Jason Young
4 years ago
commit
cd10722753
188 changed files with 2766 additions and 1855 deletions
@ -1 +1 @@ |
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Subproject commit 032aca6ca38a342e26fb9cc986b7f72b91cd9b55 |
Subproject commit c4a1c9fa00c5915fbdf7f6c29f5968dfc1be0630 |
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@ -1,23 +0,0 @@ |
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import os |
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import sysconfig |
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from Cython.Distutils import build_ext |
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def get_ext_filename_without_platform_suffix(filename): |
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name, ext = os.path.splitext(filename) |
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ext_suffix = sysconfig.get_config_var('EXT_SUFFIX') |
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if ext_suffix == ext: |
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return filename |
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ext_suffix = ext_suffix.replace(ext, '') |
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idx = name.find(ext_suffix) |
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if idx == -1: |
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return filename |
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else: |
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return name[:idx] + ext |
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class BuildExtWithoutPlatformSuffix(build_ext): |
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def get_ext_filename(self, ext_name): |
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filename = super().get_ext_filename(ext_name) |
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return get_ext_filename_without_platform_suffix(filename) |
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@ -1,3 +1,3 @@ |
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version https://git-lfs.github.com/spec/v1 |
version https://git-lfs.github.com/spec/v1 |
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oid sha256:9e2d3a3b513bf3d0ea4255fc41d57e84b141643fd3d47268c33862110387ea05 |
oid sha256:ebb75bbd4c19994752f038f181359dce358a2c95c4ad1760d2d1ee346a45503d |
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size 56685051 |
size 56684955 |
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@ -1,3 +1,3 @@ |
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version https://git-lfs.github.com/spec/v1 |
version https://git-lfs.github.com/spec/v1 |
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oid sha256:43d362484b134fce8d05ff0cb0971c53ceee64d96a4d97c1b6d19cc849f40588 |
oid sha256:6e004a9ff90304fd3dfd661f3f52886affa677d486ff78c131d8a4887757b5f1 |
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size 56707084 |
size 57552499 |
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@ -1 +1 @@ |
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Subproject commit 76dc825ad8329bdc3fff97583ad88a7af81c7e2e |
Subproject commit b0bc1b5197c63231c7af9e22929c8d41212631b6 |
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@ -0,0 +1,16 @@ |
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#!/bin/bash |
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set -e |
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RED="\033[0;31m" |
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GREEN="\033[0;32m" |
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CLEAR="\033[0m" |
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BRANCHES="devel dashcam dashcam3 release2 release3" |
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for b in $BRANCHES; do |
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if git diff --quiet origin/$b origin/$b-staging && [ "$(git rev-parse origin/$b)" = "$(git rev-parse origin/$b-staging)" ]; then |
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printf "%-10s $GREEN ok $CLEAR\n" "$b" |
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else |
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printf "%-10s $RED mismatch $CLEAR\n" "$b" |
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fi |
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done |
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@ -0,0 +1,11 @@ |
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#!/bin/bash |
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if [ $# -eq 0 ]; then |
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echo "usage: $0 <pull-request-number>" |
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exit 1 |
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fi |
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BASE="https://github.com/commaai/openpilot/pull/" |
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PR_NUM="$(echo $1 | grep -o -E '[0-9]+')" |
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curl -L $BASE/$PR_NUM.patch | git apply |
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@ -1,2 +1,3 @@ |
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boardd |
boardd |
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boardd_api_impl.cpp |
boardd_api_impl.cpp |
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tests/test_boardd_usbprotocol |
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@ -1,6 +1,9 @@ |
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Import('env', 'envCython', 'common', 'cereal', 'messaging') |
Import('env', 'envCython', 'common', 'cereal', 'messaging') |
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env.Program('boardd', ['boardd.cc', 'panda.cc', 'pigeon.cc'], LIBS=['usb-1.0', common, cereal, messaging, 'pthread', 'zmq', 'capnp', 'kj']) |
libs = ['usb-1.0', common, cereal, messaging, 'pthread', 'zmq', 'capnp', 'kj'] |
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env.Program('boardd', ['boardd.cc', 'panda.cc', 'pigeon.cc'], LIBS=libs) |
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env.Library('libcan_list_to_can_capnp', ['can_list_to_can_capnp.cc']) |
env.Library('libcan_list_to_can_capnp', ['can_list_to_can_capnp.cc']) |
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envCython.Program('boardd_api_impl.so', 'boardd_api_impl.pyx', LIBS=["can_list_to_can_capnp", 'capnp', 'kj'] + envCython["LIBS"]) |
envCython.Program('boardd_api_impl.so', 'boardd_api_impl.pyx', LIBS=["can_list_to_can_capnp", 'capnp', 'kj'] + envCython["LIBS"]) |
