From e3b21173a5ed37deb8a81a0b5124c979d821416a Mon Sep 17 00:00:00 2001 From: Vehicle Researcher Date: Fri, 13 Dec 2019 13:02:45 -0800 Subject: [PATCH] Squashed 'cereal/' changes from 90e48c54..b8382bbb b8382bbb steerLimitTimer should be car dependent 9a229687 add pa0 temp to ThermalData f6f0f60e Add stock Fcw to carState b608683f no l/r distinction for LDW 555f48d6 Add ldw alert 8e8b4a4a Remove plusFrame socket in favor of UiLayoutState 3410325c log stock AEB events 2219f2bd Add warning about not using cython version of sec_since_boot 8f1a5122 for legacy-testing reasons, better to define the used percent instead of avail e86d9545 adding low memory event ad238340 remove TODO d0962b34 log mem available and cpu perc in thermald 3b753be9 Implement error handling and exceptions (#18) a7d5bb76 add explicit dependencies on services.h 1ba64677 fix linter c7d215b6 Added communityFeatureDisallowed event 492140a5 Added communityFeature bit detection to CarParams 266a5fed log Panda fault types 347a8661 Switch from polling on FIFOs to signal (#12) e25bba77 no need to double build the objects fe43a994 20Hz for radar time step is very standard 2aabf1ee Added radar time step to car params e8ae9086 Generate capnp for java 57126a23 cereal_shared da655cd3 Add uptime to health f6a8e394 add test with multiple subscribers 84b3af53 comment out the debugging 4b9c942a added power save state to health packet 66be3708 run python unittest in ci 52c6db87 Run scons in CI (#14) 9414615b do need it, but only for arm 2856c37c remove gnustl_shared 7f05ee64 fix apks e3a6bded Revert "no more makefiles" 487fbd06 don't rely on BASEDIR, and add zmq library 223e37a5 no more makefiles da2ed115 don't link the wrong one fe9fe2a2 scons builds the python lib now 2f81135e err, it can't build services.h 57b03f8b now we shouldn't need that yaml crap everywhere f8e53277 bridge builds with services.h 2b0cb608 noOutput safety mode is now called silent 83880d51 add msgq tests bcad1848 msgq: dont block when fifo does not exists b4b26782 Default to zmq 473e2912 fix compilation in docker 30aaaddc msgq: try again when no timeout on poll but also no message c4f2ad53 msgq: make sure read_fifos is initalized so we dont close random fds 4e513a85 msgq: dont clean up uninitialized sockerts c008b630 also remove the fifo from disk ef64eb27 MSGQ stability improvements when opening and closing lots of queues e147abcc Revert "Revert "deprecate irpwr"" 932dc32e Revert "deprecate irpwr" a6844150 disengage ec27e18c capnpc also generated the header files ee52ab9e deprecate irpwr 301c74c8 Merge branch 'master' of github.com:commaai/cereal 6da7d55a add front frame a5944eb4 add conflate parameter for SubSocket::create ca8df170 Add fault status to health ef4ded06 add conflate support in SubSocket constructor 7fd314af update scons build file 93d814e4 add saturated flags to indi and lqr logs 50302fee add steeringRateLimited to car.capnp 05e3513d add msgq readme a6759a95 faster make 94b73778 Add struct to log FW version 64ce0b5f add scons build dc9ad18a add debug print statement on SIGINT 4a612698 Merge pull request #10 from commaai/msgq 4873449a use recv one or none after poll a054864b default to msgq fbc4a4cf oops bad number 5067cf4c add meta cbd02865 fix export prefix and make shared library world readable c2730541 add c exports for jni usage e77f41ef zmq already sets the errno correctly 3196cf69 Fix service list path in bridge d35515a2 add all msgq files, but dont use as default a68a38fa Don't delete context from python side only bd46c225 Revert "zmq_ctx_term is blocking" a1fc26b8 zmq_ctx_term is blocking 09021820 remote address support 21a35361 only delete subsocket when created by same object 34df7351 remove extra underscore from __dealloc__ c8748f86 fix internal refs 79b2fbf7 fixups 23ad2563 import messaging and services git-subtree-dir: cereal git-subtree-split: b8382bbb2b8156f2f1d7e1c1b42b46c54d85761f --- .dockerignore | 1 + .gitignore | 8 + Dockerfile | 19 + Makefile | 62 - SConscript | 68 + SConstruct | 49 + azure-pipelines.yml | 14 + car.capnp | 31 +- install_capnp.sh | 7 +- log.capnp | 34 +- messaging/.gitignore | 10 + messaging/__init__.py | 219 + messaging/bridge.cc | 62 + messaging/catch2/catch.hpp | 17075 +++++++++++++++++++++++++++++ messaging/demo.cc | 50 + messaging/demo.py | 30 + messaging/impl_msgq.cc | 190 + messaging/impl_msgq.hpp | 64 + messaging/impl_zmq.cc | 155 + messaging/impl_zmq.hpp | 63 + messaging/messaging.cc | 117 + messaging/messaging.hpp | 56 + messaging/messaging.pxd | 39 + messaging/messaging_pyx.pyx | 151 + messaging/messaging_pyx_setup.py | 56 + messaging/msgq.cc | 441 + messaging/msgq.hpp | 66 + messaging/msgq.md | 56 + messaging/msgq_tests.cc | 395 + messaging/stress.py | 14 + messaging/test_runner.cc | 2 + messaging/tests/__init__.py | 0 messaging/tests/test_poller.py | 142 + service_list.yaml | 163 + services.py | 33 + 35 files changed, 19871 insertions(+), 71 deletions(-) create mode 100644 .dockerignore create mode 100644 Dockerfile delete mode 100644 Makefile create mode 100644 SConscript create mode 100644 SConstruct create mode 100644 azure-pipelines.yml create mode 100644 messaging/.gitignore create mode 100644 messaging/__init__.py create mode 100644 messaging/bridge.cc create mode 100644 messaging/catch2/catch.hpp create mode 100644 messaging/demo.cc create mode 100644 messaging/demo.py create mode 100644 messaging/impl_msgq.cc create mode 100644 messaging/impl_msgq.hpp create mode 100644 messaging/impl_zmq.cc create mode 100644 messaging/impl_zmq.hpp create mode 100644 messaging/messaging.cc create mode 100644 messaging/messaging.hpp create mode 100644 messaging/messaging.pxd create mode 100644 messaging/messaging_pyx.pyx create mode 100644 messaging/messaging_pyx_setup.py create mode 100644 messaging/msgq.cc create mode 100644 messaging/msgq.hpp create mode 100644 messaging/msgq.md create mode 100644 messaging/msgq_tests.cc create mode 100644 messaging/stress.py create mode 100644 messaging/test_runner.cc create mode 100644 messaging/tests/__init__.py create mode 100644 messaging/tests/test_poller.py create mode 100644 service_list.yaml create mode 100755 services.py diff --git a/.dockerignore b/.dockerignore new file mode 100644 index 00000000000000..5b2d46270d8cc8 --- /dev/null +++ b/.dockerignore @@ -0,0 +1 @@ +.sconsign.dblite diff --git a/.gitignore b/.gitignore index 3f6de09fb90f69..5053090f144df5 100644 --- a/.gitignore +++ b/.gitignore @@ -3,4 +3,12 @@ node_modules package-lock.json *.pyc __pycache__ +.*.swp +.*.swo +libcereal*.a +libmessaging.* +libmessaging_shared.* +services.h +.sconsign.dblite +libcereal_shared.so diff --git a/Dockerfile b/Dockerfile new file mode 100644 index 00000000000000..f681dce68ff4b5 --- /dev/null +++ b/Dockerfile @@ -0,0 +1,19 @@ +from ubuntu:16.04 + +RUN apt-get update && apt-get install -y libzmq3-dev clang wget git autoconf libtool curl make build-essential libssl-dev zlib1g-dev libbz2-dev libreadline-dev libsqlite3-dev llvm libncurses5-dev libncursesw5-dev xz-utils tk-dev libffi-dev liblzma-dev python-openssl + +RUN curl -L https://github.com/pyenv/pyenv-installer/raw/master/bin/pyenv-installer | bash +ENV PATH="/root/.pyenv/bin:/root/.pyenv/shims:${PATH}" +RUN pyenv install 3.7.3 +RUN pyenv global 3.7.3 +RUN pyenv rehash +RUN pip3 install pyyaml==5.1.2 Cython==0.29.14 scons==3.1.1 pycapnp==0.6.4 + +WORKDIR /project/cereal +COPY install_capnp.sh . +RUN ./install_capnp.sh + +ENV PYTHONPATH=/project + +COPY . . +RUN scons -c && scons -j$(nproc) diff --git a/Makefile b/Makefile deleted file mode 100644 index 83318bef33d0ad..00000000000000 --- a/Makefile +++ /dev/null @@ -1,62 +0,0 @@ -PWD := $(shell pwd) - -SRCS := log.capnp car.capnp - -GENS := gen/cpp/car.capnp.c++ gen/cpp/log.capnp.c++ -JS := gen/js/car.capnp.js gen/js/log.capnp.js - -UNAME_M ?