openpilot

opendbc

class CANPacker

Public Functions

CANPacker(const std::string &dbc_name)

std::vector<uint8_t> pack(uint32_t address, const std::vector<SignalPackValue> &values)

Msg *lookup_message(uint32_t address)

Private Members

const DBC *dbc = NULL

std::map<std::pair<uint32_t, std::string>, Signal> signal_lookup

std::map<uint32_t, Msg> message_lookup

std::map<uint32_t, uint32_t> counters

class CANParser

Public Functions

CANParser(int abus, const std::string &dbc_name, const std::vector<MessageParseOptions> &options, const std::vector<SignalParseOptions> &sigoptions)

CANParser(int abus, const std::string &dbc_name, bool ignore_checksum, bool ignore_counter)

void update_string(const std::string &data, bool sendcan)

void UpdateCans(uint64_t sec, const capnp::List<cereal::CanData>::Reader &cans)

void UpdateCans(uint64_t sec, const capnp::DynamicStruct::Reader &cans)

void UpdateValid(uint64_t sec)

std::vector<SignalValue> query_latest()

Public Members

bool can_valid = false

bool bus_timeout = false

uint64_t first_sec = 0

uint64_t last_sec = 0

uint64_t last_nonempty_sec = 0

uint64_t bus_timeout_threshold = 0

uint64_t can_invalid_cnt = CAN_INVALID_CNT

Private Members

const int bus

kj::Array<capnp::word> aligned_buf

const DBC *dbc = NULL

std::unordered_map<uint32_t, MessageState> message_states

class MessageState

Public Functions

bool parse(uint64_t sec, const std::vector<uint8_t> &dat)

bool update_counter_generic(int64_t v, int cnt_size)

Public Members

uint32_t address

unsigned int size

std::vector<Signal> parse_sigs

std::vector<double> vals

std::vector<std::vector<double>> all_vals

uint64_t last_seen_nanos

uint64_t check_threshold

uint8_t counter

uint8_t counter_fail

bool ignore_checksum = false

bool ignore_counter = false

file common.h

#include <map>

#include <string>

#include <utility>

#include <unordered_map>

#include <vector>

#include <capnp/dynamic.h>

#include <capnp/serialize.h>

#include “cereal/gen/cpp/log.capnp.h”

#include “opendbc/can/common_dbc.h”

Defines

INFO

WARN

DEBUG(...)

MAX_BAD_COUNTER

CAN_INVALID_CNT

Functions

void init_crc_lookup_tables()

unsigned int honda_checksum(uint32_t address, const Signal &sig, const std::vector<uint8_t> &d)

unsigned int toyota_checksum(uint32_t address, const Signal &sig, const std::vector<uint8_t> &d)

unsigned int subaru_checksum(uint32_t address, const Signal &sig, const std::vector<uint8_t> &d)

unsigned int chrysler_checksum(uint32_t address, const Signal &sig, const std::vector<uint8_t> &d)

unsigned int volkswagen_mqb_checksum(uint32_t address, const Signal &sig, const std::vector<uint8_t> &d)

unsigned int xor_checksum(uint32_t address, const Signal &sig, const std::vector<uint8_t> &d)

unsigned int hkg_can_fd_checksum(uint32_t address, const Signal &sig, const std::vector<uint8_t> &d)

unsigned int pedal_checksum(uint32_t address, const Signal &sig, const std::vector<uint8_t> &d)

dir /home/batman/openpilot/opendbc/can

dir /home/batman/openpilot/opendbc

cereal

messaging

class AlignedBuffer

Public Functions

kj::ArrayPtr<const capnp::word> align(const char *data, const size_t size)

kj::ArrayPtr<const capnp::word> align(Message *m)

Private Members

kj::Array<capnp::word> aligned_buf

size_t words_size

class Context

Subclassed by MSGQContext, ZMQContext

Public Functions

virtual void *getRawContext() = 0

virtual ~Context()

Public Static Functions

static Context *create()

class Message

Subclassed by MSGQMessage, ZMQMessage

Public Functions

virtual void init(size_t size) = 0

virtual void init(char *data, size_t size) = 0

virtual void close() = 0

virtual size_t getSize() = 0

virtual char *getData() = 0

virtual ~Message()

class MessageBuilder : public MallocMessageBuilder

Public Functions

MessageBuilder()

cereal::Event::Builder initEvent(bool valid = true)

kj::ArrayPtr<capnp::byte> toBytes()

Private Members

kj::Array<capnp::word> heapArray_

struct msgq_header_t

Public Members

uint64_t num_readers

uint64_t write_pointer

uint64_t write_uid

uint64_t read_pointers[NUM_READERS]

uint64_t read_valids[NUM_READERS]

uint64_t read_uids[NUM_READERS]

struct msgq_msg_t

Public Members

size_t size

char *data

struct msgq_pollitem_t

Public Members

msgq_queue_t *q

int revents

struct msgq_queue_t

Public Members

std::atomic<uint64_t> *num_readers

std::atomic<uint64_t> *write_pointer

std::atomic<uint64_t> *write_uid

std::atomic<uint64_t> *read_pointers[NUM_READERS]

std::atomic<uint64_t> *read_valids[NUM_READERS]

std::atomic<uint64_t> *read_uids[NUM_READERS]

char *mmap_p

char *data

size_t size

int reader_id

uint64_t read_uid_local

uint64_t write_uid_local

bool read_conflate

std::string endpoint

class MSGQContext : public Context

Public Functions

MSGQContext()

void *getRawContext()

~MSGQContext()

Private Members

void *context = NULL

class MSGQMessage : public Message

Public Functions

void init(size_t size)

void init(char *data, size_t size)

void takeOwnership(char *data, size_t size)

size_t getSize()

char *getData()

void close()

~MSGQMessage()

Private Members

char *data

size_t size

class MSGQPoller : public Poller

Public Functions

void registerSocket(SubSocket *socket)

std::vector<SubSocket*> poll(int timeout)

~MSGQPoller()

Private Members

std::vector<SubSocket*> sockets

msgq_pollitem_t polls[MAX_POLLERS]

size_t num_polls = 0

class MSGQPubSocket : public PubSocket

Public Functions

int connect(Context *context, std::string endpoint, bool check_endpoint = true)

int sendMessage(Message *message)

int send(char *data, size_t size)

bool all_readers_updated()

~MSGQPubSocket()

Private Members

msgq_queue_t *q = NULL

class MSGQSubSocket : public SubSocket

Public Functions

int connect(Context *context, std::string endpoint, std::string address, bool conflate = false, bool check_endpoint = true)

void setTimeout(int timeout)

void *getRawSocket()

Message *receive(bool non_blocking = false)

~MSGQSubSocket()

Private Members

msgq_queue_t *q = NULL

int timeout

class Poller

Subclassed by MSGQPoller, ZMQPoller

Public Functions

virtual void registerSocket(SubSocket *socket) = 0

virtual std::vector<SubSocket*> poll(int timeout) = 0

virtual ~Poller()

Public Static Functions

static Poller *create()

static Poller *create(std::vector<SubSocket*> sockets)

class PubMaster

Public Functions

PubMaster(const std::vector<const char*> &service_list)

int send(const char *name, capnp::byte *data, size_t size)

int send(const char *name, MessageBuilder &msg)

