diff --git a/.github/workflows/auto_pr_review.yaml b/.github/workflows/auto_pr_review.yaml index 447e559c9042dc..ce27588fe571eb 100644 --- a/.github/workflows/auto_pr_review.yaml +++ b/.github/workflows/auto_pr_review.yaml @@ -1,53 +1,45 @@ -name: "PR review" +name: "PR Review" + on: pull_request_target: - types: [opened, reopened, synchronize, edited, edited] + types: [opened, reopened] jobs: - labeler: - name: review - permissions: - contents: read - pull-requests: write + pr_check: + name: Check PR Target Branch runs-on: ubuntu-latest steps: - - uses: actions/checkout@v4 - with: - submodules: false - - # Label PRs - - uses: actions/labeler@v5.0.0 + - name: Checkout repository + uses: actions/checkout@v3 with: - dot: true - configuration-path: .github/labeler.yaml + fetch-depth: 0 - # Check PR target branch - - name: check branch - uses: Vankka/pr-target-branch-action@def32ec9d93514138d6ac0132ee62e120a72aed5 - if: github.repository == 'commaai/openpilot' + - name: Check Target Branch + shell: bash env: - GITHUB_TOKEN: ${{ secrets.GITHUB_TOKEN }} - with: - target: /^(?!master$).*/ - exclude: /commaai:.*/ - change-to: ${{ github.base_ref }} - already-exists-action: close_this - already-exists-comment: "Your PR should be made against the `master` branch" - - # Welcome comment - - name: comment - uses: thollander/actions-comment-pull-request@fabd468d3a1a0b97feee5f6b9e499eab0dd903f6 - if: github.event.pull_request.head.repo.full_name != 'commaai/openpilot' - with: - message: | - - Thanks for contributing to openpilot! In order for us to review your PR as quickly as possible, check the following: - * Convert your PR to a draft unless it's ready to review - * Read the [contributing docs](https://github.com/commaai/openpilot/blob/master/docs/CONTRIBUTING.md) - * Before marking as "ready for review", ensure: - * the goal is clearly stated in the description - * all the tests are passing - * the change is [something we merge](https://github.com/commaai/openpilot/blob/master/docs/CONTRIBUTING.md#what-gets-merged) - * include a route or your device' dongle ID if relevant - comment_tag: run_id - GITHUB_TOKEN: ${{ secrets.GITHUB_TOKEN }} + GITHUB_TOKEN: ${{ secrets.PERSONAL_ACCESS_TOKEN }} + run: | + TOKEN_USERNAME=$(gh api user -H "Authorization: token $GITHUB_TOKEN" --jq '.login') + + if [[ "${{ github.actor }}" == "FrogAi" ]]; then + echo "PR opened or reopened by FrogAi. No action needed." + exit 0 + fi + + if [[ "${{ github.base_ref }}" != "MAKE-PRS-HERE" ]]; then + git config --global user.name "${{ github.actor }}" + git config --global user.email "${{ github.actor }}@users.noreply.github.com" + + gh api repos/${{ github.repository }}/issues/${{ github.event.pull_request.number }}/comments \ + -H "Authorization: token $GITHUB_TOKEN" \ + -f body="Please submit your pull request to the \"MAKE-PRS-HERE\" branch." + + gh api repos/${{ github.repository }}/pulls/${{ github.event.pull_request.number }} \ + -X PATCH -H "Authorization: token $GITHUB_TOKEN" -f state='closed' + + exit 1 + else + gh api repos/${{ github.repository }}/issues/${{ github.event.pull_request.number }}/comments \ + -H "Authorization: token $GITHUB_TOKEN" \ + -f body="Thank you for your PR! If you're not already in the FrogPilot Discord, [feel free to join](https://discord.FrogPilot.download) and let me know you've opened a PR!" + fi diff --git a/README.md b/README.md index 63c96555f30ac1..21928a8611ae77 100644 --- a/README.md +++ b/README.md @@ -21,7 +21,7 @@ FrogPilot is a fully open-sourced fork of openpilot, featuring clear and concise ------ FrogPilot was last updated on: -**September 1st, 2024** +**October 21st, 2024** Features ------ diff --git a/SConstruct b/SConstruct index 944d650d742d99..747cd09dd8a5fd 100644 --- a/SConstruct +++ b/SConstruct @@ -277,6 +277,7 @@ Export('envCython') # Qt build environment qt_env = env.Clone() + qt_modules = ["Widgets", "Gui", "Core", "Network", "Concurrent", "Multimedia", "Quick", "Qml", "QuickWidgets", "Location", "Positioning", "DBus", "Xml"] qt_libs = [] diff --git a/cereal/car.capnp b/cereal/car.capnp index d293db1382ee68..ec40d92c040f10 100644 --- a/cereal/car.capnp +++ b/cereal/car.capnp @@ -122,27 +122,29 @@ struct CarEvent @0x9b1657f34caf3ad3 { accel35 @122; accel40 @123; blockUser @124; - dejaVuCurve @125; - firefoxSteerSaturated @126; - forcingStop @127; - goatSteerSaturated @128; - greenLight @129; - hal9000 @130; - holidayActive @131; - laneChangeBlockedLoud @132; - leadDeparting @133; - noLaneAvailable @134; - openpilotCrashed @135; - openpilotCrashedRandomEvent @136; - pedalInterceptorNoBrake @137; - speedLimitChanged @138; - torqueNNLoad @139; - trafficModeActive @140; - trafficModeInactive @141; - turningLeft @142; - turningRight @143; - vCruise69 @144; - yourFrogTriedToKillMe @145; + customStartupAlert @125; + dejaVuCurve @126; + firefoxSteerSaturated @127; + forcingStop @128; + goatSteerSaturated @129; + greenLight @130; + hal9000 @131; + holidayActive @132; + laneChangeBlockedLoud @133; + leadDeparting @134; + noLaneAvailable @135; + openpilotCrashed @136; + openpilotCrashedRandomEvent @137; + pedalInterceptorNoBrake @138; + speedLimitChanged @139; + torqueNNLoad @140; + trafficModeActive @141; + trafficModeInactive @142; + turningLeft @143; + turningRight @144; + vCruise69 @145; + yourFrogTriedToKillMe @146; + youveGotMail @147; radarCanErrorDEPRECATED @15; communityFeatureDisallowedDEPRECATED @62; @@ -440,19 +442,18 @@ struct CarControl { promptRepeat @7; promptDistracted @8; - # Random Events + # FrogPilot sounds angry @9; dejaVu @10; doc @11; fart @12; firefox @13; - hal9000 @14; - nessie @15; - noice @16; - uwu @17; - - # Other - goat @18; + goat @14; + hal9000 @15; + mail @16; + nessie @17; + noice @18; + uwu @19; } } diff --git a/cereal/custom.capnp b/cereal/custom.capnp index 8375709c59d73a..6b5554fe7b7c09 100644 --- a/cereal/custom.capnp +++ b/cereal/custom.capnp @@ -50,32 +50,31 @@ struct FrogPilotPlan @0x80ae746ee2596b11 { accelerationJerk @0 :Float32; accelerationJerkStock @1 :Float32; adjustedCruise @2 :Float32; - alwaysOnLateralActive @3 :Bool; - dangerJerk @4 :Float32; - desiredFollowDistance @5 :Float32; - experimentalMode @6 :Bool; - forcingStop @7 :Bool; - frogpilotEvents @8: List(Car.CarEvent); - lateralCheck @9 :Bool; - laneWidthLeft @10 :Float32; - laneWidthRight @11 :Float32; - maxAcceleration @12 :Float32; - minAcceleration @13 :Float32; - redLight @14 :Bool; - safeObstacleDistance @15 :Int32; - safeObstacleDistanceStock @16 :Int32; - slcOverridden @17 :Bool; - slcOverriddenSpeed @18 :Float32; - slcSpeedLimit @19 :Float32; - slcSpeedLimitOffset @20 :Float32; - speedJerk @21 :Float32; - speedJerkStock @22 :Float32; - speedLimitChanged @23 :Bool; - stoppedEquivalenceFactor @24 :Int32; - tFollow @25 :Float32; - unconfirmedSlcSpeedLimit @26 :Float32; - vCruise @27 :Float32; - vtscControllingCurve @28 :Bool; + dangerJerk @3 :Float32; + desiredFollowDistance @4 :Float32; + experimentalMode @5 :Bool; + forcingStop @6 :Bool; + frogpilotEvents @7 :List(Car.CarEvent); + lateralCheck @8 :Bool; + laneWidthLeft @9 :Float32; + laneWidthRight @10 :Float32; + maxAcceleration @11 :Float32; + minAcceleration @12 :Float32; + redLight @13 :Bool; + safeObstacleDistance @14 :Int32; + safeObstacleDistanceStock @15 :Int32; + slcOverridden @16 :Bool; + slcOverriddenSpeed @17 :Float32; + slcSpeedLimit @18 :Float32; + slcSpeedLimitOffset @19 :Float32; + speedJerk @20 :Float32; + speedJerkStock @21 :Float32; + speedLimitChanged @22 :Bool; + stoppedEquivalenceFactor @23 :Int32; + tFollow @24 :Float32; + unconfirmedSlcSpeedLimit @25 :Float32; + vCruise @26 :Float32; + vtscControllingCurve @27 :Bool; } struct CustomReserved5 @0xa5cd762cd951a455 { diff --git a/cereal/log.capnp b/cereal/log.capnp index 1af6e8c1ef163d..3b1df446a51ff5 100644 --- a/cereal/log.capnp +++ b/cereal/log.capnp @@ -876,6 +876,38 @@ struct ControlsState @0x97ff69c53601abf1 { canErrorCounterDEPRECATED @57 :UInt32; } +struct DrivingModelData { + frameId @0 :UInt32; + frameIdExtra @1 :UInt32; + frameDropPerc @6 :Float32; + modelExecutionTime @7 :Float32; + + action @2 :ModelDataV2.Action; + + laneLineMeta @3 :LaneLineMeta; + meta @4 :MetaData; + + path @5 :PolyPath; + + struct PolyPath { + xCoefficients @0 :List(Float32); + yCoefficients @1 :List(Float32); + zCoefficients @2 :List(Float32); + } + + struct LaneLineMeta { + leftY @0 :Float32; + rightY @1 :Float32; + leftProb @2 :Float32; + rightProb @3 :Float32; + } + + struct MetaData { + laneChangeState @0 :LaneChangeState; + laneChangeDirection @1 :LaneChangeDirection; + } +} + # All SI units and in device frame struct XYZTData @0xc3cbae1fd505ae80 { x @0 :List(Float32); @@ -989,6 +1021,8 @@ struct ModelDataV2 { brake3MetersPerSecondSquaredProbs @4 :List(Float32); brake4MetersPerSecondSquaredProbs @5 :List(Float32); brake5MetersPerSecondSquaredProbs @6 :List(Float32); + gasPressProbs @7 :List(Float32); + brakePressProbs @8 :List(Float32); } struct Pose { @@ -2273,6 +2307,7 @@ struct Event { driverMonitoringState @71: DriverMonitoringState; liveLocationKalman @72 :LiveLocationKalman; modelV2 @75 :ModelDataV2; + drivingModelData @128 :DrivingModelData; driverStateV2 @92 :DriverStateV2; # camera stuff, each camera state has a matching encode idx diff --git a/cereal/services.py b/cereal/services.py index 1ab017c419cf3a..1ac0ae4760138c 100755 --- a/cereal/services.py +++ b/cereal/services.py @@ -60,6 +60,7 @@ def __init__(self, should_log: bool, frequency: float, decimation: Optional[int] "driverMonitoringState": (True, 20., 10), "wideRoadEncodeIdx": (False, 20., 1), "wideRoadCameraState": (True, 20., 20), + "drivingModelData": (True, 20., 10), "modelV2": (True, 20., 40), "managerState": (True, 2., 1), "uploaderState": (True, 0., 1), diff --git a/common/params.cc b/common/params.cc index ee3a6f86e8efe0..918f714f3e3cf8 100644 --- a/common/params.cc +++ b/common/params.cc @@ -213,16 +213,21 @@ std::unordered_map keys = { {"AccelerationProfile", PERSISTENT | FROGPILOT_STORAGE | FROGPILOT_CONTROLS}, {"AdjacentPath", PERSISTENT | FROGPILOT_STORAGE | FROGPILOT_VISUALS}, {"AdjacentPathMetrics", PERSISTENT | FROGPILOT_STORAGE | FROGPILOT_VISUALS}, + {"AdvancedCustomUI", PERSISTENT | FROGPILOT_STORAGE | FROGPILOT_VISUALS}, + {"AdvancedLateralTune", PERSISTENT | FROGPILOT_STORAGE | FROGPILOT_CONTROLS}, + {"AdvancedLongitudinalTune", PERSISTENT | FROGPILOT_STORAGE | FROGPILOT_CONTROLS}, + {"AdvancedQOLDriving", PERSISTENT | FROGPILOT_STORAGE | FROGPILOT_CONTROLS}, {"AggressiveFollow", PERSISTENT | FROGPILOT_STORAGE | FROGPILOT_CONTROLS}, {"AggressiveJerkAcceleration", PERSISTENT | FROGPILOT_STORAGE | FROGPILOT_CONTROLS}, {"AggressiveJerkDanger", PERSISTENT | FROGPILOT_STORAGE | FROGPILOT_CONTROLS}, + {"AggressiveJerkDeceleration", PERSISTENT | FROGPILOT_STORAGE | FROGPILOT_CONTROLS}, {"AggressiveJerkSpeed", PERSISTENT | FROGPILOT_STORAGE | FROGPILOT_CONTROLS}, + {"AggressiveJerkSpeedDecrease", PERSISTENT | FROGPILOT_STORAGE | FROGPILOT_CONTROLS}, {"AggressivePersonalityProfile", PERSISTENT | FROGPILOT_STORAGE | FROGPILOT_CONTROLS}, {"AlertVolumeControl", PERSISTENT | FROGPILOT_STORAGE | FROGPILOT_VISUALS}, {"AlwaysOnLateral", PERSISTENT | FROGPILOT_STORAGE | FROGPILOT_CONTROLS}, {"AlwaysOnLateralLKAS", PERSISTENT | FROGPILOT_STORAGE | FROGPILOT_CONTROLS}, {"AlwaysOnLateralMain", PERSISTENT | FROGPILOT_STORAGE | FROGPILOT_CONTROLS}, - {"AlwaysOnLateralSet", CLEAR_ON_OFFROAD_TRANSITION}, {"AMapKey1", PERSISTENT}, {"AMapKey2", PERSISTENT}, {"ApiCache_DriveStats", PERSISTENT}, @@ -234,7 +239,6 @@ std::unordered_map keys = { {"BlacklistedModels", PERSISTENT | FROGPILOT_STORAGE | FROGPILOT_CONTROLS}, {"BlindSpotMetrics", PERSISTENT | FROGPILOT_STORAGE | FROGPILOT_VISUALS}, {"BlindSpotPath", PERSISTENT | FROGPILOT_STORAGE | FROGPILOT_VISUALS}, - {"BonusContent", PERSISTENT | FROGPILOT_STORAGE | FROGPILOT_VISUALS}, {"BorderMetrics", PERSISTENT | FROGPILOT_STORAGE | FROGPILOT_VISUALS}, {"CameraFPS", PERSISTENT}, {"CameraView", PERSISTENT | FROGPILOT_STORAGE | FROGPILOT_VISUALS}, @@ -255,25 +259,22 @@ std::unordered_map keys = { {"CertifiedHerbalistDrives", PERSISTENT | FROGPILOT_STORAGE | FROGPILOT_CONTROLS}, {"CertifiedHerbalistLiveTorqueParameters", PERSISTENT}, {"CertifiedHerbalistScore", PERSISTENT | FROGPILOT_STORAGE | FROGPILOT_CONTROLS}, - {"CESignal", PERSISTENT | FROGPILOT_STORAGE | FROGPILOT_CONTROLS}, + {"CESignalSpeed", PERSISTENT | FROGPILOT_STORAGE | FROGPILOT_CONTROLS}, + {"CESignalLaneDetection", PERSISTENT | FROGPILOT_STORAGE | FROGPILOT_CONTROLS}, {"CESlowerLead", PERSISTENT | FROGPILOT_STORAGE | FROGPILOT_CONTROLS}, {"CESpeed", PERSISTENT | FROGPILOT_STORAGE | FROGPILOT_CONTROLS}, {"CESpeedLead", PERSISTENT | FROGPILOT_STORAGE | FROGPILOT_CONTROLS}, - {"CEStatus", PERSISTENT}, + {"CEStatus", CLEAR_ON_OFFROAD_TRANSITION}, {"CEStoppedLead", PERSISTENT | FROGPILOT_STORAGE | FROGPILOT_CONTROLS}, - {"ClairvoyantDriverCalibrationParams", PERSISTENT}, - {"ClairvoyantDriverDrives", PERSISTENT | FROGPILOT_STORAGE | FROGPILOT_CONTROLS}, - {"ClairvoyantDriverLiveTorqueParameters", PERSISTENT}, - {"ClairvoyantDriverScore", PERSISTENT | FROGPILOT_STORAGE | FROGPILOT_CONTROLS}, {"ClusterOffset", PERSISTENT | FROGPILOT_STORAGE | FROGPILOT_VEHICLES}, {"ColorToDownload", PERSISTENT}, {"Compass", PERSISTENT | FROGPILOT_STORAGE | FROGPILOT_VISUALS}, {"ConditionalExperimental", PERSISTENT | FROGPILOT_STORAGE | FROGPILOT_CONTROLS}, {"CrosstrekTorque", PERSISTENT | FROGPILOT_STORAGE | FROGPILOT_VEHICLES}, {"CurrentHolidayTheme", CLEAR_ON_MANAGER_START}, - {"CurrentModel", PERSISTENT | CLEAR_ON_OFFROAD_TRANSITION}, - {"CurrentModelName", PERSISTENT | CLEAR_ON_OFFROAD_TRANSITION}, + {"CurrentModelName", CLEAR_ON_MANAGER_START}, {"CurveSensitivity", PERSISTENT | FROGPILOT_STORAGE | FROGPILOT_CONTROLS}, + {"CurveSpeedControl", PERSISTENT | FROGPILOT_STORAGE | FROGPILOT_CONTROLS}, {"CustomAlerts", PERSISTENT | FROGPILOT_STORAGE | FROGPILOT_VISUALS}, {"CustomColors", PERSISTENT | FROGPILOT_STORAGE | FROGPILOT_VISUALS}, {"CustomCruise", PERSISTENT | FROGPILOT_STORAGE | FROGPILOT_CONTROLS}, @@ -285,15 +286,13 @@ std::unordered_map keys = { {"CustomSignals", PERSISTENT | FROGPILOT_STORAGE | FROGPILOT_VISUALS}, {"CustomSounds", PERSISTENT | FROGPILOT_STORAGE | FROGPILOT_VISUALS}, {"CustomUI", PERSISTENT | FROGPILOT_STORAGE | FROGPILOT_VISUALS}, - {"CydiaTune", PERSISTENT | FROGPILOT_STORAGE | FROGPILOT_VEHICLES}, {"DecelerationProfile", PERSISTENT | FROGPILOT_STORAGE | FROGPILOT_CONTROLS}, {"DeveloperUI", PERSISTENT | FROGPILOT_STORAGE | FROGPILOT_VISUALS}, {"DeviceManagement", PERSISTENT | FROGPILOT_STORAGE | FROGPILOT_CONTROLS}, {"DeviceShutdown", PERSISTENT | FROGPILOT_STORAGE | FROGPILOT_CONTROLS}, - {"DisableMTSCSmoothing", PERSISTENT | FROGPILOT_STORAGE | FROGPILOT_CONTROLS}, + {"DisableCurveSpeedSmoothing", PERSISTENT | FROGPILOT_STORAGE | FROGPILOT_CONTROLS}, {"DisableOnroadUploads", PERSISTENT | FROGPILOT_STORAGE | FROGPILOT_CONTROLS}, {"DisableOpenpilotLongitudinal", PERSISTENT | FROGPILOT_STORAGE | FROGPILOT_VEHICLES}, - {"DisableVTSCSmoothing", PERSISTENT | FROGPILOT_STORAGE | FROGPILOT_CONTROLS}, {"DistanceIconToDownload", PERSISTENT}, {"DisengageVolume", PERSISTENT | FROGPILOT_STORAGE | FROGPILOT_VISUALS}, {"DoToggleReset", PERSISTENT}, @@ -324,6 +323,7 @@ std::unordered_map keys = { {"Fahrenheit", PERSISTENT | FROGPILOT_STORAGE | FROGPILOT_VISUALS}, {"FingerprintLogged", CLEAR_ON_MANAGER_START}, {"ForceAutoTune", PERSISTENT | FROGPILOT_STORAGE | FROGPILOT_CONTROLS}, + {"ForceAutoTuneOff", PERSISTENT | FROGPILOT_STORAGE | FROGPILOT_CONTROLS}, {"ForceFingerprint", PERSISTENT | FROGPILOT_STORAGE | FROGPILOT_VEHICLES}, {"ForceMPHDashboard", PERSISTENT | FROGPILOT_STORAGE | FROGPILOT_CONTROLS}, {"ForceOffroad", PERSISTENT}, @@ -336,8 +336,12 @@ std::unordered_map keys = { {"FrogPilotMinutes", PERSISTENT | FROGPILOT_TRACKING}, {"FrogPilotTogglesUpdated", PERSISTENT}, {"FrogsGoMoo", PERSISTENT}, - {"FrogsGoMooTune", PERSISTENT | FROGPILOT_STORAGE | FROGPILOT_VEHICLES}, + {"FrogsGoMoosTweak", PERSISTENT | FROGPILOT_STORAGE | FROGPILOT_VEHICLES}, {"FullMap", PERSISTENT | FROGPILOT_STORAGE | FROGPILOT_VISUALS}, + {"GameBoyCalibrationParams", PERSISTENT}, + {"GameBoyDrives", PERSISTENT | FROGPILOT_STORAGE | FROGPILOT_CONTROLS}, + {"GameBoyLiveTorqueParameters", PERSISTENT}, + {"GameBoyScore", PERSISTENT | FROGPILOT_STORAGE | FROGPILOT_CONTROLS}, {"GasRegenCmd", PERSISTENT | FROGPILOT_STORAGE | FROGPILOT_VEHICLES}, {"GMapKey", PERSISTENT}, {"GoatScream", PERSISTENT | FROGPILOT_STORAGE | FROGPILOT_VISUALS}, @@ -355,6 +359,7 @@ std::unordered_map keys = { {"HumanAcceleration", PERSISTENT | FROGPILOT_STORAGE | FROGPILOT_CONTROLS}, {"HumanFollowing", PERSISTENT | FROGPILOT_STORAGE | FROGPILOT_CONTROLS}, {"IconToDownload", PERSISTENT}, + {"IncreasedStoppedDistance", PERSISTENT | FROGPILOT_STORAGE | FROGPILOT_CONTROLS}, {"IncreaseThermalLimits", PERSISTENT | FROGPILOT_STORAGE | FROGPILOT_CONTROLS}, {"JerkInfo", PERSISTENT | FROGPILOT_STORAGE | FROGPILOT_VISUALS}, {"LaneChangeCustomizations", PERSISTENT | FROGPILOT_STORAGE | FROGPILOT_CONTROLS}, @@ -386,8 +391,8 @@ std::unordered_map keys = { {"MapsSelected", PERSISTENT | FROGPILOT_OTHER}, {"MapSpeedLimit", PERSISTENT}, {"MapStyle", PERSISTENT | FROGPILOT_STORAGE | FROGPILOT_VISUALS}, - {"MapTargetLatA", PERSISTENT}, {"MapTargetVelocities", PERSISTENT}, + {"MaxDesiredAcceleration", PERSISTENT | FROGPILOT_STORAGE | FROGPILOT_CONTROLS}, {"MinimumBackupSize", PERSISTENT}, {"MinimumLaneChangeSpeed", PERSISTENT | FROGPILOT_STORAGE | FROGPILOT_CONTROLS}, {"Model", PERSISTENT | FROGPILOT_STORAGE | FROGPILOT_CONTROLS}, @@ -399,13 +404,13 @@ std::unordered_map keys = { {"ModelSelector", PERSISTENT | FROGPILOT_STORAGE | FROGPILOT_CONTROLS}, {"ModelToDownload", PERSISTENT}, {"ModelUI", PERSISTENT | FROGPILOT_STORAGE | FROGPILOT_VISUALS}, - {"MTSCAggressiveness", PERSISTENT | FROGPILOT_STORAGE | FROGPILOT_CONTROLS}, {"MTSCCurvatureCheck", PERSISTENT | FROGPILOT_STORAGE | FROGPILOT_CONTROLS}, {"MTSCEnabled", PERSISTENT | FROGPILOT_STORAGE | FROGPILOT_CONTROLS}, {"NavigationModels", PERSISTENT}, {"NextMapSpeedLimit", PERSISTENT}, {"NewLongAPI", PERSISTENT | FROGPILOT_STORAGE | FROGPILOT_VEHICLES}, {"NewLongAPIGM", PERSISTENT | FROGPILOT_STORAGE | FROGPILOT_VEHICLES}, + {"NewToyotaTune", PERSISTENT | FROGPILOT_STORAGE | FROGPILOT_VEHICLES}, {"NNFF", PERSISTENT | FROGPILOT_STORAGE | FROGPILOT_CONTROLS}, {"NNFFLite", PERSISTENT | FROGPILOT_STORAGE | FROGPILOT_CONTROLS}, {"NNFFModelName", CLEAR_ON_OFFROAD_TRANSITION}, @@ -414,10 +419,6 @@ std::unordered_map keys = { {"NorthDakotaDrives", PERSISTENT | FROGPILOT_STORAGE | FROGPILOT_CONTROLS}, {"NorthDakotaLiveTorqueParameters", PERSISTENT}, {"NorthDakotaScore", PERSISTENT | FROGPILOT_STORAGE | FROGPILOT_CONTROLS}, - {"NorthDakotaV2CalibrationParams", PERSISTENT}, - {"NorthDakotaV2Drives", PERSISTENT | FROGPILOT_STORAGE | FROGPILOT_CONTROLS}, - {"NorthDakotaV2LiveTorqueParameters", PERSISTENT}, - {"NorthDakotaV2Score", PERSISTENT | FROGPILOT_STORAGE | FROGPILOT_CONTROLS}, {"NotreDameCalibrationParams", PERSISTENT}, {"NotreDameDrives", PERSISTENT | FROGPILOT_STORAGE | FROGPILOT_CONTROLS}, {"NotreDameLiveTorqueParameters", PERSISTENT}, @@ -447,7 +448,8 @@ std::unordered_map keys = { {"PreviousSpeedLimit", PERSISTENT}, {"PromptDistractedVolume", PERSISTENT | FROGPILOT_STORAGE | FROGPILOT_VISUALS}, {"PromptVolume", PERSISTENT | FROGPILOT_STORAGE | FROGPILOT_VISUALS}, - {"QOLControls", PERSISTENT | FROGPILOT_STORAGE | FROGPILOT_CONTROLS}, + {"QOLLateral", PERSISTENT | FROGPILOT_STORAGE | FROGPILOT_CONTROLS}, + {"QOLLongitudinal", PERSISTENT | FROGPILOT_STORAGE | FROGPILOT_CONTROLS}, {"QOLVisuals", PERSISTENT | FROGPILOT_STORAGE | FROGPILOT_VISUALS}, {"RadarlessModels", PERSISTENT}, {"RadicalTurtleCalibrationParams", PERSISTENT}, @@ -463,10 +465,12 @@ std::unordered_map keys = { {"RelaxedFollow", PERSISTENT | FROGPILOT_STORAGE | FROGPILOT_CONTROLS}, {"RelaxedJerkAcceleration", PERSISTENT | FROGPILOT_STORAGE | FROGPILOT_CONTROLS}, {"RelaxedJerkDanger", PERSISTENT | FROGPILOT_STORAGE | FROGPILOT_CONTROLS}, + {"RelaxedJerkDeceleration", PERSISTENT | FROGPILOT_STORAGE | FROGPILOT_CONTROLS}, {"RelaxedJerkSpeed", PERSISTENT | FROGPILOT_STORAGE | FROGPILOT_CONTROLS}, + {"RelaxedJerkSpeedDecrease", PERSISTENT | FROGPILOT_STORAGE | FROGPILOT_CONTROLS}, {"RelaxedPersonalityProfile", PERSISTENT | FROGPILOT_STORAGE | FROGPILOT_CONTROLS}, + {"ResetFrogTheme", PERSISTENT}, {"ReverseCruise", PERSISTENT | FROGPILOT_STORAGE | FROGPILOT_CONTROLS}, - {"ReverseCruiseUI", PERSISTENT | FROGPILOT_STORAGE | FROGPILOT_CONTROLS}, {"RoadEdgesWidth", PERSISTENT | FROGPILOT_STORAGE | FROGPILOT_VISUALS}, {"RoadName", PERSISTENT}, {"RoadNameUI", PERSISTENT | FROGPILOT_STORAGE | FROGPILOT_VISUALS}, @@ -499,7 +503,6 @@ std::unordered_map keys = { {"SidebarMetrics", PERSISTENT | FROGPILOT_STORAGE | FROGPILOT_VISUALS}, {"SignalMetrics", PERSISTENT | FROGPILOT_STORAGE | FROGPILOT_VISUALS}, {"SignalToDownload", PERSISTENT}, - {"SLCConfirmation", PERSISTENT | FROGPILOT_STORAGE | FROGPILOT_CONTROLS}, {"SLCConfirmationHigher", PERSISTENT | FROGPILOT_STORAGE | FROGPILOT_CONTROLS}, {"SLCConfirmationLower", PERSISTENT | FROGPILOT_STORAGE | FROGPILOT_CONTROLS}, {"SLCConfirmed", PERSISTENT}, @@ -518,26 +521,37 @@ std::unordered_map keys = { {"StandardFollow", PERSISTENT | FROGPILOT_STORAGE | FROGPILOT_CONTROLS}, {"StandardJerkAcceleration", PERSISTENT | FROGPILOT_STORAGE | FROGPILOT_CONTROLS}, {"StandardJerkDanger", PERSISTENT | FROGPILOT_STORAGE | FROGPILOT_CONTROLS}, + {"StandardJerkDeceleration", PERSISTENT | FROGPILOT_STORAGE | FROGPILOT_CONTROLS}, {"StandardJerkSpeed", PERSISTENT | FROGPILOT_STORAGE | FROGPILOT_CONTROLS}, + {"StandardJerkSpeedDecrease", PERSISTENT | FROGPILOT_STORAGE | FROGPILOT_CONTROLS}, {"StandardPersonalityProfile", PERSISTENT | FROGPILOT_STORAGE | FROGPILOT_CONTROLS}, {"StandbyMode", PERSISTENT | FROGPILOT_STORAGE | FROGPILOT_VISUALS}, {"StartupMessageBottom", PERSISTENT | FROGPILOT_STORAGE | FROGPILOT_VISUALS}, {"StartupMessageTop", PERSISTENT | FROGPILOT_STORAGE | FROGPILOT_VISUALS}, {"StaticPedalsOnUI", PERSISTENT | FROGPILOT_STORAGE | FROGPILOT_VISUALS}, + {"SteerFriction", PERSISTENT | FROGPILOT_STORAGE | FROGPILOT_CONTROLS}, + {"SteerFrictionStock", PERSISTENT}, + {"SteerLatAccel", PERSISTENT | FROGPILOT_STORAGE | FROGPILOT_CONTROLS}, + {"SteerLatAccelStock", PERSISTENT}, + {"SteerKP", PERSISTENT | FROGPILOT_STORAGE | FROGPILOT_CONTROLS}, + {"SteerKPStock", PERSISTENT}, {"SteerRatio", PERSISTENT | FROGPILOT_STORAGE | FROGPILOT_CONTROLS}, {"SteerRatioStock", PERSISTENT}, - {"StockTune", PERSISTENT | FROGPILOT_STORAGE | FROGPILOT_VEHICLES}, {"StoppedTimer", PERSISTENT | FROGPILOT_STORAGE | FROGPILOT_VISUALS}, - {"StoppingDistance", PERSISTENT | FROGPILOT_STORAGE | FROGPILOT_CONTROLS}, {"TacoTune", PERSISTENT | FROGPILOT_STORAGE | FROGPILOT_CONTROLS}, {"TetheringEnabled", PERSISTENT | FROGPILOT_STORAGE | FROGPILOT_OTHER}, {"ThemeDownloadProgress", PERSISTENT}, + {"TombRaiderCalibrationParams", PERSISTENT}, + {"TombRaiderDrives", PERSISTENT | FROGPILOT_STORAGE | FROGPILOT_CONTROLS}, + {"TombRaiderLiveTorqueParameters", PERSISTENT}, + {"TombRaiderScore", PERSISTENT | FROGPILOT_STORAGE | FROGPILOT_CONTROLS}, {"ToyotaDoors", PERSISTENT | FROGPILOT_STORAGE | FROGPILOT_VEHICLES}, {"TrafficFollow", PERSISTENT | FROGPILOT_STORAGE | FROGPILOT_CONTROLS}, {"TrafficJerkAcceleration", PERSISTENT | FROGPILOT_STORAGE | FROGPILOT_CONTROLS}, {"TrafficJerkDanger", PERSISTENT | FROGPILOT_STORAGE | FROGPILOT_CONTROLS}, + {"TrafficJerkDeceleration", PERSISTENT | FROGPILOT_STORAGE | FROGPILOT_CONTROLS}, {"TrafficJerkSpeed", PERSISTENT | FROGPILOT_STORAGE | FROGPILOT_CONTROLS}, - {"TrafficMode", PERSISTENT | FROGPILOT_STORAGE | FROGPILOT_CONTROLS}, + {"TrafficJerkSpeedDecrease", PERSISTENT | FROGPILOT_STORAGE | FROGPILOT_CONTROLS}, {"TrafficPersonalityProfile", PERSISTENT | FROGPILOT_STORAGE | FROGPILOT_CONTROLS}, {"TuningInfo", PERSISTENT | FROGPILOT_STORAGE | FROGPILOT_VISUALS}, {"TurnAggressiveness", PERSISTENT | FROGPILOT_STORAGE | FROGPILOT_CONTROLS}, @@ -550,6 +564,7 @@ std::unordered_map keys = { {"UseSI", PERSISTENT | FROGPILOT_STORAGE | FROGPILOT_VISUALS}, {"UseStockColors", CLEAR_ON_MANAGER_START}, {"UseVienna", PERSISTENT | FROGPILOT_STORAGE | FROGPILOT_CONTROLS}, + {"VelocityModels", PERSISTENT}, {"VisionTurnControl", PERSISTENT | FROGPILOT_STORAGE | FROGPILOT_CONTROLS}, {"VoltSNG", PERSISTENT | FROGPILOT_STORAGE | FROGPILOT_VEHICLES}, {"WarningImmediateVolume", PERSISTENT | FROGPILOT_STORAGE | FROGPILOT_VISUALS}, diff --git a/opendbc/generator/toyota/_toyota_2017.dbc b/opendbc/generator/toyota/_toyota_2017.dbc index e21f7426b54639..a8ff91077147c0 100644 --- a/opendbc/generator/toyota/_toyota_2017.dbc +++ b/opendbc/generator/toyota/_toyota_2017.dbc @@ -45,9 +45,24 @@ BO_ 37 STEER_ANGLE_SENSOR: 8 XXX SG_ STEER_FRACTION : 39|4@0- (0.1,0) [-0.7|0.7] "deg" XXX SG_ STEER_RATE : 35|12@0- (1,0) [-2000|2000] "deg/s" XXX +BO_ 119 ENG2F41: 6 CGW + SG_ FDRV : 7|16@0- (2,0) [0|0] "N" Vector__XXX + SG_ FDRVREAL : 23|13@0- (10,0) [0|0] "N" Vector__XXX + SG_ XAECT : 39|1@0+ (1,0) [0|0] "" Vector__XXX + SG_ XFDRVCOL : 38|1@0+ (1,0) [0|0] "" Vector__XXX + SG_ FDRVSELP : 34|3@0+ (1,0) [0|0] "" Vector__XXX + SG_ ENG2F41S : 47|8@0+ (1,0) [0|0] "" Vector__XXX + +BO_ 120 ENG2F42: 4 CGW + SG_ FAVLMCHH : 7|16@0- (2,0) [0|0] "N" Vector__XX228X + SG_ CCRNG : 23|1@0+ (1,0) [0|0] "" Vector__XXX + SG_ FDRVTYPD : 22|3@0+ (1,0) [0|0] "" Vector__XXX + SG_ GEARHD : 18|1@0+ (1,0) [0|0] "" Vector__XXX + SG_ ENG2F42S : 31|8@0+ (1,0) [0|0] "" Vector__XXX + BO_ 166 BRAKE: 8 XXX SG_ BRAKE_AMOUNT : 7|8@0+ (1,0) [0|255] "" XXX - SG_ BRAKE_PEDAL : 23|8@0+ (1,0) [0|255] "" XXX + SG_ BRAKE_FORCE : 23|8@0+ (40,0) [0|10200] "N" XXX BO_ 170 WHEEL_SPEEDS: 8 XXX SG_ WHEEL_SPEED_FR : 7|16@0+ (0.01,-67.67) [0|250] "km/h" XXX @@ -61,8 +76,8 @@ BO_ 180 SPEED: 8 XXX SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX BO_ 295 GEAR_PACKET_HYBRID: 8 XXX - SG_ CAR_MOVEMENT : 25|10@0- (1,0) [0|255] "" XXX - SG_ COUNTER : 55|8@0+ (1,0) [0|255] "" XXX + SG_ FDRVREAL : 26|11@0- (25,0) [-25600|25575] "N" XXX + SG_ UNKNOWN : 55|8@0+ (1,0) [0|255] "" XXX SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX SG_ GEAR : 47|4@0+ (1,0) [0|15] "" XXX @@ -71,6 +86,7 @@ BO_ 353 DSU_SPEED: 7 XXX BO_ 452 ENGINE_RPM: 8 CGW SG_ RPM : 7|16@0- (0.78125,0) [0|0] "rpm" SCS + SG_ ENGINE_RUNNING : 27|1@0+ (1,0) [0|1] "" XXX BO_ 466 PCM_CRUISE: 8 XXX SG_ GAS_RELEASED : 4|1@0+ (1,0) [0|1] "" XXX @@ -91,9 +107,10 @@ BO_ 467 PCM_CRUISE_2: 8 XXX SG_ ACC_FAULTED : 47|1@0+ (1,0) [0|1] "" XXX SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX -BO_ 552 ACCELEROMETER: 8 XXX - SG_ ACCEL_Z : 22|15@0- (1,0) [0|32767] "m/s^2" XXX - SG_ ACCEL_X : 6|15@0- (0.001,0) [-20|20] "m/s^2" XXX +BO_ 552 VSC1S29: 4 CGW + SG_ ICBACT : 7|1@0+ (1,0) [0|0] "" DS1 + SG_ DVS0PCS : 6|15@0- (0.001,0) [0|0] "m/s^2" DS1 + SG_ SM228 : 31|8@0+ (1,0) [0|0] "" DS1 BO_ 560 BRAKE_2: 7 XXX SG_ BRAKE_PRESSED : 26|1@0+ (1,0) [0|1] "" XXX @@ -147,6 +164,31 @@ BO_ 742 LEAD_INFO: 8 DSU SG_ LEAD_REL_SPEED : 23|12@0- (0.025,0) [-100|100] "m/s" HCU SG_ LEAD_LONG_DIST : 7|13@0+ (0.05,0) [0|300] "m" HCU +BO_ 800 VSC1S07: 8 CGW + SG_ FBKRLY : 6|1@0+ (1,0) [0|0] "" DS1 + SG_ FVSCM : 4|1@0+ (1,0) [0|0] "" DS1 + SG_ FVSCSFT : 3|1@0+ (1,0) [0|0] "" DS1 + SG_ FABS : 2|1@0+ (1,0) [0|0] "" DS1,FCM + SG_ TSVSC : 1|1@0+ (1,0) [0|0] "" DS1 + SG_ FVSCL : 0|1@0+ (1,0) [0|0] "" DS1 + SG_ RQCSTBKB : 15|1@0+ (1,0) [0|0] "" Vector__XXX + SG_ PSBSTBY : 14|1@0+ (1,0) [0|0] "" DS1 + SG_ P2BRXMK : 13|1@0+ (1,0) [0|0] "" DS1 + SG_ MCC : 11|1@0+ (1,0) [0|0] "" DS1 + SG_ RQBKB : 10|1@0+ (1,0) [0|0] "" Vector__XXX + SG_ BRSTOP : 9|1@0+ (1,0) [0|0] "" DS1,FCM + SG_ BRKON : 8|1@0+ (1,0) [0|0] "" DS1,FCM + SG_ ASLP : 23|8@0- (1,0) [0|0] "deg" DS1 + SG_ BRTYPACC : 31|2@0+ (1,0) [0|0] "" DS1 + SG_ BRKABT3 : 26|1@0+ (1,0) [0|0] "" Vector__XXX + SG_ BRKABT2 : 25|1@0+ (1,0) [0|0] "" Vector__XXX + SG_ BRKABT1 : 24|1@0+ (1,0) [0|0] "" Vector__XXX + SG_ GVC : 39|8@0- (0.04,0) [0|0] "m/s^2" DS1 + SG_ XGVCINV : 43|1@0+ (1,0) [0|0] "" DS1 + SG_ S07CNT : 52|1@0+ (1,0) [0|0] "" Vector__XXX + SG_ PCSBRSTA : 50|2@0+ (1,0) [0|0] "" DS1 + SG_ VSC07SUM : 63|8@0+ (1,0) [0|0] "" DS1,FCM + BO_ 835 ACC_CONTROL: 8 DSU SG_ ACCEL_CMD : 7|16@0- (0.001,0) [-20|20] "m/s^2" HCU SG_ ALLOW_LONG_PRESS : 17|2@0+ (1,0) [0|2] "" XXX @@ -165,12 +207,19 @@ BO_ 835 ACC_CONTROL: 8 DSU SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX BO_ 836 PRE_COLLISION_2: 8 DSU + SG_ DSS1GDRV : 7|10@0- (0.1,0) [0|0] "m/s^2" Vector__XXX + SG_ PCSALM : 17|1@0+ (1,0) [0|0] "" FCM + SG_ IBTRGR : 27|1@0+ (1,0) [0|0] "" FCM + SG_ PBATRGR : 30|2@0+ (1,0) [0|0] "" Vector__XXX + SG_ PREFILL : 33|1@0+ (1,0) [0|0] "" Vector__XXX + SG_ AVSTRGR : 36|1@0+ (1,0) [0|0] "" SCS SG_ CHECKSUM : 63|8@0+ (1,0) [0|0] "" XXX BO_ 865 CLUTCH: 8 XXX SG_ ACC_FAULTED : 32|1@0+ (1,0) [0|1] "" XXX SG_ GAS_PEDAL_ALT : 23|8@0+ (0.005,0) [0|1] "" XXX SG_ CLUTCH_RELEASED : 38|1@0+ (1,0) [0|1] "" XXX + SG_ ACCEL_NET : 48|16@1+ (0.0002,-6.5536) [-6.5536|6.5534] "" XXX BO_ 869 DSU_CRUISE : 7 DSU SG_ RES_BTN : 3|1@0+ (1,0) [0|0] "" XXX @@ -272,6 +321,18 @@ BO_ 1044 AUTO_HIGH_BEAM: 8 FCM SG_ F_AHB : 55|4@0+ (1,0) [0|0] "" Vector__XXX SG_ C_AHB : 51|4@0+ (1,0) [0|0] "" Vector__XXX +BO_ 1056 VSC1S08: 8 CGW + SG_ YR1Z : 7|16@0- (1,0) [0|0] "rad/s" DS1,FCM,MAV + SG_ YR2Z : 23|16@0- (1,0) [0|0] "rad/s" DS1,FCM,MAV + SG_ GL1Z : 39|8@0- (0.0359,0) [0|0] "m/s^2" DS1,FCM,KSS,MAV,SCS + SG_ GL2Z : 47|8@0- (0.0359,0) [0|0] "m/s^2" DS1,FCM,KSS,MAV,SCS + SG_ YRGSDIR : 55|1@0+ (1,0) [0|0] "" DS1,FCM,KSS,SCS + SG_ GLZS : 51|1@0+ (1,0) [0|0] "" DS1,FCM,KSS,MAV,SCS + SG_ YRZF : 50|1@0+ (1,0) [0|0] "" DS1,FCM,MAV + SG_ YRZS : 49|1@0+ (1,0) [0|0] "" DS1,FCM,MAV + SG_ YRZKS : 48|1@0+ (1,0) [0|0] "" DS1,FCM,MAV + SG_ VSC08SUM : 63|8@0+ (1,0) [0|0] "" DS1,FCM,MAV + BO_ 1083 AUTOPARK_STATUS: 8 IPAS SG_ STATE : 7|4@0+ (1,0) [0|15] "" XXX @@ -350,9 +411,11 @@ BO_ 1552 BODY_CONTROL_STATE_2: 8 XXX BO_ 1553 UI_SETTING: 8 XXX SG_ UNITS : 26|2@0+ (1,0) [0|3] "" XXX SG_ ODOMETER : 39|32@0+ (1,0) [0|1048575] "" XXX + BO_ 1556 BLINKERS_STATE: 8 XXX - SG_ TURN_SIGNALS : 29|2@0+ (1,0) [0|3] "" XXX + SG_ BLINKER_BUTTON_PRESSED : 15|1@0+ (1,0) [0|1] "" XXX SG_ HAZARD_LIGHT : 27|1@0+ (1,0) [0|1] "" XXX + SG_ TURN_SIGNALS : 29|2@0+ (1,0) [0|3] "" XXX BO_ 1568 BODY_CONTROL_STATE: 8 XXX SG_ METER_DIMMED : 38|1@0+ (1,0) [0|1] "" XXX @@ -381,13 +444,30 @@ BO_ 1592 DOOR_LOCKS: 8 XXX SG_ LOCK_STATUS : 20|1@0+ (1,0) [0|1] "" XXX SG_ LOCKED_VIA_KEYFOB : 23|1@0+ (1,0) [0|1] "" XXX +BO_ 1779 ADAS_TOGGLE_STATE: 8 XXX + SG_ OK_BUTTON_PRESSED : 15|1@0+ (1,0) [0|1] "" BCM + SG_ SWS_TOGGLE_CMD : 24|1@0+ (1,0) [0|1] "" XXX + SG_ SWS_SENSITIVITY_CMD : 26|2@0+ (1,0) [0|3] "" XXX + SG_ LKAS_ON_CMD : 28|1@0+ (1,0) [0|1] "" XXX + SG_ LKAS_OFF_CMD : 29|1@0+ (1,0) [0|1] "" XXX + SG_ LDA_SENSITIVITY_HI_CMD : 30|1@0+ (1,0) [0|1] "" XXX + SG_ LDA_SENSITIVITY_STD_CMD : 31|1@0+ (1,0) [0|1] "" XXX + SG_ IPAS_TOGGLE : 34|1@0+ (1,0) [0|1] "" XXX + SG_ BSM_TOGGLE_CMD : 37|1@0+ (1,0) [0|1] "" XXX + SG_ IPAS_SONAR_TOGGLE : 38|1@0+ (1,0) [0|1] "" XXX + SG_ PCS_TOGGLE_CMD : 40|1@0+ (1,0) [0|1] "" XXX + SG_ PCS_SENSITIVITY_CMD : 41|1@0+ (1,0) [0|1] "" XXX + CM_ SG_ 36 YAW_RATE "verify"; CM_ SG_ 36 ACCEL_X "x-axis accel"; CM_ SG_ 37 STEER_FRACTION "1/15th of the signal STEER_ANGLE, which is 1.5 deg; note that 0x8 is never set"; CM_ SG_ 37 STEER_RATE "factor is tbd"; +CM_ SG_ 119 FDRVREAL "ICE only: force applied by wheels from the engine. includes creeping force, regen, and engine braking"; +CM_ SG_ 166 BRAKE_FORCE "hybrid only: force applied by friction brakes from user or ACC command"; +CM_ SG_ 295 FDRVREAL "hybrid only: force applied by wheels from the engine and/or electric motors. includes creeping force, regen, and engine braking"; CM_ SG_ 466 NEUTRAL_FORCE "force in newtons the engine/electric motors are applying without any acceleration commands or user input"; CM_ SG_ 466 ACC_BRAKING "whether brakes are being actuated from ACC command"; -CM_ SG_ 466 ACCEL_NET "net acceleration produced by the system, given ACCEL_CMD, road grade and other factors"; +CM_ SG_ 466 ACCEL_NET "net negative acceleration (braking) applied by the system if on flat ground"; CM_ SG_ 466 CRUISE_STATE "Active state is 8, if standstill is requested will switch to state 11(3 sec timer), after timer is elapsed will switch into state 7(standstill). If plus button was pressed - status 9, minus button pressed - status 10"; CM_ SG_ 467 ACC_FAULTED "1 when ACC is faulted and the PCM disallows engagement"; CM_ SG_ 467 SET_SPEED "43 km/h are shown as 28 mph, so conversion isn't perfect"; @@ -400,6 +480,8 @@ CM_ SG_ 614 ANGLE "set to measured angle when ipas control isn't active"; CM_ SG_ 643 _COUNTER "only used on cars that use this msg for cruise control"; CM_ SG_ 643 BRAKE_STATUS "only used on cars that use this msg for cruise control"; CM_ SG_ 643 PRECOLLISION_ACTIVE "set 0.5s before any braking"; +CM_ SG_ 800 SLOPE_ANGLE "potentially used by the PCM to compensate for road pitch"; +CM_ SG_ 800 ACCEL "filtered ego acceleration"; CM_ SG_ 835 ACC_TYPE "if 2, car is likely to have a permanent low speed lockout. 1 is ok"; CM_ SG_ 835 RADAR_DIRTY "Display Clean Radar Sensor message on HUD"; CM_ SG_ 835 ACC_MALFUNCTION "display ACC fault on dash if set to 1"; @@ -412,6 +494,7 @@ CM_ SG_ 835 PERMIT_BRAKING "Original ACC has this going high when a car in front CM_ SG_ 835 ACCEL_CMD_ALT "Copy of main ACCEL_CMD, but across 8 bits instead of 16 bits like ACCEL_CMD. Unsure if only informational or has an effect. Likely informational as existing openpilot sets this to 0 and no loss of functionality observed. Originally 'AT_RAW' in leaked toyota_2017_ref_pt.dbc file."; CM_ SG_ 865 GAS_PEDAL_ALT "copy of main GAS_PEDAL. Both use 8 bits. Might indicate that this message is for pedals."; CM_ SG_ 865 CLUTCH_RELEASED "boolean of clutch for 6MT."; +CM_ SG_ 865 ACCEL_NET "net positive acceleration (gas) applied by the system if on flat ground, may not include creeping force"; CM_ SG_ 865 ACC_FAULTED "1 when ACC is faulted and the PCM disallows engagement. Also describes a lockout when the ACC_CONTROL->ACC_MALFUNCTION bit is set."; CM_ SG_ 921 UI_SET_SPEED "set speed shown in the vehicle's UI with the vehicle's unit"; CM_ SG_ 921 TEMP_ACC_FAULTED "1 when the UI is displaying or playing fault-related alerts or sounds. Also 1 when pressing main on."; @@ -512,4 +595,5 @@ VAL_ 1552 METER_SLIDER_DIMMED 1 "Dimmed" 0 "Not Dimmed"; VAL_ 1552 UNITS 1 "km (km/L)" 2 "km (L/100km)" 3 "miles (MPG US)" 4 "miles (MPG Imperial)"; VAL_ 1553 UNITS 1 "km" 2 "miles"; VAL_ 1556 TURN_SIGNALS 3 "none" 2 "right" 1 "left"; +VAL_ 1556 BLINKER_BUTTON_PRESSED 1 "button pressed" 0 "not pressed"; VAL_ 1592 LOCK_STATUS 0 "locked" 1 "unlocked"; diff --git a/opendbc/toyota_new_mc_pt_generated.dbc b/opendbc/toyota_new_mc_pt_generated.dbc index dfb69df492fd4b..1a9a2a9a26c204 100644 --- a/opendbc/toyota_new_mc_pt_generated.dbc +++ b/opendbc/toyota_new_mc_pt_generated.dbc @@ -93,9 +93,24 @@ BO_ 37 STEER_ANGLE_SENSOR: 8 XXX SG_ STEER_FRACTION : 39|4@0- (0.1,0) [-0.7|0.7] "deg" XXX SG_ STEER_RATE : 35|12@0- (1,0) [-2000|2000] "deg/s" XXX +BO_ 119 ENG2F41: 6 CGW + SG_ FDRV : 7|16@0- (2,0) [0|0] "N" Vector__XXX + SG_ FDRVREAL : 23|13@0- (10,0) [0|0] "N" Vector__XXX + SG_ XAECT : 39|1@0+ (1,0) [0|0] "" Vector__XXX + SG_ XFDRVCOL : 38|1@0+ (1,0) [0|0] "" Vector__XXX + SG_ FDRVSELP : 34|3@0+ (1,0) [0|0] "" Vector__XXX + SG_ ENG2F41S : 47|8@0+ (1,0) [0|0] "" Vector__XXX + +BO_ 120 ENG2F42: 4 CGW + SG_ FAVLMCHH : 7|16@0- (2,0) [0|0] "N" Vector__XX228X + SG_ CCRNG : 23|1@0+ (1,0) [0|0] "" Vector__XXX + SG_ FDRVTYPD : 22|3@0+ (1,0) [0|0] "" Vector__XXX + SG_ GEARHD : 18|1@0+ (1,0) [0|0] "" Vector__XXX + SG_ ENG2F42S : 31|8@0+ (1,0) [0|0] "" Vector__XXX + BO_ 166 BRAKE: 8 XXX SG_ BRAKE_AMOUNT : 7|8@0+ (1,0) [0|255] "" XXX - SG_ BRAKE_PEDAL : 23|8@0+ (1,0) [0|255] "" XXX + SG_ BRAKE_FORCE : 23|8@0+ (40,0) [0|10200] "N" XXX BO_ 170 WHEEL_SPEEDS: 8 XXX SG_ WHEEL_SPEED_FR : 7|16@0+ (0.01,-67.67) [0|250] "km/h" XXX @@ -109,8 +124,8 @@ BO_ 180 SPEED: 8 XXX SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX BO_ 295 GEAR_PACKET_HYBRID: 8 XXX - SG_ CAR_MOVEMENT : 25|10@0- (1,0) [0|255] "" XXX - SG_ COUNTER : 55|8@0+ (1,0) [0|255] "" XXX + SG_ FDRVREAL : 26|11@0- (25,0) [-25600|25575] "N" XXX + SG_ UNKNOWN : 55|8@0+ (1,0) [0|255] "" XXX SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX SG_ GEAR : 47|4@0+ (1,0) [0|15] "" XXX @@ -119,6 +134,7 @@ BO_ 353 DSU_SPEED: 7 XXX BO_ 452 ENGINE_RPM: 8 CGW SG_ RPM : 7|16@0- (0.78125,0) [0|0] "rpm" SCS + SG_ ENGINE_RUNNING : 27|1@0+ (1,0) [0|1] "" XXX BO_ 466 PCM_CRUISE: 8 XXX SG_ GAS_RELEASED : 4|1@0+ (1,0) [0|1] "" XXX @@ -139,9 +155,10 @@ BO_ 467 PCM_CRUISE_2: 8 XXX SG_ ACC_FAULTED : 47|1@0+ (1,0) [0|1] "" XXX SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX -BO_ 552 ACCELEROMETER: 8 XXX - SG_ ACCEL_Z : 22|15@0- (1,0) [0|32767] "m/s^2" XXX - SG_ ACCEL_X : 6|15@0- (0.001,0) [-20|20] "m/s^2" XXX +BO_ 552 VSC1S29: 4 CGW + SG_ ICBACT : 7|1@0+ (1,0) [0|0] "" DS1 + SG_ DVS0PCS : 6|15@0- (0.001,0) [0|0] "m/s^2" DS1 + SG_ SM228 : 31|8@0+ (1,0) [0|0] "" DS1 BO_ 560 BRAKE_2: 7 XXX SG_ BRAKE_PRESSED : 26|1@0+ (1,0) [0|1] "" XXX @@ -195,6 +212,31 @@ BO_ 742 LEAD_INFO: 8 DSU SG_ LEAD_REL_SPEED : 23|12@0- (0.025,0) [-100|100] "m/s" HCU SG_ LEAD_LONG_DIST : 7|13@0+ (0.05,0) [0|300] "m" HCU +BO_ 800 VSC1S07: 8 CGW + SG_ FBKRLY : 6|1@0+ (1,0) [0|0] "" DS1 + SG_ FVSCM : 4|1@0+ (1,0) [0|0] "" DS1 + SG_ FVSCSFT : 3|1@0+ (1,0) [0|0] "" DS1 + SG_ FABS : 2|1@0+ (1,0) [0|0] "" DS1,FCM + SG_ TSVSC : 1|1@0+ (1,0) [0|0] "" DS1 + SG_ FVSCL : 0|1@0+ (1,0) [0|0] "" DS1 + SG_ RQCSTBKB : 15|1@0+ (1,0) [0|0] "" Vector__XXX + SG_ PSBSTBY : 14|1@0+ (1,0) [0|0] "" DS1 + SG_ P2BRXMK : 13|1@0+ (1,0) [0|0] "" DS1 + SG_ MCC : 11|1@0+ (1,0) [0|0] "" DS1 + SG_ RQBKB : 10|1@0+ (1,0) [0|0] "" Vector__XXX + SG_ BRSTOP : 9|1@0+ (1,0) [0|0] "" DS1,FCM + SG_ BRKON : 8|1@0+ (1,0) [0|0] "" DS1,FCM + SG_ ASLP : 23|8@0- (1,0) [0|0] "deg" DS1 + SG_ BRTYPACC : 31|2@0+ (1,0) [0|0] "" DS1 + SG_ BRKABT3 : 26|1@0+ (1,0) [0|0] "" Vector__XXX + SG_ BRKABT2 : 25|1@0+ (1,0) [0|0] "" Vector__XXX + SG_ BRKABT1 : 24|1@0+ (1,0) [0|0] "" Vector__XXX + SG_ GVC : 39|8@0- (0.04,0) [0|0] "m/s^2" DS1 + SG_ XGVCINV : 43|1@0+ (1,0) [0|0] "" DS1 + SG_ S07CNT : 52|1@0+ (1,0) [0|0] "" Vector__XXX + SG_ PCSBRSTA : 50|2@0+ (1,0) [0|0] "" DS1 + SG_ VSC07SUM : 63|8@0+ (1,0) [0|0] "" DS1,FCM + BO_ 835 ACC_CONTROL: 8 DSU SG_ ACCEL_CMD : 7|16@0- (0.001,0) [-20|20] "m/s^2" HCU SG_ ALLOW_LONG_PRESS : 17|2@0+ (1,0) [0|2] "" XXX @@ -213,12 +255,19 @@ BO_ 835 ACC_CONTROL: 8 DSU SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX BO_ 836 PRE_COLLISION_2: 8 DSU + SG_ DSS1GDRV : 7|10@0- (0.1,0) [0|0] "m/s^2" Vector__XXX + SG_ PCSALM : 17|1@0+ (1,0) [0|0] "" FCM + SG_ IBTRGR : 27|1@0+ (1,0) [0|0] "" FCM + SG_ PBATRGR : 30|2@0+ (1,0) [0|0] "" Vector__XXX + SG_ PREFILL : 33|1@0+ (1,0) [0|0] "" Vector__XXX + SG_ AVSTRGR : 36|1@0+ (1,0) [0|0] "" SCS SG_ CHECKSUM : 63|8@0+ (1,0) [0|0] "" XXX BO_ 865 CLUTCH: 8 XXX SG_ ACC_FAULTED : 32|1@0+ (1,0) [0|1] "" XXX SG_ GAS_PEDAL_ALT : 23|8@0+ (0.005,0) [0|1] "" XXX SG_ CLUTCH_RELEASED : 38|1@0+ (1,0) [0|1] "" XXX + SG_ ACCEL_NET : 48|16@1+ (0.0002,-6.5536) [-6.5536|6.5534] "" XXX BO_ 869 DSU_CRUISE : 7 DSU SG_ RES_BTN : 3|1@0+ (1,0) [0|0] "" XXX @@ -320,6 +369,18 @@ BO_ 1044 AUTO_HIGH_BEAM: 8 FCM SG_ F_AHB : 55|4@0+ (1,0) [0|0] "" Vector__XXX SG_ C_AHB : 51|4@0+ (1,0) [0|0] "" Vector__XXX +BO_ 1056 VSC1S08: 8 CGW + SG_ YR1Z : 7|16@0- (1,0) [0|0] "rad/s" DS1,FCM,MAV + SG_ YR2Z : 23|16@0- (1,0) [0|0] "rad/s" DS1,FCM,MAV + SG_ GL1Z : 39|8@0- (0.0359,0) [0|0] "m/s^2" DS1,FCM,KSS,MAV,SCS + SG_ GL2Z : 47|8@0- (0.0359,0) [0|0] "m/s^2" DS1,FCM,KSS,MAV,SCS + SG_ YRGSDIR : 55|1@0+ (1,0) [0|0] "" DS1,FCM,KSS,SCS + SG_ GLZS : 51|1@0+ (1,0) [0|0] "" DS1,FCM,KSS,MAV,SCS + SG_ YRZF : 50|1@0+ (1,0) [0|0] "" DS1,FCM,MAV + SG_ YRZS : 49|1@0+ (1,0) [0|0] "" DS1,FCM,MAV + SG_ YRZKS : 48|1@0+ (1,0) [0|0] "" DS1,FCM,MAV + SG_ VSC08SUM : 63|8@0+ (1,0) [0|0] "" DS1,FCM,MAV + BO_ 1083 AUTOPARK_STATUS: 8 IPAS SG_ STATE : 7|4@0+ (1,0) [0|15] "" XXX @@ -398,9 +459,11 @@ BO_ 1552 BODY_CONTROL_STATE_2: 8 XXX BO_ 1553 UI_SETTING: 8 XXX SG_ UNITS : 26|2@0+ (1,0) [0|3] "" XXX SG_ ODOMETER : 39|32@0+ (1,0) [0|1048575] "" XXX + BO_ 1556 BLINKERS_STATE: 8 XXX - SG_ TURN_SIGNALS : 29|2@0+ (1,0) [0|3] "" XXX + SG_ BLINKER_BUTTON_PRESSED : 15|1@0+ (1,0) [0|1] "" XXX SG_ HAZARD_LIGHT : 27|1@0+ (1,0) [0|1] "" XXX + SG_ TURN_SIGNALS : 29|2@0+ (1,0) [0|3] "" XXX BO_ 1568 BODY_CONTROL_STATE: 8 XXX SG_ METER_DIMMED : 38|1@0+ (1,0) [0|1] "" XXX @@ -429,13 +492,30 @@ BO_ 1592 DOOR_LOCKS: 8 XXX SG_ LOCK_STATUS : 20|1@0+ (1,0) [0|1] "" XXX SG_ LOCKED_VIA_KEYFOB : 23|1@0+ (1,0) [0|1] "" XXX +BO_ 1779 ADAS_TOGGLE_STATE: 8 XXX + SG_ OK_BUTTON_PRESSED : 15|1@0+ (1,0) [0|1] "" BCM + SG_ SWS_TOGGLE_CMD : 24|1@0+ (1,0) [0|1] "" XXX + SG_ SWS_SENSITIVITY_CMD : 26|2@0+ (1,0) [0|3] "" XXX + SG_ LKAS_ON_CMD : 28|1@0+ (1,0) [0|1] "" XXX + SG_ LKAS_OFF_CMD : 29|1@0+ (1,0) [0|1] "" XXX + SG_ LDA_SENSITIVITY_HI_CMD : 30|1@0+ (1,0) [0|1] "" XXX + SG_ LDA_SENSITIVITY_STD_CMD : 31|1@0+ (1,0) [0|1] "" XXX + SG_ IPAS_TOGGLE : 34|1@0+ (1,0) [0|1] "" XXX + SG_ BSM_TOGGLE_CMD : 37|1@0+ (1,0) [0|1] "" XXX + SG_ IPAS_SONAR_TOGGLE : 38|1@0+ (1,0) [0|1] "" XXX + SG_ PCS_TOGGLE_CMD : 40|1@0+ (1,0) [0|1] "" XXX + SG_ PCS_SENSITIVITY_CMD : 41|1@0+ (1,0) [0|1] "" XXX + CM_ SG_ 36 YAW_RATE "verify"; CM_ SG_ 36 ACCEL_X "x-axis accel"; CM_ SG_ 37 STEER_FRACTION "1/15th of the signal STEER_ANGLE, which is 1.5 deg; note that 0x8 is never set"; CM_ SG_ 37 STEER_RATE "factor is tbd"; +CM_ SG_ 119 FDRVREAL "ICE only: force applied by wheels from the engine. includes creeping force, regen, and engine braking"; +CM_ SG_ 166 BRAKE_FORCE "hybrid only: force applied by friction brakes from user or ACC command"; +CM_ SG_ 295 FDRVREAL "hybrid only: force applied by wheels from the engine and/or electric motors. includes creeping force, regen, and engine braking"; CM_ SG_ 466 NEUTRAL_FORCE "force in newtons the engine/electric motors are applying without any acceleration commands or user input"; CM_ SG_ 466 ACC_BRAKING "whether brakes are being actuated from ACC command"; -CM_ SG_ 466 ACCEL_NET "net acceleration produced by the system, given ACCEL_CMD, road grade and other factors"; +CM_ SG_ 466 ACCEL_NET "net negative acceleration (braking) applied by the system if on flat ground"; CM_ SG_ 466 CRUISE_STATE "Active state is 8, if standstill is requested will switch to state 11(3 sec timer), after timer is elapsed will switch into state 7(standstill). If plus button was pressed - status 9, minus button pressed - status 10"; CM_ SG_ 467 ACC_FAULTED "1 when ACC is faulted and the PCM disallows engagement"; CM_ SG_ 467 SET_SPEED "43 km/h are shown as 28 mph, so conversion isn't perfect"; @@ -448,6 +528,8 @@ CM_ SG_ 614 ANGLE "set to measured angle when ipas control isn't active"; CM_ SG_ 643 _COUNTER "only used on cars that use this msg for cruise control"; CM_ SG_ 643 BRAKE_STATUS "only used on cars that use this msg for cruise control"; CM_ SG_ 643 PRECOLLISION_ACTIVE "set 0.5s before any braking"; +CM_ SG_ 800 SLOPE_ANGLE "potentially used by the PCM to compensate for road pitch"; +CM_ SG_ 800 ACCEL "filtered ego acceleration"; CM_ SG_ 835 ACC_TYPE "if 2, car is likely to have a permanent low speed lockout. 1 is ok"; CM_ SG_ 835 RADAR_DIRTY "Display Clean Radar Sensor message on HUD"; CM_ SG_ 835 ACC_MALFUNCTION "display ACC fault on dash if set to 1"; @@ -460,6 +542,7 @@ CM_ SG_ 835 PERMIT_BRAKING "Original ACC has this going high when a car in front CM_ SG_ 835 ACCEL_CMD_ALT "Copy of main ACCEL_CMD, but across 8 bits instead of 16 bits like ACCEL_CMD. Unsure if only informational or has an effect. Likely informational as existing openpilot sets this to 0 and no loss of functionality observed. Originally 'AT_RAW' in leaked toyota_2017_ref_pt.dbc file."; CM_ SG_ 865 GAS_PEDAL_ALT "copy of main GAS_PEDAL. Both use 8 bits. Might indicate that this message is for pedals."; CM_ SG_ 865 CLUTCH_RELEASED "boolean of clutch for 6MT."; +CM_ SG_ 865 ACCEL_NET "net positive acceleration (gas) applied by the system if on flat ground, may not include creeping force"; CM_ SG_ 865 ACC_FAULTED "1 when ACC is faulted and the PCM disallows engagement. Also describes a lockout when the ACC_CONTROL->ACC_MALFUNCTION bit is set."; CM_ SG_ 921 UI_SET_SPEED "set speed shown in the vehicle's UI with the vehicle's unit"; CM_ SG_ 921 TEMP_ACC_FAULTED "1 when the UI is displaying or playing fault-related alerts or sounds. Also 1 when pressing main on."; @@ -560,6 +643,7 @@ VAL_ 1552 METER_SLIDER_DIMMED 1 "Dimmed" 0 "Not Dimmed"; VAL_ 1552 UNITS 1 "km (km/L)" 2 "km (L/100km)" 3 "miles (MPG US)" 4 "miles (MPG Imperial)"; VAL_ 1553 UNITS 1 "km" 2 "miles"; VAL_ 1556 TURN_SIGNALS 3 "none" 2 "right" 1 "left"; +VAL_ 1556 BLINKER_BUTTON_PRESSED 1 "button pressed" 0 "not pressed"; VAL_ 1592 LOCK_STATUS 0 "locked" 1 "unlocked"; CM_ "toyota_new_mc_pt.dbc starts here"; diff --git a/opendbc/toyota_nodsu_pt_generated.dbc b/opendbc/toyota_nodsu_pt_generated.dbc index 0b4a7cfae781de..5f106bfc1797ce 100644 --- a/opendbc/toyota_nodsu_pt_generated.dbc +++ b/opendbc/toyota_nodsu_pt_generated.dbc @@ -93,9 +93,24 @@ BO_ 37 STEER_ANGLE_SENSOR: 8 XXX SG_ STEER_FRACTION : 39|4@0- (0.1,0) [-0.7|0.7] "deg" XXX SG_ STEER_RATE : 35|12@0- (1,0) [-2000|2000] "deg/s" XXX +BO_ 119 ENG2F41: 6 CGW + SG_ FDRV : 7|16@0- (2,0) [0|0] "N" Vector__XXX + SG_ FDRVREAL : 23|13@0- (10,0) [0|0] "N" Vector__XXX + SG_ XAECT : 39|1@0+ (1,0) [0|0] "" Vector__XXX + SG_ XFDRVCOL : 38|1@0+ (1,0) [0|0] "" Vector__XXX + SG_ FDRVSELP : 34|3@0+ (1,0) [0|0] "" Vector__XXX + SG_ ENG2F41S : 47|8@0+ (1,0) [0|0] "" Vector__XXX + +BO_ 120 ENG2F42: 4 CGW + SG_ FAVLMCHH : 7|16@0- (2,0) [0|0] "N" Vector__XX228X + SG_ CCRNG : 23|1@0+ (1,0) [0|0] "" Vector__XXX + SG_ FDRVTYPD : 22|3@0+ (1,0) [0|0] "" Vector__XXX + SG_ GEARHD : 18|1@0+ (1,0) [0|0] "" Vector__XXX + SG_ ENG2F42S : 31|8@0+ (1,0) [0|0] "" Vector__XXX + BO_ 166 BRAKE: 8 XXX SG_ BRAKE_AMOUNT : 7|8@0+ (1,0) [0|255] "" XXX - SG_ BRAKE_PEDAL : 23|8@0+ (1,0) [0|255] "" XXX + SG_ BRAKE_FORCE : 23|8@0+ (40,0) [0|10200] "N" XXX BO_ 170 WHEEL_SPEEDS: 8 XXX SG_ WHEEL_SPEED_FR : 7|16@0+ (0.01,-67.67) [0|250] "km/h" XXX @@ -109,8 +124,8 @@ BO_ 180 SPEED: 8 XXX SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX BO_ 295 GEAR_PACKET_HYBRID: 8 XXX - SG_ CAR_MOVEMENT : 25|10@0- (1,0) [0|255] "" XXX - SG_ COUNTER : 55|8@0+ (1,0) [0|255] "" XXX + SG_ FDRVREAL : 26|11@0- (25,0) [-25600|25575] "N" XXX + SG_ UNKNOWN : 55|8@0+ (1,0) [0|255] "" XXX SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX SG_ GEAR : 47|4@0+ (1,0) [0|15] "" XXX @@ -119,6 +134,7 @@ BO_ 353 DSU_SPEED: 7 XXX BO_ 452 ENGINE_RPM: 8 CGW SG_ RPM : 7|16@0- (0.78125,0) [0|0] "rpm" SCS + SG_ ENGINE_RUNNING : 27|1@0+ (1,0) [0|1] "" XXX BO_ 466 PCM_CRUISE: 8 XXX SG_ GAS_RELEASED : 4|1@0+ (1,0) [0|1] "" XXX @@ -139,9 +155,10 @@ BO_ 467 PCM_CRUISE_2: 8 XXX SG_ ACC_FAULTED : 47|1@0+ (1,0) [0|1] "" XXX SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX -BO_ 552 ACCELEROMETER: 8 XXX - SG_ ACCEL_Z : 22|15@0- (1,0) [0|32767] "m/s^2" XXX - SG_ ACCEL_X : 6|15@0- (0.001,0) [-20|20] "m/s^2" XXX +BO_ 552 VSC1S29: 4 CGW + SG_ ICBACT : 7|1@0+ (1,0) [0|0] "" DS1 + SG_ DVS0PCS : 6|15@0- (0.001,0) [0|0] "m/s^2" DS1 + SG_ SM228 : 31|8@0+ (1,0) [0|0] "" DS1 BO_ 560 BRAKE_2: 7 XXX SG_ BRAKE_PRESSED : 26|1@0+ (1,0) [0|1] "" XXX @@ -195,6 +212,31 @@ BO_ 742 LEAD_INFO: 8 DSU SG_ LEAD_REL_SPEED : 23|12@0- (0.025,0) [-100|100] "m/s" HCU SG_ LEAD_LONG_DIST : 7|13@0+ (0.05,0) [0|300] "m" HCU +BO_ 800 VSC1S07: 8 CGW + SG_ FBKRLY : 6|1@0+ (1,0) [0|0] "" DS1 + SG_ FVSCM : 4|1@0+ (1,0) [0|0] "" DS1 + SG_ FVSCSFT : 3|1@0+ (1,0) [0|0] "" DS1 + SG_ FABS : 2|1@0+ (1,0) [0|0] "" DS1,FCM + SG_ TSVSC : 1|1@0+ (1,0) [0|0] "" DS1 + SG_ FVSCL : 0|1@0+ (1,0) [0|0] "" DS1 + SG_ RQCSTBKB : 15|1@0+ (1,0) [0|0] "" Vector__XXX + SG_ PSBSTBY : 14|1@0+ (1,0) [0|0] "" DS1 + SG_ P2BRXMK : 13|1@0+ (1,0) [0|0] "" DS1 + SG_ MCC : 11|1@0+ (1,0) [0|0] "" DS1 + SG_ RQBKB : 10|1@0+ (1,0) [0|0] "" Vector__XXX + SG_ BRSTOP : 9|1@0+ (1,0) [0|0] "" DS1,FCM + SG_ BRKON : 8|1@0+ (1,0) [0|0] "" DS1,FCM + SG_ ASLP : 23|8@0- (1,0) [0|0] "deg" DS1 + SG_ BRTYPACC : 31|2@0+ (1,0) [0|0] "" DS1 + SG_ BRKABT3 : 26|1@0+ (1,0) [0|0] "" Vector__XXX + SG_ BRKABT2 : 25|1@0+ (1,0) [0|0] "" Vector__XXX + SG_ BRKABT1 : 24|1@0+ (1,0) [0|0] "" Vector__XXX + SG_ GVC : 39|8@0- (0.04,0) [0|0] "m/s^2" DS1 + SG_ XGVCINV : 43|1@0+ (1,0) [0|0] "" DS1 + SG_ S07CNT : 52|1@0+ (1,0) [0|0] "" Vector__XXX + SG_ PCSBRSTA : 50|2@0+ (1,0) [0|0] "" DS1 + SG_ VSC07SUM : 63|8@0+ (1,0) [0|0] "" DS1,FCM + BO_ 835 ACC_CONTROL: 8 DSU SG_ ACCEL_CMD : 7|16@0- (0.001,0) [-20|20] "m/s^2" HCU SG_ ALLOW_LONG_PRESS : 17|2@0+ (1,0) [0|2] "" XXX @@ -213,12 +255,19 @@ BO_ 835 ACC_CONTROL: 8 DSU SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX BO_ 836 PRE_COLLISION_2: 8 DSU + SG_ DSS1GDRV : 7|10@0- (0.1,0) [0|0] "m/s^2" Vector__XXX + SG_ PCSALM : 17|1@0+ (1,0) [0|0] "" FCM + SG_ IBTRGR : 27|1@0+ (1,0) [0|0] "" FCM + SG_ PBATRGR : 30|2@0+ (1,0) [0|0] "" Vector__XXX + SG_ PREFILL : 33|1@0+ (1,0) [0|0] "" Vector__XXX + SG_ AVSTRGR : 36|1@0+ (1,0) [0|0] "" SCS SG_ CHECKSUM : 63|8@0+ (1,0) [0|0] "" XXX BO_ 865 CLUTCH: 8 XXX SG_ ACC_FAULTED : 32|1@0+ (1,0) [0|1] "" XXX SG_ GAS_PEDAL_ALT : 23|8@0+ (0.005,0) [0|1] "" XXX SG_ CLUTCH_RELEASED : 38|1@0+ (1,0) [0|1] "" XXX + SG_ ACCEL_NET : 48|16@1+ (0.0002,-6.5536) [-6.5536|6.5534] "" XXX BO_ 869 DSU_CRUISE : 7 DSU SG_ RES_BTN : 3|1@0+ (1,0) [0|0] "" XXX @@ -321,6 +370,18 @@ BO_ 1044 AUTO_HIGH_BEAM: 8 FCM SG_ F_AHB : 55|4@0+ (1,0) [0|0] "" Vector__XXX SG_ C_AHB : 51|4@0+ (1,0) [0|0] "" Vector__XXX +BO_ 1056 VSC1S08: 8 CGW + SG_ YR1Z : 7|16@0- (1,0) [0|0] "rad/s" DS1,FCM,MAV + SG_ YR2Z : 23|16@0- (1,0) [0|0] "rad/s" DS1,FCM,MAV + SG_ GL1Z : 39|8@0- (0.0359,0) [0|0] "m/s^2" DS1,FCM,KSS,MAV,SCS + SG_ GL2Z : 47|8@0- (0.0359,0) [0|0] "m/s^2" DS1,FCM,KSS,MAV,SCS + SG_ YRGSDIR : 55|1@0+ (1,0) [0|0] "" DS1,FCM,KSS,SCS + SG_ GLZS : 51|1@0+ (1,0) [0|0] "" DS1,FCM,KSS,MAV,SCS + SG_ YRZF : 50|1@0+ (1,0) [0|0] "" DS1,FCM,MAV + SG_ YRZS : 49|1@0+ (1,0) [0|0] "" DS1,FCM,MAV + SG_ YRZKS : 48|1@0+ (1,0) [0|0] "" DS1,FCM,MAV + SG_ VSC08SUM : 63|8@0+ (1,0) [0|0] "" DS1,FCM,MAV + BO_ 1083 AUTOPARK_STATUS: 8 IPAS SG_ STATE : 7|4@0+ (1,0) [0|15] "" XXX @@ -399,9 +460,11 @@ BO_ 1552 BODY_CONTROL_STATE_2: 8 XXX BO_ 1553 UI_SETTING: 8 XXX SG_ UNITS : 26|2@0+ (1,0) [0|3] "" XXX SG_ ODOMETER : 39|32@0+ (1,0) [0|1048575] "" XXX + BO_ 1556 BLINKERS_STATE: 8 XXX - SG_ TURN_SIGNALS : 29|2@0+ (1,0) [0|3] "" XXX + SG_ BLINKER_BUTTON_PRESSED : 15|1@0+ (1,0) [0|1] "" XXX SG_ HAZARD_LIGHT : 27|1@0+ (1,0) [0|1] "" XXX + SG_ TURN_SIGNALS : 29|2@0+ (1,0) [0|3] "" XXX BO_ 1568 BODY_CONTROL_STATE: 8 XXX SG_ METER_DIMMED : 38|1@0+ (1,0) [0|1] "" XXX @@ -430,13 +493,30 @@ BO_ 1592 DOOR_LOCKS: 8 XXX SG_ LOCK_STATUS : 20|1@0+ (1,0) [0|1] "" XXX SG_ LOCKED_VIA_KEYFOB : 23|1@0+ (1,0) [0|1] "" XXX +BO_ 1779 ADAS_TOGGLE_STATE: 8 XXX + SG_ OK_BUTTON_PRESSED : 15|1@0+ (1,0) [0|1] "" BCM + SG_ SWS_TOGGLE_CMD : 24|1@0+ (1,0) [0|1] "" XXX + SG_ SWS_SENSITIVITY_CMD : 26|2@0+ (1,0) [0|3] "" XXX + SG_ LKAS_ON_CMD : 28|1@0+ (1,0) [0|1] "" XXX + SG_ LKAS_OFF_CMD : 29|1@0+ (1,0) [0|1] "" XXX + SG_ LDA_SENSITIVITY_HI_CMD : 30|1@0+ (1,0) [0|1] "" XXX + SG_ LDA_SENSITIVITY_STD_CMD : 31|1@0+ (1,0) [0|1] "" XXX + SG_ IPAS_TOGGLE : 34|1@0+ (1,0) [0|1] "" XXX + SG_ BSM_TOGGLE_CMD : 37|1@0+ (1,0) [0|1] "" XXX + SG_ IPAS_SONAR_TOGGLE : 38|1@0+ (1,0) [0|1] "" XXX + SG_ PCS_TOGGLE_CMD : 40|1@0+ (1,0) [0|1] "" XXX + SG_ PCS_SENSITIVITY_CMD : 41|1@0+ (1,0) [0|1] "" XXX + CM_ SG_ 36 YAW_RATE "verify"; CM_ SG_ 36 ACCEL_X "x-axis accel"; CM_ SG_ 37 STEER_FRACTION "1/15th of the signal STEER_ANGLE, which is 1.5 deg; note that 0x8 is never set"; CM_ SG_ 37 STEER_RATE "factor is tbd"; +CM_ SG_ 119 FDRVREAL "ICE only: force applied by wheels from the engine. includes creeping force, regen, and engine braking"; +CM_ SG_ 166 BRAKE_FORCE "hybrid only: force applied by friction brakes from user or ACC command"; +CM_ SG_ 295 FDRVREAL "hybrid only: force applied by wheels from the engine and/or electric motors. includes creeping force, regen, and engine braking"; CM_ SG_ 466 NEUTRAL_FORCE "force in newtons the engine/electric motors are applying without any acceleration commands or user input"; CM_ SG_ 466 ACC_BRAKING "whether brakes are being actuated from ACC command"; -CM_ SG_ 466 ACCEL_NET "net acceleration produced by the system, given ACCEL_CMD, road grade and other factors"; +CM_ SG_ 466 ACCEL_NET "net negative acceleration (braking) applied by the system if on flat ground"; CM_ SG_ 466 CRUISE_STATE "Active state is 8, if standstill is requested will switch to state 11(3 sec timer), after timer is elapsed will switch into state 7(standstill). If plus button was pressed - status 9, minus button pressed - status 10"; CM_ SG_ 467 ACC_FAULTED "1 when ACC is faulted and the PCM disallows engagement"; CM_ SG_ 467 SET_SPEED "43 km/h are shown as 28 mph, so conversion isn't perfect"; @@ -449,6 +529,8 @@ CM_ SG_ 614 ANGLE "set to measured angle when ipas control isn't active"; CM_ SG_ 643 _COUNTER "only used on cars that use this msg for cruise control"; CM_ SG_ 643 BRAKE_STATUS "only used on cars that use this msg for cruise control"; CM_ SG_ 643 PRECOLLISION_ACTIVE "set 0.5s before any braking"; +CM_ SG_ 800 SLOPE_ANGLE "potentially used by the PCM to compensate for road pitch"; +CM_ SG_ 800 ACCEL "filtered ego acceleration"; CM_ SG_ 835 ACC_TYPE "if 2, car is likely to have a permanent low speed lockout. 1 is ok"; CM_ SG_ 835 RADAR_DIRTY "Display Clean Radar Sensor message on HUD"; CM_ SG_ 835 ACC_MALFUNCTION "display ACC fault on dash if set to 1"; @@ -461,6 +543,7 @@ CM_ SG_ 835 PERMIT_BRAKING "Original ACC has this going high when a car in front CM_ SG_ 835 ACCEL_CMD_ALT "Copy of main ACCEL_CMD, but across 8 bits instead of 16 bits like ACCEL_CMD. Unsure if only informational or has an effect. Likely informational as existing openpilot sets this to 0 and no loss of functionality observed. Originally 'AT_RAW' in leaked toyota_2017_ref_pt.dbc file."; CM_ SG_ 865 GAS_PEDAL_ALT "copy of main GAS_PEDAL. Both use 8 bits. Might indicate that this message is for pedals."; CM_ SG_ 865 CLUTCH_RELEASED "boolean of clutch for 6MT."; +CM_ SG_ 865 ACCEL_NET "net positive acceleration (gas) applied by the system if on flat ground, may not include creeping force"; CM_ SG_ 865 ACC_FAULTED "1 when ACC is faulted and the PCM disallows engagement. Also describes a lockout when the ACC_CONTROL->ACC_MALFUNCTION bit is set."; CM_ SG_ 921 UI_SET_SPEED "set speed shown in the vehicle's UI with the vehicle's unit"; CM_ SG_ 921 TEMP_ACC_FAULTED "1 when the UI is displaying or playing fault-related alerts or sounds. Also 1 when pressing main on."; @@ -562,6 +645,7 @@ VAL_ 1552 METER_SLIDER_DIMMED 1 "Dimmed" 0 "Not Dimmed"; VAL_ 1552 UNITS 1 "km (km/L)" 2 "km (L/100km)" 3 "miles (MPG US)" 4 "miles (MPG Imperial)"; VAL_ 1553 UNITS 1 "km" 2 "miles"; VAL_ 1556 TURN_SIGNALS 3 "none" 2 "right" 1 "left"; +VAL_ 1556 BLINKER_BUTTON_PRESSED 1 "button pressed" 0 "not pressed"; VAL_ 1592 LOCK_STATUS 0 "locked" 1 "unlocked"; CM_ "toyota_nodsu_pt.dbc starts here"; diff --git a/opendbc/toyota_tnga_k_pt_generated.dbc b/opendbc/toyota_tnga_k_pt_generated.dbc index d95cfbe69a2a95..14c1d7f40f9d7e 100644 --- a/opendbc/toyota_tnga_k_pt_generated.dbc +++ b/opendbc/toyota_tnga_k_pt_generated.dbc @@ -93,9 +93,24 @@ BO_ 37 STEER_ANGLE_SENSOR: 8 XXX SG_ STEER_FRACTION : 39|4@0- (0.1,0) [-0.7|0.7] "deg" XXX SG_ STEER_RATE : 35|12@0- (1,0) [-2000|2000] "deg/s" XXX +BO_ 119 ENG2F41: 6 CGW + SG_ FDRV : 7|16@0- (2,0) [0|0] "N" Vector__XXX + SG_ FDRVREAL : 23|13@0- (10,0) [0|0] "N" Vector__XXX + SG_ XAECT : 39|1@0+ (1,0) [0|0] "" Vector__XXX + SG_ XFDRVCOL : 38|1@0+ (1,0) [0|0] "" Vector__XXX + SG_ FDRVSELP : 34|3@0+ (1,0) [0|0] "" Vector__XXX + SG_ ENG2F41S : 47|8@0+ (1,0) [0|0] "" Vector__XXX + +BO_ 120 ENG2F42: 4 CGW + SG_ FAVLMCHH : 7|16@0- (2,0) [0|0] "N" Vector__XX228X + SG_ CCRNG : 23|1@0+ (1,0) [0|0] "" Vector__XXX + SG_ FDRVTYPD : 22|3@0+ (1,0) [0|0] "" Vector__XXX + SG_ GEARHD : 18|1@0+ (1,0) [0|0] "" Vector__XXX + SG_ ENG2F42S : 31|8@0+ (1,0) [0|0] "" Vector__XXX + BO_ 166 BRAKE: 8 XXX SG_ BRAKE_AMOUNT : 7|8@0+ (1,0) [0|255] "" XXX - SG_ BRAKE_PEDAL : 23|8@0+ (1,0) [0|255] "" XXX + SG_ BRAKE_FORCE : 23|8@0+ (40,0) [0|10200] "N" XXX BO_ 170 WHEEL_SPEEDS: 8 XXX SG_ WHEEL_SPEED_FR : 7|16@0+ (0.01,-67.67) [0|250] "km/h" XXX @@ -109,8 +124,8 @@ BO_ 180 SPEED: 8 XXX SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX BO_ 295 GEAR_PACKET_HYBRID: 8 XXX - SG_ CAR_MOVEMENT : 25|10@0- (1,0) [0|255] "" XXX - SG_ COUNTER : 55|8@0+ (1,0) [0|255] "" XXX + SG_ FDRVREAL : 26|11@0- (25,0) [-25600|25575] "N" XXX + SG_ UNKNOWN : 55|8@0+ (1,0) [0|255] "" XXX SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX SG_ GEAR : 47|4@0+ (1,0) [0|15] "" XXX @@ -119,6 +134,7 @@ BO_ 353 DSU_SPEED: 7 XXX BO_ 452 ENGINE_RPM: 8 CGW SG_ RPM : 7|16@0- (0.78125,0) [0|0] "rpm" SCS + SG_ ENGINE_RUNNING : 27|1@0+ (1,0) [0|1] "" XXX BO_ 466 PCM_CRUISE: 8 XXX SG_ GAS_RELEASED : 4|1@0+ (1,0) [0|1] "" XXX @@ -139,9 +155,10 @@ BO_ 467 PCM_CRUISE_2: 8 XXX SG_ ACC_FAULTED : 47|1@0+ (1,0) [0|1] "" XXX SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX -BO_ 552 ACCELEROMETER: 8 XXX - SG_ ACCEL_Z : 22|15@0- (1,0) [0|32767] "m/s^2" XXX - SG_ ACCEL_X : 6|15@0- (0.001,0) [-20|20] "m/s^2" XXX +BO_ 552 VSC1S29: 4 CGW + SG_ ICBACT : 7|1@0+ (1,0) [0|0] "" DS1 + SG_ DVS0PCS : 6|15@0- (0.001,0) [0|0] "m/s^2" DS1 + SG_ SM228 : 31|8@0+ (1,0) [0|0] "" DS1 BO_ 560 BRAKE_2: 7 XXX SG_ BRAKE_PRESSED : 26|1@0+ (1,0) [0|1] "" XXX @@ -195,6 +212,31 @@ BO_ 742 LEAD_INFO: 8 DSU SG_ LEAD_REL_SPEED : 23|12@0- (0.025,0) [-100|100] "m/s" HCU SG_ LEAD_LONG_DIST : 7|13@0+ (0.05,0) [0|300] "m" HCU +BO_ 800 VSC1S07: 8 CGW + SG_ FBKRLY : 6|1@0+ (1,0) [0|0] "" DS1 + SG_ FVSCM : 4|1@0+ (1,0) [0|0] "" DS1 + SG_ FVSCSFT : 3|1@0+ (1,0) [0|0] "" DS1 + SG_ FABS : 2|1@0+ (1,0) [0|0] "" DS1,FCM + SG_ TSVSC : 1|1@0+ (1,0) [0|0] "" DS1 + SG_ FVSCL : 0|1@0+ (1,0) [0|0] "" DS1 + SG_ RQCSTBKB : 15|1@0+ (1,0) [0|0] "" Vector__XXX + SG_ PSBSTBY : 14|1@0+ (1,0) [0|0] "" DS1 + SG_ P2BRXMK : 13|1@0+ (1,0) [0|0] "" DS1 + SG_ MCC : 11|1@0+ (1,0) [0|0] "" DS1 + SG_ RQBKB : 10|1@0+ (1,0) [0|0] "" Vector__XXX + SG_ BRSTOP : 9|1@0+ (1,0) [0|0] "" DS1,FCM + SG_ BRKON : 8|1@0+ (1,0) [0|0] "" DS1,FCM + SG_ ASLP : 23|8@0- (1,0) [0|0] "deg" DS1 + SG_ BRTYPACC : 31|2@0+ (1,0) [0|0] "" DS1 + SG_ BRKABT3 : 26|1@0+ (1,0) [0|0] "" Vector__XXX + SG_ BRKABT2 : 25|1@0+ (1,0) [0|0] "" Vector__XXX + SG_ BRKABT1 : 24|1@0+ (1,0) [0|0] "" Vector__XXX + SG_ GVC : 39|8@0- (0.04,0) [0|0] "m/s^2" DS1 + SG_ XGVCINV : 43|1@0+ (1,0) [0|0] "" DS1 + SG_ S07CNT : 52|1@0+ (1,0) [0|0] "" Vector__XXX + SG_ PCSBRSTA : 50|2@0+ (1,0) [0|0] "" DS1 + SG_ VSC07SUM : 63|8@0+ (1,0) [0|0] "" DS1,FCM + BO_ 835 ACC_CONTROL: 8 DSU SG_ ACCEL_CMD : 7|16@0- (0.001,0) [-20|20] "m/s^2" HCU SG_ ALLOW_LONG_PRESS : 17|2@0+ (1,0) [0|2] "" XXX @@ -213,12 +255,19 @@ BO_ 835 ACC_CONTROL: 8 DSU SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX BO_ 836 PRE_COLLISION_2: 8 DSU + SG_ DSS1GDRV : 7|10@0- (0.1,0) [0|0] "m/s^2" Vector__XXX + SG_ PCSALM : 17|1@0+ (1,0) [0|0] "" FCM + SG_ IBTRGR : 27|1@0+ (1,0) [0|0] "" FCM + SG_ PBATRGR : 30|2@0+ (1,0) [0|0] "" Vector__XXX + SG_ PREFILL : 33|1@0+ (1,0) [0|0] "" Vector__XXX + SG_ AVSTRGR : 36|1@0+ (1,0) [0|0] "" SCS SG_ CHECKSUM : 63|8@0+ (1,0) [0|0] "" XXX BO_ 865 CLUTCH: 8 XXX SG_ ACC_FAULTED : 32|1@0+ (1,0) [0|1] "" XXX SG_ GAS_PEDAL_ALT : 23|8@0+ (0.005,0) [0|1] "" XXX SG_ CLUTCH_RELEASED : 38|1@0+ (1,0) [0|1] "" XXX + SG_ ACCEL_NET : 48|16@1+ (0.0002,-6.5536) [-6.5536|6.5534] "" XXX BO_ 869 DSU_CRUISE : 7 DSU SG_ RES_BTN : 3|1@0+ (1,0) [0|0] "" XXX @@ -320,6 +369,18 @@ BO_ 1044 AUTO_HIGH_BEAM: 8 FCM SG_ F_AHB : 55|4@0+ (1,0) [0|0] "" Vector__XXX SG_ C_AHB : 51|4@0+ (1,0) [0|0] "" Vector__XXX +BO_ 1056 VSC1S08: 8 CGW + SG_ YR1Z : 7|16@0- (1,0) [0|0] "rad/s" DS1,FCM,MAV + SG_ YR2Z : 23|16@0- (1,0) [0|0] "rad/s" DS1,FCM,MAV + SG_ GL1Z : 39|8@0- (0.0359,0) [0|0] "m/s^2" DS1,FCM,KSS,MAV,SCS + SG_ GL2Z : 47|8@0- (0.0359,0) [0|0] "m/s^2" DS1,FCM,KSS,MAV,SCS + SG_ YRGSDIR : 55|1@0+ (1,0) [0|0] "" DS1,FCM,KSS,SCS + SG_ GLZS : 51|1@0+ (1,0) [0|0] "" DS1,FCM,KSS,MAV,SCS + SG_ YRZF : 50|1@0+ (1,0) [0|0] "" DS1,FCM,MAV + SG_ YRZS : 49|1@0+ (1,0) [0|0] "" DS1,FCM,MAV + SG_ YRZKS : 48|1@0+ (1,0) [0|0] "" DS1,FCM,MAV + SG_ VSC08SUM : 63|8@0+ (1,0) [0|0] "" DS1,FCM,MAV + BO_ 1083 AUTOPARK_STATUS: 8 IPAS SG_ STATE : 7|4@0+ (1,0) [0|15] "" XXX @@ -398,9 +459,11 @@ BO_ 1552 BODY_CONTROL_STATE_2: 8 XXX BO_ 1553 UI_SETTING: 8 XXX SG_ UNITS : 26|2@0+ (1,0) [0|3] "" XXX SG_ ODOMETER : 39|32@0+ (1,0) [0|1048575] "" XXX + BO_ 1556 BLINKERS_STATE: 8 XXX - SG_ TURN_SIGNALS : 29|2@0+ (1,0) [0|3] "" XXX + SG_ BLINKER_BUTTON_PRESSED : 15|1@0+ (1,0) [0|1] "" XXX SG_ HAZARD_LIGHT : 27|1@0+ (1,0) [0|1] "" XXX + SG_ TURN_SIGNALS : 29|2@0+ (1,0) [0|3] "" XXX BO_ 1568 BODY_CONTROL_STATE: 8 XXX SG_ METER_DIMMED : 38|1@0+ (1,0) [0|1] "" XXX @@ -429,13 +492,30 @@ BO_ 1592 DOOR_LOCKS: 8 XXX SG_ LOCK_STATUS : 20|1@0+ (1,0) [0|1] "" XXX SG_ LOCKED_VIA_KEYFOB : 23|1@0+ (1,0) [0|1] "" XXX +BO_ 1779 ADAS_TOGGLE_STATE: 8 XXX + SG_ OK_BUTTON_PRESSED : 15|1@0+ (1,0) [0|1] "" BCM + SG_ SWS_TOGGLE_CMD : 24|1@0+ (1,0) [0|1] "" XXX + SG_ SWS_SENSITIVITY_CMD : 26|2@0+ (1,0) [0|3] "" XXX + SG_ LKAS_ON_CMD : 28|1@0+ (1,0) [0|1] "" XXX + SG_ LKAS_OFF_CMD : 29|1@0+ (1,0) [0|1] "" XXX + SG_ LDA_SENSITIVITY_HI_CMD : 30|1@0+ (1,0) [0|1] "" XXX + SG_ LDA_SENSITIVITY_STD_CMD : 31|1@0+ (1,0) [0|1] "" XXX + SG_ IPAS_TOGGLE : 34|1@0+ (1,0) [0|1] "" XXX + SG_ BSM_TOGGLE_CMD : 37|1@0+ (1,0) [0|1] "" XXX + SG_ IPAS_SONAR_TOGGLE : 38|1@0+ (1,0) [0|1] "" XXX + SG_ PCS_TOGGLE_CMD : 40|1@0+ (1,0) [0|1] "" XXX + SG_ PCS_SENSITIVITY_CMD : 41|1@0+ (1,0) [0|1] "" XXX + CM_ SG_ 36 YAW_RATE "verify"; CM_ SG_ 36 ACCEL_X "x-axis accel"; CM_ SG_ 37 STEER_FRACTION "1/15th of the signal STEER_ANGLE, which is 1.5 deg; note that 0x8 is never set"; CM_ SG_ 37 STEER_RATE "factor is tbd"; +CM_ SG_ 119 FDRVREAL "ICE only: force applied by wheels from the engine. includes creeping force, regen, and engine braking"; +CM_ SG_ 166 BRAKE_FORCE "hybrid only: force applied by friction brakes from user or ACC command"; +CM_ SG_ 295 FDRVREAL "hybrid only: force applied by wheels from the engine and/or electric motors. includes creeping force, regen, and engine braking"; CM_ SG_ 466 NEUTRAL_FORCE "force in newtons the engine/electric motors are applying without any acceleration commands or user input"; CM_ SG_ 466 ACC_BRAKING "whether brakes are being actuated from ACC command"; -CM_ SG_ 466 ACCEL_NET "net acceleration produced by the system, given ACCEL_CMD, road grade and other factors"; +CM_ SG_ 466 ACCEL_NET "net negative acceleration (braking) applied by the system if on flat ground"; CM_ SG_ 466 CRUISE_STATE "Active state is 8, if standstill is requested will switch to state 11(3 sec timer), after timer is elapsed will switch into state 7(standstill). If plus button was pressed - status 9, minus button pressed - status 10"; CM_ SG_ 467 ACC_FAULTED "1 when ACC is faulted and the PCM disallows engagement"; CM_ SG_ 467 SET_SPEED "43 km/h are shown as 28 mph, so conversion isn't perfect"; @@ -448,6 +528,8 @@ CM_ SG_ 614 ANGLE "set to measured angle when ipas control isn't active"; CM_ SG_ 643 _COUNTER "only used on cars that use this msg for cruise control"; CM_ SG_ 643 BRAKE_STATUS "only used on cars that use this msg for cruise control"; CM_ SG_ 643 PRECOLLISION_ACTIVE "set 0.5s before any braking"; +CM_ SG_ 800 SLOPE_ANGLE "potentially used by the PCM to compensate for road pitch"; +CM_ SG_ 800 ACCEL "filtered ego acceleration"; CM_ SG_ 835 ACC_TYPE "if 2, car is likely to have a permanent low speed lockout. 1 is ok"; CM_ SG_ 835 RADAR_DIRTY "Display Clean Radar Sensor message on HUD"; CM_ SG_ 835 ACC_MALFUNCTION "display ACC fault on dash if set to 1"; @@ -460,6 +542,7 @@ CM_ SG_ 835 PERMIT_BRAKING "Original ACC has this going high when a car in front CM_ SG_ 835 ACCEL_CMD_ALT "Copy of main ACCEL_CMD, but across 8 bits instead of 16 bits like ACCEL_CMD. Unsure if only informational or has an effect. Likely informational as existing openpilot sets this to 0 and no loss of functionality observed. Originally 'AT_RAW' in leaked toyota_2017_ref_pt.dbc file."; CM_ SG_ 865 GAS_PEDAL_ALT "copy of main GAS_PEDAL. Both use 8 bits. Might indicate that this message is for pedals."; CM_ SG_ 865 CLUTCH_RELEASED "boolean of clutch for 6MT."; +CM_ SG_ 865 ACCEL_NET "net positive acceleration (gas) applied by the system if on flat ground, may not include creeping force"; CM_ SG_ 865 ACC_FAULTED "1 when ACC is faulted and the PCM disallows engagement. Also describes a lockout when the ACC_CONTROL->ACC_MALFUNCTION bit is set."; CM_ SG_ 921 UI_SET_SPEED "set speed shown in the vehicle's UI with the vehicle's unit"; CM_ SG_ 921 TEMP_ACC_FAULTED "1 when the UI is displaying or playing fault-related alerts or sounds. Also 1 when pressing main on."; @@ -560,6 +643,7 @@ VAL_ 1552 METER_SLIDER_DIMMED 1 "Dimmed" 0 "Not Dimmed"; VAL_ 1552 UNITS 1 "km (km/L)" 2 "km (L/100km)" 3 "miles (MPG US)" 4 "miles (MPG Imperial)"; VAL_ 1553 UNITS 1 "km" 2 "miles"; VAL_ 1556 TURN_SIGNALS 3 "none" 2 "right" 1 "left"; +VAL_ 1556 BLINKER_BUTTON_PRESSED 1 "button pressed" 0 "not pressed"; VAL_ 1592 LOCK_STATUS 0 "locked" 1 "unlocked"; CM_ "toyota_tnga_k_pt.dbc starts here"; diff --git a/panda/board/safety/safety_nissan.h b/panda/board/safety/safety_nissan.h index e33e933f8fa9e1..30e1445bd27691 100644 --- a/panda/board/safety/safety_nissan.h +++ b/panda/board/safety/safety_nissan.h @@ -21,8 +21,6 @@ const CanMsg NISSAN_TX_MSGS[] = { // Signals duplicated below due to the fact that these messages can come in on either CAN bus, depending on car model. RxCheck nissan_rx_checks[] = { - {.msg = {{0x1b6, 0, 8, .frequency = 100U}, - {0x1b6, 1, 8, .frequency = 100U}, { 0 }}}, // PRO_PILOT (100HZ) {.msg = {{0x2, 0, 5, .frequency = 100U}, {0x2, 1, 5, .frequency = 100U}, { 0 }}}, // STEER_ANGLE_SENSOR {.msg = {{0x285, 0, 8, .frequency = 50U}, diff --git a/panda/board/safety/safety_toyota.h b/panda/board/safety/safety_toyota.h index c25280b4a1c872..3a67a57bb97942 100644 --- a/panda/board/safety/safety_toyota.h +++ b/panda/board/safety/safety_toyota.h @@ -78,7 +78,6 @@ const CanMsg TOYOTA_INTERCEPTOR_TX_MSGS[] = { {.msg = {{ 0xaa, 0, 8, .check_checksum = false, .frequency = 83U}, { 0 }, { 0 }}}, \ {.msg = {{0x260, 0, 8, .check_checksum = true, .quality_flag = (lta), .frequency = 50U}, { 0 }, { 0 }}}, \ {.msg = {{0x1D2, 0, 8, .check_checksum = true, .frequency = 33U}, { 0 }, { 0 }}}, \ - {.msg = {{0x1D3, 0, 8, .check_checksum = true, .frequency = 33U}, { 0 }, { 0 }}}, \ {.msg = {{0x224, 0, 8, .check_checksum = false, .frequency = 40U}, \ {0x226, 0, 8, .check_checksum = false, .frequency = 40U}, { 0 }}}, \ diff --git a/selfdrive/SConscript b/selfdrive/SConscript index 52898f758f2ae7..43296d6fdab16b 100644 --- a/selfdrive/SConscript +++ b/selfdrive/SConscript @@ -4,4 +4,4 @@ SConscript(['controls/lib/longitudinal_mpc_lib/SConscript']) SConscript(['locationd/SConscript']) SConscript(['navd/SConscript']) SConscript(['modeld/SConscript']) -SConscript(['ui/SConscript']) \ No newline at end of file +SConscript(['ui/SConscript']) diff --git a/selfdrive/car/__init__.py b/selfdrive/car/__init__.py index cb978f6c89838b..307b5df0c3468e 100644 --- a/selfdrive/car/__init__.py +++ b/selfdrive/car/__init__.py @@ -165,6 +165,10 @@ def common_fault_avoidance(fault_condition: bool, request: bool, above_limit_fra return above_limit_frames, request +def rate_limit(new_value, last_value, dw_step, up_step): + return clip(new_value, last_value + dw_step, last_value + up_step) + + def crc8_pedal(data): crc = 0xFF # standard init value poly = 0xD5 # standard crc8: x8+x7+x6+x4+x2+1 diff --git a/selfdrive/car/body/carcontroller.py b/selfdrive/car/body/carcontroller.py index ba73044d96933f..66ea4dd741e8d9 100644 --- a/selfdrive/car/body/carcontroller.py +++ b/selfdrive/car/body/carcontroller.py @@ -40,8 +40,7 @@ def update(self, CC, CS, now_nanos, frogpilot_toggles): torque_l = 0 torque_r = 0 - llk_valid = len(CC.orientationNED) > 1 and len(CC.angularVelocity) > 1 - if CC.enabled and llk_valid: + if CC.enabled: # Read these from the joystick # TODO: this isn't acceleration, okay? speed_desired = CC.actuators.accel / 5. diff --git a/selfdrive/car/car_helpers.py b/selfdrive/car/car_helpers.py index ebbd708fae8663..d3f9120e00cffd 100644 --- a/selfdrive/car/car_helpers.py +++ b/selfdrive/car/car_helpers.py @@ -21,11 +21,11 @@ EventName = car.CarEvent.EventName -def get_startup_event(car_recognized, controller_available, fw_seen, block_user): +def get_startup_event(car_recognized, controller_available, fw_seen, block_user, frogpilot_toggles): if block_user: return EventName.blockUser else: - event = EventName.startupMaster + event = EventName.customStartupAlert if not car_recognized: if fw_seen: @@ -210,7 +210,7 @@ def get_car(logcan, sendcan, disable_openpilot_long, experimental_long_allowed, if get_build_metadata().channel == "FrogPilot-Development" and params.get("DongleId", encoding='utf-8') != "FrogsGoMoo": candidate = "MOCK" threading.Thread(target=sentry.capture_fingerprint, args=(candidate, params, True,)).start() - elif False: + elif not params.get_bool("FingerprintLogged"): threading.Thread(target=sentry.capture_fingerprint, args=(candidate, params,)).start() CarInterface, _, _ = interfaces[candidate] diff --git a/selfdrive/car/card.py b/selfdrive/car/card.py index 4686aed3b16f95..863c1c3996554f 100755 --- a/selfdrive/car/card.py +++ b/selfdrive/car/card.py @@ -16,7 +16,7 @@ from openpilot.selfdrive.car.interfaces import CarInterfaceBase from openpilot.selfdrive.controls.lib.events import Events -from openpilot.selfdrive.frogpilot.controls.lib.frogpilot_variables import FrogPilotVariables +from openpilot.selfdrive.frogpilot.frogpilot_variables import FrogPilotVariables REPLAY = "REPLAY" in os.environ @@ -53,19 +53,6 @@ def __init__(self, CI=None): else: self.CI, self.CP = CI, CI.CP - # set alternative experiences from parameters - self.disengage_on_accelerator = self.params.get_bool("DisengageOnAccelerator") - self.CP.alternativeExperience = 0 - if not self.disengage_on_accelerator: - self.CP.alternativeExperience |= ALTERNATIVE_EXPERIENCE.DISABLE_DISENGAGE_ON_GAS - - # FrogPilot alternative experiences - if self.params.get_bool("AlwaysOnLateral"): - self.CP.alternativeExperience |= ALTERNATIVE_EXPERIENCE.ALWAYS_ON_LATERAL - self.params.put_bool("AlwaysOnLateralSet", True) - - self.CP.alternativeExperience |= ALTERNATIVE_EXPERIENCE.RAISE_LONGITUDINAL_LIMITS_TO_ISO_MAX - openpilot_enabled_toggle = self.params.get_bool("OpenpilotEnabledToggle") controller_available = self.CI.CC is not None and openpilot_enabled_toggle and not self.CP.dashcamOnly @@ -81,12 +68,6 @@ def __init__(self, CI=None): if prev_cp is not None: self.params.put("CarParamsPrevRoute", prev_cp) - # Write CarParams for controls and radard - cp_bytes = self.CP.to_bytes() - self.params.put("CarParams", cp_bytes) - self.params.put_nonblocking("CarParamsCache", cp_bytes) - self.params.put_nonblocking("CarParamsPersistent", cp_bytes) - self.events = Events() # card is driven by can recv, expected at 100Hz @@ -98,6 +79,24 @@ def __init__(self, CI=None): self.update_toggles = False + # set alternative experiences from parameters + self.disengage_on_accelerator = self.params.get_bool("DisengageOnAccelerator") + self.CP.alternativeExperience = 0 + if not self.disengage_on_accelerator: + self.CP.alternativeExperience |= ALTERNATIVE_EXPERIENCE.DISABLE_DISENGAGE_ON_GAS + + if self.params.get_bool("AlwaysOnLateral"): + self.CP.alternativeExperience |= ALTERNATIVE_EXPERIENCE.ALWAYS_ON_LATERAL + + if self.params.get_int("AccelerationProfile") == 3: + self.CP.alternativeExperience |= ALTERNATIVE_EXPERIENCE.RAISE_LONGITUDINAL_LIMITS_TO_ISO_MAX + + # Write CarParams for controls and radard + cp_bytes = self.CP.to_bytes() + self.params.put("CarParams", cp_bytes) + self.params.put_nonblocking("CarParamsCache", cp_bytes) + self.params.put_nonblocking("CarParamsPersistent", cp_bytes) + def state_update(self) -> car.CarState: """carState update loop, driven by can""" diff --git a/selfdrive/car/ford/carcontroller.py b/selfdrive/car/ford/carcontroller.py index 6773aa67207dc3..4103e5f4dbc7f8 100644 --- a/selfdrive/car/ford/carcontroller.py +++ b/selfdrive/car/ford/carcontroller.py @@ -7,7 +7,7 @@ from openpilot.selfdrive.car.interfaces import CarControllerBase from openpilot.selfdrive.controls.lib.drive_helpers import V_CRUISE_MAX -from openpilot.selfdrive.frogpilot.controls.lib.frogpilot_variables import get_max_allowed_accel +from openpilot.selfdrive.frogpilot.controls.lib.frogpilot_acceleration import get_max_allowed_accel LongCtrlState = car.CarControl.Actuators.LongControlState VisualAlert = car.CarControl.HUDControl.VisualAlert @@ -97,9 +97,9 @@ def update(self, CC, CS, now_nanos, frogpilot_toggles): if self.CP.openpilotLongitudinalControl and (self.frame % CarControllerParams.ACC_CONTROL_STEP) == 0: # Both gas and accel are in m/s^2, accel is used solely for braking if frogpilot_toggles.sport_plus: - accel = clip(actuators.accel, CarControllerParams.ACCEL_MIN, get_max_allowed_accel(CS.out.vEgoRaw)) + accel = clip(actuators.accel, CarControllerParams.ACCEL_MIN, min(frogpilot_toggles.max_desired_accel, get_max_allowed_accel(CS.out.vEgo))) else: - accel = clip(actuators.accel, CarControllerParams.ACCEL_MIN, CarControllerParams.ACCEL_MAX) + accel = clip(actuators.accel, CarControllerParams.ACCEL_MIN, min(frogpilot_toggles.max_desired_accel, CarControllerParams.ACCEL_MAX)) gas = accel if not CC.longActive or gas < CarControllerParams.MIN_GAS: gas = CarControllerParams.INACTIVE_GAS diff --git a/selfdrive/car/gm/interface.py b/selfdrive/car/gm/interface.py index e2cfe7d6284f8c..847240bbd9a0fd 100644 --- a/selfdrive/car/gm/interface.py +++ b/selfdrive/car/gm/interface.py @@ -12,8 +12,6 @@ from openpilot.selfdrive.car.interfaces import CarInterfaceBase, TorqueFromLateralAccelCallbackType, FRICTION_THRESHOLD, LatControlInputs, NanoFFModel from openpilot.selfdrive.controls.lib.drive_helpers import get_friction -from openpilot.selfdrive.frogpilot.controls.lib.frogpilot_variables import get_max_allowed_accel - ButtonType = car.CarState.ButtonEvent.Type FrogPilotButtonType = custom.FrogPilotCarState.ButtonEvent.Type EventName = car.CarEvent.EventName @@ -41,10 +39,7 @@ class CarInterface(CarInterfaceBase): @staticmethod def get_pid_accel_limits(CP, current_speed, cruise_speed, frogpilot_toggles): - if frogpilot_toggles.sport_plus: - return CarControllerParams.ACCEL_MIN, get_max_allowed_accel(current_speed) - else: - return CarControllerParams.ACCEL_MIN, CarControllerParams.ACCEL_MAX + return CarControllerParams.ACCEL_MIN, CarControllerParams.ACCEL_MAX # Determined by iteratively plotting and minimizing error for f(angle, speed) = steer. @staticmethod diff --git a/selfdrive/car/gm/values.py b/selfdrive/car/gm/values.py index 8e7a15b4831918..6780776cfa8530 100644 --- a/selfdrive/car/gm/values.py +++ b/selfdrive/car/gm/values.py @@ -7,8 +7,6 @@ from openpilot.selfdrive.car.docs_definitions import CarHarness, CarDocs, CarParts from openpilot.selfdrive.car.fw_query_definitions import FwQueryConfig, Request, StdQueries -from openpilot.selfdrive.frogpilot.controls.lib.frogpilot_variables import get_max_allowed_accel - Ecu = car.CarParams.Ecu @@ -35,6 +33,7 @@ class CarControllerParams: # Our controller should still keep the 2 second average above # -3.5 m/s^2 as per planner limits ACCEL_MAX = 2. # m/s^2 + ACCEL_MAX_PLUS = 4. # m/s^2 ACCEL_MIN = -4. # m/s^2 def __init__(self, CP): @@ -68,6 +67,7 @@ def __init__(self, CP): self.max_regen_acceleration = -1. if CP.carFingerprint in EV_CAR else -0.1 self.GAS_LOOKUP_BP = [self.max_regen_acceleration, 0., self.ACCEL_MAX] + self.GAS_LOOKUP_BP_PLUS = [self.max_regen_acceleration, 0., self.ACCEL_MAX_PLUS] self.GAS_LOOKUP_V = [self.MAX_ACC_REGEN, self.ZERO_GAS, self.MAX_GAS] self.GAS_LOOKUP_V_PLUS = [self.MAX_ACC_REGEN, self.ZERO_GAS, self.MAX_GAS_PLUS] @@ -82,12 +82,11 @@ def __init__(self, CP): def update_ev_gas_brake_threshold(self, v_ego): gas_brake_threshold = interp(v_ego, self.EV_GAS_BRAKE_THRESHOLD_BP, self.EV_GAS_BRAKE_THRESHOLD_V) + self.GAS_LOOKUP_BP_PLUS = [self.max_regen_acceleration, 0., self.ACCEL_MAX_PLUS] self.EV_GAS_LOOKUP_BP = [gas_brake_threshold, max(0., gas_brake_threshold), self.ACCEL_MAX] - self.EV_GAS_LOOKUP_BP_PLUS = [gas_brake_threshold, max(0., gas_brake_threshold), get_max_allowed_accel(v_ego)] + self.EV_GAS_LOOKUP_BP_PLUS = [gas_brake_threshold, max(0., gas_brake_threshold), self.ACCEL_MAX_PLUS] self.EV_BRAKE_LOOKUP_BP = [self.ACCEL_MIN, gas_brake_threshold] - self.GAS_LOOKUP_BP_PLUS = [self.max_regen_acceleration, 0., get_max_allowed_accel(v_ego)] - @dataclass class GMCarDocs(CarDocs): package: str = "Adaptive Cruise Control (ACC)" diff --git a/selfdrive/car/honda/carcontroller.py b/selfdrive/car/honda/carcontroller.py index 2fec5878a87ab1..153a6784871d5b 100644 --- a/selfdrive/car/honda/carcontroller.py +++ b/selfdrive/car/honda/carcontroller.py @@ -10,7 +10,7 @@ from openpilot.selfdrive.car.interfaces import CarControllerBase from openpilot.selfdrive.controls.lib.drive_helpers import rate_limit -from openpilot.selfdrive.frogpilot.controls.lib.frogpilot_variables import get_max_allowed_accel +from openpilot.selfdrive.frogpilot.controls.lib.frogpilot_acceleration import get_max_allowed_accel VisualAlert = car.CarControl.HUDControl.VisualAlert LongCtrlState = car.CarControl.Actuators.LongControlState @@ -219,9 +219,9 @@ def update(self, CC, CS, now_nanos, frogpilot_toggles): if self.CP.carFingerprint in HONDA_BOSCH: if frogpilot_toggles.sport_plus: - self.accel = clip(accel, self.params.BOSCH_ACCEL_MIN, get_max_allowed_accel(CS.out.vEgo)) + self.accel = clip(accel, self.params.BOSCH_ACCEL_MIN, min(frogpilot_toggles.max_desired_accel, get_max_allowed_accel(CS.out.vEgo))) else: - self.accel = clip(accel, self.params.BOSCH_ACCEL_MIN, self.params.BOSCH_ACCEL_MAX) + self.accel = clip(accel, self.params.BOSCH_ACCEL_MIN, min(frogpilot_toggles.max_desired_accel, self.params.BOSCH_ACCEL_MAX)) self.gas = interp(accel, self.params.BOSCH_GAS_LOOKUP_BP, self.params.BOSCH_GAS_LOOKUP_V) stopping = actuators.longControlState == LongCtrlState.stopping diff --git a/selfdrive/car/honda/interface.py b/selfdrive/car/honda/interface.py index 89433fe2f63230..9fb34a071049ef 100755 --- a/selfdrive/car/honda/interface.py +++ b/selfdrive/car/honda/interface.py @@ -10,8 +10,6 @@ from openpilot.selfdrive.car.interfaces import CarInterfaceBase from openpilot.selfdrive.car.disable_ecu import disable_ecu -from openpilot.selfdrive.frogpilot.controls.lib.frogpilot_variables import get_max_allowed_accel - ButtonType = car.CarState.ButtonEvent.Type FrogPilotButtonType = custom.FrogPilotCarState.ButtonEvent.Type @@ -26,15 +24,9 @@ class CarInterface(CarInterfaceBase): @staticmethod def get_pid_accel_limits(CP, current_speed, cruise_speed, frogpilot_toggles): if CP.carFingerprint in HONDA_BOSCH: - if frogpilot_toggles.sport_plus: - return CarControllerParams.BOSCH_ACCEL_MIN, get_max_allowed_accel(current_speed) - else: - return CarControllerParams.BOSCH_ACCEL_MIN, CarControllerParams.BOSCH_ACCEL_MAX + return CarControllerParams.BOSCH_ACCEL_MIN, CarControllerParams.BOSCH_ACCEL_MAX elif CP.enableGasInterceptor: - if frogpilot_toggles.sport_plus: - return CarControllerParams.NIDEC_ACCEL_MIN, get_max_allowed_accel(current_speed) - else: - return CarControllerParams.NIDEC_ACCEL_MIN, CarControllerParams.NIDEC_ACCEL_MAX + return CarControllerParams.NIDEC_ACCEL_MIN, CarControllerParams.NIDEC_ACCEL_MAX else: # NIDECs don't allow acceleration near cruise_speed, # so limit limits of pid to prevent windup diff --git a/selfdrive/car/hyundai/carcontroller.py b/selfdrive/car/hyundai/carcontroller.py index 93a9e4859738c2..92c0f5e4905bbb 100644 --- a/selfdrive/car/hyundai/carcontroller.py +++ b/selfdrive/car/hyundai/carcontroller.py @@ -9,7 +9,7 @@ from openpilot.selfdrive.car.hyundai.values import HyundaiFlags, Buttons, CarControllerParams, CANFD_CAR, CAR from openpilot.selfdrive.car.interfaces import CarControllerBase -from openpilot.selfdrive.frogpilot.controls.lib.frogpilot_variables import get_max_allowed_accel +from openpilot.selfdrive.frogpilot.controls.lib.frogpilot_acceleration import get_max_allowed_accel VisualAlert = car.CarControl.HUDControl.VisualAlert LongCtrlState = car.CarControl.Actuators.LongControlState @@ -82,9 +82,9 @@ def update(self, CC, CS, now_nanos, frogpilot_toggles): # accel + longitudinal if frogpilot_toggles.sport_plus: - accel = clip(actuators.accel, CarControllerParams.ACCEL_MIN, get_max_allowed_accel(CS.out.vEgo)) + accel = clip(actuators.accel, CarControllerParams.ACCEL_MIN, min(frogpilot_toggles.max_desired_accel, get_max_allowed_accel(CS.out.vEgo))) else: - accel = clip(actuators.accel, CarControllerParams.ACCEL_MIN, CarControllerParams.ACCEL_MAX) + accel = clip(actuators.accel, CarControllerParams.ACCEL_MIN, min(frogpilot_toggles.max_desired_accel, CarControllerParams.ACCEL_MAX)) stopping = actuators.longControlState == LongCtrlState.stopping set_speed_in_units = hud_control.setSpeed * (CV.MS_TO_KPH if CS.is_metric else CV.MS_TO_MPH) diff --git a/selfdrive/car/hyundai/carstate.py b/selfdrive/car/hyundai/carstate.py index a9663a9d93a50f..0de21000304a72 100644 --- a/selfdrive/car/hyundai/carstate.py +++ b/selfdrive/car/hyundai/carstate.py @@ -64,12 +64,10 @@ def calculate_speed_limit(self, cp, cp_cam): speed_limit_bus = cp if self.CP.flags & HyundaiFlags.CANFD_HDA2 else cp_cam return speed_limit_bus.vl["CLUSTER_SPEED_LIMIT"]["SPEED_LIMIT_1"] else: - if "SpeedLim_Nav_Clu" in cp.vl["Navi_HU"]: - speed_limit = cp.vl["Navi_HU"]["SpeedLim_Nav_Clu"] - elif "CF_Lkas_TsrSpeed_Display_Clu" in cp_cam.vl["LKAS12"]: + if self.CP.flags & HyundaiFlags.LKAS12: speed_limit = cp_cam.vl["LKAS12"]["CF_Lkas_TsrSpeed_Display_Clu"] else: - return 0 + speed_limit = cp.vl["Navi_HU"]["SpeedLim_Nav_Clu"] return speed_limit if speed_limit not in (0, 255) else 0 def update(self, cp, cp_cam, frogpilot_toggles): @@ -192,7 +190,8 @@ def update(self, cp, cp_cam, frogpilot_toggles): # FrogPilot CarState functions fp_ret.brakeLights = bool(cp.vl["TCS13"]["BrakeLight"]) - fp_ret.dashboardSpeedLimit = self.calculate_speed_limit(cp, cp_cam) * speed_conv + if self.CP.flags & HyundaiFlags.LKAS12 or self.CP.flags & HyundaiFlags.NAV_MSG: + fp_ret.dashboardSpeedLimit = self.calculate_speed_limit(cp, cp_cam) * speed_conv self.prev_distance_button = self.distance_button self.distance_button = self.cruise_buttons[-1] == Buttons.GAP_DIST @@ -290,7 +289,8 @@ def update_canfd(self, cp, cp_cam, frogpilot_toggles): # FrogPilot CarState functions fp_ret.brakeLights = bool(cp.vl["TCS"]["DriverBraking"]) - fp_ret.dashboardSpeedLimit = self.calculate_speed_limit(cp, cp_cam) * speed_factor + if self.CP.flags & HyundaiFlags.NAV_MSG: + fp_ret.dashboardSpeedLimit = self.calculate_speed_limit(cp, cp_cam) * speed_factor self.prev_distance_button = self.distance_button self.distance_button = self.cruise_buttons[-1] == Buttons.GAP_DIST @@ -384,7 +384,8 @@ def get_cam_can_parser(CP): if CP.flags & HyundaiFlags.USE_FCA.value: messages.append(("FCA11", 50)) - messages.append(("LKAS12", 10)) + if CP.flags & HyundaiFlags.LKAS12: + messages.append(("LKAS12", 10)) return CANParser(DBC[CP.carFingerprint]["pt"], messages, 2) @@ -422,7 +423,7 @@ def get_can_parser_canfd(self, CP): ("SCC_CONTROL", 50), ] - if CP.flags & HyundaiFlags.CANFD_HDA2: + if CP.flags & HyundaiFlags.CANFD_HDA2 and CP.flags & HyundaiFlags.NAV_MSG: messages.append(("CLUSTER_SPEED_LIMIT", 10)) return CANParser(DBC[CP.carFingerprint]["pt"], messages, CanBus(CP).ECAN) @@ -438,7 +439,7 @@ def get_cam_can_parser_canfd(CP): ("SCC_CONTROL", 50), ] - if not (CP.flags & HyundaiFlags.CANFD_HDA2): + if not (CP.flags & HyundaiFlags.CANFD_HDA2) and CP.flags & HyundaiFlags.NAV_MSG: messages.append(("CLUSTER_SPEED_LIMIT", 10)) return CANParser(DBC[CP.carFingerprint]["pt"], messages, CanBus(CP).CAM) diff --git a/selfdrive/car/hyundai/interface.py b/selfdrive/car/hyundai/interface.py index 08848fe1d54fdf..ebd8ce39981137 100644 --- a/selfdrive/car/hyundai/interface.py +++ b/selfdrive/car/hyundai/interface.py @@ -75,6 +75,9 @@ def _get_params(ret, candidate, fingerprint, car_fw, disable_openpilot_long, exp if 0x38d in fingerprint[0] or 0x38d in fingerprint[2]: ret.flags |= HyundaiFlags.USE_FCA.value + if 0x53E in fingerprint[2]: + ret.flags |= HyundaiFlags.LKAS12.value + ret.steerActuatorDelay = 0.1 # Default delay ret.steerLimitTimer = 0.4 CarInterfaceBase.configure_torque_tune(candidate, ret.lateralTuning) @@ -109,9 +112,15 @@ def _get_params(ret, candidate, fingerprint, car_fw, disable_openpilot_long, exp # *** feature detection *** if candidate in CANFD_CAR: ret.enableBsm = 0x1e5 in fingerprint[CAN.ECAN] + + if 0x1fa in fingerprint[CAN.ECAN]: + ret.flags |= HyundaiFlags.NAV_MSG.value else: ret.enableBsm = 0x58b in fingerprint[0] + if 0x544 in fingerprint[0]: + ret.flags |= HyundaiFlags.NAV_MSG.value + # *** panda safety config *** if candidate in CANFD_CAR: cfgs = [get_safety_config(car.CarParams.SafetyModel.hyundaiCanfd), ] diff --git a/selfdrive/car/hyundai/values.py b/selfdrive/car/hyundai/values.py index 3d9a8fc9d959cc..df4079449344b0 100644 --- a/selfdrive/car/hyundai/values.py +++ b/selfdrive/car/hyundai/values.py @@ -97,6 +97,8 @@ class HyundaiFlags(IntFlag): # FrogPilot HKG flags CAN_LFA_BTN = 2 ** 24 + LKAS12 = 2 ** 25 + NAV_MSG = 2 ** 26 class Footnote(Enum): CANFD = CarFootnote( diff --git a/selfdrive/car/interfaces.py b/selfdrive/car/interfaces.py index 3b4b9f74f65a17..309194f70a0505 100644 --- a/selfdrive/car/interfaces.py +++ b/selfdrive/car/interfaces.py @@ -22,8 +22,6 @@ from openpilot.selfdrive.controls.lib.events import Events from openpilot.selfdrive.controls.lib.vehicle_model import VehicleModel -from openpilot.selfdrive.frogpilot.controls.lib.frogpilot_variables import get_max_allowed_accel - ButtonType = car.CarState.ButtonEvent.Type FrogPilotButtonType = custom.FrogPilotCarState.ButtonEvent.Type GearShifter = car.CarState.GearShifter @@ -266,10 +264,7 @@ def apply(self, c: car.CarControl, now_nanos: int, frogpilot_toggles) -> tuple[c @staticmethod def get_pid_accel_limits(CP, current_speed, cruise_speed, frogpilot_toggles): - if frogpilot_toggles.sport_plus: - return ACCEL_MIN, get_max_allowed_accel(current_speed) - else: - return ACCEL_MIN, ACCEL_MAX + return ACCEL_MIN, ACCEL_MAX @classmethod def get_non_essential_params(cls, candidate: str): @@ -423,7 +418,7 @@ def update(self, c: car.CarControl, can_strings: list[bytes], frogpilot_toggles) fp_ret.distanceLongPressed = self.frogpilot_distance_functions(frogpilot_toggles) fp_ret.ecoGear |= ret.gearShifter == GearShifter.eco fp_ret.sportGear |= ret.gearShifter == GearShifter.sport - fp_ret.trafficModeActive = frogpilot_toggles.traffic_mode and self.traffic_mode_active + fp_ret.trafficModeActive = self.traffic_mode_active # copy back for next iteration if self.CS is not None: @@ -531,7 +526,7 @@ def frogpilot_distance_functions(self, frogpilot_toggles): self.params.put_bool("ExperimentalMode", not experimental_mode) self.traffic_mode_changed = False - if self.gap_counter == CRUISE_LONG_PRESS * 5 and frogpilot_toggles.traffic_mode: + if self.gap_counter == CRUISE_LONG_PRESS * 5: self.traffic_mode_active = not self.traffic_mode_active self.traffic_mode_changed = frogpilot_toggles.experimental_mode_via_distance diff --git a/selfdrive/car/nissan/values.py b/selfdrive/car/nissan/values.py index eecffb21bcc0d1..a19b93fc927dc3 100644 --- a/selfdrive/car/nissan/values.py +++ b/selfdrive/car/nissan/values.py @@ -48,7 +48,11 @@ class CAR(Platforms): ) # Leaf with ADAS ECU found behind instrument cluster instead of glovebox # Currently the only known difference between them is the inverted seatbelt signal. - NISSAN_LEAF_IC = NISSAN_LEAF.override(car_docs=[]) + NISSAN_LEAF_IC = NissanPlatformConfig( + [NissanCarDocs("Nissan Leaf 2018-23 - Instrument Cluster", video_link="https://youtu.be/vaMbtAh_0cY")], + NISSAN_LEAF.specs, + dbc_dict('nissan_leaf_2018_generated', None), + ) NISSAN_ROGUE = NissanPlatformConfig( [NissanCarDocs("Nissan Rogue 2018-20")], NissanCarSpecs(mass=1610, wheelbase=2.705) diff --git a/selfdrive/car/subaru/carstate.py b/selfdrive/car/subaru/carstate.py index 8553a361636c33..b6fe64bbbb8899 100644 --- a/selfdrive/car/subaru/carstate.py +++ b/selfdrive/car/subaru/carstate.py @@ -130,7 +130,7 @@ def update(self, cp, cp_cam, cp_body, frogpilot_toggles): self.lkas_previously_enabled = self.lkas_enabled if self.car_fingerprint not in PREGLOBAL_CARS: fp_ret.brakeLights = bool(cp_cam.vl["ES_DashStatus"]["Brake_Lights"]) - self.lkas_enabled = cp_cam.vl["ES_LKAS_State"]["LKAS_Dash_State"] + self.lkas_enabled = self.es_lkas_state_msg.get("LKAS_Dash_State") else: fp_ret.brakeLights = bool(cp_cam.vl["ES_Brake"]["Cruise_Brake_Lights"]) diff --git a/selfdrive/car/torque_data/lat_models/TOYOTA_PRIUS_2017_b'8965B47070x00x00x00x00x00x00'.json b/selfdrive/car/torque_data/lat_models/TOYOTA_PRIUS_2017_b'8965B47070x00x00x00x00x00x00'.json new file mode 100644 index 00000000000000..b0e40d3bc66626 --- /dev/null +++ b/selfdrive/car/torque_data/lat_models/TOYOTA_PRIUS_2017_b'8965B47070x00x00x00x00x00x00'.json @@ -0,0 +1 @@ +{"input_std":[[9.993096],[1.5129169],[0.5292781],[0.04735161],[1.4937518],[1.5009559],[1.5065974],[1.4822813],[1.4460584],[1.3909396],[1.3364335],[0.047238417],[0.047255352],[0.04726677],[0.04720177],[0.047057327],[0.046800528],[0.046432514]],"model_test_loss":0.02137083187699318,"input_size":18,"current_date_and_time":"2023-08-12_14-47-11","input_mean":[[21.92725],[-0.05898304],[0.0055398513],[-0.010017767],[-0.05939448],[-0.0591323],[-0.05851898],[-0.054530293],[-0.04864468],[-0.03953879],[-0.033812713],[-0.010021071],[-0.010010929],[-0.010004903],[-0.009986946],[-0.010029537],[-0.010210251],[-0.010435901]],"input_vars":["v_ego","lateral_accel","lateral_jerk","roll","lateral_accel_m03","lateral_accel_m02","lateral_accel_m01","lateral_accel_p03","lateral_accel_p06","lateral_accel_p10","lateral_accel_p15","roll_m03","roll_m02","roll_m01","roll_p03","roll_p06","roll_p10","roll_p15"],"output_size":1,"layers":[{"dense_1_b":[[-0.7096349],[-2.2459192],[1.8050286],[0.14590603],[-0.21259946],[-0.4865897],[1.0180423]],"dense_1_W":[[-0.044355545,-0.86803615,-5.470682,0.7662393,2.2697113,0.20532803,0.7032451,-1.0900831,-1.6173851,-1.3596452,1.1005849,-0.6813092,-0.3240795,-0.1764869,-0.049160894,0.72827965,0.515452,-0.7062596],[-1.1831604,-0.62358975,-0.0026339197,0.44086918,-0.13777687,-1.6426544,0.7253186,0.21613201,-0.33259863,-0.30798477,-0.3028476,-0.6908554,-0.26595157,-0.034876596,0.27096295,0.12958722,0.28949723,-0.13089034],[1.129321,-0.1758684,-0.016361756,-0.10424338,-1.0363773,-0.9705366,0.7942455,-0.14791845,-0.4966791,-0.14422588,-0.39332545,-0.4259459,-0.18380871,0.013830062,0.29699945,0.06683513,0.43560967,-0.118786275],[-0.17347103,-1.1811129,-0.0033009297,-0.21089908,0.5171898,-0.897144,0.44509307,-0.106434815,-0.28461242,-0.4546323,0.11333945,-0.42986956,-0.46928948,0.63054854,0.28181624,0.14660357,-0.021812595,0.05028003],[0.007173049,-0.70618355,-1.4873191,0.58662444,-0.089591786,-1.1213539,-0.47290862,-0.51822674,0.0023703398,0.2661958,1.152991,0.08745119,0.581388,0.3216495,0.05185744,-0.47252813,-0.24824727,0.051313765],[0.06722459,-0.70006377,-0.003337988,0.18606693,0.5765867,-1.6360734,0.96973306,0.05009269,-0.029201366,0.17914243,-0.20576404,-0.3237746,-0.289676,0.26199174,0.35764173,0.1982268,-0.094512984,-0.064385064],[1.4187667,0.23352993,0.015063511,-0.32947004,0.76953924,-0.5759871,0.85416406,0.6099805,0.14313644,-0.0988441,0.43220612,0.40879938,0.055067588,0.46557856,-0.18368772,-0.54336697,0.18179518,-0.084707245]],"activation":"σ"},{"dense_2_W":[[0.5947046,0.111288555,0.5850431,0.62112284,-0.078394376,0.24245393,0.32209224],[-1.8208972,-0.592816,-1.642084,-0.38896674,0.5061991,0.19109774,-1.5200887],[0.025273113,-0.08020302,-0.41331917,-0.022847144,0.6140032,0.10955139,0.35156295],[-0.50207645,-0.009498558,0.5945049,0.09697446,-0.6907574,-0.44700485,-0.69720614],[0.023978695,0.4353877,-0.6338232,0.066216335,0.5071922,0.72722405,-0.37157634],[0.22281975,0.30087987,0.10793576,0.6051096,-0.050377756,0.06560134,0.19566649],[0.3174169,-0.5281018,-0.3769352,-0.9404693,-0.38535568,0.047176104,-0.29524794],[-0.01142797,-0.8428373,0.61943024,-0.07822464,-0.27282074,-1.3535438,-0.027685491],[-0.1500802,-0.7242349,-0.30430663,-0.9526516,0.07655578,-0.72111547,-0.26857635],[-0.812532,0.026910001,0.31951103,0.13876708,-0.52592987,-0.28904262,-0.7990699],[0.43766123,-1.7336309,0.24968149,-1.029645,-0.074033834,-1.2529281,-0.030552762],[-0.33508214,-0.42931655,0.42052394,0.17153797,0.019656077,-0.109691635,-0.8664852],[-2.0966787,-0.025330383,-1.3079646,-0.22694683,-0.28807703,0.07181863,-1.555939]],"activation":"σ","dense_2_b":[[-0.019173387],[0.12807891],[0.0059481813],[-0.17893082],[-0.051502828],[-0.02974034],[-0.02933723],[-0.0073013883],[0.22854811],[-0.202757],[0.043750115],[-0.28998128],[0.23772466]]},{"dense_3_W":[[-0.3590014,0.24275887,-0.008422746,0.5422629,-0.6242663,-0.45372233,0.2612047,0.42095724,0.65564615,0.24925809,-0.024278162,-0.009784553,0.2571832],[0.5248679,0.040475123,-0.10563131,0.51980525,0.6735201,0.606566,-0.4731102,0.38770038,-0.1824653,0.12611738,-0.4370857,-0.6336852,-0.24878174],[-0.24122173,-0.7736854,0.54332715,-0.3138175,-0.3822715,0.051808015,-0.5872665,-0.6603135,-0.71875435,-0.22510114,-0.56668365,0.3377473,-0.81265104]],"activation":"identity","dense_3_b":[[-0.024711734],[0.022470985],[0.04454885]]},{"dense_4_W":[[0.7645119,-0.6550188,-0.91781116]],"dense_4_b":[[-0.03211836]],"activation":"identity"}]} diff --git a/selfdrive/car/torque_data/substitute.toml b/selfdrive/car/torque_data/substitute.toml index 483e3ebbf2a23c..08c5783f98c726 100644 --- a/selfdrive/car/torque_data/substitute.toml +++ b/selfdrive/car/torque_data/substitute.toml @@ -63,7 +63,7 @@ legend = ["LAT_ACCEL_FACTOR", "MAX_LAT_ACCEL_MEASURED", "FRICTION"] "GMC_YUKON_CC" = "CHEVROLET_SILVERADO" "CHEVROLET_TRAX" = "CHEVROLET_VOLT" "CADILLAC_CT6_CC" = "CHEVROLET_VOLT" -"CADILLAC_XT5_CC" = "CHEVROLET_EQUINOX" +"CADILLAC_XT5_CC" = "GMC_ACADIA" "SKODA_FABIA_MK4" = "VOLKSWAGEN_GOLF_MK7" "SKODA_OCTAVIA_MK3" = "SKODA_SUPERB_MK3" diff --git a/selfdrive/car/toyota/carcontroller.py b/selfdrive/car/toyota/carcontroller.py index cc2cbf1f587eaa..032860e6ffa42e 100644 --- a/selfdrive/car/toyota/carcontroller.py +++ b/selfdrive/car/toyota/carcontroller.py @@ -1,7 +1,9 @@ +import math + from cereal import car from openpilot.common.numpy_fast import clip, interp from openpilot.common.params import Params -from openpilot.selfdrive.car import apply_meas_steer_torque_limits, apply_std_steer_angle_limits, common_fault_avoidance, create_gas_interceptor_command, make_can_msg +from openpilot.selfdrive.car import apply_meas_steer_torque_limits, apply_std_steer_angle_limits, common_fault_avoidance, create_gas_interceptor_command, make_can_msg, rate_limit from openpilot.selfdrive.car.interfaces import CarControllerBase from openpilot.selfdrive.car.toyota import toyotacan from openpilot.selfdrive.car.toyota.values import CAR, STATIC_DSU_MSGS, NO_STOP_TIMER_CAR, TSS2_CAR, \ @@ -9,12 +11,16 @@ UNSUPPORTED_DSU_CAR, STOP_AND_GO_CAR from opendbc.can.packer import CANPacker -from openpilot.selfdrive.frogpilot.controls.lib.frogpilot_variables import get_max_allowed_accel +from openpilot.selfdrive.frogpilot.controls.lib.frogpilot_acceleration import get_max_allowed_accel LongCtrlState = car.CarControl.Actuators.LongControlState SteerControlType = car.CarParams.SteerControlType VisualAlert = car.CarControl.HUDControl.VisualAlert +ACCELERATION_DUE_TO_GRAVITY = 9.81 # m/s^2 + +ACCEL_WINDUP_LIMIT = 0.5 # m/s^2 / frame + # LKA limits # EPS faults if you apply torque while the steering rate is above 100 deg/s for too long MAX_STEER_RATE = 100 # deg/s @@ -34,12 +40,6 @@ PARK = car.CarState.GearShifter.park -# PCM compensatory force calculation threshold -# a variation in accel command is more pronounced at higher speeds, let compensatory forces ramp to zero before -# applying when speed is high -COMPENSATORY_CALCULATION_THRESHOLD_V = [-0.3, -0.25, 0.] # m/s^2 -COMPENSATORY_CALCULATION_THRESHOLD_BP = [0., 11., 23.] # m/s - class CarController(CarControllerBase): def __init__(self, dbc_name, CP, VM): self.CP = CP @@ -49,31 +49,26 @@ def __init__(self, dbc_name, CP, VM): self.last_angle = 0 self.alert_active = False self.last_standstill = False - self.prohibit_neg_calculation = True self.standstill_req = False self.steer_rate_counter = 0 self.distance_button = 0 + self.pcm_accel_compensation = 0.0 + self.permit_braking = 0.0 + self.packer = CANPacker(dbc_name) - self.gas = 0 self.accel = 0 # FrogPilot variables params = Params() - self.cydia_tune = params.get_bool("CydiaTune") - self.frogs_go_moo_tune = params.get_bool("FrogsGoMooTune") - self.doors_locked = False - self.pcm_accel_comp = 0 - def update(self, CC, CS, now_nanos, frogpilot_toggles): actuators = CC.actuators hud_control = CC.hudControl pcm_cancel_cmd = CC.cruiseControl.cancel lat_active = CC.latActive and abs(CS.out.steeringTorque) < MAX_USER_TORQUE - stopping = actuators.longControlState == LongCtrlState.stopping # *** control msgs *** can_sends = [] @@ -145,39 +140,40 @@ def update(self, CC, CS, now_nanos, frogpilot_toggles): else: interceptor_gas_cmd = 0. - # prohibit negative compensatory calculations when first activating long after accelerator depression or engagement - if not CC.longActive: - self.prohibit_neg_calculation = True - - comp_thresh = interp(CS.out.vEgo, COMPENSATORY_CALCULATION_THRESHOLD_BP, COMPENSATORY_CALCULATION_THRESHOLD_V) - # don't reset until a reasonable compensatory value is reached - if CS.pcm_neutral_force > comp_thresh * self.CP.mass: - self.prohibit_neg_calculation = False - - # limit minimum to only positive until first positive is reached after engagement, don't calculate when long isn't active - if CC.longActive and not self.prohibit_neg_calculation and self.cydia_tune: - accel_offset = CS.pcm_neutral_force / self.CP.mass - elif CC.longActive and self.frogs_go_moo_tune: - accel_offset = min(CS.pcm_neutral_force / self.CP.mass, 0.0) - - if CS.out.cruiseState.standstill or actuators.longControlState == LongCtrlState.stopping: - self.pcm_accel_comp = 0.0 - else: - self.pcm_accel_comp = clip(actuators.accel - CS.pcm_accel_net, self.pcm_accel_comp - 0.01, self.pcm_accel_comp + 0.01) - - accel_offset += self.pcm_accel_comp + # For cars where we allow a higher max acceleration of 2.0 m/s^2, compensate for PCM request overshoot and imprecise braking + # TODO: sometimes when switching from brake to gas quickly, CLUTCH->ACCEL_NET shows a slow unwind. make it go to 0 immediately + if (self.CP.flags & ToyotaFlags.RAISED_ACCEL_LIMIT or self.CP.flags & ToyotaFlags.NEW_TOYOTA_TUNE) and CC.longActive and not CS.out.cruiseState.standstill: + # calculate amount of acceleration PCM should apply to reach target, given pitch + accel_due_to_pitch = math.sin(CS.slope_angle) * ACCELERATION_DUE_TO_GRAVITY + net_acceleration_request = actuators.accel + accel_due_to_pitch + + # let PCM handle stopping for now + pcm_accel_compensation = 0.0 + if actuators.longControlState != LongCtrlState.stopping: + pcm_accel_compensation = 2.0 * (CS.pcm_accel_net - net_acceleration_request) + + # prevent compensation windup + pcm_accel_compensation = clip(pcm_accel_compensation, actuators.accel - self.params.ACCEL_MAX, + actuators.accel - self.params.ACCEL_MIN) + + self.pcm_accel_compensation = rate_limit(pcm_accel_compensation, self.pcm_accel_compensation, -0.01, 0.01) + pcm_accel_cmd = actuators.accel - self.pcm_accel_compensation + + # Along with rate limiting positive jerk below, this greatly improves gas response time + # Consider the net acceleration request that the PCM should be applying (pitch included) + if net_acceleration_request < 0.1: + self.permit_braking = True + elif net_acceleration_request > 0.2: + self.permit_braking = False else: - accel_offset = 0. - self.pcm_accel_comp = 0.0 + self.pcm_accel_compensation = 0.0 + pcm_accel_cmd = actuators.accel + self.permit_braking = True - # only calculate pcm_accel_cmd when long is active to prevent disengagement from accelerator depression - if CC.longActive: - if frogpilot_toggles.sport_plus: - pcm_accel_cmd = clip(actuators.accel + accel_offset, self.params.ACCEL_MIN, get_max_allowed_accel(CS.out.vEgo)) - else: - pcm_accel_cmd = clip(actuators.accel + accel_offset, self.params.ACCEL_MIN, self.params.ACCEL_MAX) + if frogpilot_toggles.sport_plus: + pcm_accel_cmd = clip(pcm_accel_cmd, self.params.ACCEL_MIN, min(frogpilot_toggles.max_desired_accel, get_max_allowed_accel(CS.out.vEgo))) else: - pcm_accel_cmd = 0. + pcm_accel_cmd = clip(pcm_accel_cmd, self.params.ACCEL_MIN, min(frogpilot_toggles.max_desired_accel, self.params.ACCEL_MAX)) # on entering standstill, send standstill request if CS.out.standstill and not self.last_standstill and (self.CP.carFingerprint not in NO_STOP_TIMER_CAR or self.CP.enableGasInterceptor): @@ -195,8 +191,6 @@ def update(self, CC, CS, now_nanos, frogpilot_toggles): # we can spam can to cancel the system even if we are using lat only control if (self.frame % 3 == 0 and self.CP.openpilotLongitudinalControl) or pcm_cancel_cmd: lead = hud_control.leadVisible or CS.out.vEgo < 12. # at low speed we always assume the lead is present so ACC can be engaged - # when stopping, send -2.5 raw acceleration immediately to prevent vehicle from creeping, else send actuators.accel - accel_raw = -2.5 if stopping and (self.cydia_tune or self.frogs_go_moo_tune) else actuators.accel # Press distance button until we are at the correct bar length. Only change while enabled to avoid skipping startup popup if self.frame % 6 == 0 and self.CP.openpilotLongitudinalControl: @@ -210,17 +204,19 @@ def update(self, CC, CS, now_nanos, frogpilot_toggles): if pcm_cancel_cmd and self.CP.carFingerprint in UNSUPPORTED_DSU_CAR: can_sends.append(toyotacan.create_acc_cancel_command(self.packer)) elif self.CP.openpilotLongitudinalControl: - can_sends.append(toyotacan.create_accel_command(self.packer, pcm_accel_cmd, accel_raw, pcm_cancel_cmd, self.standstill_req, lead, CS.acc_type, fcw_alert, - self.distance_button, frogpilot_toggles)) + # internal PCM gas command can get stuck unwinding from negative accel so we apply a generous rate limit + pcm_accel_cmd = min(pcm_accel_cmd, self.accel + ACCEL_WINDUP_LIMIT) if CC.longActive else 0.0 + + can_sends.append(toyotacan.create_accel_command(self.packer, pcm_accel_cmd, pcm_cancel_cmd, self.permit_braking, self.standstill_req, lead, + CS.acc_type, fcw_alert, self.distance_button, frogpilot_toggles)) self.accel = pcm_accel_cmd else: - can_sends.append(toyotacan.create_accel_command(self.packer, 0, 0, pcm_cancel_cmd, False, lead, CS.acc_type, False, self.distance_button, frogpilot_toggles)) + can_sends.append(toyotacan.create_accel_command(self.packer, 0, pcm_cancel_cmd, True, False, lead, CS.acc_type, False, self.distance_button, frogpilot_toggles)) if self.frame % 2 == 0 and self.CP.enableGasInterceptor and self.CP.openpilotLongitudinalControl: # send exactly zero if gas cmd is zero. Interceptor will send the max between read value and gas cmd. # This prevents unexpected pedal range rescaling can_sends.append(create_gas_interceptor_command(self.packer, interceptor_gas_cmd, self.frame // 2)) - self.gas = interceptor_gas_cmd # *** hud ui *** if self.CP.carFingerprint != CAR.TOYOTA_PRIUS_V: @@ -258,7 +254,6 @@ def update(self, CC, CS, now_nanos, frogpilot_toggles): new_actuators.steerOutputCan = apply_steer new_actuators.steeringAngleDeg = self.last_angle new_actuators.accel = self.accel - new_actuators.gas = self.gas # Lock doors when in drive / unlock doors when in park if not self.doors_locked and CS.out.gearShifter != PARK: diff --git a/selfdrive/car/toyota/carstate.py b/selfdrive/car/toyota/carstate.py index 98dea943f78cca..75130c2fd9b039 100644 --- a/selfdrive/car/toyota/carstate.py +++ b/selfdrive/car/toyota/carstate.py @@ -24,9 +24,6 @@ # - prolonged high driver torque: 17 (permanent) PERM_STEER_FAULTS = (3, 17) -ZSS_THRESHOLD = 4.0 -ZSS_THRESHOLD_COUNT = 10 - # Traffic signals for Speed Limit Controller - Credit goes to the DragonPilot team! @staticmethod def calculate_speed_limit(cp_cam, frogpilot_toggles): @@ -66,20 +63,38 @@ def __init__(self, CP): self.low_speed_lockout = False self.acc_type = 1 self.lkas_hud = {} + self.pcm_accel_net = 0.0 + self.slope_angle = 0.0 # FrogPilot variables - self.zss_compute = False - self.zss_cruise_active_last = False + self.latActive_previous = False + self.needs_angle_offset_zss = True - self.pcm_accel_net = 0 - self.pcm_neutral_force = 0 - self.zss_angle_offset = 0 - self.zss_threshold_count = 0 + self.angle_offset_zss = 0 + self.zorro_steer_value = 0 - def update(self, cp, cp_cam, frogpilot_toggles): + def update(self, cp, cp_cam, CC, frogpilot_toggles): ret = car.CarState.new_message() fp_ret = custom.FrogPilotCarState.new_message() + # Describes the acceleration request from the PCM if on flat ground, may be higher or lower if pitched + # CLUTCH->ACCEL_NET is only accurate for gas, PCM_CRUISE->ACCEL_NET is only accurate for brake + # These signals only have meaning when ACC is active + if self.CP.flags & ToyotaFlags.NEW_TOYOTA_TUNE or self.CP.flags & ToyotaFlags.RAISED_ACCEL_LIMIT: + if self.CP.flags & ToyotaFlags.RAISED_ACCEL_LIMIT: + self.pcm_accel_net = max(cp.vl["CLUTCH"]["ACCEL_NET"], 0.0) + else: + self.pcm_accel_net = max(cp.vl["PCM_CRUISE"]["ACCEL_NET"], 0.0) + + # Sometimes ACC_BRAKING can be 1 while showing we're applying gas already + if cp.vl["PCM_CRUISE"]["ACC_BRAKING"]: + self.pcm_accel_net += min(cp.vl["PCM_CRUISE"]["ACCEL_NET"], 0.0) + + # add creeping force at low speeds only for braking, CLUTCH->ACCEL_NET already shows this + neutral_accel = max(cp.vl["PCM_CRUISE"]["NEUTRAL_FORCE"] / self.CP.mass, 0.0) + if self.pcm_accel_net + neutral_accel < 0.0: + self.pcm_accel_net += neutral_accel + ret.doorOpen = any([cp.vl["BODY_CONTROL_STATE"]["DOOR_OPEN_FL"], cp.vl["BODY_CONTROL_STATE"]["DOOR_OPEN_FR"], cp.vl["BODY_CONTROL_STATE"]["DOOR_OPEN_RL"], cp.vl["BODY_CONTROL_STATE"]["DOOR_OPEN_RR"]]) ret.seatbeltUnlatched = cp.vl["BODY_CONTROL_STATE"]["SEATBELT_DRIVER_UNLATCHED"] != 0 @@ -225,32 +240,27 @@ def update(self, cp, cp_cam, frogpilot_toggles): self.lkas_previously_enabled = self.lkas_enabled self.lkas_enabled = self.lkas_hud.get("LDA_ON_MESSAGE") == 1 - self.pcm_accel_net = cp.vl["PCM_CRUISE"]["ACCEL_NET"] - self.pcm_neutral_force = cp.vl["PCM_CRUISE"]["NEUTRAL_FORCE"] - - # ZSS Support - Credit goes to the DragonPilot team! - if self.CP.flags & ToyotaFlags.ZSS and self.zss_threshold_count < ZSS_THRESHOLD_COUNT: - zorro_steer = cp.vl["SECONDARY_STEER_ANGLE"]["ZORRO_STEER"] + # ZSS Support - Credit goes to Erich! + if self.CP.flags & ToyotaFlags.ZSS: + if abs(torque_sensor_angle_deg) > 1e-3: + self.accurate_steer_angle_seen = True - # Only compute ZSS offset when cruise is active - cruise_active = ret.cruiseState.available - if cruise_active and not self.zss_cruise_active_last: - self.zss_compute = True # Cruise was just activated, so allow offset to be recomputed - self.zss_threshold_count = 0 - self.zss_cruise_active_last = cruise_active + if CC.latActive and not self.latActive_previous: + self.needs_angle_offset_zss = True + self.latActive_previous = CC.latActive - # Compute ZSS offset - if self.zss_compute: + if self.needs_angle_offset_zss: + zorro_steer = cp.vl["SECONDARY_STEER_ANGLE"]["ZORRO_STEER"] if abs(ret.steeringAngleDeg) > 1e-3 and abs(zorro_steer) > 1e-3: - self.zss_compute = False - self.zss_angle_offset = zorro_steer - ret.steeringAngleDeg + self.needs_angle_offset_zss = False + self.angle_offset_zss = zorro_steer - ret.steeringAngleDeg + self.zorro_steer_value = cp.vl["SECONDARY_STEER_ANGLE"]["ZORRO_STEER"] - self.angle_offset_zss - # Safety checks - steering_angle_deg = zorro_steer - self.zss_angle_offset - if abs(ret.steeringAngleDeg - steering_angle_deg) > ZSS_THRESHOLD: - self.zss_threshold_count += 1 - else: - ret.steeringAngleDeg = steering_angle_deg + if not self.needs_angle_offset_zss: + if abs(ret.steeringAngleDeg - self.zorro_steer_value) > 4.0: + ret.steeringAngleDeg = ret.steeringAngleDeg + else: + ret.steeringAngleDeg = self.zorro_steer_value return ret, fp_ret @@ -263,6 +273,7 @@ def get_can_parser(CP): ("BODY_CONTROL_STATE", 3), ("BODY_CONTROL_STATE_2", 2), ("ESP_CONTROL", 3), + ("VSC1S07", 20), ("EPS_STATUS", 25), ("BRAKE_MODULE", 40), ("WHEEL_SPEEDS", 80), @@ -272,6 +283,9 @@ def get_can_parser(CP): ("STEER_TORQUE_SENSOR", 50), ] + if CP.flags & ToyotaFlags.RAISED_ACCEL_LIMIT: + messages.append(("CLUTCH", 15)) + if CP.carFingerprint != CAR.TOYOTA_MIRAI: messages.append(("ENGINE_RPM", 42)) @@ -307,7 +321,8 @@ def get_can_parser(CP): ("SDSU", 100), ] - messages += [("SECONDARY_STEER_ANGLE", 0)] + if CP.flags & ToyotaFlags.ZSS: + messages += [("SECONDARY_STEER_ANGLE", 0)] return CANParser(DBC[CP.carFingerprint]["pt"], messages, 0) diff --git a/selfdrive/car/toyota/fingerprints.py b/selfdrive/car/toyota/fingerprints.py index 0866a4d43ca863..292be96fc85e73 100644 --- a/selfdrive/car/toyota/fingerprints.py +++ b/selfdrive/car/toyota/fingerprints.py @@ -89,6 +89,7 @@ (Ecu.fwdRadar, 0x750, 0xf): [ b'\x018821F6201200\x00\x00\x00\x00', b'\x018821F6201300\x00\x00\x00\x00', + b'\x018821F6201400\x00\x00\x00\x00', ], (Ecu.fwdCamera, 0x750, 0x6d): [ b'\x028646F4104100\x00\x00\x00\x008646G3304000\x00\x00\x00\x00', @@ -160,12 +161,14 @@ b'8821F0607200 ', b'8821F0608000 ', b'8821F0608200 ', + b'8821F0608300 ', b'8821F0609000 ', b'8821F0609100 ', ], (Ecu.abs, 0x7b0, None): [ b'F152606210\x00\x00\x00\x00\x00\x00', b'F152606230\x00\x00\x00\x00\x00\x00', + b'F152606260\x00\x00\x00\x00\x00\x00', b'F152606270\x00\x00\x00\x00\x00\x00', b'F152606290\x00\x00\x00\x00\x00\x00', b'F152606410\x00\x00\x00\x00\x00\x00', @@ -205,6 +208,7 @@ b'8821F0607200 ', b'8821F0608000 ', b'8821F0608200 ', + b'8821F0608300 ', b'8821F0609000 ', b'8821F0609100 ', ], @@ -234,6 +238,7 @@ b'\x01F152606390\x00\x00\x00\x00\x00\x00', b'\x01F152606400\x00\x00\x00\x00\x00\x00', b'\x01F152606431\x00\x00\x00\x00\x00\x00', + b'\x01F152633E11\x00\x00\x00\x00\x00\x00', b'F152633310\x00\x00\x00\x00\x00\x00', b'F152633D00\x00\x00\x00\x00\x00\x00', b'F152633D60\x00\x00\x00\x00\x00\x00', @@ -251,6 +256,7 @@ b'\x018966306T4000\x00\x00\x00\x00', b'\x018966306T4100\x00\x00\x00\x00', b'\x018966306V1000\x00\x00\x00\x00', + b'\x018966333Z1000\x00\x00\x00\x00', b'\x01896633T20000\x00\x00\x00\x00', ], (Ecu.fwdRadar, 0x750, 0xf): [ @@ -266,6 +272,7 @@ b'\x028646F3305200\x00\x00\x00\x008646G5301200\x00\x00\x00\x00', b'\x028646F3305300\x00\x00\x00\x008646G3304000\x00\x00\x00\x00', b'\x028646F3305300\x00\x00\x00\x008646G5301200\x00\x00\x00\x00', + b'\x028646F3305400\x00\x00\x00\x008646G3304000\x00\x00\x00\x00', b'\x028646F3305500\x00\x00\x00\x008646G3304000\x00\x00\x00\x00', ], }, @@ -436,6 +443,7 @@ b'\x01896630ZU8000\x00\x00\x00\x00', b'\x01896630ZU9000\x00\x00\x00\x00', b'\x01896630ZX4000\x00\x00\x00\x00', + b'\x01896630ZX7100\x00\x00\x00\x00', b'\x018966312L8000\x00\x00\x00\x00', b'\x018966312M0000\x00\x00\x00\x00', b'\x018966312M9000\x00\x00\x00\x00', @@ -511,6 +519,7 @@ b'\x018965B1254000\x00\x00\x00\x00', b'\x018965B1255000\x00\x00\x00\x00', b'\x018965B1256000\x00\x00\x00\x00', + b'\x018965B1270000\x00\x00\x00\x00', b'8965B12361\x00\x00\x00\x00\x00\x00', b'8965B12451\x00\x00\x00\x00\x00\x00', b'8965B16011\x00\x00\x00\x00\x00\x00', @@ -642,6 +651,7 @@ (Ecu.dsu, 0x791, None): [ b'881510E01100\x00\x00\x00\x00', b'881510E01200\x00\x00\x00\x00', + b'881510E02100\x00\x00\x00\x00', b'881510E02200\x00\x00\x00\x00', ], (Ecu.fwdRadar, 0x750, 0xf): [ @@ -796,6 +806,7 @@ b'\x018821F6201400\x00\x00\x00\x00', ], (Ecu.fwdCamera, 0x750, 0x6d): [ + b'\x028646F5303300\x00\x00\x00\x008646G3304000\x00\x00\x00\x00', b'\x028646F5303300\x00\x00\x00\x008646G5301200\x00\x00\x00\x00', b'\x028646F5303400\x00\x00\x00\x008646G3304000\x00\x00\x00\x00', ], @@ -848,6 +859,7 @@ b'\x038966347A3000\x00\x00\x00\x008966A4703000\x00\x00\x00\x00897CF4701003\x00\x00\x00\x00', b'\x038966347A3000\x00\x00\x00\x008966A4703000\x00\x00\x00\x00897CF4707001\x00\x00\x00\x00', b'\x038966347B6000\x00\x00\x00\x008966A4703000\x00\x00\x00\x00897CF4710001\x00\x00\x00\x00', + b'\x038966347B7000\x00\x00\x00\x008966A4703000\x00\x00\x00\x00897CF1203001\x00\x00\x00\x00', b'\x038966347B7000\x00\x00\x00\x008966A4703000\x00\x00\x00\x00897CF4710001\x00\x00\x00\x00', ], (Ecu.eps, 0x7a1, None): [ @@ -1142,6 +1154,7 @@ }, CAR.TOYOTA_RAV4_TSS2_2023: { (Ecu.abs, 0x7b0, None): [ + b'\x01F15260R440\x00\x00\x00\x00\x00\x00', b'\x01F15260R450\x00\x00\x00\x00\x00\x00', b'\x01F15260R50000\x00\x00\x00\x00', b'\x01F15260R51000\x00\x00\x00\x00', @@ -1163,6 +1176,7 @@ b'\x01896634AE1001\x00\x00\x00\x00', b'\x01896634AF0000\x00\x00\x00\x00', b'\x01896634AJ2000\x00\x00\x00\x00', + b'\x01896634AJ3000\x00\x00\x00\x00', b'\x01896634AL5000\x00\x00\x00\x00', b'\x01896634AL6000\x00\x00\x00\x00', b'\x01896634AL8000\x00\x00\x00\x00', @@ -1481,11 +1495,13 @@ b'\x01896630EA3300\x00\x00\x00\x00', b'\x01896630EA3400\x00\x00\x00\x00', b'\x01896630EA4100\x00\x00\x00\x00', + b'\x01896630EA4200\x00\x00\x00\x00', b'\x01896630EA4300\x00\x00\x00\x00', b'\x01896630EA4400\x00\x00\x00\x00', b'\x01896630EA6300\x00\x00\x00\x00', b'\x018966348R1300\x00\x00\x00\x00', b'\x018966348R8500\x00\x00\x00\x00', + b'\x018966348R9300\x00\x00\x00\x00', b'\x018966348W1300\x00\x00\x00\x00', b'\x018966348W2300\x00\x00\x00\x00', ], diff --git a/selfdrive/car/toyota/interface.py b/selfdrive/car/toyota/interface.py index c00a7e9e401c8d..21c8670093be48 100644 --- a/selfdrive/car/toyota/interface.py +++ b/selfdrive/car/toyota/interface.py @@ -7,8 +7,6 @@ from openpilot.selfdrive.car.disable_ecu import disable_ecu from openpilot.selfdrive.car.interfaces import CarInterfaceBase -from openpilot.selfdrive.frogpilot.controls.lib.frogpilot_variables import get_max_allowed_accel - ButtonType = car.CarState.ButtonEvent.Type FrogPilotButtonType = custom.FrogPilotCarState.ButtonEvent.Type EventName = car.CarEvent.EventName @@ -18,10 +16,8 @@ class CarInterface(CarInterfaceBase): @staticmethod def get_pid_accel_limits(CP, current_speed, cruise_speed, frogpilot_toggles): - if frogpilot_toggles.sport_plus: - return CarControllerParams.ACCEL_MIN, get_max_allowed_accel(current_speed) - else: - return CarControllerParams.ACCEL_MIN, CarControllerParams.ACCEL_MAX + CCP = CarControllerParams(CP) + return CCP.ACCEL_MIN, CCP.ACCEL_MAX @staticmethod def _get_params(ret, candidate, fingerprint, car_fw, disable_openpilot_long, experimental_long, docs, params): @@ -46,9 +42,6 @@ def _get_params(ret, candidate, fingerprint, car_fw, disable_openpilot_long, exp ret.steerActuatorDelay = 0.12 # Default delay, Prius has larger delay ret.steerLimitTimer = 0.4 - if 0x23 in fingerprint[0]: # Detect if ZSS is present - ret.flags |= ToyotaFlags.ZSS.value - ret.stoppingControl = False # Toyota starts braking more when it thinks you want to stop # Detect smartDSU, which intercepts ACC_CMD from the DSU (or radar) allowing openpilot to send it @@ -64,6 +57,12 @@ def _get_params(ret, candidate, fingerprint, car_fw, disable_openpilot_long, exp ret.enableDsu = len(found_ecus) > 0 and Ecu.dsu not in found_ecus and candidate not in (NO_DSU_CAR | UNSUPPORTED_DSU_CAR) \ and not (ret.flags & ToyotaFlags.SMART_DSU) + if candidate == CAR.LEXUS_ES_TSS2 and Ecu.hybrid not in found_ecus: + ret.flags |= ToyotaFlags.RAISED_ACCEL_LIMIT.value + + if params.get_bool("NewToyotaTune"): + ret.flags |= ToyotaFlags.NEW_TOYOTA_TUNE.value + if candidate == CAR.TOYOTA_PRIUS: # Only give steer angle deadzone to for bad angle sensor prius for fw in car_fw: @@ -71,6 +70,9 @@ def _get_params(ret, candidate, fingerprint, car_fw, disable_openpilot_long, exp ret.steerActuatorDelay = 0.25 CarInterfaceBase.configure_torque_tune(candidate, ret.lateralTuning, steering_angle_deadzone_deg=0.2) + if 0x23 in fingerprint[0]: # Detect if ZSS is present + ret.flags |= ToyotaFlags.ZSS.value + elif candidate in (CAR.LEXUS_RX, CAR.LEXUS_RX_TSS2): ret.wheelSpeedFactor = 1.035 @@ -138,32 +140,29 @@ def _get_params(ret, candidate, fingerprint, car_fw, disable_openpilot_long, exp ret.minEnableSpeed = -1. if (candidate in STOP_AND_GO_CAR or ret.enableGasInterceptor) else MIN_ACC_SPEED tune = ret.longitudinalTuning - if params.get_bool("CydiaTune"): - ret.stopAccel = -2.5 # on stock Toyota this is -2.5 - ret.stoppingDecelRate = 0.3 # reach stopping target smoothly - if candidate in TSS2_CAR or ret.enableGasInterceptor: - tune.kiV = [0.5] - ret.vEgoStopping = 0.25 - ret.vEgoStarting = 0.25 - else: - tune.kiV = [1.2] # appears to produce minimal oscillation on TSS-P - elif params.get_bool("FrogsGoMooTune"): - ret.stopAccel = -2.5 # on stock Toyota this is -2.5 - ret.stoppingDecelRate = 0.1 # reach stopping target smoothly - ret.vEgoStarting = 0.15 - ret.vEgoStopping = 0.15 - tune.kiV = [1.0] - elif candidate in TSS2_CAR or ret.enableGasInterceptor: + if candidate in TSS2_CAR or ret.flags & ToyotaFlags.NEW_TOYOTA_TUNE: tune.kpV = [0.0] tune.kiV = [0.5] - if candidate in TSS2_CAR: - ret.vEgoStopping = 0.25 - ret.vEgoStarting = 0.25 - ret.stoppingDecelRate = 0.3 # reach stopping target smoothly + ret.vEgoStopping = 0.25 + ret.vEgoStarting = 0.25 + ret.stoppingDecelRate = 0.3 # reach stopping target smoothly + + # Since we compensate for imprecise acceleration in carcontroller, we can be less aggressive with tuning + # This also prevents unnecessary request windup due to internal car jerk limits + if ret.flags & ToyotaFlags.NEW_TOYOTA_TUNE or ret.flags & ToyotaFlags.RAISED_ACCEL_LIMIT: + tune.kiV = [0.25] else: tune.kiBP = [0., 5., 35.] tune.kiV = [3.6, 2.4, 1.5] + if params.get_bool("FrogsGoMoosTweak"): + if ret.flags & ToyotaFlags.NEW_TOYOTA_TUNE or ret.flags & ToyotaFlags.RAISED_ACCEL_LIMIT: + tune.kiV = [0.3] + + ret.stoppingDecelRate = 0.1 # reach stopping target smoothly + ret.vEgoStopping = 0.15 + ret.vEgoStarting = 0.15 + return ret @staticmethod @@ -175,7 +174,7 @@ def init(CP, logcan, sendcan): # returns a car.CarState def _update(self, c, frogpilot_toggles): - ret, fp_ret = self.CS.update(self.cp, self.cp_cam, frogpilot_toggles) + ret, fp_ret = self.CS.update(self.cp, self.cp_cam, c, frogpilot_toggles) if self.CP.carFingerprint in (TSS2_CAR - RADAR_ACC_CAR) or (self.CP.flags & ToyotaFlags.SMART_DSU and not self.CP.flags & ToyotaFlags.RADAR_CAN_FILTER): ret.buttonEvents = [ diff --git a/selfdrive/car/toyota/toyotacan.py b/selfdrive/car/toyota/toyotacan.py index f38401ef8cf4cc..8b183fa50f16b2 100644 --- a/selfdrive/car/toyota/toyotacan.py +++ b/selfdrive/car/toyota/toyotacan.py @@ -33,23 +33,45 @@ def create_lta_steer_command(packer, steer_control_type, steer_angle, steer_req, return packer.make_can_msg("STEERING_LTA", 0, values) -def create_accel_command(packer, accel, accel_raw, pcm_cancel, standstill_req, lead, acc_type, fcw_alert, distance, frogpilot_toggles): +def create_accel_command(packer, accel, pcm_cancel, permit_braking, standstill_req, lead, acc_type, fcw_alert, distance, frogpilot_toggles): # TODO: find the exact canceling bit that does not create a chime values = { "ACCEL_CMD": accel, # compensated accel command "ACC_TYPE": acc_type, "DISTANCE": distance, "MINI_CAR": lead, - "PERMIT_BRAKING": 1, + "PERMIT_BRAKING": permit_braking, "RELEASE_STANDSTILL": not standstill_req, "CANCEL_REQ": pcm_cancel, "ALLOW_LONG_PRESS": 2 if frogpilot_toggles.reverse_cruise_increase else 1, "ACC_CUT_IN": fcw_alert, # only shown when ACC enabled - "ACCEL_CMD_ALT": accel_raw, # raw accel command, pcm uses this to calculate a compensatory force } return packer.make_can_msg("ACC_CONTROL", 0, values) +def create_pcs_commands(packer, accel, active, mass): + values1 = { + "COUNTER": 0, + "FORCE": round(min(accel, 0) * mass * 2), + "STATE": 3 if active else 0, + "BRAKE_STATUS": 0, + "PRECOLLISION_ACTIVE": 1 if active else 0, + } + msg1 = packer.make_can_msg("PRE_COLLISION", 0, values1) + + values2 = { + "DSS1GDRV": min(accel, 0), # accel + "PCSALM": 1 if active else 0, # goes high same time as PRECOLLISION_ACTIVE + "IBTRGR": 1 if active else 0, # unknown + "PBATRGR": 1 if active else 0, # noisy actuation bit? + "PREFILL": 1 if active else 0, # goes on and off before DSS1GDRV + "AVSTRGR": 1 if active else 0, + } + msg2 = packer.make_can_msg("PRE_COLLISION_2", 0, values2) + + return [msg1, msg2] + + def create_acc_cancel_command(packer): values = { "GAS_RELEASED": 0, diff --git a/selfdrive/car/toyota/values.py b/selfdrive/car/toyota/values.py index b441e6f727ce10..96bae1420bd5f6 100644 --- a/selfdrive/car/toyota/values.py +++ b/selfdrive/car/toyota/values.py @@ -16,9 +16,6 @@ class CarControllerParams: - ACCEL_MAX = 1.5 # m/s2, lower than allowed 2.0 m/s2 for tuning reasons - ACCEL_MIN = -3.5 # m/s2 - STEER_STEP = 1 STEER_MAX = 1500 STEER_ERROR_MAX = 350 # max delta between torque cmd and torque motor @@ -33,6 +30,12 @@ class CarControllerParams: ANGLE_RATE_LIMIT_DOWN = AngleRateLimit(speed_bp=[5, 25], angle_v=[0.36, 0.26]) def __init__(self, CP): + if CP.flags & ToyotaFlags.RAISED_ACCEL_LIMIT: + self.ACCEL_MAX = 2.0 + else: + self.ACCEL_MAX = 1.5 # m/s2, lower than allowed 2.0 m/s^2 for tuning reasons + self.ACCEL_MIN = -3.5 # m/s2 + if CP.lateralTuning.which == 'torque': self.STEER_DELTA_UP = 15 # 1.0s time to peak torque self.STEER_DELTA_DOWN = 25 # always lower than 45 otherwise the Rav4 faults (Prius seems ok with 50) @@ -46,7 +49,7 @@ class ToyotaFlags(IntFlag): HYBRID = 1 SMART_DSU = 2 DISABLE_RADAR = 4 - RADAR_CAN_FILTER = 1024 + RADAR_CAN_FILTER = 2048 # Static flags TSS2 = 8 @@ -58,9 +61,12 @@ class ToyotaFlags(IntFlag): NO_STOP_TIMER = 256 # these cars are speculated to allow stop and go when the DSU is unplugged or disabled with sDSU SNG_WITHOUT_DSU = 512 + # these cars can utilize 2.0 m/s^2 + RAISED_ACCEL_LIMIT = 1024 # FrogPilot Toyota flags - ZSS = 1024 + NEW_TOYOTA_TUNE = 4096 + ZSS = 8192 class Footnote(Enum): CAMRY = CarFootnote( diff --git a/selfdrive/car/volkswagen/carcontroller.py b/selfdrive/car/volkswagen/carcontroller.py index 9568b51dcffc21..e7e7ee1f77dca4 100644 --- a/selfdrive/car/volkswagen/carcontroller.py +++ b/selfdrive/car/volkswagen/carcontroller.py @@ -8,7 +8,7 @@ from openpilot.selfdrive.car.volkswagen import mqbcan, pqcan from openpilot.selfdrive.car.volkswagen.values import CANBUS, CarControllerParams, VolkswagenFlags -from openpilot.selfdrive.frogpilot.controls.lib.frogpilot_variables import get_max_allowed_accel +from openpilot.selfdrive.frogpilot.controls.lib.frogpilot_acceleration import get_max_allowed_accel VisualAlert = car.CarControl.HUDControl.VisualAlert LongCtrlState = car.CarControl.Actuators.LongControlState @@ -83,9 +83,9 @@ def update(self, CC, CS, now_nanos, frogpilot_toggles): if self.frame % self.CCP.ACC_CONTROL_STEP == 0 and self.CP.openpilotLongitudinalControl: acc_control = self.CCS.acc_control_value(CS.out.cruiseState.available, CS.out.accFaulted, CC.longActive) if frogpilot_toggles.sport_plus: - accel = clip(actuators.accel, self.CCP.ACCEL_MIN, get_max_allowed_accel(CS.out.vEgo)) if CC.longActive else 0 + accel = clip(actuators.accel, self.CCP.ACCEL_MIN, min(frogpilot_toggles.max_desired_accel, get_max_allowed_accel(CS.out.vEgo))) if CC.longActive else 0 else: - accel = clip(actuators.accel, self.CCP.ACCEL_MIN, self.CCP.ACCEL_MAX) if CC.longActive else 0 + accel = clip(actuators.accel, self.CCP.ACCEL_MIN, min(frogpilot_toggles.max_desired_accel, self.CCP.ACCEL_MAX)) if CC.longActive else 0 stopping = actuators.longControlState == LongCtrlState.stopping starting = actuators.longControlState == LongCtrlState.pid and (CS.esp_hold_confirmation or CS.out.vEgo < self.CP.vEgoStopping) can_sends.extend(self.CCS.create_acc_accel_control(self.packer_pt, CANBUS.pt, CS.acc_type, CC.longActive, accel, diff --git a/selfdrive/classic_modeld/SConscript b/selfdrive/classic_modeld/SConscript new file mode 100644 index 00000000000000..2260b5b57708d4 --- /dev/null +++ b/selfdrive/classic_modeld/SConscript @@ -0,0 +1,74 @@ +import glob + +Import('env', 'envCython', 'arch', 'cereal', 'messaging', 'common', 'gpucommon', 'visionipc', 'transformations') +lenv = env.Clone() +lenvCython = envCython.Clone() + +libs = [cereal, messaging, visionipc, gpucommon, common, 'capnp', 'zmq', 'kj', 'pthread'] +frameworks = [] + +common_src = [ + "models/commonmodel.cc", + "transforms/loadyuv.cc", + "transforms/transform.cc", +] + +thneed_src_common = [ + "thneed/thneed_common.cc", + "thneed/serialize.cc", +] + +thneed_src_qcom = thneed_src_common + ["thneed/thneed_qcom2.cc"] +thneed_src_pc = thneed_src_common + ["thneed/thneed_pc.cc"] +thneed_src = thneed_src_qcom if arch == "larch64" else thneed_src_pc + +# SNPE except on Mac and ARM Linux +snpe_lib = [] +if arch != "Darwin" and arch != "aarch64": + common_src += ['runners/snpemodel.cc'] + snpe_lib += ['SNPE'] + +# OpenCL is a framework on Mac +if arch == "Darwin": + frameworks += ['OpenCL'] +else: + libs += ['OpenCL'] + +# Set path definitions +for pathdef, fn in {'TRANSFORM': 'transforms/transform.cl', 'LOADYUV': 'transforms/loadyuv.cl'}.items(): + for xenv in (lenv, lenvCython): + xenv['CXXFLAGS'].append(f'-D{pathdef}_PATH=\\"{File(fn).abspath}\\"') + +# Compile cython +snpe_rpath_qcom = "/data/pythonpath/third_party/snpe/larch64" +snpe_rpath_pc = f"{Dir('#').abspath}/third_party/snpe/x86_64-linux-clang" +snpe_rpath = lenvCython['RPATH'] + [snpe_rpath_qcom if arch == "larch64" else snpe_rpath_pc] + +cython_libs = envCython["LIBS"] + libs +snpemodel_lib = lenv.Library('snpemodel', ['runners/snpemodel.cc']) +commonmodel_lib = lenv.Library('commonmodel', common_src) + +lenvCython.Program('runners/runmodel_pyx.so', 'runners/runmodel_pyx.pyx', LIBS=cython_libs, FRAMEWORKS=frameworks) +lenvCython.Program('runners/snpemodel_pyx.so', 'runners/snpemodel_pyx.pyx', LIBS=[snpemodel_lib, snpe_lib, *cython_libs], FRAMEWORKS=frameworks, RPATH=snpe_rpath) +lenvCython.Program('models/commonmodel_pyx.so', 'models/commonmodel_pyx.pyx', LIBS=[commonmodel_lib, *cython_libs], FRAMEWORKS=frameworks) + +tinygrad_files = ["#"+x for x in glob.glob(env.Dir("#tinygrad_repo").relpath + "/**", recursive=True, root_dir=env.Dir("#").abspath)] + +# Get model metadata +fn = File("models/supercombo").abspath +cmd = f'python3 {Dir("#selfdrive/classic_modeld").abspath}/get_model_metadata.py {fn}.onnx' +lenv.Command(fn + "_metadata.pkl", [fn + ".onnx"] + tinygrad_files, cmd) + +# Build thneed model +if arch == "larch64" or GetOption('pc_thneed'): + tinygrad_opts = [] + if not GetOption('pc_thneed'): + # use FLOAT16 on device for speed + don't cache the CL kernels for space + tinygrad_opts += ["FLOAT16=1", "PYOPENCL_NO_CACHE=1"] + cmd = f"cd {Dir('#').abspath}/tinygrad_repo && " + ' '.join(tinygrad_opts) + f" python3 openpilot/compile2.py {fn}.onnx {fn}.thneed" + + lenv.Command(fn + ".thneed", [fn + ".onnx"] + tinygrad_files, cmd) + + thneed_lib = env.SharedLibrary('thneed', thneed_src, LIBS=[gpucommon, common, 'zmq', 'OpenCL', 'dl']) + thneedmodel_lib = env.Library('thneedmodel', ['runners/thneedmodel.cc']) + lenvCython.Program('runners/thneedmodel_pyx.so', 'runners/thneedmodel_pyx.pyx', LIBS=envCython["LIBS"]+[thneedmodel_lib, thneed_lib, gpucommon, common, 'dl', 'zmq', 'OpenCL']) diff --git a/selfdrive/classic_modeld/__init__.py b/selfdrive/classic_modeld/__init__.py new file mode 100644 index 00000000000000..e69de29bb2d1d6 diff --git a/selfdrive/classic_modeld/classic_modeld b/selfdrive/classic_modeld/classic_modeld new file mode 100755 index 00000000000000..3153c81ef686a6 --- /dev/null +++ b/selfdrive/classic_modeld/classic_modeld @@ -0,0 +1,10 @@ +#!/usr/bin/env bash + +DIR="$(cd "$(dirname "${BASH_SOURCE[0]}")" >/dev/null && pwd)" +cd "$DIR/../../" + +if [ -f "$DIR/libthneed.so" ]; then + export LD_PRELOAD="$DIR/libthneed.so" +fi + +exec "$DIR/classic_modeld.py" "$@" diff --git a/selfdrive/classic_modeld/classic_modeld.py b/selfdrive/classic_modeld/classic_modeld.py new file mode 100755 index 00000000000000..06c7cf8112c26a --- /dev/null +++ b/selfdrive/classic_modeld/classic_modeld.py @@ -0,0 +1,367 @@ +#!/usr/bin/env python3 +import os +import time +import pickle +import numpy as np +import cereal.messaging as messaging +from cereal import car, log +from pathlib import Path +from setproctitle import setproctitle +from types import SimpleNamespace +from cereal.messaging import PubMaster, SubMaster +from msgq.visionipc import VisionIpcClient, VisionStreamType, VisionBuf +from openpilot.common.swaglog import cloudlog +from openpilot.common.params import Params +from openpilot.common.filter_simple import FirstOrderFilter +from openpilot.common.realtime import config_realtime_process +from openpilot.common.transformations.camera import DEVICE_CAMERAS +from openpilot.common.transformations.model import get_warp_matrix +from openpilot.system import sentry +from openpilot.selfdrive.car.car_helpers import get_demo_car_params +from openpilot.selfdrive.controls.lib.desire_helper import DesireHelper +from openpilot.selfdrive.classic_modeld.runners import ModelRunner, Runtime +from openpilot.selfdrive.classic_modeld.parse_model_outputs import Parser +from openpilot.selfdrive.classic_modeld.fill_model_msg import fill_model_msg, fill_pose_msg, PublishState +from openpilot.selfdrive.classic_modeld.constants import ModelConstants +from openpilot.selfdrive.classic_modeld.models.commonmodel_pyx import ModelFrame, CLContext + +from openpilot.selfdrive.frogpilot.assets.model_manager import DEFAULT_MODEL +from openpilot.selfdrive.frogpilot.frogpilot_functions import MODELS_PATH +from openpilot.selfdrive.frogpilot.frogpilot_variables import FrogPilotVariables + +PROCESS_NAME = "selfdrive.classic_modeld.modeld" +SEND_RAW_PRED = os.getenv('SEND_RAW_PRED') + +MODEL_PATHS = { + ModelRunner.THNEED: Path(__file__).parent / 'models/supercombo.thneed', + ModelRunner.ONNX: Path(__file__).parent / 'models/supercombo.onnx'} + +METADATA_PATH = Path(__file__).parent / 'models/supercombo_metadata.pkl' + +class FrameMeta: + frame_id: int = 0 + timestamp_sof: int = 0 + timestamp_eof: int = 0 + + def __init__(self, vipc=None): + if vipc is not None: + self.frame_id, self.timestamp_sof, self.timestamp_eof = vipc.frame_id, vipc.timestamp_sof, vipc.timestamp_eof + +class ModelState: + frame: ModelFrame + wide_frame: ModelFrame + inputs: dict[str, np.ndarray] + output: np.ndarray + prev_desire: np.ndarray # for tracking the rising edge of the pulse + model: ModelRunner + + def __init__(self, context: CLContext, frogpilot_toggles: SimpleNamespace): + # FrogPilot variables + self.enable_navigation = not frogpilot_toggles.navigationless_model + self.radarless = frogpilot_toggles.radarless_model + + model_path = Path(__file__).parent / f'{MODELS_PATH}/{frogpilot_toggles.model}.thneed' + if frogpilot_toggles.model != DEFAULT_MODEL and model_path.exists(): + MODEL_PATHS[ModelRunner.THNEED] = model_path + + self.frame = ModelFrame(context) + self.wide_frame = ModelFrame(context) + self.prev_desire = np.zeros(ModelConstants.DESIRE_LEN, dtype=np.float32) + self.inputs = { + 'desire': np.zeros(ModelConstants.DESIRE_LEN * (ModelConstants.HISTORY_BUFFER_LEN+1), dtype=np.float32), + 'traffic_convention': np.zeros(ModelConstants.TRAFFIC_CONVENTION_LEN, dtype=np.float32), + 'lateral_control_params': np.zeros(ModelConstants.LATERAL_CONTROL_PARAMS_LEN, dtype=np.float32), + 'prev_desired_curv': np.zeros(ModelConstants.PREV_DESIRED_CURV_LEN * (ModelConstants.HISTORY_BUFFER_LEN+1), dtype=np.float32), + **({'nav_features': np.zeros(ModelConstants.NAV_FEATURE_LEN, dtype=np.float32), + 'nav_instructions': np.zeros(ModelConstants.NAV_INSTRUCTION_LEN, dtype=np.float32)} if self.enable_navigation else {}), + 'features_buffer': np.zeros((ModelConstants.HISTORY_BUFFER_LEN) * ModelConstants.FEATURE_LEN, dtype=np.float32), + **({'radar_tracks': np.zeros(ModelConstants.RADAR_TRACKS_LEN * ModelConstants.RADAR_TRACKS_WIDTH, dtype=np.float32)} if self.radarless else {}), + } + + with open(METADATA_PATH, 'rb') as f: + model_metadata = pickle.load(f) + + self.output_slices = model_metadata['output_slices'] + net_output_size = model_metadata['output_shapes']['outputs'][1] + self.output = np.zeros(net_output_size, dtype=np.float32) + self.parser = Parser() + + self.model = ModelRunner(MODEL_PATHS, self.output, Runtime.GPU, False, context) + self.model.addInput("input_imgs", None) + self.model.addInput("big_input_imgs", None) + for k,v in self.inputs.items(): + self.model.addInput(k, v) + + def slice_outputs(self, model_outputs: np.ndarray) -> dict[str, np.ndarray]: + parsed_model_outputs = {k: model_outputs[np.newaxis, v] for k,v in self.output_slices.items()} + if SEND_RAW_PRED: + parsed_model_outputs['raw_pred'] = model_outputs.copy() + return parsed_model_outputs + + def run(self, buf: VisionBuf, wbuf: VisionBuf, transform: np.ndarray, transform_wide: np.ndarray, + inputs: dict[str, np.ndarray], prepare_only: bool) -> dict[str, np.ndarray] | None: + # Model decides when action is completed, so desire input is just a pulse triggered on rising edge + inputs['desire'][0] = 0 + self.inputs['desire'][:-ModelConstants.DESIRE_LEN] = self.inputs['desire'][ModelConstants.DESIRE_LEN:] + self.inputs['desire'][-ModelConstants.DESIRE_LEN:] = np.where(inputs['desire'] - self.prev_desire > .99, inputs['desire'], 0) + self.prev_desire[:] = inputs['desire'] + + self.inputs['traffic_convention'][:] = inputs['traffic_convention'] + self.inputs['lateral_control_params'][:] = inputs['lateral_control_params'] + + if self.enable_navigation: + self.inputs['nav_features'][:] = inputs['nav_features'] + self.inputs['nav_instructions'][:] = inputs['nav_instructions'] + + if self.radarless: + self.inputs['radar_tracks'][:] = inputs['radar_tracks'] + + # if getCLBuffer is not None, frame will be None + self.model.setInputBuffer("input_imgs", self.frame.prepare(buf, transform.flatten(), self.model.getCLBuffer("input_imgs"))) + if wbuf is not None: + self.model.setInputBuffer("big_input_imgs", self.wide_frame.prepare(wbuf, transform_wide.flatten(), self.model.getCLBuffer("big_input_imgs"))) + + if prepare_only: + return None + + self.model.execute() + outputs = self.parser.parse_outputs(self.slice_outputs(self.output)) + + self.inputs['features_buffer'][:-ModelConstants.FEATURE_LEN] = self.inputs['features_buffer'][ModelConstants.FEATURE_LEN:] + self.inputs['features_buffer'][-ModelConstants.FEATURE_LEN:] = outputs['hidden_state'][0, :] + self.inputs['prev_desired_curv'][:-ModelConstants.PREV_DESIRED_CURV_LEN] = self.inputs['prev_desired_curv'][ModelConstants.PREV_DESIRED_CURV_LEN:] + self.inputs['prev_desired_curv'][-ModelConstants.PREV_DESIRED_CURV_LEN:] = outputs['desired_curvature'][0, :] + return outputs + + +def main(demo=False): + # FrogPilot variables + frogpilot_toggles = FrogPilotVariables.toggles + FrogPilotVariables.update_frogpilot_params() + + enable_navigation = not frogpilot_toggles.navigationless_model + radarless = frogpilot_toggles.radarless_model + + update_toggles = False + + cloudlog.warning("classic_modeld init") + + sentry.set_tag("daemon", PROCESS_NAME) + cloudlog.bind(daemon=PROCESS_NAME) + setproctitle(PROCESS_NAME) + config_realtime_process(7, 54) + + cloudlog.warning("setting up CL context") + cl_context = CLContext() + cloudlog.warning("CL context ready; loading model") + model = ModelState(cl_context, frogpilot_toggles) + cloudlog.warning("models loaded, classic_modeld starting") + + # visionipc clients + while True: + available_streams = VisionIpcClient.available_streams("camerad", block=False) + if available_streams: + use_extra_client = VisionStreamType.VISION_STREAM_WIDE_ROAD in available_streams and VisionStreamType.VISION_STREAM_ROAD in available_streams + main_wide_camera = VisionStreamType.VISION_STREAM_ROAD not in available_streams + break + time.sleep(.1) + + vipc_client_main_stream = VisionStreamType.VISION_STREAM_WIDE_ROAD if main_wide_camera else VisionStreamType.VISION_STREAM_ROAD + vipc_client_main = VisionIpcClient("camerad", vipc_client_main_stream, True, cl_context) + vipc_client_extra = VisionIpcClient("camerad", VisionStreamType.VISION_STREAM_WIDE_ROAD, False, cl_context) + cloudlog.warning(f"vision stream set up, main_wide_camera: {main_wide_camera}, use_extra_client: {use_extra_client}") + + while not vipc_client_main.connect(False): + time.sleep(0.1) + while use_extra_client and not vipc_client_extra.connect(False): + time.sleep(0.1) + + cloudlog.warning(f"connected main cam with buffer size: {vipc_client_main.buffer_len} ({vipc_client_main.width} x {vipc_client_main.height})") + if use_extra_client: + cloudlog.warning(f"connected extra cam with buffer size: {vipc_client_extra.buffer_len} ({vipc_client_extra.width} x {vipc_client_extra.height})") + + # messaging + pm = PubMaster(["modelV2", "cameraOdometry"]) + sm = SubMaster(["deviceState", "carState", "roadCameraState", "liveCalibration", "driverMonitoringState", "navModel", "navInstruction", "carControl", "liveTracks", "frogpilotPlan"]) + + publish_state = PublishState() + params = Params() + + # setup filter to track dropped frames + frame_dropped_filter = FirstOrderFilter(0., 10., 1. / ModelConstants.MODEL_FREQ) + frame_id = 0 + last_vipc_frame_id = 0 + run_count = 0 + + model_transform_main = np.zeros((3, 3), dtype=np.float32) + model_transform_extra = np.zeros((3, 3), dtype=np.float32) + live_calib_seen = False + nav_features = np.zeros(ModelConstants.NAV_FEATURE_LEN, dtype=np.float32) + nav_instructions = np.zeros(ModelConstants.NAV_INSTRUCTION_LEN, dtype=np.float32) + buf_main, buf_extra = None, None + meta_main = FrameMeta() + meta_extra = FrameMeta() + + + if demo: + CP = get_demo_car_params() + else: + with car.CarParams.from_bytes(params.get("CarParams", block=True)) as msg: + CP = msg + cloudlog.info("classic_modeld got CarParams: %s", CP.carName) + + # TODO this needs more thought, use .2s extra for now to estimate other delays + steer_delay = CP.steerActuatorDelay + .2 + + DH = DesireHelper() + + while True: + # Keep receiving frames until we are at least 1 frame ahead of previous extra frame + while meta_main.timestamp_sof < meta_extra.timestamp_sof + 25000000: + buf_main = vipc_client_main.recv() + meta_main = FrameMeta(vipc_client_main) + if buf_main is None: + break + + if buf_main is None: + cloudlog.debug("vipc_client_main no frame") + continue + + if use_extra_client: + # Keep receiving extra frames until frame id matches main camera + while True: + buf_extra = vipc_client_extra.recv() + meta_extra = FrameMeta(vipc_client_extra) + if buf_extra is None or meta_main.timestamp_sof < meta_extra.timestamp_sof + 25000000: + break + + if buf_extra is None: + cloudlog.debug("vipc_client_extra no frame") + continue + + if abs(meta_main.timestamp_sof - meta_extra.timestamp_sof) > 10000000: + cloudlog.error(f"frames out of sync! main: {meta_main.frame_id} ({meta_main.timestamp_sof / 1e9:.5f}),\ + extra: {meta_extra.frame_id} ({meta_extra.timestamp_sof / 1e9:.5f})") + + else: + # Use single camera + buf_extra = buf_main + meta_extra = meta_main + + sm.update(0) + desire = DH.desire + is_rhd = sm["driverMonitoringState"].isRHD + frame_id = sm["roadCameraState"].frameId + lateral_control_params = np.array([sm["carState"].vEgo, steer_delay], dtype=np.float32) + if sm.updated["liveCalibration"] and sm.seen['roadCameraState'] and sm.seen['deviceState']: + device_from_calib_euler = np.array(sm["liveCalibration"].rpyCalib, dtype=np.float32) + dc = DEVICE_CAMERAS[(str(sm['deviceState'].deviceType), str(sm['roadCameraState'].sensor))] + model_transform_main = get_warp_matrix(device_from_calib_euler, dc.ecam.intrinsics if main_wide_camera else dc.fcam.intrinsics, False).astype(np.float32) + model_transform_extra = get_warp_matrix(device_from_calib_euler, dc.ecam.intrinsics, True).astype(np.float32) + live_calib_seen = True + + traffic_convention = np.zeros(2) + traffic_convention[int(is_rhd)] = 1 + + vec_desire = np.zeros(ModelConstants.DESIRE_LEN, dtype=np.float32) + if desire >= 0 and desire < ModelConstants.DESIRE_LEN: + vec_desire[desire] = 1 + + # Enable/disable nav features + timestamp_llk = sm["navModel"].locationMonoTime + nav_valid = sm.valid["navModel"] # and (nanos_since_boot() - timestamp_llk < 1e9) + nav_enabled = nav_valid and enable_navigation + + if not nav_enabled: + nav_features[:] = 0 + nav_instructions[:] = 0 + + if nav_enabled and sm.updated["navModel"]: + nav_features = np.array(sm["navModel"].features) + + if nav_enabled and sm.updated["navInstruction"]: + nav_instructions[:] = 0 + for maneuver in sm["navInstruction"].allManeuvers: + distance_idx = 25 + int(maneuver.distance / 20) + direction_idx = 0 + if maneuver.modifier in ("left", "slight left", "sharp left"): + direction_idx = 1 + if maneuver.modifier in ("right", "slight right", "sharp right"): + direction_idx = 2 + if 0 <= distance_idx < 50: + nav_instructions[distance_idx*3 + direction_idx] = 1 + + radar_tracks = np.zeros(ModelConstants.RADAR_TRACKS_LEN * ModelConstants.RADAR_TRACKS_WIDTH, dtype=np.float32) + if sm.updated["liveTracks"]: + for i, track in enumerate(sm["liveTracks"]): + if i >= ModelConstants.RADAR_TRACKS_LEN: + break + vec_index = i * ModelConstants.RADAR_TRACKS_WIDTH + radar_tracks[vec_index:vec_index+ModelConstants.RADAR_TRACKS_WIDTH] = [track.dRel, track.yRel, track.vRel] + + # tracked dropped frames + vipc_dropped_frames = max(0, meta_main.frame_id - last_vipc_frame_id - 1) + frames_dropped = frame_dropped_filter.update(min(vipc_dropped_frames, 10)) + if run_count < 10: # let frame drops warm up + frame_dropped_filter.x = 0. + frames_dropped = 0. + run_count = run_count + 1 + + frame_drop_ratio = frames_dropped / (1 + frames_dropped) + prepare_only = vipc_dropped_frames > 0 + if prepare_only: + cloudlog.error(f"skipping model eval. Dropped {vipc_dropped_frames} frames") + + inputs:dict[str, np.ndarray] = { + 'desire': vec_desire, + 'traffic_convention': traffic_convention, + 'lateral_control_params': lateral_control_params, + **({'nav_features': nav_features, 'nav_instructions': nav_instructions} if enable_navigation else {}), + **({'radar_tracks': radar_tracks,} if radarless else {}), + } + + mt1 = time.perf_counter() + model_output = model.run(buf_main, buf_extra, model_transform_main, model_transform_extra, inputs, prepare_only) + mt2 = time.perf_counter() + model_execution_time = mt2 - mt1 + + if model_output is not None: + modelv2_send = messaging.new_message('modelV2') + posenet_send = messaging.new_message('cameraOdometry') + fill_model_msg(modelv2_send, model_output, publish_state, meta_main.frame_id, meta_extra.frame_id, frame_id, frame_drop_ratio, + meta_main.timestamp_eof, timestamp_llk, model_execution_time, live_calib_seen, nav_enabled) + + desire_state = modelv2_send.modelV2.meta.desireState + l_lane_change_prob = desire_state[log.Desire.laneChangeLeft] + r_lane_change_prob = desire_state[log.Desire.laneChangeRight] + lane_change_prob = l_lane_change_prob + r_lane_change_prob + DH.update(sm['carState'], sm['carControl'].latActive, lane_change_prob, sm['frogpilotPlan'], frogpilot_toggles) + modelv2_send.modelV2.meta.laneChangeState = DH.lane_change_state + modelv2_send.modelV2.meta.laneChangeDirection = DH.lane_change_direction + modelv2_send.modelV2.meta.turnDirection = DH.turn_direction + + fill_pose_msg(posenet_send, model_output, meta_main.frame_id, vipc_dropped_frames, meta_main.timestamp_eof, live_calib_seen) + pm.send('modelV2', modelv2_send) + pm.send('cameraOdometry', posenet_send) + + last_vipc_frame_id = meta_main.frame_id + + # Update FrogPilot parameters + if FrogPilotVariables.toggles_updated: + update_toggles = True + elif update_toggles: + FrogPilotVariables.update_frogpilot_params() + update_toggles = False + +if __name__ == "__main__": + try: + import argparse + parser = argparse.ArgumentParser() + parser.add_argument('--demo', action='store_true', help='A boolean for demo mode.') + args = parser.parse_args() + main(demo=args.demo) + except KeyboardInterrupt: + cloudlog.warning(f"child {PROCESS_NAME} got SIGINT") + except Exception: + sentry.capture_exception() + raise diff --git a/selfdrive/classic_modeld/constants.py b/selfdrive/classic_modeld/constants.py new file mode 100644 index 00000000000000..c0455f2f54f73d --- /dev/null +++ b/selfdrive/classic_modeld/constants.py @@ -0,0 +1,86 @@ +import numpy as np + +def index_function(idx, max_val=192, max_idx=32): + return (max_val) * ((idx/max_idx)**2) + +class ModelConstants: + # time and distance indices + IDX_N = 33 + T_IDXS = [index_function(idx, max_val=10.0) for idx in range(IDX_N)] + X_IDXS = [index_function(idx, max_val=192.0) for idx in range(IDX_N)] + LEAD_T_IDXS = [0., 2., 4., 6., 8., 10.] + LEAD_T_OFFSETS = [0., 2., 4.] + META_T_IDXS = [2., 4., 6., 8., 10.] + + # model inputs constants + MODEL_FREQ = 20 + FEATURE_LEN = 512 + HISTORY_BUFFER_LEN = 99 + DESIRE_LEN = 8 + TRAFFIC_CONVENTION_LEN = 2 + NAV_FEATURE_LEN = 256 + NAV_INSTRUCTION_LEN = 150 + LAT_PLANNER_STATE_LEN = 4 + LATERAL_CONTROL_PARAMS_LEN = 2 + PREV_DESIRED_CURV_LEN = 1 + RADAR_TRACKS_LEN = 64 + + # model outputs constants + FCW_THRESHOLDS_5MS2 = np.array([.05, .05, .15, .15, .15], dtype=np.float32) + FCW_THRESHOLDS_3MS2 = np.array([.7, .7], dtype=np.float32) + FCW_5MS2_PROBS_WIDTH = 5 + FCW_3MS2_PROBS_WIDTH = 2 + + DISENGAGE_WIDTH = 5 + POSE_WIDTH = 6 + WIDE_FROM_DEVICE_WIDTH = 3 + SIM_POSE_WIDTH = 6 + LEAD_WIDTH = 4 + LANE_LINES_WIDTH = 2 + ROAD_EDGES_WIDTH = 2 + PLAN_WIDTH = 15 + DESIRE_PRED_WIDTH = 8 + LAT_PLANNER_SOLUTION_WIDTH = 4 + DESIRED_CURV_WIDTH = 1 + RADAR_TRACKS_WIDTH = 3 + + NUM_LANE_LINES = 4 + NUM_ROAD_EDGES = 2 + + LEAD_TRAJ_LEN = 6 + DESIRE_PRED_LEN = 4 + + PLAN_MHP_N = 5 + LEAD_MHP_N = 2 + PLAN_MHP_SELECTION = 1 + LEAD_MHP_SELECTION = 3 + + FCW_THRESHOLD_5MS2_HIGH = 0.15 + FCW_THRESHOLD_5MS2_LOW = 0.05 + FCW_THRESHOLD_3MS2 = 0.7 + + CONFIDENCE_BUFFER_LEN = 5 + RYG_GREEN = 0.01165 + RYG_YELLOW = 0.06157 + +# model outputs slices +class Plan: + POSITION = slice(0, 3) + VELOCITY = slice(3, 6) + ACCELERATION = slice(6, 9) + T_FROM_CURRENT_EULER = slice(9, 12) + ORIENTATION_RATE = slice(12, 15) + +class Meta: + ENGAGED = slice(0, 1) + # next 2, 4, 6, 8, 10 seconds + GAS_DISENGAGE = slice(1, 36, 7) + BRAKE_DISENGAGE = slice(2, 36, 7) + STEER_OVERRIDE = slice(3, 36, 7) + HARD_BRAKE_3 = slice(4, 36, 7) + HARD_BRAKE_4 = slice(5, 36, 7) + HARD_BRAKE_5 = slice(6, 36, 7) + GAS_PRESS = slice(7, 36, 7) + # next 0, 2, 4, 6, 8, 10 seconds + LEFT_BLINKER = slice(36, 48, 2) + RIGHT_BLINKER = slice(37, 48, 2) diff --git a/selfdrive/classic_modeld/dmonitoringmodeld.py b/selfdrive/classic_modeld/dmonitoringmodeld.py new file mode 100644 index 00000000000000..3d736c0cb4fdb1 --- /dev/null +++ b/selfdrive/classic_modeld/dmonitoringmodeld.py @@ -0,0 +1,156 @@ +#!/usr/bin/env python3 +import os +import gc +import math +import time +import ctypes +import numpy as np +from pathlib import Path + +from cereal import messaging +from cereal.messaging import PubMaster, SubMaster +from msgq.visionipc import VisionIpcClient, VisionStreamType, VisionBuf +from openpilot.common.swaglog import cloudlog +from openpilot.common.params import Params +from openpilot.common.realtime import set_realtime_priority +from openpilot.selfdrive.classic_modeld.runners import ModelRunner, Runtime +from openpilot.selfdrive.classic_modeld.models.commonmodel_pyx import sigmoid + +CALIB_LEN = 3 +REG_SCALE = 0.25 +MODEL_WIDTH = 1440 +MODEL_HEIGHT = 960 +OUTPUT_SIZE = 84 +SEND_RAW_PRED = os.getenv('SEND_RAW_PRED') +MODEL_PATHS = { + ModelRunner.SNPE: Path(__file__).parent / 'models/dmonitoring_model_q.dlc', + ModelRunner.ONNX: Path(__file__).parent / 'models/dmonitoring_model.onnx'} + +class DriverStateResult(ctypes.Structure): + _fields_ = [ + ("face_orientation", ctypes.c_float*3), + ("face_position", ctypes.c_float*3), + ("face_orientation_std", ctypes.c_float*3), + ("face_position_std", ctypes.c_float*3), + ("face_prob", ctypes.c_float), + ("_unused_a", ctypes.c_float*8), + ("left_eye_prob", ctypes.c_float), + ("_unused_b", ctypes.c_float*8), + ("right_eye_prob", ctypes.c_float), + ("left_blink_prob", ctypes.c_float), + ("right_blink_prob", ctypes.c_float), + ("sunglasses_prob", ctypes.c_float), + ("occluded_prob", ctypes.c_float), + ("ready_prob", ctypes.c_float*4), + ("not_ready_prob", ctypes.c_float*2)] + +class DMonitoringModelResult(ctypes.Structure): + _fields_ = [ + ("driver_state_lhd", DriverStateResult), + ("driver_state_rhd", DriverStateResult), + ("poor_vision_prob", ctypes.c_float), + ("wheel_on_right_prob", ctypes.c_float)] + +class ModelState: + inputs: dict[str, np.ndarray] + output: np.ndarray + model: ModelRunner + + def __init__(self): + assert ctypes.sizeof(DMonitoringModelResult) == OUTPUT_SIZE * ctypes.sizeof(ctypes.c_float) + self.output = np.zeros(OUTPUT_SIZE, dtype=np.float32) + self.inputs = { + 'input_img': np.zeros(MODEL_HEIGHT * MODEL_WIDTH, dtype=np.uint8), + 'calib': np.zeros(CALIB_LEN, dtype=np.float32)} + + self.model = ModelRunner(MODEL_PATHS, self.output, Runtime.DSP, True, None) + self.model.addInput("input_img", None) + self.model.addInput("calib", self.inputs['calib']) + + def run(self, buf:VisionBuf, calib:np.ndarray) -> tuple[np.ndarray, float]: + self.inputs['calib'][:] = calib + + v_offset = buf.height - MODEL_HEIGHT + h_offset = (buf.width - MODEL_WIDTH) // 2 + buf_data = buf.data.reshape(-1, buf.stride) + input_data = self.inputs['input_img'].reshape(MODEL_HEIGHT, MODEL_WIDTH) + input_data[:] = buf_data[v_offset:v_offset+MODEL_HEIGHT, h_offset:h_offset+MODEL_WIDTH] + + t1 = time.perf_counter() + self.model.setInputBuffer("input_img", self.inputs['input_img'].view(np.float32)) + self.model.execute() + t2 = time.perf_counter() + return self.output, t2 - t1 + + +def fill_driver_state(msg, ds_result: DriverStateResult): + msg.faceOrientation = [x * REG_SCALE for x in ds_result.face_orientation] + msg.faceOrientationStd = [math.exp(x) for x in ds_result.face_orientation_std] + msg.facePosition = [x * REG_SCALE for x in ds_result.face_position[:2]] + msg.facePositionStd = [math.exp(x) for x in ds_result.face_position_std[:2]] + msg.faceProb = sigmoid(ds_result.face_prob) + msg.leftEyeProb = sigmoid(ds_result.left_eye_prob) + msg.rightEyeProb = sigmoid(ds_result.right_eye_prob) + msg.leftBlinkProb = sigmoid(ds_result.left_blink_prob) + msg.rightBlinkProb = sigmoid(ds_result.right_blink_prob) + msg.sunglassesProb = sigmoid(ds_result.sunglasses_prob) + msg.occludedProb = sigmoid(ds_result.occluded_prob) + msg.readyProb = [sigmoid(x) for x in ds_result.ready_prob] + msg.notReadyProb = [sigmoid(x) for x in ds_result.not_ready_prob] + +def get_driverstate_packet(model_output: np.ndarray, frame_id: int, location_ts: int, execution_time: float, dsp_execution_time: float): + model_result = ctypes.cast(model_output.ctypes.data, ctypes.POINTER(DMonitoringModelResult)).contents + msg = messaging.new_message('driverStateV2', valid=True) + ds = msg.driverStateV2 + ds.frameId = frame_id + ds.modelExecutionTime = execution_time + ds.dspExecutionTime = dsp_execution_time + ds.poorVisionProb = sigmoid(model_result.poor_vision_prob) + ds.wheelOnRightProb = sigmoid(model_result.wheel_on_right_prob) + ds.rawPredictions = model_output.tobytes() if SEND_RAW_PRED else b'' + fill_driver_state(ds.leftDriverData, model_result.driver_state_lhd) + fill_driver_state(ds.rightDriverData, model_result.driver_state_rhd) + return msg + + +def main(): + gc.disable() + set_realtime_priority(1) + + model = ModelState() + cloudlog.warning("models loaded, dmonitoringmodeld starting") + Params().put_bool("DmModelInitialized", True) + + cloudlog.warning("connecting to driver stream") + vipc_client = VisionIpcClient("camerad", VisionStreamType.VISION_STREAM_DRIVER, True) + while not vipc_client.connect(False): + time.sleep(0.1) + assert vipc_client.is_connected() + cloudlog.warning(f"connected with buffer size: {vipc_client.buffer_len}") + + sm = SubMaster(["liveCalibration"]) + pm = PubMaster(["driverStateV2"]) + + calib = np.zeros(CALIB_LEN, dtype=np.float32) + # last = 0 + + while True: + buf = vipc_client.recv() + if buf is None: + continue + + sm.update(0) + if sm.updated["liveCalibration"]: + calib[:] = np.array(sm["liveCalibration"].rpyCalib) + + t1 = time.perf_counter() + model_output, dsp_execution_time = model.run(buf, calib) + t2 = time.perf_counter() + + pm.send("driverStateV2", get_driverstate_packet(model_output, vipc_client.frame_id, vipc_client.timestamp_sof, t2 - t1, dsp_execution_time)) + # print("dmonitoring process: %.2fms, from last %.2fms\n" % (t2 - t1, t1 - last)) + # last = t1 + + +if __name__ == "__main__": + main() diff --git a/selfdrive/classic_modeld/fill_model_msg.py b/selfdrive/classic_modeld/fill_model_msg.py new file mode 100644 index 00000000000000..9bb03af54fc01e --- /dev/null +++ b/selfdrive/classic_modeld/fill_model_msg.py @@ -0,0 +1,210 @@ +import os +import capnp +import numpy as np +from cereal import log +from openpilot.selfdrive.classic_modeld.constants import ModelConstants, Plan, Meta + +SEND_RAW_PRED = os.getenv('SEND_RAW_PRED') + +ConfidenceClass = log.ModelDataV2.ConfidenceClass + +class PublishState: + def __init__(self): + self.disengage_buffer = np.zeros(ModelConstants.CONFIDENCE_BUFFER_LEN*ModelConstants.DISENGAGE_WIDTH, dtype=np.float32) + self.prev_brake_5ms2_probs = np.zeros(ModelConstants.FCW_5MS2_PROBS_WIDTH, dtype=np.float32) + self.prev_brake_3ms2_probs = np.zeros(ModelConstants.FCW_3MS2_PROBS_WIDTH, dtype=np.float32) + +def fill_xyzt(builder, t, x, y, z, x_std=None, y_std=None, z_std=None): + builder.t = t + builder.x = x.tolist() + builder.y = y.tolist() + builder.z = z.tolist() + if x_std is not None: + builder.xStd = x_std.tolist() + if y_std is not None: + builder.yStd = y_std.tolist() + if z_std is not None: + builder.zStd = z_std.tolist() + +def fill_xyvat(builder, t, x, y, v, a, x_std=None, y_std=None, v_std=None, a_std=None): + builder.t = t + builder.x = x.tolist() + builder.y = y.tolist() + builder.v = v.tolist() + builder.a = a.tolist() + if x_std is not None: + builder.xStd = x_std.tolist() + if y_std is not None: + builder.yStd = y_std.tolist() + if v_std is not None: + builder.vStd = v_std.tolist() + if a_std is not None: + builder.aStd = a_std.tolist() + +def fill_model_msg(msg: capnp._DynamicStructBuilder, net_output_data: dict[str, np.ndarray], publish_state: PublishState, + vipc_frame_id: int, vipc_frame_id_extra: int, frame_id: int, frame_drop: float, + timestamp_eof: int, timestamp_llk: int, model_execution_time: float, valid: bool, nav_enabled: bool) -> None: + frame_age = frame_id - vipc_frame_id if frame_id > vipc_frame_id else 0 + msg.valid = valid + + modelV2 = msg.modelV2 + modelV2.frameId = vipc_frame_id + modelV2.frameIdExtra = vipc_frame_id_extra + modelV2.frameAge = frame_age + modelV2.frameDropPerc = frame_drop * 100 + modelV2.timestampEof = timestamp_eof + modelV2.modelExecutionTime = model_execution_time + modelV2.navEnabled = nav_enabled + + # plan + position = modelV2.position + fill_xyzt(position, ModelConstants.T_IDXS, *net_output_data['plan'][0,:,Plan.POSITION].T, *net_output_data['plan_stds'][0,:,Plan.POSITION].T) + velocity = modelV2.velocity + fill_xyzt(velocity, ModelConstants.T_IDXS, *net_output_data['plan'][0,:,Plan.VELOCITY].T) + acceleration = modelV2.acceleration + fill_xyzt(acceleration, ModelConstants.T_IDXS, *net_output_data['plan'][0,:,Plan.ACCELERATION].T) + orientation = modelV2.orientation + fill_xyzt(orientation, ModelConstants.T_IDXS, *net_output_data['plan'][0,:,Plan.T_FROM_CURRENT_EULER].T) + orientation_rate = modelV2.orientationRate + fill_xyzt(orientation_rate, ModelConstants.T_IDXS, *net_output_data['plan'][0,:,Plan.ORIENTATION_RATE].T) + + # lateral planning + action = modelV2.action + action.desiredCurvature = float(net_output_data['desired_curvature'][0,0]) + + # times at X_IDXS according to model plan + PLAN_T_IDXS = [np.nan] * ModelConstants.IDX_N + PLAN_T_IDXS[0] = 0.0 + plan_x = net_output_data['plan'][0,:,Plan.POSITION][:,0].tolist() + for xidx in range(1, ModelConstants.IDX_N): + tidx = 0 + # increment tidx until we find an element that's further away than the current xidx + while tidx < ModelConstants.IDX_N - 1 and plan_x[tidx+1] < ModelConstants.X_IDXS[xidx]: + tidx += 1 + if tidx == ModelConstants.IDX_N - 1: + # if the Plan doesn't extend far enough, set plan_t to the max value (10s), then break + PLAN_T_IDXS[xidx] = ModelConstants.T_IDXS[ModelConstants.IDX_N - 1] + break + # interpolate to find `t` for the current xidx + current_x_val = plan_x[tidx] + next_x_val = plan_x[tidx+1] + p = (ModelConstants.X_IDXS[xidx] - current_x_val) / (next_x_val - current_x_val) if abs(next_x_val - current_x_val) > 1e-9 else float('nan') + PLAN_T_IDXS[xidx] = p * ModelConstants.T_IDXS[tidx+1] + (1 - p) * ModelConstants.T_IDXS[tidx] + + # lane lines + modelV2.init('laneLines', 6) + for i in range(6): + lane_line = modelV2.laneLines[i] + if i < 4: + fill_xyzt(lane_line, PLAN_T_IDXS, np.array(ModelConstants.X_IDXS), net_output_data['lane_lines'][0,i,:,0], net_output_data['lane_lines'][0,i,:,1]) + else: + far_lane, near_lane, road_edge = (0, 1, 0) if i == 4 else (3, 2, 1) + + near_lane_y = net_output_data['lane_lines'][0,near_lane,:,0] + road_edge_y = net_output_data['road_edges'][0,road_edge,:,0] + far_lane_y = net_output_data['lane_lines'][0,far_lane,:,0] + + road_edge_distance = abs(np.linalg.norm(road_edge_y - near_lane_y)) + far_lane_distance = abs(np.linalg.norm(far_lane_y - near_lane_y)) + + if road_edge_distance < far_lane_distance: + closest_lane_y = road_edge_y + else: + closest_lane_y = far_lane_y + + diff_y = closest_lane_y - near_lane_y + new_lane_y = near_lane_y + diff_y / 2 + + fill_xyzt(lane_line, PLAN_T_IDXS, np.array(ModelConstants.X_IDXS), new_lane_y, net_output_data['lane_lines'][0,near_lane,:,1]) + + modelV2.laneLineStds = net_output_data['lane_lines_stds'][0,:,0,0].tolist() + modelV2.laneLineProbs = net_output_data['lane_lines_prob'][0,1::2].tolist() + + # road edges + modelV2.init('roadEdges', 2) + for i in range(2): + road_edge = modelV2.roadEdges[i] + fill_xyzt(road_edge, PLAN_T_IDXS, np.array(ModelConstants.X_IDXS), net_output_data['road_edges'][0,i,:,0], net_output_data['road_edges'][0,i,:,1]) + modelV2.roadEdgeStds = net_output_data['road_edges_stds'][0,:,0,0].tolist() + + # leads + modelV2.init('leadsV3', 3) + for i in range(3): + lead = modelV2.leadsV3[i] + fill_xyvat(lead, ModelConstants.LEAD_T_IDXS, *net_output_data['lead'][0,i].T, *net_output_data['lead_stds'][0,i].T) + lead.prob = net_output_data['lead_prob'][0,i].tolist() + lead.probTime = ModelConstants.LEAD_T_OFFSETS[i] + + # meta + meta = modelV2.meta + meta.desireState = net_output_data['desire_state'][0].reshape(-1).tolist() + meta.desirePrediction = net_output_data['desire_pred'][0].reshape(-1).tolist() + meta.engagedProb = net_output_data['meta'][0,Meta.ENGAGED].item() + meta.init('disengagePredictions') + disengage_predictions = meta.disengagePredictions + disengage_predictions.t = ModelConstants.META_T_IDXS + disengage_predictions.brakeDisengageProbs = net_output_data['meta'][0,Meta.BRAKE_DISENGAGE].tolist() + disengage_predictions.gasDisengageProbs = net_output_data['meta'][0,Meta.GAS_DISENGAGE].tolist() + disengage_predictions.steerOverrideProbs = net_output_data['meta'][0,Meta.STEER_OVERRIDE].tolist() + disengage_predictions.brake3MetersPerSecondSquaredProbs = net_output_data['meta'][0,Meta.HARD_BRAKE_3].tolist() + disengage_predictions.brake4MetersPerSecondSquaredProbs = net_output_data['meta'][0,Meta.HARD_BRAKE_4].tolist() + disengage_predictions.brake5MetersPerSecondSquaredProbs = net_output_data['meta'][0,Meta.HARD_BRAKE_5].tolist() + + publish_state.prev_brake_5ms2_probs[:-1] = publish_state.prev_brake_5ms2_probs[1:] + publish_state.prev_brake_5ms2_probs[-1] = net_output_data['meta'][0,Meta.HARD_BRAKE_5][0] + publish_state.prev_brake_3ms2_probs[:-1] = publish_state.prev_brake_3ms2_probs[1:] + publish_state.prev_brake_3ms2_probs[-1] = net_output_data['meta'][0,Meta.HARD_BRAKE_3][0] + hard_brake_predicted = (publish_state.prev_brake_5ms2_probs > ModelConstants.FCW_THRESHOLDS_5MS2).all() and \ + (publish_state.prev_brake_3ms2_probs > ModelConstants.FCW_THRESHOLDS_3MS2).all() + meta.hardBrakePredicted = hard_brake_predicted.item() + + # temporal pose + temporal_pose = modelV2.temporalPose + temporal_pose.trans = net_output_data['sim_pose'][0,:3].tolist() + temporal_pose.transStd = net_output_data['sim_pose_stds'][0,:3].tolist() + temporal_pose.rot = net_output_data['sim_pose'][0,3:].tolist() + temporal_pose.rotStd = net_output_data['sim_pose_stds'][0,3:].tolist() + + # confidence + if vipc_frame_id % (2*ModelConstants.MODEL_FREQ) == 0: + # any disengage prob + brake_disengage_probs = net_output_data['meta'][0,Meta.BRAKE_DISENGAGE] + gas_disengage_probs = net_output_data['meta'][0,Meta.GAS_DISENGAGE] + steer_override_probs = net_output_data['meta'][0,Meta.STEER_OVERRIDE] + any_disengage_probs = 1-((1-brake_disengage_probs)*(1-gas_disengage_probs)*(1-steer_override_probs)) + # independent disengage prob for each 2s slice + ind_disengage_probs = np.r_[any_disengage_probs[0], np.diff(any_disengage_probs) / (1 - any_disengage_probs[:-1])] + # rolling buf for 2, 4, 6, 8, 10s + publish_state.disengage_buffer[:-ModelConstants.DISENGAGE_WIDTH] = publish_state.disengage_buffer[ModelConstants.DISENGAGE_WIDTH:] + publish_state.disengage_buffer[-ModelConstants.DISENGAGE_WIDTH:] = ind_disengage_probs + + score = 0. + for i in range(ModelConstants.DISENGAGE_WIDTH): + score += publish_state.disengage_buffer[i*ModelConstants.DISENGAGE_WIDTH+ModelConstants.DISENGAGE_WIDTH-1-i].item() / ModelConstants.DISENGAGE_WIDTH + if score < ModelConstants.RYG_GREEN: + modelV2.confidence = ConfidenceClass.green + elif score < ModelConstants.RYG_YELLOW: + modelV2.confidence = ConfidenceClass.yellow + else: + modelV2.confidence = ConfidenceClass.red + + # raw prediction if enabled + if SEND_RAW_PRED: + modelV2.rawPredictions = net_output_data['raw_pred'].tobytes() + +def fill_pose_msg(msg: capnp._DynamicStructBuilder, net_output_data: dict[str, np.ndarray], + vipc_frame_id: int, vipc_dropped_frames: int, timestamp_eof: int, live_calib_seen: bool) -> None: + msg.valid = live_calib_seen & (vipc_dropped_frames < 1) + cameraOdometry = msg.cameraOdometry + + cameraOdometry.frameId = vipc_frame_id + cameraOdometry.timestampEof = timestamp_eof + + cameraOdometry.trans = net_output_data['pose'][0,:3].tolist() + cameraOdometry.rot = net_output_data['pose'][0,3:].tolist() + cameraOdometry.wideFromDeviceEuler = net_output_data['wide_from_device_euler'][0,:].tolist() + cameraOdometry.roadTransformTrans = net_output_data['road_transform'][0,:3].tolist() + cameraOdometry.transStd = net_output_data['pose_stds'][0,:3].tolist() + cameraOdometry.rotStd = net_output_data['pose_stds'][0,3:].tolist() + cameraOdometry.wideFromDeviceEulerStd = net_output_data['wide_from_device_euler_stds'][0,:].tolist() + cameraOdometry.roadTransformTransStd = net_output_data['road_transform_stds'][0,:3].tolist() diff --git a/selfdrive/classic_modeld/get_model_metadata.py b/selfdrive/classic_modeld/get_model_metadata.py new file mode 100644 index 00000000000000..144860204fd79c --- /dev/null +++ b/selfdrive/classic_modeld/get_model_metadata.py @@ -0,0 +1,28 @@ +#!/usr/bin/env python3 +import sys +import pathlib +import onnx +import codecs +import pickle + +def get_name_and_shape(value_info:onnx.ValueInfoProto) -> tuple[str, tuple[int,...]]: + shape = tuple([int(dim.dim_value) for dim in value_info.type.tensor_type.shape.dim]) + name = value_info.name + return name, shape + +if __name__ == "__main__": + model_path = pathlib.Path(sys.argv[1]) + model = onnx.load(str(model_path)) + i = [x.key for x in model.metadata_props].index('output_slices') + output_slices = model.metadata_props[i].value + + metadata = {} + metadata['output_slices'] = pickle.loads(codecs.decode(output_slices.encode(), "base64")) + metadata['input_shapes'] = dict([get_name_and_shape(x) for x in model.graph.input]) + metadata['output_shapes'] = dict([get_name_and_shape(x) for x in model.graph.output]) + + metadata_path = model_path.parent / (model_path.stem + '_metadata.pkl') + with open(metadata_path, 'wb') as f: + pickle.dump(metadata, f) + + print(f'saved metadata to {metadata_path}') diff --git a/selfdrive/classic_modeld/libthneed.so b/selfdrive/classic_modeld/libthneed.so new file mode 100644 index 00000000000000..d55745b50c5953 Binary files /dev/null and b/selfdrive/classic_modeld/libthneed.so differ diff --git a/selfdrive/classic_modeld/models/__init__.py b/selfdrive/classic_modeld/models/__init__.py new file mode 100644 index 00000000000000..e69de29bb2d1d6 diff --git a/selfdrive/classic_modeld/models/commonmodel.pxd b/selfdrive/classic_modeld/models/commonmodel.pxd new file mode 100644 index 00000000000000..b67e866fb70df6 --- /dev/null +++ b/selfdrive/classic_modeld/models/commonmodel.pxd @@ -0,0 +1,20 @@ +# distutils: language = c++ + +from msgq.visionipc.visionipc cimport cl_device_id, cl_context, cl_mem + +cdef extern from "common/mat.h": + cdef struct mat3: + float v[9] + +cdef extern from "common/clutil.h": + cdef unsigned long CL_DEVICE_TYPE_DEFAULT + cl_device_id cl_get_device_id(unsigned long) + cl_context cl_create_context(cl_device_id) + +cdef extern from "selfdrive/classic_modeld/models/commonmodel.h": + float sigmoid(float) + + cppclass ModelFrame: + int buf_size + ModelFrame(cl_device_id, cl_context) + float * prepare(cl_mem, int, int, int, int, mat3, cl_mem*) diff --git a/selfdrive/classic_modeld/models/commonmodel_pyx.cpp b/selfdrive/classic_modeld/models/commonmodel_pyx.cpp new file mode 100644 index 00000000000000..11f638902643c3 --- /dev/null +++ b/selfdrive/classic_modeld/models/commonmodel_pyx.cpp @@ -0,0 +1,32064 @@ +/* Generated by Cython 3.0.8 */ + +/* BEGIN: Cython Metadata +{ + "distutils": { + "depends": [ + "common/clutil.h", + "common/mat.h", + "msgq/visionipc/visionbuf.h", + "msgq/visionipc/visionipc.h", + "msgq/visionipc/visionipc_client.h", + "msgq/visionipc/visionipc_server.h", + "selfdrive/classic_modeld/models/commonmodel.h" + ], + "language": "c++", + "name": "selfdrive.classic_modeld.models.commonmodel_pyx", + "sources": [ + "/data/openpilot/selfdrive/classic_modeld/models/commonmodel_pyx.pyx" + ] + }, + "module_name": "selfdrive.classic_modeld.models.commonmodel_pyx" +} +END: Cython Metadata */ + +#ifndef PY_SSIZE_T_CLEAN +#define PY_SSIZE_T_CLEAN +#endif /* PY_SSIZE_T_CLEAN */ +#if defined(CYTHON_LIMITED_API) && 0 + #ifndef Py_LIMITED_API + #if CYTHON_LIMITED_API+0 > 0x03030000 + #define Py_LIMITED_API CYTHON_LIMITED_API + #else + #define Py_LIMITED_API 0x03030000 + #endif + #endif +#endif + +#include "Python.h" +#ifndef Py_PYTHON_H + #error Python headers needed to compile C extensions, please install development version of Python. +#elif PY_VERSION_HEX < 0x02070000 || (0x03000000 <= PY_VERSION_HEX && PY_VERSION_HEX < 0x03030000) + #error Cython requires Python 2.7+ or Python 3.3+. +#else +#if defined(CYTHON_LIMITED_API) && CYTHON_LIMITED_API +#define __PYX_EXTRA_ABI_MODULE_NAME "limited" +#else +#define __PYX_EXTRA_ABI_MODULE_NAME "" +#endif +#define CYTHON_ABI "3_0_8" __PYX_EXTRA_ABI_MODULE_NAME +#define __PYX_ABI_MODULE_NAME "_cython_" CYTHON_ABI +#define __PYX_TYPE_MODULE_PREFIX __PYX_ABI_MODULE_NAME "." +#define CYTHON_HEX_VERSION 0x030008F0 +#define CYTHON_FUTURE_DIVISION 1 +#include +#ifndef offsetof + #define offsetof(type, member) ( (size_t) & ((type*)0) -> member ) +#endif +#if !defined(_WIN32) && !defined(WIN32) && !defined(MS_WINDOWS) + #ifndef __stdcall + #define __stdcall + #endif + #ifndef __cdecl + #define __cdecl + #endif + #ifndef __fastcall + #define __fastcall + #endif +#endif +#ifndef DL_IMPORT + #define DL_IMPORT(t) t +#endif +#ifndef DL_EXPORT + #define DL_EXPORT(t) t +#endif +#define __PYX_COMMA , +#ifndef HAVE_LONG_LONG + #define HAVE_LONG_LONG +#endif +#ifndef PY_LONG_LONG + #define PY_LONG_LONG LONG_LONG +#endif +#ifndef Py_HUGE_VAL + #define Py_HUGE_VAL HUGE_VAL +#endif +#define __PYX_LIMITED_VERSION_HEX PY_VERSION_HEX +#if defined(GRAALVM_PYTHON) + /* For very preliminary testing purposes. Most variables are set the same as PyPy. + The existence of this section does not imply that anything works or is even tested */ + #define CYTHON_COMPILING_IN_PYPY 0 + #define CYTHON_COMPILING_IN_CPYTHON 0 + #define CYTHON_COMPILING_IN_LIMITED_API 0 + #define CYTHON_COMPILING_IN_GRAAL 1 + #define CYTHON_COMPILING_IN_NOGIL 0 + #undef CYTHON_USE_TYPE_SLOTS + #define CYTHON_USE_TYPE_SLOTS 0 + #undef CYTHON_USE_TYPE_SPECS + #define CYTHON_USE_TYPE_SPECS 0 + #undef CYTHON_USE_PYTYPE_LOOKUP + #define CYTHON_USE_PYTYPE_LOOKUP 0 + #if PY_VERSION_HEX < 0x03050000 + #undef CYTHON_USE_ASYNC_SLOTS + #define CYTHON_USE_ASYNC_SLOTS 0 + #elif !defined(CYTHON_USE_ASYNC_SLOTS) + #define CYTHON_USE_ASYNC_SLOTS 1 + #endif + #undef CYTHON_USE_PYLIST_INTERNALS + #define CYTHON_USE_PYLIST_INTERNALS 0 + #undef CYTHON_USE_UNICODE_INTERNALS + #define CYTHON_USE_UNICODE_INTERNALS 0 + #undef CYTHON_USE_UNICODE_WRITER + #define CYTHON_USE_UNICODE_WRITER 0 + #undef CYTHON_USE_PYLONG_INTERNALS + #define CYTHON_USE_PYLONG_INTERNALS 0 + #undef CYTHON_AVOID_BORROWED_REFS + #define CYTHON_AVOID_BORROWED_REFS 1 + #undef CYTHON_ASSUME_SAFE_MACROS + #define CYTHON_ASSUME_SAFE_MACROS 0 + #undef CYTHON_UNPACK_METHODS + #define CYTHON_UNPACK_METHODS 0 + #undef CYTHON_FAST_THREAD_STATE + #define CYTHON_FAST_THREAD_STATE 0 + #undef CYTHON_FAST_GIL + #define CYTHON_FAST_GIL 0 + #undef CYTHON_METH_FASTCALL + #define CYTHON_METH_FASTCALL 0 + #undef CYTHON_FAST_PYCALL + #define CYTHON_FAST_PYCALL 0 + #ifndef CYTHON_PEP487_INIT_SUBCLASS + #define CYTHON_PEP487_INIT_SUBCLASS (PY_MAJOR_VERSION >= 3) + #endif + #undef CYTHON_PEP489_MULTI_PHASE_INIT + #define CYTHON_PEP489_MULTI_PHASE_INIT 1 + #undef CYTHON_USE_MODULE_STATE + #define CYTHON_USE_MODULE_STATE 0 + #undef CYTHON_USE_TP_FINALIZE + #define CYTHON_USE_TP_FINALIZE 0 + #undef CYTHON_USE_DICT_VERSIONS + #define CYTHON_USE_DICT_VERSIONS 0 + #undef CYTHON_USE_EXC_INFO_STACK + #define CYTHON_USE_EXC_INFO_STACK 0 + #ifndef CYTHON_UPDATE_DESCRIPTOR_DOC + #define CYTHON_UPDATE_DESCRIPTOR_DOC 0 + #endif +#elif defined(PYPY_VERSION) + #define CYTHON_COMPILING_IN_PYPY 1 + #define CYTHON_COMPILING_IN_CPYTHON 0 + #define CYTHON_COMPILING_IN_LIMITED_API 0 + #define CYTHON_COMPILING_IN_GRAAL 0 + #define CYTHON_COMPILING_IN_NOGIL 0 + #undef CYTHON_USE_TYPE_SLOTS + #define CYTHON_USE_TYPE_SLOTS 0 + #ifndef CYTHON_USE_TYPE_SPECS + #define CYTHON_USE_TYPE_SPECS 0 + #endif + #undef CYTHON_USE_PYTYPE_LOOKUP + #define CYTHON_USE_PYTYPE_LOOKUP 0 + #if PY_VERSION_HEX < 0x03050000 + #undef CYTHON_USE_ASYNC_SLOTS + #define CYTHON_USE_ASYNC_SLOTS 0 + #elif !defined(CYTHON_USE_ASYNC_SLOTS) + #define CYTHON_USE_ASYNC_SLOTS 1 + #endif + #undef CYTHON_USE_PYLIST_INTERNALS + #define CYTHON_USE_PYLIST_INTERNALS 0 + #undef CYTHON_USE_UNICODE_INTERNALS + #define CYTHON_USE_UNICODE_INTERNALS 0 + #undef CYTHON_USE_UNICODE_WRITER + #define CYTHON_USE_UNICODE_WRITER 0 + #undef CYTHON_USE_PYLONG_INTERNALS + #define CYTHON_USE_PYLONG_INTERNALS 0 + #undef CYTHON_AVOID_BORROWED_REFS + #define CYTHON_AVOID_BORROWED_REFS 1 + #undef CYTHON_ASSUME_SAFE_MACROS + #define CYTHON_ASSUME_SAFE_MACROS 0 + #undef CYTHON_UNPACK_METHODS + #define CYTHON_UNPACK_METHODS 0 + #undef CYTHON_FAST_THREAD_STATE + #define CYTHON_FAST_THREAD_STATE 0 + #undef CYTHON_FAST_GIL + #define CYTHON_FAST_GIL 0 + #undef CYTHON_METH_FASTCALL + #define CYTHON_METH_FASTCALL 0 + #undef CYTHON_FAST_PYCALL + #define CYTHON_FAST_PYCALL 0 + #ifndef CYTHON_PEP487_INIT_SUBCLASS + #define CYTHON_PEP487_INIT_SUBCLASS (PY_MAJOR_VERSION >= 3) + #endif + #if PY_VERSION_HEX < 0x03090000 + #undef CYTHON_PEP489_MULTI_PHASE_INIT + #define CYTHON_PEP489_MULTI_PHASE_INIT 0 + #elif !defined(CYTHON_PEP489_MULTI_PHASE_INIT) + #define CYTHON_PEP489_MULTI_PHASE_INIT 1 + #endif + #undef CYTHON_USE_MODULE_STATE + #define CYTHON_USE_MODULE_STATE 0 + #undef CYTHON_USE_TP_FINALIZE + #define CYTHON_USE_TP_FINALIZE (PY_VERSION_HEX >= 0x030400a1 && PYPY_VERSION_NUM >= 0x07030C00) + #undef CYTHON_USE_DICT_VERSIONS + #define CYTHON_USE_DICT_VERSIONS 0 + #undef CYTHON_USE_EXC_INFO_STACK + #define CYTHON_USE_EXC_INFO_STACK 0 + #ifndef CYTHON_UPDATE_DESCRIPTOR_DOC + #define CYTHON_UPDATE_DESCRIPTOR_DOC 0 + #endif +#elif defined(CYTHON_LIMITED_API) + #ifdef Py_LIMITED_API + #undef __PYX_LIMITED_VERSION_HEX + #define __PYX_LIMITED_VERSION_HEX Py_LIMITED_API + #endif + #define CYTHON_COMPILING_IN_PYPY 0 + #define CYTHON_COMPILING_IN_CPYTHON 0 + #define CYTHON_COMPILING_IN_LIMITED_API 1 + #define CYTHON_COMPILING_IN_GRAAL 0 + #define CYTHON_COMPILING_IN_NOGIL 0 + #undef CYTHON_CLINE_IN_TRACEBACK + #define CYTHON_CLINE_IN_TRACEBACK 0 + #undef CYTHON_USE_TYPE_SLOTS + #define CYTHON_USE_TYPE_SLOTS 0 + #undef CYTHON_USE_TYPE_SPECS + #define CYTHON_USE_TYPE_SPECS 1 + #undef CYTHON_USE_PYTYPE_LOOKUP + #define CYTHON_USE_PYTYPE_LOOKUP 0 + #undef CYTHON_USE_ASYNC_SLOTS + #define CYTHON_USE_ASYNC_SLOTS 0 + #undef CYTHON_USE_PYLIST_INTERNALS + #define CYTHON_USE_PYLIST_INTERNALS 0 + #undef CYTHON_USE_UNICODE_INTERNALS + #define CYTHON_USE_UNICODE_INTERNALS 0 + #ifndef CYTHON_USE_UNICODE_WRITER + #define CYTHON_USE_UNICODE_WRITER 0 + #endif + #undef CYTHON_USE_PYLONG_INTERNALS + #define CYTHON_USE_PYLONG_INTERNALS 0 + #ifndef CYTHON_AVOID_BORROWED_REFS + #define CYTHON_AVOID_BORROWED_REFS 0 + #endif + #undef CYTHON_ASSUME_SAFE_MACROS + #define CYTHON_ASSUME_SAFE_MACROS 0 + #undef CYTHON_UNPACK_METHODS + #define CYTHON_UNPACK_METHODS 0 + #undef CYTHON_FAST_THREAD_STATE + #define CYTHON_FAST_THREAD_STATE 0 + #undef CYTHON_FAST_GIL + #define CYTHON_FAST_GIL 0 + #undef CYTHON_METH_FASTCALL + #define CYTHON_METH_FASTCALL 0 + #undef CYTHON_FAST_PYCALL + #define CYTHON_FAST_PYCALL 0 + #ifndef CYTHON_PEP487_INIT_SUBCLASS + #define CYTHON_PEP487_INIT_SUBCLASS 1 + #endif + #undef CYTHON_PEP489_MULTI_PHASE_INIT + #define CYTHON_PEP489_MULTI_PHASE_INIT 0 + #undef CYTHON_USE_MODULE_STATE + #define CYTHON_USE_MODULE_STATE 1 + #ifndef CYTHON_USE_TP_FINALIZE + #define CYTHON_USE_TP_FINALIZE 0 + #endif + #undef CYTHON_USE_DICT_VERSIONS + #define CYTHON_USE_DICT_VERSIONS 0 + #undef CYTHON_USE_EXC_INFO_STACK + #define CYTHON_USE_EXC_INFO_STACK 0 + #ifndef CYTHON_UPDATE_DESCRIPTOR_DOC + #define CYTHON_UPDATE_DESCRIPTOR_DOC 0 + #endif +#elif defined(Py_GIL_DISABLED) || defined(Py_NOGIL) + #define CYTHON_COMPILING_IN_PYPY 0 + #define CYTHON_COMPILING_IN_CPYTHON 0 + #define CYTHON_COMPILING_IN_LIMITED_API 0 + #define CYTHON_COMPILING_IN_GRAAL 0 + #define CYTHON_COMPILING_IN_NOGIL 1 + #ifndef CYTHON_USE_TYPE_SLOTS + #define CYTHON_USE_TYPE_SLOTS 1 + #endif + #undef CYTHON_USE_PYTYPE_LOOKUP + #define CYTHON_USE_PYTYPE_LOOKUP 0 + #ifndef CYTHON_USE_ASYNC_SLOTS + #define CYTHON_USE_ASYNC_SLOTS 1 + #endif + #undef CYTHON_USE_PYLIST_INTERNALS + #define CYTHON_USE_PYLIST_INTERNALS 0 + #ifndef CYTHON_USE_UNICODE_INTERNALS + #define CYTHON_USE_UNICODE_INTERNALS 1 + #endif + #undef CYTHON_USE_UNICODE_WRITER + #define CYTHON_USE_UNICODE_WRITER 0 + #undef CYTHON_USE_PYLONG_INTERNALS + #define CYTHON_USE_PYLONG_INTERNALS 0 + #ifndef CYTHON_AVOID_BORROWED_REFS + #define CYTHON_AVOID_BORROWED_REFS 0 + #endif + #ifndef CYTHON_ASSUME_SAFE_MACROS + #define CYTHON_ASSUME_SAFE_MACROS 1 + #endif + #ifndef CYTHON_UNPACK_METHODS + #define CYTHON_UNPACK_METHODS 1 + #endif + #undef CYTHON_FAST_THREAD_STATE + #define CYTHON_FAST_THREAD_STATE 0 + #undef CYTHON_FAST_PYCALL + #define CYTHON_FAST_PYCALL 0 + #ifndef CYTHON_PEP489_MULTI_PHASE_INIT + #define CYTHON_PEP489_MULTI_PHASE_INIT 1 + #endif + #ifndef CYTHON_USE_TP_FINALIZE + #define CYTHON_USE_TP_FINALIZE 1 + #endif + #undef CYTHON_USE_DICT_VERSIONS + #define CYTHON_USE_DICT_VERSIONS 0 + #undef CYTHON_USE_EXC_INFO_STACK + #define CYTHON_USE_EXC_INFO_STACK 0 +#else + #define CYTHON_COMPILING_IN_PYPY 0 + #define CYTHON_COMPILING_IN_CPYTHON 1 + #define CYTHON_COMPILING_IN_LIMITED_API 0 + #define CYTHON_COMPILING_IN_GRAAL 0 + #define CYTHON_COMPILING_IN_NOGIL 0 + #ifndef CYTHON_USE_TYPE_SLOTS + #define CYTHON_USE_TYPE_SLOTS 1 + #endif + #ifndef CYTHON_USE_TYPE_SPECS + #define CYTHON_USE_TYPE_SPECS 0 + #endif + #ifndef CYTHON_USE_PYTYPE_LOOKUP + #define CYTHON_USE_PYTYPE_LOOKUP 1 + #endif + #if PY_MAJOR_VERSION < 3 + #undef CYTHON_USE_ASYNC_SLOTS + #define CYTHON_USE_ASYNC_SLOTS 0 + #elif !defined(CYTHON_USE_ASYNC_SLOTS) + #define CYTHON_USE_ASYNC_SLOTS 1 + #endif + #ifndef CYTHON_USE_PYLONG_INTERNALS + #define CYTHON_USE_PYLONG_INTERNALS 1 + #endif + #ifndef CYTHON_USE_PYLIST_INTERNALS + #define CYTHON_USE_PYLIST_INTERNALS 1 + #endif + #ifndef CYTHON_USE_UNICODE_INTERNALS + #define CYTHON_USE_UNICODE_INTERNALS 1 + #endif + #if PY_VERSION_HEX < 0x030300F0 || PY_VERSION_HEX >= 0x030B00A2 + #undef CYTHON_USE_UNICODE_WRITER + #define CYTHON_USE_UNICODE_WRITER 0 + #elif !defined(CYTHON_USE_UNICODE_WRITER) + #define CYTHON_USE_UNICODE_WRITER 1 + #endif + #ifndef CYTHON_AVOID_BORROWED_REFS + #define CYTHON_AVOID_BORROWED_REFS 0 + #endif + #ifndef CYTHON_ASSUME_SAFE_MACROS + #define CYTHON_ASSUME_SAFE_MACROS 1 + #endif + #ifndef CYTHON_UNPACK_METHODS + #define CYTHON_UNPACK_METHODS 1 + #endif + #ifndef CYTHON_FAST_THREAD_STATE + #define CYTHON_FAST_THREAD_STATE 1 + #endif + #ifndef CYTHON_FAST_GIL + #define CYTHON_FAST_GIL (PY_MAJOR_VERSION < 3 || PY_VERSION_HEX >= 0x03060000 && PY_VERSION_HEX < 0x030C00A6) + #endif + #ifndef CYTHON_METH_FASTCALL + #define CYTHON_METH_FASTCALL (PY_VERSION_HEX >= 0x030700A1) + #endif + #ifndef CYTHON_FAST_PYCALL + #define CYTHON_FAST_PYCALL 1 + #endif + #ifndef CYTHON_PEP487_INIT_SUBCLASS + #define CYTHON_PEP487_INIT_SUBCLASS 1 + #endif + #if PY_VERSION_HEX < 0x03050000 + #undef CYTHON_PEP489_MULTI_PHASE_INIT + #define CYTHON_PEP489_MULTI_PHASE_INIT 0 + #elif !defined(CYTHON_PEP489_MULTI_PHASE_INIT) + #define CYTHON_PEP489_MULTI_PHASE_INIT 1 + #endif + #ifndef CYTHON_USE_MODULE_STATE + #define CYTHON_USE_MODULE_STATE 0 + #endif + #if PY_VERSION_HEX < 0x030400a1 + #undef CYTHON_USE_TP_FINALIZE + #define CYTHON_USE_TP_FINALIZE 0 + #elif !defined(CYTHON_USE_TP_FINALIZE) + #define CYTHON_USE_TP_FINALIZE 1 + #endif + #if PY_VERSION_HEX < 0x030600B1 + #undef CYTHON_USE_DICT_VERSIONS + #define CYTHON_USE_DICT_VERSIONS 0 + #elif !defined(CYTHON_USE_DICT_VERSIONS) + #define CYTHON_USE_DICT_VERSIONS (PY_VERSION_HEX < 0x030C00A5) + #endif + #if PY_VERSION_HEX < 0x030700A3 + #undef CYTHON_USE_EXC_INFO_STACK + #define CYTHON_USE_EXC_INFO_STACK 0 + #elif !defined(CYTHON_USE_EXC_INFO_STACK) + #define CYTHON_USE_EXC_INFO_STACK 1 + #endif + #ifndef CYTHON_UPDATE_DESCRIPTOR_DOC + #define CYTHON_UPDATE_DESCRIPTOR_DOC 1 + #endif +#endif +#if !defined(CYTHON_FAST_PYCCALL) +#define CYTHON_FAST_PYCCALL (CYTHON_FAST_PYCALL && PY_VERSION_HEX >= 0x030600B1) +#endif +#if !defined(CYTHON_VECTORCALL) +#define CYTHON_VECTORCALL (CYTHON_FAST_PYCCALL && PY_VERSION_HEX >= 0x030800B1) +#endif +#define CYTHON_BACKPORT_VECTORCALL (CYTHON_METH_FASTCALL && PY_VERSION_HEX < 0x030800B1) +#if CYTHON_USE_PYLONG_INTERNALS + #if PY_MAJOR_VERSION < 3 + #include "longintrepr.h" + #endif + #undef SHIFT + #undef BASE + #undef MASK + #ifdef SIZEOF_VOID_P + enum { __pyx_check_sizeof_voidp = 1 / (int)(SIZEOF_VOID_P == sizeof(void*)) }; + #endif +#endif +#ifndef __has_attribute + #define __has_attribute(x) 0 +#endif +#ifndef __has_cpp_attribute + #define __has_cpp_attribute(x) 0 +#endif +#ifndef CYTHON_RESTRICT + #if defined(__GNUC__) + #define CYTHON_RESTRICT __restrict__ + #elif defined(_MSC_VER) && _MSC_VER >= 1400 + #define CYTHON_RESTRICT __restrict + #elif defined (__STDC_VERSION__) && __STDC_VERSION__ >= 199901L + #define CYTHON_RESTRICT restrict + #else + #define CYTHON_RESTRICT + #endif +#endif +#ifndef CYTHON_UNUSED + #if defined(__cplusplus) + /* for clang __has_cpp_attribute(maybe_unused) is true even before C++17 + * but leads to warnings with -pedantic, since it is a C++17 feature */ + #if ((defined(_MSVC_LANG) && _MSVC_LANG >= 201703L) || __cplusplus >= 201703L) + #if __has_cpp_attribute(maybe_unused) + #define CYTHON_UNUSED [[maybe_unused]] + #endif + #endif + #endif +#endif +#ifndef CYTHON_UNUSED +# if defined(__GNUC__) +# if !(defined(__cplusplus)) || (__GNUC__ > 3 || (__GNUC__ == 3 && __GNUC_MINOR__ >= 4)) +# define CYTHON_UNUSED __attribute__ ((__unused__)) +# else +# define CYTHON_UNUSED +# endif +# elif defined(__ICC) || (defined(__INTEL_COMPILER) && !defined(_MSC_VER)) +# define CYTHON_UNUSED __attribute__ ((__unused__)) +# else +# define CYTHON_UNUSED +# endif +#endif +#ifndef CYTHON_UNUSED_VAR +# if defined(__cplusplus) + template void CYTHON_UNUSED_VAR( const T& ) { } +# else +# define CYTHON_UNUSED_VAR(x) (void)(x) +# endif +#endif +#ifndef CYTHON_MAYBE_UNUSED_VAR + #define CYTHON_MAYBE_UNUSED_VAR(x) CYTHON_UNUSED_VAR(x) +#endif +#ifndef CYTHON_NCP_UNUSED +# if CYTHON_COMPILING_IN_CPYTHON +# define CYTHON_NCP_UNUSED +# else +# define CYTHON_NCP_UNUSED CYTHON_UNUSED +# endif +#endif +#ifndef CYTHON_USE_CPP_STD_MOVE + #if defined(__cplusplus) && (\ + __cplusplus >= 201103L || (defined(_MSC_VER) && _MSC_VER >= 1600)) + #define CYTHON_USE_CPP_STD_MOVE 1 + #else + #define CYTHON_USE_CPP_STD_MOVE 0 + #endif +#endif +#define __Pyx_void_to_None(void_result) ((void)(void_result), Py_INCREF(Py_None), Py_None) +#ifdef _MSC_VER + #ifndef _MSC_STDINT_H_ + #if _MSC_VER < 1300 + typedef unsigned char uint8_t; + typedef unsigned short uint16_t; + typedef unsigned int uint32_t; + #else + typedef unsigned __int8 uint8_t; + typedef unsigned __int16 uint16_t; + typedef unsigned __int32 uint32_t; + #endif + #endif + #if _MSC_VER < 1300 + #ifdef _WIN64 + typedef unsigned long long __pyx_uintptr_t; + #else + typedef unsigned int __pyx_uintptr_t; + #endif + #else + #ifdef _WIN64 + typedef unsigned __int64 __pyx_uintptr_t; + #else + typedef unsigned __int32 __pyx_uintptr_t; + #endif + #endif +#else + #include + typedef uintptr_t __pyx_uintptr_t; +#endif +#ifndef CYTHON_FALLTHROUGH + #if defined(__cplusplus) + /* for clang __has_cpp_attribute(fallthrough) is true even before C++17 + * but leads to warnings with -pedantic, since it is a C++17 feature */ + #if ((defined(_MSVC_LANG) && _MSVC_LANG >= 201703L) || __cplusplus >= 201703L) + #if __has_cpp_attribute(fallthrough) + #define CYTHON_FALLTHROUGH [[fallthrough]] + #endif + #endif + #ifndef CYTHON_FALLTHROUGH + #if __has_cpp_attribute(clang::fallthrough) + #define CYTHON_FALLTHROUGH [[clang::fallthrough]] + #elif __has_cpp_attribute(gnu::fallthrough) + #define CYTHON_FALLTHROUGH [[gnu::fallthrough]] + #endif + #endif + #endif + #ifndef CYTHON_FALLTHROUGH + #if __has_attribute(fallthrough) + #define CYTHON_FALLTHROUGH __attribute__((fallthrough)) + #else + #define CYTHON_FALLTHROUGH + #endif + #endif + #if defined(__clang__) && defined(__apple_build_version__) + #if __apple_build_version__ < 7000000 + #undef CYTHON_FALLTHROUGH + #define CYTHON_FALLTHROUGH + #endif + #endif +#endif +#ifdef __cplusplus + template + struct __PYX_IS_UNSIGNED_IMPL {static const bool value = T(0) < T(-1);}; + #define __PYX_IS_UNSIGNED(type) (__PYX_IS_UNSIGNED_IMPL::value) +#else + #define __PYX_IS_UNSIGNED(type) (((type)-1) > 0) +#endif +#if CYTHON_COMPILING_IN_PYPY == 1 + #define __PYX_NEED_TP_PRINT_SLOT (PY_VERSION_HEX >= 0x030800b4 && PY_VERSION_HEX < 0x030A0000) +#else + #define __PYX_NEED_TP_PRINT_SLOT (PY_VERSION_HEX >= 0x030800b4 && PY_VERSION_HEX < 0x03090000) +#endif +#define __PYX_REINTERPRET_FUNCION(func_pointer, other_pointer) ((func_pointer)(void(*)(void))(other_pointer)) + +#ifndef __cplusplus + #error "Cython files generated with the C++ option must be compiled with a C++ compiler." +#endif +#ifndef CYTHON_INLINE + #if defined(__clang__) + #define CYTHON_INLINE __inline__ __attribute__ ((__unused__)) + #else + #define CYTHON_INLINE inline + #endif +#endif +template +void __Pyx_call_destructor(T& x) { + x.~T(); +} +template +class __Pyx_FakeReference { + public: + __Pyx_FakeReference() : ptr(NULL) { } + __Pyx_FakeReference(const T& ref) : ptr(const_cast(&ref)) { } + T *operator->() { return ptr; } + T *operator&() { return ptr; } + operator T&() { return *ptr; } + template bool operator ==(const U& other) const { return *ptr == other; } + template bool operator !=(const U& other) const { return *ptr != other; } + template bool operator==(const __Pyx_FakeReference& other) const { return *ptr == *other.ptr; } + template bool operator!=(const __Pyx_FakeReference& other) const { return *ptr != *other.ptr; } + private: + T *ptr; +}; + +#define __PYX_BUILD_PY_SSIZE_T "n" +#define CYTHON_FORMAT_SSIZE_T "z" +#if PY_MAJOR_VERSION < 3 + #define __Pyx_BUILTIN_MODULE_NAME "__builtin__" + #define __Pyx_DefaultClassType PyClass_Type + #define __Pyx_PyCode_New(a, p, k, l, s, f, code, c, n, v, fv, cell, fn, name, fline, lnos)\ + PyCode_New(a+k, l, s, f, code, c, n, v, fv, cell, fn, name, fline, lnos) +#else + #define __Pyx_BUILTIN_MODULE_NAME "builtins" + #define __Pyx_DefaultClassType PyType_Type +#if CYTHON_COMPILING_IN_LIMITED_API + static CYTHON_INLINE PyObject* __Pyx_PyCode_New(int a, int p, int k, int l, int s, int f, + PyObject *code, PyObject *c, PyObject* n, PyObject *v, + PyObject *fv, PyObject *cell, PyObject* fn, + PyObject *name, int fline, PyObject *lnos) { + PyObject *exception_table = NULL; + PyObject *types_module=NULL, *code_type=NULL, *result=NULL; + #if __PYX_LIMITED_VERSION_HEX < 0x030B0000 + PyObject *version_info; + PyObject *py_minor_version = NULL; + #endif + long minor_version = 0; + PyObject *type, *value, *traceback; + PyErr_Fetch(&type, &value, &traceback); + #if __PYX_LIMITED_VERSION_HEX >= 0x030B0000 + minor_version = 11; + #else + if (!(version_info = PySys_GetObject("version_info"))) goto end; + if (!(py_minor_version = PySequence_GetItem(version_info, 1))) goto end; + minor_version = PyLong_AsLong(py_minor_version); + Py_DECREF(py_minor_version); + if (minor_version == -1 && PyErr_Occurred()) goto end; + #endif + if (!(types_module = PyImport_ImportModule("types"))) goto end; + if (!(code_type = PyObject_GetAttrString(types_module, "CodeType"))) goto end; + if (minor_version <= 7) { + (void)p; + result = PyObject_CallFunction(code_type, "iiiiiOOOOOOiOO", a, k, l, s, f, code, + c, n, v, fn, name, fline, lnos, fv, cell); + } else if (minor_version <= 10) { + result = PyObject_CallFunction(code_type, "iiiiiiOOOOOOiOO", a,p, k, l, s, f, code, + c, n, v, fn, name, fline, lnos, fv, cell); + } else { + if (!(exception_table = PyBytes_FromStringAndSize(NULL, 0))) goto end; + result = PyObject_CallFunction(code_type, "iiiiiiOOOOOOOiOO", a,p, k, l, s, f, code, + c, n, v, fn, name, name, fline, lnos, exception_table, fv, cell); + } + end: + Py_XDECREF(code_type); + Py_XDECREF(exception_table); + Py_XDECREF(types_module); + if (type) { + PyErr_Restore(type, value, traceback); + } + return result; + } + #ifndef CO_OPTIMIZED + #define CO_OPTIMIZED 0x0001 + #endif + #ifndef CO_NEWLOCALS + #define CO_NEWLOCALS 0x0002 + #endif + #ifndef CO_VARARGS + #define CO_VARARGS 0x0004 + #endif + #ifndef CO_VARKEYWORDS + #define CO_VARKEYWORDS 0x0008 + #endif + #ifndef CO_ASYNC_GENERATOR + #define CO_ASYNC_GENERATOR 0x0200 + #endif + #ifndef CO_GENERATOR + #define CO_GENERATOR 0x0020 + #endif + #ifndef CO_COROUTINE + #define CO_COROUTINE 0x0080 + #endif +#elif PY_VERSION_HEX >= 0x030B0000 + static CYTHON_INLINE PyCodeObject* __Pyx_PyCode_New(int a, int p, int k, int l, int s, int f, + PyObject *code, PyObject *c, PyObject* n, PyObject *v, + PyObject *fv, PyObject *cell, PyObject* fn, + PyObject *name, int fline, PyObject *lnos) { + PyCodeObject *result; + PyObject *empty_bytes = PyBytes_FromStringAndSize("", 0); + if (!empty_bytes) return NULL; + result = + #if PY_VERSION_HEX >= 0x030C0000 + PyUnstable_Code_NewWithPosOnlyArgs + #else + PyCode_NewWithPosOnlyArgs + #endif + (a, p, k, l, s, f, code, c, n, v, fv, cell, fn, name, name, fline, lnos, empty_bytes); + Py_DECREF(empty_bytes); + return result; + } +#elif PY_VERSION_HEX >= 0x030800B2 && !CYTHON_COMPILING_IN_PYPY + #define __Pyx_PyCode_New(a, p, k, l, s, f, code, c, n, v, fv, cell, fn, name, fline, lnos)\ + PyCode_NewWithPosOnlyArgs(a, p, k, l, s, f, code, c, n, v, fv, cell, fn, name, fline, lnos) +#else + #define __Pyx_PyCode_New(a, p, k, l, s, f, code, c, n, v, fv, cell, fn, name, fline, lnos)\ + PyCode_New(a, k, l, s, f, code, c, n, v, fv, cell, fn, name, fline, lnos) +#endif +#endif +#if PY_VERSION_HEX >= 0x030900A4 || defined(Py_IS_TYPE) + #define __Pyx_IS_TYPE(ob, type) Py_IS_TYPE(ob, type) +#else + #define __Pyx_IS_TYPE(ob, type) (((const PyObject*)ob)->ob_type == (type)) +#endif +#if PY_VERSION_HEX >= 0x030A00B1 || defined(Py_Is) + #define __Pyx_Py_Is(x, y) Py_Is(x, y) +#else + #define __Pyx_Py_Is(x, y) ((x) == (y)) +#endif +#if PY_VERSION_HEX >= 0x030A00B1 || defined(Py_IsNone) + #define __Pyx_Py_IsNone(ob) Py_IsNone(ob) +#else + #define __Pyx_Py_IsNone(ob) __Pyx_Py_Is((ob), Py_None) +#endif +#if PY_VERSION_HEX >= 0x030A00B1 || defined(Py_IsTrue) + #define __Pyx_Py_IsTrue(ob) Py_IsTrue(ob) +#else + #define __Pyx_Py_IsTrue(ob) __Pyx_Py_Is((ob), Py_True) +#endif +#if PY_VERSION_HEX >= 0x030A00B1 || defined(Py_IsFalse) + #define __Pyx_Py_IsFalse(ob) Py_IsFalse(ob) +#else + #define __Pyx_Py_IsFalse(ob) __Pyx_Py_Is((ob), Py_False) +#endif +#define __Pyx_NoneAsNull(obj) (__Pyx_Py_IsNone(obj) ? NULL : (obj)) +#if PY_VERSION_HEX >= 0x030900F0 && !CYTHON_COMPILING_IN_PYPY + #define __Pyx_PyObject_GC_IsFinalized(o) PyObject_GC_IsFinalized(o) +#else + #define __Pyx_PyObject_GC_IsFinalized(o) _PyGC_FINALIZED(o) +#endif +#ifndef CO_COROUTINE + #define CO_COROUTINE 0x80 +#endif +#ifndef CO_ASYNC_GENERATOR + #define CO_ASYNC_GENERATOR 0x200 +#endif +#ifndef Py_TPFLAGS_CHECKTYPES + #define Py_TPFLAGS_CHECKTYPES 0 +#endif +#ifndef Py_TPFLAGS_HAVE_INDEX + #define Py_TPFLAGS_HAVE_INDEX 0 +#endif +#ifndef Py_TPFLAGS_HAVE_NEWBUFFER + #define Py_TPFLAGS_HAVE_NEWBUFFER 0 +#endif +#ifndef Py_TPFLAGS_HAVE_FINALIZE + #define Py_TPFLAGS_HAVE_FINALIZE 0 +#endif +#ifndef Py_TPFLAGS_SEQUENCE + #define Py_TPFLAGS_SEQUENCE 0 +#endif +#ifndef Py_TPFLAGS_MAPPING + #define Py_TPFLAGS_MAPPING 0 +#endif +#ifndef METH_STACKLESS + #define METH_STACKLESS 0 +#endif +#if PY_VERSION_HEX <= 0x030700A3 || !defined(METH_FASTCALL) + #ifndef METH_FASTCALL + #define METH_FASTCALL 0x80 + #endif + typedef PyObject *(*__Pyx_PyCFunctionFast) (PyObject *self, PyObject *const *args, Py_ssize_t nargs); + typedef PyObject *(*__Pyx_PyCFunctionFastWithKeywords) (PyObject *self, PyObject *const *args, + Py_ssize_t nargs, PyObject *kwnames); +#else + #define __Pyx_PyCFunctionFast _PyCFunctionFast + #define __Pyx_PyCFunctionFastWithKeywords _PyCFunctionFastWithKeywords +#endif +#if CYTHON_METH_FASTCALL + #define __Pyx_METH_FASTCALL METH_FASTCALL + #define __Pyx_PyCFunction_FastCall __Pyx_PyCFunctionFast + #define __Pyx_PyCFunction_FastCallWithKeywords __Pyx_PyCFunctionFastWithKeywords +#else + #define __Pyx_METH_FASTCALL METH_VARARGS + #define __Pyx_PyCFunction_FastCall PyCFunction + #define __Pyx_PyCFunction_FastCallWithKeywords PyCFunctionWithKeywords +#endif +#if CYTHON_VECTORCALL + #define __pyx_vectorcallfunc vectorcallfunc + #define __Pyx_PY_VECTORCALL_ARGUMENTS_OFFSET PY_VECTORCALL_ARGUMENTS_OFFSET + #define __Pyx_PyVectorcall_NARGS(n) PyVectorcall_NARGS((size_t)(n)) +#elif CYTHON_BACKPORT_VECTORCALL + typedef PyObject *(*__pyx_vectorcallfunc)(PyObject *callable, PyObject *const *args, + size_t nargsf, PyObject *kwnames); + #define __Pyx_PY_VECTORCALL_ARGUMENTS_OFFSET ((size_t)1 << (8 * sizeof(size_t) - 1)) + #define __Pyx_PyVectorcall_NARGS(n) ((Py_ssize_t)(((size_t)(n)) & ~__Pyx_PY_VECTORCALL_ARGUMENTS_OFFSET)) +#else + #define __Pyx_PY_VECTORCALL_ARGUMENTS_OFFSET 0 + #define __Pyx_PyVectorcall_NARGS(n) ((Py_ssize_t)(n)) +#endif +#if PY_MAJOR_VERSION >= 0x030900B1 +#define __Pyx_PyCFunction_CheckExact(func) PyCFunction_CheckExact(func) +#else +#define __Pyx_PyCFunction_CheckExact(func) PyCFunction_Check(func) +#endif +#define __Pyx_CyOrPyCFunction_Check(func) PyCFunction_Check(func) +#if CYTHON_COMPILING_IN_CPYTHON +#define __Pyx_CyOrPyCFunction_GET_FUNCTION(func) (((PyCFunctionObject*)(func))->m_ml->ml_meth) +#elif !CYTHON_COMPILING_IN_LIMITED_API +#define __Pyx_CyOrPyCFunction_GET_FUNCTION(func) PyCFunction_GET_FUNCTION(func) +#endif +#if CYTHON_COMPILING_IN_CPYTHON +#define __Pyx_CyOrPyCFunction_GET_FLAGS(func) (((PyCFunctionObject*)(func))->m_ml->ml_flags) +static CYTHON_INLINE PyObject* __Pyx_CyOrPyCFunction_GET_SELF(PyObject *func) { + return (__Pyx_CyOrPyCFunction_GET_FLAGS(func) & METH_STATIC) ? NULL : ((PyCFunctionObject*)func)->m_self; +} +#endif +static CYTHON_INLINE int __Pyx__IsSameCFunction(PyObject *func, void *cfunc) { +#if CYTHON_COMPILING_IN_LIMITED_API + return PyCFunction_Check(func) && PyCFunction_GetFunction(func) == (PyCFunction) cfunc; +#else + return PyCFunction_Check(func) && PyCFunction_GET_FUNCTION(func) == (PyCFunction) cfunc; +#endif +} +#define __Pyx_IsSameCFunction(func, cfunc) __Pyx__IsSameCFunction(func, cfunc) +#if __PYX_LIMITED_VERSION_HEX < 0x030900B1 + #define __Pyx_PyType_FromModuleAndSpec(m, s, b) ((void)m, PyType_FromSpecWithBases(s, b)) + typedef PyObject *(*__Pyx_PyCMethod)(PyObject *, PyTypeObject *, PyObject *const *, size_t, PyObject *); +#else + #define __Pyx_PyType_FromModuleAndSpec(m, s, b) PyType_FromModuleAndSpec(m, s, b) + #define __Pyx_PyCMethod PyCMethod +#endif +#ifndef METH_METHOD + #define METH_METHOD 0x200 +#endif +#if CYTHON_COMPILING_IN_PYPY && !defined(PyObject_Malloc) + #define PyObject_Malloc(s) PyMem_Malloc(s) + #define PyObject_Free(p) PyMem_Free(p) + #define PyObject_Realloc(p) PyMem_Realloc(p) +#endif +#if CYTHON_COMPILING_IN_LIMITED_API + #define __Pyx_PyCode_HasFreeVars(co) (PyCode_GetNumFree(co) > 0) + #define __Pyx_PyFrame_SetLineNumber(frame, lineno) +#else + #define __Pyx_PyCode_HasFreeVars(co) (PyCode_GetNumFree(co) > 0) + #define __Pyx_PyFrame_SetLineNumber(frame, lineno) (frame)->f_lineno = (lineno) +#endif +#if CYTHON_COMPILING_IN_LIMITED_API + #define __Pyx_PyThreadState_Current PyThreadState_Get() +#elif !CYTHON_FAST_THREAD_STATE + #define __Pyx_PyThreadState_Current PyThreadState_GET() +#elif PY_VERSION_HEX >= 0x030d00A1 + #define __Pyx_PyThreadState_Current PyThreadState_GetUnchecked() +#elif PY_VERSION_HEX >= 0x03060000 + #define __Pyx_PyThreadState_Current _PyThreadState_UncheckedGet() +#elif PY_VERSION_HEX >= 0x03000000 + #define __Pyx_PyThreadState_Current PyThreadState_GET() +#else + #define __Pyx_PyThreadState_Current _PyThreadState_Current +#endif +#if CYTHON_COMPILING_IN_LIMITED_API +static CYTHON_INLINE void *__Pyx_PyModule_GetState(PyObject *op) +{ + void *result; + result = PyModule_GetState(op); + if (!result) + Py_FatalError("Couldn't find the module state"); + return result; +} +#endif +#define __Pyx_PyObject_GetSlot(obj, name, func_ctype) __Pyx_PyType_GetSlot(Py_TYPE(obj), name, func_ctype) +#if CYTHON_COMPILING_IN_LIMITED_API + #define __Pyx_PyType_GetSlot(type, name, func_ctype) ((func_ctype) PyType_GetSlot((type), Py_##name)) +#else + #define __Pyx_PyType_GetSlot(type, name, func_ctype) ((type)->name) +#endif +#if PY_VERSION_HEX < 0x030700A2 && !defined(PyThread_tss_create) && !defined(Py_tss_NEEDS_INIT) +#include "pythread.h" +#define Py_tss_NEEDS_INIT 0 +typedef int Py_tss_t; +static CYTHON_INLINE int PyThread_tss_create(Py_tss_t *key) { + *key = PyThread_create_key(); + return 0; +} +static CYTHON_INLINE Py_tss_t * PyThread_tss_alloc(void) { + Py_tss_t *key = (Py_tss_t *)PyObject_Malloc(sizeof(Py_tss_t)); + *key = Py_tss_NEEDS_INIT; + return key; +} +static CYTHON_INLINE void PyThread_tss_free(Py_tss_t *key) { + PyObject_Free(key); +} +static CYTHON_INLINE int PyThread_tss_is_created(Py_tss_t *key) { + return *key != Py_tss_NEEDS_INIT; +} +static CYTHON_INLINE void PyThread_tss_delete(Py_tss_t *key) { + PyThread_delete_key(*key); + *key = Py_tss_NEEDS_INIT; +} +static CYTHON_INLINE int PyThread_tss_set(Py_tss_t *key, void *value) { + return PyThread_set_key_value(*key, value); +} +static CYTHON_INLINE void * PyThread_tss_get(Py_tss_t *key) { + return PyThread_get_key_value(*key); +} +#endif +#if PY_MAJOR_VERSION < 3 + #if CYTHON_COMPILING_IN_PYPY + #if PYPY_VERSION_NUM < 0x07030600 + #if defined(__cplusplus) && __cplusplus >= 201402L + [[deprecated("`with nogil:` inside a nogil function will not release the GIL in PyPy2 < 7.3.6")]] + #elif defined(__GNUC__) || defined(__clang__) + __attribute__ ((__deprecated__("`with nogil:` inside a nogil function will not release the GIL in PyPy2 < 7.3.6"))) + #elif defined(_MSC_VER) + __declspec(deprecated("`with nogil:` inside a nogil function will not release the GIL in PyPy2 < 7.3.6")) + #endif + static CYTHON_INLINE int PyGILState_Check(void) { + return 0; + } + #else // PYPY_VERSION_NUM < 0x07030600 + #endif // PYPY_VERSION_NUM < 0x07030600 + #else + static CYTHON_INLINE int PyGILState_Check(void) { + PyThreadState * tstate = _PyThreadState_Current; + return tstate && (tstate == PyGILState_GetThisThreadState()); + } + #endif +#endif +#if CYTHON_COMPILING_IN_CPYTHON && PY_VERSION_HEX < 0x030d0000 || defined(_PyDict_NewPresized) +#define __Pyx_PyDict_NewPresized(n) ((n <= 8) ? PyDict_New() : _PyDict_NewPresized(n)) +#else +#define __Pyx_PyDict_NewPresized(n) PyDict_New() +#endif +#if PY_MAJOR_VERSION >= 3 || CYTHON_FUTURE_DIVISION + #define __Pyx_PyNumber_Divide(x,y) PyNumber_TrueDivide(x,y) + #define __Pyx_PyNumber_InPlaceDivide(x,y) PyNumber_InPlaceTrueDivide(x,y) +#else + #define __Pyx_PyNumber_Divide(x,y) PyNumber_Divide(x,y) + #define __Pyx_PyNumber_InPlaceDivide(x,y) PyNumber_InPlaceDivide(x,y) +#endif +#if CYTHON_COMPILING_IN_CPYTHON && PY_VERSION_HEX > 0x030600B4 && PY_VERSION_HEX < 0x030d0000 && CYTHON_USE_UNICODE_INTERNALS +#define __Pyx_PyDict_GetItemStrWithError(dict, name) _PyDict_GetItem_KnownHash(dict, name, ((PyASCIIObject *) name)->hash) +static CYTHON_INLINE PyObject * __Pyx_PyDict_GetItemStr(PyObject *dict, PyObject *name) { + PyObject *res = __Pyx_PyDict_GetItemStrWithError(dict, name); + if (res == NULL) PyErr_Clear(); + return res; +} +#elif PY_MAJOR_VERSION >= 3 && (!CYTHON_COMPILING_IN_PYPY || PYPY_VERSION_NUM >= 0x07020000) +#define __Pyx_PyDict_GetItemStrWithError PyDict_GetItemWithError +#define __Pyx_PyDict_GetItemStr PyDict_GetItem +#else +static CYTHON_INLINE PyObject * __Pyx_PyDict_GetItemStrWithError(PyObject *dict, PyObject *name) { +#if CYTHON_COMPILING_IN_PYPY + return PyDict_GetItem(dict, name); +#else + PyDictEntry *ep; + PyDictObject *mp = (PyDictObject*) dict; + long hash = ((PyStringObject *) name)->ob_shash; + assert(hash != -1); + ep = (mp->ma_lookup)(mp, name, hash); + if (ep == NULL) { + return NULL; + } + return ep->me_value; +#endif +} +#define __Pyx_PyDict_GetItemStr PyDict_GetItem +#endif +#if CYTHON_USE_TYPE_SLOTS + #define __Pyx_PyType_GetFlags(tp) (((PyTypeObject *)tp)->tp_flags) + #define __Pyx_PyType_HasFeature(type, feature) ((__Pyx_PyType_GetFlags(type) & (feature)) != 0) + #define __Pyx_PyObject_GetIterNextFunc(obj) (Py_TYPE(obj)->tp_iternext) +#else + #define __Pyx_PyType_GetFlags(tp) (PyType_GetFlags((PyTypeObject *)tp)) + #define __Pyx_PyType_HasFeature(type, feature) PyType_HasFeature(type, feature) + #define __Pyx_PyObject_GetIterNextFunc(obj) PyIter_Next +#endif +#if CYTHON_COMPILING_IN_LIMITED_API + #define __Pyx_SetItemOnTypeDict(tp, k, v) PyObject_GenericSetAttr((PyObject*)tp, k, v) +#else + #define __Pyx_SetItemOnTypeDict(tp, k, v) PyDict_SetItem(tp->tp_dict, k, v) +#endif +#if CYTHON_USE_TYPE_SPECS && PY_VERSION_HEX >= 0x03080000 +#define __Pyx_PyHeapTypeObject_GC_Del(obj) {\ + PyTypeObject *type = Py_TYPE((PyObject*)obj);\ + assert(__Pyx_PyType_HasFeature(type, Py_TPFLAGS_HEAPTYPE));\ + PyObject_GC_Del(obj);\ + Py_DECREF(type);\ +} +#else +#define __Pyx_PyHeapTypeObject_GC_Del(obj) PyObject_GC_Del(obj) +#endif +#if CYTHON_COMPILING_IN_LIMITED_API + #define CYTHON_PEP393_ENABLED 1 + #define __Pyx_PyUnicode_READY(op) (0) + #define __Pyx_PyUnicode_GET_LENGTH(u) PyUnicode_GetLength(u) + #define __Pyx_PyUnicode_READ_CHAR(u, i) PyUnicode_ReadChar(u, i) + #define __Pyx_PyUnicode_MAX_CHAR_VALUE(u) ((void)u, 1114111U) + #define __Pyx_PyUnicode_KIND(u) ((void)u, (0)) + #define __Pyx_PyUnicode_DATA(u) ((void*)u) + #define __Pyx_PyUnicode_READ(k, d, i) ((void)k, PyUnicode_ReadChar((PyObject*)(d), i)) + #define __Pyx_PyUnicode_IS_TRUE(u) (0 != PyUnicode_GetLength(u)) +#elif PY_VERSION_HEX > 0x03030000 && defined(PyUnicode_KIND) + #define CYTHON_PEP393_ENABLED 1 + #if PY_VERSION_HEX >= 0x030C0000 + #define __Pyx_PyUnicode_READY(op) (0) + #else + #define __Pyx_PyUnicode_READY(op) (likely(PyUnicode_IS_READY(op)) ?