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Cleanup selfdrive/ includes (#20822)

Browse Source 
* cleanup include path

* continue

* format includes

* fix testraw.cc

* remove include path from SConstruct

* regroup

* rebase master

* almost done

* apply review

* rename FileReader.xx to filereader.xx

* rename Unlogger.x->unlogger.x

* rename FrameReader.xx -> framereader.xx

* apply reviews

* ui.h

* continue

* fix framebuffer.cc build error:mv util.h up

* full path to msm_media_info

* fix qcom2 camerad

Co-authored-by: Comma Device <device@comma.ai>
old-commit-hash: 7222d0f20d
commatwo_master
Dean Lee 4 years ago committed by GitHub
parent 4fa3c0f208
commit e333e4f189
169 changed files with 903 additions and 843 deletions
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  1. 12
      SConstruct
  2. 25
      installer/installer.c
  3. 30
      installer/updater/updater.cc
  4. 35
      selfdrive/boardd/boardd.cc
  5. 2
      selfdrive/boardd/can_list_to_can_capnp.cc
  6. 16
      selfdrive/boardd/panda.cc
  7. 8
      selfdrive/boardd/panda.h
  8. 15
      selfdrive/boardd/pigeon.cc
  9. 6
      selfdrive/boardd/pigeon.h
  10. 39
      selfdrive/camerad/cameras/camera_common.cc
  11. 23
      selfdrive/camerad/cameras/camera_common.h
  12. 6
      selfdrive/camerad/cameras/camera_frame_stream.cc
  13. 39
      selfdrive/camerad/cameras/camera_qcom.cc
  14. 30
      selfdrive/camerad/cameras/camera_qcom.h
  15. 9
      selfdrive/camerad/cameras/camera_qcom2.cc
  16. 9
      selfdrive/camerad/cameras/camera_qcom2.h
  17. 19
      selfdrive/camerad/cameras/camera_webcam.cc
  18. 2
      selfdrive/camerad/cameras/camera_webcam.h
  19. 4
      selfdrive/camerad/imgproc/utils.cc
  20. 6
      selfdrive/camerad/imgproc/utils.h
  21. 35
      selfdrive/camerad/main.cc
  22. 6
      selfdrive/camerad/test/ae_gray_test.cc
  23. 1
      selfdrive/camerad/transforms/rgb_to_yuv.cc
  24. 2
      selfdrive/camerad/transforms/rgb_to_yuv.h
  25. 27
      selfdrive/camerad/transforms/rgb_to_yuv_test.cc
  26. 10
      selfdrive/clocksd/clocksd.cc
  27. 9
      selfdrive/common/clutil.cc
  28. 8
      selfdrive/common/framebuffer.cc
  29. 2
      selfdrive/common/framebuffer.h
  30. 9
      selfdrive/common/glutil.cc
  31. 7
      selfdrive/common/glutil.h
  32. 8
      selfdrive/common/gpio.cc
  33. 14
      selfdrive/common/i2c.cc
  34. 2
      selfdrive/common/modeldata.h
  35. 17
      selfdrive/common/params.cc
  36. 3
      selfdrive/common/params.h
  37. 16
      selfdrive/common/swaglog.cc
  38. 5
      selfdrive/common/timing.h
  39. 16
      selfdrive/common/touch.c
  40. 7
      selfdrive/common/util.cc
  41. 18
      selfdrive/common/util.h
  42. 5
      selfdrive/common/visionimg.cc
  43. 4
      selfdrive/common/visionimg.h
  44. 12
      selfdrive/common/watchdog.cc
  45. 2
      selfdrive/controls/lib/lateral_mpc/generator.cpp
  46. 1
      selfdrive/hardware/base.h
  47. 6
      selfdrive/hardware/eon/hardware.h
  48. 2
      selfdrive/hardware/tici/hardware.h
  49. 21
      selfdrive/locationd/locationd.h
  50. 15
      selfdrive/locationd/ublox_msg.cc
  51. 8
      selfdrive/locationd/ublox_msg.h
  52. 10
      selfdrive/locationd/ubloxd.cc
  53. 4
      selfdrive/logcatd/logcatd_android.cc
  54. 13
      selfdrive/logcatd/logcatd_systemd.cc
  55. 8
      selfdrive/loggerd/bootlog.cc
  56. 25
      selfdrive/loggerd/logger.cc
  57. 12
      selfdrive/loggerd/logger.h
  58. 49
      selfdrive/loggerd/loggerd.cc
  59. 23
      selfdrive/loggerd/omx_encoder.cc
  60. 13
      selfdrive/loggerd/omx_encoder.h
  61. 16
      selfdrive/loggerd/raw_logger.cc
  62. 7
      selfdrive/loggerd/raw_logger.h
  63. 14
      selfdrive/loggerd/tests/testraw.cc
  64. 14
      selfdrive/modeld/dmonitoringmodeld.cc
  65. 16
      selfdrive/modeld/modeld.cc
  66. 11
      selfdrive/modeld/models/commonmodel.cc
  67. 12
      selfdrive/modeld/models/commonmodel.h
  68. 14
      selfdrive/modeld/models/dmonitoring.cc
  69. 10
      selfdrive/modeld/models/dmonitoring.h
  70. 12
      selfdrive/modeld/models/driving.cc
  71. 15
      selfdrive/modeld/models/driving.h
  72. 16
      selfdrive/modeld/runners/onnxmodel.cc
  73. 8
      selfdrive/modeld/runners/onnxmodel.h
  74. 16
      selfdrive/modeld/runners/run.h
  75. 6
      selfdrive/modeld/runners/runmodel.h
  76. 11
      selfdrive/modeld/runners/snpemodel.cc
  77. 14
      selfdrive/modeld/runners/snpemodel.h
  78. 1
      selfdrive/modeld/runners/thneedmodel.cc
  79. 4
      selfdrive/modeld/runners/thneedmodel.h
  80. 5
      selfdrive/modeld/thneed/compile.cc
  81. 6
      selfdrive/modeld/thneed/serialize.cc
  82. 17
      selfdrive/modeld/thneed/thneed.cc
  83. 12
      selfdrive/modeld/thneed/thneed.h
  84. 5
      selfdrive/modeld/transforms/loadyuv.cc
  85. 3
      selfdrive/modeld/transforms/loadyuv.h
  86. 8
      selfdrive/modeld/transforms/transform.cc
  87. 2
      selfdrive/modeld/transforms/transform.h
  88. 4
      selfdrive/modeld/visiontest.c
  89. 22
      selfdrive/proclogd/proclogd.cc
  90. 5
      selfdrive/sensord/libdiag.h
  91. 8
      selfdrive/sensord/sensors/bmx055_accel.cc
  92. 2
      selfdrive/sensord/sensors/bmx055_accel.h
  93. 5
      selfdrive/sensord/sensors/bmx055_gyro.cc
  94. 2
      selfdrive/sensord/sensors/bmx055_gyro.h
  95. 13
      selfdrive/sensord/sensors/bmx055_magn.cc
  96. 2
      selfdrive/sensord/sensors/bmx055_magn.h
  97. 10
      selfdrive/sensord/sensors/bmx055_temp.cc
  98. 5
      selfdrive/sensord/sensors/bmx055_temp.h
  99. 4
      selfdrive/sensord/sensors/file_sensor.cc
  100. 3
      selfdrive/sensord/sensors/file_sensor.h
  101. Some files were not shown because too many files have changed in this diff Show More

12
SConstruct
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@ -83,6 +83,9 @@ if arch == "aarch64" or arch == "larch64":
"#phonelibs/libyuv/larch64/lib",
"/usr/lib/aarch64-linux-gnu"
]
cpppath += [
"#selfdrive/camerad/include",
]
cflags = ["-DQCOM2", "-mcpu=cortex-a57"]
cxxflags = ["-DQCOM2", "-mcpu=cortex-a57"]
rpath = ["/usr/local/lib"]
@ -175,7 +178,6 @@ env = Environment(
CPPPATH=cpppath + [
"#",
"#selfdrive",
"#phonelibs/catch2/include",
"#phonelibs/bzip2",
"#phonelibs/libyuv/include",
@ -191,14 +193,6 @@ env = Environment(
"#phonelibs/nanovg",
"#phonelibs/qrcode",
"#phonelibs",
"#selfdrive/boardd",
"#selfdrive/common",
"#selfdrive/camerad",
"#selfdrive/camerad/include",
"#selfdrive/loggerd/include",
"#selfdrive/modeld",
"#selfdrive/sensord",
"#selfdrive/ui",
"#cereal",
"#cereal/messaging",
"#cereal/visionipc",

