Merge cereal subtree

cereal/.gitignore

@@ -10,5 +10,5 @@ libmessaging.*
 libmessaging_shared.*
 services.h
 .sconsign.dblite
-libcereal_shared.so
+libcereal_shared.*
 

cereal/README.md

@@ -0,0 +1,42 @@
+What is cereal?
+----
+
+cereal is both a messaging spec for robotics systems as well as generic high performance IPC pub sub messaging with a single publisher and multiple subscribers.
+
+Imagine this use case:
+* A sensor process reads gyro measurements directly from an IMU and publishes a sensorEvents packet
+* A calibration process subscribes to the sensorEvents packet to use the IMU
+* A localization process subscribes to the sensorEvents packet to use the IMU also
+
+
+Messaging Spec
+----
+
+You'll find the message types in [log.capnp](log.capnp). It uses [Cap'n proto](https://capnproto.org/capnp-tool.html) and defines one struct called Event.
+
+All Events have a logMonoTime and a valid. Then a big union defines the packet type.
+
+
+Pub Sub Backends
+----
+
+cereal supports two backends, one based on [zmq](https://zeromq.org/), the other called msgq, a custom pub sub based on shared memory that doesn't require the bytes to pass through the kernel.
+
+Example
+---
+```python
+import cereal.messaging as messaging
+
+# in subscriber
+sm = messaging.SubMaster(['sensorEvents'])
+while 1:
+  sm.update()
+  print(sm['sensorEvents'])
+
+# in publisher
+pm = messaging.PubMaster(['sensorEvents'])
+dat = messaging.new_message()
+dat.init('sensorEvents', 1)
+dat.sensorEvents[0] = {"gyro": {"v": [0.1, -0.1, 0.1]}}
+pm.send('sensorEvents', dat)
+```

cereal/SConscript

@@ -29,7 +29,7 @@ cereal_objects = env.SharedObject([
   ])
 
 env.Library('cereal', cereal_objects)
-env.SharedLibrary('cereal_shared', cereal_objects)
+env.SharedLibrary('cereal_shared', cereal_objects, LIBS=["capnp_c"])
 
 cereal_dir = Dir('.')
 services_h = env.Command(
@@ -49,7 +49,7 @@ Depends('messaging/impl_zmq.cc', services_h)
 
 # note, this rebuilds the deps shared, zmq is statically linked to make APK happy
 # TODO: get APK to load system zmq to remove the static link
-shared_lib_shared_lib = [zmq, 'm', 'stdc++'] + ["gnustl_shared"] if arch == "aarch64" else []
+shared_lib_shared_lib = [zmq, 'm', 'stdc++'] + ["gnustl_shared"] if arch == "aarch64" else [zmq]
 env.SharedLibrary('messaging_shared', messaging_objects, LIBS=shared_lib_shared_lib)
 
 env.Program('messaging/bridge', ['messaging/bridge.cc'], LIBS=[messaging_lib, 'zmq'])

cereal/car.capnp

@@ -88,6 +88,8 @@ struct CarEvent @0x9b1657f34caf3ad3 {
     lowMemory @63;
     stockAeb @64;
     ldw @65;
+    carUnrecognized @66;
+    radarCommIssue @67;
   }
 }
 
@@ -410,11 +412,11 @@ struct CarParams {
 
   enum SafetyModel {
     silent @0;
-    honda @1;
+    hondaNidec @1;
     toyota @2;
     elm327 @3;
     gm @4;
-    hondaBosch @5;
+    hondaBoschGiraffe @5;
     ford @6;
     cadillac @7;
     hyundai @8;
@@ -428,7 +430,9 @@ struct CarParams {
     toyotaIpas @16;
     allOutput @17;
     gmAscm @18;
-    noOutput @19;  # like silent but with silent CAN TXs
+    noOutput @19;  # like silent but without silent CAN TXs
+    hondaBoschHarness @20;
+    volkswagenPq @21;
   }
 
   enum SteerControlType {
@@ -444,7 +448,9 @@ struct CarParams {
 
   struct CarFw {
     ecu @0 :Ecu;
-    fwVersion @1 :Text;
+    fwVersion @1 :Data;
+    address @2: UInt32;
+    subAddress @3: UInt8;
   }
 
   enum Ecu {
@@ -452,5 +458,11 @@ struct CarParams {
     esp @1;
     fwdRadar @2;
     fwdCamera @3;
+    engine @4;
+    unknown @5;
+
+    # Toyota only
+    dsu @6;
+    apgs @7;
   }
 }

cereal/log.capnp

@@ -310,6 +310,7 @@ struct HealthData {
   hasGps @6 :Bool;
   canSendErrs @7 :UInt32;
   canFwdErrs @8 :UInt32;
+  canRxErrs @19 :UInt32;
   gmlanSendErrs @9 :UInt32;
   hwType @10 :HwType;
   fanSpeedRpm @11 :UInt16;
@@ -484,6 +485,7 @@ struct ControlsState @0x97ff69c53601abf1 {
   decelForTurn @47 :Bool;
 