\ + 0 : _PyUnicode_Ready((PyObject *)(op))) + #endif + #define __Pyx_PyUnicode_GET_LENGTH(u) PyUnicode_GET_LENGTH(u) + #define __Pyx_PyUnicode_READ_CHAR(u, i) PyUnicode_READ_CHAR(u, i) + #define __Pyx_PyUnicode_MAX_CHAR_VALUE(u) PyUnicode_MAX_CHAR_VALUE(u) + #define __Pyx_PyUnicode_KIND(u) ((int)PyUnicode_KIND(u)) + #define __Pyx_PyUnicode_DATA(u) PyUnicode_DATA(u) + #define __Pyx_PyUnicode_READ(k, d, i) PyUnicode_READ(k, d, i) + #define __Pyx_PyUnicode_WRITE(k, d, i, ch) PyUnicode_WRITE(k, d, i, (Py_UCS4) ch) + #if PY_VERSION_HEX >= 0x030C0000 + #define __Pyx_PyUnicode_IS_TRUE(u) (0 != PyUnicode_GET_LENGTH(u)) + #else + #if CYTHON_COMPILING_IN_CPYTHON && PY_VERSION_HEX >= 0x03090000 + #define __Pyx_PyUnicode_IS_TRUE(u) (0 != (likely(PyUnicode_IS_READY(u)) ? PyUnicode_GET_LENGTH(u) : ((PyCompactUnicodeObject *)(u))->wstr_length)) + #else + #define __Pyx_PyUnicode_IS_TRUE(u) (0 != (likely(PyUnicode_IS_READY(u)) ? PyUnicode_GET_LENGTH(u) : PyUnicode_GET_SIZE(u))) + #endif + #endif +#else + #define CYTHON_PEP393_ENABLED 0 + #define PyUnicode_1BYTE_KIND 1 + #define PyUnicode_2BYTE_KIND 2 + #define PyUnicode_4BYTE_KIND 4 + #define __Pyx_PyUnicode_READY(op) (0) + #define __Pyx_PyUnicode_GET_LENGTH(u) PyUnicode_GET_SIZE(u) + #define __Pyx_PyUnicode_READ_CHAR(u, i) ((Py_UCS4)(PyUnicode_AS_UNICODE(u)[i])) + #define __Pyx_PyUnicode_MAX_CHAR_VALUE(u) ((sizeof(Py_UNICODE) == 2) ? 65535U : 1114111U) + #define __Pyx_PyUnicode_KIND(u) ((int)sizeof(Py_UNICODE)) + #define __Pyx_PyUnicode_DATA(u) ((void*)PyUnicode_AS_UNICODE(u)) + #define __Pyx_PyUnicode_READ(k, d, i) ((void)(k), (Py_UCS4)(((Py_UNICODE*)d)[i])) + #define __Pyx_PyUnicode_WRITE(k, d, i, ch) (((void)(k)), ((Py_UNICODE*)d)[i] = (Py_UNICODE) ch) + #define __Pyx_PyUnicode_IS_TRUE(u) (0 != PyUnicode_GET_SIZE(u)) +#endif +#if CYTHON_COMPILING_IN_PYPY + #define __Pyx_PyUnicode_Concat(a, b) PyNumber_Add(a, b) + #define __Pyx_PyUnicode_ConcatSafe(a, b) PyNumber_Add(a, b) +#else + #define __Pyx_PyUnicode_Concat(a, b) PyUnicode_Concat(a, b) + #define __Pyx_PyUnicode_ConcatSafe(a, b) ((unlikely((a) == Py_None) || unlikely((b) == Py_None)) ?\ + PyNumber_Add(a, b) : __Pyx_PyUnicode_Concat(a, b)) +#endif +#if CYTHON_COMPILING_IN_PYPY + #if !defined(PyUnicode_DecodeUnicodeEscape) + #define PyUnicode_DecodeUnicodeEscape(s, size, errors) PyUnicode_Decode(s, size, "unicode_escape", errors) + #endif + #if !defined(PyUnicode_Contains) || (PY_MAJOR_VERSION == 2 && PYPY_VERSION_NUM < 0x07030500) + #undef PyUnicode_Contains + #define PyUnicode_Contains(u, s) PySequence_Contains(u, s) + #endif + #if !defined(PyByteArray_Check) + #define PyByteArray_Check(obj) PyObject_TypeCheck(obj, &PyByteArray_Type) + #endif + #if !defined(PyObject_Format) + #define PyObject_Format(obj, fmt) PyObject_CallMethod(obj, "__format__", "O", fmt) + #endif +#endif +#define __Pyx_PyString_FormatSafe(a, b) ((unlikely((a) == Py_None || (PyString_Check(b) && !PyString_CheckExact(b)))) ? PyNumber_Remainder(a, b) : __Pyx_PyString_Format(a, b)) +#define __Pyx_PyUnicode_FormatSafe(a, b) ((unlikely((a) == Py_None || (PyUnicode_Check(b) && !PyUnicode_CheckExact(b)))) ? PyNumber_Remainder(a, b) : PyUnicode_Format(a, b)) +#if PY_MAJOR_VERSION >= 3 + #define __Pyx_PyString_Format(a, b) PyUnicode_Format(a, b) +#else + #define __Pyx_PyString_Format(a, b) PyString_Format(a, b) +#endif +#if PY_MAJOR_VERSION < 3 && !defined(PyObject_ASCII) + #define PyObject_ASCII(o) PyObject_Repr(o) +#endif +#if PY_MAJOR_VERSION >= 3 + #define PyBaseString_Type PyUnicode_Type + #define PyStringObject PyUnicodeObject + #define PyString_Type PyUnicode_Type + #define PyString_Check PyUnicode_Check + #define PyString_CheckExact PyUnicode_CheckExact +#ifndef PyObject_Unicode + #define PyObject_Unicode PyObject_Str +#endif +#endif +#if PY_MAJOR_VERSION >= 3 + #define __Pyx_PyBaseString_Check(obj) PyUnicode_Check(obj) + #define __Pyx_PyBaseString_CheckExact(obj) PyUnicode_CheckExact(obj) +#else + #define __Pyx_PyBaseString_Check(obj) (PyString_Check(obj) || PyUnicode_Check(obj)) + #define __Pyx_PyBaseString_CheckExact(obj) (PyString_CheckExact(obj) || PyUnicode_CheckExact(obj)) +#endif +#if CYTHON_COMPILING_IN_CPYTHON + #define __Pyx_PySequence_ListKeepNew(obj)\ + (likely(PyList_CheckExact(obj) && Py_REFCNT(obj) == 1) ? __Pyx_NewRef(obj) : PySequence_List(obj)) +#else + #define __Pyx_PySequence_ListKeepNew(obj) PySequence_List(obj) +#endif +#ifndef PySet_CheckExact + #define PySet_CheckExact(obj) __Pyx_IS_TYPE(obj, &PySet_Type) +#endif +#if PY_VERSION_HEX >= 0x030900A4 + #define __Pyx_SET_REFCNT(obj, refcnt) Py_SET_REFCNT(obj, refcnt) + #define __Pyx_SET_SIZE(obj, size) Py_SET_SIZE(obj, size) +#else + #define __Pyx_SET_REFCNT(obj, refcnt) Py_REFCNT(obj) = (refcnt) + #define __Pyx_SET_SIZE(obj, size) Py_SIZE(obj) = (size) +#endif +#if CYTHON_ASSUME_SAFE_MACROS + #define __Pyx_PySequence_ITEM(o, i) PySequence_ITEM(o, i) + #define __Pyx_PySequence_SIZE(seq) Py_SIZE(seq) + #define __Pyx_PyTuple_SET_ITEM(o, i, v) (PyTuple_SET_ITEM(o, i, v), (0)) + #define __Pyx_PyList_SET_ITEM(o, i, v) (PyList_SET_ITEM(o, i, v), (0)) + #define __Pyx_PyTuple_GET_SIZE(o) PyTuple_GET_SIZE(o) + #define __Pyx_PyList_GET_SIZE(o) PyList_GET_SIZE(o) + #define __Pyx_PySet_GET_SIZE(o) PySet_GET_SIZE(o) + #define __Pyx_PyBytes_GET_SIZE(o) PyBytes_GET_SIZE(o) + #define __Pyx_PyByteArray_GET_SIZE(o) PyByteArray_GET_SIZE(o) +#else + #define __Pyx_PySequence_ITEM(o, i) PySequence_GetItem(o, i) + #define __Pyx_PySequence_SIZE(seq) PySequence_Size(seq) + #define __Pyx_PyTuple_SET_ITEM(o, i, v) PyTuple_SetItem(o, i, v) + #define __Pyx_PyList_SET_ITEM(o, i, v) PyList_SetItem(o, i, v) + #define __Pyx_PyTuple_GET_SIZE(o) PyTuple_Size(o) + #define __Pyx_PyList_GET_SIZE(o) PyList_Size(o) + #define __Pyx_PySet_GET_SIZE(o) PySet_Size(o) + #define __Pyx_PyBytes_GET_SIZE(o) PyBytes_Size(o) + #define __Pyx_PyByteArray_GET_SIZE(o) PyByteArray_Size(o) +#endif +#if PY_VERSION_HEX >= 0x030d00A1 + #define __Pyx_PyImport_AddModuleRef(name) PyImport_AddModuleRef(name) +#else + static CYTHON_INLINE PyObject *__Pyx_PyImport_AddModuleRef(const char *name) { + PyObject *module = PyImport_AddModule(name); + Py_XINCREF(module); + return module; + } +#endif +#if PY_MAJOR_VERSION >= 3 + #define PyIntObject PyLongObject + #define PyInt_Type PyLong_Type + #define PyInt_Check(op) PyLong_Check(op) + #define PyInt_CheckExact(op) PyLong_CheckExact(op) + #define __Pyx_Py3Int_Check(op) PyLong_Check(op) + #define __Pyx_Py3Int_CheckExact(op) PyLong_CheckExact(op) + #define PyInt_FromString PyLong_FromString + #define PyInt_FromUnicode PyLong_FromUnicode + #define PyInt_FromLong PyLong_FromLong + #define PyInt_FromSize_t PyLong_FromSize_t + #define PyInt_FromSsize_t PyLong_FromSsize_t + #define PyInt_AsLong PyLong_AsLong + #define PyInt_AS_LONG PyLong_AS_LONG + #define PyInt_AsSsize_t PyLong_AsSsize_t + #define PyInt_AsUnsignedLongMask PyLong_AsUnsignedLongMask + #define PyInt_AsUnsignedLongLongMask PyLong_AsUnsignedLongLongMask + #define PyNumber_Int PyNumber_Long +#else + #define __Pyx_Py3Int_Check(op) (PyLong_Check(op) || PyInt_Check(op)) + #define __Pyx_Py3Int_CheckExact(op) (PyLong_CheckExact(op) || PyInt_CheckExact(op)) +#endif +#if PY_MAJOR_VERSION >= 3 + #define PyBoolObject PyLongObject +#endif +#if PY_MAJOR_VERSION >= 3 && CYTHON_COMPILING_IN_PYPY + #ifndef PyUnicode_InternFromString + #define PyUnicode_InternFromString(s) PyUnicode_FromString(s) + #endif +#endif +#if PY_VERSION_HEX < 0x030200A4 + typedef long Py_hash_t; + #define __Pyx_PyInt_FromHash_t PyInt_FromLong + #define __Pyx_PyInt_AsHash_t __Pyx_PyIndex_AsHash_t +#else + #define __Pyx_PyInt_FromHash_t PyInt_FromSsize_t + #define __Pyx_PyInt_AsHash_t __Pyx_PyIndex_AsSsize_t +#endif +#if CYTHON_USE_ASYNC_SLOTS + #if PY_VERSION_HEX >= 0x030500B1 + #define __Pyx_PyAsyncMethodsStruct PyAsyncMethods + #define __Pyx_PyType_AsAsync(obj) (Py_TYPE(obj)->tp_as_async) + #else + #define __Pyx_PyType_AsAsync(obj) ((__Pyx_PyAsyncMethodsStruct*) (Py_TYPE(obj)->tp_reserved)) + #endif +#else + #define __Pyx_PyType_AsAsync(obj) NULL +#endif +#ifndef __Pyx_PyAsyncMethodsStruct + typedef struct { + unaryfunc am_await; + unaryfunc am_aiter; + unaryfunc am_anext; + } __Pyx_PyAsyncMethodsStruct; +#endif + +#if defined(_WIN32) || defined(WIN32) || defined(MS_WINDOWS) + #if !defined(_USE_MATH_DEFINES) + #define _USE_MATH_DEFINES + #endif +#endif +#include +#ifdef NAN +#define __PYX_NAN() ((float) NAN) +#else +static CYTHON_INLINE float __PYX_NAN() { + float value; + memset(&value, 0xFF, sizeof(value)); + return value; +} +#endif +#if defined(__CYGWIN__) && defined(_LDBL_EQ_DBL) +#define __Pyx_truncl trunc +#else +#define __Pyx_truncl truncl +#endif + +#define __PYX_MARK_ERR_POS(f_index, lineno) \ + { __pyx_filename = __pyx_f[f_index]; (void)__pyx_filename; __pyx_lineno = lineno; (void)__pyx_lineno; __pyx_clineno = __LINE__; (void)__pyx_clineno; } +#define __PYX_ERR(f_index, lineno, Ln_error) \ + { __PYX_MARK_ERR_POS(f_index, lineno) goto Ln_error; } + +#ifdef CYTHON_EXTERN_C + #undef __PYX_EXTERN_C + #define __PYX_EXTERN_C CYTHON_EXTERN_C +#elif defined(__PYX_EXTERN_C) + #ifdef _MSC_VER + #pragma message ("Please do not define the '__PYX_EXTERN_C' macro externally. Use 'CYTHON_EXTERN_C' instead.") + #else + #warning Please do not define the '__PYX_EXTERN_C' macro externally. Use 'CYTHON_EXTERN_C' instead. + #endif +#else + #define __PYX_EXTERN_C extern "C++" +#endif + +#define __PYX_HAVE__selfdrive__classic_modeld__models__commonmodel_pyx +#define __PYX_HAVE_API__selfdrive__classic_modeld__models__commonmodel_pyx +/* Early includes */ +#include +#include +#include "ios" +#include "new" +#include "stdexcept" +#include "typeinfo" +#include +#include + + #if __cplusplus >= 201103L || (defined(_MSC_VER) && _MSC_VER >= 1600) + // move should be defined for these versions of MSVC, but __cplusplus isn't set usefully + #include + + namespace cython_std { + template typename std::remove_reference::type&& move(T& t) noexcept { return std::move(t); } + template typename std::remove_reference::type&& move(T&& t) noexcept { return std::move(t); } + } + + #endif + +#include +#include +#include "msgq/visionipc/visionbuf.h" +#include "msgq/visionipc/visionipc.h" +#include "msgq/visionipc/visionipc_server.h" +#include "msgq/visionipc/visionipc_client.h" +#include + + /* Using NumPy API declarations from "numpy/__init__.cython-30.pxd" */ + +#include "numpy/arrayobject.h" +#include "numpy/ndarrayobject.h" +#include "numpy/ndarraytypes.h" +#include "numpy/arrayscalars.h" +#include "numpy/ufuncobject.h" +#include "common/mat.h" +#include "common/clutil.h" +#include "selfdrive/classic_modeld/models/commonmodel.h" +#include "pythread.h" +#include +#ifdef _OPENMP +#include +#endif /* _OPENMP */ + +#if defined(PYREX_WITHOUT_ASSERTIONS) && !defined(CYTHON_WITHOUT_ASSERTIONS) +#define CYTHON_WITHOUT_ASSERTIONS +#endif + +typedef struct {PyObject **p; const char *s; const Py_ssize_t n; const char* encoding; + const char is_unicode; const char is_str; const char intern; } __Pyx_StringTabEntry; + +#define __PYX_DEFAULT_STRING_ENCODING_IS_ASCII 1 +#define __PYX_DEFAULT_STRING_ENCODING_IS_UTF8 0 +#define __PYX_DEFAULT_STRING_ENCODING_IS_DEFAULT (PY_MAJOR_VERSION >= 3 && __PYX_DEFAULT_STRING_ENCODING_IS_UTF8) +#define __PYX_DEFAULT_STRING_ENCODING "ascii" +#define __Pyx_PyObject_FromString __Pyx_PyBytes_FromString +#define __Pyx_PyObject_FromStringAndSize __Pyx_PyBytes_FromStringAndSize +#define __Pyx_uchar_cast(c) ((unsigned char)c) +#define __Pyx_long_cast(x) ((long)x) +#define __Pyx_fits_Py_ssize_t(v, type, is_signed) (\ + (sizeof(type) < sizeof(Py_ssize_t)) ||\ + (sizeof(type) > sizeof(Py_ssize_t) &&\ + likely(v < (type)PY_SSIZE_T_MAX ||\ + v == (type)PY_SSIZE_T_MAX) &&\ + (!is_signed || likely(v > (type)PY_SSIZE_T_MIN ||\ + v == (type)PY_SSIZE_T_MIN))) ||\ + (sizeof(type) == sizeof(Py_ssize_t) &&\ + (is_signed || likely(v < (type)PY_SSIZE_T_MAX ||\ + v == (type)PY_SSIZE_T_MAX))) ) +static CYTHON_INLINE int __Pyx_is_valid_index(Py_ssize_t i, Py_ssize_t limit) { + return (size_t) i < (size_t) limit; +} +#if defined (__cplusplus) && __cplusplus >= 201103L + #include + #define __Pyx_sst_abs(value) std::abs(value) +#elif SIZEOF_INT >= SIZEOF_SIZE_T + #define __Pyx_sst_abs(value) abs(value) +#elif SIZEOF_LONG >= SIZEOF_SIZE_T + #define __Pyx_sst_abs(value) labs(value) +#elif defined (_MSC_VER) + #define __Pyx_sst_abs(value) ((Py_ssize_t)_abs64(value)) +#elif defined (__STDC_VERSION__) && __STDC_VERSION__ >= 199901L + #define __Pyx_sst_abs(value) llabs(value) +#elif defined (__GNUC__) + #define __Pyx_sst_abs(value) __builtin_llabs(value) +#else + #define __Pyx_sst_abs(value) ((value<0) ? -value : value) +#endif +static CYTHON_INLINE Py_ssize_t __Pyx_ssize_strlen(const char *s); +static CYTHON_INLINE const char* __Pyx_PyObject_AsString(PyObject*); +static CYTHON_INLINE const char* __Pyx_PyObject_AsStringAndSize(PyObject*, Py_ssize_t* length); +static CYTHON_INLINE PyObject* __Pyx_PyByteArray_FromString(const char*); +#define __Pyx_PyByteArray_FromStringAndSize(s, l) PyByteArray_FromStringAndSize((const char*)s, l) +#define __Pyx_PyBytes_FromString PyBytes_FromString +#define __Pyx_PyBytes_FromStringAndSize PyBytes_FromStringAndSize +static CYTHON_INLINE PyObject* __Pyx_PyUnicode_FromString(const char*); +#if PY_MAJOR_VERSION < 3 + #define __Pyx_PyStr_FromString __Pyx_PyBytes_FromString + #define __Pyx_PyStr_FromStringAndSize __Pyx_PyBytes_FromStringAndSize +#else + #define __Pyx_PyStr_FromString __Pyx_PyUnicode_FromString + #define __Pyx_PyStr_FromStringAndSize __Pyx_PyUnicode_FromStringAndSize +#endif +#define __Pyx_PyBytes_AsWritableString(s) ((char*) PyBytes_AS_STRING(s)) +#define __Pyx_PyBytes_AsWritableSString(s) ((signed char*) PyBytes_AS_STRING(s)) +#define __Pyx_PyBytes_AsWritableUString(s) ((unsigned char*) PyBytes_AS_STRING(s)) +#define __Pyx_PyBytes_AsString(s) ((const char*) PyBytes_AS_STRING(s)) +#define __Pyx_PyBytes_AsSString(s) ((const signed char*) PyBytes_AS_STRING(s)) +#define __Pyx_PyBytes_AsUString(s) ((const unsigned char*) PyBytes_AS_STRING(s)) +#define __Pyx_PyObject_AsWritableString(s) ((char*)(__pyx_uintptr_t) __Pyx_PyObject_AsString(s)) +#define __Pyx_PyObject_AsWritableSString(s) ((signed char*)(__pyx_uintptr_t) __Pyx_PyObject_AsString(s)) +#define __Pyx_PyObject_AsWritableUString(s) ((unsigned char*)(__pyx_uintptr_t) __Pyx_PyObject_AsString(s)) +#define __Pyx_PyObject_AsSString(s) ((const signed char*) __Pyx_PyObject_AsString(s)) +#define __Pyx_PyObject_AsUString(s) ((const unsigned char*) __Pyx_PyObject_AsString(s)) +#define __Pyx_PyObject_FromCString(s) __Pyx_PyObject_FromString((const char*)s) +#define __Pyx_PyBytes_FromCString(s) __Pyx_PyBytes_FromString((const char*)s) +#define __Pyx_PyByteArray_FromCString(s) __Pyx_PyByteArray_FromString((const char*)s) +#define __Pyx_PyStr_FromCString(s) __Pyx_PyStr_FromString((const char*)s) +#define __Pyx_PyUnicode_FromCString(s) __Pyx_PyUnicode_FromString((const char*)s) +#if CYTHON_COMPILING_IN_LIMITED_API +static CYTHON_INLINE size_t __Pyx_Py_UNICODE_strlen(const wchar_t *u) +{ + const wchar_t *u_end = u; + while (*u_end++) ; + return (size_t)(u_end - u - 1); +} +#else +static CYTHON_INLINE size_t __Pyx_Py_UNICODE_strlen(const Py_UNICODE *u) +{ + const Py_UNICODE *u_end = u; + while (*u_end++) ; + return (size_t)(u_end - u - 1); +} +#endif +#define __Pyx_PyUnicode_FromOrdinal(o) PyUnicode_FromOrdinal((int)o) +#define __Pyx_PyUnicode_FromUnicode(u) PyUnicode_FromUnicode(u, __Pyx_Py_UNICODE_strlen(u)) +#define __Pyx_PyUnicode_FromUnicodeAndLength PyUnicode_FromUnicode +#define __Pyx_PyUnicode_AsUnicode PyUnicode_AsUnicode +#define __Pyx_NewRef(obj) (Py_INCREF(obj), obj) +#define __Pyx_Owned_Py_None(b) __Pyx_NewRef(Py_None) +static CYTHON_INLINE PyObject * __Pyx_PyBool_FromLong(long b); +static CYTHON_INLINE int __Pyx_PyObject_IsTrue(PyObject*); +static CYTHON_INLINE int __Pyx_PyObject_IsTrueAndDecref(PyObject*); +static CYTHON_INLINE PyObject* __Pyx_PyNumber_IntOrLong(PyObject* x); +#define __Pyx_PySequence_Tuple(obj)\ + (likely(PyTuple_CheckExact(obj)) ? __Pyx_NewRef(obj) : PySequence_Tuple(obj)) +static CYTHON_INLINE Py_ssize_t __Pyx_PyIndex_AsSsize_t(PyObject*); +static CYTHON_INLINE PyObject * __Pyx_PyInt_FromSize_t(size_t); +static CYTHON_INLINE Py_hash_t __Pyx_PyIndex_AsHash_t(PyObject*); +#if CYTHON_ASSUME_SAFE_MACROS +#define __pyx_PyFloat_AsDouble(x) (PyFloat_CheckExact(x) ? PyFloat_AS_DOUBLE(x) : PyFloat_AsDouble(x)) +#else +#define __pyx_PyFloat_AsDouble(x) PyFloat_AsDouble(x) +#endif +#define __pyx_PyFloat_AsFloat(x) ((float) __pyx_PyFloat_AsDouble(x)) +#if PY_MAJOR_VERSION >= 3 +#define __Pyx_PyNumber_Int(x) (PyLong_CheckExact(x) ? __Pyx_NewRef(x) : PyNumber_Long(x)) +#else +#define __Pyx_PyNumber_Int(x) (PyInt_CheckExact(x) ? __Pyx_NewRef(x) : PyNumber_Int(x)) +#endif +#if CYTHON_USE_PYLONG_INTERNALS + #if PY_VERSION_HEX >= 0x030C00A7 + #ifndef _PyLong_SIGN_MASK + #define _PyLong_SIGN_MASK 3 + #endif + #ifndef _PyLong_NON_SIZE_BITS + #define _PyLong_NON_SIZE_BITS 3 + #endif + #define __Pyx_PyLong_Sign(x) (((PyLongObject*)x)->long_value.lv_tag & _PyLong_SIGN_MASK) + #define __Pyx_PyLong_IsNeg(x) ((__Pyx_PyLong_Sign(x) & 2) != 0) + #define __Pyx_PyLong_IsNonNeg(x) (!__Pyx_PyLong_IsNeg(x)) + #define __Pyx_PyLong_IsZero(x) (__Pyx_PyLong_Sign(x) & 1) + #define __Pyx_PyLong_IsPos(x) (__Pyx_PyLong_Sign(x) == 0) + #define __Pyx_PyLong_CompactValueUnsigned(x) (__Pyx_PyLong_Digits(x)[0]) + #define __Pyx_PyLong_DigitCount(x) ((Py_ssize_t) (((PyLongObject*)x)->long_value.lv_tag >> _PyLong_NON_SIZE_BITS)) + #define __Pyx_PyLong_SignedDigitCount(x)\ + ((1 - (Py_ssize_t) __Pyx_PyLong_Sign(x)) * __Pyx_PyLong_DigitCount(x)) + #if defined(PyUnstable_Long_IsCompact) && defined(PyUnstable_Long_CompactValue) + #define __Pyx_PyLong_IsCompact(x) PyUnstable_Long_IsCompact((PyLongObject*) x) + #define __Pyx_PyLong_CompactValue(x) PyUnstable_Long_CompactValue((PyLongObject*) x) + #else + #define __Pyx_PyLong_IsCompact(x) (((PyLongObject*)x)->long_value.lv_tag < (2 << _PyLong_NON_SIZE_BITS)) + #define __Pyx_PyLong_CompactValue(x) ((1 - (Py_ssize_t) __Pyx_PyLong_Sign(x)) * (Py_ssize_t) __Pyx_PyLong_Digits(x)[0]) + #endif + typedef Py_ssize_t __Pyx_compact_pylong; + typedef size_t __Pyx_compact_upylong; + #else + #define __Pyx_PyLong_IsNeg(x) (Py_SIZE(x) < 0) + #define __Pyx_PyLong_IsNonNeg(x) (Py_SIZE(x) >= 0) + #define __Pyx_PyLong_IsZero(x) (Py_SIZE(x) == 0) + #define __Pyx_PyLong_IsPos(x) (Py_SIZE(x) > 0) + #define __Pyx_PyLong_CompactValueUnsigned(x) ((Py_SIZE(x) == 0) ? 0 : __Pyx_PyLong_Digits(x)[0]) + #define __Pyx_PyLong_DigitCount(x) __Pyx_sst_abs(Py_SIZE(x)) + #define __Pyx_PyLong_SignedDigitCount(x) Py_SIZE(x) + #define __Pyx_PyLong_IsCompact(x) (Py_SIZE(x) == 0 || Py_SIZE(x) == 1 || Py_SIZE(x) == -1) + #define __Pyx_PyLong_CompactValue(x)\ + ((Py_SIZE(x) == 0) ? (sdigit) 0 : ((Py_SIZE(x) < 0) ? -(sdigit)__Pyx_PyLong_Digits(x)[0] : (sdigit)__Pyx_PyLong_Digits(x)[0])) + typedef sdigit __Pyx_compact_pylong; + typedef digit __Pyx_compact_upylong; + #endif + #if PY_VERSION_HEX >= 0x030C00A5 + #define __Pyx_PyLong_Digits(x) (((PyLongObject*)x)->long_value.ob_digit) + #else + #define __Pyx_PyLong_Digits(x) (((PyLongObject*)x)->ob_digit) + #endif +#endif +#if PY_MAJOR_VERSION < 3 && __PYX_DEFAULT_STRING_ENCODING_IS_ASCII +#include +static int __Pyx_sys_getdefaultencoding_not_ascii; +static int __Pyx_init_sys_getdefaultencoding_params(void) { + PyObject* sys; + PyObject* default_encoding = NULL; + PyObject* ascii_chars_u = NULL; + PyObject* ascii_chars_b = NULL; + const char* default_encoding_c; + sys = PyImport_ImportModule("sys"); + if (!sys) goto bad; + default_encoding = PyObject_CallMethod(sys, (char*) "getdefaultencoding", NULL); + Py_DECREF(sys); + if (!default_encoding) goto bad; + default_encoding_c = PyBytes_AsString(default_encoding); + if (!default_encoding_c) goto bad; + if (strcmp(default_encoding_c, "ascii") == 0) { + __Pyx_sys_getdefaultencoding_not_ascii = 0; + } else { + char ascii_chars[128]; + int c; + for (c = 0; c < 128; c++) { + ascii_chars[c] = (char) c; + } + __Pyx_sys_getdefaultencoding_not_ascii = 1; + ascii_chars_u = PyUnicode_DecodeASCII(ascii_chars, 128, NULL); + if (!ascii_chars_u) goto bad; + ascii_chars_b = PyUnicode_AsEncodedString(ascii_chars_u, default_encoding_c, NULL); + if (!ascii_chars_b || !PyBytes_Check(ascii_chars_b) || memcmp(ascii_chars, PyBytes_AS_STRING(ascii_chars_b), 128) != 0) { + PyErr_Format( + PyExc_ValueError, + "This module compiled with c_string_encoding=ascii, but default encoding '%.200s' is not a superset of ascii.", + default_encoding_c); + goto bad; + } + Py_DECREF(ascii_chars_u); + Py_DECREF(ascii_chars_b); + } + Py_DECREF(default_encoding); + return 0; +bad: + Py_XDECREF(default_encoding); + Py_XDECREF(ascii_chars_u); + Py_XDECREF(ascii_chars_b); + return -1; +} +#endif +#if __PYX_DEFAULT_STRING_ENCODING_IS_DEFAULT && PY_MAJOR_VERSION >= 3 +#define __Pyx_PyUnicode_FromStringAndSize(c_str, size) PyUnicode_DecodeUTF8(c_str, size, NULL) +#else +#define __Pyx_PyUnicode_FromStringAndSize(c_str, size) PyUnicode_Decode(c_str, size, __PYX_DEFAULT_STRING_ENCODING, NULL) +#if __PYX_DEFAULT_STRING_ENCODING_IS_DEFAULT +#include +static char* __PYX_DEFAULT_STRING_ENCODING; +static int __Pyx_init_sys_getdefaultencoding_params(void) { + PyObject* sys; + PyObject* default_encoding = NULL; + char* default_encoding_c; + sys = PyImport_ImportModule("sys"); + if (!sys) goto bad; + default_encoding = PyObject_CallMethod(sys, (char*) (const char*) "getdefaultencoding", NULL); + Py_DECREF(sys); + if (!default_encoding) goto bad; + default_encoding_c = PyBytes_AsString(default_encoding); + if (!default_encoding_c) goto bad; + __PYX_DEFAULT_STRING_ENCODING = (char*) malloc(strlen(default_encoding_c) + 1); + if (!__PYX_DEFAULT_STRING_ENCODING) goto bad; + strcpy(__PYX_DEFAULT_STRING_ENCODING, default_encoding_c); + Py_DECREF(default_encoding); + return 0; +bad: + Py_XDECREF(default_encoding); + return -1; +} +#endif +#endif + + +/* Test for GCC > 2.95 */ +#if defined(__GNUC__) && (__GNUC__ > 2 || (__GNUC__ == 2 && (__GNUC_MINOR__ > 95))) + #define likely(x) __builtin_expect(!!(x), 1) + #define unlikely(x) __builtin_expect(!!(x), 0) +#else /* !__GNUC__ or GCC < 2.95 */ + #define likely(x) (x) + #define unlikely(x) (x) +#endif /* __GNUC__ */ +static CYTHON_INLINE void __Pyx_pretend_to_initialize(void* ptr) { (void)ptr; } + +#if !CYTHON_USE_MODULE_STATE +static PyObject *__pyx_m = NULL; +#endif +static int __pyx_lineno; +static int __pyx_clineno = 0; +static const char * __pyx_cfilenm = __FILE__; +static const char *__pyx_filename; + +/* Header.proto */ +#if !defined(CYTHON_CCOMPLEX) + #if defined(__cplusplus) + #define CYTHON_CCOMPLEX 1 + #elif (defined(_Complex_I) && !defined(_MSC_VER)) || ((defined (__STDC_VERSION__) && __STDC_VERSION__ >= 201112L) && !defined(__STDC_NO_COMPLEX__) && !defined(_MSC_VER)) + #define CYTHON_CCOMPLEX 1 + #else + #define CYTHON_CCOMPLEX 0 + #endif +#endif +#if CYTHON_CCOMPLEX + #ifdef __cplusplus + #include + #else + #include + #endif +#endif +#if CYTHON_CCOMPLEX && !defined(__cplusplus) && defined(__sun__) && defined(__GNUC__) + #undef _Complex_I + #define _Complex_I 1.0fj +#endif + +/* #### Code section: filename_table ### */ + +static const char *__pyx_f[] = { + "", + "selfdrive/classic_modeld/models/commonmodel_pyx.pyx", + "__init__.cython-30.pxd", + "msgq/visionipc/visionipc_pyx.pxd", + "type.pxd", +}; +/* #### Code section: utility_code_proto_before_types ### */ +/* ForceInitThreads.proto */ +#ifndef __PYX_FORCE_INIT_THREADS + #define __PYX_FORCE_INIT_THREADS 0 +#endif + +/* NoFastGil.proto */ +#define __Pyx_PyGILState_Ensure PyGILState_Ensure +#define __Pyx_PyGILState_Release PyGILState_Release +#define __Pyx_FastGIL_Remember() +#define __Pyx_FastGIL_Forget() +#define __Pyx_FastGilFuncInit() + +/* BufferFormatStructs.proto */ +struct __Pyx_StructField_; +#define __PYX_BUF_FLAGS_PACKED_STRUCT (1 << 0) +typedef struct { + const char* name; + struct __Pyx_StructField_* fields; + size_t size; + size_t arraysize[8]; + int ndim; + char typegroup; + char is_unsigned; + int flags; +} __Pyx_TypeInfo; +typedef struct __Pyx_StructField_ { + __Pyx_TypeInfo* type; + const char* name; + size_t offset; +} __Pyx_StructField; +typedef struct { + __Pyx_StructField* field; + size_t parent_offset; +} __Pyx_BufFmt_StackElem; +typedef struct { + __Pyx_StructField root; + __Pyx_BufFmt_StackElem* head; + size_t fmt_offset; + size_t new_count, enc_count; + size_t struct_alignment; + int is_complex; + char enc_type; + char new_packmode; + char enc_packmode; + char is_valid_array; +} __Pyx_BufFmt_Context; + +/* Atomics.proto */ +#include +#ifndef CYTHON_ATOMICS + #define CYTHON_ATOMICS 1 +#endif +#define __PYX_CYTHON_ATOMICS_ENABLED() CYTHON_ATOMICS +#define __pyx_atomic_int_type int +#define __pyx_nonatomic_int_type int +#if CYTHON_ATOMICS && (defined(__STDC_VERSION__) &&\ + (__STDC_VERSION__ >= 201112L) &&\ + !defined(__STDC_NO_ATOMICS__)) + #include +#elif CYTHON_ATOMICS && (defined(__cplusplus) && (\ + (__cplusplus >= 201103L) ||\ + (defined(_MSC_VER) && _MSC_VER >= 1700))) + #include +#endif +#if CYTHON_ATOMICS && (defined(__STDC_VERSION__) &&\ + (__STDC_VERSION__ >= 201112L) &&\ + !defined(__STDC_NO_ATOMICS__) &&\ + ATOMIC_INT_LOCK_FREE == 2) + #undef __pyx_atomic_int_type + #define __pyx_atomic_int_type atomic_int + #define __pyx_atomic_incr_aligned(value) atomic_fetch_add_explicit(value, 1, memory_order_relaxed) + #define __pyx_atomic_decr_aligned(value) atomic_fetch_sub_explicit(value, 1, memory_order_acq_rel) + #if defined(__PYX_DEBUG_ATOMICS) && defined(_MSC_VER) + #pragma message ("Using standard C atomics") + #elif defined(__PYX_DEBUG_ATOMICS) + #warning "Using standard C atomics" + #endif +#elif CYTHON_ATOMICS && (defined(__cplusplus) && (\ + (__cplusplus >= 201103L) ||\ +\ + (defined(_MSC_VER) && _MSC_VER >= 1700)) &&\ + ATOMIC_INT_LOCK_FREE == 2) + #undef __pyx_atomic_int_type + #define __pyx_atomic_int_type std::atomic_int + #define __pyx_atomic_incr_aligned(value) std::atomic_fetch_add_explicit(value, 1, std::memory_order_relaxed) + #define __pyx_atomic_decr_aligned(value) std::atomic_fetch_sub_explicit(value, 1, std::memory_order_acq_rel) + #if defined(__PYX_DEBUG_ATOMICS) && defined(_MSC_VER) + #pragma message ("Using standard C++ atomics") + #elif defined(__PYX_DEBUG_ATOMICS) + #warning "Using standard C++ atomics" + #endif +#elif CYTHON_ATOMICS && (__GNUC__ >= 5 || (__GNUC__ == 4 &&\ + (__GNUC_MINOR__ > 1 ||\ + (__GNUC_MINOR__ == 1 && __GNUC_PATCHLEVEL__ >= 2)))) + #define __pyx_atomic_incr_aligned(value) __sync_fetch_and_add(value, 1) + #define __pyx_atomic_decr_aligned(value) __sync_fetch_and_sub(value, 1) + #ifdef __PYX_DEBUG_ATOMICS + #warning "Using GNU atomics" + #endif +#elif CYTHON_ATOMICS && defined(_MSC_VER) + #include + #undef __pyx_atomic_int_type + #define __pyx_atomic_int_type long + #undef __pyx_nonatomic_int_type + #define __pyx_nonatomic_int_type long + #pragma intrinsic (_InterlockedExchangeAdd) + #define __pyx_atomic_incr_aligned(value) _InterlockedExchangeAdd(value, 1) + #define __pyx_atomic_decr_aligned(value) _InterlockedExchangeAdd(value, -1) + #ifdef __PYX_DEBUG_ATOMICS + #pragma message ("Using MSVC atomics") + #endif +#else + #undef CYTHON_ATOMICS + #define CYTHON_ATOMICS 0 + #ifdef __PYX_DEBUG_ATOMICS + #warning "Not using atomics" + #endif +#endif +#if CYTHON_ATOMICS + #define __pyx_add_acquisition_count(memview)\ + __pyx_atomic_incr_aligned(__pyx_get_slice_count_pointer(memview)) + #define __pyx_sub_acquisition_count(memview)\ + __pyx_atomic_decr_aligned(__pyx_get_slice_count_pointer(memview)) +#else + #define __pyx_add_acquisition_count(memview)\ + __pyx_add_acquisition_count_locked(__pyx_get_slice_count_pointer(memview), memview->lock) + #define __pyx_sub_acquisition_count(memview)\ + __pyx_sub_acquisition_count_locked(__pyx_get_slice_count_pointer(memview), memview->lock) +#endif + +/* MemviewSliceStruct.proto */ +struct __pyx_memoryview_obj; +typedef struct { + struct __pyx_memoryview_obj *memview; + char *data; + Py_ssize_t shape[8]; + Py_ssize_t strides[8]; + Py_ssize_t suboffsets[8]; +} __Pyx_memviewslice; +#define __Pyx_MemoryView_Len(m) (m.shape[0]) + +/* #### Code section: numeric_typedefs ### */ + +/* "../../usr/local/pyenv/versions/3.11.4/lib/python3.11/site-packages/numpy/__init__.cython-30.pxd":730 + * # in Cython to enable them only on the right systems. + * + * ctypedef npy_int8 int8_t # <<<<<<<<<<<<<< + * ctypedef npy_int16 int16_t + * ctypedef npy_int32 int32_t + */ +typedef npy_int8 __pyx_t_5numpy_int8_t; + +/* "../../usr/local/pyenv/versions/3.11.4/lib/python3.11/site-packages/numpy/__init__.cython-30.pxd":731 + * + * ctypedef npy_int8 int8_t + * ctypedef npy_int16 int16_t # <<<<<<<<<<<<<< + * ctypedef npy_int32 int32_t + * ctypedef npy_int64 int64_t + */ +typedef npy_int16 __pyx_t_5numpy_int16_t; + +/* "../../usr/local/pyenv/versions/3.11.4/lib/python3.11/site-packages/numpy/__init__.cython-30.pxd":732 + * ctypedef npy_int8 int8_t + * ctypedef npy_int16 int16_t + * ctypedef npy_int32 int32_t # <<<<<<<<<<<<<< + * ctypedef npy_int64 int64_t + * #ctypedef npy_int96 int96_t + */ +typedef npy_int32 __pyx_t_5numpy_int32_t; + +/* "../../usr/local/pyenv/versions/3.11.4/lib/python3.11/site-packages/numpy/__init__.cython-30.pxd":733 + * ctypedef npy_int16 int16_t + * ctypedef npy_int32 int32_t + * ctypedef npy_int64 int64_t # <<<<<<<<<<<<<< + * #ctypedef npy_int96 int96_t + * #ctypedef npy_int128 int128_t + */ +typedef npy_int64 __pyx_t_5numpy_int64_t; + +/* "../../usr/local/pyenv/versions/3.11.4/lib/python3.11/site-packages/numpy/__init__.cython-30.pxd":737 + * #ctypedef npy_int128 int128_t + * + * ctypedef npy_uint8 uint8_t # <<<<<<<<<<<<<< + * ctypedef npy_uint16 uint16_t + * ctypedef npy_uint32 uint32_t + */ +typedef npy_uint8 __pyx_t_5numpy_uint8_t; + +/* "../../usr/local/pyenv/versions/3.11.4/lib/python3.11/site-packages/numpy/__init__.cython-30.pxd":738 + * + * ctypedef npy_uint8 uint8_t + * ctypedef npy_uint16 uint16_t # <<<<<<<<<<<<<< + * ctypedef npy_uint32 uint32_t + * ctypedef npy_uint64 uint64_t + */ +typedef npy_uint16 __pyx_t_5numpy_uint16_t; + +/* "../../usr/local/pyenv/versions/3.11.4/lib/python3.11/site-packages/numpy/__init__.cython-30.pxd":739 + * ctypedef npy_uint8 uint8_t + * ctypedef npy_uint16 uint16_t + * ctypedef npy_uint32 uint32_t # <<<<<<<<<<<<<< + * ctypedef npy_uint64 uint64_t + * #ctypedef npy_uint96 uint96_t + */ +typedef npy_uint32 __pyx_t_5numpy_uint32_t; + +/* "../../usr/local/pyenv/versions/3.11.4/lib/python3.11/site-packages/numpy/__init__.cython-30.pxd":740 + * ctypedef npy_uint16 uint16_t + * ctypedef npy_uint32 uint32_t + * ctypedef npy_uint64 uint64_t # <<<<<<<<<<<<<< + * #ctypedef npy_uint96 uint96_t + * #ctypedef npy_uint128 uint128_t + */ +typedef npy_uint64 __pyx_t_5numpy_uint64_t; + +/* "../../usr/local/pyenv/versions/3.11.4/lib/python3.11/site-packages/numpy/__init__.cython-30.pxd":744 + * #ctypedef npy_uint128 uint128_t + * + * ctypedef npy_float32 float32_t # <<<<<<<<<<<<<< + * ctypedef npy_float64 float64_t + * #ctypedef npy_float80 float80_t + */ +typedef npy_float32 __pyx_t_5numpy_float32_t; + +/* "../../usr/local/pyenv/versions/3.11.4/lib/python3.11/site-packages/numpy/__init__.cython-30.pxd":745 + * + * ctypedef npy_float32 float32_t + * ctypedef npy_float64 float64_t # <<<<<<<<<<<<<< + * #ctypedef npy_float80 float80_t + * #ctypedef npy_float128 float128_t + */ +typedef npy_float64 __pyx_t_5numpy_float64_t; + +/* "../../usr/local/pyenv/versions/3.11.4/lib/python3.11/site-packages/numpy/__init__.cython-30.pxd":754 + * # The int types are mapped a bit surprising -- + * # numpy.int corresponds to 'l' and numpy.long to 'q' + * ctypedef npy_long int_t # <<<<<<<<<<<<<< + * ctypedef npy_longlong longlong_t + * + */ +typedef npy_long __pyx_t_5numpy_int_t; + +/* "../../usr/local/pyenv/versions/3.11.4/lib/python3.11/site-packages/numpy/__init__.cython-30.pxd":755 + * # numpy.int corresponds to 'l' and numpy.long to 'q' + * ctypedef npy_long int_t + * ctypedef npy_longlong longlong_t # <<<<<<<<<<<<<< + * + * ctypedef npy_ulong uint_t + */ +typedef npy_longlong __pyx_t_5numpy_longlong_t; + +/* "../../usr/local/pyenv/versions/3.11.4/lib/python3.11/site-packages/numpy/__init__.cython-30.pxd":757 + * ctypedef npy_longlong longlong_t + * + * ctypedef npy_ulong uint_t # <<<<<<<<<<<<<< + * ctypedef npy_ulonglong ulonglong_t + * + */ +typedef npy_ulong __pyx_t_5numpy_uint_t; + +/* "../../usr/local/pyenv/versions/3.11.4/lib/python3.11/site-packages/numpy/__init__.cython-30.pxd":758 + * + * ctypedef npy_ulong uint_t + * ctypedef npy_ulonglong ulonglong_t # <<<<<<<<<<<<<< + * + * ctypedef npy_intp intp_t + */ +typedef npy_ulonglong __pyx_t_5numpy_ulonglong_t; + +/* "../../usr/local/pyenv/versions/3.11.4/lib/python3.11/site-packages/numpy/__init__.cython-30.pxd":760 + * ctypedef npy_ulonglong ulonglong_t + * + * ctypedef npy_intp intp_t # <<<<<<<<<<<<<< + * ctypedef npy_uintp uintp_t + * + */ +typedef npy_intp __pyx_t_5numpy_intp_t; + +/* "../../usr/local/pyenv/versions/3.11.4/lib/python3.11/site-packages/numpy/__init__.cython-30.pxd":761 + * + * ctypedef npy_intp intp_t + * ctypedef npy_uintp uintp_t # <<<<<<<<<<<<<< + * + * ctypedef npy_double float_t + */ +typedef npy_uintp __pyx_t_5numpy_uintp_t; + +/* "../../usr/local/pyenv/versions/3.11.4/lib/python3.11/site-packages/numpy/__init__.cython-30.pxd":763 + * ctypedef npy_uintp uintp_t + * + * ctypedef npy_double float_t # <<<<<<<<<<<<<< + * ctypedef npy_double double_t + * ctypedef npy_longdouble longdouble_t + */ +typedef npy_double __pyx_t_5numpy_float_t; + +/* "../../usr/local/pyenv/versions/3.11.4/lib/python3.11/site-packages/numpy/__init__.cython-30.pxd":764 + * + * ctypedef npy_double float_t + * ctypedef npy_double double_t # <<<<<<<<<<<<<< + * ctypedef npy_longdouble longdouble_t + * + */ +typedef npy_double __pyx_t_5numpy_double_t; + +/* "../../usr/local/pyenv/versions/3.11.4/lib/python3.11/site-packages/numpy/__init__.cython-30.pxd":765 + * ctypedef npy_double float_t + * ctypedef npy_double double_t + * ctypedef npy_longdouble longdouble_t # <<<<<<<<<<<<<< + * + * ctypedef npy_cfloat cfloat_t + */ +typedef npy_longdouble __pyx_t_5numpy_longdouble_t; +/* #### Code section: complex_type_declarations ### */ +/* Declarations.proto */ +#if CYTHON_CCOMPLEX && (1) && (!0 || __cplusplus) + #ifdef __cplusplus + typedef ::std::complex< float > __pyx_t_float_complex; + #else + typedef float _Complex __pyx_t_float_complex; + #endif +#else + typedef struct { float real, imag; } __pyx_t_float_complex; +#endif +static CYTHON_INLINE __pyx_t_float_complex __pyx_t_float_complex_from_parts(float, float); + +/* Declarations.proto */ +#if CYTHON_CCOMPLEX && (1) && (!0 || __cplusplus) + #ifdef __cplusplus + typedef ::std::complex< double > __pyx_t_double_complex; + #else + typedef double _Complex __pyx_t_double_complex; + #endif +#else + typedef struct { double real, imag; } __pyx_t_double_complex; +#endif +static CYTHON_INLINE __pyx_t_double_complex __pyx_t_double_complex_from_parts(double, double); + +/* #### Code section: type_declarations ### */ + +/*--- Type declarations ---*/ +struct __pyx_obj_4msgq_9visionipc_13visionipc_pyx_CLContext; +struct __pyx_obj_4msgq_9visionipc_13visionipc_pyx_VisionBuf; +struct __pyx_obj_9selfdrive_14classic_modeld_6models_15commonmodel_pyx_CLContext; +struct __pyx_obj_9selfdrive_14classic_modeld_6models_15commonmodel_pyx_CLMem; +struct __pyx_obj_9selfdrive_14classic_modeld_6models_15commonmodel_pyx_ModelFrame; +struct __pyx_array_obj; +struct __pyx_MemviewEnum_obj; +struct __pyx_memoryview_obj; +struct __pyx_memoryviewslice_obj; + +/* "../../usr/local/pyenv/versions/3.11.4/lib/python3.11/site-packages/numpy/__init__.cython-30.pxd":767 + * ctypedef npy_longdouble longdouble_t + * + * ctypedef npy_cfloat cfloat_t # <<<<<<<<<<<<<< + * ctypedef npy_cdouble cdouble_t + * ctypedef npy_clongdouble clongdouble_t + */ +typedef npy_cfloat __pyx_t_5numpy_cfloat_t; + +/* "../../usr/local/pyenv/versions/3.11.4/lib/python3.11/site-packages/numpy/__init__.cython-30.pxd":768 + * + * ctypedef npy_cfloat cfloat_t + * ctypedef npy_cdouble cdouble_t # <<<<<<<<<<<<<< + * ctypedef npy_clongdouble clongdouble_t + * + */ +typedef npy_cdouble __pyx_t_5numpy_cdouble_t; + +/* "../../usr/local/pyenv/versions/3.11.4/lib/python3.11/site-packages/numpy/__init__.cython-30.pxd":769 + * ctypedef npy_cfloat cfloat_t + * ctypedef npy_cdouble cdouble_t + * ctypedef npy_clongdouble clongdouble_t # <<<<<<<<<<<<<< + * + * ctypedef npy_cdouble complex_t + */ +typedef npy_clongdouble __pyx_t_5numpy_clongdouble_t; + +/* "../../usr/local/pyenv/versions/3.11.4/lib/python3.11/site-packages/numpy/__init__.cython-30.pxd":771 + * ctypedef npy_clongdouble clongdouble_t + * + * ctypedef npy_cdouble complex_t # <<<<<<<<<<<<<< + * + * cdef inline object PyArray_MultiIterNew1(a): + */ +typedef npy_cdouble __pyx_t_5numpy_complex_t; + +/* "msgq/visionipc/visionipc_pyx.pxd":7 + * from .visionipc cimport cl_device_id, cl_context + * + * cdef class CLContext: # <<<<<<<<<<<<<< + * cdef cl_device_id device_id + * cdef cl_context context + */ +struct __pyx_obj_4msgq_9visionipc_13visionipc_pyx_CLContext { + PyObject_HEAD + cl_device_id device_id; + cl_context context; +}; + + +/* "msgq/visionipc/visionipc_pyx.pxd":11 + * cdef cl_context context + * + * cdef class VisionBuf: # <<<<<<<<<<<<<< + * cdef cppVisionBuf * buf + * + */ +struct __pyx_obj_4msgq_9visionipc_13visionipc_pyx_VisionBuf { + PyObject_HEAD + struct __pyx_vtabstruct_4msgq_9visionipc_13visionipc_pyx_VisionBuf *__pyx_vtab; + VisionBuf *buf; +}; + + +/* "selfdrive/classic_modeld/models/commonmodel_pyx.pxd":6 + * from msgq.visionipc.visionipc_pyx cimport CLContext as BaseCLContext + * + * cdef class CLContext(BaseCLContext): # <<<<<<<<<<<<<< + * pass + * + */ +struct __pyx_obj_9selfdrive_14classic_modeld_6models_15commonmodel_pyx_CLContext { + struct __pyx_obj_4msgq_9visionipc_13visionipc_pyx_CLContext __pyx_base; +}; + + +/* "selfdrive/classic_modeld/models/commonmodel_pyx.pxd":9 + * pass + * + * cdef class CLMem: # <<<<<<<<<<<<<< + * cdef cl_mem * mem + * + */ +struct __pyx_obj_9selfdrive_14classic_modeld_6models_15commonmodel_pyx_CLMem { + PyObject_HEAD + struct __pyx_vtabstruct_9selfdrive_14classic_modeld_6models_15commonmodel_pyx_CLMem *__pyx_vtab; + cl_mem *mem; +}; + + +/* "selfdrive/classic_modeld/models/commonmodel_pyx.pyx":28 + * return mem + * + * cdef class ModelFrame: # <<<<<<<<<<<<<< + * cdef cppModelFrame * frame + * + */ +struct __pyx_obj_9selfdrive_14classic_modeld_6models_15commonmodel_pyx_ModelFrame { + PyObject_HEAD + ModelFrame *frame; +}; + + +/* "View.MemoryView":114 + * @cython.collection_type("sequence") + * @cname("__pyx_array") + * cdef class array: # <<<<<<<<<<<<<< + * + * cdef: + */ +struct __pyx_array_obj { + PyObject_HEAD + struct __pyx_vtabstruct_array *__pyx_vtab; + char *data; + Py_ssize_t len; + char *format; + int ndim; + Py_ssize_t *_shape; + Py_ssize_t *_strides; + Py_ssize_t itemsize; + PyObject *mode; + PyObject *_format; + void (*callback_free_data)(void *); + int free_data; + int dtype_is_object; +}; + + +/* "View.MemoryView":302 + * + * @cname('__pyx_MemviewEnum') + * cdef class Enum(object): # <<<<<<<<<<<<<< + * cdef object name + * def __init__(self, name): + */ +struct __pyx_MemviewEnum_obj { + PyObject_HEAD + PyObject *name; +}; + + +/* "View.MemoryView":337 + * + * @cname('__pyx_memoryview') + * cdef class memoryview: # <<<<<<<<<<<<<< + * + * cdef object obj + */ +struct __pyx_memoryview_obj { + PyObject_HEAD + struct __pyx_vtabstruct_memoryview *__pyx_vtab; + PyObject *obj; + PyObject *_size; + PyObject *_array_interface; + PyThread_type_lock lock; + __pyx_atomic_int_type acquisition_count; + Py_buffer view; + int flags; + int dtype_is_object; + __Pyx_TypeInfo *typeinfo; +}; + + +/* "View.MemoryView":952 + * @cython.collection_type("sequence") + * @cname('__pyx_memoryviewslice') + * cdef class _memoryviewslice(memoryview): # <<<<<<<<<<<<<< + * "Internal class for passing memoryview slices to Python" + * + */ +struct __pyx_memoryviewslice_obj { + struct __pyx_memoryview_obj __pyx_base; + __Pyx_memviewslice from_slice; + PyObject *from_object; + PyObject *(*to_object_func)(char *); + int (*to_dtype_func)(char *, PyObject *); +}; + + + +/* "msgq/visionipc/visionipc_pyx.pxd":11 + * cdef cl_context context + * + * cdef class VisionBuf: # <<<<<<<<<<<<<< + * cdef cppVisionBuf * buf + * + */ + +struct __pyx_vtabstruct_4msgq_9visionipc_13visionipc_pyx_VisionBuf { + PyObject *(*create)(VisionBuf *); +}; +static struct __pyx_vtabstruct_4msgq_9visionipc_13visionipc_pyx_VisionBuf *__pyx_vtabptr_4msgq_9visionipc_13visionipc_pyx_VisionBuf; + + +/* "selfdrive/classic_modeld/models/commonmodel_pyx.pyx":21 + * self.context = cl_create_context(self.device_id) + * + * cdef class CLMem: # <<<<<<<<<<<<<< + * @staticmethod + * cdef create(void * cmem): + */ + +struct __pyx_vtabstruct_9selfdrive_14classic_modeld_6models_15commonmodel_pyx_CLMem { + PyObject *(*create)(void *); +}; +static struct __pyx_vtabstruct_9selfdrive_14classic_modeld_6models_15commonmodel_pyx_CLMem *__pyx_vtabptr_9selfdrive_14classic_modeld_6models_15commonmodel_pyx_CLMem; + + +/* "View.MemoryView":114 + * @cython.collection_type("sequence") + * @cname("__pyx_array") + * cdef class array: # <<<<<<<<<<<<<< + * + * cdef: + */ + +struct __pyx_vtabstruct_array { + PyObject *(*get_memview)(struct __pyx_array_obj *); +}; +static struct __pyx_vtabstruct_array *__pyx_vtabptr_array; + + +/* "View.MemoryView":337 + * + * @cname('__pyx_memoryview') + * cdef class memoryview: # <<<<<<<<<<<<<< + * + * cdef object obj + */ + +struct __pyx_vtabstruct_memoryview { + char *(*get_item_pointer)(struct __pyx_memoryview_obj *, PyObject *); + PyObject *(*is_slice)(struct __pyx_memoryview_obj *, PyObject *); + PyObject *(*setitem_slice_assignment)(struct __pyx_memoryview_obj *, PyObject *, PyObject *); + PyObject *(*setitem_slice_assign_scalar)(struct __pyx_memoryview_obj *, struct __pyx_memoryview_obj *, PyObject *); + PyObject *(*setitem_indexed)(struct __pyx_memoryview_obj *, PyObject *, PyObject *); + PyObject *(*convert_item_to_object)(struct __pyx_memoryview_obj *, char *); + PyObject *(*assign_item_from_object)(struct __pyx_memoryview_obj *, char *, PyObject *); + PyObject *(*_get_base)(struct __pyx_memoryview_obj *); +}; +static struct __pyx_vtabstruct_memoryview *__pyx_vtabptr_memoryview; + + +/* "View.MemoryView":952 + * @cython.collection_type("sequence") + * @cname('__pyx_memoryviewslice') + * cdef class _memoryviewslice(memoryview): # <<<<<<<<<<<<<< + * "Internal class for passing memoryview slices to Python" + * + */ + +struct __pyx_vtabstruct__memoryviewslice { + struct __pyx_vtabstruct_memoryview __pyx_base; +}; +static struct __pyx_vtabstruct__memoryviewslice *__pyx_vtabptr__memoryviewslice; +/* #### Code section: utility_code_proto ### */ + +/* --- Runtime support code (head) --- */ +/* Refnanny.proto */ +#ifndef CYTHON_REFNANNY + #define CYTHON_REFNANNY 0 +#endif +#if CYTHON_REFNANNY + typedef struct { + void (*INCREF)(void*, PyObject*, Py_ssize_t); + void (*DECREF)(void*, PyObject*, Py_ssize_t); + void (*GOTREF)(void*, PyObject*, Py_ssize_t); 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else {__Pyx_INCREF(r); }} while(0) + #define __Pyx_XDECREF(r) do { if((r) == NULL); else {__Pyx_DECREF(r); }} while(0) + #define __Pyx_XGOTREF(r) do { if((r) == NULL); else {__Pyx_GOTREF(r); }} while(0) + #define __Pyx_XGIVEREF(r) do { if((r) == NULL); else {__Pyx_GIVEREF(r);}} while(0) +#else + #define __Pyx_RefNannyDeclarations + #define __Pyx_RefNannySetupContext(name, acquire_gil) + #define __Pyx_RefNannyFinishContextNogil() + #define __Pyx_RefNannyFinishContext() + #define __Pyx_INCREF(r) Py_INCREF(r) + #define __Pyx_DECREF(r) Py_DECREF(r) + #define __Pyx_GOTREF(r) + #define __Pyx_GIVEREF(r) + #define __Pyx_XINCREF(r) Py_XINCREF(r) + #define __Pyx_XDECREF(r) Py_XDECREF(r) + #define __Pyx_XGOTREF(r) + #define __Pyx_XGIVEREF(r) +#endif +#define __Pyx_Py_XDECREF_SET(r, v) do {\ + PyObject *tmp = (PyObject *) r;\ + r = v; Py_XDECREF(tmp);\ + } while (0) +#define __Pyx_XDECREF_SET(r, v) do {\ + PyObject *tmp = (PyObject *) r;\ + r = v; __Pyx_XDECREF(tmp);\ + } while (0) +#define __Pyx_DECREF_SET(r, v) do {\ + PyObject *tmp = (PyObject *) r;\ + r = v; __Pyx_DECREF(tmp);\ + } while (0) +#define __Pyx_CLEAR(r) do { PyObject* tmp = ((PyObject*)(r)); r = NULL; __Pyx_DECREF(tmp);} while(0) +#define __Pyx_XCLEAR(r) do { if((r) != NULL) {PyObject* tmp = ((PyObject*)(r)); r = NULL; __Pyx_DECREF(tmp);}} while(0) + +/* PyErrExceptionMatches.proto */ +#if CYTHON_FAST_THREAD_STATE +#define __Pyx_PyErr_ExceptionMatches(err) __Pyx_PyErr_ExceptionMatchesInState(__pyx_tstate, err) +static CYTHON_INLINE int __Pyx_PyErr_ExceptionMatchesInState(PyThreadState* tstate, PyObject* err); +#else +#define __Pyx_PyErr_ExceptionMatches(err) PyErr_ExceptionMatches(err) +#endif + +/* PyThreadStateGet.proto */ +#if CYTHON_FAST_THREAD_STATE +#define __Pyx_PyThreadState_declare PyThreadState *__pyx_tstate; +#define __Pyx_PyThreadState_assign __pyx_tstate = __Pyx_PyThreadState_Current; +#if PY_VERSION_HEX >= 0x030C00A6 +#define __Pyx_PyErr_Occurred() (__pyx_tstate->current_exception != NULL) +#define __Pyx_PyErr_CurrentExceptionType() (__pyx_tstate->current_exception ? (PyObject*) Py_TYPE(__pyx_tstate->current_exception) : (PyObject*) NULL) +#else +#define __Pyx_PyErr_Occurred() (__pyx_tstate->curexc_type != NULL) +#define __Pyx_PyErr_CurrentExceptionType() (__pyx_tstate->curexc_type) +#endif +#else +#define __Pyx_PyThreadState_declare +#define __Pyx_PyThreadState_assign +#define __Pyx_PyErr_Occurred() (PyErr_Occurred() != NULL) +#define __Pyx_PyErr_CurrentExceptionType() PyErr_Occurred() +#endif + +/* PyErrFetchRestore.proto */ +#if CYTHON_FAST_THREAD_STATE +#define __Pyx_PyErr_Clear() __Pyx_ErrRestore(NULL, NULL, NULL) +#define __Pyx_ErrRestoreWithState(type, value, tb) __Pyx_ErrRestoreInState(PyThreadState_GET(), type, value, tb) +#define __Pyx_ErrFetchWithState(type, value, tb) __Pyx_ErrFetchInState(PyThreadState_GET(), type, value, tb) +#define __Pyx_ErrRestore(type, value, tb) __Pyx_ErrRestoreInState(__pyx_tstate, type, value, tb) +#define __Pyx_ErrFetch(type, value, tb) __Pyx_ErrFetchInState(__pyx_tstate, type, value, tb) +static CYTHON_INLINE void __Pyx_ErrRestoreInState(PyThreadState *tstate, PyObject *type, PyObject *value, PyObject *tb); +static CYTHON_INLINE void __Pyx_ErrFetchInState(PyThreadState *tstate, PyObject **type, PyObject **value, PyObject **tb); +#if CYTHON_COMPILING_IN_CPYTHON && PY_VERSION_HEX < 0x030C00A6 +#define __Pyx_PyErr_SetNone(exc) (Py_INCREF(exc), __Pyx_ErrRestore((exc), NULL, NULL)) +#else +#define __Pyx_PyErr_SetNone(exc) PyErr_SetNone(exc) +#endif +#else +#define __Pyx_PyErr_Clear() PyErr_Clear() +#define __Pyx_PyErr_SetNone(exc) PyErr_SetNone(exc) +#define __Pyx_ErrRestoreWithState(type, value, tb) PyErr_Restore(type, value, tb) +#define __Pyx_ErrFetchWithState(type, value, tb) PyErr_Fetch(type, value, tb) +#define __Pyx_ErrRestoreInState(tstate, type, value, tb) PyErr_Restore(type, value, tb) +#define __Pyx_ErrFetchInState(tstate, type, value, tb) PyErr_Fetch(type, value, tb) +#define __Pyx_ErrRestore(type, value, tb) PyErr_Restore(type, value, tb) +#define __Pyx_ErrFetch(type, value, tb) PyErr_Fetch(type, value, tb) +#endif + +/* PyObjectGetAttrStr.proto */ +#if CYTHON_USE_TYPE_SLOTS +static CYTHON_INLINE PyObject* __Pyx_PyObject_GetAttrStr(PyObject* obj, PyObject* attr_name); +#else +#define __Pyx_PyObject_GetAttrStr(o,n) PyObject_GetAttr(o,n) +#endif + +/* PyObjectGetAttrStrNoError.proto */ +static CYTHON_INLINE PyObject* __Pyx_PyObject_GetAttrStrNoError(PyObject* obj, PyObject* attr_name); + +/* GetBuiltinName.proto */ +static PyObject *__Pyx_GetBuiltinName(PyObject *name); + +/* TupleAndListFromArray.proto */ +#if CYTHON_COMPILING_IN_CPYTHON +static CYTHON_INLINE PyObject* __Pyx_PyList_FromArray(PyObject *const *src, Py_ssize_t n); +static CYTHON_INLINE PyObject* __Pyx_PyTuple_FromArray(PyObject *const *src, Py_ssize_t n); +#endif + +/* IncludeStringH.proto */ +#include + +/* BytesEquals.proto */ +static CYTHON_INLINE int __Pyx_PyBytes_Equals(PyObject* s1, PyObject* s2, int equals); + +/* UnicodeEquals.proto */ +static CYTHON_INLINE int __Pyx_PyUnicode_Equals(PyObject* s1, PyObject* s2, int equals); + +/* fastcall.proto */ +#if CYTHON_AVOID_BORROWED_REFS + #define __Pyx_Arg_VARARGS(args, i) PySequence_GetItem(args, i) +#elif CYTHON_ASSUME_SAFE_MACROS + #define __Pyx_Arg_VARARGS(args, i) PyTuple_GET_ITEM(args, i) +#else + #define __Pyx_Arg_VARARGS(args, i) PyTuple_GetItem(args, i) +#endif +#if CYTHON_AVOID_BORROWED_REFS + #define __Pyx_Arg_NewRef_VARARGS(arg) __Pyx_NewRef(arg) + #define __Pyx_Arg_XDECREF_VARARGS(arg) Py_XDECREF(arg) +#else + #define __Pyx_Arg_NewRef_VARARGS(arg) arg + #define __Pyx_Arg_XDECREF_VARARGS(arg) +#endif +#define __Pyx_NumKwargs_VARARGS(kwds) PyDict_Size(kwds) +#define __Pyx_KwValues_VARARGS(args, nargs) NULL +#define __Pyx_GetKwValue_VARARGS(kw, kwvalues, s) __Pyx_PyDict_GetItemStrWithError(kw, s) +#define __Pyx_KwargsAsDict_VARARGS(kw, kwvalues) PyDict_Copy(kw) +#if CYTHON_METH_FASTCALL + #define __Pyx_Arg_FASTCALL(args, i) args[i] + #define __Pyx_NumKwargs_FASTCALL(kwds) PyTuple_GET_SIZE(kwds) + #define __Pyx_KwValues_FASTCALL(args, nargs) ((args) + (nargs)) + static CYTHON_INLINE PyObject * __Pyx_GetKwValue_FASTCALL(PyObject *kwnames, PyObject *const *kwvalues, PyObject *s); +#if CYTHON_COMPILING_IN_CPYTHON && PY_VERSION_HEX >= 0x030d0000 + CYTHON_UNUSED static PyObject *__Pyx_KwargsAsDict_FASTCALL(PyObject *kwnames, PyObject *const *kwvalues); + #else + #define __Pyx_KwargsAsDict_FASTCALL(kw, kwvalues) _PyStack_AsDict(kwvalues, kw) + #endif + #define __Pyx_Arg_NewRef_FASTCALL(arg) arg /* no-op, __Pyx_Arg_FASTCALL is direct and this needs + to have the same reference counting */ + #define __Pyx_Arg_XDECREF_FASTCALL(arg) +#else + #define __Pyx_Arg_FASTCALL __Pyx_Arg_VARARGS + #define __Pyx_NumKwargs_FASTCALL __Pyx_NumKwargs_VARARGS + #define __Pyx_KwValues_FASTCALL __Pyx_KwValues_VARARGS + #define __Pyx_GetKwValue_FASTCALL __Pyx_GetKwValue_VARARGS + #define __Pyx_KwargsAsDict_FASTCALL __Pyx_KwargsAsDict_VARARGS + #define __Pyx_Arg_NewRef_FASTCALL(arg) __Pyx_Arg_NewRef_VARARGS(arg) + #define __Pyx_Arg_XDECREF_FASTCALL(arg) __Pyx_Arg_XDECREF_VARARGS(arg) +#endif +#if CYTHON_COMPILING_IN_CPYTHON && CYTHON_ASSUME_SAFE_MACROS && !CYTHON_AVOID_BORROWED_REFS +#define __Pyx_ArgsSlice_VARARGS(args, start, stop) __Pyx_PyTuple_FromArray(&__Pyx_Arg_VARARGS(args, start), stop - start) +#define __Pyx_ArgsSlice_FASTCALL(args, start, stop) __Pyx_PyTuple_FromArray(&__Pyx_Arg_FASTCALL(args, start), stop - start) +#else +#define __Pyx_ArgsSlice_VARARGS(args, start, stop) PyTuple_GetSlice(args, start, stop) +#define __Pyx_ArgsSlice_FASTCALL(args, start, stop) PyTuple_GetSlice(args, start, stop) +#endif + +/* RaiseArgTupleInvalid.proto */ +static void __Pyx_RaiseArgtupleInvalid(const char* func_name, int exact, + Py_ssize_t num_min, Py_ssize_t num_max, Py_ssize_t num_found); + +/* RaiseDoubleKeywords.proto */ +static void __Pyx_RaiseDoubleKeywordsError(const char* func_name, PyObject* kw_name); + +/* ParseKeywords.proto */ +static int __Pyx_ParseOptionalKeywords(PyObject *kwds, PyObject *const *kwvalues, + PyObject **argnames[], + PyObject *kwds2, PyObject *values[], Py_ssize_t num_pos_args, + const char* function_name); + +/* ArgTypeTest.proto */ +#define __Pyx_ArgTypeTest(obj, type, none_allowed, name, exact)\ + ((likely(__Pyx_IS_TYPE(obj, type) | (none_allowed && (obj == Py_None)))) ? 1 :\ + __Pyx__ArgTypeTest(obj, type, name, exact)) +static int __Pyx__ArgTypeTest(PyObject *obj, PyTypeObject *type, const char *name, int exact); + +/* RaiseException.proto */ +static void __Pyx_Raise(PyObject *type, PyObject *value, PyObject *tb, PyObject *cause); + +/* PyFunctionFastCall.proto */ +#if CYTHON_FAST_PYCALL +#if !CYTHON_VECTORCALL +#define __Pyx_PyFunction_FastCall(func, args, nargs)\ + __Pyx_PyFunction_FastCallDict((func), (args), (nargs), NULL) +static PyObject *__Pyx_PyFunction_FastCallDict(PyObject *func, PyObject **args, Py_ssize_t nargs, PyObject *kwargs); +#endif +#define __Pyx_BUILD_ASSERT_EXPR(cond)\ + (sizeof(char [1 - 2*!(cond)]) - 1) +#ifndef Py_MEMBER_SIZE +#define Py_MEMBER_SIZE(type, member) sizeof(((type *)0)->member) +#endif +#if !CYTHON_VECTORCALL +#if PY_VERSION_HEX >= 0x03080000 + #include "frameobject.h" +#if PY_VERSION_HEX >= 0x030b00a6 && !CYTHON_COMPILING_IN_LIMITED_API + #ifndef Py_BUILD_CORE + #define Py_BUILD_CORE 1 + #endif + #include "internal/pycore_frame.h" +#endif + #define __Pxy_PyFrame_Initialize_Offsets() + #define __Pyx_PyFrame_GetLocalsplus(frame) ((frame)->f_localsplus) +#else + static size_t __pyx_pyframe_localsplus_offset = 0; + #include "frameobject.h" + #define __Pxy_PyFrame_Initialize_Offsets()\ + ((void)__Pyx_BUILD_ASSERT_EXPR(sizeof(PyFrameObject) == offsetof(PyFrameObject, f_localsplus) + Py_MEMBER_SIZE(PyFrameObject, f_localsplus)),\ + (void)(__pyx_pyframe_localsplus_offset = ((size_t)PyFrame_Type.tp_basicsize) - Py_MEMBER_SIZE(PyFrameObject, f_localsplus))) + #define __Pyx_PyFrame_GetLocalsplus(frame)\ + (assert(__pyx_pyframe_localsplus_offset), (PyObject **)(((char *)(frame)) + __pyx_pyframe_localsplus_offset)) +#endif +#endif +#endif + +/* PyObjectCall.proto */ +#if CYTHON_COMPILING_IN_CPYTHON +static CYTHON_INLINE PyObject* __Pyx_PyObject_Call(PyObject *func, PyObject *arg, PyObject *kw); +#else +#define __Pyx_PyObject_Call(func, arg, kw) PyObject_Call(func, arg, kw) +#endif + +/* PyObjectCallMethO.proto */ +#if CYTHON_COMPILING_IN_CPYTHON +static CYTHON_INLINE PyObject* __Pyx_PyObject_CallMethO(PyObject *func, PyObject *arg); +#endif + +/* PyObjectFastCall.proto */ +#define __Pyx_PyObject_FastCall(func, args, nargs) __Pyx_PyObject_FastCallDict(func, args, (size_t)(nargs), NULL) +static CYTHON_INLINE PyObject* __Pyx_PyObject_FastCallDict(PyObject *func, PyObject **args, size_t nargs, PyObject *kwargs); + +/* RaiseUnexpectedTypeError.proto */ +static int __Pyx_RaiseUnexpectedTypeError(const char *expected, PyObject *obj); + +/* GCCDiagnostics.proto */ +#if !defined(__INTEL_COMPILER) && defined(__GNUC__) && (__GNUC__ > 4 || (__GNUC__ == 4 && __GNUC_MINOR__ >= 6)) +#define __Pyx_HAS_GCC_DIAGNOSTIC +#endif + +/* BuildPyUnicode.proto */ +static PyObject* __Pyx_PyUnicode_BuildFromAscii(Py_ssize_t ulength, char* chars, int clength, + int prepend_sign, char padding_char); + +/* CIntToPyUnicode.proto */ +static CYTHON_INLINE PyObject* __Pyx_PyUnicode_From_int(int value, Py_ssize_t width, char padding_char, char format_char); + +/* CIntToPyUnicode.proto */ +static CYTHON_INLINE PyObject* __Pyx_PyUnicode_From_Py_ssize_t(Py_ssize_t value, Py_ssize_t width, char padding_char, char format_char); + +/* JoinPyUnicode.proto */ +static PyObject* __Pyx_PyUnicode_Join(PyObject* value_tuple, Py_ssize_t value_count, Py_ssize_t result_ulength, + Py_UCS4 max_char); + +/* StrEquals.proto */ +#if PY_MAJOR_VERSION >= 3 +#define __Pyx_PyString_Equals __Pyx_PyUnicode_Equals +#else +#define __Pyx_PyString_Equals __Pyx_PyBytes_Equals +#endif + +/* PyObjectFormatSimple.proto */ +#if CYTHON_COMPILING_IN_PYPY + #define __Pyx_PyObject_FormatSimple(s, f) (\ + likely(PyUnicode_CheckExact(s)) ? (Py_INCREF(s), s) :\ + PyObject_Format(s, f)) +#elif PY_MAJOR_VERSION < 3 + #define __Pyx_PyObject_FormatSimple(s, f) (\ + likely(PyUnicode_CheckExact(s)) ? (Py_INCREF(s), s) :\ + likely(PyString_CheckExact(s)) ? PyUnicode_FromEncodedObject(s, NULL, "strict") :\ + PyObject_Format(s, f)) +#elif CYTHON_USE_TYPE_SLOTS + #define __Pyx_PyObject_FormatSimple(s, f) (\ + likely(PyUnicode_CheckExact(s)) ? (Py_INCREF(s), s) :\ + likely(PyLong_CheckExact(s)) ? PyLong_Type.tp_repr(s) :\ + likely(PyFloat_CheckExact(s)) ? PyFloat_Type.tp_repr(s) :\ + PyObject_Format(s, f)) +#else + #define __Pyx_PyObject_FormatSimple(s, f) (\ + likely(PyUnicode_CheckExact(s)) ? (Py_INCREF(s), s) :\ + PyObject_Format(s, f)) +#endif + +CYTHON_UNUSED static int __pyx_array_getbuffer(PyObject *__pyx_v_self, Py_buffer *__pyx_v_info, int __pyx_v_flags); /*proto*/ +static PyObject *__pyx_array_get_memview(struct __pyx_array_obj *); /*proto*/ +/* GetAttr.proto */ +static CYTHON_INLINE PyObject *__Pyx_GetAttr(PyObject *, PyObject *); + +/* GetItemInt.proto */ +#define __Pyx_GetItemInt(o, i, type, is_signed, to_py_func, is_list, wraparound, boundscheck)\ + (__Pyx_fits_Py_ssize_t(i, type, is_signed) ?\ + __Pyx_GetItemInt_Fast(o, (Py_ssize_t)i, is_list, wraparound, boundscheck) :\ + (is_list ? (PyErr_SetString(PyExc_IndexError, "list index out of range"), (PyObject*)NULL) :\ + __Pyx_GetItemInt_Generic(o, to_py_func(i)))) +#define __Pyx_GetItemInt_List(o, i, type, is_signed, to_py_func, is_list, wraparound, boundscheck)\ + (__Pyx_fits_Py_ssize_t(i, type, is_signed) ?\ + __Pyx_GetItemInt_List_Fast(o, (Py_ssize_t)i, wraparound, boundscheck) :\ + (PyErr_SetString(PyExc_IndexError, "list index out of range"), (PyObject*)NULL)) +static CYTHON_INLINE PyObject *__Pyx_GetItemInt_List_Fast(PyObject *o, Py_ssize_t i, + int wraparound, int boundscheck); +#define __Pyx_GetItemInt_Tuple(o, i, type, is_signed, to_py_func, is_list, wraparound, boundscheck)\ + (__Pyx_fits_Py_ssize_t(i, type, is_signed) ?\ + __Pyx_GetItemInt_Tuple_Fast(o, (Py_ssize_t)i, wraparound, boundscheck) :\ + (PyErr_SetString(PyExc_IndexError, "tuple index out of range"), (PyObject*)NULL)) +static CYTHON_INLINE PyObject *__Pyx_GetItemInt_Tuple_Fast(PyObject *o, Py_ssize_t i, + int wraparound, int boundscheck); +static PyObject *__Pyx_GetItemInt_Generic(PyObject *o, PyObject* j); +static CYTHON_INLINE PyObject *__Pyx_GetItemInt_Fast(PyObject *o, Py_ssize_t i, + int is_list, int wraparound, int boundscheck); + +/* PyObjectCallOneArg.proto */ +static CYTHON_INLINE PyObject* __Pyx_PyObject_CallOneArg(PyObject *func, PyObject *arg); + +/* ObjectGetItem.proto */ +#if CYTHON_USE_TYPE_SLOTS +static CYTHON_INLINE PyObject *__Pyx_PyObject_GetItem(PyObject *obj, PyObject *key); +#else +#define __Pyx_PyObject_GetItem(obj, key) PyObject_GetItem(obj, key) +#endif + +/* KeywordStringCheck.proto */ +static int __Pyx_CheckKeywordStrings(PyObject *kw, const char* function_name, int kw_allowed); + +/* DivInt[Py_ssize_t].proto */ +static CYTHON_INLINE Py_ssize_t __Pyx_div_Py_ssize_t(Py_ssize_t, Py_ssize_t); + +/* UnaryNegOverflows.proto */ +#define __Pyx_UNARY_NEG_WOULD_OVERFLOW(x)\ + (((x) < 0) & ((unsigned long)(x) == 0-(unsigned long)(x))) + +/* GetAttr3.proto */ +static CYTHON_INLINE PyObject *__Pyx_GetAttr3(PyObject *, PyObject *, PyObject *); + +/* PyDictVersioning.proto */ +#if CYTHON_USE_DICT_VERSIONS && CYTHON_USE_TYPE_SLOTS +#define __PYX_DICT_VERSION_INIT ((PY_UINT64_T) -1) +#define __PYX_GET_DICT_VERSION(dict) (((PyDictObject*)(dict))->ma_version_tag) +#define __PYX_UPDATE_DICT_CACHE(dict, value, cache_var, version_var)\ + (version_var) = __PYX_GET_DICT_VERSION(dict);\ + (cache_var) = (value); +#define __PYX_PY_DICT_LOOKUP_IF_MODIFIED(VAR, DICT, LOOKUP) {\ + static PY_UINT64_T __pyx_dict_version = 0;\ + static PyObject *__pyx_dict_cached_value = NULL;\ + if (likely(__PYX_GET_DICT_VERSION(DICT) == __pyx_dict_version)) {\ + (VAR) = __pyx_dict_cached_value;\ + } else {\ + (VAR) = __pyx_dict_cached_value = (LOOKUP);\ + __pyx_dict_version = __PYX_GET_DICT_VERSION(DICT);\ + }\ +} +static CYTHON_INLINE PY_UINT64_T __Pyx_get_tp_dict_version(PyObject *obj); +static CYTHON_INLINE PY_UINT64_T __Pyx_get_object_dict_version(PyObject *obj); +static CYTHON_INLINE int __Pyx_object_dict_version_matches(PyObject* obj, PY_UINT64_T tp_dict_version, PY_UINT64_T obj_dict_version); +#else +#define __PYX_GET_DICT_VERSION(dict) (0) +#define __PYX_UPDATE_DICT_CACHE(dict, value, cache_var, version_var) +#define __PYX_PY_DICT_LOOKUP_IF_MODIFIED(VAR, DICT, LOOKUP) (VAR) = (LOOKUP); +#endif + +/* GetModuleGlobalName.proto */ +#if CYTHON_USE_DICT_VERSIONS +#define __Pyx_GetModuleGlobalName(var, name) do {\ + static PY_UINT64_T __pyx_dict_version = 0;\ + static PyObject *__pyx_dict_cached_value = NULL;\ + (var) = (likely(__pyx_dict_version == __PYX_GET_DICT_VERSION(__pyx_d))) ?\ + (likely(__pyx_dict_cached_value) ? __Pyx_NewRef(__pyx_dict_cached_value) : __Pyx_GetBuiltinName(name)) :\ + __Pyx__GetModuleGlobalName(name, &__pyx_dict_version, &__pyx_dict_cached_value);\ +} while(0) +#define __Pyx_GetModuleGlobalNameUncached(var, name) do {\ + PY_UINT64_T __pyx_dict_version;\ + PyObject *__pyx_dict_cached_value;\ + (var) = __Pyx__GetModuleGlobalName(name, &__pyx_dict_version, &__pyx_dict_cached_value);\ +} while(0) +static PyObject *__Pyx__GetModuleGlobalName(PyObject *name, PY_UINT64_T *dict_version, PyObject **dict_cached_value); +#else +#define __Pyx_GetModuleGlobalName(var, name) (var) = __Pyx__GetModuleGlobalName(name) +#define __Pyx_GetModuleGlobalNameUncached(var, name) (var) = __Pyx__GetModuleGlobalName(name) +static CYTHON_INLINE PyObject *__Pyx__GetModuleGlobalName(PyObject *name); +#endif + +/* AssertionsEnabled.proto */ +#if CYTHON_COMPILING_IN_PYPY && PY_VERSION_HEX < 0x02070600 && !defined(Py_OptimizeFlag) + #define __Pyx_init_assertions_enabled() (0) + #define __pyx_assertions_enabled() (1) +#elif CYTHON_COMPILING_IN_LIMITED_API || (CYTHON_COMPILING_IN_CPYTHON && PY_VERSION_HEX >= 0x030C0000) + static int __pyx_assertions_enabled_flag; + #define __pyx_assertions_enabled() (__pyx_assertions_enabled_flag) + static int __Pyx_init_assertions_enabled(void) { + PyObject *builtins, *debug, *debug_str; + int flag; + builtins = PyEval_GetBuiltins(); + if (!builtins) goto bad; + debug_str = PyUnicode_FromStringAndSize("__debug__", 9); + if (!debug_str) goto bad; + debug = PyObject_GetItem(builtins, debug_str); + Py_DECREF(debug_str); + if (!debug) goto bad; + flag = PyObject_IsTrue(debug); + Py_DECREF(debug); + if (flag == -1) goto bad; + __pyx_assertions_enabled_flag = flag; + return 0; + bad: + __pyx_assertions_enabled_flag = 1; + return -1; + } +#else + #define __Pyx_init_assertions_enabled() (0) + #define __pyx_assertions_enabled() (!Py_OptimizeFlag) +#endif + +/* RaiseTooManyValuesToUnpack.proto */ +static CYTHON_INLINE void __Pyx_RaiseTooManyValuesError(Py_ssize_t expected); + +/* RaiseNeedMoreValuesToUnpack.proto */ +static CYTHON_INLINE void __Pyx_RaiseNeedMoreValuesError(Py_ssize_t index); + +/* RaiseNoneIterError.proto */ +static CYTHON_INLINE void __Pyx_RaiseNoneNotIterableError(void); + +/* ExtTypeTest.proto */ +static CYTHON_INLINE int __Pyx_TypeTest(PyObject *obj, PyTypeObject *type); + +/* GetTopmostException.proto */ +#if CYTHON_USE_EXC_INFO_STACK && CYTHON_FAST_THREAD_STATE +static _PyErr_StackItem * __Pyx_PyErr_GetTopmostException(PyThreadState *tstate); +#endif + +/* SaveResetException.proto */ +#if CYTHON_FAST_THREAD_STATE +#define __Pyx_ExceptionSave(type, value, tb) __Pyx__ExceptionSave(__pyx_tstate, type, value, tb) +static CYTHON_INLINE void __Pyx__ExceptionSave(PyThreadState *tstate, PyObject **type, PyObject **value, PyObject **tb); +#define __Pyx_ExceptionReset(type, value, tb) __Pyx__ExceptionReset(__pyx_tstate, type, value, tb) +static CYTHON_INLINE void __Pyx__ExceptionReset(PyThreadState *tstate, PyObject *type, PyObject *value, PyObject *tb); +#else +#define __Pyx_ExceptionSave(type, value, tb) PyErr_GetExcInfo(type, value, tb) +#define __Pyx_ExceptionReset(type, value, tb) PyErr_SetExcInfo(type, value, tb) +#endif + +/* GetException.proto */ +#if CYTHON_FAST_THREAD_STATE +#define __Pyx_GetException(type, value, tb) __Pyx__GetException(__pyx_tstate, type, value, tb) +static int __Pyx__GetException(PyThreadState *tstate, PyObject **type, PyObject **value, PyObject **tb); +#else +static int __Pyx_GetException(PyObject **type, PyObject **value, PyObject **tb); +#endif + +/* SwapException.proto */ +#if CYTHON_FAST_THREAD_STATE +#define __Pyx_ExceptionSwap(type, value, tb) __Pyx__ExceptionSwap(__pyx_tstate, type, value, tb) +static CYTHON_INLINE void __Pyx__ExceptionSwap(PyThreadState *tstate, PyObject **type, PyObject **value, PyObject **tb); +#else +static CYTHON_INLINE void __Pyx_ExceptionSwap(PyObject **type, PyObject **value, PyObject **tb); +#endif + +/* Import.proto */ +static PyObject *__Pyx_Import(PyObject *name, PyObject *from_list, int level); + +/* ImportDottedModule.proto */ +static PyObject *__Pyx_ImportDottedModule(PyObject *name, PyObject *parts_tuple); +#if PY_MAJOR_VERSION >= 3 +static PyObject *__Pyx_ImportDottedModule_WalkParts(PyObject *module, PyObject *name, PyObject *parts_tuple); +#endif + +/* FastTypeChecks.proto */ +#if CYTHON_COMPILING_IN_CPYTHON +#define __Pyx_TypeCheck(obj, type) __Pyx_IsSubtype(Py_TYPE(obj), (PyTypeObject *)type) +#define __Pyx_TypeCheck2(obj, type1, type2) __Pyx_IsAnySubtype2(Py_TYPE(obj), (PyTypeObject *)type1, (PyTypeObject *)type2) +static CYTHON_INLINE int __Pyx_IsSubtype(PyTypeObject *a, PyTypeObject *b); +static CYTHON_INLINE int __Pyx_IsAnySubtype2(PyTypeObject *cls, PyTypeObject *a, PyTypeObject *b); +static CYTHON_INLINE int __Pyx_PyErr_GivenExceptionMatches(PyObject *err, PyObject *type); +static CYTHON_INLINE int __Pyx_PyErr_GivenExceptionMatches2(PyObject *err, PyObject *type1, PyObject *type2); +#else +#define __Pyx_TypeCheck(obj, type) PyObject_TypeCheck(obj, (PyTypeObject *)type) +#define __Pyx_TypeCheck2(obj, type1, type2) (PyObject_TypeCheck(obj, (PyTypeObject *)type1) || PyObject_TypeCheck(obj, (PyTypeObject *)type2)) +#define __Pyx_PyErr_GivenExceptionMatches(err, type) PyErr_GivenExceptionMatches(err, type) +#define __Pyx_PyErr_GivenExceptionMatches2(err, type1, type2) (PyErr_GivenExceptionMatches(err, type1) || PyErr_GivenExceptionMatches(err, type2)) +#endif +#define __Pyx_PyErr_ExceptionMatches2(err1, err2) __Pyx_PyErr_GivenExceptionMatches2(__Pyx_PyErr_CurrentExceptionType(), err1, err2) +#define __Pyx_PyException_Check(obj) __Pyx_TypeCheck(obj, PyExc_Exception) + +CYTHON_UNUSED static int __pyx_memoryview_getbuffer(PyObject *__pyx_v_self, Py_buffer *__pyx_v_info, int __pyx_v_flags); /*proto*/ +/* ListCompAppend.proto */ +#if CYTHON_USE_PYLIST_INTERNALS && CYTHON_ASSUME_SAFE_MACROS +static CYTHON_INLINE int __Pyx_ListComp_Append(PyObject* list, PyObject* x) { + PyListObject* L = (PyListObject*) list; + Py_ssize_t len = Py_SIZE(list); + if (likely(L->allocated > len)) { + Py_INCREF(x); + #if CYTHON_COMPILING_IN_CPYTHON && PY_VERSION_HEX >= 0x030d0000 + L->ob_item[len] = x; + #else + PyList_SET_ITEM(list, len, x); + #endif + __Pyx_SET_SIZE(list, len + 1); + return 0; + } + return PyList_Append(list, x); +} +#else +#define __Pyx_ListComp_Append(L,x) PyList_Append(L,x) +#endif + +/* PySequenceMultiply.proto */ +#define __Pyx_PySequence_Multiply_Left(mul, seq) __Pyx_PySequence_Multiply(seq, mul) +static CYTHON_INLINE PyObject* __Pyx_PySequence_Multiply(PyObject *seq, Py_ssize_t mul); + +/* SetItemInt.proto */ +#define __Pyx_SetItemInt(o, i, v, type, is_signed, to_py_func, is_list, wraparound, boundscheck)\ + (__Pyx_fits_Py_ssize_t(i, type, is_signed) ?\ + __Pyx_SetItemInt_Fast(o, (Py_ssize_t)i, v, is_list, wraparound, boundscheck) :\ + (is_list ? (PyErr_SetString(PyExc_IndexError, "list assignment index out of range"), -1) :\ + __Pyx_SetItemInt_Generic(o, to_py_func(i), v))) +static int __Pyx_SetItemInt_Generic(PyObject *o, PyObject *j, PyObject *v); +static CYTHON_INLINE int __Pyx_SetItemInt_Fast(PyObject *o, Py_ssize_t i, PyObject *v, + int is_list, int wraparound, int boundscheck); + +/* RaiseUnboundLocalError.proto */ +static CYTHON_INLINE void __Pyx_RaiseUnboundLocalError(const char *varname); + +/* DivInt[long].proto */ +static CYTHON_INLINE long __Pyx_div_long(long, long); + +/* PySequenceContains.proto */ +static CYTHON_INLINE int __Pyx_PySequence_ContainsTF(PyObject* item, PyObject* seq, int eq) { + int result = PySequence_Contains(seq, item); + return unlikely(result < 0) ? result : (result == (eq == Py_EQ)); +} + +/* ImportFrom.proto */ +static PyObject* __Pyx_ImportFrom(PyObject* module, PyObject* name); + +/* HasAttr.proto */ +#if __PYX_LIMITED_VERSION_HEX >= 0x030d00A1 +#define __Pyx_HasAttr(o, n) PyObject_HasAttrWithError(o, n) +#else +static CYTHON_INLINE int __Pyx_HasAttr(PyObject *, PyObject *); +#endif + +/* ListAppend.proto */ +#if CYTHON_USE_PYLIST_INTERNALS && CYTHON_ASSUME_SAFE_MACROS +static CYTHON_INLINE int __Pyx_PyList_Append(PyObject* list, PyObject* x) { + PyListObject* L = (PyListObject*) list; + Py_ssize_t len = Py_SIZE(list); + if (likely(L->allocated > len) & likely(len > (L->allocated >> 1))) { + Py_INCREF(x); + #if CYTHON_COMPILING_IN_CPYTHON && PY_VERSION_HEX >= 0x030d0000 + L->ob_item[len] = x; + #else + PyList_SET_ITEM(list, len, x); + #endif + __Pyx_SET_SIZE(list, len + 1); + return 0; + } + return PyList_Append(list, x); +} +#else +#define __Pyx_PyList_Append(L,x) PyList_Append(L,x) +#endif + +/* PyObjectCall2Args.proto */ +static CYTHON_INLINE PyObject* __Pyx_PyObject_Call2Args(PyObject* function, PyObject* arg1, PyObject* arg2); + +/* PyObjectGetMethod.proto */ +static int __Pyx_PyObject_GetMethod(PyObject *obj, PyObject *name, PyObject **method); + +/* PyObjectCallMethod1.proto */ +static PyObject* __Pyx_PyObject_CallMethod1(PyObject* obj, PyObject* method_name, PyObject* arg); + +/* StringJoin.proto */ +#if PY_MAJOR_VERSION < 3 +#define __Pyx_PyString_Join __Pyx_PyBytes_Join +#define __Pyx_PyBaseString_Join(s, v) (PyUnicode_CheckExact(s) ? PyUnicode_Join(s, v) : __Pyx_PyBytes_Join(s, v)) +#else +#define __Pyx_PyString_Join PyUnicode_Join +#define __Pyx_PyBaseString_Join PyUnicode_Join +#endif +static CYTHON_INLINE PyObject* __Pyx_PyBytes_Join(PyObject* sep, PyObject* values); + +/* CIntToPyUnicode.proto */ +static CYTHON_INLINE PyObject* __Pyx_PyUnicode_From_size_t(size_t value, Py_ssize_t width, char padding_char, char format_char); + +/* PyObjectCallNoArg.proto */ +static CYTHON_INLINE PyObject* __Pyx_PyObject_CallNoArg(PyObject *func); + +/* BufferIndexError.proto */ +static void __Pyx_RaiseBufferIndexError(int axis); + +/* PyObject_GenericGetAttrNoDict.proto */ +#if CYTHON_USE_TYPE_SLOTS && CYTHON_USE_PYTYPE_LOOKUP && PY_VERSION_HEX < 0x03070000 +static CYTHON_INLINE PyObject* __Pyx_PyObject_GenericGetAttrNoDict(PyObject* obj, PyObject* attr_name); +#else +#define __Pyx_PyObject_GenericGetAttrNoDict PyObject_GenericGetAttr +#endif + +/* PyObject_GenericGetAttr.proto */ +#if CYTHON_USE_TYPE_SLOTS && CYTHON_USE_PYTYPE_LOOKUP && PY_VERSION_HEX < 0x03070000 +static PyObject* __Pyx_PyObject_GenericGetAttr(PyObject* obj, PyObject* attr_name); +#else +#define __Pyx_PyObject_GenericGetAttr PyObject_GenericGetAttr +#endif + +/* TypeImport.proto */ +#ifndef __PYX_HAVE_RT_ImportType_proto_3_0_8 +#define __PYX_HAVE_RT_ImportType_proto_3_0_8 +#if defined (__STDC_VERSION__) && __STDC_VERSION__ >= 201112L +#include +#endif +#if (defined (__STDC_VERSION__) && __STDC_VERSION__ >= 201112L) || __cplusplus >= 201103L +#define __PYX_GET_STRUCT_ALIGNMENT_3_0_8(s) alignof(s) +#else +#define __PYX_GET_STRUCT_ALIGNMENT_3_0_8(s) sizeof(void*) +#endif +enum __Pyx_ImportType_CheckSize_3_0_8 { + __Pyx_ImportType_CheckSize_Error_3_0_8 = 0, + __Pyx_ImportType_CheckSize_Warn_3_0_8 = 1, + __Pyx_ImportType_CheckSize_Ignore_3_0_8 = 2 +}; +static PyTypeObject *__Pyx_ImportType_3_0_8(PyObject* module, const char *module_name, const char *class_name, size_t size, size_t alignment, enum __Pyx_ImportType_CheckSize_3_0_8 check_size); +#endif + +/* IncludeStructmemberH.proto */ +#include + +/* FixUpExtensionType.proto */ +#if CYTHON_USE_TYPE_SPECS +static int __Pyx_fix_up_extension_type_from_spec(PyType_Spec *spec, PyTypeObject *type); +#endif + +/* PyObjectCallMethod0.proto */ +static PyObject* __Pyx_PyObject_CallMethod0(PyObject* obj, PyObject* method_name); + +/* ValidateBasesTuple.proto */ +#if CYTHON_COMPILING_IN_CPYTHON || CYTHON_COMPILING_IN_LIMITED_API || CYTHON_USE_TYPE_SPECS +static int __Pyx_validate_bases_tuple(const char *type_name, Py_ssize_t dictoffset, PyObject *bases); +#endif + +/* PyType_Ready.proto */ +CYTHON_UNUSED static int __Pyx_PyType_Ready(PyTypeObject *t); + +/* SetupReduce.proto */ +#if !CYTHON_COMPILING_IN_LIMITED_API +static int __Pyx_setup_reduce(PyObject* type_obj); +#endif + +/* SetVTable.proto */ +static int __Pyx_SetVtable(PyTypeObject* typeptr , void* vtable); + +/* GetVTable.proto */ +static void* __Pyx_GetVtable(PyTypeObject *type); + +/* MergeVTables.proto */ +#if !CYTHON_COMPILING_IN_LIMITED_API +static int __Pyx_MergeVtables(PyTypeObject *type); +#endif + +/* FetchSharedCythonModule.proto */ +static PyObject *__Pyx_FetchSharedCythonABIModule(void); + +/* FetchCommonType.proto */ +#if !CYTHON_USE_TYPE_SPECS +static PyTypeObject* __Pyx_FetchCommonType(PyTypeObject* type); +#else +static PyTypeObject* __Pyx_FetchCommonTypeFromSpec(PyObject *module, PyType_Spec *spec, PyObject *bases); +#endif + +/* PyMethodNew.proto */ +#if CYTHON_COMPILING_IN_LIMITED_API +static PyObject *__Pyx_PyMethod_New(PyObject *func, PyObject *self, PyObject *typ) { + PyObject *typesModule=NULL, *methodType=NULL, *result=NULL; + CYTHON_UNUSED_VAR(typ); + if (!self) + return __Pyx_NewRef(func); + typesModule = PyImport_ImportModule("types"); + if (!typesModule) return NULL; + methodType = PyObject_GetAttrString(typesModule, "MethodType"); + Py_DECREF(typesModule); + if (!methodType) return NULL; + result = PyObject_CallFunctionObjArgs(methodType, func, self, NULL); + Py_DECREF(methodType); + return result; +} +#elif PY_MAJOR_VERSION >= 3 +static PyObject *__Pyx_PyMethod_New(PyObject *func, PyObject *self, PyObject *typ) { + CYTHON_UNUSED_VAR(typ); + if (!self) + return __Pyx_NewRef(func); + return PyMethod_New(func, self); +} +#else + #define __Pyx_PyMethod_New PyMethod_New +#endif + +/* PyVectorcallFastCallDict.proto */ +#if CYTHON_METH_FASTCALL +static CYTHON_INLINE PyObject *__Pyx_PyVectorcall_FastCallDict(PyObject *func, __pyx_vectorcallfunc vc, PyObject *const *args, size_t nargs, PyObject *kw); +#endif + +/* CythonFunctionShared.proto */ +#define __Pyx_CyFunction_USED +#define __Pyx_CYFUNCTION_STATICMETHOD 0x01 +#define __Pyx_CYFUNCTION_CLASSMETHOD 0x02 +#define __Pyx_CYFUNCTION_CCLASS 0x04 +#define __Pyx_CYFUNCTION_COROUTINE 0x08 +#define __Pyx_CyFunction_GetClosure(f)\ + (((__pyx_CyFunctionObject *) (f))->func_closure) +#if PY_VERSION_HEX < 0x030900B1 || CYTHON_COMPILING_IN_LIMITED_API + #define __Pyx_CyFunction_GetClassObj(f)\ + (((__pyx_CyFunctionObject *) (f))->func_classobj) +#else + #define __Pyx_CyFunction_GetClassObj(f)\ + ((PyObject*) ((PyCMethodObject *) (f))->mm_class) +#endif +#define __Pyx_CyFunction_SetClassObj(f, classobj)\ + __Pyx__CyFunction_SetClassObj((__pyx_CyFunctionObject *) (f), (classobj)) +#define __Pyx_CyFunction_Defaults(type, f)\ + ((type *)(((__pyx_CyFunctionObject *) (f))->defaults)) +#define __Pyx_CyFunction_SetDefaultsGetter(f, g)\ + ((__pyx_CyFunctionObject *) (f))->defaults_getter = (g) +typedef struct { +#if CYTHON_COMPILING_IN_LIMITED_API + PyObject_HEAD + PyObject *func; +#elif PY_VERSION_HEX < 0x030900B1 + PyCFunctionObject func; +#else + PyCMethodObject func; +#endif +#if CYTHON_BACKPORT_VECTORCALL + __pyx_vectorcallfunc func_vectorcall; +#endif +#if PY_VERSION_HEX < 0x030500A0 || CYTHON_COMPILING_IN_LIMITED_API + PyObject *func_weakreflist; +#endif + PyObject *func_dict; + PyObject *func_name; + PyObject *func_qualname; + PyObject *func_doc; + PyObject *func_globals; + PyObject *func_code; + PyObject *func_closure; +#if PY_VERSION_HEX < 0x030900B1 || CYTHON_COMPILING_IN_LIMITED_API + PyObject *func_classobj; +#endif + void *defaults; + int defaults_pyobjects; + size_t defaults_size; + int flags; + PyObject *defaults_tuple; + PyObject *defaults_kwdict; + PyObject *(*defaults_getter)(PyObject *); + PyObject *func_annotations; + PyObject *func_is_coroutine; +} __pyx_CyFunctionObject; +#undef __Pyx_CyOrPyCFunction_Check +#define __Pyx_CyFunction_Check(obj) __Pyx_TypeCheck(obj, __pyx_CyFunctionType) +#define __Pyx_CyOrPyCFunction_Check(obj) __Pyx_TypeCheck2(obj, __pyx_CyFunctionType, &PyCFunction_Type) +#define __Pyx_CyFunction_CheckExact(obj) __Pyx_IS_TYPE(obj, __pyx_CyFunctionType) +static CYTHON_INLINE int __Pyx__IsSameCyOrCFunction(PyObject *func, void *cfunc); +#undef __Pyx_IsSameCFunction +#define __Pyx_IsSameCFunction(func, cfunc) __Pyx__IsSameCyOrCFunction(func, cfunc) +static PyObject *__Pyx_CyFunction_Init(__pyx_CyFunctionObject* op, PyMethodDef *ml, + int flags, PyObject* qualname, + PyObject *closure, + PyObject *module, PyObject *globals, + PyObject* code); +static CYTHON_INLINE void __Pyx__CyFunction_SetClassObj(__pyx_CyFunctionObject* f, PyObject* classobj); +static CYTHON_INLINE void *__Pyx_CyFunction_InitDefaults(PyObject *m, + size_t size, + int pyobjects); +static CYTHON_INLINE void __Pyx_CyFunction_SetDefaultsTuple(PyObject *m, + PyObject *tuple); +static CYTHON_INLINE void __Pyx_CyFunction_SetDefaultsKwDict(PyObject *m, + PyObject *dict); +static CYTHON_INLINE void __Pyx_CyFunction_SetAnnotationsDict(PyObject *m, + PyObject *dict); +static int __pyx_CyFunction_init(PyObject *module); +#if CYTHON_METH_FASTCALL +static PyObject * __Pyx_CyFunction_Vectorcall_NOARGS(PyObject *func, PyObject *const *args, size_t nargsf, PyObject *kwnames); +static PyObject * __Pyx_CyFunction_Vectorcall_O(PyObject *func, PyObject *const *args, size_t nargsf, PyObject *kwnames); +static PyObject * __Pyx_CyFunction_Vectorcall_FASTCALL_KEYWORDS(PyObject *func, PyObject *const *args, size_t nargsf, PyObject *kwnames); +static PyObject * __Pyx_CyFunction_Vectorcall_FASTCALL_KEYWORDS_METHOD(PyObject *func, PyObject *const *args, size_t nargsf, PyObject *kwnames); +#if CYTHON_BACKPORT_VECTORCALL +#define __Pyx_CyFunction_func_vectorcall(f) (((__pyx_CyFunctionObject*)f)->func_vectorcall) +#else +#define __Pyx_CyFunction_func_vectorcall(f) (((PyCFunctionObject*)f)->vectorcall) +#endif +#endif + +/* CythonFunction.proto */ +static PyObject *__Pyx_CyFunction_New(PyMethodDef *ml, + int flags, PyObject* qualname, + PyObject *closure, + PyObject *module, PyObject *globals, + PyObject* code); + +/* CLineInTraceback.proto */ +#ifdef CYTHON_CLINE_IN_TRACEBACK +#define __Pyx_CLineForTraceback(tstate, c_line) (((CYTHON_CLINE_IN_TRACEBACK)) ? c_line : 0) +#else +static int __Pyx_CLineForTraceback(PyThreadState *tstate, int c_line); +#endif + +/* CodeObjectCache.proto */ +#if !CYTHON_COMPILING_IN_LIMITED_API +typedef struct { + PyCodeObject* code_object; + int code_line; +} __Pyx_CodeObjectCacheEntry; +struct __Pyx_CodeObjectCache { + int count; + int max_count; + __Pyx_CodeObjectCacheEntry* entries; +}; +static struct __Pyx_CodeObjectCache __pyx_code_cache = {0,0,NULL}; +static int __pyx_bisect_code_objects(__Pyx_CodeObjectCacheEntry* entries, int count, int code_line); +static PyCodeObject *__pyx_find_code_object(int code_line); +static void __pyx_insert_code_object(int code_line, PyCodeObject* code_object); +#endif + +/* AddTraceback.proto */ +static void __Pyx_AddTraceback(const char *funcname, int c_line, + int py_line, const char *filename); + +#if PY_MAJOR_VERSION < 3 + static int __Pyx_GetBuffer(PyObject *obj, Py_buffer *view, int flags); + static void __Pyx_ReleaseBuffer(Py_buffer *view); +#else + #define __Pyx_GetBuffer PyObject_GetBuffer + #define __Pyx_ReleaseBuffer PyBuffer_Release +#endif + + +/* BufferStructDeclare.proto */ +typedef struct { + Py_ssize_t shape, strides, suboffsets; +} __Pyx_Buf_DimInfo; +typedef struct { + size_t refcount; + Py_buffer pybuffer; +} __Pyx_Buffer; +typedef struct { + __Pyx_Buffer *rcbuffer; + char *data; + __Pyx_Buf_DimInfo diminfo[8]; +} __Pyx_LocalBuf_ND; + +/* MemviewSliceIsContig.proto */ +static int __pyx_memviewslice_is_contig(const __Pyx_memviewslice mvs, char order, int ndim); + +/* OverlappingSlices.proto */ +static int __pyx_slices_overlap(__Pyx_memviewslice *slice1, + __Pyx_memviewslice *slice2, + int ndim, size_t itemsize); + +/* IsLittleEndian.proto */ +static CYTHON_INLINE int __Pyx_Is_Little_Endian(void); + +/* BufferFormatCheck.proto */ +static const char* __Pyx_BufFmt_CheckString(__Pyx_BufFmt_Context* ctx, const char* ts); +static void __Pyx_BufFmt_Init(__Pyx_BufFmt_Context* ctx, + __Pyx_BufFmt_StackElem* stack, + __Pyx_TypeInfo* type); + +/* TypeInfoCompare.proto */ +static int __pyx_typeinfo_cmp(__Pyx_TypeInfo *a, __Pyx_TypeInfo *b); + +/* MemviewSliceValidateAndInit.proto */ +static int __Pyx_ValidateAndInit_memviewslice( + int *axes_specs, + int c_or_f_flag, + int buf_flags, + int ndim, + __Pyx_TypeInfo *dtype, + __Pyx_BufFmt_StackElem stack[], + __Pyx_memviewslice *memviewslice, + PyObject *original_obj); + +/* ObjectToMemviewSlice.proto */ +static CYTHON_INLINE __Pyx_memviewslice __Pyx_PyObject_to_MemoryviewSlice_ds_float(PyObject *, int writable_flag); + +/* MemviewDtypeToObject.proto */ +static CYTHON_INLINE PyObject *__pyx_memview_get_nn___pyx_t_5numpy_float32_t(const char *itemp); +static CYTHON_INLINE int __pyx_memview_set_nn___pyx_t_5numpy_float32_t(const char *itemp, PyObject *obj); + +/* RealImag.proto */ +#if CYTHON_CCOMPLEX + #ifdef __cplusplus + #define __Pyx_CREAL(z) ((z).real()) + #define __Pyx_CIMAG(z) ((z).imag()) + #else + #define __Pyx_CREAL(z) (__real__(z)) + #define __Pyx_CIMAG(z) (__imag__(z)) + #endif +#else + #define __Pyx_CREAL(z) ((z).real) + #define __Pyx_CIMAG(z) ((z).imag) +#endif +#if defined(__cplusplus) && CYTHON_CCOMPLEX\ + && (defined(_WIN32) || defined(__clang__) || (defined(__GNUC__) && (__GNUC__ >= 5 || __GNUC__ == 4 && __GNUC_MINOR__ >= 4 )) || __cplusplus >= 201103) + #define __Pyx_SET_CREAL(z,x) ((z).real(x)) + #define __Pyx_SET_CIMAG(z,y) ((z).imag(y)) +#else + #define __Pyx_SET_CREAL(z,x) __Pyx_CREAL(z) = (x) + #define __Pyx_SET_CIMAG(z,y) __Pyx_CIMAG(z) = (y) +#endif + +/* Arithmetic.proto */ +#if CYTHON_CCOMPLEX && (1) && (!0 || __cplusplus) + #define __Pyx_c_eq_float(a, b) ((a)==(b)) + #define __Pyx_c_sum_float(a, b) ((a)+(b)) + #define __Pyx_c_diff_float(a, b) ((a)-(b)) + #define __Pyx_c_prod_float(a, b) ((a)*(b)) + #define __Pyx_c_quot_float(a, b) ((a)/(b)) + #define __Pyx_c_neg_float(a) (-(a)) + #ifdef __cplusplus + #define __Pyx_c_is_zero_float(z) ((z)==(float)0) + #define __Pyx_c_conj_float(z) (::std::conj(z)) + #if 1 + #define __Pyx_c_abs_float(z) (::std::abs(z)) + #define __Pyx_c_pow_float(a, b) (::std::pow(a, b)) + #endif + #else + #define __Pyx_c_is_zero_float(z) ((z)==0) + #define __Pyx_c_conj_float(z) (conjf(z)) + #if 1 + #define __Pyx_c_abs_float(z) (cabsf(z)) + #define __Pyx_c_pow_float(a, b) (cpowf(a, b)) + #endif + #endif +#else + static CYTHON_INLINE int __Pyx_c_eq_float(__pyx_t_float_complex, __pyx_t_float_complex); + static CYTHON_INLINE __pyx_t_float_complex __Pyx_c_sum_float(__pyx_t_float_complex, __pyx_t_float_complex); + static CYTHON_INLINE __pyx_t_float_complex __Pyx_c_diff_float(__pyx_t_float_complex, __pyx_t_float_complex); + static CYTHON_INLINE __pyx_t_float_complex __Pyx_c_prod_float(__pyx_t_float_complex, __pyx_t_float_complex); + static CYTHON_INLINE __pyx_t_float_complex __Pyx_c_quot_float(__pyx_t_float_complex, __pyx_t_float_complex); + static CYTHON_INLINE __pyx_t_float_complex __Pyx_c_neg_float(__pyx_t_float_complex); + static CYTHON_INLINE int __Pyx_c_is_zero_float(__pyx_t_float_complex); + static CYTHON_INLINE __pyx_t_float_complex __Pyx_c_conj_float(__pyx_t_float_complex); + #if 1 + static CYTHON_INLINE float __Pyx_c_abs_float(__pyx_t_float_complex); + static CYTHON_INLINE __pyx_t_float_complex __Pyx_c_pow_float(__pyx_t_float_complex, __pyx_t_float_complex); + #endif +#endif + +/* Arithmetic.proto */ +#if CYTHON_CCOMPLEX && (1) && (!0 || __cplusplus) + #define __Pyx_c_eq_double(a, b) ((a)==(b)) + #define __Pyx_c_sum_double(a, b) ((a)+(b)) + #define __Pyx_c_diff_double(a, b) ((a)-(b)) + #define __Pyx_c_prod_double(a, b) ((a)*(b)) + #define __Pyx_c_quot_double(a, b) ((a)/(b)) + #define __Pyx_c_neg_double(a) (-(a)) + #ifdef __cplusplus + #define __Pyx_c_is_zero_double(z) ((z)==(double)0) + #define __Pyx_c_conj_double(z) (::std::conj(z)) + #if 1 + #define __Pyx_c_abs_double(z) (::std::abs(z)) + #define __Pyx_c_pow_double(a, b) (::std::pow(a, b)) + #endif + #else + #define __Pyx_c_is_zero_double(z) ((z)==0) + #define __Pyx_c_conj_double(z) (conj(z)) + #if 1 + #define __Pyx_c_abs_double(z) (cabs(z)) + #define __Pyx_c_pow_double(a, b) (cpow(a, b)) + #endif + #endif +#else + static CYTHON_INLINE int __Pyx_c_eq_double(__pyx_t_double_complex, __pyx_t_double_complex); + static CYTHON_INLINE __pyx_t_double_complex __Pyx_c_sum_double(__pyx_t_double_complex, __pyx_t_double_complex); + static CYTHON_INLINE __pyx_t_double_complex __Pyx_c_diff_double(__pyx_t_double_complex, __pyx_t_double_complex); + static CYTHON_INLINE __pyx_t_double_complex __Pyx_c_prod_double(__pyx_t_double_complex, __pyx_t_double_complex); + static CYTHON_INLINE __pyx_t_double_complex __Pyx_c_quot_double(__pyx_t_double_complex, __pyx_t_double_complex); + static CYTHON_INLINE __pyx_t_double_complex __Pyx_c_neg_double(__pyx_t_double_complex); + static CYTHON_INLINE int __Pyx_c_is_zero_double(__pyx_t_double_complex); + static CYTHON_INLINE __pyx_t_double_complex __Pyx_c_conj_double(__pyx_t_double_complex); + #if 1 + static CYTHON_INLINE double __Pyx_c_abs_double(__pyx_t_double_complex); + static CYTHON_INLINE __pyx_t_double_complex __Pyx_c_pow_double(__pyx_t_double_complex, __pyx_t_double_complex); + #endif +#endif + +/* MemviewSliceCopyTemplate.proto */ +static __Pyx_memviewslice +__pyx_memoryview_copy_new_contig(const __Pyx_memviewslice *from_mvs, + const char *mode, int ndim, + size_t sizeof_dtype, int contig_flag, + int dtype_is_object); + +/* MemviewSliceInit.proto */ +#define __Pyx_BUF_MAX_NDIMS %(BUF_MAX_NDIMS)d +#define __Pyx_MEMVIEW_DIRECT 1 +#define __Pyx_MEMVIEW_PTR 2 +#define __Pyx_MEMVIEW_FULL 4 +#define __Pyx_MEMVIEW_CONTIG 8 +#define __Pyx_MEMVIEW_STRIDED 16 +#define __Pyx_MEMVIEW_FOLLOW 32 +#define __Pyx_IS_C_CONTIG 1 +#define __Pyx_IS_F_CONTIG 2 +static int __Pyx_init_memviewslice( + struct __pyx_memoryview_obj *memview, + int ndim, + __Pyx_memviewslice *memviewslice, + int memview_is_new_reference); +static CYTHON_INLINE int __pyx_add_acquisition_count_locked( + __pyx_atomic_int_type *acquisition_count, PyThread_type_lock lock); +static CYTHON_INLINE int __pyx_sub_acquisition_count_locked( + __pyx_atomic_int_type *acquisition_count, PyThread_type_lock lock); +#define __pyx_get_slice_count_pointer(memview) (&memview->acquisition_count) +#define __PYX_INC_MEMVIEW(slice, have_gil) __Pyx_INC_MEMVIEW(slice, have_gil, __LINE__) +#define __PYX_XCLEAR_MEMVIEW(slice, have_gil) __Pyx_XCLEAR_MEMVIEW(slice, have_gil, __LINE__) +static CYTHON_INLINE void __Pyx_INC_MEMVIEW(__Pyx_memviewslice *, int, int); +static CYTHON_INLINE void __Pyx_XCLEAR_MEMVIEW(__Pyx_memviewslice *, int, int); + +/* TypeInfoToFormat.proto */ +struct __pyx_typeinfo_string { + char string[3]; +}; +static struct __pyx_typeinfo_string __Pyx_TypeInfoToFormat(__Pyx_TypeInfo *type); + +/* CIntFromPy.proto */ +static CYTHON_INLINE int __Pyx_PyInt_As_int(PyObject *); + +/* None.proto */ +#include + +/* CIntFromPy.proto */ +static CYTHON_INLINE long __Pyx_PyInt_As_long(PyObject *); + +/* CIntToPy.proto */ +static CYTHON_INLINE PyObject* __Pyx_PyInt_From_int(int value); + +/* CIntToPy.proto */ +static CYTHON_INLINE PyObject* __Pyx_PyInt_From_long(long value); + +/* CIntFromPy.proto */ +static CYTHON_INLINE char __Pyx_PyInt_As_char(PyObject *); + +/* FormatTypeName.proto */ +#if CYTHON_COMPILING_IN_LIMITED_API +typedef PyObject *__Pyx_TypeName; +#define __Pyx_FMT_TYPENAME "%U" +static __Pyx_TypeName __Pyx_PyType_GetName(PyTypeObject* tp); +#define __Pyx_DECREF_TypeName(obj) Py_XDECREF(obj) +#else +typedef const char *__Pyx_TypeName; +#define __Pyx_FMT_TYPENAME "%.200s" +#define __Pyx_PyType_GetName(tp) ((tp)->tp_name) +#define __Pyx_DECREF_TypeName(obj) +#endif + +/* CheckBinaryVersion.proto */ +static unsigned long __Pyx_get_runtime_version(void); +static int __Pyx_check_binary_version(unsigned long ct_version, unsigned long rt_version, int allow_newer); + +/* InitStrings.proto */ +static int __Pyx_InitStrings(__Pyx_StringTabEntry *t); + +/* #### Code section: module_declarations ### */ +static PyObject *__pyx_array_get_memview(struct __pyx_array_obj *__pyx_v_self); /* proto*/ +static char *__pyx_memoryview_get_item_pointer(struct __pyx_memoryview_obj *__pyx_v_self, PyObject *__pyx_v_index); /* proto*/ +static PyObject *__pyx_memoryview_is_slice(struct __pyx_memoryview_obj *__pyx_v_self, PyObject *__pyx_v_obj); /* proto*/ +static PyObject *__pyx_memoryview_setitem_slice_assignment(struct __pyx_memoryview_obj *__pyx_v_self, PyObject *__pyx_v_dst, PyObject *__pyx_v_src); /* proto*/ +static PyObject *__pyx_memoryview_setitem_slice_assign_scalar(struct __pyx_memoryview_obj *__pyx_v_self, struct __pyx_memoryview_obj *__pyx_v_dst, PyObject *__pyx_v_value); /* proto*/ +static PyObject *__pyx_memoryview_setitem_indexed(struct __pyx_memoryview_obj *__pyx_v_self, PyObject *__pyx_v_index, PyObject *__pyx_v_value); /* proto*/ +static PyObject *__pyx_memoryview_convert_item_to_object(struct __pyx_memoryview_obj *__pyx_v_self, char *__pyx_v_itemp); /* proto*/ +static PyObject *__pyx_memoryview_assign_item_from_object(struct __pyx_memoryview_obj *__pyx_v_self, char *__pyx_v_itemp, PyObject *__pyx_v_value); /* proto*/ +static PyObject *__pyx_memoryview__get_base(struct __pyx_memoryview_obj *__pyx_v_self); /* proto*/ +static PyObject *__pyx_memoryviewslice_convert_item_to_object(struct __pyx_memoryviewslice_obj *__pyx_v_self, char *__pyx_v_itemp); /* proto*/ +static PyObject *__pyx_memoryviewslice_assign_item_from_object(struct __pyx_memoryviewslice_obj *__pyx_v_self, char *__pyx_v_itemp, PyObject *__pyx_v_value); /* proto*/ +static PyObject *__pyx_memoryviewslice__get_base(struct __pyx_memoryviewslice_obj *__pyx_v_self); /* proto*/ +static CYTHON_INLINE PyObject *__pyx_f_5numpy_7ndarray_4base_base(PyArrayObject *__pyx_v_self); /* proto*/ +static CYTHON_INLINE PyArray_Descr *__pyx_f_5numpy_7ndarray_5descr_descr(PyArrayObject *__pyx_v_self); /* proto*/ +static CYTHON_INLINE int __pyx_f_5numpy_7ndarray_4ndim_ndim(PyArrayObject *__pyx_v_self); /* proto*/ +static CYTHON_INLINE npy_intp *__pyx_f_5numpy_7ndarray_5shape_shape(PyArrayObject *__pyx_v_self); /* proto*/ +static CYTHON_INLINE npy_intp *__pyx_f_5numpy_7ndarray_7strides_strides(PyArrayObject *__pyx_v_self); /* proto*/ +static CYTHON_INLINE npy_intp __pyx_f_5numpy_7ndarray_4size_size(PyArrayObject *__pyx_v_self); /* proto*/ +static CYTHON_INLINE char *__pyx_f_5numpy_7ndarray_4data_data(PyArrayObject *__pyx_v_self); /* proto*/ +static PyObject *__pyx_f_9selfdrive_14classic_modeld_6models_15commonmodel_pyx_5CLMem_create(void *__pyx_v_cmem); /* proto*/ + +/* Module declarations from "libc.string" */ + +/* Module declarations from "libcpp.string" */ + +/* Module declarations from "libcpp.vector" */ + +/* Module declarations from "libcpp.utility" */ + +/* Module declarations from "libcpp.set" */ + +/* Module declarations from "libc.stdint" */ + +/* Module declarations from "libcpp" */ + +/* Module declarations from "msgq.visionipc.visionipc" */ + +/* Module declarations from "msgq.visionipc.visionipc_pyx" */ + +/* Module declarations from "libc.stdio" */ + +/* Module declarations from "__builtin__" */ + +/* Module declarations from "cpython.type" */ + +/* Module declarations from "cpython" */ + +/* Module declarations from "cpython.object" */ + +/* Module declarations from "cpython.ref" */ + +/* Module declarations from "numpy" */ + +/* Module declarations from "numpy" */ + +/* Module declarations from "selfdrive.classic_modeld.models.commonmodel" */ + +/* Module declarations from "selfdrive.classic_modeld.models.commonmodel_pyx" */ +static PyObject *__pyx_collections_abc_Sequence = 0; +static PyObject *generic = 0; +static PyObject *strided = 0; +static PyObject *indirect = 0; +static PyObject *contiguous = 0; +static PyObject *indirect_contiguous = 0; +static int __pyx_memoryview_thread_locks_used; +static PyThread_type_lock __pyx_memoryview_thread_locks[8]; +static int __pyx_array_allocate_buffer(struct __pyx_array_obj *); /*proto*/ +static struct __pyx_array_obj *__pyx_array_new(PyObject *, Py_ssize_t, char *, char *, char *); /*proto*/ +static PyObject *__pyx_memoryview_new(PyObject *, int, int, __Pyx_TypeInfo *); /*proto*/ +static CYTHON_INLINE int __pyx_memoryview_check(PyObject *); /*proto*/ +static PyObject *_unellipsify(PyObject *, int); /*proto*/ +static int assert_direct_dimensions(Py_ssize_t *, int); /*proto*/ +static struct __pyx_memoryview_obj *__pyx_memview_slice(struct __pyx_memoryview_obj *, PyObject *); /*proto*/ +static int __pyx_memoryview_slice_memviewslice(__Pyx_memviewslice *, Py_ssize_t, Py_ssize_t, Py_ssize_t, int, int, int *, Py_ssize_t, Py_ssize_t, Py_ssize_t, int, int, int, int); /*proto*/ +static char *__pyx_pybuffer_index(Py_buffer *, char *, Py_ssize_t, Py_ssize_t); /*proto*/ +static int __pyx_memslice_transpose(__Pyx_memviewslice *); /*proto*/ +static PyObject *__pyx_memoryview_fromslice(__Pyx_memviewslice, int, PyObject *(*)(char *), int (*)(char *, PyObject *), int); /*proto*/ +static __Pyx_memviewslice *__pyx_memoryview_get_slice_from_memoryview(struct __pyx_memoryview_obj *, __Pyx_memviewslice *); /*proto*/ +static void __pyx_memoryview_slice_copy(struct __pyx_memoryview_obj *, __Pyx_memviewslice *); /*proto*/ +static PyObject *__pyx_memoryview_copy_object(struct __pyx_memoryview_obj *); /*proto*/ +static PyObject *__pyx_memoryview_copy_object_from_slice(struct __pyx_memoryview_obj *, __Pyx_memviewslice *); /*proto*/ +static Py_ssize_t abs_py_ssize_t(Py_ssize_t); /*proto*/ +static char __pyx_get_best_slice_order(__Pyx_memviewslice *, int); /*proto*/ +static void _copy_strided_to_strided(char *, Py_ssize_t *, char *, Py_ssize_t *, Py_ssize_t *, Py_ssize_t *, int, size_t); /*proto*/ +static void copy_strided_to_strided(__Pyx_memviewslice *, __Pyx_memviewslice *, int, size_t); /*proto*/ +static Py_ssize_t __pyx_memoryview_slice_get_size(__Pyx_memviewslice *, int); /*proto*/ +static Py_ssize_t __pyx_fill_contig_strides_array(Py_ssize_t *, Py_ssize_t *, Py_ssize_t, int, char); /*proto*/ +static void *__pyx_memoryview_copy_data_to_temp(__Pyx_memviewslice *, __Pyx_memviewslice *, char, int); /*proto*/ +static int __pyx_memoryview_err_extents(int, Py_ssize_t, Py_ssize_t); /*proto*/ +static int __pyx_memoryview_err_dim(PyObject *, PyObject *, int); /*proto*/ +static int __pyx_memoryview_err(PyObject *, PyObject *); /*proto*/ +static int __pyx_memoryview_err_no_memory(void); /*proto*/ +static int __pyx_memoryview_copy_contents(__Pyx_memviewslice, __Pyx_memviewslice, int, int, int); /*proto*/ +static void __pyx_memoryview_broadcast_leading(__Pyx_memviewslice *, int, int); /*proto*/ +static void __pyx_memoryview_refcount_copying(__Pyx_memviewslice *, int, int, int); /*proto*/ +static void __pyx_memoryview_refcount_objects_in_slice_with_gil(char *, Py_ssize_t *, Py_ssize_t *, int, int); /*proto*/ +static void __pyx_memoryview_refcount_objects_in_slice(char *, Py_ssize_t *, Py_ssize_t *, int, int); /*proto*/ +static void __pyx_memoryview_slice_assign_scalar(__Pyx_memviewslice *, int, size_t, void *, int); /*proto*/ +static void __pyx_memoryview__slice_assign_scalar(char *, Py_ssize_t *, Py_ssize_t *, int, size_t, void *); /*proto*/ +static PyObject *__pyx_unpickle_Enum__set_state(struct __pyx_MemviewEnum_obj *, PyObject *); /*proto*/ +static PyObject *__pyx_format_from_typeinfo(__Pyx_TypeInfo *); /*proto*/ +/* #### Code section: typeinfo ### */ +static __Pyx_TypeInfo __Pyx_TypeInfo_nn___pyx_t_5numpy_float32_t = { "float32_t", NULL, sizeof(__pyx_t_5numpy_float32_t), { 0 }, 0, 'R', 0, 0 }; +static __Pyx_TypeInfo __Pyx_TypeInfo_float = { "float", NULL, sizeof(float), { 0 }, 0, 'R', 0, 0 }; +/* #### Code section: before_global_var ### */ +#define __Pyx_MODULE_NAME "selfdrive.classic_modeld.models.commonmodel_pyx" +extern int __pyx_module_is_main_selfdrive__classic_modeld__models__commonmodel_pyx; +int __pyx_module_is_main_selfdrive__classic_modeld__models__commonmodel_pyx = 0; + +/* Implementation of "selfdrive.classic_modeld.models.commonmodel_pyx" */ +/* #### Code section: global_var ### */ +static PyObject *__pyx_builtin_TypeError; +static PyObject *__pyx_builtin___import__; +static PyObject *__pyx_builtin_ValueError; +static PyObject *__pyx_builtin_MemoryError; +static PyObject *__pyx_builtin_enumerate; +static PyObject *__pyx_builtin_range; +static PyObject *__pyx_builtin_AssertionError; +static PyObject *__pyx_builtin_Ellipsis; +static PyObject *__pyx_builtin_id; +static PyObject *__pyx_builtin_IndexError; +static PyObject *__pyx_builtin_ImportError; +/* #### Code section: string_decls ### */ +static const char __pyx_k_[] = ": "; +static const char __pyx_k_O[] = "O"; +static const char __pyx_k_T[] = "T{"; + static const char __pyx_k_c[] = "c"; + static const char __pyx_k_x[] = "x"; + static const char __pyx_k__2[] = "."; + static const char __pyx_k__3[] = "*"; + static const char __pyx_k__6[] = "'"; + static const char __pyx_k__7[] = ")"; + static const char __pyx_k__9[] = "^"; + static const char __pyx_k_gc[] = "gc"; + static const char __pyx_k_id[] = "id"; + static const char __pyx_k_np[] = "np"; + static const char __pyx_k__10[] = ""; + static const char __pyx_k__11[] = ":"; +static const char __pyx_k__12[] = "}"; +static const char __pyx_k__13[] = "("; +static const char __pyx_k__14[] = ","; +static const char __pyx_k__40[] = "?"; +static const char __pyx_k_abc[] = "abc"; +static const char __pyx_k_and[] = " and "; +static const char __pyx_k_buf[] = "buf"; +static const char __pyx_k_got[] = " (got "; +static const char __pyx_k_new[] = "__new__"; +static const char __pyx_k_obj[] = "obj"; +static const char __pyx_k_sys[] = "sys"; +static const char __pyx_k_base[] = "base"; +static const char __pyx_k_data[] = "data"; +static const char __pyx_k_dict[] = "__dict__"; +static const char __pyx_k_join[] = "join"; +static const char __pyx_k_main[] = "__main__"; +static const char __pyx_k_mode[] = "mode"; +static const char __pyx_k_name[] = "name"; +static const char __pyx_k_ndim[] = "ndim"; +static const char __pyx_k_pack[] = "pack"; +static const char __pyx_k_self[] = "self"; +static const char __pyx_k_size[] = "size"; +static const char __pyx_k_spec[] = "__spec__"; +static const char __pyx_k_step[] = "step"; +static const char __pyx_k_stop[] = "stop"; +static const char __pyx_k_test[] = "__test__"; +static const char __pyx_k_ASCII[] = "ASCII"; +static const char __pyx_k_CLMem[] = "CLMem"; +static const char __pyx_k_class[] = "__class__"; +static const char __pyx_k_count[] = "count"; +static const char __pyx_k_error[] = "error"; +static const char __pyx_k_flags[] = "flags"; +static const char __pyx_k_index[] = "index"; +static const char __pyx_k_numpy[] = "numpy"; +static const char __pyx_k_range[] = "range"; +static const char __pyx_k_shape[] = "shape"; +static const char __pyx_k_start[] = "start"; +static const char __pyx_k_width[] = "width"; +static const char __pyx_k_enable[] = "enable"; +static const char __pyx_k_encode[] = "encode"; +static const char __pyx_k_format[] = "format"; +static const char __pyx_k_height[] = "height"; +static const char __pyx_k_import[] = "__import__"; +static const char __pyx_k_name_2[] = "__name__"; +static const char __pyx_k_output[] = "output"; +static const char __pyx_k_pickle[] = "pickle"; +static const char __pyx_k_reduce[] = "__reduce__"; +static const char __pyx_k_stride[] = "stride"; +static const char __pyx_k_struct[] = "struct"; +static const char __pyx_k_unpack[] = "unpack"; +static const char __pyx_k_update[] = "update"; +static const char __pyx_k_asarray[] = "asarray"; +static const char __pyx_k_context[] = "context"; +static const char __pyx_k_disable[] = "disable"; +static const char __pyx_k_fortran[] = "fortran"; +static const char __pyx_k_memview[] = "memview"; +static const char __pyx_k_prepare[] = "prepare"; +static const char __pyx_k_sigmoid[] = "sigmoid"; +static const char __pyx_k_Ellipsis[] = "Ellipsis"; +static const char __pyx_k_Sequence[] = "Sequence"; +static const char __pyx_k_getstate[] = "__getstate__"; +static const char __pyx_k_itemsize[] = "itemsize"; +static const char __pyx_k_pyx_type[] = "__pyx_type"; +static const char __pyx_k_register[] = "register"; +static const char __pyx_k_setstate[] = "__setstate__"; +static const char __pyx_k_CLContext[] = "CLContext"; +static const char __pyx_k_TypeError[] = "TypeError"; +static const char __pyx_k_enumerate[] = "enumerate"; +static const char __pyx_k_isenabled[] = "isenabled"; +static const char __pyx_k_pyx_state[] = "__pyx_state"; +static const char __pyx_k_reduce_ex[] = "__reduce_ex__"; +static const char __pyx_k_uv_offset[] = "uv_offset"; +static const char __pyx_k_IndexError[] = "IndexError"; +static const char __pyx_k_ModelFrame[] = "ModelFrame"; +static const char __pyx_k_ValueError[] = "ValueError"; +static const char __pyx_k_projection[] = "projection"; +static const char __pyx_k_pyx_result[] = "__pyx_result"; +static const char __pyx_k_pyx_vtable[] = "__pyx_vtable__"; +static const char __pyx_k_ImportError[] = "ImportError"; +static const char __pyx_k_MemoryError[] = "MemoryError"; +static const char __pyx_k_PickleError[] = "PickleError"; +static const char __pyx_k_collections[] = "collections"; +static const char __pyx_k_cprojection[] = "cprojection"; +static const char __pyx_k_initializing[] = "_initializing"; +static const char __pyx_k_is_coroutine[] = "_is_coroutine"; +static const char __pyx_k_pyx_checksum[] = "__pyx_checksum"; +static const char __pyx_k_stringsource[] = ""; +static const char __pyx_k_version_info[] = "version_info"; +static const char __pyx_k_class_getitem[] = "__class_getitem__"; +static const char __pyx_k_reduce_cython[] = "__reduce_cython__"; +static const char __pyx_k_AssertionError[] = "AssertionError"; +static const char __pyx_k_View_MemoryView[] = "View.MemoryView"; +static const char __pyx_k_allocate_buffer[] = "allocate_buffer"; +static const char __pyx_k_collections_abc[] = "collections.abc"; +static const char __pyx_k_dtype_is_object[] = "dtype_is_object"; +static const char __pyx_k_pyx_PickleError[] = "__pyx_PickleError"; +static const char __pyx_k_setstate_cython[] = "__setstate_cython__"; +static const char __pyx_k_pyx_unpickle_Enum[] = "__pyx_unpickle_Enum"; +static const char __pyx_k_ModelFrame_prepare[] = "ModelFrame.prepare"; +static const char __pyx_k_asyncio_coroutines[] = "asyncio.coroutines"; +static const char __pyx_k_cline_in_traceback[] = "cline_in_traceback"; +static const char __pyx_k_strided_and_direct[] = ""; +static const char __pyx_k_strided_and_indirect[] = ""; +static const char __pyx_k_CLMem___reduce_cython[] = "CLMem.