Merge remote-tracking branch 'upstream/master' into toyota-fuzzy-v2

.devcontainer/Dockerfile

@@ -1,8 +1,13 @@
 FROM ghcr.io/commaai/openpilot-base:latest
 
-RUN apt update && apt install -y vim net-tools usbutils htop ripgrep tmux
+RUN apt update && apt install -y vim net-tools usbutils htop ripgrep tmux wget mesa-utils xvfb libxtst6 libxv1 libglu1-mesa libegl1-mesa
 RUN pip install ipython jupyter jupyterlab
 
+RUN cd /tmp && \
+    ARCH=$(arch | sed s/aarch64/arm64/ | sed s/x86_64/amd64/) && \
+    curl -L -o virtualgl.deb "https://downloads.sourceforge.net/project/virtualgl/3.1/virtualgl_3.1_$ARCH.deb" && \
+    dpkg -i virtualgl.deb
+
 USER batman
 
 RUN cd $HOME && \

.devcontainer/container_post_create.sh

@@ -3,17 +3,34 @@
 TARGET_USER=batman
 source .devcontainer/.host/.env
 
-# override display flag for mac
+# override display flag for mac hosts
 if [[ $HOST_OS == darwin ]]; then
   echo "Setting up DISPLAY override for macOS..."
   cat <<EOF >> /home/$TARGET_USER/.bashrc
-if [ -n "\$DISPLAY" ]; then
-  DISPLAY_NUM=\$(echo "\$DISPLAY" | awk -F: '{print \$NF}')
+source .devcontainer/.host/.env
+if [ -n "\$HOST_DISPLAY" ]; then
+  DISPLAY_NUM=\$(echo "\$HOST_DISPLAY" | awk -F: '{print \$NF}')
   export DISPLAY=host.docker.internal:\$DISPLAY_NUM
 fi
 EOF
 fi
 
+# setup virtualgl for mac hosts
+if [[ $HOST_OS == darwin ]]; then
+  echo "Setting up virtualgl for macOS..."
+  cat <<EOF >> /home/$TARGET_USER/.bashrc
+if [ -n "\$HOST_DISPLAY" ]; then
+  export VGL_PORT=10000
+  export VGL_CLIENT=host.docker.internal
+  export VGL_COMPRESS=rgb
+  export VGL_DISPLAY=:99
+  export VGL_FPS=60
+  # prevent vglrun from running exec
+  alias exec=:; source vglrun :; unalias exec
+fi
+EOF
+fi
+
 # These lines are temporary, to remain backwards compatible with old devcontainers
 # that were running as root and therefore had their caches written as root
 sudo chown -R $TARGET_USER: /tmp/scons_cache

.devcontainer/container_post_start.sh

@@ -1,7 +1,15 @@
 #!/usr/bin/env bash
 
+source .devcontainer/.host/.env
+
 # setup safe directories for submodules
 SUBMODULE_DIRS=$(git config --file .gitmodules --get-regexp path | awk '{ print $2 }')
 for DIR in $SUBMODULE_DIRS; do 
   git config --global --add safe.directory "$PWD/$DIR"
 done
+
+# virtual display for virtualgl
+if [[ "$HOST_OS" == "darwin" ]] && [[ -n "$HOST_DISPLAY" ]]; then
+  echo "Starting virtual display at :99 ..."
+  tmux new-session -d -s fakedisplay Xvfb :99 -screen 0 1920x1080x24
+fi

.devcontainer/devcontainer.json

@@ -5,7 +5,7 @@
   },
   "postCreateCommand": ".devcontainer/container_post_create.sh",
   "postStartCommand": ".devcontainer/container_post_start.sh",
-  "initializeCommand": ".devcontainer/host_setup.sh",
+  "initializeCommand": [".devcontainer/host_setup"],
   "privileged": true,
   "containerEnv": {
     "DISPLAY": "${localEnv:DISPLAY}",
@@ -21,7 +21,8 @@
     "--volume=/tmp/comma_download_cache:/tmp/comma_download_cache",
     "--volume=/tmp/devcontainer_scons_cache:/tmp/scons_cache",
     "--shm-size=1G",
-    "--add-host=host.docker.internal:host-gateway" // required to use host.docker.internal on linux
+    "--add-host=host.docker.internal:host-gateway", // required to use host.docker.internal on linux
+    "--publish=0.0.0.0:8070-8079:8070-8079"  // body ZMQ services
   ],
   "features": {
     "ghcr.io/devcontainers/features/common-utils:2": {

.devcontainer/host_setup

@@ -2,6 +2,7 @@
 
 # pull base image
 if [[ -z $USE_LOCAL_IMAGE ]]; then
+  echo "Updating openpilot_base image if needed..."
   docker pull ghcr.io/commaai/openpilot-base:latest
 fi
 
@@ -27,3 +28,20 @@ fi
 HOST_INFO_FILE=".devcontainer/.host/.env"
 SYSTEM=$(uname -s | tr '[:upper:]' '[:lower:]')
 echo "HOST_OS=\"$SYSTEM\"" > $HOST_INFO_FILE
+echo "HOST_DISPLAY=\"$DISPLAY\"" >> $HOST_INFO_FILE
+
+# run virtualgl if macos
+if [[ $SYSTEM == "darwin" ]]; then
+  echo
+  if [[ -f /opt/VirtualGL/bin/vglclient ]]; then
+    echo "Starting VirtualGL client at port 10000..."
+    VGL_LOG_FILE=".devcontainer/.host/.vgl/vglclient.log"
+    mkdir -p "$(dirname $VGL_LOG_FILE)"
+    /opt/VirtualGL/bin/vglclient -l "$VGL_LOG_FILE" -display "$DISPLAY" -port 10000 -detach
+  else
+    echo "VirtualGL not found. GUI tools may not work properly. Some GUI tools require OpenGL to work properly. To use them with XQuartz on mac, VirtualGL needs to be installed. To install it run:"
+    echo
+    echo "  brew install --cask virtualgl"
+    echo
+  fi
+fi

.devcontainer/host_setup.cmd

@@ -0,0 +1,10 @@
+:: pull base image
+IF NOT DEFINED USE_LOCAL_IMAGE ^
+echo "Updating openpilot_base image if needed..." && ^
+docker pull ghcr.io/commaai/openpilot-base:latest
+
+:: setup .host dir
+mkdir .devcontainer\.host
+
+:: setup host env file
+echo "" > .devcontainer\.host\.env

.dir-locals.el

@@ -1,3 +0,0 @@
-((c++-mode (flycheck-gcc-language-standard . "c++11")
-           (flycheck-clang-language-standard . "c++11")
-           ))

.gitattributes

@@ -1,3 +1,5 @@
+* text=auto
+
 *.dlc filter=lfs diff=lfs merge=lfs -text
 *.onnx filter=lfs diff=lfs merge=lfs -text
 selfdrive/car/tests/test_models_segs.txt filter=lfs diff=lfs merge=lfs -text

.github/labeler.yaml

@@ -1,8 +1,6 @@
 CI / testing:
   - all:
-    - changed-files: ['.github/**']
-  - all:
-    - changed-files: ['**/test_*']
+    - changed-files: ['.github/**', '**/test_*', 'Jenkinsfile']
 
 car: 
   - all:
@@ -59,3 +57,9 @@ multilanguage:
   - all:
     - changed-files: ['selfdrive/ui/translations/**']
 
+research:
+  - all:
+    - changed-files: [
+        'selfdrive/modeld/models/**',
+        'selfdrive/test/process_replay/model_replay_ref_commit',
+      ]

.github/workflows/prebuilt.yaml

@@ -27,6 +27,7 @@ jobs:
     - uses: actions/checkout@v3
       with:
         submodules: true
+    - run: git lfs pull
     - name: Build and Push docker image
       run: |
         $DOCKER_LOGIN

.pre-commit-config.yaml

@@ -23,13 +23,13 @@ repos:
         - --maxkb=500
         - --enforce-all
 -   repo: https://github.com/codespell-project/codespell
-    rev: v2.2.5
+    rev: v2.2.6
     hooks:
     -   id: codespell
         exclude: '^(third_party/)|(body/)|(cereal/)|(rednose/)|(panda/)|(laika/)|(opendbc/)|(laika_repo/)|(rednose_repo/)|(selfdrive/ui/translations/.*.ts)|(poetry.lock)'
         args:
         # if you've got a short variable name that's getting flagged, add it here
-        - -L bu,ro,te,ue,alo,hda,ois,nam,nams,ned,som,parm,setts,inout,warmup,bumb,nd,sie
+        - -L bu,ro,te,ue,alo,hda,ois,nam,nams,ned,som,parm,setts,inout,warmup,bumb,nd,sie,preints
         - --builtins clear,rare,informal,usage,code,names,en-GB_to_en-US
 -   repo: local
     hooks:
@@ -41,7 +41,7 @@ repos:
         args: ['--explicit-package-bases']
         exclude: '^(third_party/)|(cereal/)|(opendbc/)|(panda/)|(laika/)|(laika_repo/)|(rednose/)|(rednose_repo/)|(tinygrad/)|(tinygrad_repo/)|(xx/)'
 -   repo: https://github.com/astral-sh/ruff-pre-commit
-    rev: v0.0.291
+    rev: v0.0.292
     hooks:
     -   id: ruff
         exclude: '^(third_party/)|(cereal/)|(rednose/)|(panda/)|(laika/)|(laika_repo/)|(rednose_repo/)|(tinygrad/)|(tinygrad_repo/)'

Dockerfile.openpilot_base

@@ -38,8 +38,7 @@ COPY --chown=$USER tools/install_python_dependencies.sh /tmp/tools/
 RUN cd /tmp && \
     tools/install_python_dependencies.sh && \
     rm -rf /tmp/* && \
-    rm -rf /home/$USER/.cache && \
-    pip uninstall -y poetry
+    rm -rf /home/$USER/.cache
 
 USER root
 RUN sudo git config --global --add safe.directory /tmp/openpilot

RELEASES.md

@@ -1,18 +1,15 @@
-Version 0.9.6 (2023-XX-XX)
-========================
-* Hyundai Azera Hybrid 2020 support thanks to chanhojung and haram-KONA!
-* Hyundai Custin 2023 support thanks to sunnyhaibin and Saber422!
-* Kia Optima Hybrid 2019 support
-
-Version 0.9.5 (2023-09-27)
+Version 0.9.5 (2023-XX-XX)
 ========================
 * New driving model
   * Improved navigate on openpilot performance using navigation instructions as an additional model input
 * Hyundai Azera 2022 support thanks to sunnyhaibin!
+* Hyundai Azera Hybrid 2020 support thanks to chanhojung and haram-KONA!
+* Hyundai Custin 2023 support thanks to sunnyhaibin and Saber422!
 * Hyundai Ioniq 6 2023 support thanks to sunnyhaibin, alamo3, and sshane!
 * Hyundai Kona Electric 2023 (Korean version) support thanks to sunnyhaibin and haram-KONA!
 * Kia K8 Hybrid (with HDA II) 2023 support thanks to sunnyhaibin!
 * Kia Sorento Hybrid 2023 support thanks to sunnyhaibin!
+* Kia Optima Hybrid 2019 support
 * Lexus IS 2023 support thanks to L3R5!
 
 Version 0.9.4 (2023-07-27)

common/params.cc

@@ -181,7 +181,6 @@ std::unordered_map<std::string, uint32_t> keys = {
     {"Offroad_UpdateFailed", CLEAR_ON_MANAGER_START},
     {"OpenpilotEnabledToggle", PERSISTENT},
     {"PandaHeartbeatLost", CLEAR_ON_MANAGER_START | CLEAR_ON_OFFROAD_TRANSITION},
-    {"PandaLogState", PERSISTENT},
     {"PandaSignatures", CLEAR_ON_MANAGER_START},
     {"Passive", PERSISTENT},
     {"PrimeType", PERSISTENT},

common/transformations/README.md

@@ -11,7 +11,7 @@ by generating a rotation matrix and multiplying.
 | :-------------: |:-------------:| :-----:| :----: |
 | Geodetic | [Latitude, Longitude, Altitude] | geodetic coordinates | Sometimes used as [lon, lat, alt], avoid this frame. |
 | ECEF | [x, y, z] | meters | We use **ITRF14 (IGS14)**, NOT NAD83. <br> This is the global Mesh3D frame. |
-| NED | [North, East, Down] | meters | Relative to earth's surface, useful for vizualizing. |
+| NED | [North, East, Down] | meters | Relative to earth's surface, useful for visualizing. |
 | Device | [Forward, Right, Down] | meters | This is the Mesh3D local frame. <br> Relative to camera, **not imu.** <br> ![img](http://upload.wikimedia.org/wikipedia/commons/thumb/2/2f/RPY_angles_of_airplanes.png/440px-RPY_angles_of_airplanes.png)|
 | Calibrated | [Forward, Right, Down] | meters | This is the frame the model outputs are in. <br> More details below. <br>|
 | Car | [Forward, Right, Down] | meters | This is useful for estimating position of points on the road. <br> More details below. <br>|

common/version.h

@@ -1 +1 @@
-#define COMMA_VERSION "0.9.6"
+#define COMMA_VERSION "0.9.5"

conftest.py

@@ -1,10 +1,28 @@
+import os
 import pytest
 
 from openpilot.common.prefix import OpenpilotPrefix
 
 
 @pytest.fixture(scope="function", autouse=True)
-def global_setup_and_teardown():
+def openpilot_function_fixture():
+  starting_env = dict(os.environ)
+
   # setup a clean environment for each test
   with OpenpilotPrefix():
     yield
+
+  os.environ.clear()
+  os.environ.update(starting_env)
+
+
+# If you use setUpClass, the environment variables won't be cleared properly,
+# so we need to hook both the function and class pytest fixtures
+@pytest.fixture(scope="class", autouse=True)
+def openpilot_class_fixture():
+  starting_env = dict(os.environ)
+
+  yield
+
+  os.environ.clear()
+  os.environ.update(starting_env)

docs/CARS.md

@@ -136,7 +136,7 @@ A supported vehicle is one that just works when you install a comma device. All
 |Kia|Optima 2019-20|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai G connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=Optima 2019-20">Buy Here</a></sub></details>||
 |Kia|Optima Hybrid 2019|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai H connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=Optima Hybrid 2019">Buy Here</a></sub></details>||
 |Kia|Seltos 2021|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai A connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=Seltos 2021">Buy Here</a></sub></details>||
-|Kia|Sorento 2018|Advanced Smart Cruise Control|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai C connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=Sorento 2018">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=Fkh3s6WHJz8" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
+|Kia|Sorento 2018|Advanced Smart Cruise Control & LKAS|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai E connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=Sorento 2018">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=Fkh3s6WHJz8" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
 |Kia|Sorento 2019|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai E connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=Sorento 2019">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=Fkh3s6WHJz8" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
 |Kia|Sorento 2021-23[<sup>6</sup>](#footnotes)|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai K connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=Sorento 2021-23">Buy Here</a></sub></details>||
 |Kia|Sorento Hybrid 2023[<sup>6</sup>](#footnotes)|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai A connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=Sorento Hybrid 2023">Buy Here</a></sub></details>||
@@ -168,7 +168,7 @@ A supported vehicle is one that just works when you install a comma device. All
 |Lincoln|Aviator 2020-21|Co-Pilot360 Plus|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Ford Q3 connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Lincoln&model=Aviator 2020-21">Buy Here</a></sub></details>||
 |MAN|eTGE 2020-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|31 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 angled mount (8 degrees)<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=MAN&model=eTGE 2020-23">Buy Here</a></sub></details>|<a href="https://youtu.be/4100gLeabmo" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
 |MAN|TGE 2017-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|31 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 angled mount (8 degrees)<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=MAN&model=TGE 2017-23">Buy Here</a></sub></details>|<a href="https://youtu.be/4100gLeabmo" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
-|Mazda|CX-5 2022-23|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Mazda connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Mazda&model=CX-5 2022-23">Buy Here</a></sub></details>||
+|Mazda|CX-5 2022-24|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Mazda connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Mazda&model=CX-5 2022-24">Buy Here</a></sub></details>||
 |Mazda|CX-9 2021-23|All|Stock|0 mph|28 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Mazda connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Mazda&model=CX-9 2021-23">Buy Here</a></sub></details>|<a href="https://youtu.be/dA3duO4a0O4" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
 |Nissan|Altima 2019-20|ProPILOT Assist|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Nissan B connector<br>- 1 RJ45 cable (7 ft)<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Nissan&model=Altima 2019-20">Buy Here</a></sub></details>||
 |Nissan|Leaf 2018-23|ProPILOT Assist|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Nissan A connector<br>- 1 RJ45 cable (7 ft)<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Nissan&model=Leaf 2018-23">Buy Here</a></sub></details>|<a href="https://youtu.be/vaMbtAh_0cY" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
@@ -210,7 +210,7 @@ A supported vehicle is one that just works when you install a comma device. All
 |Toyota|Camry 2018-20|All|Stock|0 mph[<sup>8</sup>](#footnotes)|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Toyota&model=Camry 2018-20">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=fkcjviZY9CM" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
 |Toyota|Camry 2021-23|All|openpilot|0 mph[<sup>8</sup>](#footnotes)|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Toyota&model=Camry 2021-23">Buy Here</a></sub></details>||
 |Toyota|Camry Hybrid 2018-20|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Toyota&model=Camry Hybrid 2018-20">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=Q2DYY0AWKgk" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
-|Toyota|Camry Hybrid 2021-23|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Toyota&model=Camry Hybrid 2021-23">Buy Here</a></sub></details>||
+|Toyota|Camry Hybrid 2021-24|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Toyota&model=Camry Hybrid 2021-24">Buy Here</a></sub></details>||
 |Toyota|Corolla 2017-19|All|openpilot available[<sup>2</sup>](#footnotes)|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Toyota&model=Corolla 2017-19">Buy Here</a></sub></details>||
 |Toyota|Corolla 2020-22|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Toyota&model=Corolla 2020-22">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=_66pXk0CBYA" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
 |Toyota|Corolla Cross (Non-US only) 2020-23|All|openpilot|17 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Toyota&model=Corolla Cross (Non-US only) 2020-23">Buy Here</a></sub></details>||

panda

@@ -1 +1 @@
-Subproject commit 62db60595bb5129cc2f295fdc42f2cda473777fd
+Subproject commit 6bf6ba773ea4174c702ac9c4af4e8a6fd3cef655

poetry.lock

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+
 [[package]]
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 version = "4.35.0"
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 [package.dependencies]
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+
 [[package]]
 name = "cython"
 version = "3.0.2"
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 ]
 
 [[package]]
@@ -1609,13 +1627,13 @@ zoneinfo = ["backports.zoneinfo (>=0.2.1)", "tzdata (>=2022.1)"]
 
 [[package]]
 name = "identify"
-version = "2.5.29"
+version = "2.5.30"
 description = "File identification library for Python"
 optional = false
 python-versions = ">=3.8"
 files = [
-    {file = "identify-2.5.29-py2.py3-none-any.whl", hash = "sha256:24437fbf6f4d3fe6efd0eb9d67e24dd9106db99af5ceb27996a5f7895f24bf1b"},
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 ]
 
 [package.extras]
@@ -1710,16 +1728,6 @@ files = [
     {file = "inputs-0.5.tar.gz", hash = "sha256:a31d5b96a3525f1232f326be9e7ce8ccaf873c6b1fb84d9f3c9bc3d79b23eae4"},
 ]
 
-[[package]]
-name = "ioctl-opt"
-version = "1.3"
-description = "Functions to compute fnctl.ioctl's opt argument"
-optional = false
-python-versions = "*"
-files = [
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-]
-
 [[package]]
 name = "isodate"
 version = "0.6.1"
@@ -2321,8 +2329,8 @@ waymo = ["waymo-open-dataset-tf-2.11.0 (==1.5.0)"]
 [package.source]
 type = "git"
 url = "https://github.com/metadriverse/metadrive.git"
-reference = "7d6f8ef707bfff67c6b88f3b4a98f8b1d58bf8e6"
-resolved_reference = "7d6f8ef707bfff67c6b88f3b4a98f8b1d58bf8e6"
+reference = "72e842cd1d025bf676e4af8797a01e4aa282109f"
+resolved_reference = "72e842cd1d025bf676e4af8797a01e4aa282109f"
 
 [[package]]
 name = "mpld3"
@@ -2358,13 +2366,13 @@ tests = ["pytest (>=4.6)"]
 
 [[package]]
 name = "msal"
-version = "1.24.0"
+version = "1.24.1"
 description = "The Microsoft Authentication Library (MSAL) for Python library"
 optional = false
 python-versions = ">=2.7"
 files = [
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 ]
 
 [package.dependencies]
@@ -2804,18 +2812,18 @@ sympy = "*"
 
 [[package]]
 name = "opencv-python"
-version = "4.8.0.76"
+version = "4.8.1.78"
 description = "Wrapper package for OpenCV python bindings."
 optional = false
 python-versions = ">=3.6"
 files = [
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+    {file = "opencv_python-4.8.1.78-cp37-abi3-manylinux_2_17_aarch64.manylinux2014_aarch64.whl", hash = "sha256:9814beca408d3a0eca1bae7e3e5be68b07c17ecceb392b94170881216e09b319"},
+    {file = "opencv_python-4.8.1.78-cp37-abi3-manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:c4c406bdb41eb21ea51b4e90dfbc989c002786c3f601c236a99c59a54670a394"},
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 ]
 
 [package.dependencies]
@@ -2830,18 +2838,18 @@ numpy = [
 
 [[package]]
 name = "opencv-python-headless"
-version = "4.8.0.76"
+version = "4.8.1.78"
 description = "Wrapper package for OpenCV python bindings."
 optional = false
 python-versions = ">=3.6"
 files = [
-    {file = "opencv-python-headless-4.8.0.76.tar.gz", hash = "sha256:bc15726187dae26d8a08777faf6bc71d38f20c785c102677f58ba0e935003afb"},
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+    {file = "opencv-python-headless-4.8.1.78.tar.gz", hash = "sha256:bc7197b42352f6f865c302a49140b889ec7cd957dd697e2d7fc016ad0d3f28f1"},
+    {file = "opencv_python_headless-4.8.1.78-cp37-abi3-macosx_10_16_x86_64.whl", hash = "sha256:f3a33f644249f9ce1c913eac580e4b3ef4ce7cab0a71900274708959c2feb5e3"},
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+    {file = "opencv_python_headless-4.8.1.78-cp37-abi3-manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:58e70d2f0915fe23e02c6e405588276c9397844a47d38b9c87fac5f7f9ba2dcc"},
+    {file = "opencv_python_headless-4.8.1.78-cp37-abi3-win32.whl", hash = "sha256:382f8c7a6a14f80091284eecedd52cee4812231ee0eff1118592197b538d9252"},
+    {file = "opencv_python_headless-4.8.1.78-cp37-abi3-win_amd64.whl", hash = "sha256:0a0f1e9f836f7d5bad1dd164694944c8761711cbdf4b36ebbd4815a8ef731079"},
 ]
 
 [package.dependencies]
@@ -2856,13 +2864,13 @@ numpy = [
 
 [[package]]
 name = "packaging"
-version = "23.1"
+version = "23.2"
 description = "Core utilities for Python packages"
 optional = false
 python-versions = ">=3.7"
 files = [
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+    {file = "packaging-23.2.tar.gz", hash = "sha256:048fb0e9405036518eaaf48a55953c750c11e1a1b68e0dd1a9d62ed0c092cfc5"},
 ]
 
 [[package]]
@@ -3149,13 +3157,13 @@ tests = ["check-manifest", "coverage", "defusedxml", "markdown2", "olefile", "pa
 
 [[package]]
 name = "platformdirs"
-version = "3.10.0"
+version = "3.11.0"
 description = "A small Python package for determining appropriate platform-specific dirs, e.g. a \"user data dir\"."
 optional = false
 python-versions = ">=3.7"
 files = [
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 ]
 
 [package.extras]
@@ -3179,13 +3187,13 @@ testing = ["pytest", "pytest-benchmark"]
 
 [[package]]
 name = "polyline"
-version = "2.0.0"
+version = "2.0.1"
 description = "A Python implementation of Google's Encoded Polyline Algorithm Format."
 optional = false
 python-versions = ">=3.7"
 files = [
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 ]
 
 [package.extras]
@@ -3471,8 +3479,6 @@ files = [
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@@ -3871,6 +3877,20 @@ files = [
 colorama = "*"
 pytest = ">=7.0"
 
+[[package]]
+name = "pytest-random-order"
+version = "1.1.0"
+description = "Randomise the order in which pytest tests are run with some control over the randomness"
+optional = false
+python-versions = ">=3.5.0"
+files = [
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+]
+
+[package.dependencies]
+pytest = ">=3.0.0"
+
 [[package]]
 name = "pytest-subtests"
 version = "0.11.0"
@@ -4185,28 +4205,28 @@ use-chardet-on-py3 = ["chardet (>=3.0.2,<6)"]
 
 [[package]]
 name = "ruff"
-version = "0.0.291"
+version = "0.0.292"
 description = "An extremely fast Python linter, written in Rust."
 optional = false
 python-versions = ">=3.7"
 files = [
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+    {file = "ruff-0.0.292-py3-none-manylinux_2_17_ppc64le.manylinux2014_ppc64le.whl", hash = "sha256:6bdfabd4334684a4418b99b3118793f2c13bb67bf1540a769d7816410402a205"},
+    {file = "ruff-0.0.292-py3-none-manylinux_2_17_s390x.manylinux2014_s390x.whl", hash = "sha256:aa7c77c53bfcd75dbcd4d1f42d6cabf2485d2e1ee0678da850f08e1ab13081a8"},
+    {file = "ruff-0.0.292-py3-none-manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:8e087b24d0d849c5c81516ec740bf4fd48bf363cfb104545464e0fca749b6af9"},
+    {file = "ruff-0.0.292-py3-none-musllinux_1_2_aarch64.whl", hash = "sha256:f160b5ec26be32362d0774964e218f3fcf0a7da299f7e220ef45ae9e3e67101a"},
+    {file = "ruff-0.0.292-py3-none-musllinux_1_2_armv7l.whl", hash = "sha256:ac153eee6dd4444501c4bb92bff866491d4bfb01ce26dd2fff7ca472c8df9ad0"},
+    {file = "ruff-0.0.292-py3-none-musllinux_1_2_i686.whl", hash = "sha256:87616771e72820800b8faea82edd858324b29bb99a920d6aa3d3949dd3f88fb0"},
+    {file = "ruff-0.0.292-py3-none-musllinux_1_2_x86_64.whl", hash = "sha256:b76deb3bdbea2ef97db286cf953488745dd6424c122d275f05836c53f62d4016"},
+    {file = "ruff-0.0.292-py3-none-win32.whl", hash = "sha256:e854b05408f7a8033a027e4b1c7f9889563dd2aca545d13d06711e5c39c3d003"},
+    {file = "ruff-0.0.292-py3-none-win_amd64.whl", hash = "sha256:f27282bedfd04d4c3492e5c3398360c9d86a295be00eccc63914438b4ac8a83c"},
+    {file = "ruff-0.0.292-py3-none-win_arm64.whl", hash = "sha256:7f67a69c8f12fbc8daf6ae6d36705037bde315abf8b82b6e1f4c9e74eb750f68"},
+    {file = "ruff-0.0.292.tar.gz", hash = "sha256:1093449e37dd1e9b813798f6ad70932b57cf614e5c2b5c51005bf67d55db33ac"},
 ]
 
 [[package]]
@@ -4288,24 +4308,24 @@ resolved_reference = "f3b0100d3a628e4d18f496815903660a99489bae"
 
 [[package]]
 name = "seaborn"
-version = "0.12.2"
+version = "0.13.0"
 description = "Statistical data visualization"
 optional = false
-python-versions = ">=3.7"
+python-versions = ">=3.8"
 files = [
-    {file = "seaborn-0.12.2-py3-none-any.whl", hash = "sha256:ebf15355a4dba46037dfd65b7350f014ceb1f13c05e814eda2c9f5fd731afc08"},
-    {file = "seaborn-0.12.2.tar.gz", hash = "sha256:374645f36509d0dcab895cba5b47daf0586f77bfe3b36c97c607db7da5be0139"},
+    {file = "seaborn-0.13.0-py3-none-any.whl", hash = "sha256:70d740828c48de0f402bb17234e475eda687e3c65f4383ea25d0cc4728f7772e"},
+    {file = "seaborn-0.13.0.tar.gz", hash = "sha256:0e76abd2ec291c655b516703c6a022f0fd5afed26c8e714e8baef48150f73598"},
 ]
 
 [package.dependencies]
-matplotlib = ">=3.1,<3.6.1 || >3.6.1"
-numpy = ">=1.17,<1.24.0 || >1.24.0"
-pandas = ">=0.25"
+matplotlib = ">=3.3,<3.6.1 || >3.6.1"
+numpy = ">=1.20,<1.24.0 || >1.24.0"
+pandas = ">=1.2"
 
 [package.extras]
 dev = ["flake8", "flit", "mypy", "pandas-stubs", "pre-commit", "pytest", "pytest-cov", "pytest-xdist"]
-docs = ["ipykernel", "nbconvert", "numpydoc", "pydata_sphinx_theme (==0.10.0rc2)", "pyyaml", "sphinx-copybutton", "sphinx-design", "sphinx-issues"]
-stats = ["scipy (>=1.3)", "statsmodels (>=0.10)"]
+docs = ["ipykernel", "nbconvert", "numpydoc", "pydata_sphinx_theme (==0.10.0rc2)", "pyyaml", "sphinx (<6.0.0)", "sphinx-copybutton", "sphinx-design", "sphinx-issues"]
+stats = ["scipy (>=1.7)", "statsmodels (>=0.12)"]
 
 [[package]]
 name = "sentry-sdk"
@@ -4451,23 +4471,24 @@ testing-integration = ["build[virtualenv] (>=1.0.3)", "filelock (>=3.4.0)", "jar
 
 [[package]]
 name = "setuptools-scm"
-version = "8.0.3"
+version = "8.0.4"
 description = "the blessed package to manage your versions by scm tags"
 optional = false
 python-versions = ">=3.8"
 files = [
-    {file = "setuptools-scm-8.0.3.tar.gz", hash = "sha256:0169fd70197efda2f8c4d0b2a7a3d614431b488116f37b79d031e9e7ec884d8c"},
-    {file = "setuptools_scm-8.0.3-py3-none-any.whl", hash = "sha256:813822234453438a13c78d05c8af29918fbc06f88efb33d38f065340bbb48c39"},
+    {file = "setuptools-scm-8.0.4.tar.gz", hash = "sha256:b5f43ff6800669595193fd09891564ee9d1d7dcb196cab4b2506d53a2e1c95c7"},
+    {file = "setuptools_scm-8.0.4-py3-none-any.whl", hash = "sha256:b47844cd2a84b83b3187a5782c71128c28b4c94cad8bfb871da2784a5cb54c4f"},
 ]
 
 [package.dependencies]
 packaging = ">=20"
 setuptools = "*"
+typing-extensions = "*"
 