   decelForModel @54 :Bool;
+  canErrorCounter @57 :UInt32;
 
   lateralControlState :union {
     indiState @52 :LateralINDIState;
@@ -575,6 +577,7 @@ struct ModelData {
   leadFuture @7 :LeadData;
   speed @8 :List(Float32);
   meta @10 :MetaData;
+  longitudinal @11 :LongitudinalData;
 
   struct PathData {
     points @0 :List(Float32);
@@ -605,6 +608,7 @@ struct ModelData {
     yuvCorrection @5 :List(Float32);
     inputTransform @6 :List(Float32);
   }
+
   struct MetaData {
     engagedProb @0 :Float32;
     desirePrediction @1 :List(Float32);
@@ -612,6 +616,11 @@ struct ModelData {
     gasDisengageProb @3 :Float32;
     steerOverrideProb @4 :Float32;
   }
+
+  struct LongitudinalData {
+    speeds @0 :List(Float32);
+    accelerations @1 :List(Float32);
+  }
 }
 
 struct CalibrationFeatures {
@@ -1757,6 +1766,8 @@ struct DriverMonitoring {
   leftBlinkProb @8 :Float32;
   rightBlinkProb @9 :Float32;
   irPwrDEPRECATED @10 :Float32;
+  faceOrientationStd @11 :List(Float32);
+  facePositionStd @12 :List(Float32);
 }
 
 struct Boot {

cereal/messaging/__init__.py

@@ -1,6 +1,7 @@
 # must be build with scons
 from .messaging_pyx import Context, Poller, SubSocket, PubSocket  # pylint: disable=no-name-in-module, import-error
 from .messaging_pyx import MultiplePublishersError, MessagingError  # pylint: disable=no-name-in-module, import-error
+import capnp
 
 assert MultiplePublishersError
 assert MessagingError
@@ -116,6 +117,7 @@ def recv_one_retry(sock):
     if dat is not None:
       return log.Event.from_bytes(dat)
 
+# TODO: This does not belong in messaging
 def get_one_can(logcan):
   while True:
     can = recv_one_retry(logcan)
@@ -147,12 +149,12 @@ class SubMaster():
       self.freq[s] = service_list[s].frequency
 
       data = new_message()
-      if s in ['can', 'sensorEvents', 'liveTracks', 'sendCan',
-               'ethernetData', 'cellInfo', 'wifiScan',
-               'trafficEvents', 'orbObservation', 'carEvents']:
-        data.init(s, 0)
-      else:
+      try:
         data.init(s)
+      except capnp.lib.capnp.KjException:
+        # lists
+        data.init(s, 0)
+
       self.data[s] = getattr(data, s)
       self.logMonoTime[s] = 0
       self.valid[s] = data.valid

cereal/messaging/bridge.cc

@@ -4,6 +4,8 @@
 #include <csignal>
 #include <map>
 
+typedef void (*sighandler_t)(int sig);
+
 #include "services.h"
 
 #include "impl_msgq.hpp"

cereal/messaging/impl_msgq.cc

@@ -85,7 +85,6 @@ Message * MSGQSubSocket::receive(bool non_blocking){
   msgq_msg_t msg;
 
   MSGQMessage *r = NULL;
-  r = NULL;
 
   int rc = msgq_msg_recv(&msg, q);
 
@@ -109,17 +108,23 @@ Message * MSGQSubSocket::receive(bool non_blocking){
     }
   }
 
-  if (rc > 0){
-    r = new MSGQMessage;
-    r->takeOwnership(msg.data, msg.size);
-  }
-  errno = msgq_do_exit ? EINTR : 0;
 
   if (!non_blocking){
     std::signal(SIGINT, prev_handler_sigint);
     std::signal(SIGTERM, prev_handler_sigterm);
   }
 
+  errno = msgq_do_exit ? EINTR : 0;
+
+  if (rc > 0){
+    if (msgq_do_exit){
+      msgq_msg_close(&msg); // Free unused message on exit
+    } else {
+      r = new MSGQMessage;
+      r->takeOwnership(msg.data, msg.size);
+    }
+  }
+
   return (Message*)r;
 }
 

cereal/messaging/messaging.cc

@@ -4,20 +4,20 @@
 
 Context * Context::create(){
   Context * c;
-  if (std::getenv("MSGQ")){
-    c = new MSGQContext();
-  } else {
+  if (std::getenv("ZMQ")){
     c = new ZMQContext();
+  } else {
+    c = new MSGQContext();
   }
   return c;
 }
 
 SubSocket * SubSocket::create(){
   SubSocket * s;
-  if (std::getenv("MSGQ")){
-    s = new MSGQSubSocket();
-  } else {
+  if (std::getenv("ZMQ")){
     s = new ZMQSubSocket();
+  } else {
+    s = new MSGQSubSocket();
   }
   return s;
 }
@@ -60,10 +60,10 @@ SubSocket * SubSocket::create(Context * context, std::string endpoint, std::stri
 