__reduce_cython__"; +static const char __pyx_k_Invalid_shape_in_axis[] = "Invalid shape in axis "; +static const char __pyx_k_contiguous_and_direct[] = ""; +static const char __pyx_k_Cannot_index_with_type[] = "Cannot index with type '"; +static const char __pyx_k_MemoryView_of_r_object[] = ""; +static const char __pyx_k_CLMem___setstate_cython[] = "CLMem.__setstate_cython__"; +static const char __pyx_k_MemoryView_of_r_at_0x_x[] = ""; +static const char __pyx_k_contiguous_and_indirect[] = ""; +static const char __pyx_k_CLContext___reduce_cython[] = "CLContext.__reduce_cython__"; +static const char __pyx_k_Dimension_d_is_not_direct[] = "Dimension %d is not direct"; +static const char __pyx_k_Index_out_of_bounds_axis_d[] = "Index out of bounds (axis %d)"; +static const char __pyx_k_ModelFrame___reduce_cython[] = "ModelFrame.__reduce_cython__"; +static const char __pyx_k_CLContext___setstate_cython[] = "CLContext.__setstate_cython__"; +static const char __pyx_k_Step_may_not_be_zero_axis_d[] = "Step may not be zero (axis %d)"; +static const char __pyx_k_itemsize_0_for_cython_array[] = "itemsize <= 0 for cython.array"; +static const char __pyx_k_ModelFrame___setstate_cython[] = "ModelFrame.__setstate_cython__"; +static const char __pyx_k_unable_to_allocate_array_data[] = "unable to allocate array data."; +static const char __pyx_k_strided_and_direct_or_indirect[] = ""; +static const char __pyx_k_numpy_core_multiarray_failed_to[] = "numpy.core.multiarray failed to import"; +static const char __pyx_k_self_mem_cannot_be_converted_to[] = "self.mem cannot be converted to a Python object for pickling"; +static const char __pyx_k_selfdrive_classic_modeld_models[] = "selfdrive/classic_modeld/models/commonmodel_pyx.pyx"; +static const char __pyx_k_All_dimensions_preceding_dimensi[] = "All dimensions preceding dimension %d must be indexed and not sliced"; +static const char __pyx_k_Buffer_view_does_not_expose_stri[] = "Buffer view does not expose strides"; +static const char __pyx_k_Can_only_create_a_buffer_that_is[] = "Can only create a buffer that is contiguous in memory."; +static const char __pyx_k_Cannot_assign_to_read_only_memor[] = "Cannot assign to read-only memoryview"; +static const char __pyx_k_Cannot_create_writable_memory_vi[] = "Cannot create writable memory view from read-only memoryview"; +static const char __pyx_k_Cannot_transpose_memoryview_with[] = "Cannot transpose memoryview with indirect dimensions"; +static const char __pyx_k_Empty_shape_tuple_for_cython_arr[] = "Empty shape tuple for cython.array"; +static const char __pyx_k_Incompatible_checksums_0x_x_vs_0[] = "Incompatible checksums (0x%x vs (0x82a3537, 0x6ae9995, 0xb068931) = (name))"; +static const char __pyx_k_Indirect_dimensions_not_supporte[] = "Indirect dimensions not supported"; +static const char __pyx_k_Invalid_mode_expected_c_or_fortr[] = "Invalid mode, expected 'c' or 'fortran', got "; +static const char __pyx_k_Out_of_bounds_on_buffer_access_a[] = "Out of bounds on buffer access (axis "; +static const char __pyx_k_Unable_to_convert_item_to_object[] = "Unable to convert item to object"; +static const char __pyx_k_got_differing_extents_in_dimensi[] = "got differing extents in dimension "; +static const char __pyx_k_no_default___reduce___due_to_non[] = "no default __reduce__ due to non-trivial __cinit__"; +static const char __pyx_k_numpy_core_umath_failed_to_impor[] = "numpy.core.umath failed to import"; +static const char __pyx_k_unable_to_allocate_shape_and_str[] = "unable to allocate shape and strides."; +static const char __pyx_k_selfdrive_classic_modeld_models_2[] = "selfdrive.classic_modeld.models.commonmodel_pyx"; +/* #### Code section: decls ### */ +static int __pyx_array___pyx_pf_15View_dot_MemoryView_5array___cinit__(struct __pyx_array_obj *__pyx_v_self, PyObject *__pyx_v_shape, Py_ssize_t __pyx_v_itemsize, PyObject *__pyx_v_format, PyObject *__pyx_v_mode, int __pyx_v_allocate_buffer); /* proto */ +static int __pyx_array___pyx_pf_15View_dot_MemoryView_5array_2__getbuffer__(struct __pyx_array_obj *__pyx_v_self, Py_buffer *__pyx_v_info, int __pyx_v_flags); /* proto */ +static void __pyx_array___pyx_pf_15View_dot_MemoryView_5array_4__dealloc__(struct __pyx_array_obj *__pyx_v_self); /* proto */ +static PyObject *__pyx_pf_15View_dot_MemoryView_5array_7memview___get__(struct __pyx_array_obj *__pyx_v_self); /* proto */ +static Py_ssize_t __pyx_array___pyx_pf_15View_dot_MemoryView_5array_6__len__(struct __pyx_array_obj *__pyx_v_self); /* proto */ +static PyObject *__pyx_array___pyx_pf_15View_dot_MemoryView_5array_8__getattr__(struct __pyx_array_obj *__pyx_v_self, PyObject *__pyx_v_attr); /* proto */ +static PyObject *__pyx_array___pyx_pf_15View_dot_MemoryView_5array_10__getitem__(struct __pyx_array_obj *__pyx_v_self, PyObject *__pyx_v_item); /* proto */ +static int __pyx_array___pyx_pf_15View_dot_MemoryView_5array_12__setitem__(struct __pyx_array_obj *__pyx_v_self, PyObject *__pyx_v_item, PyObject *__pyx_v_value); /* proto */ +static PyObject *__pyx_pf___pyx_array___reduce_cython__(CYTHON_UNUSED struct __pyx_array_obj *__pyx_v_self); /* proto */ +static PyObject *__pyx_pf___pyx_array_2__setstate_cython__(CYTHON_UNUSED struct __pyx_array_obj *__pyx_v_self, CYTHON_UNUSED PyObject *__pyx_v___pyx_state); /* proto */ +static int __pyx_MemviewEnum___pyx_pf_15View_dot_MemoryView_4Enum___init__(struct __pyx_MemviewEnum_obj *__pyx_v_self, PyObject *__pyx_v_name); /* proto */ +static PyObject *__pyx_MemviewEnum___pyx_pf_15View_dot_MemoryView_4Enum_2__repr__(struct __pyx_MemviewEnum_obj *__pyx_v_self); /* proto */ +static PyObject *__pyx_pf___pyx_MemviewEnum___reduce_cython__(struct __pyx_MemviewEnum_obj *__pyx_v_self); /* proto */ +static PyObject *__pyx_pf___pyx_MemviewEnum_2__setstate_cython__(struct __pyx_MemviewEnum_obj *__pyx_v_self, PyObject *__pyx_v___pyx_state); /* proto */ +static int __pyx_memoryview___pyx_pf_15View_dot_MemoryView_10memoryview___cinit__(struct __pyx_memoryview_obj *__pyx_v_self, PyObject *__pyx_v_obj, int __pyx_v_flags, int __pyx_v_dtype_is_object); /* proto */ +static void __pyx_memoryview___pyx_pf_15View_dot_MemoryView_10memoryview_2__dealloc__(struct __pyx_memoryview_obj *__pyx_v_self); /* proto */ +static PyObject *__pyx_memoryview___pyx_pf_15View_dot_MemoryView_10memoryview_4__getitem__(struct __pyx_memoryview_obj *__pyx_v_self, PyObject *__pyx_v_index); /* proto */ +static int __pyx_memoryview___pyx_pf_15View_dot_MemoryView_10memoryview_6__setitem__(struct __pyx_memoryview_obj *__pyx_v_self, PyObject *__pyx_v_index, PyObject *__pyx_v_value); /* proto */ +static int __pyx_memoryview___pyx_pf_15View_dot_MemoryView_10memoryview_8__getbuffer__(struct __pyx_memoryview_obj *__pyx_v_self, Py_buffer *__pyx_v_info, int __pyx_v_flags); /* proto */ +static PyObject *__pyx_pf_15View_dot_MemoryView_10memoryview_1T___get__(struct __pyx_memoryview_obj *__pyx_v_self); /* proto */ +static PyObject *__pyx_pf_15View_dot_MemoryView_10memoryview_4base___get__(struct __pyx_memoryview_obj *__pyx_v_self); /* proto */ +static PyObject *__pyx_pf_15View_dot_MemoryView_10memoryview_5shape___get__(struct __pyx_memoryview_obj *__pyx_v_self); /* proto */ +static PyObject *__pyx_pf_15View_dot_MemoryView_10memoryview_7strides___get__(struct __pyx_memoryview_obj *__pyx_v_self); /* proto */ +static PyObject *__pyx_pf_15View_dot_MemoryView_10memoryview_10suboffsets___get__(struct __pyx_memoryview_obj *__pyx_v_self); /* proto */ +static PyObject *__pyx_pf_15View_dot_MemoryView_10memoryview_4ndim___get__(struct __pyx_memoryview_obj *__pyx_v_self); /* proto */ +static PyObject *__pyx_pf_15View_dot_MemoryView_10memoryview_8itemsize___get__(struct __pyx_memoryview_obj *__pyx_v_self); /* proto */ +static PyObject *__pyx_pf_15View_dot_MemoryView_10memoryview_6nbytes___get__(struct __pyx_memoryview_obj *__pyx_v_self); /* proto */ +static PyObject *__pyx_pf_15View_dot_MemoryView_10memoryview_4size___get__(struct __pyx_memoryview_obj *__pyx_v_self); /* proto */ +static Py_ssize_t __pyx_memoryview___pyx_pf_15View_dot_MemoryView_10memoryview_10__len__(struct __pyx_memoryview_obj *__pyx_v_self); /* proto */ +static PyObject *__pyx_memoryview___pyx_pf_15View_dot_MemoryView_10memoryview_12__repr__(struct __pyx_memoryview_obj *__pyx_v_self); /* proto */ +static PyObject *__pyx_memoryview___pyx_pf_15View_dot_MemoryView_10memoryview_14__str__(struct __pyx_memoryview_obj *__pyx_v_self); /* proto */ +static PyObject *__pyx_memoryview___pyx_pf_15View_dot_MemoryView_10memoryview_16is_c_contig(struct __pyx_memoryview_obj *__pyx_v_self); /* proto */ +static PyObject *__pyx_memoryview___pyx_pf_15View_dot_MemoryView_10memoryview_18is_f_contig(struct __pyx_memoryview_obj *__pyx_v_self); /* proto */ +static PyObject *__pyx_memoryview___pyx_pf_15View_dot_MemoryView_10memoryview_20copy(struct __pyx_memoryview_obj *__pyx_v_self); /* proto */ +static PyObject *__pyx_memoryview___pyx_pf_15View_dot_MemoryView_10memoryview_22copy_fortran(struct __pyx_memoryview_obj *__pyx_v_self); /* proto */ +static PyObject *__pyx_pf___pyx_memoryview___reduce_cython__(CYTHON_UNUSED struct __pyx_memoryview_obj *__pyx_v_self); /* proto */ +static PyObject *__pyx_pf___pyx_memoryview_2__setstate_cython__(CYTHON_UNUSED struct __pyx_memoryview_obj *__pyx_v_self, CYTHON_UNUSED PyObject *__pyx_v___pyx_state); /* proto */ +static void __pyx_memoryviewslice___pyx_pf_15View_dot_MemoryView_16_memoryviewslice___dealloc__(struct __pyx_memoryviewslice_obj *__pyx_v_self); /* proto */ +static PyObject *__pyx_pf___pyx_memoryviewslice___reduce_cython__(CYTHON_UNUSED struct __pyx_memoryviewslice_obj *__pyx_v_self); /* proto */ +static PyObject *__pyx_pf___pyx_memoryviewslice_2__setstate_cython__(CYTHON_UNUSED struct __pyx_memoryviewslice_obj *__pyx_v_self, CYTHON_UNUSED PyObject *__pyx_v___pyx_state); /* proto */ +static PyObject *__pyx_pf_15View_dot_MemoryView___pyx_unpickle_Enum(CYTHON_UNUSED PyObject *__pyx_self, PyObject *__pyx_v___pyx_type, long __pyx_v___pyx_checksum, PyObject *__pyx_v___pyx_state); /* proto */ +static PyObject *__pyx_pf_9selfdrive_14classic_modeld_6models_15commonmodel_pyx_sigmoid(CYTHON_UNUSED PyObject *__pyx_self, PyObject *__pyx_v_x); /* proto */ +static int __pyx_pf_9selfdrive_14classic_modeld_6models_15commonmodel_pyx_9CLContext___cinit__(struct __pyx_obj_9selfdrive_14classic_modeld_6models_15commonmodel_pyx_CLContext *__pyx_v_self); /* proto */ +static PyObject *__pyx_pf_9selfdrive_14classic_modeld_6models_15commonmodel_pyx_9CLContext_2__reduce_cython__(CYTHON_UNUSED struct __pyx_obj_9selfdrive_14classic_modeld_6models_15commonmodel_pyx_CLContext *__pyx_v_self); /* proto */ +static PyObject *__pyx_pf_9selfdrive_14classic_modeld_6models_15commonmodel_pyx_9CLContext_4__setstate_cython__(CYTHON_UNUSED struct __pyx_obj_9selfdrive_14classic_modeld_6models_15commonmodel_pyx_CLContext *__pyx_v_self, CYTHON_UNUSED PyObject *__pyx_v___pyx_state); /* proto */ +static PyObject *__pyx_pf_9selfdrive_14classic_modeld_6models_15commonmodel_pyx_5CLMem___reduce_cython__(CYTHON_UNUSED struct __pyx_obj_9selfdrive_14classic_modeld_6models_15commonmodel_pyx_CLMem *__pyx_v_self); /* proto */ +static PyObject *__pyx_pf_9selfdrive_14classic_modeld_6models_15commonmodel_pyx_5CLMem_2__setstate_cython__(CYTHON_UNUSED struct __pyx_obj_9selfdrive_14classic_modeld_6models_15commonmodel_pyx_CLMem *__pyx_v_self, CYTHON_UNUSED PyObject *__pyx_v___pyx_state); /* proto */ +static int __pyx_pf_9selfdrive_14classic_modeld_6models_15commonmodel_pyx_10ModelFrame___cinit__(struct __pyx_obj_9selfdrive_14classic_modeld_6models_15commonmodel_pyx_ModelFrame *__pyx_v_self, struct __pyx_obj_9selfdrive_14classic_modeld_6models_15commonmodel_pyx_CLContext *__pyx_v_context); /* proto */ +static void __pyx_pf_9selfdrive_14classic_modeld_6models_15commonmodel_pyx_10ModelFrame_2__dealloc__(struct __pyx_obj_9selfdrive_14classic_modeld_6models_15commonmodel_pyx_ModelFrame *__pyx_v_self); /* proto */ +static PyObject *__pyx_pf_9selfdrive_14classic_modeld_6models_15commonmodel_pyx_10ModelFrame_4prepare(struct __pyx_obj_9selfdrive_14classic_modeld_6models_15commonmodel_pyx_ModelFrame *__pyx_v_self, struct __pyx_obj_4msgq_9visionipc_13visionipc_pyx_VisionBuf *__pyx_v_buf, __Pyx_memviewslice __pyx_v_projection, struct __pyx_obj_9selfdrive_14classic_modeld_6models_15commonmodel_pyx_CLMem *__pyx_v_output); /* proto */ +static PyObject *__pyx_pf_9selfdrive_14classic_modeld_6models_15commonmodel_pyx_10ModelFrame_6__reduce_cython__(CYTHON_UNUSED struct __pyx_obj_9selfdrive_14classic_modeld_6models_15commonmodel_pyx_ModelFrame *__pyx_v_self); /* proto */ +static PyObject *__pyx_pf_9selfdrive_14classic_modeld_6models_15commonmodel_pyx_10ModelFrame_8__setstate_cython__(CYTHON_UNUSED struct __pyx_obj_9selfdrive_14classic_modeld_6models_15commonmodel_pyx_ModelFrame *__pyx_v_self, CYTHON_UNUSED PyObject *__pyx_v___pyx_state); /* proto */ +static PyObject *__pyx_tp_new_9selfdrive_14classic_modeld_6models_15commonmodel_pyx_CLContext(PyTypeObject *t, PyObject *a, PyObject *k); /*proto*/ +static PyObject *__pyx_tp_new_9selfdrive_14classic_modeld_6models_15commonmodel_pyx_CLMem(PyTypeObject *t, PyObject *a, PyObject *k); /*proto*/ +static PyObject *__pyx_tp_new_9selfdrive_14classic_modeld_6models_15commonmodel_pyx_ModelFrame(PyTypeObject *t, PyObject *a, PyObject *k); /*proto*/ +static PyObject *__pyx_tp_new_array(PyTypeObject *t, PyObject *a, PyObject *k); /*proto*/ +static PyObject *__pyx_tp_new_Enum(PyTypeObject *t, PyObject *a, PyObject *k); /*proto*/ +static PyObject *__pyx_tp_new_memoryview(PyTypeObject *t, PyObject *a, PyObject *k); /*proto*/ +static PyObject *__pyx_tp_new__memoryviewslice(PyTypeObject *t, PyObject *a, PyObject *k); /*proto*/ +/* #### Code section: late_includes ### */ +/* #### Code section: module_state ### */ +typedef struct { + PyObject *__pyx_d; + PyObject *__pyx_b; + PyObject *__pyx_cython_runtime; + PyObject *__pyx_empty_tuple; + PyObject *__pyx_empty_bytes; + PyObject *__pyx_empty_unicode; + #ifdef __Pyx_CyFunction_USED + PyTypeObject *__pyx_CyFunctionType; + #endif + #ifdef __Pyx_FusedFunction_USED + PyTypeObject *__pyx_FusedFunctionType; + #endif + #ifdef __Pyx_Generator_USED + PyTypeObject 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PyObject *__pyx_type_9selfdrive_14classic_modeld_6models_15commonmodel_pyx_CLMem; + PyObject *__pyx_type_9selfdrive_14classic_modeld_6models_15commonmodel_pyx_ModelFrame; + PyObject *__pyx_type___pyx_array; + PyObject *__pyx_type___pyx_MemviewEnum; + PyObject *__pyx_type___pyx_memoryview; + PyObject *__pyx_type___pyx_memoryviewslice; + #endif + PyTypeObject *__pyx_ptype_9selfdrive_14classic_modeld_6models_15commonmodel_pyx_CLContext; + PyTypeObject *__pyx_ptype_9selfdrive_14classic_modeld_6models_15commonmodel_pyx_CLMem; + PyTypeObject *__pyx_ptype_9selfdrive_14classic_modeld_6models_15commonmodel_pyx_ModelFrame; + PyTypeObject *__pyx_array_type; + PyTypeObject *__pyx_MemviewEnum_type; + PyTypeObject *__pyx_memoryview_type; + PyTypeObject *__pyx_memoryviewslice_type; + PyObject *__pyx_kp_u_; + PyObject *__pyx_n_s_ASCII; + PyObject *__pyx_kp_s_All_dimensions_preceding_dimensi; + PyObject *__pyx_n_s_AssertionError; + PyObject *__pyx_kp_s_Buffer_view_does_not_expose_stri; + PyObject 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*__pyx_tuple__19; + PyObject *__pyx_tuple__20; + PyObject *__pyx_tuple__21; + PyObject *__pyx_tuple__22; + PyObject *__pyx_tuple__23; + PyObject *__pyx_tuple__24; + PyObject *__pyx_tuple__25; + PyObject *__pyx_tuple__26; + PyObject *__pyx_tuple__28; + PyObject *__pyx_tuple__30; + PyObject *__pyx_tuple__32; + PyObject *__pyx_tuple__36; + PyObject *__pyx_codeobj__27; + PyObject *__pyx_codeobj__29; + PyObject *__pyx_codeobj__31; + PyObject *__pyx_codeobj__33; + PyObject *__pyx_codeobj__34; + PyObject *__pyx_codeobj__35; + PyObject *__pyx_codeobj__37; + PyObject *__pyx_codeobj__38; + PyObject *__pyx_codeobj__39; +} __pyx_mstate; + +#if CYTHON_USE_MODULE_STATE +#ifdef __cplusplus +namespace { + extern struct PyModuleDef __pyx_moduledef; +} /* anonymous namespace */ +#else +static struct PyModuleDef __pyx_moduledef; +#endif + +#define __pyx_mstate(o) ((__pyx_mstate *)__Pyx_PyModule_GetState(o)) + +#define __pyx_mstate_global (__pyx_mstate(PyState_FindModule(&__pyx_moduledef))) + +#define 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Py_CLEAR(clear_module_state->__pyx_kp_u_Invalid_shape_in_axis); + Py_CLEAR(clear_module_state->__pyx_n_s_MemoryError); + Py_CLEAR(clear_module_state->__pyx_kp_s_MemoryView_of_r_at_0x_x); + Py_CLEAR(clear_module_state->__pyx_kp_s_MemoryView_of_r_object); + Py_CLEAR(clear_module_state->__pyx_n_s_ModelFrame); + Py_CLEAR(clear_module_state->__pyx_n_s_ModelFrame___reduce_cython); + Py_CLEAR(clear_module_state->__pyx_n_s_ModelFrame___setstate_cython); + Py_CLEAR(clear_module_state->__pyx_n_s_ModelFrame_prepare); + Py_CLEAR(clear_module_state->__pyx_n_b_O); + Py_CLEAR(clear_module_state->__pyx_kp_u_Out_of_bounds_on_buffer_access_a); + Py_CLEAR(clear_module_state->__pyx_n_s_PickleError); + Py_CLEAR(clear_module_state->__pyx_n_s_Sequence); + Py_CLEAR(clear_module_state->__pyx_kp_s_Step_may_not_be_zero_axis_d); + Py_CLEAR(clear_module_state->__pyx_kp_b_T); + Py_CLEAR(clear_module_state->__pyx_n_s_TypeError); + Py_CLEAR(clear_module_state->__pyx_kp_s_Unable_to_convert_item_to_object); + Py_CLEAR(clear_module_state->__pyx_n_s_ValueError); + Py_CLEAR(clear_module_state->__pyx_n_s_View_MemoryView); + Py_CLEAR(clear_module_state->__pyx_kp_b__10); + Py_CLEAR(clear_module_state->__pyx_kp_b__11); + Py_CLEAR(clear_module_state->__pyx_kp_b__12); + Py_CLEAR(clear_module_state->__pyx_kp_u__13); + Py_CLEAR(clear_module_state->__pyx_kp_u__14); + Py_CLEAR(clear_module_state->__pyx_kp_u__2); + Py_CLEAR(clear_module_state->__pyx_n_s__3); + Py_CLEAR(clear_module_state->__pyx_n_s__40); + Py_CLEAR(clear_module_state->__pyx_kp_u__6); + Py_CLEAR(clear_module_state->__pyx_kp_u__7); + Py_CLEAR(clear_module_state->__pyx_kp_b__9); + Py_CLEAR(clear_module_state->__pyx_n_s_abc); + Py_CLEAR(clear_module_state->__pyx_n_s_allocate_buffer); + Py_CLEAR(clear_module_state->__pyx_kp_u_and); + Py_CLEAR(clear_module_state->__pyx_n_s_asarray); + Py_CLEAR(clear_module_state->__pyx_n_s_asyncio_coroutines); + Py_CLEAR(clear_module_state->__pyx_n_s_base); + Py_CLEAR(clear_module_state->__pyx_n_s_buf); + Py_CLEAR(clear_module_state->__pyx_n_s_c); + Py_CLEAR(clear_module_state->__pyx_n_u_c); + Py_CLEAR(clear_module_state->__pyx_n_s_class); + Py_CLEAR(clear_module_state->__pyx_n_s_class_getitem); + Py_CLEAR(clear_module_state->__pyx_n_s_cline_in_traceback); + Py_CLEAR(clear_module_state->__pyx_n_s_collections); + Py_CLEAR(clear_module_state->__pyx_kp_s_collections_abc); + Py_CLEAR(clear_module_state->__pyx_n_s_context); + Py_CLEAR(clear_module_state->__pyx_kp_s_contiguous_and_direct); + Py_CLEAR(clear_module_state->__pyx_kp_s_contiguous_and_indirect); + Py_CLEAR(clear_module_state->__pyx_n_s_count); + Py_CLEAR(clear_module_state->__pyx_n_s_cprojection); + Py_CLEAR(clear_module_state->__pyx_n_s_data); + Py_CLEAR(clear_module_state->__pyx_n_s_dict); + Py_CLEAR(clear_module_state->__pyx_kp_u_disable); + Py_CLEAR(clear_module_state->__pyx_n_s_dtype_is_object); + Py_CLEAR(clear_module_state->__pyx_kp_u_enable); + Py_CLEAR(clear_module_state->__pyx_n_s_encode); + Py_CLEAR(clear_module_state->__pyx_n_s_enumerate); + Py_CLEAR(clear_module_state->__pyx_n_s_error); + Py_CLEAR(clear_module_state->__pyx_n_s_flags); + Py_CLEAR(clear_module_state->__pyx_n_s_format); + Py_CLEAR(clear_module_state->__pyx_n_s_fortran); + Py_CLEAR(clear_module_state->__pyx_n_u_fortran); + Py_CLEAR(clear_module_state->__pyx_kp_u_gc); + Py_CLEAR(clear_module_state->__pyx_n_s_getstate); + Py_CLEAR(clear_module_state->__pyx_kp_u_got); + Py_CLEAR(clear_module_state->__pyx_kp_u_got_differing_extents_in_dimensi); + Py_CLEAR(clear_module_state->__pyx_n_s_height); + Py_CLEAR(clear_module_state->__pyx_n_s_id); + Py_CLEAR(clear_module_state->__pyx_n_s_import); + Py_CLEAR(clear_module_state->__pyx_n_s_index); + Py_CLEAR(clear_module_state->__pyx_n_s_initializing); + Py_CLEAR(clear_module_state->__pyx_n_s_is_coroutine); + Py_CLEAR(clear_module_state->__pyx_kp_u_isenabled); + Py_CLEAR(clear_module_state->__pyx_n_s_itemsize); + Py_CLEAR(clear_module_state->__pyx_kp_s_itemsize_0_for_cython_array); + Py_CLEAR(clear_module_state->__pyx_n_s_join); + Py_CLEAR(clear_module_state->__pyx_n_s_main); + Py_CLEAR(clear_module_state->__pyx_n_s_memview); + Py_CLEAR(clear_module_state->__pyx_n_s_mode); + Py_CLEAR(clear_module_state->__pyx_n_s_name); + Py_CLEAR(clear_module_state->__pyx_n_s_name_2); + Py_CLEAR(clear_module_state->__pyx_n_s_ndim); + Py_CLEAR(clear_module_state->__pyx_n_s_new); + Py_CLEAR(clear_module_state->__pyx_kp_s_no_default___reduce___due_to_non); + Py_CLEAR(clear_module_state->__pyx_n_s_np); + Py_CLEAR(clear_module_state->__pyx_n_s_numpy); + Py_CLEAR(clear_module_state->__pyx_kp_u_numpy_core_multiarray_failed_to); + Py_CLEAR(clear_module_state->__pyx_kp_u_numpy_core_umath_failed_to_impor); + Py_CLEAR(clear_module_state->__pyx_n_s_obj); + Py_CLEAR(clear_module_state->__pyx_n_s_output); + Py_CLEAR(clear_module_state->__pyx_n_s_pack); + Py_CLEAR(clear_module_state->__pyx_n_s_pickle); + Py_CLEAR(clear_module_state->__pyx_n_s_prepare); + Py_CLEAR(clear_module_state->__pyx_n_s_projection); + Py_CLEAR(clear_module_state->__pyx_n_s_pyx_PickleError); + Py_CLEAR(clear_module_state->__pyx_n_s_pyx_checksum); + Py_CLEAR(clear_module_state->__pyx_n_s_pyx_result); + Py_CLEAR(clear_module_state->__pyx_n_s_pyx_state); + Py_CLEAR(clear_module_state->__pyx_n_s_pyx_type); + Py_CLEAR(clear_module_state->__pyx_n_s_pyx_unpickle_Enum); + Py_CLEAR(clear_module_state->__pyx_n_s_pyx_vtable); + Py_CLEAR(clear_module_state->__pyx_n_s_range); + Py_CLEAR(clear_module_state->__pyx_n_s_reduce); + Py_CLEAR(clear_module_state->__pyx_n_s_reduce_cython); + Py_CLEAR(clear_module_state->__pyx_n_s_reduce_ex); + Py_CLEAR(clear_module_state->__pyx_n_s_register); + Py_CLEAR(clear_module_state->__pyx_n_s_self); + Py_CLEAR(clear_module_state->__pyx_kp_s_self_mem_cannot_be_converted_to); + Py_CLEAR(clear_module_state->__pyx_kp_s_selfdrive_classic_modeld_models); + Py_CLEAR(clear_module_state->__pyx_n_s_selfdrive_classic_modeld_models_2); + Py_CLEAR(clear_module_state->__pyx_n_s_setstate); + Py_CLEAR(clear_module_state->__pyx_n_s_setstate_cython); + Py_CLEAR(clear_module_state->__pyx_n_s_shape); + Py_CLEAR(clear_module_state->__pyx_n_s_sigmoid); + Py_CLEAR(clear_module_state->__pyx_n_s_size); + Py_CLEAR(clear_module_state->__pyx_n_s_spec); + Py_CLEAR(clear_module_state->__pyx_n_s_start); + Py_CLEAR(clear_module_state->__pyx_n_s_step); + Py_CLEAR(clear_module_state->__pyx_n_s_stop); + Py_CLEAR(clear_module_state->__pyx_n_s_stride); + Py_CLEAR(clear_module_state->__pyx_kp_s_strided_and_direct); + Py_CLEAR(clear_module_state->__pyx_kp_s_strided_and_direct_or_indirect); + Py_CLEAR(clear_module_state->__pyx_kp_s_strided_and_indirect); + Py_CLEAR(clear_module_state->__pyx_kp_s_stringsource); + Py_CLEAR(clear_module_state->__pyx_n_s_struct); + Py_CLEAR(clear_module_state->__pyx_n_s_sys); + Py_CLEAR(clear_module_state->__pyx_n_s_test); + Py_CLEAR(clear_module_state->__pyx_kp_s_unable_to_allocate_array_data); + Py_CLEAR(clear_module_state->__pyx_kp_s_unable_to_allocate_shape_and_str); + Py_CLEAR(clear_module_state->__pyx_n_s_unpack); + Py_CLEAR(clear_module_state->__pyx_n_s_update); + Py_CLEAR(clear_module_state->__pyx_n_s_uv_offset); + Py_CLEAR(clear_module_state->__pyx_n_s_version_info); + Py_CLEAR(clear_module_state->__pyx_n_s_width); + Py_CLEAR(clear_module_state->__pyx_n_s_x); + Py_CLEAR(clear_module_state->__pyx_int_0); + Py_CLEAR(clear_module_state->__pyx_int_1); + Py_CLEAR(clear_module_state->__pyx_int_3); + Py_CLEAR(clear_module_state->__pyx_int_112105877); + Py_CLEAR(clear_module_state->__pyx_int_136983863); + Py_CLEAR(clear_module_state->__pyx_int_184977713); + Py_CLEAR(clear_module_state->__pyx_int_neg_1); + Py_CLEAR(clear_module_state->__pyx_slice__5); + Py_CLEAR(clear_module_state->__pyx_tuple__4); + Py_CLEAR(clear_module_state->__pyx_tuple__8); + Py_CLEAR(clear_module_state->__pyx_tuple__15); + Py_CLEAR(clear_module_state->__pyx_tuple__16); + Py_CLEAR(clear_module_state->__pyx_tuple__17); + Py_CLEAR(clear_module_state->__pyx_tuple__18); + Py_CLEAR(clear_module_state->__pyx_tuple__19); + Py_CLEAR(clear_module_state->__pyx_tuple__20); + Py_CLEAR(clear_module_state->__pyx_tuple__21); + Py_CLEAR(clear_module_state->__pyx_tuple__22); + Py_CLEAR(clear_module_state->__pyx_tuple__23); + Py_CLEAR(clear_module_state->__pyx_tuple__24); + Py_CLEAR(clear_module_state->__pyx_tuple__25); + Py_CLEAR(clear_module_state->__pyx_tuple__26); + Py_CLEAR(clear_module_state->__pyx_tuple__28); + Py_CLEAR(clear_module_state->__pyx_tuple__30); + Py_CLEAR(clear_module_state->__pyx_tuple__32); + Py_CLEAR(clear_module_state->__pyx_tuple__36); + Py_CLEAR(clear_module_state->__pyx_codeobj__27); + Py_CLEAR(clear_module_state->__pyx_codeobj__29); + Py_CLEAR(clear_module_state->__pyx_codeobj__31); + Py_CLEAR(clear_module_state->__pyx_codeobj__33); + Py_CLEAR(clear_module_state->__pyx_codeobj__34); + Py_CLEAR(clear_module_state->__pyx_codeobj__35); + Py_CLEAR(clear_module_state->__pyx_codeobj__37); + Py_CLEAR(clear_module_state->__pyx_codeobj__38); + Py_CLEAR(clear_module_state->__pyx_codeobj__39); + return 0; +} +#endif +/* #### Code section: module_state_traverse ### */ +#if CYTHON_USE_MODULE_STATE +static int __pyx_m_traverse(PyObject *m, visitproc visit, void *arg) { + __pyx_mstate *traverse_module_state = __pyx_mstate(m); + if (!traverse_module_state) return 0; + Py_VISIT(traverse_module_state->__pyx_d); + Py_VISIT(traverse_module_state->__pyx_b); + Py_VISIT(traverse_module_state->__pyx_cython_runtime); + Py_VISIT(traverse_module_state->__pyx_empty_tuple); + Py_VISIT(traverse_module_state->__pyx_empty_bytes); + Py_VISIT(traverse_module_state->__pyx_empty_unicode); + #ifdef __Pyx_CyFunction_USED + Py_VISIT(traverse_module_state->__pyx_CyFunctionType); + #endif + #ifdef __Pyx_FusedFunction_USED + Py_VISIT(traverse_module_state->__pyx_FusedFunctionType); + #endif + Py_VISIT(traverse_module_state->__pyx_ptype_4msgq_9visionipc_13visionipc_pyx_CLContext); + Py_VISIT(traverse_module_state->__pyx_ptype_4msgq_9visionipc_13visionipc_pyx_VisionBuf); + Py_VISIT(traverse_module_state->__pyx_ptype_7cpython_4type_type); + Py_VISIT(traverse_module_state->__pyx_ptype_5numpy_dtype); + Py_VISIT(traverse_module_state->__pyx_ptype_5numpy_flatiter); + Py_VISIT(traverse_module_state->__pyx_ptype_5numpy_broadcast); + Py_VISIT(traverse_module_state->__pyx_ptype_5numpy_ndarray); + Py_VISIT(traverse_module_state->__pyx_ptype_5numpy_generic); + Py_VISIT(traverse_module_state->__pyx_ptype_5numpy_number); + Py_VISIT(traverse_module_state->__pyx_ptype_5numpy_integer); + Py_VISIT(traverse_module_state->__pyx_ptype_5numpy_signedinteger); + Py_VISIT(traverse_module_state->__pyx_ptype_5numpy_unsignedinteger); + Py_VISIT(traverse_module_state->__pyx_ptype_5numpy_inexact); + Py_VISIT(traverse_module_state->__pyx_ptype_5numpy_floating); + Py_VISIT(traverse_module_state->__pyx_ptype_5numpy_complexfloating); + Py_VISIT(traverse_module_state->__pyx_ptype_5numpy_flexible); + Py_VISIT(traverse_module_state->__pyx_ptype_5numpy_character); + Py_VISIT(traverse_module_state->__pyx_ptype_5numpy_ufunc); + Py_VISIT(traverse_module_state->__pyx_ptype_9selfdrive_14classic_modeld_6models_15commonmodel_pyx_CLContext); + Py_VISIT(traverse_module_state->__pyx_type_9selfdrive_14classic_modeld_6models_15commonmodel_pyx_CLContext); + Py_VISIT(traverse_module_state->__pyx_ptype_9selfdrive_14classic_modeld_6models_15commonmodel_pyx_CLMem); + Py_VISIT(traverse_module_state->__pyx_type_9selfdrive_14classic_modeld_6models_15commonmodel_pyx_CLMem); + Py_VISIT(traverse_module_state->__pyx_ptype_9selfdrive_14classic_modeld_6models_15commonmodel_pyx_ModelFrame); + Py_VISIT(traverse_module_state->__pyx_type_9selfdrive_14classic_modeld_6models_15commonmodel_pyx_ModelFrame); + Py_VISIT(traverse_module_state->__pyx_array_type); + Py_VISIT(traverse_module_state->__pyx_type___pyx_array); + Py_VISIT(traverse_module_state->__pyx_MemviewEnum_type); + Py_VISIT(traverse_module_state->__pyx_type___pyx_MemviewEnum); + Py_VISIT(traverse_module_state->__pyx_memoryview_type); + Py_VISIT(traverse_module_state->__pyx_type___pyx_memoryview); + Py_VISIT(traverse_module_state->__pyx_memoryviewslice_type); + Py_VISIT(traverse_module_state->__pyx_type___pyx_memoryviewslice); + Py_VISIT(traverse_module_state->__pyx_kp_u_); + Py_VISIT(traverse_module_state->__pyx_n_s_ASCII); + Py_VISIT(traverse_module_state->__pyx_kp_s_All_dimensions_preceding_dimensi); + Py_VISIT(traverse_module_state->__pyx_n_s_AssertionError); + Py_VISIT(traverse_module_state->__pyx_kp_s_Buffer_view_does_not_expose_stri); + Py_VISIT(traverse_module_state->__pyx_n_s_CLContext); + Py_VISIT(traverse_module_state->__pyx_n_s_CLContext___reduce_cython); + Py_VISIT(traverse_module_state->__pyx_n_s_CLContext___setstate_cython); + Py_VISIT(traverse_module_state->__pyx_n_s_CLMem); + Py_VISIT(traverse_module_state->__pyx_n_s_CLMem___reduce_cython); + Py_VISIT(traverse_module_state->__pyx_n_s_CLMem___setstate_cython); + Py_VISIT(traverse_module_state->__pyx_kp_s_Can_only_create_a_buffer_that_is); + Py_VISIT(traverse_module_state->__pyx_kp_s_Cannot_assign_to_read_only_memor); + Py_VISIT(traverse_module_state->__pyx_kp_s_Cannot_create_writable_memory_vi); + Py_VISIT(traverse_module_state->__pyx_kp_u_Cannot_index_with_type); + Py_VISIT(traverse_module_state->__pyx_kp_s_Cannot_transpose_memoryview_with); + Py_VISIT(traverse_module_state->__pyx_kp_s_Dimension_d_is_not_direct); + Py_VISIT(traverse_module_state->__pyx_n_s_Ellipsis); + Py_VISIT(traverse_module_state->__pyx_kp_s_Empty_shape_tuple_for_cython_arr); + Py_VISIT(traverse_module_state->__pyx_n_s_ImportError); + Py_VISIT(traverse_module_state->__pyx_kp_s_Incompatible_checksums_0x_x_vs_0); + Py_VISIT(traverse_module_state->__pyx_n_s_IndexError); + Py_VISIT(traverse_module_state->__pyx_kp_s_Index_out_of_bounds_axis_d); + Py_VISIT(traverse_module_state->__pyx_kp_s_Indirect_dimensions_not_supporte); + Py_VISIT(traverse_module_state->__pyx_kp_u_Invalid_mode_expected_c_or_fortr); + Py_VISIT(traverse_module_state->__pyx_kp_u_Invalid_shape_in_axis); + Py_VISIT(traverse_module_state->__pyx_n_s_MemoryError); + Py_VISIT(traverse_module_state->__pyx_kp_s_MemoryView_of_r_at_0x_x); + Py_VISIT(traverse_module_state->__pyx_kp_s_MemoryView_of_r_object); + Py_VISIT(traverse_module_state->__pyx_n_s_ModelFrame); + Py_VISIT(traverse_module_state->__pyx_n_s_ModelFrame___reduce_cython); + Py_VISIT(traverse_module_state->__pyx_n_s_ModelFrame___setstate_cython); + Py_VISIT(traverse_module_state->__pyx_n_s_ModelFrame_prepare); + Py_VISIT(traverse_module_state->__pyx_n_b_O); + Py_VISIT(traverse_module_state->__pyx_kp_u_Out_of_bounds_on_buffer_access_a); + Py_VISIT(traverse_module_state->__pyx_n_s_PickleError); + Py_VISIT(traverse_module_state->__pyx_n_s_Sequence); + Py_VISIT(traverse_module_state->__pyx_kp_s_Step_may_not_be_zero_axis_d); + Py_VISIT(traverse_module_state->__pyx_kp_b_T); + Py_VISIT(traverse_module_state->__pyx_n_s_TypeError); + Py_VISIT(traverse_module_state->__pyx_kp_s_Unable_to_convert_item_to_object); + Py_VISIT(traverse_module_state->__pyx_n_s_ValueError); + Py_VISIT(traverse_module_state->__pyx_n_s_View_MemoryView); + Py_VISIT(traverse_module_state->__pyx_kp_b__10); + Py_VISIT(traverse_module_state->__pyx_kp_b__11); + Py_VISIT(traverse_module_state->__pyx_kp_b__12); + Py_VISIT(traverse_module_state->__pyx_kp_u__13); + Py_VISIT(traverse_module_state->__pyx_kp_u__14); + Py_VISIT(traverse_module_state->__pyx_kp_u__2); + Py_VISIT(traverse_module_state->__pyx_n_s__3); + Py_VISIT(traverse_module_state->__pyx_n_s__40); + Py_VISIT(traverse_module_state->__pyx_kp_u__6); + Py_VISIT(traverse_module_state->__pyx_kp_u__7); + Py_VISIT(traverse_module_state->__pyx_kp_b__9); + Py_VISIT(traverse_module_state->__pyx_n_s_abc); + Py_VISIT(traverse_module_state->__pyx_n_s_allocate_buffer); + Py_VISIT(traverse_module_state->__pyx_kp_u_and); + Py_VISIT(traverse_module_state->__pyx_n_s_asarray); + Py_VISIT(traverse_module_state->__pyx_n_s_asyncio_coroutines); + Py_VISIT(traverse_module_state->__pyx_n_s_base); + Py_VISIT(traverse_module_state->__pyx_n_s_buf); + Py_VISIT(traverse_module_state->__pyx_n_s_c); + Py_VISIT(traverse_module_state->__pyx_n_u_c); + Py_VISIT(traverse_module_state->__pyx_n_s_class); + Py_VISIT(traverse_module_state->__pyx_n_s_class_getitem); + Py_VISIT(traverse_module_state->__pyx_n_s_cline_in_traceback); + Py_VISIT(traverse_module_state->__pyx_n_s_collections); + Py_VISIT(traverse_module_state->__pyx_kp_s_collections_abc); + Py_VISIT(traverse_module_state->__pyx_n_s_context); + Py_VISIT(traverse_module_state->__pyx_kp_s_contiguous_and_direct); + Py_VISIT(traverse_module_state->__pyx_kp_s_contiguous_and_indirect); + Py_VISIT(traverse_module_state->__pyx_n_s_count); + Py_VISIT(traverse_module_state->__pyx_n_s_cprojection); + Py_VISIT(traverse_module_state->__pyx_n_s_data); + Py_VISIT(traverse_module_state->__pyx_n_s_dict); + Py_VISIT(traverse_module_state->__pyx_kp_u_disable); + Py_VISIT(traverse_module_state->__pyx_n_s_dtype_is_object); + Py_VISIT(traverse_module_state->__pyx_kp_u_enable); + Py_VISIT(traverse_module_state->__pyx_n_s_encode); + Py_VISIT(traverse_module_state->__pyx_n_s_enumerate); + Py_VISIT(traverse_module_state->__pyx_n_s_error); + Py_VISIT(traverse_module_state->__pyx_n_s_flags); + Py_VISIT(traverse_module_state->__pyx_n_s_format); + Py_VISIT(traverse_module_state->__pyx_n_s_fortran); + Py_VISIT(traverse_module_state->__pyx_n_u_fortran); + Py_VISIT(traverse_module_state->__pyx_kp_u_gc); + Py_VISIT(traverse_module_state->__pyx_n_s_getstate); + Py_VISIT(traverse_module_state->__pyx_kp_u_got); + Py_VISIT(traverse_module_state->__pyx_kp_u_got_differing_extents_in_dimensi); + Py_VISIT(traverse_module_state->__pyx_n_s_height); + Py_VISIT(traverse_module_state->__pyx_n_s_id); + Py_VISIT(traverse_module_state->__pyx_n_s_import); + Py_VISIT(traverse_module_state->__pyx_n_s_index); + Py_VISIT(traverse_module_state->__pyx_n_s_initializing); + Py_VISIT(traverse_module_state->__pyx_n_s_is_coroutine); + Py_VISIT(traverse_module_state->__pyx_kp_u_isenabled); + Py_VISIT(traverse_module_state->__pyx_n_s_itemsize); + Py_VISIT(traverse_module_state->__pyx_kp_s_itemsize_0_for_cython_array); + Py_VISIT(traverse_module_state->__pyx_n_s_join); + Py_VISIT(traverse_module_state->__pyx_n_s_main); + Py_VISIT(traverse_module_state->__pyx_n_s_memview); + Py_VISIT(traverse_module_state->__pyx_n_s_mode); + Py_VISIT(traverse_module_state->__pyx_n_s_name); + Py_VISIT(traverse_module_state->__pyx_n_s_name_2); + Py_VISIT(traverse_module_state->__pyx_n_s_ndim); + Py_VISIT(traverse_module_state->__pyx_n_s_new); + 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Py_VISIT(traverse_module_state->__pyx_n_s_pyx_unpickle_Enum); + Py_VISIT(traverse_module_state->__pyx_n_s_pyx_vtable); + Py_VISIT(traverse_module_state->__pyx_n_s_range); + Py_VISIT(traverse_module_state->__pyx_n_s_reduce); + Py_VISIT(traverse_module_state->__pyx_n_s_reduce_cython); + Py_VISIT(traverse_module_state->__pyx_n_s_reduce_ex); + Py_VISIT(traverse_module_state->__pyx_n_s_register); + Py_VISIT(traverse_module_state->__pyx_n_s_self); + Py_VISIT(traverse_module_state->__pyx_kp_s_self_mem_cannot_be_converted_to); + Py_VISIT(traverse_module_state->__pyx_kp_s_selfdrive_classic_modeld_models); + Py_VISIT(traverse_module_state->__pyx_n_s_selfdrive_classic_modeld_models_2); + Py_VISIT(traverse_module_state->__pyx_n_s_setstate); + Py_VISIT(traverse_module_state->__pyx_n_s_setstate_cython); + Py_VISIT(traverse_module_state->__pyx_n_s_shape); + Py_VISIT(traverse_module_state->__pyx_n_s_sigmoid); + Py_VISIT(traverse_module_state->__pyx_n_s_size); + Py_VISIT(traverse_module_state->__pyx_n_s_spec); + Py_VISIT(traverse_module_state->__pyx_n_s_start); + Py_VISIT(traverse_module_state->__pyx_n_s_step); + Py_VISIT(traverse_module_state->__pyx_n_s_stop); + Py_VISIT(traverse_module_state->__pyx_n_s_stride); + Py_VISIT(traverse_module_state->__pyx_kp_s_strided_and_direct); + Py_VISIT(traverse_module_state->__pyx_kp_s_strided_and_direct_or_indirect); + Py_VISIT(traverse_module_state->__pyx_kp_s_strided_and_indirect); + Py_VISIT(traverse_module_state->__pyx_kp_s_stringsource); + Py_VISIT(traverse_module_state->__pyx_n_s_struct); + Py_VISIT(traverse_module_state->__pyx_n_s_sys); + Py_VISIT(traverse_module_state->__pyx_n_s_test); + Py_VISIT(traverse_module_state->__pyx_kp_s_unable_to_allocate_array_data); + Py_VISIT(traverse_module_state->__pyx_kp_s_unable_to_allocate_shape_and_str); + Py_VISIT(traverse_module_state->__pyx_n_s_unpack); + Py_VISIT(traverse_module_state->__pyx_n_s_update); + Py_VISIT(traverse_module_state->__pyx_n_s_uv_offset); + Py_VISIT(traverse_module_state->__pyx_n_s_version_info); + Py_VISIT(traverse_module_state->__pyx_n_s_width); + Py_VISIT(traverse_module_state->__pyx_n_s_x); + Py_VISIT(traverse_module_state->__pyx_int_0); + Py_VISIT(traverse_module_state->__pyx_int_1); + Py_VISIT(traverse_module_state->__pyx_int_3); + Py_VISIT(traverse_module_state->__pyx_int_112105877); + Py_VISIT(traverse_module_state->__pyx_int_136983863); + Py_VISIT(traverse_module_state->__pyx_int_184977713); + Py_VISIT(traverse_module_state->__pyx_int_neg_1); + Py_VISIT(traverse_module_state->__pyx_slice__5); + Py_VISIT(traverse_module_state->__pyx_tuple__4); + Py_VISIT(traverse_module_state->__pyx_tuple__8); + Py_VISIT(traverse_module_state->__pyx_tuple__15); + Py_VISIT(traverse_module_state->__pyx_tuple__16); + Py_VISIT(traverse_module_state->__pyx_tuple__17); + Py_VISIT(traverse_module_state->__pyx_tuple__18); + Py_VISIT(traverse_module_state->__pyx_tuple__19); + Py_VISIT(traverse_module_state->__pyx_tuple__20); + Py_VISIT(traverse_module_state->__pyx_tuple__21); + Py_VISIT(traverse_module_state->__pyx_tuple__22); + Py_VISIT(traverse_module_state->__pyx_tuple__23); + Py_VISIT(traverse_module_state->__pyx_tuple__24); + Py_VISIT(traverse_module_state->__pyx_tuple__25); + Py_VISIT(traverse_module_state->__pyx_tuple__26); + Py_VISIT(traverse_module_state->__pyx_tuple__28); + Py_VISIT(traverse_module_state->__pyx_tuple__30); + Py_VISIT(traverse_module_state->__pyx_tuple__32); + Py_VISIT(traverse_module_state->__pyx_tuple__36); + Py_VISIT(traverse_module_state->__pyx_codeobj__27); + Py_VISIT(traverse_module_state->__pyx_codeobj__29); + Py_VISIT(traverse_module_state->__pyx_codeobj__31); + Py_VISIT(traverse_module_state->__pyx_codeobj__33); + Py_VISIT(traverse_module_state->__pyx_codeobj__34); + Py_VISIT(traverse_module_state->__pyx_codeobj__35); + Py_VISIT(traverse_module_state->__pyx_codeobj__37); + Py_VISIT(traverse_module_state->__pyx_codeobj__38); + Py_VISIT(traverse_module_state->__pyx_codeobj__39); + return 0; +} +#endif +/* #### Code section: module_state_defines ### */ +#define __pyx_d __pyx_mstate_global->__pyx_d +#define __pyx_b __pyx_mstate_global->__pyx_b +#define __pyx_cython_runtime __pyx_mstate_global->__pyx_cython_runtime +#define __pyx_empty_tuple __pyx_mstate_global->__pyx_empty_tuple +#define __pyx_empty_bytes __pyx_mstate_global->__pyx_empty_bytes +#define __pyx_empty_unicode __pyx_mstate_global->__pyx_empty_unicode +#ifdef __Pyx_CyFunction_USED +#define __pyx_CyFunctionType __pyx_mstate_global->__pyx_CyFunctionType +#endif +#ifdef __Pyx_FusedFunction_USED +#define __pyx_FusedFunctionType __pyx_mstate_global->__pyx_FusedFunctionType +#endif +#ifdef __Pyx_Generator_USED +#define __pyx_GeneratorType __pyx_mstate_global->__pyx_GeneratorType +#endif +#ifdef __Pyx_IterableCoroutine_USED +#define __pyx_IterableCoroutineType __pyx_mstate_global->__pyx_IterableCoroutineType +#endif +#ifdef __Pyx_Coroutine_USED +#define __pyx_CoroutineAwaitType __pyx_mstate_global->__pyx_CoroutineAwaitType +#endif +#ifdef __Pyx_Coroutine_USED +#define __pyx_CoroutineType __pyx_mstate_global->__pyx_CoroutineType +#endif +#if CYTHON_USE_MODULE_STATE +#endif +#if CYTHON_USE_MODULE_STATE +#endif +#if CYTHON_USE_MODULE_STATE +#endif +#if CYTHON_USE_MODULE_STATE +#endif +#if CYTHON_USE_MODULE_STATE +#endif +#if CYTHON_USE_MODULE_STATE +#endif +#if CYTHON_USE_MODULE_STATE +#endif +#if CYTHON_USE_MODULE_STATE +#endif +#if CYTHON_USE_MODULE_STATE +#endif +#define __pyx_ptype_4msgq_9visionipc_13visionipc_pyx_CLContext __pyx_mstate_global->__pyx_ptype_4msgq_9visionipc_13visionipc_pyx_CLContext +#define __pyx_ptype_4msgq_9visionipc_13visionipc_pyx_VisionBuf __pyx_mstate_global->__pyx_ptype_4msgq_9visionipc_13visionipc_pyx_VisionBuf +#if CYTHON_USE_MODULE_STATE +#endif +#if CYTHON_USE_MODULE_STATE +#endif +#if CYTHON_USE_MODULE_STATE +#endif +#define __pyx_ptype_7cpython_4type_type __pyx_mstate_global->__pyx_ptype_7cpython_4type_type +#if CYTHON_USE_MODULE_STATE +#endif +#if CYTHON_USE_MODULE_STATE +#endif +#if CYTHON_USE_MODULE_STATE +#endif +#if CYTHON_USE_MODULE_STATE +#endif +#if CYTHON_USE_MODULE_STATE +#endif +#define __pyx_ptype_5numpy_dtype __pyx_mstate_global->__pyx_ptype_5numpy_dtype +#define __pyx_ptype_5numpy_flatiter __pyx_mstate_global->__pyx_ptype_5numpy_flatiter +#define __pyx_ptype_5numpy_broadcast __pyx_mstate_global->__pyx_ptype_5numpy_broadcast +#define __pyx_ptype_5numpy_ndarray __pyx_mstate_global->__pyx_ptype_5numpy_ndarray +#define __pyx_ptype_5numpy_generic __pyx_mstate_global->__pyx_ptype_5numpy_generic +#define __pyx_ptype_5numpy_number __pyx_mstate_global->__pyx_ptype_5numpy_number +#define __pyx_ptype_5numpy_integer __pyx_mstate_global->__pyx_ptype_5numpy_integer +#define __pyx_ptype_5numpy_signedinteger __pyx_mstate_global->__pyx_ptype_5numpy_signedinteger +#define __pyx_ptype_5numpy_unsignedinteger __pyx_mstate_global->__pyx_ptype_5numpy_unsignedinteger +#define __pyx_ptype_5numpy_inexact __pyx_mstate_global->__pyx_ptype_5numpy_inexact +#define __pyx_ptype_5numpy_floating __pyx_mstate_global->__pyx_ptype_5numpy_floating +#define __pyx_ptype_5numpy_complexfloating __pyx_mstate_global->__pyx_ptype_5numpy_complexfloating +#define __pyx_ptype_5numpy_flexible __pyx_mstate_global->__pyx_ptype_5numpy_flexible +#define __pyx_ptype_5numpy_character __pyx_mstate_global->__pyx_ptype_5numpy_character +#define __pyx_ptype_5numpy_ufunc __pyx_mstate_global->__pyx_ptype_5numpy_ufunc +#if CYTHON_USE_MODULE_STATE +#endif +#if CYTHON_USE_MODULE_STATE +#define __pyx_type_9selfdrive_14classic_modeld_6models_15commonmodel_pyx_CLContext __pyx_mstate_global->__pyx_type_9selfdrive_14classic_modeld_6models_15commonmodel_pyx_CLContext +#define __pyx_type_9selfdrive_14classic_modeld_6models_15commonmodel_pyx_CLMem __pyx_mstate_global->__pyx_type_9selfdrive_14classic_modeld_6models_15commonmodel_pyx_CLMem +#define __pyx_type_9selfdrive_14classic_modeld_6models_15commonmodel_pyx_ModelFrame __pyx_mstate_global->__pyx_type_9selfdrive_14classic_modeld_6models_15commonmodel_pyx_ModelFrame +#define __pyx_type___pyx_array __pyx_mstate_global->__pyx_type___pyx_array +#define __pyx_type___pyx_MemviewEnum __pyx_mstate_global->__pyx_type___pyx_MemviewEnum +#define __pyx_type___pyx_memoryview __pyx_mstate_global->__pyx_type___pyx_memoryview +#define __pyx_type___pyx_memoryviewslice __pyx_mstate_global->__pyx_type___pyx_memoryviewslice +#endif +#define __pyx_ptype_9selfdrive_14classic_modeld_6models_15commonmodel_pyx_CLContext __pyx_mstate_global->__pyx_ptype_9selfdrive_14classic_modeld_6models_15commonmodel_pyx_CLContext +#define __pyx_ptype_9selfdrive_14classic_modeld_6models_15commonmodel_pyx_CLMem __pyx_mstate_global->__pyx_ptype_9selfdrive_14classic_modeld_6models_15commonmodel_pyx_CLMem +#define __pyx_ptype_9selfdrive_14classic_modeld_6models_15commonmodel_pyx_ModelFrame __pyx_mstate_global->__pyx_ptype_9selfdrive_14classic_modeld_6models_15commonmodel_pyx_ModelFrame +#define __pyx_array_type __pyx_mstate_global->__pyx_array_type +#define __pyx_MemviewEnum_type __pyx_mstate_global->__pyx_MemviewEnum_type +#define __pyx_memoryview_type __pyx_mstate_global->__pyx_memoryview_type +#define __pyx_memoryviewslice_type __pyx_mstate_global->__pyx_memoryviewslice_type +#define __pyx_kp_u_ __pyx_mstate_global->__pyx_kp_u_ +#define __pyx_n_s_ASCII __pyx_mstate_global->__pyx_n_s_ASCII +#define __pyx_kp_s_All_dimensions_preceding_dimensi __pyx_mstate_global->__pyx_kp_s_All_dimensions_preceding_dimensi +#define __pyx_n_s_AssertionError __pyx_mstate_global->__pyx_n_s_AssertionError +#define __pyx_kp_s_Buffer_view_does_not_expose_stri __pyx_mstate_global->__pyx_kp_s_Buffer_view_does_not_expose_stri +#define __pyx_n_s_CLContext __pyx_mstate_global->__pyx_n_s_CLContext +#define __pyx_n_s_CLContext___reduce_cython __pyx_mstate_global->__pyx_n_s_CLContext___reduce_cython +#define __pyx_n_s_CLContext___setstate_cython __pyx_mstate_global->__pyx_n_s_CLContext___setstate_cython +#define __pyx_n_s_CLMem __pyx_mstate_global->__pyx_n_s_CLMem +#define __pyx_n_s_CLMem___reduce_cython __pyx_mstate_global->__pyx_n_s_CLMem___reduce_cython +#define __pyx_n_s_CLMem___setstate_cython __pyx_mstate_global->__pyx_n_s_CLMem___setstate_cython +#define __pyx_kp_s_Can_only_create_a_buffer_that_is __pyx_mstate_global->__pyx_kp_s_Can_only_create_a_buffer_that_is +#define __pyx_kp_s_Cannot_assign_to_read_only_memor __pyx_mstate_global->__pyx_kp_s_Cannot_assign_to_read_only_memor +#define __pyx_kp_s_Cannot_create_writable_memory_vi __pyx_mstate_global->__pyx_kp_s_Cannot_create_writable_memory_vi +#define __pyx_kp_u_Cannot_index_with_type __pyx_mstate_global->__pyx_kp_u_Cannot_index_with_type +#define __pyx_kp_s_Cannot_transpose_memoryview_with __pyx_mstate_global->__pyx_kp_s_Cannot_transpose_memoryview_with +#define __pyx_kp_s_Dimension_d_is_not_direct __pyx_mstate_global->__pyx_kp_s_Dimension_d_is_not_direct +#define __pyx_n_s_Ellipsis __pyx_mstate_global->__pyx_n_s_Ellipsis +#define __pyx_kp_s_Empty_shape_tuple_for_cython_arr __pyx_mstate_global->__pyx_kp_s_Empty_shape_tuple_for_cython_arr +#define __pyx_n_s_ImportError __pyx_mstate_global->__pyx_n_s_ImportError +#define __pyx_kp_s_Incompatible_checksums_0x_x_vs_0 __pyx_mstate_global->__pyx_kp_s_Incompatible_checksums_0x_x_vs_0 +#define __pyx_n_s_IndexError __pyx_mstate_global->__pyx_n_s_IndexError +#define __pyx_kp_s_Index_out_of_bounds_axis_d __pyx_mstate_global->__pyx_kp_s_Index_out_of_bounds_axis_d +#define __pyx_kp_s_Indirect_dimensions_not_supporte __pyx_mstate_global->__pyx_kp_s_Indirect_dimensions_not_supporte +#define __pyx_kp_u_Invalid_mode_expected_c_or_fortr __pyx_mstate_global->__pyx_kp_u_Invalid_mode_expected_c_or_fortr +#define __pyx_kp_u_Invalid_shape_in_axis __pyx_mstate_global->__pyx_kp_u_Invalid_shape_in_axis +#define __pyx_n_s_MemoryError __pyx_mstate_global->__pyx_n_s_MemoryError +#define __pyx_kp_s_MemoryView_of_r_at_0x_x __pyx_mstate_global->__pyx_kp_s_MemoryView_of_r_at_0x_x +#define __pyx_kp_s_MemoryView_of_r_object __pyx_mstate_global->__pyx_kp_s_MemoryView_of_r_object +#define __pyx_n_s_ModelFrame __pyx_mstate_global->__pyx_n_s_ModelFrame +#define __pyx_n_s_ModelFrame___reduce_cython __pyx_mstate_global->__pyx_n_s_ModelFrame___reduce_cython +#define __pyx_n_s_ModelFrame___setstate_cython __pyx_mstate_global->__pyx_n_s_ModelFrame___setstate_cython +#define __pyx_n_s_ModelFrame_prepare __pyx_mstate_global->__pyx_n_s_ModelFrame_prepare +#define __pyx_n_b_O __pyx_mstate_global->__pyx_n_b_O +#define __pyx_kp_u_Out_of_bounds_on_buffer_access_a __pyx_mstate_global->__pyx_kp_u_Out_of_bounds_on_buffer_access_a +#define __pyx_n_s_PickleError __pyx_mstate_global->__pyx_n_s_PickleError +#define __pyx_n_s_Sequence __pyx_mstate_global->__pyx_n_s_Sequence +#define __pyx_kp_s_Step_may_not_be_zero_axis_d __pyx_mstate_global->__pyx_kp_s_Step_may_not_be_zero_axis_d +#define __pyx_kp_b_T __pyx_mstate_global->__pyx_kp_b_T +#define __pyx_n_s_TypeError __pyx_mstate_global->__pyx_n_s_TypeError +#define __pyx_kp_s_Unable_to_convert_item_to_object __pyx_mstate_global->__pyx_kp_s_Unable_to_convert_item_to_object +#define __pyx_n_s_ValueError __pyx_mstate_global->__pyx_n_s_ValueError +#define __pyx_n_s_View_MemoryView __pyx_mstate_global->__pyx_n_s_View_MemoryView +#define __pyx_kp_b__10 __pyx_mstate_global->__pyx_kp_b__10 +#define __pyx_kp_b__11 __pyx_mstate_global->__pyx_kp_b__11 +#define __pyx_kp_b__12 __pyx_mstate_global->__pyx_kp_b__12 +#define __pyx_kp_u__13 __pyx_mstate_global->__pyx_kp_u__13 +#define __pyx_kp_u__14 __pyx_mstate_global->__pyx_kp_u__14 +#define __pyx_kp_u__2 __pyx_mstate_global->__pyx_kp_u__2 +#define __pyx_n_s__3 __pyx_mstate_global->__pyx_n_s__3 +#define __pyx_n_s__40 __pyx_mstate_global->__pyx_n_s__40 +#define __pyx_kp_u__6 __pyx_mstate_global->__pyx_kp_u__6 +#define __pyx_kp_u__7 __pyx_mstate_global->__pyx_kp_u__7 +#define __pyx_kp_b__9 __pyx_mstate_global->__pyx_kp_b__9 +#define __pyx_n_s_abc __pyx_mstate_global->__pyx_n_s_abc +#define __pyx_n_s_allocate_buffer __pyx_mstate_global->__pyx_n_s_allocate_buffer +#define __pyx_kp_u_and __pyx_mstate_global->__pyx_kp_u_and +#define __pyx_n_s_asarray __pyx_mstate_global->__pyx_n_s_asarray +#define __pyx_n_s_asyncio_coroutines __pyx_mstate_global->__pyx_n_s_asyncio_coroutines +#define __pyx_n_s_base __pyx_mstate_global->__pyx_n_s_base +#define __pyx_n_s_buf __pyx_mstate_global->__pyx_n_s_buf +#define __pyx_n_s_c __pyx_mstate_global->__pyx_n_s_c +#define __pyx_n_u_c __pyx_mstate_global->__pyx_n_u_c +#define __pyx_n_s_class __pyx_mstate_global->__pyx_n_s_class +#define __pyx_n_s_class_getitem __pyx_mstate_global->__pyx_n_s_class_getitem +#define __pyx_n_s_cline_in_traceback __pyx_mstate_global->__pyx_n_s_cline_in_traceback +#define __pyx_n_s_collections __pyx_mstate_global->__pyx_n_s_collections +#define __pyx_kp_s_collections_abc __pyx_mstate_global->__pyx_kp_s_collections_abc +#define __pyx_n_s_context __pyx_mstate_global->__pyx_n_s_context +#define __pyx_kp_s_contiguous_and_direct __pyx_mstate_global->__pyx_kp_s_contiguous_and_direct +#define __pyx_kp_s_contiguous_and_indirect __pyx_mstate_global->__pyx_kp_s_contiguous_and_indirect +#define __pyx_n_s_count __pyx_mstate_global->__pyx_n_s_count +#define __pyx_n_s_cprojection __pyx_mstate_global->__pyx_n_s_cprojection +#define __pyx_n_s_data __pyx_mstate_global->__pyx_n_s_data +#define __pyx_n_s_dict __pyx_mstate_global->__pyx_n_s_dict +#define __pyx_kp_u_disable __pyx_mstate_global->__pyx_kp_u_disable +#define __pyx_n_s_dtype_is_object __pyx_mstate_global->__pyx_n_s_dtype_is_object +#define __pyx_kp_u_enable __pyx_mstate_global->__pyx_kp_u_enable +#define __pyx_n_s_encode __pyx_mstate_global->__pyx_n_s_encode +#define __pyx_n_s_enumerate __pyx_mstate_global->__pyx_n_s_enumerate +#define __pyx_n_s_error __pyx_mstate_global->__pyx_n_s_error +#define __pyx_n_s_flags __pyx_mstate_global->__pyx_n_s_flags +#define __pyx_n_s_format __pyx_mstate_global->__pyx_n_s_format +#define __pyx_n_s_fortran __pyx_mstate_global->__pyx_n_s_fortran +#define __pyx_n_u_fortran __pyx_mstate_global->__pyx_n_u_fortran +#define __pyx_kp_u_gc __pyx_mstate_global->__pyx_kp_u_gc +#define __pyx_n_s_getstate __pyx_mstate_global->__pyx_n_s_getstate +#define __pyx_kp_u_got __pyx_mstate_global->__pyx_kp_u_got +#define __pyx_kp_u_got_differing_extents_in_dimensi __pyx_mstate_global->__pyx_kp_u_got_differing_extents_in_dimensi +#define __pyx_n_s_height __pyx_mstate_global->__pyx_n_s_height +#define __pyx_n_s_id __pyx_mstate_global->__pyx_n_s_id +#define __pyx_n_s_import __pyx_mstate_global->__pyx_n_s_import +#define __pyx_n_s_index __pyx_mstate_global->__pyx_n_s_index +#define __pyx_n_s_initializing __pyx_mstate_global->__pyx_n_s_initializing +#define __pyx_n_s_is_coroutine __pyx_mstate_global->__pyx_n_s_is_coroutine +#define __pyx_kp_u_isenabled __pyx_mstate_global->__pyx_kp_u_isenabled +#define __pyx_n_s_itemsize __pyx_mstate_global->__pyx_n_s_itemsize +#define __pyx_kp_s_itemsize_0_for_cython_array __pyx_mstate_global->__pyx_kp_s_itemsize_0_for_cython_array +#define __pyx_n_s_join __pyx_mstate_global->__pyx_n_s_join +#define __pyx_n_s_main __pyx_mstate_global->__pyx_n_s_main +#define __pyx_n_s_memview __pyx_mstate_global->__pyx_n_s_memview +#define __pyx_n_s_mode __pyx_mstate_global->__pyx_n_s_mode +#define __pyx_n_s_name __pyx_mstate_global->__pyx_n_s_name +#define __pyx_n_s_name_2 __pyx_mstate_global->__pyx_n_s_name_2 +#define __pyx_n_s_ndim __pyx_mstate_global->__pyx_n_s_ndim +#define __pyx_n_s_new __pyx_mstate_global->__pyx_n_s_new +#define __pyx_kp_s_no_default___reduce___due_to_non __pyx_mstate_global->__pyx_kp_s_no_default___reduce___due_to_non +#define __pyx_n_s_np __pyx_mstate_global->__pyx_n_s_np +#define __pyx_n_s_numpy __pyx_mstate_global->__pyx_n_s_numpy +#define __pyx_kp_u_numpy_core_multiarray_failed_to __pyx_mstate_global->__pyx_kp_u_numpy_core_multiarray_failed_to +#define __pyx_kp_u_numpy_core_umath_failed_to_impor __pyx_mstate_global->__pyx_kp_u_numpy_core_umath_failed_to_impor +#define __pyx_n_s_obj __pyx_mstate_global->__pyx_n_s_obj +#define __pyx_n_s_output __pyx_mstate_global->__pyx_n_s_output +#define __pyx_n_s_pack __pyx_mstate_global->__pyx_n_s_pack +#define __pyx_n_s_pickle __pyx_mstate_global->__pyx_n_s_pickle +#define __pyx_n_s_prepare __pyx_mstate_global->__pyx_n_s_prepare +#define __pyx_n_s_projection __pyx_mstate_global->__pyx_n_s_projection +#define __pyx_n_s_pyx_PickleError __pyx_mstate_global->__pyx_n_s_pyx_PickleError +#define __pyx_n_s_pyx_checksum __pyx_mstate_global->__pyx_n_s_pyx_checksum +#define __pyx_n_s_pyx_result __pyx_mstate_global->__pyx_n_s_pyx_result +#define __pyx_n_s_pyx_state __pyx_mstate_global->__pyx_n_s_pyx_state +#define __pyx_n_s_pyx_type __pyx_mstate_global->__pyx_n_s_pyx_type +#define __pyx_n_s_pyx_unpickle_Enum __pyx_mstate_global->__pyx_n_s_pyx_unpickle_Enum +#define __pyx_n_s_pyx_vtable __pyx_mstate_global->__pyx_n_s_pyx_vtable +#define __pyx_n_s_range __pyx_mstate_global->__pyx_n_s_range +#define __pyx_n_s_reduce __pyx_mstate_global->__pyx_n_s_reduce +#define __pyx_n_s_reduce_cython __pyx_mstate_global->__pyx_n_s_reduce_cython +#define __pyx_n_s_reduce_ex __pyx_mstate_global->__pyx_n_s_reduce_ex +#define __pyx_n_s_register __pyx_mstate_global->__pyx_n_s_register +#define __pyx_n_s_self __pyx_mstate_global->__pyx_n_s_self +#define __pyx_kp_s_self_mem_cannot_be_converted_to __pyx_mstate_global->__pyx_kp_s_self_mem_cannot_be_converted_to +#define __pyx_kp_s_selfdrive_classic_modeld_models __pyx_mstate_global->__pyx_kp_s_selfdrive_classic_modeld_models +#define __pyx_n_s_selfdrive_classic_modeld_models_2 __pyx_mstate_global->__pyx_n_s_selfdrive_classic_modeld_models_2 +#define __pyx_n_s_setstate __pyx_mstate_global->__pyx_n_s_setstate +#define __pyx_n_s_setstate_cython __pyx_mstate_global->__pyx_n_s_setstate_cython +#define __pyx_n_s_shape __pyx_mstate_global->__pyx_n_s_shape +#define __pyx_n_s_sigmoid __pyx_mstate_global->__pyx_n_s_sigmoid +#define __pyx_n_s_size __pyx_mstate_global->__pyx_n_s_size +#define __pyx_n_s_spec __pyx_mstate_global->__pyx_n_s_spec +#define __pyx_n_s_start __pyx_mstate_global->__pyx_n_s_start +#define __pyx_n_s_step __pyx_mstate_global->__pyx_n_s_step +#define __pyx_n_s_stop __pyx_mstate_global->__pyx_n_s_stop +#define __pyx_n_s_stride __pyx_mstate_global->__pyx_n_s_stride +#define __pyx_kp_s_strided_and_direct __pyx_mstate_global->__pyx_kp_s_strided_and_direct +#define __pyx_kp_s_strided_and_direct_or_indirect __pyx_mstate_global->__pyx_kp_s_strided_and_direct_or_indirect +#define __pyx_kp_s_strided_and_indirect __pyx_mstate_global->__pyx_kp_s_strided_and_indirect +#define __pyx_kp_s_stringsource __pyx_mstate_global->__pyx_kp_s_stringsource +#define __pyx_n_s_struct __pyx_mstate_global->__pyx_n_s_struct +#define __pyx_n_s_sys __pyx_mstate_global->__pyx_n_s_sys +#define __pyx_n_s_test __pyx_mstate_global->__pyx_n_s_test +#define __pyx_kp_s_unable_to_allocate_array_data __pyx_mstate_global->__pyx_kp_s_unable_to_allocate_array_data +#define __pyx_kp_s_unable_to_allocate_shape_and_str __pyx_mstate_global->__pyx_kp_s_unable_to_allocate_shape_and_str +#define __pyx_n_s_unpack __pyx_mstate_global->__pyx_n_s_unpack +#define __pyx_n_s_update __pyx_mstate_global->__pyx_n_s_update +#define __pyx_n_s_uv_offset __pyx_mstate_global->__pyx_n_s_uv_offset +#define __pyx_n_s_version_info __pyx_mstate_global->__pyx_n_s_version_info +#define __pyx_n_s_width __pyx_mstate_global->__pyx_n_s_width +#define __pyx_n_s_x __pyx_mstate_global->__pyx_n_s_x +#define __pyx_int_0 __pyx_mstate_global->__pyx_int_0 +#define __pyx_int_1 __pyx_mstate_global->__pyx_int_1 +#define __pyx_int_3 __pyx_mstate_global->__pyx_int_3 +#define __pyx_int_112105877 __pyx_mstate_global->__pyx_int_112105877 +#define __pyx_int_136983863 __pyx_mstate_global->__pyx_int_136983863 +#define __pyx_int_184977713 __pyx_mstate_global->__pyx_int_184977713 +#define __pyx_int_neg_1 __pyx_mstate_global->__pyx_int_neg_1 +#define __pyx_slice__5 __pyx_mstate_global->__pyx_slice__5 +#define __pyx_tuple__4 __pyx_mstate_global->__pyx_tuple__4 +#define __pyx_tuple__8 __pyx_mstate_global->__pyx_tuple__8 +#define __pyx_tuple__15 __pyx_mstate_global->__pyx_tuple__15 +#define __pyx_tuple__16 __pyx_mstate_global->__pyx_tuple__16 +#define __pyx_tuple__17 __pyx_mstate_global->__pyx_tuple__17 +#define __pyx_tuple__18 __pyx_mstate_global->__pyx_tuple__18 +#define __pyx_tuple__19 __pyx_mstate_global->__pyx_tuple__19 +#define __pyx_tuple__20 __pyx_mstate_global->__pyx_tuple__20 +#define __pyx_tuple__21 __pyx_mstate_global->__pyx_tuple__21 +#define __pyx_tuple__22 __pyx_mstate_global->__pyx_tuple__22 +#define __pyx_tuple__23 __pyx_mstate_global->__pyx_tuple__23 +#define __pyx_tuple__24 __pyx_mstate_global->__pyx_tuple__24 +#define __pyx_tuple__25 __pyx_mstate_global->__pyx_tuple__25 +#define __pyx_tuple__26 __pyx_mstate_global->__pyx_tuple__26 +#define __pyx_tuple__28 __pyx_mstate_global->__pyx_tuple__28 +#define __pyx_tuple__30 __pyx_mstate_global->__pyx_tuple__30 +#define __pyx_tuple__32 __pyx_mstate_global->__pyx_tuple__32 +#define __pyx_tuple__36 __pyx_mstate_global->__pyx_tuple__36 +#define __pyx_codeobj__27 __pyx_mstate_global->__pyx_codeobj__27 +#define __pyx_codeobj__29 __pyx_mstate_global->__pyx_codeobj__29 +#define __pyx_codeobj__31 __pyx_mstate_global->__pyx_codeobj__31 +#define __pyx_codeobj__33 __pyx_mstate_global->__pyx_codeobj__33 +#define __pyx_codeobj__34 __pyx_mstate_global->__pyx_codeobj__34 +#define __pyx_codeobj__35 __pyx_mstate_global->__pyx_codeobj__35 +#define __pyx_codeobj__37 __pyx_mstate_global->__pyx_codeobj__37 +#define __pyx_codeobj__38 __pyx_mstate_global->__pyx_codeobj__38 +#define __pyx_codeobj__39 __pyx_mstate_global->__pyx_codeobj__39 +/* #### Code section: module_code ### */ + +/* "View.MemoryView":131 + * cdef bint dtype_is_object + * + * def __cinit__(array self, tuple shape, Py_ssize_t itemsize, format not None, # <<<<<<<<<<<<<< + * mode="c", bint allocate_buffer=True): + * + */ + +/* Python wrapper */ +static int __pyx_array___cinit__(PyObject *__pyx_v_self, PyObject *__pyx_args, PyObject *__pyx_kwds); /*proto*/ +static int __pyx_array___cinit__(PyObject *__pyx_v_self, PyObject *__pyx_args, PyObject *__pyx_kwds) { + PyObject *__pyx_v_shape = 0; + Py_ssize_t __pyx_v_itemsize; + PyObject *__pyx_v_format = 0; + PyObject *__pyx_v_mode = 0; + int __pyx_v_allocate_buffer; + CYTHON_UNUSED Py_ssize_t __pyx_nargs; + CYTHON_UNUSED PyObject *const *__pyx_kwvalues; + PyObject* values[5] = {0,0,0,0,0}; + int __pyx_lineno = 0; + const char *__pyx_filename = NULL; + int __pyx_clineno = 0; + int __pyx_r; + __Pyx_RefNannyDeclarations + __Pyx_RefNannySetupContext("__cinit__ (wrapper)", 0); 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__Pyx_NumKwargs_VARARGS(__pyx_kwds); + switch (__pyx_nargs) { + case 0: + if (likely((values[0] = __Pyx_GetKwValue_VARARGS(__pyx_kwds, __pyx_kwvalues, __pyx_n_s_shape)) != 0)) { + (void)__Pyx_Arg_NewRef_VARARGS(values[0]); + kw_args--; + } + else if (unlikely(PyErr_Occurred())) __PYX_ERR(0, 131, __pyx_L3_error) + else goto __pyx_L5_argtuple_error; + CYTHON_FALLTHROUGH; + case 1: + if (likely((values[1] = __Pyx_GetKwValue_VARARGS(__pyx_kwds, __pyx_kwvalues, __pyx_n_s_itemsize)) != 0)) { + (void)__Pyx_Arg_NewRef_VARARGS(values[1]); + kw_args--; + } + else if (unlikely(PyErr_Occurred())) __PYX_ERR(0, 131, __pyx_L3_error) + else { + __Pyx_RaiseArgtupleInvalid("__cinit__", 0, 3, 5, 1); __PYX_ERR(0, 131, __pyx_L3_error) + } + CYTHON_FALLTHROUGH; + case 2: + if (likely((values[2] = __Pyx_GetKwValue_VARARGS(__pyx_kwds, __pyx_kwvalues, __pyx_n_s_format)) != 0)) { + (void)__Pyx_Arg_NewRef_VARARGS(values[2]); + kw_args--; + } + else if (unlikely(PyErr_Occurred())) __PYX_ERR(0, 131, 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new_ndim = 0, suboffset_dim = -1, dim + * cdef bint negative_step + */ + + /* function exit code */ + __pyx_L1_error:; + __Pyx_XDECREF(__pyx_t_2); + __Pyx_XDECREF(__pyx_t_8); + __Pyx_AddTraceback("View.MemoryView.memview_slice", __pyx_clineno, __pyx_lineno, __pyx_filename); + __pyx_r = 0; + __pyx_L0:; + __Pyx_XDECREF((PyObject *)__pyx_v_memviewsliceobj); + __Pyx_XDECREF(__pyx_v_index); + __Pyx_XGIVEREF((PyObject *)__pyx_r); + __Pyx_RefNannyFinishContext(); + return __pyx_r; +} + +/* "View.MemoryView":793 + * + * @cname('__pyx_memoryview_slice_memviewslice') + * cdef int slice_memviewslice( # <<<<<<<<<<<<<< + * __Pyx_memviewslice *dst, + * Py_ssize_t shape, Py_ssize_t stride, Py_ssize_t suboffset, + */ + +static int __pyx_memoryview_slice_memviewslice(__Pyx_memviewslice *__pyx_v_dst, Py_ssize_t __pyx_v_shape, Py_ssize_t __pyx_v_stride, Py_ssize_t __pyx_v_suboffset, int __pyx_v_dim, int __pyx_v_new_ndim, int *__pyx_v_suboffset_dim, Py_ssize_t __pyx_v_start, Py_ssize_t __pyx_v_stop, Py_ssize_t __pyx_v_step, int __pyx_v_have_start, int __pyx_v_have_stop, int __pyx_v_have_step, int __pyx_v_is_slice) { + Py_ssize_t __pyx_v_new_shape; + int __pyx_v_negative_step; + int __pyx_r; + int __pyx_t_1; + int __pyx_t_2; + int __pyx_t_3; + int __pyx_lineno = 0; + const char *__pyx_filename = NULL; + int __pyx_clineno = 0; + #ifdef WITH_THREAD + PyGILState_STATE __pyx_gilstate_save; + #endif + + /* "View.MemoryView":813 + * cdef bint negative_step + * + * if not is_slice: # <<<<<<<<<<<<<< + * + * if start < 0: + */ + __pyx_t_1 = (!__pyx_v_is_slice); + if (__pyx_t_1) { + + /* "View.MemoryView":815 + * if not is_slice: + * + * if start < 0: # <<<<<<<<<<<<<< + * start += shape + * if not 0 <= start < shape: + */ + __pyx_t_1 = (__pyx_v_start < 0); + if (__pyx_t_1) { + + /* "View.MemoryView":816 + * + * if start < 0: + * start += shape # <<<<<<<<<<<<<< + * if not 0 <= start < shape: + * _err_dim(PyExc_IndexError, "Index out of bounds (axis %d)", dim) + */ + __pyx_v_start = (__pyx_v_start + __pyx_v_shape); + + /* "View.MemoryView":815 + * if not is_slice: + * + * if start < 0: # <<<<<<<<<<<<<< + * start += shape + * if not 0 <= start < shape: + */ + } + + /* "View.MemoryView":817 + * if start < 0: + * start += shape + * if not 0 <= start < shape: # <<<<<<<<<<<<<< + * _err_dim(PyExc_IndexError, "Index out of bounds (axis %d)", dim) + * else: + */ + __pyx_t_1 = (0 <= __pyx_v_start); + if (__pyx_t_1) { + __pyx_t_1 = (__pyx_v_start < __pyx_v_shape); + } + __pyx_t_2 = (!__pyx_t_1); + if (__pyx_t_2) { + + /* "View.MemoryView":818 + * start += shape + * if not 0 <= start < shape: + * _err_dim(PyExc_IndexError, "Index out of bounds (axis %d)", dim) # <<<<<<<<<<<<<< + * else: + * + */ + __pyx_t_3 = __pyx_memoryview_err_dim(PyExc_IndexError, __pyx_kp_s_Index_out_of_bounds_axis_d, __pyx_v_dim); if (unlikely(__pyx_t_3 == ((int)-1))) __PYX_ERR(0, 818, __pyx_L1_error) + + /* "View.MemoryView":817 + * if start < 0: + * start += shape + * if not 0 <= start < shape: # <<<<<<<<<<<<<< + * _err_dim(PyExc_IndexError, "Index out of bounds (axis %d)", dim) + * else: + */ + } + + /* "View.MemoryView":813 + * cdef bint negative_step + * + * if not is_slice: # <<<<<<<<<<<<<< + * + * if start < 0: + */ + goto __pyx_L3; + } + + /* "View.MemoryView":821 + * else: + * + * if have_step: # <<<<<<<<<<<<<< + * negative_step = step < 0 + * if step == 0: + */ + /*else*/ { + __pyx_t_2 = (__pyx_v_have_step != 0); + if (__pyx_t_2) { + + /* "View.MemoryView":822 + * + * if have_step: + * negative_step = step < 0 # <<<<<<<<<<<<<< + * if step == 0: + * _err_dim(PyExc_ValueError, "Step may not be zero (axis %d)", dim) + */ + __pyx_v_negative_step = (__pyx_v_step < 0); + + /* "View.MemoryView":823 + * if have_step: + * negative_step = step < 0 + * if step == 0: # <<<<<<<<<<<<<< + * _err_dim(PyExc_ValueError, "Step may not be zero (axis %d)", dim) + * else: + */ + __pyx_t_2 = (__pyx_v_step == 0); + if (__pyx_t_2) { + + /* "View.MemoryView":824 + * negative_step = step < 0 + * if step == 0: + * _err_dim(PyExc_ValueError, "Step may not be zero (axis %d)", dim) # <<<<<<<<<<<<<< + * else: + * negative_step = False + */ + __pyx_t_3 = __pyx_memoryview_err_dim(PyExc_ValueError, __pyx_kp_s_Step_may_not_be_zero_axis_d, __pyx_v_dim); if (unlikely(__pyx_t_3 == ((int)-1))) __PYX_ERR(0, 824, __pyx_L1_error) + + /* "View.MemoryView":823 + * if have_step: + * negative_step = step < 0 + * if step == 0: # <<<<<<<<<<<<<< + * _err_dim(PyExc_ValueError, "Step may not be zero (axis %d)", dim) + * else: + */ + } + + /* "View.MemoryView":821 + * else: + * + * if have_step: # <<<<<<<<<<<<<< + * negative_step = step < 0 + * if step == 0: + */ + goto __pyx_L6; + } + + /* "View.MemoryView":826 + * _err_dim(PyExc_ValueError, "Step may not be zero (axis %d)", dim) + * else: + * negative_step = False # <<<<<<<<<<<<<< + * step = 1 + * + */ + /*else*/ { + __pyx_v_negative_step = 0; + + /* "View.MemoryView":827 + * else: + * negative_step = False + * step = 1 # <<<<<<<<<<<<<< + * + * + */ + __pyx_v_step = 1; + } + __pyx_L6:; + + /* "View.MemoryView":830 + * + * + * if have_start: # <<<<<<<<<<<<<< + * if start < 0: + * start += shape + */ + __pyx_t_2 = (__pyx_v_have_start != 0); + if (__pyx_t_2) { + + /* "View.MemoryView":831 + * + * if have_start: + * if start < 0: # <<<<<<<<<<<<<< + * start += shape + * if start < 0: + */ + __pyx_t_2 = (__pyx_v_start < 0); + if (__pyx_t_2) { + + /* "View.MemoryView":832 + * if have_start: + * if start < 0: + * start += shape # <<<<<<<<<<<<<< + * if start < 0: + * start = 0 + */ + __pyx_v_start = (__pyx_v_start + __pyx_v_shape); + + /* "View.MemoryView":833 + * if start < 0: + * start += shape + * if start < 0: # <<<<<<<<<<<<<< + * start = 0 + * elif start >= shape: + */ + __pyx_t_2 = (__pyx_v_start < 0); + if (__pyx_t_2) { + + /* "View.MemoryView":834 + * start += shape + * if start < 0: + * start = 0 # <<<<<<<<<<<<<< + * elif start >= shape: + * if negative_step: + */ + __pyx_v_start = 0; + + /* "View.MemoryView":833 + * if start < 0: + * start += shape + * if start < 0: # <<<<<<<<<<<<<< + * start = 0 + * elif start >= shape: + */ + } + + /* "View.MemoryView":831 + * + * if have_start: + * if start < 0: # <<<<<<<<<<<<<< + * start += shape + * if start < 0: + */ + goto __pyx_L9; + } + + /* "View.MemoryView":835 + * if start < 0: + * start = 0 + * elif start >= shape: # <<<<<<<<<<<<<< + * if negative_step: + * start = shape - 1 + */ + __pyx_t_2 = (__pyx_v_start >= __pyx_v_shape); + if (__pyx_t_2) { + + /* "View.MemoryView":836 + * start = 0 + * elif start >= shape: + * if negative_step: # <<<<<<<<<<<<<< + * start = shape - 1 + * else: + */ + if (__pyx_v_negative_step) { + + /* "View.MemoryView":837 + * elif start >= shape: + * if negative_step: + * start = shape - 1 # <<<<<<<<<<<<<< + * else: + * start = shape + */ + __pyx_v_start = (__pyx_v_shape - 1); + + /* "View.MemoryView":836 + * start = 0 + * elif start >= shape: + * if negative_step: # <<<<<<<<<<<<<< + * start = shape - 1 + * else: + */ + goto __pyx_L11; + } + + /* "View.MemoryView":839 + * start = shape - 1 + * else: + * start = shape # <<<<<<<<<<<<<< + * else: + * if negative_step: + */ + /*else*/ { + __pyx_v_start = __pyx_v_shape; + } + __pyx_L11:; + + /* "View.MemoryView":835 + * if start < 0: + * start = 0 + * elif start >= shape: # <<<<<<<<<<<<<< + * if negative_step: + * start = shape - 1 + */ + } + __pyx_L9:; + + /* "View.MemoryView":830 + * + * + * if have_start: # <<<<<<<<<<<<<< + * if start < 0: + * start += shape + */ + goto __pyx_L8; + } + + /* "View.MemoryView":841 + * start = shape + * else: + * if negative_step: # <<<<<<<<<<<<<< + * start = shape - 1 + * else: + */ + /*else*/ { + if (__pyx_v_negative_step) { + + /* "View.MemoryView":842 + * else: + * if negative_step: + * start = shape - 1 # <<<<<<<<<<<<<< + * else: + * start = 0 + */ + __pyx_v_start = (__pyx_v_shape - 1); + + /* "View.MemoryView":841 + * start = shape + * else: + * if negative_step: # <<<<<<<<<<<<<< + * start = shape - 1 + * else: + */ + goto __pyx_L12; + } + + /* "View.MemoryView":844 + * start = shape - 1 + * else: + * start = 0 # <<<<<<<<<<<<<< + * + * if have_stop: + */ + /*else*/ { + __pyx_v_start = 0; + } + __pyx_L12:; + } + __pyx_L8:; + + /* "View.MemoryView":846 + * start = 0 + * + * if have_stop: # <<<<<<<<<<<<<< + * if stop < 0: + * stop += shape + */ + __pyx_t_2 = (__pyx_v_have_stop != 0); + if (__pyx_t_2) { + + /* "View.MemoryView":847 + * + * if have_stop: + * if stop < 0: # <<<<<<<<<<<<<< + * stop += shape + * if stop < 0: + */ + __pyx_t_2 = (__pyx_v_stop < 0); + if (__pyx_t_2) { + + /* "View.MemoryView":848 + * if have_stop: + * if stop < 0: + * stop += shape # <<<<<<<<<<<<<< + * if stop < 0: + * stop = 0 + */ + __pyx_v_stop = (__pyx_v_stop + __pyx_v_shape); + + /* "View.MemoryView":849 + * if stop < 0: + * stop += shape + * if stop < 0: # <<<<<<<<<<<<<< + * stop = 0 + * elif stop > shape: + */ + __pyx_t_2 = (__pyx_v_stop < 0); + if (__pyx_t_2) { + + /* "View.MemoryView":850 + * stop += shape + * if stop < 0: + * stop = 0 # <<<<<<<<<<<<<< + * elif stop > shape: + * stop = shape + */ + __pyx_v_stop = 0; + + /* "View.MemoryView":849 + * if stop < 0: + * stop += shape + * if stop < 0: # <<<<<<<<<<<<<< + * stop = 0 + * elif stop > shape: + */ + } + + /* "View.MemoryView":847 + * + * if have_stop: + * if stop < 0: # <<<<<<<<<<<<<< + * stop += shape + * if stop < 0: + */ + goto __pyx_L14; + } + + /* "View.MemoryView":851 + * if stop < 0: + * stop = 0 + * elif stop > shape: # <<<<<<<<<<<<<< + * stop = shape + * else: + */ + __pyx_t_2 = (__pyx_v_stop > __pyx_v_shape); + if (__pyx_t_2) { + + /* "View.MemoryView":852 + * stop = 0 + * elif stop > shape: + * stop = shape # <<<<<<<<<<<<<< + * else: + * if negative_step: + */ + __pyx_v_stop = __pyx_v_shape; + + /* "View.MemoryView":851 + * if stop < 0: + * stop = 0 + * elif stop > shape: # <<<<<<<<<<<<<< + * stop = shape + * else: + */ + } + __pyx_L14:; + + /* "View.MemoryView":846 + * start = 0 + * + * if have_stop: # <<<<<<<<<<<<<< + * if stop < 0: + * stop += shape + */ + goto __pyx_L13; + } + + /* "View.MemoryView":854 + * stop = shape + * else: + * if negative_step: # <<<<<<<<<<<<<< + * stop = -1 + * else: + */ + /*else*/ { + if (__pyx_v_negative_step) { + + /* "View.MemoryView":855 + * else: + * if negative_step: + * stop = -1 # <<<<<<<<<<<<<< + * else: + * stop = shape + */ + __pyx_v_stop = -1L; + + /* "View.MemoryView":854 + * stop = shape + * else: + * if negative_step: # <<<<<<<<<<<<<< + * stop = -1 + * else: + */ + goto __pyx_L16; + } + + /* "View.MemoryView":857 + * stop = -1 + * else: + * stop = shape # <<<<<<<<<<<<<< + * + * + */ + /*else*/ { + __pyx_v_stop = __pyx_v_shape; + } + __pyx_L16:; + } + __pyx_L13:; + + /* "View.MemoryView":861 + * + * with cython.cdivision(True): + * new_shape = (stop - start) // step # <<<<<<<<<<<<<< + * + * if (stop - start) - step * new_shape: + */ + __pyx_v_new_shape = ((__pyx_v_stop - __pyx_v_start) / __pyx_v_step); + + /* "View.MemoryView":863 + * new_shape = (stop - start) // step + * + * if (stop - start) - step * new_shape: # <<<<<<<<<<<<<< + * new_shape += 1 + * + */ + __pyx_t_2 = (((__pyx_v_stop - __pyx_v_start) - (__pyx_v_step * __pyx_v_new_shape)) != 0); + if (__pyx_t_2) { + + /* "View.MemoryView":864 + * + * if (stop - start) - step * new_shape: + * new_shape += 1 # <<<<<<<<<<<<<< + * + * if new_shape < 0: + */ + __pyx_v_new_shape = (__pyx_v_new_shape + 1); + + /* "View.MemoryView":863 + * new_shape = (stop - start) // step + * + * if (stop - start) - step * new_shape: # <<<<<<<<<<<<<< + * new_shape += 1 + * + */ + } + + /* "View.MemoryView":866 + * new_shape += 1 + * + * if new_shape < 0: # <<<<<<<<<<<<<< + * new_shape = 0 + * + */ + __pyx_t_2 = (__pyx_v_new_shape < 0); + if (__pyx_t_2) { + + /* "View.MemoryView":867 + * + * if new_shape < 0: + * new_shape = 0 # <<<<<<<<<<<<<< + * + * + */ + __pyx_v_new_shape = 0; + + /* "View.MemoryView":866 + * new_shape += 1 + * + * if new_shape < 0: # <<<<<<<<<<<<<< + * new_shape = 0 + * + */ + } + + /* "View.MemoryView":870 + * + * + * dst.strides[new_ndim] = stride * step # <<<<<<<<<<<<<< + * dst.shape[new_ndim] = new_shape + * dst.suboffsets[new_ndim] = suboffset + */ + (__pyx_v_dst->strides[__pyx_v_new_ndim]) = (__pyx_v_stride * __pyx_v_step); + + /* "View.MemoryView":871 + * + * dst.strides[new_ndim] = stride * step + * dst.shape[new_ndim] = new_shape # <<<<<<<<<<<<<< + * dst.suboffsets[new_ndim] = suboffset + * + */ + (__pyx_v_dst->shape[__pyx_v_new_ndim]) = __pyx_v_new_shape; + + /* "View.MemoryView":872 + * dst.strides[new_ndim] = stride * step + * dst.shape[new_ndim] = new_shape + * dst.suboffsets[new_ndim] = suboffset # <<<<<<<<<<<<<< + * + * + */ + (__pyx_v_dst->suboffsets[__pyx_v_new_ndim]) = __pyx_v_suboffset; + } + __pyx_L3:; + + /* "View.MemoryView":875 + * + * + * if suboffset_dim[0] < 0: # <<<<<<<<<<<<<< + * dst.data += start * stride + * else: + */ + __pyx_t_2 = ((__pyx_v_suboffset_dim[0]) < 0); + if (__pyx_t_2) { + + /* "View.MemoryView":876 + * + * if suboffset_dim[0] < 0: + * dst.data += start * stride # <<<<<<<<<<<<<< + * else: + * dst.suboffsets[suboffset_dim[0]] += start * stride + */ + __pyx_v_dst->data = (__pyx_v_dst->data + (__pyx_v_start * __pyx_v_stride)); + + /* "View.MemoryView":875 + * + * + * if suboffset_dim[0] < 0: # <<<<<<<<<<<<<< + * dst.data += start * stride + * else: + */ + goto __pyx_L19; + } + + /* "View.MemoryView":878 + * dst.data += start * stride + * else: + * dst.suboffsets[suboffset_dim[0]] += start * stride # <<<<<<<<<<<<<< + * + * if suboffset >= 0: + */ + /*else*/ { + __pyx_t_3 = (__pyx_v_suboffset_dim[0]); + (__pyx_v_dst->suboffsets[__pyx_t_3]) = ((__pyx_v_dst->suboffsets[__pyx_t_3]) + (__pyx_v_start * __pyx_v_stride)); + } + __pyx_L19:; + + /* "View.MemoryView":880 + * dst.suboffsets[suboffset_dim[0]] += start * stride + * + * if suboffset >= 0: # <<<<<<<<<<<<<< + * if not is_slice: + * if new_ndim == 0: + */ + __pyx_t_2 = (__pyx_v_suboffset >= 0); + if (__pyx_t_2) { + + /* "View.MemoryView":881 + * + * if suboffset >= 0: + * if not is_slice: # 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= NULL + */ + __pyx_t_3 = ((struct __pyx_memoryviewslice_obj *)__pyx_v_memview)->to_dtype_func; + __pyx_v_to_dtype_func = __pyx_t_3; + + /* "View.MemoryView":1094 + * cdef int (*to_dtype_func)(char *, object) except 0 + * + * if isinstance(memview, _memoryviewslice): # <<<<<<<<<<<<<< + * to_object_func = (<_memoryviewslice> memview).to_object_func + * to_dtype_func = (<_memoryviewslice> memview).to_dtype_func + */ + goto __pyx_L3; + } + + /* "View.MemoryView":1098 + * to_dtype_func = (<_memoryviewslice> memview).to_dtype_func + * else: + * to_object_func = NULL # <<<<<<<<<<<<<< + * to_dtype_func = NULL + * + */ + /*else*/ { + __pyx_v_to_object_func = NULL; + + /* "View.MemoryView":1099 + * else: + * to_object_func = NULL + * to_dtype_func = NULL # <<<<<<<<<<<<<< + * + * return memoryview_fromslice(memviewslice[0], memview.view.ndim, + */ + __pyx_v_to_dtype_func = NULL; + } + __pyx_L3:; + + /* "View.MemoryView":1101 + * to_dtype_func = NULL + * + * return memoryview_fromslice(memviewslice[0], memview.view.ndim, # <<<<<<<<<<<<<< + * to_object_func, to_dtype_func, + * memview.dtype_is_object) + */ + __Pyx_XDECREF(__pyx_r); + + /* "View.MemoryView":1103 + * return memoryview_fromslice(memviewslice[0], memview.view.ndim, + * to_object_func, to_dtype_func, + * memview.dtype_is_object) # <<<<<<<<<<<<<< + * + * + */ + __pyx_t_4 = __pyx_memoryview_fromslice((__pyx_v_memviewslice[0]), __pyx_v_memview->view.ndim, __pyx_v_to_object_func, __pyx_v_to_dtype_func, __pyx_v_memview->dtype_is_object); if (unlikely(!__pyx_t_4)) __PYX_ERR(0, 1101, __pyx_L1_error) + __Pyx_GOTREF(__pyx_t_4); + __pyx_r = __pyx_t_4; + __pyx_t_4 = 0; + goto __pyx_L0; + + /* "View.MemoryView":1087 + * + * @cname('__pyx_memoryview_copy_object_from_slice') + * cdef memoryview_copy_from_slice(memoryview memview, __Pyx_memviewslice *memviewslice): # <<<<<<<<<<<<<< + * """ + * Create a new memoryview object from a given memoryview object and slice. + */ + + /* function exit code */ + __pyx_L1_error:; + __Pyx_XDECREF(__pyx_t_4); + __Pyx_AddTraceback("View.MemoryView.memoryview_copy_from_slice", __pyx_clineno, __pyx_lineno, __pyx_filename); + __pyx_r = 0; + __pyx_L0:; + __Pyx_XGIVEREF(__pyx_r); + __Pyx_RefNannyFinishContext(); + return __pyx_r; +} + +/* "View.MemoryView":1109 + * + * + * cdef Py_ssize_t abs_py_ssize_t(Py_ssize_t arg) noexcept nogil: # <<<<<<<<<<<<<< + * return -arg if arg < 0 else arg + * + */ + +static Py_ssize_t abs_py_ssize_t(Py_ssize_t __pyx_v_arg) { + Py_ssize_t __pyx_r; + Py_ssize_t __pyx_t_1; + int __pyx_t_2; + + /* "View.MemoryView":1110 + * + * cdef Py_ssize_t abs_py_ssize_t(Py_ssize_t arg) noexcept nogil: + * return -arg if arg < 0 else arg # <<<<<<<<<<<<<< + * + * @cname('__pyx_get_best_slice_order') + */ + __pyx_t_2 = (__pyx_v_arg < 0); + if (__pyx_t_2) { + __pyx_t_1 = (-__pyx_v_arg); + } else { + __pyx_t_1 = __pyx_v_arg; + } + __pyx_r = __pyx_t_1; + goto __pyx_L0; + + /* "View.MemoryView":1109 + * + * + * cdef Py_ssize_t abs_py_ssize_t(Py_ssize_t arg) noexcept nogil: # <<<<<<<<<<<<<< + * return -arg if arg < 0 else arg + * + */ + + /* function exit code */ + __pyx_L0:; + return __pyx_r; +} + +/* "View.MemoryView":1113 + * + * @cname('__pyx_get_best_slice_order') + * cdef char get_best_order(__Pyx_memviewslice *mslice, int ndim) noexcept nogil: # <<<<<<<<<<<<<< + * """ + * Figure out the best memory access order for a given slice. + */ + +static char __pyx_get_best_slice_order(__Pyx_memviewslice *__pyx_v_mslice, int __pyx_v_ndim) { + int __pyx_v_i; + Py_ssize_t __pyx_v_c_stride; + Py_ssize_t __pyx_v_f_stride; + char __pyx_r; + int __pyx_t_1; + int __pyx_t_2; + int __pyx_t_3; + int __pyx_t_4; + + /* "View.MemoryView":1118 + * """ + * cdef int i + * cdef Py_ssize_t c_stride = 0 # <<<<<<<<<<<<<< + * cdef Py_ssize_t f_stride = 0 + * + */ + __pyx_v_c_stride = 0; + + /* "View.MemoryView":1119 + * cdef int i + * cdef Py_ssize_t c_stride = 0 + * cdef Py_ssize_t f_stride = 0 # <<<<<<<<<<<<<< + * + * for i in range(ndim - 1, -1, -1): + */ + __pyx_v_f_stride = 0; + + /* "View.MemoryView":1121 + * cdef Py_ssize_t f_stride = 0 + * + * for i in range(ndim - 1, -1, -1): # <<<<<<<<<<<<<< + * if mslice.shape[i] > 1: + * c_stride = mslice.strides[i] + */ + for (__pyx_t_1 = (__pyx_v_ndim - 1); __pyx_t_1 > -1; __pyx_t_1-=1) { + __pyx_v_i = __pyx_t_1; + + /* "View.MemoryView":1122 + * + * for i in range(ndim - 1, -1, -1): + * if mslice.shape[i] > 1: # <<<<<<<<<<<<<< + * c_stride = mslice.strides[i] + * break + */ + __pyx_t_2 = ((__pyx_v_mslice->shape[__pyx_v_i]) > 1); + if (__pyx_t_2) { + + /* "View.MemoryView":1123 + * for i in range(ndim - 1, -1, -1): + * if mslice.shape[i] > 1: + * c_stride = mslice.strides[i] # <<<<<<<<<<<<<< + * break + * + */ + __pyx_v_c_stride = (__pyx_v_mslice->strides[__pyx_v_i]); + + /* "View.MemoryView":1124 + * if mslice.shape[i] > 1: + * c_stride = mslice.strides[i] + * break # <<<<<<<<<<<<<< + * + * for i in range(ndim): + */ + goto __pyx_L4_break; + + /* 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mslice.strides[i] + * break # <<<<<<<<<<<<<< + * + * if abs_py_ssize_t(c_stride) <= abs_py_ssize_t(f_stride): + */ + goto __pyx_L7_break; + + /* "View.MemoryView":1127 + * + * for i in range(ndim): + * if mslice.shape[i] > 1: # <<<<<<<<<<<<<< + * f_stride = mslice.strides[i] + * break + */ + } + } + __pyx_L7_break:; + + /* "View.MemoryView":1131 + * break + * + * if abs_py_ssize_t(c_stride) <= abs_py_ssize_t(f_stride): # <<<<<<<<<<<<<< + * return 'C' + * else: + */ + __pyx_t_2 = (abs_py_ssize_t(__pyx_v_c_stride) <= abs_py_ssize_t(__pyx_v_f_stride)); + if (__pyx_t_2) { + + /* "View.MemoryView":1132 + * + * if abs_py_ssize_t(c_stride) <= abs_py_ssize_t(f_stride): + * return 'C' # <<<<<<<<<<<<<< + * else: + * return 'F' + */ + __pyx_r = 'C'; + goto __pyx_L0; + + /* "View.MemoryView":1131 + * break + * + * if abs_py_ssize_t(c_stride) <= abs_py_ssize_t(f_stride): # <<<<<<<<<<<<<< + * return 'C' + * else: + */ + } + + /* "View.MemoryView":1134 + * return 'C' + * else: + * return 'F' # <<<<<<<<<<<<<< + * + * @cython.cdivision(True) + */ + /*else*/ { + __pyx_r = 'F'; + goto __pyx_L0; + } + + /* "View.MemoryView":1113 + * + * @cname('__pyx_get_best_slice_order') + * cdef char get_best_order(__Pyx_memviewslice *mslice, int ndim) noexcept nogil: # <<<<<<<<<<<<<< + * """ + * Figure out the best memory access order for a given slice. + */ + + /* function exit code */ + __pyx_L0:; + return __pyx_r; +} + +/* "View.MemoryView":1137 + * + * @cython.cdivision(True) + * cdef void _copy_strided_to_strided(char *src_data, Py_ssize_t *src_strides, # <<<<<<<<<<<<<< + * char *dst_data, Py_ssize_t *dst_strides, + * Py_ssize_t *src_shape, Py_ssize_t *dst_shape, + */ + +static void _copy_strided_to_strided(char *__pyx_v_src_data, Py_ssize_t *__pyx_v_src_strides, char *__pyx_v_dst_data, Py_ssize_t *__pyx_v_dst_strides, Py_ssize_t *__pyx_v_src_shape, Py_ssize_t *__pyx_v_dst_shape, int __pyx_v_ndim, size_t __pyx_v_itemsize) { + CYTHON_UNUSED Py_ssize_t __pyx_v_i; + CYTHON_UNUSED Py_ssize_t __pyx_v_src_extent; + Py_ssize_t __pyx_v_dst_extent; + Py_ssize_t __pyx_v_src_stride; + Py_ssize_t __pyx_v_dst_stride; + int __pyx_t_1; + int __pyx_t_2; + Py_ssize_t __pyx_t_3; + Py_ssize_t __pyx_t_4; + Py_ssize_t __pyx_t_5; + + /* "View.MemoryView":1144 + * + * cdef Py_ssize_t i + * cdef Py_ssize_t src_extent = src_shape[0] # <<<<<<<<<<<<<< + * cdef Py_ssize_t dst_extent = dst_shape[0] + * cdef Py_ssize_t src_stride = src_strides[0] + */ + __pyx_v_src_extent = (__pyx_v_src_shape[0]); + + /* "View.MemoryView":1145 + * cdef Py_ssize_t i + * cdef Py_ssize_t src_extent = src_shape[0] + * cdef Py_ssize_t dst_extent = dst_shape[0] # <<<<<<<<<<<<<< + * cdef Py_ssize_t src_stride = src_strides[0] + * cdef Py_ssize_t dst_stride = dst_strides[0] + */ + __pyx_v_dst_extent = (__pyx_v_dst_shape[0]); + + /* "View.MemoryView":1146 + * cdef Py_ssize_t src_extent = src_shape[0] + * cdef Py_ssize_t dst_extent = dst_shape[0] + * cdef Py_ssize_t src_stride = src_strides[0] # <<<<<<<<<<<<<< + * cdef Py_ssize_t dst_stride = dst_strides[0] + * + */ + __pyx_v_src_stride = (__pyx_v_src_strides[0]); + + /* "View.MemoryView":1147 + * cdef Py_ssize_t dst_extent = dst_shape[0] + * cdef Py_ssize_t src_stride = src_strides[0] + * cdef Py_ssize_t dst_stride = dst_strides[0] # <<<<<<<<<<<<<< + * + * if ndim == 1: + */ + __pyx_v_dst_stride = (__pyx_v_dst_strides[0]); + + /* "View.MemoryView":1149 + * cdef Py_ssize_t dst_stride = dst_strides[0] + * + * if ndim == 1: # <<<<<<<<<<<<<< + * if (src_stride > 0 and dst_stride > 0 and + * src_stride == itemsize == dst_stride): + */ + __pyx_t_1 = (__pyx_v_ndim == 1); + if (__pyx_t_1) { + + /* "View.MemoryView":1150 + * + * if ndim == 1: + * if (src_stride > 0 and dst_stride > 0 and # <<<<<<<<<<<<<< + * src_stride == itemsize == dst_stride): + * memcpy(dst_data, src_data, itemsize * dst_extent) + */ + __pyx_t_2 = (__pyx_v_src_stride > 0); + if (__pyx_t_2) { + } else { + __pyx_t_1 = __pyx_t_2; + goto __pyx_L5_bool_binop_done; + } + __pyx_t_2 = (__pyx_v_dst_stride > 0); + if (__pyx_t_2) { + } else { + __pyx_t_1 = __pyx_t_2; + goto __pyx_L5_bool_binop_done; + } + + /* "View.MemoryView":1151 + * if ndim == 1: + * if (src_stride > 0 and dst_stride > 0 and + * src_stride == itemsize == dst_stride): # <<<<<<<<<<<<<< + * memcpy(dst_data, src_data, itemsize * dst_extent) + * else: + */ + __pyx_t_2 = (((size_t)__pyx_v_src_stride) == __pyx_v_itemsize); + if (__pyx_t_2) { + __pyx_t_2 = (__pyx_v_itemsize == ((size_t)__pyx_v_dst_stride)); + } + __pyx_t_1 = __pyx_t_2; + __pyx_L5_bool_binop_done:; + + /* "View.MemoryView":1150 + * + * if ndim == 1: + * if (src_stride > 0 and dst_stride > 0 and # <<<<<<<<<<<<<< + * src_stride == itemsize == dst_stride): + * memcpy(dst_data, src_data, itemsize * dst_extent) + */ + if (__pyx_t_1) { + + /* "View.MemoryView":1152 + * if (src_stride > 0 and dst_stride > 0 and + * src_stride == itemsize == dst_stride): + * memcpy(dst_data, src_data, itemsize * dst_extent) # <<<<<<<<<<<<<< + * else: + * for i in range(dst_extent): + */ + (void)(memcpy(__pyx_v_dst_data, __pyx_v_src_data, (__pyx_v_itemsize * __pyx_v_dst_extent))); + + /* "View.MemoryView":1150 + * + * if ndim == 1: + * if (src_stride > 0 and dst_stride > 0 and # <<<<<<<<<<<<<< + * src_stride == itemsize == dst_stride): + * memcpy(dst_data, src_data, itemsize * dst_extent) + */ + goto __pyx_L4; + } + + /* "View.MemoryView":1154 + * memcpy(dst_data, src_data, itemsize * dst_extent) + * else: + * for i in range(dst_extent): # <<<<<<<<<<<<<< + * memcpy(dst_data, src_data, itemsize) + * src_data += src_stride + */ + /*else*/ { + __pyx_t_3 = __pyx_v_dst_extent; + __pyx_t_4 = __pyx_t_3; + for (__pyx_t_5 = 0; __pyx_t_5 < __pyx_t_4; __pyx_t_5+=1) { + __pyx_v_i = __pyx_t_5; + + /* "View.MemoryView":1155 + * else: + * for i in range(dst_extent): + * memcpy(dst_data, src_data, itemsize) # <<<<<<<<<<<<<< + * src_data += src_stride + * dst_data += dst_stride + */ + (void)(memcpy(__pyx_v_dst_data, __pyx_v_src_data, __pyx_v_itemsize)); + + /* "View.MemoryView":1156 + * for i in range(dst_extent): + * memcpy(dst_data, src_data, itemsize) + * src_data += src_stride # <<<<<<<<<<<<<< + * dst_data += dst_stride + * else: + */ + __pyx_v_src_data = (__pyx_v_src_data + __pyx_v_src_stride); + + /* "View.MemoryView":1157 + * memcpy(dst_data, src_data, itemsize) + * src_data += src_stride + * dst_data += dst_stride # <<<<<<<<<<<<<< + * else: + * for i in range(dst_extent): + */ + __pyx_v_dst_data = (__pyx_v_dst_data + __pyx_v_dst_stride); + } + } + __pyx_L4:; + + /* "View.MemoryView":1149 + * cdef Py_ssize_t dst_stride = dst_strides[0] + * + * if ndim == 1: # <<<<<<<<<<<<<< + * if (src_stride > 0 and dst_stride > 0 and + * src_stride == itemsize == dst_stride): + */ + goto __pyx_L3; + } + + /* "View.MemoryView":1159 + * dst_data += dst_stride + * else: + * for i in range(dst_extent): # <<<<<<<<<<<<<< + * _copy_strided_to_strided(src_data, src_strides + 1, + * dst_data, dst_strides + 1, + */ + /*else*/ { + __pyx_t_3 = __pyx_v_dst_extent; + __pyx_t_4 = __pyx_t_3; + for (__pyx_t_5 = 0; __pyx_t_5 < __pyx_t_4; __pyx_t_5+=1) { + __pyx_v_i = __pyx_t_5; + + /* "View.MemoryView":1160 + * else: + * for i in range(dst_extent): + * _copy_strided_to_strided(src_data, src_strides + 1, # <<<<<<<<<<<<<< + * dst_data, dst_strides + 1, + * src_shape + 1, dst_shape + 1, + */ + _copy_strided_to_strided(__pyx_v_src_data, (__pyx_v_src_strides + 1), __pyx_v_dst_data, (__pyx_v_dst_strides + 1), (__pyx_v_src_shape + 1), (__pyx_v_dst_shape + 1), (__pyx_v_ndim - 1), __pyx_v_itemsize); + + /* "View.MemoryView":1164 + * src_shape + 1, dst_shape + 1, + * ndim - 1, itemsize) + * src_data += src_stride # <<<<<<<<<<<<<< + * dst_data += dst_stride + * + */ + __pyx_v_src_data = (__pyx_v_src_data + __pyx_v_src_stride); + + /* "View.MemoryView":1165 + * ndim - 1, itemsize) + * src_data += src_stride + * dst_data += dst_stride # <<<<<<<<<<<<<< + * + * cdef void copy_strided_to_strided(__Pyx_memviewslice *src, + */ + __pyx_v_dst_data = (__pyx_v_dst_data + __pyx_v_dst_stride); + } + } + __pyx_L3:; + + /* "View.MemoryView":1137 + * + * @cython.cdivision(True) + * cdef void _copy_strided_to_strided(char *src_data, Py_ssize_t *src_strides, # <<<<<<<<<<<<<< + * char *dst_data, Py_ssize_t *dst_strides, + * Py_ssize_t *src_shape, Py_ssize_t *dst_shape, + */ + + /* function exit code */ +} + +/* "View.MemoryView":1167 + * dst_data += dst_stride + * + * cdef void copy_strided_to_strided(__Pyx_memviewslice *src, # <<<<<<<<<<<<<< + * __Pyx_memviewslice *dst, + * int ndim, size_t itemsize) noexcept nogil: + */ + +static void copy_strided_to_strided(__Pyx_memviewslice *__pyx_v_src, __Pyx_memviewslice *__pyx_v_dst, int __pyx_v_ndim, size_t __pyx_v_itemsize) { + + /* "View.MemoryView":1170 + * __Pyx_memviewslice *dst, + * int ndim, size_t itemsize) noexcept nogil: + * _copy_strided_to_strided(src.data, src.strides, dst.data, dst.strides, # <<<<<<<<<<<<<< + * src.shape, dst.shape, ndim, itemsize) + * + */ + _copy_strided_to_strided(__pyx_v_src->data, __pyx_v_src->strides, __pyx_v_dst->data, __pyx_v_dst->strides, __pyx_v_src->shape, __pyx_v_dst->shape, __pyx_v_ndim, __pyx_v_itemsize); + + /* "View.MemoryView":1167 + * dst_data += dst_stride + * + * cdef void copy_strided_to_strided(__Pyx_memviewslice *src, # <<<<<<<<<<<<<< + * __Pyx_memviewslice *dst, + * int ndim, size_t itemsize) noexcept nogil: + */ + + /* function exit code */ +} + +/* "View.MemoryView":1174 + * + * @cname('__pyx_memoryview_slice_get_size') + * cdef Py_ssize_t slice_get_size(__Pyx_memviewslice *src, int ndim) noexcept nogil: # <<<<<<<<<<<<<< + * "Return the size of the memory occupied by the slice in number of bytes" + * cdef Py_ssize_t shape, size = src.memview.view.itemsize + */ + +static Py_ssize_t __pyx_memoryview_slice_get_size(__Pyx_memviewslice *__pyx_v_src, int __pyx_v_ndim) { + Py_ssize_t __pyx_v_shape; + Py_ssize_t __pyx_v_size; + Py_ssize_t __pyx_r; + Py_ssize_t __pyx_t_1; + Py_ssize_t *__pyx_t_2; + Py_ssize_t *__pyx_t_3; + Py_ssize_t *__pyx_t_4; + + /* "View.MemoryView":1176 + * cdef Py_ssize_t slice_get_size(__Pyx_memviewslice *src, int ndim) noexcept nogil: + * "Return the size of the memory occupied by the slice in number of bytes" + * cdef Py_ssize_t shape, size = src.memview.view.itemsize # <<<<<<<<<<<<<< + * + * for shape in src.shape[:ndim]: + */ + __pyx_t_1 = __pyx_v_src->memview->view.itemsize; + __pyx_v_size = __pyx_t_1; + + /* "View.MemoryView":1178 + * cdef Py_ssize_t shape, size = src.memview.view.itemsize + * + * for shape in src.shape[:ndim]: # <<<<<<<<<<<<<< + * size *= shape + * + */ + __pyx_t_3 = (__pyx_v_src->shape + __pyx_v_ndim); + for (__pyx_t_4 = __pyx_v_src->shape; __pyx_t_4 < __pyx_t_3; __pyx_t_4++) { + __pyx_t_2 = __pyx_t_4; + __pyx_v_shape = (__pyx_t_2[0]); + + /* "View.MemoryView":1179 + * + * for shape in src.shape[:ndim]: + * size *= shape # <<<<<<<<<<<<<< + * + * return size + */ + __pyx_v_size = (__pyx_v_size * __pyx_v_shape); + } + + /* "View.MemoryView":1181 + * size *= shape + * + * return size # <<<<<<<<<<<<<< + * + * @cname('__pyx_fill_contig_strides_array') + */ + __pyx_r = __pyx_v_size; + goto __pyx_L0; + + /* "View.MemoryView":1174 + * + * @cname('__pyx_memoryview_slice_get_size') + * cdef Py_ssize_t slice_get_size(__Pyx_memviewslice *src, int ndim) noexcept nogil: # <<<<<<<<<<<<<< + * "Return the size of the memory occupied by the slice in number of bytes" + * cdef Py_ssize_t shape, size = src.memview.view.itemsize + */ + + /* function exit code */ + __pyx_L0:; + return __pyx_r; +} + +/* "View.MemoryView":1184 + * + * @cname('__pyx_fill_contig_strides_array') + * cdef Py_ssize_t fill_contig_strides_array( # <<<<<<<<<<<<<< + * Py_ssize_t *shape, Py_ssize_t *strides, Py_ssize_t stride, + * int ndim, char order) noexcept nogil: + */ + +static Py_ssize_t __pyx_fill_contig_strides_array(Py_ssize_t *__pyx_v_shape, Py_ssize_t *__pyx_v_strides, Py_ssize_t __pyx_v_stride, int __pyx_v_ndim, char __pyx_v_order) { + int __pyx_v_idx; + Py_ssize_t __pyx_r; + int __pyx_t_1; + int __pyx_t_2; + int __pyx_t_3; + int __pyx_t_4; + + /* "View.MemoryView":1193 + * cdef int idx + * + * if order == 'F': # <<<<<<<<<<<<<< + * for idx in range(ndim): + * strides[idx] = stride + */ + __pyx_t_1 = (__pyx_v_order == 'F'); + if (__pyx_t_1) { + + /* "View.MemoryView":1194 + * + * if order == 'F': + * for idx in range(ndim): # <<<<<<<<<<<<<< + * strides[idx] = stride + * stride *= shape[idx] + */ + __pyx_t_2 = __pyx_v_ndim; + __pyx_t_3 = __pyx_t_2; + for (__pyx_t_4 = 0; __pyx_t_4 < __pyx_t_3; __pyx_t_4+=1) { + __pyx_v_idx = __pyx_t_4; + + /* "View.MemoryView":1195 + * if order == 'F': + * for idx in range(ndim): + * strides[idx] = stride # <<<<<<<<<<<<<< + * stride *= shape[idx] + * else: + */ + (__pyx_v_strides[__pyx_v_idx]) = __pyx_v_stride; + + /* "View.MemoryView":1196 + * for idx in range(ndim): + * strides[idx] = stride + * stride *= shape[idx] # <<<<<<<<<<<<<< + * else: + * for idx in range(ndim - 1, -1, -1): + */ + __pyx_v_stride = (__pyx_v_stride * (__pyx_v_shape[__pyx_v_idx])); + } + + /* "View.MemoryView":1193 + * cdef int idx + * + * if order == 'F': # <<<<<<<<<<<<<< + * for idx in range(ndim): + * strides[idx] = stride + */ + goto __pyx_L3; + } + + /* "View.MemoryView":1198 + * stride *= shape[idx] + * else: + * for idx in range(ndim - 1, -1, -1): # <<<<<<<<<<<<<< + * strides[idx] = stride + * stride *= shape[idx] + */ + /*else*/ { + for (__pyx_t_2 = (__pyx_v_ndim - 1); __pyx_t_2 > -1; __pyx_t_2-=1) { + __pyx_v_idx = __pyx_t_2; + + /* "View.MemoryView":1199 + * else: + * for idx in range(ndim - 1, -1, -1): + * strides[idx] = stride # <<<<<<<<<<<<<< + * stride *= shape[idx] + * + */ + (__pyx_v_strides[__pyx_v_idx]) = __pyx_v_stride; + + /* "View.MemoryView":1200 + * for idx in range(ndim - 1, -1, -1): + * strides[idx] = stride + * stride *= shape[idx] # <<<<<<<<<<<<<< + * + * return stride + */ + __pyx_v_stride = (__pyx_v_stride * (__pyx_v_shape[__pyx_v_idx])); + } + } + __pyx_L3:; + + /* 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<<<<<<<<<<<<<< + * order = get_best_order(&dst, ndim) + * + */ + __pyx_t_2 = (!