~PubMaster()

Private Members

std::map<std::string, PubSocket*> sockets_

class PubSocket

Subclassed by MSGQPubSocket, ZMQPubSocket

Public Functions

virtual int connect(Context *context, std::string endpoint, bool check_endpoint = true) = 0

virtual int sendMessage(Message *message) = 0

virtual int send(char *data, size_t size) = 0

virtual bool all_readers_updated() = 0

virtual ~PubSocket()

Public Static Functions

static PubSocket *create()

static PubSocket *create(Context *context, std::string endpoint, bool check_endpoint = true)

static PubSocket *create(Context *context, std::string endpoint, int port, bool check_endpoint = true)

class SubMaster

Public Functions

SubMaster(const std::vector<const char*> &service_list, const std::vector<const char*> &poll = {}, const char *address = nullptr, const std::vector<const char*> &ignore_alive = {})

void update(int timeout = 1000)

void update_msgs(uint64_t current_time, const std::vector<std::pair<std::string, cereal::Event::Reader>> &messages)

bool allAlive(const std::vector<const char*> &service_list = {})

bool allValid(const std::vector<const char*> &service_list = {})

bool allAliveAndValid(const std::vector<const char*> &service_list = {})

void drain()

~SubMaster()

bool updated(const char *name) const

bool alive(const char *name) const

bool valid(const char *name) const

uint64_t rcv_frame(const char *name) const

uint64_t rcv_time(const char *name) const

cereal::Event::Reader &operator[](const char *name) const

Public Members

uint64_t frame = 0

Private Functions

bool all_(const std::vector<const char*> &service_list, bool valid, bool alive)

Private Members

Poller *poller_ = nullptr

std::map<SubSocket*, SubMessage*> messages_

std::map<std::string, SubMessage*> services_

class SubSocket

Subclassed by MSGQSubSocket, ZMQSubSocket

Public Functions

virtual int connect(Context *context, std::string endpoint, std::string address, bool conflate = false, bool check_endpoint = true) = 0

virtual void setTimeout(int timeout) = 0

virtual Message *receive(bool non_blocking = false) = 0

virtual void *getRawSocket() = 0

virtual ~SubSocket()

Public Static Functions

static SubSocket *create()

static SubSocket *create(Context *context, std::string endpoint, std::string address = "127.0.0.1", bool conflate = false, bool check_endpoint = true)

class ZMQContext : public Context

Public Functions

ZMQContext()

void *getRawContext()

~ZMQContext()

Private Members

void *context = NULL

class ZMQMessage : public Message

Public Functions

void init(size_t size)

void init(char *data, size_t size)

size_t getSize()

char *getData()

void close()

~ZMQMessage()

Private Members

char *data

size_t size

class ZMQPoller : public Poller

Public Functions

void registerSocket(SubSocket *socket)

std::vector<SubSocket*> poll(int timeout)

~ZMQPoller()

Private Members

std::vector<SubSocket*> sockets

zmq_pollitem_t polls[MAX_POLLERS]

size_t num_polls = 0

class ZMQPubSocket : public PubSocket

Public Functions

int connect(Context *context, std::string endpoint, bool check_endpoint = true)

int sendMessage(Message *message)

int send(char *data, size_t size)

bool all_readers_updated()

~ZMQPubSocket()

Private Members

void *sock

std::string full_endpoint

class ZMQSubSocket : public SubSocket

Public Functions

int connect(Context *context, std::string endpoint, std::string address, bool conflate = false, bool check_endpoint = true)

void setTimeout(int timeout)

void *getRawSocket()

Message *receive(bool non_blocking = false)

~ZMQSubSocket()

Private Members

void *sock

std::string full_endpoint

file impl_msgq.h

#include <string>

#include <vector>

#include “cereal/messaging/messaging.h”

#include “cereal/messaging/msgq.h”

Defines

MAX_POLLERS

file impl_zmq.h

#include <zmq.h>

#include <string>

#include <vector>

#include “cereal/messaging/messaging.h”

Defines

MAX_POLLERS

file messaging.h

#include <cstddef>

#include <map>

#include <string>

#include <vector>

#include <utility>

#include <time.h>

#include <capnp/serialize.h>

#include “cereal/gen/cpp/log.capnp.h”

Defines

MSG_MULTIPLE_PUBLISHERS

Functions

bool messaging_use_zmq()

file msgq.h

#include <cstdint>

#include <cstring>

#include <string>

#include <atomic>

Defines

DEFAULT_SEGMENT_SIZE

NUM_READERS

ALIGN(n)

UNUSED(x)

UNPACK64(higher, lower, input)

PACK64(output, higher, lower)

Functions

void msgq_wait_for_subscriber(msgq_queue_t *q)

void msgq_reset_reader(msgq_queue_t *q)

int msgq_msg_init_size(msgq_msg_t *msg, size_t size)

int msgq_msg_init_data(msgq_msg_t *msg, char *data, size_t size)

int msgq_msg_close(msgq_msg_t *msg)

int msgq_new_queue(msgq_queue_t *q, const char *path, size_t size)

void msgq_close_queue(msgq_queue_t *q)

void msgq_init_publisher(msgq_queue_t *q)

void msgq_init_subscriber(msgq_queue_t *q)

int msgq_msg_send(msgq_msg_t *msg, msgq_queue_t *q)

int msgq_msg_recv(msgq_msg_t *msg, msgq_queue_t *q)

int msgq_msg_ready(msgq_queue_t *q)

int msgq_poll(msgq_pollitem_t *items, size_t nitems, int timeout)

bool msgq_all_readers_updated(msgq_queue_t *q)

dir /home/batman/openpilot/cereal

dir /home/batman/openpilot/cereal/messaging

visionipc

class VisionBuf

Public Functions

void allocate(size_t len)

void import()

void init_cl(cl_device_id device_id, cl_context ctx)

void init_rgb(size_t width, size_t height, size_t stride)

void init_yuv(size_t width, size_t height, size_t stride, size_t uv_offset)

int sync(int dir)

int free()

void set_frame_id(uint64_t id)

uint64_t get_frame_id()

Public Members

size_t len = 0

size_t mmap_len = 0

void *addr = nullptr

uint64_t *frame_id

int fd = 0

bool rgb = false

size_t width = 0

size_t height = 0

size_t stride = 0

size_t uv_offset = 0

uint8_t *y = nullptr

uint8_t *uv = nullptr

uint64_t server_id = 0

size_t idx = 0

VisionStreamType type

cl_mem buf_cl = nullptr

cl_command_queue copy_q = nullptr

int handle = 0

class VisionIpcClient

Public Functions

VisionIpcClient(std::string name, VisionStreamType type, bool conflate, cl_device_id device_id = nullptr, cl_context ctx = nullptr)

~VisionIpcClient()

VisionBuf *recv(VisionIpcBufExtra *extra = nullptr, const int timeout_ms = 100)

bool connect(bool blocking = true)

bool is_connected()

Public Members

bool connected = false

VisionStreamType type

int num_buffers = 0

VisionBuf buffers[VISIONIPC_MAX_FDS]