25
installer/installer.c
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@ -1,23 +1,22 @@
#include <stdio.h>
#include <stdlib.h>
#include <stdbool.h>
#include <math.h>
#include <unistd.h>
#include <assert.h>
#include <math.h>
#include <pthread.h>
#include <sys/wait.h>
#include <stdbool.h>
#include <stdio.h>
#include <stdlib.h>
#include <sys/stat.h>
#include <sys/wait.h>
#include <unistd.h>
#include <GLES3/gl3.h>
#include <EGL/egl.h>
#include <EGL/eglext.h>
#include <GLES3/gl3.h>
#include "common/util.h"
#include "common/mat.h"
#include "common/glutil.h"
#include "common/framebuffer.h"
#include "common/spinner.h"
#include "selfdrive/common/framebuffer.h"
#include "selfdrive/common/glutil.h"
#include "selfdrive/common/mat.h"
#include "selfdrive/common/spinner.h"
#include "selfdrive/common/util.h"
#ifndef BRAND
#define BRAND openpilot

30
installer/updater/updater.cc
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@ -1,37 +1,33 @@
#include <cstdio>
#include <cstdlib>
#include <cstring>
#include <cassert>
#include <unistd.h>
#include <sys/stat.h>
#include <sys/statvfs.h>
#include <unistd.h>
#include <string>
#include <sstream>
#include <cassert>
#include <cstdio>
#include <cstdlib>
#include <cstring>
#include <fstream>
#include <iostream>
#include <mutex>
#include <memory>
#include <mutex>
#include <sstream>
#include <string>
#include <thread>
#include <curl/curl.h>
#include <openssl/sha.h>
#include <GLES3/gl3.h>
#include <EGL/egl.h>
#include <EGL/eglext.h>
#include <GLES3/gl3.h>
#include "nanovg.h"
#define NANOVG_GLES3_IMPLEMENTATION
#include "json11.hpp"
#include "nanovg_gl.h"
#include "nanovg_gl_utils.h"
#include "json11.hpp"
#include "common/framebuffer.h"
#include "common/touch.h"
#include "common/util.h"
#include "selfdrive/common/framebuffer.h"
#include "selfdrive/common/touch.h"
#include "selfdrive/common/util.h"
#define USER_AGENT "NEOSUpdater-0.2"

35
selfdrive/boardd/boardd.cc
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@ -1,36 +1,35 @@
#include <stdio.h>
#include <errno.h>
#include <sched.h>
#include <stdint.h>
#include <stdio.h>
#include <stdlib.h>
#include <unistd.h>
#include <sched.h>
#include <errno.h>
#include <sys/cdefs.h>
#include <sys/types.h>
#include <sys/resource.h>
#include <sys/types.h>
#include <unistd.h>
#include <ctime>
#include <cassert>
#include <iostream>
#include <algorithm>
#include <atomic>
#include <bitset>
#include <cassert>
#include <ctime>
#include <iostream>
#include <thread>
#include <atomic>
#include <unordered_map>
#include <libusb-1.0/libusb.h>
#include "cereal/gen/cpp/car.capnp.h"
#include "common/util.h"
#include "common/params.h"
#include "common/swaglog.h"
#include "common/timing.h"
#include "messaging.h"
#include "locationd/ublox_msg.h"
#include "cereal/messaging/messaging.h"
#include "selfdrive/common/params.h"
#include "selfdrive/common/swaglog.h"
#include "selfdrive/common/timing.h"
#include "selfdrive/common/util.h"
#include "selfdrive/hardware/hw.h"
#include "selfdrive/locationd/ublox_msg.h"
#include "panda.h"
#include "pigeon.h"
#include "selfdrive/boardd/panda.h"
#include "selfdrive/boardd/pigeon.h"
#define MAX_IR_POWER 0.5f
#define MIN_IR_POWER 0.0f

2
selfdrive/boardd/can_list_to_can_capnp.cc
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@ -1,4 +1,4 @@
#include "messaging.h"
#include "cereal/messaging/messaging.h"
typedef struct {
long address;

16
selfdrive/boardd/panda.cc
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@ -1,14 +1,16 @@
#include <stdexcept>
#include "selfdrive/boardd/panda.h"
#include <unistd.h>
#include <cassert>
#include <iostream>
#include <stdexcept>
#include <vector>
#include <unistd.h>
#include "common/swaglog.h"
#include "common/gpio.h"
#include "common/util.h"
#include "messaging.h"
#include "panda.h"
#include "cereal/messaging/messaging.h"
#include "selfdrive/common/gpio.h"
#include "selfdrive/common/swaglog.h"
#include "selfdrive/common/util.h"
Panda::Panda(){
// init libusb

8
selfdrive/boardd/panda.h
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@ -1,11 +1,13 @@
#pragma once
#include <ctime>
#include <cstdint>
#include <pthread.h>
#include <atomic>
#include <cstdint>
#include <ctime>
#include <mutex>
#include <vector>
#include <optional>
#include <vector>
#include <libusb-1.0/libusb.h>

15
selfdrive/boardd/pigeon.cc
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@ -1,14 +1,15 @@
#include <cassert>
#include <unistd.h>
#include <fcntl.h>
#include "selfdrive/boardd/pigeon.h"
#include <errno.h>
#include <fcntl.h>
#include <termios.h>
#include <unistd.h>
#include "common/swaglog.h"
#include "common/gpio.h"
#include "common/util.h"
#include <cassert>
#include "pigeon.h"
#include "selfdrive/common/gpio.h"
#include "selfdrive/common/swaglog.h"
#include "selfdrive/common/util.h"
// Termios on macos doesn't define all baud rate constants
#ifndef B460800

6
selfdrive/boardd/pigeon.h
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@ -1,9 +1,11 @@
#pragma once
#include <string>
#include <termios.h>
#include <atomic>
#include <string>
#include "panda.h"
#include "selfdrive/boardd/panda.h"
class Pigeon {
public:

39
selfdrive/camerad/cameras/camera_common.cc
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@ -1,31 +1,32 @@
#include <thread>
#include <chrono>
#include <stdio.h>
#include "selfdrive/camerad/cameras/camera_common.h"
#include <assert.h>
#include <stdio.h>
#include <unistd.h>
#include <chrono>
#include <thread>
#include "libyuv.h"
#include <jpeglib.h>
#include "selfdrive/camerad/imgproc/utils.h"
#include "selfdrive/common/clutil.h"
#include "selfdrive/common/modeldata.h"
#include "selfdrive/common/params.h"
#include "selfdrive/common/swaglog.h"
#include "selfdrive/common/util.h"
#include "selfdrive/hardware/hw.h"
#if defined(QCOM) && !defined(QCOM_REPLAY)
#include "cameras/camera_qcom.h"
#include "selfdrive/camerad/cameras/camera_qcom.h"
#elif QCOM2
#include "cameras/camera_qcom2.h"
#include "selfdrive/camerad/cameras/camera_qcom2.h"
#elif WEBCAM
#include "cameras/camera_webcam.h"
#include "selfdrive/camerad/cameras/camera_webcam.h"
#else
#include "cameras/camera_frame_stream.h"
#include "selfdrive/camerad/cameras/camera_frame_stream.h"
#endif
#include "camera_common.h"
#include <libyuv.h>
#include <jpeglib.h>
#include "clutil.h"
#include "common/params.h"
#include "common/swaglog.h"
#include "common/util.h"
#include "modeldata.h"
#include "imgproc/utils.h"
#include "selfdrive/hardware/hw.h"
static cl_program build_debayer_program(cl_device_id device_id, cl_context context, const CameraInfo *ci, const CameraBuf *b, const CameraState *s) {
char args[4096];
snprintf(args, sizeof(args),

23
selfdrive/camerad/cameras/camera_common.h
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@ -1,20 +1,21 @@
#pragma once
#include <stdlib.h>
#include <stdbool.h>
#include <stdint.h>
#include <stdlib.h>
#include <memory>
#include <thread>
#include "common/mat.h"
#include "common/swaglog.h"
#include "common/queue.h"
#include "visionbuf.h"
#include "common/visionimg.h"
#include "messaging.h"
#include "transforms/rgb_to_yuv.h"
#include "visionipc.h"
#include "visionipc_server.h"
#include "cereal/messaging/messaging.h"
#include "cereal/visionipc/visionbuf.h"
#include "cereal/visionipc/visionipc.h"
#include "cereal/visionipc/visionipc_server.h"
#include "selfdrive/camerad/transforms/rgb_to_yuv.h"
#include "selfdrive/common/mat.h"
#include "selfdrive/common/queue.h"
#include "selfdrive/common/swaglog.h"
#include "selfdrive/common/visionimg.h"
#define CAMERA_ID_IMX298 0
#define CAMERA_ID_IMX179 1

