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jominki354jominki354
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happymaj11r
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web carrot prototype (ajouatom#273)
* web work * web work * web work * web work * web work * web work * web work * web work * web work * web work * web work * web work * web work --------- Co-authored-by: jominki354 <jomin354@gmail.com>
1 parent 52c499f commit 573a7b0

34 files changed

Lines changed: 5534 additions & 1073 deletions

‎launch_chffrplus.sh‎

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@@ -67,7 +67,9 @@ function launch {
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# handle pythonpath
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ln -sfn $(pwd) /data/pythonpath
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export PYTHONPATH="$PWD"
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PYDEPS="$DIR/pydeps"
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mkdir -p "$PYDEPS"
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export PYTHONPATH="$PYDEPS:$PWD${PYTHONPATH:+:$PYTHONPATH}"
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# hardware specific init
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if [ -f /AGNOS ]; then
@@ -94,6 +96,24 @@ function launch {
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echo "kaitaistruct installing."
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pip install kaitaistruct
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fi
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if python3 -c "import msgpack" > /dev/null 2>&1; then
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echo "msgpack already installed."
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else
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MSGPACK_WHEEL_DIR="$DIR/third_party/wheels"
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if ls "$MSGPACK_WHEEL_DIR"/msgpack-*.whl > /dev/null 2>&1; then
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echo "msgpack installing from local wheel to pydeps."
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python3 -m pip install --no-index --find-links "$MSGPACK_WHEEL_DIR" --target "$PYDEPS" --upgrade msgpack || python3 -m pip install --target "$PYDEPS" --upgrade msgpack
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else
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echo "msgpack local wheel missing, installing to pydeps from network."
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python3 -m pip install --target "$PYDEPS" --upgrade msgpack
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fi
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if python3 -c "import msgpack" > /dev/null 2>&1; then
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echo "msgpack installed for python3."
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else
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echo "msgpack install failed for python3."
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fi
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fi
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# events language init
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#LANG=$(cat ${PARAMS_ROOT}/d/LanguageSetting)

‎pyproject.toml‎

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@@ -16,6 +16,7 @@ dependencies = [
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"sympy", # rednose + friends
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"crcmod", # cars + qcomgpsd
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"tqdm", # cars (fw_versions.py) on start + many one-off uses
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"msgpack", # realtime broker / carrot live payload transport
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# hardwared
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"smbus2", # configuring amp

‎selfdrive/carrot/realtime/__init__.py‎

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from .raw_protocol import RAW_MODE, RAW_PROTOCOL_VERSION, RAW_WIRE_FORMAT, build_raw_hello
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from .raw_services import DEFAULT_RAW_SERVICES, RAW_CORE_SERVICES, RAW_OPTIONAL_SERVICES, is_supported_raw_service, raw_services
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__all__ = [
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"DEFAULT_RAW_SERVICES",
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"RAW_CORE_SERVICES",
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"RAW_MODE",
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"RAW_OPTIONAL_SERVICES",
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"RAW_PROTOCOL_VERSION",
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"RAW_WIRE_FORMAT",
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"build_raw_hello",
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"is_supported_raw_service",
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"raw_services",
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]

‎selfdrive/carrot/realtime/raw_protocol.py‎

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from __future__ import annotations
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from typing import Any
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RAW_PROTOCOL_VERSION = 1
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RAW_WIRE_FORMAT = "cereal-event-capnp"
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RAW_MODE = "raw-capnp-relay"
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def build_raw_hello(*, service: str) -> dict[str, Any]:
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return {
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"type": "hello",
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"service": service,
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"protocolVersion": RAW_PROTOCOL_VERSION,
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"mode": RAW_MODE,
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"wireFormat": RAW_WIRE_FORMAT,
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}

‎selfdrive/carrot/realtime/raw_runner.py‎

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from __future__ import annotations
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import argparse
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import sys
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import time
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from .raw_services import DEFAULT_RAW_SERVICES, is_supported_raw_service
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def main() -> int:
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parser = argparse.ArgumentParser(description="Raw capnp relay standalone reader")
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parser.add_argument("service", help="service name to subscribe to")
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parser.add_argument("--iterations", type=int, default=0, help="0 means forever")
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args = parser.parse_args()
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service = args.service.strip()
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if not is_supported_raw_service(service):
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print(f"unsupported raw service: {service}", file=sys.stderr)
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print("supported services:", ", ".join(DEFAULT_RAW_SERVICES), file=sys.stderr)
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return 2
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try:
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from cereal import messaging
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except Exception as exc:
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print(f"messaging import failed: {exc}", file=sys.stderr)
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return 1
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try:
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sock = messaging.sub_sock(service, conflate=True)
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except Exception as exc:
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print(f"failed to open socket for {service}: {exc}", file=sys.stderr)
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return 1
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count = 0
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while True:
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payload = sock.receive(non_blocking=False)
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if payload is None:
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continue
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print(f"{int(time.time() * 1000)} {service} {len(payload)}", flush=True)
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count += 1
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if args.iterations > 0 and count >= args.iterations:
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return 0
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if __name__ == "__main__":
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raise SystemExit(main())

‎selfdrive/carrot/realtime/raw_services.py‎

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from __future__ import annotations
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RAW_CORE_SERVICES: tuple[str, ...] = (
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"selfdriveState",
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"carState",
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"controlsState",
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"longitudinalPlan",
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"liveCalibration",
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"modelV2",
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"roadCameraState",
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"deviceState",
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)
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RAW_OPTIONAL_SERVICES: tuple[str, ...] = (
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"radarState",
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"carrotMan",
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"gpsLocationExternal",
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"lateralPlan",
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"liveDelay",
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"liveTorqueParameters",
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"liveParameters",
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"navInstructionCarrot",
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"peripheralState",
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"wideRoadCameraState",
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"carControl",
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)
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DEFAULT_RAW_SERVICES: tuple[str, ...] = RAW_CORE_SERVICES + RAW_OPTIONAL_SERVICES
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def raw_services() -> tuple[str, ...]:
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return DEFAULT_RAW_SERVICES
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def is_supported_raw_service(service: str) -> bool:
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return service in DEFAULT_RAW_SERVICES

‎selfdrive/carrot/realtime/transports/__init__.py‎

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from .camera_ws import CameraWsHub
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from .raw_ws import RawWsHub
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__all__ = [
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"CameraWsHub",
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"RawWsHub",
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]

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