Public Static Functions

static std::set<VisionStreamType> getAvailableStreams(const std::string &name, bool blocking = true)

Private Functions

void init_msgq(bool conflate)

Private Members

std::string name

Context *msg_ctx

SubSocket *sock

Poller *poller

cl_device_id device_id = nullptr

cl_context ctx = nullptr

class VisionIpcServer

Public Functions

VisionIpcServer(std::string name, cl_device_id device_id = nullptr, cl_context ctx = nullptr)

~VisionIpcServer()

VisionBuf *get_buffer(VisionStreamType type)

void create_buffers(VisionStreamType type, size_t num_buffers, bool rgb, size_t width, size_t height)

void create_buffers_with_sizes(VisionStreamType type, size_t num_buffers, bool rgb, size_t width, size_t height, size_t size, size_t stride, size_t uv_offset)

void send(VisionBuf *buf, VisionIpcBufExtra *extra, bool sync = true)

void start_listener()

Private Functions

void listener(void)

Private Members

cl_device_id device_id = nullptr

cl_context ctx = nullptr

uint64_t server_id

std::atomic<bool> should_exit = false

std::string name

std::thread listener_thread

std::map<VisionStreamType, std::atomic<size_t>> cur_idx

std::map<VisionStreamType, std::vector<VisionBuf*>> buffers

std::map<VisionStreamType, std::map<VisionBuf*, size_t>> idxs

Context *msg_ctx

std::map<VisionStreamType, PubSocket*> sockets

file ipc.h

#include <cstddef>

Functions

int ipc_connect(const char *socket_path)

int ipc_bind(const char *socket_path)

int ipc_sendrecv_with_fds(bool send, int fd, void *buf, size_t buf_size, int *fds, int num_fds, int *out_num_fds)

file visionbuf.h

#include “cereal/visionipc/visionipc.h”

#include <CL/cl.h>

Defines

CL_USE_DEPRECATED_OPENCL_1_2_APIS

VISIONBUF_SYNC_FROM_DEVICE

VISIONBUF_SYNC_TO_DEVICE

Enums

enum VisionStreamType

Values:

enumerator VISION_STREAM_ROAD

enumerator VISION_STREAM_DRIVER

enumerator VISION_STREAM_WIDE_ROAD

enumerator VISION_STREAM_MAP

enumerator VISION_STREAM_MAX

Functions

void visionbuf_compute_aligned_width_and_height(int width, int height, int *aligned_w, int *aligned_h)

file visionipc_client.h

#include <set>

#include <string>

#include <vector>

#include <unistd.h>

#include “cereal/messaging/messaging.h”

#include “cereal/visionipc/visionipc.h”

#include “cereal/visionipc/visionbuf.h”

file visionipc_server.h

#include <vector>

#include <string>

#include <thread>

#include <atomic>

#include <map>

#include “cereal/messaging/messaging.h”

#include “cereal/visionipc/visionipc.h”

#include “cereal/visionipc/visionbuf.h”

Functions

std::string get_endpoint_name(std::string name, VisionStreamType type)

dir /home/batman/openpilot/cereal

dir /home/batman/openpilot/cereal/visionipc

selfdrive

camerad

class CameraBuf

Public Functions

CameraBuf()

~CameraBuf()

void init(cl_device_id device_id, cl_context context, CameraState *s, VisionIpcServer *v, int frame_cnt, VisionStreamType yuv_type)

bool acquire()

void queue(size_t buf_idx)

Public Members

cl_command_queue q

FrameMetadata cur_frame_data

VisionBuf *cur_yuv_buf

VisionBuf *cur_camera_buf

std::unique_ptr<VisionBuf[]> camera_bufs

std::unique_ptr<FrameMetadata[]> camera_bufs_metadata

int rgb_width

int rgb_height

int rgb_stride

mat3 yuv_transform

Private Members

VisionIpcServer *vipc_server

Debayer *debayer = nullptr

VisionStreamType yuv_type

int cur_buf_idx

SafeQueue<int> safe_queue

int frame_buf_count

struct CameraInfo

Public Members

uint32_t frame_width

uint32_t frame_height

uint32_t frame_stride

uint32_t frame_offset = 0

uint32_t extra_height = 0

int registers_offset = -1

int stats_offset = -1

class CameraState

Public Functions

void handle_camera_event(void *evdat)

void update_exposure_score(float desired_ev, int exp_t, int exp_g_idx, float exp_gain)

void set_camera_exposure(float grey_frac)

void sensors_start()

void camera_open(MultiCameraState *multi_cam_state, int camera_num, bool enabled)

void camera_set_parameters()

void camera_map_bufs(MultiCameraState *s)

void camera_init(MultiCameraState *s, VisionIpcServer *v, int camera_id, unsigned int fps, cl_device_id device_id, cl_context ctx, VisionStreamType yuv_type)

void camera_close()

std::map<uint16_t, uint16_t> ar0231_parse_registers(uint8_t *data, std::initializer_list<uint16_t> addrs)

Public Members

MultiCameraState *multi_cam_state

CameraInfo ci

bool enabled

std::mutex exp_lock

int exposure_time

bool dc_gain_enabled

int dc_gain_weight

int gain_idx

float analog_gain_frac

int exposure_time_min

int exposure_time_max

float dc_gain_factor

int dc_gain_min_weight

int dc_gain_max_weight

float dc_gain_on_grey

float dc_gain_off_grey

float sensor_analog_gains[ANALOG_GAIN_MAX_CNT]

int analog_gain_min_idx

int analog_gain_max_idx

int analog_gain_rec_idx

int analog_gain_cost_delta

float analog_gain_cost_low

float analog_gain_cost_high

float cur_ev[3]

float min_ev

float max_ev

float best_ev_score

int new_exp_g

int new_exp_t

float measured_grey_fraction

float target_grey_fraction

float target_grey_factor

unique_fd sensor_fd

unique_fd csiphy_fd

int camera_num

int32_t session_handle

int32_t sensor_dev_handle

int32_t isp_dev_handle

int32_t csiphy_dev_handle

int32_t link_handle

int buf0_handle

int buf_handle[FRAME_BUF_COUNT]

int sync_objs[FRAME_BUF_COUNT]

int request_ids[FRAME_BUF_COUNT]

int request_id_last

int frame_id_last

int idx_offset

bool skipped

int camera_id

CameraBuf buf

MemoryManager mm

Private Functions

void config_isp(int io_mem_handle, int fence, int request_id, int buf0_mem_handle, int buf0_offset)

void enqueue_req_multi(int start, int n, bool dp)

void enqueue_buffer(int i, bool dp)

int clear_req_queue()

int sensors_init()

void sensors_poke(int request_id)

void sensors_i2c(struct i2c_random_wr_payload *dat, int len, int op_code, bool data_word)

std::map<uint16_t, std::pair<int, int>> ar0231_build_register_lut(uint8_t *data)