6
selfdrive/camerad/cameras/camera_frame_stream.cc
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@ -1,12 +1,12 @@
#include "camera_frame_stream.h"
#include "selfdrive/camerad/cameras/camera_frame_stream.h"
#include <unistd.h>
#include <cassert>
#include <capnp/dynamic.h>
#include "messaging.h"
#include "common/util.h"
#include "cereal/messaging/messaging.h"
#include "selfdrive/common/util.h"
#define FRAME_WIDTH 1164
#define FRAME_HEIGHT 874

39
selfdrive/camerad/cameras/camera_qcom.cc
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@ -1,32 +1,31 @@
#include <stdio.h>
#include <stdbool.h>
#include "selfdrive/camerad/cameras/camera_qcom.h"
#include <assert.h>
#include <unistd.h>
#include <fcntl.h>
#include <math.h>
#include <poll.h>
#include <pthread.h>
#include <stdbool.h>
#include <stdio.h>
#include <sys/ioctl.h>
#include <atomic>
#include <algorithm>
#include <unistd.h>
#include <linux/media.h>
#include <algorithm>
#include <atomic>
#include <cutils/properties.h>
#include <linux/media.h>
#include <pthread.h>
#include "msmb_isp.h"
#include "msmb_ispif.h"
#include "msmb_camera.h"
#include "msm_cam_sensor.h"
#include "common/util.h"
#include "common/timing.h"
#include "common/swaglog.h"
#include "common/params.h"
#include "clutil.h"
#include "sensor_i2c.h"
#include "camera_qcom.h"
#include "selfdrive/camerad/cameras/sensor_i2c.h"
#include "selfdrive/camerad/include/msm_cam_sensor.h"
#include "selfdrive/camerad/include/msmb_camera.h"
#include "selfdrive/camerad/include/msmb_isp.h"
#include "selfdrive/camerad/include/msmb_ispif.h"
#include "selfdrive/common/clutil.h"
#include "selfdrive/common/params.h"
#include "selfdrive/common/swaglog.h"
#include "selfdrive/common/timing.h"
#include "selfdrive/common/util.h"
// leeco actuator (DW9800W H-Bridge Driver IC)
// from sniff

30
selfdrive/camerad/cameras/camera_qcom.h
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@ -1,24 +1,22 @@
#pragma once
#include <stdint.h>
#include <stdbool.h>
#include <pthread.h>
#include <memory>
#include <atomic>
#include "messaging.h"
#include "msmb_isp.h"
#include "msmb_ispif.h"
#include "msmb_camera.h"
#include "msm_cam_sensor.h"
#include "visionbuf.h"
#include <stdbool.h>
#include <stdint.h>
#include "common/mat.h"
#include "common/util.h"
#include "imgproc/utils.h"
#include <atomic>
#include <memory>
#include "camera_common.h"
#include "cereal/messaging/messaging.h"
#include "cereal/visionipc/visionbuf.h"
#include "selfdrive/camerad/cameras/camera_common.h"
#include "selfdrive/camerad/imgproc/utils.h"
#include "selfdrive/camerad/include/msm_cam_sensor.h"
#include "selfdrive/camerad/include/msmb_camera.h"
#include "selfdrive/camerad/include/msmb_isp.h"
#include "selfdrive/camerad/include/msmb_ispif.h"
#include "selfdrive/common/mat.h"
#include "selfdrive/common/util.h"
#define FRAME_BUF_COUNT 4
#define METADATA_BUF_COUNT 4

9
selfdrive/camerad/cameras/camera_qcom2.cc
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@ -1,4 +1,3 @@
#include <stdio.h>
#include <string.h>
#include <errno.h>
@ -11,19 +10,17 @@
#include <math.h>
#include <atomic>
#include "common/util.h"
#include "common/swaglog.h"
#include "camera_qcom2.h"
#include "media/cam_defs.h"
#include "media/cam_isp.h"
#include "media/cam_isp_ife.h"
#include "media/cam_sensor_cmn_header.h"
#include "media/cam_sensor.h"
#include "media/cam_sync.h"
#include "sensor2_i2c.h"
#include "selfdrive/common/swaglog.h"
#include "selfdrive/camerad/cameras/camera_qcom2.h"
#define FRAME_WIDTH 1928
#define FRAME_HEIGHT 1208
//#define FRAME_STRIDE 1936 // for 8 bit output

9
selfdrive/camerad/cameras/camera_qcom2.h
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@ -4,9 +4,10 @@
#include <stdbool.h>
#include <pthread.h>
#include "common/util.h"
#include "camera_common.h"
#include "media/cam_req_mgr.h"
#include <media/cam_req_mgr.h>
#include "selfdrive/camerad/cameras/camera_common.h"
#include "selfdrive/common/util.h"
#define FRAME_BUF_COUNT 4
@ -21,7 +22,7 @@
typedef struct CameraState {
MultiCameraState *multi_cam_state;
CameraInfo ci;
std::mutex exp_lock;
float analog_gain_frac;
uint16_t analog_gain;

19
selfdrive/camerad/cameras/camera_webcam.cc
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@ -1,23 +1,22 @@
#include "camera_webcam.h"
#include "selfdrive/camerad/cameras/camera_webcam.h"
#include <unistd.h>
#include <assert.h>
#include <string.h>
#include <pthread.h>
#include "common/util.h"
#include "common/timing.h"
#include "common/clutil.h"
#include "common/swaglog.h"
#include <string.h>
#include <unistd.h>
#pragma clang diagnostic push
#pragma clang diagnostic ignored "-Wundefined-inline"
#include <opencv2/opencv.hpp>
#include <opencv2/highgui.hpp>
#include <opencv2/core.hpp>
#include <opencv2/highgui.hpp>
#include <opencv2/opencv.hpp>
#include <opencv2/videoio.hpp>
#pragma clang diagnostic pop
#include "selfdrive/common/clutil.h"
#include "selfdrive/common/swaglog.h"
#include "selfdrive/common/timing.h"
#include "selfdrive/common/util.h"
// id of the video capturing device
const int ROAD_CAMERA_ID = getenv("ROADCAM_ID") ? atoi(getenv("ROADCAM_ID")) : 1;

2
selfdrive/camerad/cameras/camera_webcam.h
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@ -8,7 +8,7 @@
#include <CL/cl.h>
#endif
#include "camera_common.h"
#include "selfdrive/camerad/cameras/camera_common.h"
#define FRAME_BUF_COUNT 16

4
selfdrive/camerad/imgproc/utils.cc
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@ -1,7 +1,9 @@
#include "utils.h"
#include "selfdrive/camerad/imgproc/utils.h"
#include <assert.h>
#include <stdio.h>
#include <string.h>
#include <algorithm>
#include <cmath>

6
selfdrive/camerad/imgproc/utils.h
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@ -1,9 +1,11 @@
#pragma once
#include <stdint.h>
#include <stddef.h>
#include <stdint.h>
#include <vector>
#include "clutil.h"
#include "selfdrive/common/clutil.h"
#define NUM_SEGMENTS_X 8
#define NUM_SEGMENTS_Y 6

35
selfdrive/camerad/main.cc
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@ -1,29 +1,30 @@
#include <thread>
#include <stdio.h>
#include <poll.h>
#include <assert.h>
#include <unistd.h>
#include <poll.h>
#include <stdio.h>
#include <sys/socket.h>
#include <unistd.h>
#include <thread>
#include "libyuv.h"
#include "cereal/visionipc/visionipc_server.h"
#include "selfdrive/common/clutil.h"
#include "selfdrive/common/params.h"
#include "selfdrive/common/swaglog.h"
#include "selfdrive/common/util.h"
#include "selfdrive/hardware/hw.h"
#if defined(QCOM) && !defined(QCOM_REPLAY)
#include "cameras/camera_qcom.h"
#include "selfdrive/camerad/cameras/camera_qcom.h"
#elif QCOM2
#include "cameras/camera_qcom2.h"
#include "selfdrive/camerad/cameras/camera_qcom2.h"
#elif WEBCAM
#include "cameras/camera_webcam.h"
#include "selfdrive/camerad/cameras/camera_webcam.h"
#else
#include "cameras/camera_frame_stream.h"
#include "selfdrive/camerad/cameras/camera_frame_stream.h"
#endif
#include <libyuv.h>
#include "clutil.h"
#include "common/params.h"
#include "common/swaglog.h"
#include "common/util.h"
#include "visionipc_server.h"
#include "selfdrive/hardware/hw.h"
ExitHandler do_exit;
void party(cl_device_id device_id, cl_context context) {