= $(shell uname -m) - -GENS += gen/c/car.capnp.c gen/c/log.capnp.c gen/c/include/c++.capnp.h gen/c/include/java.capnp.h - -ifeq ($(UNAME_M),x86_64) - -ifneq (, $(shell which capnpc-java)) -GENS += gen/java/Car.java gen/java/Log.java -else -$(warning capnpc-java not found, skipping java build) -endif - -endif - - -ifeq ($(UNAME_M),aarch64) -CAPNPC=PATH=$(PWD)/../phonelibs/capnp-cpp/aarch64/bin/:$$PATH capnpc -else -CAPNPC=capnpc -endif - -.PHONY: all -all: $(GENS) -js: $(JS) - -.PHONY: clean -clean: - rm -rf gen - rm -rf node_modules - rm -rf package-lock.json - -gen/c/%.capnp.c: %.capnp - @echo "[ CAPNPC C ] $@" - mkdir -p gen/c/ - $(CAPNPC) '$<' -o c:gen/c/ - -gen/js/%.capnp.js: %.capnp - @echo "[ CAPNPC JavaScript ] $@" - mkdir -p gen/js/ - sh ./generate_javascript.sh - -gen/cpp/%.capnp.c++: %.capnp - @echo "[ CAPNPC C++ ] $@" - mkdir -p gen/cpp/ - $(CAPNPC) '$<' -o c++:gen/cpp/ - -gen/java/Car.java gen/java/Log.java: $(SRCS) - @echo "[ CAPNPC java ] $@" - mkdir -p gen/java/ - $(CAPNPC) $^ -o java:gen/java - -# c-capnproto needs some empty headers -gen/c/include/c++.capnp.h gen/c/include/java.capnp.h: - mkdir -p gen/c/include - touch '$@' diff --git a/SConscript b/SConscript new file mode 100644 index 00000000000000..789e83023a078c --- /dev/null +++ b/SConscript @@ -0,0 +1,68 @@ +Import('env', 'arch', 'zmq') + +gen_dir = Dir('gen') +messaging_dir = Dir('messaging') + +# TODO: remove src-prefix and cereal from command string. can we set working directory? +env.Command(["gen/c/include/c++.capnp.h", "gen/c/include/java.capnp.h"], [], "mkdir -p " + gen_dir.path + "/c/include && touch $TARGETS") +env.Command( + ['gen/c/car.capnp.c', 'gen/c/log.capnp.c', 'gen/c/car.capnp.h', 'gen/c/log.capnp.h'], + ['car.capnp', 'log.capnp'], + 'capnpc $SOURCES --src-prefix=cereal -o c:' + gen_dir.path + '/c/') +env.Command( + ['gen/cpp/car.capnp.c++', 'gen/cpp/log.capnp.c++', 'gen/cpp/car.capnp.h', 'gen/cpp/log.capnp.h'], + ['car.capnp', 'log.capnp'], + 'capnpc $SOURCES --src-prefix=cereal -o c++:' + gen_dir.path + '/cpp/') +import shutil +if shutil.which('capnpc-java'): + env.Command( + ['gen/java/Car.java', 'gen/java/Log.java'], + ['car.capnp', 'log.capnp'], + 'capnpc $SOURCES --src-prefix=cereal -o java:' + gen_dir.path + '/java/') + +# TODO: remove non shared cereal and messaging +cereal_objects = env.SharedObject([ + 'gen/c/car.capnp.c', + 'gen/c/log.capnp.c', + 'gen/cpp/car.capnp.c++', + 'gen/cpp/log.capnp.c++', + ]) + +env.Library('cereal', cereal_objects) +env.SharedLibrary('cereal_shared', cereal_objects) + +cereal_dir = Dir('.') +services_h = env.Command( + ['services.h'], + ['service_list.yaml', 'services.py'], + 'python3 ' + cereal_dir.path + '/services.py > $TARGET') + +messaging_objects = env.SharedObject([ + 'messaging/messaging.cc', + 'messaging/impl_zmq.cc', + 'messaging/impl_msgq.cc', + 'messaging/msgq.cc', +]) + +messaging_lib = env.Library('messaging', messaging_objects) +Depends('messaging/impl_zmq.cc', services_h) + +# note, this rebuilds the deps shared, zmq is statically linked to make APK happy +# TODO: get APK to load system zmq to remove the static link +shared_lib_shared_lib = [zmq, 'm', 'stdc++'] + ["gnustl_shared"] if arch == "aarch64" else [] +env.SharedLibrary('messaging_shared', messaging_objects, LIBS=shared_lib_shared_lib) + +env.Program('messaging/bridge', ['messaging/bridge.cc'], LIBS=[messaging_lib, 'zmq']) +Depends('messaging/bridge.cc', services_h) + +# different target? +#env.Program('messaging/demo', ['messaging/demo.cc'], LIBS=[messaging_lib, 'zmq']) + + +env.Command(['messaging/messaging_pyx.so'], + [messaging_lib, 'messaging/messaging_pyx_setup.py', 'messaging/messaging_pyx.pyx', 'messaging/messaging.pxd'], + "cd " + messaging_dir.path + " && python3 messaging_pyx_setup.py build_ext --inplace") + + +if GetOption('test'): + env.Program('messaging/test_runner', ['messaging/test_runner.cc', 'messaging/msgq_tests.cc'], LIBS=[messaging_lib]) diff --git a/SConstruct b/SConstruct new file mode 100644 index 00000000000000..a72286b279bd74 --- /dev/null +++ b/SConstruct @@ -0,0 +1,49 @@ +import os +import subprocess + +zmq = 'zmq' +arch = subprocess.check_output(["uname", "-m"], encoding='utf8').rstrip() + +cereal_dir = Dir('.') + +cpppath = [ + cereal_dir, + '/usr/lib/include', +] + +AddOption('--test', + action='store_true', + help='build test files') + +AddOption('--asan', + action='store_true', + help='turn on ASAN') + +ccflags_asan = ["-fsanitize=address", "-fno-omit-frame-pointer"] if GetOption('asan') else [] +ldflags_asan = ["-fsanitize=address"] if GetOption('asan') else [] + +env = Environment( + ENV=os.environ, + CC='clang', + CXX='clang++', + CCFLAGS=[ + "-g", + "-fPIC", + "-O2", + "-Werror=implicit-function-declaration", + "-Werror=incompatible-pointer-types", + "-Werror=int-conversion", + "-Werror=return-type", + "-Werror=format-extra-args", + ] + ccflags_asan, + LDFLAGS=ldflags_asan, + LINKFLAGS=ldflags_asan, + + CFLAGS="-std=gnu11", + CXXFLAGS="-std=c++14", + CPPPATH=cpppath, +) + + +Export('env', 'zmq', 'arch') +SConscript(['SConscript']) diff --git a/azure-pipelines.yml b/azure-pipelines.yml new file mode 100644 index 00000000000000..c14526a5c1c404 --- /dev/null +++ b/azure-pipelines.yml @@ -0,0 +1,14 @@ +pr: none + +pool: + vmImage: 'ubuntu-16.04' + +steps: +- script: | + set -e + docker build -t cereal . + docker run cereal bash -c "scons --test --asan -j$(nproc) && messaging/test_runner" + docker run cereal bash -c "ZMQ=1 python -m unittest discover ." + docker run cereal bash -c "MSGQ=1 python -m unittest discover ." + + displayName: 'Run Tests' diff --git a/car.capnp b/car.capnp index c38bc7d312f6eb..68a723206a6d4b 100644 --- a/car.capnp +++ b/car.capnp @@ -84,6 +84,10 @@ struct CarEvent @0x9b1657f34caf3ad3 { laneChange @59; invalidGiraffeToyota @60; internetConnectivityNeeded @61; + communityFeatureDisallowed @62; + lowMemory @63; + stockAeb @64; + ldw @65; } } @@ -117,6 +121,9 @@ struct CarState { steeringTorque @8 :Float32; # TODO: standardize units steeringTorqueEps @27 :Float32; # TODO: standardize units steeringPressed @9 :Bool; # if the user is using the steering wheel + steeringRateLimited @29 :Bool; # if the torque is limited by the rate limiter + stockAeb @30 :Bool; + stockFcw @31 :Bool; # cruise state cruiseState @10 :CruiseState; @@ -170,7 +177,6 @@ struct CarState { manumatic @9; } - # send on change struct ButtonEvent { pressed @0 :Bool; @@ -314,7 +320,7 @@ struct CarParams { minEnableSpeed @7 :Float32; minSteerSpeed @8 :Float32; safetyModel @9 :SafetyModel; - safetyModelPassive @42 :SafetyModel = noOutput; + safetyModelPassive @42 :SafetyModel = silent; safetyParam @10 :Int16; steerMaxBP @11 :List(Float32); @@ -324,7 +330,6 @@ struct CarParams { brakeMaxBP @15 :List(Float32); brakeMaxV @16 :List(Float32); - # things about the car in the manual mass @17 :Float32; # [kg] running weight wheelbase @18 :Float32; # [m] distance from rear to front axle @@ -345,6 +350,7 @@ struct