Private Members

std::map<uint16_t, std::pair<int, int>> ar0231_register_lut

struct FrameMetadata

Public Members

uint32_t frame_id

unsigned int frame_length

uint64_t timestamp_sof

uint64_t timestamp_eof

unsigned int integ_lines

bool high_conversion_gain

float gain

float measured_grey_fraction

float target_grey_fraction

unsigned int lens_pos

float lens_err

float lens_true_pos

float processing_time

class MemoryManager

Public Functions

void init(int _video0_fd)

void *alloc(int len, uint32_t *handle)

void free(void *ptr)

~MemoryManager()

Private Members

std::mutex lock

std::map<void*, uint32_t> handle_lookup

std::map<void*, int> size_lookup

std::map<int, std::queue<void*>> cached_allocations

int video0_fd

struct MultiCameraState

Public Members

unique_fd video0_fd

unique_fd cam_sync_fd

unique_fd isp_fd

int device_iommu

int cdm_iommu

CameraState road_cam

CameraState wide_road_cam

CameraState driver_cam

PubMaster *pm

file camera_common.h

#include <cstdint>

#include <cstdlib>

#include <memory>

#include <thread>

#include “cereal/messaging/messaging.h”

#include “cereal/visionipc/visionbuf.h”

#include “cereal/visionipc/visionipc.h”

#include “cereal/visionipc/visionipc_server.h”

#include “common/mat.h”

#include “common/queue.h”

#include “common/swaglog.h”

#include “system/hardware/hw.h”

Defines

CAMERA_ID_IMX298

CAMERA_ID_IMX179

CAMERA_ID_S5K3P8SP

CAMERA_ID_OV8865

CAMERA_ID_IMX298_FLIPPED

CAMERA_ID_OV10640

CAMERA_ID_LGC920

CAMERA_ID_LGC615

CAMERA_ID_AR0231

CAMERA_ID_OX03C10

CAMERA_ID_MAX

Typedefs

typedef struct CameraInfo CameraInfo

typedef struct FrameMetadata FrameMetadata

typedef void (*process_thread_cb)(MultiCameraState *s, CameraState *c, int cnt)

Enums

enum CameraType

Values:

enumerator RoadCam

enumerator DriverCam

enumerator WideRoadCam

Functions

void fill_frame_data(cereal::FrameData::Builder &framed, const FrameMetadata &frame_data, CameraState *c)

kj::Array<uint8_t> get_raw_frame_image(const CameraBuf *b)

float set_exposure_target(const CameraBuf *b, int x_start, int x_end, int x_skip, int y_start, int y_end, int y_skip)

std::thread start_process_thread(MultiCameraState *cameras, CameraState *cs, process_thread_cb callback)

void cameras_init(VisionIpcServer *v, MultiCameraState *s, cl_device_id device_id, cl_context ctx)

void cameras_open(MultiCameraState *s)

void cameras_run(MultiCameraState *s)

void cameras_close(MultiCameraState *s)

void camerad_thread()

int open_v4l_by_name_and_index(const char name[], int index = 0, int flags = O_RDWR | O_NONBLOCK)

Variables

const int YUV_BUFFER_COUNT = 40

const bool env_disable_road = getenv("DISABLE_ROAD") != NULL

const bool env_disable_wide_road = getenv("DISABLE_WIDE_ROAD") != NULL

const bool env_disable_driver = getenv("DISABLE_DRIVER") != NULL

const bool env_debug_frames = getenv("DEBUG_FRAMES") != NULL

const bool env_log_raw_frames = getenv("LOG_RAW_FRAMES") != NULL

const bool env_ctrl_exp_from_params = getenv("CTRL_EXP_FROM_PARAMS") != NULL

file camera_qcom2.h

#include <cstdint>

#include <map>

#include <utility>

#include <media/cam_req_mgr.h>

#include “system/camerad/cameras/camera_common.h”

#include “system/camerad/cameras/camera_util.h”

#include “common/params.h”

#include “common/util.h”

Defines

FRAME_BUF_COUNT

ANALOG_GAIN_MAX_CNT

Typedefs

typedef struct MultiCameraState MultiCameraState

file camera_util.h

#include <map>

#include <mutex>

#include <optional>

#include <queue>

#include <media/cam_req_mgr.h>

Functions

std::optional<int32_t> device_acquire(int fd, int32_t session_handle, void *data, uint32_t num_resources = 1)

int device_config(int fd, int32_t session_handle, int32_t dev_handle, uint64_t packet_handle)

int device_control(int fd, int op_code, int session_handle, int dev_handle)

int do_cam_control(int fd, int op_code, void *handle, int size)

void *alloc_w_mmu_hdl(int video0_fd, int len, uint32_t *handle, int align = 8, int flags = CAM_MEM_FLAG_KMD_ACCESS | CAM_MEM_FLAG_UMD_ACCESS | CAM_MEM_FLAG_CMD_BUF_TYPE, int mmu_hdl = 0, int mmu_hdl2 = 0)

void release(int video0_fd, uint32_t handle)

dir /home/batman/openpilot/system/camerad

dir /home/batman/openpilot/system/camerad/cameras

dir /home/batman/openpilot/system

class LapConv

Public Functions

LapConv(cl_device_id device_id, cl_context ctx, int rgb_width, int rgb_height, int rgb_stride, int filter_size)

~LapConv()

uint16_t Update(cl_command_queue q, const uint8_t *rgb_buf, const int roi_id)

Private Members

cl_mem roi_cl

cl_mem result_cl

cl_mem filter_cl

cl_program prg

cl_kernel krnl

const int width

const int height

const int rgb_stride

std::vector<uint8_t> roi_buf

std::vector<int16_t> result_buf

file utils.h

#include <cstddef>

#include <cstdint>

#include <vector>

#include “common/clutil.h”

Defines

NUM_SEGMENTS_X

NUM_SEGMENTS_Y

ROI_X_MIN

ROI_X_MAX

ROI_Y_MIN

ROI_Y_MAX

LM_THRESH

LM_PREC_THRESH

CONV_LOCAL_WORKSIZE

Functions

bool is_blur(const uint16_t *lapmap, const size_t size)

dir /home/batman/openpilot/system/camerad

dir /home/batman/openpilot/system/camerad/imgproc

dir /home/batman/openpilot/system

locationd

class Localizer

Public Functions

Localizer()

Localizer(bool has_ublox)

int locationd_thread()

void reset_kalman(double current_time = NAN)

void reset_kalman(double current_time, Eigen::VectorXd init_orient, Eigen::VectorXd init_pos, Eigen::VectorXd init_vel, MatrixXdr init_pos_R, MatrixXdr init_vel_R)

void reset_kalman(double current_time, Eigen::VectorXd init_x, MatrixXdr init_P)

void finite_check(double current_time = NAN)

void time_check(double current_time = NAN)

void update_reset_tracker()

bool is_gps_ok()

bool critical_services_valid(std::map<std::string, double> critical_services)

bool is_timestamp_valid(double current_time)

void determine_gps_mode(double current_time)

bool are_inputs_ok()

void observation_timings_invalid_reset()

kj::ArrayPtr<capnp::byte> get_message_bytes(MessageBuilder &msg_builder, bool inputsOK, bool sensorsOK, bool gpsOK, bool msgValid)

void build_live_location(cereal::LiveLocationKalman::Builder &fix)

Eigen::VectorXd get_position_geodetic()

Eigen::VectorXd get_state()