6
selfdrive/camerad/test/ae_gray_test.cc
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@ -1,11 +1,13 @@
// unittest for set_exposure_target
#include "ae_gray_test.h"
#include <assert.h>
#include <cstring>
#include <cmath>
#include <cstring>
#include "selfdrive/camerad/cameras/camera_common.h"
#include "selfdrive/camerad/test/ae_gray_test.h"
void camera_autoexposure(CameraState *s, float grey_frac) {}

1
selfdrive/camerad/transforms/rgb_to_yuv.cc
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@ -1,4 +1,5 @@
#include "rgb_to_yuv.h"
#include <assert.h>
Rgb2Yuv::Rgb2Yuv(cl_context ctx, cl_device_id device_id, int width, int height, int rgb_stride) {

2
selfdrive/camerad/transforms/rgb_to_yuv.h
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@ -1,6 +1,6 @@
#pragma once
#include "common/clutil.h"
#include "selfdrive/common/clutil.h"
class Rgb2Yuv {
public:

27
selfdrive/camerad/transforms/rgb_to_yuv_test.cc
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@ -1,18 +1,19 @@
#include <memory.h>
#include <iostream>
#include <fcntl.h>
#include <getopt.h>
#include <math.h>
#include <fstream>
#include <cstdlib>
#include <vector>
#include <string>
#include <iomanip>
#include <thread>
#include <fcntl.h>
#include <memory.h>
#include <signal.h>
#include <unistd.h>
#include <cassert>
#include <cstdint>
#include <cstdlib>
#include <fstream>
#include <iomanip>
#include <iostream>
#include <string>
#include <thread>
#include <vector>
#ifdef ANDROID
@ -26,13 +27,11 @@
#endif
#include <libyuv.h>
#include <CL/cl.h>
#include "clutil.h"
#include "rgb_to_yuv.h"
#include "libyuv.h"
#include "selfdrive/camerad/transforms/rgb_to_yuv.h"
#include "selfdrive/common/clutil.h"
static inline double millis_since_boot() {
struct timespec t;

10
selfdrive/clocksd/clocksd.cc
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@ -1,8 +1,8 @@
#include <stdio.h>
#include <stdint.h>
#include <unistd.h>
#include <stdio.h>
#include <sys/resource.h>
#include <sys/time.h>
#include <unistd.h>
// Apple doesn't have timerfd
#ifdef __APPLE__
@ -14,9 +14,9 @@
#include <cassert>
#include <chrono>
#include "messaging.h"
#include "common/timing.h"
#include "common/util.h"
#include "cereal/messaging/messaging.h"
#include "selfdrive/common/timing.h"
#include "selfdrive/common/util.h"
ExitHandler do_exit;

9
selfdrive/common/clutil.cc
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@ -1,12 +1,15 @@
#include "clutil.h"
#include "selfdrive/common/clutil.h"
#include <assert.h>
#include <inttypes.h>
#include <string.h>
#include <sys/stat.h>
#include <memory>
#include <iostream>
#include <memory>
#include <vector>
#include "util.h"
#include "selfdrive/common/util.h"
namespace { // helper functions

8
selfdrive/common/framebuffer.cc
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@ -1,15 +1,15 @@
#include "framebuffer.h"
#include "util.h"
#include "selfdrive/common/framebuffer.h"
#include <cstdio>
#include <cassert>
#include "selfdrive/common/util.h"
#include <ui/DisplayInfo.h>
#include <gui/ISurfaceComposer.h>
#include <gui/Surface.h>
#include <gui/SurfaceComposerClient.h>
#include <GLES2/gl2.h>
#include <EGL/eglext.h>

2
selfdrive/common/framebuffer.h
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@ -1,5 +1,7 @@
#pragma once
#include <cstdlib>
#include "hardware/hwcomposer_defs.h"
bool set_brightness(int brightness);

9
selfdrive/common/glutil.cc
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@ -1,9 +1,10 @@
#include <stdlib.h>
#include <stdio.h>
#include "selfdrive/common/glutil.h"
#include <assert.h>
#include <string>
#include <stdio.h>
#include <stdlib.h>
#include "glutil.h"
#include <string>
static GLuint load_shader(GLenum shaderType, const char *src) {
GLint status = 0, len = 0;

7
selfdrive/common/glutil.h
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@ -1,11 +1,12 @@
#pragma once
#include <map>
#ifdef __APPLE__
#include <OpenGL/gl3.h>
#include <OpenGL/gl3.h>
#else
#include <GLES3/gl3.h>
#include <GLES3/gl3.h>
#endif
#include <map>
class GLShader {
public:

8
selfdrive/common/gpio.cc
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@ -1,8 +1,10 @@
#include "gpio.h"
#include "util.h"
#include "selfdrive/common/gpio.h"
#include <fcntl.h>
#include <unistd.h>
#include <string.h>
#include <unistd.h>
#include "selfdrive/common/util.h"
// We assume that all pins have already been exported on boot,
// and that we have permission to write to them.

14
selfdrive/common/i2c.cc
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@ -1,12 +1,14 @@
#include "i2c.h"
#include "selfdrive/common/i2c.h"
#include <cassert>
#include <unistd.h>
#include <stdexcept>
#include <stdio.h>
#include <fcntl.h>
#include <stdio.h>
#include <sys/ioctl.h>
#include "common/swaglog.h"
#include <unistd.h>
#include <cassert>
#include <stdexcept>
#include "selfdrive/common/swaglog.h"
#define UNUSED(x) (void)(x)

2
selfdrive/common/modeldata.h
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@ -19,7 +19,7 @@ const double X_IDXS[TRAJECTORY_SIZE] = { 0. , 0.1875, 0.75 , 1.6875,
#ifdef __cplusplus
#include "common/mat.h"
#include "selfdrive/common/mat.h"
#include "selfdrive/hardware/hw.h"
const mat3 fcam_intrinsic_matrix =
Hardware::TICI() ? (mat3){{2648.0, 0.0, 1928.0 / 2,

17
selfdrive/common/params.cc
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@ -1,22 +1,25 @@
#include "common/params.h"
#include "selfdrive/common/params.h"
#ifndef _GNU_SOURCE
#define _GNU_SOURCE
#endif // _GNU_SOURCE
#include <dirent.h>
#include <stdio.h>
#include <stdlib.h>
#include <unistd.h>
#include <dirent.h>
#include <string.h>
#include <sys/file.h>
#include <sys/stat.h>
#include <mutex>
#include <unistd.h>
#include <csignal>
#include <string.h>
#include <mutex>
#include <unordered_map>
#include "common/util.h"
#include "common/swaglog.h"
#include "selfdrive/common/swaglog.h"
#include "selfdrive/common/util.h"
#include "selfdrive/hardware/hw.h"
// keep trying if x gets interrupted by a signal
#define HANDLE_EINTR(x) \
({ \

3
selfdrive/common/params.h
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@ -1,9 +1,10 @@
#pragma once
#include <stddef.h>
#include <map>
#include <string>
#include <sstream>
#include <string>
#define ERR_NO_VALUE -33

16
selfdrive/common/swaglog.cc
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@ -2,22 +2,22 @@
#define _GNU_SOURCE
#endif
#include <string>
#include <string.h>
#include <assert.h>
#include "swaglog.h"
#include <assert.h>
#include <string.h>
#include <mutex>
#include <zmq.h>
#include <string>
#include <zmq.h>
#include "json11.hpp"
#include "common/util.h"
#include "common/version.h"
#include "selfdrive/common/util.h"
#include "selfdrive/common/version.h"
#include "selfdrive/hardware/hw.h"
#include "swaglog.h"
class LogState {
public:
public:
LogState() = default;
~LogState();
std::mutex lock;

5
selfdrive/common/timing.h
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@ -1,5 +1,4 @@
#ifndef COMMON_TIMING_H
#define COMMON_TIMING_H
#pragma once
#include <stdint.h>
#include <time.h>
@ -50,5 +49,3 @@ static inline uint64_t nanos_monotonic_raw() {
clock_gettime(CLOCK_MONOTONIC_RAW, &t);
return t.tv_sec * 1000000000ULL + t.tv_nsec;
}
#endif