 [package.extras]
 docs = ["entangled-cli[rich]", "mkdocs", "mkdocs-entangled-plugin", "mkdocs-material", "mkdocstrings[python]", "pygments"]
 rich = ["rich"]
-test = ["pytest", "rich", "virtualenv (>20)"]
+test = ["build", "pytest", "rich", "wheel"]
 
 [[package]]
 name = "shapely"
@@ -4788,19 +4809,6 @@ files = [
     {file = "spidev-3.6.tar.gz", hash = "sha256:14dbc37594a4aaef85403ab617985d3c3ef464d62bc9b769ef552db53701115b"},
 ]
 
-[[package]]
-name = "spidev2"
-version = "0.9.0"
-description = "Pure-python interface to Linux spidev."
-optional = false
-python-versions = "*"
-files = [
-    {file = "spidev2-0.9.0.tar.gz", hash = "sha256:152da2911a8660283ceac3a75dd869953379bcbcf079e5436af5aae736876086"},
-]
-
-[package.dependencies]
-ioctl-opt = "*"
-
 [[package]]
 name = "sympy"
 version = "1.12"
@@ -4941,17 +4949,17 @@ files = [
 
 [[package]]
 name = "types-requests"
-version = "2.31.0.6"
+version = "2.31.0.7"
 description = "Typing stubs for requests"
 optional = false
 python-versions = ">=3.7"
 files = [
-    {file = "types-requests-2.31.0.6.tar.gz", hash = "sha256:cd74ce3b53c461f1228a9b783929ac73a666658f223e28ed29753771477b3bd0"},
-    {file = "types_requests-2.31.0.6-py3-none-any.whl", hash = "sha256:a2db9cb228a81da8348b49ad6db3f5519452dd20a9c1e1a868c83c5fe88fd1a9"},
+    {file = "types-requests-2.31.0.7.tar.gz", hash = "sha256:4d930dcabbc2452e3d70728e581ac4ac8c2d13f62509ad9114673f542af8cb4e"},
+    {file = "types_requests-2.31.0.7-py3-none-any.whl", hash = "sha256:39844effefca88f4f824dcdc4127b813d3b86a56b2248d3d1afa58832040d979"},
 ]
 
 [package.dependencies]
-types-urllib3 = "*"
+urllib3 = ">=2"
 
 [[package]]
 name = "types-tabulate"
@@ -4964,17 +4972,6 @@ files = [
     {file = "types_tabulate-0.9.0.3-py3-none-any.whl", hash = "sha256:462d1b62e01728416e8277614d6a3eb172d53a8efaf04a04a973ff2dd45238f6"},
 ]
 
-[[package]]
-name = "types-urllib3"
-version = "1.26.25.14"
-description = "Typing stubs for urllib3"
-optional = false
-python-versions = "*"
-files = [
-    {file = "types-urllib3-1.26.25.14.tar.gz", hash = "sha256:229b7f577c951b8c1b92c1bc2b2fdb0b49847bd2af6d1cc2a2e3dd340f3bda8f"},
-    {file = "types_urllib3-1.26.25.14-py3-none-any.whl", hash = "sha256:9683bbb7fb72e32bfe9d2be6e04875fbe1b3eeec3cbb4ea231435aa7fd6b4f0e"},
-]
-
 [[package]]
 name = "typing-extensions"
 version = "4.8.0"
@@ -4999,13 +4996,13 @@ files = [
 
 [[package]]
 name = "urllib3"
-version = "2.0.5"
+version = "2.0.6"
 description = "HTTP library with thread-safe connection pooling, file post, and more."
 optional = false
 python-versions = ">=3.7"
 files = [
-    {file = "urllib3-2.0.5-py3-none-any.whl", hash = "sha256:ef16afa8ba34a1f989db38e1dbbe0c302e4289a47856990d0682e374563ce35e"},
-    {file = "urllib3-2.0.5.tar.gz", hash = "sha256:13abf37382ea2ce6fb744d4dad67838eec857c9f4f57009891805e0b5e123594"},
+    {file = "urllib3-2.0.6-py3-none-any.whl", hash = "sha256:7a7c7003b000adf9e7ca2a377c9688bbc54ed41b985789ed576570342a375cd2"},
+    {file = "urllib3-2.0.6.tar.gz", hash = "sha256:b19e1a85d206b56d7df1d5e683df4a7725252a964e3993648dd0fb5a1c157564"},
 ]
 
 [package.extras]
@@ -5171,4 +5168,4 @@ testing = ["big-O", "jaraco.functools", "jaraco.itertools", "more-itertools", "p
 [metadata]
 lock-version = "2.0"
 python-versions = "~3.11"
-content-hash = "808489f6658d63643587b06a7881e0f58fc8a97af34c1478a20342e916204a68"
+content-hash = "173a9329d8f42b01b7d62684fadb257e604fda7e584bfcdd4fcdf71ae6aa99f9"

pyproject.toml

@@ -90,7 +90,6 @@ numpy = "*"
 onnx = ">=1.14.0"
 onnxruntime = { version = ">=1.15.1", platform = "linux", markers = "platform_machine == 'aarch64'" }
 onnxruntime-gpu = { version = ">=1.15.1", platform = "linux", markers = "platform_machine == 'x86_64'" }
-pillow = "*"
 psutil = "*"
 pyaudio = "*"
 pycapnp = "*"
@@ -109,11 +108,9 @@ setproctitle = "*"
 smbus2 = "*"
 sounddevice = "*"
 spidev = { version = "*", platform = "linux" }
-spidev2 = { version = "*", platform = "linux" }
 sympy = "*"
 timezonefinder = "*"
 tqdm = "*"
-urllib3 = "*"
 websocket_client = "*"
 polyline = "*"
 sconscontrib = {git = "https://github.com/SCons/scons-contrib.git"}
@@ -124,7 +121,6 @@ av = "*"
 azure-identity = "*"
 azure-storage-blob = "*"
 breathe = "*"
-carla = { url = "https://github.com/commaai/carla/releases/download/3.11.4/carla-0.9.14-cp311-cp311-linux_x86_64.whl", platform = "linux", markers = "platform_machine == 'x86_64'" }
 coverage = "*"
 dictdiffer = "*"
 ft4222 = "*"
@@ -133,7 +129,7 @@ inputs = "*"
 lru-dict = "*"
 markdown-it-py = "*"
 matplotlib = "*"
-metadrive-simulator = { git = "https://github.com/metadriverse/metadrive.git", rev ="7d6f8ef707bfff67c6b88f3b4a98f8b1d58bf8e6", markers = "platform_machine != 'aarch64'" } # no linux/aarch64 wheels for certain dependencies
+metadrive-simulator = { git = "https://github.com/metadriverse/metadrive.git", rev ="72e842cd1d025bf676e4af8797a01e4aa282109f", markers = "platform_machine != 'aarch64'" } # no linux/aarch64 wheels for certain dependencies
 mpld3 = "*"
 mypy = "*"
 myst-parser = "*"
@@ -152,6 +148,7 @@ pytest-subtests = "*"
 pytest-xdist = "*"
 pytest-timeout = "*"
 pytest-timeouts = "*"
+pytest-random-order = "*"
 ruff = "*"
 scipy = "*"
 sphinx = "*"
@@ -167,6 +164,11 @@ types-requests = "*"
 types-tabulate = "*"
 pyqt5 = { version = "*", markers = "platform_machine == 'x86_64'" } # no aarch64 wheels for macOS/linux
 
+[tool.poetry.group.carla]
+optional = true
+
+[tool.poetry.group.carla.dependencies]
+carla = { url = "https://github.com/commaai/carla/releases/download/3.11.4/carla-0.9.14-cp311-cp311-linux_x86_64.whl", platform = "linux", markers = "platform_machine == 'x86_64'" }
 
 [build-system]
 requires = ["poetry-core"]

release/files_common

@@ -71,7 +71,6 @@ selfdrive/__init__.py
 selfdrive/sentry.py
 selfdrive/tombstoned.py
 selfdrive/updated.py
-selfdrive/rtshield.py
 selfdrive/statsd.py
 
 system/logmessaged.py
@@ -201,8 +200,6 @@ selfdrive/controls/lib/longitudinal_mpc_lib/.gitignore
 selfdrive/controls/lib/lateral_mpc_lib/*
 selfdrive/controls/lib/longitudinal_mpc_lib/*
 
-selfdrive/hardware
-
 system/__init__.py
 
 system/hardware/__init__.py

scripts/dump_pll.c

@@ -1,59 +0,0 @@
-#include <stdio.h>
-#include <fcntl.h>
-#include <sys/mman.h>
-
-void hexdump(uint32_t *d, int l) {
-  for (int i = 0; i < l; i++) {
-    if (i%0x10 == 0 && i != 0) printf("\n");
-    printf("%8x ", d[i]);
-  }
-  printf("\n");
-}
-
-/* Power cluster primary PLL */
-#define C0_PLL_MODE         0x0
-#define C0_PLL_L_VAL        0x4
-#define C0_PLL_ALPHA        0x8
-#define C0_PLL_USER_CTL    0x10
-#define C0_PLL_CONFIG_CTL  0x18
-#define C0_PLL_CONFIG_CTL_HI 0x1C
-#define C0_PLL_STATUS      0x28
-#define C0_PLL_TEST_CTL_LO 0x20
-#define C0_PLL_TEST_CTL_HI 0x24
-
-/* Power cluster alt PLL */
-#define C0_PLLA_MODE        0x100
-#define C0_PLLA_L_VAL       0x104
-#define C0_PLLA_ALPHA       0x108
-#define C0_PLLA_USER_CTL    0x110
-#define C0_PLLA_CONFIG_CTL  0x118
-#define C0_PLLA_STATUS      0x128
-#define C0_PLLA_TEST_CTL_LO 0x120
-
-#define APC_DIAG_OFFSET 0x48
-#define CLK_CTL_OFFSET 0x44
-#define MUX_OFFSET 0x40
-#define MDD_DROOP_CODE 0x7c
-#define SSSCTL_OFFSET 0x160
-#define PSCTL_OFFSET 0x164
-
-int main() {
-  int fd = open("/dev/mem", O_RDWR);
-  volatile uint32_t *mb = (uint32_t *)mmap(0, 0x1000, PROT_READ | PROT_WRITE, MAP_SHARED, fd, 0x06400000);
-  volatile uint32_t *mc = (uint32_t *)mmap(0, 0x1000, PROT_READ | PROT_WRITE, MAP_SHARED, fd, 0x06480000);
-  volatile uint32_t *md = (uint32_t *)mmap(0, 0x1000, PROT_READ | PROT_WRITE, MAP_SHARED, fd, 0x09A20000);
-  while (1) {
-    printf("PLL MODE:%x L_VAL:%x ALPHA:%x USER_CTL:%x CONFIG_CTL:%x CONFIG_CTL_HI:%x STATUS:%x TEST_CTL_LO:%x TEST_CTL_HI:%x\n",
-        mb[C0_PLL_MODE/4], mb[C0_PLL_L_VAL/4], mb[C0_PLL_ALPHA/4],
-        mb[C0_PLL_USER_CTL/4], mb[C0_PLL_CONFIG_CTL/4], mb[C0_PLL_CONFIG_CTL_HI/4],
-        mb[C0_PLL_STATUS/4], mb[C0_PLL_TEST_CTL_LO/4], mb[C0_PLL_TEST_CTL_HI/4]);
-    printf("  MUX_OFFSET:%x CLK_CTL_OFFSET:%x APC_DIAG_OFFSET:%x MDD_DROOP_CODE:%x\n",
-        mb[MUX_OFFSET/4], mb[CLK_CTL_OFFSET/4], mb[APC_DIAG_OFFSET/4], mb[MDD_DROOP_CODE/4]);
-    printf("  PLLA MODE:%x L_VAL:%x ALPHA:%x USER_CTL:%x CONFIG_CTL:%x STATUS:%x TEST_CTL_LO:%x SSSCTL_OFFSET:%x PSCTL_OFFSET:%x\n",
-        mb[C0_PLLA_MODE/4], mb[C0_PLLA_L_VAL/4], mb[C0_PLLA_ALPHA/4], mb[C0_PLLA_USER_CTL/4],
-        mb[C0_PLLA_CONFIG_CTL/4], mb[C0_PLLA_STATUS/4], mb[C0_PLLA_TEST_CTL_LO/4],
-        mb[SSSCTL_OFFSET/4], mb[PSCTL_OFFSET/4]);
-    usleep(1000*100);
-  }
-}
-

selfdrive/athena/athenad.py

@@ -40,7 +40,7 @@ from openpilot.system.loggerd.xattr_cache import getxattr, setxattr
 from openpilot.selfdrive.statsd import STATS_DIR
 from openpilot.system.swaglog import cloudlog
 from openpilot.system.version import get_commit, get_origin, get_short_branch, get_version
-from openpilot.selfdrive.hardware.hw import Paths
+from openpilot.system.hardware.hw import Paths
 
 
 # TODO: use socket constant when mypy recognizes this as a valid attribute

selfdrive/athena/tests/test_athenad.py

@@ -21,7 +21,7 @@ from openpilot.selfdrive.athena import athenad
 from openpilot.selfdrive.athena.athenad import MAX_RETRY_COUNT, dispatcher
 from openpilot.selfdrive.athena.tests.helpers import MockWebsocket, MockParams, MockApi, EchoSocket, with_http_server
 from cereal import messaging
-from openpilot.selfdrive.hardware.hw import Paths
+from openpilot.system.hardware.hw import Paths
 
 
 class TestAthenadMethods(unittest.TestCase):

selfdrive/boardd/pandad.py

@@ -3,7 +3,6 @@
 import os
 import usb1
 import time
-import json
 import subprocess
 from typing import List, NoReturn
 from functools import cmp_to_key
@@ -24,51 +23,6 @@ def get_expected_signature(panda: Panda) -> bytes:
     cloudlog.exception("Error computing expected signature")
     return b""
 
-def read_panda_logs(panda: Panda) -> None:
-  """
-    Forward panda logs to the cloud
-  """
-
-  params = Params()
-  serial = panda.get_usb_serial()
-
-  log_state = {}
-  try:
-    ls = params.get("PandaLogState")
-    if ls is not None:
-      l = json.loads(ls)
-      for k, v in l.items():
-        if isinstance(k, str) and isinstance(v, int):
-          log_state[k] = v
-  except (TypeError, json.JSONDecodeError):
-    cloudlog.exception("failed to parse PandaLogState")
-
-  try:
-    if serial in log_state:
-      logs = panda.get_logs(last_id=log_state[serial])
-    else:
-      logs = panda.get_logs(get_all=True)
-
-    # truncate logs to 100 entries if needed
-    MAX_LOGS = 100
-    if len(logs) > MAX_LOGS:
-      cloudlog.warning(f"Panda {serial} has {len(logs)} logs, truncating to {MAX_LOGS}")
-      logs = logs[-MAX_LOGS:]
-
-    # update log state
-    if len(logs) > 0:
-      log_state[serial] = logs[-1]["id"]
-
-    for log in logs:
-      if log['timestamp'] is not None:
-        log['timestamp'] = log['timestamp'].isoformat()
-      cloudlog.event("panda_log", **log, serial=serial)
-
-    params.put("PandaLogState", json.dumps(log_state))
-  except Exception:
-    cloudlog.exception(f"Error getting logs for panda {serial}")
-
-
 def flash_panda(panda_serial: str) -> Panda:
   try:
     panda = Panda(panda_serial)
@@ -191,8 +145,6 @@ def main() -> NoReturn:
           params.put_bool("PandaHeartbeatLost", True)
           cloudlog.event("heartbeat lost", deviceState=health, serial=panda.get_usb_serial())
 
-        read_panda_logs(panda)
-
         if first_run:
           if panda.is_internal():
             # update time from RTC

selfdrive/boardd/tests/test_pandad.py

@@ -6,11 +6,9 @@ import unittest
 import cereal.messaging as messaging
 from cereal import log
 from openpilot.common.gpio import gpio_set, gpio_init
-from openpilot.common.params import Params
 from panda import Panda, PandaDFU, PandaProtocolMismatch
-from openpilot.selfdrive.test.helpers import phone_only
 from openpilot.selfdrive.manager.process_config import managed_processes
-from openpilot.system.hardware import HARDWARE
+from openpilot.system.hardware import HARDWARE, PC
 from openpilot.system.hardware.tici.pins import GPIO
 
 HERE = os.path.dirname(os.path.realpath(__file__))
@@ -19,8 +17,11 @@ HERE = os.path.dirname(os.path.realpath(__file__))
 class TestPandad(unittest.TestCase):
 
   def setUp(self):
-    self.params = Params()
-    self.start_log_state = self.params.get("PandaLogState")
+    if PC:
+      raise unittest.SkipTest("needs a panda")
+    # ensure panda is up
+    if len(Panda.list()) == 0:
+      self._run_test(60)
 
   def tearDown(self):
     managed_processes['pandad'].stop()
@@ -39,10 +40,6 @@ class TestPandad(unittest.TestCase):
     if sm['peripheralState'].pandaType == log.PandaState.PandaType.unknown:
       raise Exception("boardd failed to start")
 
-    # simple check that we did something with the panda logs
-    cur_log_state = self.params.get("PandaLogState")
-    assert cur_log_state != self.start_log_state
-
   def _go_to_dfu(self):
     HARDWARE.recover_internal_panda()
     assert Panda.wait_for_dfu(None, 10)
@@ -71,19 +68,16 @@ class TestPandad(unittest.TestCase):
 
     self._run_test(45)
 
-  @phone_only
   def test_in_dfu(self):
     HARDWARE.recover_internal_panda()
     self._run_test(60)
 
-  @phone_only
   def test_in_bootstub(self):
     with Panda() as p:
       p.reset(enter_bootstub=True)
       assert p.bootstub
     self._run_test()
 
-  @phone_only
   def test_internal_panda_reset(self):
     gpio_init(GPIO.STM_RST_N, True)
     gpio_set(GPIO.STM_RST_N, 1)
@@ -93,28 +87,23 @@ class TestPandad(unittest.TestCase):
 
     assert any(Panda(s).is_internal() for s in Panda.list())
 
-  @phone_only
   def test_best_case_startup_time(self):
     # run once so we're setup
-    self._run_test()
+    self._run_test(60)
 
     # should be fast this time
     self._run_test(8)
 
-  @phone_only
   def test_protocol_version_check(self):
     if HARDWARE.get_device_type() == 'tici':
-      self.skipTest("")
-
+      raise unittest.SkipTest("SPI test")
     # flash old fw
     fn = os.path.join(HERE, "bootstub.panda_h7_spiv0.bin")
     self._flash_bootstub_and_test(fn, expect_mismatch=True)
 
-  @phone_only
   def test_release_to_devel_bootstub(self):
     self._flash_bootstub_and_test(None)
 
-  @phone_only
   def test_recover_from_bad_bootstub(self):
     self._go_to_dfu()
     with PandaDFU(None) as pd:
@@ -127,4 +116,4 @@ class TestPandad(unittest.TestCase):
 
 
 if __name__ == "__main__":
-  unittest.main()
+  unittest.main()

selfdrive/car/body/values.py

@@ -1,3 +1,4 @@
+from enum import StrEnum
 from typing import Dict
 
 from cereal import car
@@ -21,7 +22,7 @@ class CarControllerParams:
     pass
 
 
-class CAR:
+class CAR(StrEnum):
   BODY = "COMMA BODY"
 
 

selfdrive/car/car_helpers.py

@@ -66,9 +66,8 @@ def load_interfaces(brand_names):
 def _get_interface_names() -> Dict[str, List[str]]:
   # returns a dict of brand name and its respective models
   brand_names = {}
-  for brand_name, model_names in get_interface_attr("CAR").items():
-    model_names = [getattr(model_names, c) for c in model_names.__dict__.keys() if not c.startswith("__")]
-    brand_names[brand_name] = model_names
+  for brand_name, brand_models in get_interface_attr("CAR").items():
+    brand_names[brand_name] = [model.value for model in brand_models]
 
   return brand_names
 

selfdrive/car/chrysler/values.py

@@ -1,5 +1,5 @@
 # ruff: noqa: E501
-from enum import IntFlag
+from enum import IntFlag, StrEnum
 from dataclasses import dataclass, field
 from typing import Dict, List, Optional, Union
 
@@ -16,7 +16,7 @@ class ChryslerFlags(IntFlag):
   HIGHER_MIN_STEERING_SPEED = 1
 
 
-class CAR:
+class CAR(StrEnum):
   # Chrysler
   PACIFICA_2017_HYBRID = "CHRYSLER PACIFICA HYBRID 2017"
   PACIFICA_2018_HYBRID = "CHRYSLER PACIFICA HYBRID 2018"

selfdrive/car/ford/values.py

@@ -1,6 +1,6 @@
 from collections import defaultdict
 from dataclasses import dataclass, field
-from enum import Enum
+from enum import Enum, StrEnum
 from typing import Dict, List, Union
 
 from cereal import car
@@ -40,7 +40,7 @@ class CarControllerParams:
     pass
 
 
-class CAR:
+class CAR(StrEnum):
   BRONCO_SPORT_MK1 = "FORD BRONCO SPORT 1ST GEN"
   ESCAPE_MK4 = "FORD ESCAPE 4TH GEN"
   EXPLORER_MK6 = "FORD EXPLORER 6TH GEN"

selfdrive/car/gm/values.py

@@ -1,7 +1,7 @@
 # ruff: noqa: E501
 from collections import defaultdict
 from dataclasses import dataclass
-from enum import Enum
+from enum import Enum, StrEnum
 from typing import Dict, List, Union
 
 from cereal import car
@@ -61,7 +61,7 @@ class CarControllerParams:
     self.BRAKE_LOOKUP_V = [self.MAX_BRAKE, 0.]
 
 
-class CAR:
+class CAR(StrEnum):
   HOLDEN_ASTRA = "HOLDEN ASTRA RS-V BK 2017"
   VOLT = "CHEVROLET VOLT PREMIER 2017"
   CADILLAC_ATS = "CADILLAC ATS Premium Performance 2018"

selfdrive/car/honda/values.py

@@ -1,5 +1,5 @@
 from dataclasses import dataclass
-from enum import Enum, IntFlag
+from enum import Enum, IntFlag, StrEnum
 from typing import Dict, List, Optional, Union
 
 from cereal import car
@@ -72,7 +72,7 @@ VISUAL_HUD = {
 }
 
 
-class CAR:
+class CAR(StrEnum):
   ACCORD = "HONDA ACCORD 2018"
   ACCORDH = "HONDA ACCORD HYBRID 2018"
   CIVIC = "HONDA CIVIC 2016"

selfdrive/car/hyundai/interface.py

@@ -121,6 +121,11 @@ class CarInterface(CarInterfaceBase):
       ret.tireStiffnessFactor = 0.385
       if candidate in (CAR.IONIQ, CAR.IONIQ_EV_LTD, CAR.IONIQ_PHEV_2019):
         ret.minSteerSpeed = 32 * CV.MPH_TO_MS
+    elif candidate in (CAR.IONIQ_5, CAR.IONIQ_6):
+      ret.mass = 1948
+      ret.wheelbase = 2.97
+      ret.steerRatio = 14.26
+      ret.tireStiffnessFactor = 0.65
     elif candidate == CAR.VELOSTER:
       ret.mass = 2917. * CV.LB_TO_KG
       ret.wheelbase = 2.80
@@ -197,11 +202,6 @@ class CarInterface(CarInterfaceBase):
       ret.wheelbase = 2.9
       ret.steerRatio = 16.
       ret.tireStiffnessFactor = 0.65
-    elif candidate in (CAR.IONIQ_5, CAR.IONIQ_6):
-      ret.mass = 1948
-      ret.wheelbase = 2.97
-      ret.steerRatio = 14.26
-      ret.tireStiffnessFactor = 0.65
     elif candidate == CAR.KIA_SPORTAGE_HYBRID_5TH_GEN:
       ret.mass = 1767.  # SX Prestige trim support only
       ret.wheelbase = 2.756

selfdrive/car/hyundai/values.py

@@ -1,7 +1,7 @@
 # ruff: noqa: E501
 import re
 from dataclasses import dataclass
-from enum import Enum, IntFlag
+from enum import Enum, IntFlag, StrEnum
 from typing import Dict, List, Optional, Set, Tuple, Union
 
 from cereal import car
@@ -67,7 +67,7 @@ class HyundaiFlags(IntFlag):
   CANFD_HDA2_ALT_STEERING = 512
 
 
-class CAR:
+class CAR(StrEnum):
   # Hyundai
   AZERA_6TH_GEN = "HYUNDAI AZERA 6TH GEN"
   AZERA_HEV_6TH_GEN = "HYUNDAI AZERA HYBRID 6TH GEN"
@@ -252,8 +252,8 @@ CAR_INFO: Dict[str, Optional[Union[HyundaiCarInfo, List[HyundaiCarInfo]]]] = {
   CAR.KIA_SELTOS: HyundaiCarInfo("Kia Seltos 2021", car_parts=CarParts.common([CarHarness.hyundai_a])),
   CAR.KIA_SPORTAGE_5TH_GEN: HyundaiCarInfo("Kia Sportage 2023", car_parts=CarParts.common([CarHarness.hyundai_n])),
   CAR.KIA_SORENTO: [
-    HyundaiCarInfo("Kia Sorento 2018", "Advanced Smart Cruise Control", video_link="https://www.youtube.com/watch?v=Fkh3s6WHJz8",
-                   car_parts=CarParts.common([CarHarness.hyundai_c])),
+    HyundaiCarInfo("Kia Sorento 2018", "Advanced Smart Cruise Control & LKAS", video_link="https://www.youtube.com/watch?v=Fkh3s6WHJz8",
+                   car_parts=CarParts.common([CarHarness.hyundai_e])),
     HyundaiCarInfo("Kia Sorento 2019", video_link="https://www.youtube.com/watch?v=Fkh3s6WHJz8", car_parts=CarParts.common([CarHarness.hyundai_e])),
   ],
   CAR.KIA_SORENTO_4TH_GEN: HyundaiCarInfo("Kia Sorento 2021-23", car_parts=CarParts.common([CarHarness.hyundai_k])),
@@ -400,8 +400,8 @@ def match_fw_to_car_fuzzy(live_fw_versions) -> Set[str]:
   # to distinguish between hybrid and ICE. All EVs so far are either exclusively
   # electric or specify electric in the platform code.
   # TODO: whitelist platforms that we've seen hybrid and ICE versions of that have these specifiers
-  fuzzy_platform_blacklist = set(CANFD_CAR - EV_CAR)
-  candidates = set()
+  fuzzy_platform_blacklist = {str(car) for car in set(CANFD_CAR - EV_CAR)}
+  candidates: Set[str] = set()
 
   for candidate, fws in FW_VERSIONS.items():
     # Keep track of ECUs which pass all checks (platform codes, within date range)

selfdrive/car/mazda/values.py

@@ -1,4 +1,5 @@
 from dataclasses import dataclass, field
+from enum import StrEnum
 from typing import Dict, List, Union
 
 from cereal import car
@@ -25,7 +26,7 @@ class CarControllerParams:
     pass
 
 
-class CAR:
+class CAR(StrEnum):
   CX5 = "MAZDA CX-5"
   CX9 = "MAZDA CX-9"
   MAZDA3 = "MAZDA 3"
@@ -46,7 +47,7 @@ CAR_INFO: Dict[str, Union[MazdaCarInfo, List[MazdaCarInfo]]] = {
   CAR.MAZDA3: MazdaCarInfo("Mazda 3 2017-18"),
   CAR.MAZDA6: MazdaCarInfo("Mazda 6 2017-20"),
   CAR.CX9_2021: MazdaCarInfo("Mazda CX-9 2021-23", video_link="https://youtu.be/dA3duO4a0O4"),
-  CAR.CX5_2022: MazdaCarInfo("Mazda CX-5 2022-23"),
+  CAR.CX5_2022: MazdaCarInfo("Mazda CX-5 2022-24"),
 }
 
 
@@ -97,6 +98,7 @@ FW_VERSIONS = {
       b'K131-67XK2-F\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
     ],
     (Ecu.abs, 0x760, None): [
+      b'KGWD-437K2-A\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
       b'KSD5-437K2-A\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
     ],
     (Ecu.fwdCamera, 0x706, None): [
@@ -110,6 +112,7 @@ FW_VERSIONS = {
       b'SH51-21PS1-C\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
       b'PXDL-21PS1-B\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
       b'PXFG-21PS1-A\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
+      b'PXFG-21PS1-B\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
     ],
   },
   CAR.CX5: {

selfdrive/car/mock/values.py

@@ -1,9 +1,10 @@
+from enum import StrEnum
 from typing import Dict, List, Optional, Union
 
 from openpilot.selfdrive.car.docs_definitions import CarInfo
 
 
-class CAR:
+class CAR(StrEnum):
   MOCK = 'mock'
 
 

selfdrive/car/nissan/values.py

@@ -1,5 +1,6 @@
 # ruff: noqa: E501
 from dataclasses import dataclass, field
+from enum import StrEnum
 from typing import Dict, List, Optional, Union
 
 from cereal import car
@@ -21,7 +22,7 @@ class CarControllerParams:
     pass
 
 
-class CAR:
+class CAR(StrEnum):
   XTRAIL = "NISSAN X-TRAIL 2017"
   LEAF = "NISSAN LEAF 2018"
   # Leaf with ADAS ECU found behind instrument cluster instead of glovebox

selfdrive/car/subaru/values.py

@@ -1,5 +1,5 @@
 from dataclasses import dataclass, field
-from enum import Enum, IntFlag
+from enum import Enum, IntFlag, StrEnum
 from typing import Dict, List, Union
 
 from cereal import car
@@ -63,7 +63,7 @@ class CanBus:
   camera = 2
 
 
-class CAR:
+class CAR(StrEnum):
   # Global platform
   ASCENT = "SUBARU ASCENT LIMITED 2019"
   ASCENT_2023 = "SUBARU ASCENT 2023"
@@ -114,7 +114,7 @@ CAR_INFO: Dict[str, Union[SubaruCarInfo, List[SubaruCarInfo]]] = {
     SubaruCarInfo("Subaru XV 2020-21"),
   ],
   # TODO: is there an XV and Impreza too?
-  CAR.CROSSTREK_HYBRID: SubaruCarInfo("Subaru Crosstrek Hybrid 2020"),
+  CAR.CROSSTREK_HYBRID: SubaruCarInfo("Subaru Crosstrek Hybrid 2020", car_parts=CarParts.common([CarHarness.subaru_b])),
   CAR.FORESTER_HYBRID: SubaruCarInfo("Subaru Forester Hybrid 2020"),
   CAR.FORESTER: SubaruCarInfo("Subaru Forester 2019-21", "All"),
   CAR.FORESTER_PREGLOBAL: SubaruCarInfo("Subaru Forester 2017-18"),

selfdrive/car/tesla/values.py

@@ -1,5 +1,6 @@
 # ruff: noqa: E501
 from collections import namedtuple
+from enum import StrEnum
 from typing import Dict, List, Union
 
 from cereal import car
@@ -12,7 +13,7 @@ Ecu = car.CarParams.Ecu
 Button = namedtuple('Button', ['event_type', 'can_addr', 'can_msg', 'values'])
 