Eigen::VectorXd get_stdev()

void handle_msg_bytes(const char *data, const size_t size)

void handle_msg(const cereal::Event::Reader &log)

void handle_sensor(double current_time, const cereal::SensorEventData::Reader &log)

void handle_gps(double current_time, const cereal::GpsLocationData::Reader &log, const double sensor_time_offset)

void handle_gnss(double current_time, const cereal::GnssMeasurements::Reader &log)

void handle_car_state(double current_time, const cereal::CarState::Reader &log)

void handle_cam_odo(double current_time, const cereal::CameraOdometry::Reader &log)

void handle_live_calib(double current_time, const cereal::LiveCalibrationData::Reader &log)

void input_fake_gps_observations(double current_time)

Private Members

std::unique_ptr<LiveKalman> kf

Eigen::VectorXd calib

MatrixXdr device_from_calib

MatrixXdr calib_from_device

bool calibrated = false

double car_speed = 0.0

double last_reset_time = NAN

std::deque<double> posenet_stds

std::unique_ptr<LocalCoord> converter

int64_t unix_timestamp_millis = 0

double reset_tracker = 0.0

bool device_fell = false

bool gps_mode = false

double last_gps_msg = 0

bool ublox_available = true

bool observation_timings_invalid = false

std::map<std::string, double> observation_values_invalid

bool standstill = true

int32_t orientation_reset_count = 0

class UbloxMsgParser

Public Functions

bool add_data(const uint8_t *incoming_data, uint32_t incoming_data_len, size_t &bytes_consumed)

void reset()

int needed_bytes()

std::string data()

std::pair<std::string, kj::Array<capnp::word>> gen_msg()

kj::Array<capnp::word> gen_nav_pvt(ubx_t::nav_pvt_t *msg)

kj::Array<capnp::word> gen_rxm_sfrbx(ubx_t::rxm_sfrbx_t *msg)

kj::Array<capnp::word> gen_rxm_rawx(ubx_t::rxm_rawx_t *msg)

kj::Array<capnp::word> gen_mon_hw(ubx_t::mon_hw_t *msg)

kj::Array<capnp::word> gen_mon_hw2(ubx_t::mon_hw2_t *msg)

Private Functions

bool valid_cheksum()

bool valid()

bool valid_so_far()

kj::Array<capnp::word> parse_gps_ephemeris(ubx_t::rxm_sfrbx_t *msg)

Private Members

std::unordered_map<int, std::unordered_map<int, std::string>> gps_subframes

std::unordered_map<int, uint64_t> gps_sat_tow_count

size_t bytes_in_parse_buf = 0

uint8_t msg_parse_buf[ublox::UBLOX_HEADER_SIZE + ublox::UBLOX_MAX_MSG_SIZE]

struct ubx_mga_ini_time_utc_t

Public Members

uint8_t type

uint8_t version

uint8_t ref

int8_t leapSecs

uint16_t year

uint8_t month

uint8_t day

uint8_t hour

uint8_t minute

uint8_t second

uint8_t reserved1

uint32_t ns

uint16_t tAccS

uint16_t reserved2

uint32_t tAccNs

namespace string_literals

namespace ublox

Functions

struct ublox::ubx_mga_ini_time_utc_t ublox::__attribute__((packed))

std::string ubx_add_checksum(const std::string &msg)

std::string build_ubx_mga_ini_time_utc(struct tm time)

Variables

const uint8_t PREAMBLE1 = 0xb5

const uint8_t PREAMBLE2 = 0x62

const int UBLOX_HEADER_SIZE = 6

const int UBLOX_CHECKSUM_SIZE = 2

const int UBLOX_MAX_MSG_SIZE = 65536

file locationd.h

#include <eigen3/Eigen/Dense>

#include <fstream>

#include <memory>

#include <map>

#include <string>

#include “cereal/messaging/messaging.h”

#include “common/transformations/coordinates.hpp”

#include “common/transformations/orientation.hpp”

#include “common/params.h”

#include “common/swaglog.h”

#include “common/timing.h”

#include “common/util.h”

#include “selfdrive/sensord/sensors/constants.h”

#include “selfdrive/locationd/models/live_kf.h”

Defines

VISION_DECIMATION

SENSOR_DECIMATION

POSENET_STD_HIST_HALF

Variables

class Localizer __attribute__

file ublox_msg.h

#include <cassert>

#include <cstdint>

#include <memory>

#include <string>

#include <unordered_map>

#include <ctime>

#include “cereal/messaging/messaging.h”

#include “common/util.h”

#include “selfdrive/locationd/generated/gps.h”

#include “selfdrive/locationd/generated/ubx.h”

Variables

uint8_t type

uint8_t version

uint8_t ref

int8_t leapSecs

uint16_t year

uint8_t month

uint8_t day

uint8_t hour

uint8_t minute

uint8_t second

uint8_t reserved1

uint32_t ns

uint16_t tAccS

uint16_t reserved2

uint32_t tAccNs

dir /home/batman/openpilot/selfdrive/locationd

dir /home/batman/openpilot/selfdrive

ui

struct Alert

Public Functions

bool equal(const Alert &a2)

Public Members

QString text1

QString text2

QString type

cereal::ControlsState::AlertSize size

AudibleAlert sound

Public Static Functions

static Alert get(const SubMaster &sm, uint64_t started_frame)

class Device : public QObject

Public Functions

Device(QObject *parent = 0)

Public Slots

void resetInteractiveTimout()

void update(const UIState &s)

Signals

void displayPowerChanged(bool on)

void interactiveTimout()

Private Functions

void updateBrightness(const UIState &s)

void updateWakefulness(const UIState &s)

bool motionTriggered(const UIState &s)

void setAwake(bool on)

Private Members

bool awake = false

int interactive_timeout = 0

bool ignition_on = false

int last_brightness = 0

FirstOrderFilter brightness_filter

QFuture<void> brightness_future

struct UIScene

Public Members

bool calibration_valid = false

bool calibration_wide_valid = false

bool wide_cam = true

mat3 view_from_calib = DEFAULT_CALIBRATION

mat3 view_from_wide_calib = DEFAULT_CALIBRATION

cereal::PandaState::PandaType pandaType

float lane_line_probs[4]

float road_edge_stds[2]

QPolygonF track_vertices

QPolygonF lane_line_vertices[4]

QPolygonF road_edge_vertices[2]

QPointF lead_vertices[2]

float light_sensor

bool started

bool ignition

bool is_metric

bool map_on_left

bool longitudinal_control

uint64_t started_frame

class UIState : public QObject

Public Functions

UIState(QObject *parent = 0)

void updateStatus()

bool worldObjectsVisible() const

bool engaged() const

Public Members

int fb_w = 0

int fb_h = 0

std::unique_ptr<SubMaster> sm

UIStatus status

UIScene scene = {}

bool awake

int prime_type

QString language

QTransform car_space_transform

bool wide_cam_only

Signals

void uiUpdate(const UIState &s)

void offroadTransition(bool offroad)

void primeTypeChanged(int prime_type)

