e-06, 6.3652e-06, 6.4247e-06, 6.4842e-06, 6.5437e-06, 6.6032e-06, 6.6627e-06, 6.7222e-06, 6.7817e-06, 6.8411e-06, 6.9006e-06, 6.9601e-06, 7.0196e-06, 7.0791e-06, 7.1386e-06, 7.1981e-06, 7.2576e-06, 7.3171e-06, 7.3765e-06, 7.4360e-06, 7.4955e-06, 7.5550e-06, 7.6145e-06, 7.6740e-06, 7.7335e-06, 7.7930e-06, 7.8524e-06, 7.9119e-06, 7.9714e-06, 8.0309e-06, 8.0904e-06, 8.1499e-06, 8.2094e-06, 8.2689e-06, 8.3284e-06, 8.3878e-06, 8.4473e-06, 8.5068e-06, 8.5663e-06, 8.6258e-06, 8.6853e-06, 8.7448e-06, 8.8043e-06, 8.8637e-06, 8.9232e-06, 8.9827e-06, 9.0422e-06, 9.1017e-06, 9.1612e-06, 9.2207e-06, 9.2802e-06, 9.3397e-06, 9.3991e-06, 9.4586e-06, 9.5181e-06, 9.5776e-06, 9.6371e-06, 9.6966e-06, 9.7561e-06, 9.8156e-06, 9.8750e-06, 9.9345e-06, 9.9940e-06, 1.0054e-05, 1.0113e-05, 1.0172e-05, 1.0232e-05, 1.0291e-05, 1.0351e-05, 1.0410e-05, 1.0470e-05, 1.0529e-05, 1.0589e-05, 1.0648e-05, 1.0708e-05, 1.0767e-05, 1.0827e-05, 1.0886e-05, 1.0946e-05, 1.1005e-05, 1.1065e-05, 1.1124e-05, 1.1184e-05, 1.1243e-05, 1.1303e-05, 1.1362e-05, 1.1422e-05, 1.1481e-05, 1.1541e-05, 1.1600e-05, 1.1660e-05, 1.1719e-05, 1.1779e-05, 1.1838e-05, 1.1898e-05, 1.1957e-05, 1.2017e-05, 1.2076e-05, 1.2136e-05, 1.2195e-05, 1.2255e-05, 1.2314e-05, 1.2374e-05, 1.2433e-05, 1.2493e-05, 1.2552e-05, 1.2612e-05, 1.2671e-05, 1.2730e-05, 1.2790e-05, 1.2849e-05, 1.2909e-05, 1.2968e-05, 1.3028e-05, 1.3087e-05, 1.3147e-05, 1.3206e-05, 1.3266e-05, 1.3325e-05, 1.3385e-05, 1.3444e-05, 1.3504e-05, 1.3563e-05, 1.3623e-05, 1.3682e-05, 1.3742e-05, 1.3801e-05, 1.3861e-05, 1.3920e-05, 1.3980e-05, 1.4039e-05, 1.4099e-05, 1.4158e-05, 1.4218e-05, 1.4277e-05, 1.4337e-05, 1.4396e-05, 1.4456e-05, 1.4515e-05, 1.4575e-05, 1.4634e-05, 1.4694e-05, 1.4753e-05, 1.4813e-05, 1.4872e-05, 1.4932e-05, 1.4991e-05, 1.5051e-05, 1.5110e-05, 1.5169e-05, + 1.5229e-05, 1.5288e-05, 1.5348e-05, 1.5407e-05, 1.5467e-05, 1.5526e-05, 1.5586e-05, 1.5645e-05, 1.5705e-05, 1.5764e-05, 1.5824e-05, 1.5883e-05, 1.5943e-05, 1.6002e-05, 1.6062e-05, 1.6121e-05, 1.6181e-05, 1.6240e-05, 1.6300e-05, 1.6359e-05, 1.6419e-05, 1.6478e-05, 1.6538e-05, 1.6597e-05, 1.6657e-05, 1.6716e-05, 1.6776e-05, 1.6835e-05, 1.6895e-05, 1.6954e-05, 1.7014e-05, 1.7073e-05, 1.7133e-05, 1.7192e-05, 1.7252e-05, 1.7311e-05, 1.7371e-05, 1.7430e-05, 1.7490e-05, 1.7549e-05, 1.7609e-05, 1.7668e-05, 1.7727e-05, 1.7787e-05, 1.7846e-05, 1.7906e-05, 1.7965e-05, 1.8025e-05, 1.8084e-05, 1.8144e-05, 1.8203e-05, 1.8263e-05, 1.8322e-05, 1.8382e-05, 1.8441e-05, 1.8501e-05, 1.8560e-05, 1.8620e-05, 1.8679e-05, 1.8739e-05, 1.8798e-05, 1.8858e-05, 1.8917e-05, 1.8977e-05, 1.9036e-05, 1.9096e-05, 1.9155e-05, 1.9215e-05, 1.9274e-05, 1.9334e-05, 1.9393e-05, 1.9453e-05, 1.9512e-05, 1.9572e-05, 1.9631e-05, 1.9691e-05, 1.9750e-05, 1.9810e-05, 1.9869e-05, 1.9929e-05, 1.9988e-05, 2.0048e-05, 2.0107e-05, 2.0167e-05, 2.0226e-05, 2.0285e-05, 2.0345e-05, 2.0404e-05, 2.0464e-05, 2.0523e-05, 2.0583e-05, 2.0642e-05, 2.0702e-05, 2.0761e-05, 2.0821e-05, 2.0880e-05, 2.0940e-05, 2.0999e-05, 2.1059e-05, 2.1118e-05, 2.1178e-05, 2.1237e-05, 2.1297e-05, 2.1356e-05, 2.1416e-05, 2.1475e-05, 2.1535e-05, 2.1594e-05, 2.1654e-05, 2.1713e-05, 2.1773e-05, 2.1832e-05, 2.1892e-05, 2.1951e-05, 2.2011e-05, 2.2070e-05, 2.2130e-05, 2.2189e-05, 2.2249e-05, 2.2308e-05, 2.2368e-05, 2.2427e-05, 2.2487e-05, 2.2546e-05, 2.2606e-05, 2.2665e-05, 2.2725e-05, 2.2784e-05, 2.2843e-05, 2.2903e-05, 2.2962e-05, 2.3022e-05, 2.3081e-05, 2.3141e-05, 2.3200e-05, 2.3260e-05, 2.3319e-05, 2.3379e-05, 2.3438e-05, 2.3498e-05, 2.3557e-05, 2.3617e-05, 2.3676e-05, 2.3736e-05, 2.3795e-05, 2.3855e-05, 2.3914e-05, 2.3974e-05, 2.4033e-05, 2.4093e-05, 2.4152e-05, 2.4212e-05, 2.4271e-05, 2.4331e-05, 2.4390e-05, 2.4450e-05, 2.4509e-05, 2.4569e-05, 2.4628e-05, 2.4688e-05, 2.4747e-05, 2.4807e-05, 2.4866e-05, 2.4926e-05, 2.4985e-05, 2.5045e-05, 2.5104e-05, 2.5164e-05, 2.5223e-05, 2.5282e-05, 2.5342e-05, 2.5401e-05, 2.5461e-05, 2.5520e-05, 2.5580e-05, 2.5639e-05, 2.5699e-05, 2.5758e-05, 2.5818e-05, 2.5877e-05, 2.5937e-05, 2.5996e-05, 2.6056e-05, 2.6115e-05, 2.6175e-05, 2.6234e-05, 2.6294e-05, 2.6353e-05, 2.6413e-05, 2.6472e-05, 2.6532e-05, 2.6591e-05, 2.6651e-05, 2.6710e-05, 2.6770e-05, 2.6829e-05, 2.6889e-05, 2.6948e-05, 2.7008e-05, 2.7067e-05, 2.7127e-05, 2.7186e-05, 2.7246e-05, 2.7305e-05, 2.7365e-05, 2.7424e-05, 2.7484e-05, 2.7543e-05, 2.7603e-05, 2.7662e-05, 2.7722e-05, 2.7781e-05, 2.7840e-05, 2.7900e-05, 2.7959e-05, 2.8019e-05, 2.8078e-05, 2.8138e-05, 2.8197e-05, 2.8257e-05, 2.8316e-05, 2.8376e-05, 2.8435e-05, 2.8495e-05, 2.8554e-05, 2.8614e-05, 2.8673e-05, 2.8733e-05, 2.8792e-05, 2.8852e-05, 2.8911e-05, 2.8971e-05, 2.9030e-05, 2.9090e-05, 2.9149e-05, 2.9209e-05, 2.9268e-05, 2.9328e-05, 2.9387e-05, 2.9447e-05, 2.9506e-05, 2.9566e-05, 2.9625e-05, 2.9685e-05, 2.9744e-05, 2.9804e-05, 2.9863e-05, 2.9923e-05, 2.9982e-05, 3.0042e-05, 3.0101e-05, 3.0161e-05, 3.0220e-05, 3.0280e-05, 3.0339e-05, 3.0398e-05, + 3.0458e-05, 3.0577e-05, 3.0697e-05, 3.0816e-05, 3.0936e-05, 3.1055e-05, 3.1175e-05, 3.1294e-05, 3.1414e-05, 3.1533e-05, 3.1652e-05, 3.1772e-05, 3.1891e-05, 3.2011e-05, 3.2130e-05, 3.2250e-05, 3.2369e-05, 3.2489e-05, 3.2608e-05, 3.2727e-05, 3.2847e-05, 3.2966e-05, 3.3086e-05, 3.3205e-05, 3.3325e-05, 3.3444e-05, 3.3563e-05, 3.3683e-05, 3.3802e-05, 3.3922e-05, 3.4041e-05, 3.4161e-05, 3.4280e-05, 3.4400e-05, 3.4519e-05, 3.4638e-05, 3.4758e-05, 3.4877e-05, 3.4997e-05, 3.5116e-05, 3.5236e-05, 3.5355e-05, 3.5475e-05, 3.5594e-05, 3.5713e-05, 3.5833e-05, 3.5952e-05, 3.6072e-05, 3.6191e-05, 3.6311e-05, 3.6430e-05, 3.6550e-05, 3.6669e-05, 3.6788e-05, 3.6908e-05, 3.7027e-05, 3.7147e-05, 3.7266e-05, 3.7386e-05, 3.7505e-05, 3.7625e-05, 3.7744e-05, 3.7863e-05, 3.7983e-05, 3.8102e-05, 3.8222e-05, 3.8341e-05, 3.8461e-05, 3.8580e-05, 3.8700e-05, 3.8819e-05, 3.8938e-05, 3.9058e-05, 3.9177e-05, 3.9297e-05, 3.9416e-05, 3.9536e-05, 3.9655e-05, 3.9775e-05, 3.9894e-05, 4.0013e-05, 4.0133e-05, 4.0252e-05, 4.0372e-05, 4.0491e-05, 4.0611e-05, 4.0730e-05, 4.0850e-05, 4.0969e-05, 4.1088e-05, 4.1208e-05, 4.1327e-05, 4.1447e-05, 4.1566e-05, 4.1686e-05, 4.1805e-05, 4.1925e-05, 4.2044e-05, 4.2163e-05, 4.2283e-05, 4.2402e-05, 4.2522e-05, 4.2641e-05, 4.2761e-05, 4.2880e-05, 4.2999e-05, 4.3119e-05, 4.3238e-05, 4.3358e-05, 4.3477e-05, 4.3597e-05, 4.3716e-05, 4.3836e-05, 4.3955e-05, 4.4074e-05, 4.4194e-05, 4.4313e-05, 4.4433e-05, 4.4552e-05, 4.4672e-05, 4.4791e-05, 4.4911e-05, 4.5030e-05, 4.5149e-05, 4.5269e-05, 4.5388e-05, 4.5508e-05, 4.5627e-05, 4.5747e-05, 4.5866e-05, 4.5986e-05, 4.6105e-05, 4.6224e-05, 4.6344e-05, 4.6463e-05, 4.6583e-05, 4.6702e-05, 4.6822e-05, 4.6941e-05, 4.7061e-05, 4.7180e-05, 4.7299e-05, 4.7419e-05, 4.7538e-05, 4.7658e-05, 4.7777e-05, 4.7897e-05, 4.8016e-05, 4.8136e-05, 4.8255e-05, 4.8374e-05, 4.8494e-05, 4.8613e-05, 4.8733e-05, 4.8852e-05, 4.8972e-05, 4.9091e-05, 4.9211e-05, 4.9330e-05, 4.9449e-05, 4.9569e-05, 4.9688e-05, 4.9808e-05, 4.9927e-05, 5.0047e-05, 5.0166e-05, 5.0286e-05, 5.0405e-05, 5.0524e-05, 5.0644e-05, 5.0763e-05, 5.0883e-05, 5.1002e-05, 5.1122e-05, 5.1241e-05, 5.1361e-05, 5.1480e-05, 5.1599e-05, 5.1719e-05, 5.1838e-05, 5.1958e-05, 5.2077e-05, 5.2197e-05, 5.2316e-05, 5.2435e-05, 5.2555e-05, 5.2674e-05, 5.2794e-05, 5.2913e-05, 5.3033e-05, 5.3152e-05, 5.3272e-05, 5.3391e-05, 5.3510e-05, 5.3630e-05, 5.3749e-05, 5.3869e-05, 5.3988e-05, 5.4108e-05, 5.4227e-05, 5.4347e-05, 5.4466e-05, 5.4585e-05, 5.4705e-05, 5.4824e-05, 5.4944e-05, 5.5063e-05, 5.5183e-05, 5.5302e-05, 5.5422e-05, 5.5541e-05, 5.5660e-05, 5.5780e-05, 5.5899e-05, 5.6019e-05, 5.6138e-05, 5.6258e-05, 5.6377e-05, 5.6497e-05, 5.6616e-05, 5.6735e-05, 5.6855e-05, 5.6974e-05, 5.7094e-05, 5.7213e-05, 5.7333e-05, 5.7452e-05, 5.7572e-05, 5.7691e-05, 5.7810e-05, 5.7930e-05, 5.8049e-05, 5.8169e-05, 5.8288e-05, 5.8408e-05, 5.8527e-05, 5.8647e-05, 5.8766e-05, 5.8885e-05, 5.9005e-05, 5.9124e-05, 5.9244e-05, 5.9363e-05, 5.9483e-05, 5.9602e-05, 5.9722e-05, 5.9841e-05, 5.9960e-05, 6.0080e-05, 6.0199e-05, 6.0319e-05, 6.0438e-05, 6.0558e-05, 6.0677e-05, 6.0797e-05, 6.0916e-05, + 6.1154e-05, 6.1392e-05, 6.1631e-05, 6.1869e-05, 6.2107e-05, 6.2345e-05, 6.2583e-05, 6.2821e-05, 6.3060e-05, 6.3298e-05, 6.3536e-05, 6.3774e-05, 6.4012e-05, 6.4251e-05, 6.4489e-05, 6.4727e-05, 6.4965e-05, 6.5203e-05, 6.5441e-05, 6.5680e-05, 6.5918e-05, 6.6156e-05, 6.6394e-05, 6.6632e-05, 6.6871e-05, 6.7109e-05, 6.7347e-05, 6.7585e-05, 6.7823e-05, 6.8062e-05, 6.8300e-05, 6.8538e-05, 6.8776e-05, 6.9014e-05, 6.9252e-05, 6.9491e-05, 6.9729e-05, 6.9967e-05, 7.0205e-05, 7.0443e-05, 7.0682e-05, 7.0920e-05, 7.1158e-05, 7.1396e-05, 7.1634e-05, 7.1872e-05, 7.2111e-05, 7.2349e-05, 7.2587e-05, 7.2825e-05, 7.3063e-05, 7.3302e-05, 7.3540e-05, 7.3778e-05, 7.4016e-05, 7.4254e-05, 7.4493e-05, 7.4731e-05, 7.4969e-05, 7.5207e-05, 7.5445e-05, 7.5683e-05, 7.5922e-05, 7.6160e-05, 7.6398e-05, 7.6636e-05, 7.6874e-05, 7.7113e-05, 7.7351e-05, 7.7589e-05, 7.7827e-05, 7.8065e-05, 7.8304e-05, 7.8542e-05, 7.8780e-05, 7.9018e-05, 7.9256e-05, 7.9494e-05, 7.9733e-05, 7.9971e-05, 8.0209e-05, 8.0447e-05, 8.0685e-05, 8.0924e-05, 8.1162e-05, 8.1400e-05, 8.1638e-05, 8.1876e-05, 8.2114e-05, 8.2353e-05, 8.2591e-05, 8.2829e-05, 8.3067e-05, 8.3305e-05, 8.3544e-05, 8.3782e-05, 8.4020e-05, 8.4258e-05, 8.4496e-05, 8.4735e-05, 8.4973e-05, 8.5211e-05, 8.5449e-05, 8.5687e-05, 8.5925e-05, 8.6164e-05, 8.6402e-05, 8.6640e-05, 8.6878e-05, 8.7116e-05, 8.7355e-05, 8.7593e-05, 8.7831e-05, 8.8069e-05, 8.8307e-05, 8.8545e-05, 8.8784e-05, 8.9022e-05, 8.9260e-05, 8.9498e-05, 8.9736e-05, 8.9975e-05, 9.0213e-05, 9.0451e-05, 9.0689e-05, 9.0927e-05, 9.1166e-05, 9.1404e-05, 9.1642e-05, 9.1880e-05, 9.2118e-05, 9.2356e-05, 9.2595e-05, 9.2833e-05, 9.3071e-05, 9.3309e-05, 9.3547e-05, 9.3786e-05, 9.4024e-05, 9.4262e-05, 9.4500e-05, 9.4738e-05, 9.4977e-05, 9.5215e-05, 9.5453e-05, 9.5691e-05, 9.5929e-05, 9.6167e-05, 9.6406e-05, 9.6644e-05, 9.6882e-05, 9.7120e-05, 9.7358e-05, 9.7597e-05, 9.7835e-05, 9.8073e-05, 9.8311e-05, 9.8549e-05, 9.8787e-05, 9.9026e-05, 9.9264e-05, 9.9502e-05, 9.9740e-05, 9.9978e-05, 1.0022e-04, 1.0045e-04, 1.0069e-04, 1.0093e-04, 1.0117e-04, 1.0141e-04, 1.0165e-04, 1.0188e-04, 1.0212e-04, 1.0236e-04, 1.0260e-04, 1.0284e-04, 1.0307e-04, 1.0331e-04, 1.0355e-04, 1.0379e-04, 1.0403e-04, 1.0427e-04, 1.0450e-04, 1.0474e-04, 1.0498e-04, 1.0522e-04, 1.0546e-04, 1.0569e-04, 1.0593e-04, 1.0617e-04, 1.0641e-04, 1.0665e-04, 1.0689e-04, 1.0712e-04, 1.0736e-04, 1.0760e-04, 1.0784e-04, 1.0808e-04, 1.0831e-04, 1.0855e-04, 1.0879e-04, 1.0903e-04, 1.0927e-04, 1.0951e-04, 1.0974e-04, 1.0998e-04, 1.1022e-04, 1.1046e-04, 1.1070e-04, 1.1093e-04, 1.1117e-04, 1.1141e-04, 1.1165e-04, 1.1189e-04, 1.1213e-04, 1.1236e-04, 1.1260e-04, 1.1284e-04, 1.1308e-04, 1.1332e-04, 1.1355e-04, 1.1379e-04, 1.1403e-04, 1.1427e-04, 1.1451e-04, 1.1475e-04, 1.1498e-04, 1.1522e-04, 1.1546e-04, 1.1570e-04, 1.1594e-04, 1.1618e-04, 1.1641e-04, 1.1665e-04, 1.1689e-04, 1.1713e-04, 1.1737e-04, 1.1760e-04, 1.1784e-04, 1.1808e-04, 1.1832e-04, 1.1856e-04, 1.1880e-04, 1.1903e-04, 1.1927e-04, 1.1951e-04, 1.1975e-04, 1.1999e-04, 1.2022e-04, 1.2046e-04, 1.2070e-04, 1.2094e-04, 1.2118e-04, 1.2142e-04, 1.2165e-04, 1.2189e-04, + 1.2213e-04, 1.2237e-04, 1.2261e-04, 1.2284e-04, 1.2308e-04, 1.2332e-04, 1.2356e-04, 1.2380e-04, 1.2404e-04, 1.2427e-04, 1.2451e-04, 1.2475e-04, 1.2499e-04, 1.2523e-04, 1.2546e-04, 1.2570e-04, 1.2594e-04, 1.2618e-04, 1.2642e-04, 1.2666e-04, 1.2689e-04, 1.2713e-04, 1.2737e-04, 1.2761e-04, 1.2785e-04, 1.2808e-04, 1.2832e-04, 1.2856e-04, 1.2880e-04, 1.2904e-04, 1.2928e-04, 1.2951e-04, 1.2975e-04, 1.2999e-04, 1.3023e-04, 1.3047e-04, 1.3070e-04, 1.3094e-04, 1.3118e-04, 1.3142e-04, 1.3166e-04, 1.3190e-04, 1.3213e-04, 1.3237e-04, 1.3261e-04, 1.3285e-04, 1.3309e-04, 1.3332e-04, 1.3356e-04, 1.3380e-04, 1.3404e-04, 1.3428e-04, 1.3452e-04, 1.3475e-04, 1.3499e-04, 1.3523e-04, 1.3547e-04, 1.3571e-04, 1.3594e-04, 1.3618e-04, 1.3642e-04, 1.3666e-04, 1.3690e-04, 1.3714e-04, 1.3737e-04, 1.3761e-04, 1.3785e-04, 1.3809e-04, 1.3833e-04, 1.3856e-04, 1.3880e-04, 1.3904e-04, 1.3928e-04, 1.3952e-04, 1.3976e-04, 1.3999e-04, 1.4023e-04, 1.4047e-04, 1.4071e-04, 1.4095e-04, 1.4118e-04, 1.4142e-04, 1.4166e-04, 1.4190e-04, 1.4214e-04, 1.4238e-04, 1.4261e-04, 1.4285e-04, 1.4309e-04, 1.4333e-04, 1.4357e-04, 1.4380e-04, 1.4404e-04, 1.4428e-04, 1.4452e-04, 1.4476e-04, 1.4500e-04, 1.4523e-04, 1.4547e-04, 1.4571e-04, 1.4595e-04, 1.4619e-04, 1.4642e-04, 1.4666e-04, 1.4690e-04, 1.4714e-04, 1.4738e-04, 1.4762e-04, 1.4785e-04, 1.4809e-04, 1.4833e-04, 1.4857e-04, 1.4881e-04, 1.4904e-04, 1.4928e-04, 1.4952e-04, 1.4976e-04, 1.5000e-04, 1.5024e-04, 1.5047e-04, 1.5071e-04, 1.5095e-04, 1.5119e-04, 1.5143e-04, 1.5166e-04, 1.5190e-04, 1.5214e-04, 1.5238e-04, 1.5262e-04, 1.5286e-04, 1.5309e-04, 1.5333e-04, 1.5357e-04, 1.5381e-04, 1.5405e-04, 1.5428e-04, 1.5452e-04, 1.5476e-04, 1.5500e-04, 1.5524e-04, 1.5548e-04, 1.5571e-04, 1.5595e-04, 1.5619e-04, 1.5643e-04, 1.5667e-04, 1.5690e-04, 1.5714e-04, 1.5738e-04, 1.5762e-04, 1.5786e-04, 1.5810e-04, 1.5833e-04, 1.5857e-04, 1.5881e-04, 1.5905e-04, 1.5929e-04, 1.5952e-04, 1.5976e-04, 1.6000e-04, 1.6024e-04, 1.6048e-04, 1.6072e-04, 1.6095e-04, 1.6119e-04, 1.6143e-04, 1.6167e-04, 1.6191e-04, 1.6214e-04, 1.6238e-04, 1.6262e-04, 1.6286e-04, 1.6310e-04, 1.6334e-04, 1.6357e-04, 1.6381e-04, 1.6405e-04, 1.6429e-04, 1.6453e-04, 1.6476e-04, 1.6500e-04, 1.6524e-04, 1.6548e-04, 1.6572e-04, 1.6596e-04, 1.6619e-04, 1.6643e-04, 1.6667e-04, 1.6691e-04, 1.6715e-04, 1.6738e-04, 1.6762e-04, 1.6786e-04, 1.6810e-04, 1.6834e-04, 1.6858e-04, 1.6881e-04, 1.6905e-04, 1.6929e-04, 1.6953e-04, 1.6977e-04, 1.7001e-04, 1.7024e-04, 1.7048e-04, 1.7072e-04, 1.7096e-04, 1.7120e-04, 1.7143e-04, 1.7167e-04, 1.7191e-04, 1.7215e-04, 1.7239e-04, 1.7263e-04, 1.7286e-04, 1.7310e-04, 1.7334e-04, 1.7358e-04, 1.7382e-04, 1.7405e-04, 1.7429e-04, 1.7453e-04, 1.7477e-04, 1.7501e-04, 1.7525e-04, 1.7548e-04, 1.7572e-04, 1.7596e-04, 1.7620e-04, 1.7644e-04, 1.7667e-04, 1.7691e-04, 1.7715e-04, 1.7739e-04, 1.7763e-04, 1.7787e-04, 1.7810e-04, 1.7834e-04, 1.7858e-04, 1.7882e-04, 1.7906e-04, 1.7929e-04, 1.7953e-04, 1.7977e-04, 1.8001e-04, 1.8025e-04, 1.8049e-04, 1.8072e-04, 1.8096e-04, 1.8120e-04, 1.8144e-04, 1.8168e-04, 1.8191e-04, 1.8215e-04, 1.8239e-04, 1.8263e-04, 1.8287e-04, + 1.8311e-04, 1.8334e-04, 1.8358e-04, 1.8382e-04, 1.8406e-04, 1.8430e-04, 1.8453e-04, 1.8477e-04, 1.8501e-04, 1.8525e-04, 1.8549e-04, 1.8573e-04, 1.8596e-04, 1.8620e-04, 1.8644e-04, 1.8668e-04, 1.8692e-04, 1.8715e-04, 1.8739e-04, 1.8763e-04, 1.8787e-04, 1.8811e-04, 1.8835e-04, 1.8858e-04, 1.8882e-04, 1.8906e-04, 1.8930e-04, 1.8954e-04, 1.8977e-04, 1.9001e-04, 1.9025e-04, 1.9049e-04, 1.9073e-04, 1.9097e-04, 1.9120e-04, 1.9144e-04, 1.9168e-04, 1.9192e-04, 1.9216e-04, 1.9239e-04, 1.9263e-04, 1.9287e-04, 1.9311e-04, 1.9335e-04, 1.9359e-04, 1.9382e-04, 1.9406e-04, 1.9430e-04, 1.9454e-04, 1.9478e-04, 1.9501e-04, 1.9525e-04, 1.9549e-04, 1.9573e-04, 1.9597e-04, 1.9621e-04, 1.9644e-04, 1.9668e-04, 1.9692e-04, 1.9716e-04, 1.9740e-04, 1.9763e-04, 1.9787e-04, 1.9811e-04, 1.9835e-04, 1.9859e-04, 1.9883e-04, 1.9906e-04, 1.9930e-04, 1.9954e-04, 1.9978e-04, 2.0002e-04, 2.0025e-04, 2.0049e-04, 2.0073e-04, 2.0097e-04, 2.0121e-04, 2.0145e-04, 2.0168e-04, 2.0192e-04, 2.0216e-04, 2.0240e-04, 2.0264e-04, 2.0287e-04, 2.0311e-04, 2.0335e-04, 2.0359e-04, 2.0383e-04, 2.0407e-04, 2.0430e-04, 2.0454e-04, 2.0478e-04, 2.0502e-04, 2.0526e-04, 2.0549e-04, 2.0573e-04, 2.0597e-04, 2.0621e-04, 2.0645e-04, 2.0669e-04, 2.0692e-04, 2.0716e-04, 2.0740e-04, 2.0764e-04, 2.0788e-04, 2.0811e-04, 2.0835e-04, 2.0859e-04, 2.0883e-04, 2.0907e-04, 2.0931e-04, 2.0954e-04, 2.0978e-04, 2.1002e-04, 2.1026e-04, 2.1050e-04, 2.1073e-04, 2.1097e-04, 2.1121e-04, 2.1145e-04, 2.1169e-04, 2.1193e-04, 2.1216e-04, 2.1240e-04, 2.1264e-04, 2.1288e-04, 2.1312e-04, 2.1335e-04, 2.1359e-04, 2.1383e-04, 2.1407e-04, 2.1431e-04, 2.1455e-04, 2.1478e-04, 2.1502e-04, 2.1526e-04, 2.1550e-04, 2.1574e-04, 2.1597e-04, 2.1621e-04, 2.1645e-04, 2.1669e-04, 2.1693e-04, 2.1717e-04, 2.1740e-04, 2.1764e-04, 2.1788e-04, 2.1812e-04, 2.1836e-04, 2.1859e-04, 2.1883e-04, 2.1907e-04, 2.1931e-04, 2.1955e-04, 2.1979e-04, 2.2002e-04, 2.2026e-04, 2.2050e-04, 2.2074e-04, 2.2098e-04, 2.2121e-04, 2.2145e-04, 2.2169e-04, 2.2193e-04, 2.2217e-04, 2.2241e-04, 2.2264e-04, 2.2288e-04, 2.2312e-04, 2.2336e-04, 2.2360e-04, 2.2383e-04, 2.2407e-04, 2.2431e-04, 2.2455e-04, 2.2479e-04, 2.2503e-04, 2.2526e-04, 2.2550e-04, 2.2574e-04, 2.2598e-04, 2.2622e-04, 2.2646e-04, 2.2669e-04, 2.2693e-04, 2.2717e-04, 2.2741e-04, 2.2765e-04, 2.2788e-04, 2.2812e-04, 2.2836e-04, 2.2860e-04, 2.2884e-04, 2.2908e-04, 2.2931e-04, 2.2955e-04, 2.2979e-04, 2.3003e-04, 2.3027e-04, 2.3050e-04, 2.3074e-04, 2.3098e-04, 2.3122e-04, 2.3146e-04, 2.3170e-04, 2.3193e-04, 2.3217e-04, 2.3241e-04, 2.3265e-04, 2.3289e-04, 2.3312e-04, 2.3336e-04, 2.3360e-04, 2.3384e-04, 2.3408e-04, 2.3432e-04, 2.3455e-04, 2.3479e-04, 2.3503e-04, 2.3527e-04, 2.3551e-04, 2.3574e-04, 2.3598e-04, 2.3622e-04, 2.3646e-04, 2.3670e-04, 2.3694e-04, 2.3717e-04, 2.3741e-04, 2.3765e-04, 2.3789e-04, 2.3813e-04, 2.3836e-04, 2.3860e-04, 2.3884e-04, 2.3908e-04, 2.3932e-04, 2.3956e-04, 2.3979e-04, 2.4003e-04, 2.4027e-04, 2.4051e-04, 2.4075e-04, 2.4098e-04, 2.4122e-04, 2.4146e-04, 2.4170e-04, 2.4194e-04, 2.4218e-04, 2.4241e-04, 2.4265e-04, 2.4289e-04, 2.4313e-04, 2.4337e-04, 2.4360e-04, 2.4384e-04, + 2.4480e-04, 2.4575e-04, 2.4670e-04, 2.4766e-04, 2.4861e-04, 2.4956e-04, 2.5052e-04, 2.5147e-04, 2.5242e-04, 2.5337e-04, 2.5433e-04, 2.5528e-04, 2.5623e-04, 2.5719e-04, 2.5814e-04, 2.5909e-04, 2.6005e-04, 2.6100e-04, 2.6195e-04, 2.6291e-04, 2.6386e-04, 2.6481e-04, 2.6577e-04, 2.6672e-04, 2.6767e-04, 2.6863e-04, 2.6958e-04, 2.7053e-04, 2.7149e-04, 2.7244e-04, 2.7339e-04, 2.7435e-04, 2.7530e-04, 2.7625e-04, 2.7720e-04, 2.7816e-04, 2.7911e-04, 2.8006e-04, 2.8102e-04, 2.8197e-04, 2.8292e-04, 2.8388e-04, 2.8483e-04, 2.8578e-04, 2.8674e-04, 2.8769e-04, 2.8864e-04, 2.8960e-04, 2.9055e-04, 2.9150e-04, 2.9246e-04, 2.9341e-04, 2.9436e-04, 2.9532e-04, 2.9627e-04, 2.9722e-04, 2.9818e-04, 2.9913e-04, 3.0008e-04, 3.0104e-04, 3.0199e-04, 3.0294e-04, 3.0389e-04, 3.0485e-04, 3.0580e-04, 3.0675e-04, 3.0771e-04, 3.0866e-04, 3.0961e-04, 3.1057e-04, 3.1152e-04, 3.1247e-04, 3.1343e-04, 3.1438e-04, 3.1533e-04, 3.1629e-04, 3.1724e-04, 3.1819e-04, 3.1915e-04, 3.2010e-04, 3.2105e-04, 3.2201e-04, 3.2296e-04, 3.2391e-04, 3.2487e-04, 3.2582e-04, 3.2677e-04, 3.2772e-04, 3.2868e-04, 3.2963e-04, 3.3058e-04, 3.3154e-04, 3.3249e-04, 3.3344e-04, 3.3440e-04, 3.3535e-04, 3.3630e-04, 3.3726e-04, 3.3821e-04, 3.3916e-04, 3.4012e-04, 3.4107e-04, 3.4202e-04, 3.4298e-04, 3.4393e-04, 3.4488e-04, 3.4584e-04, 3.4679e-04, 3.4774e-04, 3.4870e-04, 3.4965e-04, 3.5060e-04, 3.5156e-04, 3.5251e-04, 3.5346e-04, 3.5441e-04, 3.5537e-04, 3.5632e-04, 3.5727e-04, 3.5823e-04, 3.5918e-04, 3.6013e-04, 3.6109e-04, 3.6204e-04, 3.6299e-04, 3.6395e-04, 3.6490e-04, 3.6585e-04, 3.6681e-04, 3.6776e-04, 3.6871e-04, 3.6967e-04, 3.7062e-04, 3.7157e-04, 3.7253e-04, 3.7348e-04, 3.7443e-04, 3.7539e-04, 3.7634e-04, 3.7729e-04, 3.7825e-04, 3.7920e-04, 3.8015e-04, 3.8110e-04, 3.8206e-04, 3.8301e-04, 3.8396e-04, 3.8492e-04, 3.8587e-04, 3.8682e-04, 3.8778e-04, 3.8873e-04, 3.8968e-04, 3.9064e-04, 3.9159e-04, 3.9254e-04, 3.9350e-04, 3.9445e-04, 3.9540e-04, 3.9636e-04, 3.9731e-04, 3.9826e-04, 3.9922e-04, 4.0017e-04, 4.0112e-04, 4.0208e-04, 4.0303e-04, 4.0398e-04, 4.0493e-04, 4.0589e-04, 4.0684e-04, 4.0779e-04, 4.0875e-04, 4.0970e-04, 4.1065e-04, 4.1161e-04, 4.1256e-04, 4.1351e-04, 4.1447e-04, 4.1542e-04, 4.1637e-04, 4.1733e-04, 4.1828e-04, 4.1923e-04, 4.2019e-04, 4.2114e-04, 4.2209e-04, 4.2305e-04, 4.2400e-04, 4.2495e-04, 4.2591e-04, 4.2686e-04, 4.2781e-04, 4.2877e-04, 4.2972e-04, 4.3067e-04, 4.3162e-04, 4.3258e-04, 4.3353e-04, 4.3448e-04, 4.3544e-04, 4.3639e-04, 4.3734e-04, 4.3830e-04, 4.3925e-04, 4.4020e-04, 4.4116e-04, 4.4211e-04, 4.4306e-04, 4.4402e-04, 4.4497e-04, 4.4592e-04, 4.4688e-04, 4.4783e-04, 4.4878e-04, 4.4974e-04, 4.5069e-04, 4.5164e-04, 4.5260e-04, 4.5355e-04, 4.5450e-04, 4.5545e-04, 4.5641e-04, 4.5736e-04, 4.5831e-04, 4.5927e-04, 4.6022e-04, 4.6117e-04, 4.6213e-04, 4.6308e-04, 4.6403e-04, 4.6499e-04, 4.6594e-04, 4.6689e-04, 4.6785e-04, 4.6880e-04, 4.6975e-04, 4.7071e-04, 4.7166e-04, 4.7261e-04, 4.7357e-04, 4.7452e-04, 4.7547e-04, 4.7643e-04, 4.7738e-04, 4.7833e-04, 4.7929e-04, 4.8024e-04, 4.8119e-04, 4.8214e-04, 4.8310e-04, 4.8405e-04, 4.8500e-04, 4.8596e-04, 4.8691e-04, 4.8786e-04, + 4.8977e-04, 4.9168e-04, 4.9358e-04, 4.9549e-04, 4.9740e-04, 4.9931e-04, 5.0121e-04, 5.0312e-04, 5.0503e-04, 5.0693e-04, 5.0884e-04, 5.1075e-04, 5.1265e-04, 5.1456e-04, 5.1647e-04, 5.1837e-04, 5.2028e-04, 5.2219e-04, 5.2409e-04, 5.2600e-04, 5.2791e-04, 5.2982e-04, 5.3172e-04, 5.3363e-04, 5.3554e-04, 5.3744e-04, 5.3935e-04, 5.4126e-04, 5.4316e-04, 5.4507e-04, 5.4698e-04, 5.4888e-04, 5.5079e-04, 5.5270e-04, 5.5460e-04, 5.5651e-04, 5.5842e-04, 5.6033e-04, 5.6223e-04, 5.6414e-04, 5.6605e-04, 5.6795e-04, 5.6986e-04, 5.7177e-04, 5.7367e-04, 5.7558e-04, 5.7749e-04, 5.7939e-04, 5.8130e-04, 5.8321e-04, 5.8512e-04, 5.8702e-04, 5.8893e-04, 5.9084e-04, 5.9274e-04, 5.9465e-04, 5.9656e-04, 5.9846e-04, 6.0037e-04, 6.0228e-04, 6.0418e-04, 6.0609e-04, 6.0800e-04, 6.0990e-04, 6.1181e-04, 6.1372e-04, 6.1563e-04, 6.1753e-04, 6.1944e-04, 6.2135e-04, 6.2325e-04, 6.2516e-04, 6.2707e-04, 6.2897e-04, 6.3088e-04, 6.3279e-04, 6.3469e-04, 6.3660e-04, 6.3851e-04, 6.4041e-04, 6.4232e-04, 6.4423e-04, 6.4614e-04, 6.4804e-04, 6.4995e-04, 6.5186e-04, 6.5376e-04, 6.5567e-04, 6.5758e-04, 6.5948e-04, 6.6139e-04, 6.6330e-04, 6.6520e-04, 6.6711e-04, 