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if GetOption('test'): |
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env.Program('tests/test_boardd_usbprotocol', ['tests/test_boardd_usbprotocol.cc', 'panda.cc'], LIBS=libs) |
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@ -0,0 +1,130 @@ |
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#define CATCH_CONFIG_MAIN |
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#define CATCH_CONFIG_ENABLE_BENCHMARKING |
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#include <random> |
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#include "catch2/catch.hpp" |
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#include "cereal/messaging/messaging.h" |
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#include "selfdrive/boardd/panda.h" |
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const unsigned char dlc_to_len[] = {0U, 1U, 2U, 3U, 4U, 5U, 6U, 7U, 8U, 12U, 16U, 20U, 24U, 32U, 48U, 64U}; |
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int random_int(int min, int max) { |
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std::random_device dev; |
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std::mt19937 rng(dev()); |
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std::uniform_int_distribution<std::mt19937::result_type> dist(min, max); |
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return dist(rng); |
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} |
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struct PandaTest : public Panda { |
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PandaTest(uint32_t bus_offset, int can_list_size, cereal::PandaState::PandaType hw_type); |
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void test_can_send(); |
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void test_can_recv(); |
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std::map<int, std::string> test_data; |
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int can_list_size = 0; |
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int total_pakets_size = 0; |
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MessageBuilder msg; |
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capnp::List<cereal::CanData>::Reader can_data_list; |
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}; |
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PandaTest::PandaTest(uint32_t bus_offset_, int can_list_size, cereal::PandaState::PandaType hw_type) : can_list_size(can_list_size), Panda(bus_offset_) { |
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this->hw_type = hw_type; |
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int data_limit = ((hw_type == cereal::PandaState::PandaType::RED_PANDA) ? std::size(dlc_to_len) : 8); |
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// prepare test data
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for (int i = 0; i < data_limit; ++i) { |
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std::random_device rd; |
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std::independent_bits_engine<std::default_random_engine, CHAR_BIT, unsigned char> rbe(rd()); |
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int data_len = dlc_to_len[i]; |
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std::string bytes(data_len, '\0'); |
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std::generate(bytes.begin(), bytes.end(), std::ref(rbe)); |
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test_data[data_len] = bytes; |
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} |
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// generate can messages for this panda
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auto can_list = msg.initEvent().initSendcan(can_list_size); |
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for (uint8_t i = 0; i < can_list_size; ++i) { |
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auto can = can_list[i]; |
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uint32_t id = random_int(0, std::size(dlc_to_len) - 1); |
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const std::string &dat = test_data[dlc_to_len[id]]; |
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can.setAddress(i); |
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can.setSrc(random_int(0, 3) + bus_offset); |
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can.setDat(kj::ArrayPtr((uint8_t *)dat.data(), dat.size())); |
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total_pakets_size += CANPACKET_HEAD_SIZE + dat.size(); |
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} |
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can_data_list = can_list.asReader(); |
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INFO("test " << can_list_size << " packets, total size " << total_pakets_size); |
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} |
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void PandaTest::test_can_send() { |
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std::vector<uint8_t> unpacked_data; |
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this->pack_can_buffer(can_data_list, [&](uint8_t *chunk, size_t size) { |
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int size_left = size; |
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for (int i = 0, counter = 0; i < size; i += USBPACKET_MAX_SIZE, counter++) { |
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REQUIRE(chunk[i] == counter); |
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const int len = std::min(USBPACKET_MAX_SIZE, size_left); |
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unpacked_data.insert(unpacked_data.end(), &chunk[i + 1], &chunk[i + len]); |
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size_left -= len; |
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} |
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}); |
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REQUIRE(unpacked_data.size() == total_pakets_size); |
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int cnt = 0; |
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INFO("test can message integrity"); |
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for (int pos = 0, pckt_len = 0; pos < unpacked_data.size(); pos += pckt_len) { |
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can_header header; |