CarParams { } steerLimitAlert @28 :Bool; + steerLimitTimer @47 :Float32; # time before steerLimitAlert is issued vEgoStopping @29 :Float32; # Speed at which the car goes into stopping state directAccelControl @30 :Bool; # Does the car have direct accel control or just gas/brake @@ -360,6 +366,9 @@ struct CarParams { isPandaBlack @39: Bool; dashcamOnly @41: Bool; transmissionType @43 :TransmissionType; + carFw @44 :List(CarFw); + radarTimeStep @45: Float32 = 0.05; # time delta between radar updates, 20Hz is very standard + communityFeature @46: Bool; # true if a community maintained feature is detected struct LateralPIDTuning { kpBP @0 :List(Float32); @@ -378,7 +387,6 @@ struct CarParams { deadzoneV @5 :List(Float32); } - struct LateralINDITuning { outerLoopGain @0 :Float32; innerLoopGain @1 :Float32; @@ -401,7 +409,7 @@ struct CarParams { } enum SafetyModel { - noOutput @0; + silent @0; honda @1; toyota @2; elm327 @3; @@ -420,6 +428,7 @@ struct CarParams { toyotaIpas @16; allOutput @17; gmAscm @18; + noOutput @19; # like silent but with silent CAN TXs } enum SteerControlType { @@ -432,4 +441,16 @@ struct CarParams { automatic @1; manual @2; } + + struct CarFw { + ecu @0 :Ecu; + fwVersion @1 :Text; + } + + enum Ecu { + eps @0; + esp @1; + fwdRadar @2; + fwdCamera @3; + } } diff --git a/install_capnp.sh b/install_capnp.sh index b83e1ffda1d221..cc570b60ffc884 100755 --- a/install_capnp.sh +++ b/install_capnp.sh @@ -8,7 +8,8 @@ tar xvf capnproto-c++-${VERSION}.tar.gz cd capnproto-c++-${VERSION} CXXFLAGS="-fPIC" ./configure -make -j4 +make -j$(nproc) +make install # manually build binaries statically g++ -std=gnu++11 -I./src -I./src -DKJ_HEADER_WARNINGS -DCAPNP_HEADER_WARNINGS -DCAPNP_INCLUDE_DIR=\"/usr/local/include\" -pthread -O2 -DNDEBUG -pthread -pthread -o .libs/capnp src/capnp/compiler/module-loader.o src/capnp/compiler/capnp.o ./.libs/libcapnpc.a ./.libs/libcapnp.a ./.libs/libkj.a -lpthread -pthread @@ -18,7 +19,6 @@ g++ -std=gnu++11 -I./src -I./src -DKJ_HEADER_WARNINGS -DCAPNP_HEADER_WARNINGS -D g++ -std=gnu++11 -I./src -I./src -DKJ_HEADER_WARNINGS -DCAPNP_HEADER_WARNINGS -DCAPNP_INCLUDE_DIR=\"/usr/local/include\" -pthread -O2 -DNDEBUG -pthread -pthread -o .libs/capnpc-capnp src/capnp/compiler/capnpc-capnp.o ./.libs/libcapnp.a ./.libs/libkj.a -lpthread -pthread cp .libs/capnp /usr/local/bin/ -ln -s /usr/local/bin/capnp /usr/local/bin/capnpc cp .libs/capnpc-c++ /usr/local/bin/ cp .libs/capnpc-capnp /usr/local/bin/ cp .libs/*.a /usr/local/lib @@ -30,7 +30,8 @@ cd c-capnproto git submodule update --init --recursive autoreconf -f -i -s CXXFLAGS="-fPIC" ./configure -make -j4 +make -j$(nproc) +make install # manually build binaries statically gcc -fPIC -o .libs/capnpc-c compiler/capnpc-c.o compiler/schema.capnp.o compiler/str.o ./.libs/libcapnp_c.a diff --git a/log.capnp b/log.capnp index 0fd5155bf691bc..b059218feba89c 100644 --- a/log.capnp +++ b/log.capnp @@ -126,6 +126,7 @@ struct FrameData { lensErr @13 :Float32; lensTruePos @14 :Float32; image @6 :Data; + gainFrac @15 :Float32; frameType @7 :FrameType; timestampSof @8 :UInt64; @@ -137,6 +138,7 @@ struct FrameData { unknown @0; neo @1; chffrAndroid @2; + front @3; } struct AndroidCaptureResult { @@ -268,6 +270,7 @@ struct ThermalData { mem @4 :UInt16; gpu @5 :UInt16; bat @6 :UInt32; + pa0 @21 :UInt16; # not thermal freeSpace @7 :Float32; @@ -285,6 +288,9 @@ struct ThermalData { chargingError @17 :Bool; chargingDisabled @18 :Bool; + memUsedPercent @19 :Int8; + cpuPerc @20 :Int8; + enum ThermalStatus { green @0; # all processes run yellow @1; # critical processes run (kill uploader), engage still allowed @@ -310,6 +316,20 @@ struct HealthData { usbPowerMode @12 :UsbPowerMode; ignitionCan @13 :Bool; safetyModel @14 :Car.CarParams.SafetyModel; + faultStatus @15 :FaultStatus; + powerSaveEnabled @16 :Bool; + uptime @17 :UInt32; + faults @18 :List(FaultType); + + enum FaultStatus { + none @0; + faultTemp @1; + faultPerm @2; + } + + enum FaultType { + relayMalfunction @0; + } enum HwType { unknown @0; @@ -509,6 +529,7 @@ struct ControlsState @0x97ff69c53601abf1 { delayedOutput @7 :Float32; delta @8 :Float32; output @9 :Float32; + saturated @10 :Bool; } struct LateralPIDState { @@ -529,6 +550,7 @@ struct ControlsState @0x97ff69c53601abf1 { i @2 :Float32; output @3 :Float32; lqrOutput @4 :Float32; + saturated @5 :Bool; } @@ -552,6 +574,7 @@ struct ModelData { settings @5 :ModelSettings; leadFuture @7 :LeadData; speed @8 :List(Float32); + meta @10 :MetaData; struct PathData { points @0 :List(Float32); @@ -582,6 +605,13 @@ struct ModelData { yuvCorrection @5 :List(Float32); inputTransform @6 :List(Float32); } + struct MetaData { + engagedProb @0 :Float32; + desirePrediction @1 :List(Float32); + brakeDisengageProb @2 :Float32; + gasDisengageProb @3 :Float32; + steerOverrideProb @4 :Float32; + } } struct CalibrationFeatures { @@ -1649,6 +1679,7 @@ struct UiLayoutState { home @0; music @1; nav @2; + settings @3; } } @@ -1725,7 +1756,7 @@ struct DriverMonitoring { rightEyeProb @7 :Float32; leftBlinkProb @8 :Float32; rightBlinkProb @9 :Float32; - irPwr @10 :Float32; + irPwrDEPRECATED @10 :Float32; } struct Boot { @@ -1857,5 +1888,6 @@ struct Event { thumbnail @66: Thumbnail; carEvents @68: List(Car.CarEvent); carParams @69: Car.CarParams; + frontFrame @70: FrameData; } } diff --git a/messaging/.gitignore b/messaging/.gitignore new file mode 100644 index 00000000000000..dbbe8e22aee488 --- /dev/null +++ b/messaging/.gitignore @@ -0,0 +1,10 @@ +demo +bridge +test_runner +*.o +*.os +*.d +*.a +*.so +messaging_pyx.cpp +build/ diff --git a/messaging/__init__.py b/messaging/__init__.py new file mode 100644 index 00000000000000..7a0d4936b3e653 --- /dev/null +++ b/messaging/__init__.py @@ -0,0 +1,219 @@ +# must be build with scons +from .messaging_pyx import Context, Poller, SubSocket, PubSocket # pylint: disable=no-name-in-module, import-error +from .messaging_pyx import MultiplePublishersError, MessagingError # pylint: disable=no-name-in-module, import-error + +assert MultiplePublishersError +assert MessagingError + +from cereal import log +from cereal.services import service_list + +# sec_since_boot is faster, but allow to run standalone too +try: + from common.realtime import sec_since_boot +except ImportError: + import time + sec_since_boot = time.time + print("Warning, using python time.time() instead of faster sec_since_boot") + +context = Context() + +def new_message(): + dat = log.Event.new_message() + dat.logMonoTime = int(sec_since_boot() * 1e9) + dat.valid = True + return dat + +def pub_sock(endpoint): + sock = PubSocket() + sock.connect(context, endpoint) + return sock + +def sub_sock(endpoint, poller=None, addr="127.0.0.1", conflate=False, timeout=None): + sock = SubSocket() + addr = addr.encode('utf8') + sock.connect(context, endpoint, addr, conflate) + + if timeout is not None: + sock.setTimeout(timeout) + + if poller is not None: + poller.registerSocket(sock) + return sock + + +def drain_sock_raw(sock, wait_for_one=False): + """Receive all message currently available on the queue""" + ret = [] + while 1: + if wait_for_one and len(ret) == 0: + dat = sock.receive() + else: + dat = sock.receive(non_blocking=True) + + if dat is None: + break + + ret.append(dat) + + return ret + +def drain_sock(sock, wait_for_one=False): + """Receive all message currently available on the queue""" + ret = [] + while 1: + if