sadmen
/
openpilot_comma
mirror of https://github.com/commaai/openpilot.git
1
0
Fork 0
Code Issues Packages Projects Releases Wiki Activity

add function read_db_bytes (#1662)

Browse Source 
old-commit-hash: 90d97de74d
commatwo_master
Dean Lee 5 years ago committed by GitHub
parent ea0292d86e
commit 5fb85ede56
6 changed files with 56 additions and 93 deletions
Whitespace
Show all changes Ignore whitespace when comparing lines Ignore changes in amount of whitespace Ignore changes in whitespace at EOL
Split View
Diff Options
Show Stats Download Patch File Download Diff File
  1. 35
      selfdrive/boardd/boardd.cc
  2. 13
      selfdrive/common/params.cc
  3. 8
      selfdrive/common/params.h
  4. 27
      selfdrive/locationd/paramsd.cc
  5. 58
      selfdrive/loggerd/loggerd.cc
  6. 8
      selfdrive/modeld/models/driving.cc

35
selfdrive/boardd/boardd.cc
Unescape View File

@ -85,45 +85,39 @@ void *safety_setter_thread(void *s) {
libusb_control_transfer(dev_handle, 0x40, 0xdc, (uint16_t)(cereal::CarParams::SafetyModel::ELM327), 0, NULL, 0, TIMEOUT);
pthread_mutex_unlock(&usb_lock);
char *value_vin;
size_t value_vin_sz = 0;
// switch to SILENT when CarVin param is read
while (1) {
if (do_exit) return NULL;
const int result = read_db_value("CarVin", &value_vin, &value_vin_sz);
if (value_vin_sz > 0) {
std::vector<char> value_vin = read_db_bytes("CarVin");
if (value_vin.size() > 0) {
// sanity check VIN format
assert(value_vin_sz == 17);
assert(value_vin.size() == 17);
std::string str_vin(value_vin.begin(), value_vin.end());
LOGW("got CarVin %s", str_vin.c_str());
break;
}
usleep(100*1000);
}
LOGW("got CarVin %s", value_vin);
free(value_vin);
// VIN query done, stop listening to OBDII
pthread_mutex_lock(&usb_lock);
libusb_control_transfer(dev_handle, 0x40, 0xdc, (uint16_t)(cereal::CarParams::SafetyModel::NO_OUTPUT), 0, NULL, 0, TIMEOUT);
pthread_mutex_unlock(&usb_lock);
char *value;
size_t value_sz = 0;
std::vector<char> params;
LOGW("waiting for params to set safety model");
while (1) {
if (do_exit) return NULL;
const int result = read_db_value("CarParams", &value, &value_sz);
if (value_sz > 0) break;
params = read_db_bytes("CarParams");
if (params.size() > 0) break;
usleep(100*1000);
}
LOGW("got %d bytes CarParams", value_sz);
LOGW("got %d bytes CarParams", params.size());
// format for board, make copy due to alignment issues, will be freed on out of scope
auto amsg = kj::heapArray<capnp::word>((value_sz / sizeof(capnp::word)) + 1);
memcpy(amsg.begin(), value, value_sz);
free(value);
auto amsg = kj::heapArray<capnp::word>((params.size() / sizeof(capnp::word)) + 1);
memcpy(amsg.begin(), params.data(), params.size());
capnp::FlatArrayMessageReader cmsg(amsg);
cereal::CarParams::Reader car_params = cmsg.getRoot<cereal::CarParams>();
@ -407,10 +401,8 @@ void can_health(PubMaster &pm) {
bool cdp_mode = health.usb_power_mode == (uint8_t)(cereal::HealthData::UsbPowerMode::CDP);
bool no_ignition_exp = no_ignition_cnt > NO_IGNITION_CNT_MAX;
if ((no_ignition_exp || (voltage_f < VBATT_PAUSE_CHARGING)) && cdp_mode && !ignition) {
char *disable_power_down = NULL;
size_t disable_power_down_sz = 0;
const int result = read_db_value("DisablePowerDown", &disable_power_down, &disable_power_down_sz);
if (disable_power_down_sz != 1 || disable_power_down[0] != '1') {
std::vector<char> disable_power_down = read_db_bytes("DisablePowerDown");
if (disable_power_down.size() != 1 || disable_power_down[0] != '1') {
printf("TURN OFF CHARGING!\n");
pthread_mutex_lock(&usb_lock);
libusb_control_transfer(dev_handle, 0xc0, 0xe6, (uint16_t)(cereal::HealthData::UsbPowerMode::CLIENT), 0, NULL, 0, TIMEOUT);
@ -418,7 +410,6 @@ void can_health(PubMaster &pm) {
printf("POWER DOWN DEVICE\n");
system("service call power 17 i32 0 i32 1");
}
if (disable_power_down) free(disable_power_down);
}
if (!no_ignition_exp && (voltage_f > VBATT_START_CHARGING) && !cdp_mode) {
printf("TURN ON CHARGING!\n");

