openpilot is an open source driver assistance system. openpilot performs the functions of Automated Lane Centering and Adaptive Cruise Control for over 200 supported car makes and models.
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#!/usr/bin/env python3
import os
import yaml
class Service():
def __init__(self, port, should_log, frequency, decimation=None):
self.port = port
self.should_log = should_log
self.frequency = frequency
self.decimation = decimation
service_list_path = os.path.join(os.path.dirname(__file__), "service_list.yaml")
service_list = {}
with open(service_list_path, "r") as f:
for k, v in yaml.safe_load(f).items():
decimation = None
if len(v) == 4:
decimation = v[3]
service_list[k] = Service(v[0], v[1], v[2], decimation)
if __name__ == "__main__":
print("/* THIS IS AN AUTOGENERATED FILE, PLEASE EDIT service_list.yaml */")
print("#ifndef __SERVICES_H")
print("#define __SERVICES_H")
print("struct service { int port; bool should_log; int frequency; int decimation; char name[0x100]; };")
print("static struct service services[] = {")
for k, v in service_list.items():
print(' { .name = "%s", .port = %d, .should_log = %s, .frequency = %d, .decimation = %d },' % (k, v.port, "true" if v.should_log else "false", v.frequency, -1 if v.decimation is None else v.decimation))
print("};")
print("#endif")