6.6902e-04, 6.7092e-04, 6.7283e-04, 6.7474e-04, 6.7665e-04, 6.7855e-04, 6.8046e-04, 6.8237e-04, 6.8427e-04, 6.8618e-04, 6.8809e-04, 6.8999e-04, 6.9190e-04, 6.9381e-04, 6.9571e-04, 6.9762e-04, 6.9953e-04, 7.0143e-04, 7.0334e-04, 7.0525e-04, 7.0716e-04, 7.0906e-04, 7.1097e-04, 7.1288e-04, 7.1478e-04, 7.1669e-04, 7.1860e-04, 7.2050e-04, 7.2241e-04, 7.2432e-04, 7.2622e-04, 7.2813e-04, 7.3004e-04, 7.3195e-04, 7.3385e-04, 7.3576e-04, 7.3767e-04, 7.3957e-04, 7.4148e-04, 7.4339e-04, 7.4529e-04, 7.4720e-04, 7.4911e-04, 7.5101e-04, 7.5292e-04, 7.5483e-04, 7.5673e-04, 7.5864e-04, 7.6055e-04, 7.6246e-04, 7.6436e-04, 7.6627e-04, 7.6818e-04, 7.7008e-04, 7.7199e-04, 7.7390e-04, 7.7580e-04, 7.7771e-04, 7.7962e-04, 7.8152e-04, 7.8343e-04, 7.8534e-04, 7.8724e-04, 7.8915e-04, 7.9106e-04, 7.9297e-04, 7.9487e-04, 7.9678e-04, 7.9869e-04, 8.0059e-04, 8.0250e-04, 8.0441e-04, 8.0631e-04, 8.0822e-04, 8.1013e-04, 8.1203e-04, 8.1394e-04, 8.1585e-04, 8.1775e-04, 8.1966e-04, 8.2157e-04, 8.2348e-04, 8.2538e-04, 8.2729e-04, 8.2920e-04, 8.3110e-04, 8.3301e-04, 8.3492e-04, 8.3682e-04, 8.3873e-04, 8.4064e-04, 8.4254e-04, 8.4445e-04, 8.4636e-04, 8.4826e-04, 8.5017e-04, 8.5208e-04, 8.5399e-04, 8.5589e-04, 8.5780e-04, 8.5971e-04, 8.6161e-04, 8.6352e-04, 8.6543e-04, 8.6733e-04, 8.6924e-04, 8.7115e-04, 8.7305e-04, 8.7496e-04, 8.7687e-04, 8.7878e-04, 8.8068e-04, 8.8259e-04, 8.8450e-04, 8.8640e-04, 8.8831e-04, 8.9022e-04, 8.9212e-04, 8.9403e-04, 8.9594e-04, 8.9784e-04, 8.9975e-04, 9.0166e-04, 9.0356e-04, 9.0547e-04, 9.0738e-04, 9.0929e-04, 9.1119e-04, 9.1310e-04, 9.1501e-04, 9.1691e-04, 9.1882e-04, 9.2073e-04, 9.2263e-04, 9.2454e-04, 9.2645e-04, 9.2835e-04, 9.3026e-04, 9.3217e-04, 9.3407e-04, 9.3598e-04, 9.3789e-04, 9.3980e-04, 9.4170e-04, 9.4361e-04, 9.4552e-04, 9.4742e-04, 9.4933e-04, 9.5124e-04, 9.5314e-04, 9.5505e-04, 9.5696e-04, 9.5886e-04, 9.6077e-04, 9.6268e-04, 9.6458e-04, 9.6649e-04, 9.6840e-04, 9.7031e-04, 9.7221e-04, 9.7412e-04, 9.7603e-04, + 9.7984e-04, 9.8365e-04, 9.8747e-04, 9.9128e-04, 9.9510e-04, 9.9891e-04, 1.0027e-03, 1.0065e-03, 1.0104e-03, 1.0142e-03, 1.0180e-03, 1.0218e-03, 1.0256e-03, 1.0294e-03, 1.0332e-03, 1.0371e-03, 1.0409e-03, 1.0447e-03, 1.0485e-03, 1.0523e-03, 1.0561e-03, 1.0599e-03, 1.0638e-03, 1.0676e-03, 1.0714e-03, 1.0752e-03, 1.0790e-03, 1.0828e-03, 1.0866e-03, 1.0905e-03, 1.0943e-03, 1.0981e-03, 1.1019e-03, 1.1057e-03, 1.1095e-03, 1.1133e-03, 1.1172e-03, 1.1210e-03, 1.1248e-03, 1.1286e-03, 1.1324e-03, 1.1362e-03, 1.1400e-03, 1.1439e-03, 1.1477e-03, 1.1515e-03, 1.1553e-03, 1.1591e-03, 1.1629e-03, 1.1667e-03, 1.1706e-03, 1.1744e-03, 1.1782e-03, 1.1820e-03, 1.1858e-03, 1.1896e-03, 1.1934e-03, 1.1973e-03, 1.2011e-03, 1.2049e-03, 1.2087e-03, 1.2125e-03, 1.2163e-03, 1.2201e-03, 1.2240e-03, 1.2278e-03, 1.2316e-03, 1.2354e-03, 1.2392e-03, 1.2430e-03, 1.2468e-03, 1.2507e-03, 1.2545e-03, 1.2583e-03, 1.2621e-03, 1.2659e-03, 1.2697e-03, 1.2735e-03, 1.2774e-03, 1.2812e-03, 1.2850e-03, 1.2888e-03, 1.2926e-03, 1.2964e-03, 1.3002e-03, 1.3040e-03, 1.3079e-03, 1.3117e-03, 1.3155e-03, 1.3193e-03, 1.3231e-03, 1.3269e-03, 1.3307e-03, 1.3346e-03, 1.3384e-03, 1.3422e-03, 1.3460e-03, 1.3498e-03, 1.3536e-03, 1.3574e-03, 1.3613e-03, 1.3651e-03, 1.3689e-03, 1.3727e-03, 1.3765e-03, 1.3803e-03, 1.3841e-03, 1.3880e-03, 1.3918e-03, 1.3956e-03, 1.3994e-03, 1.4032e-03, 1.4070e-03, 1.4108e-03, 1.4147e-03, 1.4185e-03, 1.4223e-03, 1.4261e-03, 1.4299e-03, 1.4337e-03, 1.4375e-03, 1.4414e-03, 1.4452e-03, 1.4490e-03, 1.4528e-03, 1.4566e-03, 1.4604e-03, 1.4642e-03, 1.4681e-03, 1.4719e-03, 1.4757e-03, 1.4795e-03, 1.4833e-03, 1.4871e-03, 1.4909e-03, 1.4948e-03, 1.4986e-03, 1.5024e-03, 1.5062e-03, 1.5100e-03, 1.5138e-03, 1.5176e-03, 1.5215e-03, 1.5253e-03, 1.5291e-03, 1.5329e-03, 1.5367e-03, 1.5405e-03, 1.5443e-03, 1.5482e-03, 1.5520e-03, 1.5558e-03, 1.5596e-03, 1.5634e-03, 1.5672e-03, 1.5710e-03, 1.5749e-03, 1.5787e-03, 1.5825e-03, 1.5863e-03, 1.5901e-03, 1.5939e-03, 1.5977e-03, 1.6016e-03, 1.6054e-03, 1.6092e-03, 1.6130e-03, 1.6168e-03, 1.6206e-03, 1.6244e-03, 1.6283e-03, 1.6321e-03, 1.6359e-03, 1.6397e-03, 1.6435e-03, 1.6473e-03, 1.6511e-03, 1.6550e-03, 1.6588e-03, 1.6626e-03, 1.6664e-03, 1.6702e-03, 1.6740e-03, 1.6778e-03, 1.6817e-03, 1.6855e-03, 1.6893e-03, 1.6931e-03, 1.6969e-03, 1.7007e-03, 1.7045e-03, 1.7084e-03, 1.7122e-03, 1.7160e-03, 1.7198e-03, 1.7236e-03, 1.7274e-03, 1.7312e-03, 1.7351e-03, 1.7389e-03, 1.7427e-03, 1.7465e-03, 1.7503e-03, 1.7541e-03, 1.7579e-03, 1.7618e-03, 1.7656e-03, 1.7694e-03, 1.7732e-03, 1.7770e-03, 1.7808e-03, 1.7846e-03, 1.7885e-03, 1.7923e-03, 1.7961e-03, 1.7999e-03, 1.8037e-03, 1.8075e-03, 1.8113e-03, 1.8152e-03, 1.8190e-03, 1.8228e-03, 1.8266e-03, 1.8304e-03, 1.8342e-03, 1.8380e-03, 1.8419e-03, 1.8457e-03, 1.8495e-03, 1.8533e-03, 1.8571e-03, 1.8609e-03, 1.8647e-03, 1.8686e-03, 1.8724e-03, 1.8762e-03, 1.8800e-03, 1.8838e-03, 1.8876e-03, 1.8914e-03, 1.8953e-03, 1.8991e-03, 1.9029e-03, 1.9067e-03, 1.9105e-03, 1.9143e-03, 1.9181e-03, 1.9220e-03, 1.9258e-03, 1.9296e-03, 1.9334e-03, 1.9372e-03, 1.9410e-03, 1.9448e-03, 1.9487e-03, 1.9525e-03, + 1.9601e-03, 1.9677e-03, 1.9754e-03, 1.9830e-03, 1.9906e-03, 1.9982e-03, 2.0059e-03, 2.0135e-03, 2.0211e-03, 2.0288e-03, 2.0364e-03, 2.0440e-03, 2.0516e-03, 2.0593e-03, 2.0669e-03, 2.0745e-03, 2.0822e-03, 2.0898e-03, 2.0974e-03, 2.1050e-03, 2.1127e-03, 2.1203e-03, 2.1279e-03, 2.1356e-03, 2.1432e-03, 2.1508e-03, 2.1585e-03, 2.1661e-03, 2.1737e-03, 2.1813e-03, 2.1890e-03, 2.1966e-03, 2.2042e-03, 2.2119e-03, 2.2195e-03, 2.2271e-03, 2.2347e-03, 2.2424e-03, 2.2500e-03, 2.2576e-03, 2.2653e-03, 2.2729e-03, 2.2805e-03, 2.2881e-03, 2.2958e-03, 2.3034e-03, 2.3110e-03, 2.3187e-03, 2.3263e-03, 2.3339e-03, 2.3415e-03, 2.3492e-03, 2.3568e-03, 2.3644e-03, 2.3721e-03, 2.3797e-03, 2.3873e-03, 2.3949e-03, 2.4026e-03, 2.4102e-03, 2.4178e-03, 2.4255e-03, 2.4331e-03, 2.4407e-03, 2.4483e-03, 2.4560e-03, 2.4636e-03, 2.4712e-03, 2.4789e-03, 2.4865e-03, 2.4941e-03, 2.5018e-03, 2.5094e-03, 2.5170e-03, 2.5246e-03, 2.5323e-03, 2.5399e-03, 2.5475e-03, 2.5552e-03, 2.5628e-03, 2.5704e-03, 2.5780e-03, 2.5857e-03, 2.5933e-03, 2.6009e-03, 2.6086e-03, 2.6162e-03, 2.6238e-03, 2.6314e-03, 2.6391e-03, 2.6467e-03, 2.6543e-03, 2.6620e-03, 2.6696e-03, 2.6772e-03, 2.6848e-03, 2.6925e-03, 2.7001e-03, 2.7077e-03, 2.7154e-03, 2.7230e-03, 2.7306e-03, 2.7382e-03, 2.7459e-03, 2.7535e-03, 2.7611e-03, 2.7688e-03, 2.7764e-03, 2.7840e-03, 2.7917e-03, 2.7993e-03, 2.8069e-03, 2.8145e-03, 2.8222e-03, 2.8298e-03, 2.8374e-03, 2.8451e-03, 2.8527e-03, 2.8603e-03, 2.8679e-03, 2.8756e-03, 2.8832e-03, 2.8908e-03, 2.8985e-03, 2.9061e-03, 2.9137e-03, 2.9213e-03, 2.9290e-03, 2.9366e-03, 2.9442e-03, 2.9519e-03, 2.9595e-03, 2.9671e-03, 2.9747e-03, 2.9824e-03, 2.9900e-03, 2.9976e-03, 3.0053e-03, 3.0129e-03, 3.0205e-03, 3.0281e-03, 3.0358e-03, 3.0434e-03, 3.0510e-03, 3.0587e-03, 3.0663e-03, 3.0739e-03, 3.0816e-03, 3.0892e-03, 3.0968e-03, 3.1044e-03, 3.1121e-03, 3.1197e-03, 3.1273e-03, 3.1350e-03, 3.1426e-03, 3.1502e-03, 3.1578e-03, 3.1655e-03, 3.1731e-03, 3.1807e-03, 3.1884e-03, 3.1960e-03, 3.2036e-03, 3.2112e-03, 3.2189e-03, 3.2265e-03, 3.2341e-03, 3.2418e-03, 3.2494e-03, 3.2570e-03, 3.2646e-03, 3.2723e-03, 3.2799e-03, 3.2875e-03, 3.2952e-03, 3.3028e-03, 3.3104e-03, 3.3180e-03, 3.3257e-03, 3.3333e-03, 3.3409e-03, 3.3486e-03, 3.3562e-03, 3.3638e-03, 3.3715e-03, 3.3791e-03, 3.3867e-03, 3.3943e-03, 3.4020e-03, 3.4096e-03, 3.4172e-03, 3.4249e-03, 3.4325e-03, 3.4401e-03, 3.4477e-03, 3.4554e-03, 3.4630e-03, 3.4706e-03, 3.4783e-03, 3.4859e-03, 3.4935e-03, 3.5011e-03, 3.5088e-03, 3.5164e-03, 3.5240e-03, 3.5317e-03, 3.5393e-03, 3.5469e-03, 3.5545e-03, 3.5622e-03, 3.5698e-03, 3.5774e-03, 3.5851e-03, 3.5927e-03, 3.6003e-03, 3.6079e-03, 3.6156e-03, 3.6232e-03, 3.6308e-03, 3.6385e-03, 3.6461e-03, 3.6537e-03, 3.6613e-03, 3.6690e-03, 3.6766e-03, 3.6842e-03, 3.6919e-03, 3.6995e-03, 3.7071e-03, 3.7148e-03, 3.7224e-03, 3.7300e-03, 3.7376e-03, 3.7453e-03, 3.7529e-03, 3.7605e-03, 3.7682e-03, 3.7758e-03, 3.7834e-03, 3.7910e-03, 3.7987e-03, 3.8063e-03, 3.8139e-03, 3.8216e-03, 3.8292e-03, 3.8368e-03, 3.8444e-03, 3.8521e-03, 3.8597e-03, 3.8673e-03, 3.8750e-03, 3.8826e-03, 3.8902e-03, 3.8978e-03, 3.9055e-03, + 3.9207e-03, 3.9360e-03, 3.9513e-03, 3.9665e-03, 3.9818e-03, 3.9970e-03, 4.0123e-03, 4.0275e-03, 4.0428e-03, 4.0581e-03, 4.0733e-03, 4.0886e-03, 4.1038e-03, 4.1191e-03, 4.1343e-03, 4.1496e-03, 4.1649e-03, 4.1801e-03, 4.1954e-03, 4.2106e-03, 4.2259e-03, 4.2412e-03, 4.2564e-03, 4.2717e-03, 4.2869e-03, 4.3022e-03, 4.3174e-03, 4.3327e-03, 4.3480e-03, 4.3632e-03, 4.3785e-03, 4.3937e-03, 4.4090e-03, 4.4243e-03, 4.4395e-03, 4.4548e-03, 4.4700e-03, 4.4853e-03, 4.5005e-03, 4.5158e-03, 4.5311e-03, 4.5463e-03, 4.5616e-03, 4.5768e-03, 4.5921e-03, 4.6074e-03, 4.6226e-03, 4.6379e-03, 4.6531e-03, 4.6684e-03, 4.6836e-03, 4.6989e-03, 4.7142e-03, 4.7294e-03, 4.7447e-03, 4.7599e-03, 4.7752e-03, 4.7905e-03, 4.8057e-03, 4.8210e-03, 4.8362e-03, 4.8515e-03, 4.8667e-03, 4.8820e-03, 4.8973e-03, 4.9125e-03, 4.9278e-03, 4.9430e-03, 4.9583e-03, 4.9736e-03, 4.9888e-03, 5.0041e-03, 5.0193e-03, 5.0346e-03, 5.0498e-03, 5.0651e-03, 5.0804e-03, 5.0956e-03, 5.1109e-03, 5.1261e-03, 5.1414e-03, 5.1567e-03, 5.1719e-03, 5.1872e-03, 5.2024e-03, 5.2177e-03, 5.2329e-03, 5.2482e-03, 5.2635e-03, 5.2787e-03, 5.2940e-03, 5.3092e-03, 5.3245e-03, 5.3398e-03, 5.3550e-03, 5.3703e-03, 5.3855e-03, 5.4008e-03, 5.4160e-03, 5.4313e-03, 5.4466e-03, 5.4618e-03, 5.4771e-03, 5.4923e-03, 5.5076e-03, 5.5229e-03, 5.5381e-03, 5.5534e-03, 5.5686e-03, 5.5839e-03, 5.5991e-03, 5.6144e-03, 5.6297e-03, 5.6449e-03, 5.6602e-03, 5.6754e-03, 5.6907e-03, 5.7060e-03, 5.7212e-03, 5.7365e-03, 5.7517e-03, 5.7670e-03, 5.7822e-03, 5.7975e-03, 5.8128e-03, 5.8280e-03, 5.8433e-03, 5.8585e-03, 5.8738e-03, 5.8891e-03, 5.9043e-03, 5.9196e-03, 5.9348e-03, 5.9501e-03, 5.9653e-03, 5.9806e-03, 5.9959e-03, 6.0111e-03, 6.0264e-03, 6.0416e-03, 6.0569e-03, 6.0722e-03, 6.0874e-03, 6.1027e-03, 6.1179e-03, 6.1332e-03, 6.1484e-03, 6.1637e-03, 6.1790e-03, 6.1942e-03, 6.2095e-03, 6.2247e-03, 6.2400e-03, 6.2553e-03, 6.2705e-03, 6.2858e-03, 6.3010e-03, 6.3163e-03, 6.3315e-03, 6.3468e-03, 6.3621e-03, 6.3773e-03, 6.3926e-03, 6.4078e-03, 6.4231e-03, 6.4384e-03, 6.4536e-03, 6.4689e-03, 6.4841e-03, 6.4994e-03, 6.5146e-03, 6.5299e-03, 6.5452e-03, 6.5604e-03, 6.5757e-03, 6.5909e-03, 6.6062e-03, 6.6215e-03, 6.6367e-03, 6.6520e-03, 6.6672e-03, 6.6825e-03, 6.6977e-03, 6.7130e-03, 6.7283e-03, 6.7435e-03, 6.7588e-03, 6.7740e-03, 6.7893e-03, 6.8046e-03, 6.8198e-03, 6.8351e-03, 6.8503e-03, 6.8656e-03, 6.8808e-03, 6.8961e-03, 6.9114e-03, 6.9266e-03, 6.9419e-03, 6.9571e-03, 6.9724e-03, 6.9877e-03, 7.0029e-03, 7.0182e-03, 7.0334e-03, 7.0487e-03, 7.0639e-03, 7.0792e-03, 7.0945e-03, 7.1097e-03, 7.1250e-03, 7.1402e-03, 7.1555e-03, 7.1708e-03, 7.1860e-03, 7.2013e-03, 7.2165e-03, 7.2318e-03, 7.2470e-03, 7.2623e-03, 7.2776e-03, 7.2928e-03, 7.3081e-03, 7.3233e-03, 7.3386e-03, 7.3539e-03, 7.3691e-03, 7.3844e-03, 7.3996e-03, 7.4149e-03, 7.4301e-03, 7.4454e-03, 7.4607e-03, 7.4759e-03, 7.4912e-03, 7.5064e-03, 7.5217e-03, 7.5370e-03, 7.5522e-03, 7.5675e-03, 7.5827e-03, 7.5980e-03, 7.6132e-03, 7.6285e-03, 7.6438e-03, 7.6590e-03, 7.6743e-03, 7.6895e-03, 7.7048e-03, 7.7201e-03, 7.7353e-03, 7.7506e-03, 7.7658e-03, 7.7811e-03, 7.7963e-03, 7.8116e-03, + 7.8421e-03, 7.8726e-03, 7.9032e-03, 7.9337e-03, 7.9642e-03, 7.9947e-03, 8.0252e-03, 8.0557e-03, 8.0863e-03, 8.1168e-03, 8.1473e-03, 8.1778e-03, 8.2083e-03, 8.2388e-03, 8.2694e-03, 8.2999e-03, 8.3304e-03, 8.3609e-03, 8.3914e-03, 8.4219e-03, 8.4525e-03, 8.4830e-03, 8.5135e-03, 8.5440e-03, 8.5745e-03, 8.6051e-03, 8.6356e-03, 8.6661e-03, 8.6966e-03, 8.7271e-03, 8.7576e-03, 8.7882e-03, 8.8187e-03, 8.8492e-03, 8.8797e-03, 8.9102e-03, 8.9407e-03, 8.9713e-03, 9.0018e-03, 9.0323e-03, 9.0628e-03, 9.0933e-03, 9.1238e-03, 9.1544e-03, 9.1849e-03, 9.2154e-03, 9.2459e-03, 9.2764e-03, 9.3069e-03, 9.3375e-03, 9.3680e-03, 9.3985e-03, 9.4290e-03, 9.4595e-03, 9.4900e-03, 9.5206e-03, 9.5511e-03, 9.5816e-03, 9.6121e-03, 9.6426e-03, 9.6731e-03, 9.7037e-03, 9.7342e-03, 9.7647e-03, 9.7952e-03, 9.8257e-03, 9.8563e-03, 9.8868e-03, 9.9173e-03, 9.9478e-03, 9.9783e-03, 1.0009e-02, 1.0039e-02, 1.0070e-02, 1.0100e-02, 1.0131e-02, 1.0161e-02, 1.0192e-02, 1.0222e-02, 1.0253e-02, 1.0283e-02, 1.0314e-02, 1.0345e-02, 1.0375e-02, 1.0406e-02, 1.0436e-02, 1.0467e-02, 1.0497e-02, 1.0528e-02, 1.0558e-02, 1.0589e-02, 1.0619e-02, 1.0650e-02, 1.0680e-02, 1.0711e-02, 1.0741e-02, 1.0772e-02, 1.0802e-02, 1.0833e-02, 1.0863e-02, 1.0894e-02, 1.0924e-02, 1.0955e-02, 1.0985e-02, 1.1016e-02, 1.1046e-02, 1.1077e-02, 1.1107e-02, 1.1138e-02, 1.1168e-02, 1.1199e-02, 1.1230e-02, 1.1260e-02, 1.1291e-02, 1.1321e-02, 1.1352e-02, 1.1382e-02, 1.1413e-02, 1.1443e-02, 1.1474e-02, 1.1504e-02, 1.1535e-02, 1.1565e-02, 1.1596e-02, 1.1626e-02, 1.1657e-02, 1.1687e-02, 1.1718e-02, 1.1748e-02, 1.1779e-02, 1.1809e-02, 1.1840e-02, 1.1870e-02, 1.1901e-02, 1.1931e-02, 1.1962e-02, 1.1992e-02, 1.2023e-02, 1.2053e-02, 1.2084e-02, 1.2115e-02, 1.2145e-02, 1.2176e-02, 1.2206e-02, 1.2237e-02, 1.2267e-02, 1.2298e-02, 1.2328e-02, 1.2359e-02, 1.2389e-02, 1.2420e-02, 1.2450e-02, 1.2481e-02, 1.2511e-02, 1.2542e-02, 1.2572e-02, 1.2603e-02, 1.2633e-02, 1.2664e-02, 1.2694e-02, 1.2725e-02, 1.2755e-02, 1.2786e-02, 1.2816e-02, 1.2847e-02, 1.2877e-02, 1.2908e-02, 1.2938e-02, 1.2969e-02, 1.3000e-02, 1.3030e-02, 1.3061e-02, 1.3091e-02, 1.3122e-02, 1.3152e-02, 1.3183e-02, 1.3213e-02, 1.3244e-02, 1.3274e-02, 1.3305e-02, 1.3335e-02, 1.3366e-02, 1.3396e-02, 1.3427e-02, 1.3457e-02, 1.3488e-02, 1.3518e-02, 1.3549e-02, 1.3579e-02, 1.3610e-02, 1.3640e-02, 1.3671e-02, 1.3701e-02, 1.3732e-02, 1.3762e-02, 1.3793e-02, 1.3823e-02, 1.3854e-02, 1.3885e-02, 1.3915e-02, 1.3946e-02, 1.3976e-02, 1.4007e-02, 1.4037e-02, 1.4068e-02, 1.4098e-02, 1.4129e-02, 1.4159e-02, 1.4190e-02, 1.4220e-02, 1.4251e-02, 1.4281e-02, 1.4312e-02, 1.4342e-02, 1.4373e-02, 1.4403e-02, 1.4434e-02, 1.4464e-02, 1.4495e-02, 1.4525e-02, 1.4556e-02, 1.4586e-02, 1.4617e-02, 1.4647e-02, 1.4678e-02, 1.4708e-02, 1.4739e-02, 1.4770e-02, 1.4800e-02, 1.4831e-02, 1.4861e-02, 1.4892e-02, 1.4922e-02, 1.4953e-02, 1.4983e-02, 1.5014e-02, 1.5044e-02, 1.5075e-02, 1.5105e-02, 1.5136e-02, 1.5166e-02, 1.5197e-02, 1.5227e-02, 1.5258e-02, 1.5288e-02, 1.5319e-02, 1.5349e-02, 1.5380e-02, 1.5410e-02, 1.5441e-02, 1.5471e-02, 1.5502e-02, 1.5532e-02, 1.5563e-02, 1.5593e-02, 1.5624e-02, + 1.5746e-02, 1.5868e-02, 1.5990e-02, 1.6112e-02, 1.6234e-02, 1.6356e-02, 1.6478e-02, 1.6601e-02, 1.6723e-02, 1.6845e-02, 1.6967e-02, 1.7089e-02, 1.7211e-02, 1.7333e-02, 1.7455e-02, 1.7577e-02, 1.7699e-02, 1.7821e-02, 1.7943e-02, 1.8065e-02, 1.8187e-02, 1.8310e-02, 1.8432e-02, 1.8554e-02, 1.8676e-02, 1.8798e-02, 1.8920e-02, 1.9042e-02, 1.9164e-02, 1.9286e-02, 1.9408e-02, 1.9530e-02, 1.9652e-02, 1.9774e-02, 1.9896e-02, 2.0018e-02, 2.0141e-02, 2.0263e-02, 2.0385e-02, 2.0507e-02, 2.0629e-02, 2.0751e-02, 2.0873e-02, 2.0995e-02, 2.1117e-02, 2.1239e-02, 2.1361e-02, 2.1483e-02, 2.1605e-02, 2.1727e-02, 2.1850e-02, 2.1972e-02, 2.2094e-02, 2.2216e-02, 2.2338e-02, 2.2460e-02, 2.2582e-02, 2.2704e-02, 2.2826e-02, 2.2948e-02, 2.3070e-02, 2.3192e-02, 2.3314e-02, 2.3436e-02, 2.3558e-02, 2.3681e-02, 2.3803e-02, 2.3925e-02, 2.4047e-02, 2.4169e-02, 2.4291e-02, 2.4413e-02, 2.4535e-02, 2.4657e-02, 2.4779e-02, 2.4901e-02, 2.5023e-02, 2.5145e-02, 2.5267e-02, 2.5390e-02, 2.5512e-02, 2.5634e-02, 2.5756e-02, 2.5878e-02, 2.6000e-02, 2.6122e-02, 2.6244e-02, 2.6366e-02, 2.6488e-02, 2.6610e-02, 2.6732e-02, 2.6854e-02, 2.6976e-02, 2.7099e-02, 2.7221e-02, 2.7343e-02, 2.7465e-02, 2.7587e-02, 2.7709e-02, 2.7831e-02, 2.7953e-02, 2.8075e-02, 2.8197e-02, 2.8319e-02, 2.8441e-02, 2.8563e-02, 2.8685e-02, 2.8807e-02, 2.8930e-02, 2.9052e-02, 2.9174e-02, 2.9296e-02, 2.9418e-02, 2.9540e-02, 2.9662e-02, 2.9784e-02, 2.9906e-02, 3.0028e-02, 3.0150e-02, 3.0272e-02, 3.0394e-02, 3.0516e-02, 3.0639e-02, 3.0761e-02, 3.0883e-02, 3.1005e-02, 3.1127e-02, 3.1249e-02, 3.1493e-02, 3.1737e-02, 3.1981e-02, 3.2225e-02, 3.2470e-02, 3.2714e-02, 3.2958e-02, 3.3202e-02, 3.3446e-02, 3.3690e-02, 3.3934e-02, 3.4179e-02, 3.4423e-02, 3.4667e-02, 3.4911e-02, 3.5155e-02, 3.5399e-02, 3.5643e-02, 3.5888e-02, 3.6132e-02, 3.6376e-02, 3.6620e-02, 3.6864e-02, 3.7108e-02, 3.7352e-02, 3.7596e-02, 3.7841e-02, 3.8085e-02, 3.8329e-02, 3.8573e-02, 3.8817e-02, 3.9061e-02, 3.9305e-02, 3.9550e-02, 3.9794e-02, 4.0038e-02, 4.0282e-02, 4.0526e-02, 4.0770e-02, 4.1014e-02, 4.1259e-02, 4.1503e-02, 4.1747e-02, 4.1991e-02, 4.2235e-02, 4.2479e-02, 4.2723e-02, 4.2968e-02, 4.3212e-02, 4.3456e-02, 4.3700e-02, 4.3944e-02, 4.4188e-02, 4.4432e-02, 4.4677e-02, 4.4921e-02, 4.5165e-02, 4.5409e-02, 4.5653e-02, 4.5897e-02, 4.6141e-02, 4.6386e-02, 4.6630e-02, 4.6874e-02, 4.7118e-02, 4.7362e-02, 4.7606e-02, 4.7850e-02, 4.8095e-02, 4.8339e-02, 4.8583e-02, 4.8827e-02, 4.9071e-02, 4.9315e-02, 4.9559e-02, 4.9803e-02, 5.0048e-02, 5.0292e-02, 5.0536e-02, 5.0780e-02, 5.1024e-02, 5.1268e-02, 5.1512e-02, 5.1757e-02, 5.2001e-02, 5.2245e-02, 5.2489e-02, 5.2733e-02, 5.2977e-02, 5.3221e-02, 5.3466e-02, 5.3710e-02, 5.3954e-02, 5.4198e-02, 5.4442e-02, 5.4686e-02, 5.4930e-02, 5.5175e-02, 5.5419e-02, 5.5663e-02, 5.5907e-02, 5.6151e-02, 5.6395e-02, 5.6639e-02, 5.6884e-02, 5.7128e-02, 5.7372e-02, 5.7616e-02, 5.7860e-02, 5.8104e-02, 5.8348e-02, 5.8593e-02, 5.8837e-02, 5.9081e-02, 5.9325e-02, 5.9569e-02, 5.9813e-02, 6.0057e-02, 6.0301e-02, 6.0546e-02, 6.0790e-02, 6.1034e-02, 6.1278e-02, 6.1522e-02, 6.1766e-02, 6.2010e-02, 6.2255e-02, 6.2499e-02, + 6.2743e-02, 6.2987e-02, 6.3231e-02, 6.3475e-02, 6.3719e-02, 6.3964e-02, 6.4208e-02, 6.4452e-02, 6.4696e-02, 6.4940e-02, 6.5184e-02, 6.5428e-02, 6.5673e-02, 6.5917e-02, 6.6161e-02, 6.6405e-02, 6.6649e-02, 6.6893e-02, 6.7137e-02, 6.7382e-02, 6.7626e-02, 6.7870e-02, 6.8114e-02, 6.8358e-02, 6.8602e-02, 6.8846e-02, 6.9091e-02, 6.9335e-02, 6.9579e-02, 6.9823e-02, 7.0067e-02, 7.0311e-02, 7.0555e-02, 7.0799e-02, 7.1044e-02, 7.1288e-02, 7.1532e-02, 7.1776e-02, 7.2020e-02, 7.2264e-02, 7.2508e-02, 7.2753e-02, 7.2997e-02, 7.3241e-02, 7.3485e-02, 7.3729e-02, 7.3973e-02, 7.4217e-02, 7.4462e-02, 7.4706e-02, 7.4950e-02, 7.5194e-02, 7.5438e-02, 7.5682e-02, 7.5926e-02, 7.6171e-02, 7.6415e-02, 7.6659e-02, 7.6903e-02, 7.7147e-02, 7.7391e-02, 7.7635e-02, 7.7880e-02, 7.8124e-02, 7.8368e-02, 7.8612e-02, 7.8856e-02, 7.9100e-02, 7.9344e-02, 7.9589e-02, 7.9833e-02, 8.0077e-02, 8.0321e-02, 8.0565e-02, 8.0809e-02, 8.1053e-02, 8.1298e-02, 8.1542e-02, 8.1786e-02, 8.2030e-02, 8.2274e-02, 8.2518e-02, 8.2762e-02, 8.3006e-02, 8.3251e-02, 8.3495e-02, 8.3739e-02, 8.3983e-02, 8.4227e-02, 8.4471e-02, 8.4715e-02, 8.4960e-02, 8.5204e-02, 8.5448e-02, 8.5692e-02, 8.5936e-02, 8.6180e-02, 8.6424e-02, 8.6669e-02, 8.6913e-02, 8.7157e-02, 8.7401e-02, 8.7645e-02, 8.7889e-02, 8.8133e-02, 8.8378e-02, 8.8622e-02, 8.8866e-02, 8.9110e-02, 8.9354e-02, 8.9598e-02, 8.9842e-02, 9.0087e-02, 9.0331e-02, 9.0575e-02, 9.0819e-02, 9.1063e-02, 9.1307e-02, 9.1551e-02, 9.1796e-02, 9.2040e-02, 9.2284e-02, 9.2528e-02, 9.2772e-02, 9.3016e-02, 9.3260e-02, 9.3504e-02, 9.3749e-02, 9.4237e-02, 9.4725e-02, 9.5213e-02, 9.5702e-02, 9.6190e-02, 9.6678e-02, 9.7167e-02, 9.7655e-02, 9.8143e-02, 9.8631e-02, 9.9120e-02, 9.9608e-02, 1.0010e-01, 1.0058e-01, 1.0107e-01, 1.0156e-01, 1.0205e-01, 1.0254e-01, 1.0303e-01, 1.0351e-01, 1.0400e-01, 1.0449e-01, 1.0498e-01, 1.0547e-01, 1.0596e-01, 1.0644e-01, 1.0693e-01, 1.0742e-01, 1.0791e-01, 1.0840e-01, 1.0889e-01, 1.0937e-01, 1.0986e-01, 1.1035e-01, 1.1084e-01, 1.1133e-01, 1.1182e-01, 1.1230e-01, 1.1279e-01, 1.1328e-01, 1.1377e-01, 1.1426e-01, 1.1474e-01, 1.1523e-01, 1.1572e-01, 1.1621e-01, 1.1670e-01, 1.1719e-01, 1.1767e-01, 1.1816e-01, 1.1865e-01, 1.1914e-01, 1.1963e-01, 1.2012e-01, 1.2060e-01, 1.2109e-01, 1.2158e-01, 1.2207e-01, 1.2256e-01, 1.2305e-01, 1.2353e-01, 1.2402e-01, 1.2451e-01, 1.2500e-01, 1.2549e-01, 1.2598e-01, 1.2646e-01, 1.2695e-01, 1.2744e-01, 1.2793e-01, 1.2842e-01, 1.2890e-01, 1.2939e-01, 1.2988e-01, 1.3037e-01, 1.3086e-01, 1.3135e-01, 1.3183e-01, 1.3232e-01, 1.3281e-01, 1.3330e-01, 1.3379e-01, 1.3428e-01, 1.3476e-01, 1.3525e-01, 1.3574e-01, 1.3623e-01, 1.3672e-01, 1.3721e-01, 1.3769e-01, 1.3818e-01, 1.3867e-01, 1.3916e-01, 1.3965e-01, 1.4014e-01, 1.4062e-01, 1.4111e-01, 1.4160e-01, 1.4209e-01, 1.4258e-01, 1.4306e-01, 1.4355e-01, 1.4404e-01, 1.4453e-01, 1.4502e-01, 1.4551e-01, 1.4599e-01, 1.4648e-01, 1.4697e-01, 1.4746e-01, 1.4795e-01, 1.4844e-01, 1.4892e-01, 1.4941e-01, 1.4990e-01, 1.5039e-01, 1.5088e-01, 1.5137e-01, 1.5185e-01, 1.5234e-01, 1.5283e-01, 1.5332e-01, 1.5381e-01, 1.5430e-01, 1.5478e-01, 1.5527e-01, 1.5576e-01, 1.5625e-01, + 1.5674e-01, 1.5723e-01, 1.5771e-01, 1.5820e-01, 1.5869e-01, 1.5918e-01, 1.5967e-01, 1.6015e-01, 1.6064e-01, 1.6113e-01, 1.6162e-01, 1.6211e-01, 1.6260e-01, 1.6308e-01, 1.6357e-01, 1.6406e-01, 1.6455e-01, 1.6504e-01, 1.6553e-01, 1.6601e-01, 1.6650e-01, 1.6699e-01, 1.6748e-01, 1.6797e-01, 1.6846e-01, 1.6894e-01, 1.6943e-01, 1.6992e-01, 1.7041e-01, 1.7090e-01, 1.7139e-01, 1.7187e-01, 1.7236e-01, 1.7285e-01, 1.7334e-01, 1.7383e-01, 1.7431e-01, 1.7480e-01, 1.7529e-01, 1.7578e-01, 1.7627e-01, 1.7676e-01, 1.7724e-01, 1.7773e-01, 1.7822e-01, 1.7871e-01, 1.7920e-01, 1.7969e-01, 1.8017e-01, 1.8066e-01, 1.8115e-01, 1.8164e-01, 1.8213e-01, 1.8262e-01, 1.8310e-01, 1.8359e-01, 1.8408e-01, 1.8457e-01, 1.8506e-01, 1.8555e-01, 1.8603e-01, 1.8652e-01, 1.8701e-01, 1.8750e-01, 1.8848e-01, 1.8945e-01, 1.9043e-01, 1.9140e-01, 1.9238e-01, 1.9336e-01, 1.9433e-01, 1.9531e-01, 1.9629e-01, 1.9726e-01, 1.9824e-01, 1.9922e-01, 2.0019e-01, 2.0117e-01, 2.0215e-01, 2.0312e-01, 2.0410e-01, 