 
-class CAR:
+class CAR(StrEnum):
   AP1_MODELS = 'TESLA AP1 MODEL S'
   AP2_MODELS = 'TESLA AP2 MODEL S'
 

selfdrive/car/toyota/values.py

@@ -1,7 +1,7 @@
 import re
 from collections import defaultdict
 from dataclasses import dataclass, field
-from enum import Enum, IntFlag
+from enum import Enum, IntFlag, StrEnum
 from typing import Dict, List, Set, Union
 
 from cereal import car
@@ -46,7 +46,7 @@ class ToyotaFlags(IntFlag):
   DISABLE_RADAR = 4
 
 
-class CAR:
+class CAR(StrEnum):
   # Toyota
   ALPHARD_TSS2 = "TOYOTA ALPHARD 2020"
   ALPHARDH_TSS2 = "TOYOTA ALPHARD HYBRID 2021"
@@ -131,7 +131,7 @@ CAR_INFO: Dict[str, Union[ToyotaCarInfo, List[ToyotaCarInfo]]] = {
   CAR.CAMRY: ToyotaCarInfo("Toyota Camry 2018-20", video_link="https://www.youtube.com/watch?v=fkcjviZY9CM", footnotes=[Footnote.CAMRY]),
   CAR.CAMRYH: ToyotaCarInfo("Toyota Camry Hybrid 2018-20", video_link="https://www.youtube.com/watch?v=Q2DYY0AWKgk"),
   CAR.CAMRY_TSS2: ToyotaCarInfo("Toyota Camry 2021-23", footnotes=[Footnote.CAMRY]),
-  CAR.CAMRYH_TSS2: ToyotaCarInfo("Toyota Camry Hybrid 2021-23"),
+  CAR.CAMRYH_TSS2: ToyotaCarInfo("Toyota Camry Hybrid 2021-24"),
   CAR.CHR: ToyotaCarInfo("Toyota C-HR 2017-20"),
   CAR.CHR_TSS2: ToyotaCarInfo("Toyota C-HR 2021"),
   CAR.CHRH: ToyotaCarInfo("Toyota C-HR Hybrid 2017-20"),
@@ -361,7 +361,7 @@ FW_QUERY_CONFIG = FwQueryConfig(
       [StdQueries.SHORT_TESTER_PRESENT_REQUEST, TOYOTA_VERSION_REQUEST_KWP],
       [StdQueries.SHORT_TESTER_PRESENT_RESPONSE, TOYOTA_VERSION_RESPONSE_KWP],
       whitelist_ecus=[Ecu.fwdCamera, Ecu.fwdRadar, Ecu.dsu, Ecu.abs, Ecu.eps, Ecu.epb, Ecu.telematics,
-                      Ecu.hybrid, Ecu.srs, Ecu.combinationMeter, Ecu.transmission, Ecu.gateway, Ecu.hvac],
+                      Ecu.srs, Ecu.combinationMeter, Ecu.transmission, Ecu.gateway, Ecu.hvac],
       bus=0,
     ),
     Request(
@@ -1694,6 +1694,7 @@ FW_VERSIONS = {
     (Ecu.engine, 0x700, None): [
       b'\x01896634A88100\x00\x00\x00\x00',
       b'\x01896634AJ2000\x00\x00\x00\x00',
+      b'\x01896634A89100\x00\x00\x00\x00',
     ],
     (Ecu.fwdRadar, 0x750, 0xf): [
       b'\x018821F0R03100\x00\x00\x00\x00',
@@ -1793,6 +1794,7 @@ FW_VERSIONS = {
     (Ecu.abs, 0x7b0, None): [
       b'\x01F15264283200\x00\x00\x00\x00',
       b'\x01F15264283300\x00\x00\x00\x00',
+      b'\x01F152642F1000\x00\x00\x00\x00',
     ],
     (Ecu.eps, 0x7a1, None): [
       b'\x028965B0R11000\x00\x00\x00\x008965B0R12000\x00\x00\x00\x00',
@@ -1803,15 +1805,17 @@ FW_VERSIONS = {
       b'\x01896634AF0000\x00\x00\x00\x00',
     ],
     (Ecu.hybrid, 0x7d2, None): [
+      b'\x02899830R39000\x00\x00\x00\x00899850R20000\x00\x00\x00\x00',
       b'\x02899830R41000\x00\x00\x00\x00899850R20000\x00\x00\x00\x00',
       b'\x028998342C0000\x00\x00\x00\x00899854224000\x00\x00\x00\x00',
-      b'\x02899830R39000\x00\x00\x00\x00899850R20000\x00\x00\x00\x00',
+      b'\x028998342C6000\x00\x00\x00\x00899854224000\x00\x00\x00\x00',
     ],
     (Ecu.fwdRadar, 0x750, 0xf): [
       b'\x018821F0R03100\x00\x00\x00\x00',
     ],
     (Ecu.fwdCamera, 0x750, 0x6d): [
       b'\x028646F0R05100\x00\x00\x00\x008646G0R02100\x00\x00\x00\x00',
+      b'\x028646F0R05200\x00\x00\x00\x008646G0R02200\x00\x00\x00\x00',
     ],
   },
   CAR.SIENNA: {

selfdrive/car/volkswagen/values.py

@@ -1,6 +1,6 @@
 from collections import defaultdict, namedtuple
 from dataclasses import dataclass, field
-from enum import Enum
+from enum import Enum, StrEnum
 from typing import Dict, List, Union
 
 from cereal import car
@@ -114,7 +114,7 @@ class CANBUS:
 # FW_VERSIONS for that existing CAR.
 # Exception: SEAT Leon and SEAT Ateca share a chassis code
 
-class CAR:
+class CAR(StrEnum):
   ARTEON_MK1 = "VOLKSWAGEN ARTEON 1ST GEN"          # Chassis AN, Mk1 VW Arteon and variants
   ATLAS_MK1 = "VOLKSWAGEN ATLAS 1ST GEN"            # Chassis CA, Mk1 VW Atlas and Atlas Cross Sport
   CRAFTER_MK2 = "VOLKSWAGEN CRAFTER 2ND GEN"        # Chassis SY/SZ, Mk2 VW Crafter, VW Grand California, MAN TGE
@@ -774,15 +774,18 @@ FW_VERSIONS = {
     (Ecu.engine, 0x7e0, None): [
       b'\xf1\x8704E906027NJ\xf1\x891445',
       b'\xf1\x8704E906027NP\xf1\x891286',
+      b'\xf1\x8705E906013BD\xf1\x892496',
       b'\xf1\x8705E906013E \xf1\x891624',
     ],
     (Ecu.transmission, 0x7e1, None): [
       b'\xf1\x8709G927158EM\xf1\x893812',
       b'\xf1\x8709S927158BL\xf1\x893791',
+      b'\xf1\x8709S927158DN\xf1\x893946',
       b'\xf1\x8709S927158FF\xf1\x893876',
     ],
     (Ecu.srs, 0x715, None): [
       b'\xf1\x875Q0959655CB\xf1\x890421\xf1\x82\x1311111111333500314646021450149333613100',
+      b'\xf1\x875Q0959655CB\xf1\x890421\xf1\x82\x1312111111333500314646021550159333613100',
       b'\xf1\x875Q0959655CE\xf1\x890421\xf1\x82\x1311110011333300314240021350139333613100',
     ],
     (Ecu.eps, 0x712, None): [

selfdrive/debug/auto_fingerprint.py

@@ -0,0 +1,105 @@
+#!/usr/bin/env python3
+
+import argparse
+from openpilot.common.basedir import BASEDIR
+
+from openpilot.tools.lib.logreader import MultiLogIterator
+from openpilot.tools.lib.route import Route
+from openpilot.selfdrive.car.fw_versions import match_fw_to_car
+from openpilot.selfdrive.car.interfaces import get_interface_attr
+
+
+ALL_FW_VERSIONS = get_interface_attr("FW_VERSIONS")
+ALL_CARS = get_interface_attr("CAR")
+
+PLATFORM_TO_PYTHON_CAR_NAME = {brand: {car.value: car.name for car in ALL_CARS[brand]} for brand in ALL_CARS}
+BRAND_TO_PLATFORMS = {brand: [car.value for car in ALL_CARS[brand]] for brand in ALL_CARS}
+PLATFORM_TO_BRAND = dict(sum([[(platform, brand) for platform in BRAND_TO_PLATFORMS[brand]] for brand in BRAND_TO_PLATFORMS], []))
+
+def add_fw_versions(brand, platform, new_fw_versions):
+  filename = f"{BASEDIR}/selfdrive/car/{brand}/values.py"
+  with open(filename, "r") as f:
+    values_py = f.read()
+
+  for key in new_fw_versions.keys():
+    ecu, addr, subAddr = key
+    fw_version = new_fw_versions[key]
+
+    platform_start = values_py.index(f"CAR.{PLATFORM_TO_PYTHON_CAR_NAME[brand][platform]}: {{")
+
+    start = values_py.index(f"(Ecu.{ecu}, {hex(addr)}, {subAddr}): [", platform_start)
+
+    try:
+      end_str = "],\n"
+      end = values_py.index(end_str, start)
+    except ValueError:
+      end_str = "]\n"
+      end = values_py.index(end_str, start)
+
+    values_py = values_py[:end] + f"  {fw_version},\n    " + values_py[end:]
+
+  with open(filename, "w") as f:
+    f.write(values_py)
+
+
+if __name__ == "__main__":
+  parser = argparse.ArgumentParser(description="Auto fingerprint from a route")
+  parser.add_argument("route", help="The route name to use")
+  parser.add_argument("platform", help="The platform, or leave empty to auto-determine using fuzzy", default=None, nargs='?')
+  args = parser.parse_args()
+
+  route = Route(args.route)
+  lr = MultiLogIterator(route.qlog_paths())
+
+  carFw = None
+  carVin = None
+  carPlatform = None
+
+  for msg in lr:
+    if msg.which() == "carParams":
+      carFw = msg.carParams.carFw
+      carVin = msg.carParams.carVin
+      carPlatform = msg.carParams.carFingerprint
+      break
+
+  if carFw is None:
+    raise Exception("No fw versions in the provided route...")
+
+  if args.platform is None: # attempt to auto-determine platform with other fuzzy fingerprints
+    _, possible_platforms = match_fw_to_car(carFw, log=False)
+
+    if len(possible_platforms) != 1:
+      print(f"Unable to auto-determine platform, possible platforms: {possible_platforms}")
+
+      if carPlatform != "mock":
+        print("Using platform from route")
+        platform = carPlatform
+      else:
+        raise Exception("unable to determine platform, try manually specifying the fingerprint.")
+    else:
+      platform = list(possible_platforms)[0]
+
+  else:
+    platform = args.platform
+
+  print("Attempting to add fw version for: ", platform)
+
+  brand = PLATFORM_TO_BRAND[platform]
+
+  new_fw_versions = {}
+
+  for fw in carFw:
+    if fw.brand == brand:
+      addr = fw.address
+      subAddr = None if fw.subAddress == 0 else fw.subAddress
+      key = (fw.ecu.raw, addr, subAddr)
+
+      if key in ALL_FW_VERSIONS[brand][platform]:
+        fw_versions = set(ALL_FW_VERSIONS[brand][platform][key])
+        if fw.fwVersion not in fw_versions:
+          new_fw_versions[(fw.ecu, addr, subAddr)] = fw.fwVersion
+
+  if not new_fw_versions:
+    print("No new fw versions found...")
+
+  add_fw_versions(brand, platform, new_fw_versions)

selfdrive/debug/hyundai_enable_radar_points.py

@@ -62,6 +62,10 @@ SUPPORTED_FW_VERSIONS = {
   b"TM__ SCC F-CUP      1.00 1.02 99110-S2000\x18\x07\x08\x18W    ": ConfigValues(
     default_config=b"\x00\x00\x00\x01\x00\x00",
     tracks_enabled=b"\x00\x00\x00\x01\x00\x01"),
+  # 2021 K5 HEV
+  b"DLhe SCC FHCUP      1.00 1.02 99110-L7000 \x01 \x102    ": ConfigValues(
+    default_config=b"\x00\x00\x00\x01\x00\x00",
+    tracks_enabled=b"\x00\x00\x00\x01\x00\x01"),
 }
 
 if __name__ == "__main__":

selfdrive/debug/vw_mqb_config.py

@@ -144,6 +144,7 @@ if __name__ == "__main__":
       uds_client.write_data_by_identifier(VOLKSWAGEN_DATA_IDENTIFIER_TYPE.CODING, new_coding)  # type: ignore
     except (NegativeResponseError, MessageTimeoutError):
       print("Writing new configuration failed!")
+      print("Make sure the comma processes are stopped: tmux kill-session -t comma")
       quit()
 
     try:

selfdrive/hardware

@@ -1 +0,0 @@
-../system/hardware/

selfdrive/modeld/modeld.py

@@ -111,7 +111,7 @@ def main():
 
   while not vipc_client_main.connect(False):
     time.sleep(0.1)
-  while not vipc_client_extra.connect(False):
+  while use_extra_client and not vipc_client_extra.connect(False):
     time.sleep(0.1)
 
   cloudlog.warning(f"connected main cam with buffer size: {vipc_client_main.buffer_len} ({vipc_client_main.width} x {vipc_client_main.height})")

selfdrive/modeld/models/supercombo.onnx

@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:af5b47a763454cd56a9f16ebe51dbcf54a001898444a9557b39cedb2303d4da3
-size 52272357
+oid sha256:18e53fa5d0f9a185833d50fa0d777725ca715460062f3a2c050847588525d87c
+size 52272467

selfdrive/rtshield.py

@@ -1,21 +0,0 @@
-#!/usr/bin/env python3
-import os
-import time
-from typing import NoReturn
-
-from openpilot.common.realtime import set_core_affinity, set_realtime_priority
-
-# RT shield - ensure CPU 3 always remains available for RT processes
-#   runs as SCHED_FIFO with minimum priority to ensure kthreads don't
-#   get scheduled onto CPU 3, but it's always preemptible by realtime
-#   openpilot processes
-
-def main() -> NoReturn:
-  set_core_affinity([int(os.getenv("CORE", "3")), ])
-  set_realtime_priority(1)
-
-  while True:
-    time.sleep(0.000001)
-
-if __name__ == "__main__":
-  main()

selfdrive/test/process_replay/compare_logs.py

@@ -5,6 +5,7 @@ import capnp
 import numbers
 import dictdiffer
 from collections import Counter
+from typing import Dict
 
 from openpilot.tools.lib.logreader import LogReader
 
@@ -89,7 +90,52 @@ def compare_logs(log1, log2, ignore_fields=None, ignore_msgs=None, tolerance=Non
   return diff
 
 
+def format_diff(results, log_paths, ref_commit):
+  diff1, diff2 = "", ""
+  diff2 += f"***** tested against commit {ref_commit} *****\n"
+
+  failed = False
+  for segment, result in list(results.items()):
+    diff1 += f"***** results for segment {segment} *****\n"
+    diff2 += f"***** differences for segment {segment} *****\n"
+
+    for proc, diff in list(result.items()):
+      # long diff
+      diff2 += f"*** process: {proc} ***\n"
+      diff2 += f"\tref: {log_paths[segment][proc]['ref']}\n"
+      diff2 += f"\tnew: {log_paths[segment][proc]['new']}\n\n"
+
+      # short diff
+      diff1 += f"    {proc}\n"
+      if isinstance(diff, str):
+        diff1 += f"        ref: {log_paths[segment][proc]['ref']}\n"
+        diff1 += f"        new: {log_paths[segment][proc]['new']}\n\n"
+        diff1 += f"        {diff}\n"
+        failed = True
+      elif len(diff):
+        diff1 += f"        ref: {log_paths[segment][proc]['ref']}\n"
+        diff1 += f"        new: {log_paths[segment][proc]['new']}\n\n"
+
+        cnt: Dict[str, int] = {}
+        for d in diff:
+          diff2 += f"\t{str(d)}\n"
+
+          k = str(d[1])
+          cnt[k] = 1 if k not in cnt else cnt[k] + 1
+
+        for k, v in sorted(cnt.items()):
+          diff1 += f"        {k}: {v}\n"
+        failed = True
+  return diff1, diff2, failed
+
+
 if __name__ == "__main__":
   log1 = list(LogReader(sys.argv[1]))
   log2 = list(LogReader(sys.argv[2]))
-  print(compare_logs(log1, log2, sys.argv[3:]))
+  ignore_fields = sys.argv[3:] or ["logMonoTime", "controlsState.startMonoTime", "controlsState.cumLagMs"]
+  results = {"segment": {"proc": compare_logs(log1, log2, ignore_fields)}}
+  log_paths = {"segment": {"proc": {"ref": sys.argv[1], "new": sys.argv[2]}}}
+  diff1, diff2, failed = format_diff(results, log_paths, None)
+
+  print(diff2)
+  print(diff1)

selfdrive/test/process_replay/migration.py

@@ -2,17 +2,95 @@ from collections import defaultdict
 
 from cereal import messaging
 from openpilot.selfdrive.test.process_replay.vision_meta import meta_from_encode_index
+from openpilot.selfdrive.car.toyota.values import EPS_SCALE
+from openpilot.selfdrive.manager.process_config import managed_processes
+from panda import Panda
 
 
-def migrate_all(lr, old_logtime=False, camera_states=False):
+def migrate_all(lr, old_logtime=False, manager_states=False, panda_states=False, camera_states=False):
   msgs = migrate_sensorEvents(lr, old_logtime)
   msgs = migrate_carParams(msgs, old_logtime)
+  if manager_states:
+    msgs = migrate_managerState(msgs)
+  if panda_states:
+    msgs = migrate_pandaStates(msgs)
+    msgs = migrate_peripheralState(msgs)
   if camera_states:
     msgs = migrate_cameraStates(msgs)
 
   return msgs
 
 
+def migrate_managerState(lr):
+  all_msgs = []
+  for msg in lr:
+    if msg.which() != "managerState":
+      all_msgs.append(msg)
+      continue
+
+    new_msg = msg.as_builder()
+    new_msg.managerState.processes = [{'name': name, 'running': True} for name in managed_processes]
+    all_msgs.append(new_msg.as_reader())
+
+  return all_msgs
+
+
+def migrate_pandaStates(lr):
+  all_msgs = []
+  # TODO: safety param migration should be handled automatically
+  safety_param_migration = {
+    "TOYOTA PRIUS 2017": EPS_SCALE["TOYOTA PRIUS 2017"] | Panda.FLAG_TOYOTA_STOCK_LONGITUDINAL,
+    "TOYOTA RAV4 2017": EPS_SCALE["TOYOTA RAV4 2017"] | Panda.FLAG_TOYOTA_ALT_BRAKE,
+    "KIA EV6 2022": Panda.FLAG_HYUNDAI_EV_GAS | Panda.FLAG_HYUNDAI_CANFD_HDA2,
+  }
+
+  # Migrate safety param base on carState
+  CP = next((m.carParams for m in lr if m.which() == 'carParams'), None)
+  assert CP is not None, "carParams message not found"
+  if CP.carFingerprint in safety_param_migration:
+    safety_param = safety_param_migration[CP.carFingerprint]
+  elif len(CP.safetyConfigs):
+    safety_param = CP.safetyConfigs[0].safetyParam
+    if CP.safetyConfigs[0].safetyParamDEPRECATED != 0:
+      safety_param = CP.safetyConfigs[0].safetyParamDEPRECATED
+  else:
+    safety_param = CP.safetyParamDEPRECATED
+
+  for msg in lr:
+    if msg.which() == 'pandaStateDEPRECATED':
+      new_msg = messaging.new_message('pandaStates', 1)
+      new_msg.valid = msg.valid
+      new_msg.logMonoTime = msg.logMonoTime
+      new_msg.pandaStates[0] = msg.pandaStateDEPRECATED
+      new_msg.pandaStates[0].safetyParam = safety_param
+      all_msgs.append(new_msg.as_reader())
+    elif msg.which() == 'pandaStates':
+      new_msg = msg.as_builder()
+      new_msg.pandaStates[-1].safetyParam = safety_param
+      all_msgs.append(new_msg.as_reader())
+    else:
+      all_msgs.append(msg)
+
+  return all_msgs
+
+
+def migrate_peripheralState(lr):
+  if any(msg.which() == "peripheralState" for msg in lr):
+    return lr
+
+  all_msg = []
+  for msg in lr:
+    all_msg.append(msg)
+    if msg.which() not in ["pandaStates", "pandaStateDEPRECATED"]:
+      continue
+
+    new_msg = messaging.new_message("peripheralState")
+    new_msg.logMonoTime = msg.logMonoTime
+    all_msg.append(new_msg.as_reader())
+
+  return all_msg
+
+
 def migrate_cameraStates(lr):
   all_msgs = []
   frame_to_encode_id = defaultdict(dict)
@@ -42,7 +120,11 @@ def migrate_cameraStates(lr):
     new_camera_state = getattr(new_msg, new_msg.which())
     new_camera_state.frameId = encode_id
     new_camera_state.encodeId = encode_id
-    new_camera_state.timestampSof = camera_state.timestampSof
+    # timestampSof was added later so it might be missing on some old segments
+    if camera_state.timestampSof == 0 and camera_state.timestampEof > 25000000:
+      new_camera_state.timestampSof = camera_state.timestampEof - 18000000
+    else:
+      new_camera_state.timestampSof = camera_state.timestampSof
     new_camera_state.timestampEof = camera_state.timestampEof
     new_msg.logMonoTime = msg.logMonoTime
     new_msg.valid = msg.valid

selfdrive/test/process_replay/model_replay.py

@@ -10,8 +10,7 @@ from openpilot.common.params import Params
 from openpilot.system.hardware import PC
 from openpilot.selfdrive.manager.process_config import managed_processes
 from openpilot.selfdrive.test.openpilotci import BASE_URL, get_url
-from openpilot.selfdrive.test.process_replay.compare_logs import compare_logs
-from openpilot.selfdrive.test.process_replay.test_processes import format_diff
+from openpilot.selfdrive.test.process_replay.compare_logs import compare_logs, format_diff
 from openpilot.selfdrive.test.process_replay.process_replay import get_process_config, replay_process
 from openpilot.system.version import get_commit
 from openpilot.tools.lib.framereader import FrameReader

selfdrive/test/process_replay/model_replay_ref_commit

@@ -1 +1 @@
-3bb23e270a3a7219cfeedadd8d085c32fc571c0d
+ed2d58ec217fafb7b6b8f5e27ec622acd9e734f4

selfdrive/test/process_replay/process_replay.py

@@ -204,7 +204,7 @@ class ProcessContainer:
   def _setup_vision_ipc(self, all_msgs):
     assert len(self.cfg.vision_pubs) != 0
 
-    device_type = next(msg.initData.deviceType for msg in all_msgs if msg.which() == "initData")
+    device_type = next(str(msg.initData.deviceType) for msg in all_msgs if msg.which() == "initData")
 
     vipc_server = VisionIpcServer("camerad")
     streams_metas = available_streams(all_msgs)
@@ -214,6 +214,7 @@ class ProcessContainer:
     vipc_server.start_listener()
 
     self.vipc_server = vipc_server
+    self.cfg.vision_pubs = [meta.camera_state for meta in streams_metas if meta.camera_state in self.cfg.vision_pubs]
 
   def _start_process(self):
     if self.capture is not None:
@@ -393,9 +394,8 @@ class ModeldCameraSyncRcvCallback:
     self.is_dual_camera = True
 
   def __call__(self, msg, cfg, frame):
-    if msg.which() == "initData":
-      self.is_dual_camera = msg.initData.deviceType in ["tici", "tizi"]
-    elif msg.which() == "roadCameraState":
+    self.is_dual_camera = len(cfg.vision_pubs) == 2
+    if msg.which() == "roadCameraState":
       self.road_present = True
     elif msg.which() == "wideRoadCameraState":
       self.wide_road_present = True
@@ -653,7 +653,10 @@ def replay_process(
   else:
     cfgs = [cfg]
 
-  all_msgs = migrate_all(lr, old_logtime=True, camera_states=any(len(cfg.vision_pubs) != 0 for cfg in cfgs))
+  all_msgs = migrate_all(lr, old_logtime=True,
+                         manager_states=True,
+                         panda_states=any("pandaStates" in cfg.pubs for cfg in cfgs),
+                         camera_states=any(len(cfg.vision_pubs) != 0 for cfg in cfgs))
   process_logs = _replay_multi_process(cfgs, all_msgs, frs, fingerprint, custom_params, captured_output_store, disable_progress)
 
   if return_all_logs:
@@ -681,14 +684,13 @@ def _replay_multi_process(
     env_config = generate_environ_config(CP=CP)
 
   # validate frs and vision pubs
-  for cfg in cfgs:
-    if len(cfg.vision_pubs) == 0:
-      continue
-
+  all_vision_pubs = [pub for cfg in cfgs for pub in cfg.vision_pubs]
+  if len(all_vision_pubs) != 0:
     assert frs is not None, "frs must be provided when replaying process using vision streams"
-    assert all(meta_from_camera_state(st) is not None for st in cfg.vision_pubs),\
-                                                     f"undefined vision stream spotted, probably misconfigured process: {cfg.vision_pubs}"
-    assert all(st in frs for st in cfg.vision_pubs), f"frs for this process must contain following vision streams: {cfg.vision_pubs}"
+    assert all(meta_from_camera_state(st) is not None for st in all_vision_pubs), \
+                                                          f"undefined vision stream spotted, probably misconfigured process: (vision pubs: {all_vision_pubs})"
+    required_vision_pubs = {m.camera_state for m in available_streams(lr)} & set(all_vision_pubs)
+    assert all(st in frs for st in required_vision_pubs), f"frs for this process must contain following vision streams: {required_vision_pubs}"
 
   all_msgs = sorted(lr, key=lambda msg: msg.logMonoTime)
   log_msgs = []

selfdrive/test/process_replay/regen.py

@@ -6,8 +6,8 @@ import capnp
 
 from typing import Union, Iterable, Optional, List, Any, Dict, Tuple
 
-from openpilot.selfdrive.test.process_replay.process_replay import CONFIGS, FAKEDATA, replay_process, get_process_config, \
-                                                        check_openpilot_enabled, get_custom_params_from_lr
+from openpilot.selfdrive.test.process_replay.process_replay import CONFIGS, FAKEDATA, ProcessConfig, replay_process, get_process_config, \
+                                                                   check_openpilot_enabled, get_custom_params_from_lr
 from openpilot.selfdrive.test.update_ci_routes import upload_route
 from openpilot.tools.lib.route import Route
 from openpilot.tools.lib.framereader import FrameReader
@@ -17,62 +17,68 @@ from openpilot.tools.lib.helpers import save_log
 
 def regen_segment(
   lr: Union[LogReader, List[capnp._DynamicStructReader]], frs: Optional[Dict[str, Any]] = None,
-  daemons: Union[str, Iterable[str]] = "all", disable_tqdm: bool = False
+  processes: Iterable[ProcessConfig] = CONFIGS, disable_tqdm: bool = False
 ) -> List[capnp._DynamicStructReader]:
-  if not isinstance(daemons, str) and not hasattr(daemons, "__iter__"):
-    raise ValueError("whitelist_proc must be a string or iterable")
-
   all_msgs = sorted(lr, key=lambda m: m.logMonoTime)
   custom_params = get_custom_params_from_lr(all_msgs)
 
-  if daemons != "all":
-    if isinstance(daemons, str):
-      raise ValueError(f"Invalid value for daemons: {daemons}")
-
-    replayed_processes = []
-    for d in daemons:
-      cfg = get_process_config(d)
-      replayed_processes.append(cfg)
-  else:
-    replayed_processes = CONFIGS
-
-  print("Replayed processes:", [p.proc_name for p in replayed_processes])
+  print("Replayed processes:", [p.proc_name for p in processes])
   print("\n\n", "*"*30, "\n\n", sep="")
 
-  output_logs = replay_process(replayed_processes, all_msgs, frs, return_all_logs=True, custom_params=custom_params, disable_progress=disable_tqdm)
+  output_logs = replay_process(processes, all_msgs, frs, return_all_logs=True, custom_params=custom_params, disable_progress=disable_tqdm)
 
   return output_logs
 
 
-def setup_data_readers(route: str, sidx: int, use_route_meta: bool) -> Tuple[LogReader, Dict[str, Any]]:
+def setup_data_readers(
+    route: str, sidx: int, use_route_meta: bool, needs_driver_cam: bool = True, needs_road_cam: bool = True
+) -> Tuple[LogReader, Dict[str, Any]]:
   if use_route_meta:
     r = Route(route)
     lr = LogReader(r.log_paths()[sidx])
     frs = {}
-    if len(r.camera_paths()) > sidx and r.camera_paths()[sidx] is not None:
+    if needs_road_cam and len(r.camera_paths()) > sidx and r.camera_paths()[sidx] is not None:
       frs['roadCameraState'] = FrameReader(r.camera_paths()[sidx])
-    if len(r.ecamera_paths()) > sidx and r.ecamera_paths()[sidx] is not None:
-      frs['wideCameraState'] = FrameReader(r.ecamera_paths()[sidx])
-    if len(r.dcamera_paths()) > sidx and r.dcamera_paths()[sidx] is not None:
+    if needs_road_cam and  len(r.ecamera_paths()) > sidx and r.ecamera_paths()[sidx] is not None:
+      frs['wideRoadCameraState'] = FrameReader(r.ecamera_paths()[sidx])
+    if needs_driver_cam and len(r.dcamera_paths()) > sidx and r.dcamera_paths()[sidx] is not None:
       frs['driverCameraState'] = FrameReader(r.dcamera_paths()[sidx])
   else:
     lr = LogReader(f"cd:/{route.replace('|', '/')}/{sidx}/rlog.bz2")
-    frs = {
-      'roadCameraState': FrameReader(f"cd:/{route.replace('|', '/')}/{sidx}/fcamera.hevc"),
-      'driverCameraState': FrameReader(f"cd:/{route.replace('|', '/')}/{sidx}/dcamera.hevc"),
-    }
-    if next((True for m in lr if m.which() == "wideRoadCameraState"), False):
-      frs['wideRoadCameraState'] = FrameReader(f"cd:/{route.replace('|', '/')}/{sidx}/ecamera.hevc")
+    frs = {}
+    if needs_road_cam:
+      frs['roadCameraState'] = FrameReader(f"cd:/{route.replace('|', '/')}/{sidx}/fcamera.hevc")
+      if next((True for m in lr if m.which() == "wideRoadCameraState"), False):
+        frs['wideRoadCameraState'] = FrameReader(f"cd:/{route.replace('|', '/')}/{sidx}/ecamera.hevc")
+    if needs_driver_cam:
+      frs['driverCameraState'] = FrameReader(f"cd:/{route.replace('|', '/')}/{sidx}/dcamera.hevc")
 
   return lr, frs
 
 
 def regen_and_save(
-  route: str, sidx: int, daemons: Union[str, Iterable[str]] = "all", outdir: str = FAKEDATA,
+  route: str, sidx: int, processes: Union[str, Iterable[str]] = "all", outdir: str = FAKEDATA,
   upload: bool = False, use_route_meta: bool = False, disable_tqdm: bool = False
 ) -> str:
-  lr, frs = setup_data_readers(route, sidx, use_route_meta)
-  output_logs = regen_segment(lr, frs, daemons, disable_tqdm=disable_tqdm)
+  if not isinstance(processes, str) and not hasattr(processes, "__iter__"):
+    raise ValueError("whitelist_proc must be a string or iterable")
+
+  if processes != "all":
+    if isinstance(processes, str):
+      raise ValueError(f"Invalid value for processes: {processes}")
+
+    replayed_processes = []
+    for d in processes:
+      cfg = get_process_config(d)
+      replayed_processes.append(cfg)
+  else:
+    replayed_processes = CONFIGS
+
+  all_vision_pubs = {pub for cfg in replayed_processes for pub in cfg.vision_pubs}
+  lr, frs = setup_data_readers(route, sidx, use_route_meta,
+                               needs_driver_cam="driverCameraState" in all_vision_pubs,
+                               needs_road_cam="roadCameraState" in all_vision_pubs or "wideRoadCameraState" in all_vision_pubs)
+  output_logs = regen_segment(lr, frs, replayed_processes, disable_tqdm=disable_tqdm)
 
   log_dir = os.path.join(outdir, time.strftime("%Y-%m-%d--%H-%M-%S--0", time.gmtime()))
   rel_log_dir = os.path.relpath(log_dir)
@@ -110,5 +116,5 @@ if __name__ == "__main__":
   args = parser.parse_args()
 
   blacklist_set = set(args.blacklist_procs)
-  daemons = [p for p in args.whitelist_procs if p not in blacklist_set]
-  regen_and_save(args.route, args.seg, daemons=daemons, upload=args.upload, outdir=args.outdir)
+  processes = [p for p in args.whitelist_procs if p not in blacklist_set]
+  regen_and_save(args.route, args.seg, processes=processes, upload=args.upload, outdir=args.outdir)

selfdrive/test/process_replay/test_processes.py

@@ -9,7 +9,7 @@ from typing import Any, DefaultDict, Dict
 
 from openpilot.selfdrive.car.car_helpers import interface_names
 from openpilot.selfdrive.test.openpilotci import get_url, upload_file
-from openpilot.selfdrive.test.process_replay.compare_logs import compare_logs
+from openpilot.selfdrive.test.process_replay.compare_logs import compare_logs, format_diff
 from openpilot.selfdrive.test.process_replay.process_replay import CONFIGS, PROC_REPLAY_DIR, FAKEDATA, check_openpilot_enabled, replay_process
 from openpilot.system.version import get_commit
 from openpilot.tools.lib.filereader import FileReader
@@ -115,45 +115,6 @@ def test_process(cfg, lr, segment, ref_log_path, new_log_path, ignore_fields=Non
     return str(e), log_msgs
 