__pyx_memviewslice_is_contig(__pyx_v_src, __pyx_v_order, __pyx_v_ndim)); + if (__pyx_t_2) { + + /* "View.MemoryView":1302 + * + * if not slice_is_contig(src, order, ndim): + * order = get_best_order(&dst, ndim) # <<<<<<<<<<<<<< + * + * tmpdata = copy_data_to_temp(&src, &tmp, order, ndim) + */ + __pyx_v_order = __pyx_get_best_slice_order((&__pyx_v_dst), __pyx_v_ndim); + + /* "View.MemoryView":1301 + * if slices_overlap(&src, &dst, ndim, itemsize): + * + * if not slice_is_contig(src, order, ndim): # <<<<<<<<<<<<<< + * order = get_best_order(&dst, ndim) + * + */ + } + + /* "View.MemoryView":1304 + * order = get_best_order(&dst, ndim) + * + * tmpdata = copy_data_to_temp(&src, &tmp, order, ndim) # <<<<<<<<<<<<<< + * src = tmp + * + */ + __pyx_t_7 = __pyx_memoryview_copy_data_to_temp((&__pyx_v_src), (&__pyx_v_tmp), __pyx_v_order, __pyx_v_ndim); if (unlikely(__pyx_t_7 == ((void *)NULL))) __PYX_ERR(0, 1304, __pyx_L1_error) + __pyx_v_tmpdata = __pyx_t_7; + + /* "View.MemoryView":1305 + * + * tmpdata = copy_data_to_temp(&src, &tmp, order, ndim) + * src = tmp # <<<<<<<<<<<<<< + * + * if not broadcasting: + */ + __pyx_v_src = __pyx_v_tmp; + + /* "View.MemoryView":1299 + * _err_dim(PyExc_ValueError, "Dimension %d is not direct", i) + * + * if slices_overlap(&src, &dst, ndim, itemsize): # <<<<<<<<<<<<<< + * + * if not slice_is_contig(src, order, ndim): + */ + } + + /* "View.MemoryView":1307 + * src = tmp + * + * if not broadcasting: # <<<<<<<<<<<<<< + * + * + */ + __pyx_t_2 = (!__pyx_v_broadcasting); + if (__pyx_t_2) { + + /* "View.MemoryView":1310 + * + * + * if slice_is_contig(src, 'C', ndim): # <<<<<<<<<<<<<< + * direct_copy = slice_is_contig(dst, 'C', ndim) + * elif slice_is_contig(src, 'F', ndim): + */ + __pyx_t_2 = __pyx_memviewslice_is_contig(__pyx_v_src, 'C', __pyx_v_ndim); + if (__pyx_t_2) { + + /* "View.MemoryView":1311 + * + * if slice_is_contig(src, 'C', ndim): + * direct_copy = slice_is_contig(dst, 'C', ndim) # <<<<<<<<<<<<<< + * elif slice_is_contig(src, 'F', ndim): + * direct_copy = slice_is_contig(dst, 'F', ndim) + */ + __pyx_v_direct_copy = __pyx_memviewslice_is_contig(__pyx_v_dst, 'C', __pyx_v_ndim); + + /* "View.MemoryView":1310 + * + * + * if slice_is_contig(src, 'C', ndim): # <<<<<<<<<<<<<< + * direct_copy = slice_is_contig(dst, 'C', ndim) + * elif slice_is_contig(src, 'F', ndim): + */ + goto __pyx_L12; + } + + /* "View.MemoryView":1312 + * if slice_is_contig(src, 'C', ndim): + * direct_copy = slice_is_contig(dst, 'C', ndim) + * elif slice_is_contig(src, 'F', ndim): # <<<<<<<<<<<<<< + * direct_copy = slice_is_contig(dst, 'F', ndim) + * + */ + __pyx_t_2 = __pyx_memviewslice_is_contig(__pyx_v_src, 'F', __pyx_v_ndim); + if (__pyx_t_2) { + + /* "View.MemoryView":1313 + * direct_copy = slice_is_contig(dst, 'C', ndim) + * elif slice_is_contig(src, 'F', ndim): + * direct_copy = slice_is_contig(dst, 'F', ndim) # <<<<<<<<<<<<<< + * + * if direct_copy: + */ + __pyx_v_direct_copy = __pyx_memviewslice_is_contig(__pyx_v_dst, 'F', __pyx_v_ndim); + + /* "View.MemoryView":1312 + * if slice_is_contig(src, 'C', ndim): + * direct_copy = slice_is_contig(dst, 'C', ndim) + * elif slice_is_contig(src, 'F', ndim): # <<<<<<<<<<<<<< + * direct_copy = slice_is_contig(dst, 'F', ndim) + * + */ + } + __pyx_L12:; + + /* "View.MemoryView":1315 + * direct_copy = slice_is_contig(dst, 'F', ndim) + * + * if direct_copy: # <<<<<<<<<<<<<< + * + * refcount_copying(&dst, dtype_is_object, ndim, inc=False) + */ + if (__pyx_v_direct_copy) { + + /* "View.MemoryView":1317 + * if direct_copy: + * + * refcount_copying(&dst, dtype_is_object, ndim, inc=False) # <<<<<<<<<<<<<< + * memcpy(dst.data, src.data, slice_get_size(&src, ndim)) + * refcount_copying(&dst, dtype_is_object, ndim, inc=True) + */ + __pyx_memoryview_refcount_copying((&__pyx_v_dst), __pyx_v_dtype_is_object, __pyx_v_ndim, 0); + + /* "View.MemoryView":1318 + * + * refcount_copying(&dst, dtype_is_object, ndim, inc=False) + * memcpy(dst.data, src.data, slice_get_size(&src, ndim)) # <<<<<<<<<<<<<< + * refcount_copying(&dst, dtype_is_object, ndim, inc=True) + * free(tmpdata) + */ + (void)(memcpy(__pyx_v_dst.data, __pyx_v_src.data, __pyx_memoryview_slice_get_size((&__pyx_v_src), __pyx_v_ndim))); + + /* "View.MemoryView":1319 + * refcount_copying(&dst, dtype_is_object, ndim, inc=False) + * memcpy(dst.data, src.data, slice_get_size(&src, ndim)) + * refcount_copying(&dst, dtype_is_object, ndim, inc=True) # <<<<<<<<<<<<<< + * free(tmpdata) + * return 0 + */ + __pyx_memoryview_refcount_copying((&__pyx_v_dst), __pyx_v_dtype_is_object, __pyx_v_ndim, 1); + + /* "View.MemoryView":1320 + * memcpy(dst.data, src.data, slice_get_size(&src, ndim)) + * refcount_copying(&dst, dtype_is_object, ndim, inc=True) + * free(tmpdata) # <<<<<<<<<<<<<< + * return 0 + * + */ + free(__pyx_v_tmpdata); + + /* "View.MemoryView":1321 + * refcount_copying(&dst, dtype_is_object, ndim, inc=True) + * free(tmpdata) + * return 0 # <<<<<<<<<<<<<< + * + * if order == 'F' == get_best_order(&dst, ndim): + */ + __pyx_r = 0; + goto __pyx_L0; + + /* "View.MemoryView":1315 + * direct_copy = slice_is_contig(dst, 'F', ndim) + * + * if direct_copy: # <<<<<<<<<<<<<< + * + * refcount_copying(&dst, dtype_is_object, ndim, inc=False) + */ + } + + /* "View.MemoryView":1307 + * src = tmp + * + * if not broadcasting: # <<<<<<<<<<<<<< + * + * + */ + } + + /* "View.MemoryView":1323 + * return 0 + * + * if order == 'F' == get_best_order(&dst, ndim): # <<<<<<<<<<<<<< + * + * + */ + __pyx_t_2 = (__pyx_v_order == 'F'); + if (__pyx_t_2) { + __pyx_t_2 = ('F' == __pyx_get_best_slice_order((&__pyx_v_dst), __pyx_v_ndim)); + } + if (__pyx_t_2) { + + /* "View.MemoryView":1326 + * + * + * transpose_memslice(&src) # <<<<<<<<<<<<<< + * transpose_memslice(&dst) + * + */ + __pyx_t_5 = __pyx_memslice_transpose((&__pyx_v_src)); if (unlikely(__pyx_t_5 == ((int)-1))) __PYX_ERR(0, 1326, __pyx_L1_error) + + /* "View.MemoryView":1327 + * + * transpose_memslice(&src) + * transpose_memslice(&dst) # <<<<<<<<<<<<<< + * + * refcount_copying(&dst, dtype_is_object, ndim, inc=False) + */ + __pyx_t_5 = __pyx_memslice_transpose((&__pyx_v_dst)); if (unlikely(__pyx_t_5 == ((int)-1))) __PYX_ERR(0, 1327, __pyx_L1_error) + + /* "View.MemoryView":1323 + * return 0 + * + * if order == 'F' == get_best_order(&dst, ndim): # <<<<<<<<<<<<<< + * + * + */ + } + + /* "View.MemoryView":1329 + * transpose_memslice(&dst) + * + * refcount_copying(&dst, dtype_is_object, ndim, inc=False) # <<<<<<<<<<<<<< + * copy_strided_to_strided(&src, &dst, ndim, itemsize) + * refcount_copying(&dst, dtype_is_object, ndim, inc=True) + */ + __pyx_memoryview_refcount_copying((&__pyx_v_dst), __pyx_v_dtype_is_object, __pyx_v_ndim, 0); + + /* "View.MemoryView":1330 + * + * refcount_copying(&dst, dtype_is_object, ndim, inc=False) + * copy_strided_to_strided(&src, &dst, ndim, itemsize) # <<<<<<<<<<<<<< + * refcount_copying(&dst, dtype_is_object, ndim, inc=True) + * + */ + copy_strided_to_strided((&__pyx_v_src), (&__pyx_v_dst), __pyx_v_ndim, __pyx_v_itemsize); + + /* "View.MemoryView":1331 + * refcount_copying(&dst, dtype_is_object, ndim, inc=False) + * copy_strided_to_strided(&src, &dst, ndim, itemsize) + * refcount_copying(&dst, dtype_is_object, ndim, inc=True) # <<<<<<<<<<<<<< + * + * free(tmpdata) + */ + __pyx_memoryview_refcount_copying((&__pyx_v_dst), __pyx_v_dtype_is_object, __pyx_v_ndim, 1); + + /* "View.MemoryView":1333 + * refcount_copying(&dst, dtype_is_object, ndim, inc=True) + * + * free(tmpdata) # <<<<<<<<<<<<<< + * return 0 + * + */ + free(__pyx_v_tmpdata); + + /* "View.MemoryView":1334 + * + * free(tmpdata) + * return 0 # <<<<<<<<<<<<<< + * + * @cname('__pyx_memoryview_broadcast_leading') + */ + __pyx_r = 0; + goto __pyx_L0; + + /* "View.MemoryView":1265 + * + * @cname('__pyx_memoryview_copy_contents') + * cdef int memoryview_copy_contents(__Pyx_memviewslice src, # <<<<<<<<<<<<<< + * __Pyx_memviewslice dst, + * int src_ndim, int dst_ndim, + */ + + /* function exit code */ + __pyx_L1_error:; + #ifdef WITH_THREAD + __pyx_gilstate_save = __Pyx_PyGILState_Ensure(); + #endif + __Pyx_AddTraceback("View.MemoryView.memoryview_copy_contents", __pyx_clineno, __pyx_lineno, __pyx_filename); + __pyx_r = -1; + #ifdef WITH_THREAD + __Pyx_PyGILState_Release(__pyx_gilstate_save); + #endif + __pyx_L0:; + return __pyx_r; +} + +/* "View.MemoryView":1337 + * + * @cname('__pyx_memoryview_broadcast_leading') + * cdef void broadcast_leading(__Pyx_memviewslice *mslice, # <<<<<<<<<<<<<< + * int ndim, + * int ndim_other) noexcept nogil: + */ + +static void __pyx_memoryview_broadcast_leading(__Pyx_memviewslice *__pyx_v_mslice, int __pyx_v_ndim, int __pyx_v_ndim_other) { + int __pyx_v_i; + int __pyx_v_offset; + int __pyx_t_1; + int __pyx_t_2; + int __pyx_t_3; + + /* "View.MemoryView":1341 + * int ndim_other) noexcept nogil: + * cdef int i + * cdef int offset = ndim_other - ndim # <<<<<<<<<<<<<< + * + * for i in range(ndim - 1, -1, -1): + */ + __pyx_v_offset = (__pyx_v_ndim_other - __pyx_v_ndim); + + /* "View.MemoryView":1343 + * cdef int offset = ndim_other - ndim + * + * for i in range(ndim - 1, -1, -1): # <<<<<<<<<<<<<< + * mslice.shape[i + offset] = mslice.shape[i] + * mslice.strides[i + offset] = mslice.strides[i] + */ + for (__pyx_t_1 = (__pyx_v_ndim - 1); __pyx_t_1 > -1; __pyx_t_1-=1) { + __pyx_v_i = __pyx_t_1; + + /* "View.MemoryView":1344 + * + * for i in range(ndim - 1, -1, -1): + * mslice.shape[i + offset] = mslice.shape[i] # <<<<<<<<<<<<<< + * mslice.strides[i + offset] = mslice.strides[i] + * mslice.suboffsets[i + offset] = mslice.suboffsets[i] + */ + (__pyx_v_mslice->shape[(__pyx_v_i + __pyx_v_offset)]) = (__pyx_v_mslice->shape[__pyx_v_i]); + + /* "View.MemoryView":1345 + * for i in range(ndim - 1, -1, -1): + * mslice.shape[i + offset] = mslice.shape[i] + * mslice.strides[i + offset] = mslice.strides[i] # <<<<<<<<<<<<<< + * mslice.suboffsets[i + offset] = mslice.suboffsets[i] + * + */ + (__pyx_v_mslice->strides[(__pyx_v_i + __pyx_v_offset)]) = (__pyx_v_mslice->strides[__pyx_v_i]); + + /* "View.MemoryView":1346 + * mslice.shape[i + offset] = mslice.shape[i] + * mslice.strides[i + offset] = mslice.strides[i] + * mslice.suboffsets[i + offset] = mslice.suboffsets[i] # <<<<<<<<<<<<<< + * + * for i in range(offset): + */ + (__pyx_v_mslice->suboffsets[(__pyx_v_i + __pyx_v_offset)]) = (__pyx_v_mslice->suboffsets[__pyx_v_i]); + } + + /* "View.MemoryView":1348 + * mslice.suboffsets[i + offset] = mslice.suboffsets[i] + * + * for i in range(offset): # <<<<<<<<<<<<<< + * mslice.shape[i] = 1 + * mslice.strides[i] = mslice.strides[0] + */ + __pyx_t_1 = __pyx_v_offset; + __pyx_t_2 = __pyx_t_1; + for (__pyx_t_3 = 0; __pyx_t_3 < __pyx_t_2; __pyx_t_3+=1) { + __pyx_v_i = __pyx_t_3; + + /* "View.MemoryView":1349 + * + * for i in range(offset): + * mslice.shape[i] = 1 # <<<<<<<<<<<<<< + * mslice.strides[i] = mslice.strides[0] + * mslice.suboffsets[i] = -1 + */ + (__pyx_v_mslice->shape[__pyx_v_i]) = 1; + + /* "View.MemoryView":1350 + * for i in range(offset): + * mslice.shape[i] = 1 + * mslice.strides[i] = mslice.strides[0] # <<<<<<<<<<<<<< + * mslice.suboffsets[i] = -1 + * + */ + (__pyx_v_mslice->strides[__pyx_v_i]) = (__pyx_v_mslice->strides[0]); + + /* "View.MemoryView":1351 + * mslice.shape[i] = 1 + * mslice.strides[i] = mslice.strides[0] + * mslice.suboffsets[i] = -1 # <<<<<<<<<<<<<< + * + * + */ + (__pyx_v_mslice->suboffsets[__pyx_v_i]) = -1L; + } + + /* "View.MemoryView":1337 + * + * @cname('__pyx_memoryview_broadcast_leading') + * cdef void broadcast_leading(__Pyx_memviewslice *mslice, # <<<<<<<<<<<<<< + * int ndim, + * int ndim_other) noexcept nogil: + */ + + /* function exit code */ +} + +/* "View.MemoryView":1359 + * + * @cname('__pyx_memoryview_refcount_copying') + * cdef void refcount_copying(__Pyx_memviewslice *dst, bint dtype_is_object, int ndim, bint inc) noexcept nogil: # <<<<<<<<<<<<<< + * + * if dtype_is_object: + */ + +static void __pyx_memoryview_refcount_copying(__Pyx_memviewslice *__pyx_v_dst, int __pyx_v_dtype_is_object, int __pyx_v_ndim, int __pyx_v_inc) { + + /* "View.MemoryView":1361 + * cdef void refcount_copying(__Pyx_memviewslice *dst, bint dtype_is_object, int ndim, bint inc) noexcept nogil: + * + * if dtype_is_object: # <<<<<<<<<<<<<< + * refcount_objects_in_slice_with_gil(dst.data, dst.shape, dst.strides, ndim, inc) + * + */ + if (__pyx_v_dtype_is_object) { + + /* "View.MemoryView":1362 + * + * if dtype_is_object: + * refcount_objects_in_slice_with_gil(dst.data, dst.shape, dst.strides, ndim, inc) # <<<<<<<<<<<<<< + * + * @cname('__pyx_memoryview_refcount_objects_in_slice_with_gil') + */ + __pyx_memoryview_refcount_objects_in_slice_with_gil(__pyx_v_dst->data, __pyx_v_dst->shape, __pyx_v_dst->strides, __pyx_v_ndim, __pyx_v_inc); + + /* "View.MemoryView":1361 + * cdef void refcount_copying(__Pyx_memviewslice *dst, bint dtype_is_object, int ndim, bint inc) noexcept nogil: + * + * if dtype_is_object: # <<<<<<<<<<<<<< + * refcount_objects_in_slice_with_gil(dst.data, dst.shape, dst.strides, ndim, inc) + * + */ + } + + /* "View.MemoryView":1359 + * + * @cname('__pyx_memoryview_refcount_copying') + * cdef void refcount_copying(__Pyx_memviewslice *dst, bint dtype_is_object, int ndim, bint inc) noexcept nogil: # <<<<<<<<<<<<<< + * + * if dtype_is_object: + */ + + /* function exit code */ +} + +/* "View.MemoryView":1365 + * + * @cname('__pyx_memoryview_refcount_objects_in_slice_with_gil') + * cdef void refcount_objects_in_slice_with_gil(char *data, Py_ssize_t *shape, # <<<<<<<<<<<<<< + * Py_ssize_t *strides, int ndim, + * bint inc) noexcept with gil: + */ + +static void __pyx_memoryview_refcount_objects_in_slice_with_gil(char *__pyx_v_data, Py_ssize_t *__pyx_v_shape, Py_ssize_t *__pyx_v_strides, int __pyx_v_ndim, int __pyx_v_inc) { + #ifdef WITH_THREAD + PyGILState_STATE __pyx_gilstate_save = __Pyx_PyGILState_Ensure(); + #endif + + /* "View.MemoryView":1368 + * Py_ssize_t *strides, int ndim, + * bint inc) noexcept with gil: + * refcount_objects_in_slice(data, shape, strides, ndim, inc) # <<<<<<<<<<<<<< + * + * @cname('__pyx_memoryview_refcount_objects_in_slice') + */ + __pyx_memoryview_refcount_objects_in_slice(__pyx_v_data, __pyx_v_shape, __pyx_v_strides, __pyx_v_ndim, __pyx_v_inc); + + /* "View.MemoryView":1365 + * + * @cname('__pyx_memoryview_refcount_objects_in_slice_with_gil') + * cdef void refcount_objects_in_slice_with_gil(char *data, Py_ssize_t *shape, # <<<<<<<<<<<<<< + * Py_ssize_t *strides, int ndim, + * bint inc) noexcept with gil: + */ + + /* function exit code */ + #ifdef WITH_THREAD + __Pyx_PyGILState_Release(__pyx_gilstate_save); + #endif +} + +/* "View.MemoryView":1371 + * + * @cname('__pyx_memoryview_refcount_objects_in_slice') + * cdef void refcount_objects_in_slice(char *data, Py_ssize_t *shape, # <<<<<<<<<<<<<< + * Py_ssize_t *strides, int ndim, bint inc) noexcept: + * cdef Py_ssize_t i + */ + +static void __pyx_memoryview_refcount_objects_in_slice(char *__pyx_v_data, Py_ssize_t *__pyx_v_shape, Py_ssize_t *__pyx_v_strides, int __pyx_v_ndim, int __pyx_v_inc) { + CYTHON_UNUSED Py_ssize_t __pyx_v_i; + Py_ssize_t __pyx_v_stride; + Py_ssize_t __pyx_t_1; + Py_ssize_t __pyx_t_2; + Py_ssize_t __pyx_t_3; + int __pyx_t_4; + + /* "View.MemoryView":1374 + * Py_ssize_t *strides, int ndim, bint inc) noexcept: + * cdef Py_ssize_t i + * cdef Py_ssize_t stride = strides[0] # <<<<<<<<<<<<<< + * + * for i in range(shape[0]): + */ + __pyx_v_stride = (__pyx_v_strides[0]); + + /* "View.MemoryView":1376 + * cdef Py_ssize_t stride = strides[0] + * + * for i in range(shape[0]): # <<<<<<<<<<<<<< + * if ndim == 1: + * if inc: + */ + __pyx_t_1 = (__pyx_v_shape[0]); + __pyx_t_2 = __pyx_t_1; + for (__pyx_t_3 = 0; __pyx_t_3 < __pyx_t_2; __pyx_t_3+=1) { + __pyx_v_i = __pyx_t_3; + + /* "View.MemoryView":1377 + * + * for i in range(shape[0]): + * if ndim == 1: # <<<<<<<<<<<<<< + * if inc: + * Py_INCREF(( data)[0]) + */ + __pyx_t_4 = (__pyx_v_ndim == 1); + if (__pyx_t_4) { + + /* "View.MemoryView":1378 + * for i in range(shape[0]): + * if ndim == 1: + * if inc: # <<<<<<<<<<<<<< + * Py_INCREF(( data)[0]) + * else: + */ + if (__pyx_v_inc) { + + /* "View.MemoryView":1379 + * if ndim == 1: + * if inc: + * Py_INCREF(( data)[0]) # <<<<<<<<<<<<<< + * else: + * Py_DECREF(( data)[0]) + */ + Py_INCREF((((PyObject **)__pyx_v_data)[0])); + + /* "View.MemoryView":1378 + * for i in range(shape[0]): + * if ndim == 1: + * if inc: # <<<<<<<<<<<<<< + * Py_INCREF(( data)[0]) + * else: + */ + goto __pyx_L6; + } + + /* "View.MemoryView":1381 + * Py_INCREF(( data)[0]) + * else: + * Py_DECREF(( data)[0]) # <<<<<<<<<<<<<< + * else: + * refcount_objects_in_slice(data, shape + 1, strides + 1, ndim - 1, inc) + */ + /*else*/ { + Py_DECREF((((PyObject **)__pyx_v_data)[0])); + } + __pyx_L6:; + + /* "View.MemoryView":1377 + * + * for i in range(shape[0]): + * if ndim == 1: # <<<<<<<<<<<<<< + * if inc: + * Py_INCREF(( data)[0]) + */ + goto __pyx_L5; + } + + /* "View.MemoryView":1383 + * Py_DECREF(( data)[0]) + * else: + * refcount_objects_in_slice(data, shape + 1, strides + 1, ndim - 1, inc) # <<<<<<<<<<<<<< + * + * data += stride + */ + /*else*/ { + __pyx_memoryview_refcount_objects_in_slice(__pyx_v_data, (__pyx_v_shape + 1), (__pyx_v_strides + 1), (__pyx_v_ndim - 1), __pyx_v_inc); + } + __pyx_L5:; + + /* "View.MemoryView":1385 + * refcount_objects_in_slice(data, shape + 1, strides + 1, ndim - 1, inc) + * + * data += stride # <<<<<<<<<<<<<< + * + * + */ + __pyx_v_data = (__pyx_v_data + __pyx_v_stride); + } + + /* "View.MemoryView":1371 + * + * @cname('__pyx_memoryview_refcount_objects_in_slice') + * cdef void refcount_objects_in_slice(char *data, Py_ssize_t *shape, # <<<<<<<<<<<<<< + * Py_ssize_t *strides, int ndim, bint inc) noexcept: + * cdef Py_ssize_t i + */ + + /* function exit code */ +} + +/* "View.MemoryView":1391 + * + * @cname('__pyx_memoryview_slice_assign_scalar') + * cdef void slice_assign_scalar(__Pyx_memviewslice *dst, int ndim, # <<<<<<<<<<<<<< + * size_t itemsize, void *item, + * bint dtype_is_object) noexcept nogil: + */ + +static void __pyx_memoryview_slice_assign_scalar(__Pyx_memviewslice *__pyx_v_dst, int __pyx_v_ndim, size_t __pyx_v_itemsize, void *__pyx_v_item, int __pyx_v_dtype_is_object) { + + /* "View.MemoryView":1394 + * size_t itemsize, void *item, + * bint dtype_is_object) noexcept nogil: + * refcount_copying(dst, dtype_is_object, ndim, inc=False) # <<<<<<<<<<<<<< + * _slice_assign_scalar(dst.data, dst.shape, dst.strides, ndim, itemsize, item) + * refcount_copying(dst, dtype_is_object, ndim, inc=True) + */ + __pyx_memoryview_refcount_copying(__pyx_v_dst, __pyx_v_dtype_is_object, __pyx_v_ndim, 0); + + /* "View.MemoryView":1395 + * bint dtype_is_object) noexcept nogil: + * refcount_copying(dst, dtype_is_object, ndim, inc=False) + * _slice_assign_scalar(dst.data, dst.shape, dst.strides, ndim, itemsize, item) # <<<<<<<<<<<<<< + * 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+#endif +) { + CYTHON_UNUSED PyObject *__pyx_v___pyx_state = 0; + #if !CYTHON_METH_FASTCALL + CYTHON_UNUSED Py_ssize_t __pyx_nargs; + #endif + CYTHON_UNUSED PyObject *const *__pyx_kwvalues; + PyObject* values[1] = {0}; + int __pyx_lineno = 0; + const char *__pyx_filename = NULL; + int __pyx_clineno = 0; + PyObject *__pyx_r = 0; + __Pyx_RefNannyDeclarations + __Pyx_RefNannySetupContext("__setstate_cython__ (wrapper)", 0); + #if !CYTHON_METH_FASTCALL + #if CYTHON_ASSUME_SAFE_MACROS + __pyx_nargs = PyTuple_GET_SIZE(__pyx_args); + #else + __pyx_nargs = PyTuple_Size(__pyx_args); if (unlikely(__pyx_nargs < 0)) return NULL; + #endif + #endif + __pyx_kwvalues = __Pyx_KwValues_FASTCALL(__pyx_args, __pyx_nargs); + { + PyObject **__pyx_pyargnames[] = {&__pyx_n_s_pyx_state,0}; + if (__pyx_kwds) { + Py_ssize_t kw_args; + switch (__pyx_nargs) { + case 1: values[0] = __Pyx_Arg_FASTCALL(__pyx_args, 0); + CYTHON_FALLTHROUGH; + case 0: break; + default: goto __pyx_L5_argtuple_error; + } + kw_args = __Pyx_NumKwargs_FASTCALL(__pyx_kwds); + switch (__pyx_nargs) { + case 0: + if (likely((values[0] = __Pyx_GetKwValue_FASTCALL(__pyx_kwds, __pyx_kwvalues, __pyx_n_s_pyx_state)) != 0)) { + (void)__Pyx_Arg_NewRef_FASTCALL(values[0]); + kw_args--; + } + else if (unlikely(PyErr_Occurred())) __PYX_ERR(0, 3, __pyx_L3_error) + else goto __pyx_L5_argtuple_error; + } + if (unlikely(kw_args > 0)) { + const Py_ssize_t kwd_pos_args = __pyx_nargs; + if (unlikely(__Pyx_ParseOptionalKeywords(__pyx_kwds, __pyx_kwvalues, __pyx_pyargnames, 0, values + 0, kwd_pos_args, "__setstate_cython__") < 0)) __PYX_ERR(0, 3, __pyx_L3_error) + } + } else if (unlikely(__pyx_nargs != 1)) { + goto __pyx_L5_argtuple_error; + } else { + values[0] = __Pyx_Arg_FASTCALL(__pyx_args, 0); + } + __pyx_v___pyx_state = values[0]; + } + goto __pyx_L6_skip; + __pyx_L5_argtuple_error:; + __Pyx_RaiseArgtupleInvalid("__setstate_cython__", 1, 1, 1, __pyx_nargs); __PYX_ERR(0, 3, __pyx_L3_error) + __pyx_L6_skip:; + goto __pyx_L4_argument_unpacking_done; + __pyx_L3_error:; + { + Py_ssize_t __pyx_temp; + for (__pyx_temp=0; __pyx_temp < (Py_ssize_t)(sizeof(values)/sizeof(values[0])); ++__pyx_temp) { + __Pyx_Arg_XDECREF_FASTCALL(values[__pyx_temp]); + } + } + __Pyx_AddTraceback("selfdrive.classic_modeld.models.commonmodel_pyx.ModelFrame.__setstate_cython__", __pyx_clineno, __pyx_lineno, __pyx_filename); + __Pyx_RefNannyFinishContext(); + return NULL; + __pyx_L4_argument_unpacking_done:; + __pyx_r = __pyx_pf_9selfdrive_14classic_modeld_6models_15commonmodel_pyx_10ModelFrame_8__setstate_cython__(((struct __pyx_obj_9selfdrive_14classic_modeld_6models_15commonmodel_pyx_ModelFrame *)__pyx_v_self), __pyx_v___pyx_state); + + /* function exit code */ + { + Py_ssize_t __pyx_temp; + for (__pyx_temp=0; __pyx_temp < (Py_ssize_t)(sizeof(values)/sizeof(values[0])); ++__pyx_temp) { + __Pyx_Arg_XDECREF_FASTCALL(values[__pyx_temp]); + } + } + __Pyx_RefNannyFinishContext(); + return __pyx_r; +} + +static PyObject 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__pyx_state): # <<<<<<<<<<<<<< + * raise TypeError, "no default __reduce__ due to non-trivial __cinit__" + */ + + /* function exit code */ + __pyx_L1_error:; + __Pyx_AddTraceback("selfdrive.classic_modeld.models.commonmodel_pyx.ModelFrame.__setstate_cython__", __pyx_clineno, __pyx_lineno, __pyx_filename); + __pyx_r = NULL; + __Pyx_XGIVEREF(__pyx_r); + __Pyx_RefNannyFinishContext(); + return __pyx_r; +} + +static PyObject *__pyx_tp_new_9selfdrive_14classic_modeld_6models_15commonmodel_pyx_CLContext(PyTypeObject *t, PyObject *a, PyObject *k) { + PyObject *o = __Pyx_PyType_GetSlot(__pyx_ptype_4msgq_9visionipc_13visionipc_pyx_CLContext, tp_new, newfunc)(t, a, k); + if (unlikely(!o)) return 0; + if (unlikely(__pyx_pw_9selfdrive_14classic_modeld_6models_15commonmodel_pyx_9CLContext_1__cinit__(o, __pyx_empty_tuple, NULL) < 0)) goto bad; + return o; + bad: + Py_DECREF(o); o = 0; + return NULL; +} + +static PyMethodDef __pyx_methods_9selfdrive_14classic_modeld_6models_15commonmodel_pyx_CLContext[] = { + {"__reduce_cython__", (PyCFunction)(void*)(__Pyx_PyCFunction_FastCallWithKeywords)__pyx_pw_9selfdrive_14classic_modeld_6models_15commonmodel_pyx_9CLContext_3__reduce_cython__, __Pyx_METH_FASTCALL|METH_KEYWORDS, 0}, + {"__setstate_cython__", (PyCFunction)(void*)(__Pyx_PyCFunction_FastCallWithKeywords)__pyx_pw_9selfdrive_14classic_modeld_6models_15commonmodel_pyx_9CLContext_5__setstate_cython__, __Pyx_METH_FASTCALL|METH_KEYWORDS, 0}, + {0, 0, 0, 0} +}; +#if CYTHON_USE_TYPE_SPECS +static PyType_Slot __pyx_type_9selfdrive_14classic_modeld_6models_15commonmodel_pyx_CLContext_slots[] = { + {Py_tp_methods, (void *)__pyx_methods_9selfdrive_14classic_modeld_6models_15commonmodel_pyx_CLContext}, + {Py_tp_new, (void *)__pyx_tp_new_9selfdrive_14classic_modeld_6models_15commonmodel_pyx_CLContext}, + {0, 0}, +}; +static PyType_Spec __pyx_type_9selfdrive_14classic_modeld_6models_15commonmodel_pyx_CLContext_spec = { + "selfdrive.classic_modeld.models.commonmodel_pyx.CLContext", + sizeof(struct __pyx_obj_9selfdrive_14classic_modeld_6models_15commonmodel_pyx_CLContext), + 0, + Py_TPFLAGS_DEFAULT|Py_TPFLAGS_HAVE_VERSION_TAG|Py_TPFLAGS_CHECKTYPES|Py_TPFLAGS_HAVE_NEWBUFFER|Py_TPFLAGS_BASETYPE|Py_TPFLAGS_HAVE_FINALIZE, + __pyx_type_9selfdrive_14classic_modeld_6models_15commonmodel_pyx_CLContext_slots, +}; +#else + +static PyTypeObject __pyx_type_9selfdrive_14classic_modeld_6models_15commonmodel_pyx_CLContext = { + PyVarObject_HEAD_INIT(0, 0) + "selfdrive.classic_modeld.models.commonmodel_pyx.""CLContext", /*tp_name*/ + sizeof(struct __pyx_obj_9selfdrive_14classic_modeld_6models_15commonmodel_pyx_CLContext), /*tp_basicsize*/ + 0, /*tp_itemsize*/ + 0, /*tp_dealloc*/ + #if PY_VERSION_HEX < 0x030800b4 + 0, /*tp_print*/ + #endif + #if PY_VERSION_HEX >= 0x030800b4 + 0, /*tp_vectorcall_offset*/ + #endif + 0, /*tp_getattr*/ + 0, /*tp_setattr*/ + #if PY_MAJOR_VERSION < 3 + 0, /*tp_compare*/ + #endif + #if PY_MAJOR_VERSION >= 3 + 0, /*tp_as_async*/ + #endif + 0, /*tp_repr*/ + 0, /*tp_as_number*/ + 0, /*tp_as_sequence*/ + 0, /*tp_as_mapping*/ + 0, /*tp_hash*/ + 0, /*tp_call*/ + 0, /*tp_str*/ + 0, /*tp_getattro*/ + 0, /*tp_setattro*/ + 0, /*tp_as_buffer*/ + Py_TPFLAGS_DEFAULT|Py_TPFLAGS_HAVE_VERSION_TAG|Py_TPFLAGS_CHECKTYPES|Py_TPFLAGS_HAVE_NEWBUFFER|Py_TPFLAGS_BASETYPE|Py_TPFLAGS_HAVE_FINALIZE, /*tp_flags*/ + 0, /*tp_doc*/ + 0, /*tp_traverse*/ + 0, /*tp_clear*/ + 0, /*tp_richcompare*/ + 0, /*tp_weaklistoffset*/ + 0, /*tp_iter*/ + 0, /*tp_iternext*/ + __pyx_methods_9selfdrive_14classic_modeld_6models_15commonmodel_pyx_CLContext, /*tp_methods*/ + 0, /*tp_members*/ + 0, /*tp_getset*/ + 0, /*tp_base*/ + 0, /*tp_dict*/ + 0, /*tp_descr_get*/ + 0, /*tp_descr_set*/ + #if !CYTHON_USE_TYPE_SPECS + 0, /*tp_dictoffset*/ + #endif + 0, /*tp_init*/ + 0, /*tp_alloc*/ + __pyx_tp_new_9selfdrive_14classic_modeld_6models_15commonmodel_pyx_CLContext, /*tp_new*/ + 0, /*tp_free*/ + 0, /*tp_is_gc*/ + 0, /*tp_bases*/ + 0, /*tp_mro*/ + 0, /*tp_cache*/ + 0, /*tp_subclasses*/ + 0, /*tp_weaklist*/ + 0, /*tp_del*/ + 0, /*tp_version_tag*/ + #if PY_VERSION_HEX >= 0x030400a1 + #if CYTHON_USE_TP_FINALIZE + 0, /*tp_finalize*/ + #else + NULL, /*tp_finalize*/ + #endif + #endif + #if PY_VERSION_HEX >= 0x030800b1 && (!CYTHON_COMPILING_IN_PYPY || PYPY_VERSION_NUM >= 0x07030800) + 0, /*tp_vectorcall*/ + #endif + #if __PYX_NEED_TP_PRINT_SLOT == 1 + 0, /*tp_print*/ + #endif + #if PY_VERSION_HEX >= 0x030C0000 + 0, /*tp_watched*/ + #endif + #if CYTHON_COMPILING_IN_PYPY && PY_VERSION_HEX >= 0x03090000 && PY_VERSION_HEX < 0x030a0000 + 0, /*tp_pypy_flags*/ + #endif +}; +#endif +static struct __pyx_vtabstruct_9selfdrive_14classic_modeld_6models_15commonmodel_pyx_CLMem __pyx_vtable_9selfdrive_14classic_modeld_6models_15commonmodel_pyx_CLMem; + +static PyObject *__pyx_tp_new_9selfdrive_14classic_modeld_6models_15commonmodel_pyx_CLMem(PyTypeObject *t, CYTHON_UNUSED PyObject *a, CYTHON_UNUSED PyObject *k) { + struct __pyx_obj_9selfdrive_14classic_modeld_6models_15commonmodel_pyx_CLMem *p; + PyObject *o; + #if CYTHON_COMPILING_IN_LIMITED_API + allocfunc alloc_func = (allocfunc)PyType_GetSlot(t, Py_tp_alloc); + o = alloc_func(t, 0); + #else + if (likely(!__Pyx_PyType_HasFeature(t, Py_TPFLAGS_IS_ABSTRACT))) { + o = (*t->tp_alloc)(t, 0); + } else { + o = (PyObject *) PyBaseObject_Type.tp_new(t, __pyx_empty_tuple, 0); + } + if (unlikely(!o)) return 0; + #endif + p = ((struct __pyx_obj_9selfdrive_14classic_modeld_6models_15commonmodel_pyx_CLMem *)o); + p->__pyx_vtab = __pyx_vtabptr_9selfdrive_14classic_modeld_6models_15commonmodel_pyx_CLMem; + return o; +} + +static void __pyx_tp_dealloc_9selfdrive_14classic_modeld_6models_15commonmodel_pyx_CLMem(PyObject *o) { + #if CYTHON_USE_TP_FINALIZE + if (unlikely((PY_VERSION_HEX >= 0x03080000 || __Pyx_PyType_HasFeature(Py_TYPE(o), Py_TPFLAGS_HAVE_FINALIZE)) && __Pyx_PyObject_GetSlot(o, tp_finalize, destructor)) && (!PyType_IS_GC(Py_TYPE(o)) || !__Pyx_PyObject_GC_IsFinalized(o))) { + if (__Pyx_PyObject_GetSlot(o, tp_dealloc, destructor) == __pyx_tp_dealloc_9selfdrive_14classic_modeld_6models_15commonmodel_pyx_CLMem) { + if (PyObject_CallFinalizerFromDealloc(o)) return; + } + } + #endif + #if CYTHON_USE_TYPE_SLOTS || CYTHON_COMPILING_IN_PYPY + (*Py_TYPE(o)->tp_free)(o); + #else + { + freefunc tp_free = (freefunc)PyType_GetSlot(Py_TYPE(o), Py_tp_free); + if (tp_free) tp_free(o); + } + #endif +} + +static PyMethodDef __pyx_methods_9selfdrive_14classic_modeld_6models_15commonmodel_pyx_CLMem[] = { + {"__reduce_cython__", (PyCFunction)(void*)(__Pyx_PyCFunction_FastCallWithKeywords)__pyx_pw_9selfdrive_14classic_modeld_6models_15commonmodel_pyx_5CLMem_1__reduce_cython__, __Pyx_METH_FASTCALL|METH_KEYWORDS, 0}, + {"__setstate_cython__", (PyCFunction)(void*)(__Pyx_PyCFunction_FastCallWithKeywords)__pyx_pw_9selfdrive_14classic_modeld_6models_15commonmodel_pyx_5CLMem_3__setstate_cython__, __Pyx_METH_FASTCALL|METH_KEYWORDS, 0}, + {0, 0, 0, 0} +}; +#if CYTHON_USE_TYPE_SPECS +static PyType_Slot __pyx_type_9selfdrive_14classic_modeld_6models_15commonmodel_pyx_CLMem_slots[] = { + {Py_tp_dealloc, (void *)__pyx_tp_dealloc_9selfdrive_14classic_modeld_6models_15commonmodel_pyx_CLMem}, + {Py_tp_methods, (void *)__pyx_methods_9selfdrive_14classic_modeld_6models_15commonmodel_pyx_CLMem}, + {Py_tp_new, (void *)__pyx_tp_new_9selfdrive_14classic_modeld_6models_15commonmodel_pyx_CLMem}, + {0, 0}, +}; +static PyType_Spec __pyx_type_9selfdrive_14classic_modeld_6models_15commonmodel_pyx_CLMem_spec = { + "selfdrive.classic_modeld.models.commonmodel_pyx.CLMem", + sizeof(struct __pyx_obj_9selfdrive_14classic_modeld_6models_15commonmodel_pyx_CLMem), + 0, + Py_TPFLAGS_DEFAULT|Py_TPFLAGS_HAVE_VERSION_TAG|Py_TPFLAGS_CHECKTYPES|Py_TPFLAGS_HAVE_NEWBUFFER|Py_TPFLAGS_BASETYPE, + __pyx_type_9selfdrive_14classic_modeld_6models_15commonmodel_pyx_CLMem_slots, +}; +#else + +static PyTypeObject __pyx_type_9selfdrive_14classic_modeld_6models_15commonmodel_pyx_CLMem = { + PyVarObject_HEAD_INIT(0, 0) + "selfdrive.classic_modeld.models.commonmodel_pyx.""CLMem", /*tp_name*/ + sizeof(struct __pyx_obj_9selfdrive_14classic_modeld_6models_15commonmodel_pyx_CLMem), /*tp_basicsize*/ + 0, /*tp_itemsize*/ + __pyx_tp_dealloc_9selfdrive_14classic_modeld_6models_15commonmodel_pyx_CLMem, /*tp_dealloc*/ + #if PY_VERSION_HEX < 0x030800b4 + 0, /*tp_print*/ + #endif + #if PY_VERSION_HEX >= 0x030800b4 + 0, /*tp_vectorcall_offset*/ + #endif + 0, /*tp_getattr*/ + 0, /*tp_setattr*/ + #if PY_MAJOR_VERSION < 3 + 0, /*tp_compare*/ + #endif + #if PY_MAJOR_VERSION >= 3 + 0, /*tp_as_async*/ + #endif + 0, /*tp_repr*/ + 0, /*tp_as_number*/ + 0, /*tp_as_sequence*/ + 0, /*tp_as_mapping*/ + 0, /*tp_hash*/ + 0, /*tp_call*/ + 0, /*tp_str*/ + 0, /*tp_getattro*/ + 0, /*tp_setattro*/ + 0, /*tp_as_buffer*/ + Py_TPFLAGS_DEFAULT|Py_TPFLAGS_HAVE_VERSION_TAG|Py_TPFLAGS_CHECKTYPES|Py_TPFLAGS_HAVE_NEWBUFFER|Py_TPFLAGS_BASETYPE, /*tp_flags*/ + 0, /*tp_doc*/ + 0, /*tp_traverse*/ + 0, /*tp_clear*/ + 0, /*tp_richcompare*/ + 0, /*tp_weaklistoffset*/ + 0, /*tp_iter*/ + 0, /*tp_iternext*/ + __pyx_methods_9selfdrive_14classic_modeld_6models_15commonmodel_pyx_CLMem, /*tp_methods*/ + 0, /*tp_members*/ + 0, /*tp_getset*/ + 0, /*tp_base*/ + 0, /*tp_dict*/ + 0, /*tp_descr_get*/ + 0, /*tp_descr_set*/ + #if !CYTHON_USE_TYPE_SPECS + 0, /*tp_dictoffset*/ + #endif + 0, /*tp_init*/ + 0, /*tp_alloc*/ + __pyx_tp_new_9selfdrive_14classic_modeld_6models_15commonmodel_pyx_CLMem, /*tp_new*/ + 0, /*tp_free*/ + 0, /*tp_is_gc*/ + 0, /*tp_bases*/ + 0, /*tp_mro*/ + 0, /*tp_cache*/ + 0, /*tp_subclasses*/ + 0, /*tp_weaklist*/ + 0, /*tp_del*/ + 0, /*tp_version_tag*/ + #if PY_VERSION_HEX >= 0x030400a1 + #if CYTHON_USE_TP_FINALIZE + 0, /*tp_finalize*/ + #else + NULL, /*tp_finalize*/ + #endif + #endif + #if PY_VERSION_HEX >= 0x030800b1 && (!CYTHON_COMPILING_IN_PYPY || PYPY_VERSION_NUM >= 0x07030800) + 0, /*tp_vectorcall*/ + #endif + #if __PYX_NEED_TP_PRINT_SLOT == 1 + 0, /*tp_print*/ + #endif + #if PY_VERSION_HEX >= 0x030C0000 + 0, /*tp_watched*/ + #endif + #if CYTHON_COMPILING_IN_PYPY && PY_VERSION_HEX >= 0x03090000 && PY_VERSION_HEX < 0x030a0000 + 0, /*tp_pypy_flags*/ + #endif +}; +#endif + +static PyObject *__pyx_tp_new_9selfdrive_14classic_modeld_6models_15commonmodel_pyx_ModelFrame(PyTypeObject *t, PyObject *a, PyObject *k) { + PyObject *o; + #if CYTHON_COMPILING_IN_LIMITED_API + allocfunc alloc_func = (allocfunc)PyType_GetSlot(t, Py_tp_alloc); + o = alloc_func(t, 0); + #else + if (likely(!__Pyx_PyType_HasFeature(t, Py_TPFLAGS_IS_ABSTRACT))) { + o = (*t->tp_alloc)(t, 0); + } else { + o = (PyObject *) PyBaseObject_Type.tp_new(t, __pyx_empty_tuple, 0); + } + if (unlikely(!o)) return 0; + #endif + if (unlikely(__pyx_pw_9selfdrive_14classic_modeld_6models_15commonmodel_pyx_10ModelFrame_1__cinit__(o, a, k) < 0)) goto bad; + return o; + bad: + Py_DECREF(o); o = 0; + return NULL; +} + +static void __pyx_tp_dealloc_9selfdrive_14classic_modeld_6models_15commonmodel_pyx_ModelFrame(PyObject *o) { + #if CYTHON_USE_TP_FINALIZE + if (unlikely((PY_VERSION_HEX >= 0x03080000 || __Pyx_PyType_HasFeature(Py_TYPE(o), Py_TPFLAGS_HAVE_FINALIZE)) && __Pyx_PyObject_GetSlot(o, tp_finalize, destructor)) && (!PyType_IS_GC(Py_TYPE(o)) || !__Pyx_PyObject_GC_IsFinalized(o))) { + if (__Pyx_PyObject_GetSlot(o, tp_dealloc, destructor) == __pyx_tp_dealloc_9selfdrive_14classic_modeld_6models_15commonmodel_pyx_ModelFrame) { + if (PyObject_CallFinalizerFromDealloc(o)) return; + } + } + #endif + { + PyObject *etype, *eval, *etb; + PyErr_Fetch(&etype, &eval, &etb); + __Pyx_SET_REFCNT(o, Py_REFCNT(o) + 1); + __pyx_pw_9selfdrive_14classic_modeld_6models_15commonmodel_pyx_10ModelFrame_3__dealloc__(o); + __Pyx_SET_REFCNT(o, Py_REFCNT(o) - 1); + PyErr_Restore(etype, eval, etb); + } + #if CYTHON_USE_TYPE_SLOTS || CYTHON_COMPILING_IN_PYPY + (*Py_TYPE(o)->tp_free)(o); + #else + { + freefunc tp_free = (freefunc)PyType_GetSlot(Py_TYPE(o), Py_tp_free); + if (tp_free) tp_free(o); + } + #endif +} + +static PyMethodDef __pyx_methods_9selfdrive_14classic_modeld_6models_15commonmodel_pyx_ModelFrame[] = { + {"prepare", (PyCFunction)(void*)(__Pyx_PyCFunction_FastCallWithKeywords)__pyx_pw_9selfdrive_14classic_modeld_6models_15commonmodel_pyx_10ModelFrame_5prepare, __Pyx_METH_FASTCALL|METH_KEYWORDS, 0}, + {"__reduce_cython__", (PyCFunction)(void*)(__Pyx_PyCFunction_FastCallWithKeywords)__pyx_pw_9selfdrive_14classic_modeld_6models_15commonmodel_pyx_10ModelFrame_7__reduce_cython__, __Pyx_METH_FASTCALL|METH_KEYWORDS, 0}, + {"__setstate_cython__", (PyCFunction)(void*)(__Pyx_PyCFunction_FastCallWithKeywords)__pyx_pw_9selfdrive_14classic_modeld_6models_15commonmodel_pyx_10ModelFrame_9__setstate_cython__, __Pyx_METH_FASTCALL|METH_KEYWORDS, 0}, + {0, 0, 0, 0} +}; +#if CYTHON_USE_TYPE_SPECS +static PyType_Slot __pyx_type_9selfdrive_14classic_modeld_6models_15commonmodel_pyx_ModelFrame_slots[] = { + {Py_tp_dealloc, (void *)__pyx_tp_dealloc_9selfdrive_14classic_modeld_6models_15commonmodel_pyx_ModelFrame}, + {Py_tp_methods, (void *)__pyx_methods_9selfdrive_14classic_modeld_6models_15commonmodel_pyx_ModelFrame}, + {Py_tp_new, (void *)__pyx_tp_new_9selfdrive_14classic_modeld_6models_15commonmodel_pyx_ModelFrame}, + {0, 0}, +}; +static PyType_Spec __pyx_type_9selfdrive_14classic_modeld_6models_15commonmodel_pyx_ModelFrame_spec = { + "selfdrive.classic_modeld.models.commonmodel_pyx.ModelFrame", + sizeof(struct __pyx_obj_9selfdrive_14classic_modeld_6models_15commonmodel_pyx_ModelFrame), + 0, + Py_TPFLAGS_DEFAULT|Py_TPFLAGS_HAVE_VERSION_TAG|Py_TPFLAGS_CHECKTYPES|Py_TPFLAGS_HAVE_NEWBUFFER|Py_TPFLAGS_BASETYPE, + __pyx_type_9selfdrive_14classic_modeld_6models_15commonmodel_pyx_ModelFrame_slots, +}; +#else + +static PyTypeObject __pyx_type_9selfdrive_14classic_modeld_6models_15commonmodel_pyx_ModelFrame = { + PyVarObject_HEAD_INIT(0, 0) + "selfdrive.classic_modeld.models.commonmodel_pyx.""ModelFrame", /*tp_name*/ + sizeof(struct __pyx_obj_9selfdrive_14classic_modeld_6models_15commonmodel_pyx_ModelFrame), /*tp_basicsize*/ + 0, /*tp_itemsize*/ + __pyx_tp_dealloc_9selfdrive_14classic_modeld_6models_15commonmodel_pyx_ModelFrame, /*tp_dealloc*/ + #if PY_VERSION_HEX < 0x030800b4 + 0, /*tp_print*/ + #endif + #if PY_VERSION_HEX >= 0x030800b4 + 0, /*tp_vectorcall_offset*/ + #endif + 0, /*tp_getattr*/ + 0, /*tp_setattr*/ + #if PY_MAJOR_VERSION < 3 + 0, /*tp_compare*/ + #endif + #if PY_MAJOR_VERSION >= 3 + 0, /*tp_as_async*/ + #endif + 0, /*tp_repr*/ + 0, /*tp_as_number*/ + 0, /*tp_as_sequence*/ + 0, /*tp_as_mapping*/ + 0, /*tp_hash*/ + 0, /*tp_call*/ + 0, /*tp_str*/ + 0, /*tp_getattro*/ + 0, /*tp_setattro*/ + 0, /*tp_as_buffer*/ + Py_TPFLAGS_DEFAULT|Py_TPFLAGS_HAVE_VERSION_TAG|Py_TPFLAGS_CHECKTYPES|Py_TPFLAGS_HAVE_NEWBUFFER|Py_TPFLAGS_BASETYPE, /*tp_flags*/ + 0, /*tp_doc*/ + 0, /*tp_traverse*/ + 0, /*tp_clear*/ + 0, /*tp_richcompare*/ + 0, /*tp_weaklistoffset*/ + 0, /*tp_iter*/ + 0, /*tp_iternext*/ + __pyx_methods_9selfdrive_14classic_modeld_6models_15commonmodel_pyx_ModelFrame, /*tp_methods*/ + 0, /*tp_members*/ + 0, /*tp_getset*/ + 0, /*tp_base*/ + 0, /*tp_dict*/ + 0, /*tp_descr_get*/ + 0, /*tp_descr_set*/ + #if !CYTHON_USE_TYPE_SPECS + 0, /*tp_dictoffset*/ + #endif + 0, /*tp_init*/ + 0, /*tp_alloc*/ + __pyx_tp_new_9selfdrive_14classic_modeld_6models_15commonmodel_pyx_ModelFrame, /*tp_new*/ + 0, /*tp_free*/ + 0, /*tp_is_gc*/ + 0, /*tp_bases*/ + 0, /*tp_mro*/ + 0, /*tp_cache*/ + 0, /*tp_subclasses*/ + 0, /*tp_weaklist*/ + 0, /*tp_del*/ + 0, /*tp_version_tag*/ + #if PY_VERSION_HEX >= 0x030400a1 + #if CYTHON_USE_TP_FINALIZE + 0, /*tp_finalize*/ + #else + NULL, /*tp_finalize*/ + #endif + #endif + #if PY_VERSION_HEX >= 0x030800b1 && (!CYTHON_COMPILING_IN_PYPY || PYPY_VERSION_NUM >= 0x07030800) + 0, /*tp_vectorcall*/ + #endif + #if __PYX_NEED_TP_PRINT_SLOT == 1 + 0, /*tp_print*/ + #endif + #if PY_VERSION_HEX >= 0x030C0000 + 0, /*tp_watched*/ + #endif + #if CYTHON_COMPILING_IN_PYPY && PY_VERSION_HEX >= 0x03090000 && PY_VERSION_HEX < 0x030a0000 + 0, /*tp_pypy_flags*/ + #endif +}; +#endif +static struct __pyx_vtabstruct_array __pyx_vtable_array; + +static PyObject *__pyx_tp_new_array(PyTypeObject *t, PyObject *a, PyObject *k) { + struct __pyx_array_obj *p; + PyObject *o; + #if CYTHON_COMPILING_IN_LIMITED_API + allocfunc alloc_func = (allocfunc)PyType_GetSlot(t, Py_tp_alloc); + o = alloc_func(t, 0); + #else + if (likely(!__Pyx_PyType_HasFeature(t, Py_TPFLAGS_IS_ABSTRACT))) { + o = (*t->tp_alloc)(t, 0); + } else { + o = (PyObject *) PyBaseObject_Type.tp_new(t, __pyx_empty_tuple, 0); + } + if (unlikely(!o)) return 0; + #endif + p = ((struct __pyx_array_obj *)o); + p->__pyx_vtab = __pyx_vtabptr_array; + p->mode = ((PyObject*)Py_None); Py_INCREF(Py_None); + p->_format = ((PyObject*)Py_None); Py_INCREF(Py_None); + if (unlikely(__pyx_array___cinit__(o, a, k) < 0)) goto bad; + return o; + bad: + Py_DECREF(o); o = 0; + return NULL; +} + +static void __pyx_tp_dealloc_array(PyObject *o) { + struct __pyx_array_obj *p = (struct __pyx_array_obj *)o; + #if CYTHON_USE_TP_FINALIZE + if (unlikely((PY_VERSION_HEX >= 0x03080000 || __Pyx_PyType_HasFeature(Py_TYPE(o), Py_TPFLAGS_HAVE_FINALIZE)) && __Pyx_PyObject_GetSlot(o, tp_finalize, destructor)) && (!PyType_IS_GC(Py_TYPE(o)) || !__Pyx_PyObject_GC_IsFinalized(o))) { + if (__Pyx_PyObject_GetSlot(o, tp_dealloc, destructor) == __pyx_tp_dealloc_array) { + if (PyObject_CallFinalizerFromDealloc(o)) return; + } + } + #endif + { + PyObject *etype, *eval, *etb; + PyErr_Fetch(&etype, &eval, &etb); + __Pyx_SET_REFCNT(o, Py_REFCNT(o) + 1); + __pyx_array___dealloc__(o); + __Pyx_SET_REFCNT(o, Py_REFCNT(o) - 1); + PyErr_Restore(etype, eval, etb); + } + Py_CLEAR(p->mode); + Py_CLEAR(p->_format); + #if CYTHON_USE_TYPE_SLOTS || CYTHON_COMPILING_IN_PYPY + (*Py_TYPE(o)->tp_free)(o); + #else + { + freefunc tp_free = (freefunc)PyType_GetSlot(Py_TYPE(o), Py_tp_free); + if (tp_free) tp_free(o); + } + #endif +} +static PyObject *__pyx_sq_item_array(PyObject *o, Py_ssize_t i) { + PyObject *r; + PyObject *x = PyInt_FromSsize_t(i); if(!x) return 0; + r = Py_TYPE(o)->tp_as_mapping->mp_subscript(o, x); + Py_DECREF(x); + return r; +} + +static int __pyx_mp_ass_subscript_array(PyObject *o, PyObject *i, PyObject *v) { + if (v) { + return __pyx_array___setitem__(o, i, v); + } + else { + __Pyx_TypeName o_type_name; + o_type_name = __Pyx_PyType_GetName(Py_TYPE(o)); + PyErr_Format(PyExc_NotImplementedError, + "Subscript deletion not supported by " __Pyx_FMT_TYPENAME, o_type_name); + __Pyx_DECREF_TypeName(o_type_name); + return -1; + } +} + +static PyObject *__pyx_tp_getattro_array(PyObject *o, PyObject *n) { + PyObject *v = __Pyx_PyObject_GenericGetAttr(o, n); + if (!v && PyErr_ExceptionMatches(PyExc_AttributeError)) { + PyErr_Clear(); + v = __pyx_array___getattr__(o, n); + } + return v; +} + +static PyObject *__pyx_getprop___pyx_array_memview(PyObject *o, CYTHON_UNUSED void *x) { + return __pyx_pw_15View_dot_MemoryView_5array_7memview_1__get__(o); +} + +static PyMethodDef __pyx_methods_array[] = { + {"__getattr__", (PyCFunction)__pyx_array___getattr__, METH_O|METH_COEXIST, 0}, + {"__reduce_cython__", (PyCFunction)(void*)(__Pyx_PyCFunction_FastCallWithKeywords)__pyx_pw___pyx_array_1__reduce_cython__, __Pyx_METH_FASTCALL|METH_KEYWORDS, 0}, + {"__setstate_cython__", (PyCFunction)(void*)(__Pyx_PyCFunction_FastCallWithKeywords)__pyx_pw___pyx_array_3__setstate_cython__, __Pyx_METH_FASTCALL|METH_KEYWORDS, 0}, + {0, 0, 0, 0} +}; + +static struct PyGetSetDef __pyx_getsets_array[] = { + {(char *)"memview", __pyx_getprop___pyx_array_memview, 0, (char *)0, 0}, + {0, 0, 0, 0, 0} +}; +#if CYTHON_USE_TYPE_SPECS +#if !CYTHON_COMPILING_IN_LIMITED_API + +static PyBufferProcs __pyx_tp_as_buffer_array = { + #if PY_MAJOR_VERSION < 3 + 0, /*bf_getreadbuffer*/ + #endif + #if PY_MAJOR_VERSION < 3 + 0, /*bf_getwritebuffer*/ + #endif + #if PY_MAJOR_VERSION < 3 + 0, /*bf_getsegcount*/ + #endif + #if PY_MAJOR_VERSION < 3 + 0, /*bf_getcharbuffer*/ + #endif + __pyx_array_getbuffer, /*bf_getbuffer*/ + 0, /*bf_releasebuffer*/ +}; +#endif +static PyType_Slot __pyx_type___pyx_array_slots[] = { + {Py_tp_dealloc, (void *)__pyx_tp_dealloc_array}, + {Py_sq_length, (void *)__pyx_array___len__}, + {Py_sq_item, (void *)__pyx_sq_item_array}, + {Py_mp_length, (void *)__pyx_array___len__}, + {Py_mp_subscript, (void *)__pyx_array___getitem__}, + {Py_mp_ass_subscript, (void *)__pyx_mp_ass_subscript_array}, + {Py_tp_getattro, (void *)__pyx_tp_getattro_array}, + #if defined(Py_bf_getbuffer) + {Py_bf_getbuffer, (void *)__pyx_array_getbuffer}, + #endif + {Py_tp_methods, (void *)__pyx_methods_array}, + {Py_tp_getset, (void *)__pyx_getsets_array}, + {Py_tp_new, (void *)__pyx_tp_new_array}, + {0, 0}, +}; +static PyType_Spec __pyx_type___pyx_array_spec = { + "selfdrive.classic_modeld.models.commonmodel_pyx.array", + sizeof(struct __pyx_array_obj), + 0, + Py_TPFLAGS_DEFAULT|Py_TPFLAGS_HAVE_VERSION_TAG|Py_TPFLAGS_CHECKTYPES|Py_TPFLAGS_HAVE_NEWBUFFER|Py_TPFLAGS_BASETYPE|Py_TPFLAGS_SEQUENCE, + __pyx_type___pyx_array_slots, +}; +#else + +static PySequenceMethods __pyx_tp_as_sequence_array = { + __pyx_array___len__, /*sq_length*/ + 0, /*sq_concat*/ + 0, /*sq_repeat*/ + __pyx_sq_item_array, /*sq_item*/ + 0, /*sq_slice*/ + 0, /*sq_ass_item*/ + 0, /*sq_ass_slice*/ + 0, /*sq_contains*/ + 0, /*sq_inplace_concat*/ + 0, /*sq_inplace_repeat*/ +}; + +static PyMappingMethods __pyx_tp_as_mapping_array = { + __pyx_array___len__, /*mp_length*/ + __pyx_array___getitem__, /*mp_subscript*/ + __pyx_mp_ass_subscript_array, /*mp_ass_subscript*/ +}; + +static PyBufferProcs __pyx_tp_as_buffer_array = { + #if PY_MAJOR_VERSION < 3 + 0, /*bf_getreadbuffer*/ + #endif + #if PY_MAJOR_VERSION < 3 + 0, /*bf_getwritebuffer*/ + #endif + #if PY_MAJOR_VERSION < 3 + 0, /*bf_getsegcount*/ + #endif + #if PY_MAJOR_VERSION < 3 + 0, /*bf_getcharbuffer*/ + #endif + __pyx_array_getbuffer, /*bf_getbuffer*/ + 0, /*bf_releasebuffer*/ +}; + +static PyTypeObject __pyx_type___pyx_array = { + PyVarObject_HEAD_INIT(0, 0) + "selfdrive.classic_modeld.models.commonmodel_pyx.""array", /*tp_name*/ + sizeof(struct __pyx_array_obj), /*tp_basicsize*/ + 0, /*tp_itemsize*/ + __pyx_tp_dealloc_array, /*tp_dealloc*/ + #if PY_VERSION_HEX < 0x030800b4 + 0, /*tp_print*/ + #endif + #if PY_VERSION_HEX >= 0x030800b4 + 0, /*tp_vectorcall_offset*/ + #endif + 0, /*tp_getattr*/ + 0, /*tp_setattr*/ + #if PY_MAJOR_VERSION < 3 + 0, /*tp_compare*/ + #endif + #if PY_MAJOR_VERSION >= 3 + 0, /*tp_as_async*/ + #endif + 0, /*tp_repr*/ + 0, /*tp_as_number*/ + &__pyx_tp_as_sequence_array, /*tp_as_sequence*/ + &__pyx_tp_as_mapping_array, /*tp_as_mapping*/ + 0, /*tp_hash*/ + 0, /*tp_call*/ + 0, /*tp_str*/ + __pyx_tp_getattro_array, /*tp_getattro*/ + 0, /*tp_setattro*/ + &__pyx_tp_as_buffer_array, /*tp_as_buffer*/ + Py_TPFLAGS_DEFAULT|Py_TPFLAGS_HAVE_VERSION_TAG|Py_TPFLAGS_CHECKTYPES|Py_TPFLAGS_HAVE_NEWBUFFER|Py_TPFLAGS_BASETYPE|Py_TPFLAGS_SEQUENCE, /*tp_flags*/ + 0, /*tp_doc*/ + 0, /*tp_traverse*/ + 0, /*tp_clear*/ + 0, /*tp_richcompare*/ + 0, /*tp_weaklistoffset*/ + 0, /*tp_iter*/ + 0, /*tp_iternext*/ + __pyx_methods_array, /*tp_methods*/ + 0, /*tp_members*/ + __pyx_getsets_array, /*tp_getset*/ + 0, /*tp_base*/ + 0, /*tp_dict*/ + 0, /*tp_descr_get*/ + 0, /*tp_descr_set*/ + #if !CYTHON_USE_TYPE_SPECS + 0, /*tp_dictoffset*/ + #endif + 0, /*tp_init*/ + 0, /*tp_alloc*/ + __pyx_tp_new_array, /*tp_new*/ + 0, /*tp_free*/ + 0, /*tp_is_gc*/ + 0, /*tp_bases*/ + 0, /*tp_mro*/ + 0, /*tp_cache*/ + 0, /*tp_subclasses*/ + 0, /*tp_weaklist*/ + 0, /*tp_del*/ + 0, /*tp_version_tag*/ + #if PY_VERSION_HEX >= 0x030400a1 + #if CYTHON_USE_TP_FINALIZE + 0, /*tp_finalize*/ + #else + NULL, /*tp_finalize*/ + #endif + #endif + #if PY_VERSION_HEX >= 0x030800b1 && (!CYTHON_COMPILING_IN_PYPY || PYPY_VERSION_NUM >= 0x07030800) + 0, /*tp_vectorcall*/ + #endif + #if __PYX_NEED_TP_PRINT_SLOT == 1 + 0, /*tp_print*/ + #endif + #if PY_VERSION_HEX >= 0x030C0000 + 0, /*tp_watched*/ + #endif + #if CYTHON_COMPILING_IN_PYPY && PY_VERSION_HEX >= 0x03090000 && PY_VERSION_HEX < 0x030a0000 + 0, /*tp_pypy_flags*/ + #endif +}; +#endif + +static PyObject *__pyx_tp_new_Enum(PyTypeObject *t, CYTHON_UNUSED PyObject *a, CYTHON_UNUSED PyObject *k) { + struct __pyx_MemviewEnum_obj *p; + PyObject *o; + #if CYTHON_COMPILING_IN_LIMITED_API + allocfunc alloc_func = (allocfunc)PyType_GetSlot(t, Py_tp_alloc); + o = alloc_func(t, 0); + #else + if (likely(!__Pyx_PyType_HasFeature(t, Py_TPFLAGS_IS_ABSTRACT))) { + o = (*t->tp_alloc)(t, 0); + } else { + o = (PyObject *) PyBaseObject_Type.tp_new(t, __pyx_empty_tuple, 0); + } + if (unlikely(!o)) return 0; + #endif + p = ((struct __pyx_MemviewEnum_obj *)o); + p->name = Py_None; Py_INCREF(Py_None); + return o; +} + +static void __pyx_tp_dealloc_Enum(PyObject *o) { + struct __pyx_MemviewEnum_obj *p = (struct __pyx_MemviewEnum_obj *)o; + #if CYTHON_USE_TP_FINALIZE + if (unlikely((PY_VERSION_HEX >= 0x03080000 || __Pyx_PyType_HasFeature(Py_TYPE(o), Py_TPFLAGS_HAVE_FINALIZE)) && __Pyx_PyObject_GetSlot(o, tp_finalize, destructor)) && !__Pyx_PyObject_GC_IsFinalized(o)) { + if (__Pyx_PyObject_GetSlot(o, tp_dealloc, destructor) == __pyx_tp_dealloc_Enum) { + if (PyObject_CallFinalizerFromDealloc(o)) return; + } + } + #endif + PyObject_GC_UnTrack(o); + Py_CLEAR(p->name); + #if CYTHON_USE_TYPE_SLOTS || CYTHON_COMPILING_IN_PYPY + (*Py_TYPE(o)->tp_free)(o); + #else + { + freefunc tp_free = (freefunc)PyType_GetSlot(Py_TYPE(o), Py_tp_free); + if (tp_free) tp_free(o); + } + #endif +} + +static int __pyx_tp_traverse_Enum(PyObject *o, visitproc v, void *a) { + int e; + struct __pyx_MemviewEnum_obj *p = (struct __pyx_MemviewEnum_obj *)o; + if (p->name) { + e = (*v)(p->name, a); if (e) return e; + } + return 0; +} + +static int __pyx_tp_clear_Enum(PyObject *o) { + PyObject* tmp; + struct __pyx_MemviewEnum_obj *p = (struct __pyx_MemviewEnum_obj *)o; + tmp = ((PyObject*)p->name); + p->name = Py_None; Py_INCREF(Py_None); + Py_XDECREF(tmp); + return 0; +} + +static PyObject *__pyx_specialmethod___pyx_MemviewEnum___repr__(PyObject *self, CYTHON_UNUSED PyObject *arg) { + return __pyx_MemviewEnum___repr__(self); +} + +static PyMethodDef __pyx_methods_Enum[] = { + {"__repr__", (PyCFunction)__pyx_specialmethod___pyx_MemviewEnum___repr__, METH_NOARGS|METH_COEXIST, 0}, + {"__reduce_cython__", (PyCFunction)(void*)(__Pyx_PyCFunction_FastCallWithKeywords)__pyx_pw___pyx_MemviewEnum_1__reduce_cython__, __Pyx_METH_FASTCALL|METH_KEYWORDS, 0}, + {"__setstate_cython__", (PyCFunction)(void*)(__Pyx_PyCFunction_FastCallWithKeywords)__pyx_pw___pyx_MemviewEnum_3__setstate_cython__, __Pyx_METH_FASTCALL|METH_KEYWORDS, 0}, + {0, 0, 0, 0} +}; +#if CYTHON_USE_TYPE_SPECS +static PyType_Slot __pyx_type___pyx_MemviewEnum_slots[] = { + {Py_tp_dealloc, (void *)__pyx_tp_dealloc_Enum}, + {Py_tp_repr, (void *)__pyx_MemviewEnum___repr__}, + {Py_tp_traverse, (void *)__pyx_tp_traverse_Enum}, + {Py_tp_clear, (void *)__pyx_tp_clear_Enum}, + {Py_tp_methods, (void *)__pyx_methods_Enum}, + {Py_tp_init, (void *)__pyx_MemviewEnum___init__}, + {Py_tp_new, (void *)__pyx_tp_new_Enum}, + {0, 0}, +}; +static PyType_Spec __pyx_type___pyx_MemviewEnum_spec = { + "selfdrive.classic_modeld.models.commonmodel_pyx.Enum", + sizeof(struct __pyx_MemviewEnum_obj), + 0, + Py_TPFLAGS_DEFAULT|Py_TPFLAGS_HAVE_VERSION_TAG|Py_TPFLAGS_CHECKTYPES|Py_TPFLAGS_HAVE_NEWBUFFER|Py_TPFLAGS_BASETYPE|Py_TPFLAGS_HAVE_GC, + __pyx_type___pyx_MemviewEnum_slots, +}; +#else + +static PyTypeObject __pyx_type___pyx_MemviewEnum = { + PyVarObject_HEAD_INIT(0, 0) + "selfdrive.classic_modeld.models.commonmodel_pyx.""Enum", /*tp_name*/ + sizeof(struct __pyx_MemviewEnum_obj), /*tp_basicsize*/ + 0, /*tp_itemsize*/ + __pyx_tp_dealloc_Enum, /*tp_dealloc*/ + #if PY_VERSION_HEX < 0x030800b4 + 0, /*tp_print*/ + #endif + #if PY_VERSION_HEX >= 0x030800b4 + 0, /*tp_vectorcall_offset*/ + #endif + 0, /*tp_getattr*/ + 0, /*tp_setattr*/ + #if PY_MAJOR_VERSION < 3 + 0, /*tp_compare*/ + #endif + #if PY_MAJOR_VERSION >= 3 + 0, /*tp_as_async*/ + #endif + __pyx_MemviewEnum___repr__, /*tp_repr*/ + 0, /*tp_as_number*/ + 0, /*tp_as_sequence*/ + 0, /*tp_as_mapping*/ + 0, /*tp_hash*/ + 0, /*tp_call*/ + 0, /*tp_str*/ + 0, /*tp_getattro*/ + 0, /*tp_setattro*/ + 0, /*tp_as_buffer*/ + Py_TPFLAGS_DEFAULT|Py_TPFLAGS_HAVE_VERSION_TAG|Py_TPFLAGS_CHECKTYPES|Py_TPFLAGS_HAVE_NEWBUFFER|Py_TPFLAGS_BASETYPE|Py_TPFLAGS_HAVE_GC, /*tp_flags*/ + 0, /*tp_doc*/ + __pyx_tp_traverse_Enum, /*tp_traverse*/ + __pyx_tp_clear_Enum, /*tp_clear*/ + 0, /*tp_richcompare*/ + 0, /*tp_weaklistoffset*/ + 0, /*tp_iter*/ + 0, /*tp_iternext*/ + __pyx_methods_Enum, /*tp_methods*/ + 0, /*tp_members*/ + 0, /*tp_getset*/ + 0, /*tp_base*/ + 0, /*tp_dict*/ + 0, /*tp_descr_get*/ + 0, /*tp_descr_set*/ + #if !CYTHON_USE_TYPE_SPECS + 0, /*tp_dictoffset*/ + #endif + __pyx_MemviewEnum___init__, /*tp_init*/ + 0, /*tp_alloc*/ + __pyx_tp_new_Enum, /*tp_new*/ + 0, /*tp_free*/ + 0, /*tp_is_gc*/ + 0, /*tp_bases*/ + 0, /*tp_mro*/ + 0, /*tp_cache*/ + 0, /*tp_subclasses*/ + 0, /*tp_weaklist*/ + 0, /*tp_del*/ + 0, /*tp_version_tag*/ + #if PY_VERSION_HEX >= 0x030400a1 + #if CYTHON_USE_TP_FINALIZE + 0, /*tp_finalize*/ + #else + NULL, /*tp_finalize*/ + #endif + #endif + #if PY_VERSION_HEX >= 0x030800b1 && (!CYTHON_COMPILING_IN_PYPY || PYPY_VERSION_NUM >= 0x07030800) + 0, /*tp_vectorcall*/ + #endif + #if __PYX_NEED_TP_PRINT_SLOT == 1 + 0, /*tp_print*/ + #endif + #if PY_VERSION_HEX >= 0x030C0000 + 0, /*tp_watched*/ + #endif + #if CYTHON_COMPILING_IN_PYPY && PY_VERSION_HEX >= 0x03090000 && PY_VERSION_HEX < 0x030a0000 + 0, /*tp_pypy_flags*/ + #endif +}; +#endif +static struct __pyx_vtabstruct_memoryview __pyx_vtable_memoryview; + +static PyObject *__pyx_tp_new_memoryview(PyTypeObject *t, PyObject *a, PyObject *k) { + struct __pyx_memoryview_obj *p; + PyObject *o; + #if CYTHON_COMPILING_IN_LIMITED_API + allocfunc alloc_func = (allocfunc)PyType_GetSlot(t, Py_tp_alloc); + o = alloc_func(t, 0); + #else + if (likely(!__Pyx_PyType_HasFeature(t, Py_TPFLAGS_IS_ABSTRACT))) { + o = (*t->tp_alloc)(t, 0); + } else { + o = (PyObject *) PyBaseObject_Type.tp_new(t, __pyx_empty_tuple, 0); + } + if (unlikely(!o)) return 0; + #endif + p = ((struct __pyx_memoryview_obj *)o); + p->__pyx_vtab = __pyx_vtabptr_memoryview; + p->obj = Py_None; Py_INCREF(Py_None); + p->_size = Py_None; Py_INCREF(Py_None); + p->_array_interface = Py_None; Py_INCREF(Py_None); + p->view.obj = NULL; + if (unlikely(__pyx_memoryview___cinit__(o, a, k) < 0)) goto bad; + return o; + bad: + Py_DECREF(o); o = 0; + return NULL; +} + +static void __pyx_tp_dealloc_memoryview(PyObject *o) { + struct __pyx_memoryview_obj *p = (struct __pyx_memoryview_obj *)o; + #if CYTHON_USE_TP_FINALIZE + if (unlikely((PY_VERSION_HEX >= 0x03080000 || __Pyx_PyType_HasFeature(Py_TYPE(o), Py_TPFLAGS_HAVE_FINALIZE)) && __Pyx_PyObject_GetSlot(o, tp_finalize, destructor)) && !__Pyx_PyObject_GC_IsFinalized(o)) { + if (__Pyx_PyObject_GetSlot(o, tp_dealloc, destructor) == __pyx_tp_dealloc_memoryview) { + if (PyObject_CallFinalizerFromDealloc(o)) return; + } + } + #endif + PyObject_GC_UnTrack(o); + { + PyObject *etype, *eval, *etb; + PyErr_Fetch(&etype, &eval, &etb); + __Pyx_SET_REFCNT(o, Py_REFCNT(o) + 1); + __pyx_memoryview___dealloc__(o); + __Pyx_SET_REFCNT(o, Py_REFCNT(o) - 1); + PyErr_Restore(etype, eval, etb); + } + Py_CLEAR(p->obj); + Py_CLEAR(p->_size); + Py_CLEAR(p->_array_interface); + #if CYTHON_USE_TYPE_SLOTS || CYTHON_COMPILING_IN_PYPY + (*Py_TYPE(o)->tp_free)(o); + #else + { + freefunc tp_free = (freefunc)PyType_GetSlot(Py_TYPE(o), Py_tp_free); + if (tp_free) tp_free(o); + } + #endif +} + +static int __pyx_tp_traverse_memoryview(PyObject *o, visitproc v, void *a) { + int e; + struct __pyx_memoryview_obj *p = (struct __pyx_memoryview_obj *)o; + if (p->obj) { + e = (*v)(p->obj, a); if (e) return e; + } + if (p->_size) { + e = (*v)(p->_size, a); if (e) return e; + } + if (p->_array_interface) { + e = (*v)(p->_array_interface, a); if (e) return e; + } + if (p->view.obj) { + e = (*v)(p->view.obj, a); if (e) return e; + } + return 0; +} + +static int __pyx_tp_clear_memoryview(PyObject *o) { + PyObject* tmp; + struct __pyx_memoryview_obj *p = (struct __pyx_memoryview_obj *)o; + tmp = ((PyObject*)p->obj); + p->obj = Py_None; Py_INCREF(Py_None); + Py_XDECREF(tmp); + tmp = ((PyObject*)p->_size); + p->_size = Py_None; Py_INCREF(Py_None); + Py_XDECREF(tmp); + tmp = ((PyObject*)p->_array_interface); + p->_array_interface = Py_None; Py_INCREF(Py_None); + Py_XDECREF(tmp); + Py_CLEAR(p->view.obj); + return 0; +} +static PyObject *__pyx_sq_item_memoryview(PyObject *o, Py_ssize_t i) { + PyObject *r; + PyObject *x = PyInt_FromSsize_t(i); if(!x) return 0; + r = Py_TYPE(o)->tp_as_mapping->mp_subscript(o, x); + Py_DECREF(x); + return r; +} + +static int __pyx_mp_ass_subscript_memoryview(PyObject *o, PyObject *i, PyObject *v) { + if (v) { + return __pyx_memoryview___setitem__(o, i, v); + } + else { + __Pyx_TypeName o_type_name; + o_type_name = __Pyx_PyType_GetName(Py_TYPE(o)); + PyErr_Format(PyExc_NotImplementedError, + "Subscript deletion not supported by " __Pyx_FMT_TYPENAME, o_type_name); + __Pyx_DECREF_TypeName(o_type_name); + return -1; + } +} + +static PyObject *__pyx_getprop___pyx_memoryview_T(PyObject *o, CYTHON_UNUSED void *x) { + return __pyx_pw_15View_dot_MemoryView_10memoryview_1T_1__get__(o); +} + +static PyObject *__pyx_getprop___pyx_memoryview_base(PyObject *o, CYTHON_UNUSED void *x) { + return __pyx_pw_15View_dot_MemoryView_10memoryview_4base_1__get__(o); +} + +static PyObject *__pyx_getprop___pyx_memoryview_shape(PyObject *o, CYTHON_UNUSED void *x) { + return __pyx_pw_15View_dot_MemoryView_10memoryview_5shape_1__get__(o); +} + +static PyObject *__pyx_getprop___pyx_memoryview_strides(PyObject *o, CYTHON_UNUSED void *x) { + return __pyx_pw_15View_dot_MemoryView_10memoryview_7strides_1__get__(o); +} + +static PyObject *__pyx_getprop___pyx_memoryview_suboffsets(PyObject *o, CYTHON_UNUSED void *x) { + return __pyx_pw_15View_dot_MemoryView_10memoryview_10suboffsets_1__get__(o); +} + +static PyObject *__pyx_getprop___pyx_memoryview_ndim(PyObject *o, CYTHON_UNUSED void *x) { + return __pyx_pw_15View_dot_MemoryView_10memoryview_4ndim_1__get__(o); +} + +static PyObject *__pyx_getprop___pyx_memoryview_itemsize(PyObject *o, CYTHON_UNUSED void *x) { + return __pyx_pw_15View_dot_MemoryView_10memoryview_8itemsize_1__get__(o); +} + +static PyObject *__pyx_getprop___pyx_memoryview_nbytes(PyObject *o, CYTHON_UNUSED void *x) { + return __pyx_pw_15View_dot_MemoryView_10memoryview_6nbytes_1__get__(o); +} + +static PyObject *__pyx_getprop___pyx_memoryview_size(PyObject *o, CYTHON_UNUSED void *x) { + return __pyx_pw_15View_dot_MemoryView_10memoryview_4size_1__get__(o); +} + +static PyObject *__pyx_specialmethod___pyx_memoryview___repr__(PyObject *self, CYTHON_UNUSED PyObject *arg) { + return __pyx_memoryview___repr__(self); +} + +static PyMethodDef __pyx_methods_memoryview[] = { + {"__repr__", (PyCFunction)__pyx_specialmethod___pyx_memoryview___repr__, METH_NOARGS|METH_COEXIST, 0}, + {"is_c_contig", (PyCFunction)(void*)(__Pyx_PyCFunction_FastCallWithKeywords)__pyx_memoryview_is_c_contig, __Pyx_METH_FASTCALL|METH_KEYWORDS, 0}, + {"is_f_contig", (PyCFunction)(void*)(__Pyx_PyCFunction_FastCallWithKeywords)__pyx_memoryview_is_f_contig, __Pyx_METH_FASTCALL|METH_KEYWORDS, 0}, + {"copy", (PyCFunction)(void*)(__Pyx_PyCFunction_FastCallWithKeywords)__pyx_memoryview_copy, __Pyx_METH_FASTCALL|METH_KEYWORDS, 0}, + {"copy_fortran", (PyCFunction)(void*)(__Pyx_PyCFunction_FastCallWithKeywords)__pyx_memoryview_copy_fortran, __Pyx_METH_FASTCALL|METH_KEYWORDS, 0}, + {"__reduce_cython__", (PyCFunction)(void*)(__Pyx_PyCFunction_FastCallWithKeywords)__pyx_pw___pyx_memoryview_1__reduce_cython__, __Pyx_METH_FASTCALL|METH_KEYWORDS, 0}, + {"__setstate_cython__", (PyCFunction)(void*)(__Pyx_PyCFunction_FastCallWithKeywords)__pyx_pw___pyx_memoryview_3__setstate_cython__, __Pyx_METH_FASTCALL|METH_KEYWORDS, 0}, + {0, 0, 0, 0} +}; + +static struct PyGetSetDef __pyx_getsets_memoryview[] = { + {(char *)"T", __pyx_getprop___pyx_memoryview_T, 0, (char *)0, 0}, + {(char *)"base", __pyx_getprop___pyx_memoryview_base, 0, (char *)0, 0}, + {(char *)"shape", __pyx_getprop___pyx_memoryview_shape, 0, (char *)0, 0}, + {(char *)"strides", __pyx_getprop___pyx_memoryview_strides, 0, (char *)0, 0}, + {(char *)"suboffsets", __pyx_getprop___pyx_memoryview_suboffsets, 0, (char *)0, 0}, + {(char *)"ndim", __pyx_getprop___pyx_memoryview_ndim, 0, (char *)0, 0}, + {(char *)"itemsize", __pyx_getprop___pyx_memoryview_itemsize, 0, (char *)0, 0}, + {(char *)"nbytes", __pyx_getprop___pyx_memoryview_nbytes, 0, (char *)0, 0}, + {(char *)"size", __pyx_getprop___pyx_memoryview_size, 0, (char *)0, 0}, + {0, 0, 0, 0, 0} +}; +#if CYTHON_USE_TYPE_SPECS +#if !CYTHON_COMPILING_IN_LIMITED_API + +static PyBufferProcs __pyx_tp_as_buffer_memoryview = { + #if PY_MAJOR_VERSION < 3 + 0, /*bf_getreadbuffer*/ + #endif + #if PY_MAJOR_VERSION < 3 + 0, /*bf_getwritebuffer*/ + #endif + #if PY_MAJOR_VERSION < 3 + 0, /*bf_getsegcount*/ + #endif + #if PY_MAJOR_VERSION < 3 + 0, /*bf_getcharbuffer*/ + #endif + __pyx_memoryview_getbuffer, /*bf_getbuffer*/ + 0, /*bf_releasebuffer*/ +}; +#endif +static PyType_Slot __pyx_type___pyx_memoryview_slots[] = { + {Py_tp_dealloc, (void *)__pyx_tp_dealloc_memoryview}, + {Py_tp_repr, (void *)__pyx_memoryview___repr__}, + {Py_sq_length, (void *)__pyx_memoryview___len__}, + {Py_sq_item, (void *)__pyx_sq_item_memoryview}, + {Py_mp_length, (void *)__pyx_memoryview___len__}, + {Py_mp_subscript, (void *)__pyx_memoryview___getitem__}, + {Py_mp_ass_subscript, (void *)__pyx_mp_ass_subscript_memoryview}, + {Py_tp_str, (void *)__pyx_memoryview___str__}, + #if defined(Py_bf_getbuffer) + {Py_bf_getbuffer, (void *)__pyx_memoryview_getbuffer}, + #endif + {Py_tp_traverse, (void *)__pyx_tp_traverse_memoryview}, + {Py_tp_clear, (void *)__pyx_tp_clear_memoryview}, + {Py_tp_methods, (void *)__pyx_methods_memoryview}, + {Py_tp_getset, (void *)__pyx_getsets_memoryview}, + {Py_tp_new, (void *)__pyx_tp_new_memoryview}, + {0, 0}, +}; +static PyType_Spec __pyx_type___pyx_memoryview_spec = { + "selfdrive.classic_modeld.models.commonmodel_pyx.memoryview", + sizeof(struct __pyx_memoryview_obj), + 0, + Py_TPFLAGS_DEFAULT|Py_TPFLAGS_HAVE_VERSION_TAG|Py_TPFLAGS_CHECKTYPES|Py_TPFLAGS_HAVE_NEWBUFFER|Py_TPFLAGS_BASETYPE|Py_TPFLAGS_HAVE_GC, + __pyx_type___pyx_memoryview_slots, +}; +#else + +static PySequenceMethods __pyx_tp_as_sequence_memoryview = { + __pyx_memoryview___len__, /*sq_length*/ + 0, /*sq_concat*/ + 0, /*sq_repeat*/ + __pyx_sq_item_memoryview, /*sq_item*/ + 0, /*sq_slice*/ + 0, /*sq_ass_item*/ + 0, /*sq_ass_slice*/ + 0, /*sq_contains*/ + 0, /*sq_inplace_concat*/ + 0, /*sq_inplace_repeat*/ +}; + +static PyMappingMethods __pyx_tp_as_mapping_memoryview = { + __pyx_memoryview___len__, /*mp_length*/ + __pyx_memoryview___getitem__, /*mp_subscript*/ + __pyx_mp_ass_subscript_memoryview, /*mp_ass_subscript*/ +}; + +static PyBufferProcs __pyx_tp_as_buffer_memoryview = { + #if PY_MAJOR_VERSION < 3 + 0, /*bf_getreadbuffer*/ + #endif + #if PY_MAJOR_VERSION < 3 + 0, /*bf_getwritebuffer*/ + #endif + #if PY_MAJOR_VERSION < 3 + 0, /*bf_getsegcount*/ + #endif + #if PY_MAJOR_VERSION < 3 + 0, /*bf_getcharbuffer*/ + #endif + __pyx_memoryview_getbuffer, /*bf_getbuffer*/ + 0, /*bf_releasebuffer*/ +}; + +static PyTypeObject __pyx_type___pyx_memoryview = { + PyVarObject_HEAD_INIT(0, 0) + "selfdrive.classic_modeld.models.commonmodel_pyx.""memoryview", /*tp_name*/ + sizeof(struct __pyx_memoryview_obj), /*tp_basicsize*/ + 0, /*tp_itemsize*/ + __pyx_tp_dealloc_memoryview, /*tp_dealloc*/ + #if PY_VERSION_HEX < 0x030800b4 + 0, /*tp_print*/ + #endif + #if PY_VERSION_HEX >= 0x030800b4 + 0, /*tp_vectorcall_offset*/ + #endif + 0, /*tp_getattr*/ + 0, /*tp_setattr*/ + #if PY_MAJOR_VERSION < 3 + 0, /*tp_compare*/ + #endif + #if PY_MAJOR_VERSION >= 3 + 0, /*tp_as_async*/ + #endif + __pyx_memoryview___repr__, /*tp_repr*/ + 0, /*tp_as_number*/ + &__pyx_tp_as_sequence_memoryview, /*tp_as_sequence*/ + &__pyx_tp_as_mapping_memoryview, /*tp_as_mapping*/ + 0, /*tp_hash*/ + 0, /*tp_call*/ + __pyx_memoryview___str__, /*tp_str*/ + 0, /*tp_getattro*/ + 0, /*tp_setattro*/ + &__pyx_tp_as_buffer_memoryview, /*tp_as_buffer*/ + Py_TPFLAGS_DEFAULT|Py_TPFLAGS_HAVE_VERSION_TAG|Py_TPFLAGS_CHECKTYPES|Py_TPFLAGS_HAVE_NEWBUFFER|Py_TPFLAGS_BASETYPE|Py_TPFLAGS_HAVE_GC, /*tp_flags*/ + 0, /*tp_doc*/ + __pyx_tp_traverse_memoryview, /*tp_traverse*/ + __pyx_tp_clear_memoryview, /*tp_clear*/ + 0, /*tp_richcompare*/ + 0, /*tp_weaklistoffset*/ + 0, /*tp_iter*/ + 0, /*tp_iternext*/ + __pyx_methods_memoryview, /*tp_methods*/ + 0, /*tp_members*/ + __pyx_getsets_memoryview, /*tp_getset*/ + 0, /*tp_base*/ + 0, /*tp_dict*/ + 0, /*tp_descr_get*/ + 0, /*tp_descr_set*/ + #if !CYTHON_USE_TYPE_SPECS + 0, /*tp_dictoffset*/ + #endif + 0, /*tp_init*/ + 0, /*tp_alloc*/ + __pyx_tp_new_memoryview, /*tp_new*/ + 0, /*tp_free*/ + 0, /*tp_is_gc*/ + 0, /*tp_bases*/ + 0, /*tp_mro*/ + 0, /*tp_cache*/ + 0, /*tp_subclasses*/ + 0, /*tp_weaklist*/ + 0, /*tp_del*/ + 0, /*tp_version_tag*/ + #if PY_VERSION_HEX >= 0x030400a1 + #if CYTHON_USE_TP_FINALIZE + 0, /*tp_finalize*/ + #else + NULL, /*tp_finalize*/ + #endif + #endif + #if PY_VERSION_HEX >= 0x030800b1 && (!CYTHON_COMPILING_IN_PYPY || PYPY_VERSION_NUM >= 0x07030800) + 0, /*tp_vectorcall*/ + #endif + #if __PYX_NEED_TP_PRINT_SLOT == 1 + 0, /*tp_print*/ + #endif + #if PY_VERSION_HEX >= 0x030C0000 + 0, /*tp_watched*/ + #endif + #if CYTHON_COMPILING_IN_PYPY && PY_VERSION_HEX >= 0x03090000 && PY_VERSION_HEX < 0x030a0000 + 0, /*tp_pypy_flags*/ + #endif +}; +#endif +static struct __pyx_vtabstruct__memoryviewslice __pyx_vtable__memoryviewslice; + +static PyObject *__pyx_tp_new__memoryviewslice(PyTypeObject *t, PyObject *a, PyObject *k) { + struct __pyx_memoryviewslice_obj *p; + PyObject *o = __pyx_tp_new_memoryview(t, a, k); + if (unlikely(!o)) return 0; + p = ((struct __pyx_memoryviewslice_obj *)o); + p->__pyx_base.__pyx_vtab = (struct __pyx_vtabstruct_memoryview*)__pyx_vtabptr__memoryviewslice; + new((void*)&(p->from_slice)) __Pyx_memviewslice(); + p->from_object = Py_None; Py_INCREF(Py_None); + p->from_slice.memview = NULL; + return o; +} + +static void __pyx_tp_dealloc__memoryviewslice(PyObject *o) { + struct __pyx_memoryviewslice_obj *p = (struct __pyx_memoryviewslice_obj *)o; + #if CYTHON_USE_TP_FINALIZE + if (unlikely((PY_VERSION_HEX >= 0x03080000 || __Pyx_PyType_HasFeature(Py_TYPE(o), Py_TPFLAGS_HAVE_FINALIZE)) && __Pyx_PyObject_GetSlot(o, tp_finalize, destructor)) && !__Pyx_PyObject_GC_IsFinalized(o)) { + if (__Pyx_PyObject_GetSlot(o, tp_dealloc, destructor) == __pyx_tp_dealloc__memoryviewslice) { + if (PyObject_CallFinalizerFromDealloc(o)) return; + } + } + #endif + PyObject_GC_UnTrack(o); + { + PyObject *etype, *eval, *etb; + PyErr_Fetch(&etype, &eval, &etb); + __Pyx_SET_REFCNT(o, Py_REFCNT(o) + 1); + __pyx_memoryviewslice___dealloc__(o); + __Pyx_SET_REFCNT(o, Py_REFCNT(o) - 1); + PyErr_Restore(etype, eval, etb); + } + __Pyx_call_destructor(p->from_slice); + Py_CLEAR(p->from_object); + PyObject_GC_Track(o); + __pyx_tp_dealloc_memoryview(o); +} + +static int __pyx_tp_traverse__memoryviewslice(PyObject *o, visitproc v, void *a) { + int e; + struct __pyx_memoryviewslice_obj *p = (struct __pyx_memoryviewslice_obj *)o; + e = __pyx_tp_traverse_memoryview(o, v, a); if (e) return e; + if (p->from_object) { + e = (*v)(p->from_object, a); if (e) return e; + } + return 0; +} + +static int __pyx_tp_clear__memoryviewslice(PyObject *o) { + PyObject* tmp; + struct __pyx_memoryviewslice_obj *p = (struct __pyx_memoryviewslice_obj *)o; + __pyx_tp_clear_memoryview(o); + tmp = ((PyObject*)p->from_object); + p->from_object = Py_None; Py_INCREF(Py_None); + Py_XDECREF(tmp); + __PYX_XCLEAR_MEMVIEW(&p->from_slice, 1); + return 0; +} + +static PyMethodDef __pyx_methods__memoryviewslice[] = { + {"__reduce_cython__", (PyCFunction)(void*)(__Pyx_PyCFunction_FastCallWithKeywords)__pyx_pw___pyx_memoryviewslice_1__reduce_cython__, __Pyx_METH_FASTCALL|METH_KEYWORDS, 0}, + {"__setstate_cython__", (PyCFunction)(void*)(__Pyx_PyCFunction_FastCallWithKeywords)__pyx_pw___pyx_memoryviewslice_3__setstate_cython__, __Pyx_METH_FASTCALL|METH_KEYWORDS, 0}, + {0, 0, 0, 0} +}; +#if CYTHON_USE_TYPE_SPECS +static PyType_Slot __pyx_type___pyx_memoryviewslice_slots[] = { + {Py_tp_dealloc, (void *)__pyx_tp_dealloc__memoryviewslice}, + {Py_tp_doc, (void *)PyDoc_STR("Internal class for passing memoryview slices to Python")}, + {Py_tp_traverse, (void *)__pyx_tp_traverse__memoryviewslice}, + {Py_tp_clear, (void *)__pyx_tp_clear__memoryviewslice}, + {Py_tp_methods, (void *)__pyx_methods__memoryviewslice}, + {Py_tp_new, (void *)__pyx_tp_new__memoryviewslice}, + {0, 0}, +}; +static PyType_Spec __pyx_type___pyx_memoryviewslice_spec = { + "selfdrive.classic_modeld.models.commonmodel_pyx._memoryviewslice", + sizeof(struct __pyx_memoryviewslice_obj), + 0, + Py_TPFLAGS_DEFAULT|Py_TPFLAGS_HAVE_VERSION_TAG|Py_TPFLAGS_CHECKTYPES|Py_TPFLAGS_HAVE_NEWBUFFER|Py_TPFLAGS_BASETYPE|Py_TPFLAGS_HAVE_GC|Py_TPFLAGS_SEQUENCE, + __pyx_type___pyx_memoryviewslice_slots, +}; +#else + +static PyTypeObject __pyx_type___pyx_memoryviewslice = { + PyVarObject_HEAD_INIT(0, 0) + "selfdrive.classic_modeld.models.commonmodel_pyx.""_memoryviewslice", /*tp_name*/ + sizeof(struct __pyx_memoryviewslice_obj), /*tp_basicsize*/ + 0, /*tp_itemsize*/ + __pyx_tp_dealloc__memoryviewslice, /*tp_dealloc*/ + #if PY_VERSION_HEX < 0x030800b4 + 0, /*tp_print*/ + #endif + #if PY_VERSION_HEX >= 0x030800b4 + 0, /*tp_vectorcall_offset*/ + #endif + 0, /*tp_getattr*/ + 0, /*tp_setattr*/ + #if PY_MAJOR_VERSION < 3 + 0, /*tp_compare*/ + #endif + #if PY_MAJOR_VERSION >= 3 + 0, /*tp_as_async*/ + #endif + #if CYTHON_COMPILING_IN_PYPY || 0 + __pyx_memoryview___repr__, /*tp_repr*/ + #else + 0, /*tp_repr*/ + #endif + 0, /*tp_as_number*/ + 0, /*tp_as_sequence*/ + 0, /*tp_as_mapping*/ + 0, /*tp_hash*/ + 0, /*tp_call*/ + #if CYTHON_COMPILING_IN_PYPY || 0 + __pyx_memoryview___str__, /*tp_str*/ + #else + 0, /*tp_str*/ + #endif + 0, /*tp_getattro*/ + 0, /*tp_setattro*/ + 0, /*tp_as_buffer*/ + Py_TPFLAGS_DEFAULT|Py_TPFLAGS_HAVE_VERSION_TAG|Py_TPFLAGS_CHECKTYPES|Py_TPFLAGS_HAVE_NEWBUFFER|Py_TPFLAGS_BASETYPE|Py_TPFLAGS_HAVE_GC|Py_TPFLAGS_SEQUENCE, /*tp_flags*/ + PyDoc_STR("Internal class for passing memoryview slices to Python"), /*tp_doc*/ + __pyx_tp_traverse__memoryviewslice, /*tp_traverse*/ + __pyx_tp_clear__memoryviewslice, /*tp_clear*/ + 0, /*tp_richcompare*/ + 0, 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+ #ifdef __cplusplus +} /* anonymous namespace */ +#endif +#endif + +#ifndef CYTHON_NO_PYINIT_EXPORT +#define __Pyx_PyMODINIT_FUNC PyMODINIT_FUNC +#elif PY_MAJOR_VERSION < 3 +#ifdef __cplusplus +#define __Pyx_PyMODINIT_FUNC extern "C" void +#else +#define __Pyx_PyMODINIT_FUNC void +#endif +#else +#ifdef __cplusplus +#define __Pyx_PyMODINIT_FUNC extern "C" PyObject * +#else +#define __Pyx_PyMODINIT_FUNC PyObject * +#endif +#endif + + +#if PY_MAJOR_VERSION < 3 +__Pyx_PyMODINIT_FUNC initcommonmodel_pyx(void) CYTHON_SMALL_CODE; /*proto*/ +__Pyx_PyMODINIT_FUNC initcommonmodel_pyx(void) +#else +__Pyx_PyMODINIT_FUNC PyInit_commonmodel_pyx(void) CYTHON_SMALL_CODE; /*proto*/ +__Pyx_PyMODINIT_FUNC PyInit_commonmodel_pyx(void) +#if CYTHON_PEP489_MULTI_PHASE_INIT +{ + return PyModuleDef_Init(&__pyx_moduledef); +} +static CYTHON_SMALL_CODE int __Pyx_check_single_interpreter(void) { + #if PY_VERSION_HEX >= 0x030700A1 + static PY_INT64_T main_interpreter_id = -1; + PY_INT64_T current_id = PyInterpreterState_GetID(PyThreadState_Get()->interp); 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+ Py_XDECREF(tmp_value); + Py_XDECREF(tmp_tb); +#endif +} +static CYTHON_INLINE void __Pyx_ErrFetchInState(PyThreadState *tstate, PyObject **type, PyObject **value, PyObject **tb) { +#if PY_VERSION_HEX >= 0x030C00A6 + PyObject* exc_value; + exc_value = tstate->current_exception; + tstate->current_exception = 0; + *value = exc_value; + *type = NULL; + *tb = NULL; + if (exc_value) { + *type = (PyObject*) Py_TYPE(exc_value); + Py_INCREF(*type); + #if CYTHON_COMPILING_IN_CPYTHON + *tb = ((PyBaseExceptionObject*) exc_value)->traceback; + Py_XINCREF(*tb); + #else + *tb = PyException_GetTraceback(exc_value); + #endif + } +#else + *type = tstate->curexc_type; + *value = tstate->curexc_value; + *tb = tstate->curexc_traceback; + tstate->curexc_type = 0; + tstate->curexc_value = 0; + tstate->curexc_traceback = 0; +#endif +} +#endif + +/* PyObjectGetAttrStr */ +#if CYTHON_USE_TYPE_SLOTS +static CYTHON_INLINE PyObject* __Pyx_PyObject_GetAttrStr(PyObject* obj, PyObject* attr_name) { + PyTypeObject* tp = Py_TYPE(obj); + if (likely(tp->tp_getattro)) + return tp->tp_getattro(obj, attr_name); +#if PY_MAJOR_VERSION < 3 + if (likely(tp->tp_getattr)) + return tp->tp_getattr(obj, PyString_AS_STRING(attr_name)); +#endif + return PyObject_GetAttr(obj, attr_name); +} +#endif + +/* PyObjectGetAttrStrNoError */ +#if __PYX_LIMITED_VERSION_HEX < 0x030d00A1 +static void __Pyx_PyObject_GetAttrStr_ClearAttributeError(void) { + __Pyx_PyThreadState_declare + __Pyx_PyThreadState_assign + if (likely(__Pyx_PyErr_ExceptionMatches(PyExc_AttributeError))) + __Pyx_PyErr_Clear(); +} +#endif +static CYTHON_INLINE PyObject* __Pyx_PyObject_GetAttrStrNoError(PyObject* obj, PyObject* attr_name) { + PyObject *result; +#if __PYX_LIMITED_VERSION_HEX >= 0x030d00A1 + (void) PyObject_GetOptionalAttr(obj, attr_name, &result); + return result; +#else +#if CYTHON_COMPILING_IN_CPYTHON && CYTHON_USE_TYPE_SLOTS && PY_VERSION_HEX >= 0x030700B1 + PyTypeObject* tp = Py_TYPE(obj); + if (likely(tp->tp_getattro == PyObject_GenericGetAttr)) { + return _PyObject_GenericGetAttrWithDict(obj, attr_name, NULL, 1); + } +#endif + result = __Pyx_PyObject_GetAttrStr(obj, attr_name); + if (unlikely(!result)) { + __Pyx_PyObject_GetAttrStr_ClearAttributeError(); + } + return result; +#endif +} + +/* GetBuiltinName */ +static PyObject *__Pyx_GetBuiltinName(PyObject *name) { + PyObject* result = __Pyx_PyObject_GetAttrStrNoError(__pyx_b, name); + if (unlikely(!result) && !PyErr_Occurred()) { + PyErr_Format(PyExc_NameError, +#if PY_MAJOR_VERSION >= 3 + "name '%U' is not defined", name); +#else + "name '%.200s' is not defined", PyString_AS_STRING(name)); +#endif + } + return result; +} + +/* TupleAndListFromArray */ +#if CYTHON_COMPILING_IN_CPYTHON +static CYTHON_INLINE void __Pyx_copy_object_array(PyObject *const *CYTHON_RESTRICT src, PyObject** CYTHON_RESTRICT dest, Py_ssize_t length) { + PyObject *v; + Py_ssize_t i; + for (i = 0; i < length; i++) { + v = dest[i] = src[i]; + Py_INCREF(v); + } +} +static CYTHON_INLINE PyObject * +__Pyx_PyTuple_FromArray(PyObject *const *src, Py_ssize_t n) +{ + PyObject *res; + if (n <= 0) { + Py_INCREF(__pyx_empty_tuple); + return __pyx_empty_tuple; + } + res = PyTuple_New(n); + if (unlikely(res == NULL)) return NULL; + __Pyx_copy_object_array(src, ((PyTupleObject*)res)->ob_item, n); + return res; +} +static CYTHON_INLINE PyObject * +__Pyx_PyList_FromArray(PyObject *const *src, Py_ssize_t n) +{ + PyObject *res; + if (n <= 0) { + return PyList_New(0); + } + res = PyList_New(n); + if (unlikely(res == NULL)) return NULL; + __Pyx_copy_object_array(src, ((PyListObject*)res)->ob_item, n); + return res; +} +#endif + +/* BytesEquals */ +static CYTHON_INLINE int __Pyx_PyBytes_Equals(PyObject* s1, PyObject* s2, int equals) { +#if CYTHON_COMPILING_IN_PYPY || CYTHON_COMPILING_IN_LIMITED_API + return PyObject_RichCompareBool(s1, s2, equals); +#else + if (s1 == s2) { + return (equals == Py_EQ); + } else if (PyBytes_CheckExact(s1) & PyBytes_CheckExact(s2)) { + const char *ps1, *ps2; + Py_ssize_t length = PyBytes_GET_SIZE(s1); + if (length != PyBytes_GET_SIZE(s2)) + return (equals == Py_NE); + ps1 = PyBytes_AS_STRING(s1); + ps2 = PyBytes_AS_STRING(s2); + if (ps1[0] != ps2[0]) { + return (equals == Py_NE); + } else if (length == 1) { + return (equals == Py_EQ); + } else { + int result; +#if CYTHON_USE_UNICODE_INTERNALS && (PY_VERSION_HEX < 0x030B0000) + Py_hash_t hash1, hash2; + hash1 = ((PyBytesObject*)s1)->ob_shash; + hash2 = ((PyBytesObject*)s2)->ob_shash; + if (hash1 != hash2 && hash1 != -1 && hash2 != -1) { + return (equals == Py_NE); + } +#endif + result = memcmp(ps1, ps2, (size_t)length); + return (equals == Py_EQ) ? (result == 0) : (result != 0); + } + } else if ((s1 == Py_None) & PyBytes_CheckExact(s2)) { + return (equals == Py_NE); + } else if ((s2 == Py_None) & PyBytes_CheckExact(s1)) { + return (equals == Py_NE); + } else { + int result; + PyObject* py_result = PyObject_RichCompare(s1, s2, equals); + if (!py_result) + return -1; + result = __Pyx_PyObject_IsTrue(py_result); + Py_DECREF(py_result); + return result; + } +#endif +} + +/* UnicodeEquals */ +static CYTHON_INLINE int __Pyx_PyUnicode_Equals(PyObject* s1, PyObject* s2, int equals) { +#if CYTHON_COMPILING_IN_PYPY || CYTHON_COMPILING_IN_LIMITED_API + return PyObject_RichCompareBool(s1, s2, equals); +#else +#if PY_MAJOR_VERSION < 3 + PyObject* owned_ref = NULL; +#endif + int s1_is_unicode, s2_is_unicode; + if (s1 == s2) { + goto return_eq; + } + s1_is_unicode = PyUnicode_CheckExact(s1); + s2_is_unicode = PyUnicode_CheckExact(s2); +#if PY_MAJOR_VERSION < 3 + if ((s1_is_unicode & (!s2_is_unicode)) && PyString_CheckExact(s2)) { + owned_ref = PyUnicode_FromObject(s2); + if (unlikely(!owned_ref)) + return -1; + s2 = owned_ref; + s2_is_unicode = 1; + } else if ((s2_is_unicode & (!s1_is_unicode)) && PyString_CheckExact(s1)) { + owned_ref = PyUnicode_FromObject(s1); + if (unlikely(!owned_ref)) + return -1; + s1 = owned_ref; + s1_is_unicode = 1; + } else if (((!s2_is_unicode) & (!s1_is_unicode))) { + return __Pyx_PyBytes_Equals(s1, s2, equals); + } +#endif + if (s1_is_unicode & s2_is_unicode) { + Py_ssize_t length; + int kind; + void *data1, *data2; + if (unlikely(__Pyx_PyUnicode_READY(s1) < 0) || unlikely(__Pyx_PyUnicode_READY(s2) < 0)) + return -1; + length = __Pyx_PyUnicode_GET_LENGTH(s1); + if (length != __Pyx_PyUnicode_GET_LENGTH(s2)) { + goto return_ne; + } +#if CYTHON_USE_UNICODE_INTERNALS + { + Py_hash_t hash1, hash2; + #if CYTHON_PEP393_ENABLED + hash1 = ((PyASCIIObject*)s1)->hash; + hash2 = ((PyASCIIObject*)s2)->hash; + #else + hash1 = ((PyUnicodeObject*)s1)->hash; + hash2 = ((PyUnicodeObject*)s2)->hash; + #endif + if (hash1 != hash2 && hash1 != -1 && hash2 != -1) { + goto return_ne; + } + } +#endif + kind = __Pyx_PyUnicode_KIND(s1); + if (kind != __Pyx_PyUnicode_KIND(s2)) { + goto return_ne; + } + data1 = __Pyx_PyUnicode_DATA(s1); + data2 = __Pyx_PyUnicode_DATA(s2); + if (__Pyx_PyUnicode_READ(kind, data1, 0) != __Pyx_PyUnicode_READ(kind, data2, 0)) { + goto return_ne; + } else if (length == 1) { + goto return_eq; + } else { + int result = memcmp(data1, data2, (size_t)(length * kind)); + #if PY_MAJOR_VERSION < 3 + Py_XDECREF(owned_ref); + #endif + return (equals == Py_EQ) ? (result == 0) : (result != 0); + } + } else if ((s1 == Py_None) & s2_is_unicode) { + goto return_ne; + } else if ((s2 == Py_None) & s1_is_unicode) { + goto return_ne; + } else { + int result; + PyObject* py_result = PyObject_RichCompare(s1, s2, equals); + #if PY_MAJOR_VERSION < 3 + Py_XDECREF(owned_ref); + #endif + if (!py_result) + return -1; + result = __Pyx_PyObject_IsTrue(py_result); + Py_DECREF(py_result); + return result; + } +return_eq: + #if PY_MAJOR_VERSION < 3 + Py_XDECREF(owned_ref); + #endif + return (equals == Py_EQ); +return_ne: + #if PY_MAJOR_VERSION < 3 + Py_XDECREF(owned_ref); + #endif + return (equals == Py_NE); +#endif +} + +/* fastcall */ +#if CYTHON_METH_FASTCALL +static CYTHON_INLINE PyObject * __Pyx_GetKwValue_FASTCALL(PyObject *kwnames, PyObject *const *kwvalues, PyObject *s) +{ + Py_ssize_t i, n = PyTuple_GET_SIZE(kwnames); + for (i = 0; i < n; i++) + { + if (s == PyTuple_GET_ITEM(kwnames, i)) return kwvalues[i]; + } + for (i = 0; i < n; i++) + { + int eq = __Pyx_PyUnicode_Equals(s, PyTuple_GET_ITEM(kwnames, i), Py_EQ); + if (unlikely(eq != 0)) { + if (unlikely(eq < 0)) return NULL; + return kwvalues[i]; + } + } + return NULL; +} +#if CYTHON_COMPILING_IN_CPYTHON && PY_VERSION_HEX >= 0x030d0000 +CYTHON_UNUSED static PyObject *__Pyx_KwargsAsDict_FASTCALL(PyObject *kwnames, PyObject *const *kwvalues) { + Py_ssize_t i, nkwargs = PyTuple_GET_SIZE(kwnames); + PyObject *dict; + dict = PyDict_New(); + if (unlikely(!dict)) + return NULL; + for (i=0; i= 3 + "%s() got multiple values for keyword argument '%U'", func_name, kw_name); + #else + "%s() got multiple values for keyword argument '%s'", func_name, + PyString_AsString(kw_name)); + #endif +} + +/* ParseKeywords */ +static int __Pyx_ParseOptionalKeywords( + PyObject *kwds, + PyObject *const *kwvalues, + PyObject **argnames[], + PyObject *kwds2, + PyObject *values[], + Py_ssize_t num_pos_args, + const char* function_name) +{ + PyObject *key = 0, *value = 0; + Py_ssize_t pos = 0; + PyObject*** name; + PyObject*** first_kw_arg = argnames + num_pos_args; + int kwds_is_tuple = CYTHON_METH_FASTCALL && likely(PyTuple_Check(kwds)); + while (1) { + Py_XDECREF(key); key = NULL; + Py_XDECREF(value); value = NULL; + if (kwds_is_tuple) { + Py_ssize_t size; +#if CYTHON_ASSUME_SAFE_MACROS + size = PyTuple_GET_SIZE(kwds); +#else + size = PyTuple_Size(kwds); + if (size < 0) goto bad; +#endif + if (pos >= size) break; +#if CYTHON_AVOID_BORROWED_REFS + key = __Pyx_PySequence_ITEM(kwds, pos); + if (!key) goto bad; +#elif CYTHON_ASSUME_SAFE_MACROS + key = PyTuple_GET_ITEM(kwds, pos); +#else + key = PyTuple_GetItem(kwds, pos); + if (!key) goto bad; +#endif + value = kwvalues[pos]; + pos++; + } + else + { + if (!PyDict_Next(kwds, &pos, &key, &value)) break; +#if CYTHON_AVOID_BORROWED_REFS + Py_INCREF(key); +#endif + } + name = first_kw_arg; + while (*name && (**name != key)) name++; + if (*name) { + values[name-argnames] = value; +#if CYTHON_AVOID_BORROWED_REFS + Py_INCREF(value); + Py_DECREF(key); +#endif + key = NULL; + value = NULL; + continue; + } +#if !CYTHON_AVOID_BORROWED_REFS + Py_INCREF(key); +#endif + Py_INCREF(value); + name = first_kw_arg; + #if PY_MAJOR_VERSION < 3 + if (likely(PyString_Check(key))) { + while (*name) { + if ((CYTHON_COMPILING_IN_PYPY || PyString_GET_SIZE(**name) == PyString_GET_SIZE(key)) + && _PyString_Eq(**name, key)) { + values[name-argnames] = value; +#if CYTHON_AVOID_BORROWED_REFS + value = NULL; +#endif + break; + } + name++; + } + if (*name) continue; + else { + PyObject*** argname = argnames; + while (argname != first_kw_arg) { + if ((**argname == key) || ( + (CYTHON_COMPILING_IN_PYPY || PyString_GET_SIZE(**argname) == PyString_GET_SIZE(key)) + && _PyString_Eq(**argname, key))) { + goto arg_passed_twice; + } + argname++; + } + } + } else + #endif + if (likely(PyUnicode_Check(key))) { + while (*name) { + int cmp = ( + #if !CYTHON_COMPILING_IN_PYPY && PY_MAJOR_VERSION >= 3 + (__Pyx_PyUnicode_GET_LENGTH(**name) != __Pyx_PyUnicode_GET_LENGTH(key)) ? 1 : + #endif + PyUnicode_Compare(**name, key) + ); + if (cmp < 0 && unlikely(PyErr_Occurred())) goto bad; + if (cmp == 0) { + values[name-argnames] = value; +#if CYTHON_AVOID_BORROWED_REFS + value = NULL; +#endif + break; + } + name++; + } + if (*name) continue; + else { + PyObject*** argname = argnames; + while (argname != first_kw_arg) { + int cmp = (**argname == key) ? 0 : + #if !CYTHON_COMPILING_IN_PYPY && PY_MAJOR_VERSION >= 3 + (__Pyx_PyUnicode_GET_LENGTH(**argname) != __Pyx_PyUnicode_GET_LENGTH(key)) ? 1 : + #endif + PyUnicode_Compare(**argname, key); + if (cmp < 0 && unlikely(PyErr_Occurred())) goto bad; + if (cmp == 0) goto arg_passed_twice; + argname++; + } + } + } else + goto invalid_keyword_type; + if (kwds2) { + if (unlikely(PyDict_SetItem(kwds2, key, value))) goto bad; + } else { + goto invalid_keyword; + } + } + Py_XDECREF(key); + Py_XDECREF(value); + return 0; +arg_passed_twice: + __Pyx_RaiseDoubleKeywordsError(function_name, key); + goto bad; +invalid_keyword_type: + PyErr_Format(PyExc_TypeError, + "%.200s() keywords must be strings", function_name); + goto bad; +invalid_keyword: + #if PY_MAJOR_VERSION < 3 + PyErr_Format(PyExc_TypeError, + "%.200s() got an unexpected keyword argument '%.200s'", + function_name, PyString_AsString(key)); + #else + PyErr_Format(PyExc_TypeError, + "%s() got an unexpected keyword argument '%U'", + function_name, key); + #endif +bad: + Py_XDECREF(key); + Py_XDECREF(value); + return -1; +} + +/* ArgTypeTest */ +static int __Pyx__ArgTypeTest(PyObject *obj, PyTypeObject *type, const char *name, int exact) +{ + __Pyx_TypeName type_name; + __Pyx_TypeName obj_type_name; + if (unlikely(!type)) { + PyErr_SetString(PyExc_SystemError, "Missing type object"); + return 0; + } + else if (exact) { + #if PY_MAJOR_VERSION == 2 + if ((type == &PyBaseString_Type) && likely(__Pyx_PyBaseString_CheckExact(obj))) return 1; + #endif + } + else { + if (likely(__Pyx_TypeCheck(obj, type))) return 1; + } + type_name = __Pyx_PyType_GetName(type); + obj_type_name = __Pyx_PyType_GetName(Py_TYPE(obj)); + PyErr_Format(PyExc_TypeError, + "Argument '%.200s' has incorrect type (expected " __Pyx_FMT_TYPENAME + ", got " __Pyx_FMT_TYPENAME ")", name, type_name, obj_type_name); + __Pyx_DECREF_TypeName(type_name); + __Pyx_DECREF_TypeName(obj_type_name); + return 0; +} + +/* RaiseException */ +#if PY_MAJOR_VERSION < 3 +static void __Pyx_Raise(PyObject *type, PyObject *value, PyObject *tb, PyObject *cause) { + __Pyx_PyThreadState_declare + CYTHON_UNUSED_VAR(cause); + Py_XINCREF(type); + if (!value || value == Py_None) + value = NULL; + else + Py_INCREF(value); + if (!tb || tb == Py_None) + tb = NULL; + else { + Py_INCREF(tb); + if (!PyTraceBack_Check(tb)) { + PyErr_SetString(PyExc_TypeError, + "raise: arg 3 must be a traceback or None"); + goto raise_error; + } + } + if (PyType_Check(type)) { +#if CYTHON_COMPILING_IN_PYPY + if (!value) { + Py_INCREF(Py_None); + value = Py_None; + } +#endif + PyErr_NormalizeException(&type, &value, &tb); + } else { + if (value) { + PyErr_SetString(PyExc_TypeError, + "instance exception may not have a separate value"); + goto raise_error; + } + value = type; + type = (PyObject*) Py_TYPE(type); + Py_INCREF(type); + if (!PyType_IsSubtype((PyTypeObject *)type, (PyTypeObject *)PyExc_BaseException)) { + PyErr_SetString(PyExc_TypeError, + "raise: exception class must be a subclass of BaseException"); + goto raise_error; + } + } + __Pyx_PyThreadState_assign + __Pyx_ErrRestore(type, value, tb); + return; +raise_error: + Py_XDECREF(value); + Py_XDECREF(type); + Py_XDECREF(tb); + return; +} +#else +static void __Pyx_Raise(PyObject *type, PyObject *value, PyObject *tb, PyObject *cause) { + PyObject* owned_instance = NULL; + if (tb == Py_None) { + tb = 0; + } else if (tb && !PyTraceBack_Check(tb)) { + PyErr_SetString(PyExc_TypeError, + "raise: arg 3 must be a traceback or None"); + goto bad; + } + if (value == Py_None) + value = 0; + if (PyExceptionInstance_Check(type)) { + if (value) { + PyErr_SetString(PyExc_TypeError, + "instance exception may not have a separate value"); + goto bad; + } + value = type; + type = (PyObject*) Py_TYPE(value); + } else if (PyExceptionClass_Check(type)) { + PyObject *instance_class = NULL; + if (value && PyExceptionInstance_Check(value)) { + instance_class = (PyObject*) Py_TYPE(value); + if (instance_class != type) { + int is_subclass = PyObject_IsSubclass(instance_class, type); + if (!is_subclass) { + instance_class = NULL; + } else if (unlikely(is_subclass == -1)) { + goto bad; + } else { + type = instance_class; + } + } + } + if (!instance_class) { + PyObject *args; + if (!value) + args = PyTuple_New(0); + else if (PyTuple_Check(value)) { + Py_INCREF(value); + args = value; + } else + args = PyTuple_Pack(1, value); + if (!args) + goto bad; + owned_instance = PyObject_Call(type, args, NULL); + Py_DECREF(args); + if (!owned_instance) + goto bad; + value = owned_instance; + if (!PyExceptionInstance_Check(value)) { + PyErr_Format(PyExc_TypeError, + "calling %R should have returned an instance of " + "BaseException, not %R", + type, Py_TYPE(value)); + goto bad; + } + } + } else { + PyErr_SetString(PyExc_TypeError, + "raise: exception class must be a subclass of BaseException"); + goto bad; + } + if (cause) { + PyObject *fixed_cause; + if (cause == Py_None) { + fixed_cause = NULL; + } else if (PyExceptionClass_Check(cause)) { + fixed_cause = PyObject_CallObject(cause, NULL); + if (fixed_cause == NULL) + goto bad; + } else if (PyExceptionInstance_Check(cause)) { + fixed_cause = cause; + Py_INCREF(fixed_cause); + } else { + PyErr_SetString(PyExc_TypeError, + "exception causes must derive from " + "BaseException"); + goto bad; + } + PyException_SetCause(value, fixed_cause); + } + PyErr_SetObject(type, value); + if (tb) { + #if PY_VERSION_HEX >= 0x030C00A6 + PyException_SetTraceback(value, tb); + #elif CYTHON_FAST_THREAD_STATE + PyThreadState *tstate = __Pyx_PyThreadState_Current; + PyObject* tmp_tb = tstate->curexc_traceback; + if (tb != tmp_tb) { + Py_INCREF(tb); + tstate->curexc_traceback = tb; + Py_XDECREF(tmp_tb); + } +#else + PyObject *tmp_type, *tmp_value, *tmp_tb; + PyErr_Fetch(&tmp_type, &tmp_value, &tmp_tb); + Py_INCREF(tb); + PyErr_Restore(tmp_type, tmp_value, tb); + Py_XDECREF(tmp_tb); +#endif + } +bad: + Py_XDECREF(owned_instance); + return; +} +#endif + +/* PyFunctionFastCall */ +#if CYTHON_FAST_PYCALL && !CYTHON_VECTORCALL +static PyObject* __Pyx_PyFunction_FastCallNoKw(PyCodeObject *co, PyObject **args, Py_ssize_t na, + PyObject *globals) { + PyFrameObject *f; + PyThreadState *tstate = __Pyx_PyThreadState_Current; + PyObject **fastlocals; + Py_ssize_t i; + PyObject *result; + assert(globals != NULL); + /* XXX Perhaps we should create a specialized + PyFrame_New() that doesn't take locals, but does + take builtins without sanity checking them. + */ + assert(tstate != NULL); + f = PyFrame_New(tstate, co, globals, NULL); + if (f == NULL) { + return NULL; + } + fastlocals = __Pyx_PyFrame_GetLocalsplus(f); + for (i = 0; i < na; i++) { + Py_INCREF(*args); + fastlocals[i] = *args++; + } + result = PyEval_EvalFrameEx(f,0); + ++tstate->recursion_depth; + Py_DECREF(f); + --tstate->recursion_depth; + return result; +} +static PyObject *__Pyx_PyFunction_FastCallDict(PyObject *func, PyObject **args, Py_ssize_t nargs, PyObject *kwargs) { + PyCodeObject *co = (PyCodeObject *)PyFunction_GET_CODE(func); + PyObject *globals = PyFunction_GET_GLOBALS(func); + PyObject *argdefs = PyFunction_GET_DEFAULTS(func); + PyObject *closure; +#if PY_MAJOR_VERSION >= 3 + PyObject *kwdefs; +#endif + PyObject *kwtuple, **k; + PyObject **d; + Py_ssize_t nd; + Py_ssize_t nk; + PyObject *result; + assert(kwargs == NULL || PyDict_Check(kwargs)); + nk = kwargs ? PyDict_Size(kwargs) : 0; + #if PY_MAJOR_VERSION < 3 + if (unlikely(Py_EnterRecursiveCall((char*)" while calling a Python object"))) { + return NULL; + } + #else + if (unlikely(Py_EnterRecursiveCall(" while calling a Python object"))) { + return NULL; + } + #endif + if ( +#if PY_MAJOR_VERSION >= 3 + co->co_kwonlyargcount == 0 && +#endif + likely(kwargs == NULL || nk == 0) && + co->co_flags == (CO_OPTIMIZED | CO_NEWLOCALS | CO_NOFREE)) { + if (argdefs == NULL && co->co_argcount == nargs) { + result = __Pyx_PyFunction_FastCallNoKw(co, args, nargs, globals); + goto done; + } + else if (nargs == 0 && argdefs != NULL + && co->co_argcount == Py_SIZE(argdefs)) { + /* function called with no arguments, but all parameters have + a default value: use default values as arguments .