13
selfdrive/common/params.cc
Unescape View File

@ -13,6 +13,7 @@
#include <map>
#include <string>
#include <string.h>
#include "common/util.h"
#include "common/utilpp.h"
@ -353,3 +354,15 @@ int read_db_all(std::map<std::string, std::string> *params, bool persistent_para
close(lock_fd);
return 0;
}
std::vector<char> read_db_bytes(const char* param_name, bool persistent_param) {
std::vector<char> bytes;
char* value;
size_t sz;
int result = read_db_value(param_name, &value, &sz, persistent_param);
if (result == 0) {
bytes.assign(value, value+sz);
free(value);
}
return bytes;
}

8
selfdrive/common/params.h
Unescape View File

@ -1,6 +1,4 @@
#ifndef _SELFDRIVE_COMMON_PARAMS_H_
#define _SELFDRIVE_COMMON_PARAMS_H_
#pragma once
#include <stddef.h>
#ifdef __cplusplus
@ -39,7 +37,7 @@ void read_db_value_blocking(const char* key, char** value, size_t* value_sz, boo
#ifdef __cplusplus
#include <map>
#include <string>
#include <vector>
int read_db_all(std::map<std::string, std::string> *params, bool persistent_param = false);
std::vector<char> read_db_bytes(const char* param_name, bool persistent_param = false);
#endif
#endif // _SELFDRIVE_COMMON_PARAMS_H_

27
selfdrive/locationd/paramsd.cc
Unescape View File

@ -31,40 +31,33 @@ int main(int argc, char *argv[]) {
Localizer localizer;
// Read car params
char *value;
size_t value_sz = 0;
std::vector<char> params;
LOGW("waiting for params to set vehicle model");
while (true) {
read_db_value("CarParams", &value, &value_sz);
if (value_sz > 0) break;
params = read_db_bytes("CarParams");
if (params.size() > 0) break;
usleep(100*1000);
}
LOGW("got %d bytes CarParams", value_sz);
LOGW("got %d bytes CarParams", params.size());
// make copy due to alignment issues
auto amsg = kj::heapArray<capnp::word>((value_sz / sizeof(capnp::word)) + 1);
memcpy(amsg.begin(), value, value_sz);
free(value);
auto amsg = kj::heapArray<capnp::word>((params.size() / sizeof(capnp::word)) + 1);
memcpy(amsg.begin(), params.data(), params.size());
capnp::FlatArrayMessageReader cmsg(amsg);
cereal::CarParams::Reader car_params = cmsg.getRoot<cereal::CarParams>();
// Read params from previous run
const int result = read_db_value("LiveParameters", &value, &value_sz);
std::string fingerprint = car_params.getCarFingerprint();
std::string vin = car_params.getCarVin();
double sR = car_params.getSteerRatio();
double x = 1.0;
double ao = 0.0;
double posenet_invalid_count = 0;
if (result == 0){
auto str = std::string(value, value_sz);
free(value);
std::vector<char> live_params = read_db_bytes("LiveParameters");
if (live_params.size() > 0){
std::string err;
std::string str(live_params.begin(), live_params.end());
auto json = json11::Json::parse(str, err);
if (json.is_null() || !err.empty()) {
std::string log = "Error parsing json: " + err;