 
-def format_diff(results, log_paths, ref_commit):
-  diff1, diff2 = "", ""
-  diff2 += f"***** tested against commit {ref_commit} *****\n"
-
-  failed = False
-  for segment, result in list(results.items()):
-    diff1 += f"***** results for segment {segment} *****\n"
-    diff2 += f"***** differences for segment {segment} *****\n"
-
-    for proc, diff in list(result.items()):
-      # long diff
-      diff2 += f"*** process: {proc} ***\n"
-      diff2 += f"\tref: {log_paths[segment][proc]['ref']}\n"
-      diff2 += f"\tnew: {log_paths[segment][proc]['new']}\n\n"
-
-      # short diff
-      diff1 += f"    {proc}\n"
-      if isinstance(diff, str):
-        diff1 += f"        ref: {log_paths[segment][proc]['ref']}\n"
-        diff1 += f"        new: {log_paths[segment][proc]['new']}\n\n"
-        diff1 += f"        {diff}\n"
-        failed = True
-      elif len(diff):
-        diff1 += f"        ref: {log_paths[segment][proc]['ref']}\n"
-        diff1 += f"        new: {log_paths[segment][proc]['new']}\n\n"
-
-        cnt: Dict[str, int] = {}
-        for d in diff:
-          diff2 += f"\t{str(d)}\n"
-
-          k = str(d[1])
-          cnt[k] = 1 if k not in cnt else cnt[k] + 1
-
-        for k, v in sorted(cnt.items()):
-          diff1 += f"        {k}: {v}\n"
-        failed = True
-  return diff1, diff2, failed
-
-
 if __name__ == "__main__":
   all_cars = {car for car, _ in segments}
   all_procs = {cfg.proc_name for cfg in CONFIGS if cfg.proc_name not in EXCLUDED_PROCS}

selfdrive/test/process_replay/vision_meta.py

@@ -4,9 +4,9 @@ from openpilot.common.realtime import DT_MDL, DT_DMON
 from openpilot.common.transformations.camera import tici_f_frame_size, tici_d_frame_size, tici_e_frame_size, eon_f_frame_size, eon_d_frame_size
 
 VideoStreamMeta = namedtuple("VideoStreamMeta", ["camera_state", "encode_index", "stream", "dt", "frame_sizes"])
-ROAD_CAMERA_FRAME_SIZES = {"tici": tici_f_frame_size, "tizi": tici_f_frame_size, "eon": eon_f_frame_size}
+ROAD_CAMERA_FRAME_SIZES = {"tici": tici_f_frame_size, "tizi": tici_f_frame_size, "neo": eon_f_frame_size}
 WIDE_ROAD_CAMERA_FRAME_SIZES = {"tici": tici_e_frame_size, "tizi": tici_e_frame_size}
-DRIVER_FRAME_SIZES = {"tici": tici_d_frame_size, "tizi": tici_d_frame_size, "eon": eon_d_frame_size}
+DRIVER_FRAME_SIZES = {"tici": tici_d_frame_size, "tizi": tici_d_frame_size, "neo": eon_d_frame_size}
 VIPC_STREAM_METADATA = [
   # metadata: (state_msg_type, encode_msg_type, stream_type, dt, frame_sizes)
   ("roadCameraState", "roadEncodeIdx", VisionStreamType.VISION_STREAM_ROAD, DT_MDL, ROAD_CAMERA_FRAME_SIZES),

selfdrive/ui/qt/widgets/cameraview.cc

@@ -41,8 +41,6 @@ const char frame_fragment_shader[] =
   "out vec4 colorOut;\n"
   "void main() {\n"
   "  colorOut = texture(uTexture, vTexCoord);\n"
-  // gamma to improve worst case visibility when dark
-  "  colorOut.rgb = pow(colorOut.rgb, vec3(1.0/1.28));\n"
   "}\n";
 #else
 const char frame_fragment_shader[] =

selfdrive/ui/qt/widgets/input.h

@@ -26,7 +26,7 @@ class InputDialog : public DialogBase {
 
 public:
   explicit InputDialog(const QString &title, QWidget *parent, const QString &subtitle = "", bool secret = false);
-  static QString getText(const QString &title, QWidget *parent, const QString &substitle = "",
+  static QString getText(const QString &title, QWidget *parent, const QString &subtitle = "",
                          bool secret = false, int minLength = -1, const QString &defaultText = "");
   QString text();
   void setMessage(const QString &message, bool clearInputField = true);

selfdrive/ui/tests/test_translations.py

@@ -114,6 +114,13 @@ class TestTranslations(unittest.TestCase):
           self.assertFalse(line.strip().startswith(LOCATION_TAG),
                            f"Line contains location tag: {line.strip()}, remove all line numbers.")
 
+  def test_entities_error(self):
+    for name, file in self.translation_files.items():
+      with self.subTest(name=name, file=file):
+        cur_translations = self._read_translation_file(TRANSLATIONS_DIR, file)
+        matches = re.findall(r'@(\w+);', cur_translations)
+        self.assertEqual(len(matches), 0, f"The string(s) {matches} were found with '@' instead of '&'")
+
 
 if __name__ == "__main__":
   unittest.main()

system/hardware/hw.py

@@ -1,7 +1,7 @@
 import os
 from pathlib import Path
 
-from openpilot.selfdrive.hardware import PC
+from openpilot.system.hardware import PC
 
 class Paths:
   @staticmethod

system/hardware/tici/power_draw_test.py

@@ -1,105 +0,0 @@
-#!/usr/bin/env python3
-import os
-import time
-import numpy as np
-from openpilot.system.hardware.tici.hardware import Tici
-from openpilot.system.hardware.tici.pins import GPIO
-from openpilot.common.gpio import gpio_init, gpio_set, gpio_export
-
-def read_power():
-  with open("/sys/bus/i2c/devices/0-0040/hwmon/hwmon1/in1_input") as f:
-    voltage_total = int(f.read()) / 1000.
-
-  with open("/sys/bus/i2c/devices/0-0040/hwmon/hwmon1/curr1_input") as f:
-    current_total = int(f.read())
-
-  with open("/sys/class/power_supply/bms/voltage_now") as f:
-    voltage = int(f.read()) / 1e6   # volts
-
-  with open("/sys/class/power_supply/bms/current_now") as f:
-    current = int(f.read()) / 1e3   # ma
-
-  power_som = voltage*current
-  power_total = voltage_total*current_total
-
-  return power_total, power_som
-
-def read_power_avg():
-  pwrs = []
-  for _ in range(100):
-    pwrs.append(read_power())
-    time.sleep(0.01)
-  power_total, power_som = np.mean([x[0] for x in pwrs]), np.mean([x[1] for x in pwrs])
-  return "total %7.2f mW  SOM %7.2f mW" % (power_total, power_som)
-
-
-if __name__ == "__main__":
-  gpio_export(GPIO.CAM0_AVDD_EN)
-  gpio_export(GPIO.CAM0_RSTN)
-  gpio_export(GPIO.CAM1_RSTN)
-  gpio_export(GPIO.CAM2_RSTN)
-  print("hello")
-  os.system('kill $(pgrep -f "manager.py")')
-  os.system('kill $(pgrep -f "python -m selfdrive.athena.manage_athenad")')
-  os.system('kill $(pgrep -f "selfdrive.athena.athenad")')
-  # stopping weston turns off lcd3v3
-  os.system("sudo service weston stop")
-  os.system("sudo service ModemManager stop")
-  print("services stopped")
-
-  t = Tici()
-  t.initialize_hardware()
-  t.set_power_save(True)
-  t.set_screen_brightness(0)
-  gpio_init(GPIO.STM_RST_N, True)
-  gpio_init(GPIO.HUB_RST_N, True)
-  gpio_init(GPIO.GNSS_PWR_EN, True)
-  gpio_init(GPIO.LTE_RST_N, True)
-  gpio_init(GPIO.LTE_PWRKEY, True)
-  gpio_init(GPIO.CAM0_AVDD_EN, True)
-  gpio_init(GPIO.CAM0_RSTN, True)
-  gpio_init(GPIO.CAM1_RSTN, True)
-  gpio_init(GPIO.CAM2_RSTN, True)
-
-
-  os.system("sudo su -c 'echo 0 > /sys/kernel/debug/regulator/camera_rear_ldo/enable'")  # cam 1v2 off
-  gpio_set(GPIO.CAM0_AVDD_EN, False)    # cam 2v8 off
-  gpio_set(GPIO.LTE_RST_N, True)        # quectel off
-  gpio_set(GPIO.GNSS_PWR_EN, False)    # gps off
-  gpio_set(GPIO.STM_RST_N, True)        # panda off
-  gpio_set(GPIO.HUB_RST_N, False)       # hub off
-  # cameras in reset
-  gpio_set(GPIO.CAM0_RSTN, False)
-  gpio_set(GPIO.CAM1_RSTN, False)
-  gpio_set(GPIO.CAM2_RSTN, False)
-  time.sleep(8)
-
-  print("baseline: ", read_power_avg())
-  gpio_set(GPIO.CAM0_AVDD_EN, True)
-  time.sleep(2)
-  print("cam avdd: ", read_power_avg())
-  os.system("sudo su -c 'echo 1 > /sys/kernel/debug/regulator/camera_rear_ldo/enable'")
-  time.sleep(2)
-  print("cam dvdd: ", read_power_avg())
-  gpio_set(GPIO.CAM0_RSTN, True)
-  gpio_set(GPIO.CAM1_RSTN, True)
-  gpio_set(GPIO.CAM2_RSTN, True)
-  time.sleep(2)
-  print("cams up:  ", read_power_avg())
-  gpio_set(GPIO.HUB_RST_N, True)
-  time.sleep(2)
-  print("usb hub:  ", read_power_avg())
-  gpio_set(GPIO.STM_RST_N, False)
-  time.sleep(5)
-  print("panda:    ", read_power_avg())
-  gpio_set(GPIO.GNSS_PWR_EN, True)
-  time.sleep(5)
-  print("gps:      ", read_power_avg())
-  gpio_set(GPIO.LTE_RST_N, False)
-  time.sleep(1)
-  gpio_set(GPIO.LTE_PWRKEY, True)
-  time.sleep(1)
-  gpio_set(GPIO.LTE_PWRKEY, False)
-  time.sleep(5)
-  print("quectel:  ", read_power_avg())
-

system/loggerd/config.py

@@ -1,7 +1,7 @@
 import os
 from pathlib import Path
 from openpilot.system.hardware import PC
-from openpilot.selfdrive.hardware.hw import Paths
+from openpilot.system.hardware.hw import Paths
 
 
 CAMERA_FPS = 20

system/loggerd/tests/test_encoder.py

@@ -16,7 +16,7 @@ from openpilot.common.timeout import Timeout
 from openpilot.system.hardware import TICI
 from openpilot.selfdrive.manager.process_config import managed_processes
 from openpilot.tools.lib.logreader import LogReader
-from openpilot.selfdrive.hardware.hw import Paths
+from openpilot.system.hardware.hw import Paths
 
 SEGMENT_LENGTH = 2
 FULL_SIZE = 2507572

system/sensord/pigeond.py

@@ -164,12 +164,12 @@ def initialize_pigeon(pigeon: TTYPigeon) -> bool:
       pigeon.send_with_ack(b"\xB5\x62\x06\x08\x06\x00\x64\x00\x01\x00\x00\x00\x79\x10")
 
       # UBX-CFG-NAV5 (0x06 0x24)
-      pigeon.send_with_ack(b"\xB5\x62\x06\x24\x24\x00\x05\x00\x04\x03\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x5A\x63") # noqa: E501
+      pigeon.send_with_ack(b"\xB5\x62\x06\x24\x24\x00\x05\x00\x04\x03\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x5A\x63")
 
       # UBX-CFG-ODO (0x06 0x1E)
       pigeon.send_with_ack(b"\xB5\x62\x06\x1E\x14\x00\x00\x00\x00\x00\x01\x03\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x3C\x37")
       pigeon.send_with_ack(b"\xB5\x62\x06\x39\x08\x00\xFF\xAD\x62\xAD\x1E\x63\x00\x00\x83\x0C")
-      pigeon.send_with_ack(b"\xB5\x62\x06\x23\x28\x00\x00\x00\x00\x04\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x01\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x56\x24") # noqa: E501
+      pigeon.send_with_ack(b"\xB5\x62\x06\x23\x28\x00\x00\x00\x00\x04\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x01\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x56\x24")
 
       # UBX-CFG-NAV5 (0x06 0x24)
       pigeon.send_with_ack(b"\xB5\x62\x06\x24\x00\x00\x2A\x84")

third_party/acados/include/qpOASES_e/Constants.h

@@ -1,134 +1,134 @@
-/*
- *	This file is part of qpOASES.
- *
- *	qpOASES -- An Implementation of the Online Active Set Strategy.
- *	Copyright (C) 2007-2015 by Hans Joachim Ferreau, Andreas Potschka,
- *	Christian Kirches et al. All rights reserved.
- *
- *	qpOASES is free software; you can redistribute it and/or
- *	modify it under the terms of the GNU Lesser General Public
- *	License as published by the Free Software Foundation; either
- *	version 2.1 of the License, or (at your option) any later version.
- *
- *	qpOASES is distributed in the hope that it will be useful,
- *	but WITHOUT ANY WARRANTY; without even the implied warranty of
- *	MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.
- *	See the GNU Lesser General Public License for more details.
- *
- *	You should have received a copy of the GNU Lesser General Public
- *	License along with qpOASES; if not, write to the Free Software
- *	Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA  02110-1301  USA
- *
- */
-
-
-/**
- *	\file include/qpOASES_e/Constants.h
- *	\author Hans Joachim Ferreau, Andreas Potschka, Christian Kirches
- *	\version 3.1embedded
- *	\date 2007-2015
- *
- *	Definition of all global constants.
- */
-
-
-#ifndef QPOASES_CONSTANTS_H
-#define QPOASES_CONSTANTS_H
-
-
-#include <qpOASES_e/Types.h>
-
-#ifdef __CODE_GENERATION__
-
-  #define CONVERTTOSTRINGAUX(x) #x
-  #define CONVERTTOSTRING(x) CONVERTTOSTRINGAUX(x)
-
-  #ifndef QPOASES_CUSTOM_INTERFACE
-  #include "acado_qpoases3_interface.h"
-  #else
-  #include CONVERTTOSTRING(QPOASES_CUSTOM_INTERFACE)
-  #endif
-
-#endif
-
-
-BEGIN_NAMESPACE_QPOASES
-
-
-#ifndef __EXTERNAL_DIMENSIONS__
-
-  /*#define QPOASES_NVMAX  50
-  #define QPOASES_NCMAX  100*/
-  #define QPOASES_NVMAX  287
-  #define QPOASES_NCMAX  709
-
-#endif /* __EXTERNAL_DIMENSIONS__ */
-
-
-/** Maximum number of variables within a QP formulation.
- *	Note: this value has to be positive! */
-#define NVMAX  QPOASES_NVMAX
-
-/** Maximum number of constraints within a QP formulation.
- *	Note: this value has to be positive! */
-#define NCMAX  QPOASES_NCMAX
-
-#if ( QPOASES_NVMAX > QPOASES_NCMAX )
-#define NVCMAX QPOASES_NVMAX
-#else
-#define NVCMAX QPOASES_NCMAX
-#endif
-
-#if ( QPOASES_NVMAX > QPOASES_NCMAX )
-#define NVCMIN QPOASES_NCMAX
-#else
-#define NVCMIN QPOASES_NVMAX
-#endif
-
-
-/** Maximum number of QPs in a sequence solved by means of the OQP interface.
- *	Note: this value has to be positive! */
-#define NQPMAX 1000
-
-
-/** Numerical value of machine precision (min eps, s.t. 1+eps > 1).
- *	Note: this value has to be positive! */
-#ifndef __CODE_GENERATION__
-
-  #ifdef __USE_SINGLE_PRECISION__
-  static const real_t QPOASES_EPS = 1.193e-07;
-  #else
-  static const real_t QPOASES_EPS = 2.221e-16;
-  #endif /* __USE_SINGLE_PRECISION__ */
-
-#endif /* __CODE_GENERATION__ */
-
-
-/** Numerical value of zero (for situations in which it would be
- *	unreasonable to compare with 0.0).
- *  Note: this value has to be positive! */
-static const real_t QPOASES_ZERO = 1.0e-25;
-
-/** Numerical value of infinity (e.g. for non-existing bounds).
- *	Note: this value has to be positive! */
-static const real_t QPOASES_INFTY = 1.0e20;
-
-/** Tolerance to used for isEqual, isZero etc.
- *	Note: this value has to be positive! */
-static const real_t QPOASES_TOL = 1.0e-25;
-
-
-/** Maximum number of characters within a string.
- *	Note: this value should be at least 41! */
-#define QPOASES_MAX_STRING_LENGTH 160
-
-
-END_NAMESPACE_QPOASES
-
-
-#endif	/* QPOASES_CONSTANTS_H */
-
-
-/*
- *	end of file
- */
+/*
+ *	This file is part of qpOASES.
+ *
+ *	qpOASES -- An Implementation of the Online Active Set Strategy.
+ *	Copyright (C) 2007-2015 by Hans Joachim Ferreau, Andreas Potschka,
+ *	Christian Kirches et al. All rights reserved.
+ *
+ *	qpOASES is free software; you can redistribute it and/or
+ *	modify it under the terms of the GNU Lesser General Public
+ *	License as published by the Free Software Foundation; either
+ *	version 2.1 of the License, or (at your option) any later version.
+ *
+ *	qpOASES is distributed in the hope that it will be useful,
+ *	but WITHOUT ANY WARRANTY; without even the implied warranty of
+ *	MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.
+ *	See the GNU Lesser General Public License for more details.
+ *
+ *	You should have received a copy of the GNU Lesser General Public
+ *	License along with qpOASES; if not, write to the Free Software
+ *	Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA  02110-1301  USA
+ *
+ */
+
+
+/**
+ *	\file include/qpOASES_e/Constants.h
+ *	\author Hans Joachim Ferreau, Andreas Potschka, Christian Kirches
+ *	\version 3.1embedded
+ *	\date 2007-2015
+ *
+ *	Definition of all global constants.
+ */
+
+
+#ifndef QPOASES_CONSTANTS_H
+#define QPOASES_CONSTANTS_H
+
+
+#include <qpOASES_e/Types.h>
+
+#ifdef __CODE_GENERATION__
+
+  #define CONVERTTOSTRINGAUX(x) #x
+  #define CONVERTTOSTRING(x) CONVERTTOSTRINGAUX(x)
+
+  #ifndef QPOASES_CUSTOM_INTERFACE
+  #include "acado_qpoases3_interface.h"
+  #else
+  #include CONVERTTOSTRING(QPOASES_CUSTOM_INTERFACE)
+  #endif
+
+#endif
+
+
+BEGIN_NAMESPACE_QPOASES
+
+
+#ifndef __EXTERNAL_DIMENSIONS__
+
+  /*#define QPOASES_NVMAX  50
+  #define QPOASES_NCMAX  100*/
+  #define QPOASES_NVMAX  287
+  #define QPOASES_NCMAX  709
+
+#endif /* __EXTERNAL_DIMENSIONS__ */
+
+
+/** Maximum number of variables within a QP formulation.
+ *	Note: this value has to be positive! */
+#define NVMAX  QPOASES_NVMAX
+
+/** Maximum number of constraints within a QP formulation.
+ *	Note: this value has to be positive! */
+#define NCMAX  QPOASES_NCMAX
+
+#if ( QPOASES_NVMAX > QPOASES_NCMAX )
+#define NVCMAX QPOASES_NVMAX
+#else
+#define NVCMAX QPOASES_NCMAX
+#endif
+
+#if ( QPOASES_NVMAX > QPOASES_NCMAX )
+#define NVCMIN QPOASES_NCMAX
+#else
+#define NVCMIN QPOASES_NVMAX
+#endif
+
+
+/** Maximum number of QPs in a sequence solved by means of the OQP interface.
+ *	Note: this value has to be positive! */
+#define NQPMAX 1000
+
+
+/** Numerical value of machine precision (min eps, s.t. 1+eps > 1).
+ *	Note: this value has to be positive! */
+#ifndef __CODE_GENERATION__
+
+  #ifdef __USE_SINGLE_PRECISION__
+  static const real_t QPOASES_EPS = 1.193e-07;
+  #else
+  static const real_t QPOASES_EPS = 2.221e-16;
+  #endif /* __USE_SINGLE_PRECISION__ */
+
+#endif /* __CODE_GENERATION__ */
+
+
+/** Numerical value of zero (for situations in which it would be
+ *	unreasonable to compare with 0.0).
+ *  Note: this value has to be positive! */
+static const real_t QPOASES_ZERO = 1.0e-25;
+
+/** Numerical value of infinity (e.g. for non-existing bounds).
+ *	Note: this value has to be positive! */
+static const real_t QPOASES_INFTY = 1.0e20;
+
+/** Tolerance to used for isEqual, isZero etc.
+ *	Note: this value has to be positive! */
+static const real_t QPOASES_TOL = 1.0e-25;
+
+
+/** Maximum number of characters within a string.
+ *	Note: this value should be at least 41! */
+#define QPOASES_MAX_STRING_LENGTH 160
+
+
+END_NAMESPACE_QPOASES
+
+
+#endif	/* QPOASES_CONSTANTS_H */
+
+
+/*
+ *	end of file
+ */

third_party/acados/include/qpOASES_e/ConstraintProduct.h

@@ -1,62 +1,62 @@
-/*
- *	This file is part of qpOASES.
- *
- *	qpOASES -- An Implementation of the Online Active Set Strategy.
- *	Copyright (C) 2007-2015 by Hans Joachim Ferreau, Andreas Potschka,
- *	Christian Kirches et al. All rights reserved.
- *
- *	qpOASES is free software; you can redistribute it and/or
- *	modify it under the terms of the GNU Lesser General Public
- *	License as published by the Free Software Foundation; either
- *	version 2.1 of the License, or (at your option) any later version.
- *
- *	qpOASES is distributed in the hope that it will be useful,
- *	but WITHOUT ANY WARRANTY; without even the implied warranty of
- *	MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.
- *	See the GNU Lesser General Public License for more details.
- *
- *	You should have received a copy of the GNU Lesser General Public
- *	License along with qpOASES; if not, write to the Free Software
- *	Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA  02110-1301  USA
- *
- */
-
-
-/**
- *	\file include/qpOASES_e/ConstraintProduct.h
- *	\author Hans Joachim Ferreau, Andreas Potschka, Christian Kirches (thanks to D. Kwame Minde Kufoalor)
- *	\version 3.1embedded
- *	\date 2009-2015
- *
- *	Declaration of the ConstraintProduct interface which allows to specify a
- *	user-defined function for evaluating the constraint product at the 
- *	current iterate to speed-up QP solution in case of a specially structured
- *	constraint matrix.
- */
-
-
-
-#ifndef QPOASES_CONSTRAINT_PRODUCT_H
-#define QPOASES_CONSTRAINT_PRODUCT_H
-
-
-BEGIN_NAMESPACE_QPOASES
-
-
-/** 
- *	\brief Interface for specifying user-defined evaluations of constraint products.
- *
- *	An interface which allows to specify a user-defined function for evaluating the 
- *	constraint product at the current iterate to speed-up QP solution in case 
- *	of a specially structured constraint matrix.
- *
- *	\author Hans Joachim Ferreau (thanks to Kwame Minde Kufoalor)
- *	\version 3.1embedded
- *	\date 2009-2015
- */
-typedef int(*ConstraintProduct)( int, const real_t* const, real_t* const );
-
-
-END_NAMESPACE_QPOASES
-
-#endif	/* QPOASES_CONSTRAINT_PRODUCT_H */
+/*
+ *	This file is part of qpOASES.
+ *
+ *	qpOASES -- An Implementation of the Online Active Set Strategy.
+ *	Copyright (C) 2007-2015 by Hans Joachim Ferreau, Andreas Potschka,
+ *	Christian Kirches et al. All rights reserved.
+ *
+ *	qpOASES is free software; you can redistribute it and/or
+ *	modify it under the terms of the GNU Lesser General Public
+ *	License as published by the Free Software Foundation; either
+ *	version 2.1 of the License, or (at your option) any later version.
+ *
+ *	qpOASES is distributed in the hope that it will be useful,
+ *	but WITHOUT ANY WARRANTY; without even the implied warranty of
+ *	MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.
+ *	See the GNU Lesser General Public License for more details.
+ *
+ *	You should have received a copy of the GNU Lesser General Public
+ *	License along with qpOASES; if not, write to the Free Software
+ *	Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA  02110-1301  USA
+ *
+ */
+
+
+/**
+ *	\file include/qpOASES_e/ConstraintProduct.h
+ *	\author Hans Joachim Ferreau, Andreas Potschka, Christian Kirches (thanks to D. Kwame Minde Kufoalor)
+ *	\version 3.1embedded
+ *	\date 2009-2015
+ *
+ *	Declaration of the ConstraintProduct interface which allows to specify a
+ *	user-defined function for evaluating the constraint product at the 
+ *	current iterate to speed-up QP solution in case of a specially structured
+ *	constraint matrix.
+ */
+
+
+
+#ifndef QPOASES_CONSTRAINT_PRODUCT_H
+#define QPOASES_CONSTRAINT_PRODUCT_H
+
+
+BEGIN_NAMESPACE_QPOASES
+
+
+/** 
+ *	\brief Interface for specifying user-defined evaluations of constraint products.
+ *
+ *	An interface which allows to specify a user-defined function for evaluating the 
+ *	constraint product at the current iterate to speed-up QP solution in case 
+ *	of a specially structured constraint matrix.
+ *
+ *	\author Hans Joachim Ferreau (thanks to Kwame Minde Kufoalor)
+ *	\version 3.1embedded
+ *	\date 2009-2015
+ */
+typedef int(*ConstraintProduct)( int, const real_t* const, real_t* const );
+
+
+END_NAMESPACE_QPOASES
+
+#endif	/* QPOASES_CONSTRAINT_PRODUCT_H */