wait_for_one and len(ret) == 0: + dat = sock.receive() + else: + dat = sock.receive(non_blocking=True) + + if dat is None: # Timeout hit + break + + dat = log.Event.from_bytes(dat) + ret.append(dat) + + return ret + + +# TODO: print when we drop packets? +def recv_sock(sock, wait=False): + """Same as drain sock, but only returns latest message. Consider using conflate instead.""" + dat = None + + while 1: + if wait and dat is None: + rcv = sock.receive() + else: + rcv = sock.receive(non_blocking=True) + + if rcv is None: # Timeout hit + break + + dat = rcv + + if dat is not None: + dat = log.Event.from_bytes(dat) + + return dat + +def recv_one(sock): + dat = sock.receive() + if dat is not None: + dat = log.Event.from_bytes(dat) + return dat + +def recv_one_or_none(sock): + dat = sock.receive(non_blocking=True) + if dat is not None: + dat = log.Event.from_bytes(dat) + return dat + +def recv_one_retry(sock): + """Keep receiving until we get a message""" + while True: + dat = sock.receive() + if dat is not None: + return log.Event.from_bytes(dat) + +def get_one_can(logcan): + while True: + can = recv_one_retry(logcan) + if len(can.can) > 0: + return can + +class SubMaster(): + def __init__(self, services, ignore_alive=None, addr="127.0.0.1"): + self.poller = Poller() + self.frame = -1 + self.updated = {s : False for s in services} + self.rcv_time = {s : 0. for s in services} + self.rcv_frame = {s : 0 for s in services} + self.alive = {s : False for s in services} + self.sock = {} + self.freq = {} + self.data = {} + self.logMonoTime = {} + self.valid = {} + + if ignore_alive is not None: + self.ignore_alive = ignore_alive + else: + self.ignore_alive = [] + + for s in services: + if addr is not None: + self.sock[s] = sub_sock(s, poller=self.poller, addr=addr, conflate=True) + self.freq[s] = service_list[s].frequency + + data = new_message() + if s in ['can', 'sensorEvents', 'liveTracks', 'sendCan', + 'ethernetData', 'cellInfo', 'wifiScan', + 'trafficEvents', 'orbObservation', 'carEvents']: + data.init(s, 0) + else: + data.init(s) + self.data[s] = getattr(data, s) + self.logMonoTime[s] = 0 + self.valid[s] = data.valid + + def __getitem__(self, s): + return self.data[s] + + def update(self, timeout=1000): + msgs = [] + for sock in self.poller.poll(timeout): + msgs.append(recv_one_or_none(sock)) + self.update_msgs(sec_since_boot(), msgs) + + def update_msgs(self, cur_time, msgs): + # TODO: add optional input that specify the service to wait for + self.frame += 1 + self.updated = dict.fromkeys(self.updated, False) + for msg in msgs: + if msg is None: + continue + + s = msg.which() + self.updated[s] = True + self.rcv_time[s] = cur_time + self.rcv_frame[s] = self.frame + self.data[s] = getattr(msg, s) + self.logMonoTime[s] = msg.logMonoTime + self.valid[s] = msg.valid + + for s in self.data: + # arbitrary small number to avoid float comparison. If freq is 0, we can skip the check + if self.freq[s] > 1e-5: + # alive if delay is within 10x the expected frequency + self.alive[s] = (cur_time - self.rcv_time[s]) < (10. / self.freq[s]) + else: + self.alive[s] = True + + def all_alive(self, service_list=None): + if service_list is None: # check all + service_list = self.alive.keys() + return all(self.alive[s] for s in service_list if s not in self.ignore_alive) + + def all_valid(self, service_list=None): + if service_list is None: # check all + service_list = self.valid.keys() + return all(self.valid[s] for s in service_list) + + def all_alive_and_valid(self, service_list=None): + if service_list is None: # check all + service_list = self.alive.keys() + return self.all_alive(service_list=service_list) and self.all_valid(service_list=service_list) + + +class PubMaster(): + def __init__(self, services): + self.sock = {} + for s in services: + self.sock[s] = pub_sock(s) + + def send(self, s, dat): + # accept either bytes or capnp builder + if not isinstance(dat, bytes): + dat = dat.to_bytes() + self.sock[s].send(dat) diff --git a/messaging/bridge.cc b/messaging/bridge.cc new file mode 100644 index 00000000000000..7abcdd09dae6e0 --- /dev/null +++ b/messaging/bridge.cc @@ -0,0 +1,62 @@ +#include +#include +#include +#include +#include + +#include "services.h" + +#include "impl_msgq.hpp" +#include "impl_zmq.hpp" + +void sigpipe_handler(int sig) { + assert(sig == SIGPIPE); + std::cout << "SIGPIPE received" << std::endl; +} + +static std::vector get_services() { + std::vector name_list; + + for (const auto& it : services) { + std::string name = it.name; + if (name == "plusFrame" || name == "uiLayoutState") continue; + name_list.push_back(name); + } + + return name_list; +} + + +int main(void){ + signal(SIGPIPE, (sighandler_t)sigpipe_handler); + + auto endpoints = get_services(); + + std::map sub2pub; + + Context *zmq_context = new ZMQContext(); + Context *msgq_context = new MSGQContext(); + Poller *poller = new MSGQPoller(); + + for (auto endpoint: endpoints){ + SubSocket * msgq_sock = new MSGQSubSocket(); + msgq_sock->connect(msgq_context, endpoint, "127.0.0.1", false); + poller->registerSocket(msgq_sock); + + PubSocket * zmq_sock = new ZMQPubSocket(); + zmq_sock->connect(zmq_context, endpoint); + + sub2pub[msgq_sock] = zmq_sock; + } + + + while (true){ + for (auto sub_sock : poller->poll(100)){ + Message * msg = sub_sock->receive(); + if (msg == NULL) continue; + sub2pub[sub_sock]->sendMessage(msg); + delete msg; + } + } + return 0; +} diff --git a/messaging/catch2/catch.hpp b/messaging/catch2/catch.hpp new file mode 100644 index 00000000000000..5feb2a4bea7dba --- /dev/null +++ b/messaging/catch2/catch.hpp @@ -0,0 +1,17075 @@ +/* + * Catch v2.9.2 + * Generated: 2019-08-08 13:35:12.279703 + * ---------------------------------------------------------- + * This file has been merged from multiple headers. Please don't edit it directly + * Copyright (c) 2019 Two Blue Cubes Ltd. All rights reserved. + * + * Distributed under the Boost Software License, Version 1.0. (See accompanying + * file LICENSE_1_0.txt or copy at http://www.boost.org/LICENSE_1_0.txt) + */ +#ifndef TWOBLUECUBES_SINGLE_INCLUDE_CATCH_HPP_INCLUDED +#define TWOBLUECUBES_SINGLE_INCLUDE_CATCH_HPP_INCLUDED +// start catch.hpp + + +#define CATCH_VERSION_MAJOR 2 +#define CATCH_VERSION_MINOR 9 +#define CATCH_VERSION_PATCH 2 + +#ifdef __clang__ +# pragma clang system_header +#elif defined __GNUC__ +# pragma GCC system_header +#endif + +// start catch_suppress_warnings.h + +#ifdef __clang__ +# ifdef __ICC // icpc defines the __clang__ macro +# pragma warning(push) +# pragma warning(disable: 161 1682) +# else // __ICC +# pragma clang diagnostic push +# pragma clang diagnostic ignored "-Wpadded" +# pragma clang diagnostic ignored "-Wswitch-enum" +# pragma clang diagnostic ignored "-Wcovered-switch-default" +# endif +#elif defined __GNUC__ + // Because REQUIREs trigger GCC's -Wparentheses, and because still + // supported version of g++ have only buggy support for _Pragmas, + // Wparentheses have to be suppressed globally. +# pragma GCC diagnostic ignored "-Wparentheses" // See #674 for details + +# pragma GCC diagnostic push +# pragma GCC diagnostic ignored "-Wunused-variable" +# pragma GCC diagnostic ignored "-Wpadded" +#endif +// end catch_suppress_warnings.h +#if defined(CATCH_CONFIG_MAIN) || defined(CATCH_CONFIG_RUNNER) +# define CATCH_IMPL +# define CATCH_CONFIG_ALL_PARTS +#endif + +// In the impl file, we want to