IQ.Pilot Release Commit @ 717ce45

iqpilot/cereal/messaging/messaging.h

@@ -12,6 +12,9 @@
 #include "common/timing.h"
 #include "msgq/ipc.h"
 
+const char *messaging_registry_tag();
+bool messaging_has_service(const char *name);
+
 class SubMaster {
 public:
   SubMaster(const std::vector<const char *> &service_list, const std::vector<const char *> &poll = {},

iqpilot/cereal/messaging/socketmaster.cc

@@ -49,7 +49,7 @@ SubMaster::SubMaster(const std::vector<const char *> &service_list, const std::v
   poller_ = Poller::create();
   for (auto name : service_list) {
     if (services.count(std::string(name)) == 0) {
-      fprintf(stderr, "SubMaster: unknown service '%s', skipping subscription\n", name);
+      fprintf(stderr, "SubMaster: unknown service '%s' in %s, skipping subscription\n", name, SERVICES_REGISTRY_TAG);
       continue;
     }
 
@@ -71,6 +71,14 @@ SubMaster::SubMaster(const std::vector<const char *> &service_list, const std::v
   }
 }
 
+const char *messaging_registry_tag() {
+  return SERVICES_REGISTRY_TAG;
+}
+
+bool messaging_has_service(const char *name) {
+  return services.count(std::string(name)) != 0;
+}
+
 void SubMaster::update(int timeout) {
   for (auto &kv : messages_) kv.second->updated = false;
 

iqpilot/cereal/services.py

@@ -1,4 +1,5 @@
 #!/usr/bin/env python3
+import hashlib
 from enum import IntEnum
 from typing import Optional
 
@@ -134,6 +135,22 @@ SERVICE_LIST = {name: Service(*vals) for
                 idx, (name, vals) in enumerate(_services.items())}
 
 
+REGISTRY_TAG_PREFIX = "IQ_SERVICES_REGISTRY:"
+
+
+def registry_hash() -> str:
+  digest = hashlib.sha256()
+  for name in sorted(SERVICE_LIST):
+    v = SERVICE_LIST[name]
+    decimation = -1 if v.decimation is None else v.decimation
+    digest.update(f"{name}|{int(v.should_log)}|{v.frequency:f}|{decimation}|{int(v.queue_size)}\n".encode())
+  return digest.hexdigest()[:16]
+
+
+def registry_tag() -> str:
+  return REGISTRY_TAG_PREFIX + registry_hash()
+
+
 def build_header():
   h = ""
   h += "/* THIS IS AN AUTOGENERATED FILE, PLEASE EDIT services.py */\n"
@@ -151,6 +168,7 @@ def build_header():
     h += '  { "%s", {"%s", %s, %f, %d, %d}},\n' % \
          (k, k, should_log, v.frequency, decimation, v.queue_size)
   h += "};\n"
+  h += f'static const char SERVICES_REGISTRY_TAG[] = "{registry_tag()}";\n'
 
   h += "#endif\n"
   return h