16
selfdrive/common/touch.c
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@ -1,14 +1,14 @@
#include <stdio.h>
#include <stdlib.h>
#include <stdbool.h>
#include "selfdrive/common/touch.h"
#include <assert.h>
#include <unistd.h>
#include <fcntl.h>
#include <dirent.h>
#include <sys/poll.h>
#include <fcntl.h>
#include <linux/input.h>
#include "touch.h"
#include <stdbool.h>
#include <stdio.h>
#include <stdlib.h>
#include <sys/poll.h>
#include <unistd.h>
/* this macro is used to tell if "bit" is set in "array"
* it selects a byte from the array, and does a boolean AND

7
selfdrive/common/util.cc
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@ -1,7 +1,8 @@
#include "selfdrive/common/util.h"
#include <errno.h>
#include <sstream>
#include "common/util.h"
#include <sstream>
#ifdef __linux__
#include <sys/prctl.h>
@ -10,7 +11,7 @@
#define __USE_GNU
#endif
#include <sched.h>
#endif // __linux__
#endif // __linux__
void set_thread_name(const char* name) {
#ifdef __linux__

18
selfdrive/common/util.h
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@ -1,19 +1,19 @@
#pragma once
#include <cstdio>
#include <csignal>
#include <cassert>
#include <cstring>
#include <unistd.h>
#include <fcntl.h>
#include <unistd.h>
#include <string>
#include <memory>
#include <algorithm>
#include <atomic>
#include <cassert>
#include <chrono>
#include <csignal>
#include <cstdio>
#include <cstring>
#include <fstream>
#include <memory>
#include <string>
#include <thread>
#include <chrono>
#include <algorithm>
#ifndef sighandler_t
typedef void (*sighandler_t)(int sig);

5
selfdrive/common/visionimg.cc
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@ -1,11 +1,12 @@
#include "selfdrive/common/visionimg.h"
#include <cassert>
#include "common/visionimg.h"
#ifdef QCOM
#include <gralloc_priv.h>
#include <system/graphics.h>
#include <ui/GraphicBuffer.h>
#include <ui/PixelFormat.h>
#include <gralloc_priv.h>
#define GL_GLEXT_PROTOTYPES
#include <GLES2/gl2ext.h>
using namespace android;

4
selfdrive/common/visionimg.h
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@ -3,9 +3,9 @@
#include "visionbuf.h"
#ifdef __APPLE__
#include <OpenGL/gl3.h>
#include <OpenGL/gl3.h>
#else
#include <GLES3/gl3.h>
#include <GLES3/gl3.h>
#endif
#ifdef QCOM

12
selfdrive/common/watchdog.cc
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@ -1,10 +1,12 @@
#include <string>
#include <cstdint>
#include "selfdrive/common/watchdog.h"
#include <unistd.h>
#include "common/timing.h"
#include "common/util.h"
#include "common/watchdog.h"
#include <cstdint>
#include <string>
#include "selfdrive/common/timing.h"
#include "selfdrive/common/util.h"
const std::string watchdog_fn_prefix = "/dev/shm/wd_"; // + <pid>

2
selfdrive/controls/lib/lateral_mpc/generator.cpp
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@ -1,6 +1,6 @@
#include <math.h>
#include <acado_code_generation.hpp>
#include "common/modeldata.h"
#include "selfdrive/common/modeldata.h"
#define deg2rad(d) (d/180.0*M_PI)

1
selfdrive/hardware/base.h
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@ -3,7 +3,6 @@
#include <cstdlib>
#include <fstream>
// no-op base hw class
class HardwareNone {
public:

6
selfdrive/hardware/eon/hardware.h
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@ -1,12 +1,12 @@
#pragma once
#include <cstdlib>
#include <fstream>
#include <gui/ISurfaceComposer.h>
#include <gui/SurfaceComposerClient.h>
#include <hardware/hwcomposer_defs.h>
#include <cstdlib>
#include <fstream>
#include "selfdrive/common/util.h"
#include "selfdrive/hardware/base.h"

2
selfdrive/hardware/tici/hardware.h
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@ -3,8 +3,8 @@
#include <cstdlib>
#include <fstream>
#include "selfdrive/common/util.h"
#include "selfdrive/common/params.h"
#include "selfdrive/common/util.h"
#include "selfdrive/hardware/base.h"
class HardwareTici : public HardwareNone {

21
selfdrive/locationd/locationd.h
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@ -1,21 +1,22 @@
#pragma once
#include <eigen3/Eigen/Dense>
#include <fstream>
#include <string>
#include <memory>
#include <string>
#include <eigen3/Eigen/Dense>
#include "messaging.h"
#include "common/params.h"
#include "common/util.h"
#include "common/swaglog.h"
#include "common/timing.h"
#include "cereal/messaging/messaging.h"
#include "common/transformations/coordinates.hpp"
#include "common/transformations/orientation.hpp"
#include "selfdrive/sensord/sensors/constants.h"
#include "selfdrive/common/params.h"
#include "selfdrive/common/swaglog.h"
#include "selfdrive/common/timing.h"
#include "selfdrive/common/util.h"
#include "models/live_kf.h"
#include "selfdrive/sensord/sensors/constants.h"
#define VISION_DECIMATION 2
#define SENSOR_DECIMATION 10
#include "selfdrive/locationd/models/live_kf.h"
#define POSENET_STD_HIST_HALF 20

15
selfdrive/locationd/ublox_msg.cc
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@ -1,16 +1,17 @@
#include <cstdio>
#include <cstdlib>
#include "ublox_msg.h"
#include <unistd.h>
#include <cassert>
#include <chrono>
#include <cmath>
#include <cstdio>
#include <cstdlib>
#include <ctime>
#include <chrono>
#include <iostream>
#include <cassert>
#include <unordered_map>
#include "common/swaglog.h"
#include "ublox_msg.h"
#include "selfdrive/common/swaglog.h"
const double gpsPi = 3.1415926535898;
#define UBLOX_MSG_SIZE(hdr) (*(uint16_t *)&hdr[4])

8
selfdrive/locationd/ublox_msg.h
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@ -1,13 +1,13 @@
#pragma once
#include <string>
#include <cstdint>
#include <memory>
#include <string>
#include <unordered_map>
#include "messaging.h"
#include "generated/ubx.h"
#include "generated/gps.h"
#include "cereal/messaging/messaging.h"
#include "selfdrive/locationd/generated/gps.h"
#include "selfdrive/locationd/generated/ubx.h"
// protocol constants
namespace ublox {

10
selfdrive/locationd/ubloxd.cc
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@ -1,9 +1,9 @@
#include "messaging.h"
#include "common/util.h"
#include "common/swaglog.h"
#include <kaitai/kaitaistream.h>
#include "ublox_msg.h"
#include "kaitai/kaitaistream.h"
#include "cereal/messaging/messaging.h"
#include "selfdrive/common/swaglog.h"
#include "selfdrive/common/util.h"
#include "selfdrive/locationd/ublox_msg.h"
ExitHandler do_exit;
using namespace ublox;

4
selfdrive/logcatd/logcatd_android.cc
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@ -5,8 +5,8 @@
#include <log/logger.h>
#include <log/logprint.h>
#include "common/util.h"
#include "messaging.h"
#include "cereal/messaging/messaging.h"
#include "selfdrive/common/util.h"
int main() {
setpriority(PRIO_PROCESS, 0, -15);

13
selfdrive/logcatd/logcatd_systemd.cc
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@ -1,15 +1,16 @@
#include <iostream>
#include <systemd/sd-journal.h>
#include <cassert>
#include <csignal>
#include <string>
#include <iostream>
#include <map>
#include <string>
#include "json11.hpp"
#include <systemd/sd-journal.h>
#include "common/timing.h"
#include "common/util.h"
#include "messaging.h"
#include "cereal/messaging/messaging.h"
#include "selfdrive/common/timing.h"
#include "selfdrive/common/util.h"
ExitHandler do_exit;
int main(int argc, char *argv[]) {

8
selfdrive/loggerd/bootlog.cc
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@ -1,8 +1,10 @@
#include <assert.h>
#include <string>
#include "common/swaglog.h"
#include "logger.h"
#include "messaging.h"
#include "cereal/messaging/messaging.h"
#include "selfdrive/common/swaglog.h"
#include "selfdrive/loggerd/logger.h"
static kj::Array<capnp::word> build_boot_log() {
MessageBuilder msg;

