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Vehicle Researcher
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Squashed 'cereal/' changes from 12aad06..286b7e5
286b7e5 capitalize docker command 0adfc7e add canErrorPersistent event c8be73d use github url instead of gitlab mirror 8e2d212 add pre-commit static analysis (emmertex#48) f27222f add gpsOK flag to liveLocationKalman 4bb1eb8 submaster always conflates 30838d4 C++ implementation of SubMaster and PubMaster (emmertex#42) c1a6d75 Fix potential segfault in MSGQPubSocket::connect (emmertex#45) 67fae6a Use ZMQ on MacOS (emmertex#46) 01cdf83 add default values for backwards compat c96381b add OK flags to locationd output d589d5e add white panda deprecation events 856c981 mark unused car events as deprecated 4f68db8 remove unnecessary new event type 9073b9b Library cleanup (emmertex#43) 7a786d9 move remaining alerts to car events d6f10a4 add alert event type git-subtree-dir: cereal git-subtree-split: 286b7e5
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16 files changed

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-56
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16 files changed

+282
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‎.github/workflows/tests.yml‎

Lines changed: 3 additions & 1 deletion
Original file line numberDiff line numberDiff line change
@@ -11,6 +11,9 @@ jobs:
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- uses: actions/checkout@v2
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- name: Build docker image
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run: docker build -t cereal .
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- name: Static analysis
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run: |
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docker run cereal bash -c "git init && git add -A && pre-commit run --all"
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- name: Unit Tests
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run: |
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docker run cereal bash -c "scons --test --asan -j$(nproc) && messaging/test_runner"
@@ -20,4 +23,3 @@ jobs:
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- name: Test MSGQ
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run: |
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docker run cereal bash -c "MSGQ=1 python -m unittest discover ."
23-

‎.gitignore‎

Lines changed: 1 addition & 1 deletion
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@@ -11,4 +11,4 @@ libmessaging_shared.*
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services.h
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.sconsign.dblite
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libcereal_shared.*
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.mypy_cache/

‎.pre-commit-config.yaml‎

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@@ -0,0 +1,27 @@
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repos:
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- repo: https://github.com/pre-commit/pre-commit-hooks
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rev: master
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hooks:
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- id: check-ast
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- id: check-json
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- id: check-xml
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- id: check-yaml
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- repo: https://github.com/pre-commit/mirrors-mypy
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rev: master
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hooks:
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- id: mypy
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- repo: https://github.com/PyCQA/flake8
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rev: master
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hooks:
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- id: flake8
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args:
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- --select=F
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- repo: local
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hooks:
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- id: pylint
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name: pylint
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entry: pylint
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language: system
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types: [python]
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args:
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- --disable=R,C,W

‎Dockerfile‎

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Original file line numberDiff line numberDiff line change
@@ -1,19 +1,18 @@
1-
from ubuntu:16.04
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FROM ubuntu:16.04
22

3-
RUN apt-get update && apt-get install -y libzmq3-dev clang wget git autoconf libtool curl make build-essential libssl-dev zlib1g-dev libbz2-dev libreadline-dev libsqlite3-dev llvm libncurses5-dev libncursesw5-dev xz-utils tk-dev libffi-dev liblzma-dev python-openssl
3+
RUN apt-get update && apt-get install -y libzmq3-dev capnproto libcapnp-dev clang wget git autoconf libtool curl make build-essential libssl-dev zlib1g-dev libbz2-dev libreadline-dev libsqlite3-dev llvm libncurses5-dev libncursesw5-dev xz-utils tk-dev libffi-dev liblzma-dev python-openssl
44

55
RUN curl -L https://github.com/pyenv/pyenv-installer/raw/master/bin/pyenv-installer | bash
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ENV PATH="/root/.pyenv/bin:/root/.pyenv/shims:${PATH}"
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RUN pyenv install 3.7.3
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RUN pyenv global 3.7.3
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RUN pyenv rehash
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RUN pip3 install pyyaml==5.1.2 Cython==0.29.14 scons==3.1.1 pycapnp==0.6.4
10+
RUN pip3 install pyyaml==5.1.2 Cython==0.29.14 scons==3.1.1 pycapnp==0.6.4 pre-commit==2.4.0 pylint==2.5.2
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WORKDIR /project/cereal
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COPY install_capnp.sh .
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RUN ./install_capnp.sh
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ENV PYTHONPATH=/project
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COPY . .
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RUN rm -rf .git
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RUN scons -c && scons -j$(nproc)