third_party/acados/include/qpOASES_e/Indexlist.h

@@ -1,221 +1,221 @@
-/*
- *	This file is part of qpOASES.
- *
- *	qpOASES -- An Implementation of the Online Active Set Strategy.
- *	Copyright (C) 2007-2015 by Hans Joachim Ferreau, Andreas Potschka,
- *	Christian Kirches et al. All rights reserved.
- *
- *	qpOASES is free software; you can redistribute it and/or
- *	modify it under the terms of the GNU Lesser General Public
- *	License as published by the Free Software Foundation; either
- *	version 2.1 of the License, or (at your option) any later version.
- *
- *	qpOASES is distributed in the hope that it will be useful,
- *	but WITHOUT ANY WARRANTY; without even the implied warranty of
- *	MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.
- *	See the GNU Lesser General Public License for more details.
- *
- *	You should have received a copy of the GNU Lesser General Public
- *	License along with qpOASES; if not, write to the Free Software
- *	Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA  02110-1301  USA
- *
- */
-
-
-/**
- *	\file include/qpOASES_e/Indexlist.h
- *	\author Hans Joachim Ferreau, Andreas Potschka, Christian Kirches
- *	\version 3.1embedded
- *	\date 2007-2015
- *
- *	Declaration of the Indexlist class designed to manage index lists of
- *	constraints and bounds within a SubjectTo object.
- */
-
-
-#ifndef QPOASES_INDEXLIST_H
-#define QPOASES_INDEXLIST_H
-
-
-#include <qpOASES_e/Utils.h>
-
-
-BEGIN_NAMESPACE_QPOASES
-
-
-/**
- *	\brief Stores and manages index lists.
- *
- *	This class manages index lists of active/inactive bounds/constraints.
- *
- *	\author Hans Joachim Ferreau
- *	\version 3.1embedded
- *	\date 2007-2015
- */
-typedef struct
-{
-	int *number;		/**< Array to store numbers of constraints or bounds. */
-	int *iSort;			/**< Index list to sort vector \a number */
-
-	int	length;			/**< Length of index list. */
-	int	first;			/**< Physical index of first element. */
-	int	last;			/**< Physical index of last element. */
-	int	lastusedindex;	/**< Physical index of last entry in index list. */
-	int	physicallength;	/**< Physical length of index list. */
-} Indexlist;
-
-int Indexlist_calculateMemorySize( int n);
-
-char *Indexlist_assignMemory(int n, Indexlist **mem, void *raw_memory);
-
-Indexlist *Indexlist_createMemory( int n );
-
-/** Constructor which takes the desired physical length of the index list. */
-void IndexlistCON(	Indexlist* _THIS,
-					int n	/**< Physical length of index list. */
-					);
-
-/** Copies all members from given rhs object.
- *  \return SUCCESSFUL_RETURN */
-void IndexlistCPY(	Indexlist* FROM,
-					Indexlist* TO
-					);
-
-/** Initialises index list of desired physical length.
- *	\return SUCCESSFUL_RETURN \n
- 			RET_INVALID_ARGUMENTS */
-returnValue Indexlist_init(	Indexlist* _THIS,
-							int n		/**< Physical length of index list. */
-							);
-
-/** Creates an array of all numbers within the index set in correct order.
- *	\return SUCCESSFUL_RETURN \n
- 			RET_INDEXLIST_CORRUPTED */
-returnValue Indexlist_getNumberArray(	Indexlist* _THIS,
-										int** const numberarray	/**< Output: Array of numbers (NULL on error). */
-										);
-
-/** Creates an array of all numbers within the index set in correct order.
- *	\return SUCCESSFUL_RETURN \n
-			RET_INDEXLIST_CORRUPTED */
-returnValue	Indexlist_getISortArray(	Indexlist* _THIS,
-										int** const iSortArray	/**< Output: iSort Array. */
-										);
-
-
-/** Determines the index within the index list at which a given number is stored.
- *	\return >= 0: Index of given number. \n
- 			-1: Number not found. */
-int Indexlist_getIndex(	Indexlist* _THIS,
-						int givennumber	/**< Number whose index shall be determined. */
-						);
-
-/** Returns the number stored at a given physical index.
- *	\return >= 0: Number stored at given physical index. \n
- 			-RET_INDEXLIST_OUTOFBOUNDS */
-static inline int Indexlist_getNumber(	Indexlist* _THIS,
-										int physicalindex	/**< Physical index of the number to be returned. */
-										);
-
-
-/** Returns the current length of the index list.
- *	\return Current length of the index list. */
-static inline int Indexlist_getLength(	Indexlist* _THIS
-										);
-
-/** Returns last number within the index list.
- *	\return Last number within the index list. */
-static inline int Indexlist_getLastNumber(	Indexlist* _THIS
-											);
-
-
-/** Adds number to index list.
- *	\return SUCCESSFUL_RETURN \n
- 			RET_INDEXLIST_MUST_BE_REORDERD \n
- 			RET_INDEXLIST_EXCEEDS_MAX_LENGTH */
-returnValue Indexlist_addNumber(	Indexlist* _THIS,
-									int addnumber			/**< Number to be added. */
-									);
-
-/** Removes number from index list.
- *	\return SUCCESSFUL_RETURN */
-returnValue Indexlist_removeNumber(	Indexlist* _THIS,
-									int removenumber	/**< Number to be removed. */
-									);
-
-/** Swaps two numbers within index list.
- *	\return SUCCESSFUL_RETURN */
-returnValue Indexlist_swapNumbers(	Indexlist* _THIS,
-									int number1,		/**< First number for swapping. */
-									int number2			/**< Second number for swapping. */
-									);
-
-/** Determines if a given number is contained in the index set.
- *	\return BT_TRUE iff number is contain in the index set */
-static inline BooleanType Indexlist_isMember(	Indexlist* _THIS,
-												int _number		/**< Number to be tested for membership. */
-												);
-
-
-/** Find first index j between -1 and length in sorted list of indices
- *  iSort such that numbers[iSort[j]] <= i < numbers[iSort[j+1]]. Uses
- *  bisection.
- *  \return j. */
-int Indexlist_findInsert(	Indexlist* _THIS,
-							int i
-							);
-
-
-
-/*
- *	g e t N u m b e r
- */
-static inline int Indexlist_getNumber( Indexlist* _THIS, int physicalindex )
-{
-	/* consistency check */
-	if ( ( physicalindex < 0 ) || ( physicalindex > _THIS->length ) )
-		return -RET_INDEXLIST_OUTOFBOUNDS;
-
-	return _THIS->number[physicalindex];
-}
-
-
-/*
- *	g e t L e n g t h
- */
-static inline int Indexlist_getLength( Indexlist* _THIS )
-{
-	return _THIS->length;
-}
-
-
-/*
- *	g e t L a s t N u m b e r
- */
-static inline int Indexlist_getLastNumber( Indexlist* _THIS )
-{
-	return _THIS->number[_THIS->length-1];
-}
-
-
-/*
- *	g e t L a s t N u m b e r
- */
-static inline BooleanType Indexlist_isMember( Indexlist* _THIS, int _number )
-{
-	if ( Indexlist_getIndex( _THIS,_number ) >= 0 )
-		return BT_TRUE;
-	else
-		return BT_FALSE;
-}
-
-
-END_NAMESPACE_QPOASES
-
-
-#endif	/* QPOASES_INDEXLIST_H */
-
-
-/*
- *	end of file
- */
+/*
+ *	This file is part of qpOASES.
+ *
+ *	qpOASES -- An Implementation of the Online Active Set Strategy.
+ *	Copyright (C) 2007-2015 by Hans Joachim Ferreau, Andreas Potschka,
+ *	Christian Kirches et al. All rights reserved.
+ *
+ *	qpOASES is free software; you can redistribute it and/or
+ *	modify it under the terms of the GNU Lesser General Public
+ *	License as published by the Free Software Foundation; either
+ *	version 2.1 of the License, or (at your option) any later version.
+ *
+ *	qpOASES is distributed in the hope that it will be useful,
+ *	but WITHOUT ANY WARRANTY; without even the implied warranty of
+ *	MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.
+ *	See the GNU Lesser General Public License for more details.
+ *
+ *	You should have received a copy of the GNU Lesser General Public
+ *	License along with qpOASES; if not, write to the Free Software
+ *	Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA  02110-1301  USA
+ *
+ */
+
+
+/**
+ *	\file include/qpOASES_e/Indexlist.h
+ *	\author Hans Joachim Ferreau, Andreas Potschka, Christian Kirches
+ *	\version 3.1embedded
+ *	\date 2007-2015
+ *
+ *	Declaration of the Indexlist class designed to manage index lists of
+ *	constraints and bounds within a SubjectTo object.
+ */
+
+
+#ifndef QPOASES_INDEXLIST_H
+#define QPOASES_INDEXLIST_H
+
+
+#include <qpOASES_e/Utils.h>
+
+
+BEGIN_NAMESPACE_QPOASES
+
+
+/**
+ *	\brief Stores and manages index lists.
+ *
+ *	This class manages index lists of active/inactive bounds/constraints.
+ *
+ *	\author Hans Joachim Ferreau
+ *	\version 3.1embedded
+ *	\date 2007-2015
+ */
+typedef struct
+{
+	int *number;		/**< Array to store numbers of constraints or bounds. */
+	int *iSort;			/**< Index list to sort vector \a number */
+
+	int	length;			/**< Length of index list. */
+	int	first;			/**< Physical index of first element. */
+	int	last;			/**< Physical index of last element. */
+	int	lastusedindex;	/**< Physical index of last entry in index list. */
+	int	physicallength;	/**< Physical length of index list. */
+} Indexlist;
+
+int Indexlist_calculateMemorySize( int n);
+
+char *Indexlist_assignMemory(int n, Indexlist **mem, void *raw_memory);
+
+Indexlist *Indexlist_createMemory( int n );
+
+/** Constructor which takes the desired physical length of the index list. */
+void IndexlistCON(	Indexlist* _THIS,
+					int n	/**< Physical length of index list. */
+					);
+
+/** Copies all members from given rhs object.
+ *  \return SUCCESSFUL_RETURN */
+void IndexlistCPY(	Indexlist* FROM,
+					Indexlist* TO
+					);
+
+/** Initialises index list of desired physical length.
+ *	\return SUCCESSFUL_RETURN \n
+ 			RET_INVALID_ARGUMENTS */
+returnValue Indexlist_init(	Indexlist* _THIS,
+							int n		/**< Physical length of index list. */
+							);
+
+/** Creates an array of all numbers within the index set in correct order.
+ *	\return SUCCESSFUL_RETURN \n
+ 			RET_INDEXLIST_CORRUPTED */
+returnValue Indexlist_getNumberArray(	Indexlist* _THIS,
+										int** const numberarray	/**< Output: Array of numbers (NULL on error). */
+										);
+
+/** Creates an array of all numbers within the index set in correct order.
+ *	\return SUCCESSFUL_RETURN \n
+			RET_INDEXLIST_CORRUPTED */
+returnValue	Indexlist_getISortArray(	Indexlist* _THIS,
+										int** const iSortArray	/**< Output: iSort Array. */
+										);
+
+
+/** Determines the index within the index list at which a given number is stored.
+ *	\return >= 0: Index of given number. \n
+ 			-1: Number not found. */
+int Indexlist_getIndex(	Indexlist* _THIS,
+						int givennumber	/**< Number whose index shall be determined. */
+						);
+
+/** Returns the number stored at a given physical index.
+ *	\return >= 0: Number stored at given physical index. \n
+ 			-RET_INDEXLIST_OUTOFBOUNDS */
+static inline int Indexlist_getNumber(	Indexlist* _THIS,
+										int physicalindex	/**< Physical index of the number to be returned. */
+										);
+
+
+/** Returns the current length of the index list.
+ *	\return Current length of the index list. */
+static inline int Indexlist_getLength(	Indexlist* _THIS
+										);
+
+/** Returns last number within the index list.
+ *	\return Last number within the index list. */
+static inline int Indexlist_getLastNumber(	Indexlist* _THIS
+											);
+
+
+/** Adds number to index list.
+ *	\return SUCCESSFUL_RETURN \n
+ 			RET_INDEXLIST_MUST_BE_REORDERD \n
+ 			RET_INDEXLIST_EXCEEDS_MAX_LENGTH */
+returnValue Indexlist_addNumber(	Indexlist* _THIS,
+									int addnumber			/**< Number to be added. */
+									);
+
+/** Removes number from index list.
+ *	\return SUCCESSFUL_RETURN */
+returnValue Indexlist_removeNumber(	Indexlist* _THIS,
+									int removenumber	/**< Number to be removed. */
+									);
+
+/** Swaps two numbers within index list.
+ *	\return SUCCESSFUL_RETURN */
+returnValue Indexlist_swapNumbers(	Indexlist* _THIS,
+									int number1,		/**< First number for swapping. */
+									int number2			/**< Second number for swapping. */
+									);
+
+/** Determines if a given number is contained in the index set.
+ *	\return BT_TRUE iff number is contain in the index set */
+static inline BooleanType Indexlist_isMember(	Indexlist* _THIS,
+												int _number		/**< Number to be tested for membership. */
+												);
+
+
+/** Find first index j between -1 and length in sorted list of indices
+ *  iSort such that numbers[iSort[j]] <= i < numbers[iSort[j+1]]. Uses
+ *  bisection.
+ *  \return j. */
+int Indexlist_findInsert(	Indexlist* _THIS,
+							int i
+							);
+
+
+
+/*
+ *	g e t N u m b e r
+ */
+static inline int Indexlist_getNumber( Indexlist* _THIS, int physicalindex )
+{
+	/* consistency check */
+	if ( ( physicalindex < 0 ) || ( physicalindex > _THIS->length ) )
+		return -RET_INDEXLIST_OUTOFBOUNDS;
+
+	return _THIS->number[physicalindex];
+}
+
+
+/*
+ *	g e t L e n g t h
+ */
+static inline int Indexlist_getLength( Indexlist* _THIS )
+{
+	return _THIS->length;
+}
+
+
+/*
+ *	g e t L a s t N u m b e r
+ */
+static inline int Indexlist_getLastNumber( Indexlist* _THIS )
+{
+	return _THIS->number[_THIS->length-1];
+}
+
+
+/*
+ *	g e t L a s t N u m b e r
+ */
+static inline BooleanType Indexlist_isMember( Indexlist* _THIS, int _number )
+{
+	if ( Indexlist_getIndex( _THIS,_number ) >= 0 )
+		return BT_TRUE;
+	else
+		return BT_FALSE;
+}
+
+
+END_NAMESPACE_QPOASES
+
+
+#endif	/* QPOASES_INDEXLIST_H */
+
+
+/*
+ *	end of file
+ */

third_party/acados/include/qpOASES_e/Matrices.h

@@ -1,287 +1,287 @@
-/*
- *	This file is part of qpOASES.
- *
- *	qpOASES -- An Implementation of the Online Active Set Strategy.
- *	Copyright (C) 2007-2015 by Hans Joachim Ferreau, Andreas Potschka,
- *	Christian Kirches et al. All rights reserved.
- *
- *	qpOASES is free software; you can redistribute it and/or
- *	modify it under the terms of the GNU Lesser General Public
- *	License as published by the Free Software Foundation; either
- *	version 2.1 of the License, or (at your option) any later version.
- *
- *	qpOASES is distributed in the hope that it will be useful,
- *	but WITHOUT ANY WARRANTY; without even the implied warranty of
- *	MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.
- *	See the GNU Lesser General Public License for more details.
- *
- *	You should have received a copy of the GNU Lesser General Public
- *	License along with qpOASES; if not, write to the Free Software
- *	Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA  02110-1301  USA
- *
- */
-
-
-/**
- *	\file include/qpOASES_e/Matrices.h
- *	\author Hans Joachim Ferreau, Andreas Potschka, Christian Kirches
- *	\version 3.1embedded
- *	\date 2009-2015
- *
- *  Various matrix classes: Abstract base matrix class, dense and sparse matrices,
- *  including symmetry exploiting specializations.
- */
-
-
-
-#ifndef QPOASES_MATRICES_H
-#define QPOASES_MATRICES_H
-
-#ifdef __USE_SINGLE_PRECISION__
-
-	// single precision
-	#define GEMM sgemm_
-	#define GEMV sgemv_
-//	#define SYR ssyr_
-//	#define SYR2 ssyr2_
-	#define POTRF spotrf_
-
-#else
-
-	// double precision
-	#define GEMM dgemm_
-	#define GEMV dgemv_
-//	#define SYR  dsyr_
-//	#define SYR2 dsyr2_
-	#define POTRF dpotrf_
-
-#endif /* __USE_SINGLE_PRECISION__ */
-
-
-#ifdef EXTERNAL_BLAS
-	// double precision
-	void dgemm_(char *ta, char *tb, int *m, int *n, int *k, double *alpha, double *A, int *lda, double *B, int ldb, double *beta, double *C, int *ldc);
-	void dgemv_(char *ta, int *m, int *n, double *alpha, double *A, int *lda, double *x, int *incx, double *beta, double *y, int *incy);
-	void dpotrf_(char *uplo, int *m, double *A, int *lda, int *info);
-	// single precision
-	void sgemm_(char *ta, char *tb, int *m, int *n, int *k, float *alpha, float *A, int *lda, float *B, int ldb, float *beta, float *C, int *ldc);
-	void sgemv_(char *ta, int *m, int *n, float *alpha, float *A, int *lda, float *x, int *incx, float *beta, float *y, int *incy);
-	void spotrf_(char *uplo, int *m, float *A, int *lda, int *info);
-#else
-	/** Performs one of the matrix-matrix operation in double precision. */
-	void dgemm_ ( const char*, const char*, const unsigned long*, const unsigned long*, const unsigned long*,
-			const double*, const double*, const unsigned long*, const double*, const unsigned long*,
-			const double*, double*, const unsigned long* );
-	/** Performs one of the matrix-matrix operation in single precision. */
-	void sgemm_ ( const char*, const char*, const unsigned long*, const unsigned long*, const unsigned long*,
-			const float*, const float*, const unsigned long*, const float*, const unsigned long*,
-			const float*, float*, const unsigned long* );
-
-	/** Calculates the Cholesky factorization of a real symmetric positive definite matrix in double precision. */
-	void dpotrf_ ( const char *, const unsigned long *, double *, const unsigned long *, long * );
-	/** Calculates the Cholesky factorization of a real symmetric positive definite matrix in single precision. */
-	void spotrf_ ( const char *, const unsigned long *, float *, const unsigned long *, long * );
-
-#endif
-
-	/** Performs a symmetric rank 1 operation in double precision. */
-//	void dsyr_ ( const char *, const unsigned long *, const double *, const double *,
-//				 const unsigned long *, double *, const unsigned long *);
-	/** Performs a symmetric rank 1 operation in single precision. */
-//	void ssyr_ ( const char *, const unsigned long *, const float *, const float *,
-//				 const unsigned long *, float *, const unsigned long *);
-
-	/** Performs a symmetric rank 2 operation in double precision. */
-//	void dsyr2_ ( const char *, const unsigned long *, const double *, const double *,
-//				  const unsigned long *, const double *, const unsigned long *, double *, const unsigned long *);
-	/** Performs a symmetric rank 2 operation in single precision. */
-//	void ssyr2_ ( const char *, const unsigned long *, const float *, const float *,
-//				  const unsigned long *, const float *, const unsigned long *, float *, const unsigned long *);
-
-
-#include <qpOASES_e/Indexlist.h>
-
-
-BEGIN_NAMESPACE_QPOASES
-
-
-/**
- *	\brief Interfaces matrix-vector operations tailored to general dense matrices.
- *
- *	Dense matrix class (row major format).
- *
- *	\author Andreas Potschka, Christian Kirches, Hans Joachim Ferreau
- *	\version 3.1embedded
- *	\date 2011-2015
- */
-typedef struct
-{
-	real_t *val;				/**< Vector of entries. */
-	int nRows;					/**< Number of rows. */
-	int nCols;					/**< Number of columns. */
-	int leaDim;					/**< Leading dimension. */
-} DenseMatrix;
-
-int DenseMatrix_calculateMemorySize( int m, int n );
-
-char *DenseMatrix_assignMemory( int m, int n, DenseMatrix **mem, void *raw_memory );
-
-DenseMatrix *DenseMatrix_createMemory( int m, int n );
-
-/** Constructor from vector of values.
- *  Caution: Data pointer must be valid throughout lifetime
- */
-void DenseMatrixCON(	DenseMatrix* _THIS,
-						int m,			/**< Number of rows. */
-						int n,			/**< Number of columns. */
-						int lD,			/**< Leading dimension. */
-						real_t *v		/**< Values. */
-						);
-
-void DenseMatrixCPY(	DenseMatrix* FROM,
-						DenseMatrix* TO
-						);
-
-
-/** Frees all internal memory. */
-void DenseMatrix_free( DenseMatrix* _THIS );
-
-/** Constructor from vector of values.
- *  Caution: Data pointer must be valid throughout lifetime
- */
-returnValue DenseMatrix_init(	DenseMatrix* _THIS,
-								int m,			/**< Number of rows. */
-								int n,			/**< Number of columns. */
-								int lD,			/**< Leading dimension. */
-								real_t *v		/**< Values. */
-								);
-
-
-/** Returns i-th diagonal entry.
- *	\return i-th diagonal entry */
-real_t DenseMatrix_diag(	DenseMatrix* _THIS,
-							int i			/**< Index. */
-							);
-
-/** Checks whether matrix is square and diagonal.
- *	\return BT_TRUE  iff matrix is square and diagonal; \n
- *	        BT_FALSE otherwise. */
-BooleanType DenseMatrix_isDiag( DenseMatrix* _THIS );
-
-/** Get the N-norm of the matrix
- *  \return N-norm of the matrix
- */
-real_t DenseMatrix_getNorm( DenseMatrix* _THIS,
-							int type			/**< Norm type, 1: one-norm, 2: Euclidean norm. */
-							);
-
-/** Get the N-norm of a row
- *  \return N-norm of row \a rNum
- */
-real_t DenseMatrix_getRowNorm(	DenseMatrix* _THIS,
-								int rNum,			/**< Row number. */
-								int type			/**< Norm type, 1: one-norm, 2: Euclidean norm. */
-								);
-
-/** Retrieve indexed entries of matrix row multiplied by alpha.
- *  \return SUCCESSFUL_RETURN */
-returnValue DenseMatrix_getRow(	DenseMatrix* _THIS,
-								int rNum,						/**< Row number. */
-								const Indexlist* const icols,	/**< Index list specifying columns. */
-								real_t alpha,					/**< Scalar factor. */
-								real_t *row						/**< Output row vector. */
-								);
-
-/** Retrieve indexed entries of matrix column multiplied by alpha.
- *  \return SUCCESSFUL_RETURN */
- returnValue DenseMatrix_getCol(	DenseMatrix* _THIS,
-									int cNum,						/**< Column number. */
-									const Indexlist* const irows,	/**< Index list specifying rows. */
-									real_t alpha,					/**< Scalar factor. */
-									real_t *col						/**< Output column vector. */
-									);
-
-/** Evaluate Y=alpha*A*X + beta*Y.
- *  \return SUCCESSFUL_RETURN. */
-returnValue DenseMatrix_times(	DenseMatrix* _THIS,
-								int xN,					/**< Number of vectors to multiply. */
-								real_t alpha,			/**< Scalar factor for matrix vector product. */
-								const real_t *x,		/**< Input vector to be multiplied. */
-								int xLD,				/**< Leading dimension of input x. */
-								real_t beta,			/**< Scalar factor for y. */
-								real_t *y,				/**< Output vector of results. */
-								int yLD					/**< Leading dimension of output y. */
-								);
-
-/** Evaluate Y=alpha*A'*X + beta*Y.
- *  \return SUCCESSFUL_RETURN. */
-returnValue DenseMatrix_transTimes(	DenseMatrix* _THIS,
-									int xN,				/**< Number of vectors to multiply. */
-									real_t alpha,		/**< Scalar factor for matrix vector product. */
-									const real_t *x,	/**< Input vector to be multiplied. */
-									int xLD,			/**< Leading dimension of input x. */
-									real_t beta,		/**< Scalar factor for y. */
-									real_t *y,			/**< Output vector of results. */
-									int yLD				/**< Leading dimension of output y. */
-									);
-
-/** Evaluate matrix vector product with submatrix given by Indexlist.
- *	\return SUCCESSFUL_RETURN */
- returnValue DenseMatrix_subTimes(	DenseMatrix* _THIS,
-									const Indexlist* const irows,	/**< Index list specifying rows. */
-									const Indexlist* const icols,	/**< Index list specifying columns. */
-									int xN,							/**< Number of vectors to multiply. */
-									real_t alpha,					/**< Scalar factor for matrix vector product. */
-									const real_t *x,				/**< Input vector to be multiplied. */
-									int xLD,						/**< Leading dimension of input x. */
-									real_t beta,					/**< Scalar factor for y. */
-									real_t *y,						/**< Output vector of results. */
-									int yLD,						/**< Leading dimension of output y. */
-									BooleanType yCompr 				/**< Compressed storage for y. */
-									);
-
-/** Evaluate matrix transpose vector product.
- *	\return SUCCESSFUL_RETURN */
-returnValue DenseMatrix_subTransTimes(	DenseMatrix* _THIS,
-										const Indexlist* const irows,	/**< Index list specifying rows. */
-										const Indexlist* const icols,	/**< Index list specifying columns. */
-										int xN,							/**< Number of vectors to multiply. */
-										real_t alpha,					/**< Scalar factor for matrix vector product. */
-										const real_t *x,				/**< Input vector to be multiplied. */
-										int xLD,						/**< Leading dimension of input x. */
-										real_t beta,					/**< Scalar factor for y. */
-										real_t *y,						/**< Output vector of results. */
-										int yLD							/**< Leading dimension of output y. */
-										);
-
-/** Adds given offset to diagonal of matrix.
- *	\return SUCCESSFUL_RETURN \n
- 			RET_NO_DIAGONAL_AVAILABLE */
-returnValue DenseMatrix_addToDiag(	DenseMatrix* _THIS,
-									real_t alpha		/**< Diagonal offset. */
-									);
-
-/** Prints matrix to screen.
- *	\return SUCCESSFUL_RETURN */
-returnValue DenseMatrix_print(	DenseMatrix* _THIS
-								);
-
-static inline real_t* DenseMatrix_getVal( DenseMatrix* _THIS ) { return _THIS->val; }
-
-/** Compute bilinear form y = x'*H*x using submatrix given by index list.
- *	\return SUCCESSFUL_RETURN */
-returnValue DenseMatrix_bilinear(	DenseMatrix* _THIS,
-									const Indexlist* const icols,	/**< Index list specifying columns of x. */
-									int xN,							/**< Number of vectors to multiply. */
-									const real_t *x,				/**< Input vector to be multiplied (uncompressed). */
-									int xLD,						/**< Leading dimension of input x. */
-									real_t *y,						/**< Output vector of results (compressed). */
-									int yLD							/**< Leading dimension of output y. */
-									);
-
-
-
-END_NAMESPACE_QPOASES
-
-
-#endif	/* QPOASES_MATRICES_H */
+/*
+ *	This file is part of qpOASES.
+ *
+ *	qpOASES -- An Implementation of the Online Active Set Strategy.
+ *	Copyright (C) 2007-2015 by Hans Joachim Ferreau, Andreas Potschka,
+ *	Christian Kirches et al. All rights reserved.
+ *
+ *	qpOASES is free software; you can redistribute it and/or
+ *	modify it under the terms of the GNU Lesser General Public
+ *	License as published by the Free Software Foundation; either
+ *	version 2.1 of the License, or (at your option) any later version.
+ *
+ *	qpOASES is distributed in the hope that it will be useful,
+ *	but WITHOUT ANY WARRANTY; without even the implied warranty of
+ *	MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.
+ *	See the GNU Lesser General Public License for more details.
+ *
+ *	You should have received a copy of the GNU Lesser General Public
+ *	License along with qpOASES; if not, write to the Free Software
+ *	Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA  02110-1301  USA
+ *
+ */
+
+
+/**
+ *	\file include/qpOASES_e/Matrices.h
+ *	\author Hans Joachim Ferreau, Andreas Potschka, Christian Kirches
+ *	\version 3.1embedded
+ *	\date 2009-2015
+ *
+ *  Various matrix classes: Abstract base matrix class, dense and sparse matrices,
+ *  including symmetry exploiting specializations.
+ */
+
+
+
+#ifndef QPOASES_MATRICES_H
+#define QPOASES_MATRICES_H
+
+#ifdef __USE_SINGLE_PRECISION__
+
+	// single precision
+	#define GEMM sgemm_
+	#define GEMV sgemv_
+//	#define SYR ssyr_
+//	#define SYR2 ssyr2_
+	#define POTRF spotrf_
+
+#else
+
+	// double precision
+	#define GEMM dgemm_
+	#define GEMV dgemv_
+//	#define SYR  dsyr_
+//	#define SYR2 dsyr2_
+	#define POTRF dpotrf_
+
+#endif /* __USE_SINGLE_PRECISION__ */
+
+
+#ifdef EXTERNAL_BLAS
+	// double precision
+	void dgemm_(char *ta, char *tb, int *m, int *n, int *k, double *alpha, double *A, int *lda, double *B, int ldb, double *beta, double *C, int *ldc);
+	void dgemv_(char *ta, int *m, int *n, double *alpha, double *A, int *lda, double *x, int *incx, double *beta, double *y, int *incy);
+	void dpotrf_(char *uplo, int *m, double *A, int *lda, int *info);
+	// single precision
+	void sgemm_(char *ta, char *tb, int *m, int *n, int *k, float *alpha, float *A, int *lda, float *B, int ldb, float *beta, float *C, int *ldc);
+	void sgemv_(char *ta, int *m, int *n, float *alpha, float *A, int *lda, float *x, int *incx, float *beta, float *y, int *incy);
+	void spotrf_(char *uplo, int *m, float *A, int *lda, int *info);
+#else
+	/** Performs one of the matrix-matrix operation in double precision. */
+	void dgemm_ ( const char*, const char*, const unsigned long*, const unsigned long*, const unsigned long*,
+			const double*, const double*, const unsigned long*, const double*, const unsigned long*,
+			const double*, double*, const unsigned long* );
+	/** Performs one of the matrix-matrix operation in single precision. */
+	void sgemm_ ( const char*, const char*, const unsigned long*, const unsigned long*, const unsigned long*,
+			const float*, const float*, const unsigned long*, const float*, const unsigned long*,
+			const float*, float*, const unsigned long* );
+
+	/** Calculates the Cholesky factorization of a real symmetric positive definite matrix in double precision. */
+	void dpotrf_ ( const char *, const unsigned long *, double *, const unsigned long *, long * );
+	/** Calculates the Cholesky factorization of a real symmetric positive definite matrix in single precision. */
+	void spotrf_ ( const char *, const unsigned long *, float *, const unsigned long *, long * );
+
+#endif
+
+	/** Performs a symmetric rank 1 operation in double precision. */
+//	void dsyr_ ( const char *, const unsigned long *, const double *, const double *,
+//				 const unsigned long *, double *, const unsigned long *);
+	/** Performs a symmetric rank 1 operation in single precision. */
+//	void ssyr_ ( const char *, const unsigned long *, const float *, const float *,
+//				 const unsigned long *, float *, const unsigned long *);
+
+	/** Performs a symmetric rank 2 operation in double precision. */
+//	void dsyr2_ ( const char *, const unsigned long *, const double *, const double *,
+//				  const unsigned long *, const double *, const unsigned long *, double *, const unsigned long *);
+	/** Performs a symmetric rank 2 operation in single precision. */
+//	void ssyr2_ ( const char *, const unsigned long *, const float *, const float *,
+//				  const unsigned long *, const float *, const unsigned long *, float *, const unsigned long *);
+
+
+#include <qpOASES_e/Indexlist.h>
+
+
+BEGIN_NAMESPACE_QPOASES
+
+
+/**
+ *	\brief Interfaces matrix-vector operations tailored to general dense matrices.
+ *
+ *	Dense matrix class (row major format).
+ *
+ *	\author Andreas Potschka, Christian Kirches, Hans Joachim Ferreau
+ *	\version 3.1embedded
+ *	\date 2011-2015
+ */
+typedef struct
+{
+	real_t *val;				/**< Vector of entries. */
+	int nRows;					/**< Number of rows. */
+	int nCols;					/**< Number of columns. */
+	int leaDim;					/**< Leading dimension. */
+} DenseMatrix;
+
+int DenseMatrix_calculateMemorySize( int m, int n );
+
+char *DenseMatrix_assignMemory( int m, int n, DenseMatrix **mem, void *raw_memory );
+
+DenseMatrix *DenseMatrix_createMemory( int m, int n );
+
+/** Constructor from vector of values.
+ *  Caution: Data pointer must be valid throughout lifetime
+ */
+void DenseMatrixCON(	DenseMatrix* _THIS,
+						int m,			/**< Number of rows. */
+						int n,			/**< Number of columns. */
+						int lD,			/**< Leading dimension. */
+						real_t *v		/**< Values. */
+						);
+
+void DenseMatrixCPY(	DenseMatrix* FROM,
+						DenseMatrix* TO
+						);
+
+
+/** Frees all internal memory. */
+void DenseMatrix_free( DenseMatrix* _THIS );
+
+/** Constructor from vector of values.
+ *  Caution: Data pointer must be valid throughout lifetime
+ */
+returnValue DenseMatrix_init(	DenseMatrix* _THIS,
+								int m,			/**< Number of rows. */
+								int n,			/**< Number of columns. */
+								int lD,			/**< Leading dimension. */
+								real_t *v		/**< Values. */
+								);
+
+
+/** Returns i-th diagonal entry.
+ *	\return i-th diagonal entry */
+real_t DenseMatrix_diag(	DenseMatrix* _THIS,
+							int i			/**< Index. */
+							);
+
+/** Checks whether matrix is square and diagonal.
+ *	\return BT_TRUE  iff matrix is square and diagonal; \n
+ *	        BT_FALSE otherwise. */
+BooleanType DenseMatrix_isDiag( DenseMatrix* _THIS );
+
+/** Get the N-norm of the matrix
+ *  \return N-norm of the matrix
+ */
+real_t DenseMatrix_getNorm( DenseMatrix* _THIS,
+							int type			/**< Norm type, 1: one-norm, 2: Euclidean norm. */
+							);
+
+/** Get the N-norm of a row
+ *  \return N-norm of row \a rNum
+ */
+real_t DenseMatrix_getRowNorm(	DenseMatrix* _THIS,
+								int rNum,			/**< Row number. */
+								int type			/**< Norm type, 1: one-norm, 2: Euclidean norm. */
+								);
+
+/** Retrieve indexed entries of matrix row multiplied by alpha.
+ *  \return SUCCESSFUL_RETURN */
+returnValue DenseMatrix_getRow(	DenseMatrix* _THIS,
+								int rNum,						/**< Row number. */
+								const Indexlist* const icols,	/**< Index list specifying columns. */
+								real_t alpha,					/**< Scalar factor. */
+								real_t *row						/**< Output row vector. */
+								);
+
+/** Retrieve indexed entries of matrix column multiplied by alpha.
+ *  \return SUCCESSFUL_RETURN */
+ returnValue DenseMatrix_getCol(	DenseMatrix* _THIS,
+									int cNum,						/**< Column number. */
+									const Indexlist* const irows,	/**< Index list specifying rows. */
+									real_t alpha,					/**< Scalar factor. */
+									real_t *col						/**< Output column vector. */
+									);
+
+/** Evaluate Y=alpha*A*X + beta*Y.
+ *  \return SUCCESSFUL_RETURN. */
+returnValue DenseMatrix_times(	DenseMatrix* _THIS,
+								int xN,					/**< Number of vectors to multiply. */
+								real_t alpha,			/**< Scalar factor for matrix vector product. */
+								const real_t *x,		/**< Input vector to be multiplied. */
+								int xLD,				/**< Leading dimension of input x. */
+								real_t beta,			/**< Scalar factor for y. */
+								real_t *y,				/**< Output vector of results. */
+								int yLD					/**< Leading dimension of output y. */
+								);
+
+/** Evaluate Y=alpha*A'*X + beta*Y.
+ *  \return SUCCESSFUL_RETURN. */
+returnValue DenseMatrix_transTimes(	DenseMatrix* _THIS,
+									int xN,				/**< Number of vectors to multiply. */
+									real_t alpha,		/**< Scalar factor for matrix vector product. */
+									const real_t *x,	/**< Input vector to be multiplied. */
+									int xLD,			/**< Leading dimension of input x. */
+									real_t beta,		/**< Scalar factor for y. */
+									real_t *y,			/**< Output vector of results. */
+									int yLD				/**< Leading dimension of output y. */
+									);
+
+/** Evaluate matrix vector product with submatrix given by Indexlist.
+ *	\return SUCCESSFUL_RETURN */
+ returnValue DenseMatrix_subTimes(	DenseMatrix* _THIS,
+									const Indexlist* const irows,	/**< Index list specifying rows. */
+									const Indexlist* const icols,	/**< Index list specifying columns. */
+									int xN,							/**< Number of vectors to multiply. */
+									real_t alpha,					/**< Scalar factor for matrix vector product. */
+									const real_t *x,				/**< Input vector to be multiplied. */
+									int xLD,						/**< Leading dimension of input x. */
+									real_t beta,					/**< Scalar factor for y. */
+									real_t *y,						/**< Output vector of results. */
+									int yLD,						/**< Leading dimension of output y. */
+									BooleanType yCompr 				/**< Compressed storage for y. */
+									);
+
+/** Evaluate matrix transpose vector product.
+ *	\return SUCCESSFUL_RETURN */
+returnValue DenseMatrix_subTransTimes(	DenseMatrix* _THIS,
+										const Indexlist* const irows,	/**< Index list specifying rows. */
+										const Indexlist* const icols,	/**< Index list specifying columns. */
+										int xN,							/**< Number of vectors to multiply. */
+										real_t alpha,					/**< Scalar factor for matrix vector product. */
+										const real_t *x,				/**< Input vector to be multiplied. */
+										int xLD,						/**< Leading dimension of input x. */
+										real_t beta,					/**< Scalar factor for y. */
+										real_t *y,						/**< Output vector of results. */
+										int yLD							/**< Leading dimension of output y. */
+										);
+
+/** Adds given offset to diagonal of matrix.
+ *	\return SUCCESSFUL_RETURN \n
+ 			RET_NO_DIAGONAL_AVAILABLE */
+returnValue DenseMatrix_addToDiag(	DenseMatrix* _THIS,
+									real_t alpha		/**< Diagonal offset. */
+									);
+
+/** Prints matrix to screen.
+ *	\return SUCCESSFUL_RETURN */
+returnValue DenseMatrix_print(	DenseMatrix* _THIS
+								);
+
+static inline real_t* DenseMatrix_getVal( DenseMatrix* _THIS ) { return _THIS->val; }
+
+/** Compute bilinear form y = x'*H*x using submatrix given by index list.
+ *	\return SUCCESSFUL_RETURN */
+returnValue DenseMatrix_bilinear(	DenseMatrix* _THIS,
+									const Indexlist* const icols,	/**< Index list specifying columns of x. */
+									int xN,							/**< Number of vectors to multiply. */
+									const real_t *x,				/**< Input vector to be multiplied (uncompressed). */
+									int xLD,						/**< Leading dimension of input x. */
+									real_t *y,						/**< Output vector of results (compressed). */
+									int yLD							/**< Leading dimension of output y. */
+									);
+
+
+
+END_NAMESPACE_QPOASES
+
+
+#endif	/* QPOASES_MATRICES_H */