have access to all parts of the headers +// Can also be used to sanely support PCHs +#if defined(CATCH_CONFIG_ALL_PARTS) +# define CATCH_CONFIG_EXTERNAL_INTERFACES +# if defined(CATCH_CONFIG_DISABLE_MATCHERS) +# undef CATCH_CONFIG_DISABLE_MATCHERS +# endif +# if !defined(CATCH_CONFIG_ENABLE_CHRONO_STRINGMAKER) +# define CATCH_CONFIG_ENABLE_CHRONO_STRINGMAKER +# endif +#endif + +#if !defined(CATCH_CONFIG_IMPL_ONLY) +// start catch_platform.h + +#ifdef __APPLE__ +# include +# if TARGET_OS_OSX == 1 +# define CATCH_PLATFORM_MAC +# elif TARGET_OS_IPHONE == 1 +# define CATCH_PLATFORM_IPHONE +# endif + +#elif defined(linux) || defined(__linux) || defined(__linux__) +# define CATCH_PLATFORM_LINUX + +#elif defined(WIN32) || defined(__WIN32__) || defined(_WIN32) || defined(_MSC_VER) || defined(__MINGW32__) +# define CATCH_PLATFORM_WINDOWS +#endif + +// end catch_platform.h + +#ifdef CATCH_IMPL +# ifndef CLARA_CONFIG_MAIN +# define CLARA_CONFIG_MAIN_NOT_DEFINED +# define CLARA_CONFIG_MAIN +# endif +#endif + +// start catch_user_interfaces.h + +namespace Catch { + unsigned int rngSeed(); +} + +// end catch_user_interfaces.h +// start catch_tag_alias_autoregistrar.h + +// start catch_common.h + +// start catch_compiler_capabilities.h + +// Detect a number of compiler features - by compiler +// The following features are defined: +// +// CATCH_CONFIG_COUNTER : is the __COUNTER__ macro supported? +// CATCH_CONFIG_WINDOWS_SEH : is Windows SEH supported? +// CATCH_CONFIG_POSIX_SIGNALS : are POSIX signals supported? +// CATCH_CONFIG_DISABLE_EXCEPTIONS : Are exceptions enabled? +// **************** +// Note to maintainers: if new toggles are added please document them +// in configuration.md, too +// **************** + +// In general each macro has a _NO_ form +// (e.g. CATCH_CONFIG_NO_POSIX_SIGNALS) which disables the feature. +// Many features, at point of detection, define an _INTERNAL_ macro, so they +// can be combined, en-mass, with the _NO_ forms later. + +#ifdef __cplusplus + +# if (__cplusplus >= 201402L) || (defined(_MSVC_LANG) && _MSVC_LANG >= 201402L) +# define CATCH_CPP14_OR_GREATER +# endif + +# if (__cplusplus >= 201703L) || (defined(_MSVC_LANG) && _MSVC_LANG >= 201703L) +# define CATCH_CPP17_OR_GREATER +# endif + +#endif + +#if defined(CATCH_CPP17_OR_GREATER) +# define CATCH_INTERNAL_CONFIG_CPP17_UNCAUGHT_EXCEPTIONS +#endif + +#ifdef __clang__ + +# define CATCH_INTERNAL_SUPPRESS_GLOBALS_WARNINGS \ + _Pragma( "clang diagnostic push" ) \ + _Pragma( "clang diagnostic ignored \"-Wexit-time-destructors\"" ) \ + _Pragma( "clang diagnostic ignored \"-Wglobal-constructors\"") +# define CATCH_INTERNAL_UNSUPPRESS_GLOBALS_WARNINGS \ + _Pragma( "clang diagnostic pop" ) + +# define CATCH_INTERNAL_SUPPRESS_PARENTHESES_WARNINGS \ + _Pragma( "clang diagnostic push" ) \ + _Pragma( "clang diagnostic ignored \"-Wparentheses\"" ) +# define CATCH_INTERNAL_UNSUPPRESS_PARENTHESES_WARNINGS \ + _Pragma( "clang diagnostic pop" ) + +# define CATCH_INTERNAL_SUPPRESS_UNUSED_WARNINGS \ + _Pragma( "clang diagnostic push" ) \ + _Pragma( "clang diagnostic ignored \"-Wunused-variable\"" ) +# define CATCH_INTERNAL_UNSUPPRESS_UNUSED_WARNINGS \ + _Pragma( "clang diagnostic pop" ) + +# define CATCH_INTERNAL_SUPPRESS_ZERO_VARIADIC_WARNINGS \ + _Pragma( "clang diagnostic push" ) \ + _Pragma( "clang diagnostic ignored \"-Wgnu-zero-variadic-macro-arguments\"" ) +# define CATCH_INTERNAL_UNSUPPRESS_ZERO_VARIADIC_WARNINGS \ + _Pragma( "clang diagnostic pop" ) + +#endif // __clang__ + +//////////////////////////////////////////////////////////////////////////////// +// Assume that non-Windows platforms support posix signals by default +#if !defined(CATCH_PLATFORM_WINDOWS) + #define CATCH_INTERNAL_CONFIG_POSIX_SIGNALS +#endif + +//////////////////////////////////////////////////////////////////////////////// +// We know some environments not to support full POSIX signals +#if defined(__CYGWIN__) || defined(__QNX__) || defined(__EMSCRIPTEN__) || defined(__DJGPP__) + #define CATCH_INTERNAL_CONFIG_NO_POSIX_SIGNALS +#endif + +#ifdef __OS400__ +# define CATCH_INTERNAL_CONFIG_NO_POSIX_SIGNALS +# define CATCH_CONFIG_COLOUR_NONE +#endif + +//////////////////////////////////////////////////////////////////////////////// +// Android somehow still does not support std::to_string +#if defined(__ANDROID__) +# define CATCH_INTERNAL_CONFIG_NO_CPP11_TO_STRING +#endif + +//////////////////////////////////////////////////////////////////////////////// +// Not all Windows environments support SEH properly +#if defined(__MINGW32__) +# define CATCH_INTERNAL_CONFIG_NO_WINDOWS_SEH +#endif + +//////////////////////////////////////////////////////////////////////////////// +// PS4 +#if defined(__ORBIS__) +# define CATCH_INTERNAL_CONFIG_NO_NEW_CAPTURE +#endif + +//////////////////////////////////////////////////////////////////////////////// +// Cygwin +#ifdef __CYGWIN__ + +// Required for some versions of Cygwin to declare gettimeofday +// see: http://stackoverflow.com/questions/36901803/gettimeofday-not-declared-in-this-scope-cygwin +# define _BSD_SOURCE +// some versions of cygwin (most) do not support std::to_string. Use the libstd check. +// https://gcc.gnu.org/onlinedocs/gcc-4.8.2/libstdc++/api/a01053_source.html line 2812-2813 +# if !((__cplusplus >= 201103L) && defined(_GLIBCXX_USE_C99) \ + && !defined(_GLIBCXX_HAVE_BROKEN_VSWPRINTF)) + +# define CATCH_INTERNAL_CONFIG_NO_CPP11_TO_STRING + +# endif +#endif // __CYGWIN__ + +//////////////////////////////////////////////////////////////////////////////// +// Visual C++ +#ifdef _MSC_VER + +# if _MSC_VER >= 1900 // Visual Studio 2015 or newer +# define CATCH_INTERNAL_CONFIG_CPP17_UNCAUGHT_EXCEPTIONS +# endif + +// Universal Windows platform does not support SEH +// Or console colours (or console at all...) +# if defined(WINAPI_FAMILY) && (WINAPI_FAMILY == WINAPI_FAMILY_APP) +# define CATCH_CONFIG_COLOUR_NONE +# else +# define CATCH_INTERNAL_CONFIG_WINDOWS_SEH +# endif + +// MSVC traditional preprocessor needs some workaround for __VA_ARGS__ +// _MSVC_TRADITIONAL == 0 means new conformant preprocessor +// _MSVC_TRADITIONAL == 1 means old traditional non-conformant preprocessor +# if !defined(_MSVC_TRADITIONAL) || (defined(_MSVC_TRADITIONAL) && _MSVC_TRADITIONAL) +# define CATCH_INTERNAL_CONFIG_TRADITIONAL_MSVC_PREPROCESSOR +# endif +#endif // _MSC_VER + +#if defined(_REENTRANT) || defined(_MSC_VER) +// Enable async processing, as -pthread is specified or no additional linking is required +# define CATCH_INTERNAL_CONFIG_USE_ASYNC +#endif // _MSC_VER + +//////////////////////////////////////////////////////////////////////////////// +// Check if we are compiled with -fno-exceptions or equivalent +#if defined(__EXCEPTIONS) || defined(__cpp_exceptions) || defined(_CPPUNWIND) +# define CATCH_INTERNAL_CONFIG_EXCEPTIONS_ENABLED +#endif + +//////////////////////////////////////////////////////////////////////////////// +// DJGPP +#ifdef __DJGPP__ +# define CATCH_INTERNAL_CONFIG_NO_WCHAR +#endif // __DJGPP__ + +//////////////////////////////////////////////////////////////////////////////// +// Embarcadero C++Build +#if defined(__BORLANDC__) + #define CATCH_INTERNAL_CONFIG_POLYFILL_ISNAN +#endif + +//////////////////////////////////////////////////////////////////////////////// + +// Use of __COUNTER__ is suppressed during code analysis in +// CLion/AppCode 2017.2.x and