2.0508e-01, 2.0605e-01, 2.0703e-01, 2.0801e-01, 2.0898e-01, 2.0996e-01, 2.1094e-01, 2.1191e-01, 2.1289e-01, 2.1387e-01, 2.1484e-01, 2.1582e-01, 2.1680e-01, 2.1777e-01, 2.1875e-01, 2.1972e-01, 2.2070e-01, 2.2168e-01, 2.2265e-01, 2.2363e-01, 2.2461e-01, 2.2558e-01, 2.2656e-01, 2.2754e-01, 2.2851e-01, 2.2949e-01, 2.3047e-01, 2.3144e-01, 2.3242e-01, 2.3340e-01, 2.3437e-01, 2.3535e-01, 2.3633e-01, 2.3730e-01, 2.3828e-01, 2.3926e-01, 2.4023e-01, 2.4121e-01, 2.4219e-01, 2.4316e-01, 2.4414e-01, 2.4512e-01, 2.4609e-01, 2.4707e-01, 2.4805e-01, 2.4902e-01, 2.5000e-01, 2.5097e-01, 2.5195e-01, 2.5293e-01, 2.5390e-01, 2.5488e-01, 2.5586e-01, 2.5683e-01, 2.5781e-01, 2.5879e-01, 2.5976e-01, 2.6074e-01, 2.6172e-01, 2.6269e-01, 2.6367e-01, 2.6465e-01, 2.6562e-01, 2.6660e-01, 2.6758e-01, 2.6855e-01, 2.6953e-01, 2.7051e-01, 2.7148e-01, 2.7246e-01, 2.7344e-01, 2.7441e-01, 2.7539e-01, 2.7637e-01, 2.7734e-01, 2.7832e-01, 2.7930e-01, 2.8027e-01, 2.8125e-01, 2.8222e-01, 2.8320e-01, 2.8418e-01, 2.8515e-01, 2.8613e-01, 2.8711e-01, 2.8808e-01, 2.8906e-01, 2.9004e-01, 2.9101e-01, 2.9199e-01, 2.9297e-01, 2.9394e-01, 2.9492e-01, 2.9590e-01, 2.9687e-01, 2.9785e-01, 2.9883e-01, 2.9980e-01, 3.0078e-01, 3.0176e-01, 3.0273e-01, 3.0371e-01, 3.0469e-01, 3.0566e-01, 3.0664e-01, 3.0762e-01, 3.0859e-01, 3.0957e-01, 3.1055e-01, 3.1152e-01, 3.1250e-01, 3.1347e-01, 3.1445e-01, 3.1543e-01, 3.1640e-01, 3.1738e-01, 3.1836e-01, 3.1933e-01, 3.2031e-01, 3.2129e-01, 3.2226e-01, 3.2324e-01, 3.2422e-01, 3.2519e-01, 3.2617e-01, 3.2715e-01, 3.2812e-01, 3.2910e-01, 3.3008e-01, 3.3105e-01, 3.3203e-01, 3.3301e-01, 3.3398e-01, 3.3496e-01, 3.3594e-01, 3.3691e-01, 3.3789e-01, 3.3887e-01, 3.3984e-01, 3.4082e-01, 3.4180e-01, 3.4277e-01, 3.4375e-01, 3.4472e-01, 3.4570e-01, 3.4668e-01, 3.4765e-01, 3.4863e-01, 3.4961e-01, 3.5058e-01, 3.5156e-01, 3.5254e-01, 3.5351e-01, 3.5449e-01, 3.5547e-01, 3.5644e-01, 3.5742e-01, 3.5840e-01, 3.5937e-01, 3.6035e-01, 3.6133e-01, 3.6230e-01, 3.6328e-01, 3.6426e-01, 3.6523e-01, 3.6621e-01, 3.6719e-01, 3.6816e-01, 3.6914e-01, 3.7012e-01, 3.7109e-01, 3.7207e-01, 3.7305e-01, 3.7402e-01, 3.7500e-01, + 3.7695e-01, 3.7890e-01, 3.8086e-01, 3.8281e-01, 3.8476e-01, 3.8672e-01, 3.8867e-01, 3.9062e-01, 3.9258e-01, 3.9453e-01, 3.9648e-01, 3.9844e-01, 4.0039e-01, 4.0234e-01, 4.0430e-01, 4.0625e-01, 4.0820e-01, 4.1015e-01, 4.1211e-01, 4.1406e-01, 4.1601e-01, 4.1797e-01, 4.1992e-01, 4.2187e-01, 4.2383e-01, 4.2578e-01, 4.2773e-01, 4.2969e-01, 4.3164e-01, 4.3359e-01, 4.3555e-01, 4.3750e-01, 4.3945e-01, 4.4140e-01, 4.4336e-01, 4.4531e-01, 4.4726e-01, 4.4922e-01, 4.5117e-01, 4.5312e-01, 4.5508e-01, 4.5703e-01, 4.5898e-01, 4.6094e-01, 4.6289e-01, 4.6484e-01, 4.6680e-01, 4.6875e-01, 4.7070e-01, 4.7265e-01, 4.7461e-01, 4.7656e-01, 4.7851e-01, 4.8047e-01, 4.8242e-01, 4.8437e-01, 4.8633e-01, 4.8828e-01, 4.9023e-01, 4.9219e-01, 4.9414e-01, 4.9609e-01, 4.9805e-01, 5.0000e-01, 5.0195e-01, 5.0390e-01, 5.0586e-01, 5.0781e-01, 5.0976e-01, 5.1172e-01, 5.1367e-01, 5.1562e-01, 5.1758e-01, 5.1953e-01, 5.2148e-01, 5.2344e-01, 5.2539e-01, 5.2734e-01, 5.2930e-01, 5.3125e-01, 5.3320e-01, 5.3515e-01, 5.3711e-01, 5.3906e-01, 5.4101e-01, 5.4297e-01, 5.4492e-01, 5.4687e-01, 5.4883e-01, 5.5078e-01, 5.5273e-01, 5.5469e-01, 5.5664e-01, 5.5859e-01, 5.6055e-01, 5.6250e-01, 5.6445e-01, 5.6640e-01, 5.6836e-01, 5.7031e-01, 5.7226e-01, 5.7422e-01, 5.7617e-01, 5.7812e-01, 5.8008e-01, 5.8203e-01, 5.8398e-01, 5.8594e-01, 5.8789e-01, 5.8984e-01, 5.9180e-01, 5.9375e-01, 5.9570e-01, 5.9765e-01, 5.9961e-01, 6.0156e-01, 6.0351e-01, 6.0547e-01, 6.0742e-01, 6.0937e-01, 6.1133e-01, 6.1328e-01, 6.1523e-01, 6.1719e-01, 6.1914e-01, 6.2109e-01, 6.2305e-01, 6.2500e-01, 6.2695e-01, 6.2890e-01, 6.3086e-01, 6.3281e-01, 6.3476e-01, 6.3672e-01, 6.3867e-01, 6.4062e-01, 6.4258e-01, 6.4453e-01, 6.4648e-01, 6.4844e-01, 6.5039e-01, 6.5234e-01, 6.5430e-01, 6.5625e-01, 6.5820e-01, 6.6015e-01, 6.6211e-01, 6.6406e-01, 6.6601e-01, 6.6797e-01, 6.6992e-01, 6.7187e-01, 6.7383e-01, 6.7578e-01, 6.7773e-01, 6.7969e-01, 6.8164e-01, 6.8359e-01, 6.8554e-01, 6.8750e-01, 6.8945e-01, 6.9140e-01, 6.9336e-01, 6.9531e-01, 6.9726e-01, 6.9922e-01, 7.0117e-01, 7.0312e-01, 7.0508e-01, 7.0703e-01, 7.0898e-01, 7.1094e-01, 7.1289e-01, 7.1484e-01, 7.1679e-01, 7.1875e-01, 7.2070e-01, 7.2265e-01, 7.2461e-01, 7.2656e-01, 7.2851e-01, 7.3047e-01, 7.3242e-01, 7.3437e-01, 7.3633e-01, 7.3828e-01, 7.4023e-01, 7.4219e-01, 7.4414e-01, 7.4609e-01, 7.4804e-01, 7.5000e-01, 7.5390e-01, 7.5781e-01, 7.6172e-01, 7.6562e-01, 7.6953e-01, 7.7344e-01, 7.7734e-01, 7.8125e-01, 7.8515e-01, 7.8906e-01, 7.9297e-01, 7.9687e-01, 8.0078e-01, 8.0469e-01, 8.0859e-01, 8.1250e-01, 8.1640e-01, 8.2031e-01, 8.2422e-01, 8.2812e-01, 8.3203e-01, 8.3594e-01, 8.3984e-01, 8.4375e-01, 8.4765e-01, 8.5156e-01, 8.5547e-01, 8.5937e-01, 8.6328e-01, 8.6719e-01, 8.7109e-01, 8.7500e-01, 8.7890e-01, 8.8281e-01, 8.8672e-01, 8.9062e-01, 8.9453e-01, 8.9844e-01, 9.0234e-01, 9.0625e-01, 9.1015e-01, 9.1406e-01, 9.1797e-01, 9.2187e-01, 9.2578e-01, 9.2969e-01, 9.3359e-01, 9.3750e-01, 9.4140e-01, 9.4531e-01, 9.4922e-01, 9.5312e-01, 9.5703e-01, 9.6094e-01, 9.6484e-01, 9.6875e-01, 9.7265e-01, 9.7656e-01, 9.8047e-01, 9.8437e-01, 9.8828e-01, 9.9219e-01, 9.9609e-01, 1.0000e+00 +}; + float4 val4_from_12(uchar8 pvs, float gain) { uint4 parsed = (uint4)(((uint)pvs.s0<<4) + (pvs.s1>>4), // is from the previous 10 bit ((uint)pvs.s2<<4) + (pvs.s4&0xF), ((uint)pvs.s3<<4) + (pvs.s4>>4), ((uint)pvs.s5<<4) + (pvs.s7&0xF)); + #if IS_OX + // PWL + //float4 pv = (convert_float4(parsed) - 64.0) / (4096.0 - 64.0); + float4 pv = {ox03c10_lut[parsed.s0], ox03c10_lut[parsed.s1], ox03c10_lut[parsed.s2], ox03c10_lut[parsed.s3]}; + + // it's a 24 bit signal, center in the middle 8 bits + return pv*256.0; + #else // AR // normalize and scale float4 pv = (convert_float4(parsed) - 168.0) / (4096.0 - 168.0); return clamp(pv*gain, 0.0, 1.0); + #endif + } float get_k(float a, float b, float c, float d) { diff --git a/system/camerad/cameras/sensor2_i2c.h b/system/camerad/cameras/sensor2_i2c.h index 284347623..9df99552e 100644 --- a/system/camerad/cameras/sensor2_i2c.h +++ b/system/camerad/cameras/sensor2_i2c.h @@ -1,48 +1,754 @@ struct i2c_random_wr_payload start_reg_array_ar0231[] = {{0x301A, 0x91C}}; struct i2c_random_wr_payload stop_reg_array_ar0231[] = {{0x301A, 0x918}}; -struct i2c_random_wr_payload start_reg_array_imx390[] = {{0x0, 0}}; -struct i2c_random_wr_payload stop_reg_array_imx390[] = {{0x0, 1}}; +struct i2c_random_wr_payload start_reg_array_ox03c10[] = {{0x100, 1}}; +struct i2c_random_wr_payload stop_reg_array_ox03c10[] = {{0x100, 0}}; -struct i2c_random_wr_payload init_array_imx390[] = { - {0x2008, 0xd0}, {0x2009, 0x07}, {0x200a, 0x00}, // MODE_VMAX = time between frames - {0x200C, 0xe4}, {0x200D, 0x0c}, // MODE_HMAX +struct i2c_random_wr_payload init_array_ox03c10[] = { + {0x103, 1}, + {0x107, 1}, - // crop - {0x3410, 0x88}, {0x3411, 0x7}, // CROP_H_SIZE - {0x3418, 0xb8}, {0x3419, 0x4}, // CROP_V_SIZE - {0x0078, 1}, {0x03c0, 1}, + // X3C_1920x1280_60fps_HDR4_LFR_PWL12_mipi1200 - // external trigger (off) - // while images still come in, they are blank with this - {0x3650, 0}, // CU_MODE + // TPM + {0x4d5a, 0x1a}, {0x4d09, 0xff}, {0x4d09, 0xdf}, - // exposure - {0x000c, 0xc0}, {0x000d, 0x07}, - {0x0010, 0xc0}, {0x0011, 0x07}, + /*) + // group 4 + {0x3208, 0x04}, + {0x4620, 0x04}, + {0x3208, 0x14}, - // WUXGA mode - // not in datasheet, from https://github.com/bogsen/STLinux-Kernel/blob/master/drivers/media/platform/tegra/imx185.c - {0x0086, 0xc4}, {0x0087, 0xff}, // WND_SHIFT_V = -60 - {0x03c6, 0xc4}, {0x03c7, 0xff}, // SM_WND_SHIFT_V_APL = -60 + // group 5 + {0x3208, 0x05}, + {0x4620, 0x04}, + {0x3208, 0x15}, - {0x201c, 0xe1}, {0x201d, 0x12}, // image read amount - {0x21ee, 0xc4}, {0x21ef, 0x04}, // image send amount (1220 is the end) - {0x21f0, 0xc4}, {0x21f1, 0x04}, // image processing amount + // group 2 + {0x3208, 0x02}, + {0x3507, 0x00}, + {0x3208, 0x12}, - // disable a bunch of errors causing blanking - {0x0390, 0x00}, {0x0391, 0x00}, {0x0392, 0x00}, + // delay launch group 2 + {0x3208, 0xa2},*/ - // flip bayer - {0x2D64, 0x64 + 2}, + // PLL setup + {0x0301, 0xc8}, // pll1_divs, pll1_predivp, pll1_divpix + {0x0303, 0x01}, // pll1_prediv + {0x0304, 0x01}, {0x0305, 0x2c}, // pll1_loopdiv = 300 + {0x0306, 0x04}, // pll1_divmipi = 4 + {0x0307, 0x01}, // pll1_divm = 1 + {0x0316, 0x00}, + {0x0317, 0x00}, + {0x0318, 0x00}, + {0x0323, 0x05}, // pll2_prediv + {0x0324, 0x01}, {0x0325, 0x2c}, // pll2_divp = 300 - // color correction - {0x0030, 0xf8}, {0x0031, 0x00}, // red gain - {0x0032, 0x9a}, {0x0033, 0x00}, // gr gain - {0x0034, 0x9a}, {0x0035, 0x00}, // gb gain - {0x0036, 0x22}, {0x0037, 0x01}, // blue gain + // SCLK/PCLK + {0x0400, 0xe0}, {0x0401, 0x80}, + {0x0403, 0xde}, {0x0404, 0x34}, + {0x0405, 0x3b}, {0x0406, 0xde}, + {0x0407, 0x08}, + {0x0408, 0xe0}, {0x0409, 0x7f}, + {0x040a, 0xde}, {0x040b, 0x34}, + {0x040c, 0x47}, {0x040d, 0xd8}, + {0x040e, 0x08}, - // hdr enable (noise with this on for now) - {0x00f9, 0} + // xchk + {0x2803, 0xfe}, {0x280b, 0x00}, {0x280c, 0x79}, + + // SC ctrl + {0x3001, 0x03}, // io_pad_oen + {0x3002, 0xf8}, // io_pad_oen + {0x3005, 0x80}, // io_pad_out + {0x3007, 0x01}, // io_pad_sel + {0x3008, 0x80}, // io_pad_sel + + // FSIN first frame + /* + {0x3009, 0x2}, + {0x3015, 0x2}, + {0x3822, 0x20}, + {0x3823, 0x58}, + + {0x3826, 0x0}, {0x3827, 0x8}, + {0x3881, 0x4}, + + {0x3882, 0x8}, {0x3883, 0x0D}, + {0x3836, 0x1F}, {0x3837, 0x40}, + */ + + // FSIN with external pulses + {0x3009, 0x2}, + {0x3015, 0x2}, + {0x383E, 0x80}, + {0x3881, 0x4}, + {0x3882, 0x8}, {0x3883, 0x0D}, + {0x3836, 0x1F}, {0x3837, 0x40}, + + {0x3012, 0x41}, // SC_PHY_CTRL = 4 lane MIPI + {0x3020, 0x05}, // SC_CTRL_20 + + // this is not in the datasheet, listed as RSVD + // but the camera doesn't work without it + {0x3700, 0x28}, {0x3701, 0x15}, {0x3702, 0x19}, {0x3703, 0x23}, + {0x3704, 0x0a}, {0x3705, 0x00}, {0x3706, 0x3e}, {0x3707, 0x0d}, + {0x3708, 0x50}, {0x3709, 0x5a}, {0x370a, 0x00}, {0x370b, 0x96}, + {0x3711, 0x11}, {0x3712, 0x13}, {0x3717, 0x02}, {0x3718, 0x73}, + {0x372c, 0x40}, {0x3733, 0x01}, {0x3738, 0x36}, {0x3739, 0x36}, + {0x373a, 0x25}, {0x373b, 0x25}, {0x373f, 0x21}, {0x3740, 0x21}, + {0x3741, 0x21}, {0x3742, 0x21}, {0x3747, 0x28}, {0x3748, 0x28}, + {0x3749, 0x19}, {0x3755, 0x1a}, {0x3756, 0x0a}, {0x3757, 0x1c}, + {0x3765, 0x19}, {0x3766, 0x05}, {0x3767, 0x05}, {0x3768, 0x13}, + {0x376c, 0x07}, {0x3778, 0x20}, {0x377c, 0xc8}, {0x3781, 0x02}, + {0x3783, 0x02}, {0x379c, 0x58}, {0x379e, 0x00}, {0x379f, 0x00}, + {0x37a0, 0x00}, {0x37bc, 0x22}, {0x37c0, 0x01}, {0x37c4, 0x3e}, + {0x37c5, 0x3e}, {0x37c6, 0x2a}, {0x37c7, 0x28}, {0x37c8, 0x02}, + {0x37c9, 0x12}, {0x37cb, 0x29}, {0x37cd, 0x29}, {0x37d2, 0x00}, + {0x37d3, 0x73}, {0x37d6, 0x00}, {0x37d7, 0x6b}, {0x37dc, 0x00}, + {0x37df, 0x54}, {0x37e2, 0x00}, {0x37e3, 0x00}, {0x37f8, 0x00}, + {0x37f9, 0x01}, {0x37fa, 0x00}, {0x37fb, 0x19}, + + // also RSVD + {0x3c03, 0x01}, {0x3c04, 0x01}, {0x3c06, 0x21}, {0x3c08, 0x01}, + {0x3c09, 0x01}, {0x3c0a, 0x01}, {0x3c0b, 0x21}, {0x3c13, 0x21}, + {0x3c14, 0x82}, {0x3c16, 0x13}, {0x3c21, 0x00}, {0x3c22, 0xf3}, + {0x3c37, 0x12}, {0x3c38, 0x31}, {0x3c3c, 0x00}, {0x3c3d, 0x03}, + {0x3c44, 0x16}, {0x3c5c, 0x8a}, {0x3c5f, 0x03}, {0x3c61, 0x80}, + {0x3c6f, 0x2b}, {0x3c70, 0x5f}, {0x3c71, 0x2c}, {0x3c72, 0x2c}, + {0x3c73, 0x2c}, {0x3c76, 0x12}, + + // PEC checks + {0x3182, 0x12}, + + {0x320e, 0x00}, {0x320f, 0x00}, // RSVD + {0x3211, 0x61}, + {0x3215, 0xcd}, + {0x3219, 0x08}, + + {0x3506, 0x20}, {0x3507, 0x00}, // hcg fine exposure + {0x350a, 0x04}, {0x350b, 0x00}, {0x350c, 0x00}, // hcg digital gain + + {0x3586, 0x40}, {0x3587, 0x00}, // lcg fine exposure + {0x358a, 0x04}, {0x358b, 0x00}, {0x358c, 0x00}, // lcg digital gain + + {0x3546, 0x20}, {0x3547, 0x00}, // spd fine exposure + {0x354a, 0x04}, {0x354b, 0x00}, {0x354c, 0x00}, // spd digital gain + + {0x35c6, 0xb0}, {0x35c7, 0x00}, // vs fine exposure + {0x35ca, 0x04}, {0x35cb, 0x00}, {0x35cc, 0x00}, // vs digital gain + + // also RSVD + {0x3600, 0x8f}, {0x3605, 0x16}, {0x3609, 0xf0}, {0x360a, 0x01}, + {0x360e, 0x1d}, {0x360f, 0x10}, {0x3610, 0x70}, {0x3611, 0x3a}, + {0x3612, 0x28}, {0x361a, 0x29}, {0x361b, 0x6c}, {0x361c, 0x0b}, + {0x361d, 0x00}, {0x361e, 0xfc}, {0x362a, 0x00}, {0x364d, 0x0f}, + {0x364e, 0x18}, {0x364f, 0x12}, {0x3653, 0x1c}, {0x3654, 0x00}, + {0x3655, 0x1f}, {0x3656, 0x1f}, {0x3657, 0x0c}, {0x3658, 0x0a}, + {0x3659, 0x14}, {0x365a, 0x18}, {0x365b, 0x14}, {0x365c, 0x10}, + {0x365e, 0x12}, {0x3674, 0x08}, {0x3677, 0x3a}, {0x3678, 0x3a}, + {0x3679, 0x19}, + + // Y_ADDR_START = 4 + {0x3802, 0x00}, {0x3803, 0x04}, + // Y_ADDR_END = 0x50b + {0x3806, 0x05}, {0x3807, 0x0b}, + + // X_OUTPUT_SIZE = 0x780 = 1920 (changed to 1928) + {0x3808, 0x07}, {0x3809, 0x88}, + + // Y_OUTPUT_SIZE = 0x500 = 1280 (changed to 1208) + {0x380a, 0x04}, {0x380b, 0xb8}, + + // horizontal timing 0x447 + {0x380c, 0x04}, {0x380d, 0x47}, + + // rows per frame (was 0x2ae) + // 0x8ae = 53.65 ms + {0x380e, 0x08}, {0x380f, 0x15}, + // this should be triggered by FSIN, not free running + + {0x3810, 0x00}, {0x3811, 0x08}, // x cutoff + {0x3812, 0x00}, {0x3813, 0x04}, // y cutoff + {0x3816, 0x01}, + {0x3817, 0x01}, + {0x381c, 0x18}, + {0x381e, 0x01}, + {0x381f, 0x01}, + + // don't mirror, just flip + {0x3820, 0x04}, + + {0x3821, 0x19}, + {0x3832, 0x00}, + {0x3834, 0x00}, + {0x384c, 0x02}, + {0x384d, 0x0d}, + {0x3850, 0x00}, + {0x3851, 0x42}, + {0x3852, 0x00}, + {0x3853, 0x40}, + {0x3858, 0x04}, + {0x388c, 0x02}, + {0x388d, 0x2b}, + + // APC + {0x3b40, 0x05}, {0x3b41, 0x40}, {0x3b42, 0x00}, {0x3b43, 0x90}, + {0x3b44, 0x00}, {0x3b45, 0x20}, {0x3b46, 0x00}, {0x3b47, 0x20}, + {0x3b48, 0x19}, {0x3b49, 0x12}, {0x3b4a, 0x16}, {0x3b4b, 0x2e}, + {0x3b4c, 0x00}, {0x3b4d, 0x00}, + {0x3b86, 0x00}, {0x3b87, 0x34}, {0x3b88, 0x00}, {0x3b89, 0x08}, + {0x3b8a, 0x05}, {0x3b8b, 0x00}, {0x3b8c, 0x07}, {0x3b8d, 0x80}, + {0x3b8e, 0x00}, {0x3b8f, 0x00}, {0x3b92, 0x05}, {0x3b93, 0x00}, + {0x3b94, 0x07}, {0x3b95, 0x80}, {0x3b9e, 0x09}, + + // OTP + {0x3d82, 0x73}, + {0x3d85, 0x05}, + {0x3d8a, 0x03}, + {0x3d8b, 0xff}, + {0x3d99, 0x00}, + {0x3d9a, 0x9f}, + {0x3d9b, 0x00}, + {0x3d9c, 0xa0}, + {0x3da4, 0x00}, + {0x3da7, 0x50}, + + // DTR + {0x420e, 0x6b}, + {0x420f, 0x6e}, + {0x4210, 0x06}, + {0x4211, 0xc1}, + {0x421e, 0x02}, + {0x421f, 0x45}, + {0x4220, 0xe1}, + {0x4221, 0x01}, + {0x4301, 0xff}, + {0x4307, 0x03}, + {0x4308, 0x13}, + {0x430a, 0x13}, + {0x430d, 0x93}, + {0x430f, 0x57}, + {0x4310, 0x95}, + {0x4311, 0x16}, + {0x4316, 0x00}, + + {0x4317, 0x38}, // both embedded rows are enabled + + {0x4319, 0x03}, // spd dcg + {0x431a, 0x00}, // 8 bit mipi + {0x431b, 0x00}, + {0x431d, 0x2a}, + {0x431e, 0x11}, + + {0x431f, 0x20}, // enable PWL (pwl0_en), 12 bits + //{0x431f, 0x00}, // disable PWL + + {0x4320, 0x19}, + {0x4323, 0x80}, + {0x4324, 0x00}, + {0x4503, 0x4e}, + {0x4505, 0x00}, + {0x4509, 0x00}, + {0x450a, 0x00}, + {0x4580, 0xf8}, + {0x4583, 0x07}, + {0x4584, 0x6a}, + {0x4585, 0x08}, + {0x4586, 0x05}, + {0x4587, 0x04}, + {0x4588, 0x73}, + {0x4589, 0x05}, + {0x458a, 0x1f}, + {0x458b, 0x02}, + {0x458c, 0xdc}, + {0x458d, 0x03}, + {0x458e, 0x02}, + {0x4597, 0x07}, + {0x4598, 0x40}, + {0x4599, 0x0e}, + {0x459a, 0x0e}, + {0x459b, 0xfb}, + {0x459c, 0xf3}, + {0x4602, 0x00}, + {0x4603, 0x13}, + {0x4604, 0x00}, + {0x4609, 0x0a}, + {0x460a, 0x30}, + {0x4610, 0x00}, + {0x4611, 0x70}, + {0x4612, 0x01}, + {0x4613, 0x00}, + {0x4614, 0x00}, + {0x4615, 0x70}, + {0x4616, 0x01}, + {0x4617, 0x00}, + + {0x4800, 0x04}, // invert output PCLK + {0x480a, 0x22}, + {0x4813, 0xe4}, + + // mipi + {0x4814, 0x2a}, + {0x4837, 0x0d}, + {0x484b, 0x47}, + {0x484f, 0x00}, + {0x4887, 0x51}, + {0x4d00, 0x4a}, + {0x4d01, 0x18}, + {0x4d05, 0xff}, + {0x4d06, 0x88}, + {0x4d08, 0x63}, + {0x4d09, 0xdf}, + {0x4d15, 0x7d}, + {0x4d1a, 0x20}, + {0x4d30, 0x0a}, + {0x4d31, 0x00}, + {0x4d34, 0x7d}, + {0x4d3c, 0x7d}, + {0x4f00, 0x00}, + {0x4f01, 0x00}, + {0x4f02, 0x00}, + {0x4f03, 0x20}, + {0x4f04, 0xe0}, + {0x6a00, 0x00}, + {0x6a01, 0x20}, + {0x6a02, 0x00}, + {0x6a03, 0x20}, + {0x6a04, 0x02}, + {0x6a05, 0x80}, + {0x6a06, 0x01}, + {0x6a07, 0xe0}, + {0x6a08, 0xcf}, + {0x6a09, 0x01}, + {0x6a0a, 0x40}, + {0x6a20, 0x00}, + {0x6a21, 0x02}, + {0x6a22, 0x00}, + {0x6a23, 0x00}, + {0x6a24, 0x00}, + {0x6a25, 0x00}, + {0x6a26, 0x00}, + {0x6a27, 0x00}, + {0x6a28, 0x00}, + + // isp + {0x5000, 0x8f}, + {0x5001, 0x75}, + {0x5002, 0x7f}, // PWL0 + //{0x5002, 0x3f}, // PWL disable + {0x5003, 0x7a}, + + {0x5004, 0x3e}, + {0x5005, 0x1e}, + {0x5006, 0x1e}, + {0x5007, 0x1e}, + + {0x5008, 0x00}, + {0x500c, 0x00}, + {0x502c, 0x00}, + {0x502e, 0x00}, + {0x502f, 0x00}, + {0x504b, 0x00}, + {0x5053, 0x00}, + {0x505b, 0x00}, + {0x5063, 0x00}, + {0x5070, 0x00}, + {0x5074, 0x04}, + {0x507a, 0x04}, + {0x507b, 0x09}, + {0x5500, 0x02}, + {0x5700, 0x02}, + {0x5900, 0x02}, + {0x6007, 0x04}, + {0x6008, 0x05}, + {0x6009, 0x02}, + {0x600b, 0x08}, + {0x600c, 0x07}, + {0x600d, 0x88}, + {0x6016, 0x00}, + {0x6027, 0x04}, + {0x6028, 0x05}, + {0x6029, 0x02}, + {0x602b, 0x08}, + {0x602c, 0x07}, + {0x602d, 0x88}, + {0x6047, 0x04}, + {0x6048, 0x05}, + {0x6049, 0x02}, + {0x604b, 0x08}, + {0x604c, 0x07}, + {0x604d, 0x88}, + {0x6067, 0x04}, + {0x6068, 0x05}, + {0x6069, 0x02}, + {0x606b, 0x08}, + {0x606c, 0x07}, + {0x606d, 0x88}, + {0x6087, 0x04}, + {0x6088, 0x05}, + {0x6089, 0x02}, + {0x608b, 0x08}, + {0x608c, 0x07}, + {0x608d, 0x88}, + + // 12-bit PWL0 + {0x5e00, 0x00}, + + // m_ndX_exp[0:32] + // 9*2+0xa*3+0xb*2+0xc*2+0xd*2+0xe*2+0xf*2+0x10*2+0x11*2+0x12*4+0x13*3+0x14*3+0x15*3+0x16 = 518 + {0x5e01, 0x09}, + {0x5e02, 0x09}, + {0x5e03, 0x0a}, + {0x5e04, 0x0a}, + {0x5e05, 0x0a}, + {0x5e06, 0x0b}, + {0x5e07, 0x0b}, + {0x5e08, 0x0c}, + {0x5e09, 0x0c}, + {0x5e0a, 0x0d}, + {0x5e0b, 0x0d}, + {0x5e0c, 0x0e}, + {0x5e0d, 0x0e}, + {0x5e0e, 0x0f}, + {0x5e0f, 0x0f}, + {0x5e10, 0x10}, + {0x5e11, 0x10}, + {0x5e12, 0x11}, + {0x5e13, 0x11}, + {0x5e14, 0x12}, + {0x5e15, 0x12}, + {0x5e16, 0x12}, + {0x5e17, 0x12}, + {0x5e18, 0x13}, + {0x5e19, 0x13}, + {0x5e1a, 0x13}, + {0x5e1b, 0x14}, + {0x5e1c, 0x14}, + {0x5e1d, 0x14}, + {0x5e1e, 0x15}, + {0x5e1f, 0x15}, + {0x5e20, 0x15}, + {0x5e21, 0x16}, + + // m_ndY_val[0:32] + // 0x200+0xff+0x100*3+0x80*12+0x40*16 = 4095 + {0x5e22, 0x00}, {0x5e23, 0x02}, {0x5e24, 0x00}, + {0x5e25, 0x00}, {0x5e26, 0x00}, {0x5e27, 0xff}, + {0x5e28, 0x00}, {0x5e29, 0x01}, {0x5e2a, 0x00}, + {0x5e2b, 0x00}, {0x5e2c, 0x01}, {0x5e2d, 0x00}, + {0x5e2e, 0x00}, {0x5e2f, 0x01}, {0x5e30, 0x00}, + {0x5e31, 0x00}, {0x5e32, 0x00}, {0x5e33, 0x80}, + {0x5e34, 0x00}, {0x5e35, 0x00}, {0x5e36, 0x80}, + {0x5e37, 0x00}, {0x5e38, 0x00}, {0x5e39, 0x80}, + {0x5e3a, 0x00}, {0x5e3b, 0x00}, {0x5e3c, 0x80}, + {0x5e3d, 0x00}, {0x5e3e, 0x00}, {0x5e3f, 0x80}, + {0x5e40, 0x00}, {0x5e41, 0x00}, {0x5e42, 0x80}, + {0x5e43, 0x00}, {0x5e44, 0x00}, {0x5e45, 0x80}, + {0x5e46, 0x00}, {0x5e47, 0x00}, {0x5e48, 0x80}, + {0x5e49, 0x00}, {0x5e4a, 0x00}, {0x5e4b, 0x80}, + {0x5e4c, 0x00}, {0x5e4d, 0x00}, {0x5e4e, 0x80}, + {0x5e4f, 0x00}, {0x5e50, 0x00}, {0x5e51, 0x80}, + {0x5e52, 0x00}, {0x5e53, 0x00}, {0x5e54, 0x80}, + {0x5e55, 0x00}, {0x5e56, 0x00}, {0x5e57, 0x40}, + {0x5e58, 0x00}, {0x5e59, 0x00}, {0x5e5a, 0x40}, + {0x5e5b, 0x00}, {0x5e5c, 0x00}, {0x5e5d, 0x40}, + {0x5e5e, 0x00}, {0x5e5f, 0x00}, {0x5e60, 0x40}, + {0x5e61, 0x00}, {0x5e62, 0x00}, {0x5e63, 0x40}, + {0x5e64, 0x00}, {0x5e65, 0x00}, {0x5e66, 0x40}, + {0x5e67, 0x00}, {0x5e68, 0x00}, {0x5e69, 0x40}, + {0x5e6a, 0x00}, {0x5e6b, 0x00}, {0x5e6c, 0x40}, + {0x5e6d, 0x00}, {0x5e6e, 0x00}, {0x5e6f, 0x40}, + {0x5e70, 0x00}, {0x5e71, 0x00}, {0x5e72, 0x40}, + {0x5e73, 0x00}, {0x5e74, 0x00}, {0x5e75, 0x40}, + {0x5e76, 0x00}, {0x5e77, 0x00}, {0x5e78, 0x40}, + {0x5e79, 0x00}, {0x5e7a, 0x00}, {0x5e7b, 0x40}, + {0x5e7c, 0x00}, {0x5e7d, 0x00}, {0x5e7e, 0x40}, + {0x5e7f, 0x00}, {0x5e80, 0x00}, {0x5e81, 0x40}, + {0x5e82, 0x00}, {0x5e83, 0x00}, {0x5e84, 0x40}, + + // disable PWL + /*{0x5e01, 0x18}, {0x5e02, 0x00}, {0x5e03, 0x00}, {0x5e04, 0x00}, + {0x5e05, 0x00}, {0x5e06, 0x00}, {0x5e07, 0x00}, {0x5e08, 0x00}, + {0x5e09, 0x00}, {0x5e0a, 0x00}, {0x5e0b, 0x00}, {0x5e0c, 0x00}, + {0x5e0d, 0x00}, {0x5e0e, 0x00}, {0x5e0f, 0x00}, {0x5e10, 0x00}, + {0x5e11, 0x00}, {0x5e12, 0x00}, {0x5e13, 0x00}, {0x5e14, 0x00}, + {0x5e15, 0x00}, {0x5e16, 0x00}, {0x5e17, 0x00}, {0x5e18, 0x00}, + {0x5e19, 0x00}, {0x5e1a, 0x00}, {0x5e1b, 0x00}, {0x5e1c, 0x00}, + {0x5e1d, 0x00}, {0x5e1e, 0x00}, {0x5e1f, 0x00}, {0x5e20, 0x00}, + {0x5e21, 0x00}, + + {0x5e22, 0x00}, {0x5e23, 0x0f}, {0x5e24, 0xFF},*/ + + {0x4001, 0x2b}, // BLC_CTRL_1 + {0x4008, 0x02}, {0x4009, 0x03}, + {0x4018, 0x12}, + {0x4022, 0x40}, + {0x4023, 0x20}, + + // all black level targets are 0x40 + {0x4026, 0x00}, {0x4027, 0x40}, + {0x4028, 0x00}, {0x4029, 0x40}, + {0x402a, 0x00}, {0x402b, 0x40}, + {0x402c, 0x00}, {0x402d, 0x40}, + + {0x407e, 0xcc}, + {0x407f, 0x18}, + {0x4080, 0xff}, + {0x4081, 0xff}, + {0x4082, 0x01}, + {0x4083, 0x53}, + {0x4084, 0x01}, + {0x4085, 0x2b}, + {0x4086, 0x00}, + {0x4087, 0xb3}, + + {0x4640, 0x40}, + {0x4641, 0x11}, + {0x4642, 0x0e}, + {0x4643, 0xee}, + {0x4646, 0x0f}, + {0x4648, 0x00}, + {0x4649, 0x03}, + + {0x4f00, 0x00}, + {0x4f01, 0x00}, + {0x4f02, 0x80}, + {0x4f03, 0x2c}, + {0x4f04, 0xf8}, + + {0x4d09, 0xff}, + {0x4d09, 0xdf}, + + {0x5003, 0x7a}, + {0x5b80, 0x08}, + {0x5c00, 0x08}, + {0x5c80, 0x00}, + {0x5bbe, 0x12}, + {0x5c3e, 0x12}, + {0x5cbe, 0x12}, + {0x5b8a, 0x80}, + {0x5b8b, 0x80}, + {0x5b8c, 