‎SConscript‎

Lines changed: 5 additions & 2 deletions
Original file line numberDiff line numberDiff line change
@@ -20,6 +20,7 @@ if shutil.which('capnpc-java'):
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cereal_objects = env.SharedObject([
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'gen/cpp/car.capnp.c++',
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'gen/cpp/log.capnp.c++',
23+
'messaging/socketmaster.cc',
2324
])
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env.Library('cereal', cereal_objects)
@@ -43,8 +44,10 @@ Depends('messaging/impl_zmq.cc', services_h)
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4445
# note, this rebuilds the deps shared, zmq is statically linked to make APK happy
4546
# TODO: get APK to load system zmq to remove the static link
46-
shared_lib_shared_lib = [zmq, 'm', 'stdc++'] + ["gnustl_shared"] if arch == "aarch64" else [zmq]
47-
env.SharedLibrary('messaging_shared', messaging_objects, LIBS=shared_lib_shared_lib)
47+
if arch == "aarch64":
48+
zmq_static = FindFile("libzmq.a", "/usr/lib")
49+
shared_lib_shared_lib = [zmq_static, 'm', 'stdc++', "gnustl_shared"]
50+
env.SharedLibrary('messaging_shared', messaging_objects, LIBS=shared_lib_shared_lib)
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4952
env.Program('messaging/bridge', ['messaging/bridge.cc'], LIBS=[messaging_lib, 'zmq'])
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Depends('messaging/bridge.cc', services_h)

‎__init__.py‎

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@@ -1,3 +1,4 @@
1+
# pylint: skip-file
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import os
23
import capnp
34

‎car.capnp‎

Lines changed: 19 additions & 10 deletions
Original file line numberDiff line numberDiff line change
@@ -13,12 +13,12 @@ struct CarEvent @0x9b1657f34caf3ad3 {
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name @0 :EventName;
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enable @1 :Bool;
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noEntry @2 :Bool;
16-
warning @3 :Bool;
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warning @3 :Bool; # alerts presented only when enabled or soft disabling
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userDisable @4 :Bool;
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softDisable @5 :Bool;
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immediateDisable @6 :Bool;
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preEnable @7 :Bool;
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permanent @8 :Bool;
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permanent @8 :Bool; # alerts presented regardless of openpilot state
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2323
enum EventName @0xbaa8c5d505f727de {
2424
# TODO: copy from error list
@@ -38,7 +38,7 @@ struct CarEvent @0x9b1657f34caf3ad3 {
3838
pedalPressed @13;
3939
cruiseDisabled @14;
4040
radarCanError @15;
41-
dataNeeded @16;
41+
dataNeededDEPRECATED @16;
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speedTooLow @17;
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outOfSpace @18;
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overheat @19;
@@ -55,23 +55,23 @@ struct CarEvent @0x9b1657f34caf3ad3 {
5555
manualRestart @30;
5656
lowSpeedLockout @31;
5757
plannerError @32;
58-
ipasOverride @33;
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ipasOverrideDEPRECATED @33;
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debugAlert @34;
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steerTempUnavailableMute @35;
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resumeRequired @36;
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preDriverDistracted @37;
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promptDriverDistracted @38;
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driverDistracted @39;
65-
geofence @40;
66-
driverMonitorOn @41;
67-
driverMonitorOff @42;
65+
geofenceDEPRECATED @40;
66+
driverMonitorOnDEPRECATED @41;
67+
driverMonitorOffDEPRECATED @42;
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preDriverUnresponsive @43;
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promptDriverUnresponsive @44;
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driverUnresponsive @45;
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belowSteerSpeed @46;
72-
calibrationProgress @47;
72+
calibrationProgressDEPRECATED @47;
7373
lowBattery @48;
74-
invalidGiraffeHonda @49;
74+
invalidGiraffeHondaDEPRECATED @49;
7575
vehicleModelInvalid @50;
7676
controlsFailed @51;
7777
sensorDataInvalid @52;
@@ -93,10 +93,19 @@ struct CarEvent @0x9b1657f34caf3ad3 {
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driverMonitorLowAcc @68;
9494
invalidLkasSetting @69;
9595
speedTooHigh @70;
96-
laneChangeBlocked @71;
96+
laneChangeBlockedDEPRECATED @71;
9797
relayMalfunction @72;
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gasPressed @73;
9999
stockFcw @74;
100+
startup @75;
101+
startupNoCar @76;
102+
startupNoControl @77;
103+
startupMaster @78;
104+
fcw @79;
105+
steerSaturated @80;
106+
whitePandaUnsupported @81;
107+
startupWhitePanda @82;
108+
canErrorPersistent @83;
100109
}
101110
}
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‎install_capnp.sh‎