25
selfdrive/loggerd/logger.cc
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@ -1,28 +1,27 @@
#include "selfdrive/loggerd/logger.h"
#include <assert.h>
#include <errno.h>
#include <stdbool.h>
#include <stdint.h>
#include <stdio.h>
#include <stdlib.h>
#include <stdint.h>
#include <stdbool.h>
#include <string.h>
#include <assert.h>
#include <sys/stat.h>
#include <time.h>
#include <errno.h>
#include <unistd.h>
#include <sys/stat.h>
#include <iostream>
#include <fstream>
#include <iostream>
#include <streambuf>
#ifdef QCOM
#include <cutils/properties.h>
#endif
#include "common/swaglog.h"
#include "common/params.h"
#include "common/version.h"
#include "messaging.h"
#include "selfdrive/hardware/hw.h"
#include "logger.h"
#include "cereal/messaging/messaging.h"
#include "selfdrive/common/params.h"
#include "selfdrive/common/swaglog.h"
#include "selfdrive/common/version.h"
// ***** logging helpers *****

12
selfdrive/loggerd/logger.h
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@ -1,13 +1,17 @@
#pragma once
#include <stdio.h>
#include <stdint.h>
#include <pthread.h>
#include <stdint.h>
#include <stdio.h>
#include <memory>
#include <bzlib.h>
#include <kj/array.h>
#include <capnp/serialize.h>
#include "common/util.h"
#include <kj/array.h>
#include "selfdrive/common/util.h"
#include "selfdrive/common/swaglog.h"
#include "selfdrive/hardware/hw.h"
const std::string LOG_ROOT =

49
selfdrive/loggerd/loggerd.cc
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@ -1,41 +1,40 @@
#include <cstdio>
#include <cstdlib>
#include <cstdint>
#include <cassert>
#include <unistd.h>
#include <errno.h>
#include <string.h>
#include <ftw.h>
#include <inttypes.h>
#include <pthread.h>
#include <string.h>
#include <sys/resource.h>
#include <unistd.h>
#include <string>
#include <thread>
#include <mutex>
#include <condition_variable>
#include <atomic>
#include <cassert>
#include <condition_variable>
#include <cstdint>
#include <cstdio>
#include <cstdlib>
#include <mutex>
#include <random>
#include <string>
#include <thread>
#include <ftw.h>
#include "common/timing.h"
#include "common/params.h"
#include "common/swaglog.h"
#include "common/util.h"
#include "camerad/cameras/camera_common.h"
#include "logger.h"
#include "messaging.h"
#include "services.h"
#include "cereal/messaging/messaging.h"
#include "cereal/services.h"
#include "cereal/visionipc/visionipc.h"
#include "cereal/visionipc/visionipc_client.h"
#include "selfdrive/camerad/cameras/camera_common.h"
#include "selfdrive/common/params.h"
#include "selfdrive/common/swaglog.h"
#include "selfdrive/common/timing.h"
#include "selfdrive/common/util.h"
#include "selfdrive/hardware/hw.h"
#include "visionipc.h"
#include "visionipc_client.h"
#include "encoder.h"
#include "selfdrive/loggerd/encoder.h"
#include "selfdrive/loggerd/logger.h"
#if defined(QCOM) || defined(QCOM2)
#include "omx_encoder.h"
#include "selfdrive/loggerd/omx_encoder.h"
#define Encoder OmxEncoder
#else
#include "raw_logger.h"
#include "selfdrive/loggerd/raw_logger.h"
#define Encoder RawLogger
#endif

23
selfdrive/loggerd/omx_encoder.cc
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@ -1,25 +1,24 @@
#pragma clang diagnostic ignored "-Wdeprecated-declarations"
#include "selfdrive/loggerd/omx_encoder.h"
#include <assert.h>
#include <fcntl.h>
#include <stdbool.h>
#include <stdio.h>
#include <stdlib.h>
#include <stdbool.h>
#include <unistd.h>
#include <assert.h>
#include <sys/stat.h>
#include <fcntl.h>
#include <unistd.h>
#include <OMX_Component.h>
#include <OMX_IndexExt.h>
#include <OMX_VideoExt.h>
#include <OMX_QCOMExtns.h>
#include <OMX_VideoExt.h>
#include "libyuv.h"
#include <libyuv.h>
#include <msm_media_info.h>
#include "common/util.h"
#include "common/swaglog.h"
#include "omx_encoder.h"
#include "selfdrive/common/swaglog.h"
#include "selfdrive/common/util.h"
#include "selfdrive/loggerd/include/msm_media_info.h"
// Check the OMX error code and assert if an error occurred.
#define OMX_CHECK(_expr) \

13
selfdrive/loggerd/omx_encoder.h
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@ -1,17 +1,18 @@
#pragma once
#include <stdio.h>
#include <stdint.h>
#include <stdbool.h>
#include <stdint.h>
#include <stdio.h>
#include <vector>
#include <OMX_Component.h>
#include <OMX_Component.h>
extern "C" {
#include <libavformat/avformat.h>
#include <libavformat/avformat.h>
}
#include "encoder.h"
#include "common/queue.h"
#include "selfdrive/common/queue.h"
#include "selfdrive/loggerd/encoder.h"
// OmxEncoder, lossey codec using hardware hevc
class OmxEncoder : public VideoEncoder {

16
selfdrive/loggerd/raw_logger.cc
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@ -1,24 +1,24 @@
#pragma clang diagnostic ignored "-Wdeprecated-declarations"
#include <cstdio>
#include <cstdlib>
#include <cassert>
#include "selfdrive/loggerd/raw_logger.h"
#include <fcntl.h>
#include <unistd.h>
#include <cassert>
#include <cstdio>
#include <cstdlib>
#define __STDC_CONSTANT_MACROS
extern "C" {
#include <libavutil/imgutils.h>
#include <libavcodec/avcodec.h>
#include <libavformat/avformat.h>
#include <libavutil/imgutils.h>
}
#include "common/swaglog.h"
#include "common/util.h"
#include "raw_logger.h"
#include "selfdrive/common/swaglog.h"
#include "selfdrive/common/util.h"
RawLogger::RawLogger(const char* filename, int width, int height, int fps,
int bitrate, bool h265, bool downscale)

7
selfdrive/loggerd/raw_logger.h
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@ -2,20 +2,19 @@
#include <cstdio>
#include <cstdlib>
#include <string>
#include <vector>
extern "C" {
#include <libavutil/imgutils.h>
#include <libavcodec/avcodec.h>
#include <libavformat/avformat.h>
#include <libavutil/imgutils.h>
}
#include "encoder.h"
#include "selfdrive/loggerd/encoder.h"
class RawLogger : public VideoEncoder {
public:
public:
RawLogger(const char* filename, int width, int height, int fps,
int bitrate, bool h265, bool downscale);
~RawLogger();

14
selfdrive/loggerd/tests/testraw.cc
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@ -1,13 +1,13 @@
#include <cstdio>
#include <cstdlib>
#include <unistd.h>
#include <zmq.h>
#include "common/visionipc.h"
#include "common/timing.h"
#include "common/util.h"
#include "RawLogger.h"
#include <cstdio>
#include <cstdlib>
#include "selfdrive/common/timing.h"
#include "selfdrive/common/util.h"
#include "selfdrive/common/visionipc.h"
#include "selfdrive/loggerd/raw_logger.h"
int main() {
int err;

14
selfdrive/modeld/dmonitoringmodeld.cc
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@ -1,16 +1,12 @@
#include <stdio.h>
#include <stdlib.h>
#include <sys/resource.h>
#include <limits.h>
#include "visionipc_client.h"
#include "common/swaglog.h"
#include "common/util.h"
#include "models/dmonitoring.h"
#ifndef PATH_MAX
#include <linux/limits.h>
#endif
#include "cereal/visionipc/visionipc_client.h"
#include "selfdrive/common/swaglog.h"
#include "selfdrive/common/util.h"
#include "selfdrive/modeld/models/dmonitoring.h"
ExitHandler do_exit;

16
selfdrive/modeld/modeld.cc
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@ -1,16 +1,18 @@
#include <stdio.h>
#include <stdlib.h>
#include <mutex>
#include <eigen3/Eigen/Dense>
#include "visionipc_client.h"
#include "common/swaglog.h"
#include "common/clutil.h"
#include "common/util.h"
#include "common/params.h"
#include "cereal/messaging/messaging.h"
#include "cereal/visionipc/visionipc_client.h"
#include "selfdrive/common/clutil.h"
#include "selfdrive/common/params.h"
#include "selfdrive/common/swaglog.h"
#include "selfdrive/common/util.h"
#include "selfdrive/hardware/hw.h"
#include "models/driving.h"
#include "messaging.h"
#include "selfdrive/modeld/models/driving.h"
ExitHandler do_exit;
// globals