0x80}, + {0x5b8d, 0x80}, + {0x5b8e, 0x60}, + {0x5b8f, 0x80}, + {0x5b90, 0x80}, + {0x5b91, 0x80}, + {0x5b92, 0x80}, + {0x5b93, 0x20}, + {0x5b94, 0x80}, + {0x5b95, 0x80}, + {0x5b96, 0x80}, + {0x5b97, 0x20}, + {0x5b98, 0x00}, + {0x5b99, 0x80}, + {0x5b9a, 0x40}, + {0x5b9b, 0x20}, + {0x5b9c, 0x00}, + {0x5b9d, 0x00}, + {0x5b9e, 0x80}, + {0x5b9f, 0x00}, + {0x5ba0, 0x00}, + {0x5ba1, 0x00}, + {0x5ba2, 0x00}, + {0x5ba3, 0x00}, + {0x5ba4, 0x00}, + {0x5ba5, 0x00}, + {0x5ba6, 0x00}, + {0x5ba7, 0x00}, + {0x5ba8, 0x02}, + {0x5ba9, 0x00}, + {0x5baa, 0x02}, + {0x5bab, 0x76}, + {0x5bac, 0x03}, + {0x5bad, 0x08}, + {0x5bae, 0x00}, + {0x5baf, 0x80}, + {0x5bb0, 0x00}, + {0x5bb1, 0xc0}, + {0x5bb2, 0x01}, + {0x5bb3, 0x00}, + + // m_nNormCombineWeight + {0x5c0a, 0x80}, {0x5c0b, 0x80}, {0x5c0c, 0x80}, {0x5c0d, 0x80}, {0x5c0e, 0x60}, + {0x5c0f, 0x80}, {0x5c10, 0x80}, {0x5c11, 0x80}, {0x5c12, 0x60}, {0x5c13, 0x20}, + {0x5c14, 0x80}, {0x5c15, 0x80}, {0x5c16, 0x80}, {0x5c17, 0x20}, {0x5c18, 0x00}, + {0x5c19, 0x80}, {0x5c1a, 0x40}, {0x5c1b, 0x20}, {0x5c1c, 0x00}, {0x5c1d, 0x00}, + {0x5c1e, 0x80}, {0x5c1f, 0x00}, {0x5c20, 0x00}, {0x5c21, 0x00}, {0x5c22, 0x00}, + {0x5c23, 0x00}, {0x5c24, 0x00}, {0x5c25, 0x00}, {0x5c26, 0x00}, {0x5c27, 0x00}, + + // m_nCombinThreL + {0x5c28, 0x02}, {0x5c29, 0x00}, + {0x5c2a, 0x02}, {0x5c2b, 0x76}, + {0x5c2c, 0x03}, {0x5c2d, 0x08}, + + // m_nCombinThreS + {0x5c2e, 0x00}, {0x5c2f, 0x80}, + {0x5c30, 0x00}, {0x5c31, 0xc0}, + {0x5c32, 0x01}, {0x5c33, 0x00}, + + // m_nNormCombineWeight + {0x5c8a, 0x80}, {0x5c8b, 0x80}, {0x5c8c, 0x80}, {0x5c8d, 0x80}, {0x5c8e, 0x80}, + {0x5c8f, 0x80}, {0x5c90, 0x80}, {0x5c91, 0x80}, {0x5c92, 0x80}, {0x5c93, 0x60}, + {0x5c94, 0x80}, {0x5c95, 0x80}, {0x5c96, 0x80}, {0x5c97, 0x60}, {0x5c98, 0x40}, + {0x5c99, 0x80}, {0x5c9a, 0x80}, {0x5c9b, 0x80}, {0x5c9c, 0x40}, {0x5c9d, 0x00}, + {0x5c9e, 0x80}, {0x5c9f, 0x80}, {0x5ca0, 0x80}, {0x5ca1, 0x20}, {0x5ca2, 0x00}, + {0x5ca3, 0x80}, {0x5ca4, 0x80}, {0x5ca5, 0x00}, {0x5ca6, 0x00}, {0x5ca7, 0x00}, + + {0x5ca8, 0x01}, {0x5ca9, 0x00}, + {0x5caa, 0x02}, {0x5cab, 0x00}, + {0x5cac, 0x03}, {0x5cad, 0x08}, + + {0x5cae, 0x01}, {0x5caf, 0x00}, + {0x5cb0, 0x02}, {0x5cb1, 0x00}, + {0x5cb2, 0x03}, {0x5cb3, 0x08}, + + // combine ISP + {0x5be7, 0x80}, + {0x5bc9, 0x80}, + {0x5bca, 0x80}, + {0x5bcb, 0x80}, + {0x5bcc, 0x80}, + {0x5bcd, 0x80}, + {0x5bce, 0x80}, + {0x5bcf, 0x80}, + {0x5bd0, 0x80}, + {0x5bd1, 0x80}, + {0x5bd2, 0x20}, + {0x5bd3, 0x80}, + {0x5bd4, 0x40}, + {0x5bd5, 0x20}, + {0x5bd6, 0x00}, + {0x5bd7, 0x00}, + {0x5bd8, 0x00}, + {0x5bd9, 0x00}, + {0x5bda, 0x00}, + {0x5bdb, 0x00}, + {0x5bdc, 0x00}, + {0x5bdd, 0x00}, + {0x5bde, 0x00}, + {0x5bdf, 0x00}, + {0x5be0, 0x00}, + {0x5be1, 0x00}, + {0x5be2, 0x00}, + {0x5be3, 0x00}, + {0x5be4, 0x00}, + {0x5be5, 0x00}, + {0x5be6, 0x00}, + + // m_nSPDCombineWeight + {0x5c49, 0x80}, {0x5c4a, 0x80}, {0x5c4b, 0x80}, {0x5c4c, 0x80}, {0x5c4d, 0x40}, + {0x5c4e, 0x80}, {0x5c4f, 0x80}, {0x5c50, 0x80}, {0x5c51, 0x60}, {0x5c52, 0x20}, + {0x5c53, 0x80}, {0x5c54, 0x80}, {0x5c55, 0x80}, {0x5c56, 0x20}, {0x5c57, 0x00}, + {0x5c58, 0x80}, {0x5c59, 0x40}, {0x5c5a, 0x20}, {0x5c5b, 0x00}, {0x5c5c, 0x00}, + {0x5c5d, 0x80}, {0x5c5e, 0x00}, {0x5c5f, 0x00}, {0x5c60, 0x00}, {0x5c61, 0x00}, + {0x5c62, 0x00}, {0x5c63, 0x00}, {0x5c64, 0x00}, {0x5c65, 0x00}, {0x5c66, 0x00}, + + // m_nSPDCombineWeight + {0x5cc9, 0x80}, {0x5cca, 0x80}, {0x5ccb, 0x80}, {0x5ccc, 0x80}, {0x5ccd, 0x80}, + {0x5cce, 0x80}, {0x5ccf, 0x80}, {0x5cd0, 0x80}, {0x5cd1, 0x80}, {0x5cd2, 0x60}, + {0x5cd3, 0x80}, {0x5cd4, 0x80}, {0x5cd5, 0x80}, {0x5cd6, 0x60}, {0x5cd7, 0x40}, + {0x5cd8, 0x80}, {0x5cd9, 0x80}, {0x5cda, 0x80}, {0x5cdb, 0x40}, {0x5cdc, 0x20}, + {0x5cdd, 0x80}, {0x5cde, 0x80}, {0x5cdf, 0x80}, {0x5ce0, 0x20}, {0x5ce1, 0x00}, + {0x5ce2, 0x80}, {0x5ce3, 0x80}, {0x5ce4, 0x80}, {0x5ce5, 0x00}, {0x5ce6, 0x00}, + + {0x5d74, 0x01}, + {0x5d75, 0x00}, + + {0x5d1f, 0x81}, + {0x5d11, 0x00}, + {0x5d12, 0x10}, + {0x5d13, 0x10}, + {0x5d15, 0x05}, + {0x5d16, 0x05}, + {0x5d17, 0x05}, + {0x5d08, 0x03}, + {0x5d09, 0xb6}, + {0x5d0a, 0x03}, + {0x5d0b, 0xb6}, + {0x5d18, 0x03}, + {0x5d19, 0xb6}, + {0x5d62, 0x01}, + {0x5d40, 0x02}, + {0x5d41, 0x01}, + {0x5d63, 0x1f}, + {0x5d64, 0x00}, + {0x5d65, 0x80}, + {0x5d56, 0x00}, + {0x5d57, 0x20}, + {0x5d58, 0x00}, + {0x5d59, 0x20}, + {0x5d5a, 0x00}, + {0x5d5b, 0x0c}, + {0x5d5c, 0x02}, + {0x5d5d, 0x40}, + {0x5d5e, 0x02}, + {0x5d5f, 0x40}, + {0x5d60, 0x03}, + {0x5d61, 0x40}, + {0x5d4a, 0x02}, + {0x5d4b, 0x40}, + {0x5d4c, 0x02}, + {0x5d4d, 0x40}, + {0x5d4e, 0x02}, + {0x5d4f, 0x40}, + {0x5d50, 0x18}, + {0x5d51, 0x80}, + {0x5d52, 0x18}, + {0x5d53, 0x80}, + {0x5d54, 0x18}, + {0x5d55, 0x80}, + {0x5d46, 0x20}, + {0x5d47, 0x00}, + {0x5d48, 0x22}, + {0x5d49, 0x00}, + {0x5d42, 0x20}, + {0x5d43, 0x00}, + {0x5d44, 0x22}, + {0x5d45, 0x00}, + + {0x5004, 0x1e}, + {0x4221, 0x03}, // this is changed from 1 -> 3 + + // DCG exposure coarse + {0x3501, 0x01}, {0x3502, 0xc8}, + // SPD exposure coarse + {0x3541, 0x01}, {0x3542, 0xc8}, + // VS exposure coarse + {0x35c1, 0x00}, {0x35c2, 0x01}, + + // crc reference + {0x420e, 0x66}, {0x420f, 0x5d}, {0x4210, 0xa8}, {0x4211, 0x55}, + // crc stat check + {0x507a, 0x5f}, {0x507b, 0x46}, + + // watchdog control + {0x4f00, 0x00}, {0x4f01, 0x01}, {0x4f02, 0x80}, {0x4f04, 0x2c}, + + // color balance gains + // blue + {0x5280, 0x06}, {0x5281, 0x4A}, // hcg + {0x5480, 0x06}, {0x5481, 0x4A}, // lcg + {0x5680, 0x07}, {0x5681, 0xDD}, // spd + {0x5880, 0x06}, {0x5881, 0x4A}, // vs + + // green(blue) + {0x5282, 0x04}, {0x5283, 0x00}, + {0x5482, 0x04}, {0x5483, 0x00}, + {0x5682, 0x04}, {0x5683, 0x00}, + {0x5882, 0x04}, {0x5883, 0x00}, + + // green(red) + {0x5284, 0x04}, {0x5285, 0x00}, + {0x5484, 0x04}, {0x5485, 0x00}, + {0x5684, 0x04}, {0x5685, 0x00}, + {0x5884, 0x04}, {0x5885, 0x00}, + + // red + {0x5286, 0x08}, {0x5287, 0x6C}, + {0x5486, 0x08}, {0x5487, 0x6C}, + {0x5686, 0x08}, {0x5687, 0xAA}, + {0x5886, 0x08}, {0x5887, 0x6C}, }; struct i2c_random_wr_payload init_array_ar0231[] = { diff --git a/system/camerad/test/camera_test.h b/system/camerad/test/camera_test.h index a9f213c92..c173f9b84 100644 --- a/system/camerad/test/camera_test.h +++ b/system/camerad/test/camera_test.h @@ -12,6 +12,8 @@ typedef struct CameraState { int fps; float digital_gain = 0; + int camera_id; + CameraBuf buf; } CameraState; From 1544734a540cf28d12df98038d7b9ecc48f7ffb9 Mon Sep 17 00:00:00 2001 From: Jeroen Date: Sat, 10 Sep 2022 21:02:27 +0200 Subject: [PATCH 14/38] CI: remove redundant env variables in 'openpilot env setup' (#25721) --- .github/workflows/setup/action.yaml | 10 +--------- 1 file changed, 1 insertion(+), 9 deletions(-) diff --git a/.github/workflows/setup/action.yaml b/.github/workflows/setup/action.yaml index 79ec92123..79c4c890a 100644 --- a/.github/workflows/setup/action.yaml +++ b/.github/workflows/setup/action.yaml @@ -1,13 +1,5 @@ name: 'openpilot env setup' -env: - BASE_IMAGE: openpilot-base - DOCKER_REGISTRY: ghcr.io/commaai - BUILD: | - docker pull $(grep -iohP '(?<=^from)\s+\S+' Dockerfile.openpilot_base) || true - docker pull $DOCKER_REGISTRY/$BASE_IMAGE:latest || true - docker build --cache-from $DOCKER_REGISTRY/$BASE_IMAGE:latest -t $DOCKER_REGISTRY/$BASE_IMAGE:latest -t $BASE_IMAGE:latest -f Dockerfile.openpilot_base . - inputs: save-cache: default: false @@ -42,4 +34,4 @@ runs: # build our docker image - shell: bash - run: eval "$BUILD" + run: eval ${{ env.BUILD }} From 1c8aa8816189b464329e12187a81eef85893a724 Mon Sep 17 00:00:00 2001 From: Dean Lee Date: Sun, 11 Sep 2022 05:22:43 +0800 Subject: [PATCH 15/38] camera_qcom2: move util functions to separate files (#25720) --- release/files_tici | 2 + system/camerad/SConscript | 1 + system/camerad/cameras/camera_qcom2.cc | 127 ----------------------- system/camerad/cameras/camera_qcom2.h | 15 +-- system/camerad/cameras/camera_util.cc | 135 +++++++++++++++++++++++++ system/camerad/cameras/camera_util.h | 30 ++++++ 6 files changed, 169 insertions(+), 141 deletions(-) create mode 100644 system/camerad/cameras/camera_util.cc create mode 100644 system/camerad/cameras/camera_util.h diff --git a/release/files_tici b/release/files_tici index 8e3249cdf..c8abd720d 100644 --- a/release/files_tici +++ b/release/files_tici @@ -9,6 +9,8 @@ selfdrive/assets/training_wide/* system/camerad/cameras/camera_qcom2.cc system/camerad/cameras/camera_qcom2.h +system/camerad/cameras/camera_util.cc +system/camerad/cameras/camera_util.h system/camerad/cameras/real_debayer.cl selfdrive/sensord/rawgps/* diff --git a/system/camerad/SConscript b/system/camerad/SConscript index b03fbdc9a..65f682dcc 100644 --- a/system/camerad/SConscript +++ b/system/camerad/SConscript @@ -10,6 +10,7 @@ if arch == "larch64": env.Program('camerad', [ 'main.cc', 'cameras/camera_common.cc', + 'cameras/camera_util.cc', 'imgproc/utils.cc', cameras, ], LIBS=libs) diff --git a/system/camerad/cameras/camera_qcom2.cc b/system/camerad/cameras/camera_qcom2.cc index 3d0cc3a70..2f674cb50 100644 --- a/system/camerad/cameras/camera_qcom2.cc +++ b/system/camerad/cameras/camera_qcom2.cc @@ -103,133 +103,6 @@ const int EXPOSURE_TIME_MAX_OX03C10 = 2016; const uint32_t VS_TIME_MIN_OX03C10 = 1; const uint32_t VS_TIME_MAX_OX03C10 = 34; // vs < 35 -// ************** low level camera helpers **************** -int do_cam_control(int fd, int op_code, void *handle, int size) { - struct cam_control camcontrol = {0}; - camcontrol.op_code = op_code; - camcontrol.handle = (uint64_t)handle; - if (size == 0) { - camcontrol.size = 8; - camcontrol.handle_type = CAM_HANDLE_MEM_HANDLE; - } else { - camcontrol.size = size; - camcontrol.handle_type = CAM_HANDLE_USER_POINTER; - } - - int ret = HANDLE_EINTR(ioctl(fd, VIDIOC_CAM_CONTROL, &camcontrol)); - if (ret == -1) { - LOGE("VIDIOC_CAM_CONTROL error: op_code %d - errno %d", op_code, errno); - } - return ret; -} - -std::optional device_acquire(int fd, int32_t session_handle, void *data, uint32_t num_resources=1) { - struct cam_acquire_dev_cmd cmd = { - .session_handle = session_handle, - .handle_type = CAM_HANDLE_USER_POINTER, - .num_resources = (uint32_t)(data ? num_resources : 0), - .resource_hdl = (uint64_t)data, - }; - int err = do_cam_control(fd, CAM_ACQUIRE_DEV, &cmd, sizeof(cmd)); - return err == 0 ? std::make_optional(cmd.dev_handle) : std::nullopt; -}; - -int device_config(int fd, int32_t session_handle, int32_t dev_handle, uint64_t packet_handle) { - struct cam_config_dev_cmd cmd = { - .session_handle = session_handle, - .dev_handle = dev_handle, - .packet_handle = packet_handle, - }; - return do_cam_control(fd, CAM_CONFIG_DEV, &cmd, sizeof(cmd)); -} - -int device_control(int fd, int op_code, int session_handle, int dev_handle) { - // start stop and release are all the same - struct cam_start_stop_dev_cmd cmd { .session_handle = session_handle, .dev_handle = dev_handle }; - return do_cam_control(fd, op_code, &cmd, sizeof(cmd)); -} - -void *alloc_w_mmu_hdl(int video0_fd, int len, uint32_t *handle, int align = 8, int flags = CAM_MEM_FLAG_KMD_ACCESS | CAM_MEM_FLAG_UMD_ACCESS | CAM_MEM_FLAG_CMD_BUF_TYPE, - int mmu_hdl = 0, int mmu_hdl2 = 0) { - struct cam_mem_mgr_alloc_cmd mem_mgr_alloc_cmd = {0}; - mem_mgr_alloc_cmd.len = len; - mem_mgr_alloc_cmd.align = align; - mem_mgr_alloc_cmd.flags = flags; - mem_mgr_alloc_cmd.num_hdl = 0; - if (mmu_hdl != 0) { - mem_mgr_alloc_cmd.mmu_hdls[0] = mmu_hdl; - mem_mgr_alloc_cmd.num_hdl++; - } - if (mmu_hdl2 != 0) { - mem_mgr_alloc_cmd.mmu_hdls[1] = mmu_hdl2; - mem_mgr_alloc_cmd.num_hdl++; - } - - do_cam_control(video0_fd, CAM_REQ_MGR_ALLOC_BUF, &mem_mgr_alloc_cmd, sizeof(mem_mgr_alloc_cmd)); - *handle = mem_mgr_alloc_cmd.out.buf_handle; - - void *ptr = NULL; - if (mem_mgr_alloc_cmd.out.fd > 0) { - ptr = mmap(NULL, len, PROT_READ | PROT_WRITE, MAP_SHARED, mem_mgr_alloc_cmd.out.fd, 0); - assert(ptr != MAP_FAILED); - } - - // LOGD("allocated: %x %d %llx mapped %p", mem_mgr_alloc_cmd.out.buf_handle, mem_mgr_alloc_cmd.out.fd, mem_mgr_alloc_cmd.out.vaddr, ptr); - - return ptr; -} - -void release(int video0_fd, uint32_t handle) { - int ret; - struct cam_mem_mgr_release_cmd mem_mgr_release_cmd = {0}; - mem_mgr_release_cmd.buf_handle = handle; - - ret = do_cam_control(video0_fd, CAM_REQ_MGR_RELEASE_BUF, &mem_mgr_release_cmd, sizeof(mem_mgr_release_cmd)); - assert(ret == 0); -} - -void release_fd(int video0_fd, uint32_t handle) { - // handle to fd - close(handle>>16); - release(video0_fd, handle); -} - -void *MemoryManager::alloc(int size, uint32_t *handle) { - lock.lock(); - void *ptr; - if (!cached_allocations[size].empty()) { - ptr = cached_allocations[size].front(); - cached_allocations[size].pop(); - *handle = handle_lookup[ptr]; - } else { - ptr = alloc_w_mmu_hdl(video0_fd, size, handle); - handle_lookup[ptr] = *handle; - size_lookup[ptr] = size; - } - lock.unlock(); - return ptr; -} - -void MemoryManager::free(void *ptr) { - lock.lock(); - cached_allocations[size_lookup[ptr]].push(ptr); - lock.unlock(); -} - -MemoryManager::~MemoryManager() { - for (auto& x : cached_allocations) { - while (!x.second.empty()) { - void *ptr = x.second.front(); - x.second.pop(); - LOGD("freeing cached allocation %p with size %d", ptr, size_lookup[ptr]); - munmap(ptr, size_lookup[ptr]); - release_fd(video0_fd, handle_lookup[ptr]); - handle_lookup.erase(ptr); - size_lookup.erase(ptr); - } - } -} - int CameraState::clear_req_queue() { struct cam_req_mgr_flush_info req_mgr_flush_request = {0}; req_mgr_flush_request.session_hdl = session_handle; diff --git a/system/camerad/cameras/camera_qcom2.h b/system/camerad/cameras/camera_qcom2.h index 470576a1e..1b792e7e9 100644 --- a/system/camerad/cameras/camera_qcom2.h +++ b/system/camerad/cameras/camera_qcom2.h @@ -7,25 +7,12 @@ #include #include "system/camerad/cameras/camera_common.h" +#include "system/camerad/cameras/camera_util.h" #include "common/params.h" #include "common/util.h" #define FRAME_BUF_COUNT 4 -class MemoryManager { - public: - void init(int _video0_fd) { video0_fd = _video0_fd; } - void *alloc(int len, uint32_t *handle); - void free(void *ptr); - ~MemoryManager(); - private: - std::mutex lock; - std::map handle_lookup; - std::map size_lookup; - std::map > cached_allocations; - int video0_fd; -}; - class CameraState { public: MultiCameraState *multi_cam_state; diff --git a/system/camerad/cameras/camera_util.cc b/system/camerad/cameras/camera_util.cc new file mode 100644 index 000000000..6d139590e --- /dev/null +++ b/system/camerad/cameras/camera_util.cc @@ -0,0 +1,135 @@ +#include "system/camerad/cameras/camera_util.h" + +#include + +#include +#include + +#include "common/swaglog.h" +#include "common/util.h" + +// ************** low level camera helpers **************** +int do_cam_control(int fd, int op_code, void *handle, int size) { + struct cam_control camcontrol = {0}; + camcontrol.op_code = op_code; + camcontrol.handle = (uint64_t)handle; + if (size == 0) { + camcontrol.size = 8; + camcontrol.handle_type = CAM_HANDLE_MEM_HANDLE; + } else { + camcontrol.size = size; + camcontrol.handle_type = CAM_HANDLE_USER_POINTER; + } + + int ret = HANDLE_EINTR(ioctl(fd, VIDIOC_CAM_CONTROL, &camcontrol)); + if (ret == -1) { + LOGE("VIDIOC_CAM_CONTROL error: op_code %d - errno %d", op_code, errno); + } + return ret; +} + +std::optional device_acquire(int fd, int32_t session_handle, void *data, uint32_t num_resources) { + struct cam_acquire_dev_cmd cmd = { + .session_handle = session_handle, + .handle_type = CAM_HANDLE_USER_POINTER, + .num_resources = (uint32_t)(data ? num_resources : 0), + .resource_hdl = (uint64_t)data, + }; + int err = do_cam_control(fd, CAM_ACQUIRE_DEV, &cmd, sizeof(cmd)); + return err == 0 ? std::make_optional(cmd.dev_handle) : std::nullopt; +}; + +int device_config(int fd, int32_t session_handle, int32_t dev_handle, uint64_t packet_handle) { + struct cam_config_dev_cmd cmd = { + .session_handle = session_handle, + .dev_handle = dev_handle, + .packet_handle = packet_handle, + }; + return do_cam_control(fd, CAM_CONFIG_DEV, &cmd, sizeof(cmd)); +} + +int device_control(int fd, int op_code, int session_handle, int dev_handle) { + // start stop and release are all the same + struct cam_start_stop_dev_cmd cmd { .session_handle = session_handle, .dev_handle = dev_handle }; + return do_cam_control(fd, op_code, &cmd, sizeof(cmd)); +} + +void *alloc_w_mmu_hdl(int video0_fd, int len, uint32_t *handle, int align, int flags, int mmu_hdl, int mmu_hdl2) { + struct cam_mem_mgr_alloc_cmd mem_mgr_alloc_cmd = {0}; + mem_mgr_alloc_cmd.len = len; + mem_mgr_alloc_cmd.align = align; + mem_mgr_alloc_cmd.flags = flags; + mem_mgr_alloc_cmd.num_hdl = 0; + if (mmu_hdl != 0) { + mem_mgr_alloc_cmd.mmu_hdls[0] = mmu_hdl; + mem_mgr_alloc_cmd.num_hdl++; + } + if (mmu_hdl2 != 0) { + mem_mgr_alloc_cmd.mmu_hdls[1] = mmu_hdl2; + mem_mgr_alloc_cmd.num_hdl++; + } + + do_cam_control(video0_fd, CAM_REQ_MGR_ALLOC_BUF, &mem_mgr_alloc_cmd, sizeof(mem_mgr_alloc_cmd)); + *handle = mem_mgr_alloc_cmd.out.buf_handle; + + void *ptr = NULL; + if (mem_mgr_alloc_cmd.out.fd > 0) { + ptr = mmap(NULL, len, PROT_READ | PROT_WRITE, MAP_SHARED, mem_mgr_alloc_cmd.out.fd, 0); + assert(ptr != MAP_FAILED); + } + + // LOGD("allocated: %x %d %llx mapped %p", mem_mgr_alloc_cmd.out.buf_handle, mem_mgr_alloc_cmd.out.fd, mem_mgr_alloc_cmd.out.vaddr, ptr); + + return ptr; +} + +void release(int video0_fd, uint32_t handle) { + int ret; + struct cam_mem_mgr_release_cmd mem_mgr_release_cmd = {0}; + mem_mgr_release_cmd.buf_handle = handle; + + ret = do_cam_control(video0_fd, CAM_REQ_MGR_RELEASE_BUF, &mem_mgr_release_cmd, sizeof(mem_mgr_release_cmd)); + assert(ret == 0); +} + +void release_fd(int video0_fd, uint32_t handle) { + // handle to fd + close(handle>>16); + release(video0_fd, handle); +} + +void *MemoryManager::alloc(int size, uint32_t *handle) { + lock.lock(); + void *ptr; + if (!cached_allocations[size].empty()) { + ptr = cached_allocations[size].front(); + cached_allocations[size].pop(); + *handle = handle_lookup[ptr]; + } else { + ptr = alloc_w_mmu_hdl(video0_fd, size, handle); + handle_lookup[ptr] = *handle; + size_lookup[ptr] = size; + } + lock.unlock(); + return ptr; +} + +void MemoryManager::free(void *ptr) { + lock.lock(); + cached_allocations[size_lookup[ptr]].push(ptr); + lock.unlock(); +} + +MemoryManager::~MemoryManager() { + for (auto& x : cached_allocations) { + while (!x.second.empty()) { + void *ptr = x.second.front(); + x.second.pop(); + LOGD("freeing cached allocation %p with size %d", ptr, size_lookup[ptr]); + munmap(ptr, size_lookup[ptr]); + release_fd(video0_fd, handle_lookup[ptr]); + handle_lookup.erase(ptr); + size_lookup.erase(ptr); + } + } +} diff --git a/system/camerad/cameras/camera_util.h b/system/camerad/cameras/camera_util.h new file mode 100644 index 000000000..e408f6c0e --- /dev/null +++ b/system/camerad/cameras/camera_util.h @@ -0,0 +1,30 @@ +#pragma once + +#include +#include +#include +#include + +#include + +std::optional device_acquire(int fd, int32_t session_handle, void *data, uint32_t num_resources=1); +int device_config(int fd, int32_t session_handle, int32_t dev_handle, uint64_t packet_handle); +int device_control(int fd, int op_code, int session_handle, int dev_handle); +int do_cam_control(int fd, int op_code, void *handle, int size); +void *alloc_w_mmu_hdl(int video0_fd, int len, uint32_t *handle, int align = 8, int flags = CAM_MEM_FLAG_KMD_ACCESS | CAM_MEM_FLAG_UMD_ACCESS | CAM_MEM_FLAG_CMD_BUF_TYPE, + int mmu_hdl = 0, int mmu_hdl2 = 0); +void release(int video0_fd, uint32_t handle); + +class MemoryManager { + public: + void init(int _video0_fd) { video0_fd = _video0_fd; } + void *alloc(int len, uint32_t *handle); + void free(void *ptr); + ~MemoryManager(); + private: + std::mutex lock; + std::map handle_lookup; + std::map size_lookup; + std::map > cached_allocations; + int video0_fd; +}; From 115eed9a54ae4f97bbdd0e561b9f796ca4214a9c Mon Sep 17 00:00:00 2001 From: Dean Lee Date: Sun, 11 Sep 2022 05:39:57 +0800 Subject: [PATCH 16/38] cleanup map_helpers.cc (#25706) --- selfdrive/ui/qt/maps/map_helpers.cc | 46 +++++------------------------ 1 file changed, 8 insertions(+), 38 deletions(-) diff --git a/selfdrive/ui/qt/maps/map_helpers.cc b/selfdrive/ui/qt/maps/map_helpers.cc index ca81545f7..8d5d4e171 100644 --- a/selfdrive/ui/qt/maps/map_helpers.cc +++ b/selfdrive/ui/qt/maps/map_helpers.cc @@ -44,61 +44,31 @@ QMapbox::CoordinatesCollections model_to_collection( for (int i = 0; i < x.size(); i++) { Eigen::Vector3d point_ecef = ecef_from_local * Eigen::Vector3d(x[i], y[i], z[i]) + ecef; Geodetic point_geodetic = ecef2geodetic((ECEF){.x = point_ecef[0], .y = point_ecef[1], .z = point_ecef[2]}); - QMapbox::Coordinate coordinate(point_geodetic.lat, point_geodetic.lon); - coordinates.push_back(coordinate); + coordinates.push_back({point_geodetic.lat, point_geodetic.lon}); } - QMapbox::CoordinatesCollection collection; - collection.push_back(coordinates); - - QMapbox::CoordinatesCollections collections; - collections.push_back(collection); - return collections; + return {QMapbox::CoordinatesCollection{coordinates}}; } QMapbox::CoordinatesCollections coordinate_to_collection(const QMapbox::Coordinate &c) { - QMapbox::Coordinates coordinates; - coordinates.push_back(c); - - QMapbox::CoordinatesCollection collection; - collection.push_back(coordinates); - - QMapbox::CoordinatesCollections collections; - collections.push_back(collection); - return collections; + QMapbox::Coordinates coordinates{c}; + return {QMapbox::CoordinatesCollection{coordinates}}; } QMapbox::CoordinatesCollections capnp_coordinate_list_to_collection(const capnp::List::Reader& coordinate_list) { QMapbox::Coordinates coordinates; - for (auto const &c: coordinate_list) { - QMapbox::Coordinate coordinate(c.getLatitude(), c.getLongitude()); - coordinates.push_back(coordinate); + coordinates.push_back({c.getLatitude(), c.getLongitude()}); } - - QMapbox::CoordinatesCollection collection; - collection.push_back(coordinates); - - QMapbox::CoordinatesCollections collections; - collections.push_back(collection); - return collections; - + return {QMapbox::CoordinatesCollection{coordinates}}; } QMapbox::CoordinatesCollections coordinate_list_to_collection(const QList &coordinate_list) { QMapbox::Coordinates coordinates; - for (auto &c : coordinate_list) { - QMapbox::Coordinate coordinate(c.latitude(), c.longitude()); - coordinates.push_back(coordinate); + coordinates.push_back({c.latitude(), c.longitude()}); } - - QMapbox::CoordinatesCollection collection; - collection.push_back(coordinates); - - QMapbox::CoordinatesCollections collections; - collections.push_back(collection); - return collections; + return {QMapbox::CoordinatesCollection{coordinates}}; } QList polyline_to_coordinate_list(const QString &polylineString) { From 21972605e7ed0f713d89324777afc2c60f862e6c Mon Sep 17 00:00:00 2001 From: Jason Young <46612682+jyoung8607@users.noreply.github.com> Date: Sat, 10 Sep 2022 18:04:15 -0500 Subject: [PATCH 17/38] VW: Increase stock ACC button spam reliability (#25692) * VW MQB: Fix/simplify stock ACC button spam * try this instead --- selfdrive/car/volkswagen/carcontroller.py | 13 +++++++------ selfdrive/car/volkswagen/mqbcan.py | 4 ++-- selfdrive/car/volkswagen/pqcan.py | 4 ++-- selfdrive/car/volkswagen/values.py | 1 - 4 files changed, 11 insertions(+), 11 deletions(-) diff --git a/selfdrive/car/volkswagen/carcontroller.py b/selfdrive/car/volkswagen/carcontroller.py index f14c11989..5624c3dd5 100644 --- a/selfdrive/car/volkswagen/carcontroller.py +++ b/selfdrive/car/volkswagen/carcontroller.py @@ -17,6 +17,7 @@ class CarController: self.packer_pt = CANPacker(dbc_name) self.apply_steer_last = 0 + self.gra_acc_counter_last = None self.frame = 0 self.hcaSameTorqueCount = 0 self.hcaEnabledFrameCount = 0 @@ -91,15 +92,15 @@ class CarController: # **** Stock ACC Button Controls **************************************** # - if self.CP.pcmCruise and self.frame % self.CCP.GRA_ACC_STEP == 0: - idx = (CS.gra_stock_values["COUNTER"] + 1) % 16 - if CC.cruiseControl.cancel: - can_sends.append(self.CCS.create_acc_buttons_control(self.packer_pt, ext_bus, CS.gra_stock_values, idx, cancel=True)) - elif CC.cruiseControl.resume: - can_sends.append(self.CCS.create_acc_buttons_control(self.packer_pt, ext_bus, CS.gra_stock_values, idx, resume=True)) + gra_send_ready = self.CP.pcmCruise and CS.gra_stock_values["COUNTER"] != self.gra_acc_counter_last + if gra_send_ready and (CC.cruiseControl.cancel or CC.cruiseControl.resume): + counter = (CS.gra_stock_values["COUNTER"] + 1) % 16 + can_sends.append(self.CCS.create_acc_buttons_control(self.packer_pt, ext_bus, CS.gra_stock_values, counter, + cancel=CC.cruiseControl.cancel, resume=CC.cruiseControl.resume)) new_actuators = actuators.copy() new_actuators.steer = self.apply_steer_last / self.CCP.STEER_MAX + self.gra_acc_counter_last = CS.gra_stock_values["COUNTER"] self.frame += 1 return new_actuators, can_sends diff --git a/selfdrive/car/volkswagen/mqbcan.py b/selfdrive/car/volkswagen/mqbcan.py index 1a4ca339a..3819f4f76 100644 --- a/selfdrive/car/volkswagen/mqbcan.py +++ b/selfdrive/car/volkswagen/mqbcan.py @@ -26,11 +26,11 @@ def create_lka_hud_control(packer, bus, ldw_stock_values, enabled, steering_pres return packer.make_can_msg("LDW_02", bus, values) -def create_acc_buttons_control(packer, bus, gra_stock_values, idx, cancel=False, resume=False): +def create_acc_buttons_control(packer, bus, gra_stock_values, counter, cancel=False, resume=False): values = gra_stock_values.copy() values.update({ - "COUNTER": idx, + "COUNTER": counter, "GRA_Abbrechen": cancel, "GRA_Tip_Wiederaufnahme": resume, }) diff --git a/selfdrive/car/volkswagen/pqcan.py b/selfdrive/car/volkswagen/pqcan.py index 1e7ed2134..e64bb2246 100644 --- a/selfdrive/car/volkswagen/pqcan.py +++ b/selfdrive/car/volkswagen/pqcan.py @@ -23,11 +23,11 @@ def create_lka_hud_control(packer, bus, ldw_stock_values, enabled, steering_pres return packer.make_can_msg("LDW_Status", bus, values) -def create_acc_buttons_control(packer, bus, gra_stock_values, idx, cancel=False, resume=False): +def create_acc_buttons_control(packer, bus, gra_stock_values, counter, cancel=False, resume=False): values = gra_stock_values.copy() values.update({ - "COUNTER": idx, + "COUNTER": counter, "GRA_Abbrechen": cancel, "GRA_Recall": resume, }) diff --git a/selfdrive/car/volkswagen/values.py b/selfdrive/car/volkswagen/values.py index eaf6c042d..05994c010 100755 --- a/selfdrive/car/volkswagen/values.py +++ b/selfdrive/car/volkswagen/values.py @@ -19,7 +19,6 @@ Button = namedtuple('Button', ['event_type', 'can_addr', 'can_msg', 'values']) class CarControllerParams: HCA_STEP = 2 # HCA_01/HCA_1 message frequency 50Hz - GRA_ACC_STEP = 3 # GRA_ACC_01/GRA_Neu message frequency 33Hz ACC_CONTROL_STEP = 2 # ACC_06/ACC_07/ACC_System frequency 50Hz ACC_HUD_STEP = 4 # ACC_GRA_Anziege frequency 25Hz From 2704e2cf4d805712695422b6c8e513ba7f479877 Mon Sep 17 00:00:00 2001 From: cydia2020 <12470297+cydia2020@users.noreply.github.com> Date: Sun, 11 Sep 2022 09:42:28 +1000 Subject: [PATCH 18/38] Toyota: longitudinal tune condition cleanup (#25676) * Toyota: clean up long tunes a bit * Update selfdrive/car/toyota/interface.py Co-authored-by: Adeeb Shihadeh --- selfdrive/car/toyota/interface.py | 7 +++---- selfdrive/car/toyota/tunes.py | 7 +++---- 2 files changed, 6 insertions(+), 8 deletions(-) diff --git a/selfdrive/car/toyota/interface.py b/selfdrive/car/toyota/interface.py index 8528005eb..28912645a 100644 --- a/selfdrive/car/toyota/interface.py +++ b/selfdrive/car/toyota/interface.py @@ -230,11 +230,10 @@ class CarInterface(CarInterfaceBase): # to a negative value, so it won't matter. ret.minEnableSpeed = -1. if (stop_and_go or ret.enableGasInterceptor) else MIN_ACC_SPEED - if ret.enableGasInterceptor: - set_long_tune(ret.longitudinalTuning, LongTunes.PEDAL) - elif candidate in TSS2_CAR: + if candidate in TSS2_CAR or ret.enableGasInterceptor: set_long_tune(ret.longitudinalTuning, LongTunes.TSS2) - ret.stoppingDecelRate = 0.3 # reach stopping target smoothly + if candidate in TSS2_CAR: + ret.stoppingDecelRate = 0.3 # reach stopping target smoothly else: set_long_tune(ret.longitudinalTuning, LongTunes.TSS) diff --git a/selfdrive/car/toyota/tunes.py b/selfdrive/car/toyota/tunes.py index fc538b969..b73ab4c8c 100644 --- a/selfdrive/car/toyota/tunes.py +++ b/selfdrive/car/toyota/tunes.py @@ -2,9 +2,8 @@ from enum import Enum class LongTunes(Enum): - PEDAL = 0 - TSS2 = 1 - TSS = 2 + TSS2 = 0 + TSS = 1 class LatTunes(Enum): INDI_PRIUS = 0 @@ -28,7 +27,7 @@ class LatTunes(Enum): ###### LONG ###### def set_long_tune(tune, name): # Improved longitudinal tune - if name == LongTunes.TSS2 or name == LongTunes.PEDAL: + if name == LongTunes.TSS2: tune.deadzoneBP = [0., 8.05] tune.deadzoneV = [.0, .14] tune.kpBP = [0., 5., 20.] From f6398ea7864779f621f84df65ded7ee083e72c09 Mon Sep 17 00:00:00 2001 From: ambientocclusion <1399123+ambientocclusion@users.noreply.github.com> Date: Sun, 11 Sep 2022 03:35:57 -0700 Subject: [PATCH 19/38] Multilang: add missing Japanese translations (#25727) --- selfdrive/ui/translations/main_ja.ts | 10 +++++----- 1 file changed, 5 insertions(+), 5 deletions(-) diff --git a/selfdrive/ui/translations/main_ja.ts b/selfdrive/ui/translations/main_ja.ts index d6bd9e74e..a0b2a9986 100644 --- a/selfdrive/ui/translations/main_ja.ts +++ b/selfdrive/ui/translations/main_ja.ts @@ -1170,7 +1170,7 @@ location set Receive alerts to steer back into the lane when your vehicle drifts over a detected lane line without a turn signal activated while driving over 31 mph (50 km/h). - 時速31マイル（50km）を超えるスピードで走行中、方向指示器を作動させずに検出された車線ライン上に車両が触れた場合、車線に戻るアラートを受信します。 + 時速31マイル（50km）を超えるスピードで走行中、ウインカーを作動させずに検出された車線ライン上に車両が触れた場合、車線に戻るアラートを受信します。 @@ -1195,22 +1195,22 @@ location set 🌮 End-to-end longitudinal (extremely alpha) 🌮 - + 🌮 エンドツーエンドのアクセル制御 (超アルファ版) 🌮 Experimental openpilot longitudinal control - + 実験段階のopenpilotによるアクセル制御 <b>WARNING: openpilot longitudinal control is experimental for this car and will disable AEB.</b> - + <b>警告: openpilotによるアクセル制御は実験段階であり、AEBを無効化します。</b> Let the driving model control the gas and brakes. openpilot will drive as it thinks a human would. Super experimental. - + アクセルとブレーキの制御をopenpilotに任せます。openpilotが人間と同じように運転します。最初期の実験段階です。 From 29f9c536b410a45001beb63c73f3645a8299c222 Mon Sep 17 00:00:00 2001 From: Dean Lee Date: Mon, 12 Sep 2022 04:56:38 +0800 Subject: [PATCH 20/38] camerad: build camerad on PC (#25726) * compile camerad on PC * scons cleanup Co-authored-by: Adeeb Shihadeh --- SConstruct | 3 --- system/camerad/SConscript | 24 +++++++++------------- system/camerad/cameras/camera_common.cc | 4 +--- system/camerad/cameras/camera_qcom2.cc | 1 - system/camerad/main.cc | 15 ++++++++------ system/camerad/test/camera_test.h | 27 ------------------------- 6 files changed, 20 insertions(+), 54 deletions(-) delete mode 100644 system/camerad/test/camera_test.h diff --git a/SConstruct b/SConstruct index 8b32eba4a..178b0cc87 100644 --- a/SConstruct +++ b/SConstruct @@ -99,9 +99,6 @@ if arch == "larch64": "#third_party/libyuv/larch64/lib", "/usr/lib/aarch64-linux-gnu" ] - cpppath += [ - "#system/camerad/include", - ] cflags = ["-DQCOM2", "-mcpu=cortex-a57"] cxxflags = ["-DQCOM2", "-mcpu=cortex-a57"] rpath += ["/usr/local/lib"] diff --git a/system/camerad/SConscript b/system/camerad/SConscript index 65f682dcc..ddc763b53 100644 --- a/system/camerad/SConscript +++ b/system/camerad/SConscript @@ -1,22 +1,18 @@ Import('env', 'arch', 'cereal', 'messaging', 'common', 'gpucommon', 'visionipc') -libs = ['m', 'pthread', common, 'jpeg', 'OpenCL', 'yuv', cereal, messaging, 'zmq', 'capnp', 'kj', visionipc, gpucommon] +libs = ['m', 'pthread', common, 'jpeg', 'OpenCL', 'yuv', cereal, messaging, 'zmq', 'capnp', 'kj', visionipc, gpucommon, 'atomic'] -cameras = [] -if arch == "larch64": - libs += ['atomic'] - cameras = ['cameras/camera_qcom2.cc'] +cenv = env.Clone() +cenv['CPPPATH'].append('include/') - env.Program('camerad', [ - 'main.cc', - 'cameras/camera_common.cc', - 'cameras/camera_util.cc', - 'imgproc/utils.cc', - cameras, - ], LIBS=libs) +camera_obj = cenv.Object(['cameras/camera_qcom2.cc', 'cameras/camera_common.cc', 'cameras/camera_util.cc']) +cenv.Program('camerad', [ + 'main.cc', + camera_obj, + ], LIBS=libs) if GetOption("test") and arch == "x86_64": - env.Program('test/ae_gray_test', [ + cenv.Program('test/ae_gray_test', [ 'test/ae_gray_test.cc', - 'cameras/camera_common.cc', + camera_obj, ], LIBS=libs) diff --git a/system/camerad/cameras/camera_common.cc b/system/camerad/cameras/camera_common.cc index 313af00b5..d033d8e6b 100644 --- a/system/camerad/cameras/camera_common.cc +++ b/system/camerad/cameras/camera_common.cc @@ -18,11 +18,9 @@ #include "system/hardware/hw.h" #include "msm_media_info.h" +#include "system/camerad/cameras/camera_qcom2.h" #ifdef QCOM2 #include "CL/cl_ext_qcom.h" -#include "system/camerad/cameras/camera_qcom2.h" -#else -#include "system/camerad/test/camera_test.h" #endif ExitHandler do_exit; diff --git a/system/camerad/cameras/camera_qcom2.cc b/system/camerad/cameras/camera_qcom2.cc index 2f674cb50..b2432bdd7 100644 --- a/system/camerad/cameras/camera_qcom2.cc +++ b/system/camerad/cameras/camera_qcom2.cc @@ -1304,4 +1304,3 @@ void cameras_run(MultiCameraState *s) { cameras_close(s); } - diff --git a/system/camerad/main.cc b/system/camerad/main.cc index c1f38f222..35a3329f3 100644 --- a/system/camerad/main.cc +++ b/system/camerad/main.cc @@ -7,14 +7,17 @@ #include "system/hardware/hw.h" int main(int argc, char *argv[]) { - if (!Hardware::PC()) { - int ret; - ret = util::set_realtime_priority(53); - assert(ret == 0); - ret = util::set_core_affinity({6}); - assert(ret == 0 || Params().getBool("IsOffroad")); // failure ok while offroad due to offlining cores + if (Hardware::PC()) { + printf("camerad is not meant to run on PC\n"); + return 0; } + int ret; + ret = util::set_realtime_priority(53); + assert(ret == 0); + ret = util::set_core_affinity({6}); + assert(ret == 0 || Params().getBool("IsOffroad")); // failure ok while offroad due to offlining cores + camerad_thread(); return 0; } diff --git a/system/camerad/test/camera_test.h b/system/camerad/test/camera_test.h deleted file mode 100644 index c173f9b84..000000000 --- a/system/camerad/test/camera_test.h +++ /dev/null @@ -1,27 +0,0 @@ -// TODO: cleanup AE tests -// needed by camera_common.cc -void camera_autoexposure(CameraState *s, float grey_frac) {} -void cameras_init(VisionIpcServer *v, MultiCameraState *s, cl_device_id device_id, cl_context ctx) {} -void cameras_open(MultiCameraState *s) {} -void cameras_run(MultiCameraState *s) {} - -typedef struct CameraState { - int camera_num; - CameraInfo ci; - - int fps; - float digital_gain = 0; - - int camera_id; - - CameraBuf buf; -} CameraState; - -typedef struct MultiCameraState { - CameraState road_cam; - CameraState driver_cam; - - PubMaster *pm = nullptr; -} MultiCameraState; - - From 722e4641fc5aa28ab0ba2de266d230853d5ac321 Mon Sep 17 00:00:00 2001 From: Dean Lee Date: Tue, 13 Sep 2022 01:30:58 +0800 Subject: [PATCH 21/38] prime.cc: call update() after QR code changed (#25740) --- selfdrive/ui/qt/widgets/prime.cc | 1 + 1 file changed, 1 insertion(+) diff --git a/selfdrive/ui/qt/widgets/prime.cc b/selfdrive/ui/qt/widgets/prime.cc index a8ceee4ca..1d765d094 100644 --- a/selfdrive/ui/qt/widgets/prime.cc +++ b/selfdrive/ui/qt/widgets/prime.cc @@ -35,6 +35,7 @@ void PairingQRWidget::refresh() { QString pairToken = CommaApi::create_jwt({{"pair", true}}); QString qrString = "https://connect.comma.ai/?pair=" + pairToken; this->updateQrCode(qrString); + update(); } void PairingQRWidget::updateQrCode(const QString &text) { From f1a2dc36ba15ce374ef13f77c460d3100d3ab3b3 Mon Sep 17 00:00:00 2001 From: Igor Biletskyy Date: Mon, 12 Sep 2022 15:08:19 -0700 Subject: [PATCH 22/38] bump panda and cereal (#25746) bump --- cereal | 2 +- panda | 2 +- 2 files changed, 2 insertions(+), 2 deletions(-) diff --git a/cereal b/cereal index cea51afd6..2335f98bb 160000 --- a/cereal +++ b/cereal @@ -1 +1 @@ -Subproject commit cea51afd67b5c56f7a18207ef91c5e45d6345526 +Subproject commit 2335f98bbe628ec6fde92c8d929ecaf373b125af diff --git a/panda b/panda index 8f13ca3f6..15eda6a7c 160000 --- a/panda +++ b/panda @@ -1 +1 @@ -Subproject commit 8f13ca3f66bcc72e3ac9028df7ce04851e7e3a48 +Subproject commit 15eda6a7c9cf4b0c7b5a7bbde25fcab3ff0a98fc From f2d9ecb08afdab2c547d4114fb6804ccffde00e5 Mon Sep 17 00:00:00 2001 From: Adeeb Shihadeh Date: Mon, 12 Sep 2022 15:31:12 -0700 Subject: [PATCH 23/38] updated: run lfs prune (#25729) --- selfdrive/updated.py | 7 ++++--- 1 file changed, 4 insertions(+), 3 deletions(-) diff --git a/selfdrive/updated.py b/selfdrive/updated.py index 7278ef5a8..403ea2172 100755 --- a/selfdrive/updated.py +++ b/selfdrive/updated.py @@ -249,13 +249,14 @@ def finalize_update(wait_helper: WaitTimeHelper) -> None: run(["git", "reset", "--hard"], FINALIZED) run(["git", "submodule", "foreach", "--recursive", "git", "reset"], FINALIZED) - cloudlog.info("Starting git gc") + cloudlog.info("Starting git cleanup in finalized update") t = time.monotonic() try: run(["git", "gc"], FINALIZED) - cloudlog.event("Done git gc", duration=time.monotonic() - t) + run(["git", "lfs", "prune"], FINALIZED) + cloudlog.event("Done git cleanup", duration=time.monotonic() - t) except subprocess.CalledProcessError: - cloudlog.exception(f"Failed git gc, took {time.monotonic() - t:.3f} s") + cloudlog.exception(f"Failed git cleanup, took {time.monotonic() - t:.3f} s") if wait_helper.shutdown: cloudlog.info("got interrupted finalizing overlay") From 5222c90df42655571597b78c5f48f16b9c5439b7 Mon Sep 17 00:00:00 2001 From: Erich Moraga <33645296+ErichMoraga@users.noreply.github.com> Date: Mon, 12 Sep 2022 22:55:52 -0500 Subject: [PATCH 24/38] Add several missing CAMRYH_TSS2 firmwares (#25745) `!razor_amd#7792` 2021 Toyota Camry Hybrid (Japanese import) DongleID/route 8553bd6f44d925f8|2022-09-12--22-01-21 --- selfdrive/car/toyota/values.py | 3 +++ 1 file changed, 3 insertions(+) diff --git a/selfdrive/car/toyota/values.py b/selfdrive/car/toyota/values.py index 94fbdc8bf..b0fb14311 100644 --- a/selfdrive/car/toyota/values.py +++ b/selfdrive/car/toyota/values.py @@ -541,13 +541,16 @@ FW_VERSIONS = { CAR.CAMRYH_TSS2: { (Ecu.eps, 0x7a1, None): [ b'8965B33630\x00\x00\x00\x00\x00\x00', + b'8965B33650\x00\x00\x00\x00\x00\x00', ], (Ecu.abs, 0x7b0, None): [ b'F152633D00\x00\x00\x00\x00\x00\x00', + b'F152633D60\x00\x00\x00\x00\x00\x00', ], (Ecu.engine, 0x700, None): [ b'\x018966306Q6000\x00\x00\x00\x00', b'\x018966306Q7000\x00\x00\x00\x00', + b'\x01896633T20000\x00\x00\x00\x00', ], (Ecu.fwdRadar, 0x750, 15): [ b'\x018821F6201200\x00\x00\x00\x00', From 56b05d55eb99657595c5bc47c39fb393fb889f64 Mon Sep 17 00:00:00 2001 From: Brandon Bennett <56660362+bbennett80@users.noreply.github.com> Date: Mon, 12 Sep 2022 22:24:11 -0700 Subject: [PATCH 25/38] Subaru: Add missing 2020 Ascent f/w (#25725) * add missing ascent fw version Ascent had recall service for transmission ecu. New values added. * Update selfdrive/car/subaru/values.py Co-authored-by: Shane Smiskol --- selfdrive/car/subaru/values.py | 3 +++ 1 file changed, 3 insertions(+) diff --git a/selfdrive/car/subaru/values.py b/selfdrive/car/subaru/values.py index 58fe111fb..6c3a35307 100644 --- a/selfdrive/car/subaru/values.py +++ b/selfdrive/car/subaru/values.py @@ -104,6 +104,7 @@ FW_VERSIONS = { b'\000\000e~\037@ \'', b'\x00\x00e@\x1f@ $', b'\x00\x00d\xb9\x00\x00\x00\x00', + b'\x00\x00e@\x00\x00\x00\x00', ], (Ecu.engine, 0x7e0, None): [ b'\xbb,\xa0t\a', @@ -111,11 +112,13 @@ FW_VERSIONS = { b'\xf1\x82\xbb,\xa0t\a', b'\xf1\x82\xd9,\xa0@\a', b'\xf1\x82\xd1,\xa0q\x07', + b'\xd1,\xa0q\x07', ], (Ecu.transmission, 0x7e1, None): [ b'\x00\xfe\xf7\x00\x00', b'\001\xfe\xf9\000\000', b'\x01\xfe\xf7\x00\x00', + b'\x01\xfe\xfa\x00\x00', ], }, CAR.LEGACY: { From 84a3c355e5fdb7bb2f50847f925e894eecfa8918 Mon Sep 17 00:00:00 2001 From: Willem Melching Date: Tue, 13 Sep 2022 07:29:31 +0200 Subject: [PATCH 26/38] sensord: use interrupts to improve LSM6DS3 timing accuracy (#24525) * change LSM6DS3TR(-c) gyroscope and accelerometer to interrupt * add pthread for linking * add interrupt collector thread to fetch in parallel to non interrupt based sensors * change get_event interface to return true on successful read * fetch sensor interrupts via gpiochip * avoid sending empty messages (interrupt only, non interupt magn can leave a gap in the orphan block) * add verifier script to sensor interrupts (sensor_data_to_hist.py) * add/update sensord testsweet (test_sensord.py) * add poll timed out check * unexport interrupt gpio pins * gpiochip on both edges, but skip falling edge if rising edge is detected, this is handled in the sensor as the status flag is checked if new data is availble * add test to sensord to verify 100Hz interrupt frequency * add sensor shutdown/low power mode functionality on sensord exit * relax test, will be readded in the splitup PR Co-authored-by: Kurt Nistelberger --- common/gpio.cc | 39 +++- common/gpio.h | 12 + selfdrive/debug/sensor_data_to_hist.py | 121 ++++++++++ selfdrive/sensord/SConscript | 2 +- selfdrive/sensord/sensors/bmx055_accel.cc | 3 +- selfdrive/sensord/sensors/bmx055_accel.h | 3 +- selfdrive/sensord/sensors/bmx055_gyro.cc | 4 +- selfdrive/sensord/sensors/bmx055_gyro.h | 3 +- selfdrive/sensord/sensors/bmx055_magn.cc | 7 +- selfdrive/sensord/sensors/bmx055_magn.h | 3 +- selfdrive/sensord/sensors/bmx055_temp.cc | 3 +- selfdrive/sensord/sensors/bmx055_temp.h | 3 +- selfdrive/sensord/sensors/file_sensor.cc | 4 + selfdrive/sensord/sensors/file_sensor.h | 3 +- selfdrive/sensord/sensors/i2c_sensor.cc | 23 +- selfdrive/sensord/sensors/i2c_sensor.h | 14 +- selfdrive/sensord/sensors/light_sensor.cc | 4 +- selfdrive/sensord/sensors/light_sensor.h | 3 +- selfdrive/sensord/sensors/lsm6ds3_accel.cc | 58 ++++- selfdrive/sensord/sensors/lsm6ds3_accel.h | 17 +- selfdrive/sensord/sensors/lsm6ds3_gyro.cc | 59 ++++- selfdrive/sensord/sensors/lsm6ds3_gyro.h | 17 +- selfdrive/sensord/sensors/lsm6ds3_temp.cc | 3 +- selfdrive/sensord/sensors/lsm6ds3_temp.h | 3 +- selfdrive/sensord/sensors/mmc5603nj_magn.cc | 3 +- selfdrive/sensord/sensors/mmc5603nj_magn.h | 3 +- selfdrive/sensord/sensors/sensor.h | 5 +- selfdrive/sensord/sensors_qcom2.cc | 99 ++++++++- selfdrive/sensord/tests/test_sensord.py | 231 +++++++++++++++++++- system/hardware/tici/hardware.py | 11 + system/hardware/tici/pins.py | 6 + 31 files changed, 711 insertions(+), 58 deletions(-) create mode 100755 selfdrive/debug/sensor_data_to_hist.py mode change 100755 => 100644 selfdrive/sensord/tests/test_sensord.py diff --git a/common/gpio.cc b/common/gpio.cc index 73ff1b3f5..9f5c211a4 100644 --- a/common/gpio.cc +++ b/common/gpio.cc @@ -4,11 +4,11 @@ #include #include +#include +#include #include "common/util.h" - -// We assume that all pins have already been exported on boot, -// and that we have permission to write to them. +#include "common/swaglog.h" int gpio_init(int pin_nr, bool output) { char pin_dir_path[50]; @@ -30,3 +30,36 @@ int gpio_set(int pin_nr, bool high) { } return util::write_file(pin_val_path, (void*)(high ? "1" : "0"), 1); } + +int gpiochip_get_ro_value_fd(const char* consumer_label, int gpiochiop_id, int pin_nr) { + + // Assumed that all interrupt pins are unexported and rights are given to + // read from gpiochip0. + std::string gpiochip_path = "/dev/gpiochip" + std::to_string(gpiochiop_id); + int fd = open(gpiochip_path.c_str(), O_RDONLY); + if (fd < 0) { + LOGE("Error opening gpiochip0 fd") + return -1; + } + + // Setup event + struct gpioevent_request rq; + rq.lineoffset = pin_nr; + rq.handleflags = GPIOHANDLE_REQUEST_INPUT; + + /* Requesting both edges as the data ready pulse from the lsm6ds sensor is + very short(75us) and is mostly detected as falling edge instead of rising. + So if it is detected as rising the following falling edge is skipped. */ + rq.eventflags = GPIOEVENT_REQUEST_BOTH_EDGES; + + strncpy(rq.consumer_label, consumer_label, std::size(rq.consumer_label) - 1); + int ret = ioctl(fd, GPIO_GET_LINEEVENT_IOCTL, &rq); + if (ret == -1) { + LOGE("Unable to get line event from ioctl : %s", strerror(errno)); + close(fd); + return -1; + } + + close(fd); + return rq.fd; +} diff --git a/common/gpio.h b/common/gpio.h index e03001987..b2f67f8ba 100644 --- a/common/gpio.h +++ b/common/gpio.h @@ -8,6 +8,11 @@ #define GPIO_UBLOX_PWR_EN 34 #define GPIO_STM_RST_N 124 #define GPIO_STM_BOOT0 134 + #define GPIO_BMX_ACCEL_INT 21 + #define GPIO_BMX_GYRO_INT 23 + #define GPIO_BMX_MAGN_INT 87 + #define GPIO_LSM_INT 84 + #define GPIOCHIP_INT 0 #else #define GPIO_HUB_RST_N 0 #define GPIO_UBLOX_RST_N 0 @@ -15,7 +20,14 @@ #define GPIO_UBLOX_PWR_EN 0 #define GPIO_STM_RST_N 0 #define GPIO_STM_BOOT0 0 + #define GPIO_BMX_ACCEL_INT 0 + #define GPIO_BMX_GYRO_INT 0 + #define GPIO_BMX_MAGN_INT 0 + #define GPIO_LSM_INT 0 + #define GPIOCHIP_INT 0 #endif int gpio_init(int pin_nr, bool output); int gpio_set(int pin_nr, bool high); + +int gpiochip_get_ro_value_fd(const char* consumer_label, int gpiochiop_id, int pin_nr); diff --git a/selfdrive/debug/sensor_data_to_hist.py b/selfdrive/debug/sensor_data_to_hist.py new file mode 100755 index 000000000..3c30b3c17 --- /dev/null +++ b/selfdrive/debug/sensor_data_to_hist.py @@ -0,0 +1,121 @@ +#!