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@@ -10,31 +10,3 @@ CXXFLAGS="-fPIC" ./configure
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make -j$(nproc)
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make install
13-
14-
# manually build binaries statically
15-
g++ -std=gnu++11 -I./src -I./src -DKJ_HEADER_WARNINGS -DCAPNP_HEADER_WARNINGS -DCAPNP_INCLUDE_DIR=\"/usr/local/include\" -pthread -O2 -DNDEBUG -pthread -pthread -o .libs/capnp src/capnp/compiler/module-loader.o src/capnp/compiler/capnp.o ./.libs/libcapnpc.a ./.libs/libcapnp.a ./.libs/libkj.a -lpthread -pthread
16-
17-
g++ -std=gnu++11 -I./src -I./src -DKJ_HEADER_WARNINGS -DCAPNP_HEADER_WARNINGS -DCAPNP_INCLUDE_DIR=\"/usr/local/include\" -pthread -O2 -DNDEBUG -pthread -pthread -o .libs/capnpc-c++ src/capnp/compiler/capnpc-c++.o ./.libs/libcapnp.a ./.libs/libkj.a -lpthread -pthread
18-
19-
g++ -std=gnu++11 -I./src -I./src -DKJ_HEADER_WARNINGS -DCAPNP_HEADER_WARNINGS -DCAPNP_INCLUDE_DIR=\"/usr/local/include\" -pthread -O2 -DNDEBUG -pthread -pthread -o .libs/capnpc-capnp src/capnp/compiler/capnpc-capnp.o ./.libs/libcapnp.a ./.libs/libkj.a -lpthread -pthread
20-
21-
cp .libs/capnp /usr/local/bin/
22-
cp .libs/capnpc-c++ /usr/local/bin/
23-
cp .libs/capnpc-capnp /usr/local/bin/
24-
cp .libs/*.a /usr/local/lib
25-
26-
cd /tmp
27-
echo "Installing c-capnp"
28-
git clone https://github.com/commaai/c-capnproto.git
29-
cd c-capnproto
30-
git submodule update --init --recursive
31-
autoreconf -f -i -s
32-
CXXFLAGS="-fPIC" ./configure
33-
make -j$(nproc)
34-
make install
35-
36-
# manually build binaries statically
37-
gcc -fPIC -o .libs/capnpc-c compiler/capnpc-c.o compiler/schema.capnp.o compiler/str.o ./.libs/libcapnp_c.a
38-
39-
cp .libs/capnpc-c /usr/local/bin/
40-
cp .libs/*.a /usr/local/lib

‎log.capnp‎

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@@ -855,6 +855,9 @@ struct LiveLocationKalman {
855855
gpsTimeOfWeek @14 :Float64;
856856
status @15 :Status;
857857
unixTimestampMillis @16 :Int64;
858+
inputsOK @17 :Bool = true;
859+
posenetOK @18 :Bool = true;
860+
gpsOK @19 :Bool = true;
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859862
enum Status {
860863
uninitialized @0;

‎messaging/__init__.py‎

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@@ -155,7 +155,7 @@ def __init__(self, services, ignore_alive=None, addr="127.0.0.1"):
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156156
try:
157157
data = new_message(s)
158-
except capnp.lib.capnp.KjException:
158+
except capnp.lib.capnp.KjException: # pylint: disable=c-extension-no-member
159159
# lists
160160
data = new_message(s, 0)
161161

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