*/ + args = &PyTuple_GET_ITEM(argdefs, 0); + result =__Pyx_PyFunction_FastCallNoKw(co, args, Py_SIZE(argdefs), globals); + goto done; + } + } + if (kwargs != NULL) { + Py_ssize_t pos, i; + kwtuple = PyTuple_New(2 * nk); + if (kwtuple == NULL) { + result = NULL; + goto done; + } + k = &PyTuple_GET_ITEM(kwtuple, 0); + pos = i = 0; + while (PyDict_Next(kwargs, &pos, &k[i], &k[i+1])) { + Py_INCREF(k[i]); + Py_INCREF(k[i+1]); + i += 2; + } + nk = i / 2; + } + else { + kwtuple = NULL; + k = NULL; + } + closure = PyFunction_GET_CLOSURE(func); +#if PY_MAJOR_VERSION >= 3 + kwdefs = PyFunction_GET_KW_DEFAULTS(func); +#endif + if (argdefs != NULL) { + d = &PyTuple_GET_ITEM(argdefs, 0); + nd = Py_SIZE(argdefs); + } + else { + d = NULL; + nd = 0; + } +#if PY_MAJOR_VERSION >= 3 + result = PyEval_EvalCodeEx((PyObject*)co, globals, (PyObject *)NULL, + args, (int)nargs, + k, (int)nk, + d, (int)nd, kwdefs, closure); +#else + result = PyEval_EvalCodeEx(co, globals, (PyObject *)NULL, + args, (int)nargs, + k, (int)nk, + d, (int)nd, closure); +#endif + Py_XDECREF(kwtuple); +done: + Py_LeaveRecursiveCall(); + return result; +} +#endif + +/* PyObjectCall */ +#if CYTHON_COMPILING_IN_CPYTHON +static CYTHON_INLINE PyObject* __Pyx_PyObject_Call(PyObject *func, PyObject *arg, PyObject *kw) { + PyObject *result; + ternaryfunc call = Py_TYPE(func)->tp_call; + if (unlikely(!call)) + return PyObject_Call(func, arg, kw); + #if PY_MAJOR_VERSION < 3 + if (unlikely(Py_EnterRecursiveCall((char*)" while calling a Python object"))) + return NULL; + #else + if (unlikely(Py_EnterRecursiveCall(" while calling a Python object"))) + return NULL; + #endif + result = (*call)(func, arg, kw); + Py_LeaveRecursiveCall(); + if (unlikely(!result) && unlikely(!PyErr_Occurred())) { + PyErr_SetString( + PyExc_SystemError, + "NULL result without error in PyObject_Call"); + } + return result; +} +#endif + +/* PyObjectCallMethO */ +#if CYTHON_COMPILING_IN_CPYTHON +static CYTHON_INLINE PyObject* __Pyx_PyObject_CallMethO(PyObject *func, PyObject *arg) { + PyObject *self, *result; + PyCFunction cfunc; + cfunc = __Pyx_CyOrPyCFunction_GET_FUNCTION(func); + self = __Pyx_CyOrPyCFunction_GET_SELF(func); + #if PY_MAJOR_VERSION < 3 + if (unlikely(Py_EnterRecursiveCall((char*)" while calling a Python object"))) + return NULL; + #else + if (unlikely(Py_EnterRecursiveCall(" while calling a Python object"))) + return NULL; + #endif + result = cfunc(self, arg); + Py_LeaveRecursiveCall(); + if (unlikely(!result) && unlikely(!PyErr_Occurred())) { + PyErr_SetString( + PyExc_SystemError, + "NULL result without error in PyObject_Call"); + } + return result; +} +#endif + +/* PyObjectFastCall */ +#if PY_VERSION_HEX < 0x03090000 || CYTHON_COMPILING_IN_LIMITED_API +static PyObject* __Pyx_PyObject_FastCall_fallback(PyObject *func, PyObject **args, size_t nargs, PyObject *kwargs) { + PyObject *argstuple; + PyObject *result = 0; + size_t i; + argstuple = PyTuple_New((Py_ssize_t)nargs); + if (unlikely(!argstuple)) return NULL; + for (i = 0; i < nargs; i++) { + Py_INCREF(args[i]); + if (__Pyx_PyTuple_SET_ITEM(argstuple, (Py_ssize_t)i, args[i]) < 0) goto bad; + } + result = __Pyx_PyObject_Call(func, argstuple, kwargs); + bad: + Py_DECREF(argstuple); + return result; +} +#endif +static CYTHON_INLINE PyObject* __Pyx_PyObject_FastCallDict(PyObject *func, PyObject **args, size_t _nargs, PyObject *kwargs) { + Py_ssize_t nargs = __Pyx_PyVectorcall_NARGS(_nargs); +#if CYTHON_COMPILING_IN_CPYTHON + if (nargs == 0 && kwargs == NULL) { + if (__Pyx_CyOrPyCFunction_Check(func) && likely( __Pyx_CyOrPyCFunction_GET_FLAGS(func) & METH_NOARGS)) + return __Pyx_PyObject_CallMethO(func, NULL); + } + else if (nargs == 1 && kwargs == NULL) { + if (__Pyx_CyOrPyCFunction_Check(func) && likely( __Pyx_CyOrPyCFunction_GET_FLAGS(func) & METH_O)) + return __Pyx_PyObject_CallMethO(func, args[0]); + } +#endif + #if PY_VERSION_HEX < 0x030800B1 + #if CYTHON_FAST_PYCCALL + if (PyCFunction_Check(func)) { + if (kwargs) { + return _PyCFunction_FastCallDict(func, args, nargs, kwargs); + } else { + return _PyCFunction_FastCallKeywords(func, args, nargs, NULL); + } + } + #if PY_VERSION_HEX >= 0x030700A1 + if (!kwargs && __Pyx_IS_TYPE(func, &PyMethodDescr_Type)) { + return _PyMethodDescr_FastCallKeywords(func, args, nargs, NULL); + } + #endif + #endif + #if CYTHON_FAST_PYCALL + if (PyFunction_Check(func)) { + return __Pyx_PyFunction_FastCallDict(func, args, nargs, kwargs); + } + #endif + #endif + if (kwargs == NULL) { + #if CYTHON_VECTORCALL + #if PY_VERSION_HEX < 0x03090000 + vectorcallfunc f = _PyVectorcall_Function(func); + #else + vectorcallfunc f = PyVectorcall_Function(func); + #endif + if (f) { + return f(func, args, (size_t)nargs, NULL); + } + #elif defined(__Pyx_CyFunction_USED) && CYTHON_BACKPORT_VECTORCALL + if (__Pyx_CyFunction_CheckExact(func)) { + __pyx_vectorcallfunc f = __Pyx_CyFunction_func_vectorcall(func); + if (f) return f(func, args, (size_t)nargs, NULL); + } + #endif + } + if (nargs == 0) { + return __Pyx_PyObject_Call(func, __pyx_empty_tuple, kwargs); + } + #if PY_VERSION_HEX >= 0x03090000 && !CYTHON_COMPILING_IN_LIMITED_API + return PyObject_VectorcallDict(func, args, (size_t)nargs, kwargs); + #else + return __Pyx_PyObject_FastCall_fallback(func, args, (size_t)nargs, kwargs); + #endif +} + +/* RaiseUnexpectedTypeError */ +static int +__Pyx_RaiseUnexpectedTypeError(const char *expected, PyObject *obj) +{ + __Pyx_TypeName obj_type_name = __Pyx_PyType_GetName(Py_TYPE(obj)); + PyErr_Format(PyExc_TypeError, "Expected %s, got " __Pyx_FMT_TYPENAME, + expected, obj_type_name); + __Pyx_DECREF_TypeName(obj_type_name); + return 0; +} + +/* CIntToDigits */ +static const char DIGIT_PAIRS_10[2*10*10+1] = { + "00010203040506070809" + "10111213141516171819" + "20212223242526272829" + "30313233343536373839" + "40414243444546474849" + "50515253545556575859" + "60616263646566676869" + "70717273747576777879" + "80818283848586878889" + "90919293949596979899" +}; +static const char DIGIT_PAIRS_8[2*8*8+1] = { + "0001020304050607" + "1011121314151617" + "2021222324252627" + "3031323334353637" + "4041424344454647" + "5051525354555657" + "6061626364656667" + "7071727374757677" +}; +static const char DIGITS_HEX[2*16+1] = { + "0123456789abcdef" + "0123456789ABCDEF" +}; + +/* BuildPyUnicode */ +static PyObject* __Pyx_PyUnicode_BuildFromAscii(Py_ssize_t ulength, char* chars, int clength, + int prepend_sign, char padding_char) { + PyObject *uval; + Py_ssize_t uoffset = ulength - clength; +#if CYTHON_USE_UNICODE_INTERNALS + Py_ssize_t i; +#if CYTHON_PEP393_ENABLED + void *udata; + uval = PyUnicode_New(ulength, 127); + if (unlikely(!uval)) return NULL; + udata = PyUnicode_DATA(uval); +#else + Py_UNICODE *udata; + uval = PyUnicode_FromUnicode(NULL, ulength); + if (unlikely(!uval)) return NULL; + udata = PyUnicode_AS_UNICODE(uval); +#endif + if (uoffset > 0) { + i = 0; + if (prepend_sign) { + __Pyx_PyUnicode_WRITE(PyUnicode_1BYTE_KIND, udata, 0, '-'); + i++; + } + for (; i < uoffset; i++) { + __Pyx_PyUnicode_WRITE(PyUnicode_1BYTE_KIND, udata, i, padding_char); + } + } + for (i=0; i < clength; i++) { + __Pyx_PyUnicode_WRITE(PyUnicode_1BYTE_KIND, udata, uoffset+i, chars[i]); + } +#else + { + PyObject *sign = NULL, *padding = NULL; + uval = NULL; + if (uoffset > 0) { + prepend_sign = !!prepend_sign; + if (uoffset > prepend_sign) { + padding = PyUnicode_FromOrdinal(padding_char); + if (likely(padding) && uoffset > prepend_sign + 1) { + PyObject *tmp; + PyObject *repeat = PyInt_FromSsize_t(uoffset - prepend_sign); + if (unlikely(!repeat)) goto done_or_error; + tmp = PyNumber_Multiply(padding, repeat); + Py_DECREF(repeat); + Py_DECREF(padding); + padding = tmp; + } + if (unlikely(!padding)) goto done_or_error; + } + if (prepend_sign) { + sign = PyUnicode_FromOrdinal('-'); + if (unlikely(!sign)) goto done_or_error; + } + } + uval = PyUnicode_DecodeASCII(chars, clength, NULL); + if (likely(uval) && padding) { + PyObject *tmp = PyNumber_Add(padding, uval); + Py_DECREF(uval); + uval = tmp; + } + if (likely(uval) && sign) { + PyObject *tmp = PyNumber_Add(sign, uval); + Py_DECREF(uval); + uval = tmp; + } +done_or_error: + Py_XDECREF(padding); + Py_XDECREF(sign); + } +#endif + return uval; +} + +/* CIntToPyUnicode */ +static CYTHON_INLINE PyObject* __Pyx_PyUnicode_From_int(int value, Py_ssize_t width, char padding_char, char format_char) { + char digits[sizeof(int)*3+2]; + char *dpos, *end = digits + sizeof(int)*3+2; + const char *hex_digits = DIGITS_HEX; + Py_ssize_t length, ulength; + int prepend_sign, last_one_off; + int remaining; +#ifdef __Pyx_HAS_GCC_DIAGNOSTIC +#pragma GCC diagnostic push +#pragma GCC diagnostic ignored "-Wconversion" +#endif + const int neg_one = (int) -1, const_zero = (int) 0; +#ifdef __Pyx_HAS_GCC_DIAGNOSTIC +#pragma GCC diagnostic pop +#endif + const int is_unsigned = neg_one > const_zero; + if (format_char == 'X') { + hex_digits += 16; + format_char = 'x'; + } + remaining = value; + last_one_off = 0; + dpos = end; + do { + int digit_pos; + switch (format_char) { + case 'o': + digit_pos = abs((int)(remaining % (8*8))); + remaining = (int) (remaining / (8*8)); + dpos -= 2; + memcpy(dpos, DIGIT_PAIRS_8 + digit_pos * 2, 2); + last_one_off = (digit_pos < 8); + break; + case 'd': + digit_pos = abs((int)(remaining % (10*10))); + remaining = (int) (remaining / (10*10)); + dpos -= 2; + memcpy(dpos, DIGIT_PAIRS_10 + digit_pos * 2, 2); + last_one_off = (digit_pos < 10); + break; + case 'x': + *(--dpos) = hex_digits[abs((int)(remaining % 16))]; + remaining = (int) (remaining / 16); + break; + default: + assert(0); + break; + } + } while (unlikely(remaining != 0)); + assert(!last_one_off || *dpos == '0'); + dpos += last_one_off; + length = end - dpos; + ulength = length; + prepend_sign = 0; + if (!is_unsigned && value <= neg_one) { + if (padding_char == ' ' || width <= length + 1) { + *(--dpos) = '-'; + ++length; + } else { + prepend_sign = 1; + } + ++ulength; + } + if (width > ulength) { + ulength = width; + } + if (ulength == 1) { + return PyUnicode_FromOrdinal(*dpos); + } + return __Pyx_PyUnicode_BuildFromAscii(ulength, dpos, (int) length, prepend_sign, padding_char); +} + +/* CIntToPyUnicode */ +static CYTHON_INLINE PyObject* __Pyx_PyUnicode_From_Py_ssize_t(Py_ssize_t value, Py_ssize_t width, char padding_char, char format_char) { + char digits[sizeof(Py_ssize_t)*3+2]; + char *dpos, *end = digits + sizeof(Py_ssize_t)*3+2; + const char *hex_digits = DIGITS_HEX; + Py_ssize_t length, ulength; + int prepend_sign, last_one_off; + Py_ssize_t remaining; +#ifdef __Pyx_HAS_GCC_DIAGNOSTIC +#pragma GCC diagnostic push +#pragma GCC diagnostic ignored "-Wconversion" +#endif + const Py_ssize_t neg_one = (Py_ssize_t) -1, const_zero = (Py_ssize_t) 0; +#ifdef __Pyx_HAS_GCC_DIAGNOSTIC +#pragma GCC diagnostic pop +#endif + const int is_unsigned = neg_one > const_zero; + if (format_char == 'X') { + hex_digits += 16; + format_char = 'x'; + } + remaining = value; + last_one_off = 0; + dpos = end; + do { + int digit_pos; + switch (format_char) { + case 'o': + digit_pos = abs((int)(remaining % (8*8))); + remaining = (Py_ssize_t) (remaining / (8*8)); + dpos -= 2; + memcpy(dpos, DIGIT_PAIRS_8 + digit_pos * 2, 2); + last_one_off = (digit_pos < 8); + break; + case 'd': + digit_pos = abs((int)(remaining % (10*10))); + remaining = (Py_ssize_t) (remaining / (10*10)); + dpos -= 2; + memcpy(dpos, DIGIT_PAIRS_10 + digit_pos * 2, 2); + last_one_off = (digit_pos < 10); + break; + case 'x': + *(--dpos) = hex_digits[abs((int)(remaining % 16))]; + remaining = (Py_ssize_t) (remaining / 16); + break; + default: + assert(0); + break; + } + } while (unlikely(remaining != 0)); + assert(!last_one_off || *dpos == '0'); + dpos += last_one_off; + length = end - dpos; + ulength = length; + prepend_sign = 0; + if (!is_unsigned && value <= neg_one) { + if (padding_char == ' ' || width <= length + 1) { + *(--dpos) = '-'; + ++length; + } else { + prepend_sign = 1; + } + ++ulength; + } + if (width > ulength) { + ulength = width; + } + if (ulength == 1) { + return PyUnicode_FromOrdinal(*dpos); + } + return __Pyx_PyUnicode_BuildFromAscii(ulength, dpos, (int) length, prepend_sign, padding_char); +} + +/* JoinPyUnicode */ +static PyObject* __Pyx_PyUnicode_Join(PyObject* value_tuple, Py_ssize_t value_count, Py_ssize_t result_ulength, + Py_UCS4 max_char) { +#if CYTHON_USE_UNICODE_INTERNALS && CYTHON_ASSUME_SAFE_MACROS && !CYTHON_AVOID_BORROWED_REFS + PyObject *result_uval; + int result_ukind, kind_shift; + Py_ssize_t i, char_pos; + void *result_udata; + CYTHON_MAYBE_UNUSED_VAR(max_char); +#if CYTHON_PEP393_ENABLED + result_uval = PyUnicode_New(result_ulength, max_char); + if (unlikely(!result_uval)) return NULL; + result_ukind = (max_char <= 255) ? PyUnicode_1BYTE_KIND : (max_char <= 65535) ? PyUnicode_2BYTE_KIND : PyUnicode_4BYTE_KIND; + kind_shift = (result_ukind == PyUnicode_4BYTE_KIND) ? 2 : result_ukind - 1; + result_udata = PyUnicode_DATA(result_uval); +#else + result_uval = PyUnicode_FromUnicode(NULL, result_ulength); + if (unlikely(!result_uval)) return NULL; + result_ukind = sizeof(Py_UNICODE); + kind_shift = (result_ukind == 4) ? 2 : result_ukind - 1; + result_udata = PyUnicode_AS_UNICODE(result_uval); +#endif + assert(kind_shift == 2 || kind_shift == 1 || kind_shift == 0); + char_pos = 0; + for (i=0; i < value_count; i++) { + int ukind; + Py_ssize_t ulength; + void *udata; + PyObject *uval = PyTuple_GET_ITEM(value_tuple, i); + if (unlikely(__Pyx_PyUnicode_READY(uval))) + goto bad; + ulength = __Pyx_PyUnicode_GET_LENGTH(uval); + if (unlikely(!ulength)) + continue; + if (unlikely((PY_SSIZE_T_MAX >> kind_shift) - ulength < char_pos)) + goto overflow; + ukind = __Pyx_PyUnicode_KIND(uval); + udata = __Pyx_PyUnicode_DATA(uval); + if (!CYTHON_PEP393_ENABLED || ukind == result_ukind) { + memcpy((char *)result_udata + (char_pos << kind_shift), udata, (size_t) (ulength << kind_shift)); + } else { + #if PY_VERSION_HEX >= 0x030d0000 + if (unlikely(PyUnicode_CopyCharacters(result_uval, char_pos, uval, 0, ulength) < 0)) goto bad; + #elif CYTHON_COMPILING_IN_CPYTHON && PY_VERSION_HEX >= 0x030300F0 || defined(_PyUnicode_FastCopyCharacters) + _PyUnicode_FastCopyCharacters(result_uval, char_pos, uval, 0, ulength); + #else + Py_ssize_t j; + for (j=0; j < ulength; j++) { + Py_UCS4 uchar = __Pyx_PyUnicode_READ(ukind, udata, j); + __Pyx_PyUnicode_WRITE(result_ukind, result_udata, char_pos+j, uchar); + } + #endif + } + char_pos += ulength; + } + return result_uval; +overflow: + PyErr_SetString(PyExc_OverflowError, "join() result is too long for a Python string"); +bad: + Py_DECREF(result_uval); + return NULL; +#else + CYTHON_UNUSED_VAR(max_char); + CYTHON_UNUSED_VAR(result_ulength); + CYTHON_UNUSED_VAR(value_count); + return PyUnicode_Join(__pyx_empty_unicode, value_tuple); +#endif +} + +/* GetAttr */ +static CYTHON_INLINE PyObject *__Pyx_GetAttr(PyObject *o, PyObject *n) { +#if CYTHON_USE_TYPE_SLOTS +#if PY_MAJOR_VERSION >= 3 + if (likely(PyUnicode_Check(n))) +#else + if (likely(PyString_Check(n))) +#endif + return __Pyx_PyObject_GetAttrStr(o, n); +#endif + return PyObject_GetAttr(o, n); +} + +/* GetItemInt */ +static PyObject *__Pyx_GetItemInt_Generic(PyObject *o, PyObject* j) { + PyObject *r; + if (unlikely(!j)) return NULL; + r = PyObject_GetItem(o, j); + Py_DECREF(j); + return r; +} +static CYTHON_INLINE PyObject *__Pyx_GetItemInt_List_Fast(PyObject *o, Py_ssize_t i, + CYTHON_NCP_UNUSED int wraparound, + CYTHON_NCP_UNUSED int boundscheck) { +#if CYTHON_ASSUME_SAFE_MACROS && !CYTHON_AVOID_BORROWED_REFS + Py_ssize_t wrapped_i = i; + if (wraparound & unlikely(i < 0)) { + wrapped_i += PyList_GET_SIZE(o); + } + if ((!boundscheck) || likely(__Pyx_is_valid_index(wrapped_i, PyList_GET_SIZE(o)))) { + PyObject *r = PyList_GET_ITEM(o, wrapped_i); + Py_INCREF(r); + return r; + } + return __Pyx_GetItemInt_Generic(o, PyInt_FromSsize_t(i)); +#else + return PySequence_GetItem(o, i); +#endif +} +static CYTHON_INLINE PyObject *__Pyx_GetItemInt_Tuple_Fast(PyObject *o, Py_ssize_t i, + CYTHON_NCP_UNUSED int wraparound, + CYTHON_NCP_UNUSED int boundscheck) { +#if CYTHON_ASSUME_SAFE_MACROS && !CYTHON_AVOID_BORROWED_REFS + Py_ssize_t wrapped_i = i; + if (wraparound & unlikely(i < 0)) { + wrapped_i += PyTuple_GET_SIZE(o); + } + if ((!boundscheck) || likely(__Pyx_is_valid_index(wrapped_i, PyTuple_GET_SIZE(o)))) { + PyObject *r = PyTuple_GET_ITEM(o, wrapped_i); + Py_INCREF(r); + return r; + } + return __Pyx_GetItemInt_Generic(o, PyInt_FromSsize_t(i)); +#else + return PySequence_GetItem(o, i); +#endif +} +static CYTHON_INLINE PyObject *__Pyx_GetItemInt_Fast(PyObject *o, Py_ssize_t i, int is_list, + CYTHON_NCP_UNUSED int wraparound, + CYTHON_NCP_UNUSED int boundscheck) { +#if CYTHON_ASSUME_SAFE_MACROS && !CYTHON_AVOID_BORROWED_REFS && CYTHON_USE_TYPE_SLOTS + if (is_list || PyList_CheckExact(o)) { + Py_ssize_t n = ((!wraparound) | likely(i >= 0)) ? i : i + PyList_GET_SIZE(o); + if ((!boundscheck) || (likely(__Pyx_is_valid_index(n, PyList_GET_SIZE(o))))) { + PyObject *r = PyList_GET_ITEM(o, n); + Py_INCREF(r); + return r; + } + } + else if (PyTuple_CheckExact(o)) { + Py_ssize_t n = ((!wraparound) | likely(i >= 0)) ? i : i + PyTuple_GET_SIZE(o); + if ((!boundscheck) || likely(__Pyx_is_valid_index(n, PyTuple_GET_SIZE(o)))) { + PyObject *r = PyTuple_GET_ITEM(o, n); + Py_INCREF(r); + return r; + } + } else { + PyMappingMethods *mm = Py_TYPE(o)->tp_as_mapping; + PySequenceMethods *sm = Py_TYPE(o)->tp_as_sequence; + if (mm && mm->mp_subscript) { + PyObject *r, *key = PyInt_FromSsize_t(i); + if (unlikely(!key)) return NULL; + r = mm->mp_subscript(o, key); + Py_DECREF(key); + return r; + } + if (likely(sm && sm->sq_item)) { + if (wraparound && unlikely(i < 0) && likely(sm->sq_length)) { + Py_ssize_t l = sm->sq_length(o); + if (likely(l >= 0)) { + i += l; + } else { + if (!PyErr_ExceptionMatches(PyExc_OverflowError)) + return NULL; + PyErr_Clear(); + } + } + return sm->sq_item(o, i); + } + } +#else + if (is_list || !PyMapping_Check(o)) { + return PySequence_GetItem(o, i); + } +#endif + return __Pyx_GetItemInt_Generic(o, PyInt_FromSsize_t(i)); +} + +/* PyObjectCallOneArg */ +static CYTHON_INLINE PyObject* __Pyx_PyObject_CallOneArg(PyObject *func, PyObject *arg) { + PyObject *args[2] = {NULL, arg}; + return __Pyx_PyObject_FastCall(func, args+1, 1 | __Pyx_PY_VECTORCALL_ARGUMENTS_OFFSET); +} + +/* ObjectGetItem */ +#if CYTHON_USE_TYPE_SLOTS +static PyObject *__Pyx_PyObject_GetIndex(PyObject *obj, PyObject *index) { + PyObject *runerr = NULL; + Py_ssize_t key_value; + key_value = __Pyx_PyIndex_AsSsize_t(index); + if (likely(key_value != -1 || !(runerr = PyErr_Occurred()))) { + return __Pyx_GetItemInt_Fast(obj, key_value, 0, 1, 1); + } + if (PyErr_GivenExceptionMatches(runerr, PyExc_OverflowError)) { + __Pyx_TypeName index_type_name = __Pyx_PyType_GetName(Py_TYPE(index)); + PyErr_Clear(); + PyErr_Format(PyExc_IndexError, + "cannot fit '" __Pyx_FMT_TYPENAME "' into an index-sized integer", index_type_name); + __Pyx_DECREF_TypeName(index_type_name); + } + return NULL; +} +static PyObject *__Pyx_PyObject_GetItem_Slow(PyObject *obj, PyObject *key) { + __Pyx_TypeName obj_type_name; + if (likely(PyType_Check(obj))) { + PyObject *meth = __Pyx_PyObject_GetAttrStrNoError(obj, __pyx_n_s_class_getitem); + if (!meth) { + PyErr_Clear(); + } else { + PyObject *result = __Pyx_PyObject_CallOneArg(meth, key); + Py_DECREF(meth); + return result; + } + } + obj_type_name = __Pyx_PyType_GetName(Py_TYPE(obj)); + PyErr_Format(PyExc_TypeError, + "'" __Pyx_FMT_TYPENAME "' object is not subscriptable", obj_type_name); + __Pyx_DECREF_TypeName(obj_type_name); + return NULL; +} +static PyObject *__Pyx_PyObject_GetItem(PyObject *obj, PyObject *key) { + PyTypeObject *tp = Py_TYPE(obj); + PyMappingMethods *mm = tp->tp_as_mapping; + PySequenceMethods *sm = tp->tp_as_sequence; + if (likely(mm && mm->mp_subscript)) { + return mm->mp_subscript(obj, key); + } + if (likely(sm && sm->sq_item)) { + return __Pyx_PyObject_GetIndex(obj, key); + } + return __Pyx_PyObject_GetItem_Slow(obj, key); +} +#endif + +/* KeywordStringCheck */ +static int __Pyx_CheckKeywordStrings( + PyObject *kw, + const char* function_name, + int kw_allowed) +{ + PyObject* key = 0; + Py_ssize_t pos = 0; +#if CYTHON_COMPILING_IN_PYPY + if (!kw_allowed && PyDict_Next(kw, &pos, &key, 0)) + goto invalid_keyword; + return 1; +#else + if (CYTHON_METH_FASTCALL && likely(PyTuple_Check(kw))) { + Py_ssize_t kwsize; +#if CYTHON_ASSUME_SAFE_MACROS + kwsize = PyTuple_GET_SIZE(kw); +#else + kwsize = PyTuple_Size(kw); + if (kwsize < 0) return 0; +#endif + if (unlikely(kwsize == 0)) + return 1; + if (!kw_allowed) { +#if CYTHON_ASSUME_SAFE_MACROS + key = PyTuple_GET_ITEM(kw, 0); +#else + key = PyTuple_GetItem(kw, pos); + if (!key) return 0; +#endif + goto invalid_keyword; + } +#if PY_VERSION_HEX < 0x03090000 + for (pos = 0; pos < kwsize; pos++) { +#if CYTHON_ASSUME_SAFE_MACROS + key = PyTuple_GET_ITEM(kw, pos); +#else + key = PyTuple_GetItem(kw, pos); + if (!key) return 0; +#endif + if (unlikely(!PyUnicode_Check(key))) + goto invalid_keyword_type; + } +#endif + return 1; + } + while (PyDict_Next(kw, &pos, &key, 0)) { + #if PY_MAJOR_VERSION < 3 + if (unlikely(!PyString_Check(key))) + #endif + if (unlikely(!PyUnicode_Check(key))) + goto invalid_keyword_type; + } + if (!kw_allowed && unlikely(key)) + goto invalid_keyword; + return 1; +invalid_keyword_type: + PyErr_Format(PyExc_TypeError, + "%.200s() keywords must be strings", function_name); + return 0; +#endif +invalid_keyword: + #if PY_MAJOR_VERSION < 3 + PyErr_Format(PyExc_TypeError, + "%.200s() got an unexpected keyword argument '%.200s'", + function_name, PyString_AsString(key)); + #else + PyErr_Format(PyExc_TypeError, + "%s() got an unexpected keyword argument '%U'", + function_name, key); + #endif + return 0; +} + +/* DivInt[Py_ssize_t] */ +static CYTHON_INLINE Py_ssize_t __Pyx_div_Py_ssize_t(Py_ssize_t a, Py_ssize_t b) { + Py_ssize_t q = a / b; + Py_ssize_t r = a - q*b; + q -= ((r != 0) & ((r ^ b) < 0)); + return q; +} + +/* GetAttr3 */ +#if __PYX_LIMITED_VERSION_HEX < 0x030d00A1 +static PyObject *__Pyx_GetAttr3Default(PyObject *d) { + __Pyx_PyThreadState_declare + __Pyx_PyThreadState_assign + if (unlikely(!__Pyx_PyErr_ExceptionMatches(PyExc_AttributeError))) + return NULL; + __Pyx_PyErr_Clear(); + Py_INCREF(d); + return d; +} +#endif +static CYTHON_INLINE PyObject *__Pyx_GetAttr3(PyObject *o, PyObject *n, PyObject *d) { + PyObject *r; +#if __PYX_LIMITED_VERSION_HEX >= 0x030d00A1 + int res = PyObject_GetOptionalAttr(o, n, &r); + return (res != 0) ? r : __Pyx_NewRef(d); +#else + #if CYTHON_USE_TYPE_SLOTS + if (likely(PyString_Check(n))) { + r = __Pyx_PyObject_GetAttrStrNoError(o, n); + if (unlikely(!r) && likely(!PyErr_Occurred())) { + r = __Pyx_NewRef(d); + } + return r; + } + #endif + r = PyObject_GetAttr(o, n); + return (likely(r)) ? r : __Pyx_GetAttr3Default(d); +#endif +} + +/* PyDictVersioning */ +#if CYTHON_USE_DICT_VERSIONS && CYTHON_USE_TYPE_SLOTS +static CYTHON_INLINE PY_UINT64_T __Pyx_get_tp_dict_version(PyObject *obj) { + PyObject *dict = Py_TYPE(obj)->tp_dict; + return likely(dict) ? __PYX_GET_DICT_VERSION(dict) : 0; +} +static CYTHON_INLINE PY_UINT64_T __Pyx_get_object_dict_version(PyObject *obj) { + PyObject **dictptr = NULL; + Py_ssize_t offset = Py_TYPE(obj)->tp_dictoffset; + if (offset) { +#if CYTHON_COMPILING_IN_CPYTHON + dictptr = (likely(offset > 0)) ? (PyObject **) ((char *)obj + offset) : _PyObject_GetDictPtr(obj); +#else + dictptr = _PyObject_GetDictPtr(obj); +#endif + } + return (dictptr && *dictptr) ? __PYX_GET_DICT_VERSION(*dictptr) : 0; +} +static CYTHON_INLINE int __Pyx_object_dict_version_matches(PyObject* obj, PY_UINT64_T tp_dict_version, PY_UINT64_T obj_dict_version) { + PyObject *dict = Py_TYPE(obj)->tp_dict; + if (unlikely(!dict) || unlikely(tp_dict_version != __PYX_GET_DICT_VERSION(dict))) + return 0; + return obj_dict_version == __Pyx_get_object_dict_version(obj); +} +#endif + +/* GetModuleGlobalName */ +#if CYTHON_USE_DICT_VERSIONS +static PyObject *__Pyx__GetModuleGlobalName(PyObject *name, PY_UINT64_T *dict_version, PyObject **dict_cached_value) +#else +static CYTHON_INLINE PyObject *__Pyx__GetModuleGlobalName(PyObject *name) +#endif +{ + PyObject *result; +#if !CYTHON_AVOID_BORROWED_REFS +#if CYTHON_COMPILING_IN_CPYTHON && PY_VERSION_HEX >= 0x030500A1 && PY_VERSION_HEX < 0x030d0000 + result = _PyDict_GetItem_KnownHash(__pyx_d, name, ((PyASCIIObject *) name)->hash); + __PYX_UPDATE_DICT_CACHE(__pyx_d, result, *dict_cached_value, *dict_version) + if (likely(result)) { + return __Pyx_NewRef(result); + } else if (unlikely(PyErr_Occurred())) { + return NULL; + } +#elif CYTHON_COMPILING_IN_LIMITED_API + if (unlikely(!__pyx_m)) { + return NULL; + } + result = PyObject_GetAttr(__pyx_m, name); + if (likely(result)) { + return result; + } +#else + result = PyDict_GetItem(__pyx_d, name); + __PYX_UPDATE_DICT_CACHE(__pyx_d, result, *dict_cached_value, *dict_version) + if (likely(result)) { + return __Pyx_NewRef(result); + } +#endif +#else + result = PyObject_GetItem(__pyx_d, name); + __PYX_UPDATE_DICT_CACHE(__pyx_d, result, *dict_cached_value, *dict_version) + if (likely(result)) { + return __Pyx_NewRef(result); + } + PyErr_Clear(); +#endif + return __Pyx_GetBuiltinName(name); +} + +/* RaiseTooManyValuesToUnpack */ +static CYTHON_INLINE void __Pyx_RaiseTooManyValuesError(Py_ssize_t expected) { + PyErr_Format(PyExc_ValueError, + "too many values to unpack (expected %" CYTHON_FORMAT_SSIZE_T "d)", expected); +} + +/* RaiseNeedMoreValuesToUnpack */ +static CYTHON_INLINE void __Pyx_RaiseNeedMoreValuesError(Py_ssize_t index) { + PyErr_Format(PyExc_ValueError, + "need more than %" CYTHON_FORMAT_SSIZE_T "d value%.1s to unpack", + index, (index == 1) ? "" : "s"); +} + +/* RaiseNoneIterError */ +static CYTHON_INLINE void __Pyx_RaiseNoneNotIterableError(void) { + PyErr_SetString(PyExc_TypeError, "'NoneType' object is not iterable"); +} + +/* ExtTypeTest */ +static CYTHON_INLINE int __Pyx_TypeTest(PyObject *obj, PyTypeObject *type) { + __Pyx_TypeName obj_type_name; + __Pyx_TypeName type_name; + if (unlikely(!type)) { + PyErr_SetString(PyExc_SystemError, "Missing type object"); + return 0; + } + if (likely(__Pyx_TypeCheck(obj, type))) + return 1; + obj_type_name = __Pyx_PyType_GetName(Py_TYPE(obj)); + type_name = __Pyx_PyType_GetName(type); + PyErr_Format(PyExc_TypeError, + "Cannot convert " __Pyx_FMT_TYPENAME " to " __Pyx_FMT_TYPENAME, + obj_type_name, type_name); + __Pyx_DECREF_TypeName(obj_type_name); + __Pyx_DECREF_TypeName(type_name); + return 0; +} + +/* GetTopmostException */ +#if CYTHON_USE_EXC_INFO_STACK && CYTHON_FAST_THREAD_STATE +static _PyErr_StackItem * +__Pyx_PyErr_GetTopmostException(PyThreadState *tstate) +{ + _PyErr_StackItem *exc_info = tstate->exc_info; + while ((exc_info->exc_value == NULL || exc_info->exc_value == Py_None) && + exc_info->previous_item != NULL) + { + exc_info = exc_info->previous_item; + } + return exc_info; +} +#endif + +/* SaveResetException */ +#if CYTHON_FAST_THREAD_STATE +static CYTHON_INLINE void __Pyx__ExceptionSave(PyThreadState *tstate, PyObject **type, PyObject **value, PyObject **tb) { + #if CYTHON_USE_EXC_INFO_STACK && PY_VERSION_HEX >= 0x030B00a4 + _PyErr_StackItem *exc_info = __Pyx_PyErr_GetTopmostException(tstate); + PyObject *exc_value = exc_info->exc_value; + if (exc_value == NULL || exc_value == Py_None) { + *value = NULL; + *type = NULL; + *tb = NULL; + } else { + *value = exc_value; + Py_INCREF(*value); + *type = (PyObject*) Py_TYPE(exc_value); + Py_INCREF(*type); + *tb = PyException_GetTraceback(exc_value); + } + #elif CYTHON_USE_EXC_INFO_STACK + _PyErr_StackItem *exc_info = __Pyx_PyErr_GetTopmostException(tstate); + *type = exc_info->exc_type; + *value = exc_info->exc_value; + *tb = exc_info->exc_traceback; + Py_XINCREF(*type); + Py_XINCREF(*value); + Py_XINCREF(*tb); + #else + *type = tstate->exc_type; + *value = tstate->exc_value; + *tb = tstate->exc_traceback; + Py_XINCREF(*type); + Py_XINCREF(*value); + Py_XINCREF(*tb); + #endif +} +static CYTHON_INLINE void __Pyx__ExceptionReset(PyThreadState *tstate, PyObject *type, PyObject *value, PyObject *tb) { + #if CYTHON_USE_EXC_INFO_STACK && PY_VERSION_HEX >= 0x030B00a4 + _PyErr_StackItem *exc_info = tstate->exc_info; + PyObject *tmp_value = exc_info->exc_value; + exc_info->exc_value = value; + Py_XDECREF(tmp_value); + Py_XDECREF(type); + Py_XDECREF(tb); + #else + PyObject *tmp_type, *tmp_value, *tmp_tb; + #if CYTHON_USE_EXC_INFO_STACK + _PyErr_StackItem *exc_info = tstate->exc_info; + tmp_type = exc_info->exc_type; + tmp_value = exc_info->exc_value; + tmp_tb = exc_info->exc_traceback; + exc_info->exc_type = type; + exc_info->exc_value = value; + exc_info->exc_traceback = tb; + #else + tmp_type = tstate->exc_type; + tmp_value = tstate->exc_value; + tmp_tb = tstate->exc_traceback; + tstate->exc_type = type; + tstate->exc_value = value; + tstate->exc_traceback = tb; + #endif + Py_XDECREF(tmp_type); + Py_XDECREF(tmp_value); + Py_XDECREF(tmp_tb); + #endif +} +#endif + +/* GetException */ +#if CYTHON_FAST_THREAD_STATE +static int __Pyx__GetException(PyThreadState *tstate, PyObject **type, PyObject **value, PyObject **tb) +#else +static int __Pyx_GetException(PyObject **type, PyObject **value, PyObject **tb) +#endif +{ + PyObject *local_type = NULL, *local_value, *local_tb = NULL; +#if CYTHON_FAST_THREAD_STATE + PyObject *tmp_type, *tmp_value, *tmp_tb; + #if PY_VERSION_HEX >= 0x030C00A6 + local_value = tstate->current_exception; + tstate->current_exception = 0; + if (likely(local_value)) { + local_type = (PyObject*) Py_TYPE(local_value); + Py_INCREF(local_type); + local_tb = PyException_GetTraceback(local_value); + } + #else + local_type = tstate->curexc_type; + local_value = tstate->curexc_value; + local_tb = tstate->curexc_traceback; + tstate->curexc_type = 0; + tstate->curexc_value = 0; + tstate->curexc_traceback = 0; + #endif +#else + PyErr_Fetch(&local_type, &local_value, &local_tb); +#endif + PyErr_NormalizeException(&local_type, &local_value, &local_tb); +#if CYTHON_FAST_THREAD_STATE && PY_VERSION_HEX >= 0x030C00A6 + if (unlikely(tstate->current_exception)) +#elif CYTHON_FAST_THREAD_STATE + if (unlikely(tstate->curexc_type)) +#else + if (unlikely(PyErr_Occurred())) +#endif + goto bad; + #if PY_MAJOR_VERSION >= 3 + if (local_tb) { + if (unlikely(PyException_SetTraceback(local_value, local_tb) < 0)) + goto bad; + } + #endif + Py_XINCREF(local_tb); + Py_XINCREF(local_type); + Py_XINCREF(local_value); + *type = local_type; + *value = local_value; + *tb = local_tb; +#if CYTHON_FAST_THREAD_STATE + #if CYTHON_USE_EXC_INFO_STACK + { + _PyErr_StackItem *exc_info = tstate->exc_info; + #if PY_VERSION_HEX >= 0x030B00a4 + tmp_value = exc_info->exc_value; + exc_info->exc_value = local_value; + tmp_type = NULL; + tmp_tb = NULL; + Py_XDECREF(local_type); + Py_XDECREF(local_tb); + #else + tmp_type = exc_info->exc_type; + tmp_value = exc_info->exc_value; + tmp_tb = exc_info->exc_traceback; + exc_info->exc_type = local_type; + exc_info->exc_value = local_value; + exc_info->exc_traceback = local_tb; + #endif + } + #else + tmp_type = tstate->exc_type; + tmp_value = tstate->exc_value; + tmp_tb = tstate->exc_traceback; + tstate->exc_type = local_type; + tstate->exc_value = local_value; + tstate->exc_traceback = local_tb; + #endif + Py_XDECREF(tmp_type); + Py_XDECREF(tmp_value); + Py_XDECREF(tmp_tb); +#else + PyErr_SetExcInfo(local_type, local_value, local_tb); +#endif + return 0; +bad: + *type = 0; + *value = 0; + *tb = 0; + Py_XDECREF(local_type); + Py_XDECREF(local_value); + Py_XDECREF(local_tb); + return -1; +} + +/* SwapException */ +#if CYTHON_FAST_THREAD_STATE +static CYTHON_INLINE void __Pyx__ExceptionSwap(PyThreadState *tstate, PyObject **type, PyObject **value, PyObject **tb) { + PyObject *tmp_type, *tmp_value, *tmp_tb; + #if CYTHON_USE_EXC_INFO_STACK && PY_VERSION_HEX >= 0x030B00a4 + _PyErr_StackItem *exc_info = tstate->exc_info; + tmp_value = exc_info->exc_value; + exc_info->exc_value = *value; + if (tmp_value == NULL || tmp_value == Py_None) { + Py_XDECREF(tmp_value); + tmp_value = NULL; + tmp_type = NULL; + tmp_tb = NULL; + } else { + tmp_type = (PyObject*) Py_TYPE(tmp_value); + Py_INCREF(tmp_type); + #if CYTHON_COMPILING_IN_CPYTHON + tmp_tb = ((PyBaseExceptionObject*) tmp_value)->traceback; + Py_XINCREF(tmp_tb); + #else + tmp_tb = PyException_GetTraceback(tmp_value); + #endif + } + #elif CYTHON_USE_EXC_INFO_STACK + _PyErr_StackItem *exc_info = tstate->exc_info; + tmp_type = exc_info->exc_type; + tmp_value = exc_info->exc_value; + tmp_tb = exc_info->exc_traceback; + exc_info->exc_type = *type; + exc_info->exc_value = *value; + exc_info->exc_traceback = *tb; + #else + tmp_type = tstate->exc_type; + tmp_value = tstate->exc_value; + tmp_tb = tstate->exc_traceback; + tstate->exc_type = *type; + tstate->exc_value = *value; + tstate->exc_traceback = *tb; + #endif + *type = tmp_type; + *value = tmp_value; + *tb = tmp_tb; +} +#else +static CYTHON_INLINE void __Pyx_ExceptionSwap(PyObject **type, PyObject **value, PyObject **tb) { + PyObject *tmp_type, *tmp_value, *tmp_tb; + PyErr_GetExcInfo(&tmp_type, &tmp_value, &tmp_tb); + PyErr_SetExcInfo(*type, *value, *tb); + *type = tmp_type; + *value = tmp_value; + *tb = tmp_tb; +} +#endif + +/* Import */ +static PyObject *__Pyx_Import(PyObject *name, PyObject *from_list, int level) { + PyObject *module = 0; + PyObject *empty_dict = 0; + PyObject *empty_list = 0; + #if PY_MAJOR_VERSION < 3 + PyObject *py_import; + py_import = __Pyx_PyObject_GetAttrStr(__pyx_b, __pyx_n_s_import); + if (unlikely(!py_import)) + goto bad; + if (!from_list) { + empty_list = PyList_New(0); + if (unlikely(!empty_list)) + goto bad; + from_list = empty_list; + } + #endif + empty_dict = PyDict_New(); + if (unlikely(!empty_dict)) + goto bad; + { + #if PY_MAJOR_VERSION >= 3 + if (level == -1) { + if (strchr(__Pyx_MODULE_NAME, '.') != NULL) { + module = PyImport_ImportModuleLevelObject( + name, __pyx_d, empty_dict, from_list, 1); + if (unlikely(!module)) { + if (unlikely(!PyErr_ExceptionMatches(PyExc_ImportError))) + goto bad; + PyErr_Clear(); + } + } + level = 0; + } + #endif + if (!module) { + #if PY_MAJOR_VERSION < 3 + PyObject *py_level = PyInt_FromLong(level); + if (unlikely(!py_level)) + goto bad; + module = PyObject_CallFunctionObjArgs(py_import, + name, __pyx_d, empty_dict, from_list, py_level, (PyObject *)NULL); + Py_DECREF(py_level); + #else + module = PyImport_ImportModuleLevelObject( + name, __pyx_d, empty_dict, from_list, level); + #endif + } + } +bad: + Py_XDECREF(empty_dict); + Py_XDECREF(empty_list); + #if PY_MAJOR_VERSION < 3 + Py_XDECREF(py_import); + #endif + return module; +} + +/* ImportDottedModule */ +#if PY_MAJOR_VERSION >= 3 +static PyObject *__Pyx__ImportDottedModule_Error(PyObject *name, PyObject *parts_tuple, Py_ssize_t count) { + PyObject *partial_name = NULL, *slice = NULL, *sep = NULL; + if (unlikely(PyErr_Occurred())) { + PyErr_Clear(); + } + if (likely(PyTuple_GET_SIZE(parts_tuple) == count)) { + partial_name = name; + } else { + slice = PySequence_GetSlice(parts_tuple, 0, count); + if (unlikely(!slice)) + goto bad; + sep = PyUnicode_FromStringAndSize(".", 1); + if (unlikely(!sep)) + goto bad; + partial_name = PyUnicode_Join(sep, slice); + } + PyErr_Format( +#if PY_MAJOR_VERSION < 3 + PyExc_ImportError, + "No module named '%s'", PyString_AS_STRING(partial_name)); +#else +#if PY_VERSION_HEX >= 0x030600B1 + PyExc_ModuleNotFoundError, +#else + PyExc_ImportError, +#endif + "No module named '%U'", partial_name); +#endif +bad: + Py_XDECREF(sep); + Py_XDECREF(slice); + Py_XDECREF(partial_name); + return NULL; +} +#endif +#if PY_MAJOR_VERSION >= 3 +static PyObject *__Pyx__ImportDottedModule_Lookup(PyObject *name) { + PyObject *imported_module; +#if PY_VERSION_HEX < 0x030700A1 || (CYTHON_COMPILING_IN_PYPY && PYPY_VERSION_NUM < 0x07030400) + PyObject *modules = PyImport_GetModuleDict(); + if (unlikely(!modules)) + return NULL; + imported_module = __Pyx_PyDict_GetItemStr(modules, name); + Py_XINCREF(imported_module); +#else + imported_module = PyImport_GetModule(name); +#endif + return imported_module; +} +#endif +#if PY_MAJOR_VERSION >= 3 +static PyObject *__Pyx_ImportDottedModule_WalkParts(PyObject *module, PyObject *name, PyObject *parts_tuple) { + Py_ssize_t i, nparts; + nparts = PyTuple_GET_SIZE(parts_tuple); + for (i=1; i < nparts && module; i++) { + PyObject *part, *submodule; +#if CYTHON_ASSUME_SAFE_MACROS && !CYTHON_AVOID_BORROWED_REFS + part = PyTuple_GET_ITEM(parts_tuple, i); +#else + part = PySequence_ITEM(parts_tuple, i); +#endif + submodule = __Pyx_PyObject_GetAttrStrNoError(module, part); +#if !(CYTHON_ASSUME_SAFE_MACROS && !CYTHON_AVOID_BORROWED_REFS) + Py_DECREF(part); +#endif + Py_DECREF(module); + module = submodule; + } + if (unlikely(!module)) { + return __Pyx__ImportDottedModule_Error(name, parts_tuple, i); + } + return module; +} +#endif +static PyObject *__Pyx__ImportDottedModule(PyObject *name, PyObject *parts_tuple) { +#if PY_MAJOR_VERSION < 3 + PyObject *module, *from_list, *star = __pyx_n_s__3; + CYTHON_UNUSED_VAR(parts_tuple); + from_list = PyList_New(1); + if (unlikely(!from_list)) + return NULL; + Py_INCREF(star); + PyList_SET_ITEM(from_list, 0, star); + module = __Pyx_Import(name, from_list, 0); + Py_DECREF(from_list); + return module; +#else + PyObject *imported_module; + PyObject *module = __Pyx_Import(name, NULL, 0); + if (!parts_tuple || unlikely(!module)) + return module; + imported_module = __Pyx__ImportDottedModule_Lookup(name); + if (likely(imported_module)) { + Py_DECREF(module); + return imported_module; + } + PyErr_Clear(); + return __Pyx_ImportDottedModule_WalkParts(module, name, parts_tuple); +#endif +} +static PyObject *__Pyx_ImportDottedModule(PyObject *name, PyObject *parts_tuple) { +#if CYTHON_COMPILING_IN_CPYTHON && PY_VERSION_HEX >= 0x030400B1 + PyObject *module = __Pyx__ImportDottedModule_Lookup(name); + if (likely(module)) { + PyObject *spec = __Pyx_PyObject_GetAttrStrNoError(module, __pyx_n_s_spec); + if (likely(spec)) { + PyObject *unsafe = __Pyx_PyObject_GetAttrStrNoError(spec, __pyx_n_s_initializing); + if (likely(!unsafe || !__Pyx_PyObject_IsTrue(unsafe))) { + Py_DECREF(spec); + spec = NULL; + } + Py_XDECREF(unsafe); + } + if (likely(!spec)) { + PyErr_Clear(); + return module; + } + Py_DECREF(spec); + Py_DECREF(module); + } else if (PyErr_Occurred()) { + PyErr_Clear(); + } +#endif + return __Pyx__ImportDottedModule(name, parts_tuple); +} + +/* FastTypeChecks */ +#if CYTHON_COMPILING_IN_CPYTHON +static int __Pyx_InBases(PyTypeObject *a, PyTypeObject *b) { + while (a) { + a = __Pyx_PyType_GetSlot(a, tp_base, PyTypeObject*); + if (a == b) + return 1; + } + return b == &PyBaseObject_Type; +} +static CYTHON_INLINE int __Pyx_IsSubtype(PyTypeObject *a, PyTypeObject *b) { + PyObject *mro; + if (a == b) return 1; + mro = a->tp_mro; + if (likely(mro)) { + Py_ssize_t i, n; + n = PyTuple_GET_SIZE(mro); + for (i = 0; i < n; i++) { + if (PyTuple_GET_ITEM(mro, i) == (PyObject *)b) + return 1; + } + return 0; + } + return __Pyx_InBases(a, b); +} +static CYTHON_INLINE int __Pyx_IsAnySubtype2(PyTypeObject *cls, PyTypeObject *a, PyTypeObject *b) { + PyObject *mro; + if (cls == a || cls == b) return 1; + mro = cls->tp_mro; + if (likely(mro)) { + Py_ssize_t i, n; + n = PyTuple_GET_SIZE(mro); + for (i = 0; i < n; i++) { + PyObject *base = PyTuple_GET_ITEM(mro, i); + if (base == (PyObject *)a || base == (PyObject *)b) + return 1; + } + return 0; + } + return __Pyx_InBases(cls, a) || __Pyx_InBases(cls, b); +} +#if PY_MAJOR_VERSION == 2 +static int __Pyx_inner_PyErr_GivenExceptionMatches2(PyObject *err, PyObject* exc_type1, PyObject* exc_type2) { + PyObject *exception, *value, *tb; + int res; + __Pyx_PyThreadState_declare + __Pyx_PyThreadState_assign + __Pyx_ErrFetch(&exception, &value, &tb); + res = exc_type1 ? PyObject_IsSubclass(err, exc_type1) : 0; + if (unlikely(res == -1)) { + PyErr_WriteUnraisable(err); + res = 0; + } + if (!res) { + res = PyObject_IsSubclass(err, exc_type2); + if (unlikely(res == -1)) { + PyErr_WriteUnraisable(err); + res = 0; + } + } + __Pyx_ErrRestore(exception, value, tb); + return res; +} +#else +static CYTHON_INLINE int __Pyx_inner_PyErr_GivenExceptionMatches2(PyObject *err, PyObject* exc_type1, PyObject *exc_type2) { + if (exc_type1) { + return __Pyx_IsAnySubtype2((PyTypeObject*)err, (PyTypeObject*)exc_type1, (PyTypeObject*)exc_type2); + } else { + return __Pyx_IsSubtype((PyTypeObject*)err, (PyTypeObject*)exc_type2); + } +} +#endif +static int __Pyx_PyErr_GivenExceptionMatchesTuple(PyObject *exc_type, PyObject *tuple) { + Py_ssize_t i, n; + assert(PyExceptionClass_Check(exc_type)); + n = PyTuple_GET_SIZE(tuple); +#if PY_MAJOR_VERSION >= 3 + for (i=0; itp_as_sequence && type->tp_as_sequence->sq_repeat)) { + return type->tp_as_sequence->sq_repeat(seq, mul); + } else +#endif + { + return __Pyx_PySequence_Multiply_Generic(seq, mul); + } +} + +/* SetItemInt */ +static int __Pyx_SetItemInt_Generic(PyObject *o, PyObject *j, PyObject *v) { + int r; + if (unlikely(!j)) return -1; + r = PyObject_SetItem(o, j, v); + Py_DECREF(j); + return r; +} +static CYTHON_INLINE int __Pyx_SetItemInt_Fast(PyObject *o, Py_ssize_t i, PyObject *v, int is_list, + CYTHON_NCP_UNUSED int wraparound, CYTHON_NCP_UNUSED int boundscheck) { +#if CYTHON_ASSUME_SAFE_MACROS && !CYTHON_AVOID_BORROWED_REFS && CYTHON_USE_TYPE_SLOTS + if (is_list || PyList_CheckExact(o)) { + Py_ssize_t n = (!wraparound) ? i : ((likely(i >= 0)) ? i : i + PyList_GET_SIZE(o)); + if ((!boundscheck) || likely(__Pyx_is_valid_index(n, PyList_GET_SIZE(o)))) { + PyObject* old = PyList_GET_ITEM(o, n); + Py_INCREF(v); + PyList_SET_ITEM(o, n, v); + Py_DECREF(old); + return 1; + } + } else { + PyMappingMethods *mm = Py_TYPE(o)->tp_as_mapping; + PySequenceMethods *sm = Py_TYPE(o)->tp_as_sequence; + if (mm && mm->mp_ass_subscript) { + int r; + PyObject *key = PyInt_FromSsize_t(i); + if (unlikely(!key)) return -1; + r = mm->mp_ass_subscript(o, key, v); + Py_DECREF(key); + return r; + } + if (likely(sm && sm->sq_ass_item)) { + if (wraparound && unlikely(i < 0) && likely(sm->sq_length)) { + Py_ssize_t l = sm->sq_length(o); + if (likely(l >= 0)) { + i += l; + } else { + if (!PyErr_ExceptionMatches(PyExc_OverflowError)) + return -1; + PyErr_Clear(); + } + } + return sm->sq_ass_item(o, i, v); + } + } +#else + if (is_list || !PyMapping_Check(o)) + { + return PySequence_SetItem(o, i, v); + } +#endif + return __Pyx_SetItemInt_Generic(o, PyInt_FromSsize_t(i), v); +} + +/* RaiseUnboundLocalError */ +static CYTHON_INLINE void __Pyx_RaiseUnboundLocalError(const char *varname) { + PyErr_Format(PyExc_UnboundLocalError, "local variable '%s' referenced before assignment", varname); +} + +/* DivInt[long] */ +static CYTHON_INLINE long __Pyx_div_long(long a, long b) { + long q = a / b; + long r = a - q*b; + q -= ((r != 0) & ((r ^ b) < 0)); + return q; +} + +/* ImportFrom */ +static PyObject* __Pyx_ImportFrom(PyObject* module, PyObject* name) { + PyObject* value = __Pyx_PyObject_GetAttrStr(module, name); + if (unlikely(!value) && PyErr_ExceptionMatches(PyExc_AttributeError)) { + const char* module_name_str = 0; + PyObject* module_name = 0; + PyObject* module_dot = 0; + PyObject* full_name = 0; + PyErr_Clear(); + module_name_str = PyModule_GetName(module); + if (unlikely(!module_name_str)) { goto modbad; } + module_name = PyUnicode_FromString(module_name_str); + if (unlikely(!module_name)) { goto modbad; } + module_dot = PyUnicode_Concat(module_name, __pyx_kp_u__2); + if (unlikely(!module_dot)) { goto modbad; } + full_name = PyUnicode_Concat(module_dot, name); + if (unlikely(!full_name)) { goto modbad; } + #if PY_VERSION_HEX < 0x030700A1 || (CYTHON_COMPILING_IN_PYPY && PYPY_VERSION_NUM < 0x07030400) + { + PyObject *modules = PyImport_GetModuleDict(); + if (unlikely(!modules)) + goto modbad; + value = PyObject_GetItem(modules, full_name); + } + #else + value = PyImport_GetModule(full_name); + #endif + modbad: + Py_XDECREF(full_name); + Py_XDECREF(module_dot); + Py_XDECREF(module_name); + } + if (unlikely(!value)) { + PyErr_Format(PyExc_ImportError, + #if PY_MAJOR_VERSION < 3 + "cannot import name %.230s", PyString_AS_STRING(name)); + #else + "cannot import name %S", name); + #endif + } + return value; +} + +/* HasAttr */ +#if __PYX_LIMITED_VERSION_HEX < 0x030d00A1 +static CYTHON_INLINE int __Pyx_HasAttr(PyObject *o, PyObject *n) { + PyObject *r; + if (unlikely(!__Pyx_PyBaseString_Check(n))) { + PyErr_SetString(PyExc_TypeError, + "hasattr(): attribute name must be string"); + return -1; + } + r = __Pyx_GetAttr(o, n); + if (!r) { + PyErr_Clear(); + return 0; + } else { + Py_DECREF(r); + return 1; + } +} +#endif + +/* PyObjectCall2Args */ +static CYTHON_INLINE PyObject* __Pyx_PyObject_Call2Args(PyObject* function, PyObject* arg1, PyObject* arg2) { + PyObject *args[3] = {NULL, arg1, arg2}; + return __Pyx_PyObject_FastCall(function, args+1, 2 | __Pyx_PY_VECTORCALL_ARGUMENTS_OFFSET); +} + +/* PyObjectGetMethod */ +static int __Pyx_PyObject_GetMethod(PyObject *obj, PyObject *name, PyObject **method) { + PyObject *attr; +#if CYTHON_UNPACK_METHODS && CYTHON_COMPILING_IN_CPYTHON && CYTHON_USE_PYTYPE_LOOKUP + __Pyx_TypeName type_name; + PyTypeObject *tp = Py_TYPE(obj); + PyObject *descr; + descrgetfunc f = NULL; + PyObject **dictptr, *dict; + int meth_found = 0; + assert (*method == NULL); + if (unlikely(tp->tp_getattro != PyObject_GenericGetAttr)) { + attr = __Pyx_PyObject_GetAttrStr(obj, name); + goto try_unpack; + } + if (unlikely(tp->tp_dict == NULL) && unlikely(PyType_Ready(tp) < 0)) { + return 0; + } + descr = _PyType_Lookup(tp, name); + if (likely(descr != NULL)) { + Py_INCREF(descr); +#if defined(Py_TPFLAGS_METHOD_DESCRIPTOR) && Py_TPFLAGS_METHOD_DESCRIPTOR + if (__Pyx_PyType_HasFeature(Py_TYPE(descr), Py_TPFLAGS_METHOD_DESCRIPTOR)) +#elif PY_MAJOR_VERSION >= 3 + #ifdef __Pyx_CyFunction_USED + if (likely(PyFunction_Check(descr) || __Pyx_IS_TYPE(descr, &PyMethodDescr_Type) || __Pyx_CyFunction_Check(descr))) + #else + if (likely(PyFunction_Check(descr) || __Pyx_IS_TYPE(descr, &PyMethodDescr_Type))) + #endif +#else + #ifdef __Pyx_CyFunction_USED + if (likely(PyFunction_Check(descr) || __Pyx_CyFunction_Check(descr))) + #else + if (likely(PyFunction_Check(descr))) + #endif +#endif + { + meth_found = 1; + } else { + f = Py_TYPE(descr)->tp_descr_get; + if (f != NULL && PyDescr_IsData(descr)) { + attr = f(descr, obj, (PyObject *)Py_TYPE(obj)); + Py_DECREF(descr); + goto try_unpack; + } + } + } + dictptr = _PyObject_GetDictPtr(obj); + if (dictptr != NULL && (dict = *dictptr) != NULL) { + Py_INCREF(dict); + attr = __Pyx_PyDict_GetItemStr(dict, name); + if (attr != NULL) { + Py_INCREF(attr); + Py_DECREF(dict); + Py_XDECREF(descr); + goto try_unpack; + } + Py_DECREF(dict); + } + if (meth_found) { + *method = descr; + return 1; + } + if (f != NULL) { + attr = f(descr, obj, (PyObject *)Py_TYPE(obj)); + Py_DECREF(descr); + goto try_unpack; + } + if (likely(descr != NULL)) { + *method = descr; + return 0; + } + type_name = __Pyx_PyType_GetName(tp); + PyErr_Format(PyExc_AttributeError, +#if PY_MAJOR_VERSION >= 3 + "'" __Pyx_FMT_TYPENAME "' object has no attribute '%U'", + type_name, name); +#else + "'" __Pyx_FMT_TYPENAME "' object has no attribute '%.400s'", + type_name, PyString_AS_STRING(name)); +#endif + __Pyx_DECREF_TypeName(type_name); + return 0; +#else + attr = __Pyx_PyObject_GetAttrStr(obj, name); + goto try_unpack; +#endif +try_unpack: +#if CYTHON_UNPACK_METHODS + if (likely(attr) && PyMethod_Check(attr) && likely(PyMethod_GET_SELF(attr) == obj)) { + PyObject *function = PyMethod_GET_FUNCTION(attr); + Py_INCREF(function); + Py_DECREF(attr); + *method = function; + return 1; + } +#endif + *method = attr; + return 0; +} + +/* PyObjectCallMethod1 */ +#if !(CYTHON_VECTORCALL && __PYX_LIMITED_VERSION_HEX >= 0x030C00A2) +static PyObject* __Pyx__PyObject_CallMethod1(PyObject* method, PyObject* arg) { + PyObject *result = __Pyx_PyObject_CallOneArg(method, arg); + Py_DECREF(method); + return result; +} +#endif +static PyObject* __Pyx_PyObject_CallMethod1(PyObject* obj, PyObject* method_name, PyObject* arg) { +#if CYTHON_VECTORCALL && __PYX_LIMITED_VERSION_HEX >= 0x030C00A2 + PyObject *args[2] = {obj, arg}; + (void) __Pyx_PyObject_GetMethod; + (void) __Pyx_PyObject_CallOneArg; + (void) __Pyx_PyObject_Call2Args; + return PyObject_VectorcallMethod(method_name, args, 2 | PY_VECTORCALL_ARGUMENTS_OFFSET, NULL); +#else + PyObject *method = NULL, *result; + int is_method = __Pyx_PyObject_GetMethod(obj, method_name, &method); + if (likely(is_method)) { + result = __Pyx_PyObject_Call2Args(method, obj, arg); + Py_DECREF(method); + return result; + } + if (unlikely(!method)) return NULL; + return __Pyx__PyObject_CallMethod1(method, arg); +#endif +} + +/* StringJoin */ +static CYTHON_INLINE PyObject* __Pyx_PyBytes_Join(PyObject* sep, PyObject* values) { + (void) __Pyx_PyObject_CallMethod1; +#if CYTHON_COMPILING_IN_CPYTHON && PY_MAJOR_VERSION < 3 + return _PyString_Join(sep, values); +#elif CYTHON_COMPILING_IN_CPYTHON && PY_VERSION_HEX < 0x030d0000 + return _PyBytes_Join(sep, values); +#else + return __Pyx_PyObject_CallMethod1(sep, __pyx_n_s_join, values); +#endif +} + +/* CIntToPyUnicode */ +static CYTHON_INLINE PyObject* __Pyx_PyUnicode_From_size_t(size_t value, Py_ssize_t width, char padding_char, char format_char) { + char digits[sizeof(size_t)*3+2]; + char *dpos, *end = digits + sizeof(size_t)*3+2; + const char *hex_digits = DIGITS_HEX; + Py_ssize_t length, ulength; + int prepend_sign, last_one_off; + size_t remaining; +#ifdef __Pyx_HAS_GCC_DIAGNOSTIC +#pragma GCC diagnostic push +#pragma GCC diagnostic ignored "-Wconversion" +#endif + const size_t neg_one = (size_t) -1, const_zero = (size_t) 0; +#ifdef __Pyx_HAS_GCC_DIAGNOSTIC +#pragma GCC diagnostic pop +#endif + const int is_unsigned = neg_one > const_zero; + if (format_char == 'X') { + hex_digits += 16; + format_char = 'x'; + } + remaining = value; + last_one_off = 0; + dpos = end; + do { + int digit_pos; + switch (format_char) { + case 'o': + digit_pos = abs((int)(remaining % (8*8))); + remaining = (size_t) (remaining / (8*8)); + dpos -= 2; + memcpy(dpos, DIGIT_PAIRS_8 + digit_pos * 2, 2); + last_one_off = (digit_pos < 8); + break; + case 'd': + digit_pos = abs((int)(remaining % (10*10))); + remaining = (size_t) (remaining / (10*10)); + dpos -= 2; + memcpy(dpos, DIGIT_PAIRS_10 + digit_pos * 2, 2); + last_one_off = (digit_pos < 10); + break; + case 'x': + *(--dpos) = hex_digits[abs((int)(remaining % 16))]; + remaining = (size_t) (remaining / 16); + break; + default: + assert(0); + break; + } + } while (unlikely(remaining != 0)); + assert(!last_one_off || *dpos == '0'); + dpos += last_one_off; + length = end - dpos; + ulength = length; + prepend_sign = 0; + if (!is_unsigned && value <= neg_one) { + if (padding_char == ' ' || width <= length + 1) { + *(--dpos) = '-'; + ++length; + } else { + prepend_sign = 1; + } + ++ulength; + } + if (width > ulength) { + ulength = width; + } + if (ulength == 1) { + return PyUnicode_FromOrdinal(*dpos); + } + return __Pyx_PyUnicode_BuildFromAscii(ulength, dpos, (int) length, prepend_sign, padding_char); +} + +/* PyObjectCallNoArg */ +static CYTHON_INLINE PyObject* __Pyx_PyObject_CallNoArg(PyObject *func) { + PyObject *arg[2] = {NULL, NULL}; + return __Pyx_PyObject_FastCall(func, arg + 1, 0 | __Pyx_PY_VECTORCALL_ARGUMENTS_OFFSET); +} + +/* BufferIndexError */ +static void __Pyx_RaiseBufferIndexError(int axis) { + PyErr_Format(PyExc_IndexError, + "Out of bounds on buffer access (axis %d)", axis); +} + +/* PyObject_GenericGetAttrNoDict */ +#if CYTHON_USE_TYPE_SLOTS && CYTHON_USE_PYTYPE_LOOKUP && PY_VERSION_HEX < 0x03070000 +static PyObject *__Pyx_RaiseGenericGetAttributeError(PyTypeObject *tp, PyObject *attr_name) { + __Pyx_TypeName type_name = __Pyx_PyType_GetName(tp); + PyErr_Format(PyExc_AttributeError, +#if PY_MAJOR_VERSION >= 3 + "'" __Pyx_FMT_TYPENAME "' object has no attribute '%U'", + type_name, attr_name); +#else + "'" __Pyx_FMT_TYPENAME "' object has no attribute '%.400s'", + type_name, PyString_AS_STRING(attr_name)); +#endif + __Pyx_DECREF_TypeName(type_name); + return NULL; +} +static CYTHON_INLINE PyObject* __Pyx_PyObject_GenericGetAttrNoDict(PyObject* obj, PyObject* attr_name) { + PyObject *descr; + PyTypeObject *tp = Py_TYPE(obj); + if (unlikely(!PyString_Check(attr_name))) { + return PyObject_GenericGetAttr(obj, attr_name); + } + assert(!tp->tp_dictoffset); + descr = _PyType_Lookup(tp, attr_name); + if (unlikely(!descr)) { + return __Pyx_RaiseGenericGetAttributeError(tp, attr_name); + } + Py_INCREF(descr); + #if PY_MAJOR_VERSION < 3 + if (likely(PyType_HasFeature(Py_TYPE(descr), Py_TPFLAGS_HAVE_CLASS))) + #endif + { + descrgetfunc f = Py_TYPE(descr)->tp_descr_get; + if (unlikely(f)) { + PyObject *res = f(descr, obj, (PyObject *)tp); + Py_DECREF(descr); + return res; + } + } + return descr; +} +#endif + +/* PyObject_GenericGetAttr */ +#if CYTHON_USE_TYPE_SLOTS && CYTHON_USE_PYTYPE_LOOKUP && PY_VERSION_HEX < 0x03070000 +static PyObject* __Pyx_PyObject_GenericGetAttr(PyObject* obj, PyObject* attr_name) { + if (unlikely(Py_TYPE(obj)->tp_dictoffset)) { + return PyObject_GenericGetAttr(obj, attr_name); + } + return __Pyx_PyObject_GenericGetAttrNoDict(obj, attr_name); +} +#endif + +/* TypeImport */ +#ifndef __PYX_HAVE_RT_ImportType_3_0_8 +#define __PYX_HAVE_RT_ImportType_3_0_8 +static PyTypeObject *__Pyx_ImportType_3_0_8(PyObject *module, const char *module_name, const char *class_name, + size_t size, size_t alignment, enum __Pyx_ImportType_CheckSize_3_0_8 check_size) +{ + PyObject *result = 0; + char warning[200]; + Py_ssize_t basicsize; + Py_ssize_t itemsize; +#if CYTHON_COMPILING_IN_LIMITED_API + PyObject *py_basicsize; + PyObject *py_itemsize; +#endif + result = PyObject_GetAttrString(module, class_name); + if (!result) + goto bad; + if (!PyType_Check(result)) { + PyErr_Format(PyExc_TypeError, + "%.200s.%.200s is not a type object", + module_name, class_name); + goto bad; + } +#if !CYTHON_COMPILING_IN_LIMITED_API + basicsize = ((PyTypeObject *)result)->tp_basicsize; + itemsize = ((PyTypeObject *)result)->tp_itemsize; +#else + py_basicsize = PyObject_GetAttrString(result, "__basicsize__"); + if (!py_basicsize) + goto bad; + basicsize = PyLong_AsSsize_t(py_basicsize); + Py_DECREF(py_basicsize); + py_basicsize = 0; + if (basicsize == (Py_ssize_t)-1 && PyErr_Occurred()) + goto bad; + py_itemsize = PyObject_GetAttrString(result, "__itemsize__"); + if (!py_itemsize) + goto bad; + itemsize = PyLong_AsSsize_t(py_itemsize); + Py_DECREF(py_itemsize); + py_itemsize = 0; + if (itemsize == (Py_ssize_t)-1 && PyErr_Occurred()) + goto bad; +#endif + if (itemsize) { + if (size % alignment) { + alignment = size % alignment; + } + if (itemsize < (Py_ssize_t)alignment) + itemsize = (Py_ssize_t)alignment; + } + if ((size_t)(basicsize + itemsize) < size) { + PyErr_Format(PyExc_ValueError, + "%.200s.%.200s size changed, may indicate binary incompatibility. " + "Expected %zd from C header, got %zd from PyObject", + module_name, class_name, size, basicsize+itemsize); + goto bad; + } + if (check_size == __Pyx_ImportType_CheckSize_Error_3_0_8 && + ((size_t)basicsize > size || (size_t)(basicsize + itemsize) < size)) { + PyErr_Format(PyExc_ValueError, + "%.200s.%.200s size changed, may indicate binary incompatibility. " + "Expected %zd from C header, got %zd-%zd from PyObject", + module_name, class_name, size, basicsize, basicsize+itemsize); + goto bad; + } + else if (check_size == __Pyx_ImportType_CheckSize_Warn_3_0_8 && (size_t)basicsize > size) { + PyOS_snprintf(warning, sizeof(warning), + "%s.%s size changed, may indicate binary incompatibility. " + "Expected %zd from C header, got %zd from PyObject", + module_name, class_name, size, basicsize); + if (PyErr_WarnEx(NULL, warning, 0) < 0) goto bad; + } + return (PyTypeObject *)result; +bad: + Py_XDECREF(result); + return NULL; +} +#endif + +/* FixUpExtensionType */ +#if CYTHON_USE_TYPE_SPECS +static int __Pyx_fix_up_extension_type_from_spec(PyType_Spec *spec, PyTypeObject *type) { +#if PY_VERSION_HEX > 0x030900B1 || CYTHON_COMPILING_IN_LIMITED_API + CYTHON_UNUSED_VAR(spec); + CYTHON_UNUSED_VAR(type); +#else + const PyType_Slot *slot = spec->slots; + while (slot && slot->slot && slot->slot != Py_tp_members) + slot++; + if (slot && slot->slot == Py_tp_members) { + int changed = 0; +#if !(PY_VERSION_HEX <= 0x030900b1 && CYTHON_COMPILING_IN_CPYTHON) + const +#endif + PyMemberDef *memb = (PyMemberDef*) slot->pfunc; + while (memb && memb->name) { + if (memb->name[0] == '_' && memb->name[1] == '_') { +#if PY_VERSION_HEX < 0x030900b1 + if (strcmp(memb->name, "__weaklistoffset__") == 0) { + assert(memb->type == T_PYSSIZET); + assert(memb->flags == READONLY); + type->tp_weaklistoffset = memb->offset; + changed = 1; + } + else if (strcmp(memb->name, "__dictoffset__") == 0) { + assert(memb->type == T_PYSSIZET); + assert(memb->flags == READONLY); + type->tp_dictoffset = memb->offset; + changed = 1; + } +#if CYTHON_METH_FASTCALL + else if (strcmp(memb->name, "__vectorcalloffset__") == 0) { + assert(memb->type == T_PYSSIZET); + assert(memb->flags == READONLY); +#if PY_VERSION_HEX >= 0x030800b4 + type->tp_vectorcall_offset = memb->offset; +#else + type->tp_print = (printfunc) memb->offset; +#endif + changed = 1; + } +#endif +#else + if ((0)); +#endif +#if PY_VERSION_HEX <= 0x030900b1 && CYTHON_COMPILING_IN_CPYTHON + else if (strcmp(memb->name, "__module__") == 0) { + PyObject *descr; + assert(memb->type == T_OBJECT); + assert(memb->flags == 0 || memb->flags == READONLY); + descr = PyDescr_NewMember(type, memb); + if (unlikely(!descr)) + return -1; + if (unlikely(PyDict_SetItem(type->tp_dict, PyDescr_NAME(descr), descr) < 0)) { + Py_DECREF(descr); + return -1; + } + Py_DECREF(descr); + changed = 1; + } +#endif + } + memb++; + } + if (changed) + PyType_Modified(type); + } +#endif + return 0; +} +#endif + +/* PyObjectCallMethod0 */ +static PyObject* __Pyx_PyObject_CallMethod0(PyObject* obj, PyObject* method_name) { + PyObject *method = NULL, *result = NULL; + int is_method = __Pyx_PyObject_GetMethod(obj, method_name, &method); + if (likely(is_method)) { + result = __Pyx_PyObject_CallOneArg(method, obj); + Py_DECREF(method); + return result; + } + if (unlikely(!method)) goto bad; + result = __Pyx_PyObject_CallNoArg(method); + Py_DECREF(method); +bad: + return result; +} + +/* ValidateBasesTuple */ +#if CYTHON_COMPILING_IN_CPYTHON || CYTHON_COMPILING_IN_LIMITED_API || CYTHON_USE_TYPE_SPECS +static int __Pyx_validate_bases_tuple(const char *type_name, Py_ssize_t dictoffset, PyObject *bases) { + Py_ssize_t i, n; +#if CYTHON_ASSUME_SAFE_MACROS + n = PyTuple_GET_SIZE(bases); +#else + n = PyTuple_Size(bases); + if (n < 0) return -1; +#endif + for (i = 1; i < n; i++) + { +#if CYTHON_AVOID_BORROWED_REFS + PyObject *b0 = PySequence_GetItem(bases, i); + if (!b0) return -1; +#elif CYTHON_ASSUME_SAFE_MACROS + PyObject *b0 = PyTuple_GET_ITEM(bases, i); +#else + PyObject *b0 = PyTuple_GetItem(bases, i); + if (!b0) return -1; +#endif + PyTypeObject *b; +#if PY_MAJOR_VERSION < 3 + if (PyClass_Check(b0)) + { + PyErr_Format(PyExc_TypeError, "base class '%.200s' is an old-style class", + PyString_AS_STRING(((PyClassObject*)b0)->cl_name)); +#if CYTHON_AVOID_BORROWED_REFS + Py_DECREF(b0); +#endif + return -1; + } +#endif + b = (PyTypeObject*) b0; + if (!__Pyx_PyType_HasFeature(b, Py_TPFLAGS_HEAPTYPE)) + { + __Pyx_TypeName b_name = __Pyx_PyType_GetName(b); + PyErr_Format(PyExc_TypeError, + "base class '" __Pyx_FMT_TYPENAME "' is not a heap type", b_name); + __Pyx_DECREF_TypeName(b_name); +#if CYTHON_AVOID_BORROWED_REFS + Py_DECREF(b0); +#endif + return -1; + } + if (dictoffset == 0) + { + Py_ssize_t b_dictoffset = 0; +#if CYTHON_USE_TYPE_SLOTS || CYTHON_COMPILING_IN_PYPY + b_dictoffset = b->tp_dictoffset; +#else + PyObject *py_b_dictoffset = PyObject_GetAttrString((PyObject*)b, "__dictoffset__"); + if (!py_b_dictoffset) goto dictoffset_return; + b_dictoffset = PyLong_AsSsize_t(py_b_dictoffset); + Py_DECREF(py_b_dictoffset); + if (b_dictoffset == -1 && PyErr_Occurred()) goto dictoffset_return; +#endif + if (b_dictoffset) { + { + __Pyx_TypeName b_name = __Pyx_PyType_GetName(b); + PyErr_Format(PyExc_TypeError, + "extension type '%.200s' has no __dict__ slot, " + "but base type '" __Pyx_FMT_TYPENAME "' has: " + "either add 'cdef dict __dict__' to the extension type " + "or add '__slots__ = [...]' to the base type", + type_name, b_name); + __Pyx_DECREF_TypeName(b_name); + } +#if !(CYTHON_USE_TYPE_SLOTS || CYTHON_COMPILING_IN_PYPY) + dictoffset_return: +#endif +#if CYTHON_AVOID_BORROWED_REFS + Py_DECREF(b0); +#endif + return -1; + } + } +#if CYTHON_AVOID_BORROWED_REFS + Py_DECREF(b0); +#endif + } + return 0; +} +#endif + +/* PyType_Ready */ +static int __Pyx_PyType_Ready(PyTypeObject *t) { +#if CYTHON_USE_TYPE_SPECS || !(CYTHON_COMPILING_IN_CPYTHON || CYTHON_COMPILING_IN_LIMITED_API) || defined(PYSTON_MAJOR_VERSION) + (void)__Pyx_PyObject_CallMethod0; +#if CYTHON_USE_TYPE_SPECS + (void)__Pyx_validate_bases_tuple; +#endif + return PyType_Ready(t); +#else + int r; + PyObject *bases = __Pyx_PyType_GetSlot(t, tp_bases, PyObject*); + if (bases && unlikely(__Pyx_validate_bases_tuple(t->tp_name, t->tp_dictoffset, bases) == -1)) + return -1; +#if PY_VERSION_HEX >= 0x03050000 && !defined(PYSTON_MAJOR_VERSION) + { + int gc_was_enabled; + #if PY_VERSION_HEX >= 0x030A00b1 + gc_was_enabled = PyGC_Disable(); + (void)__Pyx_PyObject_CallMethod0; + #else + PyObject *ret, *py_status; + PyObject *gc = NULL; + #if PY_VERSION_HEX >= 0x030700a1 && (!CYTHON_COMPILING_IN_PYPY || PYPY_VERSION_NUM+0 >= 0x07030400) + gc = PyImport_GetModule(__pyx_kp_u_gc); + #endif + if (unlikely(!gc)) gc = PyImport_Import(__pyx_kp_u_gc); + if (unlikely(!gc)) return -1; + py_status = __Pyx_PyObject_CallMethod0(gc, __pyx_kp_u_isenabled); + if (unlikely(!py_status)) { + Py_DECREF(gc); + return -1; + } + gc_was_enabled = __Pyx_PyObject_IsTrue(py_status); + Py_DECREF(py_status); + if (gc_was_enabled > 0) { + ret = __Pyx_PyObject_CallMethod0(gc, __pyx_kp_u_disable); + if (unlikely(!ret)) { + Py_DECREF(gc); + return -1; + } + Py_DECREF(ret); + } else if (unlikely(gc_was_enabled == -1)) { + Py_DECREF(gc); + return -1; + } + #endif + t->tp_flags |= Py_TPFLAGS_HEAPTYPE; +#if PY_VERSION_HEX >= 0x030A0000 + t->tp_flags |= Py_TPFLAGS_IMMUTABLETYPE; +#endif +#else + (void)__Pyx_PyObject_CallMethod0; +#endif + r = PyType_Ready(t); +#if PY_VERSION_HEX >= 0x03050000 && !defined(PYSTON_MAJOR_VERSION) + t->tp_flags &= ~Py_TPFLAGS_HEAPTYPE; + #if PY_VERSION_HEX >= 0x030A00b1 + if (gc_was_enabled) + PyGC_Enable(); + #else + if (gc_was_enabled) { + PyObject *tp, *v, *tb; + PyErr_Fetch(&tp, &v, &tb); + ret = __Pyx_PyObject_CallMethod0(gc, __pyx_kp_u_enable); + if (likely(ret || r == -1)) { + Py_XDECREF(ret); + PyErr_Restore(tp, v, tb); + } else { + Py_XDECREF(tp); + Py_XDECREF(v); + Py_XDECREF(tb); + r = -1; + } + } + Py_DECREF(gc); + #endif + } +#endif + return r; +#endif +} + +/* SetupReduce */ +#if !CYTHON_COMPILING_IN_LIMITED_API +static int __Pyx_setup_reduce_is_named(PyObject* meth, PyObject* name) { + int ret; + PyObject *name_attr; + name_attr = __Pyx_PyObject_GetAttrStrNoError(meth, __pyx_n_s_name_2); + if (likely(name_attr)) { + ret = PyObject_RichCompareBool(name_attr, name, Py_EQ); + } else { + ret = -1; + } + if (unlikely(ret < 0)) { + PyErr_Clear(); + ret = 0; + } + Py_XDECREF(name_attr); + return ret; +} +static int __Pyx_setup_reduce(PyObject* type_obj) { + int ret = 0; + PyObject *object_reduce = NULL; + PyObject *object_getstate = NULL; + PyObject *object_reduce_ex = NULL; + PyObject *reduce = NULL; + PyObject *reduce_ex = NULL; + PyObject *reduce_cython = NULL; + PyObject *setstate = NULL; + PyObject *setstate_cython = NULL; + PyObject *getstate = NULL; +#if CYTHON_USE_PYTYPE_LOOKUP + getstate = _PyType_Lookup((PyTypeObject*)type_obj, __pyx_n_s_getstate); +#else + getstate = __Pyx_PyObject_GetAttrStrNoError(type_obj, __pyx_n_s_getstate); + if (!getstate && PyErr_Occurred()) { + goto __PYX_BAD; + } +#endif + if (getstate) { +#if CYTHON_USE_PYTYPE_LOOKUP + object_getstate = _PyType_Lookup(&PyBaseObject_Type, __pyx_n_s_getstate); +#else + object_getstate = __Pyx_PyObject_GetAttrStrNoError((PyObject*)&PyBaseObject_Type, __pyx_n_s_getstate); + if (!object_getstate && PyErr_Occurred()) { + goto __PYX_BAD; + } +#endif + if (object_getstate != getstate) { + goto __PYX_GOOD; + } + } +#if CYTHON_USE_PYTYPE_LOOKUP + object_reduce_ex = _PyType_Lookup(&PyBaseObject_Type, __pyx_n_s_reduce_ex); if (!object_reduce_ex) goto __PYX_BAD; +#else + object_reduce_ex = __Pyx_PyObject_GetAttrStr((PyObject*)&PyBaseObject_Type, __pyx_n_s_reduce_ex); if (!object_reduce_ex) goto __PYX_BAD; +#endif + reduce_ex = __Pyx_PyObject_GetAttrStr(type_obj, __pyx_n_s_reduce_ex); if (unlikely(!reduce_ex)) goto __PYX_BAD; + if (reduce_ex == object_reduce_ex) { +#if CYTHON_USE_PYTYPE_LOOKUP + object_reduce = _PyType_Lookup(&PyBaseObject_Type, __pyx_n_s_reduce); if (!object_reduce) goto __PYX_BAD; +#else + object_reduce = __Pyx_PyObject_GetAttrStr((PyObject*)&PyBaseObject_Type, __pyx_n_s_reduce); if (!object_reduce) goto __PYX_BAD; +#endif + reduce = __Pyx_PyObject_GetAttrStr(type_obj, __pyx_n_s_reduce); if (unlikely(!reduce)) goto __PYX_BAD; + if (reduce == object_reduce || __Pyx_setup_reduce_is_named(reduce, __pyx_n_s_reduce_cython)) { + reduce_cython = __Pyx_PyObject_GetAttrStrNoError(type_obj, __pyx_n_s_reduce_cython); + if (likely(reduce_cython)) { + ret = PyDict_SetItem(((PyTypeObject*)type_obj)->tp_dict, __pyx_n_s_reduce, reduce_cython); if (unlikely(ret < 0)) goto __PYX_BAD; + ret = PyDict_DelItem(((PyTypeObject*)type_obj)->tp_dict, __pyx_n_s_reduce_cython); if (unlikely(ret < 0)) goto __PYX_BAD; + } else if (reduce == object_reduce || PyErr_Occurred()) { + goto __PYX_BAD; + } + setstate = __Pyx_PyObject_GetAttrStrNoError(type_obj, __pyx_n_s_setstate); + if (!setstate) PyErr_Clear(); + if (!setstate || __Pyx_setup_reduce_is_named(setstate, __pyx_n_s_setstate_cython)) { + setstate_cython = __Pyx_PyObject_GetAttrStrNoError(type_obj, __pyx_n_s_setstate_cython); + if (likely(setstate_cython)) { + ret = PyDict_SetItem(((PyTypeObject*)type_obj)->tp_dict, __pyx_n_s_setstate, setstate_cython); if (unlikely(ret < 0)) goto __PYX_BAD; + ret = PyDict_DelItem(((PyTypeObject*)type_obj)->tp_dict, __pyx_n_s_setstate_cython); if (unlikely(ret < 0)) goto __PYX_BAD; + } else if (!setstate || PyErr_Occurred()) { + goto __PYX_BAD; + } + } + PyType_Modified((PyTypeObject*)type_obj); + } + } + goto __PYX_GOOD; +__PYX_BAD: + if (!PyErr_Occurred()) { + __Pyx_TypeName type_obj_name = + __Pyx_PyType_GetName((PyTypeObject*)type_obj); + PyErr_Format(PyExc_RuntimeError, + "Unable to initialize pickling for " __Pyx_FMT_TYPENAME, type_obj_name); + __Pyx_DECREF_TypeName(type_obj_name); + } + ret = -1; +__PYX_GOOD: +#if !CYTHON_USE_PYTYPE_LOOKUP + Py_XDECREF(object_reduce); + Py_XDECREF(object_reduce_ex); + Py_XDECREF(object_getstate); + Py_XDECREF(getstate); +#endif + Py_XDECREF(reduce); + Py_XDECREF(reduce_ex); + Py_XDECREF(reduce_cython); + Py_XDECREF(setstate); + Py_XDECREF(setstate_cython); + return ret; +} +#endif + +/* SetVTable */ +static int __Pyx_SetVtable(PyTypeObject *type, void *vtable) { + PyObject *ob = PyCapsule_New(vtable, 0, 0); + if (unlikely(!ob)) + goto bad; +#if CYTHON_COMPILING_IN_LIMITED_API + if (unlikely(PyObject_SetAttr((PyObject *) type, __pyx_n_s_pyx_vtable, ob) < 0)) +#else + if (unlikely(PyDict_SetItem(type->tp_dict, __pyx_n_s_pyx_vtable, ob) < 0)) +#endif + goto bad; + Py_DECREF(ob); + return 0; +bad: + Py_XDECREF(ob); + return -1; +} + +/* GetVTable */ +static void* __Pyx_GetVtable(PyTypeObject *type) { + void* ptr; +#if CYTHON_COMPILING_IN_LIMITED_API + PyObject *ob = PyObject_GetAttr((PyObject *)type, __pyx_n_s_pyx_vtable); +#else + PyObject *ob = PyObject_GetItem(type->tp_dict, __pyx_n_s_pyx_vtable); +#endif + if (!ob) + goto bad; + ptr = PyCapsule_GetPointer(ob, 0); + if (!ptr && !PyErr_Occurred()) + PyErr_SetString(PyExc_RuntimeError, "invalid vtable found for imported type"); + Py_DECREF(ob); + return ptr; +bad: + Py_XDECREF(ob); + return NULL; +} + +/* MergeVTables */ +#if !CYTHON_COMPILING_IN_LIMITED_API +static int __Pyx_MergeVtables(PyTypeObject *type) { + int i; + void** base_vtables; + __Pyx_TypeName tp_base_name; + __Pyx_TypeName base_name; + void* unknown = (void*)-1; + PyObject* bases = type->tp_bases; + int base_depth = 0; + { + PyTypeObject* base = type->tp_base; + while (base) { + base_depth += 1; + base = base->tp_base; + } + } + base_vtables = (void**) malloc(sizeof(void*) * (size_t)(base_depth + 1)); + base_vtables[0] = unknown; + for (i = 1; i < PyTuple_GET_SIZE(bases); i++) { + void* base_vtable = __Pyx_GetVtable(((PyTypeObject*)PyTuple_GET_ITEM(bases, i))); + if (base_vtable != NULL) { + int j; + PyTypeObject* base = type->tp_base; + for (j = 0; j < base_depth; j++) { + if (base_vtables[j] == unknown) { + base_vtables[j] = __Pyx_GetVtable(base); + base_vtables[j + 1] = unknown; + } + if (base_vtables[j] == base_vtable) { + break; + } else if (base_vtables[j] == NULL) { + goto bad; + } + base = base->tp_base; + } + } + } + PyErr_Clear(); + free(base_vtables); + return 0; +bad: + tp_base_name = __Pyx_PyType_GetName(type->tp_base); + base_name = __Pyx_PyType_GetName((PyTypeObject*)PyTuple_GET_ITEM(bases, i)); + PyErr_Format(PyExc_TypeError, + "multiple bases have vtable conflict: '" __Pyx_FMT_TYPENAME "' and '" __Pyx_FMT_TYPENAME "'", tp_base_name, base_name); + __Pyx_DECREF_TypeName(tp_base_name); + __Pyx_DECREF_TypeName(base_name); + free(base_vtables); + return -1; +} +#endif + +/* FetchSharedCythonModule */ +static PyObject *__Pyx_FetchSharedCythonABIModule(void) { + return __Pyx_PyImport_AddModuleRef((char*) __PYX_ABI_MODULE_NAME); +} + +/* FetchCommonType */ +static int __Pyx_VerifyCachedType(PyObject *cached_type, + const char *name, + Py_ssize_t basicsize, + Py_ssize_t expected_basicsize) { + if (!PyType_Check(cached_type)) { + PyErr_Format(PyExc_TypeError, + "Shared Cython type %.200s is not a type object", name); + return -1; + } + if (basicsize != expected_basicsize) { + PyErr_Format(PyExc_TypeError, + "Shared Cython type %.200s has the wrong size, try recompiling", + name); + return -1; + } + return 0; +} +#if !CYTHON_USE_TYPE_SPECS +static PyTypeObject* __Pyx_FetchCommonType(PyTypeObject* type) { + PyObject* abi_module; + const char* object_name; + PyTypeObject *cached_type = NULL; + abi_module = __Pyx_FetchSharedCythonABIModule(); + if (!abi_module) return NULL; + object_name = strrchr(type->tp_name, '.'); + object_name = object_name ? object_name+1 : type->tp_name; + cached_type = (PyTypeObject*) PyObject_GetAttrString(abi_module, object_name); + if (cached_type) { + if (__Pyx_VerifyCachedType( + (PyObject *)cached_type, + object_name, + cached_type->tp_basicsize, + type->tp_basicsize) < 0) { + goto bad; + } + goto done; + } + if (!PyErr_ExceptionMatches(PyExc_AttributeError)) goto bad; + PyErr_Clear(); + if (PyType_Ready(type) < 0) goto bad; + if (PyObject_SetAttrString(abi_module, object_name, (PyObject *)type) < 0) + goto bad; + Py_INCREF(type); + cached_type = type; +done: + Py_DECREF(abi_module); + return cached_type; +bad: + Py_XDECREF(cached_type); + cached_type = NULL; + goto done; +} +#else +static PyTypeObject *__Pyx_FetchCommonTypeFromSpec(PyObject *module, PyType_Spec *spec, PyObject *bases) { + PyObject *abi_module, *cached_type = NULL; + const char* object_name = strrchr(spec->name, '.'); + object_name = object_name ? object_name+1 : spec->name; + abi_module = __Pyx_FetchSharedCythonABIModule(); + if (!abi_module) return NULL; + cached_type = PyObject_GetAttrString(abi_module, object_name); + if (cached_type) { + Py_ssize_t basicsize; +#if CYTHON_COMPILING_IN_LIMITED_API + PyObject *py_basicsize; + py_basicsize = PyObject_GetAttrString(cached_type, "__basicsize__"); + if (unlikely(!py_basicsize)) goto bad; + basicsize = PyLong_AsSsize_t(py_basicsize); + Py_DECREF(py_basicsize); + py_basicsize = 0; + if (unlikely(basicsize == (Py_ssize_t)-1) && PyErr_Occurred()) goto bad; +#else + basicsize = likely(PyType_Check(cached_type)) ? ((PyTypeObject*) cached_type)->tp_basicsize : -1; +#endif + if (__Pyx_VerifyCachedType( + cached_type, + object_name, + basicsize, + spec->basicsize) < 0) { + goto bad; + } + goto done; + } + if (!PyErr_ExceptionMatches(PyExc_AttributeError)) goto bad; + PyErr_Clear(); + CYTHON_UNUSED_VAR(module); + cached_type = __Pyx_PyType_FromModuleAndSpec(abi_module, spec, bases); + if (unlikely(!cached_type)) goto bad; + if (unlikely(__Pyx_fix_up_extension_type_from_spec(spec, (PyTypeObject *) cached_type) < 0)) goto bad; + if (PyObject_SetAttrString(abi_module, object_name, cached_type) < 0) goto bad; +done: + Py_DECREF(abi_module); + assert(cached_type == NULL || PyType_Check(cached_type)); + return (PyTypeObject *) cached_type; +bad: + Py_XDECREF(cached_type); + cached_type = NULL; + goto done; +} +#endif + +/* PyVectorcallFastCallDict */ +#if CYTHON_METH_FASTCALL +static PyObject *__Pyx_PyVectorcall_FastCallDict_kw(PyObject *func, __pyx_vectorcallfunc vc, PyObject *const *args, size_t nargs, PyObject *kw) +{ + PyObject *res = NULL; + PyObject *kwnames; + PyObject **newargs; + PyObject **kwvalues; + Py_ssize_t i, pos; + size_t j; + PyObject *key, *value; + unsigned long keys_are_strings; + Py_ssize_t nkw = PyDict_GET_SIZE(kw); + newargs = (PyObject **)PyMem_Malloc((nargs + (size_t)nkw) * sizeof(args[0])); + if (unlikely(newargs == NULL)) { + PyErr_NoMemory(); + return NULL; + } + for (j = 0; j < nargs; j++) newargs[j] = args[j]; + kwnames = PyTuple_New(nkw); + if (unlikely(kwnames == NULL)) { + PyMem_Free(newargs); + return NULL; + } + kwvalues = newargs + nargs; + pos = i = 0; + keys_are_strings = Py_TPFLAGS_UNICODE_SUBCLASS; + while (PyDict_Next(kw, &pos, &key, &value)) { + keys_are_strings &= Py_TYPE(key)->tp_flags; + Py_INCREF(key); + Py_INCREF(value); + PyTuple_SET_ITEM(kwnames, i, key); + kwvalues[i] = value; + i++; + } + if (unlikely(!keys_are_strings)) { + PyErr_SetString(PyExc_TypeError, "keywords must be strings"); + goto cleanup; + } + res = vc(func, newargs, nargs, kwnames); +cleanup: + Py_DECREF(kwnames); + for (i = 0; i < nkw; i++) + Py_DECREF(kwvalues[i]); + PyMem_Free(newargs); + return res; +} +static CYTHON_INLINE PyObject *__Pyx_PyVectorcall_FastCallDict(PyObject *func, __pyx_vectorcallfunc vc, PyObject *const *args, size_t nargs, PyObject *kw) +{ + if (likely(kw == NULL) || PyDict_GET_SIZE(kw) == 0) { + return vc(func, args, nargs, NULL); + } + return __Pyx_PyVectorcall_FastCallDict_kw(func, vc, args, nargs, kw); +} +#endif + +/* CythonFunctionShared */ +#if CYTHON_COMPILING_IN_LIMITED_API +static CYTHON_INLINE int __Pyx__IsSameCyOrCFunction(PyObject *func, void *cfunc) { + if (__Pyx_CyFunction_Check(func)) { + return PyCFunction_GetFunction(((__pyx_CyFunctionObject*)func)->func) == (PyCFunction) cfunc; + } else if (PyCFunction_Check(func)) { + return PyCFunction_GetFunction(func) == (PyCFunction) cfunc; + } + return 0; +} +#else +static CYTHON_INLINE int __Pyx__IsSameCyOrCFunction(PyObject *func, void *cfunc) { + return __Pyx_CyOrPyCFunction_Check(func) && __Pyx_CyOrPyCFunction_GET_FUNCTION(func) == (PyCFunction) cfunc; +} +#endif +static CYTHON_INLINE void __Pyx__CyFunction_SetClassObj(__pyx_CyFunctionObject* f, PyObject* classobj) { +#if PY_VERSION_HEX < 0x030900B1 || CYTHON_COMPILING_IN_LIMITED_API + __Pyx_Py_XDECREF_SET( + __Pyx_CyFunction_GetClassObj(f), + ((classobj) ? __Pyx_NewRef(classobj) : NULL)); +#else + __Pyx_Py_XDECREF_SET( + ((PyCMethodObject *) (f))->mm_class, + (PyTypeObject*)((classobj) ? __Pyx_NewRef(classobj) : NULL)); +#endif +} +static PyObject * +__Pyx_CyFunction_get_doc(__pyx_CyFunctionObject *op, void *closure) +{ + CYTHON_UNUSED_VAR(closure); + if (unlikely(op->func_doc == NULL)) { +#if CYTHON_COMPILING_IN_LIMITED_API + op->func_doc = PyObject_GetAttrString(op->func, "__doc__"); + if (unlikely(!op->func_doc)) return NULL; +#else + if (((PyCFunctionObject*)op)->m_ml->ml_doc) { +#if PY_MAJOR_VERSION >= 3 + op->func_doc = PyUnicode_FromString(((PyCFunctionObject*)op)->m_ml->ml_doc); +#else + op->func_doc = PyString_FromString(((PyCFunctionObject*)op)->m_ml->ml_doc); +#endif + if (unlikely(op->func_doc == NULL)) + return NULL; + } else { + Py_INCREF(Py_None); + return Py_None; + } +#endif + } + Py_INCREF(op->func_doc); + return op->func_doc; +} +static int +__Pyx_CyFunction_set_doc(__pyx_CyFunctionObject *op, PyObject *value, void *context) +{ + CYTHON_UNUSED_VAR(context); + if (value == NULL) { + value = Py_None; + } + Py_INCREF(value); + __Pyx_Py_XDECREF_SET(op->func_doc, value); + return 0; +} +static PyObject * +__Pyx_CyFunction_get_name(__pyx_CyFunctionObject *op, void *context) +{ + CYTHON_UNUSED_VAR(context); + if (unlikely(op->func_name == NULL)) { +#if CYTHON_COMPILING_IN_LIMITED_API + op->func_name = PyObject_GetAttrString(op->func, "__name__"); +#elif PY_MAJOR_VERSION >= 3 + op->func_name = PyUnicode_InternFromString(((PyCFunctionObject*)op)->m_ml->ml_name); +#else + op->func_name = PyString_InternFromString(((PyCFunctionObject*)op)->m_ml->ml_name); +#endif + if (unlikely(op->func_name == NULL)) + return NULL; + } + Py_INCREF(op->func_name); + return op->func_name; +} +static int +__Pyx_CyFunction_set_name(__pyx_CyFunctionObject *op, PyObject *value, void *context) +{ + CYTHON_UNUSED_VAR(context); +#if PY_MAJOR_VERSION >= 3 + if (unlikely(value == NULL || !PyUnicode_Check(value))) +#else + if (unlikely(value == NULL || !PyString_Check(value))) +#endif + { + PyErr_SetString(PyExc_TypeError, + "__name__ must be set to a string object"); + return -1; + } + Py_INCREF(value); + __Pyx_Py_XDECREF_SET(op->func_name, value); + return 0; +} +static PyObject * +__Pyx_CyFunction_get_qualname(__pyx_CyFunctionObject *op, void *context) +{ + CYTHON_UNUSED_VAR(context); + Py_INCREF(op->func_qualname); + return op->func_qualname; +} +static int +__Pyx_CyFunction_set_qualname(__pyx_CyFunctionObject *op, PyObject *value, void *context) +{ + CYTHON_UNUSED_VAR(context); +#if PY_MAJOR_VERSION >= 3 + if (unlikely(value == NULL || !PyUnicode_Check(value))) +#else + if (unlikely(value == NULL || !PyString_Check(value))) +#endif + { + PyErr_SetString(PyExc_TypeError, + "__qualname__ must be set to a string object"); + return -1; + } + Py_INCREF(value); + __Pyx_Py_XDECREF_SET(op->func_qualname, value); + return 0; +} +static PyObject * +__Pyx_CyFunction_get_dict(__pyx_CyFunctionObject *op, void *context) +{ + CYTHON_UNUSED_VAR(context); + if (unlikely(op->func_dict == NULL)) { + op->func_dict = PyDict_New(); + if (unlikely(op->func_dict == NULL)) + return NULL; + } + Py_INCREF(op->func_dict); + return op->func_dict; +} +static int +__Pyx_CyFunction_set_dict(__pyx_CyFunctionObject *op, PyObject *value, void *context) +{ + CYTHON_UNUSED_VAR(context); + if (unlikely(value == NULL)) { + PyErr_SetString(PyExc_TypeError, + "function's dictionary may not be deleted"); + return -1; + } + if (unlikely(!PyDict_Check(value))) { + PyErr_SetString(PyExc_TypeError, + "setting function's dictionary to a non-dict"); + return -1; + } + Py_INCREF(value); + __Pyx_Py_XDECREF_SET(op->func_dict, value); + return 0; +} +static PyObject * +__Pyx_CyFunction_get_globals(__pyx_CyFunctionObject *op, void *context) +{ + CYTHON_UNUSED_VAR(context); + Py_INCREF(op->func_globals); + return op->func_globals; +} +static PyObject * +__Pyx_CyFunction_get_closure(__pyx_CyFunctionObject *op, void *context) +{ + CYTHON_UNUSED_VAR(op); + CYTHON_UNUSED_VAR(context); + Py_INCREF(Py_None); + return Py_None; +} +static PyObject * +__Pyx_CyFunction_get_code(__pyx_CyFunctionObject *op, void *context) +{ + PyObject* result = (op->func_code) ? op->func_code : Py_None; + CYTHON_UNUSED_VAR(context); + Py_INCREF(result); + return result; +} +static int +__Pyx_CyFunction_init_defaults(__pyx_CyFunctionObject *op) { + int result = 0; + PyObject *res = op->defaults_getter((PyObject *) op); + if (unlikely(!res)) + return -1; + #if CYTHON_ASSUME_SAFE_MACROS && !CYTHON_AVOID_BORROWED_REFS + op->defaults_tuple = PyTuple_GET_ITEM(res, 0); + Py_INCREF(op->defaults_tuple); + op->defaults_kwdict = PyTuple_GET_ITEM(res, 1); + Py_INCREF(op->defaults_kwdict); + #else + op->defaults_tuple = __Pyx_PySequence_ITEM(res, 0); + if (unlikely(!op->defaults_tuple)) result = -1; + else { + op->defaults_kwdict = __Pyx_PySequence_ITEM(res, 1); + if (unlikely(!op->defaults_kwdict)) result = -1; + } + #endif + Py_DECREF(res); + return result; +} +static int +__Pyx_CyFunction_set_defaults(__pyx_CyFunctionObject *op, PyObject* value, void *context) { + CYTHON_UNUSED_VAR(context); + if (!value) { + value = Py_None; + } else if (unlikely(value != Py_None && !PyTuple_Check(value))) { + PyErr_SetString(PyExc_TypeError, + "__defaults__ must be set to a tuple object"); + return -1; + } + PyErr_WarnEx(PyExc_RuntimeWarning, "changes to cyfunction.__defaults__ will not " + "currently affect the values used in function calls", 1); + Py_INCREF(value); + __Pyx_Py_XDECREF_SET(op->defaults_tuple, value); + return 0; +} +static PyObject * +__Pyx_CyFunction_get_defaults(__pyx_CyFunctionObject *op, void *context) { + PyObject* result = op->defaults_tuple; + CYTHON_UNUSED_VAR(context); + if (unlikely(!result)) { + if (op->defaults_getter) { + if (unlikely(__Pyx_CyFunction_init_defaults(op) < 0)) return NULL; + result = op->defaults_tuple; + } else { + result = Py_None; + } + } + Py_INCREF(result); + return result; +} +static int +__Pyx_CyFunction_set_kwdefaults(__pyx_CyFunctionObject *op, PyObject* value, void *context) { + CYTHON_UNUSED_VAR(context); + if (!value) { + value = Py_None; + } else if (unlikely(value != Py_None && !PyDict_Check(value))) { + PyErr_SetString(PyExc_TypeError, + "__kwdefaults__ must be set to a dict object"); + return -1; + } + PyErr_WarnEx(PyExc_RuntimeWarning, "changes to cyfunction.__kwdefaults__ will not " + "currently affect the values used in function calls", 1); + Py_INCREF(value); + __Pyx_Py_XDECREF_SET(op->defaults_kwdict, value); + return 0; +} +static PyObject * +__Pyx_CyFunction_get_kwdefaults(__pyx_CyFunctionObject *op, void *context) { + PyObject* result = op->defaults_kwdict; + CYTHON_UNUSED_VAR(context); + if (unlikely(!result)) { + if (op->defaults_getter) { + if (unlikely(__Pyx_CyFunction_init_defaults(op) < 0)) return NULL; + result = op->defaults_kwdict; + } else { + result = Py_None; + } + } + Py_INCREF(result); + return result; +} +static int +__Pyx_CyFunction_set_annotations(__pyx_CyFunctionObject *op, PyObject* value, void *context) { + CYTHON_UNUSED_VAR(context); + if (!value || value == Py_None) { + value = NULL; + } else if (unlikely(!PyDict_Check(value))) { + PyErr_SetString(PyExc_TypeError, + "__annotations__ must be set to a dict object"); + return -1; + } + Py_XINCREF(value); + __Pyx_Py_XDECREF_SET(op->func_annotations, value); + return 0; +} +static PyObject * +__Pyx_CyFunction_get_annotations(__pyx_CyFunctionObject *op, void *context) { + PyObject* result = op->func_annotations; + CYTHON_UNUSED_VAR(context); + if (unlikely(!result)) { + result = PyDict_New(); + if (unlikely(!result)) return NULL; + op->func_annotations = result; + } + Py_INCREF(result); + return result; +} +static PyObject * +__Pyx_CyFunction_get_is_coroutine(__pyx_CyFunctionObject *op, void *context) { + int is_coroutine; + CYTHON_UNUSED_VAR(context); + if (op->func_is_coroutine) { + return __Pyx_NewRef(op->func_is_coroutine); + } + is_coroutine = op->flags & __Pyx_CYFUNCTION_COROUTINE; +#if PY_VERSION_HEX >= 0x03050000 + if (is_coroutine) { + PyObject *module, *fromlist, *marker = __pyx_n_s_is_coroutine; + fromlist = PyList_New(1); + if (unlikely(!fromlist)) return NULL; + Py_INCREF(marker); +#if CYTHON_ASSUME_SAFE_MACROS + PyList_SET_ITEM(fromlist, 0, marker); +#else + if (unlikely(PyList_SetItem(fromlist, 0, marker) < 0)) { + Py_DECREF(marker); + Py_DECREF(fromlist); + return NULL; + } +#endif + module = PyImport_ImportModuleLevelObject(__pyx_n_s_asyncio_coroutines, NULL, NULL, fromlist, 0); + Py_DECREF(fromlist); + if (unlikely(!module)) goto ignore; + op->func_is_coroutine = __Pyx_PyObject_GetAttrStr(module, marker); + Py_DECREF(module); + if (likely(op->func_is_coroutine)) { + return __Pyx_NewRef(op->func_is_coroutine); + } +ignore: + PyErr_Clear(); + } +#endif + op->func_is_coroutine = __Pyx_PyBool_FromLong(is_coroutine); + return __Pyx_NewRef(op->func_is_coroutine); +} +#if CYTHON_COMPILING_IN_LIMITED_API +static PyObject * +__Pyx_CyFunction_get_module(__pyx_CyFunctionObject *op, void *context) { + CYTHON_UNUSED_VAR(context); + return PyObject_GetAttrString(op->func, "__module__"); +} +static int +__Pyx_CyFunction_set_module(__pyx_CyFunctionObject *op, PyObject* value, void *context) { + CYTHON_UNUSED_VAR(context); + return PyObject_SetAttrString(op->func, "__module__", value); +} +#endif +static PyGetSetDef __pyx_CyFunction_getsets[] = { + {(char *) "func_doc", (getter)__Pyx_CyFunction_get_doc, (setter)__Pyx_CyFunction_set_doc, 0, 0}, + {(char *) "__doc__", (getter)__Pyx_CyFunction_get_doc, (setter)__Pyx_CyFunction_set_doc, 0, 0}, + {(char *) "func_name", (getter)__Pyx_CyFunction_get_name, (setter)__Pyx_CyFunction_set_name, 0, 0}, + {(char *) "__name__", (getter)__Pyx_CyFunction_get_name, (setter)__Pyx_CyFunction_set_name, 0, 0}, + {(char *) "__qualname__", (getter)__Pyx_CyFunction_get_qualname, (setter)__Pyx_CyFunction_set_qualname, 0, 0}, + {(char *) "func_dict", (getter)__Pyx_CyFunction_get_dict, (setter)__Pyx_CyFunction_set_dict, 0, 0}, + {(char *) "__dict__", (getter)__Pyx_CyFunction_get_dict, (setter)__Pyx_CyFunction_set_dict, 0, 0}, + {(char *) "func_globals", (getter)__Pyx_CyFunction_get_globals, 0, 0, 0}, + {(char *) "__globals__", (getter)__Pyx_CyFunction_get_globals, 0, 0, 0}, + {(char *) "func_closure", (getter)__Pyx_CyFunction_get_closure, 0, 0, 0}, + {(char *) "__closure__", (getter)__Pyx_CyFunction_get_closure, 0, 0, 0}, + {(char *) "func_code", (getter)__Pyx_CyFunction_get_code, 0, 0, 0}, + {(char *) "__code__", (getter)__Pyx_CyFunction_get_code, 0, 0, 0}, + {(char *) "func_defaults", (getter)__Pyx_CyFunction_get_defaults, (setter)__Pyx_CyFunction_set_defaults, 0, 0}, + {(char *) "__defaults__", (getter)__Pyx_CyFunction_get_defaults, (setter)__Pyx_CyFunction_set_defaults, 0, 0}, + {(char *) "__kwdefaults__", (getter)__Pyx_CyFunction_get_kwdefaults, (setter)__Pyx_CyFunction_set_kwdefaults, 0, 0}, + {(char *) "__annotations__", (getter)__Pyx_CyFunction_get_annotations, (setter)__Pyx_CyFunction_set_annotations, 0, 0}, + {(char *) "_is_coroutine", (getter)__Pyx_CyFunction_get_is_coroutine, 0, 0, 0}, +#if CYTHON_COMPILING_IN_LIMITED_API + {"__module__", (getter)__Pyx_CyFunction_get_module, (setter)__Pyx_CyFunction_set_module, 0, 0}, +#endif + {0, 0, 0, 0, 0} +}; +static PyMemberDef __pyx_CyFunction_members[] = { +#if !CYTHON_COMPILING_IN_LIMITED_API + {(char *) "__module__", T_OBJECT, offsetof(PyCFunctionObject, m_module), 0, 0}, +#endif +#if CYTHON_USE_TYPE_SPECS + {(char *) "__dictoffset__", T_PYSSIZET, offsetof(__pyx_CyFunctionObject, func_dict), READONLY, 0}, +#if CYTHON_METH_FASTCALL +#if CYTHON_BACKPORT_VECTORCALL + {(char *) "__vectorcalloffset__", T_PYSSIZET, offsetof(__pyx_CyFunctionObject, func_vectorcall), READONLY, 0}, +#else +#if !CYTHON_COMPILING_IN_LIMITED_API + {(char *) "__vectorcalloffset__", T_PYSSIZET, offsetof(PyCFunctionObject, vectorcall), READONLY, 0}, +#endif +#endif +#endif +#if PY_VERSION_HEX < 0x030500A0 || CYTHON_COMPILING_IN_LIMITED_API + {(char *) "__weaklistoffset__", T_PYSSIZET, offsetof(__pyx_CyFunctionObject, func_weakreflist), READONLY, 0}, +#else + {(char *) "__weaklistoffset__", T_PYSSIZET, offsetof(PyCFunctionObject, m_weakreflist), READONLY, 0}, +#endif +#endif + {0, 0, 0, 0, 0} +}; +static PyObject * +__Pyx_CyFunction_reduce(__pyx_CyFunctionObject *m, PyObject *args) +{ + CYTHON_UNUSED_VAR(args); +#if PY_MAJOR_VERSION >= 3 + Py_INCREF(m->func_qualname); + return m->func_qualname; +#else + return PyString_FromString(((PyCFunctionObject*)m)->m_ml->ml_name); +#endif +} +static PyMethodDef __pyx_CyFunction_methods[] = { + {"__reduce__", (PyCFunction)__Pyx_CyFunction_reduce, METH_VARARGS, 0}, + {0, 0, 0, 0} +}; +#if PY_VERSION_HEX < 0x030500A0 || CYTHON_COMPILING_IN_LIMITED_API +#define __Pyx_CyFunction_weakreflist(cyfunc) ((cyfunc)->func_weakreflist) +#else +#define __Pyx_CyFunction_weakreflist(cyfunc) (((PyCFunctionObject*)cyfunc)->m_weakreflist) +#endif +static PyObject *__Pyx_CyFunction_Init(__pyx_CyFunctionObject *op, PyMethodDef *ml, int flags, PyObject* qualname, + PyObject *closure, PyObject *module, PyObject* globals, PyObject* code) { +#if !CYTHON_COMPILING_IN_LIMITED_API + PyCFunctionObject *cf = (PyCFunctionObject*) op; +#endif + if (unlikely(op == NULL)) + return NULL; +#if CYTHON_COMPILING_IN_LIMITED_API + op->func = PyCFunction_NewEx(ml, (PyObject*)op, module); + if (unlikely(!op->func)) return NULL; +#endif + op->flags = flags; + __Pyx_CyFunction_weakreflist(op) = NULL; +#if !CYTHON_COMPILING_IN_LIMITED_API + cf->m_ml = ml; + cf->m_self = (PyObject *) op; +#endif + Py_XINCREF(closure); + op->func_closure = closure; +#if !CYTHON_COMPILING_IN_LIMITED_API + Py_XINCREF(module); + cf->m_module = module; +#endif + op->func_dict = NULL; + op->func_name = NULL; + Py_INCREF(qualname); + op->func_qualname = qualname; + op->func_doc = NULL; +#if PY_VERSION_HEX < 0x030900B1 || CYTHON_COMPILING_IN_LIMITED_API + op->func_classobj = NULL; +#else + ((PyCMethodObject*)op)->mm_class = NULL; +#endif + op->func_globals = globals; + Py_INCREF(op->func_globals); + Py_XINCREF(code); + op->func_code = code; + op->defaults_pyobjects = 0; + op->defaults_size = 0; + op->defaults = NULL; + op->defaults_tuple = NULL; + op->defaults_kwdict = NULL; + op->defaults_getter = NULL; + op->func_annotations = NULL; + op->func_is_coroutine = NULL; +#if CYTHON_METH_FASTCALL + switch (ml->ml_flags & (METH_VARARGS | METH_FASTCALL | METH_NOARGS | METH_O | METH_KEYWORDS | METH_METHOD)) { + case METH_NOARGS: + __Pyx_CyFunction_func_vectorcall(op) = __Pyx_CyFunction_Vectorcall_NOARGS; + break; + case METH_O: + __Pyx_CyFunction_func_vectorcall(op) = __Pyx_CyFunction_Vectorcall_O; + break; + case METH_METHOD | METH_FASTCALL | METH_KEYWORDS: + __Pyx_CyFunction_func_vectorcall(op) = __Pyx_CyFunction_Vectorcall_FASTCALL_KEYWORDS_METHOD; + break; + case METH_FASTCALL | METH_KEYWORDS: + __Pyx_CyFunction_func_vectorcall(op) = __Pyx_CyFunction_Vectorcall_FASTCALL_KEYWORDS; + break; + case METH_VARARGS | METH_KEYWORDS: + __Pyx_CyFunction_func_vectorcall(op) = NULL; + break; + default: + PyErr_SetString(PyExc_SystemError, "Bad call flags for CyFunction"); + Py_DECREF(op); + return NULL; + } +#endif + return (PyObject *) op; +} +static int +__Pyx_CyFunction_clear(__pyx_CyFunctionObject *m) +{ + Py_CLEAR(m->func_closure); +#if CYTHON_COMPILING_IN_LIMITED_API + Py_CLEAR(m->func); +#else + Py_CLEAR(((PyCFunctionObject*)m)->m_module); +#endif + Py_CLEAR(m->func_dict); + Py_CLEAR(m->func_name); + Py_CLEAR(m->func_qualname); + Py_CLEAR(m->func_doc); + Py_CLEAR(m->func_globals); + Py_CLEAR(m->func_code); +#if !CYTHON_COMPILING_IN_LIMITED_API +#if PY_VERSION_HEX < 0x030900B1 + Py_CLEAR(__Pyx_CyFunction_GetClassObj(m)); +#else + { + PyObject *cls = (PyObject*) ((PyCMethodObject *) (m))->mm_class; + ((PyCMethodObject *) (m))->mm_class = NULL; + Py_XDECREF(cls); + } +#endif +#endif + Py_CLEAR(m->defaults_tuple); + Py_CLEAR(m->defaults_kwdict); + Py_CLEAR(m->func_annotations); + Py_CLEAR(m->func_is_coroutine); + if (m->defaults) { + PyObject **pydefaults = __Pyx_CyFunction_Defaults(PyObject *, m); + int i; + for (i = 0; i < m->defaults_pyobjects; i++) + Py_XDECREF(pydefaults[i]); + PyObject_Free(m->defaults); + m->defaults = NULL; + } + return 0; +} +static void __Pyx__CyFunction_dealloc(__pyx_CyFunctionObject *m) +{ + if (__Pyx_CyFunction_weakreflist(m) != NULL) + PyObject_ClearWeakRefs((PyObject *) m); + __Pyx_CyFunction_clear(m); + __Pyx_PyHeapTypeObject_GC_Del(m); +} +static void __Pyx_CyFunction_dealloc(__pyx_CyFunctionObject *m) +{ + PyObject_GC_UnTrack(m); + __Pyx__CyFunction_dealloc(m); +} +static int __Pyx_CyFunction_traverse(__pyx_CyFunctionObject *m, visitproc visit, void *arg) +{ + Py_VISIT(m->func_closure); +#if CYTHON_COMPILING_IN_LIMITED_API + Py_VISIT(m->func); +#else + Py_VISIT(((PyCFunctionObject*)m)->m_module); +#endif + Py_VISIT(m->func_dict); + Py_VISIT(m->func_name); + Py_VISIT(m->func_qualname); + Py_VISIT(m->func_doc); + Py_VISIT(m->func_globals); + Py_VISIT(m->func_code); +#if !CYTHON_COMPILING_IN_LIMITED_API + Py_VISIT(__Pyx_CyFunction_GetClassObj(m)); +#endif + Py_VISIT(m->defaults_tuple); + Py_VISIT(m->defaults_kwdict); + Py_VISIT(m->func_is_coroutine); + if (m->defaults) { + PyObject **pydefaults = __Pyx_CyFunction_Defaults(PyObject *, m); + int i; + for (i = 0; i < m->defaults_pyobjects; i++) + Py_VISIT(pydefaults[i]); + } + return 0; +} +static PyObject* +__Pyx_CyFunction_repr(__pyx_CyFunctionObject *op) +{ +#if PY_MAJOR_VERSION >= 3 + return PyUnicode_FromFormat("", + op->func_qualname, (void *)op); +#else + return PyString_FromFormat("", + PyString_AsString(op->func_qualname), (void *)op); +#endif +} +static PyObject * __Pyx_CyFunction_CallMethod(PyObject *func, PyObject *self, PyObject *arg, PyObject *kw) { +#if CYTHON_COMPILING_IN_LIMITED_API + PyObject *f = ((__pyx_CyFunctionObject*)func)->func; + PyObject *py_name = NULL; + PyCFunction meth; + int flags; + meth = PyCFunction_GetFunction(f); + if (unlikely(!meth)) return NULL; + flags = PyCFunction_GetFlags(f); + if (unlikely(flags < 0)) return NULL; +#else + PyCFunctionObject* f = (PyCFunctionObject*)func; + PyCFunction meth = f->m_ml->ml_meth; + int flags = f->m_ml->ml_flags; +#endif + Py_ssize_t size; + switch (flags & (METH_VARARGS | METH_KEYWORDS | METH_NOARGS | METH_O)) { + case METH_VARARGS: + if (likely(kw == NULL || PyDict_Size(kw) == 0)) + return (*meth)(self, arg); + break; + case METH_VARARGS | METH_KEYWORDS: + return (*(PyCFunctionWithKeywords)(void*)meth)(self, arg, kw); + case METH_NOARGS: + if (likely(kw == NULL || PyDict_Size(kw) == 0)) { +#if CYTHON_ASSUME_SAFE_MACROS + size = PyTuple_GET_SIZE(arg); +#else + size = PyTuple_Size(arg); + if (unlikely(size < 0)) return NULL; +#endif + if (likely(size == 0)) + return (*meth)(self, NULL); +#if CYTHON_COMPILING_IN_LIMITED_API + py_name = __Pyx_CyFunction_get_name((__pyx_CyFunctionObject*)func, NULL); + if (!py_name) return NULL; + PyErr_Format(PyExc_TypeError, + "%.200S() takes no arguments (%" CYTHON_FORMAT_SSIZE_T "d given)", + py_name, size); + Py_DECREF(py_name); +#else + PyErr_Format(PyExc_TypeError, + "%.200s() takes no arguments (%" CYTHON_FORMAT_SSIZE_T "d given)", + f->m_ml->ml_name, size); +#endif + return NULL; + } + break; + case METH_O: + if (likely(kw == NULL || PyDict_Size(kw) == 0)) { +#if CYTHON_ASSUME_SAFE_MACROS + size = PyTuple_GET_SIZE(arg); +#else + size = PyTuple_Size(arg); + if (unlikely(size < 0)) return NULL; +#endif + if (likely(size == 1)) { + PyObject *result, *arg0; + #if CYTHON_ASSUME_SAFE_MACROS && !CYTHON_AVOID_BORROWED_REFS + arg0 = PyTuple_GET_ITEM(arg, 0); + #else + arg0 = __Pyx_PySequence_ITEM(arg, 0); if (unlikely(!arg0)) return NULL; + #endif + result = (*meth)(self, arg0); + #if !(CYTHON_ASSUME_SAFE_MACROS && !CYTHON_AVOID_BORROWED_REFS) + Py_DECREF(arg0); + #endif + return result; + } +#if CYTHON_COMPILING_IN_LIMITED_API + py_name = __Pyx_CyFunction_get_name((__pyx_CyFunctionObject*)func, NULL); + if (!py_name) return NULL; + PyErr_Format(PyExc_TypeError, + "%.200S() takes exactly one argument (%" CYTHON_FORMAT_SSIZE_T "d given)", + py_name, size); + Py_DECREF(py_name); +#else + PyErr_Format(PyExc_TypeError, + "%.200s() takes exactly one argument (%" CYTHON_FORMAT_SSIZE_T "d given)", + f->m_ml->ml_name, size); +#endif + return NULL; + } + break; + default: + PyErr_SetString(PyExc_SystemError, "Bad call flags for CyFunction"); + return NULL; + } +#if CYTHON_COMPILING_IN_LIMITED_API + py_name = __Pyx_CyFunction_get_name((__pyx_CyFunctionObject*)func, NULL); + if (!py_name) return NULL; + PyErr_Format(PyExc_TypeError, "%.200S() takes no keyword arguments", + py_name); + Py_DECREF(py_name); +#else + PyErr_Format(PyExc_TypeError, "%.200s() takes no keyword arguments", + f->m_ml->ml_name); +#endif + return NULL; +} +static CYTHON_INLINE PyObject *__Pyx_CyFunction_Call(PyObject *func, PyObject *arg, PyObject *kw) { + PyObject *self, *result; +#if CYTHON_COMPILING_IN_LIMITED_API + self = PyCFunction_GetSelf(((__pyx_CyFunctionObject*)func)->func); + if (unlikely(!self) && PyErr_Occurred()) return NULL; +#else + self = ((PyCFunctionObject*)func)->m_self; +#endif + result = __Pyx_CyFunction_CallMethod(func, self, arg, kw); + return result; +} +static PyObject *__Pyx_CyFunction_CallAsMethod(PyObject *func, PyObject *args, PyObject *kw) { + PyObject *result; + __pyx_CyFunctionObject *cyfunc = (__pyx_CyFunctionObject *) func; +#if CYTHON_METH_FASTCALL + __pyx_vectorcallfunc vc = __Pyx_CyFunction_func_vectorcall(cyfunc); + if (vc) { +#if CYTHON_ASSUME_SAFE_MACROS + return __Pyx_PyVectorcall_FastCallDict(func, vc, &PyTuple_GET_ITEM(args, 0), (size_t)PyTuple_GET_SIZE(args), kw); +#else + (void) &__Pyx_PyVectorcall_FastCallDict; + return PyVectorcall_Call(func, args, kw); +#endif + } +#endif + if ((cyfunc->flags & __Pyx_CYFUNCTION_CCLASS) && !(cyfunc->flags & __Pyx_CYFUNCTION_STATICMETHOD)) { + Py_ssize_t argc; + PyObject *new_args; + PyObject *self; +#if CYTHON_ASSUME_SAFE_MACROS + argc = PyTuple_GET_SIZE(args); +#else + argc = PyTuple_Size(args); + if (unlikely(!argc) < 0) return NULL; +#endif + new_args = PyTuple_GetSlice(args, 1, argc); + if (unlikely(!new_args)) + return NULL; + self = PyTuple_GetItem(args, 0); + if (unlikely(!self)) { + Py_DECREF(new_args); +#if PY_MAJOR_VERSION > 2 + PyErr_Format(PyExc_TypeError, + "unbound method %.200S() needs an argument", + cyfunc->func_qualname); +#else + PyErr_SetString(PyExc_TypeError, + "unbound method needs an argument"); +#endif + return NULL; + } + result = __Pyx_CyFunction_CallMethod(func, self, new_args, kw); + Py_DECREF(new_args); + } else { + result = __Pyx_CyFunction_Call(func, args, kw); + } + return result; +} +#if CYTHON_METH_FASTCALL +static CYTHON_INLINE int __Pyx_CyFunction_Vectorcall_CheckArgs(__pyx_CyFunctionObject *cyfunc, Py_ssize_t nargs, PyObject *kwnames) +{ + int ret = 0; + if ((cyfunc->flags & __Pyx_CYFUNCTION_CCLASS) && !