former, because __COUNTER__ is not properly +// handled by it. +// Otherwise all supported compilers support COUNTER macro, +// but user still might want to turn it off +#if ( !defined(__JETBRAINS_IDE__) || __JETBRAINS_IDE__ >= 20170300L ) + #define CATCH_INTERNAL_CONFIG_COUNTER +#endif + +//////////////////////////////////////////////////////////////////////////////// + +// RTX is a special version of Windows that is real time. +// This means that it is detected as Windows, but does not provide +// the same set of capabilities as real Windows does. +#if defined(UNDER_RTSS) || defined(RTX64_BUILD) + #define CATCH_INTERNAL_CONFIG_NO_WINDOWS_SEH + #define CATCH_INTERNAL_CONFIG_NO_ASYNC + #define CATCH_CONFIG_COLOUR_NONE +#endif + +//////////////////////////////////////////////////////////////////////////////// +// Check if string_view is available and usable +// The check is split apart to work around v140 (VS2015) preprocessor issue... +#if defined(__has_include) +#if __has_include() && defined(CATCH_CPP17_OR_GREATER) +# define CATCH_INTERNAL_CONFIG_CPP17_STRING_VIEW +#endif +#endif + +//////////////////////////////////////////////////////////////////////////////// +// Check if optional is available and usable +#if defined(__has_include) +# if __has_include() && defined(CATCH_CPP17_OR_GREATER) +# define CATCH_INTERNAL_CONFIG_CPP17_OPTIONAL +# endif // __has_include() && defined(CATCH_CPP17_OR_GREATER) +#endif // __has_include + +//////////////////////////////////////////////////////////////////////////////// +// Check if byte is available and usable +#if defined(__has_include) +# if __has_include() && defined(CATCH_CPP17_OR_GREATER) +# define CATCH_INTERNAL_CONFIG_CPP17_BYTE +# endif // __has_include() && defined(CATCH_CPP17_OR_GREATER) +#endif // __has_include + +//////////////////////////////////////////////////////////////////////////////// +// Check if variant is available and usable +#if defined(__has_include) +# if __has_include() && defined(CATCH_CPP17_OR_GREATER) +# if defined(__clang__) && (__clang_major__ < 8) + // work around clang bug with libstdc++ https://bugs.llvm.org/show_bug.cgi?id=31852 + // fix should be in clang 8, workaround in libstdc++ 8.2 +# include +# if defined(__GLIBCXX__) && defined(_GLIBCXX_RELEASE) && (_GLIBCXX_RELEASE < 9) +# define CATCH_CONFIG_NO_CPP17_VARIANT +# else +# define CATCH_INTERNAL_CONFIG_CPP17_VARIANT +# endif // defined(__GLIBCXX__) && defined(_GLIBCXX_RELEASE) && (_GLIBCXX_RELEASE < 9) +# else +# define CATCH_INTERNAL_CONFIG_CPP17_VARIANT +# endif // defined(__clang__) && (__clang_major__ < 8) +# endif // __has_include() && defined(CATCH_CPP17_OR_GREATER) +#endif // __has_include + +#if defined(CATCH_INTERNAL_CONFIG_COUNTER) && !defined(CATCH_CONFIG_NO_COUNTER) && !defined(CATCH_CONFIG_COUNTER) +# define CATCH_CONFIG_COUNTER +#endif +#if defined(CATCH_INTERNAL_CONFIG_WINDOWS_SEH) && !defined(CATCH_CONFIG_NO_WINDOWS_SEH) && !defined(CATCH_CONFIG_WINDOWS_SEH) && !defined(CATCH_INTERNAL_CONFIG_NO_WINDOWS_SEH) +# define CATCH_CONFIG_WINDOWS_SEH +#endif +// This is set by default, because we assume that unix compilers are posix-signal-compatible by default. +#if defined(CATCH_INTERNAL_CONFIG_POSIX_SIGNALS) && !defined(CATCH_INTERNAL_CONFIG_NO_POSIX_SIGNALS) && !defined(CATCH_CONFIG_NO_POSIX_SIGNALS) && !defined(CATCH_CONFIG_POSIX_SIGNALS) +# define CATCH_CONFIG_POSIX_SIGNALS +#endif +// This is set by default, because we assume that compilers with no wchar_t support are just rare exceptions. +#if !defined(CATCH_INTERNAL_CONFIG_NO_WCHAR) && !defined(CATCH_CONFIG_NO_WCHAR) && !defined(CATCH_CONFIG_WCHAR) +# define CATCH_CONFIG_WCHAR +#endif + +#if !defined(CATCH_INTERNAL_CONFIG_NO_CPP11_TO_STRING) && !defined(CATCH_CONFIG_NO_CPP11_TO_STRING) && !defined(CATCH_CONFIG_CPP11_TO_STRING) +# define CATCH_CONFIG_CPP11_TO_STRING +#endif + +#if defined(CATCH_INTERNAL_CONFIG_CPP17_OPTIONAL) && !defined(CATCH_CONFIG_NO_CPP17_OPTIONAL) && !defined(CATCH_CONFIG_CPP17_OPTIONAL) +# define CATCH_CONFIG_CPP17_OPTIONAL +#endif + +#if defined(CATCH_INTERNAL_CONFIG_CPP17_UNCAUGHT_EXCEPTIONS) && !defined(CATCH_CONFIG_NO_CPP17_UNCAUGHT_EXCEPTIONS) && !defined(CATCH_CONFIG_CPP17_UNCAUGHT_EXCEPTIONS) +# define CATCH_CONFIG_CPP17_UNCAUGHT_EXCEPTIONS +#endif + +#if defined(CATCH_INTERNAL_CONFIG_CPP17_STRING_VIEW) && !defined(CATCH_CONFIG_NO_CPP17_STRING_VIEW) && !defined(CATCH_CONFIG_CPP17_STRING_VIEW) +# define CATCH_CONFIG_CPP17_STRING_VIEW +#endif + +#if defined(CATCH_INTERNAL_CONFIG_CPP17_VARIANT) && !defined(CATCH_CONFIG_NO_CPP17_VARIANT) && !defined(CATCH_CONFIG_CPP17_VARIANT) +# define CATCH_CONFIG_CPP17_VARIANT +#endif + +#if defined(CATCH_INTERNAL_CONFIG_CPP17_BYTE) && !defined(CATCH_CONFIG_NO_CPP17_BYTE) && !defined(CATCH_CONFIG_CPP17_BYTE) +# define CATCH_CONFIG_CPP17_BYTE +#endif + +#if defined(CATCH_CONFIG_EXPERIMENTAL_REDIRECT) +# define CATCH_INTERNAL_CONFIG_NEW_CAPTURE +#endif + +#if defined(CATCH_INTERNAL_CONFIG_NEW_CAPTURE) && !defined(CATCH_INTERNAL_CONFIG_NO_NEW_CAPTURE) && !defined(CATCH_CONFIG_NO_NEW_CAPTURE) && !defined(CATCH_CONFIG_NEW_CAPTURE) +# define CATCH_CONFIG_NEW_CAPTURE +#endif + +#if !defined(CATCH_INTERNAL_CONFIG_EXCEPTIONS_ENABLED) && !defined(CATCH_CONFIG_DISABLE_EXCEPTIONS) +# define CATCH_CONFIG_DISABLE_EXCEPTIONS +#endif + +#if defined(CATCH_INTERNAL_CONFIG_POLYFILL_ISNAN) && !defined(CATCH_CONFIG_NO_POLYFILL_ISNAN) && !defined(CATCH_CONFIG_POLYFILL_ISNAN) +# define CATCH_CONFIG_POLYFILL_ISNAN +#endif + +#if defined(CATCH_INTERNAL_CONFIG_USE_ASYNC) && !defined(CATCH_INTERNAL_CONFIG_NO_ASYNC) && !defined(CATCH_CONFIG_NO_USE_ASYNC) && !defined(CATCH_CONFIG_USE_ASYNC) +# define CATCH_CONFIG_USE_ASYNC +#endif + +#if !defined(CATCH_INTERNAL_SUPPRESS_PARENTHESES_WARNINGS) +# define CATCH_INTERNAL_SUPPRESS_PARENTHESES_WARNINGS +# define CATCH_INTERNAL_UNSUPPRESS_PARENTHESES_WARNINGS +#endif +#if !defined(CATCH_INTERNAL_SUPPRESS_GLOBALS_WARNINGS) +# define CATCH_INTERNAL_SUPPRESS_GLOBALS_WARNINGS +# define CATCH_INTERNAL_UNSUPPRESS_GLOBALS_WARNINGS +#endif +#if !defined(CATCH_INTERNAL_SUPPRESS_UNUSED_WARNINGS) +# define CATCH_INTERNAL_SUPPRESS_UNUSED_WARNINGS +# define CATCH_INTERNAL_UNSUPPRESS_UNUSED_WARNINGS +#endif +#if !defined(CATCH_INTERNAL_SUPPRESS_ZERO_VARIADIC_WARNINGS) +# define CATCH_INTERNAL_SUPPRESS_ZERO_VARIADIC_WARNINGS +# define CATCH_INTERNAL_UNSUPPRESS_ZERO_VARIADIC_WARNINGS +#endif + +#if defined(CATCH_CONFIG_DISABLE_EXCEPTIONS) +#define CATCH_TRY if ((true)) +#define CATCH_CATCH_ALL if ((false)) +#define CATCH_CATCH_ANON(type) if ((false)) +#else +#define CATCH_TRY try +#define CATCH_CATCH_ALL catch (...) +#define CATCH_CATCH_ANON(type) catch (type) +#endif + +#if defined(CATCH_INTERNAL_CONFIG_TRADITIONAL_MSVC_PREPROCESSOR) && !defined(CATCH_CONFIG_NO_TRADITIONAL_MSVC_PREPROCESSOR) && !defined(CATCH_CONFIG_TRADITIONAL_MSVC_PREPROCESSOR) +#define CATCH_CONFIG_TRADITIONAL_MSVC_PREPROCESSOR +#endif + +// end catch_compiler_capabilities.h +#define INTERNAL_CATCH_UNIQUE_NAME_LINE2( name, line ) name##line +#define INTERNAL_CATCH_UNIQUE_NAME_LINE( name, line ) INTERNAL_CATCH_UNIQUE_NAME_LINE2( name, line ) +#ifdef CATCH_CONFIG_COUNTER +# define INTERNAL_CATCH_UNIQUE_NAME( name ) INTERNAL_CATCH_UNIQUE_NAME_LINE( name, __COUNTER__ ) +#else +# define INTERNAL_CATCH_UNIQUE_NAME( name ) INTERNAL_CATCH_UNIQUE_NAME_LINE( name, __LINE__ ) +#endif + +#include +#include +#include + +// We need a dummy