third_party/acados/include/qpOASES_e/Options.h

@@ -1,153 +1,153 @@
-/*
- *	This file is part of qpOASES.
- *
- *	qpOASES -- An Implementation of the Online Active Set Strategy.
- *	Copyright (C) 2007-2015 by Hans Joachim Ferreau, Andreas Potschka,
- *	Christian Kirches et al. All rights reserved.
- *
- *	qpOASES is free software; you can redistribute it and/or
- *	modify it under the terms of the GNU Lesser General Public
- *	License as published by the Free Software Foundation; either
- *	version 2.1 of the License, or (at your option) any later version.
- *
- *	qpOASES is distributed in the hope that it will be useful,
- *	but WITHOUT ANY WARRANTY; without even the implied warranty of
- *	MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.
- *	See the GNU Lesser General Public License for more details.
- *
- *	You should have received a copy of the GNU Lesser General Public
- *	License along with qpOASES; if not, write to the Free Software
- *	Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA  02110-1301  USA
- *
- */
-
-
-/**
- *	\file include/qpOASES_e/Options.h
- *	\author Hans Joachim Ferreau, Andreas Potschka, Christian Kirches
- *	\version 3.1embedded
- *	\date 2007-2015
- *
- *	Declaration of the Options class designed to manage user-specified
- *	options for solving a QProblem.
- */
-
-
-#ifndef QPOASES_OPTIONS_H
-#define QPOASES_OPTIONS_H
-
-
-#include <qpOASES_e/Utils.h>
-
-
-BEGIN_NAMESPACE_QPOASES
-
-
-/**
- *	\brief Manages all user-specified options for solving QPs.
- *
- *	This class manages all user-specified options used for solving
- *	quadratic programs.
- *
- *	\author Hans Joachim Ferreau, Andreas Potschka, Christian Kirches
- *	\version 3.1embedded
- *	\date 2007-2015
- */
-typedef struct
-{
-	PrintLevel printLevel;					/**< Print level. */
-
-	BooleanType enableRamping;				/**< Specifies whether ramping shall be enabled or not. */
-	BooleanType enableFarBounds;			/**< Specifies whether far bounds shall be used or not. */
-	BooleanType enableFlippingBounds;		/**< Specifies whether flipping bounds shall be used or not. */
-	BooleanType enableRegularisation;		/**< Specifies whether Hessian matrix shall be regularised in case semi-definiteness is detected. */
-	BooleanType enableFullLITests;			/**< Specifies whether condition-hardened LI test shall be used or not. */
-	BooleanType enableNZCTests;				/**< Specifies whether nonzero curvature tests shall be used. */
-	int enableDriftCorrection;				/**< Specifies the frequency of drift corrections (0 = off). */
-	int enableCholeskyRefactorisation;		/**< Specifies the frequency of full refactorisation of proj. Hessian (otherwise updates). */
-	BooleanType enableEqualities;			/**< Specifies whether equalities shall be always treated as active constraints. */
-
-	real_t terminationTolerance;			/**< Termination tolerance. */
-	real_t boundTolerance;					/**< Lower/upper (constraints') bound tolerance (an inequality constraint whose lower and upper bounds differ by less is regarded to be an equality constraint). */
-	real_t boundRelaxation;					/**< Offset for relaxing (constraints') bounds at beginning of an initial homotopy. It is also as initial value for far bounds. */
-	real_t epsNum;							/**< Numerator tolerance for ratio tests. */
-	real_t epsDen;							/**< Denominator tolerance for ratio tests. */
-	real_t maxPrimalJump;					/**< Maximum allowed jump in primal variables in nonzero curvature tests. */
-	real_t maxDualJump;						/**< Maximum allowed jump in dual variables in linear independence tests. */
-
-	real_t initialRamping;					/**< Start value for Ramping Strategy. */
-	real_t finalRamping;					/**< Final value for Ramping Strategy. */
-	real_t initialFarBounds;				/**< Initial size of Far Bounds. */
-	real_t growFarBounds;					/**< Factor to grow Far Bounds. */
-	SubjectToStatus initialStatusBounds;	/**< Initial status of bounds at first iteration. */
-	real_t epsFlipping;						/**< Tolerance of squared Cholesky diagonal factor which triggers flipping bound. */
-	int numRegularisationSteps;				/**< Maximum number of successive regularisation steps. */
-	real_t epsRegularisation;				/**< Scaling factor of identity matrix used for Hessian regularisation. */
-	int numRefinementSteps;					/**< Maximum number of iterative refinement steps. */
-	real_t epsIterRef;						/**< Early termination tolerance for iterative refinement. */
-	real_t epsLITests;						/**< Tolerance for linear independence tests. */
-	real_t epsNZCTests;						/**< Tolerance for nonzero curvature tests. */
-
-	BooleanType enableDropInfeasibles;		/**< ... */
-	int    dropBoundPriority;				/**< ... */
-	int    dropEqConPriority;				/**< ... */
-	int    dropIneqConPriority;				/**< ... */
-} Options;
-
-
-void OptionsCON(	Options* _THIS
-					);
-
-/** Copies all members from given rhs object.
- *  \return SUCCESSFUL_RETURN */
-void OptionsCPY(	Options* FROM,
-					Options* TO
-					);
-
-
-/** Sets all options to default values.
- *	\return SUCCESSFUL_RETURN */
-returnValue Options_setToDefault(	Options* _THIS
-									);
-
-/** Sets all options to values resulting in maximum reliabilty.
- *	\return SUCCESSFUL_RETURN */
-returnValue Options_setToReliable(	Options* _THIS
-									);
-
-/** Sets all options to values resulting in minimum solution time.
- *	\return SUCCESSFUL_RETURN */
-returnValue Options_setToMPC(		Options* _THIS
-									);
-
-/** Same as setToMPC( ), for ensuring backwards compatibility.
- *	\return SUCCESSFUL_RETURN */
-returnValue Options_setToFast(		Options* _THIS
-									);
-
-
-/** Ensures that all options have consistent values by automatically
- *	adjusting inconsistent ones.
- *	Note: This routine cannot (and does not try to) ensure that values
- *	      are set to reasonable values that make the QP solution work!
- *	\return SUCCESSFUL_RETURN \n 
- *		    RET_OPTIONS_ADJUSTED */
-returnValue Options_ensureConsistency(	Options* _THIS
-										);
-
-
-/** Prints values of all options.
- *	\return SUCCESSFUL_RETURN */
-returnValue Options_print(	Options* _THIS
-							);
-
-
-END_NAMESPACE_QPOASES
-
-
-#endif	/* QPOASES_OPTIONS_H */
-
-
-/*
- *	end of file
- */
+/*
+ *	This file is part of qpOASES.
+ *
+ *	qpOASES -- An Implementation of the Online Active Set Strategy.
+ *	Copyright (C) 2007-2015 by Hans Joachim Ferreau, Andreas Potschka,
+ *	Christian Kirches et al. All rights reserved.
+ *
+ *	qpOASES is free software; you can redistribute it and/or
+ *	modify it under the terms of the GNU Lesser General Public
+ *	License as published by the Free Software Foundation; either
+ *	version 2.1 of the License, or (at your option) any later version.
+ *
+ *	qpOASES is distributed in the hope that it will be useful,
+ *	but WITHOUT ANY WARRANTY; without even the implied warranty of
+ *	MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.
+ *	See the GNU Lesser General Public License for more details.
+ *
+ *	You should have received a copy of the GNU Lesser General Public
+ *	License along with qpOASES; if not, write to the Free Software
+ *	Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA  02110-1301  USA
+ *
+ */
+
+
+/**
+ *	\file include/qpOASES_e/Options.h
+ *	\author Hans Joachim Ferreau, Andreas Potschka, Christian Kirches
+ *	\version 3.1embedded
+ *	\date 2007-2015
+ *
+ *	Declaration of the Options class designed to manage user-specified
+ *	options for solving a QProblem.
+ */
+
+
+#ifndef QPOASES_OPTIONS_H
+#define QPOASES_OPTIONS_H
+
+
+#include <qpOASES_e/Utils.h>
+
+
+BEGIN_NAMESPACE_QPOASES
+
+
+/**
+ *	\brief Manages all user-specified options for solving QPs.
+ *
+ *	This class manages all user-specified options used for solving
+ *	quadratic programs.
+ *
+ *	\author Hans Joachim Ferreau, Andreas Potschka, Christian Kirches
+ *	\version 3.1embedded
+ *	\date 2007-2015
+ */
+typedef struct
+{
+	PrintLevel printLevel;					/**< Print level. */
+
+	BooleanType enableRamping;				/**< Specifies whether ramping shall be enabled or not. */
+	BooleanType enableFarBounds;			/**< Specifies whether far bounds shall be used or not. */
+	BooleanType enableFlippingBounds;		/**< Specifies whether flipping bounds shall be used or not. */
+	BooleanType enableRegularisation;		/**< Specifies whether Hessian matrix shall be regularised in case semi-definiteness is detected. */
+	BooleanType enableFullLITests;			/**< Specifies whether condition-hardened LI test shall be used or not. */
+	BooleanType enableNZCTests;				/**< Specifies whether nonzero curvature tests shall be used. */
+	int enableDriftCorrection;				/**< Specifies the frequency of drift corrections (0 = off). */
+	int enableCholeskyRefactorisation;		/**< Specifies the frequency of full refactorisation of proj. Hessian (otherwise updates). */
+	BooleanType enableEqualities;			/**< Specifies whether equalities shall be always treated as active constraints. */
+
+	real_t terminationTolerance;			/**< Termination tolerance. */
+	real_t boundTolerance;					/**< Lower/upper (constraints') bound tolerance (an inequality constraint whose lower and upper bounds differ by less is regarded to be an equality constraint). */
+	real_t boundRelaxation;					/**< Offset for relaxing (constraints') bounds at beginning of an initial homotopy. It is also as initial value for far bounds. */
+	real_t epsNum;							/**< Numerator tolerance for ratio tests. */
+	real_t epsDen;							/**< Denominator tolerance for ratio tests. */
+	real_t maxPrimalJump;					/**< Maximum allowed jump in primal variables in nonzero curvature tests. */
+	real_t maxDualJump;						/**< Maximum allowed jump in dual variables in linear independence tests. */
+
+	real_t initialRamping;					/**< Start value for Ramping Strategy. */
+	real_t finalRamping;					/**< Final value for Ramping Strategy. */
+	real_t initialFarBounds;				/**< Initial size of Far Bounds. */
+	real_t growFarBounds;					/**< Factor to grow Far Bounds. */
+	SubjectToStatus initialStatusBounds;	/**< Initial status of bounds at first iteration. */
+	real_t epsFlipping;						/**< Tolerance of squared Cholesky diagonal factor which triggers flipping bound. */
+	int numRegularisationSteps;				/**< Maximum number of successive regularisation steps. */
+	real_t epsRegularisation;				/**< Scaling factor of identity matrix used for Hessian regularisation. */
+	int numRefinementSteps;					/**< Maximum number of iterative refinement steps. */
+	real_t epsIterRef;						/**< Early termination tolerance for iterative refinement. */
+	real_t epsLITests;						/**< Tolerance for linear independence tests. */
+	real_t epsNZCTests;						/**< Tolerance for nonzero curvature tests. */
+
+	BooleanType enableDropInfeasibles;		/**< ... */
+	int    dropBoundPriority;				/**< ... */
+	int    dropEqConPriority;				/**< ... */
+	int    dropIneqConPriority;				/**< ... */
+} Options;
+
+
+void OptionsCON(	Options* _THIS
+					);
+
+/** Copies all members from given rhs object.
+ *  \return SUCCESSFUL_RETURN */
+void OptionsCPY(	Options* FROM,
+					Options* TO
+					);
+
+
+/** Sets all options to default values.
+ *	\return SUCCESSFUL_RETURN */
+returnValue Options_setToDefault(	Options* _THIS
+									);
+
+/** Sets all options to values resulting in maximum reliabilty.
+ *	\return SUCCESSFUL_RETURN */
+returnValue Options_setToReliable(	Options* _THIS
+									);
+
+/** Sets all options to values resulting in minimum solution time.
+ *	\return SUCCESSFUL_RETURN */
+returnValue Options_setToMPC(		Options* _THIS
+									);
+
+/** Same as setToMPC( ), for ensuring backwards compatibility.
+ *	\return SUCCESSFUL_RETURN */
+returnValue Options_setToFast(		Options* _THIS
+									);
+
+
+/** Ensures that all options have consistent values by automatically
+ *	adjusting inconsistent ones.
+ *	Note: This routine cannot (and does not try to) ensure that values
+ *	      are set to reasonable values that make the QP solution work!
+ *	\return SUCCESSFUL_RETURN \n 
+ *		    RET_OPTIONS_ADJUSTED */
+returnValue Options_ensureConsistency(	Options* _THIS
+										);
+
+
+/** Prints values of all options.
+ *	\return SUCCESSFUL_RETURN */
+returnValue Options_print(	Options* _THIS
+							);
+
+
+END_NAMESPACE_QPOASES
+
+
+#endif	/* QPOASES_OPTIONS_H */
+
+
+/*
+ *	end of file
+ */