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memcpy(&header, &unpacked_data[pos], CANPACKET_HEAD_SIZE); |
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const uint8_t data_len = dlc_to_len[header.data_len_code]; |
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pckt_len = CANPACKET_HEAD_SIZE + data_len; |
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REQUIRE(header.addr == cnt); |
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REQUIRE(test_data.find(data_len) != test_data.end()); |
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const std::string &dat = test_data[data_len]; |
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REQUIRE(memcmp(dat.data(), &unpacked_data[pos + 5], dat.size()) == 0); |
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++cnt; |
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} |
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REQUIRE(cnt == can_list_size); |
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} |
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void PandaTest::test_can_recv() { |
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std::vector<can_frame> frames; |
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this->pack_can_buffer(can_data_list, [&](uint8_t *data, size_t size) { |
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this->unpack_can_buffer(data, size, frames); |
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}); |
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REQUIRE(frames.size() == can_list_size); |
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for (int i = 0; i < frames.size(); ++i) { |
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REQUIRE(frames[i].address == i); |
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REQUIRE(test_data.find(frames[i].dat.size()) != test_data.end()); |
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const std::string &dat = test_data[frames[i].dat.size()]; |
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REQUIRE(memcmp(dat.data(), frames[i].dat.data(), dat.size()) == 0); |
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} |
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} |
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TEST_CASE("send/recv CAN 2.0 packets") { |
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auto bus_offset = GENERATE(0, 4); |
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auto can_list_size = GENERATE(1, 3, 5, 10, 30, 60, 100, 200); |
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PandaTest test(bus_offset, can_list_size, cereal::PandaState::PandaType::DOS); |
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SECTION("can_send") { |
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test.test_can_send(); |
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} |
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SECTION("can_receive") { |
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test.test_can_recv(); |
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} |
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} |
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TEST_CASE("send/recv CAN FD packets") { |
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auto bus_offset = GENERATE(0, 4); |
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auto can_list_size = GENERATE(1, 3, 5, 10, 30, 60, 100, 200); |
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PandaTest test(bus_offset, can_list_size, cereal::PandaState::PandaType::RED_PANDA); |
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SECTION("can_send") { |
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test.test_can_send(); |
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} |
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SECTION("can_receive") { |
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test.test_can_recv(); |
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} |
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} |
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@ -1,92 +0,0 @@ |
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#include "selfdrive/camerad/cameras/camera_frame_stream.h" |
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#include <unistd.h> |
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#include <cassert> |
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#include <capnp/dynamic.h> |
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#include "cereal/messaging/messaging.h" |
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#include "selfdrive/common/util.h" |
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#define FRAME_WIDTH 1164 |
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#define FRAME_HEIGHT 874 |
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extern ExitHandler do_exit; |
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namespace { |
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// TODO: make this more generic
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CameraInfo cameras_supported[CAMERA_ID_MAX] = { |
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[CAMERA_ID_IMX298] = { |
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.frame_width = FRAME_WIDTH, |
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.frame_height = FRAME_HEIGHT, |
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.frame_stride = FRAME_WIDTH*3, |
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.bayer = false, |
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.bayer_flip = false, |
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}, |
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[CAMERA_ID_OV8865] = { |
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.frame_width = 1632, |
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.frame_height = 1224, |
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.frame_stride = 2040, // seems right
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.bayer = false, |
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.bayer_flip = 3, |
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.hdr = false |
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}, |
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}; |
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void camera_init(VisionIpcServer * v, CameraState *s, int camera_id, unsigned int fps, cl_device_id device_id, cl_context ctx, VisionStreamType rgb_type, VisionStreamType yuv_type) { |
