mirror of https://github.com/commaai/cereal.git
95 lines
2.9 KiB
Python
95 lines
2.9 KiB
Python
#!/usr/bin/env python3
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import os
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from typing import Optional
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EON = os.path.isfile('/EON')
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RESERVED_PORT = 8022 # sshd
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STARTING_PORT = 8001
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def new_port(port: int):
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port += STARTING_PORT
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return port + 1 if port >= RESERVED_PORT else port
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class Service:
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def __init__(self, port: int, should_log: bool, frequency: float, decimation: Optional[int] = None):
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self.port = port
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self.should_log = should_log
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self.frequency = frequency
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self.decimation = decimation
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services = {
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"roadCameraState": (True, 20., 1), # should_log, frequency, decimation (optional)
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"sensorEvents": (True, 100., 100),
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"gpsNMEA": (True, 9.),
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"deviceState": (True, 2., 1),
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"can": (True, 100.),
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"controlsState": (True, 100., 100),
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"features": (True, 0.),
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"pandaState": (True, 2., 1),
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"radarState": (True, 20., 5),
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"roadEncodeIdx": (True, 20., 1),
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"liveTracks": (True, 20.),
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"sendcan": (True, 100.),
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"logMessage": (True, 0.),
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"liveCalibration": (True, 4., 4),
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"androidLog": (True, 0., 1),
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"carState": (True, 100., 10),
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"carControl": (True, 100., 10),
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"longitudinalPlan": (True, 20., 2),
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"liveLocation": (True, 0., 1),
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"procLog": (True, 0.5),
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"gpsLocationExternal": (True, 10., 1),
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"ubloxGnss": (True, 10.),
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"clocks": (True, 1., 1),
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"liveMpc": (False, 20.),
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"liveLongitudinalMpc": (False, 20.),
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"ubloxRaw": (True, 20.),
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"liveLocationKalman": (True, 20., 2),
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"uiLayoutState": (True, 0.),
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"liveParameters": (True, 20., 2),
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"cameraOdometry": (True, 20., 5),
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"lateralPlan": (True, 20., 2),
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"thumbnail": (True, 0.2, 1),
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"carEvents": (True, 1., 1),
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"carParams": (True, 0.02, 1),
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"driverCameraState": (True, 10. if EON else 20., 1),
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"driverEncodeIdx": (True, 10. if EON else 20., 1),
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"driverState": (True, 10. if EON else 20., 1),
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"driverMonitoringState": (True, 10. if EON else 20., 1),
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"offroadLayout": (False, 0.),
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"wideRoadEncodeIdx": (True, 20., 1),
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"wideRoadCameraState": (True, 20., 1),
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"modelV2": (True, 20., 20),
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"managerState": (True, 2., 1),
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"testModel": (False, 0.),
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"testLiveLocation": (False, 0.),
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"testJoystick": (False, 0.),
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}
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service_list = {name: Service(new_port(idx), *vals) for # type: ignore
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idx, (name, vals) in enumerate(services.items())}
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def build_header():
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h = ""
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h += "/* THIS IS AN AUTOGENERATED FILE, PLEASE EDIT services.py */\n"
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h += "#ifndef __SERVICES_H\n"
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h += "#define __SERVICES_H\n"
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h += "struct service { char name[0x100]; int port; bool should_log; int frequency; int decimation; };\n"
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h += "static struct service services[] = {\n"
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for k, v in service_list.items():
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should_log = "true" if v.should_log else "false"
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decimation = -1 if v.decimation is None else v.decimation
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h += ' { .name = "%s", .port = %d, .should_log = %s, .frequency = %d, .decimation = %d },\n' % \
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(k, v.port, should_log, v.frequency, decimation)
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h += "};\n"
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h += "#endif\n"
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return h
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if __name__ == "__main__":
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print(build_header())
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