/usr/bin/env python3 +''' +printing the gap between interrupts in a histogram to check if the +frequency is what we expect, the bmx is not interrupt driven for as we +get interrupts in a 2kHz rate. +''' + +import argparse +import sys +from collections import defaultdict + +from tools.lib.logreader import LogReader +from tools.lib.route import Route + +import matplotlib.pyplot as plt + +SRC_BMX = "bmx055" +SRC_LSM = "lsm6ds3" + + +def parseEvents(log_reader): + bmx_data = defaultdict(list) + lsm_data = defaultdict(list) + + for m in log_reader: + # only sensorEvents + if m.which() != 'sensorEvents': + continue + + for se in m.sensorEvents: + # convert data to dictionary + d = se.to_dict() + + if d["timestamp"] == 0: + continue # empty event? + + if d["source"] == SRC_BMX and "acceleration" in d: + bmx_data["accel"].append(d["timestamp"] / 1e9) + + if d["source"] == SRC_BMX and "gyroUncalibrated" in d: + bmx_data["gyro"].append(d["timestamp"] / 1e9) + + if d["source"] == SRC_LSM and "acceleration" in d: + lsm_data["accel"].append(d["timestamp"] / 1e9) + + if d["source"] == SRC_LSM and "gyroUncalibrated" in d: + lsm_data["gyro"].append(d["timestamp"] / 1e9) + + return bmx_data, lsm_data + + +def cleanData(data): + if len(data) == 0: + return [], [] + + data.sort() + prev = data[0] + diffs = [] + for v in data[1:]: + diffs.append(v - prev) + prev = v + return data, diffs + + +def logAvgValues(data, sensor): + if len(data) == 0: + print(f"{sensor}: no data to average") + return + + avg = sum(data) / len(data) + hz = 1 / avg + print(f"{sensor}: data_points: {len(data)} avg [ns]: {avg} avg [Hz]: {hz}") + + +if __name__ == "__main__": + parser = argparse.ArgumentParser() + parser.add_argument("route", type=str, help="route name") + parser.add_argument("segment", type=int, help="segment number") + args = parser.parse_args() + + r = Route(args.route) + logs = r.log_paths() + + if len(logs) == 0: + print("NO data routes") + sys.exit(0) + + if args.segment >= len(logs): + print(f"RouteID: {args.segment} out of range, max: {len(logs) -1}") + sys.exit(0) + + lr = LogReader(logs[args.segment]) + bmx_data, lsm_data = parseEvents(lr) + + # sort bmx accel data, and then cal all the diffs, and to a histogram of those + bmx_accel, bmx_accel_diffs = cleanData(bmx_data["accel"]) + bmx_gyro, bmx_gyro_diffs = cleanData(bmx_data["gyro"]) + lsm_accel, lsm_accel_diffs = cleanData(lsm_data["accel"]) + lsm_gyro, lsm_gyro_diffs = cleanData(lsm_data["gyro"]) + + # get out the averages + logAvgValues(bmx_accel_diffs, "bmx accel") + logAvgValues(bmx_gyro_diffs, "bmx gyro ") + logAvgValues(lsm_accel_diffs, "lsm accel") + logAvgValues(lsm_gyro_diffs, "lsm gyro ") + + fig, axs = plt.subplots(1, 2, tight_layout=True) + axs[0].hist(bmx_accel_diffs, bins=50) + axs[0].set_title("bmx_accel") + axs[1].hist(bmx_gyro_diffs, bins=50) + axs[1].set_title("bmx_gyro") + + figl, axsl = plt.subplots(1, 2, tight_layout=True) + axsl[0].hist(lsm_accel_diffs, bins=50) + axsl[0].set_title("lsm_accel") + axsl[1].hist(lsm_gyro_diffs, bins=50) + axsl[1].set_title("lsm_gyro") + + print("check plot...") + plt.show() + diff --git a/selfdrive/sensord/SConscript b/selfdrive/sensord/SConscript index db32887e7..8f26c0085 100644 --- a/selfdrive/sensord/SConscript +++ b/selfdrive/sensord/SConscript @@ -13,7 +13,7 @@ sensors = [ 'sensors/lsm6ds3_temp.cc', 'sensors/mmc5603nj_magn.cc', ] -libs = [common, cereal, messaging, 'capnp', 'zmq', 'kj'] +libs = [common, cereal, messaging, 'capnp', 'zmq', 'kj', 'pthread'] if arch == "larch64": libs.append('i2c') env.Program('_sensord', ['sensors_qcom2.cc'] + sensors, LIBS=libs) diff --git a/selfdrive/sensord/sensors/bmx055_accel.cc b/selfdrive/sensord/sensors/bmx055_accel.cc index d17e3fe61..e191d0d72 100644 --- a/selfdrive/sensord/sensors/bmx055_accel.cc +++ b/selfdrive/sensord/sensors/bmx055_accel.cc @@ -43,7 +43,7 @@ fail: return ret; } -void BMX055_Accel::get_event(cereal::SensorEventData::Builder &event) { +bool BMX055_Accel::get_event(cereal::SensorEventData::Builder &event) { uint64_t start_time = nanos_since_boot(); uint8_t buffer[6]; int len = read_register(BMX055_ACCEL_I2C_REG_X_LSB, buffer, sizeof(buffer)); @@ -66,4 +66,5 @@ void BMX055_Accel::get_event(cereal::SensorEventData::Builder &event) { svec.setV(xyz); svec.setStatus(true); + return true; } diff --git a/selfdrive/sensord/sensors/bmx055_accel.h b/selfdrive/sensord/sensors/bmx055_accel.h index 86ec419cd..3b6dd536a 100644 --- a/selfdrive/sensord/sensors/bmx055_accel.h +++ b/selfdrive/sensord/sensors/bmx055_accel.h @@ -33,5 +33,6 @@ class BMX055_Accel : public I2CSensor { public: BMX055_Accel(I2CBus *bus); int init(); - void get_event(cereal::SensorEventData::Builder &event); + bool get_event(cereal::SensorEventData::Builder &event); + int shutdown() { return 0; } }; diff --git a/selfdrive/sensord/sensors/bmx055_gyro.cc b/selfdrive/sensord/sensors/bmx055_gyro.cc index 74b22d8fe..a7ed8deba 100644 --- a/selfdrive/sensord/sensors/bmx055_gyro.cc +++ b/selfdrive/sensord/sensors/bmx055_gyro.cc @@ -54,7 +54,7 @@ fail: return ret; } -void BMX055_Gyro::get_event(cereal::SensorEventData::Builder &event) { +bool BMX055_Gyro::get_event(cereal::SensorEventData::Builder &event) { uint64_t start_time = nanos_since_boot(); uint8_t buffer[6]; int len = read_register(BMX055_GYRO_I2C_REG_RATE_X_LSB, buffer, sizeof(buffer)); @@ -76,5 +76,5 @@ void BMX055_Gyro::get_event(cereal::SensorEventData::Builder &event) { auto svec = event.initGyroUncalibrated(); svec.setV(xyz); svec.setStatus(true); - + return true; } diff --git a/selfdrive/sensord/sensors/bmx055_gyro.h b/selfdrive/sensord/sensors/bmx055_gyro.h index ed0c16ff0..fea6c3e19 100644 --- a/selfdrive/sensord/sensors/bmx055_gyro.h +++ b/selfdrive/sensord/sensors/bmx055_gyro.h @@ -33,5 +33,6 @@ class BMX055_Gyro : public I2CSensor { public: BMX055_Gyro(I2CBus *bus); int init(); - void get_event(cereal::SensorEventData::Builder &event); + bool get_event(cereal::SensorEventData::Builder &event); + int shutdown() { return 0; } }; diff --git a/selfdrive/sensord/sensors/bmx055_magn.cc b/selfdrive/sensord/sensors/bmx055_magn.cc index a2c793eff..9ba6cebd5 100644 --- a/selfdrive/sensord/sensors/bmx055_magn.cc +++ b/selfdrive/sensord/sensors/bmx055_magn.cc @@ -213,7 +213,7 @@ bool BMX055_Magn::parse_xyz(uint8_t buffer[8], int16_t *x, int16_t *y, int16_t * } -void BMX055_Magn::get_event(cereal::SensorEventData::Builder &event) { +bool BMX055_Magn::get_event(cereal::SensorEventData::Builder &event) { uint64_t start_time = nanos_since_boot(); uint8_t buffer[8]; int16_t _x, _y, x, y, z; @@ -221,7 +221,8 @@ void BMX055_Magn::get_event(cereal::SensorEventData::Builder &event) { int len = read_register(BMX055_MAGN_I2C_REG_DATAX_LSB, buffer, sizeof(buffer)); assert(len == sizeof(buffer)); - if (parse_xyz(buffer, &_x, &_y, &z)) { + bool parsed = parse_xyz(buffer, &_x, &_y, &z); + if (parsed) { event.setSource(cereal::SensorEventData::SensorSource::BMX055); event.setVersion(2); event.setSensor(SENSOR_MAGNETOMETER_UNCALIBRATED); @@ -247,4 +248,6 @@ void BMX055_Magn::get_event(cereal::SensorEventData::Builder &event) { // at a 100 Hz. When reading the registers we have to check the ready bit // To verify the measurement was completed this cycle. set_register(BMX055_MAGN_I2C_REG_MAG, BMX055_MAGN_FORCED); + + return parsed; } diff --git a/selfdrive/sensord/sensors/bmx055_magn.h b/selfdrive/sensord/sensors/bmx055_magn.h index d60fd5515..c762f2c3b 100644 --- a/selfdrive/sensord/sensors/bmx055_magn.h +++ b/selfdrive/sensord/sensors/bmx055_magn.h @@ -59,5 +59,6 @@ class BMX055_Magn : public I2CSensor{ public: BMX055_Magn(I2CBus *bus); int init(); - void get_event(cereal::SensorEventData::Builder &event); + bool get_event(cereal::SensorEventData::Builder &event); + int shutdown() { return 0; } }; diff --git a/selfdrive/sensord/sensors/bmx055_temp.cc b/selfdrive/sensord/sensors/bmx055_temp.cc index 85bdea9e6..3cee34ef1 100644 --- a/selfdrive/sensord/sensors/bmx055_temp.cc +++ b/selfdrive/sensord/sensors/bmx055_temp.cc @@ -28,7 +28,7 @@ fail: return ret; } -void BMX055_Temp::get_event(cereal::SensorEventData::Builder &event) { +bool BMX055_Temp::get_event(cereal::SensorEventData::Builder &event) { uint64_t start_time = nanos_since_boot(); uint8_t buffer[1]; int len = read_register(BMX055_ACCEL_I2C_REG_TEMP, buffer, sizeof(buffer)); @@ -41,4 +41,5 @@ void BMX055_Temp::get_event(cereal::SensorEventData::Builder &event) { event.setType(SENSOR_TYPE_AMBIENT_TEMPERATURE); event.setTimestamp(start_time); event.setTemperature(temp); + return true; } diff --git a/selfdrive/sensord/sensors/bmx055_temp.h b/selfdrive/sensord/sensors/bmx055_temp.h index 5ffaa8fb6..f5d771a29 100644 --- a/selfdrive/sensord/sensors/bmx055_temp.h +++ b/selfdrive/sensord/sensors/bmx055_temp.h @@ -8,5 +8,6 @@ class BMX055_Temp : public I2CSensor { public: BMX055_Temp(I2CBus *bus); int init(); - void get_event(cereal::SensorEventData::Builder &event); + bool get_event(cereal::SensorEventData::Builder &event); + int shutdown() { return 0; } }; diff --git a/selfdrive/sensord/sensors/file_sensor.cc b/selfdrive/sensord/sensors/file_sensor.cc index 812a41fa8..80e512156 100644 --- a/selfdrive/sensord/sensors/file_sensor.cc +++ b/selfdrive/sensord/sensors/file_sensor.cc @@ -12,3 +12,7 @@ int FileSensor::init() { FileSensor::~FileSensor() { file.close(); } + +bool FileSensor::has_interrupt_enabled() { + return false; +} \ No newline at end of file diff --git a/selfdrive/sensord/sensors/file_sensor.h b/selfdrive/sensord/sensors/file_sensor.h index c5b4643e1..5bcaee66a 100644 --- a/selfdrive/sensord/sensors/file_sensor.h +++ b/selfdrive/sensord/sensors/file_sensor.h @@ -14,5 +14,6 @@ public: FileSensor(std::string filename); ~FileSensor(); int init(); - virtual void get_event(cereal::SensorEventData::Builder &event) = 0; + bool has_interrupt_enabled(); + virtual bool get_event(cereal::SensorEventData::Builder &event) = 0; }; diff --git a/selfdrive/sensord/sensors/i2c_sensor.cc b/selfdrive/sensord/sensors/i2c_sensor.cc index 40dfa4a73..06a216478 100644 --- a/selfdrive/sensord/sensors/i2c_sensor.cc +++ b/selfdrive/sensord/sensors/i2c_sensor.cc @@ -15,8 +15,12 @@ int32_t read_20_bit(uint8_t b2, uint8_t b1, uint8_t b0) { return int32_t(combined) / (1 << 4); } +I2CSensor::I2CSensor(I2CBus *bus, int gpio_nr, bool shared_gpio) : bus(bus), gpio_nr(gpio_nr), shared_gpio(shared_gpio) {} -I2CSensor::I2CSensor(I2CBus *bus) : bus(bus) { +I2CSensor::~I2CSensor() { + if (gpio_fd != -1) { + close(gpio_fd); + } } int I2CSensor::read_register(uint register_address, uint8_t *buffer, uint8_t len) { @@ -26,3 +30,20 @@ int I2CSensor::read_register(uint register_address, uint8_t *buffer, uint8_t len int I2CSensor::set_register(uint register_address, uint8_t data) { return bus->set_register(get_device_address(), register_address, data); } + +int I2CSensor::init_gpio() { + if (shared_gpio || gpio_nr == 0) { + return 0; + } + + gpio_fd = gpiochip_get_ro_value_fd("sensord", GPIOCHIP_INT, gpio_nr); + if (gpio_fd < 0) { + return -1; + } + + return 0; +} + +bool I2CSensor::has_interrupt_enabled() { + return gpio_nr != 0; +} diff --git a/selfdrive/sensord/sensors/i2c_sensor.h b/selfdrive/sensord/sensors/i2c_sensor.h index 7832475a9..f6820a247 100644 --- a/selfdrive/sensord/sensors/i2c_sensor.h +++ b/selfdrive/sensord/sensors/i2c_sensor.h @@ -1,9 +1,13 @@ #pragma once #include +#include #include "cereal/gen/cpp/log.capnp.h" + #include "common/i2c.h" +#include "common/gpio.h" + #include "selfdrive/sensord/sensors/constants.h" #include "selfdrive/sensord/sensors/sensor.h" @@ -15,12 +19,18 @@ int32_t read_20_bit(uint8_t b2, uint8_t b1, uint8_t b0); class I2CSensor : public Sensor { private: I2CBus *bus; + int gpio_nr; + bool shared_gpio; virtual uint8_t get_device_address() = 0; public: - I2CSensor(I2CBus *bus); + I2CSensor(I2CBus *bus, int gpio_nr = 0, bool shared_gpio = false); + ~I2CSensor(); int read_register(uint register_address, uint8_t *buffer, uint8_t len); int set_register(uint register_address, uint8_t data); + int init_gpio(); + bool has_interrupt_enabled(); virtual int init() = 0; - virtual void get_event(cereal::SensorEventData::Builder &event) = 0; + virtual bool get_event(cereal::SensorEventData::Builder &event) = 0; + virtual int shutdown() = 0; }; diff --git a/selfdrive/sensord/sensors/light_sensor.cc b/selfdrive/sensord/sensors/light_sensor.cc index 449734368..321ac75c7 100644 --- a/selfdrive/sensord/sensors/light_sensor.cc +++ b/selfdrive/sensord/sensors/light_sensor.cc @@ -5,7 +5,7 @@ #include "common/timing.h" #include "selfdrive/sensord/sensors/constants.h" -void LightSensor::get_event(cereal::SensorEventData::Builder &event) { +bool LightSensor::get_event(cereal::SensorEventData::Builder &event) { uint64_t start_time = nanos_since_boot(); file.clear(); file.seekg(0); @@ -19,4 +19,6 @@ void LightSensor::get_event(cereal::SensorEventData::Builder &event) { event.setType(SENSOR_TYPE_LIGHT); event.setTimestamp(start_time); event.setLight(value); + + return true; } diff --git a/selfdrive/sensord/sensors/light_sensor.h b/selfdrive/sensord/sensors/light_sensor.h index faf901d41..63bda7475 100644 --- a/selfdrive/sensord/sensors/light_sensor.h +++ b/selfdrive/sensord/sensors/light_sensor.h @@ -4,5 +4,6 @@ class LightSensor : public FileSensor { public: LightSensor(std::string filename) : FileSensor(filename){}; - void get_event(cereal::SensorEventData::Builder &event); + bool get_event(cereal::SensorEventData::Builder &event); + int shutdown() { return 0; } }; diff --git a/selfdrive/sensord/sensors/lsm6ds3_accel.cc b/selfdrive/sensord/sensors/lsm6ds3_accel.cc index d923986db..8cc89e457 100644 --- a/selfdrive/sensord/sensors/lsm6ds3_accel.cc +++ b/selfdrive/sensord/sensors/lsm6ds3_accel.cc @@ -5,11 +5,12 @@ #include "common/swaglog.h" #include "common/timing.h" -LSM6DS3_Accel::LSM6DS3_Accel(I2CBus *bus) : I2CSensor(bus) {} +LSM6DS3_Accel::LSM6DS3_Accel(I2CBus *bus, int gpio_nr, bool shared_gpio) : I2CSensor(bus, gpio_nr, shared_gpio) {} int LSM6DS3_Accel::init() { int ret = 0; uint8_t buffer[1]; + uint8_t value = 0; ret = read_register(LSM6DS3_ACCEL_I2C_REG_ID, buffer, 1); if(ret < 0) { @@ -27,20 +28,69 @@ int LSM6DS3_Accel::init() { source = cereal::SensorEventData::SensorSource::LSM6DS3TRC; } + ret = init_gpio(); + if (ret < 0) { + goto fail; + } + // TODO: set scale and bandwidth. Default is +- 2G, 50 Hz ret = set_register(LSM6DS3_ACCEL_I2C_REG_CTRL1_XL, LSM6DS3_ACCEL_ODR_104HZ); if (ret < 0) { goto fail; } + ret = set_register(LSM6DS3_ACCEL_I2C_REG_DRDY_CFG, LSM6DS3_ACCEL_DRDY_PULSE_MODE); + if (ret < 0) { + goto fail; + } + + // enable data ready interrupt for accel on INT1 + // (without resetting existing interrupts) + ret = read_register(LSM6DS3_ACCEL_I2C_REG_INT1_CTRL, &value, 1); + if (ret < 0) { + goto fail; + } + + value |= LSM6DS3_ACCEL_INT1_DRDY_XL; + ret = set_register(LSM6DS3_ACCEL_I2C_REG_INT1_CTRL, value); fail: return ret; } -void LSM6DS3_Accel::get_event(cereal::SensorEventData::Builder &event) { +int LSM6DS3_Accel::shutdown() { + int ret = 0; + + // disable data ready interrupt for accel on INT1 + uint8_t value = 0; + ret = read_register(LSM6DS3_ACCEL_I2C_REG_INT1_CTRL, &value, 1); + if (ret < 0) { + goto fail; + } + + value &= ~(LSM6DS3_ACCEL_INT1_DRDY_XL); + ret = set_register(LSM6DS3_ACCEL_I2C_REG_INT1_CTRL, value); + if (ret < 0) { + goto fail; + } + return ret; + +fail: + LOGE("Could not disable lsm6ds3 acceleration interrupt!") + return ret; +} + +bool LSM6DS3_Accel::get_event(cereal::SensorEventData::Builder &event) { + + if (has_interrupt_enabled()) { + // INT1 shared with gyro, check STATUS_REG who triggered + uint8_t status_reg = 0; + read_register(LSM6DS3_ACCEL_I2C_REG_STAT_REG, &status_reg, sizeof(status_reg)); + if ((status_reg & LSM6DS3_ACCEL_DRDY_XLDA) == 0) { + return false; + } + } - uint64_t start_time = nanos_since_boot(); uint8_t buffer[6]; int len = read_register(LSM6DS3_ACCEL_I2C_REG_OUTX_L_XL, buffer, sizeof(buffer)); assert(len == sizeof(buffer)); @@ -54,11 +104,11 @@ void LSM6DS3_Accel::get_event(cereal::SensorEventData::Builder &event) { event.setVersion(1); event.setSensor(SENSOR_ACCELEROMETER); event.setType(SENSOR_TYPE_ACCELEROMETER); - event.setTimestamp(start_time); float xyz[] = {y, -x, z}; auto svec = event.initAcceleration(); svec.setV(xyz); svec.setStatus(true); + return true; } diff --git a/selfdrive/sensord/sensors/lsm6ds3_accel.h b/selfdrive/sensord/sensors/lsm6ds3_accel.h index 4a6b68744..6ed94a8f1 100644 --- a/selfdrive/sensord/sensors/lsm6ds3_accel.h +++ b/selfdrive/sensord/sensors/lsm6ds3_accel.h @@ -6,21 +6,28 @@ #define LSM6DS3_ACCEL_I2C_ADDR 0x6A // Registers of the chip +#define LSM6DS3_ACCEL_I2C_REG_DRDY_CFG 0x0B #define LSM6DS3_ACCEL_I2C_REG_ID 0x0F +#define LSM6DS3_ACCEL_I2C_REG_INT1_CTRL 0x0D #define LSM6DS3_ACCEL_I2C_REG_CTRL1_XL 0x10 +#define LSM6DS3_ACCEL_I2C_REG_STAT_REG 0x1E #define LSM6DS3_ACCEL_I2C_REG_OUTX_L_XL 0x28 // Constants -#define LSM6DS3_ACCEL_CHIP_ID 0x69 -#define LSM6DS3TRC_ACCEL_CHIP_ID 0x6A -#define LSM6DS3_ACCEL_ODR_104HZ (0b0100 << 4) +#define LSM6DS3_ACCEL_CHIP_ID 0x69 +#define LSM6DS3TRC_ACCEL_CHIP_ID 0x6A +#define LSM6DS3_ACCEL_ODR_104HZ (0b0100 << 4) +#define LSM6DS3_ACCEL_INT1_DRDY_XL 0b1 +#define LSM6DS3_ACCEL_DRDY_XLDA 0b1 +#define LSM6DS3_ACCEL_DRDY_PULSE_MODE (1 << 7) class LSM6DS3_Accel : public I2CSensor { uint8_t get_device_address() {return LSM6DS3_ACCEL_I2C_ADDR;} cereal::SensorEventData::SensorSource source = cereal::SensorEventData::SensorSource::LSM6DS3; public: - LSM6DS3_Accel(I2CBus *bus); + LSM6DS3_Accel(I2CBus *bus, int gpio_nr = 0, bool shared_gpio = false); int init(); - void get_event(cereal::SensorEventData::Builder &event); + bool get_event(cereal::SensorEventData::Builder &event); + int shutdown(); }; diff --git a/selfdrive/sensord/sensors/lsm6ds3_gyro.cc b/selfdrive/sensord/sensors/lsm6ds3_gyro.cc index c7711d34e..a7321e8fa 100644 --- a/selfdrive/sensord/sensors/lsm6ds3_gyro.cc +++ b/selfdrive/sensord/sensors/lsm6ds3_gyro.cc @@ -8,12 +8,12 @@ #define DEG2RAD(x) ((x) * M_PI / 180.0) - -LSM6DS3_Gyro::LSM6DS3_Gyro(I2CBus *bus) : I2CSensor(bus) {} +LSM6DS3_Gyro::LSM6DS3_Gyro(I2CBus *bus, int gpio_nr, bool shared_gpio) : I2CSensor(bus, gpio_nr, shared_gpio) {} int LSM6DS3_Gyro::init() { int ret = 0; uint8_t buffer[1]; + uint8_t value = 0; ret = read_register(LSM6DS3_GYRO_I2C_REG_ID, buffer, 1); if(ret < 0) { @@ -31,20 +31,69 @@ int LSM6DS3_Gyro::init() { source = cereal::SensorEventData::SensorSource::LSM6DS3TRC; } + ret = init_gpio(); + if (ret < 0) { + goto fail; + } + // TODO: set scale. Default is +- 250 deg/s ret = set_register(LSM6DS3_GYRO_I2C_REG_CTRL2_G, LSM6DS3_GYRO_ODR_104HZ); if (ret < 0) { goto fail; } + ret = set_register(LSM6DS3_GYRO_I2C_REG_DRDY_CFG, LSM6DS3_GYRO_DRDY_PULSE_MODE); + if (ret < 0) { + goto fail; + } + + // enable data ready interrupt for gyro on INT1 + // (without resetting existing interrupts) + ret = read_register(LSM6DS3_GYRO_I2C_REG_INT1_CTRL, &value, 1); + if (ret < 0) { + goto fail; + } + + value |= LSM6DS3_GYRO_INT1_DRDY_G; + ret = set_register(LSM6DS3_GYRO_I2C_REG_INT1_CTRL, value); + +fail: + return ret; +} + +int LSM6DS3_Gyro::shutdown() { + int ret = 0; + + // disable data ready interrupt for accel on INT1 + uint8_t value = 0; + ret = read_register(LSM6DS3_GYRO_I2C_REG_INT1_CTRL, &value, 1); + if (ret < 0) { + goto fail; + } + + value &= ~(LSM6DS3_GYRO_INT1_DRDY_G); + ret = set_register(LSM6DS3_GYRO_I2C_REG_INT1_CTRL, value); + if (ret < 0) { + goto fail; + } + return ret; fail: + LOGE("Could not disable lsm6ds3 gyroscope interrupt!") return ret; } -void LSM6DS3_Gyro::get_event(cereal::SensorEventData::Builder &event) { +bool LSM6DS3_Gyro::get_event(cereal::SensorEventData::Builder &event) { + + if (has_interrupt_enabled()) { + // INT1 shared with accel, check STATUS_REG who triggered + uint8_t status_reg = 0; + read_register(LSM6DS3_GYRO_I2C_REG_STAT_REG, &status_reg, sizeof(status_reg)); + if ((status_reg & LSM6DS3_GYRO_DRDY_GDA) == 0) { + return false; + } + } - uint64_t start_time = nanos_since_boot(); uint8_t buffer[6]; int len = read_register(LSM6DS3_GYRO_I2C_REG_OUTX_L_G, buffer, sizeof(buffer)); assert(len == sizeof(buffer)); @@ -58,11 +107,11 @@ void LSM6DS3_Gyro::get_event(cereal::SensorEventData::Builder &event) { event.setVersion(2); event.setSensor(SENSOR_GYRO_UNCALIBRATED); event.setType(SENSOR_TYPE_GYROSCOPE_UNCALIBRATED); - event.setTimestamp(start_time); float xyz[] = {y, -x, z}; auto svec = event.initGyroUncalibrated(); svec.setV(xyz); svec.setStatus(true); + return true; } diff --git a/selfdrive/sensord/sensors/lsm6ds3_gyro.h b/selfdrive/sensord/sensors/lsm6ds3_gyro.h index d7e8f0025..c2ed5ab76 100644 --- a/selfdrive/sensord/sensors/lsm6ds3_gyro.h +++ b/selfdrive/sensord/sensors/lsm6ds3_gyro.h @@ -6,21 +6,28 @@ #define LSM6DS3_GYRO_I2C_ADDR 0x6A // Registers of the chip +#define LSM6DS3_GYRO_I2C_REG_DRDY_CFG 0x0B #define LSM6DS3_GYRO_I2C_REG_ID 0x0F +#define LSM6DS3_GYRO_I2C_REG_INT1_CTRL 0x0D #define LSM6DS3_GYRO_I2C_REG_CTRL2_G 0x11 +#define LSM6DS3_GYRO_I2C_REG_STAT_REG 0x1E #define LSM6DS3_GYRO_I2C_REG_OUTX_L_G 0x22 // Constants -#define LSM6DS3_GYRO_CHIP_ID 0x69 -#define LSM6DS3TRC_GYRO_CHIP_ID 0x6A -#define LSM6DS3_GYRO_ODR_104HZ (0b0100 << 4) +#define LSM6DS3_GYRO_CHIP_ID 0x69 +#define LSM6DS3TRC_GYRO_CHIP_ID 0x6A +#define LSM6DS3_GYRO_ODR_104HZ (0b0100 << 4) +#define LSM6DS3_GYRO_INT1_DRDY_G 0b10 +#define LSM6DS3_GYRO_DRDY_GDA 0b10 +#define LSM6DS3_GYRO_DRDY_PULSE_MODE (1 << 7) class LSM6DS3_Gyro : public I2CSensor { uint8_t get_device_address() {return LSM6DS3_GYRO_I2C_ADDR;} cereal::SensorEventData::SensorSource source = cereal::SensorEventData::SensorSource::LSM6DS3; public: - LSM6DS3_Gyro(I2CBus *bus); + LSM6DS3_Gyro(I2CBus *bus, int gpio_nr = 0, bool shared_gpio = false); int init(); - void get_event(cereal::SensorEventData::Builder &event); + bool get_event(cereal::SensorEventData::Builder &event); + int shutdown(); }; diff --git a/selfdrive/sensord/sensors/lsm6ds3_temp.cc b/selfdrive/sensord/sensors/lsm6ds3_temp.cc index 1dd179d69..082ffee08 100644 --- a/selfdrive/sensord/sensors/lsm6ds3_temp.cc +++ b/selfdrive/sensord/sensors/lsm6ds3_temp.cc @@ -31,7 +31,7 @@ fail: return ret; } -void LSM6DS3_Temp::get_event(cereal::SensorEventData::Builder &event) { +bool LSM6DS3_Temp::get_event(cereal::SensorEventData::Builder &event) { uint64_t start_time = nanos_since_boot(); uint8_t buffer[2]; @@ -47,4 +47,5 @@ void LSM6DS3_Temp::get_event(cereal::SensorEventData::Builder &event) { event.setTimestamp(start_time); event.setTemperature(temp); + return true; } diff --git a/selfdrive/sensord/sensors/lsm6ds3_temp.h b/selfdrive/sensord/sensors/lsm6ds3_temp.h index 8188f4670..9d9523690 100644 --- a/selfdrive/sensord/sensors/lsm6ds3_temp.h +++ b/selfdrive/sensord/sensors/lsm6ds3_temp.h @@ -21,5 +21,6 @@ class LSM6DS3_Temp : public I2CSensor { public: LSM6DS3_Temp(I2CBus *bus); int init(); - void get_event(cereal::SensorEventData::Builder &event); + bool get_event(cereal::SensorEventData::Builder &event); + int shutdown() { return 0; } }; diff --git a/selfdrive/sensord/sensors/mmc5603nj_magn.cc b/selfdrive/sensord/sensors/mmc5603nj_magn.cc index 7c654ce7a..2bfd887a7 100644 --- a/selfdrive/sensord/sensors/mmc5603nj_magn.cc +++ b/selfdrive/sensord/sensors/mmc5603nj_magn.cc @@ -51,7 +51,7 @@ fail: return ret; } -void MMC5603NJ_Magn::get_event(cereal::SensorEventData::Builder &event) { +bool MMC5603NJ_Magn::get_event(cereal::SensorEventData::Builder &event) { uint64_t start_time = nanos_since_boot(); uint8_t buffer[9]; @@ -74,4 +74,5 @@ void MMC5603NJ_Magn::get_event(cereal::SensorEventData::Builder &event) { svec.setV(xyz); svec.setStatus(true); + return true; } diff --git a/selfdrive/sensord/sensors/mmc5603nj_magn.h b/selfdrive/sensord/sensors/mmc5603nj_magn.h index 58840bbf2..857bd10a5 100644 --- a/selfdrive/sensord/sensors/mmc5603nj_magn.h +++ b/selfdrive/sensord/sensors/mmc5603nj_magn.h @@ -25,5 +25,6 @@ class MMC5603NJ_Magn : public I2CSensor { public: MMC5603NJ_Magn(I2CBus *bus); int init(); - void get_event(cereal::SensorEventData::Builder &event); + bool get_event(cereal::SensorEventData::Builder &event); + int shutdown() { return 0; } }; diff --git a/selfdrive/sensord/sensors/sensor.h b/selfdrive/sensord/sensors/sensor.h index 3fb58ad2a..0bdc56027 100644 --- a/selfdrive/sensord/sensors/sensor.h +++ b/selfdrive/sensord/sensors/sensor.h @@ -4,7 +4,10 @@ class Sensor { public: + int gpio_fd = -1; virtual ~Sensor() {}; virtual int init() = 0; - virtual void get_event(cereal::SensorEventData::Builder &event) = 0; + virtual bool get_event(cereal::SensorEventData::Builder &event) = 0; + virtual bool has_interrupt_enabled() = 0; + virtual int shutdown() = 0; }; diff --git a/selfdrive/sensord/sensors_qcom2.cc b/selfdrive/sensord/sensors_qcom2.cc index 65fe43f65..a9d6e31d3 100644 --- a/selfdrive/sensord/sensors_qcom2.cc +++ b/selfdrive/sensord/sensors_qcom2.cc @@ -3,6 +3,8 @@ #include #include #include +#include +#include #include "cereal/messaging/messaging.h" #include "common/i2c.h" @@ -24,6 +26,79 @@ #define I2C_BUS_IMU 1 ExitHandler do_exit; +std::mutex pm_mutex; + +void interrupt_loop(int fd, std::vector& sensors, PubMaster& pm) { + struct pollfd fd_list[1] = {0}; + fd_list[0].fd = fd; + fd_list[0].events = POLLIN | POLLPRI; + + uint64_t offset = nanos_since_epoch() - nanos_since_boot(); + + while (!do_exit) { + int err = poll(fd_list, 1, 100); + if (err == -1) { + if (errno == EINTR) { + continue; + } + return; + } else if (err == 0) { + LOGE("poll timed out"); + continue; + } + + if ((fd_list[0].revents & (POLLIN | POLLPRI)) == 0) { + LOGE("no poll events set"); + continue; + } + + // Read all events + struct gpioevent_data evdata[16]; + err = read(fd, evdata, sizeof(evdata)); + if (err < 0 || err % sizeof(*evdata) != 0) { + LOGE("error reading event data %d", err); + continue; + } + + int num_events = err / sizeof(*evdata); + uint64_t ts = evdata[num_events - 1].timestamp - offset; + + MessageBuilder msg; + auto orphanage = msg.getOrphanage(); + std::vector> collected_events; + collected_events.reserve(sensors.size()); + + for (Sensor *sensor : sensors) { + auto orphan = orphanage.newOrphan(); + auto event = orphan.get(); + if (!sensor->get_event(event)) { + continue; + } + + event.setTimestamp(ts); + collected_events.push_back(kj::mv(orphan)); + } + + if (collected_events.size() == 0) { + continue; + } + + auto events = msg.initEvent().initSensorEvents(collected_events.size()); + for (int i = 0; i < collected_events.size(); ++i) { + events.adoptWithCaveats(i, kj::mv(collected_events[i])); + } + + { + std::lock_guard lock(pm_mutex); + pm.send("sensorEvents", msg); + } + } + + // poweroff sensors, disable interrupts + for (Sensor *sensor : sensors) { + sensor->shutdown(); + } +} int sensor_loop() { I2CBus *i2c_bus_imu; @@ -40,8 +115,8 @@ int sensor_loop() { BMX055_Magn bmx055_magn(i2c_bus_imu); BMX055_Temp bmx055_temp(i2c_bus_imu); - LSM6DS3_Accel lsm6ds3_accel(i2c_bus_imu); - LSM6DS3_Gyro lsm6ds3_gyro(i2c_bus_imu); + LSM6DS3_Accel lsm6ds3_accel(i2c_bus_imu, GPIO_LSM_INT); + LSM6DS3_Gyro lsm6ds3_gyro(i2c_bus_imu, GPIO_LSM_INT, true); // GPIO shared with accel LSM6DS3_Temp lsm6ds3_temp(i2c_bus_imu); MMC5603NJ_Magn mmc5603nj_magn(i2c_bus_imu); @@ -73,23 +148,33 @@ int sensor_loop() { // Fail on required sensors if (sensor.second) { LOGE("Error initializing sensors"); + delete i2c_bus_imu; return -1; } } else { if (sensor.first == &bmx055_magn || sensor.first == &mmc5603nj_magn) { has_magnetometer = true; } - sensors.push_back(sensor.first); + + if (!sensor.first->has_interrupt_enabled()) { + sensors.push_back(sensor.first); + } } } if (!has_magnetometer) { LOGE("No magnetometer present"); + delete i2c_bus_imu; return -1; } PubMaster pm({"sensorEvents"}); + // thread for reading events via interrupts + std::vector lsm_interrupt_sensors = {&lsm6ds3_accel, &lsm6ds3_gyro}; + std::thread lsm_interrupt_thread(&interrupt_loop, lsm6ds3_accel.gpio_fd, std::ref(lsm_interrupt_sensors), std::ref(pm)); + + // polling loop for non interrupt handled sensors while (!do_exit) { std::chrono::steady_clock::time_point begin = std::chrono::steady_clock::now(); @@ -102,11 +187,17 @@ int sensor_loop() { sensors[i]->get_event(event); } - pm.send("sensorEvents", msg); + { + std::lock_guard lock(pm_mutex); + pm.send("sensorEvents", msg); + } std::chrono::steady_clock::time_point end = std::chrono::steady_clock::now(); std::this_thread::sleep_for(std::chrono::milliseconds(10) - (end - begin)); } + + lsm_interrupt_thread.join(); + delete i2c_bus_imu; return 0; } diff --git a/selfdrive/sensord/tests/test_sensord.py b/selfdrive/sensord/tests/test_sensord.py old mode 100755 new mode 100644 index 9fd918c97..7abaf9ca3 --- a/selfdrive/sensord/tests/test_sensord.py +++ b/selfdrive/sensord/tests/test_sensord.py @@ -2,12 +2,15 @@ import time import unittest +import numpy as np +from collections import namedtuple +from smbus2 import SMBus import cereal.messaging as messaging +from cereal import log from system.hardware import TICI from selfdrive.test.helpers import with_processes - -TEST_TIMESPAN = 10 +from selfdrive.manager.process_config import managed_processes SENSOR_CONFIGURATIONS = ( { @@ -46,6 +49,63 @@ SENSOR_CONFIGURATIONS = ( }, ) +Sensor = log.SensorEventData.SensorSource +SensorConfig = namedtuple('SensorConfig', ['type', 'min_samples', 'sanity_min', 'sanity_max']) +ALL_SENSORS = { + Sensor.rpr0521: { + SensorConfig("light", 100, 0, 150), + }, + + Sensor.lsm6ds3: { + SensorConfig("acceleration", 100, 5, 15), + SensorConfig("gyroUncalibrated", 100, 0, .2), + SensorConfig("temperature", 100, 0, 60), + }, + + Sensor.lsm6ds3trc: { + SensorConfig("acceleration", 100, 5, 15), + SensorConfig("gyroUncalibrated", 100, 0, .2), + SensorConfig("temperature", 100, 0, 60), + }, + + Sensor.bmx055: { + SensorConfig("acceleration", 100, 5, 15), + SensorConfig("gyroUncalibrated", 100, 0, .2), + SensorConfig("magneticUncalibrated", 100, 0, 300), + SensorConfig("temperature", 100, 0, 60), + }, + + Sensor.mmc5603nj: { + SensorConfig("magneticUncalibrated", 100, 0, 300), + } +} + +SENSOR_BUS = 1 +I2C_ADDR_LSM = 0x6A +LSM_INT_GPIO = 84 + +def read_sensor_events(duration_sec): + sensor_events = messaging.sub_sock("sensorEvents", timeout=0.1) + start_time_sec = time.monotonic() + events = [] + while time.monotonic() - start_time_sec < duration_sec: + events += messaging.drain_sock(sensor_events) + time.sleep(0.01) + + assert len(events) != 0, "No sensor events collected" + return events + +def get_proc_interrupts(int_pin): + + with open("/proc/interrupts") as f: + lines = f.read().split("\n") + + for line in lines: + if f" {int_pin} " in line: + return ''.join(list(filter(lambda e: e != '', line.split(' ')))[1:6]) + + return "" + class TestSensord(unittest.TestCase): @classmethod @@ -55,24 +115,175 @@ class TestSensord(unittest.TestCase): @with_processes(['sensord']) def test_sensors_present(self): - sensor_events = messaging.sub_sock("sensorEvents", timeout=0.1) - - start_time_sec = time.time() - events = [] - while time.time() - start_time_sec < TEST_TIMESPAN: - events += messaging.drain_sock(sensor_events) - time.sleep(0.01) + # verify correct sensors configuration + events = read_sensor_events(10) seen = set() for event in events: for measurement in event.sensorEvents: - # Filter out unset events + # filter unset events (bmx magn) if measurement.version == 0: continue seen.add((str(measurement.source), measurement.which())) self.assertIn(seen, SENSOR_CONFIGURATIONS) + @with_processes(['sensord']) + def test_lsm6ds3_100Hz(self): + # verify measurements are sampled and published at a 100Hz rate + events = read_sensor_events(3) # 3sec (about 300 measurements) + + data_points = set() + for event in events: + for measurement in event.sensorEvents: + + # skip lsm6ds3 temperature measurements + if measurement.which() == 'temperature': + continue + + if str(measurement.source).startswith("lsm6ds3"): + data_points.add(measurement.timestamp) + + assert len(data_points) != 0, "No lsm6ds3 sensor events" + + data_list = list(data_points) + data_list.sort() + tdiffs = np.diff(data_list) + + high_delay_diffs = set(filter(lambda d: d >= 10.1*10**6, tdiffs)) + assert len(high_delay_diffs) < 10, f"Too many high delay packages: {high_delay_diffs}" + + avg_diff = sum(tdiffs)/len(tdiffs) + assert avg_diff > 9.6*10**6, f"avg difference {avg_diff}, below threshold" + + stddev = np.std(tdiffs) + assert stddev < 1.5*10**6, f"Standard-dev to big {stddev}" + + @with_processes(['sensord']) + def test_events_check(self): + # verify if all sensors produce events + events = read_sensor_events(3) + + sensor_events = dict() + for event in events: + for measurement in event.sensorEvents: + + # filter unset events (bmx magn) + if measurement.version == 0: + continue + + if measurement.type in sensor_events: + sensor_events[measurement.type] += 1 + else: + sensor_events[measurement.type] = 1 + + for s in sensor_events: + err_msg = f"Sensor {s}: 200 < {sensor_events[s]}" + assert sensor_events[s] > 200, err_msg + + @with_processes(['sensord']) + def test_logmonottime_timestamp_diff(self): + # ensure diff between the message logMonotime and sample timestamp is small + events = read_sensor_events(3) + + tdiffs = list() + for event in events: + for measurement in event.sensorEvents: + + # filter unset events (bmx magn) + if measurement.version == 0: + continue + + # check if gyro and accel timestamps are before logMonoTime + if str(measurement.source).startswith("lsm6ds3"): + if measurement.which() != 'temperature': + err_msg = f"Timestamp after logMonoTime: {measurement.timestamp} > {event.logMonoTime}" + assert measurement.timestamp < event.logMonoTime, err_msg + + # negative values might occur, as non interrupt packages created + # before the sensor is read + tdiffs.append(abs(event.logMonoTime - measurement.timestamp)) + + high_delay_diffs = set(filter(lambda d: d >= 10*10**6, tdiffs)) + assert len(high_delay_diffs) < 15, f"Too many high delay packages: {high_delay_diffs}" + + avg_diff = round(sum(tdiffs)/len(tdiffs), 4) + assert avg_diff < 4*10**6, f"Avg packet diff: {avg_diff:.1f}ns" + + stddev = np.std(tdiffs) + assert stddev < 2*10**6, f"Timing diffs have to high stddev: {stddev}" + + @with_processes(['sensord']) + def test_sensor_values_sanity_check(self): + + events = read_sensor_events(2) + + sensor_values = dict() + for event in events: + for m in event.sensorEvents: + + # filter unset events (bmx magn) + if m.version == 0: + continue + + key = (m.source.raw, m.which()) + values = getattr(m, m.which()) + if hasattr(values, 'v'): + values = values.v + values = np.atleast_1d(values) + + if key in sensor_values: + sensor_values[key].append(values) + else: + sensor_values[key] = [values] + + # Sanity check sensor values and counts + for sensor, stype in sensor_values: + + for s in ALL_SENSORS[sensor]: + if s.type != stype: + continue + + key = (sensor, s.type) + val_cnt = len(sensor_values[key]) + err_msg = f"Sensor {sensor} {s.type} got {val_cnt} measurements, expected {s.min_samples}" + assert val_cnt > s.min_samples, err_msg + + mean_norm = np.mean(np.linalg.norm(sensor_values[key], axis=1)) + err_msg = f"Sensor '{sensor} {s.type}' failed sanity checks {mean_norm} is not between {s.sanity_min} and {s.sanity_max}" + assert s.sanity_min <= mean_norm <= s.sanity_max, err_msg + + def test_sensor_verify_no_interrupts_after_stop(self): + + managed_processes["sensord"].start() + time.sleep(1) + + # check if the interrupts are enableds + with SMBus(SENSOR_BUS, force=True) as bus: + int1_ctrl_reg = bus.read_byte_data(I2C_ADDR_LSM, 0x0D) + assert int1_ctrl_reg == 3, "Interrupts not enabled!" + + # read /proc/interrupts to verify interrupts are received + state_one = get_proc_interrupts(LSM_INT_GPIO) + time.sleep(1) + state_two = get_proc_interrupts(LSM_INT_GPIO) + + assert state_one != state_two, "no Interrupts received after sensord start!" + + managed_processes["sensord"].stop() + + # check if the interrupts got disabled + with SMBus(SENSOR_BUS, force=True) as bus: + int1_ctrl_reg = bus.read_byte_data(I2C_ADDR_LSM, 0x0D) + assert int1_ctrl_reg == 0, "Interrupts not disabled!" + + # read /proc/interrupts to verify no more interrupts are received + state_one = get_proc_interrupts(LSM_INT_GPIO) + time.sleep(1) + state_two = get_proc_interrupts(LSM_INT_GPIO) + assert state_one == state_two, "Interrupts received after sensord stop!" + if __name__ == "__main__": unittest.main() + diff --git a/system/hardware/tici/hardware.py b/system/hardware/tici/hardware.py index 340093b60..dd6b79e12 100644 --- a/system/hardware/tici/hardware.py +++ b/system/hardware/tici/hardware.py @@ -462,6 +462,17 @@ class Tici(HardwareBase): sudo_write("N", "/sys/kernel/debug/msm_vidc/clock_scaling") sudo_write("Y", "/sys/kernel/debug/msm_vidc/disable_thermal_mitigation") + # *** unexport GPIO for sensors *** + # remove from /userspace/usr/comma/gpio.sh + sudo_write(str(GPIO.BMX055_ACCEL_INT), "/sys/class/gpio/unexport") + sudo_write(str(GPIO.BMX055_GYRO_INT), "/sys/class/gpio/unexport") + sudo_write(str(GPIO.BMX055_MAGN_INT), "/sys/class/gpio/unexport") + sudo_write(str(GPIO.LSM_INT), "/sys/class/gpio/unexport") + + # *** set /dev/gpiochip0 rights to make accessible by sensord + os.system("sudo chmod +r /dev/gpiochip0") + + def configure_modem(self): sim_id = self.get_sim_info().get('sim_id', '') diff --git a/system/hardware/tici/pins.py b/system/hardware/tici/pins.py index 61e528d30..fe31b9311 100644 --- a/system/hardware/tici/pins.py +++ b/system/hardware/tici/pins.py @@ -19,3 +19,9 @@ class GPIO: CAM0_RSTN = 9 CAM1_RSTN = 7 CAM2_RSTN = 12 + + # Sensor interrupts + BMX055_ACCEL_INT = 21 + BMX055_GYRO_INT = 23 + BMX055_MAGN_INT = 87 + LSM_INT = 84 From ef767f633287445f7861eb5b82c5a17ab6325664 Mon Sep 17 00:00:00 2001 From: Dean Lee Date: Tue, 13 Sep 2022 13:54:33 +0800 Subject: [PATCH 27/38] MapPanel: refresh only when visible and destination changes (#25739) rebuild widgets only when mappanel is visible --- selfdrive/ui/qt/maps/map_settings.cc | 16 ++++++++++++---- selfdrive/ui/qt/maps/map_settings.h | 2 ++ 2 files changed, 14 insertions(+), 4 deletions(-) diff --git a/selfdrive/ui/qt/maps/map_settings.cc b/selfdrive/ui/qt/maps/map_settings.cc index d143b44e7..dd2ad04a7 100644 --- a/selfdrive/ui/qt/maps/map_settings.cc +++ b/selfdrive/ui/qt/maps/map_settings.cc @@ -156,6 +156,7 @@ MapPanel::MapPanel(QWidget* parent) : QWidget(parent) { void MapPanel::showEvent(QShowEvent *event) { updateCurrentRoute(); + refresh(); } void MapPanel::clear() { @@ -184,18 +185,25 @@ void MapPanel::updateCurrentRoute() { } void MapPanel::parseResponse(const QString &response, bool success) { - stack->setCurrentIndex((uiState()->prime_type || success) ? 0 : 1); + if (!success) return; - if (!success) { - return; + cur_destinations = response; + if (isVisible()) { + refresh(); } +} + +void MapPanel::refresh() { + stack->setCurrentIndex(uiState()->prime_type ? 