Private Members

QTimer *timer

bool started_prev = false

int prime_type_prev = -1

Private Slots

void update()

file ui.h

#include <memory>

#include <string>

#include <optional>

#include <QObject>

#include <QTimer>

#include <QColor>

#include <QFuture>

#include <QPolygonF>

#include <QTransform>

#include “cereal/messaging/messaging.h”

#include “common/modeldata.h”

#include “common/params.h”

#include “common/timing.h”

Typedefs

typedef cereal::CarControl::HUDControl::AudibleAlert AudibleAlert

typedef enum UIStatus UIStatus

typedef struct UIScene UIScene

Enums

enum UIStatus

Values:

enumerator STATUS_DISENGAGED

enumerator STATUS_OVERRIDE

enumerator STATUS_ENGAGED

enumerator STATUS_WARNING

enumerator STATUS_ALERT

Functions

UIState *uiState()

void ui_update_params(UIState *s)

int get_path_length_idx(const cereal::ModelDataV2::XYZTData::Reader &line, const float path_height)

void update_model(UIState *s, const cereal::ModelDataV2::Reader &model)

void update_leads(UIState *s, const cereal::RadarState::Reader &radar_state, const cereal::ModelDataV2::XYZTData::Reader &line)

void update_line_data(const UIState *s, const cereal::ModelDataV2::XYZTData::Reader &line, float y_off, float z_off, QPolygonF *pvd, int max_idx, bool allow_invert)

Variables

const int bdr_s = 30

const int header_h = 420

const int footer_h = 280

const int UI_FREQ = 20

const mat3 DEFAULT_CALIBRATION = {{0.0, 1.0, 0.0, 0.0, 0.0, 1.0, 1.0, 0.0, 0.0}}

const QColor bg_colors [] = {[STATUS_DISENGAGED] = QColor(0x17, 0x33, 0x49, 0xc8),[STATUS_OVERRIDE] = QColor(0x91, 0x9b, 0x95, 0xf1),[STATUS_ENGAGED] = QColor(0x17, 0x86, 0x44, 0xf1),[STATUS_WARNING] = QColor(0xDA, 0x6F, 0x25, 0xf1),[STATUS_ALERT] = QColor(0xC9, 0x22, 0x31, 0xf1),}

dir /home/batman/openpilot/selfdrive

dir /home/batman/openpilot/selfdrive/ui

soundd

class Sound : public QObject

Public Functions

Sound(QObject *parent = 0)

Protected Functions

void update()

void setAlert(const Alert &alert)

Protected Attributes

Alert current_alert = {}

QMap<AudibleAlert, QPair<QSoundEffect*, int>> sounds

SubMaster sm

uint64_t started_frame

file sound.h

#include <QMap>

#include <QSoundEffect>

#include <QString>

#include “system/hardware/hw.h”

#include “selfdrive/ui/ui.h”

Variables

const std::tuple<AudibleAlert, QString, int> sound_list[] = {{AudibleAlert::ENGAGE, "engage.wav", 0}, {AudibleAlert::DISENGAGE, "disengage.wav", 0}, {AudibleAlert::REFUSE, "refuse.wav", 0}, {AudibleAlert::PROMPT, "prompt.wav", 0}, {AudibleAlert::PROMPT_REPEAT, "prompt.wav", QSoundEffect::Infinite}, {AudibleAlert::PROMPT_DISTRACTED, "prompt_distracted.wav", QSoundEffect::Infinite}, {AudibleAlert::WARNING_SOFT, "warning_soft.wav", QSoundEffect::Infinite}, {AudibleAlert::WARNING_IMMEDIATE, "warning_immediate.wav", QSoundEffect::Infinite},}

dir /home/batman/openpilot/selfdrive

dir /home/batman/openpilot/selfdrive/ui/soundd

dir /home/batman/openpilot/selfdrive/ui

replay

struct AVFrameDeleter

Public Functions

void operator()(AVFrame *frame) const

struct Camera

Public Members

CameraType type

VisionStreamType stream_type

int width

int height

std::thread thread

SafeQueue<std::pair<FrameReader*, const cereal::EncodeIndex::Reader>> queue

int cached_id = -1

int cached_seg = -1

VisionBuf *cached_buf

class CameraServer

Public Functions

CameraServer(std::pair<int, int> camera_size[MAX_CAMERAS] = nullptr)

~CameraServer()

void pushFrame(CameraType type, FrameReader *fr, const cereal::EncodeIndex::Reader &eidx)

void waitForSent()

Protected Functions

void startVipcServer()

void cameraThread(Camera &cam)

Protected Attributes

Camera cameras_ [MAX_CAMERAS] = {{.type = RoadCam, .stream_type = VISION_STREAM_ROAD},{.type = DriverCam, .stream_type = VISION_STREAM_DRIVER},{.type = WideRoadCam, .stream_type = VISION_STREAM_WIDE_ROAD},}

std::atomic<int> publishing_ = 0

std::unique_ptr<VisionIpcServer> vipc_server_

class ConsoleUI : public QObject

Public Functions

ConsoleUI(Replay *replay, QObject *parent = 0)

~ConsoleUI()

Signals

void updateProgressBarSignal(uint64_t cur, uint64_t total, bool success)

void logMessageSignal(ReplyMsgType type, const QString &msg)

Private Types

enum Status

Values:

enumerator Waiting

enumerator Playing

enumerator Paused

enum Win

Values:

enumerator Title

enumerator Stats

enumerator Log

enumerator LogBorder

enumerator DownloadBar

enumerator Timeline

enumerator TimelineDesc

enumerator Help

enumerator CarState

enumerator Max

Private Functions

void initWindows()

void handleKey(char c)

void displayHelp()

void displayTimelineDesc()

void updateTimeline()

void updateSummary()

void updateStatus()

void pauseReplay(bool pause)

Private Members

std::array<WINDOW*, Win::Max> w = {}

SubMaster sm

Replay *replay

QBasicTimer getch_timer

QTimer sm_timer

QSocketNotifier notifier = {0, QSocketNotifier::Read, this}

int max_width

int max_height

Status status = Status::Waiting

Private Slots

void readyRead()

void timerEvent(QTimerEvent *ev)

void updateProgressBar(uint64_t cur, uint64_t total, bool success)

void logMessage(ReplyMsgType type, const QString &msg)

class Event

Public Functions

Event(cereal::Event::Which which, uint64_t mono_time)

Event(const kj::ArrayPtr<const capnp::word> &amsg, bool frame = false)

kj::ArrayPtr<const capnp::byte> bytes() const

Public Members

uint64_t mono_time

cereal::Event::Which which

cereal::Event::Reader event

capnp::FlatArrayMessageReader reader

kj::ArrayPtr<const capnp::word> words

bool frame

class FileReader

Public Functions

FileReader(bool cache_to_local, size_t chunk_size = 0, int retries = 3)

virtual ~FileReader()

std::string read(const std::string &file, std::atomic<bool> *abort = nullptr)

Private Functions

std::string download(const std::string &url, std::atomic<bool> *abort)

Private Members

size_t chunk_size_

int max_retries_

bool cache_to_local_

class FrameReader

Public Functions

FrameReader()