third_party/acados/include/qpOASES_e/Types.h

@@ -1,310 +1,310 @@
-/*
- *	This file is part of qpOASES.
- *
- *	qpOASES -- An Implementation of the Online Active Set Strategy.
- *	Copyright (C) 2007-2015 by Hans Joachim Ferreau, Andreas Potschka,
- *	Christian Kirches et al. All rights reserved.
- *
- *	qpOASES is free software; you can redistribute it and/or
- *	modify it under the terms of the GNU Lesser General Public
- *	License as published by the Free Software Foundation; either
- *	version 2.1 of the License, or (at your option) any later version.
- *
- *	qpOASES is distributed in the hope that it will be useful,
- *	but WITHOUT ANY WARRANTY; without even the implied warranty of
- *	MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.
- *	See the GNU Lesser General Public License for more details.
- *
- *	You should have received a copy of the GNU Lesser General Public
- *	License along with qpOASES; if not, write to the Free Software
- *	Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA  02110-1301  USA
- *
- */
-
-
-/**
- *	\file include/qpOASES_e/Types.h
- *	\author Hans Joachim Ferreau, Andreas Potschka, Christian Kirches
- *	\version 3.1embedded
- *	\date 2007-2015
- *
- *	Declaration of all non-built-in types (except for classes).
- */
-
-
-#ifndef QPOASES_TYPES_H
-#define QPOASES_TYPES_H
-
-#ifdef USE_ACADOS_TYPES
-#include "acados/utils/types.h"
-#endif
-
-/* If your compiler does not support the snprintf() function,
- * uncomment the following line and try to compile again. */
-/* #define __NO_SNPRINTF__ */
-
-
-/* Uncomment the following line for setting the __DSPACE__ flag. */
-/* #define __DSPACE__ */
-
-/* Uncomment the following line for setting the __XPCTARGET__ flag. */
-/* #define __XPCTARGET__ */
-
-
-/* Uncomment the following line for setting the __NO_FMATH__ flag. */
-/* #define __NO_FMATH__ */
-
-/* Uncomment the following line to enable debug information. */
-/* #define __DEBUG__ */
-
-/* Uncomment the following line to enable suppress any kind of console output. */
-/* #define __SUPPRESSANYOUTPUT__ */
-
-
-/** Forces to always include all implicitly fixed bounds and all equality constraints
- *  into the initial working set when setting up an auxiliary QP. */
-#define __ALWAYS_INITIALISE_WITH_ALL_EQUALITIES__
-
-/* Uncomment the following line to activate the use of an alternative Givens
- * plane rotation requiring only three multiplications. */
-/* #define __USE_THREE_MULTS_GIVENS__ */
-
-/* Uncomment the following line to activate the use of single precision arithmetic. */
-/* #define __USE_SINGLE_PRECISION__ */
-
-/* The inline keyword is skipped by default as it is not part of the C90 standard.
- * However, by uncommenting the following line, use of the inline keyword can be enforced. */
-/* #define __USE_INLINE__ */
-
-
-/* Work-around for Borland BCC 5.5 compiler. */
-#ifdef __BORLANDC__
-#if __BORLANDC__ < 0x0561
-  #define __STDC__ 1
-#endif
-#endif
-
-
-/* Work-around for Microsoft compilers. */
-#ifdef _MSC_VER
-  #define __NO_SNPRINTF__
-  #pragma warning( disable : 4061 4100 4250 4514 4996 )
-#endif
-
-
-/* Apply pre-processor settings when using qpOASES within auto-generated code. */
-#ifdef __CODE_GENERATION__
-  #define __NO_COPYRIGHT__
-  #define __EXTERNAL_DIMENSIONS__
-#endif /* __CODE_GENERATION__ */
-
-
-/* Avoid using static variables declaration within functions. */
-#ifdef __NO_STATIC__
-  #define myStatic
-#else
-  #define myStatic static
-#endif /* __NO_STATIC__ */
-
-
-/* Skip inline keyword if not specified otherwise. */
-#ifndef __USE_INLINE__
-  #define inline
-#endif
-
-
-/* Avoid any printing on embedded platforms. */
-#if defined(__DSPACE__) || defined(__XPCTARGET__)
-  #define __SUPPRESSANYOUTPUT__
-  #define __NO_SNPRINTF__
-#endif
-
-
-#ifdef __NO_SNPRINTF__
-  #if (!defined(_MSC_VER)) || defined(__DSPACE__) || defined(__XPCTARGET__)
-    /* If snprintf is not available, provide an empty implementation... */
-    int snprintf( char* s, size_t n, const char* format, ... );
-  #else
-	/* ... or substitute snprintf by _snprintf for Microsoft compilers. */
-    #define snprintf _snprintf
-  #endif
-#endif /* __NO_SNPRINTF__ */
-
-
-/** Macro for switching on/off the beginning of the qpOASES namespace definition. */
-#define BEGIN_NAMESPACE_QPOASES
-
-/** Macro for switching on/off the end of the qpOASES namespace definition. */
-#define END_NAMESPACE_QPOASES
-
-/** Macro for switching on/off the use of the qpOASES namespace. */
-#define USING_NAMESPACE_QPOASES
-
-/** Macro for switching on/off references to the qpOASES namespace. */
-#define REFER_NAMESPACE_QPOASES /*::*/
-
-
-/** Macro for accessing the Cholesky factor R. */
-#define RR( I,J )  _THIS->R[(I)+nV*(J)]
-
-/** Macro for accessing the orthonormal matrix Q of the QT factorisation. */
-#define QQ( I,J )  _THIS->Q[(I)+nV*(J)]
-
-/** Macro for accessing the triangular matrix T of the QT factorisation. */
-#define TT( I,J )  _THIS->T[(I)*nVC_min+(J)]
-
-
-
-BEGIN_NAMESPACE_QPOASES
-
-
-/** Defines real_t for facilitating switching between double and float. */
-
-#ifndef USE_ACADOS_TYPES
-#ifndef __CODE_GENERATION__
-
-  #ifdef __USE_SINGLE_PRECISION__
-  typedef float real_t;
-  #else
-  typedef double real_t;
-  #endif /* __USE_SINGLE_PRECISION__ */
-
-#endif /* __CODE_GENERATION__ */
-#endif /* USE_ACADOS_TYPES */
-
-/** Summarises all possible logical values. */
-typedef enum
-{
-	BT_FALSE = 0,				/**< Logical value for "false". */
-	BT_TRUE						/**< Logical value for "true". */
-} BooleanType;
-
-
-/** Summarises all possible print levels. Print levels are used to describe
- *	the desired amount of output during runtime of qpOASES. */
-typedef enum
-{
-	PL_DEBUG_ITER = -2,			/**< Full tabular debugging output. */
-	PL_TABULAR,					/**< Tabular output. */
-	PL_NONE,					/**< No output. */
-	PL_LOW,						/**< Print error messages only. */
-	PL_MEDIUM,					/**< Print error and warning messages as well as concise info messages. */
-	PL_HIGH						/**< Print all messages with full details. */
-} PrintLevel;
-
-
-/** Defines visibility status of a message. */
-typedef enum
-{
-	VS_HIDDEN,					/**< Message not visible. */
-	VS_VISIBLE					/**< Message visible. */
-} VisibilityStatus;
-
-
-/** Summarises all possible states of the (S)QProblem(B) object during the
-solution process of a QP sequence. */
-typedef enum
-{
-	QPS_NOTINITIALISED,			/**< QProblem object is freshly instantiated or reset. */
-	QPS_PREPARINGAUXILIARYQP,	/**< An auxiliary problem is currently setup, either at the very beginning
-								 *   via an initial homotopy or after changing the QP matrices. */
-	QPS_AUXILIARYQPSOLVED,		/**< An auxilary problem was solved, either at the very beginning
-								 *   via an initial homotopy or after changing the QP matrices. */
-	QPS_PERFORMINGHOMOTOPY,		/**< A homotopy according to the main idea of the online active
-								 *   set strategy is performed. */
-	QPS_HOMOTOPYQPSOLVED,		/**< An intermediate QP along the homotopy path was solved. */
-	QPS_SOLVED					/**< The solution of the actual QP was found. */
-} QProblemStatus;
-
-
-/** Summarises all possible types of the QP's Hessian matrix. */
-typedef enum
-{
-	HST_ZERO,				/**< Hessian is zero matrix (i.e. LP formulation). */
-	HST_IDENTITY,			/**< Hessian is identity matrix. */
-	HST_POSDEF,				/**< Hessian is (strictly) positive definite. */
-	HST_POSDEF_NULLSPACE,	/**< Hessian is positive definite on null space of active bounds/constraints. */
-	HST_SEMIDEF,			/**< Hessian is positive semi-definite. */
-	HST_INDEF,				/**< Hessian is indefinite. */
-	HST_UNKNOWN				/**< Hessian type is unknown. */
-} HessianType;
-
-
-/** Summarises all possible types of bounds and constraints. */
-typedef enum
-{
-	ST_UNBOUNDED,		/**< Bound/constraint is unbounded. */
-	ST_BOUNDED,			/**< Bound/constraint is bounded but not fixed. */
-	ST_EQUALITY,		/**< Bound/constraint is fixed (implicit equality bound/constraint). */
-	ST_DISABLED,		/**< Bound/constraint is disabled (i.e. ignored when solving QP). */
-	ST_UNKNOWN			/**< Type of bound/constraint unknown. */
-} SubjectToType;
-
-
-/** Summarises all possible states of bounds and constraints. */
-typedef enum
-{
-	ST_LOWER = -1,			/**< Bound/constraint is at its lower bound. */
-	ST_INACTIVE,			/**< Bound/constraint is inactive. */
-	ST_UPPER,				/**< Bound/constraint is at its upper bound. */
-	ST_INFEASIBLE_LOWER,	/**< (to be documented) */
-	ST_INFEASIBLE_UPPER,	/**< (to be documented) */
-	ST_UNDEFINED			/**< Status of bound/constraint undefined. */
-} SubjectToStatus;
-
-
-/**
- *	\brief Stores internal information for tabular (debugging) output.
- *
- *	Struct storing internal information for tabular (debugging) output
- *	when using the (S)QProblem(B) objects.
- *
- *	\author Hans Joachim Ferreau
- *	\version 3.1embedded
- *	\date 2013-2015
- */
-typedef struct
-{
-	int idxAddB;		/**< Index of bound that has been added to working set. */
-	int idxRemB;		/**< Index of bound that has been removed from working set. */
-	int idxAddC;		/**< Index of constraint that has been added to working set. */
-	int idxRemC;		/**< Index of constraint that has been removed from working set. */
-	int excAddB;		/**< Flag indicating whether a bound has been added to working set to keep a regular projected Hessian. */
-	int excRemB;		/**< Flag indicating whether a bound has been removed from working set to keep a regular projected Hessian. */
-	int excAddC;		/**< Flag indicating whether a constraint has been added to working set to keep a regular projected Hessian. */
-	int excRemC;		/**< Flag indicating whether a constraint has been removed from working set to keep a regular projected Hessian. */
-} TabularOutput;
-
-/**
- *	\brief Struct containing the variable header for mat file.
- *
- *	Struct storing the header of a variable to be stored in
- *	Matlab's binary format (using the outdated Level 4 variant
- *  for simplictiy).
- *
- *  Note, this code snippet has been inspired from the document
- *  "Matlab(R) MAT-file Format, R2013b" by MathWorks
- *
- *	\author Hans Joachim Ferreau
- *	\version 3.1embedded
- *	\date 2013-2015
- */
-typedef struct
-{
-	long numericFormat;		/**< Flag indicating numerical format. */
-	long nRows;				/**< Number of rows. */
-	long nCols;				/**< Number of rows. */
-	long imaginaryPart;		/**< (to be documented) */
-	long nCharName;			/**< Number of character in name. */
-} MatMatrixHeader;
-
-
-END_NAMESPACE_QPOASES
-
-
-#endif	/* QPOASES_TYPES_H */
-
-
-/*
- *	end of file
- */
+/*
+ *	This file is part of qpOASES.
+ *
+ *	qpOASES -- An Implementation of the Online Active Set Strategy.
+ *	Copyright (C) 2007-2015 by Hans Joachim Ferreau, Andreas Potschka,
+ *	Christian Kirches et al. All rights reserved.
+ *
+ *	qpOASES is free software; you can redistribute it and/or
+ *	modify it under the terms of the GNU Lesser General Public
+ *	License as published by the Free Software Foundation; either
+ *	version 2.1 of the License, or (at your option) any later version.
+ *
+ *	qpOASES is distributed in the hope that it will be useful,
+ *	but WITHOUT ANY WARRANTY; without even the implied warranty of
+ *	MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.
+ *	See the GNU Lesser General Public License for more details.
+ *
+ *	You should have received a copy of the GNU Lesser General Public
+ *	License along with qpOASES; if not, write to the Free Software
+ *	Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA  02110-1301  USA
+ *
+ */
+
+
+/**
+ *	\file include/qpOASES_e/Types.h
+ *	\author Hans Joachim Ferreau, Andreas Potschka, Christian Kirches
+ *	\version 3.1embedded
+ *	\date 2007-2015
+ *
+ *	Declaration of all non-built-in types (except for classes).
+ */
+
+
+#ifndef QPOASES_TYPES_H
+#define QPOASES_TYPES_H
+
+#ifdef USE_ACADOS_TYPES
+#include "acados/utils/types.h"
+#endif
+
+/* If your compiler does not support the snprintf() function,
+ * uncomment the following line and try to compile again. */
+/* #define __NO_SNPRINTF__ */
+
+
+/* Uncomment the following line for setting the __DSPACE__ flag. */
+/* #define __DSPACE__ */
+
+/* Uncomment the following line for setting the __XPCTARGET__ flag. */
+/* #define __XPCTARGET__ */
+
+
+/* Uncomment the following line for setting the __NO_FMATH__ flag. */
+/* #define __NO_FMATH__ */
+
+/* Uncomment the following line to enable debug information. */
+/* #define __DEBUG__ */
+
+/* Uncomment the following line to enable suppress any kind of console output. */
+/* #define __SUPPRESSANYOUTPUT__ */
+
+
+/** Forces to always include all implicitly fixed bounds and all equality constraints
+ *  into the initial working set when setting up an auxiliary QP. */
+#define __ALWAYS_INITIALISE_WITH_ALL_EQUALITIES__
+
+/* Uncomment the following line to activate the use of an alternative Givens
+ * plane rotation requiring only three multiplications. */
+/* #define __USE_THREE_MULTS_GIVENS__ */
+
+/* Uncomment the following line to activate the use of single precision arithmetic. */
+/* #define __USE_SINGLE_PRECISION__ */
+
+/* The inline keyword is skipped by default as it is not part of the C90 standard.
+ * However, by uncommenting the following line, use of the inline keyword can be enforced. */
+/* #define __USE_INLINE__ */
+
+
+/* Work-around for Borland BCC 5.5 compiler. */
+#ifdef __BORLANDC__
+#if __BORLANDC__ < 0x0561
+  #define __STDC__ 1
+#endif
+#endif
+
+
+/* Work-around for Microsoft compilers. */
+#ifdef _MSC_VER
+  #define __NO_SNPRINTF__
+  #pragma warning( disable : 4061 4100 4250 4514 4996 )
+#endif
+
+
+/* Apply pre-processor settings when using qpOASES within auto-generated code. */
+#ifdef __CODE_GENERATION__
+  #define __NO_COPYRIGHT__
+  #define __EXTERNAL_DIMENSIONS__
+#endif /* __CODE_GENERATION__ */
+
+
+/* Avoid using static variables declaration within functions. */
+#ifdef __NO_STATIC__
+  #define myStatic
+#else
+  #define myStatic static
+#endif /* __NO_STATIC__ */
+
+
+/* Skip inline keyword if not specified otherwise. */
+#ifndef __USE_INLINE__
+  #define inline
+#endif
+
+
+/* Avoid any printing on embedded platforms. */
+#if defined(__DSPACE__) || defined(__XPCTARGET__)
+  #define __SUPPRESSANYOUTPUT__
+  #define __NO_SNPRINTF__
+#endif
+
+
+#ifdef __NO_SNPRINTF__
+  #if (!defined(_MSC_VER)) || defined(__DSPACE__) || defined(__XPCTARGET__)
+    /* If snprintf is not available, provide an empty implementation... */
+    int snprintf( char* s, size_t n, const char* format, ... );
+  #else
+	/* ... or substitute snprintf by _snprintf for Microsoft compilers. */
+    #define snprintf _snprintf
+  #endif
+#endif /* __NO_SNPRINTF__ */
+
+
+/** Macro for switching on/off the beginning of the qpOASES namespace definition. */
+#define BEGIN_NAMESPACE_QPOASES
+
+/** Macro for switching on/off the end of the qpOASES namespace definition. */
+#define END_NAMESPACE_QPOASES
+
+/** Macro for switching on/off the use of the qpOASES namespace. */
+#define USING_NAMESPACE_QPOASES
+
+/** Macro for switching on/off references to the qpOASES namespace. */
+#define REFER_NAMESPACE_QPOASES /*::*/
+
+
+/** Macro for accessing the Cholesky factor R. */
+#define RR( I,J )  _THIS->R[(I)+nV*(J)]
+
+/** Macro for accessing the orthonormal matrix Q of the QT factorisation. */
+#define QQ( I,J )  _THIS->Q[(I)+nV*(J)]
+
+/** Macro for accessing the triangular matrix T of the QT factorisation. */
+#define TT( I,J )  _THIS->T[(I)*nVC_min+(J)]
+
+
+
+BEGIN_NAMESPACE_QPOASES
+
+
+/** Defines real_t for facilitating switching between double and float. */
+
+#ifndef USE_ACADOS_TYPES
+#ifndef __CODE_GENERATION__
+
+  #ifdef __USE_SINGLE_PRECISION__
+  typedef float real_t;
+  #else
+  typedef double real_t;
+  #endif /* __USE_SINGLE_PRECISION__ */
+
+#endif /* __CODE_GENERATION__ */
+#endif /* USE_ACADOS_TYPES */
+
+/** Summarises all possible logical values. */
+typedef enum
+{
+	BT_FALSE = 0,				/**< Logical value for "false". */
+	BT_TRUE						/**< Logical value for "true". */
+} BooleanType;
+
+
+/** Summarises all possible print levels. Print levels are used to describe
+ *	the desired amount of output during runtime of qpOASES. */
+typedef enum
+{
+	PL_DEBUG_ITER = -2,			/**< Full tabular debugging output. */
+	PL_TABULAR,					/**< Tabular output. */
+	PL_NONE,					/**< No output. */
+	PL_LOW,						/**< Print error messages only. */
+	PL_MEDIUM,					/**< Print error and warning messages as well as concise info messages. */
+	PL_HIGH						/**< Print all messages with full details. */
+} PrintLevel;
+
+
+/** Defines visibility status of a message. */
+typedef enum
+{
+	VS_HIDDEN,					/**< Message not visible. */
+	VS_VISIBLE					/**< Message visible. */
+} VisibilityStatus;
+
+
+/** Summarises all possible states of the (S)QProblem(B) object during the
+solution process of a QP sequence. */
+typedef enum
+{
+	QPS_NOTINITIALISED,			/**< QProblem object is freshly instantiated or reset. */
+	QPS_PREPARINGAUXILIARYQP,	/**< An auxiliary problem is currently setup, either at the very beginning
+								 *   via an initial homotopy or after changing the QP matrices. */
+	QPS_AUXILIARYQPSOLVED,		/**< An auxilary problem was solved, either at the very beginning
+								 *   via an initial homotopy or after changing the QP matrices. */
+	QPS_PERFORMINGHOMOTOPY,		/**< A homotopy according to the main idea of the online active
+								 *   set strategy is performed. */
+	QPS_HOMOTOPYQPSOLVED,		/**< An intermediate QP along the homotopy path was solved. */
+	QPS_SOLVED					/**< The solution of the actual QP was found. */
+} QProblemStatus;
+
+
+/** Summarises all possible types of the QP's Hessian matrix. */
+typedef enum
+{
+	HST_ZERO,				/**< Hessian is zero matrix (i.e. LP formulation). */
+	HST_IDENTITY,			/**< Hessian is identity matrix. */
+	HST_POSDEF,				/**< Hessian is (strictly) positive definite. */
+	HST_POSDEF_NULLSPACE,	/**< Hessian is positive definite on null space of active bounds/constraints. */
+	HST_SEMIDEF,			/**< Hessian is positive semi-definite. */
+	HST_INDEF,				/**< Hessian is indefinite. */
+	HST_UNKNOWN				/**< Hessian type is unknown. */
+} HessianType;
+
+
+/** Summarises all possible types of bounds and constraints. */
+typedef enum
+{
+	ST_UNBOUNDED,		/**< Bound/constraint is unbounded. */
+	ST_BOUNDED,			/**< Bound/constraint is bounded but not fixed. */
+	ST_EQUALITY,		/**< Bound/constraint is fixed (implicit equality bound/constraint). */
+	ST_DISABLED,		/**< Bound/constraint is disabled (i.e. ignored when solving QP). */
+	ST_UNKNOWN			/**< Type of bound/constraint unknown. */
+} SubjectToType;
+
+
+/** Summarises all possible states of bounds and constraints. */
+typedef enum
+{
+	ST_LOWER = -1,			/**< Bound/constraint is at its lower bound. */
+	ST_INACTIVE,			/**< Bound/constraint is inactive. */
+	ST_UPPER,				/**< Bound/constraint is at its upper bound. */
+	ST_INFEASIBLE_LOWER,	/**< (to be documented) */
+	ST_INFEASIBLE_UPPER,	/**< (to be documented) */
+	ST_UNDEFINED			/**< Status of bound/constraint undefined. */
+} SubjectToStatus;
+
+
+/**
+ *	\brief Stores internal information for tabular (debugging) output.
+ *
+ *	Struct storing internal information for tabular (debugging) output
+ *	when using the (S)QProblem(B) objects.
+ *
+ *	\author Hans Joachim Ferreau
+ *	\version 3.1embedded
+ *	\date 2013-2015
+ */
+typedef struct
+{
+	int idxAddB;		/**< Index of bound that has been added to working set. */
+	int idxRemB;		/**< Index of bound that has been removed from working set. */
+	int idxAddC;		/**< Index of constraint that has been added to working set. */
+	int idxRemC;		/**< Index of constraint that has been removed from working set. */
+	int excAddB;		/**< Flag indicating whether a bound has been added to working set to keep a regular projected Hessian. */
+	int excRemB;		/**< Flag indicating whether a bound has been removed from working set to keep a regular projected Hessian. */
+	int excAddC;		/**< Flag indicating whether a constraint has been added to working set to keep a regular projected Hessian. */
+	int excRemC;		/**< Flag indicating whether a constraint has been removed from working set to keep a regular projected Hessian. */
+} TabularOutput;
+
+/**
+ *	\brief Struct containing the variable header for mat file.
+ *
+ *	Struct storing the header of a variable to be stored in
+ *	Matlab's binary format (using the outdated Level 4 variant
+ *  for simplictiy).
+ *
+ *  Note, this code snippet has been inspired from the document
+ *  "Matlab(R) MAT-file Format, R2013b" by MathWorks
+ *
+ *	\author Hans Joachim Ferreau
+ *	\version 3.1embedded
+ *	\date 2013-2015
+ */
+typedef struct
+{
+	long numericFormat;		/**< Flag indicating numerical format. */
+	long nRows;				/**< Number of rows. */
+	long nCols;				/**< Number of rows. */
+	long imaginaryPart;		/**< (to be documented) */
+	long nCharName;			/**< Number of character in name. */
+} MatMatrixHeader;
+
+
+END_NAMESPACE_QPOASES
+
+
+#endif	/* QPOASES_TYPES_H */
+
+
+/*
+ *	end of file
+ */

third_party/acados/include/qpOASES_e/UnitTesting.h

@@ -1,79 +1,79 @@
-/*
- *	This file is part of qpOASES.
- *
- *	qpOASES -- An Implementation of the Online Active Set Strategy.
- *	Copyright (C) 2007-2015 by Hans Joachim Ferreau, Andreas Potschka,
- *	Christian Kirches et al. All rights reserved.
- *
- *	qpOASES is free software; you can redistribute it and/or
- *	modify it under the terms of the GNU Lesser General Public
- *	License as published by the Free Software Foundation; either
- *	version 2.1 of the License, or (at your option) any later version.
- *
- *	qpOASES is distributed in the hope that it will be useful,
- *	but WITHOUT ANY WARRANTY; without even the implied warranty of
- *	MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.
- *	See the GNU Lesser General Public License for more details.
- *
- *	You should have received a copy of the GNU Lesser General Public
- *	License along with qpOASES; if not, write to the Free Software
- *	Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA  02110-1301  USA
- *
- */
-
-
-/**
- *	\file include/qpOASES_e/UnitTesting.h
- *	\author Hans Joachim Ferreau
- *	\version 3.1embedded
- *	\date 2014-2015
- *
- *	Definition of auxiliary functions/macros for unit testing.
- */
-
-
-#ifndef QPOASES_UNIT_TESTING_H
-#define QPOASES_UNIT_TESTING_H
-
-
-#ifndef TEST_TOL_FACTOR
-#define TEST_TOL_FACTOR 1
-#endif
-
-
-/** Return value for tests that passed. */
-#define TEST_PASSED 0
-
-/** Return value for tests that failed. */
-#define TEST_FAILED 1
-
-/** Return value for tests that could not run due to missing external data. */
-#define TEST_DATA_NOT_FOUND 99
-
-
-/** Macro verifying that two numerical values are equal in order to pass unit test. */
-#define QPOASES_TEST_FOR_EQUAL( x,y ) if ( REFER_NAMESPACE_QPOASES isEqual( (x),(y) ) == BT_FALSE ) { return TEST_FAILED; }
-
-/** Macro verifying that two numerical values are close to each other in order to pass unit test. */
-#define QPOASES_TEST_FOR_NEAR( x,y )  if ( REFER_NAMESPACE_QPOASES getAbs((x)-(y)) / REFER_NAMESPACE_QPOASES getMax( 1.0,REFER_NAMESPACE_QPOASES getAbs(x) ) >= 1e-10 ) { return TEST_FAILED; }
-
-/** Macro verifying that first quantity is lower or equal than second one in order to pass unit test. */
-#define QPOASES_TEST_FOR_TOL( x,tol )  if ( (x) > (tol)*(TEST_TOL_FACTOR) ) { return TEST_FAILED; }
-
-/** Macro verifying that a logical expression holds in order to pass unit test. */
-#define QPOASES_TEST_FOR_TRUE( x )  if ( (x) == 0 ) { return TEST_FAILED; }
-
-
-
-BEGIN_NAMESPACE_QPOASES
-
-
-END_NAMESPACE_QPOASES
-
-
-#endif	/* QPOASES_UNIT_TESTING_H */
-
-
-/*
- *	end of file
- */
+/*
+ *	This file is part of qpOASES.
+ *
+ *	qpOASES -- An Implementation of the Online Active Set Strategy.
+ *	Copyright (C) 2007-2015 by Hans Joachim Ferreau, Andreas Potschka,
+ *	Christian Kirches et al. All rights reserved.
+ *
+ *	qpOASES is free software; you can redistribute it and/or
+ *	modify it under the terms of the GNU Lesser General Public
+ *	License as published by the Free Software Foundation; either
+ *	version 2.1 of the License, or (at your option) any later version.
+ *
+ *	qpOASES is distributed in the hope that it will be useful,
+ *	but WITHOUT ANY WARRANTY; without even the implied warranty of
+ *	MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.
+ *	See the GNU Lesser General Public License for more details.
+ *
+ *	You should have received a copy of the GNU Lesser General Public
+ *	License along with qpOASES; if not, write to the Free Software
+ *	Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA  02110-1301  USA
+ *
+ */
+
+
+/**
+ *	\file include/qpOASES_e/UnitTesting.h
+ *	\author Hans Joachim Ferreau
+ *	\version 3.1embedded
+ *	\date 2014-2015
+ *
+ *	Definition of auxiliary functions/macros for unit testing.
+ */
+
+
+#ifndef QPOASES_UNIT_TESTING_H
+#define QPOASES_UNIT_TESTING_H
+
+
+#ifndef TEST_TOL_FACTOR
+#define TEST_TOL_FACTOR 1
+#endif
+
+
+/** Return value for tests that passed. */
+#define TEST_PASSED 0
+
+/** Return value for tests that failed. */
+#define TEST_FAILED 1
+
+/** Return value for tests that could not run due to missing external data. */
+#define TEST_DATA_NOT_FOUND 99
+
+
+/** Macro verifying that two numerical values are equal in order to pass unit test. */
+#define QPOASES_TEST_FOR_EQUAL( x,y ) if ( REFER_NAMESPACE_QPOASES isEqual( (x),(y) ) == BT_FALSE ) { return TEST_FAILED; }
+
+/** Macro verifying that two numerical values are close to each other in order to pass unit test. */
+#define QPOASES_TEST_FOR_NEAR( x,y )  if ( REFER_NAMESPACE_QPOASES getAbs((x)-(y)) / REFER_NAMESPACE_QPOASES getMax( 1.0,REFER_NAMESPACE_QPOASES getAbs(x) ) >= 1e-10 ) { return TEST_FAILED; }
+
+/** Macro verifying that first quantity is lower or equal than second one in order to pass unit test. */
+#define QPOASES_TEST_FOR_TOL( x,tol )  if ( (x) > (tol)*(TEST_TOL_FACTOR) ) { return TEST_FAILED; }
+
+/** Macro verifying that a logical expression holds in order to pass unit test. */
+#define QPOASES_TEST_FOR_TRUE( x )  if ( (x) == 0 ) { return TEST_FAILED; }
+
+
+
+BEGIN_NAMESPACE_QPOASES
+
+
+END_NAMESPACE_QPOASES
+
+
+#endif	/* QPOASES_UNIT_TESTING_H */
+
+
+/*
+ *	end of file
+ */

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> {
-        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> {
+        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

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 <map>
-
-namespace Catch {
-
-    struct SonarQubeReporter : CumulativeReporterBase<SonarQubeReporter> {
-
-        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<Verbosity> 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<std::string, TestGroupNode::ChildNodes> 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<long>(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 <map>
+
+namespace Catch {
+
+    struct SonarQubeReporter : CumulativeReporterBase<SonarQubeReporter> {
+
+        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<Verbosity> 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<std::string, TestGroupNode::ChildNodes> 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<long>(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

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 <algorithm>
-
-namespace Catch {
-
-    struct TAPReporter : StreamingReporterBase<TAPReporter> {
-
-        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::size_t>( 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<MessageInfo> messages;
-            std::vector<MessageInfo>::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 <algorithm>
+
+namespace Catch {
+
+    struct TAPReporter : StreamingReporterBase<TAPReporter> {
+
+        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::size_t>( 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<MessageInfo> messages;
+            std::vector<MessageInfo>::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

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 <cstring>
-
-#ifdef __clang__
-#   pragma clang diagnostic push
-#   pragma clang diagnostic ignored "-Wpadded"
-#endif
-
-namespace Catch {
-
-    struct TeamCityReporter : StreamingReporterBase<TeamCityReporter> {
-        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<SectionInfo>::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 <cstring>
+
+#ifdef __clang__
+#   pragma clang diagnostic push
+#   pragma clang diagnostic ignored "-Wpadded"
+#endif
+
+namespace Catch {
+
+    struct TeamCityReporter : StreamingReporterBase<TeamCityReporter> {
+        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<SectionInfo>::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

third_party/snpe/include/DlSystem/IOBufferDataTypeMap.hpp

@@ -1,127 +1,127 @@
-//=============================================================================
-//
-//  Copyright (c) 2021-2022 Qualcomm Technologies, Inc.
-//  All Rights Reserved.
-//  Confidential and Proprietary - Qualcomm Technologies, Inc.
-//
-//=============================================================================
-
-
-#ifndef DL_SYSTEM_IOBUFFER_DATATYPE_MAP_HPP
-#define DL_SYSTEM_IOBUFFER_DATATYPE_MAP_HPP
-
-#include <cstddef>
-#include <memory>
-#include "DlSystem/DlEnums.hpp"
-
-namespace DlSystem
-{
-   // Forward declaration of IOBufferDataTypeMapImpl implementation.
-   class IOBufferDataTypeMapImpl;
-}
-
-namespace zdl
-{
-namespace DlSystem
-{
-/** @addtogroup c_plus_plus_apis C++
-@{ */
-
-/**
- * @brief .
- *
- * The IoBufferDataTypeMap class definition
- */
-class ZDL_EXPORT IOBufferDataTypeMap final
-{
-public:
-
-    /**
-    * @brief .
-    *
-    * Creates a new Buffer Data type map
-    *
-    */
-   IOBufferDataTypeMap();
-
-   /**
-    * @brief Adds a name and the corresponding buffer data type
-    *        to the map
-    *
-    * @param[name] name The name of the buffer
-    * @param[bufferDataType] buffer Data Type of the buffer
-    *
-    * @note If a buffer with the same name already exists, no new
-    *       buffer is added.
-    */
-   void add(const char* name, zdl::DlSystem::IOBufferDataType_t bufferDataType);
-
-   /**
-    * @brief Removes a buffer name from the map
-    *
-    * @param[name] name The name of the buffer
-    *
-    */
-   void remove(const char* name);
-
-   /**
-    * @brief Returns the type of the named buffer
-    *
-    * @param[name] name The name of the buffer
-    *
-    * @return The type of the buffer, or UNSPECIFIED if the buffer does not exist
-    *
-    */
-   zdl::DlSystem::IOBufferDataType_t getBufferDataType(const char* name);
-
-   /**
-    * @brief Returns the type of the first buffer
-    *
-    * @return The type of the first buffer, or UNSPECIFIED if the map is empty.
-    *
-    */
-   zdl::DlSystem::IOBufferDataType_t getBufferDataType();
-
-   /**
-    * @brief Returns the size of the buffer type map.
-    *
-    * @return The size of the map
-    *
-    */
-   size_t size();
-
-   /**
-    * @brief Checks the existence of the named buffer in the map
-    *
-    * @return True if the named buffer exists, false otherwise.
-    *
-    */
-   bool find(const char* name);
-
-   /**
-    * @brief Resets the map
-    *
-    */
-   void clear();
-
-   /**
-    * @brief Checks whether the map is empty
-    *
-    * @return True if the map is empty, false otherwise.
-    *
-    */
-   bool empty();
-
-   /**
-    * @brief Destroys the map
-    *
-    */
-   ~IOBufferDataTypeMap();
-
-private:
-   std::shared_ptr<::DlSystem::IOBufferDataTypeMapImpl> m_IOBufferDataTypeMapImpl;
-};
-}
-
-}
-#endif
+//=============================================================================
+//
+//  Copyright (c) 2021-2022 Qualcomm Technologies, Inc.
+//  All Rights Reserved.
+//  Confidential and Proprietary - Qualcomm Technologies, Inc.
+//
+//=============================================================================
+
+
+#ifndef DL_SYSTEM_IOBUFFER_DATATYPE_MAP_HPP
+#define DL_SYSTEM_IOBUFFER_DATATYPE_MAP_HPP
+
+#include <cstddef>
+#include <memory>
+#include "DlSystem/DlEnums.hpp"
+
+namespace DlSystem
+{
+   // Forward declaration of IOBufferDataTypeMapImpl implementation.
+   class IOBufferDataTypeMapImpl;
+}
+
+namespace zdl
+{
+namespace DlSystem
+{
+/** @addtogroup c_plus_plus_apis C++
+@{ */
+
+/**
+ * @brief .
+ *
+ * The IoBufferDataTypeMap class definition
+ */
+class ZDL_EXPORT IOBufferDataTypeMap final
+{
+public:
+
+    /**
+    * @brief .
+    *
+    * Creates a new Buffer Data type map
+    *
+    */
+   IOBufferDataTypeMap();
+
+   /**
+    * @brief Adds a name and the corresponding buffer data type
+    *        to the map
+    *
+    * @param[name] name The name of the buffer
+    * @param[bufferDataType] buffer Data Type of the buffer
+    *
+    * @note If a buffer with the same name already exists, no new
+    *       buffer is added.
+    */
+   void add(const char* name, zdl::DlSystem::IOBufferDataType_t bufferDataType);
+
+   /**
+    * @brief Removes a buffer name from the map
+    *
+    * @param[name] name The name of the buffer
+    *
+    */
+   void remove(const char* name);
+
+   /**
+    * @brief Returns the type of the named buffer
+    *
+    * @param[name] name The name of the buffer
+    *
+    * @return The type of the buffer, or UNSPECIFIED if the buffer does not exist
+    *
+    */
+   zdl::DlSystem::IOBufferDataType_t getBufferDataType(const char* name);
+
+   /**
+    * @brief Returns the type of the first buffer
+    *
+    * @return The type of the first buffer, or UNSPECIFIED if the map is empty.
+    *
+    */
+   zdl::DlSystem::IOBufferDataType_t getBufferDataType();
+
+   /**
+    * @brief Returns the size of the buffer type map.
+    *
+    * @return The size of the map
+    *
+    */
+   size_t size();
+
+   /**
+    * @brief Checks the existence of the named buffer in the map
+    *
+    * @return True if the named buffer exists, false otherwise.
+    *
+    */
+   bool find(const char* name);
+
+   /**
+    * @brief Resets the map
+    *
+    */
+   void clear();
+
+   /**
+    * @brief Checks whether the map is empty
+    *
+    * @return True if the map is empty, false otherwise.
+    *
+    */
+   bool empty();
+
+   /**
+    * @brief Destroys the map
+    *
+    */
+   ~IOBufferDataTypeMap();
+
+private:
+   std::shared_ptr<::DlSystem::IOBufferDataTypeMapImpl> m_IOBufferDataTypeMapImpl;
+};
+}
+
+}
+#endif

tools/cabana/chart/chart.cc

@@ -169,7 +169,7 @@ void ChartView::msgUpdated(MessageId id) {
 }
 
 void ChartView::manageSignals() {
-  SignalSelector dlg(tr("Mange Chart"), this);
+  SignalSelector dlg(tr("Manage Chart"), this);
   for (auto &s : sigs) {
     dlg.addSelected(s.msg_id, s.sig);
   }

tools/cabana/signalview.cc

@@ -395,7 +395,7 @@ QWidget *SignalItemDelegate::createEditor(QWidget *parent, const QStyleOptionVie
     else e->setValidator(double_validator);
 
     if (item->type == SignalModel::Item::Name) {
-      QCompleter *completer = new QCompleter(dbc()->signalNames());
+      QCompleter *completer = new QCompleter(dbc()->signalNames(), e);
       completer->setCaseSensitivity(Qt::CaseInsensitive);
       completer->setFilterMode(Qt::MatchContains);
       e->setCompleter(completer);

tools/camerastream/compressed_vipc.py

@@ -19,7 +19,11 @@ ENCODE_SOCKETS = {
   VisionStreamType.VISION_STREAM_DRIVER: "driverEncodeData",
 }
 
-def decoder(addr, vipc_server, vst, nvidia, debug=False):
+def decoder(addr, vst, nvidia, debug=False):
+  vipc_server = VisionIpcServer("camerad")
+  vipc_server.create_buffers(vst, 4, False, W, H)
+  vipc_server.start_listener()
+
   sock_name = ENCODE_SOCKETS[vst]
   if debug:
     print("start decoder for %s" % sock_name)
@@ -101,14 +105,9 @@ def decoder(addr, vipc_server, vst, nvidia, debug=False):
 
 class CompressedVipc:
   def __init__(self, addr, vision_streams, nvidia=False, debug=False):
-    self.vipc_server = VisionIpcServer("camerad")
-    for vst in vision_streams:
-      self.vipc_server.create_buffers(vst, 4, False, W, H)
-    self.vipc_server.start_listener()
-
     self.procs = []
     for vst in vision_streams:
-      p = multiprocessing.Process(target=decoder, args=(addr, self.vipc_server, vst, nvidia, debug))
+      p = multiprocessing.Process(target=decoder, args=(addr, vst, nvidia, debug))
       p.start()
       self.procs.append(p)
 

tools/lib/tests/test_caching.py

@@ -1,6 +1,12 @@
 #!/usr/bin/env python3
 import os
 import unittest
+
+from pathlib import Path
+from parameterized import parameterized
+from unittest import mock
+
+from openpilot.system.hardware.hw import Paths
 from openpilot.tools.lib.url_file import URLFile
 
 
@@ -59,6 +65,34 @@ class TestFileDownload(unittest.TestCase):
     self.compare_loads(large_file_url, length - 100, 100)
     self.compare_loads(large_file_url)
 
+  @parameterized.expand([(True, ), (False, )])
+  def test_recover_from_missing_file(self, cache_enabled):
+    os.environ["FILEREADER_CACHE"] = "1" if cache_enabled else "0"
+
+    file_url = "http://localhost:5001/test.png"
+
+    file_exists = False
+
+    def get_length_online_mock(self):
+      if file_exists:
+        return 4
+      return -1
+
+    patch_length = mock.patch.object(URLFile, "get_length_online", get_length_online_mock)
+    patch_length.start()
+    try:
+      length = URLFile(file_url).get_length()
+      self.assertEqual(length, -1)
+
+      file_exists = True
+      length = URLFile(file_url).get_length()
+      self.assertEqual(length, 4)
+    finally:
+      tempfile_length = Path(Paths.download_cache_root()) / "ba2119904385654cb0105a2da174875f8e7648db175f202ecae6d6428b0e838f_length"
+      if tempfile_length.exists():
+        tempfile_length.unlink()
+      patch_length.stop()
+
 
 if __name__ == "__main__":
   unittest.main()

tools/lib/url_file.py

@@ -73,7 +73,7 @@ class URLFile:
           return self._length
 
     self._length = self.get_length_online()
-    if not self._force_download:
+    if not self._force_download and self._length != -1:
       with atomic_write_in_dir(file_length_path, mode="w") as file_length:
         file_length.write(str(self._length))
     return self._length

tools/replay/replay.cc

@@ -433,7 +433,7 @@ void Replay::stream() {
         long etime = (cur_mono_time_ - evt_start_ts) / speed_;
         long rtime = nanos_since_boot() - loop_start_ts;
         long behind_ns = etime - rtime;
-        // if behind_ns is greater than 1 second, it means that an invalid segemnt is skipped by seeking/replaying
+        // if behind_ns is greater than 1 second, it means that an invalid segment is skipped by seeking/replaying
         if (behind_ns >= 1 * 1e9 || speed_ != prev_replay_speed) {
           // reset event start times
           evt_start_ts = cur_mono_time_;

tools/scripts/fetch_image_from_route.py

@@ -2,10 +2,16 @@
 import sys
 
 if len(sys.argv) < 4:
-  print(f"{sys.argv[0]} <route> <segment> <frame number>")
-  print('example: ./fetch_image_from_route.py "02c45f73a2e5c6e9|2020-06-01--18-03-08" 3 500')
+  print(f"{sys.argv[0]} <route> <segment> <frame number> [front|wide|driver]")
+  print('example: ./fetch_image_from_route.py "02c45f73a2e5c6e9|2020-06-01--18-03-08" 3 500 driver')
   exit(0)
 
+cameras = {
+  "front": "cameras",
+  "wide": "ecameras",
+  "driver": "dcameras"
+}
+
 import requests
 from PIL import Image
 from openpilot.tools.lib.auth_config import get_token
@@ -16,22 +22,22 @@ jwt = get_token()
 route = sys.argv[1]
 segment = int(sys.argv[2])
 frame = int(sys.argv[3])
+camera = cameras[sys.argv[4]] if len(sys.argv) > 4 and sys.argv[4] in cameras else "cameras"
 
-url = 'https://api.commadotai.com/v1/route/'+sys.argv[1]+"/files"
-r = requests.get(url, headers={"Authorization": "JWT "+jwt}, timeout=10)
+url = f'https://api.commadotai.com/v1/route/{route}/files'
+r = requests.get(url, headers={"Authorization": f"JWT {jwt}"}, timeout=10)
 assert r.status_code == 200
 print("got api response")
 
-cameras = r.json()['cameras']
-if segment >= len(cameras):
-  raise Exception("segment %d not found, got %d segments" % (segment, len(cameras)))
+segments = r.json()[camera]
+if segment >= len(segments):
+  raise Exception("segment %d not found, got %d segments" % (segment, len(segments)))
 
-fr = FrameReader(cameras[segment])
+fr = FrameReader(segments[segment])
 if frame >= fr.frame_count:
   raise Exception("frame %d not found, got %d frames" % (frame, fr.frame_count))
 
 im = Image.fromarray(fr.get(frame, count=1, pix_fmt="rgb24")[0])
-fn = "uxxx_"+route.replace("|", "_")+"_%d_%d.png" % (segment, frame)
+fn = f"uxxx_{route.replace('|', '_')}_{segment}_{frame}.png"
 im.save(fn)
 print(f"saved {fn}")
-

tools/sim/README.md

@@ -1,58 +1,82 @@
 openpilot in simulator
 =====================
 
-openpilot implements a [bridge](bridge.py) that allows it to run in the [CARLA simulator](https://carla.org/).
+openpilot implements a [bridge](run_bridge.py) that allows it to run in the [MetaDrive simulator](https://github.com/metadriverse/metadrive) or [CARLA simulator](https://carla.org/).
 