(cyfunc->flags & __Pyx_CYFUNCTION_STATICMETHOD)) { + if (unlikely(nargs < 1)) { + PyErr_Format(PyExc_TypeError, "%.200s() needs an argument", + ((PyCFunctionObject*)cyfunc)->m_ml->ml_name); + return -1; + } + ret = 1; + } + if (unlikely(kwnames) && unlikely(PyTuple_GET_SIZE(kwnames))) { + PyErr_Format(PyExc_TypeError, + "%.200s() takes no keyword arguments", ((PyCFunctionObject*)cyfunc)->m_ml->ml_name); + return -1; + } + return ret; +} +static PyObject * __Pyx_CyFunction_Vectorcall_NOARGS(PyObject *func, PyObject *const *args, size_t nargsf, PyObject *kwnames) +{ + __pyx_CyFunctionObject *cyfunc = (__pyx_CyFunctionObject *)func; + PyMethodDef* def = ((PyCFunctionObject*)cyfunc)->m_ml; +#if CYTHON_BACKPORT_VECTORCALL + Py_ssize_t nargs = (Py_ssize_t)nargsf; +#else + Py_ssize_t nargs = PyVectorcall_NARGS(nargsf); +#endif + PyObject *self; + switch (__Pyx_CyFunction_Vectorcall_CheckArgs(cyfunc, nargs, kwnames)) { + case 1: + self = args[0]; + args += 1; + nargs -= 1; + break; + case 0: + self = ((PyCFunctionObject*)cyfunc)->m_self; + break; + default: + return NULL; + } + if (unlikely(nargs != 0)) { + PyErr_Format(PyExc_TypeError, + "%.200s() takes no arguments (%" CYTHON_FORMAT_SSIZE_T "d given)", + def->ml_name, nargs); + return NULL; + } + return def->ml_meth(self, NULL); +} +static PyObject * __Pyx_CyFunction_Vectorcall_O(PyObject *func, PyObject *const *args, size_t nargsf, PyObject *kwnames) +{ + __pyx_CyFunctionObject *cyfunc = (__pyx_CyFunctionObject *)func; + PyMethodDef* def = ((PyCFunctionObject*)cyfunc)->m_ml; +#if CYTHON_BACKPORT_VECTORCALL + Py_ssize_t nargs = (Py_ssize_t)nargsf; +#else + Py_ssize_t nargs = PyVectorcall_NARGS(nargsf); +#endif + PyObject *self; + switch (__Pyx_CyFunction_Vectorcall_CheckArgs(cyfunc, nargs, kwnames)) { + case 1: + self = args[0]; + args += 1; + nargs -= 1; + break; + case 0: + self = ((PyCFunctionObject*)cyfunc)->m_self; + break; + default: + return NULL; + } + if (unlikely(nargs != 1)) { + PyErr_Format(PyExc_TypeError, + "%.200s() takes exactly one argument (%" CYTHON_FORMAT_SSIZE_T "d given)", + def->ml_name, nargs); + return NULL; + } + return def->ml_meth(self, args[0]); +} +static PyObject * __Pyx_CyFunction_Vectorcall_FASTCALL_KEYWORDS(PyObject *func, PyObject *const *args, size_t nargsf, PyObject *kwnames) +{ + __pyx_CyFunctionObject *cyfunc = (__pyx_CyFunctionObject *)func; + PyMethodDef* def = ((PyCFunctionObject*)cyfunc)->m_ml; +#if CYTHON_BACKPORT_VECTORCALL + Py_ssize_t nargs = (Py_ssize_t)nargsf; +#else + Py_ssize_t nargs = PyVectorcall_NARGS(nargsf); +#endif + PyObject *self; + switch (__Pyx_CyFunction_Vectorcall_CheckArgs(cyfunc, nargs, NULL)) { + case 1: + self = args[0]; + args += 1; + nargs -= 1; + break; + case 0: + self = ((PyCFunctionObject*)cyfunc)->m_self; + break; + default: + return NULL; + } + return ((_PyCFunctionFastWithKeywords)(void(*)(void))def->ml_meth)(self, args, nargs, kwnames); +} +static PyObject * __Pyx_CyFunction_Vectorcall_FASTCALL_KEYWORDS_METHOD(PyObject *func, PyObject *const *args, size_t nargsf, PyObject *kwnames) +{ + __pyx_CyFunctionObject *cyfunc = (__pyx_CyFunctionObject *)func; + PyMethodDef* def = ((PyCFunctionObject*)cyfunc)->m_ml; + PyTypeObject *cls = (PyTypeObject *) __Pyx_CyFunction_GetClassObj(cyfunc); +#if CYTHON_BACKPORT_VECTORCALL + Py_ssize_t nargs = (Py_ssize_t)nargsf; +#else + Py_ssize_t nargs = PyVectorcall_NARGS(nargsf); +#endif + PyObject *self; + switch (__Pyx_CyFunction_Vectorcall_CheckArgs(cyfunc, nargs, NULL)) { + case 1: + self = args[0]; + args += 1; + nargs -= 1; + break; + case 0: + self = ((PyCFunctionObject*)cyfunc)->m_self; + break; + default: + return NULL; + } + return ((__Pyx_PyCMethod)(void(*)(void))def->ml_meth)(self, cls, args, (size_t)nargs, kwnames); +} +#endif +#if CYTHON_USE_TYPE_SPECS +static PyType_Slot __pyx_CyFunctionType_slots[] = { + {Py_tp_dealloc, (void *)__Pyx_CyFunction_dealloc}, + {Py_tp_repr, (void *)__Pyx_CyFunction_repr}, + {Py_tp_call, (void *)__Pyx_CyFunction_CallAsMethod}, + {Py_tp_traverse, (void *)__Pyx_CyFunction_traverse}, + {Py_tp_clear, (void *)__Pyx_CyFunction_clear}, + {Py_tp_methods, (void *)__pyx_CyFunction_methods}, + {Py_tp_members, (void *)__pyx_CyFunction_members}, + {Py_tp_getset, (void *)__pyx_CyFunction_getsets}, + {Py_tp_descr_get, (void *)__Pyx_PyMethod_New}, + {0, 0}, +}; +static PyType_Spec __pyx_CyFunctionType_spec = { + __PYX_TYPE_MODULE_PREFIX "cython_function_or_method", + sizeof(__pyx_CyFunctionObject), + 0, +#ifdef Py_TPFLAGS_METHOD_DESCRIPTOR + Py_TPFLAGS_METHOD_DESCRIPTOR | +#endif +#if (defined(_Py_TPFLAGS_HAVE_VECTORCALL) && CYTHON_METH_FASTCALL) + _Py_TPFLAGS_HAVE_VECTORCALL | +#endif + Py_TPFLAGS_DEFAULT | Py_TPFLAGS_HAVE_GC | Py_TPFLAGS_BASETYPE, + __pyx_CyFunctionType_slots +}; +#else +static PyTypeObject __pyx_CyFunctionType_type = { + PyVarObject_HEAD_INIT(0, 0) + __PYX_TYPE_MODULE_PREFIX "cython_function_or_method", + sizeof(__pyx_CyFunctionObject), + 0, + (destructor) __Pyx_CyFunction_dealloc, +#if !CYTHON_METH_FASTCALL + 0, +#elif CYTHON_BACKPORT_VECTORCALL + (printfunc)offsetof(__pyx_CyFunctionObject, func_vectorcall), +#else + offsetof(PyCFunctionObject, vectorcall), +#endif + 0, + 0, +#if PY_MAJOR_VERSION < 3 + 0, +#else + 0, +#endif + (reprfunc) __Pyx_CyFunction_repr, + 0, + 0, + 0, + 0, + __Pyx_CyFunction_CallAsMethod, + 0, + 0, + 0, + 0, +#ifdef Py_TPFLAGS_METHOD_DESCRIPTOR + Py_TPFLAGS_METHOD_DESCRIPTOR | +#endif +#if defined(_Py_TPFLAGS_HAVE_VECTORCALL) && CYTHON_METH_FASTCALL + _Py_TPFLAGS_HAVE_VECTORCALL | +#endif + Py_TPFLAGS_DEFAULT | Py_TPFLAGS_HAVE_GC | Py_TPFLAGS_BASETYPE, + 0, + (traverseproc) __Pyx_CyFunction_traverse, + (inquiry) __Pyx_CyFunction_clear, + 0, +#if PY_VERSION_HEX < 0x030500A0 + offsetof(__pyx_CyFunctionObject, func_weakreflist), +#else + offsetof(PyCFunctionObject, m_weakreflist), +#endif + 0, + 0, + __pyx_CyFunction_methods, + __pyx_CyFunction_members, + __pyx_CyFunction_getsets, + 0, + 0, + __Pyx_PyMethod_New, + 0, + offsetof(__pyx_CyFunctionObject, func_dict), + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, +#if PY_VERSION_HEX >= 0x030400a1 + 0, +#endif +#if PY_VERSION_HEX >= 0x030800b1 && (!CYTHON_COMPILING_IN_PYPY || PYPY_VERSION_NUM >= 0x07030800) + 0, +#endif +#if __PYX_NEED_TP_PRINT_SLOT + 0, +#endif +#if PY_VERSION_HEX >= 0x030C0000 + 0, +#endif +#if CYTHON_COMPILING_IN_PYPY && PY_VERSION_HEX >= 0x03090000 && PY_VERSION_HEX < 0x030a0000 + 0, +#endif +}; +#endif +static int __pyx_CyFunction_init(PyObject *module) { +#if CYTHON_USE_TYPE_SPECS + __pyx_CyFunctionType = __Pyx_FetchCommonTypeFromSpec(module, &__pyx_CyFunctionType_spec, NULL); +#else + CYTHON_UNUSED_VAR(module); + __pyx_CyFunctionType = __Pyx_FetchCommonType(&__pyx_CyFunctionType_type); +#endif + if (unlikely(__pyx_CyFunctionType == NULL)) { + return -1; + } + return 0; +} +static CYTHON_INLINE void *__Pyx_CyFunction_InitDefaults(PyObject *func, size_t size, int pyobjects) { + __pyx_CyFunctionObject *m = (__pyx_CyFunctionObject *) func; + m->defaults = PyObject_Malloc(size); + if (unlikely(!m->defaults)) + return PyErr_NoMemory(); + memset(m->defaults, 0, size); + m->defaults_pyobjects = pyobjects; + m->defaults_size = size; + return m->defaults; +} +static CYTHON_INLINE void __Pyx_CyFunction_SetDefaultsTuple(PyObject *func, PyObject *tuple) { + __pyx_CyFunctionObject *m = (__pyx_CyFunctionObject *) func; + m->defaults_tuple = tuple; + Py_INCREF(tuple); +} +static CYTHON_INLINE void __Pyx_CyFunction_SetDefaultsKwDict(PyObject *func, PyObject *dict) { + __pyx_CyFunctionObject *m = (__pyx_CyFunctionObject *) func; + m->defaults_kwdict = dict; + Py_INCREF(dict); +} +static CYTHON_INLINE void __Pyx_CyFunction_SetAnnotationsDict(PyObject *func, PyObject *dict) { + __pyx_CyFunctionObject *m = (__pyx_CyFunctionObject *) func; + m->func_annotations = dict; + Py_INCREF(dict); +} + +/* CythonFunction */ +static PyObject *__Pyx_CyFunction_New(PyMethodDef *ml, int flags, PyObject* qualname, + PyObject *closure, PyObject *module, PyObject* globals, PyObject* code) { + PyObject *op = __Pyx_CyFunction_Init( + PyObject_GC_New(__pyx_CyFunctionObject, __pyx_CyFunctionType), + ml, flags, qualname, closure, module, globals, code + ); + if (likely(op)) { + PyObject_GC_Track(op); + } + return op; +} + +/* CLineInTraceback */ +#ifndef CYTHON_CLINE_IN_TRACEBACK +static int __Pyx_CLineForTraceback(PyThreadState *tstate, int c_line) { + PyObject *use_cline; + PyObject *ptype, *pvalue, *ptraceback; +#if CYTHON_COMPILING_IN_CPYTHON + PyObject **cython_runtime_dict; +#endif + CYTHON_MAYBE_UNUSED_VAR(tstate); + if (unlikely(!__pyx_cython_runtime)) { + return c_line; + } + __Pyx_ErrFetchInState(tstate, &ptype, &pvalue, &ptraceback); +#if CYTHON_COMPILING_IN_CPYTHON + cython_runtime_dict = _PyObject_GetDictPtr(__pyx_cython_runtime); + if (likely(cython_runtime_dict)) { + __PYX_PY_DICT_LOOKUP_IF_MODIFIED( + use_cline, *cython_runtime_dict, + __Pyx_PyDict_GetItemStr(*cython_runtime_dict, __pyx_n_s_cline_in_traceback)) + } else +#endif + { + PyObject *use_cline_obj = __Pyx_PyObject_GetAttrStrNoError(__pyx_cython_runtime, __pyx_n_s_cline_in_traceback); + if (use_cline_obj) { + use_cline = PyObject_Not(use_cline_obj) ? Py_False : Py_True; + Py_DECREF(use_cline_obj); + } else { + PyErr_Clear(); + use_cline = NULL; + } + } + if (!use_cline) { + c_line = 0; + (void) PyObject_SetAttr(__pyx_cython_runtime, __pyx_n_s_cline_in_traceback, Py_False); + } + else if (use_cline == Py_False || (use_cline != Py_True && PyObject_Not(use_cline) != 0)) { + c_line = 0; + } + __Pyx_ErrRestoreInState(tstate, ptype, pvalue, ptraceback); + return c_line; +} +#endif + +/* CodeObjectCache */ +#if !CYTHON_COMPILING_IN_LIMITED_API +static int __pyx_bisect_code_objects(__Pyx_CodeObjectCacheEntry* entries, int count, int code_line) { + int start = 0, mid = 0, end = count - 1; + if (end >= 0 && code_line > entries[end].code_line) { + return count; + } + while (start < end) { + mid = start + (end - start) / 2; + if (code_line < entries[mid].code_line) { + end = mid; + } else if (code_line > entries[mid].code_line) { + start = mid + 1; + } else { + return mid; + } + } + if (code_line <= entries[mid].code_line) { + return mid; + } else { + return mid + 1; + } +} +static PyCodeObject *__pyx_find_code_object(int code_line) { + PyCodeObject* code_object; + int pos; + if (unlikely(!code_line) || unlikely(!__pyx_code_cache.entries)) { + return NULL; + } + pos = __pyx_bisect_code_objects(__pyx_code_cache.entries, __pyx_code_cache.count, code_line); + if (unlikely(pos >= __pyx_code_cache.count) || unlikely(__pyx_code_cache.entries[pos].code_line != code_line)) { + return NULL; + } + code_object = __pyx_code_cache.entries[pos].code_object; + Py_INCREF(code_object); + return code_object; +} +static void __pyx_insert_code_object(int code_line, PyCodeObject* code_object) { + int pos, i; + __Pyx_CodeObjectCacheEntry* entries = __pyx_code_cache.entries; + if (unlikely(!code_line)) { + return; + } + if (unlikely(!entries)) { + entries = (__Pyx_CodeObjectCacheEntry*)PyMem_Malloc(64*sizeof(__Pyx_CodeObjectCacheEntry)); + if (likely(entries)) { + __pyx_code_cache.entries = entries; + __pyx_code_cache.max_count = 64; + __pyx_code_cache.count = 1; + entries[0].code_line = code_line; + entries[0].code_object = code_object; + Py_INCREF(code_object); + } + return; + } + pos = __pyx_bisect_code_objects(__pyx_code_cache.entries, __pyx_code_cache.count, code_line); + if ((pos < __pyx_code_cache.count) && unlikely(__pyx_code_cache.entries[pos].code_line == code_line)) { + PyCodeObject* tmp = entries[pos].code_object; + entries[pos].code_object = code_object; + Py_DECREF(tmp); + return; + } + if (__pyx_code_cache.count == __pyx_code_cache.max_count) { + int new_max = __pyx_code_cache.max_count + 64; + entries = (__Pyx_CodeObjectCacheEntry*)PyMem_Realloc( + __pyx_code_cache.entries, ((size_t)new_max) * sizeof(__Pyx_CodeObjectCacheEntry)); + if (unlikely(!entries)) { + return; + } + __pyx_code_cache.entries = entries; + __pyx_code_cache.max_count = new_max; + } + for (i=__pyx_code_cache.count; i>pos; i--) { + entries[i] = entries[i-1]; + } + entries[pos].code_line = code_line; + entries[pos].code_object = code_object; + __pyx_code_cache.count++; + Py_INCREF(code_object); +} +#endif + +/* AddTraceback */ +#include "compile.h" +#include "frameobject.h" +#include "traceback.h" +#if PY_VERSION_HEX >= 0x030b00a6 && !CYTHON_COMPILING_IN_LIMITED_API + #ifndef Py_BUILD_CORE + #define Py_BUILD_CORE 1 + #endif + #include "internal/pycore_frame.h" +#endif +#if CYTHON_COMPILING_IN_LIMITED_API +static PyObject *__Pyx_PyCode_Replace_For_AddTraceback(PyObject *code, PyObject *scratch_dict, + PyObject *firstlineno, PyObject *name) { + PyObject *replace = NULL; + if (unlikely(PyDict_SetItemString(scratch_dict, "co_firstlineno", firstlineno))) return NULL; + if (unlikely(PyDict_SetItemString(scratch_dict, "co_name", name))) return NULL; + replace = PyObject_GetAttrString(code, "replace"); + if (likely(replace)) { + PyObject *result; + result = PyObject_Call(replace, __pyx_empty_tuple, scratch_dict); + Py_DECREF(replace); + return result; + } + PyErr_Clear(); + #if __PYX_LIMITED_VERSION_HEX < 0x030780000 + { + PyObject *compiled = NULL, *result = NULL; + if (unlikely(PyDict_SetItemString(scratch_dict, "code", code))) return NULL; + if (unlikely(PyDict_SetItemString(scratch_dict, "type", (PyObject*)(&PyType_Type)))) return NULL; + compiled = Py_CompileString( + "out = type(code)(\n" + " code.co_argcount, code.co_kwonlyargcount, code.co_nlocals, code.co_stacksize,\n" + " code.co_flags, code.co_code, code.co_consts, code.co_names,\n" + " code.co_varnames, code.co_filename, co_name, co_firstlineno,\n" + " code.co_lnotab)\n", "", Py_file_input); + if (!compiled) return NULL; + result = PyEval_EvalCode(compiled, scratch_dict, scratch_dict); + Py_DECREF(compiled); + if (!result) PyErr_Print(); + Py_DECREF(result); + result = PyDict_GetItemString(scratch_dict, "out"); + if (result) Py_INCREF(result); + return result; + } + #else + return NULL; + #endif +} +static void __Pyx_AddTraceback(const char *funcname, int c_line, + int py_line, const char *filename) { + PyObject *code_object = NULL, *py_py_line = NULL, *py_funcname = NULL, *dict = NULL; + PyObject *replace = NULL, *getframe = NULL, *frame = NULL; + PyObject *exc_type, *exc_value, *exc_traceback; + int success = 0; + if (c_line) { + (void) __pyx_cfilenm; + (void) __Pyx_CLineForTraceback(__Pyx_PyThreadState_Current, c_line); + } + PyErr_Fetch(&exc_type, &exc_value, &exc_traceback); + code_object = Py_CompileString("_getframe()", filename, Py_eval_input); + if (unlikely(!code_object)) goto bad; + py_py_line = PyLong_FromLong(py_line); + if (unlikely(!py_py_line)) goto bad; + py_funcname = PyUnicode_FromString(funcname); + if (unlikely(!py_funcname)) goto bad; + dict = PyDict_New(); + if (unlikely(!dict)) goto bad; + { + PyObject *old_code_object = code_object; + code_object = __Pyx_PyCode_Replace_For_AddTraceback(code_object, dict, py_py_line, py_funcname); + Py_DECREF(old_code_object); + } + if (unlikely(!code_object)) goto bad; + getframe = PySys_GetObject("_getframe"); + if (unlikely(!getframe)) goto bad; + if (unlikely(PyDict_SetItemString(dict, "_getframe", getframe))) goto bad; + frame = PyEval_EvalCode(code_object, dict, dict); + if (unlikely(!frame) || frame == Py_None) goto bad; + success = 1; + bad: + PyErr_Restore(exc_type, exc_value, exc_traceback); + Py_XDECREF(code_object); + Py_XDECREF(py_py_line); + Py_XDECREF(py_funcname); + Py_XDECREF(dict); + Py_XDECREF(replace); + if (success) { + PyTraceBack_Here( + (struct _frame*)frame); + } + Py_XDECREF(frame); +} +#else +static PyCodeObject* __Pyx_CreateCodeObjectForTraceback( + const char *funcname, int c_line, + int py_line, const char *filename) { + PyCodeObject *py_code = NULL; + PyObject *py_funcname = NULL; + #if PY_MAJOR_VERSION < 3 + PyObject *py_srcfile = NULL; + py_srcfile = PyString_FromString(filename); + if (!py_srcfile) goto bad; + #endif + if (c_line) { + #if PY_MAJOR_VERSION < 3 + py_funcname = PyString_FromFormat( "%s (%s:%d)", funcname, __pyx_cfilenm, c_line); + if (!py_funcname) goto bad; + #else + py_funcname = PyUnicode_FromFormat( "%s (%s:%d)", funcname, __pyx_cfilenm, c_line); + if (!py_funcname) goto bad; + funcname = PyUnicode_AsUTF8(py_funcname); + if (!funcname) goto bad; + #endif + } + else { + #if PY_MAJOR_VERSION < 3 + py_funcname = PyString_FromString(funcname); + if (!py_funcname) goto bad; + #endif + } + #if PY_MAJOR_VERSION < 3 + py_code = __Pyx_PyCode_New( + 0, + 0, + 0, + 0, + 0, + 0, + __pyx_empty_bytes, /*PyObject *code,*/ + __pyx_empty_tuple, /*PyObject *consts,*/ + __pyx_empty_tuple, /*PyObject *names,*/ + __pyx_empty_tuple, /*PyObject *varnames,*/ + __pyx_empty_tuple, /*PyObject *freevars,*/ + __pyx_empty_tuple, /*PyObject *cellvars,*/ + py_srcfile, /*PyObject *filename,*/ + py_funcname, /*PyObject *name,*/ + py_line, + __pyx_empty_bytes /*PyObject *lnotab*/ + ); + Py_DECREF(py_srcfile); + #else + py_code = PyCode_NewEmpty(filename, funcname, py_line); + #endif + Py_XDECREF(py_funcname); + return py_code; +bad: + Py_XDECREF(py_funcname); + #if PY_MAJOR_VERSION < 3 + Py_XDECREF(py_srcfile); + #endif + return NULL; +} +static void __Pyx_AddTraceback(const char *funcname, int c_line, + int py_line, const char *filename) { + PyCodeObject *py_code = 0; + PyFrameObject *py_frame = 0; + PyThreadState *tstate = __Pyx_PyThreadState_Current; + PyObject *ptype, *pvalue, *ptraceback; + if (c_line) { + c_line = __Pyx_CLineForTraceback(tstate, c_line); + } + py_code = __pyx_find_code_object(c_line ? -c_line : py_line); + if (!py_code) { + __Pyx_ErrFetchInState(tstate, &ptype, &pvalue, &ptraceback); + py_code = __Pyx_CreateCodeObjectForTraceback( + funcname, c_line, py_line, filename); + if (!py_code) { + /* If the code object creation fails, then we should clear the + fetched exception references and propagate the new exception */ + Py_XDECREF(ptype); + Py_XDECREF(pvalue); + Py_XDECREF(ptraceback); + goto bad; + } + __Pyx_ErrRestoreInState(tstate, ptype, pvalue, ptraceback); + __pyx_insert_code_object(c_line ? -c_line : py_line, py_code); + } + py_frame = PyFrame_New( + tstate, /*PyThreadState *tstate,*/ + py_code, /*PyCodeObject *code,*/ + __pyx_d, /*PyObject *globals,*/ + 0 /*PyObject *locals*/ + ); + if (!py_frame) goto bad; + __Pyx_PyFrame_SetLineNumber(py_frame, py_line); + PyTraceBack_Here(py_frame); +bad: + Py_XDECREF(py_code); + Py_XDECREF(py_frame); +} +#endif + +#if PY_MAJOR_VERSION < 3 +static int __Pyx_GetBuffer(PyObject *obj, Py_buffer *view, int flags) { + __Pyx_TypeName obj_type_name; + if (PyObject_CheckBuffer(obj)) return PyObject_GetBuffer(obj, view, flags); + if (__Pyx_TypeCheck(obj, __pyx_array_type)) return __pyx_array_getbuffer(obj, view, flags); + if (__Pyx_TypeCheck(obj, __pyx_memoryview_type)) return __pyx_memoryview_getbuffer(obj, view, flags); + obj_type_name = __Pyx_PyType_GetName(Py_TYPE(obj)); + PyErr_Format(PyExc_TypeError, + "'" __Pyx_FMT_TYPENAME "' does not have the buffer interface", + obj_type_name); + __Pyx_DECREF_TypeName(obj_type_name); + return -1; +} +static void __Pyx_ReleaseBuffer(Py_buffer *view) { + PyObject *obj = view->obj; + if (!obj) return; + if (PyObject_CheckBuffer(obj)) { + PyBuffer_Release(view); + return; + } + if ((0)) {} + view->obj = NULL; + Py_DECREF(obj); +} +#endif + + +/* MemviewSliceIsContig */ +static int +__pyx_memviewslice_is_contig(const __Pyx_memviewslice mvs, char order, int ndim) +{ + int i, index, step, start; + Py_ssize_t itemsize = mvs.memview->view.itemsize; + if (order == 'F') { + step = 1; + start = 0; + } else { + step = -1; + start = ndim - 1; + } + for (i = 0; i < ndim; i++) { + index = start + step * i; + if (mvs.suboffsets[index] >= 0 || mvs.strides[index] != itemsize) + return 0; + itemsize *= mvs.shape[index]; + } + return 1; +} + +/* OverlappingSlices */ +static void +__pyx_get_array_memory_extents(__Pyx_memviewslice *slice, + void **out_start, void **out_end, + int ndim, size_t itemsize) +{ + char *start, *end; + int i; + start = end = slice->data; + for (i = 0; i < ndim; i++) { + Py_ssize_t stride = slice->strides[i]; + Py_ssize_t extent = slice->shape[i]; + if (extent == 0) { + *out_start = *out_end = start; + return; + } else { + if (stride > 0) + end += stride * (extent - 1); + else + start += stride * (extent - 1); + } + } + *out_start = start; + *out_end = end + itemsize; +} +static int +__pyx_slices_overlap(__Pyx_memviewslice *slice1, + __Pyx_memviewslice *slice2, + int ndim, size_t itemsize) +{ + void *start1, *end1, *start2, *end2; + __pyx_get_array_memory_extents(slice1, &start1, &end1, ndim, itemsize); + __pyx_get_array_memory_extents(slice2, &start2, &end2, ndim, itemsize); + return (start1 < end2) && (start2 < end1); +} + +/* IsLittleEndian */ +static CYTHON_INLINE int __Pyx_Is_Little_Endian(void) +{ + union { + uint32_t u32; + uint8_t u8[4]; + } S; + S.u32 = 0x01020304; + return S.u8[0] == 4; +} + +/* BufferFormatCheck */ +static void __Pyx_BufFmt_Init(__Pyx_BufFmt_Context* ctx, + __Pyx_BufFmt_StackElem* stack, + __Pyx_TypeInfo* type) { + stack[0].field = &ctx->root; + stack[0].parent_offset = 0; + ctx->root.type = type; + ctx->root.name = "buffer dtype"; + ctx->root.offset = 0; + ctx->head = stack; + ctx->head->field = &ctx->root; + ctx->fmt_offset = 0; + ctx->head->parent_offset = 0; + ctx->new_packmode = '@'; + ctx->enc_packmode = '@'; + ctx->new_count = 1; + ctx->enc_count = 0; + ctx->enc_type = 0; + ctx->is_complex = 0; + ctx->is_valid_array = 0; + ctx->struct_alignment = 0; + while (type->typegroup == 'S') { + ++ctx->head; + ctx->head->field = type->fields; + ctx->head->parent_offset = 0; + type = type->fields->type; + } +} +static int __Pyx_BufFmt_ParseNumber(const char** ts) { + int count; + const char* t = *ts; + if (*t < '0' || *t > '9') { + return -1; + } else { + count = *t++ - '0'; + while (*t >= '0' && *t <= '9') { + count *= 10; + count += *t++ - '0'; + } + } + *ts = t; + return count; +} +static int __Pyx_BufFmt_ExpectNumber(const char **ts) { + int number = __Pyx_BufFmt_ParseNumber(ts); + if (number == -1) + PyErr_Format(PyExc_ValueError,\ + "Does not understand character buffer dtype format string ('%c')", **ts); + return number; +} +static void __Pyx_BufFmt_RaiseUnexpectedChar(char ch) { + PyErr_Format(PyExc_ValueError, + "Unexpected format string character: '%c'", ch); +} +static const char* __Pyx_BufFmt_DescribeTypeChar(char ch, int is_complex) { + switch (ch) { + case '?': return "'bool'"; + case 'c': return "'char'"; + case 'b': return "'signed char'"; + case 'B': return "'unsigned char'"; + case 'h': return "'short'"; + case 'H': return "'unsigned short'"; + case 'i': return "'int'"; + case 'I': return "'unsigned int'"; + case 'l': return "'long'"; + case 'L': return "'unsigned long'"; + case 'q': return "'long long'"; + case 'Q': return "'unsigned long long'"; + case 'f': return (is_complex ? "'complex float'" : "'float'"); + case 'd': return (is_complex ? "'complex double'" : "'double'"); + case 'g': return (is_complex ? "'complex long double'" : "'long double'"); + case 'T': return "a struct"; + case 'O': return "Python object"; + case 'P': return "a pointer"; + case 's': case 'p': return "a string"; + case 0: return "end"; + default: return "unparsable format string"; + } +} +static size_t __Pyx_BufFmt_TypeCharToStandardSize(char ch, int is_complex) { + switch (ch) { + case '?': case 'c': case 'b': case 'B': case 's': case 'p': return 1; + case 'h': case 'H': return 2; + case 'i': case 'I': case 'l': case 'L': return 4; + case 'q': case 'Q': return 8; + case 'f': return (is_complex ? 8 : 4); + case 'd': return (is_complex ? 16 : 8); + case 'g': { + PyErr_SetString(PyExc_ValueError, "Python does not define a standard format string size for long double ('g').."); + return 0; + } + case 'O': case 'P': return sizeof(void*); + default: + __Pyx_BufFmt_RaiseUnexpectedChar(ch); + return 0; + } +} +static size_t __Pyx_BufFmt_TypeCharToNativeSize(char ch, int is_complex) { + switch (ch) { + case '?': case 'c': case 'b': case 'B': case 's': case 'p': return 1; + case 'h': case 'H': return sizeof(short); + case 'i': case 'I': return sizeof(int); + case 'l': case 'L': return sizeof(long); + #ifdef HAVE_LONG_LONG + case 'q': case 'Q': return sizeof(PY_LONG_LONG); + #endif + case 'f': return sizeof(float) * (is_complex ? 2 : 1); + case 'd': return sizeof(double) * (is_complex ? 2 : 1); + case 'g': return sizeof(long double) * (is_complex ? 2 : 1); + case 'O': case 'P': return sizeof(void*); + default: { + __Pyx_BufFmt_RaiseUnexpectedChar(ch); + return 0; + } + } +} +typedef struct { char c; short x; } __Pyx_st_short; +typedef struct { char c; int x; } __Pyx_st_int; +typedef struct { char c; long x; } __Pyx_st_long; +typedef struct { char c; float x; } __Pyx_st_float; +typedef struct { char c; double x; } __Pyx_st_double; +typedef struct { char c; long double x; } __Pyx_st_longdouble; +typedef struct { char c; void *x; } __Pyx_st_void_p; +#ifdef HAVE_LONG_LONG +typedef struct { char c; PY_LONG_LONG x; } __Pyx_st_longlong; +#endif +static size_t __Pyx_BufFmt_TypeCharToAlignment(char ch, int is_complex) { + CYTHON_UNUSED_VAR(is_complex); + switch (ch) { + case '?': case 'c': case 'b': case 'B': case 's': case 'p': return 1; + case 'h': case 'H': return sizeof(__Pyx_st_short) - sizeof(short); + case 'i': case 'I': return sizeof(__Pyx_st_int) - sizeof(int); + case 'l': case 'L': return sizeof(__Pyx_st_long) - sizeof(long); +#ifdef HAVE_LONG_LONG + case 'q': case 'Q': return sizeof(__Pyx_st_longlong) - sizeof(PY_LONG_LONG); +#endif + case 'f': return sizeof(__Pyx_st_float) - sizeof(float); + case 'd': return sizeof(__Pyx_st_double) - sizeof(double); + case 'g': return sizeof(__Pyx_st_longdouble) - sizeof(long double); + case 'P': case 'O': return sizeof(__Pyx_st_void_p) - sizeof(void*); + default: + __Pyx_BufFmt_RaiseUnexpectedChar(ch); + return 0; + } +} +/* These are for computing the padding at the end of the struct to align + on the first member of the struct. This will probably the same as above, + but we don't have any guarantees. + */ +typedef struct { short x; char c; } __Pyx_pad_short; +typedef struct { int x; char c; } __Pyx_pad_int; +typedef struct { long x; char c; } __Pyx_pad_long; +typedef struct { float x; char c; } __Pyx_pad_float; +typedef struct { double x; char c; } __Pyx_pad_double; +typedef struct { long double x; char c; } __Pyx_pad_longdouble; +typedef struct { void *x; char c; } __Pyx_pad_void_p; +#ifdef HAVE_LONG_LONG +typedef struct { PY_LONG_LONG x; char c; } __Pyx_pad_longlong; +#endif +static size_t __Pyx_BufFmt_TypeCharToPadding(char ch, int is_complex) { + CYTHON_UNUSED_VAR(is_complex); + switch (ch) { + case '?': case 'c': case 'b': case 'B': case 's': case 'p': return 1; + case 'h': case 'H': return sizeof(__Pyx_pad_short) - sizeof(short); + case 'i': case 'I': return sizeof(__Pyx_pad_int) - sizeof(int); + case 'l': case 'L': return sizeof(__Pyx_pad_long) - sizeof(long); +#ifdef HAVE_LONG_LONG + case 'q': case 'Q': return sizeof(__Pyx_pad_longlong) - sizeof(PY_LONG_LONG); +#endif + case 'f': return sizeof(__Pyx_pad_float) - sizeof(float); + case 'd': return sizeof(__Pyx_pad_double) - sizeof(double); + case 'g': return sizeof(__Pyx_pad_longdouble) - sizeof(long double); + case 'P': case 'O': return sizeof(__Pyx_pad_void_p) - sizeof(void*); + default: + __Pyx_BufFmt_RaiseUnexpectedChar(ch); + return 0; + } +} +static char __Pyx_BufFmt_TypeCharToGroup(char ch, int is_complex) { + switch (ch) { + case 'c': + return 'H'; + case 'b': case 'h': case 'i': + case 'l': case 'q': case 's': case 'p': + return 'I'; + case '?': case 'B': case 'H': case 'I': case 'L': case 'Q': + return 'U'; + case 'f': case 'd': case 'g': + return (is_complex ? 'C' : 'R'); + case 'O': + return 'O'; + case 'P': + return 'P'; + default: { + __Pyx_BufFmt_RaiseUnexpectedChar(ch); + return 0; + } + } +} +static void __Pyx_BufFmt_RaiseExpected(__Pyx_BufFmt_Context* ctx) { + if (ctx->head == NULL || ctx->head->field == &ctx->root) { + const char* expected; + const char* quote; + if (ctx->head == NULL) { + expected = "end"; + quote = ""; + } else { + expected = ctx->head->field->type->name; + quote = "'"; + } + PyErr_Format(PyExc_ValueError, + "Buffer dtype mismatch, expected %s%s%s but got %s", + quote, expected, quote, + __Pyx_BufFmt_DescribeTypeChar(ctx->enc_type, ctx->is_complex)); + } else { + __Pyx_StructField* field = ctx->head->field; + __Pyx_StructField* parent = (ctx->head - 1)->field; + PyErr_Format(PyExc_ValueError, + "Buffer dtype mismatch, expected '%s' but got %s in '%s.%s'", + field->type->name, __Pyx_BufFmt_DescribeTypeChar(ctx->enc_type, ctx->is_complex), + parent->type->name, field->name); + } +} +static int __Pyx_BufFmt_ProcessTypeChunk(__Pyx_BufFmt_Context* ctx) { + char group; + size_t size, offset, arraysize = 1; + if (ctx->enc_type == 0) return 0; + if (ctx->head->field->type->arraysize[0]) { + int i, ndim = 0; + if (ctx->enc_type == 's' || ctx->enc_type == 'p') { + ctx->is_valid_array = ctx->head->field->type->ndim == 1; + ndim = 1; + if (ctx->enc_count != ctx->head->field->type->arraysize[0]) { + PyErr_Format(PyExc_ValueError, + "Expected a dimension of size %zu, got %zu", + ctx->head->field->type->arraysize[0], ctx->enc_count); + return -1; + } + } + if (!ctx->is_valid_array) { + PyErr_Format(PyExc_ValueError, "Expected %d dimensions, got %d", + ctx->head->field->type->ndim, ndim); + return -1; + } + for (i = 0; i < ctx->head->field->type->ndim; i++) { + arraysize *= ctx->head->field->type->arraysize[i]; + } + ctx->is_valid_array = 0; + ctx->enc_count = 1; + } + group = __Pyx_BufFmt_TypeCharToGroup(ctx->enc_type, ctx->is_complex); + do { + __Pyx_StructField* field = ctx->head->field; + __Pyx_TypeInfo* type = field->type; + if (ctx->enc_packmode == '@' || ctx->enc_packmode == '^') { + size = __Pyx_BufFmt_TypeCharToNativeSize(ctx->enc_type, ctx->is_complex); + } else { + size = __Pyx_BufFmt_TypeCharToStandardSize(ctx->enc_type, ctx->is_complex); + } + if (ctx->enc_packmode == '@') { + size_t align_at = __Pyx_BufFmt_TypeCharToAlignment(ctx->enc_type, ctx->is_complex); + size_t align_mod_offset; + if (align_at == 0) return -1; + align_mod_offset = ctx->fmt_offset % align_at; + if (align_mod_offset > 0) ctx->fmt_offset += align_at - align_mod_offset; + if (ctx->struct_alignment == 0) + ctx->struct_alignment = __Pyx_BufFmt_TypeCharToPadding(ctx->enc_type, + ctx->is_complex); + } + if (type->size != size || type->typegroup != group) { + if (type->typegroup == 'C' && type->fields != NULL) { + size_t parent_offset = ctx->head->parent_offset + field->offset; + ++ctx->head; + ctx->head->field = type->fields; + ctx->head->parent_offset = parent_offset; + continue; + } + if ((type->typegroup == 'H' || group == 'H') && type->size == size) { + } else { + __Pyx_BufFmt_RaiseExpected(ctx); + return -1; + } + } + offset = ctx->head->parent_offset + field->offset; + if (ctx->fmt_offset != offset) { + PyErr_Format(PyExc_ValueError, + "Buffer dtype mismatch; next field is at offset %" CYTHON_FORMAT_SSIZE_T "d but %" CYTHON_FORMAT_SSIZE_T "d expected", + (Py_ssize_t)ctx->fmt_offset, (Py_ssize_t)offset); + return -1; + } + ctx->fmt_offset += size; + if (arraysize) + ctx->fmt_offset += (arraysize - 1) * size; + --ctx->enc_count; + while (1) { + if (field == &ctx->root) { + ctx->head = NULL; + if (ctx->enc_count != 0) { + __Pyx_BufFmt_RaiseExpected(ctx); + return -1; + } + break; + } + ctx->head->field = ++field; + if (field->type == NULL) { + --ctx->head; + field = ctx->head->field; + continue; + } else if (field->type->typegroup == 'S') { + size_t parent_offset = ctx->head->parent_offset + field->offset; + if (field->type->fields->type == NULL) continue; + field = field->type->fields; + ++ctx->head; + ctx->head->field = field; + ctx->head->parent_offset = parent_offset; + break; + } else { + break; + } + } + } while (ctx->enc_count); + ctx->enc_type = 0; + ctx->is_complex = 0; + return 0; +} +static int +__pyx_buffmt_parse_array(__Pyx_BufFmt_Context* ctx, const char** tsp) +{ + const char *ts = *tsp; + int i = 0, number, ndim; + ++ts; + if (ctx->new_count != 1) { + PyErr_SetString(PyExc_ValueError, + "Cannot handle repeated arrays in format string"); + return -1; + } + if (__Pyx_BufFmt_ProcessTypeChunk(ctx) == -1) return -1; + ndim = ctx->head->field->type->ndim; + while (*ts && *ts != ')') { + switch (*ts) { + case ' ': case '\f': case '\r': case '\n': case '\t': case '\v': continue; + default: break; + } + number = __Pyx_BufFmt_ExpectNumber(&ts); + if (number == -1) return -1; + if (i < ndim && (size_t) number != ctx->head->field->type->arraysize[i]) { + PyErr_Format(PyExc_ValueError, + "Expected a dimension of size %zu, got %d", + ctx->head->field->type->arraysize[i], number); + return -1; + } + if (*ts != ',' && *ts != ')') { + PyErr_Format(PyExc_ValueError, + "Expected a comma in format string, got '%c'", *ts); + return -1; + } + if (*ts == ',') ts++; + i++; + } + if (i != ndim) { + PyErr_Format(PyExc_ValueError, "Expected %d dimension(s), got %d", + ctx->head->field->type->ndim, i); + return -1; + } + if (!*ts) { + PyErr_SetString(PyExc_ValueError, + "Unexpected end of format string, expected ')'"); + return -1; + } + ctx->is_valid_array = 1; + ctx->new_count = 1; + *tsp = ++ts; + return 0; +} +static const char* __Pyx_BufFmt_CheckString(__Pyx_BufFmt_Context* ctx, const char* ts) { + int got_Z = 0; + while (1) { + switch(*ts) { + case 0: + if (ctx->enc_type != 0 && ctx->head == NULL) { + __Pyx_BufFmt_RaiseExpected(ctx); + return NULL; + } + if (__Pyx_BufFmt_ProcessTypeChunk(ctx) == -1) return NULL; + if (ctx->head != NULL) { + __Pyx_BufFmt_RaiseExpected(ctx); + return NULL; + } + return ts; + case ' ': + case '\r': + case '\n': + ++ts; + break; + case '<': + if (!__Pyx_Is_Little_Endian()) { + PyErr_SetString(PyExc_ValueError, "Little-endian buffer not supported on big-endian compiler"); + return NULL; + } + ctx->new_packmode = '='; + ++ts; + break; + case '>': + case '!': + if (__Pyx_Is_Little_Endian()) { + PyErr_SetString(PyExc_ValueError, "Big-endian buffer not supported on little-endian compiler"); + return NULL; + } + ctx->new_packmode = '='; + ++ts; + break; + case '=': + case '@': + case '^': + ctx->new_packmode = *ts++; + break; + case 'T': + { + const char* ts_after_sub; + size_t i, struct_count = ctx->new_count; + size_t struct_alignment = ctx->struct_alignment; + ctx->new_count = 1; + ++ts; + if (*ts != '{') { + PyErr_SetString(PyExc_ValueError, "Buffer acquisition: Expected '{' after 'T'"); + return NULL; + } + if (__Pyx_BufFmt_ProcessTypeChunk(ctx) == -1) return NULL; + ctx->enc_type = 0; + ctx->enc_count = 0; + ctx->struct_alignment = 0; + ++ts; + ts_after_sub = ts; + for (i = 0; i != struct_count; ++i) { + ts_after_sub = __Pyx_BufFmt_CheckString(ctx, ts); + if (!ts_after_sub) return NULL; + } + ts = ts_after_sub; + if (struct_alignment) ctx->struct_alignment = struct_alignment; + } + break; + case '}': + { + size_t alignment = ctx->struct_alignment; + ++ts; + if (__Pyx_BufFmt_ProcessTypeChunk(ctx) == -1) return NULL; + ctx->enc_type = 0; + if (alignment && ctx->fmt_offset % alignment) { + ctx->fmt_offset += alignment - (ctx->fmt_offset % alignment); + } + } + return ts; + case 'x': + if (__Pyx_BufFmt_ProcessTypeChunk(ctx) == -1) return NULL; + ctx->fmt_offset += ctx->new_count; + ctx->new_count = 1; + ctx->enc_count = 0; + ctx->enc_type = 0; + ctx->enc_packmode = ctx->new_packmode; + ++ts; + break; + case 'Z': + got_Z = 1; + ++ts; + if (*ts != 'f' && *ts != 'd' && *ts != 'g') { + __Pyx_BufFmt_RaiseUnexpectedChar('Z'); + return NULL; + } + CYTHON_FALLTHROUGH; + case '?': case 'c': case 'b': case 'B': case 'h': case 'H': case 'i': case 'I': + case 'l': case 'L': case 'q': case 'Q': + case 'f': case 'd': case 'g': + case 'O': case 'p': + if ((ctx->enc_type == *ts) && (got_Z == ctx->is_complex) && + (ctx->enc_packmode == ctx->new_packmode) && (!ctx->is_valid_array)) { + ctx->enc_count += ctx->new_count; + ctx->new_count = 1; + got_Z = 0; + ++ts; + break; + } + CYTHON_FALLTHROUGH; + case 's': + if (__Pyx_BufFmt_ProcessTypeChunk(ctx) == -1) return NULL; + ctx->enc_count = ctx->new_count; + ctx->enc_packmode = ctx->new_packmode; + ctx->enc_type = *ts; + ctx->is_complex = got_Z; + ++ts; + ctx->new_count = 1; + got_Z = 0; + break; + case ':': + ++ts; + while(*ts != ':') ++ts; + ++ts; + break; + case '(': + if (__pyx_buffmt_parse_array(ctx, &ts) < 0) return NULL; + break; + default: + { + int number = __Pyx_BufFmt_ExpectNumber(&ts); + if (number == -1) return NULL; + ctx->new_count = (size_t)number; + } + } + } +} + +/* TypeInfoCompare */ + static int +__pyx_typeinfo_cmp(__Pyx_TypeInfo *a, __Pyx_TypeInfo *b) +{ + int i; + if (!a || !b) + return 0; + if (a == b) + return 1; + if (a->size != b->size || a->typegroup != b->typegroup || + a->is_unsigned != b->is_unsigned || a->ndim != b->ndim) { + if (a->typegroup == 'H' || b->typegroup == 'H') { + return a->size == b->size; + } else { + return 0; + } + } + if (a->ndim) { + for (i = 0; i < a->ndim; i++) + if (a->arraysize[i] != b->arraysize[i]) + return 0; + } + if (a->typegroup == 'S') { + if (a->flags != b->flags) + return 0; + if (a->fields || b->fields) { + if (!(a->fields && b->fields)) + return 0; + for (i = 0; a->fields[i].type && b->fields[i].type; i++) { + __Pyx_StructField *field_a = a->fields + i; + __Pyx_StructField *field_b = b->fields + i; + if (field_a->offset != field_b->offset || + !__pyx_typeinfo_cmp(field_a->type, field_b->type)) + return 0; + } + return !a->fields[i].type && !b->fields[i].type; + } + } + return 1; +} + +/* MemviewSliceValidateAndInit */ + static int +__pyx_check_strides(Py_buffer *buf, int dim, int ndim, int spec) +{ + if (buf->shape[dim] <= 1) + return 1; + if (buf->strides) { + if (spec & __Pyx_MEMVIEW_CONTIG) { + if (spec & (__Pyx_MEMVIEW_PTR|__Pyx_MEMVIEW_FULL)) { + if (unlikely(buf->strides[dim] != sizeof(void *))) { + PyErr_Format(PyExc_ValueError, + "Buffer is not indirectly contiguous " + "in dimension %d.", dim); + goto fail; + } + } else if (unlikely(buf->strides[dim] != buf->itemsize)) { + PyErr_SetString(PyExc_ValueError, + "Buffer and memoryview are not contiguous " + "in the same dimension."); + goto fail; + } + } + if (spec & __Pyx_MEMVIEW_FOLLOW) { + Py_ssize_t stride = buf->strides[dim]; + if (stride < 0) + stride = -stride; + if (unlikely(stride < buf->itemsize)) { + PyErr_SetString(PyExc_ValueError, + "Buffer and memoryview are not contiguous " + "in the same dimension."); + goto fail; + } + } + } else { + if (unlikely(spec & __Pyx_MEMVIEW_CONTIG && dim != ndim - 1)) { + PyErr_Format(PyExc_ValueError, + "C-contiguous buffer is not contiguous in " + "dimension %d", dim); + goto fail; + } else if (unlikely(spec & (__Pyx_MEMVIEW_PTR))) { + PyErr_Format(PyExc_ValueError, + "C-contiguous buffer is not indirect in " + "dimension %d", dim); + goto fail; + } else if (unlikely(buf->suboffsets)) { + PyErr_SetString(PyExc_ValueError, + "Buffer exposes suboffsets but no strides"); + goto fail; + } + } + return 1; +fail: + return 0; +} +static int +__pyx_check_suboffsets(Py_buffer *buf, int dim, int ndim, int spec) +{ + CYTHON_UNUSED_VAR(ndim); + if (spec & __Pyx_MEMVIEW_DIRECT) { + if (unlikely(buf->suboffsets && buf->suboffsets[dim] >= 0)) { + PyErr_Format(PyExc_ValueError, + "Buffer not compatible with direct access " + "in dimension %d.", dim); + goto fail; + } + } + if (spec & __Pyx_MEMVIEW_PTR) { + if (unlikely(!buf->suboffsets || (buf->suboffsets[dim] < 0))) { + PyErr_Format(PyExc_ValueError, + "Buffer is not indirectly accessible " + "in dimension %d.", dim); + goto fail; + } + } + return 1; +fail: + return 0; +} +static int +__pyx_verify_contig(Py_buffer *buf, int ndim, int c_or_f_flag) +{ + int i; + if (c_or_f_flag & __Pyx_IS_F_CONTIG) { + Py_ssize_t stride = 1; + for (i = 0; i < ndim; i++) { + if (unlikely(stride * buf->itemsize != buf->strides[i] && buf->shape[i] > 1)) { + PyErr_SetString(PyExc_ValueError, + "Buffer not fortran contiguous."); + goto fail; + } + stride = stride * buf->shape[i]; + } + } else if (c_or_f_flag & __Pyx_IS_C_CONTIG) { + Py_ssize_t stride = 1; + for (i = ndim - 1; i >- 1; i--) { + if (unlikely(stride * buf->itemsize != buf->strides[i] && buf->shape[i] > 1)) { + PyErr_SetString(PyExc_ValueError, + "Buffer not C contiguous."); + goto fail; + } + stride = stride * buf->shape[i]; + } + } + return 1; +fail: + return 0; +} +static int __Pyx_ValidateAndInit_memviewslice( + int *axes_specs, + int c_or_f_flag, + int buf_flags, + int ndim, + __Pyx_TypeInfo *dtype, + __Pyx_BufFmt_StackElem stack[], + __Pyx_memviewslice *memviewslice, + PyObject *original_obj) +{ + struct __pyx_memoryview_obj *memview, *new_memview; + __Pyx_RefNannyDeclarations + Py_buffer *buf; + int i, spec = 0, retval = -1; + __Pyx_BufFmt_Context ctx; + int from_memoryview = __pyx_memoryview_check(original_obj); + __Pyx_RefNannySetupContext("ValidateAndInit_memviewslice", 0); + if (from_memoryview && __pyx_typeinfo_cmp(dtype, ((struct __pyx_memoryview_obj *) + original_obj)->typeinfo)) { + memview = (struct __pyx_memoryview_obj *) original_obj; + new_memview = NULL; + } else { + memview = (struct __pyx_memoryview_obj *) __pyx_memoryview_new( + original_obj, buf_flags, 0, dtype); + new_memview = memview; + if (unlikely(!memview)) + goto fail; + } + buf = &memview->view; + if (unlikely(buf->ndim != ndim)) { + PyErr_Format(PyExc_ValueError, + "Buffer has wrong number of dimensions (expected %d, got %d)", + ndim, buf->ndim); + goto fail; + } + if (new_memview) { + __Pyx_BufFmt_Init(&ctx, stack, dtype); + if (unlikely(!__Pyx_BufFmt_CheckString(&ctx, buf->format))) goto fail; + } + if (unlikely((unsigned) buf->itemsize != dtype->size)) { + PyErr_Format(PyExc_ValueError, + "Item size of buffer (%" CYTHON_FORMAT_SSIZE_T "u byte%s) " + "does not match size of '%s' (%" CYTHON_FORMAT_SSIZE_T "u byte%s)", + buf->itemsize, + (buf->itemsize > 1) ? "s" : "", + dtype->name, + dtype->size, + (dtype->size > 1) ? "s" : ""); + goto fail; + } + if (buf->len > 0) { + for (i = 0; i < ndim; i++) { + spec = axes_specs[i]; + if (unlikely(!__pyx_check_strides(buf, i, ndim, spec))) + goto fail; + if (unlikely(!__pyx_check_suboffsets(buf, i, ndim, spec))) + goto fail; + } + if (unlikely(buf->strides && !__pyx_verify_contig(buf, ndim, c_or_f_flag))) + goto fail; + } + if (unlikely(__Pyx_init_memviewslice(memview, ndim, memviewslice, + new_memview != NULL) == -1)) { + goto fail; + } + retval = 0; + goto no_fail; +fail: + Py_XDECREF(new_memview); + retval = -1; +no_fail: + __Pyx_RefNannyFinishContext(); + return retval; +} + +/* ObjectToMemviewSlice */ + static CYTHON_INLINE __Pyx_memviewslice __Pyx_PyObject_to_MemoryviewSlice_ds_float(PyObject *obj, int writable_flag) { + __Pyx_memviewslice result = { 0, 0, { 0 }, { 0 }, { 0 } }; + __Pyx_BufFmt_StackElem stack[1]; + int axes_specs[] = { (__Pyx_MEMVIEW_DIRECT | __Pyx_MEMVIEW_STRIDED) }; + int retcode; + if (obj == Py_None) { + result.memview = (struct __pyx_memoryview_obj *) Py_None; + return result; + } + retcode = __Pyx_ValidateAndInit_memviewslice(axes_specs, 0, + PyBUF_RECORDS_RO | writable_flag, 1, + &__Pyx_TypeInfo_float, stack, + &result, obj); + if (unlikely(retcode == -1)) + goto __pyx_fail; + return result; +__pyx_fail: + result.memview = NULL; + result.data = NULL; + return result; +} + +/* CIntFromPyVerify */ + #define __PYX_VERIFY_RETURN_INT(target_type, func_type, func_value)\ + __PYX__VERIFY_RETURN_INT(target_type, func_type, func_value, 0) +#define __PYX_VERIFY_RETURN_INT_EXC(target_type, func_type, func_value)\ + __PYX__VERIFY_RETURN_INT(target_type, func_type, func_value, 1) +#define __PYX__VERIFY_RETURN_INT(target_type, func_type, func_value, exc)\ + {\ + func_type value = func_value;\ + if (sizeof(target_type) < sizeof(func_type)) {\ + if (unlikely(value != (func_type) (target_type) value)) {\ + func_type zero = 0;\ + if (exc && unlikely(value == (func_type)-1 && PyErr_Occurred()))\ + return (target_type) -1;\ + if (is_unsigned && unlikely(value < zero))\ + goto raise_neg_overflow;\ + else\ + goto raise_overflow;\ + }\ + }\ + return (target_type) value;\ + } + +/* MemviewDtypeToObject */ + static CYTHON_INLINE PyObject *__pyx_memview_get_nn___pyx_t_5numpy_float32_t(const char *itemp) { + return (PyObject *) PyFloat_FromDouble(*(__pyx_t_5numpy_float32_t *) itemp); +} +static CYTHON_INLINE int __pyx_memview_set_nn___pyx_t_5numpy_float32_t(const char *itemp, PyObject *obj) { + __pyx_t_5numpy_float32_t value = __pyx_PyFloat_AsFloat(obj); + if (unlikely((value == ((npy_float32)-1)) && PyErr_Occurred())) + return 0; + *(__pyx_t_5numpy_float32_t *) itemp = value; + return 1; +} + +/* Declarations */ + #if CYTHON_CCOMPLEX && (1) && (!0 || __cplusplus) + #ifdef __cplusplus + static CYTHON_INLINE __pyx_t_float_complex __pyx_t_float_complex_from_parts(float x, float y) { + return ::std::complex< float >(x, y); + } + #else + static CYTHON_INLINE __pyx_t_float_complex __pyx_t_float_complex_from_parts(float x, float y) { + return x + y*(__pyx_t_float_complex)_Complex_I; + } + #endif +#else + static CYTHON_INLINE __pyx_t_float_complex __pyx_t_float_complex_from_parts(float x, float y) { + __pyx_t_float_complex z; + z.real = x; + z.imag = y; + return z; + } +#endif + +/* Arithmetic */ + #if CYTHON_CCOMPLEX && (1) && (!0 || __cplusplus) +#else + static CYTHON_INLINE int __Pyx_c_eq_float(__pyx_t_float_complex a, __pyx_t_float_complex b) { + return (a.real == b.real) && (a.imag == b.imag); + } + static CYTHON_INLINE __pyx_t_float_complex __Pyx_c_sum_float(__pyx_t_float_complex a, __pyx_t_float_complex b) { + __pyx_t_float_complex z; + z.real = a.real + b.real; + z.imag = a.imag + b.imag; + return z; + } + static CYTHON_INLINE __pyx_t_float_complex __Pyx_c_diff_float(__pyx_t_float_complex a, __pyx_t_float_complex b) { + __pyx_t_float_complex z; + z.real = a.real - b.real; + z.imag = a.imag - b.imag; + return z; + } + static CYTHON_INLINE __pyx_t_float_complex __Pyx_c_prod_float(__pyx_t_float_complex a, __pyx_t_float_complex b) { + __pyx_t_float_complex z; + z.real = a.real * b.real - a.imag * b.imag; + z.imag = a.real * b.imag + a.imag * b.real; + return z; + } + #if 1 + static CYTHON_INLINE __pyx_t_float_complex __Pyx_c_quot_float(__pyx_t_float_complex a, __pyx_t_float_complex b) { + if (b.imag == 0) { + return __pyx_t_float_complex_from_parts(a.real / b.real, a.imag / b.real); + } else if (fabsf(b.real) >= fabsf(b.imag)) { + if (b.real == 0 && b.imag == 0) { + return __pyx_t_float_complex_from_parts(a.real / b.real, a.imag / b.imag); + } else { + float r = b.imag / b.real; + float s = (float)(1.0) / (b.real + b.imag * r); + return __pyx_t_float_complex_from_parts( + (a.real + a.imag * r) * s, (a.imag - a.real * r) * s); + } + } else { + float r = b.real / b.imag; + float s = (float)(1.0) / (b.imag + b.real * r); + return __pyx_t_float_complex_from_parts( + (a.real * r + a.imag) * s, (a.imag * r - a.real) * s); + } + } + #else + static CYTHON_INLINE __pyx_t_float_complex __Pyx_c_quot_float(__pyx_t_float_complex a, __pyx_t_float_complex b) { + if (b.imag == 0) { + return __pyx_t_float_complex_from_parts(a.real / b.real, a.imag / b.real); + } else { + float denom = b.real * b.real + b.imag * b.imag; + return __pyx_t_float_complex_from_parts( + (a.real * b.real + a.imag * b.imag) / denom, + (a.imag * b.real - a.real * b.imag) / denom); + } + } + #endif + static CYTHON_INLINE __pyx_t_float_complex __Pyx_c_neg_float(__pyx_t_float_complex a) { + __pyx_t_float_complex z; + z.real = -a.real; + z.imag = -a.imag; + return z; + } + static CYTHON_INLINE int __Pyx_c_is_zero_float(__pyx_t_float_complex a) { + return (a.real == 0) && (a.imag == 0); + } + static CYTHON_INLINE __pyx_t_float_complex __Pyx_c_conj_float(__pyx_t_float_complex a) { + __pyx_t_float_complex z; + z.real = a.real; + z.imag = -a.imag; + return z; + } + #if 1 + static CYTHON_INLINE float __Pyx_c_abs_float(__pyx_t_float_complex z) { + #if !defined(HAVE_HYPOT) || defined(_MSC_VER) + return sqrtf(z.real*z.real + z.imag*z.imag); + #else + return hypotf(z.real, z.imag); + #endif + } + static CYTHON_INLINE __pyx_t_float_complex __Pyx_c_pow_float(__pyx_t_float_complex a, __pyx_t_float_complex b) { + __pyx_t_float_complex z; + float r, lnr, theta, z_r, z_theta; + if (b.imag == 0 && b.real == (int)b.real) { + if (b.real < 0) { + float denom = a.real * a.real + a.imag * a.imag; + a.real = a.real / denom; + a.imag = -a.imag / denom; + b.real = -b.real; + } + switch ((int)b.real) { + case 0: + z.real = 1; + z.imag = 0; + return z; + case 1: + return a; + case 2: + return __Pyx_c_prod_float(a, a); + case 3: + z = __Pyx_c_prod_float(a, a); + return __Pyx_c_prod_float(z, a); + case 4: + z = __Pyx_c_prod_float(a, a); + return __Pyx_c_prod_float(z, z); + } + } + if (a.imag == 0) { + if (a.real == 0) { + return a; + } else if ((b.imag == 0) && (a.real >= 0)) { + z.real = powf(a.real, b.real); + z.imag = 0; + return z; + } else if (a.real > 0) { + r = a.real; + theta = 0; + } else { + r = -a.real; + theta = atan2f(0.0, -1.0); + } + } else { + r = __Pyx_c_abs_float(a); + theta = atan2f(a.imag, a.real); + } + lnr = logf(r); + z_r = expf(lnr * b.real - theta * b.imag); + z_theta = theta * b.real + lnr * b.imag; + z.real = z_r * cosf(z_theta); + z.imag = z_r * sinf(z_theta); + return z; + } + #endif +#endif + +/* Declarations */ + #if CYTHON_CCOMPLEX && (1) && (!0 || __cplusplus) + #ifdef __cplusplus + static CYTHON_INLINE __pyx_t_double_complex __pyx_t_double_complex_from_parts(double x, double y) { + return ::std::complex< double >(x, y); + } + #else + static CYTHON_INLINE __pyx_t_double_complex __pyx_t_double_complex_from_parts(double x, double y) { + return x + y*(__pyx_t_double_complex)_Complex_I; + } + #endif +#else + static CYTHON_INLINE __pyx_t_double_complex __pyx_t_double_complex_from_parts(double x, double y) { + __pyx_t_double_complex z; + z.real = x; + z.imag = y; + return z; + } +#endif + +/* Arithmetic */ + #if CYTHON_CCOMPLEX && (1) && (!0 || __cplusplus) +#else + static CYTHON_INLINE int __Pyx_c_eq_double(__pyx_t_double_complex a, __pyx_t_double_complex b) { + return (a.real == b.real) && (a.imag == b.imag); + } + static CYTHON_INLINE __pyx_t_double_complex __Pyx_c_sum_double(__pyx_t_double_complex a, __pyx_t_double_complex b) { + __pyx_t_double_complex z; + z.real = a.real + b.real; + z.imag = a.imag + b.imag; + return z; + } + static CYTHON_INLINE __pyx_t_double_complex __Pyx_c_diff_double(__pyx_t_double_complex a, __pyx_t_double_complex b) { + __pyx_t_double_complex z; + z.real = a.real - b.real; + z.imag = a.imag - b.imag; + return z; + } + static CYTHON_INLINE __pyx_t_double_complex __Pyx_c_prod_double(__pyx_t_double_complex a, __pyx_t_double_complex b) { + __pyx_t_double_complex z; + z.real = a.real * b.real - a.imag * b.imag; + z.imag = a.real * b.imag + a.imag * b.real; + return z; + } + #if 1 + static CYTHON_INLINE __pyx_t_double_complex __Pyx_c_quot_double(__pyx_t_double_complex a, __pyx_t_double_complex b) { + if (b.imag == 0) { + return __pyx_t_double_complex_from_parts(a.real / b.real, a.imag / b.real); + } else if (fabs(b.real) >= fabs(b.imag)) { + if (b.real == 0 && b.imag == 0) { + return __pyx_t_double_complex_from_parts(a.real / b.real, a.imag / b.imag); + } else { + double r = b.imag / b.real; + double s = (double)(1.0) / (b.real + b.imag * r); + return __pyx_t_double_complex_from_parts( + (a.real + a.imag * r) * s, (a.imag - a.real * r) * s); + } + } else { + double r = b.real / b.imag; + double s = (double)(1.0) / (b.imag + b.real * r); + return __pyx_t_double_complex_from_parts( + (a.real * r + a.imag) * s, (a.imag * r - a.real) * s); + } + } + #else + static CYTHON_INLINE __pyx_t_double_complex __Pyx_c_quot_double(__pyx_t_double_complex a, __pyx_t_double_complex b) { + if (b.imag == 0) { + return __pyx_t_double_complex_from_parts(a.real / b.real, a.imag / b.real); + } else { + double denom = b.real * b.real + b.imag * b.imag; + return __pyx_t_double_complex_from_parts( + (a.real * b.real + a.imag * b.imag) / denom, + (a.imag * b.real - a.real * b.imag) / denom); + } + } + #endif + static CYTHON_INLINE __pyx_t_double_complex __Pyx_c_neg_double(__pyx_t_double_complex a) { + __pyx_t_double_complex z; + z.real = -a.real; + z.imag = -a.imag; + return z; + } + static CYTHON_INLINE int __Pyx_c_is_zero_double(__pyx_t_double_complex a) { + return (a.real == 0) && (a.imag == 0); + } + static CYTHON_INLINE __pyx_t_double_complex __Pyx_c_conj_double(__pyx_t_double_complex a) { + __pyx_t_double_complex z; + z.real = a.real; + z.imag = -a.imag; + return z; + } + #if 1 + static CYTHON_INLINE double __Pyx_c_abs_double(__pyx_t_double_complex z) { + #if !defined(HAVE_HYPOT) || defined(_MSC_VER) + return sqrt(z.real*z.real + z.imag*z.imag); + #else + return hypot(z.real, z.imag); + #endif + } + static CYTHON_INLINE __pyx_t_double_complex __Pyx_c_pow_double(__pyx_t_double_complex a, __pyx_t_double_complex b) { + __pyx_t_double_complex z; + double r, lnr, theta, z_r, z_theta; + if (b.imag == 0 && b.real == (int)b.real) { + if (b.real < 0) { + double denom = a.real * a.real + a.imag * a.imag; + a.real = a.real / denom; + a.imag = -a.imag / denom; + b.real = -b.real; + } + switch ((int)b.real) { + case 0: + z.real = 1; + z.imag = 0; + return z; + case 1: + return a; + case 2: + return __Pyx_c_prod_double(a, a); + case 3: + z = __Pyx_c_prod_double(a, a); + return __Pyx_c_prod_double(z, a); + case 4: + z = __Pyx_c_prod_double(a, a); + return __Pyx_c_prod_double(z, z); + } + } + if (a.imag == 0) { + if (a.real == 0) { + return a; + } else if ((b.imag == 0) && (a.real >= 0)) { + z.real = pow(a.real, b.real); + z.imag = 0; + return z; + } else if (a.real > 0) { + r = a.real; + theta = 0; + } else { + r = -a.real; + theta = atan2(0.0, -1.0); + } + } else { + r = __Pyx_c_abs_double(a); + theta = atan2(a.imag, a.real); + } + lnr = log(r); + z_r = exp(lnr * b.real - theta * b.imag); + z_theta = theta * b.real + lnr * b.imag; + z.real = z_r * cos(z_theta); + z.imag = z_r * sin(z_theta); + return z; + } + #endif +#endif + +/* MemviewSliceCopyTemplate */ + static __Pyx_memviewslice +__pyx_memoryview_copy_new_contig(const __Pyx_memviewslice *from_mvs, + const char *mode, int ndim, + size_t sizeof_dtype, int contig_flag, + int dtype_is_object) +{ + __Pyx_RefNannyDeclarations + int i; + __Pyx_memviewslice new_mvs = { 0, 0, { 0 }, { 0 }, { 0 } }; + struct __pyx_memoryview_obj *from_memview = from_mvs->memview; + Py_buffer *buf = &from_memview->view; + PyObject *shape_tuple = NULL; + PyObject *temp_int = NULL; + struct __pyx_array_obj *array_obj = NULL; + struct __pyx_memoryview_obj *memview_obj = NULL; + __Pyx_RefNannySetupContext("__pyx_memoryview_copy_new_contig", 0); + for (i = 0; i < ndim; i++) { + if (unlikely(from_mvs->suboffsets[i] >= 0)) { + PyErr_Format(PyExc_ValueError, "Cannot copy memoryview slice with " + "indirect dimensions (axis %d)", i); + goto fail; + } + } + shape_tuple = PyTuple_New(ndim); + if (unlikely(!shape_tuple)) { + goto fail; + } + __Pyx_GOTREF(shape_tuple); + for(i = 0; i < ndim; i++) { + temp_int = PyInt_FromSsize_t(from_mvs->shape[i]); + if(unlikely(!temp_int)) { + goto fail; + } else { + PyTuple_SET_ITEM(shape_tuple, i, temp_int); + temp_int = NULL; + } + } + array_obj = __pyx_array_new(shape_tuple, sizeof_dtype, buf->format, (char *) mode, NULL); + if (unlikely(!array_obj)) { + goto fail; + } + __Pyx_GOTREF(array_obj); + memview_obj = (struct __pyx_memoryview_obj *) __pyx_memoryview_new( + (PyObject *) array_obj, contig_flag, + dtype_is_object, + from_mvs->memview->typeinfo); + if (unlikely(!memview_obj)) + goto fail; + if (unlikely(__Pyx_init_memviewslice(memview_obj, ndim, &new_mvs, 1) < 0)) + goto fail; + if (unlikely(__pyx_memoryview_copy_contents(*from_mvs, new_mvs, ndim, ndim, + dtype_is_object) < 0)) + goto fail; + goto no_fail; +fail: + __Pyx_XDECREF(new_mvs.memview); + new_mvs.memview = NULL; + new_mvs.data = NULL; +no_fail: + __Pyx_XDECREF(shape_tuple); + __Pyx_XDECREF(temp_int); + __Pyx_XDECREF(array_obj); + __Pyx_RefNannyFinishContext(); + return new_mvs; +} + +/* MemviewSliceInit */ + static int +__Pyx_init_memviewslice(struct __pyx_memoryview_obj *memview, + int ndim, + __Pyx_memviewslice *memviewslice, + int memview_is_new_reference) +{ + __Pyx_RefNannyDeclarations + int i, retval=-1; + Py_buffer *buf = &memview->view; + __Pyx_RefNannySetupContext("init_memviewslice", 0); + if (unlikely(memviewslice->memview || memviewslice->data)) { + PyErr_SetString(PyExc_ValueError, + "memviewslice is already initialized!"); + goto fail; + } + if (buf->strides) { + for (i = 0; i < ndim; i++) { + memviewslice->strides[i] = buf->strides[i]; + } + } else { + Py_ssize_t stride = buf->itemsize; + for (i = ndim - 1; i >= 0; i--) { + memviewslice->strides[i] = stride; + stride *= buf->shape[i]; + } + } + for (i = 0; i < ndim; i++) { + memviewslice->shape[i] = buf->shape[i]; + if (buf->suboffsets) { + memviewslice->suboffsets[i] = buf->suboffsets[i]; + } else { + memviewslice->suboffsets[i] = -1; + } + } + memviewslice->memview = memview; + memviewslice->data = (char *)buf->buf; + if (__pyx_add_acquisition_count(memview) == 0 && !memview_is_new_reference) { + Py_INCREF(memview); + } + retval = 0; + goto no_fail; +fail: + memviewslice->memview = 0; + memviewslice->data = 0; + retval = -1; +no_fail: + __Pyx_RefNannyFinishContext(); + return retval; +} +#ifndef Py_NO_RETURN +#define Py_NO_RETURN +#endif +static void __pyx_fatalerror(const char *fmt, ...) Py_NO_RETURN { + va_list vargs; + char msg[200]; +#if PY_VERSION_HEX >= 0x030A0000 || defined(HAVE_STDARG_PROTOTYPES) + va_start(vargs, fmt); +#else + va_start(vargs); +#endif + vsnprintf(msg, 200, fmt, vargs); + va_end(vargs); + Py_FatalError(msg); +} +static CYTHON_INLINE int +__pyx_add_acquisition_count_locked(__pyx_atomic_int_type *acquisition_count, + PyThread_type_lock lock) +{ + int result; + PyThread_acquire_lock(lock, 1); + result = (*acquisition_count)++; + PyThread_release_lock(lock); + return result; +} +static CYTHON_INLINE int +__pyx_sub_acquisition_count_locked(__pyx_atomic_int_type *acquisition_count, + PyThread_type_lock lock) +{ + int result; + PyThread_acquire_lock(lock, 1); + result = (*acquisition_count)--; + PyThread_release_lock(lock); + return result; +} +static CYTHON_INLINE void +__Pyx_INC_MEMVIEW(__Pyx_memviewslice *memslice, int have_gil, int lineno) +{ + __pyx_nonatomic_int_type old_acquisition_count; + struct __pyx_memoryview_obj *memview = memslice->memview; + if (unlikely(!memview || (PyObject *) memview == Py_None)) { + return; + } + old_acquisition_count = __pyx_add_acquisition_count(memview); + if (unlikely(old_acquisition_count <= 0)) { + if (likely(old_acquisition_count == 0)) { + if (have_gil) { + Py_INCREF((PyObject *) memview); + } else { + PyGILState_STATE _gilstate = PyGILState_Ensure(); + Py_INCREF((PyObject *) memview); + PyGILState_Release(_gilstate); + } + } else { + __pyx_fatalerror("Acquisition count is %d (line %d)", + old_acquisition_count+1, lineno); + } + } +} +static CYTHON_INLINE void __Pyx_XCLEAR_MEMVIEW(__Pyx_memviewslice *memslice, + int have_gil, int lineno) { + __pyx_nonatomic_int_type old_acquisition_count; + struct __pyx_memoryview_obj *memview = memslice->memview; + if (unlikely(!memview || (PyObject *) memview == Py_None)) { + memslice->memview = NULL; + return; + } + old_acquisition_count = __pyx_sub_acquisition_count(memview); + memslice->data = NULL; + if (likely(old_acquisition_count > 1)) { + memslice->memview = NULL; + } else if (likely(old_acquisition_count == 1)) { + if (have_gil) { + Py_CLEAR(memslice->memview); + } else { + PyGILState_STATE _gilstate = PyGILState_Ensure(); + Py_CLEAR(memslice->memview); + PyGILState_Release(_gilstate); + } + } else { + __pyx_fatalerror("Acquisition count is %d (line %d)", + old_acquisition_count-1, lineno); + } +} + +/* TypeInfoToFormat */ + static struct __pyx_typeinfo_string __Pyx_TypeInfoToFormat(__Pyx_TypeInfo *type) { + struct __pyx_typeinfo_string result = { {0} }; + char *buf = (char *) result.string; + size_t size = type->size; + switch (type->typegroup) { + case 'H': + *buf = 'c'; + break; + case 'I': + case 'U': + if (size == 1) + *buf = (type->is_unsigned) ? 'B' : 'b'; + else if (size == 2) + *buf = (type->is_unsigned) ? 'H' : 'h'; + else if (size == 4) + *buf = (type->is_unsigned) ? 'I' : 'i'; + else if (size == 8) + *buf = (type->is_unsigned) ? 'Q' : 'q'; + break; + case 'P': + *buf = 'P'; + break; + case 'C': + { + __Pyx_TypeInfo complex_type = *type; + complex_type.typegroup = 'R'; + complex_type.size /= 2; + *buf++ = 'Z'; + *buf = __Pyx_TypeInfoToFormat(&complex_type).string[0]; + break; + } + case 'R': + if (size == 4) + *buf = 'f'; + else if (size == 8) + *buf = 'd'; + else + *buf = 'g'; + break; + } + return result; +} + +/* CIntFromPy */ + static CYTHON_INLINE int __Pyx_PyInt_As_int(PyObject *x) { +#ifdef __Pyx_HAS_GCC_DIAGNOSTIC +#pragma GCC diagnostic push +#pragma GCC diagnostic ignored "-Wconversion" +#endif + const int neg_one = (int) -1, const_zero = (int) 0; +#ifdef __Pyx_HAS_GCC_DIAGNOSTIC +#pragma GCC diagnostic pop +#endif + const int is_unsigned = neg_one > const_zero; +#if PY_MAJOR_VERSION < 3 + if (likely(PyInt_Check(x))) { + if ((sizeof(int) < sizeof(long))) { + __PYX_VERIFY_RETURN_INT(int, long, PyInt_AS_LONG(x)) + } else { + long val = PyInt_AS_LONG(x); + if (is_unsigned && unlikely(val < 0)) { + goto raise_neg_overflow; + } + return (int) val; + } + } else +#endif + if (likely(PyLong_Check(x))) { + if (is_unsigned) { +#if CYTHON_USE_PYLONG_INTERNALS + if (unlikely(__Pyx_PyLong_IsNeg(x))) { + goto raise_neg_overflow; + } else if (__Pyx_PyLong_IsCompact(x)) { + __PYX_VERIFY_RETURN_INT(int, __Pyx_compact_upylong, __Pyx_PyLong_CompactValueUnsigned(x)) + } else { + const digit* digits = __Pyx_PyLong_Digits(x); + assert(__Pyx_PyLong_DigitCount(x) > 1); + switch (__Pyx_PyLong_DigitCount(x)) { + case 2: + if ((8 * sizeof(int) > 1 * PyLong_SHIFT)) { + if ((8 * sizeof(unsigned long) > 2 * PyLong_SHIFT)) { + __PYX_VERIFY_RETURN_INT(int, unsigned long, (((((unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if ((8 * sizeof(int) >= 2 * PyLong_SHIFT)) { + return (int) (((((int)digits[1]) << PyLong_SHIFT) | (int)digits[0])); + } + } + break; + case 3: + if ((8 * sizeof(int) > 2 * PyLong_SHIFT)) { + if ((8 * sizeof(unsigned long) > 3 * PyLong_SHIFT)) { + __PYX_VERIFY_RETURN_INT(int, unsigned long, (((((((unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if ((8 * sizeof(int) >= 3 * PyLong_SHIFT)) { + return (int) (((((((int)digits[2]) << PyLong_SHIFT) | (int)digits[1]) << PyLong_SHIFT) | (int)digits[0])); + } + } + break; + case 4: + if ((8 * sizeof(int) > 3 * PyLong_SHIFT)) { + if ((8 * sizeof(unsigned long) > 4 * PyLong_SHIFT)) { + __PYX_VERIFY_RETURN_INT(int, unsigned long, (((((((((unsigned long)digits[3]) << PyLong_SHIFT) | (unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if ((8 * sizeof(int) >= 4 * PyLong_SHIFT)) { + return (int) (((((((((int)digits[3]) << PyLong_SHIFT) | (int)digits[2]) << PyLong_SHIFT) | (int)digits[1]) << PyLong_SHIFT) | (int)digits[0])); + } + } + break; + } + } +#endif +#if CYTHON_COMPILING_IN_CPYTHON && PY_VERSION_HEX < 0x030C00A7 + if (unlikely(Py_SIZE(x) < 0)) { + goto raise_neg_overflow; + } +#else + { + int result = PyObject_RichCompareBool(x, Py_False, Py_LT); + if (unlikely(result < 0)) + return (int) -1; + if (unlikely(result == 1)) + goto raise_neg_overflow; + } +#endif + if ((sizeof(int) <= sizeof(unsigned long))) { + __PYX_VERIFY_RETURN_INT_EXC(int, unsigned long, PyLong_AsUnsignedLong(x)) +#ifdef HAVE_LONG_LONG + } else if ((sizeof(int) <= sizeof(unsigned PY_LONG_LONG))) { + __PYX_VERIFY_RETURN_INT_EXC(int, unsigned PY_LONG_LONG, PyLong_AsUnsignedLongLong(x)) +#endif + } + } else { +#if CYTHON_USE_PYLONG_INTERNALS + if (__Pyx_PyLong_IsCompact(x)) { + __PYX_VERIFY_RETURN_INT(int, __Pyx_compact_pylong, __Pyx_PyLong_CompactValue(x)) + } else { + const digit* digits = __Pyx_PyLong_Digits(x); + assert(__Pyx_PyLong_DigitCount(x) > 1); + switch (__Pyx_PyLong_SignedDigitCount(x)) { + case -2: + if ((8 * sizeof(int) - 1 > 1 * PyLong_SHIFT)) { + if ((8 * sizeof(unsigned long) > 2 * PyLong_SHIFT)) { + __PYX_VERIFY_RETURN_INT(int, long, -(long) (((((unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if ((8 * sizeof(int) - 1 > 2 * PyLong_SHIFT)) { + return (int) (((int)-1)*(((((int)digits[1]) << PyLong_SHIFT) | (int)digits[0]))); + } + } + break; + case 2: + if ((8 * sizeof(int) > 1 * PyLong_SHIFT)) { + if ((8 * sizeof(unsigned long) > 2 * PyLong_SHIFT)) { + __PYX_VERIFY_RETURN_INT(int, unsigned long, (((((unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if ((8 * sizeof(int) - 1 > 2 * PyLong_SHIFT)) { + return (int) ((((((int)digits[1]) << PyLong_SHIFT) | (int)digits[0]))); + } + } + break; + case -3: + if ((8 * sizeof(int) - 1 > 2 * PyLong_SHIFT)) { + if ((8 * sizeof(unsigned long) > 3 * PyLong_SHIFT)) { + __PYX_VERIFY_RETURN_INT(int, long, -(long) (((((((unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if ((8 * sizeof(int) - 1 > 3 * PyLong_SHIFT)) { + return (int) (((int)-1)*(((((((int)digits[2]) << PyLong_SHIFT) | (int)digits[1]) << PyLong_SHIFT) | (int)digits[0]))); + } + } + break; + case 3: + if ((8 * sizeof(int) > 2 * PyLong_SHIFT)) { + if ((8 * sizeof(unsigned long) > 3 * PyLong_SHIFT)) { + __PYX_VERIFY_RETURN_INT(int, unsigned long, (((((((unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if ((8 * sizeof(int) - 1 > 3 * PyLong_SHIFT)) { + return (int) ((((((((int)digits[2]) << PyLong_SHIFT) | (int)digits[1]) << PyLong_SHIFT) | (int)digits[0]))); + } + } + break; + case -4: + if ((8 * sizeof(int) - 1 > 3 * PyLong_SHIFT)) { + if ((8 * sizeof(unsigned long) > 4 * PyLong_SHIFT)) { + __PYX_VERIFY_RETURN_INT(int, long, -(long) (((((((((unsigned long)digits[3]) << PyLong_SHIFT) | (unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if ((8 * sizeof(int) - 1 > 4 * PyLong_SHIFT)) { + return (int) (((int)-1)*(((((((((int)digits[3]) << PyLong_SHIFT) | (int)digits[2]) << PyLong_SHIFT) | (int)digits[1]) << PyLong_SHIFT) | (int)digits[0]))); + } + } + break; + case 4: + if ((8 * sizeof(int) > 3 * PyLong_SHIFT)) { + if ((8 * sizeof(unsigned long) > 4 * PyLong_SHIFT)) { + __PYX_VERIFY_RETURN_INT(int, unsigned long, (((((((((unsigned long)digits[3]) << PyLong_SHIFT) | (unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if ((8 * sizeof(int) - 1 > 4 * PyLong_SHIFT)) { + return (int) ((((((((((int)digits[3]) << PyLong_SHIFT) | (int)digits[2]) << PyLong_SHIFT) | (int)digits[1]) << PyLong_SHIFT) | (int)digits[0]))); + } + } + break; + } + } +#endif + if ((sizeof(int) <= sizeof(long))) { + __PYX_VERIFY_RETURN_INT_EXC(int, long, PyLong_AsLong(x)) +#ifdef HAVE_LONG_LONG + } else if ((sizeof(int) <= sizeof(PY_LONG_LONG))) { + __PYX_VERIFY_RETURN_INT_EXC(int, PY_LONG_LONG, PyLong_AsLongLong(x)) +#endif + } + } + { + int val; + PyObject *v = __Pyx_PyNumber_IntOrLong(x); +#if PY_MAJOR_VERSION < 3 + if (likely(v) && !PyLong_Check(v)) { + PyObject *tmp = v; + v = PyNumber_Long(tmp); + Py_DECREF(tmp); + } +#endif + if (likely(v)) { + int ret = -1; +#if PY_VERSION_HEX < 0x030d0000 && !(CYTHON_COMPILING_IN_PYPY || CYTHON_COMPILING_IN_LIMITED_API) || defined(_PyLong_AsByteArray) + int one = 1; int is_little = (int)*(unsigned char *)&one; + unsigned char *bytes = (unsigned char *)&val; + ret = _PyLong_AsByteArray((PyLongObject *)v, + bytes, sizeof(val), + is_little, !is_unsigned); +#else + PyObject *stepval = NULL, *mask = NULL, *shift = NULL; + int bits, remaining_bits, is_negative = 0; + long idigit; + int chunk_size = (sizeof(long) < 8) ? 30 : 62; + if (unlikely(!PyLong_CheckExact(v))) { + PyObject *tmp = v; + v = PyNumber_Long(v); + assert(PyLong_CheckExact(v)); + Py_DECREF(tmp); + if (unlikely(!v)) return (int) -1; + } +#if CYTHON_COMPILING_IN_LIMITED_API && PY_VERSION_HEX < 0x030B0000 + if (Py_SIZE(x) == 0) + return (int) 0; + is_negative = Py_SIZE(x) < 0; +#else + { + int result = PyObject_RichCompareBool(x, Py_False, Py_LT); + if (unlikely(result < 0)) + return (int) -1; + is_negative = result == 1; + } +#endif + if (is_unsigned && unlikely(is_negative)) { + goto raise_neg_overflow; + } else if (is_negative) { + stepval = PyNumber_Invert(v); + if (unlikely(!stepval)) + return (int) -1; + } else { + stepval = __Pyx_NewRef(v); + } + val = (int) 0; + mask = PyLong_FromLong((1L << chunk_size) - 1); if (unlikely(!mask)) goto done; + shift = PyLong_FromLong(chunk_size); if (unlikely(!shift)) goto done; + for (bits = 0; bits < (int) sizeof(int) * 8 - chunk_size; bits += chunk_size) { + PyObject *tmp, *digit; + digit = PyNumber_And(stepval, mask); + if (unlikely(!digit)) goto done; + idigit = PyLong_AsLong(digit); + Py_DECREF(digit); + if (unlikely(idigit < 0)) goto done; + tmp = PyNumber_Rshift(stepval, shift); + if (unlikely(!tmp)) goto done; + Py_DECREF(stepval); stepval = tmp; + val |= ((int) idigit) << bits; + #if CYTHON_COMPILING_IN_LIMITED_API && PY_VERSION_HEX < 0x030B0000 + if (Py_SIZE(stepval) == 0) + goto unpacking_done; + #endif + } + idigit = PyLong_AsLong(stepval); + if (unlikely(idigit < 0)) goto done; + remaining_bits = ((int) sizeof(int) * 8) - bits - (is_unsigned ? 0 : 1); + if (unlikely(idigit >= (1L << remaining_bits))) + goto raise_overflow; + val |= ((int) idigit) << bits; + #if CYTHON_COMPILING_IN_LIMITED_API && PY_VERSION_HEX < 0x030B0000 + unpacking_done: + #endif + if (!is_unsigned) { + if (unlikely(val & (((int) 1) << (sizeof(int) * 8 - 1)))) + goto raise_overflow; + if (is_negative) + val = ~val; + } + ret = 0; + done: + Py_XDECREF(shift); + Py_XDECREF(mask); + Py_XDECREF(stepval); +#endif + Py_DECREF(v); + if (likely(!ret)) + return val; + } + return (int) -1; + } + } else { + int val; + PyObject *tmp = __Pyx_PyNumber_IntOrLong(x); + if (!tmp) return (int) -1; + val = __Pyx_PyInt_As_int(tmp); + Py_DECREF(tmp); + return val; + } +raise_overflow: + PyErr_SetString(PyExc_OverflowError, + "value too large to convert to int"); + return (int) -1; +raise_neg_overflow: + PyErr_SetString(PyExc_OverflowError, + "can't convert negative value to int"); + return (int) -1; +} + +/* CIntFromPy */ + static CYTHON_INLINE long __Pyx_PyInt_As_long(PyObject *x) { +#ifdef __Pyx_HAS_GCC_DIAGNOSTIC +#pragma GCC diagnostic push +#pragma GCC diagnostic ignored "-Wconversion" +#endif + const long neg_one = (long) -1, const_zero = (long) 0; +#ifdef __Pyx_HAS_GCC_DIAGNOSTIC +#pragma GCC diagnostic pop +#endif + const int is_unsigned = neg_one > const_zero; +#if PY_MAJOR_VERSION < 3 + if (likely(PyInt_Check(x))) { + if ((sizeof(long) < sizeof(long))) { + __PYX_VERIFY_RETURN_INT(long, long, PyInt_AS_LONG(x)) + } else { + long val = PyInt_AS_LONG(x); + if (is_unsigned && unlikely(val < 0)) { + goto raise_neg_overflow; + } + return (long) val; + } + } else +#endif + if (likely(PyLong_Check(x))) { + if (is_unsigned) { +#if CYTHON_USE_PYLONG_INTERNALS + if (unlikely(__Pyx_PyLong_IsNeg(x))) { + goto raise_neg_overflow; + } else if (__Pyx_PyLong_IsCompact(x)) { + __PYX_VERIFY_RETURN_INT(long, __Pyx_compact_upylong, __Pyx_PyLong_CompactValueUnsigned(x)) + } else { + const digit* digits = __Pyx_PyLong_Digits(x); + assert(__Pyx_PyLong_DigitCount(x) > 1); + switch (__Pyx_PyLong_DigitCount(x)) { + case 2: + if ((8 * sizeof(long) > 1 * PyLong_SHIFT)) { + if ((8 * sizeof(unsigned long) > 2 * PyLong_SHIFT)) { + __PYX_VERIFY_RETURN_INT(long, unsigned long, (((((unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if ((8 * sizeof(long) >= 2 * PyLong_SHIFT)) { + return (long) (((((long)digits[1]) << PyLong_SHIFT) | (long)digits[0])); + } + } + break; + case 3: + if ((8 * sizeof(long) > 2 * PyLong_SHIFT)) { + if ((8 * sizeof(unsigned long) > 3 * PyLong_SHIFT)) { + __PYX_VERIFY_RETURN_INT(long, unsigned long, (((((((unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if ((8 * sizeof(long) >= 3 * PyLong_SHIFT)) { + return (long) (((((((long)digits[2]) << PyLong_SHIFT) | (long)digits[1]) << PyLong_SHIFT) | (long)digits[0])); + } + } + break; + case 4: + if ((8 * sizeof(long) > 3 * PyLong_SHIFT)) { + if ((8 * sizeof(unsigned long) > 4 * PyLong_SHIFT)) { + __PYX_VERIFY_RETURN_INT(long, unsigned long, (((((((((unsigned long)digits[3]) << PyLong_SHIFT) | (unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if ((8 * sizeof(long) >= 4 * PyLong_SHIFT)) { + return (long) (((((((((long)digits[3]) << PyLong_SHIFT) | (long)digits[2]) << PyLong_SHIFT) | (long)digits[1]) << PyLong_SHIFT) | (long)digits[0])); + } + } + break; + } + } +#endif +#if CYTHON_COMPILING_IN_CPYTHON && PY_VERSION_HEX < 0x030C00A7 + if (unlikely(Py_SIZE(x) < 0)) { + goto raise_neg_overflow; + } +#else + { + int result = PyObject_RichCompareBool(x, Py_False, Py_LT); + if (unlikely(result < 0)) + return (long) -1; + if (unlikely(result == 1)) + goto raise_neg_overflow; + } +#endif + if ((sizeof(long) <= sizeof(unsigned long))) { + __PYX_VERIFY_RETURN_INT_EXC(long, unsigned long, PyLong_AsUnsignedLong(x)) +#ifdef HAVE_LONG_LONG + } else if ((sizeof(long) <= sizeof(unsigned PY_LONG_LONG))) { + __PYX_VERIFY_RETURN_INT_EXC(long, unsigned PY_LONG_LONG, PyLong_AsUnsignedLongLong(x)) +#endif + } + } else { +#if CYTHON_USE_PYLONG_INTERNALS + if (__Pyx_PyLong_IsCompact(x)) { + __PYX_VERIFY_RETURN_INT(long, __Pyx_compact_pylong, __Pyx_PyLong_CompactValue(x)) + } else { + const digit* digits = __Pyx_PyLong_Digits(x); + assert(__Pyx_PyLong_DigitCount(x) > 1); + switch (__Pyx_PyLong_SignedDigitCount(x)) { + case -2: + if ((8 * sizeof(long) - 1 > 1 * PyLong_SHIFT)) { + if ((8 * sizeof(unsigned long) > 2 * PyLong_SHIFT)) { + __PYX_VERIFY_RETURN_INT(long, long, -(long) (((((unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if ((8 * sizeof(long) - 1 > 2 * PyLong_SHIFT)) { + return (long) (((long)-1)*(((((long)digits[1]) << PyLong_SHIFT) | (long)digits[0]))); + } + } + break; + case 2: + if ((8 * sizeof(long) > 1 * PyLong_SHIFT)) { + if ((8 * sizeof(unsigned long) > 2 * PyLong_SHIFT)) { + __PYX_VERIFY_RETURN_INT(long, unsigned long, (((((unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if ((8 * sizeof(long) - 1 > 2 * PyLong_SHIFT)) { + return (long) ((((((long)digits[1]) << PyLong_SHIFT) | (long)digits[0]))); + } + } + break; + case -3: + if ((8 * sizeof(long) - 1 > 2 * PyLong_SHIFT)) { + if ((8 * sizeof(unsigned long) > 3 * PyLong_SHIFT)) { + __PYX_VERIFY_RETURN_INT(long, long, -(long) (((((((unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if ((8 * sizeof(long) - 1 > 3 * PyLong_SHIFT)) { + return (long) (((long)-1)*(((((((long)digits[2]) << PyLong_SHIFT) | (long)digits[1]) << PyLong_SHIFT) | (long)digits[0]))); + } + } + break; + case 3: + if ((8 * sizeof(long) > 2 * PyLong_SHIFT)) { + if ((8 * sizeof(unsigned long) > 3 * PyLong_SHIFT)) { + __PYX_VERIFY_RETURN_INT(long, unsigned long, (((((((unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if ((8 * sizeof(long) - 1 > 3 * PyLong_SHIFT)) { + return (long) ((((((((long)digits[2]) << PyLong_SHIFT) | (long)digits[1]) << PyLong_SHIFT) | (long)digits[0]))); + } + } + break; + case -4: + if ((8 * sizeof(long) - 1 > 3 * PyLong_SHIFT)) { + if ((8 * sizeof(unsigned long) > 4 * PyLong_SHIFT)) { + __PYX_VERIFY_RETURN_INT(long, long, -(long) (((((((((unsigned long)digits[3]) << PyLong_SHIFT) | (unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if ((8 * sizeof(long) - 1 > 4 * PyLong_SHIFT)) { + return (long) (((long)-1)*(((((((((long)digits[3]) << PyLong_SHIFT) | (long)digits[2]) << PyLong_SHIFT) | (long)digits[1]) << PyLong_SHIFT) | (long)digits[0]))); + } + } + break; + case 4: + if ((8 * sizeof(long) > 3 * PyLong_SHIFT)) { + if ((8 * sizeof(unsigned long) > 4 * PyLong_SHIFT)) { + __PYX_VERIFY_RETURN_INT(long, unsigned long, (((((((((unsigned long)digits[3]) << PyLong_SHIFT) | (unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if ((8 * sizeof(long) - 1 > 4 * PyLong_SHIFT)) { + return (long) ((((((((((long)digits[3]) << PyLong_SHIFT) | (long)digits[2]) << PyLong_SHIFT) | (long)digits[1]) << PyLong_SHIFT) | (long)digits[0]))); + } + } + break; + } + } +#endif + if ((sizeof(long) <= sizeof(long))) { + __PYX_VERIFY_RETURN_INT_EXC(long, long, PyLong_AsLong(x)) +#ifdef HAVE_LONG_LONG + } else if ((sizeof(long) <= sizeof(PY_LONG_LONG))) { + __PYX_VERIFY_RETURN_INT_EXC(long, PY_LONG_LONG, PyLong_AsLongLong(x)) +#endif + } + } + { + long val; + PyObject *v = __Pyx_PyNumber_IntOrLong(x); +#if PY_MAJOR_VERSION < 3 + if (likely(v) && !PyLong_Check(v)) { + PyObject *tmp = v; + v = PyNumber_Long(tmp); + Py_DECREF(tmp); + } +#endif + if (likely(v)) { + int ret = -1; +#if PY_VERSION_HEX < 0x030d0000 && !(CYTHON_COMPILING_IN_PYPY || CYTHON_COMPILING_IN_LIMITED_API) || defined(_PyLong_AsByteArray) + int one = 1; int is_little = (int)*(unsigned char *)&one; + unsigned char *bytes = (unsigned char *)&val; + ret = _PyLong_AsByteArray((PyLongObject *)v, + bytes, sizeof(val), + is_little, !is_unsigned); +#else + PyObject *stepval = NULL, *mask = NULL, *shift = NULL; + int bits, remaining_bits, is_negative = 0; + long idigit; + int chunk_size = (sizeof(long) < 8) ? 30 : 62; + if (unlikely(!PyLong_CheckExact(v))) { + PyObject *tmp = v; + v = PyNumber_Long(v); + assert(PyLong_CheckExact(v)); + Py_DECREF(tmp); + if (unlikely(!v)) return (long) -1; + } +#if CYTHON_COMPILING_IN_LIMITED_API && PY_VERSION_HEX < 0x030B0000 + if (Py_SIZE(x) == 0) + return (long) 0; + is_negative = Py_SIZE(x) < 0; +#else + { + int result = PyObject_RichCompareBool(x, Py_False, Py_LT); + if (unlikely(result < 0)) + return (long) -1; + is_negative = result == 1; + } +#endif + if (is_unsigned && unlikely(is_negative)) { + goto raise_neg_overflow; + } else if (is_negative) { + stepval = PyNumber_Invert(v); + if (unlikely(!stepval)) + return (long) -1; + } else { + stepval = __Pyx_NewRef(v); + } + val = (long) 0; + mask = PyLong_FromLong((1L << chunk_size) - 1); if (unlikely(!mask)) goto done; + shift = PyLong_FromLong(chunk_size); if (unlikely(!shift)) goto done; + for (bits = 0; bits < (int) sizeof(long) * 8 - chunk_size; bits += chunk_size) { + PyObject *tmp, *digit; + digit = PyNumber_And(stepval, mask); + if (unlikely(!digit)) goto done; + idigit = PyLong_AsLong(digit); + Py_DECREF(digit); + if (unlikely(idigit < 0)) goto done; + tmp = PyNumber_Rshift(stepval, shift); + if (unlikely(!tmp)) goto done; + Py_DECREF(stepval); stepval = tmp; + val |= ((long) idigit) << bits; + #if CYTHON_COMPILING_IN_LIMITED_API && PY_VERSION_HEX < 0x030B0000 + if (Py_SIZE(stepval) == 0) + goto unpacking_done; + #endif + } + idigit = PyLong_AsLong(stepval); + if (unlikely(idigit < 0)) goto done; + remaining_bits = ((int) sizeof(long) * 8) - bits - (is_unsigned ? 0 : 1); + if (unlikely(idigit >= (1L << remaining_bits))) + goto raise_overflow; + val |= ((long) idigit) << bits; + #if CYTHON_COMPILING_IN_LIMITED_API && PY_VERSION_HEX < 0x030B0000 + unpacking_done: + #endif + if (!is_unsigned) { + if (unlikely(val & (((long) 1) << (sizeof(long) * 8 - 1)))) + goto raise_overflow; + if (is_negative) + val = ~val; + } + ret = 0; + done: + Py_XDECREF(shift); + Py_XDECREF(mask); + Py_XDECREF(stepval); +#endif + Py_DECREF(v); + if (likely(!ret)) + return val; + } + return (long) -1; + } + } else { + long val; + PyObject *tmp = __Pyx_PyNumber_IntOrLong(x); + if (!tmp) return (long) -1; + val = __Pyx_PyInt_As_long(tmp); + Py_DECREF(tmp); + return val; + } +raise_overflow: + PyErr_SetString(PyExc_OverflowError, + "value too large to convert to long"); + return (long) -1; +raise_neg_overflow: + PyErr_SetString(PyExc_OverflowError, + "can't convert negative value to long"); + return (long) -1; +} + +/* CIntToPy */ + static CYTHON_INLINE PyObject* __Pyx_PyInt_From_int(int value) { +#ifdef __Pyx_HAS_GCC_DIAGNOSTIC +#pragma GCC diagnostic push +#pragma GCC diagnostic ignored "-Wconversion" +#endif + const int neg_one = (int) -1, const_zero = (int) 0; +#ifdef __Pyx_HAS_GCC_DIAGNOSTIC +#pragma GCC diagnostic pop +#endif + const int is_unsigned = neg_one > const_zero; + if (is_unsigned) { + if (sizeof(int) < sizeof(long)) { + return PyInt_FromLong((long) value); + } else if (sizeof(int) <= sizeof(unsigned long)) { + return PyLong_FromUnsignedLong((unsigned long) value); +#ifdef HAVE_LONG_LONG + } else if (sizeof(int) <= sizeof(unsigned PY_LONG_LONG)) { + return PyLong_FromUnsignedLongLong((unsigned PY_LONG_LONG) value); +#endif + } + } else { + if (sizeof(int) <= sizeof(long)) { + return PyInt_FromLong((long) value); +#ifdef HAVE_LONG_LONG + } else if (sizeof(int) <= sizeof(PY_LONG_LONG)) { + return PyLong_FromLongLong((PY_LONG_LONG) value); +#endif + } + } + { + int one = 1; int little = (int)*(unsigned char *)&one; + unsigned char *bytes = (unsigned char *)&value; +#if !CYTHON_COMPILING_IN_LIMITED_API && PY_VERSION_HEX < 0x030d0000 + return _PyLong_FromByteArray(bytes, sizeof(int), + little, !is_unsigned); +#else + PyObject *from_bytes, *result = NULL; + PyObject *py_bytes = NULL, *arg_tuple = NULL, *kwds = NULL, *order_str = NULL; + from_bytes = PyObject_GetAttrString((PyObject*)&PyLong_Type, "from_bytes"); + if (!from_bytes) return NULL; + py_bytes = PyBytes_FromStringAndSize((char*)bytes, sizeof(int)); + if (!py_bytes) goto limited_bad; + order_str = PyUnicode_FromString(little ? "little" : "big"); + if (!order_str) goto limited_bad; + arg_tuple = PyTuple_Pack(2, py_bytes, order_str); + if (!arg_tuple) goto limited_bad; + if (!is_unsigned) { + kwds = PyDict_New(); + if (!kwds) goto limited_bad; + if (PyDict_SetItemString(kwds, "signed", __Pyx_NewRef(Py_True))) goto limited_bad; + } + result = PyObject_Call(from_bytes, arg_tuple, kwds); + limited_bad: + Py_XDECREF(kwds); + Py_XDECREF(arg_tuple); + Py_XDECREF(order_str); + Py_XDECREF(py_bytes); + Py_XDECREF(from_bytes); + return result; +#endif + } +} + +/* CIntToPy */ + static CYTHON_INLINE PyObject* __Pyx_PyInt_From_long(long value) { +#ifdef __Pyx_HAS_GCC_DIAGNOSTIC +#pragma GCC diagnostic push +#pragma GCC diagnostic ignored "-Wconversion" +#endif + const long neg_one = (long) -1, const_zero = (long) 0; +#ifdef __Pyx_HAS_GCC_DIAGNOSTIC +#pragma GCC diagnostic pop +#endif + const int is_unsigned = neg_one > const_zero; + if (is_unsigned) { + if (sizeof(long) < sizeof(long)) { + return PyInt_FromLong((long) value); + } else if (sizeof(long) <= sizeof(unsigned long)) { + return PyLong_FromUnsignedLong((unsigned long) value); +#ifdef HAVE_LONG_LONG + } else if (sizeof(long) <= sizeof(unsigned PY_LONG_LONG)) { + return PyLong_FromUnsignedLongLong((unsigned PY_LONG_LONG) value); +#endif + } + } else { + if (sizeof(long) <= sizeof(long)) { + return PyInt_FromLong((long) value); +#ifdef HAVE_LONG_LONG + } else if (sizeof(long) <= sizeof(PY_LONG_LONG)) { + return PyLong_FromLongLong((PY_LONG_LONG) value); +#endif + } + } + { + int one = 1; int little = (int)*(unsigned char *)&one; + unsigned char *bytes = (unsigned char *)&value; +#if !CYTHON_COMPILING_IN_LIMITED_API && PY_VERSION_HEX < 0x030d0000 + return _PyLong_FromByteArray(bytes, sizeof(long), + little, !is_unsigned); +#else + PyObject *from_bytes, *result = NULL; + PyObject *py_bytes = NULL, *arg_tuple = NULL, *kwds = NULL, *order_str = NULL; + from_bytes = PyObject_GetAttrString((PyObject*)&PyLong_Type, "from_bytes"); + if (!from_bytes) return NULL; + py_bytes = PyBytes_FromStringAndSize((char*)bytes, sizeof(long)); + if (!py_bytes) goto limited_bad; + order_str = PyUnicode_FromString(little ? "little" : "big"); + if (!order_str) goto limited_bad; + arg_tuple = PyTuple_Pack(2, py_bytes, order_str); + if (!arg_tuple) goto limited_bad; + if (!is_unsigned) { + kwds = PyDict_New(); + if (!kwds) goto limited_bad; + if (PyDict_SetItemString(kwds, "signed", __Pyx_NewRef(Py_True))) goto limited_bad; + } + result = PyObject_Call(from_bytes, arg_tuple, kwds); + limited_bad: + Py_XDECREF(kwds); + Py_XDECREF(arg_tuple); + Py_XDECREF(order_str); + Py_XDECREF(py_bytes); + Py_XDECREF(from_bytes); + return result; +#endif + } +} + +/* CIntFromPy */ + static CYTHON_INLINE char __Pyx_PyInt_As_char(PyObject *x) { +#ifdef __Pyx_HAS_GCC_DIAGNOSTIC +#pragma GCC diagnostic push +#pragma GCC diagnostic ignored "-Wconversion" +#endif + const char neg_one = (char) -1, const_zero = (char) 0; +#ifdef __Pyx_HAS_GCC_DIAGNOSTIC +#pragma GCC diagnostic pop +#endif + const int is_unsigned = neg_one > const_zero; +#if PY_MAJOR_VERSION < 3 + if (likely(PyInt_Check(x))) { + if ((sizeof(char) < sizeof(long))) { + __PYX_VERIFY_RETURN_INT(char, long, PyInt_AS_LONG(x)) + } else { + long val = PyInt_AS_LONG(x); + if (is_unsigned && unlikely(val < 0)) { + goto raise_neg_overflow; + } + return (char) val; + } + } else +#endif + if (likely(PyLong_Check(x))) { + if (is_unsigned) { +#if CYTHON_USE_PYLONG_INTERNALS + if (unlikely(__Pyx_PyLong_IsNeg(x))) { + goto raise_neg_overflow; + } else if (__Pyx_PyLong_IsCompact(x)) { + __PYX_VERIFY_RETURN_INT(char, __Pyx_compact_upylong, __Pyx_PyLong_CompactValueUnsigned(x)) + } else { + const digit* digits = __Pyx_PyLong_Digits(x); + assert(__Pyx_PyLong_DigitCount(x) > 1); + switch (__Pyx_PyLong_DigitCount(x)) { + case 2: + if ((8 * sizeof(char) > 1 * PyLong_SHIFT)) { + if ((8 * sizeof(unsigned long) > 2 * PyLong_SHIFT)) { + __PYX_VERIFY_RETURN_INT(char, unsigned long, (((((unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if ((8 * sizeof(char) >= 2 * PyLong_SHIFT)) { + return (char) (((((char)digits[1]) << PyLong_SHIFT) | (char)digits[0])); + } + } + break; + case 3: + if ((8 * sizeof(char) > 2 * PyLong_SHIFT)) { + if ((8 * sizeof(unsigned long) > 3 * PyLong_SHIFT)) { + __PYX_VERIFY_RETURN_INT(char, unsigned long, (((((((unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if ((8 * sizeof(char) >= 3 * PyLong_SHIFT)) { + return (char) (((((((char)digits[2]) << PyLong_SHIFT) | (char)digits[1]) << PyLong_SHIFT) | (char)digits[0])); + } + } + break; + case 4: + if ((8 * sizeof(char) > 3 * PyLong_SHIFT)) { + if ((8 * sizeof(unsigned long) > 4 * PyLong_SHIFT)) { + __PYX_VERIFY_RETURN_INT(char, unsigned long, (((((((((unsigned long)digits[3]) << PyLong_SHIFT) | (unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if ((8 * sizeof(char) >= 4 * PyLong_SHIFT)) { + return (char) (((((((((char)digits[3]) << PyLong_SHIFT) | (char)digits[2]) << PyLong_SHIFT) | (char)digits[1]) << PyLong_SHIFT) | (char)digits[0])); + } + } + break; + } + } +#endif +#if CYTHON_COMPILING_IN_CPYTHON && PY_VERSION_HEX < 0x030C00A7 + if (unlikely(Py_SIZE(x) < 0)) { + goto raise_neg_overflow; + } +#else + { + int result = PyObject_RichCompareBool(x, Py_False, Py_LT); + if (unlikely(result < 0)) + return (char) -1; + if (unlikely(result == 1)) + goto raise_neg_overflow; + } +#endif + if ((sizeof(char) <= sizeof(unsigned long))) { + __PYX_VERIFY_RETURN_INT_EXC(char, unsigned long, PyLong_AsUnsignedLong(x)) +#ifdef HAVE_LONG_LONG + } else if ((sizeof(char) <= sizeof(unsigned PY_LONG_LONG))) { + __PYX_VERIFY_RETURN_INT_EXC(char, unsigned PY_LONG_LONG, PyLong_AsUnsignedLongLong(x)) +#endif + } + } else { +#if CYTHON_USE_PYLONG_INTERNALS + if (__Pyx_PyLong_IsCompact(x)) { + __PYX_VERIFY_RETURN_INT(char, __Pyx_compact_pylong, __Pyx_PyLong_CompactValue(x)) + } else { + const digit* digits = __Pyx_PyLong_Digits(x); + assert(__Pyx_PyLong_DigitCount(x) > 1); + switch (__Pyx_PyLong_SignedDigitCount(x)) { + case -2: + if ((8 * sizeof(char) - 1 > 1 * PyLong_SHIFT)) { + if ((8 * sizeof(unsigned long) > 2 * PyLong_SHIFT)) { + __PYX_VERIFY_RETURN_INT(char, long, -(long) (((((unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if ((8 * sizeof(char) - 1 > 2 * PyLong_SHIFT)) { + return (char) (((char)-1)*(((((char)digits[1]) << PyLong_SHIFT) | (char)digits[0]))); + } + } + break; + case 2: + if ((8 * sizeof(char) > 1 * PyLong_SHIFT)) { + if ((8 * sizeof(unsigned long) > 2 * PyLong_SHIFT)) { + __PYX_VERIFY_RETURN_INT(char, unsigned long, (((((unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if ((8 * sizeof(char) - 1 > 2 * PyLong_SHIFT)) { + return (char) ((((((char)digits[1]) << PyLong_SHIFT) | (char)digits[0]))); + } + } + break; + case -3: + if ((8 * sizeof(char) - 1 > 2 * PyLong_SHIFT)) { + if ((8 * sizeof(unsigned long) > 3 * PyLong_SHIFT)) { + __PYX_VERIFY_RETURN_INT(char, long, -(long) (((((((unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if ((8 * sizeof(char) - 1 > 3 * PyLong_SHIFT)) { + return (char) (((char)-1)*(((((((char)digits[2]) << PyLong_SHIFT) | (char)digits[1]) << PyLong_SHIFT) | (char)digits[0]))); + } + } + break; + case 3: + if ((8 * sizeof(char) > 2 * PyLong_SHIFT)) { + if ((8 * sizeof(unsigned long) > 3 * PyLong_SHIFT)) { + __PYX_VERIFY_RETURN_INT(char, unsigned long, (((((((unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if ((8 * sizeof(char) - 1 > 3 * PyLong_SHIFT)) { + return (char) ((((((((char)digits[2]) << PyLong_SHIFT) | (char)digits[1]) << PyLong_SHIFT) | (char)digits[0]))); + } + } + break; + case -4: + if ((8 * sizeof(char) - 1 > 3 * PyLong_SHIFT)) { + if ((8 * sizeof(unsigned long) > 4 * PyLong_SHIFT)) { + __PYX_VERIFY_RETURN_INT(char, long, -(long) (((((((((unsigned long)digits[3]) << PyLong_SHIFT) | (unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if ((8 * sizeof(char) - 1 > 4 * PyLong_SHIFT)) { + return (char) (((char)-1)*(((((((((char)digits[3]) << PyLong_SHIFT) | (char)digits[2]) << PyLong_SHIFT) | (char)digits[1]) << PyLong_SHIFT) | (char)digits[0]))); + } + } + break; + case 4: + if ((8 * sizeof(char) > 3 * PyLong_SHIFT)) { + if ((8 * sizeof(unsigned long) > 4 * PyLong_SHIFT)) { + __PYX_VERIFY_RETURN_INT(char, unsigned long, (((((((((unsigned long)digits[3]) << PyLong_SHIFT) | (unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if ((8 * sizeof(char) - 1 > 4 * PyLong_SHIFT)) { + return (char) ((((((((((char)digits[3]) << PyLong_SHIFT) | (char)digits[2]) << PyLong_SHIFT) | (char)digits[1]) << PyLong_SHIFT) | (char)digits[0]))); + } + } + break; + } + } +#endif + if ((sizeof(char) <= sizeof(long))) { + __PYX_VERIFY_RETURN_INT_EXC(char, long, PyLong_AsLong(x)) +#ifdef HAVE_LONG_LONG + } else if ((sizeof(char) <= sizeof(PY_LONG_LONG))) { + __PYX_VERIFY_RETURN_INT_EXC(char, PY_LONG_LONG, PyLong_AsLongLong(x)) +#endif + } + } + { + char val; + PyObject *v = __Pyx_PyNumber_IntOrLong(x); +#if PY_MAJOR_VERSION < 3 + if (likely(v) && !PyLong_Check(v)) { + PyObject *tmp = v; + v = PyNumber_Long(tmp); + Py_DECREF(tmp); + } +#endif + if (likely(v)) { + int ret = -1; +#if PY_VERSION_HEX < 0x030d0000 && !(CYTHON_COMPILING_IN_PYPY || CYTHON_COMPILING_IN_LIMITED_API) || defined(_PyLong_AsByteArray) + int one = 1; int is_little = (int)*(unsigned char *)&one; + unsigned char *bytes = (unsigned char *)&val; + ret = _PyLong_AsByteArray((PyLongObject *)v, + bytes, sizeof(val), + is_little, !is_unsigned); +#else + PyObject *stepval = NULL, *mask = NULL, *shift = NULL; + int bits, remaining_bits, is_negative = 0; + long idigit; + int chunk_size = (sizeof(long) < 8) ? 30 : 62; + if (unlikely(!PyLong_CheckExact(v))) { + PyObject *tmp = v; + v = PyNumber_Long(v); + assert(PyLong_CheckExact(v)); + Py_DECREF(tmp); + if (unlikely(!v)) return (char) -1; + } +#if CYTHON_COMPILING_IN_LIMITED_API && PY_VERSION_HEX < 0x030B0000 + if (Py_SIZE(x) == 0) + return (char) 0; + is_negative = Py_SIZE(x) < 0; +#else + { + int result = PyObject_RichCompareBool(x, Py_False, Py_LT); + if (unlikely(result < 0)) + return (char) -1; + is_negative = result == 1; + } +#endif + if (is_unsigned && unlikely(is_negative)) { + goto raise_neg_overflow; + } else if (is_negative) { + stepval = PyNumber_Invert(v); + if (unlikely(!stepval)) + return (char) -1; + } else { + stepval = __Pyx_NewRef(v); + } + val = (char) 0; + mask = PyLong_FromLong((1L << chunk_size) - 1); if (unlikely(!mask)) goto done; + shift = PyLong_FromLong(chunk_size); if (unlikely(!shift)) goto done; + for (bits = 0; bits < (int) sizeof(char) * 8 - chunk_size; bits += chunk_size) { + PyObject *tmp, *digit; + digit = PyNumber_And(stepval, mask); + if (unlikely(!digit)) goto done; + idigit = PyLong_AsLong(digit); + Py_DECREF(digit); + if (unlikely(idigit < 0)) goto done; + tmp = PyNumber_Rshift(stepval, shift); + if (unlikely(!tmp)) goto done; + Py_DECREF(stepval); stepval = tmp; + val |= ((char) idigit) << bits; + #if CYTHON_COMPILING_IN_LIMITED_API && PY_VERSION_HEX < 0x030B0000 + if (Py_SIZE(stepval) == 0) + goto unpacking_done; + #endif + } + idigit = PyLong_AsLong(stepval); + if (unlikely(idigit < 0)) goto done; + remaining_bits = ((int) sizeof(char) * 8) - bits - (is_unsigned ? 0 : 1); + if (unlikely(idigit >= (1L << remaining_bits))) + goto raise_overflow; + val |= ((char) idigit) << bits; + #if CYTHON_COMPILING_IN_LIMITED_API && PY_VERSION_HEX < 0x030B0000 + unpacking_done: + #endif + if (!is_unsigned) { + if (unlikely(val & (((char) 1) << (sizeof(char) * 8 - 1)))) + goto raise_overflow; + if (is_negative) + val = ~val; + } + ret = 0; + done: + Py_XDECREF(shift); + Py_XDECREF(mask); + Py_XDECREF(stepval); +#endif + Py_DECREF(v); + if (likely(!ret)) + return val; + } + return (char) -1; + } + } else { + char val; + PyObject *tmp = __Pyx_PyNumber_IntOrLong(x); + if (!tmp) return (char) -1; + val = __Pyx_PyInt_As_char(tmp); + Py_DECREF(tmp); + return val; + } +raise_overflow: + PyErr_SetString(PyExc_OverflowError, + "value too large to convert to char"); + return (char) -1; +raise_neg_overflow: + PyErr_SetString(PyExc_OverflowError, + "can't convert negative value to char"); + return (char) -1; +} + +/* FormatTypeName */ + #if CYTHON_COMPILING_IN_LIMITED_API +static __Pyx_TypeName +__Pyx_PyType_GetName(PyTypeObject* tp) +{ + PyObject *name = __Pyx_PyObject_GetAttrStr((PyObject *)tp, + __pyx_n_s_name_2); + if (unlikely(name == NULL) || unlikely(!PyUnicode_Check(name))) { + PyErr_Clear(); + Py_XDECREF(name); + name = __Pyx_NewRef(__pyx_n_s__40); + } + return name; +} +#endif + +/* CheckBinaryVersion */ + static unsigned long __Pyx_get_runtime_version(void) { +#if __PYX_LIMITED_VERSION_HEX >= 0x030B00A4 + return Py_Version & ~0xFFUL; +#else + const char* rt_version = Py_GetVersion(); + unsigned long version = 0; + unsigned long factor = 0x01000000UL; + unsigned int digit = 0; + int i = 0; + while (factor) { + while ('0' <= rt_version[i] && rt_version[i] <= '9') { + digit = digit * 10 + (unsigned int) (rt_version[i] - '0'); + ++i; + } + version += factor * digit; + if (rt_version[i] != '.') + break; + digit = 0; + factor >>= 8; + ++i; + } + return version; +#endif +} +static int __Pyx_check_binary_version(unsigned long ct_version, unsigned long rt_version, int allow_newer) { + const unsigned long MAJOR_MINOR = 0xFFFF0000UL; + if ((rt_version & MAJOR_MINOR) == (ct_version & MAJOR_MINOR)) + return 0; + if (likely(allow_newer && (rt_version & MAJOR_MINOR) > (ct_version & MAJOR_MINOR))) + return 1; + { + char message[200]; + PyOS_snprintf(message, sizeof(message), + "compile time Python version %d.%d " + "of module '%.100s' " + "%s " + "runtime version %d.%d", + (int) (ct_version >> 24), (int) ((ct_version >> 16) & 0xFF), + __Pyx_MODULE_NAME, + (allow_newer) ? "was newer than" : "does not match", + (int) (rt_version >> 24), (int) ((rt_version >> 16) & 0xFF) + ); + return PyErr_WarnEx(NULL, message, 1); + } +} + +/* InitStrings */ + #if PY_MAJOR_VERSION >= 3 +static int __Pyx_InitString(__Pyx_StringTabEntry t, PyObject **str) { + if (t.is_unicode | t.is_str) { + if (t.intern) { + *str = PyUnicode_InternFromString(t.s); + } else if (t.encoding) { + *str = PyUnicode_Decode(t.s, t.n - 1, t.encoding, NULL); + } else { + *str = PyUnicode_FromStringAndSize(t.s, t.n - 1); + } + } else { + *str = PyBytes_FromStringAndSize(t.s, t.n - 1); + } + if (!*str) + return -1; + if (PyObject_Hash(*str) == -1) + return -1; + return 0; +} +#endif +static int __Pyx_InitStrings(__Pyx_StringTabEntry *t) { + while (t->p) { + #if PY_MAJOR_VERSION >= 3 + __Pyx_InitString(*t, t->p); + #else + if (t->is_unicode) { + *t->p = PyUnicode_DecodeUTF8(t->s, t->n - 1, NULL); + } else if (t->intern) { + *t->p = PyString_InternFromString(t->s); + } else { + *t->p = PyString_FromStringAndSize(t->s, t->n - 1); + } + if (!