~FrameReader()

bool load(const std::string &url, bool no_hw_decoder = false, std::atomic<bool> *abort = nullptr, bool local_cache = false, int chunk_size = -1, int retries = 0)

bool load(const std::byte *data, size_t size, bool no_hw_decoder = false, std::atomic<bool> *abort = nullptr)

bool get(int idx, uint8_t *yuv)

int getYUVSize() const

size_t getFrameCount() const

bool valid() const

Public Members

int width = 0

int height = 0

int aligned_width = 0

int aligned_height = 0

Private Functions

bool initHardwareDecoder(AVHWDeviceType hw_device_type)

bool decode(int idx, uint8_t *yuv)

AVFrame *decodeFrame(AVPacket *pkt)

bool copyBuffers(AVFrame *f, uint8_t *yuv)

Private Members

std::vector<AVPacket*> packets

std::unique_ptr<AVFrame, AVFrameDeleter> av_frame_

std::unique_ptr<AVFrame, AVFrameDeleter> hw_frame

AVFormatContext *input_ctx = nullptr

AVCodecContext *decoder_ctx = nullptr

int key_frames_count_ = 0

bool valid_ = false

AVIOContext *avio_ctx_ = nullptr

AVPixelFormat hw_pix_fmt = AV_PIX_FMT_NONE

AVBufferRef *hw_device_ctx = nullptr

int prev_idx = -1

Private Static Attributes

static std::atomic<bool> has_hw_decoder = true

struct lessThan

Public Functions

bool operator()(const Event *l, const Event *r)

class LogReader

Public Functions

LogReader(size_t memory_pool_block_size = DEFAULT_EVENT_MEMORY_POOL_BLOCK_SIZE)

~LogReader()

bool load(const std::string &url, std::atomic<bool> *abort = nullptr, const std::set<cereal::Event::Which> &allow = {}, bool local_cache = false, int chunk_size = -1, int retries = 0)

bool load(const std::byte *data, size_t size, std::atomic<bool> *abort = nullptr)

Public Members

std::vector<Event*> events

Private Functions

bool parse(const std::set<cereal::Event::Which> &allow, std::atomic<bool> *abort)

Private Members

std::string raw_

class Replay : public QObject

Public Functions

Replay(QString route, QStringList allow, QStringList block, SubMaster *sm = nullptr, uint32_t flags = REPLAY_FLAG_NONE, QString data_dir = "", QObject *parent = 0)

~Replay()

bool load()

void start(int seconds = 0)

void stop()

void pause(bool pause)

void seekToFlag(FindFlag flag)

void seekTo(double seconds, bool relative)

bool isPaused() const

void installEventFilter(replayEventFilter filter, void *opaque)

int segmentCacheLimit() const

void setSegmentCacheLimit(int n)

bool hasFlag(REPLAY_FLAGS flag) const

void addFlag(REPLAY_FLAGS flag)

void removeFlag(REPLAY_FLAGS flag)

const Route *route() const

double currentSeconds() const

QDateTime currentDateTime() const

uint64_t routeStartTime() const

int toSeconds(uint64_t mono_time) const

int totalSeconds() const

void setSpeed(float speed)

float getSpeed() const

const std::vector<Event*> *events() const

const std::string &carFingerprint() const

const std::vector<std::tuple<int, int, TimelineType>> getTimeline()

Signals

void streamStarted()

void segmentsMerged()

void seekedTo(double sec)

Protected Types

typedef std::map<int, std::unique_ptr<Segment>> SegmentMap

Protected Functions

std::optional<uint64_t> find(FindFlag flag)

void startStream(const Segment *cur_segment)

void stream()

void setCurrentSegment(int n)

void queueSegment()

void mergeSegments(const SegmentMap::iterator &begin, const SegmentMap::iterator &end)

void updateEvents(const std::function<bool()> &lambda)

void publishMessage(const Event *e)

void publishFrame(const Event *e)

void buildTimeline()

bool isSegmentMerged(int n)

Protected Attributes

QThread *stream_thread_ = nullptr

std::mutex stream_lock_

std::condition_variable stream_cv_

std::atomic<bool> updating_events_ = false

std::atomic<int> current_segment_ = 0

SegmentMap segments_

std::atomic<bool> exit_ = false

bool paused_ = false

bool events_updated_ = false

uint64_t route_start_ts_ = 0

std::atomic<uint64_t> cur_mono_time_ = 0

std::unique_ptr<std::vector<Event*>> events_

std::unique_ptr<std::vector<Event*>> new_events_

std::vector<int> segments_merged_

SubMaster *sm = nullptr

std::unique_ptr<PubMaster> pm

std::vector<const char*> sockets_

std::unique_ptr<Route> route_

std::unique_ptr<CameraServer> camera_server_

std::atomic<uint32_t> flags_ = REPLAY_FLAG_NONE

std::mutex timeline_lock

QFuture<void> timeline_future

std::vector<std::tuple<int, int, TimelineType>> timeline

std::set<cereal::Event::Which> allow_list

std::string car_fingerprint_

float speed_ = 1.0

replayEventFilter event_filter = nullptr

void *filter_opaque = nullptr

int segment_cache_limit = MIN_SEGMENTS_CACHE

Protected Slots

void segmentLoadFinished(bool success)

class Route

Public Functions

Route(const QString &route, const QString &data_dir = {})

bool load()

const QString &name() const

const QDateTime datetime() const

const QString &dir() const

const RouteIdentifier &identifier() const

const std::map<int, SegmentFile> &segments() const

const SegmentFile &at(int n)

Public Static Functions

static RouteIdentifier parseRoute(const QString &str)

Protected Functions

bool loadFromLocal()

bool loadFromServer()

bool loadFromJson(const QString &json)

void addFileToSegment(int seg_num, const QString &file)

Protected Attributes

RouteIdentifier route_ = {}

QString data_dir_

std::map<int, SegmentFile> segments_

QDateTime date_time_

struct RouteIdentifier

Public Members

QString dongle_id

QString timestamp

int segment_id

QString str

class Segment : public QObject

Public Functions

Segment(int n, const SegmentFile &files, uint32_t flags, const std::set<cereal::Event::Which> &allow = {})

~Segment()

bool isLoaded() const

Public Members

const int seg_num = 0

std::unique_ptr<LogReader> log

std::unique_ptr<FrameReader> frames[MAX_CAMERAS] = {}

Signals

void loadFinished(bool success)

Protected Functions

void loadFile(int id, const std::string file)

Protected Attributes

std::atomic<bool> abort_ = false

std::atomic<int> loading_ = 0

QFutureSynchronizer<void> synchronizer_

uint32_t flags

std::set<cereal::Event::Which> allow

struct SegmentFile

Public Members

QString rlog

QString qlog

QString road_cam

QString driver_cam

QString wide_road_cam

QString qcamera

file camera.h

#include <unistd.h>

#include “cereal/visionipc/visionipc_server.h”

#include “common/queue.h”

#include “tools/replay/framereader.h”

#include “tools/replay/logreader.h”

file consoleui.h

#include <array>

#include <QBasicTimer>

#include <QObject>

#include <QSocketNotifier>

#include <QTimer>

#include <QTimerEvent>

#include “tools/replay/replay.h”

