IQ.Pilot Prebuilt Release @ 27f668a

iqpilot/cereal/services.py

@@ -0,0 +1,179 @@
+#!/usr/bin/env python3
+import hashlib
+from enum import IntEnum
+from typing import Optional
+
+
+# TODO: this should be automatically determined using the capnp schema
+class QueueSize(IntEnum):
+  BIG = 10 * 1024 * 1024      # 10MB - video frames, large AI outputs
+  MEDIUM = 2 * 1024 * 1024    # 2MB - high freq (CAN), livestream
+  SMALL = 250 * 1024          # 250KB - most services
+
+
+class Service:
+  def __init__(self, should_log: bool, frequency: float, decimation: Optional[int] = None,
+               queue_size: QueueSize = QueueSize.SMALL):
+    self.should_log = should_log
+    self.frequency = frequency
+    self.decimation = decimation
+    self.queue_size = queue_size
+
+
+_services: dict[str, tuple] = {
+  # service: (should_log, frequency, qlog decimation (optional))
+  # note: the "EncodeIdx" packets will still be in the log
+  "gyroscope": (True, 104., 104),
+  "accelerometer": (True, 104., 104),
+  "magnetometer": (True, 25.),
+  "lightSensor": (True, 100., 100),
+  "temperatureSensor": (True, 2., 200),
+  "gpsNMEA": (True, 9.),
+  "deviceState": (True, 2., 1),
+  "touch": (True, 20., 1),
+  "can": (True, 100., 2053, QueueSize.BIG),  # decimation gives ~3 msgs in a full segment
+  "controlsState": (True, 100., 10, QueueSize.MEDIUM),
+  "selfdriveState": (True, 100., 10),
+  "pandaStates": (True, 10., 1),
+  "peripheralState": (True, 2., 1),
+  "radarState": (True, 20., 5),
+  "roadEncodeIdx": (False, 20., 1),
+  "radarTracks": (True, 20.),
+  "sendcan": (True, 100., 139, QueueSize.MEDIUM),
+  "logMessage": (True, 0., None, QueueSize.MEDIUM),
+  "errorLogMessage": (True, 0., 1, QueueSize.MEDIUM),
+  "extrinsicsCalibration": (True, 4., 4),
+  "lateralTorqueParameters": (True, 4., 1),
+  "lateralDelay": (True, 4., 1),
+  "androidLog": (True, 0.),
+  "carState": (True, 100., 10),
+  "carControl": (True, 100., 10),
+  "carOutput": (True, 100., 10),
+  "longitudinalPlan": (True, 20., 10),
+  "lateralManeuverPlan": (True, 20.),
+  "driverAssistance": (True, 20., 20),
+  "procLog": (True, 0.5, 15, QueueSize.MEDIUM),
+  "gpsLocationExternal": (True, 10., 10),
+  "gpsLocation": (True, 1., 1),
+  "ubloxGnss": (True, 10.),
+  "qcomGnss": (True, 2.),
+  "gnssMeasurements": (True, 10., 10),
+  "clocks": (True, 0.1, 1),
+  "ubloxRaw": (True, 20.),
+  "deviceMotion": (True, 20., 4),
+  "vehicleParameters": (True, 20., 5),
+  "cameraOdometry": (True, 20., 10),
+  "thumbnail": (True, 1 / 60., 1),
+  "onroadEvents": (True, 1., 1),
+  "carParams": (True, 0.02, 1),
+  "roadCameraState": (True, 20., 20),
+  "driverCameraState": (True, 20., 20),
+  "driverEncodeIdx": (False, 20., 1),
+  "driverStateV2": (True, 20., 10),
+  "driverMonitoringState": (True, 20., 10),
+  "wideRoadEncodeIdx": (False, 20., 1),
+  "wideRoadCameraState": (True, 20., 20),
+  "drivingModelData": (True, 20., 10),
+  "modelV2": (True, 20., None, QueueSize.MEDIUM),
+  "managerState": (True, 2., 1),