-## System Requirements
+## Launching openpilot
+First, start openpilot.
+``` bash
+# Run locally
+./tools/sim/launch_openpilot.sh
+```
+
+## Bridge usage
+```
+$ ./run_bridge.py -h
+usage: run_bridge.py [-h] [--joystick] [--high_quality] [--dual_camera] [--simulator SIMULATOR] [--town TOWN] [--spawn_point NUM_SELECTED_SPAWN_POINT] [--host HOST] [--port PORT]
+
+Bridge between the simulator and openpilot.
+
+options:
+  -h, --help            show this help message and exit
+  --joystick
+  --high_quality
+  --dual_camera
+  --simulator SIMULATOR
+  --town TOWN
+  --spawn_point NUM_SELECTED_SPAWN_POINT
+  --host HOST
+  --port PORT
+```
+
+#### Bridge Controls:
+- To engage openpilot press 2, then press 1 to increase the speed and 2 to decrease.
+- To disengage, press "S" (simulates a user brake)
+
+#### All inputs:
+
+```
+| key  |   functionality       |
+|------|-----------------------|
+|  1   | Cruise Resume / Accel |
+|  2   | Cruise Set    / Decel |
+|  3   | Cruise Cancel         |
+|  r   | Reset Simulation      |
+|  i   | Toggle Ignition       |
+|  q   | Exit all              |
+| wasd | Control manually      |
+```
+
+## MetaDrive
+
+### Launching Metadrive
+Start bridge processes located in tools/sim:
+``` bash
+./run_bridge.py --simulator metadrive
+```
+
+## Carla
+
+CARLA is also partially supported, though the performance is not great. It needs to be manually installed with:
+
+```bash
+poetry install --with=carla
+```
 
 openpilot doesn't have any extreme hardware requirements, however CARLA requires an NVIDIA graphics card and is very resource-intensive and may not run smoothly on your system.
 For this case, we have the simulator in low quality by default.
 
 You can also check out the [CARLA python documentation](https://carla.readthedocs.io/en/latest/python_api/) to find more parameters to tune that might increase performance on your system.
 
-## Running the simulator
-Start Carla simulator, openpilot and bridge processes located in tools/sim:
+### Launching Carla
+Start Carla simulator and bridge processes located in tools/sim:
 ``` bash
 # Terminal 1
 ./start_carla.sh
 
-# Terminal 2 - Run openpilot and bridge in one Docker:
-./start_openpilot_docker.sh
-
-# Running the latest local code execute
-    # Terminal 2:
-    ./launch_openpilot.sh
-    # Terminal 3
-    ./bridge.py
-```
-
-### Bridge usage
-_Same commands hold for start_openpilot_docker_
+# Terminal 2
+./run_bridge.py --simulator carla
 ```
-$ ./bridge.py -h
-Usage: bridge.py [options]
-Bridge between CARLA and openpilot.
-
-Options:
-  -h, --help            show this help message and exit
-  --joystick            Use joystick input to control the car
-  --high_quality        Set simulator to higher quality (requires good GPU)
-  --town TOWN           Select map to drive in
-  --spawn_point NUM     Number of the spawn point to start in
-  --host HOST           Host address of Carla client (127.0.0.1 as default)
-  --port PORT           Port of Carla client (2000 as default)
-```
-
-To engage openpilot press 1 a few times while focused on bridge.py to increase the cruise speed.
-All inputs:
-
-| key  |   functionality   |
-|:----:|:-----------------:|
-|  1   |  Cruise up 1 mph  |
-|  2   | Cruise down 1 mph |
-|  3   |   Cruise cancel   |
-|  q   |     Exit all      |
-| wasd | Control manually  |
 
 ## Further Reading
 

tools/sim/bridge/carla/carla_bridge.py

@@ -1,5 +1,3 @@
-import carla
-
 from openpilot.tools.sim.bridge.common import SimulatorBridge
 from openpilot.tools.sim.bridge.carla.carla_world import CarlaWorld
 
@@ -15,6 +13,8 @@ class CarlaBridge(SimulatorBridge):
     self.num_selected_spawn_point = arguments.num_selected_spawn_point
 
   def spawn_world(self):
+    import carla
+
     client = carla.Client(self.host, self.port)
     client.set_timeout(5)
 

tools/sim/bridge/carla/carla_world.py

@@ -1,4 +1,3 @@
-import carla
 import numpy as np
 
 from openpilot.common.params import Params
@@ -10,6 +9,8 @@ from openpilot.tools.sim.lib.camerad import W, H
 class CarlaWorld(World):
   def __init__(self, client, high_quality, dual_camera, num_selected_spawn_point, town):
     super().__init__(dual_camera)
+    import carla
+
     low_quality_layers = carla.MapLayer(carla.MapLayer.Ground | carla.MapLayer.Walls | carla.MapLayer.Decals)
 
     layers = carla.MapLayer.All if high_quality else low_quality_layers
@@ -139,5 +140,6 @@ class CarlaWorld(World):
     self.world.tick()
 
   def reset(self):
+    import carla
     self.vehicle.set_transform(self.spawn_point)
     self.vehicle.set_target_velocity(carla.Vector3D())

tools/sim/bridge/common.py

@@ -68,7 +68,7 @@ class SimulatorBridge(ABC):
       self.world.close()
 
   def run(self, queue, retries=-1):
-    bridge_p = Process(target=self.bridge_keep_alive, args=(queue, retries), daemon=True)
+    bridge_p = Process(name="bridge", target=self.bridge_keep_alive, args=(queue, retries))
     bridge_p.start()
     return bridge_p
 
@@ -96,6 +96,10 @@ Ignition: {self.simulator_state.ignition} Engaged: {self.simulator_state.is_enga
                                                                         100, self._exit_event))
     self.simulated_car_thread.start()
 
+    self.simulated_camera_thread = threading.Thread(target=rk_loop, args=(functools.partial(self.simulated_sensors.send_camera_images, self.world),
+                                                                        20, self._exit_event))
+    self.simulated_camera_thread.start()
+
     # Simulation tends to be slow in the initial steps. This prevents lagging later
     for _ in range(20):
       self.world.tick()
@@ -105,6 +109,8 @@ Ignition: {self.simulator_state.ignition} Engaged: {self.simulator_state.is_enga
       throttle_op = steer_op = brake_op = 0.0
 
       self.simulator_state.cruise_button = 0
+      self.simulator_state.left_blinker = False
+      self.simulator_state.right_blinker = False
 
       throttle_manual = steer_manual = brake_manual = 0.
 
@@ -127,6 +133,11 @@ Ignition: {self.simulator_state.ignition} Engaged: {self.simulator_state.is_enga
             self.simulator_state.cruise_button = CruiseButtons.CANCEL
           elif m[1] == "main":
             self.simulator_state.cruise_button = CruiseButtons.MAIN
+        elif m[0] == "blinker":
+          if m[1] == "left":
+            self.simulator_state.left_blinker = True
+          elif m[1] == "right":
+            self.simulator_state.right_blinker = True
         elif m[0] == "ignition":
           self.simulator_state.ignition = not self.simulator_state.ignition
         elif m[0] == "reset":
@@ -136,6 +147,7 @@ Ignition: {self.simulator_state.ignition} Engaged: {self.simulator_state.is_enga
 
       self.simulator_state.user_brake = brake_manual
       self.simulator_state.user_gas = throttle_manual
+      self.simulator_state.user_torque = steer_manual * 10000
 
       steer_manual = steer_manual * -40
 
@@ -143,7 +155,8 @@ Ignition: {self.simulator_state.ignition} Engaged: {self.simulator_state.is_enga
       self.simulated_sensors.update(self.simulator_state, self.world)
 
       self.simulated_car.sm.update(0)
-      self.simulator_state.is_engaged = self.simulated_car.sm['controlsState'].active
+      controlsState = self.simulated_car.sm['controlsState']
+      self.simulator_state.is_engaged = controlsState.active
 
       if self.simulator_state.is_engaged:
         throttle_op = clip(self.simulated_car.sm['carControl'].actuators.accel / 1.6, 0.0, 1.0)
@@ -151,7 +164,7 @@ Ignition: {self.simulator_state.ignition} Engaged: {self.simulator_state.is_enga
         steer_op = self.simulated_car.sm['carControl'].actuators.steeringAngleDeg
 
         self.past_startup_engaged = True
-      elif not self.past_startup_engaged:
+      elif not self.past_startup_engaged and controlsState.engageable:
         self.simulator_state.cruise_button = CruiseButtons.DECEL_SET # force engagement on startup
 
       throttle_out = throttle_op if self.simulator_state.is_engaged else throttle_manual

tools/sim/bridge/metadrive/metadrive_bridge.py

@@ -1,39 +1,50 @@
+import numpy as np
+
 from metadrive.component.sensors.rgb_camera import RGBCamera
 from metadrive.component.sensors.base_camera import _cuda_enable
 from metadrive.component.map.pg_map import MapGenerateMethod
-from metadrive.engine.core.engine_core import EngineCore
-from metadrive.engine.core.image_buffer import ImageBuffer
-from metadrive.envs.metadrive_env import MetaDriveEnv
-from metadrive.obs.image_obs import ImageObservation
-from panda3d.core import Vec3
+from panda3d.core import Vec3, Texture, GraphicsOutput
 
 from openpilot.tools.sim.bridge.common import SimulatorBridge
 from openpilot.tools.sim.bridge.metadrive.metadrive_world import MetaDriveWorld
 from openpilot.tools.sim.lib.camerad import W, H
 
 
-def apply_metadrive_patches():
-  # By default, metadrive won't try to use cuda images unless it's used as a sensor for vehicles, so patch that in
-  def add_image_sensor_patched(self, name: str, cls, args):
-    if self.global_config["image_on_cuda"]:# and name == self.global_config["vehicle_config"]["image_source"]:
-        sensor = cls(*args, self, cuda=True)
-    else:
-        sensor = cls(*args, self, cuda=False)
-    assert isinstance(sensor, ImageBuffer), "This API is for adding image sensor"
-    self.sensors[name] = sensor
+C3_POSITION = Vec3(0, 0, 1)
+
 
-  EngineCore.add_image_sensor = add_image_sensor_patched
+class CopyRamRGBCamera(RGBCamera):
+  """Camera which copies its content into RAM during the render process, for faster image grabbing."""
+  def __init__(self, *args, **kwargs):
+    super().__init__(*args, **kwargs)
+    self.cpu_texture = Texture()
+    self.buffer.addRenderTexture(self.cpu_texture, GraphicsOutput.RTMCopyRam)
 
-  # we aren't going to use the built-in observation stack, so disable it to save time
-  def observe_patched(self, vehicle):
-    return self.state
+  def get_rgb_array_cpu(self):
+    origin_img = self.cpu_texture
+    img = np.frombuffer(origin_img.getRamImage().getData(), dtype=np.uint8)
+    img = img.reshape((origin_img.getYSize(), origin_img.getXSize(), -1))
+    img = img[:,:,:3] # RGBA to RGB
+    # img = np.swapaxes(img, 1, 0)
+    img = img[::-1] # Flip on vertical axis
+    return img
 
-  ImageObservation.observe = observe_patched
 
-  def arrive_destination_patch(self, vehicle):
-    return False
+class RGBCameraWide(CopyRamRGBCamera):
+  def __init__(self, *args, **kwargs):
+    super(RGBCameraWide, self).__init__(*args, **kwargs)
+    cam = self.get_cam()
+    cam.setPos(C3_POSITION)
+    lens = self.get_lens()
+    lens.setFov(160)
 
-  MetaDriveEnv._is_arrive_destination = arrive_destination_patch
+class RGBCameraRoad(CopyRamRGBCamera):
+  def __init__(self, *args, **kwargs):
+    super(RGBCameraRoad, self).__init__(*args, **kwargs)
+    cam = self.get_cam()
+    cam.setPos(C3_POSITION)
+    lens = self.get_lens()
+    lens.setFov(40)
 
 
 def straight_block(length):
@@ -55,7 +66,7 @@ def curve_block(length, angle=45, direction=0):
 
 
 class MetaDriveBridge(SimulatorBridge):
-  TICKS_PER_FRAME = 2
+  TICKS_PER_FRAME = 5
 
   def __init__(self, args):
     self.should_render = False
@@ -63,30 +74,6 @@ class MetaDriveBridge(SimulatorBridge):
     super(MetaDriveBridge, self).__init__(args)
 
   def spawn_world(self):
-    print("----------------------------------------------------------")
-    print("---- Spawning Metadrive world, this might take awhile ----")
-    print("----------------------------------------------------------")
-
-    apply_metadrive_patches()
-
-    C3_POSITION = Vec3(0, 0, 1)
-
-    class RGBCameraWide(RGBCamera):
-      def __init__(self, *args, **kwargs):
-        super(RGBCameraWide, self).__init__(*args, **kwargs)
-        cam = self.get_cam()
-        cam.setPos(C3_POSITION)
-        lens = self.get_lens()
-        lens.setFov(160)
-
-    class RGBCameraRoad(RGBCamera):
-      def __init__(self, *args, **kwargs):
-        super(RGBCameraRoad, self).__init__(*args, **kwargs)
-        cam = self.get_cam()
-        cam.setPos(C3_POSITION)
-        lens = self.get_lens()
-        lens.setFov(40)
-
     sensors = {
       "rgb_road": (RGBCameraRoad, W, H, )
     }
@@ -94,39 +81,39 @@ class MetaDriveBridge(SimulatorBridge):
     if self.dual_camera:
       sensors["rgb_wide"] = (RGBCameraWide, W, H)
 
-    env = MetaDriveEnv(
-        dict(
-          use_render=self.should_render,
-          vehicle_config=dict(
-            enable_reverse=False,
-            image_source="rgb_road",
-            spawn_longitude=15
-          ),
-          sensors=sensors,
-          image_on_cuda=_cuda_enable,
-          image_observation=True,
-          interface_panel=[],
-          out_of_route_done=False,
-          on_continuous_line_done=False,
-          crash_vehicle_done=False,
-          crash_object_done=False,
-          map_config=dict(
-            type=MapGenerateMethod.PG_MAP_FILE,
-            config=[
-              None,
-              straight_block(120),
-              curve_block(120, 90),
-              straight_block(120),
-              curve_block(120, 90),
-              straight_block(120),
-              curve_block(120, 90),
-              straight_block(120),
-              curve_block(120, 90),
-            ]
-          )
-        )
-      )
-
-    env.reset()
-
-    return MetaDriveWorld(env)
+    config = dict(
+      use_render=self.should_render,
+      vehicle_config=dict(
+        enable_reverse=False,
+        image_source="rgb_road",
+        spawn_longitude=15
+      ),
+      sensors=sensors,
+      image_on_cuda=_cuda_enable,
+      image_observation=True,
+      interface_panel=[],
+      out_of_route_done=False,
+      on_continuous_line_done=False,
+      crash_vehicle_done=False,
+      crash_object_done=False,
+      traffic_density=0.0, # traffic is incredibly expensive
+      map_config=dict(
+        type=MapGenerateMethod.PG_MAP_FILE,
+        config=[
+          None,
+          straight_block(120),
+          curve_block(240, 90),
+          straight_block(120),
+          curve_block(240, 90),
+          straight_block(120),
+          curve_block(240, 90),
+          straight_block(120),
+          curve_block(240, 90),
+        ]
+      ),
+      decision_repeat=1,
+      physics_world_step_size=self.TICKS_PER_FRAME/100,
+      preload_models=False
+    )
+
+    return MetaDriveWorld(config)

tools/sim/bridge/metadrive/metadrive_process.py

@@ -0,0 +1,99 @@
+import math
+import numpy as np
+
+from collections import namedtuple
+from multiprocessing.connection import Connection
+
+from metadrive.engine.core.engine_core import EngineCore
+from metadrive.engine.core.image_buffer import ImageBuffer
+from metadrive.envs.metadrive_env import MetaDriveEnv
+from metadrive.obs.image_obs import ImageObservation
+
+from openpilot.common.realtime import Ratekeeper
+from openpilot.tools.sim.lib.common import vec3
+from openpilot.tools.sim.lib.camerad import W, H
+
+
+metadrive_state = namedtuple("metadrive_state", ["velocity", "position", "bearing", "steering_angle"])
+
+def apply_metadrive_patches():
+  # By default, metadrive won't try to use cuda images unless it's used as a sensor for vehicles, so patch that in
+  def add_image_sensor_patched(self, name: str, cls, args):
+    if self.global_config["image_on_cuda"]:# and name == self.global_config["vehicle_config"]["image_source"]:
+        sensor = cls(*args, self, cuda=True)
+    else:
+        sensor = cls(*args, self, cuda=False)
+    assert isinstance(sensor, ImageBuffer), "This API is for adding image sensor"
+    self.sensors[name] = sensor
+
+  EngineCore.add_image_sensor = add_image_sensor_patched
+
+  # we aren't going to use the built-in observation stack, so disable it to save time
+  def observe_patched(self, vehicle):
+    return self.state
+
+  ImageObservation.observe = observe_patched
+
+  def arrive_destination_patch(self, vehicle):
+    return False
+
+  MetaDriveEnv._is_arrive_destination = arrive_destination_patch
+
+def metadrive_process(dual_camera: bool, config: dict, camera_array, controls_recv: Connection, state_send: Connection, exit_event):
+  apply_metadrive_patches()
+
+  road_image = np.frombuffer(camera_array.get_obj(), dtype=np.uint8).reshape((H, W, 3))
+
+  env = MetaDriveEnv(config)
+
+  def reset():
+    env.reset()
+    env.vehicle.config["max_speed_km_h"] = 1000
+
+  reset()
+
+  def get_cam_as_rgb(cam):
+    cam = env.engine.sensors[cam]
+    img = cam.perceive(env.vehicle, clip=False)
+    if type(img) != np.ndarray:
+      img = img.get() # convert cupy array to numpy
+    return img
+
+  rk = Ratekeeper(100, None)
+
+  steer_ratio = 15
+  vc = [0,0]
+
+  while not exit_event.is_set():
+    state = metadrive_state(
+      velocity=vec3(x=float(env.vehicle.velocity[0]), y=float(env.vehicle.velocity[1]), z=0),
+      position=env.vehicle.position,
+      bearing=float(math.degrees(env.vehicle.heading_theta)),
+      steering_angle=env.vehicle.steering * env.vehicle.MAX_STEERING
+    )
+
+    state_send.send(state)
+
+    if controls_recv.poll(0):
+      while controls_recv.poll(0):
+        steer_angle, gas, should_reset = controls_recv.recv()
+
+      steer_metadrive = steer_angle * 1 / (env.vehicle.MAX_STEERING * steer_ratio)
+      steer_metadrive = np.clip(steer_metadrive, -1, 1)
+
+      vc = [steer_metadrive, gas]
+
+      if should_reset:
+        reset()
+
+    if rk.frame % 5 == 0:
+      obs, _, terminated, _, info = env.step(vc)
+
+      if terminated:
+        reset()
+
+      #if dual_camera:
+      #  wide_road_image = get_cam_as_rgb("rgb_wide")
+      road_image[...] = get_cam_as_rgb("rgb_road")
+
+    rk.keep_time()

tools/sim/bridge/metadrive/metadrive_world.py

@@ -1,65 +1,75 @@
-import math
+import ctypes
+import functools
+import multiprocessing
 import numpy as np
 import time
 
-from openpilot.tools.sim.lib.common import SimulatorState, World, vec3
+from multiprocessing import Pipe, Array
+from openpilot.tools.sim.bridge.metadrive.metadrive_process import metadrive_process, metadrive_state
+from openpilot.tools.sim.lib.common import SimulatorState, World
+from openpilot.tools.sim.lib.camerad import W, H
 
 
 class MetaDriveWorld(World):
-  def __init__(self, env, dual_camera = False):
+  def __init__(self, config, dual_camera = False):
     super().__init__(dual_camera)
-    self.env = env
-    self.dual_camera = dual_camera
+    self.camera_array = Array(ctypes.c_uint8, W*H*3)
+    self.road_image = np.frombuffer(self.camera_array.get_obj(), dtype=np.uint8).reshape((H, W, 3))
 
-    self.steer_ratio = 15
+    self.controls_send, self.controls_recv = Pipe()
+    self.state_send, self.state_recv = Pipe()
 
-    self.vc = [0.0,0.0]
+    self.exit_event = multiprocessing.Event()
 
-    self.reset_time = 0
+    self.metadrive_process = multiprocessing.Process(name="metadrive process", target=
+                              functools.partial(metadrive_process, dual_camera, config,
+                                                self.camera_array, self.controls_recv, self.state_send, self.exit_event))
+    self.metadrive_process.start()
 
-  def get_cam_as_rgb(self, cam):
-    cam = self.env.engine.sensors[cam]
-    img = cam.perceive(self.env.vehicle, clip=False)
-    if type(img) != np.ndarray:
-      img = img.get() # convert cupy array to numpy
-    return img
+    print("----------------------------------------------------------")
+    print("---- Spawning Metadrive world, this might take awhile ----")
+    print("----------------------------------------------------------")
 
-  def apply_controls(self, steer_angle, throttle_out, brake_out):
-    steer_metadrive = steer_angle * 1 / (self.env.vehicle.MAX_STEERING * self.steer_ratio)
-    steer_metadrive = np.clip(steer_metadrive, -1, 1)
+    self.state_recv.recv() # wait for a state message to ensure metadrive is launched
 
-    if (time.monotonic() - self.reset_time) > 5:
-      self.vc[0] = steer_metadrive
+    self.steer_ratio = 15
+    self.vc = [0.0,0.0]
+    self.reset_time = 0
+    self.should_reset = False
+
+  def apply_controls(self, steer_angle, throttle_out, brake_out):
+    if (time.monotonic() - self.reset_time) > 2:
+      self.vc[0] = steer_angle
 
       if throttle_out:
-        self.vc[1] = throttle_out/10
+        self.vc[1] = throttle_out
       else:
         self.vc[1] = -brake_out
     else:
       self.vc[0] = 0
       self.vc[1] = 0
 
+    self.controls_send.send([*self.vc, self.should_reset])
+    self.should_reset = False
+
   def read_sensors(self, state: SimulatorState):
-    state.velocity = vec3(x=float(self.env.vehicle.velocity[0]), y=float(self.env.vehicle.velocity[1]), z=0)
-    state.gps.from_xy(self.env.vehicle.position)
-    state.bearing = float(math.degrees(self.env.vehicle.heading_theta))
-    state.steering_angle = self.env.vehicle.steering * self.env.vehicle.MAX_STEERING
-    state.valid = True
+    while self.state_recv.poll(0):
+      md_state: metadrive_state = self.state_recv.recv()
+      state.velocity = md_state.velocity
+      state.bearing = md_state.bearing
+      state.steering_angle = md_state.steering_angle
+      state.gps.from_xy(md_state.position)
+      state.valid = True
 
   def read_cameras(self):
-    if self.dual_camera:
-     self.wide_road_image = self.get_cam_as_rgb("rgb_wide")
-    self.road_image = self.get_cam_as_rgb("rgb_road")
+    pass
 
   def tick(self):
-    obs, _, terminated, _, info = self.env.step(self.vc)
-
-    if terminated:
-      self.reset()
+    pass
 
   def reset(self):
-    self.env.reset()
-    self.reset_time = time.monotonic()
+    self.should_reset = True
 
   def close(self):
-    pass
+    self.exit_event.set()
+    self.metadrive_process.join()

tools/sim/lib/common.py

@@ -49,9 +49,13 @@ class SimulatorState:
 
     self.user_gas: float = 0
     self.user_brake: float = 0
+    self.user_torque: float = 0
 
     self.cruise_button = 0
 
+    self.left_blinker = False
+    self.right_blinker = False
+
   @property
   def speed(self):
     return math.sqrt(self.velocity.x ** 2 + self.velocity.y ** 2 + self.velocity.z ** 2)

tools/sim/lib/keyboard_ctrl.py

@@ -19,15 +19,15 @@ STDIN_FD = sys.stdin.fileno()
 
 
 KEYBOARD_HELP = """
-  | key  |   functionality    |
-  -----------------------------
-  |  1   |   Cruise Resume    |
-  |  2   |    Cruise Set      |
-  |  3   |   Cruise Cancel    |
-  |  r   |  Reset Simulation  |
-  |  i   |  Toggle Ignition   |
-  |  q   |      Exit all      |
-  | wasd |  Control manually  |
+  | key  |   functionality       |
+  |------|-----------------------|
+  |  1   | Cruise Resume / Accel |
+  |  2   | Cruise Set    / Decel |
+  |  3   | Cruise Cancel         |
+  |  r   | Reset Simulation      |
+  |  i   | Toggle Ignition       |
+  |  q   | Exit all              |
+  | wasd | Control manually      |
 """
 
 
@@ -67,6 +67,10 @@ def keyboard_poll_thread(q: 'Queue[str]'):
       q.put("brake_%f" % 1.0)
     elif c == 'd':
       q.put("steer_%f" % -0.15)
+    elif c == 'z':
+      q.put("blinker_left")
+    elif c == 'x':
+      q.put("blinker_right")
     elif c == 'i':
       q.put("ignition")
     elif c == 'r':

tools/sim/lib/simulated_car.py

@@ -59,7 +59,7 @@ class SimulatedCar:
     msg.append(self.packer.make_can_msg("GEARBOX", 0, {"GEAR": 4, "GEAR_SHIFTER": 8}))
     msg.append(self.packer.make_can_msg("GAS_PEDAL_2", 0, {}))
     msg.append(self.packer.make_can_msg("SEATBELT_STATUS", 0, {"SEATBELT_DRIVER_LATCHED": 1}))
-    msg.append(self.packer.make_can_msg("STEER_STATUS", 0, {}))
+    msg.append(self.packer.make_can_msg("STEER_STATUS", 0, {"STEER_TORQUE_SENSOR": simulator_state.user_torque}))
     msg.append(self.packer.make_can_msg("STEERING_SENSORS", 0, {"STEER_ANGLE": simulator_state.steering_angle}))
     msg.append(self.packer.make_can_msg("VSA_STATUS", 0, {}))
     msg.append(self.packer.make_can_msg("STANDSTILL", 0, {"WHEELS_MOVING": 1 if simulator_state.speed >= 1.0 else 0}))
@@ -68,7 +68,12 @@ class SimulatedCar:
     msg.append(self.packer.make_can_msg("DOORS_STATUS", 0, {}))
     msg.append(self.packer.make_can_msg("CRUISE_PARAMS", 0, {}))
     msg.append(self.packer.make_can_msg("CRUISE", 0, {}))
-    msg.append(self.packer.make_can_msg("SCM_FEEDBACK", 0, {"MAIN_ON": 1}))
+    msg.append(self.packer.make_can_msg("SCM_FEEDBACK", 0,
+                                    {
+                                      "MAIN_ON": 1,
+                                      "LEFT_BLINKER": simulator_state.left_blinker,
+                                      "RIGHT_BLINKER": simulator_state.right_blinker
+                                    }))
     msg.append(self.packer.make_can_msg("POWERTRAIN_DATA", 0,
                                     {
                                     "ACC_STATUS": int(simulator_state.is_engaged),

tools/sim/lib/simulated_sensors.py

@@ -122,6 +122,4 @@ class SimulatedSensors:
 
     if (now - self.last_perp_update) > 0.25:
       self.send_peripheral_state()
-      self.last_perp_update = now
-
-    self.send_camera_images(world)
+      self.last_perp_update = now

tools/sim/run_bridge.py

@@ -11,11 +11,11 @@ from openpilot.tools.sim.bridge.metadrive.metadrive_bridge import MetaDriveBridg
 
 
 def parse_args(add_args=None):
-  parser = argparse.ArgumentParser(description='Bridge between CARLA and openpilot.')
+  parser = argparse.ArgumentParser(description='Bridge between the simulator and openpilot.')
   parser.add_argument('--joystick', action='store_true')
   parser.add_argument('--high_quality', action='store_true')
   parser.add_argument('--dual_camera', action='store_true')
-  parser.add_argument('--simulator', dest='simulator', type=str, default='carla')
+  parser.add_argument('--simulator', dest='simulator', type=str, default='metadrive')
 
   # Carla specific
   parser.add_argument('--town', type=str, default='Town04_Opt')

tools/sim/tmux_script.sh

@@ -2,5 +2,5 @@
 tmux new -d -s carla-sim
 tmux send-keys "./launch_openpilot.sh" ENTER
 tmux neww
-tmux send-keys "./bridge.py $*" ENTER
+tmux send-keys "./run_bridge.py $*" ENTER
 tmux a -t carla-sim