global operator<< so we can bring it into Catch namespace later +struct Catch_global_namespace_dummy {}; +std::ostream& operator<<(std::ostream&, Catch_global_namespace_dummy); + +namespace Catch { + + struct CaseSensitive { enum Choice { + Yes, + No + }; }; + + class NonCopyable { + NonCopyable( NonCopyable const& ) = delete; + NonCopyable( NonCopyable && ) = delete; + NonCopyable& operator = ( NonCopyable const& ) = delete; + NonCopyable& operator = ( NonCopyable && ) = delete; + + protected: + NonCopyable(); + virtual ~NonCopyable(); + }; + + struct SourceLineInfo { + + SourceLineInfo() = delete; + SourceLineInfo( char const* _file, std::size_t _line ) noexcept + : file( _file ), + line( _line ) + {} + + SourceLineInfo( SourceLineInfo const& other ) = default; + SourceLineInfo& operator = ( SourceLineInfo const& ) = default; + SourceLineInfo( SourceLineInfo&& ) noexcept = default; + SourceLineInfo& operator = ( SourceLineInfo&& ) noexcept = default; + + bool empty() const noexcept; + bool operator == ( SourceLineInfo const& other ) const noexcept; + bool operator < ( SourceLineInfo const& other ) const noexcept; + + char const* file; + std::size_t line; + }; + + std::ostream& operator << ( std::ostream& os, SourceLineInfo const& info ); + + // Bring in operator<< from global namespace into Catch namespace + // This is necessary because the overload of operator<< above makes + // lookup stop at namespace Catch + using ::operator<<; + + // Use this in variadic streaming macros to allow + // >> +StreamEndStop + // as well as + // >> stuff +StreamEndStop + struct StreamEndStop { + std::string operator+() const; + }; + template + T const& operator + ( T const& value, StreamEndStop ) { + return value; + } +} + +#define CATCH_INTERNAL_LINEINFO \ + ::Catch::SourceLineInfo( __FILE__, static_cast( __LINE__ ) ) + +// end catch_common.h +namespace Catch { + + struct RegistrarForTagAliases { + RegistrarForTagAliases( char const* alias, char const* tag, SourceLineInfo const& lineInfo ); + }; + +} // end namespace Catch + +#define CATCH_REGISTER_TAG_ALIAS( alias, spec ) \ + CATCH_INTERNAL_SUPPRESS_GLOBALS_WARNINGS \ + namespace{ Catch::RegistrarForTagAliases INTERNAL_CATCH_UNIQUE_NAME( AutoRegisterTagAlias )( alias, spec, CATCH_INTERNAL_LINEINFO ); } \ + CATCH_INTERNAL_UNSUPPRESS_GLOBALS_WARNINGS + +// end catch_tag_alias_autoregistrar.h +// start catch_test_registry.h + +// start catch_interfaces_testcase.h + +#include + +namespace Catch { + + class TestSpec; + + struct ITestInvoker { + virtual void invoke () const = 0; + virtual ~ITestInvoker(); + }; + + class TestCase; + struct IConfig; + + struct ITestCaseRegistry { + virtual ~ITestCaseRegistry(); + virtual std::vector const& getAllTests() const = 0; + virtual std::vector const& getAllTestsSorted( IConfig const& config ) const = 0; + }; + + bool isThrowSafe( TestCase const& testCase, IConfig const& config ); + bool matchTest( TestCase const& testCase, TestSpec const& testSpec, IConfig const& config ); + std::vector filterTests( std::vector const& testCases, TestSpec const& testSpec, IConfig const& config ); + std::vector const& getAllTestCasesSorted( IConfig const& config ); + +} + +// end catch_interfaces_testcase.h +// start catch_stringref.h + +#include +#include +#include + +namespace Catch { + + /// A non-owning string class (similar to the forthcoming std::string_view) + /// Note that, because a StringRef may be a substring of another string, + /// it may not be null terminated. c_str() must return a null terminated + /// string, however, and so the StringRef will internally take ownership + /// (taking a copy), if necessary. In theory this ownership is not externally + /// visible - but it does mean (substring) StringRefs should not be shared between + /// threads. + class StringRef { + public: + using size_type = std::size_t; + + private: + friend struct StringRefTestAccess; + + char const* m_start; + size_type m_size; + + char* m_data = nullptr; + + void takeOwnership(); + + static constexpr char const* const s_empty = ""; + + public: // construction/ assignment + StringRef() noexcept + : StringRef( s_empty, 0 ) + {} + + StringRef( StringRef const& other ) noexcept + : m_start( other.m_start ), + m_size( other.m_size ) + {} + + StringRef( StringRef&& other ) noexcept + : m_start( other.m_start ), + m_size( other.m_size ), + m_data( other.m_data ) + { + other.m_data = nullptr; + } + + StringRef( char const* rawChars ) noexcept; + + StringRef( char const* rawChars, size_type size ) noexcept + : m_start( rawChars ), + m_size( size ) + {} + + StringRef( std::string const& stdString ) noexcept + : m_start( stdString.c_str() ), + m_size( stdString.size() ) + {} + + ~StringRef() noexcept { + delete[] m_data; + } + + auto operator = ( StringRef const &other ) noexcept -> StringRef& { + delete[] m_data; + m_data = nullptr; + m_start = other.m_start; + m_size = other.m_size; + return *this; + } + + operator std::string() const; + + void swap( StringRef& other ) noexcept; + + public: // operators + auto operator == ( StringRef const& other ) const noexcept -> bool; + auto operator != ( StringRef const& other ) const noexcept -> bool; + + auto operator[] ( size_type index ) const noexcept -> char; + + public: // named queries + auto empty() const noexcept -> bool { + return m_size == 0; + } + auto size() const noexcept -> size_type { + return m_size; + } + + auto numberOfCharacters() const noexcept -> size_type; + auto c_str() const -> char const*; + + public: // substrings and searches + auto substr( size_type start, size_type size ) const noexcept -> StringRef; + + // Returns the current start pointer. + // Note that the pointer can change when if the StringRef is a substring + auto currentData() const noexcept -> char const*; + + private: // ownership queries - may not be consistent between calls + auto isOwned() const noexcept -> bool; + auto isSubstring() const noexcept -> bool; + }; + + auto operator + ( StringRef const& lhs, StringRef const& rhs ) -> std::string; + auto operator + ( StringRef const& lhs, char const* rhs ) -> std::string; + auto operator + ( char const* lhs, StringRef const& rhs ) -> std::string; + + auto operator += ( std::string& lhs, StringRef const& sr ) -> std::string&; + auto operator << ( std::ostream& os, StringRef const& sr ) -> std::ostream&; + + inline auto operator "" _sr( char const* rawChars, std::size_t size ) noexcept -> StringRef { + return StringRef( rawChars, size ); + } + +} // namespace Catch + +inline auto operator "" _catch_sr( char const* rawChars, std::size_t size ) noexcept -> Catch::StringRef { + return Catch::StringRef( rawChars, size ); +} + +// end catch_stringref.h +// start catch_type_traits.hpp + + +#include + +namespace Catch{ + +#ifdef CATCH_CPP17_OR_GREATER + template + inline constexpr auto is_unique = std::true_type{}; + + template + inline constexpr auto is_unique = std::bool_constant< + (!std::is_same_v && ...) && is_unique + >{}; +#else + +template +struct is_unique : std::true_type{}; + +template +struct is_unique : std::integral_constant +::value + && is_unique::value + && is_unique::value +>{}; + +#endif +} + +// end catch_type_traits.hpp +// start catch_preprocessor.hpp + + +#define CATCH_RECURSION_LEVEL0(...) __VA_ARGS__ +#define CATCH_RECURSION_LEVEL1(...) CATCH_RECURSION_LEVEL0(CATCH_RECURSION_LEVEL0(CATCH_RECURSION_LEVEL0(__VA_ARGS__))) +#define