 PubSocket * PubSocket::create(){
   PubSocket * s;
-  if (std::getenv("MSGQ")){
-    s = new MSGQPubSocket();
-  } else {
+  if (std::getenv("ZMQ")){
     s = new ZMQPubSocket();
+  } else {
+    s = new MSGQPubSocket();
   }
   return s;
 }
@@ -82,10 +82,10 @@ PubSocket * PubSocket::create(Context * context, std::string endpoint){
 
 Poller * Poller::create(){
   Poller * p;
-  if (std::getenv("MSGQ")){
-    p = new MSGQPoller();
-  } else {
+  if (std::getenv("ZMQ")){
     p = new ZMQPoller();
+  } else {
+    p = new MSGQPoller();
   }
   return p;
 }

cereal/messaging/msgq.cc

@@ -23,8 +23,8 @@
 
 #include "msgq.hpp"
 
-void sigusr1_handler(int signal) {
-  assert(signal == SIGUSR1);
+void sigusr2_handler(int signal) {
+  assert(signal == SIGUSR2);
 }
 
 uint64_t msgq_get_uid(void){
@@ -80,7 +80,7 @@ void msgq_wait_for_subscriber(msgq_queue_t *q){
 int msgq_new_queue(msgq_queue_t * q, const char * path, size_t size){
   assert(size < 0xFFFFFFFF); // Buffer must be smaller than 2^32 bytes
 
-  std::signal(SIGUSR1, sigusr1_handler);
+  std::signal(SIGUSR2, sigusr2_handler);
 
   const char * prefix = "/dev/shm/";
   char * full_path = new char[strlen(path) + strlen(prefix) + 1];
@@ -136,7 +136,7 @@ void msgq_close_queue(msgq_queue_t *q){
 
 
 void msgq_init_publisher(msgq_queue_t * q) {
-  std::cout << "Starting publisher" << std::endl;
+  //std::cout << "Starting publisher" << std::endl;
   uint64_t uid = msgq_get_uid();
 
   *q->write_uid = uid;
@@ -150,6 +150,15 @@ void msgq_init_publisher(msgq_queue_t * q) {
   q->write_uid_local = uid;
 }
 
+static void thread_signal(uint32_t tid) {
+  #ifndef SYS_tkill
+    // TODO: this won't work for multithreaded programs
+    kill(tid, SIGUSR2);
+  #else
+    syscall(SYS_tkill, tid, SIGUSR2);
+  #endif
+}
+
 void msgq_init_subscriber(msgq_queue_t * q) {
   assert(q != NULL);
   assert(q->num_readers != NULL);
@@ -173,7 +182,7 @@ void msgq_init_subscriber(msgq_queue_t * q) {
         *q->read_uids[i] = 0;
 
         // Wake up reader in case they are in a poll
-        syscall(SYS_tkill, old_uid & 0xFFFFFFFF, SIGUSR1);
+        thread_signal(old_uid & 0xFFFFFFFF);
       }
 
       continue;
@@ -196,7 +205,7 @@ void msgq_init_subscriber(msgq_queue_t * q) {
     }
   }
 
-  std::cout << "New subscriber id: " << q->reader_id << " uid: " << q->read_uid_local << " " << q->endpoint << std::endl;
+  //std::cout << "New subscriber id: " << q->reader_id << " uid: " << q->read_uid_local << " " << q->endpoint << std::endl;
   msgq_reset_reader(q);
 }
 
@@ -278,8 +287,7 @@ int msgq_msg_send(msgq_msg_t * msg, msgq_queue_t *q){
   // Notify readers
   for (uint64_t i = 0; i < num_readers; i++){
     uint64_t reader_uid = *q->read_uids[i];
-
-    syscall(SYS_tkill, reader_uid & 0xFFFFFFFF, SIGUSR1);
+    thread_signal(reader_uid & 0xFFFFFFFF);
   }
 
   return msg->size;

cereal/service_list.yaml

@@ -25,7 +25,7 @@ encodeIdx: [8015, true, 20.]
 liveTracks: [8016, true, 20.]
 sendcan: [8017, true, 100.]
 logMessage: [8018, true, 0.]
-liveCalibration: [8019, true, 5.]
+liveCalibration: [8019, true, 4., 4]
 androidLog: [8020, true, 0.]
 carState: [8021, true, 100., 10]
 # 8022 is reserved for sshd
@@ -68,7 +68,7 @@ orbFeaturesSummary: [8062, true, 0.]
 driverMonitoring: [8063, true, 5., 1]
 liveParameters: [8064, true, 10.]
 liveMapData: [8065, true, 0.]
-cameraOdometry: [8066, true, 5.]
+cameraOdometry: [8066, true, 20.]
 pathPlan: [8067, true, 20.]
 kalmanOdometry: [8068, true, 0.]
 thumbnail: [8069, true, 0.2, 1]