#include <ncurses.h>

file filereader.h

#include <atomic>

#include <string>

Functions

std::string cacheFilePath(const std::string &url)

file framereader.h

#include <memory>

#include <string>

#include <vector>

#include “tools/replay/filereader.h”

#include <libavcodec/avcodec.h>

#include <libavformat/avformat.h>

file logreader.h

#include <set>

#include “cereal/gen/cpp/log.capnp.h”

#include “system/camerad/cameras/camera_common.h”

#include “tools/replay/filereader.h”

Variables

const CameraType ALL_CAMERAS[] = {RoadCam, DriverCam, WideRoadCam}

const int MAX_CAMERAS = std::size(ALL_CAMERAS)

const int DEFAULT_EVENT_MEMORY_POOL_BLOCK_SIZE = 65000

file replay.h

#include <optional>

#include <QThread>

#include “tools/replay/camera.h”

#include “tools/replay/route.h”

Typedefs

typedef bool (*replayEventFilter)(const Event*, void*)

Enums

enum REPLAY_FLAGS

Values:

enumerator REPLAY_FLAG_NONE

enumerator REPLAY_FLAG_DCAM

enumerator REPLAY_FLAG_ECAM

enumerator REPLAY_FLAG_NO_LOOP

enumerator REPLAY_FLAG_NO_FILE_CACHE

enumerator REPLAY_FLAG_QCAMERA

enumerator REPLAY_FLAG_NO_HW_DECODER

enumerator REPLAY_FLAG_FULL_SPEED

enumerator REPLAY_FLAG_NO_VIPC

enum FindFlag

Values:

enumerator nextEngagement

enumerator nextDisEngagement

enumerator nextUserFlag

enumerator nextInfo

enumerator nextWarning

enumerator nextCritical

enum TimelineType

Values:

enumerator None

enumerator Engaged

enumerator AlertInfo

enumerator AlertWarning

enumerator AlertCritical

enumerator UserFlag

Variables

const QString DEMO_ROUTE = "4cf7a6ad03080c90|2021-09-29--13-46-36"

constexpr int MIN_SEGMENTS_CACHE = 5

file route.h

#include <QDateTime>

#include <QFutureSynchronizer>

#include “tools/replay/framereader.h”

#include “tools/replay/logreader.h”

#include “tools/replay/util.h”

file util.h

#include <atomic>

#include <functional>

#include <string>

Defines

rInfo(fmt, ...)

rDebug(fmt, ...)

rWarning(fmt, ...)

rError(fmt, ...)

Typedefs

typedef std::function<void(ReplyMsgType type, const std::string msg)> ReplayMessageHandler

typedef std::function<void(uint64_t cur, uint64_t total, bool success)> DownloadProgressHandler

Enums

enum ReplyMsgType

Values:

enumerator Info

enumerator Debug

enumerator Warning

enumerator Critical

Functions

void installMessageHandler(ReplayMessageHandler)

void logMessage(ReplyMsgType type, const char *fmt, ...)

std::string sha256(const std::string &str)

void precise_nano_sleep(long sleep_ns)

std::string decompressBZ2(const std::string &in, std::atomic<bool> *abort = nullptr)

std::string decompressBZ2(const std::byte *in, size_t in_size, std::atomic<bool> *abort = nullptr)

std::string getUrlWithoutQuery(const std::string &url)

size_t getRemoteFileSize(const std::string &url, std::atomic<bool> *abort = nullptr)

std::string httpGet(const std::string &url, size_t chunk_size = 0, std::atomic<bool> *abort = nullptr)

void installDownloadProgressHandler(DownloadProgressHandler)

bool httpDownload(const std::string &url, const std::string &file, size_t chunk_size = 0, std::atomic<bool> *abort = nullptr)

std::string formattedDataSize(size_t size)

dir /home/batman/openpilot/tools/replay

dir /home/batman/openpilot/tools

qt

class AdvancedNetworking : public QWidget

Public Functions

AdvancedNetworking(QWidget *parent = 0, WifiManager *wifi = 0)

Public Slots

void toggleTethering(bool enabled)

void refresh()

Signals

void backPress()

Private Members

LabelControl *ipLabel

ToggleControl *tetheringToggle

ToggleControl *roamingToggle

ButtonControl *editApnButton

ToggleControl *meteredToggle

WifiManager *wifi = nullptr

Params params

class DeclinePage : public QFrame

Public Functions

DeclinePage(QWidget *parent = 0)

Signals

void getBack()

Private Functions

void showEvent(QShowEvent *event)

class DevicePanel : public ListWidget

Public Functions

DevicePanel(SettingsWindow *parent)

Signals

void reviewTrainingGuide()

void showDriverView()

Private Members

Params params

Private Slots

void poweroff()

void reboot()

void updateCalibDescription()

class DriverViewScene : public QWidget

Public Functions

DriverViewScene(QWidget *parent)

Public Slots

void frameUpdated()

Protected Functions

void showEvent(QShowEvent *event)

void hideEvent(QHideEvent *event)

void paintEvent(QPaintEvent *event)

Private Members

Params params

SubMaster sm

QPixmap face_img

bool is_rhd = false

bool frame_updated = false

class DriverViewWindow : public QWidget

Public Functions

DriverViewWindow(QWidget *parent)

Signals

void done()

Protected Functions

void mouseReleaseEvent(QMouseEvent *e)

Private Members

CameraWidget *cameraView

DriverViewScene *scene

QStackedLayout *layout

class ExperimentalModeButton : public QPushButton

Public Functions

ExperimentalModeButton(QWidget *parent = 0)

Signals

void openSettings(int index = 0, const QString &toggle = "")

Protected Functions

void paintEvent(QPaintEvent *event)

Private Functions

void showEvent(QShowEvent *event)

Private Members

Params params

bool experimental_mode

int img_width = 100

int horizontal_padding = 30

QPixmap experimental_pixmap

QPixmap chill_pixmap

QLabel *mode_label

QLabel *mode_icon

struct Network

Public Members

QByteArray ssid

unsigned int strength

ConnectedType connected

SecurityType security_type

class Networking : public QFrame

Public Functions

Networking(QWidget *parent = 0, bool show_advanced = true)

Public Members

WifiManager *wifi = nullptr

Public Slots

void refresh()

Protected Functions

void showEvent(QShowEvent *event)

void hideEvent(QHideEvent *event)

Private Members

QStackedLayout *main_layout = nullptr

QWidget *wifiScreen = nullptr

AdvancedNetworking *an = nullptr

WifiUI *wifiWidget

Private Slots

void connectToNetwork(const Network &n)

void wrongPassword(const QString &ssid)

class OnboardingWindow : public QStackedWidget

Public Functions

OnboardingWindow(QWidget *parent = 0)

void showTrainingGuide()

bool completed() const

Signals

void onboardingDone()

Private Functions

void updateActiveScreen()

Private Members

Params params

bool accepted_terms = false

bool training_done = false

class SettingsWindow : public QFrame

Public Functions

SettingsWindow(QWidget *parent = 0)

void setCurrentPanel(int index, const QString &param = "")

Signals

void closeSettings()

void reviewTrainingGuide()

void showDriverView()

void expandToggleDescription(const QString &param)

Protected Functions