CATCH_RECURSION_LEVEL2(...) CATCH_RECURSION_LEVEL1(CATCH_RECURSION_LEVEL1(CATCH_RECURSION_LEVEL1(__VA_ARGS__))) +#define CATCH_RECURSION_LEVEL3(...) CATCH_RECURSION_LEVEL2(CATCH_RECURSION_LEVEL2(CATCH_RECURSION_LEVEL2(__VA_ARGS__))) +#define CATCH_RECURSION_LEVEL4(...) CATCH_RECURSION_LEVEL3(CATCH_RECURSION_LEVEL3(CATCH_RECURSION_LEVEL3(__VA_ARGS__))) +#define CATCH_RECURSION_LEVEL5(...) CATCH_RECURSION_LEVEL4(CATCH_RECURSION_LEVEL4(CATCH_RECURSION_LEVEL4(__VA_ARGS__))) + +#ifdef CATCH_CONFIG_TRADITIONAL_MSVC_PREPROCESSOR +#define INTERNAL_CATCH_EXPAND_VARGS(...) __VA_ARGS__ +// MSVC needs more evaluations +#define CATCH_RECURSION_LEVEL6(...) CATCH_RECURSION_LEVEL5(CATCH_RECURSION_LEVEL5(CATCH_RECURSION_LEVEL5(__VA_ARGS__))) +#define CATCH_RECURSE(...) CATCH_RECURSION_LEVEL6(CATCH_RECURSION_LEVEL6(__VA_ARGS__)) +#else +#define CATCH_RECURSE(...) CATCH_RECURSION_LEVEL5(__VA_ARGS__) +#endif + +#define CATCH_REC_END(...) +#define CATCH_REC_OUT + +#define CATCH_EMPTY() +#define CATCH_DEFER(id) id CATCH_EMPTY() + +#define CATCH_REC_GET_END2() 0, CATCH_REC_END +#define CATCH_REC_GET_END1(...) CATCH_REC_GET_END2 +#define CATCH_REC_GET_END(...) CATCH_REC_GET_END1 +#define CATCH_REC_NEXT0(test, next, ...) next CATCH_REC_OUT +#define CATCH_REC_NEXT1(test, next) CATCH_DEFER ( CATCH_REC_NEXT0 ) ( test, next, 0) +#define CATCH_REC_NEXT(test, next) CATCH_REC_NEXT1(CATCH_REC_GET_END test, next) + +#define CATCH_REC_LIST0(f, x, peek, ...) , f(x) CATCH_DEFER ( CATCH_REC_NEXT(peek, CATCH_REC_LIST1) ) ( f, peek, __VA_ARGS__ ) +#define CATCH_REC_LIST1(f, x, peek, ...) , f(x) CATCH_DEFER ( CATCH_REC_NEXT(peek, CATCH_REC_LIST0) ) ( f, peek, __VA_ARGS__ ) +#define CATCH_REC_LIST2(f, x, peek, ...) f(x) CATCH_DEFER ( CATCH_REC_NEXT(peek, CATCH_REC_LIST1) ) ( f, peek, __VA_ARGS__ ) + +#define CATCH_REC_LIST0_UD(f, userdata, x, peek, ...) , f(userdata, x) CATCH_DEFER ( CATCH_REC_NEXT(peek, CATCH_REC_LIST1_UD) ) ( f, userdata, peek, __VA_ARGS__ ) +#define CATCH_REC_LIST1_UD(f, userdata, x, peek, ...) , f(userdata, x) CATCH_DEFER ( CATCH_REC_NEXT(peek, CATCH_REC_LIST0_UD) ) ( f, userdata, peek, __VA_ARGS__ ) +#define CATCH_REC_LIST2_UD(f, userdata, x, peek, ...) f(userdata, x) CATCH_DEFER ( CATCH_REC_NEXT(peek, CATCH_REC_LIST1_UD) ) ( f, userdata, peek, __VA_ARGS__ ) + +// Applies the function macro `f` to each of the remaining parameters, inserts commas between the results, +// and passes userdata as the first parameter to each invocation, +// e.g. CATCH_REC_LIST_UD(f, x, a, b, c) evaluates to f(x, a), f(x, b), f(x, c) +#define CATCH_REC_LIST_UD(f, userdata, ...) CATCH_RECURSE(CATCH_REC_LIST2_UD(f, userdata, __VA_ARGS__, ()()(), ()()(), ()()(), 0)) + +#define CATCH_REC_LIST(f, ...) CATCH_RECURSE(CATCH_REC_LIST2(f, __VA_ARGS__, ()()(), ()()(), ()()(), 0)) + +#define INTERNAL_CATCH_EXPAND1(param) INTERNAL_CATCH_EXPAND2(param) +#define INTERNAL_CATCH_EXPAND2(...) INTERNAL_CATCH_NO## __VA_ARGS__ +#define INTERNAL_CATCH_DEF(...) INTERNAL_CATCH_DEF __VA_ARGS__ +#define INTERNAL_CATCH_NOINTERNAL_CATCH_DEF +#define INTERNAL_CATCH_STRINGIZE(...) INTERNAL_CATCH_STRINGIZE2(__VA_ARGS__) +#ifndef CATCH_CONFIG_TRADITIONAL_MSVC_PREPROCESSOR +#define INTERNAL_CATCH_STRINGIZE2(...) #__VA_ARGS__ +#define INTERNAL_CATCH_STRINGIZE_WITHOUT_PARENS(param) INTERNAL_CATCH_STRINGIZE(INTERNAL_CATCH_REMOVE_PARENS(param)) +#else +// MSVC is adding extra space and needs another indirection to expand INTERNAL_CATCH_NOINTERNAL_CATCH_DEF +#define INTERNAL_CATCH_STRINGIZE2(...) INTERNAL_CATCH_STRINGIZE3(__VA_ARGS__) +#define INTERNAL_CATCH_STRINGIZE3(...) #__VA_ARGS__ +#define INTERNAL_CATCH_STRINGIZE_WITHOUT_PARENS(param) (INTERNAL_CATCH_STRINGIZE(INTERNAL_CATCH_REMOVE_PARENS(param)) + 1) +#endif + +#define INTERNAL_CATCH_MAKE_NAMESPACE2(...) ns_##__VA_ARGS__ +#define INTERNAL_CATCH_MAKE_NAMESPACE(name) INTERNAL_CATCH_MAKE_NAMESPACE2(name) + +#define INTERNAL_CATCH_REMOVE_PARENS(...) INTERNAL_CATCH_EXPAND1(INTERNAL_CATCH_DEF __VA_ARGS__) + +#ifndef CATCH_CONFIG_TRADITIONAL_MSVC_PREPROCESSOR +#define INTERNAL_CATCH_MAKE_TYPE_LIST2(...) decltype(get_wrapper()) +#define INTERNAL_CATCH_MAKE_TYPE_LIST(...) INTERNAL_CATCH_MAKE_TYPE_LIST2(INTERNAL_CATCH_REMOVE_PARENS(__VA_ARGS__)) +#else +#define INTERNAL_CATCH_MAKE_TYPE_LIST2(...) INTERNAL_CATCH_EXPAND_VARGS(decltype(get_wrapper())) +#define INTERNAL_CATCH_MAKE_TYPE_LIST(...) INTERNAL_CATCH_EXPAND_VARGS(INTERNAL_CATCH_MAKE_TYPE_LIST2(INTERNAL_CATCH_REMOVE_PARENS(__VA_ARGS__))) +#endif + +#define INTERNAL_CATCH_MAKE_TYPE_LISTS_FROM_TYPES(...)\ + CATCH_REC_LIST(INTERNAL_CATCH_MAKE_TYPE_LIST,__VA_ARGS__) + +#define INTERNAL_CATCH_REMOVE_PARENS_1_ARG(_0) INTERNAL_CATCH_REMOVE_PARENS(_0) +#define INTERNAL_CATCH_REMOVE_PARENS_2_ARG(_0, _1) INTERNAL_CATCH_REMOVE_PARENS(_0), INTERNAL_CATCH_REMOVE_PARENS_1_ARG(_1) +#define INTERNAL_CATCH_REMOVE_PARENS_3_ARG(_0, _1, _2) INTERNAL_CATCH_REMOVE_PARENS(_0), INTERNAL_CATCH_REMOVE_PARENS_2_ARG(_1, _2) +#define INTERNAL_CATCH_REMOVE_PARENS_4_ARG(_0, _1, _2, _3) INTERNAL_CATCH_REMOVE_PARENS(_0), INTERNAL_CATCH_REMOVE_PARENS_3_ARG(_1, _2, _3) +#define INTERNAL_CATCH_REMOVE_PARENS_5_ARG(_0, _1, _2, _3, _4) INTERNAL_CATCH_REMOVE_PARENS(_0), INTERNAL_CATCH_REMOVE_PARENS_4_ARG(_1, _2, _3, _4) +#define INTERNAL_CATCH_REMOVE_PARENS_6_ARG(_0, _1, _2, _3, _4, _5) INTERNAL_CATCH_REMOVE_PARENS(_0), INTERNAL_CATCH_REMOVE_PARENS_5_ARG(_1, _2, _3, _4, _5) +#define INTERNAL_CATCH_REMOVE_PARENS_7_ARG(_0, _1, _2, _3, _4, _5, _6) INTERNAL_CATCH_REMOVE_PARENS(_0), INTERNAL_CATCH_REMOVE_PARENS_6_ARG(_1, _2, _4, _5, _6) +#define INTERNAL_CATCH_REMOVE_PARENS_8_ARG(_0, _1, _2, _3, _4, _5, _6, _7) INTERNAL_CATCH_REMOVE_PARENS(_0), INTERNAL_CATCH_REMOVE_PARENS_7_ARG(_1, _2, _3, _4, _5, _6, _7) +#define INTERNAL_CATCH_REMOVE_PARENS_9_ARG(_0, _1, _2, _3, _4, _5, _6, _7, _8) INTERNAL_CATCH_REMOVE_PARENS(_0), INTERNAL_CATCH_REMOVE_PARENS_8_ARG(_1, _2, _3, _4, _5, _6, _7, _8) +#define INTERNAL_CATCH_REMOVE_PARENS_10_ARG(_0, _1, _2, _3, _4, _5, _6, _7, _8, _9) INTERNAL_CATCH_REMOVE_PARENS(_0), INTERNAL_CATCH_REMOVE_PARENS_9_ARG(_1, _2, _3, _4, _5, _6, _7, _8, _9) +#define INTERNAL_CATCH_REMOVE_PARENS_11_ARG(_0, _1, _2, _3, _4, _5, _6, _7, _8, _9, _10) INTERNAL_CATCH_REMOVE_PARENS(_0), INTERNAL_CATCH_REMOVE_PARENS_10_ARG(_1, _2, _3, _4, _5, _6, _7, _8, _9, _10) + +#define INTERNAL_CATCH_VA_NARGS_IMPL(_0, _1, _2, _3, _4, _5, _6, _7, _8, _9, _10, N, ...) N + +#define INTERNAL_CATCH_TYPE_GEN\ + template struct TypeList {};\ + template\ + constexpr auto get_wrapper() noexcept -> TypeList { return {}; }\ + \ + template class L1, typename...E1, template class L2, typename...E2> \ + constexpr auto append(L1, L2) noexcept -> L1 { return {}; }\ + template< template class L1, typename...E1, template class L2, typename...E2, typename...Rest>\ + constexpr auto append(L1, L2, Rest...) noexcept -> decltype(append(L1{}, Rest{}...)) { return {}; }\ + template< template class L1, typename...E1, typename...Rest>\ + constexpr auto append(L1, TypeList, Rest...) noexcept -> L1 { return {}; }\ + \ + template< template class Container, template class List, typename...elems>\ + constexpr auto rewrap(List) noexcept -> TypeList> { return {}; }\ + template< template class Container, template class List, class...Elems, typename...Elements>\ + constexpr auto rewrap(List,Elements...) noexcept -> decltype(append(TypeList>{}, rewrap(Elements{}...))) { return {}; }\ + \ + template