0 : 1); + if (cur_destinations == prev_destinations) return; - QJsonDocument doc = QJsonDocument::fromJson(response.trimmed().toUtf8()); + QJsonDocument doc = QJsonDocument::fromJson(cur_destinations.trimmed().toUtf8()); if (doc.isNull()) { qDebug() << "JSON Parse failed on navigation locations"; return; } + prev_destinations = cur_destinations; clear(); bool has_recents = false; diff --git a/selfdrive/ui/qt/maps/map_settings.h b/selfdrive/ui/qt/maps/map_settings.h index 962d12767..165673b7c 100644 --- a/selfdrive/ui/qt/maps/map_settings.h +++ b/selfdrive/ui/qt/maps/map_settings.h @@ -23,8 +23,10 @@ public: private: void showEvent(QShowEvent *event) override; + void refresh(); Params params; + QString prev_destinations, cur_destinations; QStackedWidget *stack; QPushButton *home_button, *work_button; QLabel *home_address, *work_address; From 4d351427c5a46dab100078b7e9d0737bce046e40 Mon Sep 17 00:00:00 2001 From: Shane Smiskol Date: Tue, 13 Sep 2022 00:22:58 -0700 Subject: [PATCH 28/38] Consider regen properly in test_models (#25409) * Consider regen properly in test_models * bump panda * bump panda * can use the more interesting segment now * rm --- panda | 2 +- selfdrive/car/tests/routes.py | 2 +- selfdrive/car/tests/test_models.py | 3 ++- 3 files changed, 4 insertions(+), 3 deletions(-) diff --git a/panda b/panda index 15eda6a7c..788e0b5ac 160000 --- a/panda +++ b/panda @@ -1 +1 @@ -Subproject commit 15eda6a7c9cf4b0c7b5a7bbde25fcab3ff0a98fc +Subproject commit 788e0b5ac944858fd9b3d2ea98e4049df0adb51b diff --git a/selfdrive/car/tests/routes.py b/selfdrive/car/tests/routes.py index 635f43cc8..920785934 100644 --- a/selfdrive/car/tests/routes.py +++ b/selfdrive/car/tests/routes.py @@ -48,7 +48,7 @@ routes = [ CarTestRoute("aa20e335f61ba898|2019-02-05--16-59-04", GM.BUICK_REGAL), CarTestRoute("46460f0da08e621e|2021-10-26--07-21-46", GM.ESCALADE_ESV), CarTestRoute("c950e28c26b5b168|2018-05-30--22-03-41", GM.VOLT), - CarTestRoute("f08912a233c1584f|2022-08-11--18-02-41", GM.BOLT_EUV), + CarTestRoute("f08912a233c1584f|2022-08-11--18-02-41", GM.BOLT_EUV, segment=1), CarTestRoute("38aa7da107d5d252|2022-08-15--16-01-12", GM.SILVERADO), CarTestRoute("0e7a2ba168465df5|2020-10-18--14-14-22", HONDA.ACURA_RDX_3G), diff --git a/selfdrive/car/tests/test_models.py b/selfdrive/car/tests/test_models.py index fa07db92d..997a9bbec 100755 --- a/selfdrive/car/tests/test_models.py +++ b/selfdrive/car/tests/test_models.py @@ -243,7 +243,8 @@ class TestCarModelBase(unittest.TestCase): if CS.brakePressed and not self.safety.get_brake_pressed_prev(): if self.CP.carFingerprint in (HONDA.PILOT, HONDA.PASSPORT, HONDA.RIDGELINE) and CS.brake > 0.05: brake_pressed = False - checks['brakePressed'] += brake_pressed != self.safety.get_brake_pressed_prev() + safety_brake_pressed = self.safety.get_brake_pressed_prev() or self.safety.get_regen_braking_prev() + checks['brakePressed'] += brake_pressed != safety_brake_pressed if self.CP.pcmCruise: # On most pcmCruise cars, openpilot's state is always tied to the PCM's cruise state. From 7a6ab188bd1a27f2eefadac98d43731ae3ca30c4 Mon Sep 17 00:00:00 2001 From: Julian Pieles Date: Tue, 13 Sep 2022 10:06:11 +0200 Subject: [PATCH 29/38] Kia: add missing EU EV6 FW versions (#25709) * added fingerprint for european EV6 * missing version Co-authored-by: julian.pieles Co-authored-by: Shane Smiskol --- selfdrive/car/hyundai/values.py | 2 ++ 1 file changed, 2 insertions(+) diff --git a/selfdrive/car/hyundai/values.py b/selfdrive/car/hyundai/values.py index 4225826c1..7fb8363a6 100644 --- a/selfdrive/car/hyundai/values.py +++ b/selfdrive/car/hyundai/values.py @@ -1296,6 +1296,7 @@ FW_VERSIONS = { }, CAR.KIA_EV6: { (Ecu.abs, 0x7d1, None): [ + b'\xf1\x00CV IEB \x03 101!\x10\x18 58520-CV100', b'\xf1\x8758520CV100\xf1\x00CV IEB \x02 101!\x10\x18 58520-CV100', ], (Ecu.eps, 0x7d4, None): [ @@ -1307,6 +1308,7 @@ FW_VERSIONS = { ], (Ecu.fwdCamera, 0x7c4, None): [ b'\xf1\x00CV1 MFC AT USA LHD 1.00 1.05 99210-CV000 211027', + b'\xf1\x00CV1 MFC AT EUR LHD 1.00 1.05 99210-CV000 211027', ], }, CAR.IONIQ_5: { From 852af4d1f84ca17bb9ec0d0fe376077acf07b841 Mon Sep 17 00:00:00 2001 From: Robbe Derks Date: Tue, 13 Sep 2022 11:47:16 +0200 Subject: [PATCH 30/38] Update Tesla AP2 fingerprint (#25763) update fingerprint for v11 software Co-authored-by: Comma Device --- selfdrive/car/tesla/values.py | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/selfdrive/car/tesla/values.py b/selfdrive/car/tesla/values.py index 296169587..030a368a1 100644 --- a/selfdrive/car/tesla/values.py +++ b/selfdrive/car/tesla/values.py @@ -22,7 +22,7 @@ CAR_INFO: Dict[str, Union[CarInfo, List[CarInfo]]] = { FINGERPRINTS = { CAR.AP2_MODELS: [ { - 1: 8, 3: 8, 14: 8, 21: 4, 69: 8, 109: 4, 257: 3, 264: 8, 277: 6, 280: 6, 293: 4, 296: 4, 309: 5, 325: 8, 328: 5, 336: 8, 341: 8, 360: 7, 373: 8, 389: 8, 415: 8, 513: 5, 516: 8, 518: 8, 520: 4, 522: 8, 524: 8, 526: 8, 532: 3, 536: 8, 537: 3, 538: 8, 542: 8, 551: 5, 552: 2, 556: 8, 558: 8, 568: 8, 569: 8, 574: 8, 576: 3, 577: 8, 582: 5, 583: 8, 584: 4, 585: 8, 590: 8, 601: 8, 606: 8, 608: 1, 622: 8, 627: 6, 638: 8, 641: 8, 643: 8, 692: 8, 693: 8, 695: 8, 696: 8, 697: 8, 699: 8, 700: 8, 701: 8, 702: 8, 703: 8, 704: 8, 708: 8, 709: 8, 710: 8, 711: 8, 712: 8, 728: 8, 744: 8, 760: 8, 772: 8, 775: 8, 776: 8, 777: 8, 778: 8, 782: 8, 788: 8, 791: 8, 792: 8, 796: 2, 797: 8, 798: 6, 799: 8, 804: 8, 805: 8, 807: 8, 808: 1, 811: 8, 812: 8, 813: 8, 814: 5, 815: 8, 820: 8, 823: 8, 824: 8, 829: 8, 830: 5, 836: 8, 840: 8, 845: 8, 846: 5, 848: 8, 852: 8, 853: 8, 856: 4, 857: 6, 861: 8, 862: 5, 872: 8, 876: 8, 877: 8, 879: 8, 880: 8, 882: 8, 884: 8, 888: 8, 893: 8, 894: 8, 901: 6, 904: 3, 905: 8, 906: 8, 908: 2, 909: 8, 910: 8, 912: 8, 920: 8, 921: 8, 925: 4, 926: 6, 936: 8, 941: 8, 949: 8, 952: 8, 953: 6, 968: 8, 969: 6, 970: 8, 971: 8, 977: 8, 984: 8, 987: 8, 990: 8, 1000: 8, 1001: 8, 1006: 8, 1007: 8, 1008: 8, 1010: 6, 1014: 1, 1015: 8, 1016: 8, 1017: 8, 1018: 8, 1020: 8, 1026: 8, 1028: 8, 1029: 8, 1030: 8, 1032: 1, 1033: 1, 1034: 8, 1048: 1, 1049: 8, 1061: 8, 1064: 8, 1065: 8, 1070: 8, 1080: 8, 1081: 8, 1097: 8, 1113: 8, 1129: 8, 1145: 8, 1160: 4, 1177: 8, 1281: 8, 1328: 8, 1329: 8, 1332: 8, 1335: 8, 1337: 8, 1353: 8, 1368: 8, 1412: 8, 1436: 8, 1476: 8, 1481: 8, 1497: 8, 1513: 8, 1519: 8, 1601: 8, 1605: 8, 1617: 8, 1621: 8, 1625: 8, 1665: 8, 1800: 4, 1804: 8, 1812: 8, 1815: 8, 1816: 8, 1824: 8, 1828: 8, 1831: 8, 1832: 8, 1840: 8, 1848: 8, 1864: 8, 1880: 8, 1892: 8, 1896: 8, 1912: 8, 1960: 8, 1992: 8, 2008: 3, 2015: 8, 2043: 5, 2045: 4 + 1: 8, 3: 8, 14: 8, 21: 4, 69: 8, 109: 4, 257: 3, 264: 8, 277: 6, 280: 6, 293: 4, 296: 4, 309: 5, 325: 8, 328: 5, 336: 8, 341: 8, 360: 7, 373: 8, 389: 8, 415: 8, 513: 5, 516: 8, 518: 8, 520: 4, 522: 8, 524: 8, 526: 8, 532: 3, 536: 8, 537: 3, 538: 8, 542: 8, 551: 5, 552: 2, 556: 8, 558: 8, 568: 8, 569: 8, 574: 8, 576: 3, 577: 8, 582: 5, 583: 8, 584: 4, 585: 8, 590: 8, 601: 8, 606: 8, 608: 1, 622: 8, 627: 6, 638: 8, 641: 8, 643: 8, 692: 8, 693: 8, 695: 8, 696: 8, 697: 8, 699: 8, 700: 8, 701: 8, 702: 8, 703: 8, 704: 8, 708: 8, 709: 8, 710: 8, 711: 8, 712: 8, 728: 8, 744: 8, 760: 8, 772: 8, 775: 8, 776: 8, 777: 8, 778: 8, 782: 8, 788: 8, 791: 8, 792: 8, 796: 2, 797: 8, 798: 6, 799: 8, 804: 8, 805: 8, 807: 8, 808: 1, 811: 8, 812: 8, 813: 8, 814: 5, 815: 8, 820: 8, 823: 8, 824: 8, 829: 8, 830: 5, 836: 8, 840: 8, 845: 8, 846: 5, 848: 8, 852: 8, 853: 8, 856: 4, 857: 6, 861: 8, 862: 5, 872: 8, 876: 8, 877: 8, 879: 8, 880: 8, 882: 8, 884: 8, 888: 8, 893: 8, 894: 8, 901: 6, 904: 3, 905: 8, 906: 8, 908: 2, 909: 8, 910: 8, 912: 8, 920: 8, 921: 8, 925: 4, 926: 6, 936: 8, 941: 8, 949: 8, 952: 8, 953: 6, 968: 8, 969: 7, 970: 8, 971: 8, 977: 8, 984: 8, 987: 8, 990: 8, 1000: 8, 1001: 8, 1006: 8, 1007: 8, 1008: 8, 1010: 6, 1014: 1, 1015: 8, 1016: 8, 1017: 8, 1018: 8, 1020: 8, 1026: 8, 1028: 8, 1029: 8, 1030: 8, 1032: 1, 1033: 1, 1034: 8, 1048: 1, 1049: 8, 1061: 8, 1064: 8, 1065: 8, 1070: 8, 1080: 8, 1081: 8, 1097: 8, 1113: 8, 1129: 8, 1145: 8, 1160: 4, 1177: 8, 1281: 8, 1328: 8, 1329: 8, 1332: 8, 1335: 8, 1337: 8, 1353: 8, 1368: 8, 1412: 8, 1436: 8, 1476: 8, 1481: 8, 1497: 8, 1513: 8, 1519: 8, 1601: 8, 1605: 8, 1617: 8, 1621: 8, 1625: 8, 1665: 8, 1792: 8, 1798: 8, 1800: 4, 1804: 8, 1812: 8, 1815: 8, 1816: 8, 1824: 8, 1825: 8, 1828: 8, 1831: 8, 1832: 8, 1840: 8, 1842: 8, 1848: 8, 1864: 8, 1872: 8, 1880: 8, 1888: 8, 1892: 8, 1896: 8, 1912: 8, 1937: 8, 1953: 8, 1960: 8, 1968: 8, 1992: 8, 2001: 8, 2008: 3, 2015: 8, 2016: 8, 2043: 5, 2045: 4 }, ], CAR.AP1_MODELS: [ From 27e1ec8fd31192696cef70e4c6a98cbe7c3ba15a Mon Sep 17 00:00:00 2001 From: Dean Lee Date: Tue, 13 Sep 2022 18:02:13 +0800 Subject: [PATCH 31/38] ui: multilang date (#25741) * multilang date * update translations * add language to uistate * update translations * use it here too Co-authored-by: sshane --- selfdrive/ui/qt/home.cc | 4 +++- selfdrive/ui/qt/offroad/settings.cc | 3 +-- selfdrive/ui/translations/main_ja.ts | 4 ++-- selfdrive/ui/translations/main_ko.ts | 4 ++-- selfdrive/ui/translations/main_pt-BR.ts | 4 ++-- selfdrive/ui/translations/main_zh-CHS.ts | 4 ++-- selfdrive/ui/translations/main_zh-CHT.ts | 4 ++-- selfdrive/ui/ui.cc | 1 + selfdrive/ui/ui.h | 1 + 9 files changed, 16 insertions(+), 13 deletions(-) diff --git a/selfdrive/ui/qt/home.cc b/selfdrive/ui/qt/home.cc index 0edeb252b..435ba9056 100644 --- a/selfdrive/ui/qt/home.cc +++ b/selfdrive/ui/qt/home.cc @@ -183,7 +183,9 @@ void OffroadHome::hideEvent(QHideEvent *event) { } void OffroadHome::refresh() { - date->setText(QDateTime::currentDateTime().toString("dddd, MMMM d")); + QString locale_name = QString(uiState()->language).replace("main_", ""); + QString dateString = QLocale(locale_name).toString(QDateTime::currentDateTime(), "dddd, MMMM d"); + date->setText(dateString); bool updateAvailable = update_widget->refresh(); int alerts = alerts_widget->refresh(); diff --git a/selfdrive/ui/qt/offroad/settings.cc b/selfdrive/ui/qt/offroad/settings.cc index e5e563454..7a5a40c19 100644 --- a/selfdrive/ui/qt/offroad/settings.cc +++ b/selfdrive/ui/qt/offroad/settings.cc @@ -189,8 +189,7 @@ DevicePanel::DevicePanel(SettingsWindow *parent) : ListWidget(parent) { auto translateBtn = new ButtonControl(tr("Change Language"), tr("CHANGE"), ""); connect(translateBtn, &ButtonControl::clicked, [=]() { QMap langs = getSupportedLanguages(); - QString currentLang = QString::fromStdString(Params().get("LanguageSetting")); - QString selection = MultiOptionDialog::getSelection(tr("Select a language"), langs.keys(), langs.key(currentLang), this); + QString selection = MultiOptionDialog::getSelection(tr("Select a language"), langs.keys(), langs.key(uiState()->language), this); if (!selection.isEmpty()) { // put language setting, exit Qt UI, and trigger fast restart Params().put("LanguageSetting", langs[selection].toStdString()); diff --git a/selfdrive/ui/translations/main_ja.ts b/selfdrive/ui/translations/main_ja.ts index a0b2a9986..9be6658d1 100644 --- a/selfdrive/ui/translations/main_ja.ts +++ b/selfdrive/ui/translations/main_ja.ts @@ -526,7 +526,7 @@ location set 更新 - + ALERTS 警告 @@ -539,7 +539,7 @@ location set PairingPopup - + Pair your device to your comma account デバイスと comma アカウントを連携する diff --git a/selfdrive/ui/translations/main_ko.ts b/selfdrive/ui/translations/main_ko.ts index 5d7df2162..3e329a72a 100644 --- a/selfdrive/ui/translations/main_ko.ts +++ b/selfdrive/ui/translations/main_ko.ts @@ -526,7 +526,7 @@ location set 업데이트 - + ALERTS 알림 @@ -539,7 +539,7 @@ location set PairingPopup - + Pair your device to your comma account 장치를 콤마 계정과 페어링합니다 diff --git a/selfdrive/ui/translations/main_pt-BR.ts b/selfdrive/ui/translations/main_pt-BR.ts index 2b3acb369..b729678a2 100644 --- a/selfdrive/ui/translations/main_pt-BR.ts +++ b/selfdrive/ui/translations/main_pt-BR.ts @@ -527,7 +527,7 @@ trabalho definido ATUALIZAÇÃO - + ALERTS ALERTAS @@ -540,7 +540,7 @@ trabalho definido PairingPopup - + Pair your device to your comma account Pareie seu dispositivo à sua conta comma diff --git a/selfdrive/ui/translations/main_zh-CHS.ts b/selfdrive/ui/translations/main_zh-CHS.ts index a00bf2830..606e70726 100644 --- a/selfdrive/ui/translations/main_zh-CHS.ts +++ b/selfdrive/ui/translations/main_zh-CHS.ts @@ -524,7 +524,7 @@ location set 更新 - + ALERTS 警报 @@ -537,7 +537,7 @@ location set PairingPopup - + Pair your device to your comma account 将您的设备与comma账号配对 diff --git a/selfdrive/ui/translations/main_zh-CHT.ts b/selfdrive/ui/translations/main_zh-CHT.ts index 52bd30136..b5b737ca2 100644 --- a/selfdrive/ui/translations/main_zh-CHT.ts +++ b/selfdrive/ui/translations/main_zh-CHT.ts @@ -526,7 +526,7 @@ location set 更新 - + ALERTS 提醒 @@ -539,7 +539,7 @@ location set PairingPopup - + Pair your device to your comma account 將設備與您的 comma 帳號配對 diff --git a/selfdrive/ui/ui.cc b/selfdrive/ui/ui.cc index b208945fe..2722b68f1 100644 --- a/selfdrive/ui/ui.cc +++ b/selfdrive/ui/ui.cc @@ -236,6 +236,7 @@ UIState::UIState(QObject *parent) : QObject(parent) { Params params; wide_camera = params.getBool("WideCameraOnly"); prime_type = std::atoi(params.get("PrimeType").c_str()); + language = QString::fromStdString(params.get("LanguageSetting")); // update timer timer = new QTimer(this); diff --git a/selfdrive/ui/ui.h b/selfdrive/ui/ui.h index 08ae16ab2..b4ec900ee 100644 --- a/selfdrive/ui/ui.h +++ b/selfdrive/ui/ui.h @@ -127,6 +127,7 @@ public: bool awake; int prime_type = 0; + QString language; QTransform car_space_transform; bool wide_camera; From 13d9a77b93e083d3a35d7f4f2ea755b880e4a1ed Mon Sep 17 00:00:00 2001 From: Robbe Derks Date: Tue, 13 Sep 2022 15:54:15 +0200 Subject: [PATCH 32/38] Add option to disable fan control (#25690) add option for external fan control Co-authored-by: Comma Device --- selfdrive/boardd/boardd.cc | 7 ++++--- 1 file changed, 4 insertions(+), 3 deletions(-) diff --git a/selfdrive/boardd/boardd.cc b/selfdrive/boardd/boardd.cc index 47bff1c5b..5ff6d56e6 100644 --- a/selfdrive/boardd/boardd.cc +++ b/selfdrive/boardd/boardd.cc @@ -468,7 +468,7 @@ void panda_state_thread(PubMaster *pm, std::vector pandas, bool spoofin } -void peripheral_control_thread(Panda *panda) { +void peripheral_control_thread(Panda *panda, bool no_fan_control) { util::set_thread_name("boardd_peripheral_control"); SubMaster sm({"deviceState", "driverCameraState"}); @@ -488,7 +488,7 @@ void peripheral_control_thread(Panda *panda) { // Other pandas don't have fan/IR to control if (panda->hw_type != cereal::PandaState::PandaType::UNO && panda->hw_type != cereal::PandaState::PandaType::DOS) continue; - if (sm.updated("deviceState")) { + if (sm.updated("deviceState") && !no_fan_control) { // Fan speed uint16_t fan_speed = sm["deviceState"].getDeviceState().getFanSpeedPercentDesired(); if (fan_speed != prev_fan_speed || cnt % 100 == 0) { @@ -496,6 +496,7 @@ void peripheral_control_thread(Panda *panda) { prev_fan_speed = fan_speed; } } + if (sm.updated("driverCameraState")) { auto event = sm["driverCameraState"]; int cur_integ_lines = event.getDriverCameraState().getIntegLines(); @@ -568,7 +569,7 @@ void boardd_main_thread(std::vector serials) { std::vector threads; threads.emplace_back(panda_state_thread, &pm, pandas, getenv("STARTED") != nullptr); - threads.emplace_back(peripheral_control_thread, peripheral_panda); + threads.emplace_back(peripheral_control_thread, peripheral_panda, getenv("NO_FAN_CONTROL") != nullptr); threads.emplace_back(can_send_thread, pandas, getenv("FAKESEND") != nullptr); threads.emplace_back(can_recv_thread, pandas); From aac84e09adc4b2d6ede6c0da69487e2a5154fc5b Mon Sep 17 00:00:00 2001 From: Jason Young <46612682+jyoung8607@users.noreply.github.com> Date: Tue, 13 Sep 2022 15:04:47 -0500 Subject: [PATCH 33/38] VW MQB: Add FW for 2016 Audi S3 (#25764) --- selfdrive/car/volkswagen/values.py | 4 ++++ 1 file changed, 4 insertions(+) diff --git a/selfdrive/car/volkswagen/values.py b/selfdrive/car/volkswagen/values.py index 05994c010..7c5573636 100755 --- a/selfdrive/car/volkswagen/values.py +++ b/selfdrive/car/volkswagen/values.py @@ -773,6 +773,7 @@ FW_VERSIONS = { b'\xf1\x875G0906259L \xf1\x890002', b'\xf1\x875G0906259Q \xf1\x890002', b'\xf1\x878V0906259F \xf1\x890002', + b'\xf1\x878V0906259J \xf1\x890002', b'\xf1\x878V0906259K \xf1\x890001', b'\xf1\x878V0906264B \xf1\x890003', b'\xf1\x878V0907115B \xf1\x890007', @@ -791,6 +792,7 @@ FW_VERSIONS = { b'\xf1\x870DD300046F \xf1\x891602', b'\xf1\x870DD300046G \xf1\x891601', b'\xf1\x870DL300012E \xf1\x892012', + b'\xf1\x870GC300011 \xf1\x890403', b'\xf1\x870GC300013M \xf1\x892402', b'\xf1\x870GC300042J \xf1\x891402', ], @@ -798,6 +800,7 @@ FW_VERSIONS = { b'\xf1\x875Q0959655AB\xf1\x890388\xf1\x82\0211111001111111206110412111321139114', b'\xf1\x875Q0959655AM\xf1\x890315\xf1\x82\x1311111111111111311411011231129321212100', b'\xf1\x875Q0959655AM\xf1\x890318\xf1\x82\x1311111111111112311411011531159321212100', + b'\xf1\x875Q0959655AR\xf1\x890315\xf1\x82\x1311110011131115311211012331239321212100', b'\xf1\x875Q0959655BJ\xf1\x890339\xf1\x82\x1311110011131100311111011731179321342100', b'\xf1\x875Q0959655J \xf1\x890825\xf1\x82\x13111112111111--241115141112221291163221', b'\xf1\x875Q0959655J \xf1\x890825\xf1\x82\023111112111111--171115141112221291163221', @@ -808,6 +811,7 @@ FW_VERSIONS = { ], (Ecu.eps, 0x712, None): [ b'\xf1\x873Q0909144H \xf1\x895061\xf1\x82\00566G0HA14A1', + b'\xf1\x873Q0909144K \xf1\x895072\xf1\x82\x0571G01A16A1', b'\xf1\x873Q0909144K \xf1\x895072\xf1\x82\x0571G0HA16A1', b'\xf1\x873Q0909144L \xf1\x895081\xf1\x82\x0571G0JA14A1', b'\xf1\x875Q0909144AB\xf1\x891082\xf1\x82\00521G0G809A1', From d3795c12272848ca5de8585162856e0db449ea8c Mon Sep 17 00:00:00 2001 From: Shane Smiskol Date: Tue, 13 Sep 2022 14:14:22 -0700 Subject: [PATCH 34/38] Chrysler: match panda standstill check (#25762) * bump panda * bump panda to master * flip this around * don't forget the body! --- panda | 2 +- selfdrive/car/tests/test_models.py | 2 +- 2 files changed, 2 insertions(+), 2 deletions(-) diff --git a/panda b/panda index 788e0b5ac..19983f13b 160000 --- a/panda +++ b/panda @@ -1 +1 @@ -Subproject commit 788e0b5ac944858fd9b3d2ea98e4049df0adb51b +Subproject commit 19983f13b37518298a3c282d5069c090b68f6864 diff --git a/selfdrive/car/tests/test_models.py b/selfdrive/car/tests/test_models.py index 997a9bbec..50370f079 100755 --- a/selfdrive/car/tests/test_models.py +++ b/selfdrive/car/tests/test_models.py @@ -234,7 +234,7 @@ class TestCarModelBase(unittest.TestCase): checks['gasPressed'] += CS.gasPressed != self.safety.get_gas_pressed_prev() checks['cruiseState'] += CS.cruiseState.enabled and not CS.cruiseState.available - if self.CP.carName in ("honda", "toyota"): + if self.CP.carName not in ("hyundai", "volkswagen", "subaru", "gm", "body"): # TODO: fix standstill mismatches for other makes checks['standstill'] += CS.standstill == self.safety.get_vehicle_moving() From 4effa35ef5fdc7dde8777b695e8f3546c559a974 Mon Sep 17 00:00:00 2001 From: Shane Smiskol Date: Tue, 13 Sep 2022 14:38:06 -0700 Subject: [PATCH 35/38] Chrysler: query FW versions on bus 0 (#25760) * try bus 0! * remove the whitelists * no gateway --- selfdrive/car/chrysler/values.py | 15 ++++----------- 1 file changed, 4 insertions(+), 11 deletions(-) diff --git a/selfdrive/car/chrysler/values.py b/selfdrive/car/chrysler/values.py index 3b3fc6e55..d4ac9f6f0 100644 --- a/selfdrive/car/chrysler/values.py +++ b/selfdrive/car/chrysler/values.py @@ -149,18 +149,21 @@ FW_QUERY_CONFIG = FwQueryConfig( Request( [CHRYSLER_VERSION_REQUEST], [CHRYSLER_VERSION_RESPONSE], - whitelist_ecus=[Ecu.abs, Ecu.eps, Ecu.srs, Ecu.gateway, Ecu.fwdRadar, Ecu.fwdCamera, Ecu.combinationMeter], + whitelist_ecus=[Ecu.abs, Ecu.eps, Ecu.srs, Ecu.fwdRadar, Ecu.fwdCamera, Ecu.combinationMeter], rx_offset=CHRYSLER_RX_OFFSET, + bus=0, ), Request( [CHRYSLER_VERSION_REQUEST], [CHRYSLER_VERSION_RESPONSE], whitelist_ecus=[Ecu.abs, Ecu.hcp, Ecu.engine, Ecu.transmission], + bus=0, ), Request( [CHRYSLER_SOFTWARE_VERSION_REQUEST], [CHRYSLER_SOFTWARE_VERSION_RESPONSE], whitelist_ecus=[Ecu.engine, Ecu.transmission], + bus=0, ), ], ) @@ -223,12 +226,6 @@ FW_VERSIONS = { b'68540431AB', b'68484467AC', ], - (Ecu.gateway, 0x18DACBF1, None): [ - b'68402660AB', - b'68445283AB', - b'68533631AB', - b'68500483AB', - ], }, CAR.RAM_HD: { @@ -260,10 +257,6 @@ FW_VERSIONS = { b'M2370131MB', b'M2421132MB', ], - (Ecu.gateway, 0x18DACBF1, None): [ - b'68488419AB', - b'68535476AB', - ], }, } From c64230c4a8681d0ba2d8b18128f42cbd76d85091 Mon Sep 17 00:00:00 2001 From: Kurt Nistelberger Date: Tue, 13 Sep 2022 16:15:33 -0700 Subject: [PATCH 36/38] make test_sensord executeable --- selfdrive/sensord/tests/test_sensord.py | 0 1 file changed, 0 insertions(+), 0 deletions(-) mode change 100644 => 100755 selfdrive/sensord/tests/test_sensord.py diff --git a/selfdrive/sensord/tests/test_sensord.py b/selfdrive/sensord/tests/test_sensord.py old mode 100644 new mode 100755 From 467bbffa0fe50587eb8fb8d98cfe2df93461ef1d Mon Sep 17 00:00:00 2001 From: Kurt Nistelberger Date: Tue, 13 Sep 2022 16:45:12 -0700 Subject: [PATCH 37/38] add hardware init to sensor tests --- selfdrive/sensord/tests/test_sensord.py | 5 ++++- 1 file changed, 4 insertions(+), 1 deletion(-) diff --git a/selfdrive/sensord/tests/test_sensord.py b/selfdrive/sensord/tests/test_sensord.py index 7abaf9ca3..6cb2fa9e6 100755 --- a/selfdrive/sensord/tests/test_sensord.py +++ b/selfdrive/sensord/tests/test_sensord.py @@ -8,7 +8,7 @@ from smbus2 import SMBus import cereal.messaging as messaging from cereal import log -from system.hardware import TICI +from system.hardware import TICI, HARDWARE from selfdrive.test.helpers import with_processes from selfdrive.manager.process_config import managed_processes @@ -113,6 +113,9 @@ class TestSensord(unittest.TestCase): if not TICI: raise unittest.SkipTest + # make sure gpiochip0 is readable + HARDWARE.initialize_hardware() + @with_processes(['sensord']) def test_sensors_present(self): # verify correct sensors configuration From 3f34a7082afce611391369f881756fabc6a7e1e7 Mon Sep 17 00:00:00 2001 From: Adeeb Shihadeh Date: Tue, 13 Sep 2022 20:35:16 -0700 Subject: [PATCH 38/38] controlsd: fix regen init for multi-panda setups --- selfdrive/controls/controlsd.py | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/selfdrive/controls/controlsd.py b/selfdrive/controls/controlsd.py index 3054b020e..569c12e3d 100755 --- a/selfdrive/controls/controlsd.py +++ b/selfdrive/controls/controlsd.py @@ -215,7 +215,7 @@ class Controls: controls_state = log.ControlsState.from_bytes(controls_state) self.v_cruise_kph = controls_state.vCruise - if self.sm['pandaStates'][0].controlsAllowed: + if any(ps.controlsAllowed for ps in self.sm['pandaStates']): self.state = State.enabled def update_events(self, CS):