58
selfdrive/loggerd/loggerd.cc
Unescape View File

@ -91,11 +91,8 @@ void encoder_thread(bool is_streaming, bool raw_clips, bool front) {
int err;
if (front) {
char *value;
const int result = read_db_value("RecordFront", &value, NULL);
if (result != 0) return;
if (value[0] != '1') { free(value); return; }
free(value);
std::vector<char> value = read_db_bytes("RecordFront");
if (value.size() == 0 || value[0] != '1') return;
LOGW("recording front camera");
set_thread_name("FrontCameraEncoder");
@ -454,30 +451,23 @@ kj::Array<capnp::word> gen_init_data() {
init.setDirty(true);
}
char* git_commit = NULL;
size_t size;
read_db_value("GitCommit", &git_commit, &size);
if (git_commit) {
init.setGitCommit(capnp::Text::Reader(git_commit, size));
std::vector<char> git_commit = read_db_bytes("GitCommit");
if (git_commit.size() > 0) {
init.setGitCommit(capnp::Text::Reader(git_commit.data(), git_commit.size()));
}
char* git_branch = NULL;
read_db_value("GitBranch", &git_branch, &size);
if (git_branch) {
init.setGitBranch(capnp::Text::Reader(git_branch, size));
std::vector<char> git_branch = read_db_bytes("GitBranch");
if (git_branch.size() > 0) {
init.setGitBranch(capnp::Text::Reader(git_branch.data(), git_branch.size()));
}
char* git_remote = NULL;
read_db_value("GitRemote", &git_remote, &size);
if (git_remote) {
init.setGitRemote(capnp::Text::Reader(git_remote, size));
std::vector<char> git_remote = read_db_bytes("GitRemote");
if (git_remote.size() > 0) {
init.setGitRemote(capnp::Text::Reader(git_remote.data(), git_remote.size()));
}
char* passive = NULL;
read_db_value("Passive", &passive, NULL);
init.setPassive(passive && strlen(passive) && passive[0] == '1');
std::vector<char> passive = read_db_bytes("Passive");
init.setPassive(passive.size() > 0 && passive[0] == '1');
{
// log params
std::map<std::string, std::string> params;
@ -491,27 +481,7 @@ kj::Array<capnp::word> gen_init_data() {
i++;
}
}
auto words = capnp::messageToFlatArray(msg);
if (git_commit) {
free((void*)git_commit);
}
if (git_branch) {
free((void*)git_branch);
}
if (git_remote) {
free((void*)git_remote);
}
if (passive) {
free((void*)passive);
}
return words;
return capnp::messageToFlatArray(msg);
}
static int clear_locks_fn(const char* fpath, const struct stat *sb, int tyupeflag) {

8
selfdrive/modeld/models/driving.cc
Unescape View File

@ -60,11 +60,9 @@ void model_init(ModelState* s, cl_device_id device_id, cl_context context, int t
for (int i = 0; i < TRAFFIC_CONVENTION_LEN; i++) s->traffic_convention[i] = 0.0;
s->m->addTrafficConvention(s->traffic_convention, TRAFFIC_CONVENTION_LEN);
char *string;
const int result = read_db_value("IsRHD", &string, NULL);
if (result == 0) {
bool is_rhd = string[0] == '1';
free(string);
std::vector<char> result = read_db_bytes("IsRHD");
if (result.size() > 0) {
bool is_rhd = result[0] == '1';
if (is_rhd) {
s->traffic_convention[1] = 1.0;
} else {

Write Preview
Loading…
Cancel
Save