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assert(camera_id < std::size(cameras_supported)); |
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s->ci = cameras_supported[camera_id]; |
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assert(s->ci.frame_width != 0); |
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s->camera_num = camera_id; |
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s->fps = fps; |
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s->buf.init(device_id, ctx, s, v, FRAME_BUF_COUNT, rgb_type, yuv_type); |
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} |
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void run_frame_stream(CameraState &camera, const char* frame_pkt) { |
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SubMaster sm({frame_pkt}); |
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size_t buf_idx = 0; |
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while (!do_exit) { |
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sm.update(1000); |
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if(sm.updated(frame_pkt)) { |
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auto msg = static_cast<capnp::DynamicStruct::Reader>(sm[frame_pkt]); |
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auto frame = msg.get(frame_pkt).as<capnp::DynamicStruct>(); |
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camera.buf.camera_bufs_metadata[buf_idx] = { |
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.frame_id = frame.get("frameId").as<uint32_t>(), |
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.timestamp_eof = frame.get("timestampEof").as<uint64_t>(), |
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.timestamp_sof = frame.get("timestampSof").as<uint64_t>(), |
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}; |
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cl_command_queue q = camera.buf.camera_bufs[buf_idx].copy_q; |
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cl_mem yuv_cl = camera.buf.camera_bufs[buf_idx].buf_cl; |
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auto image = frame.get("image").as<capnp::Data>(); |
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clEnqueueWriteBuffer(q, yuv_cl, CL_TRUE, 0, image.size(), image.begin(), 0, NULL, NULL); |
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camera.buf.queue(buf_idx); |
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buf_idx = (buf_idx + 1) % FRAME_BUF_COUNT; |
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} |
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} |
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} |
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} // namespace
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void cameras_init(VisionIpcServer *v, MultiCameraState *s, cl_device_id device_id, cl_context ctx) { |
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camera_init(v, &s->road_cam, CAMERA_ID_IMX298, 20, device_id, ctx, |
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VISION_STREAM_RGB_BACK, VISION_STREAM_YUV_BACK); |
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camera_init(v, &s->driver_cam, CAMERA_ID_OV8865, 10, device_id, ctx, |
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VISION_STREAM_RGB_FRONT, VISION_STREAM_YUV_FRONT); |
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} |
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void cameras_open(MultiCameraState *s) {} |
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void cameras_close(MultiCameraState *s) {} |
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void camera_autoexposure(CameraState *s, float grey_frac) {} |
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void process_road_camera(MultiCameraState *s, CameraState *c, int cnt) {} |
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void cameras_run(MultiCameraState *s) { |
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std::thread t = start_process_thread(s, &s->road_cam, process_road_camera); |
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set_thread_name("frame_streaming"); |
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run_frame_stream(s->road_cam, "roadCameraState"); |
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t.join(); |
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} |
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@ -1,30 +0,0 @@ |
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#pragma once |
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#define CL_USE_DEPRECATED_OPENCL_1_2_APIS |
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#ifdef __APPLE__ |
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#include <OpenCL/cl.h> |
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#else |
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#include <CL/cl.h> |
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#endif |
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#include "camera_common.h" |
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#define FRAME_BUF_COUNT 16 |
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typedef struct CameraState { |
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int camera_num; |
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CameraInfo ci; |
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int fps; |
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float digital_gain; |
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CameraBuf buf; |
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} CameraState; |
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typedef struct MultiCameraState { |
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CameraState road_cam; |
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CameraState driver_cam; |
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SubMaster *sm; |
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PubMaster *pm; |
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} MultiCameraState; |
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@ -1 +1 @@ |
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#define COMMA_VERSION "0.8.11" |
#define COMMA_VERSION "0.8.12" |
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|
|||||||
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