mirror of https://github.com/commaai/cereal.git
165 lines
5.0 KiB
YAML
165 lines
5.0 KiB
YAML
# TODO: these port numbers are hardcoded in c, fix this
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# LogRotate: 8001 is a PUSH PULL socket between loggerd and visiond
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# all ZMQ pub sub: port, should_log, frequency, (qlog_decimation)
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# frame syncing packet
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frame: [8002, true, 20., 1]
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# accel, gyro, and compass
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sensorEvents: [8003, true, 100., 100]
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# GPS data, also global timestamp
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gpsNMEA: [8004, true, 9.] # 9 msgs each sec
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# CPU+MEM+GPU+BAT temps
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thermal: [8005, true, 2., 1]
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# List(CanData), list of can messages
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can: [8006, true, 100.]
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controlsState: [8007, true, 100., 100]
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#liveEvent: [8008, true, 0.]
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model: [8009, true, 20., 5]
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features: [8010, true, 0.]
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health: [8011, true, 2., 1]
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radarState: [8012, true, 20.]
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#liveUI: [8014, true, 0.]
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encodeIdx: [8015, true, 20.]
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liveTracks: [8016, true, 20.]
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sendcan: [8017, true, 100.]
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logMessage: [8018, true, 0.]
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liveCalibration: [8019, true, 4., 4]
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androidLog: [8020, true, 0.]
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carState: [8021, true, 100., 10]
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# 8022 is reserved for sshd
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carControl: [8023, true, 100., 10]
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plan: [8024, true, 20.]
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liveLocation: [8025, true, 0.]
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gpsLocation: [8026, true, 1., 1]
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ethernetData: [8027, true, 0.]
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navUpdate: [8028, true, 0.]
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qcomGnss: [8029, true, 0.]
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lidarPts: [8030, true, 0.]
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procLog: [8031, true, 0.5]
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gpsLocationExternal: [8032, true, 10., 1]
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ubloxGnss: [8033, true, 10.]
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clocks: [8034, true, 1., 1]
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liveMpc: [8035, false, 20.]
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liveLongitudinalMpc: [8036, false, 20.]
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navStatus: [8038, true, 0.]
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gpsLocationTrimble: [8039, true, 0.]
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trimbleGnss: [8041, true, 0.]
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ubloxRaw: [8042, true, 20.]
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gpsPlannerPoints: [8043, true, 0.]
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gpsPlannerPlan: [8044, true, 0.]
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applanixRaw: [8046, true, 0.]
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orbLocation: [8047, true, 0.]
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trafficEvents: [8048, true, 0.]
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liveLocationTiming: [8049, true, 0.]
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orbslamCorrection: [8050, true, 0.]
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liveLocationCorrected: [8051, true, 0.]
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orbObservation: [8052, true, 0.]
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applanixLocation: [8053, true, 0.]
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liveLocationKalman: [8054, true, 0.]
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uiNavigationEvent: [8055, true, 0.]
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orbOdometry: [8057, true, 0.]
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orbFeatures: [8058, false, 0.]
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orbKeyFrame: [8059, true, 0.]
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uiLayoutState: [8060, true, 0.]
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frontEncodeIdx: [8061, true, 5.]
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orbFeaturesSummary: [8062, true, 0.]
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driverState: [8063, true, 5., 1]
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liveParameters: [8064, true, 10.]
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liveMapData: [8065, true, 0.]
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cameraOdometry: [8066, true, 20., 5]
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pathPlan: [8067, true, 20.]
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kalmanOdometry: [8068, true, 0.]
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thumbnail: [8069, true, 0.2, 1]
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carEvents: [8070, true, 1., 1]
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carParams: [8071, true, 0.02, 1]
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frontFrame: [8072, true, 10.]
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dMonitoringState: [8073, true, 5., 1]
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testModel: [8040, false, 0.]
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testLiveLocation: [8045, false, 0.]
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testJoystick: [8056, false, 0.]
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# 8080 is reserved for slave testing daemon
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# 8762 is reserved for logserver
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# manager -- base process to manage starting and stopping of all others
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# subscribes: thermal
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# **** processes that communicate with the outside world ****
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# thermald -- decides when to start and stop onroad
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# subscribes: health, location
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# publishes: thermal
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# boardd -- communicates with the car
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# subscribes: sendcan
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# publishes: can, health, ubloxRaw
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# sensord -- publishes IMU and Magnetometer
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# publishes: sensorEvents
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# gpsd -- publishes EON's gps
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# publishes: gpsNMEA
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# visiond -- talks to the cameras, runs the model, saves the videos
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# publishes: frame, model, driverMonitoring, cameraOdometry, thumbnail
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# **** stateful data transformers ****
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# plannerd -- decides where to drive the car
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# subscribes: carState, model, radarState, controlsState, liveParameters
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# publishes: plan, pathPlan, liveMpc, liveLongitudinalMpc
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# controlsd -- drives the car by sending CAN messages to panda
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# subscribes: can, thermal, health, plan, pathPlan, driverMonitoring, liveCalibration
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# publishes: carState, carControl, sendcan, controlsState, carEvents, carParams
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# radard -- processes the radar and vision data
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# subscribes: can, controlsState, model, liveParameters
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# publishes: radarState, liveTracks
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# params_learner -- learns vehicle params by observing the vehicle dynamics
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# subscribes: controlsState, sensorEvents, cameraOdometry
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# publishes: liveParameters
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# calibrationd -- reads posenet and applies a temporal filter on the frame region to look at
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# subscribes: cameraOdometry
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# publishes: liveCalibration
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# ubloxd -- read raw ublox data and converts them in readable format
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# subscribes: ubloxRaw
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# publishes: ubloxGnss
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# **** LOGGING SERVICE ****
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# loggerd
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# subscribes: EVERYTHING
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# **** NON VITAL SERVICES ****
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# ui
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# subscribes: thermal, model, controlsState, uiLayout, liveCalibration, radarState, liveMpc, plusFrame, liveMapData
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# uploader
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# communicates through file system with loggerd
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# deleter
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# communicates through file system with loggerd and uploader
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# logmessaged -- central logging service, can log to cloud
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# publishes: logMessage
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# logcatd -- fetches logcat info from android
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# publishes: androidLog
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# proclogd -- fetches process information
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# publishes: procLog
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# tombstoned -- reports native crashes
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# athenad -- on request, open a sub socket and return the value
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# updated -- waits for network access and tries to update every hour
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