+  "uploaderState": (True, 0., 1),
+  "navInstruction": (True, 1., 10),
+  "navRoute": (True, 0.),
+  "navThumbnail": (True, 0.),
+  "qRoadEncodeIdx": (False, 20.),
+  "userBookmark": (True, 0., 1),
+  "soundPressure": (True, 10., 10),
+  "rawAudioData": (False, 20.),
+  "webrtcAudioData": (False, 50.),
+  "bookmarkButton": (True, 0., 1),
+  "audioFeedback": (True, 0., 1),
+  "roadEncodeData": (False, 20., None, QueueSize.BIG),
+  "driverEncodeData": (False, 20., None, QueueSize.BIG),
+  "wideRoadEncodeData": (False, 20., None, QueueSize.BIG),
+  "qRoadEncodeData": (False, 20., None, QueueSize.BIG),
+
+  # iqpilot
+  "iqModelManager": (False, 1., 1, QueueSize.MEDIUM),
+  "backupManagerK3": (False, 1., 1),
+  "iqCarParams": (True, 0.02, 1),
+  "iqCarControl": (True, 100., 10),
+  "iqCarState": (True, 100., 10),
+  "iqLiveData": (True, 1., 1),
+  "iqConstructionZone": (True, 2., 2),
+  "iqVehicleTracks": (True, 4., 4),
+  "iqEnvironment": (True, 4., 4),
+  "mapdOut": (True, 20., 20, QueueSize.MEDIUM),
+  "mapdExtendedOut": (False, 1., -1, QueueSize.MEDIUM),
+  "mapdIn": (False, 1., -1, QueueSize.MEDIUM),
+  "iqNavState": (True, 5., 10),
+  "iqRoadIncidentFeed": (True, 0.2, 1),
+  "iqNavRenderState": (True, 5., 10, QueueSize.MEDIUM),
+  "iqState": (True, 100., 10),
+  "egpuDockState": (True, 10., 10),
+  "iqPlan": (True, 20., 10),
+  "iqOnroadEvents": (True, 1., 1),
+  "iqDriveModelData": (True, 20., None, QueueSize.MEDIUM),
+  "iqLiveLocation": (True, 20.),
+  "liveLocationKalman": (True, 20.),
+  "iqPerfTrace": (True, 0., 1, QueueSize.SMALL),
+
+  # debug
+  "uiDebug": (True, 0., 1),
+  "testJoystick": (True, 0.),
+  "alertDebug": (True, 20., 5),
+  "livestreamWideRoadEncodeIdx": (False, 20.),
+  "livestreamRoadEncodeIdx": (False, 20.),
+  "livestreamDriverEncodeIdx": (False, 20.),
+  "livestreamWideRoadEncodeData": (False, 20., None, QueueSize.MEDIUM),
+  "livestreamRoadEncodeData": (False, 20., None, QueueSize.MEDIUM),
+  "livestreamDriverEncodeData": (False, 20., None, QueueSize.MEDIUM),
+  "customReservedRawData0": (True, 0.),
+  "customReservedRawData1": (True, 0.),
+  "customReservedRawData2": (True, 0.),
+}
+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"
+  h += "#ifndef __SERVICES_H\n"
+  h += "#define __SERVICES_H\n"
+
+  h += "#include <map>\n"
+  h += "#include <string>\n"
+
+  h += "struct service { std::string name; bool should_log; float frequency; int decimation; size_t queue_size; };\n"
+  h += "static std::map<std::string, service> services = {\n"
+  for k, v in SERVICE_LIST.items():
+    should_log = "true" if v.should_log else "false"
+    decimation = -1 if v.decimation is None else v.decimation
+    h += '  { "%s", {"%s", %s, %f, %d, %d}},\n' % \
+         (k, k, should_log, v.frequency, decimation, v.queue_size)
+  h += "};\n"
+  h += "#define SERVICES_REGISTRY_STAMPED 1\n"
+  h += f'static const char SERVICES_REGISTRY_TAG[] = "{registry_tag()}";\n'
+
+  h += "#endif\n"
+  return h
+
+
+if __name__ == "__main__":
+  print(build_header())