11
selfdrive/modeld/models/commonmodel.cc
Unescape View File

@ -1,10 +1,13 @@
#include "commonmodel.h"
#include <assert.h>
#include <math.h>
#include <algorithm>
#include "commonmodel.h"
#include "common/clutil.h"
#include "common/mat.h"
#include "common/timing.h"
#include "selfdrive/common/clutil.h"
#include "selfdrive/common/mat.h"
#include "selfdrive/common/timing.h"
void frame_init(ModelFrame* frame, int width, int height,
cl_device_id device_id, cl_context context) {

12
selfdrive/modeld/models/commonmodel.h
Unescape View File

@ -1,4 +1,8 @@
#pragma once
#include <float.h>
#include <stdlib.h>
#define CL_USE_DEPRECATED_OPENCL_1_2_APIS
#ifdef __APPLE__
#include <OpenCL/cl.h>
@ -6,11 +10,9 @@
#include <CL/cl.h>
#endif
#include <float.h>
#include <stdlib.h>
#include "common/mat.h"
#include "transforms/transform.h"
#include "transforms/loadyuv.h"
#include "selfdrive/common/mat.h"
#include "selfdrive/modeld/transforms/loadyuv.h"
#include "selfdrive/modeld/transforms/transform.h"
const bool send_raw_pred = getenv("SEND_RAW_PRED") != NULL;

14
selfdrive/modeld/models/dmonitoring.cc
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@ -1,11 +1,13 @@
#include "selfdrive/modeld/models/dmonitoring.h"
#include <string.h>
#include <libyuv.h>
#include "selfdrive/hardware/hw.h"
#include "dmonitoring.h"
#include "common/mat.h"
#include "common/timing.h"
#include "common/params.h"
#include "libyuv.h"
#include "selfdrive/common/mat.h"
#include "selfdrive/common/params.h"
#include "selfdrive/common/timing.h"
#include "selfdrive/hardware/hw.h"
#define MODEL_WIDTH 320
#define MODEL_HEIGHT 640

10
selfdrive/modeld/models/dmonitoring.h
Unescape View File

@ -1,9 +1,11 @@
#pragma once
#include <vector>
#include "common/util.h"
#include "commonmodel.h"
#include "runners/run.h"
#include "messaging.h"
#include "cereal/messaging/messaging.h"
#include "selfdrive/common/util.h"
#include "selfdrive/modeld/models/commonmodel.h"
#include "selfdrive/modeld/runners/run.h"
#define OUTPUT_SIZE 38

12
selfdrive/modeld/models/driving.cc
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@ -1,14 +1,16 @@
#include <string.h>
#include "driving.h"
#include <assert.h>
#include <fcntl.h>
#include <string.h>
#include <unistd.h>
#include <eigen3/Eigen/Dense>
#include "common/timing.h"
#include "common/params.h"
#include "driving.h"
#include "clutil.h"
#include "selfdrive/common/clutil.h"
#include "selfdrive/common/params.h"
#include "selfdrive/common/timing.h"
constexpr int DESIRE_PRED_SIZE = 32;
constexpr int OTHER_META_SIZE = 4;

15
selfdrive/modeld/models/driving.h
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@ -5,15 +5,14 @@
#define DESIRE
#define TRAFFIC_CONVENTION
#include "common/mat.h"
#include "common/util.h"
#include "common/modeldata.h"
#include "commonmodel.h"
#include "runners/run.h"
#include <memory>
#include "messaging.h"
#include "cereal/messaging/messaging.h"
#include "selfdrive/common/mat.h"
#include "selfdrive/common/modeldata.h"
#include "selfdrive/common/util.h"
#include "selfdrive/modeld/models/commonmodel.h"
#include "selfdrive/modeld/runners/run.h"
constexpr int DESIRE_LEN = 8;
constexpr int TRAFFIC_CONVENTION_LEN = 2;

16
selfdrive/modeld/runners/onnxmodel.cc
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@ -1,16 +1,18 @@
#include "onnxmodel.h"
#include <stdio.h>
#include <string>
#include <string.h>
#include <poll.h>
#include <signal.h>
#include <unistd.h>
#include <stdio.h>
#include <stdlib.h>
#include <stdexcept>
#include "common/util.h"
#include "common/swaglog.h"
#include <string.h>
#include <unistd.h>
#include <cassert>
#include <stdexcept>
#include <string>
#include "selfdrive/common/swaglog.h"
#include "selfdrive/common/util.h"
ONNXModel::ONNXModel(const char *path, float *_output, size_t _output_size, int runtime) {
output = _output;

8
selfdrive/modeld/runners/onnxmodel.h
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@ -1,8 +1,8 @@
#ifndef ONNXMODEL_H
#define ONNXMODEL_H
#pragma once
#include <stdlib.h>
#include "runmodel.h"
#include "selfdrive/modeld/runners/runmodel.h"
class ONNXModel : public RunModel {
public:
@ -32,5 +32,3 @@ private:
int pipeout[2];
};
#endif

16
selfdrive/modeld/runners/run.h
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@ -4,13 +4,13 @@
#include "snpemodel.h"
#if defined(QCOM) || defined(QCOM2)
#include "thneedmodel.h"
#define DefaultRunModel SNPEModel
#include "thneedmodel.h"
#define DefaultRunModel SNPEModel
#else
#ifdef USE_ONNX_MODEL
#include "onnxmodel.h"
#define DefaultRunModel ONNXModel
#else
#define DefaultRunModel SNPEModel
#endif
#ifdef USE_ONNX_MODEL
#include "onnxmodel.h"
#define DefaultRunModel ONNXModel
#else
#define DefaultRunModel SNPEModel
#endif
#endif

6
selfdrive/modeld/runners/runmodel.h
Unescape View File

@ -1,6 +1,4 @@
#ifndef RUNMODEL_H
#define RUNMODEL_H
#pragma once
class RunModel {
public:
virtual void addRecurrent(float *state, int state_size) {}
@ -9,5 +7,3 @@ public:
virtual void execute(float *net_input_buf, int buf_size) {}
};
#endif

11
selfdrive/modeld/runners/snpemodel.cc
Unescape View File

@ -1,10 +1,13 @@
#pragma clang diagnostic ignored "-Wexceptions"
#include <cassert>
#include <string.h>
#include "selfdrive/modeld/runners/snpemodel.h"
#include <stdlib.h>
#include "common/util.h"
#include "snpemodel.h"
#include <string.h>
#include <cassert>
#include "selfdrive/common/util.h"
void PrintErrorStringAndExit() {
std::cerr << zdl::DlSystem::getLastErrorString() << std::endl;

14
selfdrive/modeld/runners/snpemodel.h
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@ -1,15 +1,14 @@
#ifndef SNPEMODEL_H
#define SNPEMODEL_H
#pragma once
#include <SNPE/SNPE.hpp>
#include <SNPE/SNPEBuilder.hpp>
#include <SNPE/SNPEFactory.hpp>
#include <DlContainer/IDlContainer.hpp>
#include <DlSystem/DlError.hpp>
#include <DlSystem/ITensor.hpp>
#include <DlSystem/ITensorFactory.hpp>
#include <DlSystem/IUserBuffer.hpp>
#include <DlSystem/IUserBufferFactory.hpp>
#include <SNPE/SNPE.hpp>
#include <SNPE/SNPEBuilder.hpp>
#include <SNPE/SNPEFactory.hpp>
#include "runmodel.h"
@ -18,7 +17,7 @@
#define USE_DSP_RUNTIME 2
#ifdef USE_THNEED
#include "thneed/thneed.h"
#include "selfdrive/modeld/thneed/thneed.h"
#endif
class SNPEModel : public RunModel {
@ -63,6 +62,3 @@ private:
float *desire;
std::unique_ptr<zdl::DlSystem::IUserBuffer> desireBuffer;
};
#endif

1
selfdrive/modeld/runners/thneedmodel.cc
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@ -1,4 +1,5 @@
#include "thneedmodel.h"
#include <assert.h>
ThneedModel::ThneedModel(const char *path, float *loutput, size_t loutput_size, int runtime) {

4
selfdrive/modeld/runners/thneedmodel.h
Unescape View File

@ -1,7 +1,7 @@
#pragma once
#include "runmodel.h"
#include "thneed/thneed.h"
#include "selfdrive/modeld/runners/runmodel.h"
#include "selfdrive/modeld/thneed/thneed.h"
class ThneedModel : public RunModel {
public:

5
selfdrive/modeld/thneed/compile.cc
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@ -1,6 +1,7 @@
#include <string.h>
#include "thneed.h"
#include "../runners/snpemodel.h"
#include "selfdrive/modeld/runners/snpemodel.h"
#include "selfdrive/modeld/thneed/thneed.h"
#define TEMPORAL_SIZE 512
#define DESIRE_LEN 8

6
selfdrive/modeld/thneed/serialize.cc
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@ -1,7 +1,9 @@
#include <set>
#include <assert.h>
#include "thneed.h"
#include <set>
#include "json11.hpp"
#include "selfdrive/modeld/thneed/thneed.h"
using namespace json11;
extern map<cl_program, string> g_program_source;

17
selfdrive/modeld/thneed/thneed.cc
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@ -1,13 +1,16 @@
#include <cassert>
#include <sys/mman.h>
#include "selfdrive/modeld/thneed/thneed.h"
#include <dlfcn.h>
#include <errno.h>
#include <string.h>
#include <sys/mman.h>
#include <cassert>
#include <map>
#include <string>
#include <string.h>
#include <errno.h>
#include "common/timing.h"
#include "common/clutil.h"
#include "thneed.h"
#include "selfdrive/common/clutil.h"
#include "selfdrive/common/timing.h"
//#define RUN_DISASSEMBLER
//#define RUN_OPTIMIZER

12
selfdrive/modeld/thneed/thneed.h
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@ -1,16 +1,18 @@
#pragma once
#ifndef __user
#define __user __attribute__(())
#define __user __attribute__(())
#endif
#include <stdlib.h>
#include <CL/cl.h>
#include <stdint.h>
#include "include/msm_kgsl.h"
#include <vector>
#include <stdlib.h>
#include <memory>
#include <string>
#include <CL/cl.h>
#include <vector>
#include "selfdrive/modeld/thneed/include/msm_kgsl.h"
#define THNEED_RECORD 1
#define THNEED_DEBUG 2

5
selfdrive/modeld/transforms/loadyuv.cc
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@ -1,7 +1,8 @@
#include <string.h>
#include <assert.h>
#include "loadyuv.h"
#include <assert.h>
#include <string.h>
void loadyuv_init(LoadYUVState* s, cl_context ctx, cl_device_id device_id, int width, int height) {
memset(s, 0, sizeof(*s));

3
selfdrive/modeld/transforms/loadyuv.h
Unescape View File

@ -2,7 +2,8 @@
#include <inttypes.h>
#include <stdbool.h>
#include "clutil.h"
#include "selfdrive/common/clutil.h"
typedef struct {
int width, height;

8
selfdrive/modeld/transforms/transform.cc
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@ -1,9 +1,9 @@
#include <string.h>
#include <assert.h>
#include "transform.h"
#include "clutil.h"
#include <assert.h>
#include <string.h>
#include "transform.h"
#include "selfdrive/common/clutil.h"
void transform_init(Transform* s, cl_context ctx, cl_device_id device_id) {
memset(s, 0, sizeof(*s));

2
selfdrive/modeld/transforms/transform.h
Unescape View File

@ -10,7 +10,7 @@
#include <CL/cl.h>
#endif
#include "common/mat.h"
#include "selfdrive/common/mat.h"
typedef struct {
cl_kernel krnl;

4
selfdrive/modeld/visiontest.c
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@ -9,8 +9,8 @@
#include <CL/cl.h>
#endif
#include "clutil.h"
#include "transforms/transform.h"
#include "selfdrive/common/clutil.h"
#include "selfdrive/modeld/transforms/transform.h"
typedef struct {
int disable_model;

22
selfdrive/proclogd/proclogd.cc
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@ -1,24 +1,22 @@
#include <unistd.h>
#include <dirent.h>
#include <sys/time.h>
#include <sys/resource.h>
#include <sys/time.h>
#include <algorithm>
#include <cassert>
#include <climits>
#include <cstdio>
#include <cstdlib>
#include <climits>
#include <cassert>
#include <memory>
#include <utility>
#include <sstream>
#include <fstream>
#include <algorithm>
#include <functional>
#include <memory>
#include <sstream>
#include <unordered_map>
#include <utility>
#include "messaging.h"
#include "common/timing.h"
#include "common/util.h"
#include "cereal/messaging/messaging.h"
#include "selfdrive/common/timing.h"
#include "selfdrive/common/util.h"
ExitHandler do_exit;

5
selfdrive/sensord/libdiag.h
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@ -1,5 +1,4 @@
#ifndef LIBDIAG_H
#define LIBDIAG_H
#pragma once
#include <stdint.h>
#include <stdbool.h>
@ -36,5 +35,3 @@ int diag_send_dci_async_req(int client_id, unsigned char buf[], int bytes, unsig
#ifdef __cplusplus
}
#endif
#endif

8
selfdrive/sensord/sensors/bmx055_accel.cc
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@ -1,9 +1,9 @@
#include <cassert>
#include "common/swaglog.h"
#include "common/timing.h"
#include "bmx055_accel.h"
#include <cassert>
#include "selfdrive/common/swaglog.h"
#include "selfdrive/common/timing.h"
BMX055_Accel::BMX055_Accel(I2CBus *bus) : I2CSensor(bus) {}

2
selfdrive/sensord/sensors/bmx055_accel.h
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@ -1,6 +1,6 @@
#pragma once
#include "sensors/i2c_sensor.h"
#include "selfdrive/sensord/sensors/i2c_sensor.h"
// Address of the chip on the bus
#define BMX055_ACCEL_I2C_ADDR 0x18

5
selfdrive/sensord/sensors/bmx055_gyro.cc
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@ -1,8 +1,9 @@
#include "bmx055_gyro.h"
#include <cassert>
#include <cmath>
#include "common/swaglog.h"
#include "bmx055_gyro.h"
#include "selfdrive/common/swaglog.h"
#define DEG2RAD(x) ((x) * M_PI / 180.0)

2
selfdrive/sensord/sensors/bmx055_gyro.h
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@ -1,6 +1,6 @@
#pragma once
#include "sensors/i2c_sensor.h"
#include "selfdrive/sensord/sensors/i2c_sensor.h"
// Address of the chip on the bus
#define BMX055_GYRO_I2C_ADDR 0x68

13
selfdrive/sensord/sensors/bmx055_magn.cc
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@ -1,12 +1,13 @@
#include <cassert>
#include <cstdio>
#include <algorithm>
#include "bmx055_magn.h"
#include <unistd.h>
#include "common/swaglog.h"
#include "common/util.h"
#include <algorithm>
#include <cassert>
#include <cstdio>
#include "bmx055_magn.h"
#include "selfdrive/common/swaglog.h"
#include "selfdrive/common/util.h"
static int16_t compensate_x(trim_data_t trim_data, int16_t mag_data_x, uint16_t data_rhall) {
uint16_t process_comp_x0 = data_rhall;

2
selfdrive/sensord/sensors/bmx055_magn.h
Unescape View File

@ -1,7 +1,7 @@
#pragma once
#include <tuple>
#include "sensors/i2c_sensor.h"
#include "selfdrive/sensord/sensors/i2c_sensor.h"
// Address of the chip on the bus
#define BMX055_MAGN_I2C_ADDR 0x10

10
selfdrive/sensord/sensors/bmx055_temp.cc
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@ -1,10 +1,10 @@
#include <cassert>
#include "common/swaglog.h"
#include "common/timing.h"
#include "bmx055_temp.h"
#include "bmx055_accel.h"
#include <cassert>
#include "selfdrive/sensord/sensors/bmx055_accel.h"
#include "selfdrive/common/swaglog.h"
#include "selfdrive/common/timing.h"
BMX055_Temp::BMX055_Temp(I2CBus *bus) : I2CSensor(bus) {}

5
selfdrive/sensord/sensors/bmx055_temp.h
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@ -1,8 +1,7 @@
#pragma once
#include "sensors/i2c_sensor.h"
#include "sensors/bmx055_accel.h"
#include "selfdrive/sensord/sensors/bmx055_accel.h"
#include "selfdrive/sensord/sensors/i2c_sensor.h"
class BMX055_Temp : public I2CSensor {
uint8_t get_device_address() {return BMX055_ACCEL_I2C_ADDR;}

4
selfdrive/sensord/sensors/file_sensor.cc
Unescape View File

@ -1,8 +1,8 @@
#include "file_sensor.h"
#include <iostream>
#include <string>
#include "file_sensor.h"
FileSensor::FileSensor(std::string filename) : file(filename) {
}

3
selfdrive/sensord/sensors/file_sensor.h
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@ -4,8 +4,7 @@
#include <string>
#include "cereal/gen/cpp/log.capnp.h"
#include "sensors/sensor.h"
#include "selfdrive/sensord/sensors/sensor.h"
class FileSensor : public Sensor {
protected:

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