*t->p) + return -1; + if (PyObject_Hash(*t->p) == -1) + return -1; + #endif + ++t; + } + return 0; +} + +#include +static CYTHON_INLINE Py_ssize_t __Pyx_ssize_strlen(const char *s) { + size_t len = strlen(s); + if (unlikely(len > (size_t) PY_SSIZE_T_MAX)) { + PyErr_SetString(PyExc_OverflowError, "byte string is too long"); + return -1; + } + return (Py_ssize_t) len; +} +static CYTHON_INLINE PyObject* __Pyx_PyUnicode_FromString(const char* c_str) { + Py_ssize_t len = __Pyx_ssize_strlen(c_str); + if (unlikely(len < 0)) return NULL; + return __Pyx_PyUnicode_FromStringAndSize(c_str, len); +} +static CYTHON_INLINE PyObject* __Pyx_PyByteArray_FromString(const char* c_str) { + Py_ssize_t len = __Pyx_ssize_strlen(c_str); + if (unlikely(len < 0)) return NULL; + return PyByteArray_FromStringAndSize(c_str, len); +} +static CYTHON_INLINE const char* __Pyx_PyObject_AsString(PyObject* o) { + Py_ssize_t ignore; + return __Pyx_PyObject_AsStringAndSize(o, &ignore); +} +#if __PYX_DEFAULT_STRING_ENCODING_IS_ASCII || __PYX_DEFAULT_STRING_ENCODING_IS_DEFAULT +#if !CYTHON_PEP393_ENABLED +static const char* __Pyx_PyUnicode_AsStringAndSize(PyObject* o, Py_ssize_t *length) { + char* defenc_c; + PyObject* defenc = _PyUnicode_AsDefaultEncodedString(o, NULL); + if (!defenc) return NULL; + defenc_c = PyBytes_AS_STRING(defenc); +#if __PYX_DEFAULT_STRING_ENCODING_IS_ASCII + { + char* end = defenc_c + PyBytes_GET_SIZE(defenc); + char* c; + for (c = defenc_c; c < end; c++) { + if ((unsigned char) (*c) >= 128) { + PyUnicode_AsASCIIString(o); + return NULL; + } + } + } +#endif + *length = PyBytes_GET_SIZE(defenc); + return defenc_c; +} +#else +static CYTHON_INLINE const char* __Pyx_PyUnicode_AsStringAndSize(PyObject* o, Py_ssize_t *length) { + if (unlikely(__Pyx_PyUnicode_READY(o) == -1)) return NULL; +#if __PYX_DEFAULT_STRING_ENCODING_IS_ASCII + if (likely(PyUnicode_IS_ASCII(o))) { + *length = PyUnicode_GET_LENGTH(o); + return PyUnicode_AsUTF8(o); + } else { + PyUnicode_AsASCIIString(o); + return NULL; + } +#else + return PyUnicode_AsUTF8AndSize(o, length); +#endif +} +#endif +#endif +static CYTHON_INLINE const char* __Pyx_PyObject_AsStringAndSize(PyObject* o, Py_ssize_t *length) { +#if __PYX_DEFAULT_STRING_ENCODING_IS_ASCII || __PYX_DEFAULT_STRING_ENCODING_IS_DEFAULT + if ( +#if PY_MAJOR_VERSION < 3 && __PYX_DEFAULT_STRING_ENCODING_IS_ASCII + __Pyx_sys_getdefaultencoding_not_ascii && +#endif + PyUnicode_Check(o)) { + return __Pyx_PyUnicode_AsStringAndSize(o, length); + } else +#endif +#if (!CYTHON_COMPILING_IN_PYPY && !CYTHON_COMPILING_IN_LIMITED_API) || (defined(PyByteArray_AS_STRING) && defined(PyByteArray_GET_SIZE)) + if (PyByteArray_Check(o)) { + *length = PyByteArray_GET_SIZE(o); + return PyByteArray_AS_STRING(o); + } else +#endif + { + char* result; + int r = PyBytes_AsStringAndSize(o, &result, length); + if (unlikely(r < 0)) { + return NULL; + } else { + return result; + } + } +} +static CYTHON_INLINE int __Pyx_PyObject_IsTrue(PyObject* x) { + int is_true = x == Py_True; + if (is_true | (x == Py_False) | (x == Py_None)) return is_true; + else return PyObject_IsTrue(x); +} +static CYTHON_INLINE int __Pyx_PyObject_IsTrueAndDecref(PyObject* x) { + int retval; + if (unlikely(!x)) return -1; + retval = __Pyx_PyObject_IsTrue(x); + Py_DECREF(x); + return retval; +} +static PyObject* __Pyx_PyNumber_IntOrLongWrongResultType(PyObject* result, const char* type_name) { + __Pyx_TypeName result_type_name = __Pyx_PyType_GetName(Py_TYPE(result)); +#if PY_MAJOR_VERSION >= 3 + if (PyLong_Check(result)) { + if (PyErr_WarnFormat(PyExc_DeprecationWarning, 1, + "__int__ returned non-int (type " __Pyx_FMT_TYPENAME "). " + "The ability to return an instance of a strict subclass of int is deprecated, " + "and may be removed in a future version of Python.", + result_type_name)) { + __Pyx_DECREF_TypeName(result_type_name); + Py_DECREF(result); + return NULL; + } + __Pyx_DECREF_TypeName(result_type_name); + return result; + } +#endif + PyErr_Format(PyExc_TypeError, + "__%.4s__ returned non-%.4s (type " __Pyx_FMT_TYPENAME ")", + type_name, type_name, result_type_name); + __Pyx_DECREF_TypeName(result_type_name); + Py_DECREF(result); + return NULL; +} +static CYTHON_INLINE PyObject* __Pyx_PyNumber_IntOrLong(PyObject* x) { +#if CYTHON_USE_TYPE_SLOTS + PyNumberMethods *m; +#endif + const char *name = NULL; + PyObject *res = NULL; +#if PY_MAJOR_VERSION < 3 + if (likely(PyInt_Check(x) || PyLong_Check(x))) +#else + if (likely(PyLong_Check(x))) +#endif + return __Pyx_NewRef(x); +#if CYTHON_USE_TYPE_SLOTS + m = Py_TYPE(x)->tp_as_number; + #if PY_MAJOR_VERSION < 3 + if (m && m->nb_int) { + name = "int"; + res = m->nb_int(x); + } + else if (m && m->nb_long) { + name = "long"; + res = m->nb_long(x); + } + #else + if (likely(m && m->nb_int)) { + name = "int"; + res = m->nb_int(x); + } + #endif +#else + if (!PyBytes_CheckExact(x) && !PyUnicode_CheckExact(x)) { + res = PyNumber_Int(x); + } +#endif + if (likely(res)) { +#if PY_MAJOR_VERSION < 3 + if (unlikely(!PyInt_Check(res) && !PyLong_Check(res))) { +#else + if (unlikely(!PyLong_CheckExact(res))) { +#endif + return __Pyx_PyNumber_IntOrLongWrongResultType(res, name); + } + } + else if (!PyErr_Occurred()) { + PyErr_SetString(PyExc_TypeError, + "an integer is required"); + } + return res; +} +static CYTHON_INLINE Py_ssize_t __Pyx_PyIndex_AsSsize_t(PyObject* b) { + Py_ssize_t ival; + PyObject *x; +#if PY_MAJOR_VERSION < 3 + if (likely(PyInt_CheckExact(b))) { + if (sizeof(Py_ssize_t) >= sizeof(long)) + return PyInt_AS_LONG(b); + else + return PyInt_AsSsize_t(b); + } +#endif + if (likely(PyLong_CheckExact(b))) { + #if CYTHON_USE_PYLONG_INTERNALS + if (likely(__Pyx_PyLong_IsCompact(b))) { + return __Pyx_PyLong_CompactValue(b); + } else { + const digit* digits = __Pyx_PyLong_Digits(b); + const Py_ssize_t size = __Pyx_PyLong_SignedDigitCount(b); + switch (size) { + case 2: + if (8 * sizeof(Py_ssize_t) > 2 * PyLong_SHIFT) { + return (Py_ssize_t) (((((size_t)digits[1]) << PyLong_SHIFT) | (size_t)digits[0])); + } + break; + case -2: + if (8 * sizeof(Py_ssize_t) > 2 * PyLong_SHIFT) { + return -(Py_ssize_t) (((((size_t)digits[1]) << PyLong_SHIFT) | (size_t)digits[0])); + } + break; + case 3: + if (8 * sizeof(Py_ssize_t) > 3 * PyLong_SHIFT) { + return (Py_ssize_t) (((((((size_t)digits[2]) << PyLong_SHIFT) | (size_t)digits[1]) << PyLong_SHIFT) | (size_t)digits[0])); + } + break; + case -3: + if (8 * sizeof(Py_ssize_t) > 3 * PyLong_SHIFT) { + return -(Py_ssize_t) (((((((size_t)digits[2]) << PyLong_SHIFT) | (size_t)digits[1]) << PyLong_SHIFT) | (size_t)digits[0])); + } + break; + case 4: + if (8 * sizeof(Py_ssize_t) > 4 * PyLong_SHIFT) { + return (Py_ssize_t) (((((((((size_t)digits[3]) << PyLong_SHIFT) | (size_t)digits[2]) << PyLong_SHIFT) | (size_t)digits[1]) << PyLong_SHIFT) | (size_t)digits[0])); + } + break; + case -4: + if (8 * sizeof(Py_ssize_t) > 4 * PyLong_SHIFT) { + return -(Py_ssize_t) (((((((((size_t)digits[3]) << PyLong_SHIFT) | (size_t)digits[2]) << PyLong_SHIFT) | (size_t)digits[1]) << PyLong_SHIFT) | (size_t)digits[0])); + } + break; + } + } + #endif + return PyLong_AsSsize_t(b); + } + x = PyNumber_Index(b); + if (!x) return -1; + ival = PyInt_AsSsize_t(x); + Py_DECREF(x); + return ival; +} +static CYTHON_INLINE Py_hash_t __Pyx_PyIndex_AsHash_t(PyObject* o) { + if (sizeof(Py_hash_t) == sizeof(Py_ssize_t)) { + return (Py_hash_t) __Pyx_PyIndex_AsSsize_t(o); +#if PY_MAJOR_VERSION < 3 + } else if (likely(PyInt_CheckExact(o))) { + return PyInt_AS_LONG(o); +#endif + } else { + Py_ssize_t ival; + PyObject *x; + x = PyNumber_Index(o); + if (!x) return -1; + ival = PyInt_AsLong(x); + Py_DECREF(x); + return ival; + } +} +static CYTHON_INLINE PyObject * __Pyx_PyBool_FromLong(long b) { + return b ? __Pyx_NewRef(Py_True) : __Pyx_NewRef(Py_False); +} +static CYTHON_INLINE PyObject * __Pyx_PyInt_FromSize_t(size_t ival) { + return PyInt_FromSize_t(ival); +} + + +/* #### Code section: utility_code_pragmas_end ### */ +#ifdef _MSC_VER +#pragma warning( pop ) +#endif + + + +/* #### Code section: end ### */ +#endif /* Py_PYTHON_H */ diff --git a/selfdrive/classic_modeld/models/commonmodel_pyx.pxd b/selfdrive/classic_modeld/models/commonmodel_pyx.pxd new file mode 100644 index 00000000000000..0bb798625be28d --- /dev/null +++ b/selfdrive/classic_modeld/models/commonmodel_pyx.pxd @@ -0,0 +1,13 @@ +# distutils: language = c++ + +from msgq.visionipc.visionipc cimport cl_mem +from msgq.visionipc.visionipc_pyx cimport CLContext as BaseCLContext + +cdef class CLContext(BaseCLContext): + pass + +cdef class CLMem: + cdef cl_mem * mem + + @staticmethod + cdef create(void*) diff --git a/selfdrive/classic_modeld/models/commonmodel_pyx.pyx b/selfdrive/classic_modeld/models/commonmodel_pyx.pyx new file mode 100644 index 00000000000000..e292bb0d2da6c5 --- /dev/null +++ b/selfdrive/classic_modeld/models/commonmodel_pyx.pyx @@ -0,0 +1,47 @@ +# distutils: language = c++ +# cython: c_string_encoding=ascii + +import numpy as np +cimport numpy as cnp +from libc.string cimport memcpy + +from msgq.visionipc.visionipc cimport cl_mem +from msgq.visionipc.visionipc_pyx cimport VisionBuf, CLContext as BaseCLContext +from .commonmodel cimport CL_DEVICE_TYPE_DEFAULT, cl_get_device_id, cl_create_context +from .commonmodel cimport mat3, sigmoid as cppSigmoid, ModelFrame as cppModelFrame + +def sigmoid(x): + return cppSigmoid(x) + +cdef class CLContext(BaseCLContext): + def __cinit__(self): + self.device_id = cl_get_device_id(CL_DEVICE_TYPE_DEFAULT) + self.context = cl_create_context(self.device_id) + +cdef class CLMem: + @staticmethod + cdef create(void * cmem): + mem = CLMem() + mem.mem = cmem + return mem + +cdef class ModelFrame: + cdef cppModelFrame * frame + + def __cinit__(self, CLContext context): + self.frame = new cppModelFrame(context.device_id, context.context) + + def __dealloc__(self): + del self.frame + + def prepare(self, VisionBuf buf, float[:] projection, CLMem output): + cdef mat3 cprojection + memcpy(cprojection.v, &projection[0], 9*sizeof(float)) + cdef float * data + if output is None: + data = self.frame.prepare(buf.buf.buf_cl, buf.width, buf.height, buf.stride, buf.uv_offset, cprojection, NULL) + else: + data = self.frame.prepare(buf.buf.buf_cl, buf.width, buf.height, buf.stride, buf.uv_offset, cprojection, output.mem) + if not data: + return None + return np.asarray( data) diff --git a/selfdrive/classic_modeld/models/commonmodel_pyx.so b/selfdrive/classic_modeld/models/commonmodel_pyx.so new file mode 100644 index 00000000000000..e38eb7cdaba2a5 Binary files /dev/null and b/selfdrive/classic_modeld/models/commonmodel_pyx.so differ diff --git a/selfdrive/classic_modeld/models/dmonitoring_model.current b/selfdrive/classic_modeld/models/dmonitoring_model.current new file mode 100644 index 00000000000000..f935ab06b34e27 --- /dev/null +++ b/selfdrive/classic_modeld/models/dmonitoring_model.current @@ -0,0 +1,2 @@ +5ec97a39-0095-4cea-adfa-6d72b1966cc1 +26cac7a9757a27c783a365403040a1bd27ccdaea \ No newline at end of file diff --git a/selfdrive/classic_modeld/models/dmonitoring_model_q.dlc b/selfdrive/classic_modeld/models/dmonitoring_model_q.dlc new file mode 100644 index 00000000000000..1ed22c82eec5cd Binary files /dev/null and b/selfdrive/classic_modeld/models/dmonitoring_model_q.dlc differ diff --git a/selfdrive/modeld/models/supercombo.thneed b/selfdrive/classic_modeld/models/supercombo.thneed similarity index 99% rename from selfdrive/modeld/models/supercombo.thneed rename to selfdrive/classic_modeld/models/supercombo.thneed index cec089df24ee31..9b8ac3ead2fa8a 100644 Binary files a/selfdrive/modeld/models/supercombo.thneed and b/selfdrive/classic_modeld/models/supercombo.thneed differ diff --git a/selfdrive/classic_modeld/models/supercombo_metadata.pkl b/selfdrive/classic_modeld/models/supercombo_metadata.pkl new file mode 100644 index 00000000000000..6a8b5729b42cce Binary files /dev/null and b/selfdrive/classic_modeld/models/supercombo_metadata.pkl differ diff --git a/selfdrive/classic_modeld/parse_model_outputs.py b/selfdrive/classic_modeld/parse_model_outputs.py new file mode 100644 index 00000000000000..804d7768963734 --- /dev/null +++ b/selfdrive/classic_modeld/parse_model_outputs.py @@ -0,0 +1,103 @@ +import numpy as np +from openpilot.selfdrive.classic_modeld.constants import ModelConstants + +def sigmoid(x): + return 1. / (1. + np.exp(-x)) + +def softmax(x, axis=-1): + x -= np.max(x, axis=axis, keepdims=True) + if x.dtype == np.float32 or x.dtype == np.float64: + np.exp(x, out=x) + else: + x = np.exp(x) + x /= np.sum(x, axis=axis, keepdims=True) + return x + +class Parser: + def __init__(self, ignore_missing=False): + self.ignore_missing = ignore_missing + + def check_missing(self, outs, name): + if name not in outs and not self.ignore_missing: + raise ValueError(f"Missing output {name}") + return name not in outs + + def parse_categorical_crossentropy(self, name, outs, out_shape=None): + if self.check_missing(outs, name): + return + raw = outs[name] + if out_shape is not None: + raw = raw.reshape((raw.shape[0],) + out_shape) + outs[name] = softmax(raw, axis=-1) + + def parse_binary_crossentropy(self, name, outs): + if self.check_missing(outs, name): + return + raw = outs[name] + outs[name] = sigmoid(raw) + + def parse_mdn(self, name, outs, in_N=0, out_N=1, out_shape=None): + if self.check_missing(outs, name): + return + raw = outs[name] + raw = raw.reshape((raw.shape[0], max(in_N, 1), -1)) + + pred_mu = raw[:,:,:(raw.shape[2] - out_N)//2] + n_values = (raw.shape[2] - out_N)//2 + pred_mu = raw[:,:,:n_values] + pred_std = np.exp(raw[:,:,n_values: 2*n_values]) + + if in_N > 1: + weights = np.zeros((raw.shape[0], in_N, out_N), dtype=raw.dtype) + for i in range(out_N): + weights[:,:,i - out_N] = softmax(raw[:,:,i - out_N], axis=-1) + + if out_N == 1: + for fidx in range(weights.shape[0]): + idxs = np.argsort(weights[fidx][:,0])[::-1] + weights[fidx] = weights[fidx][idxs] + pred_mu[fidx] = pred_mu[fidx][idxs] + pred_std[fidx] = pred_std[fidx][idxs] + full_shape = tuple([raw.shape[0], in_N] + list(out_shape)) + outs[name + '_weights'] = weights + outs[name + '_hypotheses'] = pred_mu.reshape(full_shape) + outs[name + '_stds_hypotheses'] = pred_std.reshape(full_shape) + + pred_mu_final = np.zeros((raw.shape[0], out_N, n_values), dtype=raw.dtype) + pred_std_final = np.zeros((raw.shape[0], out_N, n_values), dtype=raw.dtype) + for fidx in range(weights.shape[0]): + for hidx in range(out_N): + idxs = np.argsort(weights[fidx,:,hidx])[::-1] + pred_mu_final[fidx, hidx] = pred_mu[fidx, idxs[0]] + pred_std_final[fidx, hidx] = pred_std[fidx, idxs[0]] + else: + pred_mu_final = pred_mu + pred_std_final = pred_std + + if out_N > 1: + final_shape = tuple([raw.shape[0], out_N] + list(out_shape)) + else: + final_shape = tuple([raw.shape[0],] + list(out_shape)) + outs[name] = pred_mu_final.reshape(final_shape) + outs[name + '_stds'] = pred_std_final.reshape(final_shape) + + def parse_outputs(self, outs: dict[str, np.ndarray]) -> dict[str, np.ndarray]: + self.parse_mdn('plan', outs, in_N=ModelConstants.PLAN_MHP_N, out_N=ModelConstants.PLAN_MHP_SELECTION, + out_shape=(ModelConstants.IDX_N,ModelConstants.PLAN_WIDTH)) + self.parse_mdn('lane_lines', outs, in_N=0, out_N=0, out_shape=(ModelConstants.NUM_LANE_LINES,ModelConstants.IDX_N,ModelConstants.LANE_LINES_WIDTH)) + self.parse_mdn('road_edges', outs, in_N=0, out_N=0, out_shape=(ModelConstants.NUM_ROAD_EDGES,ModelConstants.IDX_N,ModelConstants.LANE_LINES_WIDTH)) + self.parse_mdn('pose', outs, in_N=0, out_N=0, out_shape=(ModelConstants.POSE_WIDTH,)) + self.parse_mdn('road_transform', outs, in_N=0, out_N=0, out_shape=(ModelConstants.POSE_WIDTH,)) + self.parse_mdn('sim_pose', outs, in_N=0, out_N=0, out_shape=(ModelConstants.POSE_WIDTH,)) + self.parse_mdn('wide_from_device_euler', outs, in_N=0, out_N=0, out_shape=(ModelConstants.WIDE_FROM_DEVICE_WIDTH,)) + self.parse_mdn('lead', outs, in_N=ModelConstants.LEAD_MHP_N, out_N=ModelConstants.LEAD_MHP_SELECTION, + out_shape=(ModelConstants.LEAD_TRAJ_LEN,ModelConstants.LEAD_WIDTH)) + if 'lat_planner_solution' in outs: + self.parse_mdn('lat_planner_solution', outs, in_N=0, out_N=0, out_shape=(ModelConstants.IDX_N,ModelConstants.LAT_PLANNER_SOLUTION_WIDTH)) + if 'desired_curvature' in outs: + self.parse_mdn('desired_curvature', outs, in_N=0, out_N=0, out_shape=(ModelConstants.DESIRED_CURV_WIDTH,)) + for k in ['lead_prob', 'lane_lines_prob', 'meta']: + self.parse_binary_crossentropy(k, outs) + self.parse_categorical_crossentropy('desire_state', outs, out_shape=(ModelConstants.DESIRE_PRED_WIDTH,)) + self.parse_categorical_crossentropy('desire_pred', outs, out_shape=(ModelConstants.DESIRE_PRED_LEN,ModelConstants.DESIRE_PRED_WIDTH)) + return outs diff --git a/selfdrive/classic_modeld/runners/__init__.py b/selfdrive/classic_modeld/runners/__init__.py new file mode 100644 index 00000000000000..2c809317a11643 --- /dev/null +++ b/selfdrive/classic_modeld/runners/__init__.py @@ -0,0 +1,27 @@ +import os +from openpilot.system.hardware import TICI +from openpilot.selfdrive.classic_modeld.runners.runmodel_pyx import RunModel, Runtime +assert Runtime + +USE_THNEED = int(os.getenv('USE_THNEED', str(int(TICI)))) +USE_SNPE = int(os.getenv('USE_SNPE', str(int(TICI)))) + +class ModelRunner(RunModel): + THNEED = 'THNEED' + SNPE = 'SNPE' + ONNX = 'ONNX' + + def __new__(cls, paths, *args, **kwargs): + if ModelRunner.THNEED in paths and USE_THNEED: + from openpilot.selfdrive.classic_modeld.runners.thneedmodel_pyx import ThneedModel as Runner + runner_type = ModelRunner.THNEED + elif ModelRunner.SNPE in paths and USE_SNPE: + from openpilot.selfdrive.classic_modeld.runners.snpemodel_pyx import SNPEModel as Runner + runner_type = ModelRunner.SNPE + elif ModelRunner.ONNX in paths: + from openpilot.selfdrive.classic_modeld.runners.onnxmodel import ONNXModel as Runner + runner_type = ModelRunner.ONNX + else: + raise Exception("Couldn't select a model runner, make sure to pass at least one valid model path") + + return Runner(str(paths[runner_type]), *args, **kwargs) diff --git a/selfdrive/classic_modeld/runners/onnxmodel.py b/selfdrive/classic_modeld/runners/onnxmodel.py new file mode 100644 index 00000000000000..41064a8d0159fe --- /dev/null +++ b/selfdrive/classic_modeld/runners/onnxmodel.py @@ -0,0 +1,93 @@ +import onnx +import itertools +import os +import sys +import numpy as np +from typing import Any + +from openpilot.selfdrive.classic_modeld.runners.runmodel_pyx import RunModel + +ORT_TYPES_TO_NP_TYPES = {'tensor(float16)': np.float16, 'tensor(float)': np.float32, 'tensor(uint8)': np.uint8} + +def attributeproto_fp16_to_fp32(attr): + float32_list = np.frombuffer(attr.raw_data, dtype=np.float16) + attr.data_type = 1 + attr.raw_data = float32_list.astype(np.float32).tobytes() + +def convert_fp16_to_fp32(path): + model = onnx.load(path) + for i in model.graph.initializer: + if i.data_type == 10: + attributeproto_fp16_to_fp32(i) + for i in itertools.chain(model.graph.input, model.graph.output): + if i.type.tensor_type.elem_type == 10: + i.type.tensor_type.elem_type = 1 + for i in model.graph.node: + for a in i.attribute: + if hasattr(a, 't'): + if a.t.data_type == 10: + attributeproto_fp16_to_fp32(a.t) + return model.SerializeToString() + +def create_ort_session(path, fp16_to_fp32): + os.environ["OMP_NUM_THREADS"] = "4" + os.environ["OMP_WAIT_POLICY"] = "PASSIVE" + + import onnxruntime as ort + print("Onnx available providers: ", ort.get_available_providers(), file=sys.stderr) + options = ort.SessionOptions() + options.graph_optimization_level = ort.GraphOptimizationLevel.ORT_DISABLE_ALL + + provider: str | tuple[str, dict[Any, Any]] + if 'OpenVINOExecutionProvider' in ort.get_available_providers() and 'ONNXCPU' not in os.environ: + provider = 'OpenVINOExecutionProvider' + elif 'CUDAExecutionProvider' in ort.get_available_providers() and 'ONNXCPU' not in os.environ: + options.intra_op_num_threads = 2 + provider = ('CUDAExecutionProvider', {'cudnn_conv_algo_search': 'DEFAULT'}) + else: + options.intra_op_num_threads = 2 + options.execution_mode = ort.ExecutionMode.ORT_SEQUENTIAL + options.graph_optimization_level = ort.GraphOptimizationLevel.ORT_ENABLE_ALL + provider = 'CPUExecutionProvider' + + model_data = convert_fp16_to_fp32(path) if fp16_to_fp32 else path + print("Onnx selected provider: ", [provider], file=sys.stderr) + ort_session = ort.InferenceSession(model_data, options, providers=[provider]) + print("Onnx using ", ort_session.get_providers(), file=sys.stderr) + return ort_session + + +class ONNXModel(RunModel): + def __init__(self, path, output, runtime, use_tf8, cl_context): + self.inputs = {} + self.output = output + self.use_tf8 = use_tf8 + + self.session = create_ort_session(path, fp16_to_fp32=True) + self.input_names = [x.name for x in self.session.get_inputs()] + self.input_shapes = {x.name: [1, *x.shape[1:]] for x in self.session.get_inputs()} + self.input_dtypes = {x.name: ORT_TYPES_TO_NP_TYPES[x.type] for x in self.session.get_inputs()} + + # run once to initialize CUDA provider + if "CUDAExecutionProvider" in self.session.get_providers(): + self.session.run(None, {k: np.zeros(self.input_shapes[k], dtype=self.input_dtypes[k]) for k in self.input_names}) + print("ready to run onnx model", self.input_shapes, file=sys.stderr) + + def addInput(self, name, buffer): + assert name in self.input_names + self.inputs[name] = buffer + + def setInputBuffer(self, name, buffer): + assert name in self.inputs + self.inputs[name] = buffer + + def getCLBuffer(self, name): + return None + + def execute(self): + inputs = {k: (v.view(np.uint8) / 255. if self.use_tf8 and k == 'input_img' else v) for k,v in self.inputs.items()} + inputs = {k: v.reshape(self.input_shapes[k]).astype(self.input_dtypes[k]) for k,v in inputs.items()} + outputs = self.session.run(None, inputs) + assert len(outputs) == 1, "Only single model outputs are supported" + self.output[:] = outputs[0] + return self.output diff --git a/selfdrive/classic_modeld/runners/runmodel.pxd b/selfdrive/classic_modeld/runners/runmodel.pxd new file mode 100644 index 00000000000000..35f9c6de17242b --- /dev/null +++ b/selfdrive/classic_modeld/runners/runmodel.pxd @@ -0,0 +1,14 @@ +# distutils: language = c++ + +from libcpp.string cimport string + +cdef extern from "selfdrive/classic_modeld/runners/runmodel.h": + cdef int USE_CPU_RUNTIME + cdef int USE_GPU_RUNTIME + cdef int USE_DSP_RUNTIME + + cdef cppclass RunModel: + void addInput(string, float*, int) + void setInputBuffer(string, float*, int) + void * getCLBuffer(string) + void execute() diff --git a/selfdrive/classic_modeld/runners/runmodel_pyx.cpp b/selfdrive/classic_modeld/runners/runmodel_pyx.cpp new file mode 100644 index 00000000000000..f94047fb235ddf --- /dev/null +++ b/selfdrive/classic_modeld/runners/runmodel_pyx.cpp @@ -0,0 +1,28888 @@ +/* Generated by Cython 3.0.8 */ + +/* BEGIN: Cython Metadata +{ + "distutils": { + "depends": [ + "msgq/visionipc/visionbuf.h", + "msgq/visionipc/visionipc.h", + "msgq/visionipc/visionipc_client.h", + "msgq/visionipc/visionipc_server.h", + "selfdrive/classic_modeld/runners/runmodel.h" + ], + "language": "c++", + "name": "selfdrive.classic_modeld.runners.runmodel_pyx", + "sources": [ + "/data/openpilot/selfdrive/classic_modeld/runners/runmodel_pyx.pyx" + ] + }, + "module_name": "selfdrive.classic_modeld.runners.runmodel_pyx" +} +END: Cython Metadata */ + +#ifndef PY_SSIZE_T_CLEAN +#define PY_SSIZE_T_CLEAN +#endif /* PY_SSIZE_T_CLEAN */ +#if defined(CYTHON_LIMITED_API) && 0 + #ifndef Py_LIMITED_API + #if CYTHON_LIMITED_API+0 > 0x03030000 + #define Py_LIMITED_API CYTHON_LIMITED_API + #else + #define Py_LIMITED_API 0x03030000 + #endif + #endif +#endif + +#include "Python.h" +#ifndef Py_PYTHON_H + #error Python headers needed to compile C extensions, please install development version of Python. +#elif PY_VERSION_HEX < 0x02070000 || (0x03000000 <= PY_VERSION_HEX && PY_VERSION_HEX < 0x03030000) + #error Cython requires Python 2.7+ or Python 3.3+. +#else +#if defined(CYTHON_LIMITED_API) && CYTHON_LIMITED_API +#define __PYX_EXTRA_ABI_MODULE_NAME "limited" +#else +#define __PYX_EXTRA_ABI_MODULE_NAME "" +#endif +#define CYTHON_ABI "3_0_8" __PYX_EXTRA_ABI_MODULE_NAME +#define __PYX_ABI_MODULE_NAME "_cython_" CYTHON_ABI +#define __PYX_TYPE_MODULE_PREFIX __PYX_ABI_MODULE_NAME "." +#define CYTHON_HEX_VERSION 0x030008F0 +#define CYTHON_FUTURE_DIVISION 1 +#include +#ifndef offsetof + #define offsetof(type, member) ( (size_t) & ((type*)0) -> member ) +#endif +#if !defined(_WIN32) && !defined(WIN32) && !defined(MS_WINDOWS) + #ifndef __stdcall + #define __stdcall + #endif + #ifndef __cdecl + #define __cdecl + #endif + #ifndef __fastcall + #define __fastcall + #endif +#endif +#ifndef DL_IMPORT + #define DL_IMPORT(t) t +#endif +#ifndef DL_EXPORT + #define DL_EXPORT(t) t +#endif +#define __PYX_COMMA , +#ifndef HAVE_LONG_LONG + #define HAVE_LONG_LONG +#endif +#ifndef PY_LONG_LONG + #define PY_LONG_LONG LONG_LONG +#endif +#ifndef Py_HUGE_VAL + #define Py_HUGE_VAL HUGE_VAL +#endif +#define __PYX_LIMITED_VERSION_HEX PY_VERSION_HEX +#if defined(GRAALVM_PYTHON) + /* For very preliminary testing purposes. Most variables are set the same as PyPy. + The existence of this section does not imply that anything works or is even tested */ + #define CYTHON_COMPILING_IN_PYPY 0 + #define CYTHON_COMPILING_IN_CPYTHON 0 + #define CYTHON_COMPILING_IN_LIMITED_API 0 + #define CYTHON_COMPILING_IN_GRAAL 1 + #define CYTHON_COMPILING_IN_NOGIL 0 + #undef CYTHON_USE_TYPE_SLOTS + #define CYTHON_USE_TYPE_SLOTS 0 + #undef CYTHON_USE_TYPE_SPECS + #define CYTHON_USE_TYPE_SPECS 0 + #undef CYTHON_USE_PYTYPE_LOOKUP + #define CYTHON_USE_PYTYPE_LOOKUP 0 + #if PY_VERSION_HEX < 0x03050000 + #undef CYTHON_USE_ASYNC_SLOTS + #define CYTHON_USE_ASYNC_SLOTS 0 + #elif !defined(CYTHON_USE_ASYNC_SLOTS) + #define CYTHON_USE_ASYNC_SLOTS 1 + #endif + #undef CYTHON_USE_PYLIST_INTERNALS + #define CYTHON_USE_PYLIST_INTERNALS 0 + #undef CYTHON_USE_UNICODE_INTERNALS + #define CYTHON_USE_UNICODE_INTERNALS 0 + #undef CYTHON_USE_UNICODE_WRITER + #define CYTHON_USE_UNICODE_WRITER 0 + #undef CYTHON_USE_PYLONG_INTERNALS + #define CYTHON_USE_PYLONG_INTERNALS 0 + #undef CYTHON_AVOID_BORROWED_REFS + #define CYTHON_AVOID_BORROWED_REFS 1 + #undef CYTHON_ASSUME_SAFE_MACROS + #define CYTHON_ASSUME_SAFE_MACROS 0 + #undef CYTHON_UNPACK_METHODS + #define CYTHON_UNPACK_METHODS 0 + #undef CYTHON_FAST_THREAD_STATE + #define CYTHON_FAST_THREAD_STATE 0 + #undef CYTHON_FAST_GIL + #define CYTHON_FAST_GIL 0 + #undef CYTHON_METH_FASTCALL + #define CYTHON_METH_FASTCALL 0 + #undef CYTHON_FAST_PYCALL + #define CYTHON_FAST_PYCALL 0 + #ifndef CYTHON_PEP487_INIT_SUBCLASS + #define CYTHON_PEP487_INIT_SUBCLASS (PY_MAJOR_VERSION >= 3) + #endif + #undef CYTHON_PEP489_MULTI_PHASE_INIT + #define CYTHON_PEP489_MULTI_PHASE_INIT 1 + #undef CYTHON_USE_MODULE_STATE + #define CYTHON_USE_MODULE_STATE 0 + #undef CYTHON_USE_TP_FINALIZE + #define CYTHON_USE_TP_FINALIZE 0 + #undef CYTHON_USE_DICT_VERSIONS + #define CYTHON_USE_DICT_VERSIONS 0 + #undef CYTHON_USE_EXC_INFO_STACK + #define CYTHON_USE_EXC_INFO_STACK 0 + #ifndef CYTHON_UPDATE_DESCRIPTOR_DOC + #define CYTHON_UPDATE_DESCRIPTOR_DOC 0 + #endif +#elif defined(PYPY_VERSION) + #define CYTHON_COMPILING_IN_PYPY 1 + #define CYTHON_COMPILING_IN_CPYTHON 0 + #define CYTHON_COMPILING_IN_LIMITED_API 0 + #define CYTHON_COMPILING_IN_GRAAL 0 + #define CYTHON_COMPILING_IN_NOGIL 0 + #undef CYTHON_USE_TYPE_SLOTS + #define CYTHON_USE_TYPE_SLOTS 0 + #ifndef CYTHON_USE_TYPE_SPECS + #define CYTHON_USE_TYPE_SPECS 0 + #endif + #undef CYTHON_USE_PYTYPE_LOOKUP + #define CYTHON_USE_PYTYPE_LOOKUP 0 + #if PY_VERSION_HEX < 0x03050000 + #undef CYTHON_USE_ASYNC_SLOTS + #define CYTHON_USE_ASYNC_SLOTS 0 + #elif !defined(CYTHON_USE_ASYNC_SLOTS) + #define CYTHON_USE_ASYNC_SLOTS 1 + #endif + #undef CYTHON_USE_PYLIST_INTERNALS + #define CYTHON_USE_PYLIST_INTERNALS 0 + #undef CYTHON_USE_UNICODE_INTERNALS + #define CYTHON_USE_UNICODE_INTERNALS 0 + #undef CYTHON_USE_UNICODE_WRITER + #define CYTHON_USE_UNICODE_WRITER 0 + #undef CYTHON_USE_PYLONG_INTERNALS + #define CYTHON_USE_PYLONG_INTERNALS 0 + #undef CYTHON_AVOID_BORROWED_REFS + #define CYTHON_AVOID_BORROWED_REFS 1 + #undef CYTHON_ASSUME_SAFE_MACROS + #define CYTHON_ASSUME_SAFE_MACROS 0 + #undef CYTHON_UNPACK_METHODS + #define CYTHON_UNPACK_METHODS 0 + #undef CYTHON_FAST_THREAD_STATE + #define CYTHON_FAST_THREAD_STATE 0 + #undef CYTHON_FAST_GIL + #define CYTHON_FAST_GIL 0 + #undef CYTHON_METH_FASTCALL + #define CYTHON_METH_FASTCALL 0 + #undef CYTHON_FAST_PYCALL + #define CYTHON_FAST_PYCALL 0 + #ifndef CYTHON_PEP487_INIT_SUBCLASS + #define CYTHON_PEP487_INIT_SUBCLASS (PY_MAJOR_VERSION >= 3) + #endif + #if PY_VERSION_HEX < 0x03090000 + #undef CYTHON_PEP489_MULTI_PHASE_INIT + #define CYTHON_PEP489_MULTI_PHASE_INIT 0 + #elif !defined(CYTHON_PEP489_MULTI_PHASE_INIT) + #define CYTHON_PEP489_MULTI_PHASE_INIT 1 + #endif + #undef CYTHON_USE_MODULE_STATE + #define CYTHON_USE_MODULE_STATE 0 + #undef CYTHON_USE_TP_FINALIZE + #define CYTHON_USE_TP_FINALIZE (PY_VERSION_HEX >= 0x030400a1 && PYPY_VERSION_NUM >= 0x07030C00) + #undef CYTHON_USE_DICT_VERSIONS + #define CYTHON_USE_DICT_VERSIONS 0 + #undef CYTHON_USE_EXC_INFO_STACK + #define CYTHON_USE_EXC_INFO_STACK 0 + #ifndef CYTHON_UPDATE_DESCRIPTOR_DOC + #define CYTHON_UPDATE_DESCRIPTOR_DOC 0 + #endif +#elif defined(CYTHON_LIMITED_API) + #ifdef Py_LIMITED_API + #undef __PYX_LIMITED_VERSION_HEX + #define __PYX_LIMITED_VERSION_HEX Py_LIMITED_API + #endif + #define CYTHON_COMPILING_IN_PYPY 0 + #define CYTHON_COMPILING_IN_CPYTHON 0 + #define CYTHON_COMPILING_IN_LIMITED_API 1 + #define CYTHON_COMPILING_IN_GRAAL 0 + #define CYTHON_COMPILING_IN_NOGIL 0 + #undef CYTHON_CLINE_IN_TRACEBACK + #define CYTHON_CLINE_IN_TRACEBACK 0 + #undef CYTHON_USE_TYPE_SLOTS + #define CYTHON_USE_TYPE_SLOTS 0 + #undef CYTHON_USE_TYPE_SPECS + #define CYTHON_USE_TYPE_SPECS 1 + #undef CYTHON_USE_PYTYPE_LOOKUP + #define CYTHON_USE_PYTYPE_LOOKUP 0 + #undef CYTHON_USE_ASYNC_SLOTS + #define CYTHON_USE_ASYNC_SLOTS 0 + #undef CYTHON_USE_PYLIST_INTERNALS + #define CYTHON_USE_PYLIST_INTERNALS 0 + #undef CYTHON_USE_UNICODE_INTERNALS + #define CYTHON_USE_UNICODE_INTERNALS 0 + #ifndef CYTHON_USE_UNICODE_WRITER + #define CYTHON_USE_UNICODE_WRITER 0 + #endif + #undef CYTHON_USE_PYLONG_INTERNALS + #define CYTHON_USE_PYLONG_INTERNALS 0 + #ifndef CYTHON_AVOID_BORROWED_REFS + #define CYTHON_AVOID_BORROWED_REFS 0 + #endif + #undef CYTHON_ASSUME_SAFE_MACROS + #define CYTHON_ASSUME_SAFE_MACROS 0 + #undef CYTHON_UNPACK_METHODS + #define CYTHON_UNPACK_METHODS 0 + #undef CYTHON_FAST_THREAD_STATE + #define CYTHON_FAST_THREAD_STATE 0 + #undef CYTHON_FAST_GIL + #define CYTHON_FAST_GIL 0 + #undef CYTHON_METH_FASTCALL + #define CYTHON_METH_FASTCALL 0 + #undef CYTHON_FAST_PYCALL + #define CYTHON_FAST_PYCALL 0 + #ifndef CYTHON_PEP487_INIT_SUBCLASS + #define CYTHON_PEP487_INIT_SUBCLASS 1 + #endif + #undef CYTHON_PEP489_MULTI_PHASE_INIT + #define CYTHON_PEP489_MULTI_PHASE_INIT 0 + #undef CYTHON_USE_MODULE_STATE + #define CYTHON_USE_MODULE_STATE 1 + #ifndef CYTHON_USE_TP_FINALIZE + #define CYTHON_USE_TP_FINALIZE 0 + #endif + #undef CYTHON_USE_DICT_VERSIONS + #define CYTHON_USE_DICT_VERSIONS 0 + #undef CYTHON_USE_EXC_INFO_STACK + #define CYTHON_USE_EXC_INFO_STACK 0 + #ifndef CYTHON_UPDATE_DESCRIPTOR_DOC + #define CYTHON_UPDATE_DESCRIPTOR_DOC 0 + #endif +#elif defined(Py_GIL_DISABLED) || defined(Py_NOGIL) + #define CYTHON_COMPILING_IN_PYPY 0 + #define CYTHON_COMPILING_IN_CPYTHON 0 + #define CYTHON_COMPILING_IN_LIMITED_API 0 + #define CYTHON_COMPILING_IN_GRAAL 0 + #define CYTHON_COMPILING_IN_NOGIL 1 + #ifndef CYTHON_USE_TYPE_SLOTS + #define CYTHON_USE_TYPE_SLOTS 1 + #endif + #undef CYTHON_USE_PYTYPE_LOOKUP + #define CYTHON_USE_PYTYPE_LOOKUP 0 + #ifndef CYTHON_USE_ASYNC_SLOTS + #define CYTHON_USE_ASYNC_SLOTS 1 + #endif + #undef CYTHON_USE_PYLIST_INTERNALS + #define CYTHON_USE_PYLIST_INTERNALS 0 + #ifndef CYTHON_USE_UNICODE_INTERNALS + #define CYTHON_USE_UNICODE_INTERNALS 1 + #endif + #undef CYTHON_USE_UNICODE_WRITER + #define CYTHON_USE_UNICODE_WRITER 0 + #undef CYTHON_USE_PYLONG_INTERNALS + #define CYTHON_USE_PYLONG_INTERNALS 0 + #ifndef CYTHON_AVOID_BORROWED_REFS + #define CYTHON_AVOID_BORROWED_REFS 0 + #endif + #ifndef CYTHON_ASSUME_SAFE_MACROS + #define CYTHON_ASSUME_SAFE_MACROS 1 + #endif + #ifndef CYTHON_UNPACK_METHODS + #define CYTHON_UNPACK_METHODS 1 + #endif + #undef CYTHON_FAST_THREAD_STATE + #define CYTHON_FAST_THREAD_STATE 0 + #undef CYTHON_FAST_PYCALL + #define CYTHON_FAST_PYCALL 0 + #ifndef CYTHON_PEP489_MULTI_PHASE_INIT + #define CYTHON_PEP489_MULTI_PHASE_INIT 1 + #endif + #ifndef CYTHON_USE_TP_FINALIZE + #define CYTHON_USE_TP_FINALIZE 1 + #endif + #undef CYTHON_USE_DICT_VERSIONS + #define CYTHON_USE_DICT_VERSIONS 0 + #undef CYTHON_USE_EXC_INFO_STACK + #define CYTHON_USE_EXC_INFO_STACK 0 +#else + #define CYTHON_COMPILING_IN_PYPY 0 + #define CYTHON_COMPILING_IN_CPYTHON 1 + #define CYTHON_COMPILING_IN_LIMITED_API 0 + #define CYTHON_COMPILING_IN_GRAAL 0 + #define CYTHON_COMPILING_IN_NOGIL 0 + #ifndef CYTHON_USE_TYPE_SLOTS + #define CYTHON_USE_TYPE_SLOTS 1 + #endif + #ifndef CYTHON_USE_TYPE_SPECS + #define CYTHON_USE_TYPE_SPECS 0 + #endif + #ifndef CYTHON_USE_PYTYPE_LOOKUP + #define CYTHON_USE_PYTYPE_LOOKUP 1 + #endif + #if PY_MAJOR_VERSION < 3 + #undef CYTHON_USE_ASYNC_SLOTS + #define CYTHON_USE_ASYNC_SLOTS 0 + #elif !defined(CYTHON_USE_ASYNC_SLOTS) + #define CYTHON_USE_ASYNC_SLOTS 1 + #endif + #ifndef CYTHON_USE_PYLONG_INTERNALS + #define CYTHON_USE_PYLONG_INTERNALS 1 + #endif + #ifndef CYTHON_USE_PYLIST_INTERNALS + #define CYTHON_USE_PYLIST_INTERNALS 1 + #endif + #ifndef CYTHON_USE_UNICODE_INTERNALS + #define CYTHON_USE_UNICODE_INTERNALS 1 + #endif + #if PY_VERSION_HEX < 0x030300F0 || PY_VERSION_HEX >= 0x030B00A2 + #undef CYTHON_USE_UNICODE_WRITER + #define CYTHON_USE_UNICODE_WRITER 0 + #elif !defined(CYTHON_USE_UNICODE_WRITER) + #define CYTHON_USE_UNICODE_WRITER 1 + #endif + #ifndef CYTHON_AVOID_BORROWED_REFS + #define CYTHON_AVOID_BORROWED_REFS 0 + #endif + #ifndef CYTHON_ASSUME_SAFE_MACROS + #define CYTHON_ASSUME_SAFE_MACROS 1 + #endif + #ifndef CYTHON_UNPACK_METHODS + #define CYTHON_UNPACK_METHODS 1 + #endif + #ifndef CYTHON_FAST_THREAD_STATE + #define CYTHON_FAST_THREAD_STATE 1 + #endif + #ifndef CYTHON_FAST_GIL + #define CYTHON_FAST_GIL (PY_MAJOR_VERSION < 3 || PY_VERSION_HEX >= 0x03060000 && PY_VERSION_HEX < 0x030C00A6) + #endif + #ifndef CYTHON_METH_FASTCALL + #define CYTHON_METH_FASTCALL (PY_VERSION_HEX >= 0x030700A1) + #endif + #ifndef CYTHON_FAST_PYCALL + #define CYTHON_FAST_PYCALL 1 + #endif + #ifndef CYTHON_PEP487_INIT_SUBCLASS + #define CYTHON_PEP487_INIT_SUBCLASS 1 + #endif + #if PY_VERSION_HEX < 0x03050000 + #undef CYTHON_PEP489_MULTI_PHASE_INIT + #define CYTHON_PEP489_MULTI_PHASE_INIT 0 + #elif !defined(CYTHON_PEP489_MULTI_PHASE_INIT) + #define CYTHON_PEP489_MULTI_PHASE_INIT 1 + #endif + #ifndef CYTHON_USE_MODULE_STATE + #define CYTHON_USE_MODULE_STATE 0 + #endif + #if PY_VERSION_HEX < 0x030400a1 + #undef CYTHON_USE_TP_FINALIZE + #define CYTHON_USE_TP_FINALIZE 0 + #elif !defined(CYTHON_USE_TP_FINALIZE) + #define CYTHON_USE_TP_FINALIZE 1 + #endif + #if PY_VERSION_HEX < 0x030600B1 + #undef CYTHON_USE_DICT_VERSIONS + #define CYTHON_USE_DICT_VERSIONS 0 + #elif !defined(CYTHON_USE_DICT_VERSIONS) + #define CYTHON_USE_DICT_VERSIONS (PY_VERSION_HEX < 0x030C00A5) + #endif + #if PY_VERSION_HEX < 0x030700A3 + #undef CYTHON_USE_EXC_INFO_STACK + #define CYTHON_USE_EXC_INFO_STACK 0 + #elif !defined(CYTHON_USE_EXC_INFO_STACK) + #define CYTHON_USE_EXC_INFO_STACK 1 + #endif + #ifndef CYTHON_UPDATE_DESCRIPTOR_DOC + #define CYTHON_UPDATE_DESCRIPTOR_DOC 1 + #endif +#endif +#if !defined(CYTHON_FAST_PYCCALL) +#define CYTHON_FAST_PYCCALL (CYTHON_FAST_PYCALL && PY_VERSION_HEX >= 0x030600B1) +#endif +#if !defined(CYTHON_VECTORCALL) +#define CYTHON_VECTORCALL (CYTHON_FAST_PYCCALL && PY_VERSION_HEX >= 0x030800B1) +#endif +#define CYTHON_BACKPORT_VECTORCALL (CYTHON_METH_FASTCALL && PY_VERSION_HEX < 0x030800B1) +#if CYTHON_USE_PYLONG_INTERNALS + #if PY_MAJOR_VERSION < 3 + #include "longintrepr.h" + #endif + #undef SHIFT + #undef BASE + #undef MASK + #ifdef SIZEOF_VOID_P + enum { __pyx_check_sizeof_voidp = 1 / (int)(SIZEOF_VOID_P == sizeof(void*)) }; + #endif +#endif +#ifndef __has_attribute + #define __has_attribute(x) 0 +#endif +#ifndef __has_cpp_attribute + #define __has_cpp_attribute(x) 0 +#endif +#ifndef CYTHON_RESTRICT + #if defined(__GNUC__) + #define CYTHON_RESTRICT __restrict__ + #elif defined(_MSC_VER) && _MSC_VER >= 1400 + #define CYTHON_RESTRICT __restrict + #elif defined (__STDC_VERSION__) && __STDC_VERSION__ >= 199901L + #define CYTHON_RESTRICT restrict + #else + #define CYTHON_RESTRICT + #endif +#endif +#ifndef CYTHON_UNUSED + #if defined(__cplusplus) + /* for clang __has_cpp_attribute(maybe_unused) is true even before C++17 + * but leads to warnings with -pedantic, since it is a C++17 feature */ + #if ((defined(_MSVC_LANG) && _MSVC_LANG >= 201703L) || __cplusplus >= 201703L) + #if __has_cpp_attribute(maybe_unused) + #define CYTHON_UNUSED [[maybe_unused]] + #endif + #endif + #endif +#endif +#ifndef CYTHON_UNUSED +# if defined(__GNUC__) +# if !(defined(__cplusplus)) || (__GNUC__ > 3 || (__GNUC__ == 3 && __GNUC_MINOR__ >= 4)) +# define CYTHON_UNUSED __attribute__ ((__unused__)) +# else +# define CYTHON_UNUSED +# endif +# elif defined(__ICC) || (defined(__INTEL_COMPILER) && !defined(_MSC_VER)) +# define CYTHON_UNUSED __attribute__ ((__unused__)) +# else +# define CYTHON_UNUSED +# endif +#endif +#ifndef CYTHON_UNUSED_VAR +# if defined(__cplusplus) + template void CYTHON_UNUSED_VAR( const T& ) { } +# else +# define CYTHON_UNUSED_VAR(x) (void)(x) +# endif +#endif +#ifndef CYTHON_MAYBE_UNUSED_VAR + #define CYTHON_MAYBE_UNUSED_VAR(x) CYTHON_UNUSED_VAR(x) +#endif +#ifndef CYTHON_NCP_UNUSED +# if CYTHON_COMPILING_IN_CPYTHON +# define CYTHON_NCP_UNUSED +# else +# define CYTHON_NCP_UNUSED CYTHON_UNUSED +# endif +#endif +#ifndef CYTHON_USE_CPP_STD_MOVE + #if defined(__cplusplus) && (\ + __cplusplus >= 201103L || (defined(_MSC_VER) && _MSC_VER >= 1600)) + #define CYTHON_USE_CPP_STD_MOVE 1 + #else + #define CYTHON_USE_CPP_STD_MOVE 0 + #endif +#endif +#define __Pyx_void_to_None(void_result) ((void)(void_result), Py_INCREF(Py_None), Py_None) +#ifdef _MSC_VER + #ifndef _MSC_STDINT_H_ + #if _MSC_VER < 1300 + typedef unsigned char uint8_t; + typedef unsigned short uint16_t; + typedef unsigned int uint32_t; + #else + typedef unsigned __int8 uint8_t; + typedef unsigned __int16 uint16_t; + typedef unsigned __int32 uint32_t; + #endif + #endif + #if _MSC_VER < 1300 + #ifdef _WIN64 + typedef unsigned long long __pyx_uintptr_t; + #else + typedef unsigned int __pyx_uintptr_t; + #endif + #else + #ifdef _WIN64 + typedef unsigned __int64 __pyx_uintptr_t; + #else + typedef unsigned __int32 __pyx_uintptr_t; + #endif + #endif +#else + #include + typedef uintptr_t __pyx_uintptr_t; +#endif +#ifndef CYTHON_FALLTHROUGH + #if defined(__cplusplus) + /* for clang __has_cpp_attribute(fallthrough) is true even before C++17 + * but leads to warnings with -pedantic, since it is a C++17 feature */ + #if ((defined(_MSVC_LANG) && _MSVC_LANG >= 201703L) || __cplusplus >= 201703L) + #if __has_cpp_attribute(fallthrough) + #define CYTHON_FALLTHROUGH [[fallthrough]] + #endif + #endif + #ifndef CYTHON_FALLTHROUGH + #if __has_cpp_attribute(clang::fallthrough) + #define CYTHON_FALLTHROUGH [[clang::fallthrough]] + #elif __has_cpp_attribute(gnu::fallthrough) + #define CYTHON_FALLTHROUGH [[gnu::fallthrough]] + #endif + #endif + #endif + #ifndef CYTHON_FALLTHROUGH + #if __has_attribute(fallthrough) + #define CYTHON_FALLTHROUGH __attribute__((fallthrough)) + #else + #define CYTHON_FALLTHROUGH + #endif + #endif + #if defined(__clang__) && defined(__apple_build_version__) + #if __apple_build_version__ < 7000000 + #undef CYTHON_FALLTHROUGH + #define CYTHON_FALLTHROUGH + #endif + #endif +#endif +#ifdef __cplusplus + template + struct __PYX_IS_UNSIGNED_IMPL {static const bool value = T(0) < T(-1);}; + #define __PYX_IS_UNSIGNED(type) (__PYX_IS_UNSIGNED_IMPL::value) +#else + #define __PYX_IS_UNSIGNED(type) (((type)-1) > 0) +#endif +#if CYTHON_COMPILING_IN_PYPY == 1 + #define __PYX_NEED_TP_PRINT_SLOT (PY_VERSION_HEX >= 0x030800b4 && PY_VERSION_HEX < 0x030A0000) +#else + #define __PYX_NEED_TP_PRINT_SLOT (PY_VERSION_HEX >= 0x030800b4 && PY_VERSION_HEX < 0x03090000) +#endif +#define __PYX_REINTERPRET_FUNCION(func_pointer, other_pointer) ((func_pointer)(void(*)(void))(other_pointer)) + +#ifndef __cplusplus + #error "Cython files generated with the C++ option must be compiled with a C++ compiler." +#endif +#ifndef CYTHON_INLINE + #if defined(__clang__) + #define CYTHON_INLINE __inline__ __attribute__ ((__unused__)) + #else + #define CYTHON_INLINE inline + #endif +#endif +template +void __Pyx_call_destructor(T& x) { + x.~T(); +} +template +class __Pyx_FakeReference { + public: + __Pyx_FakeReference() : ptr(NULL) { } + __Pyx_FakeReference(const T& ref) : ptr(const_cast(&ref)) { } + T *operator->() { return ptr; } + T *operator&() { return ptr; } + operator T&() { return *ptr; } + template bool operator ==(const U& other) const { return *ptr == other; } + template bool operator !=(const U& other) const { return *ptr != other; } + template bool operator==(const __Pyx_FakeReference& other) const { return *ptr == *other.ptr; } + template bool operator!=(const __Pyx_FakeReference& other) const { return *ptr != *other.ptr; } + private: + T *ptr; +}; + +#define __PYX_BUILD_PY_SSIZE_T "n" +#define CYTHON_FORMAT_SSIZE_T "z" +#if PY_MAJOR_VERSION < 3 + #define __Pyx_BUILTIN_MODULE_NAME "__builtin__" + #define __Pyx_DefaultClassType PyClass_Type + #define __Pyx_PyCode_New(a, p, k, l, s, f, code, c, n, v, fv, cell, fn, name, fline, lnos)\ + PyCode_New(a+k, l, s, f, code, c, n, v, fv, cell, fn, name, fline, lnos) +#else + #define __Pyx_BUILTIN_MODULE_NAME "builtins" + #define __Pyx_DefaultClassType PyType_Type +#if CYTHON_COMPILING_IN_LIMITED_API + static CYTHON_INLINE PyObject* __Pyx_PyCode_New(int a, int p, int k, int l, int s, int f, + PyObject *code, PyObject *c, PyObject* n, PyObject *v, + PyObject *fv, PyObject *cell, PyObject* fn, + PyObject *name, int fline, PyObject *lnos) { + PyObject *exception_table = NULL; + PyObject *types_module=NULL, *code_type=NULL, *result=NULL; + #if __PYX_LIMITED_VERSION_HEX < 0x030B0000 + PyObject *version_info; + PyObject *py_minor_version = NULL; + #endif + long minor_version = 0; + PyObject *type, *value, *traceback; + PyErr_Fetch(&type, &value, &traceback); + #if __PYX_LIMITED_VERSION_HEX >= 0x030B0000 + minor_version = 11; + #else + if (!(version_info = PySys_GetObject("version_info"))) goto end; + if (!(py_minor_version = PySequence_GetItem(version_info, 1))) goto end; + minor_version = PyLong_AsLong(py_minor_version); + Py_DECREF(py_minor_version); + if (minor_version == -1 && PyErr_Occurred()) goto end; + #endif + if (!(types_module = PyImport_ImportModule("types"))) goto end; + if (!(code_type = PyObject_GetAttrString(types_module, "CodeType"))) goto end; + if (minor_version <= 7) { + (void)p; + result = PyObject_CallFunction(code_type, "iiiiiOOOOOOiOO", a, k, l, s, f, code, + c, n, v, fn, name, fline, lnos, fv, cell); + } else if (minor_version <= 10) { + result = PyObject_CallFunction(code_type, "iiiiiiOOOOOOiOO", a,p, k, l, s, f, code, + c, n, v, fn, name, fline, lnos, fv, cell); + } else { + if (!(exception_table = PyBytes_FromStringAndSize(NULL, 0))) goto end; + result = PyObject_CallFunction(code_type, "iiiiiiOOOOOOOiOO", a,p, k, l, s, f, code, + c, n, v, fn, name, name, fline, lnos, exception_table, fv, cell); + } + end: + Py_XDECREF(code_type); + Py_XDECREF(exception_table); + Py_XDECREF(types_module); + if (type) { + PyErr_Restore(type, value, traceback); + } + return result; + } + #ifndef CO_OPTIMIZED + #define CO_OPTIMIZED 0x0001 + #endif + #ifndef CO_NEWLOCALS + #define CO_NEWLOCALS 0x0002 + #endif + #ifndef CO_VARARGS + #define CO_VARARGS 0x0004 + #endif + #ifndef CO_VARKEYWORDS + #define CO_VARKEYWORDS 0x0008 + #endif + #ifndef CO_ASYNC_GENERATOR + #define CO_ASYNC_GENERATOR 0x0200 + #endif + #ifndef CO_GENERATOR + #define CO_GENERATOR 0x0020 + #endif + #ifndef CO_COROUTINE + #define CO_COROUTINE 0x0080 + #endif +#elif PY_VERSION_HEX >= 0x030B0000 + static CYTHON_INLINE PyCodeObject* __Pyx_PyCode_New(int a, int p, int k, int l, int s, int f, + PyObject *code, PyObject *c, PyObject* n, PyObject *v, + PyObject *fv, PyObject *cell, PyObject* fn, + PyObject *name, int fline, PyObject *lnos) { + PyCodeObject *result; + PyObject *empty_bytes = PyBytes_FromStringAndSize("", 0); + if (!empty_bytes) return NULL; + result = + #if PY_VERSION_HEX >= 0x030C0000 + PyUnstable_Code_NewWithPosOnlyArgs + #else + PyCode_NewWithPosOnlyArgs + #endif + (a, p, k, l, s, f, code, c, n, v, fv, cell, fn, name, name, fline, lnos, empty_bytes); + Py_DECREF(empty_bytes); + return result; + } +#elif PY_VERSION_HEX >= 0x030800B2 && !CYTHON_COMPILING_IN_PYPY + #define __Pyx_PyCode_New(a, p, k, l, s, f, code, c, n, v, fv, cell, fn, name, fline, lnos)\ + PyCode_NewWithPosOnlyArgs(a, p, k, l, s, f, code, c, n, v, fv, cell, fn, name, fline, lnos) +#else + #define __Pyx_PyCode_New(a, p, k, l, s, f, code, c, n, v, fv, cell, fn, name, fline, lnos)\ + PyCode_New(a, k, l, s, f, code, c, n, v, fv, cell, fn, name, fline, lnos) +#endif +#endif +#if PY_VERSION_HEX >= 0x030900A4 || defined(Py_IS_TYPE) + #define __Pyx_IS_TYPE(ob, type) Py_IS_TYPE(ob, type) +#else + #define __Pyx_IS_TYPE(ob, type) (((const PyObject*)ob)->ob_type == (type)) +#endif +#if PY_VERSION_HEX >= 0x030A00B1 || defined(Py_Is) + #define __Pyx_Py_Is(x, y) Py_Is(x, y) +#else + #define __Pyx_Py_Is(x, y) ((x) == (y)) +#endif +#if PY_VERSION_HEX >= 0x030A00B1 || defined(Py_IsNone) + #define __Pyx_Py_IsNone(ob) Py_IsNone(ob) +#else + #define __Pyx_Py_IsNone(ob) __Pyx_Py_Is((ob), Py_None) +#endif +#if PY_VERSION_HEX >= 0x030A00B1 || defined(Py_IsTrue) + #define __Pyx_Py_IsTrue(ob) Py_IsTrue(ob) +#else + #define __Pyx_Py_IsTrue(ob) __Pyx_Py_Is((ob), Py_True) +#endif +#if PY_VERSION_HEX >= 0x030A00B1 || defined(Py_IsFalse) + #define __Pyx_Py_IsFalse(ob) Py_IsFalse(ob) +#else + #define __Pyx_Py_IsFalse(ob) __Pyx_Py_Is((ob), Py_False) +#endif +#define __Pyx_NoneAsNull(obj) (__Pyx_Py_IsNone(obj) ? NULL : (obj)) +#if PY_VERSION_HEX >= 0x030900F0 && !CYTHON_COMPILING_IN_PYPY + #define __Pyx_PyObject_GC_IsFinalized(o) PyObject_GC_IsFinalized(o) +#else + #define __Pyx_PyObject_GC_IsFinalized(o) _PyGC_FINALIZED(o) +#endif +#ifndef CO_COROUTINE + #define CO_COROUTINE 0x80 +#endif +#ifndef CO_ASYNC_GENERATOR + #define CO_ASYNC_GENERATOR 0x200 +#endif +#ifndef Py_TPFLAGS_CHECKTYPES + #define Py_TPFLAGS_CHECKTYPES 0 +#endif +#ifndef Py_TPFLAGS_HAVE_INDEX + #define Py_TPFLAGS_HAVE_INDEX 0 +#endif +#ifndef Py_TPFLAGS_HAVE_NEWBUFFER + #define Py_TPFLAGS_HAVE_NEWBUFFER 0 +#endif +#ifndef Py_TPFLAGS_HAVE_FINALIZE + #define Py_TPFLAGS_HAVE_FINALIZE 0 +#endif +#ifndef Py_TPFLAGS_SEQUENCE + #define Py_TPFLAGS_SEQUENCE 0 +#endif +#ifndef Py_TPFLAGS_MAPPING + #define Py_TPFLAGS_MAPPING 0 +#endif +#ifndef METH_STACKLESS + #define METH_STACKLESS 0 +#endif +#if PY_VERSION_HEX <= 0x030700A3 || !defined(METH_FASTCALL) + #ifndef METH_FASTCALL + #define METH_FASTCALL 0x80 + #endif + typedef PyObject *(*__Pyx_PyCFunctionFast) (PyObject *self, PyObject *const *args, Py_ssize_t nargs); + typedef PyObject *(*__Pyx_PyCFunctionFastWithKeywords) (PyObject *self, PyObject *const *args, + Py_ssize_t nargs, PyObject *kwnames); +#else + #define __Pyx_PyCFunctionFast _PyCFunctionFast + #define __Pyx_PyCFunctionFastWithKeywords _PyCFunctionFastWithKeywords +#endif +#if CYTHON_METH_FASTCALL + #define __Pyx_METH_FASTCALL METH_FASTCALL + #define __Pyx_PyCFunction_FastCall __Pyx_PyCFunctionFast + #define __Pyx_PyCFunction_FastCallWithKeywords __Pyx_PyCFunctionFastWithKeywords +#else + #define __Pyx_METH_FASTCALL METH_VARARGS + #define __Pyx_PyCFunction_FastCall PyCFunction + #define __Pyx_PyCFunction_FastCallWithKeywords PyCFunctionWithKeywords +#endif +#if CYTHON_VECTORCALL + #define __pyx_vectorcallfunc vectorcallfunc + #define __Pyx_PY_VECTORCALL_ARGUMENTS_OFFSET PY_VECTORCALL_ARGUMENTS_OFFSET + #define __Pyx_PyVectorcall_NARGS(n) PyVectorcall_NARGS((size_t)(n)) +#elif CYTHON_BACKPORT_VECTORCALL + typedef PyObject *(*__pyx_vectorcallfunc)(PyObject *callable, PyObject *const *args, + size_t nargsf, PyObject *kwnames); + #define __Pyx_PY_VECTORCALL_ARGUMENTS_OFFSET ((size_t)1 << (8 * sizeof(size_t) - 1)) + #define __Pyx_PyVectorcall_NARGS(n) ((Py_ssize_t)(((size_t)(n)) & ~__Pyx_PY_VECTORCALL_ARGUMENTS_OFFSET)) +#else + #define __Pyx_PY_VECTORCALL_ARGUMENTS_OFFSET 0 + #define __Pyx_PyVectorcall_NARGS(n) ((Py_ssize_t)(n)) +#endif +#if PY_MAJOR_VERSION >= 0x030900B1 +#define __Pyx_PyCFunction_CheckExact(func) PyCFunction_CheckExact(func) +#else +#define __Pyx_PyCFunction_CheckExact(func) PyCFunction_Check(func) +#endif +#define __Pyx_CyOrPyCFunction_Check(func) PyCFunction_Check(func) +#if CYTHON_COMPILING_IN_CPYTHON +#define __Pyx_CyOrPyCFunction_GET_FUNCTION(func) (((PyCFunctionObject*)(func))->m_ml->ml_meth) +#elif !CYTHON_COMPILING_IN_LIMITED_API +#define __Pyx_CyOrPyCFunction_GET_FUNCTION(func) PyCFunction_GET_FUNCTION(func) +#endif +#if CYTHON_COMPILING_IN_CPYTHON +#define __Pyx_CyOrPyCFunction_GET_FLAGS(func) (((PyCFunctionObject*)(func))->m_ml->ml_flags) +static CYTHON_INLINE PyObject* __Pyx_CyOrPyCFunction_GET_SELF(PyObject *func) { + return (__Pyx_CyOrPyCFunction_GET_FLAGS(func) & METH_STATIC) ? NULL : ((PyCFunctionObject*)func)->m_self; +} +#endif +static CYTHON_INLINE int __Pyx__IsSameCFunction(PyObject *func, void *cfunc) { +#if CYTHON_COMPILING_IN_LIMITED_API + return PyCFunction_Check(func) && PyCFunction_GetFunction(func) == (PyCFunction) cfunc; +#else + return PyCFunction_Check(func) && PyCFunction_GET_FUNCTION(func) == (PyCFunction) cfunc; +#endif +} +#define __Pyx_IsSameCFunction(func, cfunc) __Pyx__IsSameCFunction(func, cfunc) +#if __PYX_LIMITED_VERSION_HEX < 0x030900B1 + #define __Pyx_PyType_FromModuleAndSpec(m, s, b) ((void)m, PyType_FromSpecWithBases(s, b)) + typedef PyObject *(*__Pyx_PyCMethod)(PyObject *, PyTypeObject *, PyObject *const *, size_t, PyObject *); +#else + #define __Pyx_PyType_FromModuleAndSpec(m, s, b) PyType_FromModuleAndSpec(m, s, b) + #define __Pyx_PyCMethod PyCMethod +#endif +#ifndef METH_METHOD + #define METH_METHOD 0x200 +#endif +#if CYTHON_COMPILING_IN_PYPY && !defined(PyObject_Malloc) + #define PyObject_Malloc(s) PyMem_Malloc(s) + #define PyObject_Free(p) PyMem_Free(p) + #define PyObject_Realloc(p) PyMem_Realloc(p) +#endif +#if CYTHON_COMPILING_IN_LIMITED_API + #define __Pyx_PyCode_HasFreeVars(co) (PyCode_GetNumFree(co) > 0) + #define __Pyx_PyFrame_SetLineNumber(frame, lineno) +#else + #define __Pyx_PyCode_HasFreeVars(co) (PyCode_GetNumFree(co) > 0) + #define __Pyx_PyFrame_SetLineNumber(frame, lineno) (frame)->f_lineno = (lineno) +#endif +#if CYTHON_COMPILING_IN_LIMITED_API + #define __Pyx_PyThreadState_Current PyThreadState_Get() +#elif !CYTHON_FAST_THREAD_STATE + #define __Pyx_PyThreadState_Current PyThreadState_GET() +#elif PY_VERSION_HEX >= 0x030d00A1 + #define __Pyx_PyThreadState_Current PyThreadState_GetUnchecked() +#elif PY_VERSION_HEX >= 0x03060000 + #define __Pyx_PyThreadState_Current _PyThreadState_UncheckedGet() +#elif PY_VERSION_HEX >= 0x03000000 + #define __Pyx_PyThreadState_Current PyThreadState_GET() +#else + #define __Pyx_PyThreadState_Current _PyThreadState_Current +#endif +#if CYTHON_COMPILING_IN_LIMITED_API +static CYTHON_INLINE void *__Pyx_PyModule_GetState(PyObject *op) +{ + void *result; + result = PyModule_GetState(op); + if (!result) + Py_FatalError("Couldn't find the module state"); + return result; +} +#endif +#define __Pyx_PyObject_GetSlot(obj, name, func_ctype) __Pyx_PyType_GetSlot(Py_TYPE(obj), name, func_ctype) +#if CYTHON_COMPILING_IN_LIMITED_API + #define __Pyx_PyType_GetSlot(type, name, func_ctype) ((func_ctype) PyType_GetSlot((type), Py_##name)) +#else + #define __Pyx_PyType_GetSlot(type, name, func_ctype) ((type)->name) +#endif +#if PY_VERSION_HEX < 0x030700A2 && !defined(PyThread_tss_create) && !defined(Py_tss_NEEDS_INIT) +#include "pythread.h" +#define Py_tss_NEEDS_INIT 0 +typedef int Py_tss_t; +static CYTHON_INLINE int PyThread_tss_create(Py_tss_t *key) { + *key = PyThread_create_key(); + return 0; +} +static CYTHON_INLINE Py_tss_t * PyThread_tss_alloc(void) { + Py_tss_t *key = (Py_tss_t *)PyObject_Malloc(sizeof(Py_tss_t)); + *key = Py_tss_NEEDS_INIT; + return key; +} +static CYTHON_INLINE void PyThread_tss_free(Py_tss_t *key) { + PyObject_Free(key); +} +static CYTHON_INLINE int PyThread_tss_is_created(Py_tss_t *key) { + return *key != Py_tss_NEEDS_INIT; +} +static CYTHON_INLINE void PyThread_tss_delete(Py_tss_t *key) { + PyThread_delete_key(*key); + *key = Py_tss_NEEDS_INIT; +} +static CYTHON_INLINE int PyThread_tss_set(Py_tss_t *key, void *value) { + return PyThread_set_key_value(*key, value); +} +static CYTHON_INLINE void * PyThread_tss_get(Py_tss_t *key) { + return PyThread_get_key_value(*key); +} +#endif +#if PY_MAJOR_VERSION < 3 + #if CYTHON_COMPILING_IN_PYPY + #if PYPY_VERSION_NUM < 0x07030600 + #if defined(__cplusplus) && __cplusplus >= 201402L + [[deprecated("`with nogil:` inside a nogil function will not release the GIL in PyPy2 < 7.3.6")]] + #elif defined(__GNUC__) || defined(__clang__) + __attribute__ ((__deprecated__("`with nogil:` inside a nogil function will not release the GIL in PyPy2 < 7.3.6"))) + #elif defined(_MSC_VER) + __declspec(deprecated("`with nogil:` inside a nogil function will not release the GIL in PyPy2 < 7.3.6")) + #endif + static CYTHON_INLINE int PyGILState_Check(void) { + return 0; + } + #else // PYPY_VERSION_NUM < 0x07030600 + #endif // PYPY_VERSION_NUM < 0x07030600 + #else + static CYTHON_INLINE int PyGILState_Check(void) { + PyThreadState * tstate = _PyThreadState_Current; + return tstate && (tstate == PyGILState_GetThisThreadState()); + } + #endif +#endif +#if CYTHON_COMPILING_IN_CPYTHON && PY_VERSION_HEX < 0x030d0000 || defined(_PyDict_NewPresized) +#define __Pyx_PyDict_NewPresized(n) ((n <= 8) ? PyDict_New() : _PyDict_NewPresized(n)) +#else +#define __Pyx_PyDict_NewPresized(n) PyDict_New() +#endif +#if PY_MAJOR_VERSION >= 3 || CYTHON_FUTURE_DIVISION + #define __Pyx_PyNumber_Divide(x,y) PyNumber_TrueDivide(x,y) + #define __Pyx_PyNumber_InPlaceDivide(x,y) PyNumber_InPlaceTrueDivide(x,y) +#else + #define __Pyx_PyNumber_Divide(x,y) PyNumber_Divide(x,y) + #define __Pyx_PyNumber_InPlaceDivide(x,y) PyNumber_InPlaceDivide(x,y) +#endif +#if CYTHON_COMPILING_IN_CPYTHON && PY_VERSION_HEX > 0x030600B4 && PY_VERSION_HEX < 0x030d0000 && CYTHON_USE_UNICODE_INTERNALS +#define __Pyx_PyDict_GetItemStrWithError(dict, name) _PyDict_GetItem_KnownHash(dict, name, ((PyASCIIObject *) name)->hash) +static CYTHON_INLINE PyObject * __Pyx_PyDict_GetItemStr(PyObject *dict, PyObject *name) { + PyObject *res = __Pyx_PyDict_GetItemStrWithError(dict, name); + if (res == NULL) PyErr_Clear(); + return res; +} +#elif PY_MAJOR_VERSION >= 3 && (!CYTHON_COMPILING_IN_PYPY || PYPY_VERSION_NUM >= 0x07020000) +#define __Pyx_PyDict_GetItemStrWithError PyDict_GetItemWithError +#define __Pyx_PyDict_GetItemStr PyDict_GetItem +#else +static CYTHON_INLINE PyObject * __Pyx_PyDict_GetItemStrWithError(PyObject *dict, PyObject *name) { +#if CYTHON_COMPILING_IN_PYPY + return PyDict_GetItem(dict, name); +#else + PyDictEntry *ep; + PyDictObject *mp = (PyDictObject*) dict; + long hash = ((PyStringObject *) name)->ob_shash; + assert(hash != -1); + ep = (mp->ma_lookup)(mp, name, hash); + if (ep == NULL) { + return NULL; + } + return ep->me_value; +#endif +} +#define __Pyx_PyDict_GetItemStr PyDict_GetItem +#endif +#if CYTHON_USE_TYPE_SLOTS + #define __Pyx_PyType_GetFlags(tp) (((PyTypeObject *)tp)->tp_flags) + #define __Pyx_PyType_HasFeature(type, feature) ((__Pyx_PyType_GetFlags(type) & (feature)) != 0) + #define __Pyx_PyObject_GetIterNextFunc(obj) (Py_TYPE(obj)->tp_iternext) +#else + #define __Pyx_PyType_GetFlags(tp) (PyType_GetFlags((PyTypeObject *)tp)) + #define __Pyx_PyType_HasFeature(type, feature) PyType_HasFeature(type, feature) + #define __Pyx_PyObject_GetIterNextFunc(obj) PyIter_Next +#endif +#if CYTHON_COMPILING_IN_LIMITED_API + #define __Pyx_SetItemOnTypeDict(tp, k, v) PyObject_GenericSetAttr((PyObject*)tp, k, v) +#else + #define __Pyx_SetItemOnTypeDict(tp, k, v) PyDict_SetItem(tp->tp_dict, k, v) +#endif +#if CYTHON_USE_TYPE_SPECS && PY_VERSION_HEX >= 0x03080000 +#define __Pyx_PyHeapTypeObject_GC_Del(obj) {\ + PyTypeObject *type = Py_TYPE((PyObject*)obj);\ + assert(__Pyx_PyType_HasFeature(type, Py_TPFLAGS_HEAPTYPE));\ + PyObject_GC_Del(obj);\ + Py_DECREF(type);\ +} +#else +#define __Pyx_PyHeapTypeObject_GC_Del(obj) PyObject_GC_Del(obj) +#endif +#if CYTHON_COMPILING_IN_LIMITED_API + #define CYTHON_PEP393_ENABLED 1 + #define __Pyx_PyUnicode_READY(op) (0) + #define __Pyx_PyUnicode_GET_LENGTH(u) PyUnicode_GetLength(u) + #define __Pyx_PyUnicode_READ_CHAR(u, i) PyUnicode_ReadChar(u, i) + #define __Pyx_PyUnicode_MAX_CHAR_VALUE(u) ((void)u, 1114111U) + #define __Pyx_PyUnicode_KIND(u) ((void)u, (0)) + #define __Pyx_PyUnicode_DATA(u) ((void*)u) + #define __Pyx_PyUnicode_READ(k, d, i) ((void)k, PyUnicode_ReadChar((PyObject*)(d), i)) + #define __Pyx_PyUnicode_IS_TRUE(u) (0 != PyUnicode_GetLength(u)) +#elif PY_VERSION_HEX > 0x03030000 && defined(PyUnicode_KIND) + #define CYTHON_PEP393_ENABLED 1 + #if PY_VERSION_HEX >= 0x030C0000 + #define __Pyx_PyUnicode_READY(op) (0) + #else + #define __Pyx_PyUnicode_READY(op) (likely(PyUnicode_IS_READY(op)) ?\ + 0 : _PyUnicode_Ready((PyObject *)(op))) + #endif + #define __Pyx_PyUnicode_GET_LENGTH(u) PyUnicode_GET_LENGTH(u) + #define __Pyx_PyUnicode_READ_CHAR(u, i) PyUnicode_READ_CHAR(u, i) + #define __Pyx_PyUnicode_MAX_CHAR_VALUE(u) PyUnicode_MAX_CHAR_VALUE(u) + #define __Pyx_PyUnicode_KIND(u) ((int)PyUnicode_KIND(u)) + #define __Pyx_PyUnicode_DATA(u) PyUnicode_DATA(u) + #define __Pyx_PyUnicode_READ(k, d, i) PyUnicode_READ(k, d, i) + #define __Pyx_PyUnicode_WRITE(k, d, i, ch) PyUnicode_WRITE(k, d, i, (Py_UCS4) ch) + #if PY_VERSION_HEX >= 0x030C0000 + #define __Pyx_PyUnicode_IS_TRUE(u) (0 != PyUnicode_GET_LENGTH(u)) + #else + #if CYTHON_COMPILING_IN_CPYTHON && PY_VERSION_HEX >= 0x03090000 + #define __Pyx_PyUnicode_IS_TRUE(u) (0 != (likely(PyUnicode_IS_READY(u)) ? PyUnicode_GET_LENGTH(u) : ((PyCompactUnicodeObject *)(u))->wstr_length)) + #else + #define __Pyx_PyUnicode_IS_TRUE(u) (0 != (likely(PyUnicode_IS_READY(u)) ? PyUnicode_GET_LENGTH(u) : PyUnicode_GET_SIZE(u))) + #endif + #endif +#else + #define CYTHON_PEP393_ENABLED 0 + #define PyUnicode_1BYTE_KIND 1 + #define PyUnicode_2BYTE_KIND 2 + #define PyUnicode_4BYTE_KIND 4 + #define __Pyx_PyUnicode_READY(op) (0) + #define __Pyx_PyUnicode_GET_LENGTH(u) PyUnicode_GET_SIZE(u) + #define __Pyx_PyUnicode_READ_CHAR(u, i) ((Py_UCS4)(PyUnicode_AS_UNICODE(u)[i])) + #define __Pyx_PyUnicode_MAX_CHAR_VALUE(u) ((sizeof(Py_UNICODE) == 2) ? 65535U : 1114111U) + #define __Pyx_PyUnicode_KIND(u) ((int)sizeof(Py_UNICODE)) + #define __Pyx_PyUnicode_DATA(u) ((void*)PyUnicode_AS_UNICODE(u)) + #define __Pyx_PyUnicode_READ(k, d, i) ((void)(k), (Py_UCS4)(((Py_UNICODE*)d)[i])) + #define __Pyx_PyUnicode_WRITE(k, d, i, ch) (((void)(k)), ((Py_UNICODE*)d)[i] = (Py_UNICODE) ch) + #define __Pyx_PyUnicode_IS_TRUE(u) (0 != PyUnicode_GET_SIZE(u)) +#endif +#if CYTHON_COMPILING_IN_PYPY + #define __Pyx_PyUnicode_Concat(a, b) PyNumber_Add(a, b) + #define __Pyx_PyUnicode_ConcatSafe(a, b) PyNumber_Add(a, b) +#else + #define __Pyx_PyUnicode_Concat(a, b) PyUnicode_Concat(a, b) + #define __Pyx_PyUnicode_ConcatSafe(a, b) ((unlikely((a) == Py_None) || unlikely((b) == Py_None)) ?\ + PyNumber_Add(a, b) : __Pyx_PyUnicode_Concat(a, b)) +#endif +#if CYTHON_COMPILING_IN_PYPY + #if !defined(PyUnicode_DecodeUnicodeEscape) + #define PyUnicode_DecodeUnicodeEscape(s, size, errors) PyUnicode_Decode(s, size, "unicode_escape", errors) + #endif + #if !defined(PyUnicode_Contains) || (PY_MAJOR_VERSION == 2 && PYPY_VERSION_NUM < 0x07030500) + #undef PyUnicode_Contains + #define PyUnicode_Contains(u, s) PySequence_Contains(u, s) + #endif + #if !defined(PyByteArray_Check) + #define PyByteArray_Check(obj) PyObject_TypeCheck(obj, &PyByteArray_Type) + #endif + #if !defined(PyObject_Format) + #define PyObject_Format(obj, fmt) PyObject_CallMethod(obj, "__format__", "O", fmt) + #endif +#endif +#define __Pyx_PyString_FormatSafe(a, b) ((unlikely((a) == Py_None || (PyString_Check(b) && !PyString_CheckExact(b)))) ? PyNumber_Remainder(a, b) : __Pyx_PyString_Format(a, b)) +#define __Pyx_PyUnicode_FormatSafe(a, b) ((unlikely((a) == Py_None || (PyUnicode_Check(b) && !PyUnicode_CheckExact(b)))) ? PyNumber_Remainder(a, b) : PyUnicode_Format(a, b)) +#if PY_MAJOR_VERSION >= 3 + #define __Pyx_PyString_Format(a, b) PyUnicode_Format(a, b) +#else + #define __Pyx_PyString_Format(a, b) PyString_Format(a, b) +#endif +#if PY_MAJOR_VERSION < 3 && !defined(PyObject_ASCII) + #define PyObject_ASCII(o) PyObject_Repr(o) +#endif +#if PY_MAJOR_VERSION >= 3 + #define PyBaseString_Type PyUnicode_Type + #define PyStringObject PyUnicodeObject + #define PyString_Type PyUnicode_Type + #define PyString_Check PyUnicode_Check + #define PyString_CheckExact PyUnicode_CheckExact +#ifndef PyObject_Unicode + #define PyObject_Unicode PyObject_Str +#endif +#endif +#if PY_MAJOR_VERSION >= 3 + #define __Pyx_PyBaseString_Check(obj) PyUnicode_Check(obj) + #define __Pyx_PyBaseString_CheckExact(obj) PyUnicode_CheckExact(obj) +#else + #define __Pyx_PyBaseString_Check(obj) (PyString_Check(obj) || PyUnicode_Check(obj)) + #define __Pyx_PyBaseString_CheckExact(obj) (PyString_CheckExact(obj) || PyUnicode_CheckExact(obj)) +#endif +#if CYTHON_COMPILING_IN_CPYTHON + #define __Pyx_PySequence_ListKeepNew(obj)\ + (likely(PyList_CheckExact(obj) && Py_REFCNT(obj) == 1) ? __Pyx_NewRef(obj) : PySequence_List(obj)) +#else + #define __Pyx_PySequence_ListKeepNew(obj) PySequence_List(obj) +#endif +#ifndef PySet_CheckExact + #define PySet_CheckExact(obj) __Pyx_IS_TYPE(obj, &PySet_Type) +#endif +#if PY_VERSION_HEX >= 0x030900A4 + #define __Pyx_SET_REFCNT(obj, refcnt) Py_SET_REFCNT(obj, refcnt) + #define __Pyx_SET_SIZE(obj, size) Py_SET_SIZE(obj, size) +#else + #define __Pyx_SET_REFCNT(obj, refcnt) Py_REFCNT(obj) = (refcnt) + #define __Pyx_SET_SIZE(obj, size) Py_SIZE(obj) = (size) +#endif +#if CYTHON_ASSUME_SAFE_MACROS + #define __Pyx_PySequence_ITEM(o, i) PySequence_ITEM(o, i) + #define __Pyx_PySequence_SIZE(seq) Py_SIZE(seq) + #define __Pyx_PyTuple_SET_ITEM(o, i, v) (PyTuple_SET_ITEM(o, i, v), (0)) + #define __Pyx_PyList_SET_ITEM(o, i, v) (PyList_SET_ITEM(o, i, v), (0)) + #define __Pyx_PyTuple_GET_SIZE(o) PyTuple_GET_SIZE(o) + #define __Pyx_PyList_GET_SIZE(o) PyList_GET_SIZE(o) + #define __Pyx_PySet_GET_SIZE(o) PySet_GET_SIZE(o) + #define __Pyx_PyBytes_GET_SIZE(o) PyBytes_GET_SIZE(o) + #define __Pyx_PyByteArray_GET_SIZE(o) PyByteArray_GET_SIZE(o) +#else + #define __Pyx_PySequence_ITEM(o, i) PySequence_GetItem(o, i) + #define __Pyx_PySequence_SIZE(seq) PySequence_Size(seq) + #define __Pyx_PyTuple_SET_ITEM(o, i, v) PyTuple_SetItem(o, i, v) + #define __Pyx_PyList_SET_ITEM(o, i, v) PyList_SetItem(o, i, v) + #define __Pyx_PyTuple_GET_SIZE(o) PyTuple_Size(o) + #define __Pyx_PyList_GET_SIZE(o) PyList_Size(o) + #define __Pyx_PySet_GET_SIZE(o) PySet_Size(o) + #define __Pyx_PyBytes_GET_SIZE(o) PyBytes_Size(o) + #define __Pyx_PyByteArray_GET_SIZE(o) PyByteArray_Size(o) +#endif +#if PY_VERSION_HEX >= 0x030d00A1 + #define __Pyx_PyImport_AddModuleRef(name) PyImport_AddModuleRef(name) +#else + static CYTHON_INLINE PyObject *__Pyx_PyImport_AddModuleRef(const char *name) { + PyObject *module = PyImport_AddModule(name); + Py_XINCREF(module); + return module; + } +#endif +#if PY_MAJOR_VERSION >= 3 + #define PyIntObject PyLongObject + #define PyInt_Type PyLong_Type + #define PyInt_Check(op) PyLong_Check(op) + #define PyInt_CheckExact(op) PyLong_CheckExact(op) + #define __Pyx_Py3Int_Check(op) PyLong_Check(op) + #define __Pyx_Py3Int_CheckExact(op) PyLong_CheckExact(op) + #define PyInt_FromString PyLong_FromString + #define PyInt_FromUnicode PyLong_FromUnicode + #define PyInt_FromLong PyLong_FromLong + #define PyInt_FromSize_t PyLong_FromSize_t + #define PyInt_FromSsize_t PyLong_FromSsize_t + #define PyInt_AsLong PyLong_AsLong + #define PyInt_AS_LONG PyLong_AS_LONG + #define PyInt_AsSsize_t PyLong_AsSsize_t + #define PyInt_AsUnsignedLongMask PyLong_AsUnsignedLongMask + #define PyInt_AsUnsignedLongLongMask PyLong_AsUnsignedLongLongMask + #define PyNumber_Int PyNumber_Long +#else + #define __Pyx_Py3Int_Check(op) (PyLong_Check(op) || PyInt_Check(op)) + #define __Pyx_Py3Int_CheckExact(op) (PyLong_CheckExact(op) || PyInt_CheckExact(op)) +#endif +#if PY_MAJOR_VERSION >= 3 + #define PyBoolObject PyLongObject +#endif +#if PY_MAJOR_VERSION >= 3 && CYTHON_COMPILING_IN_PYPY + #ifndef PyUnicode_InternFromString + #define PyUnicode_InternFromString(s) PyUnicode_FromString(s) + #endif +#endif +#if PY_VERSION_HEX < 0x030200A4 + typedef long Py_hash_t; + #define __Pyx_PyInt_FromHash_t PyInt_FromLong + #define __Pyx_PyInt_AsHash_t __Pyx_PyIndex_AsHash_t +#else + #define __Pyx_PyInt_FromHash_t PyInt_FromSsize_t + #define __Pyx_PyInt_AsHash_t __Pyx_PyIndex_AsSsize_t +#endif +#if CYTHON_USE_ASYNC_SLOTS + #if PY_VERSION_HEX >= 0x030500B1 + #define __Pyx_PyAsyncMethodsStruct PyAsyncMethods + #define __Pyx_PyType_AsAsync(obj) (Py_TYPE(obj)->tp_as_async) + #else + #define __Pyx_PyType_AsAsync(obj) ((__Pyx_PyAsyncMethodsStruct*) (Py_TYPE(obj)->tp_reserved)) + #endif +#else + #define __Pyx_PyType_AsAsync(obj) NULL +#endif +#ifndef __Pyx_PyAsyncMethodsStruct + typedef struct { + unaryfunc am_await; + unaryfunc am_aiter; + unaryfunc am_anext; + } __Pyx_PyAsyncMethodsStruct; +#endif + +#if defined(_WIN32) || defined(WIN32) || defined(MS_WINDOWS) + #if !defined(_USE_MATH_DEFINES) + #define _USE_MATH_DEFINES + #endif +#endif +#include +#ifdef NAN +#define __PYX_NAN() ((float) NAN) +#else +static CYTHON_INLINE float __PYX_NAN() { + float value; + memset(&value, 0xFF, sizeof(value)); + return value; +} +#endif +#if defined(__CYGWIN__) && defined(_LDBL_EQ_DBL) +#define __Pyx_truncl trunc +#else +#define __Pyx_truncl truncl +#endif + +#define __PYX_MARK_ERR_POS(f_index, lineno) \ + { __pyx_filename = __pyx_f[f_index]; (void)__pyx_filename; __pyx_lineno = lineno; (void)__pyx_lineno; __pyx_clineno = __LINE__; (void)__pyx_clineno; } +#define __PYX_ERR(f_index, lineno, Ln_error) \ + { __PYX_MARK_ERR_POS(f_index, lineno) goto Ln_error; } + +#ifdef CYTHON_EXTERN_C + #undef __PYX_EXTERN_C + #define __PYX_EXTERN_C CYTHON_EXTERN_C +#elif defined(__PYX_EXTERN_C) + #ifdef _MSC_VER + #pragma message ("Please do not define the '__PYX_EXTERN_C' macro externally. Use 'CYTHON_EXTERN_C' instead.") + #else + #warning Please do not define the '__PYX_EXTERN_C' macro externally. Use 'CYTHON_EXTERN_C' instead. + #endif +#else + #define __PYX_EXTERN_C extern "C++" +#endif + +#define __PYX_HAVE__selfdrive__classic_modeld__runners__runmodel_pyx +#define __PYX_HAVE_API__selfdrive__classic_modeld__runners__runmodel_pyx +/* Early includes */ +#include +#include +#include "ios" +#include "new" +#include "stdexcept" +#include "typeinfo" +#include "selfdrive/classic_modeld/runners/runmodel.h" +#include +#include + + #if __cplusplus >= 201103L || (defined(_MSC_VER) && _MSC_VER >= 1600) + // move should be defined for these versions of MSVC, but __cplusplus isn't set usefully + #include + + namespace cython_std { + template typename std::remove_reference::type&& move(T& t) noexcept { return std::move(t); } + template typename std::remove_reference::type&& move(T&& t) noexcept { return std::move(t); } + } + + #endif + +#include +#include +#include "msgq/visionipc/visionbuf.h" +#include "msgq/visionipc/visionipc.h" +#include "msgq/visionipc/visionipc_server.h" +#include "msgq/visionipc/visionipc_client.h" +#include "pythread.h" +#include +#ifdef _OPENMP +#include +#endif /* _OPENMP */ + +#if defined(PYREX_WITHOUT_ASSERTIONS) && !defined(CYTHON_WITHOUT_ASSERTIONS) +#define CYTHON_WITHOUT_ASSERTIONS +#endif + +typedef struct {PyObject **p; const char *s; const Py_ssize_t n; const char* encoding; + const char is_unicode; const char is_str; const char intern; } __Pyx_StringTabEntry; + +#define __PYX_DEFAULT_STRING_ENCODING_IS_ASCII 1 +#define __PYX_DEFAULT_STRING_ENCODING_IS_UTF8 0 +#define __PYX_DEFAULT_STRING_ENCODING_IS_DEFAULT (PY_MAJOR_VERSION >= 3 && __PYX_DEFAULT_STRING_ENCODING_IS_UTF8) +#define __PYX_DEFAULT_STRING_ENCODING "ascii" +#define __Pyx_PyObject_FromString __Pyx_PyBytes_FromString +#define __Pyx_PyObject_FromStringAndSize __Pyx_PyBytes_FromStringAndSize +#define __Pyx_uchar_cast(c) ((unsigned char)c) +#define __Pyx_long_cast(x) ((long)x) +#define __Pyx_fits_Py_ssize_t(v, type, is_signed) (\ + (sizeof(type) < sizeof(Py_ssize_t)) ||\ + (sizeof(type) > sizeof(Py_ssize_t) &&\ + likely(v < (type)PY_SSIZE_T_MAX ||\ + v == (type)PY_SSIZE_T_MAX) &&\ + (!is_signed || likely(v > (type)PY_SSIZE_T_MIN ||\ + v == (type)PY_SSIZE_T_MIN))) ||\ + (sizeof(type) == sizeof(Py_ssize_t) &&\ + (is_signed || likely(v < (type)PY_SSIZE_T_MAX ||\ + v == (type)PY_SSIZE_T_MAX))) ) +static CYTHON_INLINE int __Pyx_is_valid_index(Py_ssize_t i, Py_ssize_t limit) { + return (size_t) i < (size_t) limit; +} +#if defined (__cplusplus) && __cplusplus >= 201103L + #include + #define __Pyx_sst_abs(value) std::abs(value) +#elif SIZEOF_INT >= SIZEOF_SIZE_T + #define __Pyx_sst_abs(value) abs(value) +#elif SIZEOF_LONG >= SIZEOF_SIZE_T + #define __Pyx_sst_abs(value) labs(value) +#elif defined (_MSC_VER) + #define __Pyx_sst_abs(value) ((Py_ssize_t)_abs64(value)) +#elif defined (__STDC_VERSION__) && __STDC_VERSION__ >= 199901L + #define __Pyx_sst_abs(value) llabs(value) +#elif defined (__GNUC__) + #define __Pyx_sst_abs(value) __builtin_llabs(value) +#else + #define __Pyx_sst_abs(value) ((value<0) ? -value : value) +#endif +static CYTHON_INLINE Py_ssize_t __Pyx_ssize_strlen(const char *s); +static CYTHON_INLINE const char* __Pyx_PyObject_AsString(PyObject*); +static CYTHON_INLINE const char* __Pyx_PyObject_AsStringAndSize(PyObject*, Py_ssize_t* length); +static CYTHON_INLINE PyObject* __Pyx_PyByteArray_FromString(const char*); +#define __Pyx_PyByteArray_FromStringAndSize(s, l) PyByteArray_FromStringAndSize((const char*)s, l) +#define __Pyx_PyBytes_FromString PyBytes_FromString +#define __Pyx_PyBytes_FromStringAndSize PyBytes_FromStringAndSize +static CYTHON_INLINE PyObject* __Pyx_PyUnicode_FromString(const char*); +#if PY_MAJOR_VERSION < 3 + #define __Pyx_PyStr_FromString __Pyx_PyBytes_FromString + #define __Pyx_PyStr_FromStringAndSize __Pyx_PyBytes_FromStringAndSize +#else + #define __Pyx_PyStr_FromString __Pyx_PyUnicode_FromString + #define __Pyx_PyStr_FromStringAndSize __Pyx_PyUnicode_FromStringAndSize +#endif +#define __Pyx_PyBytes_AsWritableString(s) ((char*) PyBytes_AS_STRING(s)) +#define __Pyx_PyBytes_AsWritableSString(s) ((signed char*) PyBytes_AS_STRING(s)) +#define __Pyx_PyBytes_AsWritableUString(s) ((unsigned char*) PyBytes_AS_STRING(s)) +#define __Pyx_PyBytes_AsString(s) ((const char*) PyBytes_AS_STRING(s)) +#define __Pyx_PyBytes_AsSString(s) ((const signed char*) PyBytes_AS_STRING(s)) +#define __Pyx_PyBytes_AsUString(s) ((const unsigned char*) PyBytes_AS_STRING(s)) +#define __Pyx_PyObject_AsWritableString(s) ((char*)(__pyx_uintptr_t) __Pyx_PyObject_AsString(s)) +#define __Pyx_PyObject_AsWritableSString(s) ((signed char*)(__pyx_uintptr_t) __Pyx_PyObject_AsString(s)) +#define __Pyx_PyObject_AsWritableUString(s) ((unsigned char*)(__pyx_uintptr_t) __Pyx_PyObject_AsString(s)) +#define __Pyx_PyObject_AsSString(s) ((const signed char*) __Pyx_PyObject_AsString(s)) +#define __Pyx_PyObject_AsUString(s) ((const unsigned char*) __Pyx_PyObject_AsString(s)) +#define __Pyx_PyObject_FromCString(s) __Pyx_PyObject_FromString((const char*)s) +#define __Pyx_PyBytes_FromCString(s) __Pyx_PyBytes_FromString((const char*)s) +#define __Pyx_PyByteArray_FromCString(s) __Pyx_PyByteArray_FromString((const char*)s) +#define __Pyx_PyStr_FromCString(s) __Pyx_PyStr_FromString((const char*)s) +#define __Pyx_PyUnicode_FromCString(s) __Pyx_PyUnicode_FromString((const char*)s) +#if CYTHON_COMPILING_IN_LIMITED_API +static CYTHON_INLINE size_t __Pyx_Py_UNICODE_strlen(const wchar_t *u) +{ + const wchar_t *u_end = u; + while (*u_end++) ; + return (size_t)(u_end - u - 1); +} +#else +static CYTHON_INLINE size_t __Pyx_Py_UNICODE_strlen(const Py_UNICODE *u) +{ + const Py_UNICODE *u_end = u; + while (*u_end++) ; + return (size_t)(u_end - u - 1); +} +#endif +#define __Pyx_PyUnicode_FromOrdinal(o) PyUnicode_FromOrdinal((int)o) +#define __Pyx_PyUnicode_FromUnicode(u) PyUnicode_FromUnicode(u, __Pyx_Py_UNICODE_strlen(u)) +#define __Pyx_PyUnicode_FromUnicodeAndLength PyUnicode_FromUnicode +#define __Pyx_PyUnicode_AsUnicode PyUnicode_AsUnicode +#define __Pyx_NewRef(obj) (Py_INCREF(obj), obj) +#define __Pyx_Owned_Py_None(b) __Pyx_NewRef(Py_None) +static CYTHON_INLINE PyObject * __Pyx_PyBool_FromLong(long b); +static CYTHON_INLINE int __Pyx_PyObject_IsTrue(PyObject*); +static CYTHON_INLINE int __Pyx_PyObject_IsTrueAndDecref(PyObject*); +static CYTHON_INLINE PyObject* __Pyx_PyNumber_IntOrLong(PyObject* x); +#define __Pyx_PySequence_Tuple(obj)\ + (likely(PyTuple_CheckExact(obj)) ? __Pyx_NewRef(obj) : PySequence_Tuple(obj)) +static CYTHON_INLINE Py_ssize_t __Pyx_PyIndex_AsSsize_t(PyObject*); +static CYTHON_INLINE PyObject * __Pyx_PyInt_FromSize_t(size_t); +static CYTHON_INLINE Py_hash_t __Pyx_PyIndex_AsHash_t(PyObject*); +#if CYTHON_ASSUME_SAFE_MACROS +#define __pyx_PyFloat_AsDouble(x) (PyFloat_CheckExact(x) ? PyFloat_AS_DOUBLE(x) : PyFloat_AsDouble(x)) +#else +#define __pyx_PyFloat_AsDouble(x) PyFloat_AsDouble(x) +#endif +#define __pyx_PyFloat_AsFloat(x) ((float) __pyx_PyFloat_AsDouble(x)) +#if PY_MAJOR_VERSION >= 3 +#define __Pyx_PyNumber_Int(x) (PyLong_CheckExact(x) ? __Pyx_NewRef(x) : PyNumber_Long(x)) +#else +#define __Pyx_PyNumber_Int(x) (PyInt_CheckExact(x) ? __Pyx_NewRef(x) : PyNumber_Int(x)) +#endif +#if CYTHON_USE_PYLONG_INTERNALS + #if PY_VERSION_HEX >= 0x030C00A7 + #ifndef _PyLong_SIGN_MASK + #define _PyLong_SIGN_MASK 3 + #endif + #ifndef _PyLong_NON_SIZE_BITS + #define _PyLong_NON_SIZE_BITS 3 + #endif + #define __Pyx_PyLong_Sign(x) (((PyLongObject*)x)->long_value.lv_tag & _PyLong_SIGN_MASK) + #define __Pyx_PyLong_IsNeg(x) ((__Pyx_PyLong_Sign(x) & 2) != 0) + #define __Pyx_PyLong_IsNonNeg(x) (!__Pyx_PyLong_IsNeg(x)) + #define __Pyx_PyLong_IsZero(x) (__Pyx_PyLong_Sign(x) & 1) + #define __Pyx_PyLong_IsPos(x) (__Pyx_PyLong_Sign(x) == 0) + #define __Pyx_PyLong_CompactValueUnsigned(x) (__Pyx_PyLong_Digits(x)[0]) + #define __Pyx_PyLong_DigitCount(x) ((Py_ssize_t) (((PyLongObject*)x)->long_value.lv_tag >> _PyLong_NON_SIZE_BITS)) + #define __Pyx_PyLong_SignedDigitCount(x)\ + ((1 - (Py_ssize_t) __Pyx_PyLong_Sign(x)) * __Pyx_PyLong_DigitCount(x)) + #if defined(PyUnstable_Long_IsCompact) && defined(PyUnstable_Long_CompactValue) + #define __Pyx_PyLong_IsCompact(x) PyUnstable_Long_IsCompact((PyLongObject*) x) + #define __Pyx_PyLong_CompactValue(x) PyUnstable_Long_CompactValue((PyLongObject*) x) + #else + #define __Pyx_PyLong_IsCompact(x) (((PyLongObject*)x)->long_value.lv_tag < (2 << _PyLong_NON_SIZE_BITS)) + #define __Pyx_PyLong_CompactValue(x) ((1 - (Py_ssize_t) __Pyx_PyLong_Sign(x)) * (Py_ssize_t) __Pyx_PyLong_Digits(x)[0]) + #endif + typedef Py_ssize_t __Pyx_compact_pylong; + typedef size_t __Pyx_compact_upylong; + #else + #define __Pyx_PyLong_IsNeg(x) (Py_SIZE(x) < 0) + #define __Pyx_PyLong_IsNonNeg(x) (Py_SIZE(x) >= 0) + #define __Pyx_PyLong_IsZero(x) (Py_SIZE(x) == 0) + #define __Pyx_PyLong_IsPos(x) (Py_SIZE(x) > 0) + #define __Pyx_PyLong_CompactValueUnsigned(x) ((Py_SIZE(x) == 0) ? 0 : __Pyx_PyLong_Digits(x)[0]) + #define __Pyx_PyLong_DigitCount(x) __Pyx_sst_abs(Py_SIZE(x)) + #define __Pyx_PyLong_SignedDigitCount(x) Py_SIZE(x) + #define __Pyx_PyLong_IsCompact(x) (Py_SIZE(x) == 0 || Py_SIZE(x) == 1 || Py_SIZE(x) == -1) + #define __Pyx_PyLong_CompactValue(x)\ + ((Py_SIZE(x) == 0) ? (sdigit) 0 : ((Py_SIZE(x) < 0) ? -(sdigit)__Pyx_PyLong_Digits(x)[0] : (sdigit)__Pyx_PyLong_Digits(x)[0])) + typedef sdigit __Pyx_compact_pylong; + typedef digit __Pyx_compact_upylong; + #endif + #if PY_VERSION_HEX >= 0x030C00A5 + #define __Pyx_PyLong_Digits(x) (((PyLongObject*)x)->long_value.ob_digit) + #else + #define __Pyx_PyLong_Digits(x) (((PyLongObject*)x)->ob_digit) + #endif +#endif +#if PY_MAJOR_VERSION < 3 && __PYX_DEFAULT_STRING_ENCODING_IS_ASCII +#include +static int __Pyx_sys_getdefaultencoding_not_ascii; +static int __Pyx_init_sys_getdefaultencoding_params(void) { + PyObject* sys; + PyObject* default_encoding = NULL; + PyObject* ascii_chars_u = NULL; + PyObject* ascii_chars_b = NULL; + const char* default_encoding_c; + sys = PyImport_ImportModule("sys"); + if (!sys) goto bad; + default_encoding = PyObject_CallMethod(sys, (char*) "getdefaultencoding", NULL); + Py_DECREF(sys); + if (!default_encoding) goto bad; + default_encoding_c = PyBytes_AsString(default_encoding); + if (!default_encoding_c) goto bad; + if (strcmp(default_encoding_c, "ascii") == 0) { + __Pyx_sys_getdefaultencoding_not_ascii = 0; + } else { + char ascii_chars[128]; + int c; + for (c = 0; c < 128; c++) { + ascii_chars[c] = (char) c; + } + __Pyx_sys_getdefaultencoding_not_ascii = 1; + ascii_chars_u = PyUnicode_DecodeASCII(ascii_chars, 128, NULL); + if (!ascii_chars_u) goto bad; + ascii_chars_b = PyUnicode_AsEncodedString(ascii_chars_u, default_encoding_c, NULL); + if (!ascii_chars_b || !PyBytes_Check(ascii_chars_b) || memcmp(ascii_chars, PyBytes_AS_STRING(ascii_chars_b), 128) != 0) { + PyErr_Format( + PyExc_ValueError, + "This module compiled with c_string_encoding=ascii, but default encoding '%.200s' is not a superset of ascii.", + default_encoding_c); + goto bad; + } + Py_DECREF(ascii_chars_u); + Py_DECREF(ascii_chars_b); + } + Py_DECREF(default_encoding); + return 0; +bad: + Py_XDECREF(default_encoding); + Py_XDECREF(ascii_chars_u); + Py_XDECREF(ascii_chars_b); + return -1; +} +#endif +#if __PYX_DEFAULT_STRING_ENCODING_IS_DEFAULT && PY_MAJOR_VERSION >= 3 +#define __Pyx_PyUnicode_FromStringAndSize(c_str, size) PyUnicode_DecodeUTF8(c_str, size, NULL) +#else +#define __Pyx_PyUnicode_FromStringAndSize(c_str, size) PyUnicode_Decode(c_str, size, __PYX_DEFAULT_STRING_ENCODING, NULL) +#if __PYX_DEFAULT_STRING_ENCODING_IS_DEFAULT +#include +static char* __PYX_DEFAULT_STRING_ENCODING; +static int __Pyx_init_sys_getdefaultencoding_params(void) { + PyObject* sys; + PyObject* default_encoding = NULL; + char* default_encoding_c; + sys = PyImport_ImportModule("sys"); + if (!sys) goto bad; + default_encoding = PyObject_CallMethod(sys, (char*) (const char*) "getdefaultencoding", NULL); + Py_DECREF(sys); + if (!default_encoding) goto bad; + default_encoding_c = PyBytes_AsString(default_encoding); + if (!default_encoding_c) goto bad; + __PYX_DEFAULT_STRING_ENCODING = (char*) malloc(strlen(default_encoding_c) + 1); + if (!__PYX_DEFAULT_STRING_ENCODING) goto bad; + strcpy(__PYX_DEFAULT_STRING_ENCODING, default_encoding_c); + Py_DECREF(default_encoding); + return 0; +bad: + Py_XDECREF(default_encoding); + return -1; +} +#endif +#endif + + +/* Test for GCC > 2.95 */ +#if defined(__GNUC__) && (__GNUC__ > 2 || (__GNUC__ == 2 && (__GNUC_MINOR__ > 95))) + #define likely(x) __builtin_expect(!!(x), 1) + #define unlikely(x) __builtin_expect(!!(x), 0) +#else /* !__GNUC__ or GCC < 2.95 */ + #define likely(x) (x) + #define unlikely(x) (x) +#endif /* __GNUC__ */ +static CYTHON_INLINE void __Pyx_pretend_to_initialize(void* ptr) { (void)ptr; } + +#if !CYTHON_USE_MODULE_STATE +static PyObject *__pyx_m = NULL; +#endif +static int __pyx_lineno; +static int __pyx_clineno = 0; +static const char * __pyx_cfilenm = __FILE__; +static const char *__pyx_filename; + +/* #### Code section: filename_table ### */ + +static const char *__pyx_f[] = { + "", + "selfdrive/classic_modeld/runners/runmodel_pyx.pyx", + "msgq/visionipc/visionipc_pyx.pxd", + "selfdrive/classic_modeld/models/commonmodel_pyx.pxd", +}; +/* #### Code section: utility_code_proto_before_types ### */ +/* ForceInitThreads.proto */ +#ifndef __PYX_FORCE_INIT_THREADS + #define __PYX_FORCE_INIT_THREADS 0 +#endif + +/* NoFastGil.proto */ +#define __Pyx_PyGILState_Ensure PyGILState_Ensure +#define __Pyx_PyGILState_Release PyGILState_Release +#define __Pyx_FastGIL_Remember() +#define __Pyx_FastGIL_Forget() +#define __Pyx_FastGilFuncInit() + +/* BufferFormatStructs.proto */ +struct __Pyx_StructField_; +#define __PYX_BUF_FLAGS_PACKED_STRUCT (1 << 0) +typedef struct { + const char* name; + struct __Pyx_StructField_* fields; + size_t size; + size_t arraysize[8]; + int ndim; + char typegroup; + char is_unsigned; + int flags; +} __Pyx_TypeInfo; +typedef struct __Pyx_StructField_ { + __Pyx_TypeInfo* type; + const char* name; + size_t offset; +} __Pyx_StructField; +typedef struct { + __Pyx_StructField* field; + size_t parent_offset; +} __Pyx_BufFmt_StackElem; +typedef struct { + __Pyx_StructField root; + __Pyx_BufFmt_StackElem* head; + size_t fmt_offset; + size_t new_count, enc_count; + size_t struct_alignment; + int is_complex; + char enc_type; + char new_packmode; + char enc_packmode; + char is_valid_array; +} __Pyx_BufFmt_Context; + +/* Atomics.proto */ +#include +#ifndef CYTHON_ATOMICS + #define CYTHON_ATOMICS 1 +#endif +#define __PYX_CYTHON_ATOMICS_ENABLED() CYTHON_ATOMICS +#define __pyx_atomic_int_type int +#define __pyx_nonatomic_int_type int +#if CYTHON_ATOMICS && (defined(__STDC_VERSION__) &&\ + (__STDC_VERSION__ >= 201112L) &&\ + !defined(__STDC_NO_ATOMICS__)) + #include +#elif CYTHON_ATOMICS && (defined(__cplusplus) && (\ + (__cplusplus >= 201103L) ||\ + (defined(_MSC_VER) && _MSC_VER >= 1700))) + #include +#endif +#if CYTHON_ATOMICS && (defined(__STDC_VERSION__) &&\ + (__STDC_VERSION__ >= 201112L) &&\ + !defined(__STDC_NO_ATOMICS__) &&\ + ATOMIC_INT_LOCK_FREE == 2) + #undef __pyx_atomic_int_type + #define __pyx_atomic_int_type atomic_int + #define __pyx_atomic_incr_aligned(value) atomic_fetch_add_explicit(value, 1, memory_order_relaxed) + #define __pyx_atomic_decr_aligned(value) atomic_fetch_sub_explicit(value, 1, memory_order_acq_rel) + #if defined(__PYX_DEBUG_ATOMICS) && defined(_MSC_VER) + #pragma message ("Using standard C atomics") + #elif defined(__PYX_DEBUG_ATOMICS) + #warning "Using standard C atomics" + #endif +#elif CYTHON_ATOMICS && (defined(__cplusplus) && (\ + (__cplusplus >= 201103L) ||\ +\ + (defined(_MSC_VER) && _MSC_VER >= 1700)) &&\ + ATOMIC_INT_LOCK_FREE == 2) + #undef __pyx_atomic_int_type + #define __pyx_atomic_int_type std::atomic_int + #define __pyx_atomic_incr_aligned(value) std::atomic_fetch_add_explicit(value, 1, std::memory_order_relaxed) + #define __pyx_atomic_decr_aligned(value) std::atomic_fetch_sub_explicit(value, 1, std::memory_order_acq_rel) + #if defined(__PYX_DEBUG_ATOMICS) && defined(_MSC_VER) + #pragma message ("Using standard C++ atomics") + #elif defined(__PYX_DEBUG_ATOMICS) + #warning "Using standard C++ atomics" + #endif +#elif CYTHON_ATOMICS && (__GNUC__ >= 5 || (__GNUC__ == 4 &&\ + (__GNUC_MINOR__ > 1 ||\ + (__GNUC_MINOR__ == 1 && __GNUC_PATCHLEVEL__ >= 2)))) + #define __pyx_atomic_incr_aligned(value) __sync_fetch_and_add(value, 1) + #define __pyx_atomic_decr_aligned(value) __sync_fetch_and_sub(value, 1) + #ifdef __PYX_DEBUG_ATOMICS + #warning "Using GNU atomics" + #endif +#elif CYTHON_ATOMICS && defined(_MSC_VER) + #include + #undef __pyx_atomic_int_type + #define __pyx_atomic_int_type long + #undef __pyx_nonatomic_int_type + #define __pyx_nonatomic_int_type long + #pragma intrinsic (_InterlockedExchangeAdd) + #define __pyx_atomic_incr_aligned(value) _InterlockedExchangeAdd(value, 1) + #define __pyx_atomic_decr_aligned(value) _InterlockedExchangeAdd(value, -1) + #ifdef __PYX_DEBUG_ATOMICS + #pragma message ("Using MSVC atomics") + #endif +#else + #undef CYTHON_ATOMICS + #define CYTHON_ATOMICS 0 + #ifdef __PYX_DEBUG_ATOMICS + #warning "Not using atomics" + #endif +#endif +#if CYTHON_ATOMICS + #define __pyx_add_acquisition_count(memview)\ + __pyx_atomic_incr_aligned(__pyx_get_slice_count_pointer(memview)) + #define __pyx_sub_acquisition_count(memview)\ + __pyx_atomic_decr_aligned(__pyx_get_slice_count_pointer(memview)) +#else + #define __pyx_add_acquisition_count(memview)\ + __pyx_add_acquisition_count_locked(__pyx_get_slice_count_pointer(memview), memview->lock) + #define __pyx_sub_acquisition_count(memview)\ + __pyx_sub_acquisition_count_locked(__pyx_get_slice_count_pointer(memview), memview->lock) +#endif + +/* MemviewSliceStruct.proto */ +struct __pyx_memoryview_obj; +typedef struct { + struct __pyx_memoryview_obj *memview; + char *data; + Py_ssize_t shape[8]; + Py_ssize_t strides[8]; + Py_ssize_t suboffsets[8]; +} __Pyx_memviewslice; +#define __Pyx_MemoryView_Len(m) (m.shape[0]) + +/* #### Code section: numeric_typedefs ### */ +/* #### Code section: complex_type_declarations ### */ +/* #### Code section: type_declarations ### */ + +/*--- Type declarations ---*/ +struct __pyx_obj_4msgq_9visionipc_13visionipc_pyx_CLContext; +struct __pyx_obj_4msgq_9visionipc_13visionipc_pyx_VisionBuf; +struct __pyx_obj_9selfdrive_14classic_modeld_6models_15commonmodel_pyx_CLContext; +struct __pyx_obj_9selfdrive_14classic_modeld_6models_15commonmodel_pyx_CLMem; +struct __pyx_obj_9selfdrive_14classic_modeld_7runners_12runmodel_pyx_RunModel; +struct __pyx_array_obj; +struct __pyx_MemviewEnum_obj; +struct __pyx_memoryview_obj; +struct __pyx_memoryviewslice_obj; + +/* "msgq/visionipc/visionipc_pyx.pxd":7 + * from .visionipc cimport cl_device_id, cl_context + * + * cdef class CLContext: # <<<<<<<<<<<<<< + * cdef cl_device_id device_id + * cdef cl_context context + */ +struct __pyx_obj_4msgq_9visionipc_13visionipc_pyx_CLContext { + PyObject_HEAD + cl_device_id device_id; + cl_context context; +}; + + +/* "msgq/visionipc/visionipc_pyx.pxd":11 + * cdef cl_context context + * + * cdef class VisionBuf: # <<<<<<<<<<<<<< + * cdef cppVisionBuf * buf + * + */ +struct __pyx_obj_4msgq_9visionipc_13visionipc_pyx_VisionBuf { + PyObject_HEAD + struct __pyx_vtabstruct_4msgq_9visionipc_13visionipc_pyx_VisionBuf *__pyx_vtab; + VisionBuf *buf; +}; + + +/* "selfdrive/classic_modeld/models/commonmodel_pyx.pxd":6 + * from msgq.visionipc.visionipc_pyx cimport CLContext as BaseCLContext + * + * cdef class CLContext(BaseCLContext): # <<<<<<<<<<<<<< + * pass + * + */ +struct __pyx_obj_9selfdrive_14classic_modeld_6models_15commonmodel_pyx_CLContext { + struct __pyx_obj_4msgq_9visionipc_13visionipc_pyx_CLContext __pyx_base; +}; + + +/* "selfdrive/classic_modeld/models/commonmodel_pyx.pxd":9 + * pass + * + * cdef class CLMem: # <<<<<<<<<<<<<< + * cdef cl_mem * mem + * + */ +struct __pyx_obj_9selfdrive_14classic_modeld_6models_15commonmodel_pyx_CLMem { + PyObject_HEAD + struct __pyx_vtabstruct_9selfdrive_14classic_modeld_6models_15commonmodel_pyx_CLMem *__pyx_vtab; + cl_mem *mem; +}; + + +/* "selfdrive/classic_modeld/runners/runmodel_pyx.pxd":5 + * from .runmodel cimport RunModel as cppRunModel + * + * cdef class RunModel: # <<<<<<<<<<<<<< + * cdef cppRunModel * model + */ +struct __pyx_obj_9selfdrive_14classic_modeld_7runners_12runmodel_pyx_RunModel { + PyObject_HEAD + RunModel *model; +}; + + +/* "View.MemoryView":114 + * @cython.collection_type("sequence") + * @cname("__pyx_array") + * cdef class array: # <<<<<<<<<<<<<< + * + * cdef: + */ +struct __pyx_array_obj { + PyObject_HEAD + struct __pyx_vtabstruct_array *__pyx_vtab; + char *data; + Py_ssize_t len; + char *format; + int ndim; + Py_ssize_t *_shape; + Py_ssize_t *_strides; + Py_ssize_t itemsize; + PyObject *mode; + PyObject *_format; + void (*callback_free_data)(void *); + int free_data; + int dtype_is_object; +}; + + +/* "View.MemoryView":302 + * + * @cname('__pyx_MemviewEnum') + * cdef class Enum(object): # <<<<<<<<<<<<<< + * cdef object name + * def __init__(self, name): + */ +struct __pyx_MemviewEnum_obj { + PyObject_HEAD + PyObject *name; +}; + + +/* "View.MemoryView":337 + * + * @cname('__pyx_memoryview') + * cdef class memoryview: # <<<<<<<<<<<<<< + * + * cdef object obj + */ +struct __pyx_memoryview_obj { + PyObject_HEAD + struct __pyx_vtabstruct_memoryview *__pyx_vtab; + PyObject *obj; + PyObject *_size; + PyObject *_array_interface; + PyThread_type_lock lock; + __pyx_atomic_int_type acquisition_count; + Py_buffer view; + int flags; + int dtype_is_object; + __Pyx_TypeInfo *typeinfo; +}; + + +/* "View.MemoryView":952 + * @cython.collection_type("sequence") + * @cname('__pyx_memoryviewslice') + * cdef class _memoryviewslice(memoryview): # <<<<<<<<<<<<<< + * "Internal class for passing memoryview slices to Python" + * + */ +struct __pyx_memoryviewslice_obj { + struct __pyx_memoryview_obj __pyx_base; + __Pyx_memviewslice from_slice; + PyObject *from_object; + PyObject *(*to_object_func)(char *); + int (*to_dtype_func)(char *, PyObject *); +}; + + + +/* "msgq/visionipc/visionipc_pyx.pxd":11 + * cdef cl_context context + * + * cdef class VisionBuf: # <<<<<<<<<<<<<< + * cdef cppVisionBuf * buf + * + */ + +struct __pyx_vtabstruct_4msgq_9visionipc_13visionipc_pyx_VisionBuf { + PyObject *(*create)(VisionBuf *); 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+static CYTHON_INLINE void __Pyx_ErrFetchInState(PyThreadState *tstate, PyObject **type, PyObject **value, PyObject **tb); +#if CYTHON_COMPILING_IN_CPYTHON && PY_VERSION_HEX < 0x030C00A6 +#define __Pyx_PyErr_SetNone(exc) (Py_INCREF(exc), __Pyx_ErrRestore((exc), NULL, NULL)) +#else +#define __Pyx_PyErr_SetNone(exc) PyErr_SetNone(exc) +#endif +#else +#define __Pyx_PyErr_Clear() PyErr_Clear() +#define __Pyx_PyErr_SetNone(exc) PyErr_SetNone(exc) +#define __Pyx_ErrRestoreWithState(type, value, tb) PyErr_Restore(type, value, tb) +#define __Pyx_ErrFetchWithState(type, value, tb) PyErr_Fetch(type, value, tb) +#define __Pyx_ErrRestoreInState(tstate, type, value, tb) PyErr_Restore(type, value, tb) +#define __Pyx_ErrFetchInState(tstate, type, value, tb) PyErr_Fetch(type, value, tb) +#define __Pyx_ErrRestore(type, value, tb) PyErr_Restore(type, value, tb) +#define __Pyx_ErrFetch(type, value, tb) PyErr_Fetch(type, value, tb) +#endif + +/* PyObjectGetAttrStr.proto */ +#if CYTHON_USE_TYPE_SLOTS +static CYTHON_INLINE PyObject* __Pyx_PyObject_GetAttrStr(PyObject* obj, PyObject* attr_name); +#else +#define __Pyx_PyObject_GetAttrStr(o,n) PyObject_GetAttr(o,n) +#endif + +/* PyObjectGetAttrStrNoError.proto */ +static CYTHON_INLINE PyObject* __Pyx_PyObject_GetAttrStrNoError(PyObject* obj, PyObject* attr_name); + +/* GetBuiltinName.proto */ +static PyObject *__Pyx_GetBuiltinName(PyObject *name); + +/* TupleAndListFromArray.proto */ +#if CYTHON_COMPILING_IN_CPYTHON +static CYTHON_INLINE PyObject* __Pyx_PyList_FromArray(PyObject *const *src, Py_ssize_t n); +static CYTHON_INLINE PyObject* __Pyx_PyTuple_FromArray(PyObject *const *src, Py_ssize_t n); +#endif + +/* IncludeStringH.proto */ +#include + +/* BytesEquals.proto */ +static CYTHON_INLINE int __Pyx_PyBytes_Equals(PyObject* s1, PyObject* s2, int equals); + +/* UnicodeEquals.proto */ +static CYTHON_INLINE int __Pyx_PyUnicode_Equals(PyObject* s1, PyObject* s2, int equals); + +/* fastcall.proto */ +#if CYTHON_AVOID_BORROWED_REFS + #define __Pyx_Arg_VARARGS(args, i) PySequence_GetItem(args, i) +#elif CYTHON_ASSUME_SAFE_MACROS + #define __Pyx_Arg_VARARGS(args, i) PyTuple_GET_ITEM(args, i) +#else + #define __Pyx_Arg_VARARGS(args, i) PyTuple_GetItem(args, i) +#endif +#if CYTHON_AVOID_BORROWED_REFS + #define __Pyx_Arg_NewRef_VARARGS(arg) __Pyx_NewRef(arg) + #define __Pyx_Arg_XDECREF_VARARGS(arg) Py_XDECREF(arg) +#else + #define __Pyx_Arg_NewRef_VARARGS(arg) arg + #define __Pyx_Arg_XDECREF_VARARGS(arg) +#endif +#define __Pyx_NumKwargs_VARARGS(kwds) PyDict_Size(kwds) +#define __Pyx_KwValues_VARARGS(args, nargs) NULL +#define __Pyx_GetKwValue_VARARGS(kw, kwvalues, s) __Pyx_PyDict_GetItemStrWithError(kw, s) +#define __Pyx_KwargsAsDict_VARARGS(kw, kwvalues) PyDict_Copy(kw) +#if CYTHON_METH_FASTCALL + #define __Pyx_Arg_FASTCALL(args, i) args[i] + #define __Pyx_NumKwargs_FASTCALL(kwds) PyTuple_GET_SIZE(kwds) + #define __Pyx_KwValues_FASTCALL(args, nargs) ((args) + (nargs)) + static CYTHON_INLINE PyObject * __Pyx_GetKwValue_FASTCALL(PyObject *kwnames, PyObject *const *kwvalues, PyObject *s); +#if CYTHON_COMPILING_IN_CPYTHON && PY_VERSION_HEX >= 0x030d0000 + CYTHON_UNUSED static PyObject *__Pyx_KwargsAsDict_FASTCALL(PyObject *kwnames, PyObject *const *kwvalues); + #else + #define __Pyx_KwargsAsDict_FASTCALL(kw, kwvalues) _PyStack_AsDict(kwvalues, kw) + #endif + #define __Pyx_Arg_NewRef_FASTCALL(arg) arg /* no-op, __Pyx_Arg_FASTCALL is direct and this needs + to have the same reference counting */ + #define __Pyx_Arg_XDECREF_FASTCALL(arg) +#else + #define __Pyx_Arg_FASTCALL __Pyx_Arg_VARARGS + #define __Pyx_NumKwargs_FASTCALL __Pyx_NumKwargs_VARARGS + #define __Pyx_KwValues_FASTCALL __Pyx_KwValues_VARARGS + #define __Pyx_GetKwValue_FASTCALL __Pyx_GetKwValue_VARARGS + #define __Pyx_KwargsAsDict_FASTCALL __Pyx_KwargsAsDict_VARARGS + #define __Pyx_Arg_NewRef_FASTCALL(arg) __Pyx_Arg_NewRef_VARARGS(arg) + #define __Pyx_Arg_XDECREF_FASTCALL(arg) __Pyx_Arg_XDECREF_VARARGS(arg) +#endif +#if CYTHON_COMPILING_IN_CPYTHON && CYTHON_ASSUME_SAFE_MACROS && !CYTHON_AVOID_BORROWED_REFS +#define __Pyx_ArgsSlice_VARARGS(args, start, stop) __Pyx_PyTuple_FromArray(&__Pyx_Arg_VARARGS(args, start), stop - start) +#define __Pyx_ArgsSlice_FASTCALL(args, start, stop) __Pyx_PyTuple_FromArray(&__Pyx_Arg_FASTCALL(args, start), stop - start) +#else +#define __Pyx_ArgsSlice_VARARGS(args, start, stop) PyTuple_GetSlice(args, start, stop) +#define __Pyx_ArgsSlice_FASTCALL(args, start, stop) PyTuple_GetSlice(args, start, stop) +#endif + +/* RaiseArgTupleInvalid.proto */ +static void __Pyx_RaiseArgtupleInvalid(const char* func_name, int exact, + Py_ssize_t num_min, Py_ssize_t num_max, Py_ssize_t num_found); + +/* RaiseDoubleKeywords.proto */ +static void __Pyx_RaiseDoubleKeywordsError(const char* func_name, PyObject* kw_name); + +/* ParseKeywords.proto */ +static int __Pyx_ParseOptionalKeywords(PyObject *kwds, PyObject *const *kwvalues, + PyObject **argnames[], + PyObject *kwds2, PyObject *values[], Py_ssize_t num_pos_args, + const char* function_name); + +/* ArgTypeTest.proto */ +#define __Pyx_ArgTypeTest(obj, type, none_allowed, name, exact)\ + ((likely(__Pyx_IS_TYPE(obj, type) | (none_allowed && (obj == Py_None)))) ? 1 :\ + __Pyx__ArgTypeTest(obj, type, name, exact)) +static int __Pyx__ArgTypeTest(PyObject *obj, PyTypeObject *type, const char *name, int exact); + +/* RaiseException.proto */ +static void __Pyx_Raise(PyObject *type, PyObject *value, PyObject *tb, PyObject *cause); + +/* PyFunctionFastCall.proto */ +#if CYTHON_FAST_PYCALL +#if !CYTHON_VECTORCALL +#define __Pyx_PyFunction_FastCall(func, args, nargs)\ + __Pyx_PyFunction_FastCallDict((func), (args), (nargs), NULL) +static PyObject *__Pyx_PyFunction_FastCallDict(PyObject *func, PyObject **args, Py_ssize_t nargs, PyObject *kwargs); +#endif +#define __Pyx_BUILD_ASSERT_EXPR(cond)\ + (sizeof(char [1 - 2*!(cond)]) - 1) +#ifndef Py_MEMBER_SIZE +#define Py_MEMBER_SIZE(type, member) sizeof(((type *)0)->member) +#endif +#if !CYTHON_VECTORCALL +#if PY_VERSION_HEX >= 0x03080000 + #include "frameobject.h" +#if PY_VERSION_HEX >= 0x030b00a6 && !CYTHON_COMPILING_IN_LIMITED_API + #ifndef Py_BUILD_CORE + #define Py_BUILD_CORE 1 + #endif + #include "internal/pycore_frame.h" +#endif + #define __Pxy_PyFrame_Initialize_Offsets() + #define __Pyx_PyFrame_GetLocalsplus(frame) ((frame)->f_localsplus) +#else + static size_t __pyx_pyframe_localsplus_offset = 0; + #include "frameobject.h" + #define __Pxy_PyFrame_Initialize_Offsets()\ + ((void)__Pyx_BUILD_ASSERT_EXPR(sizeof(PyFrameObject) == offsetof(PyFrameObject, f_localsplus) + Py_MEMBER_SIZE(PyFrameObject, f_localsplus)),\ + (void)(__pyx_pyframe_localsplus_offset = ((size_t)PyFrame_Type.tp_basicsize) - Py_MEMBER_SIZE(PyFrameObject, f_localsplus))) + #define __Pyx_PyFrame_GetLocalsplus(frame)\ + (assert(__pyx_pyframe_localsplus_offset), (PyObject **)(((char *)(frame)) + __pyx_pyframe_localsplus_offset)) +#endif +#endif +#endif + +/* PyObjectCall.proto */ +#if CYTHON_COMPILING_IN_CPYTHON +static CYTHON_INLINE PyObject* __Pyx_PyObject_Call(PyObject *func, PyObject *arg, PyObject *kw); +#else +#define __Pyx_PyObject_Call(func, arg, kw) PyObject_Call(func, arg, kw) +#endif + +/* PyObjectCallMethO.proto */ +#if CYTHON_COMPILING_IN_CPYTHON +static CYTHON_INLINE PyObject* __Pyx_PyObject_CallMethO(PyObject *func, PyObject *arg); +#endif + +/* PyObjectFastCall.proto */ +#define __Pyx_PyObject_FastCall(func, args, nargs) __Pyx_PyObject_FastCallDict(func, args, (size_t)(nargs), NULL) +static CYTHON_INLINE PyObject* __Pyx_PyObject_FastCallDict(PyObject *func, PyObject **args, size_t nargs, PyObject *kwargs); + +/* RaiseUnexpectedTypeError.proto */ +static int __Pyx_RaiseUnexpectedTypeError(const char *expected, PyObject *obj); + +/* GCCDiagnostics.proto */ +#if !defined(__INTEL_COMPILER) && defined(__GNUC__) && (__GNUC__ > 4 || (__GNUC__ == 4 && __GNUC_MINOR__ >= 6)) +#define __Pyx_HAS_GCC_DIAGNOSTIC +#endif + +/* BuildPyUnicode.proto */ +static PyObject* __Pyx_PyUnicode_BuildFromAscii(Py_ssize_t ulength, char* chars, int clength, + int prepend_sign, char padding_char); + +/* CIntToPyUnicode.proto */ +static CYTHON_INLINE PyObject* __Pyx_PyUnicode_From_int(int value, Py_ssize_t width, char padding_char, char format_char); + +/* CIntToPyUnicode.proto */ +static CYTHON_INLINE PyObject* __Pyx_PyUnicode_From_Py_ssize_t(Py_ssize_t value, Py_ssize_t width, char padding_char, char format_char); + +/* JoinPyUnicode.proto */ +static PyObject* __Pyx_PyUnicode_Join(PyObject* value_tuple, Py_ssize_t value_count, Py_ssize_t result_ulength, + Py_UCS4 max_char); + +/* StrEquals.proto */ +#if PY_MAJOR_VERSION >= 3 +#define __Pyx_PyString_Equals __Pyx_PyUnicode_Equals +#else +#define __Pyx_PyString_Equals __Pyx_PyBytes_Equals +#endif + +/* PyObjectFormatSimple.proto */ +#if CYTHON_COMPILING_IN_PYPY + #define __Pyx_PyObject_FormatSimple(s, f) (\ + likely(PyUnicode_CheckExact(s)) ? (Py_INCREF(s), s) :\ + PyObject_Format(s, f)) +#elif PY_MAJOR_VERSION < 3 + #define __Pyx_PyObject_FormatSimple(s, f) (\ + likely(PyUnicode_CheckExact(s)) ? (Py_INCREF(s), s) :\ + likely(PyString_CheckExact(s)) ? PyUnicode_FromEncodedObject(s, NULL, "strict") :\ + PyObject_Format(s, f)) +#elif CYTHON_USE_TYPE_SLOTS + #define __Pyx_PyObject_FormatSimple(s, f) (\ + likely(PyUnicode_CheckExact(s)) ? (Py_INCREF(s), s) :\ + likely(PyLong_CheckExact(s)) ? PyLong_Type.tp_repr(s) :\ + likely(PyFloat_CheckExact(s)) ? PyFloat_Type.tp_repr(s) :\ + PyObject_Format(s, f)) +#else + #define __Pyx_PyObject_FormatSimple(s, f) (\ + likely(PyUnicode_CheckExact(s)) ? (Py_INCREF(s), s) :\ + PyObject_Format(s, f)) +#endif + +CYTHON_UNUSED static int __pyx_array_getbuffer(PyObject *__pyx_v_self, Py_buffer *__pyx_v_info, int __pyx_v_flags); /*proto*/ +static PyObject *__pyx_array_get_memview(struct __pyx_array_obj *); /*proto*/ +/* GetAttr.proto */ +static CYTHON_INLINE PyObject *__Pyx_GetAttr(PyObject *, PyObject *); + +/* GetItemInt.proto */ +#define __Pyx_GetItemInt(o, i, type, is_signed, to_py_func, is_list, wraparound, boundscheck)\ + (__Pyx_fits_Py_ssize_t(i, type, is_signed) ?\ + __Pyx_GetItemInt_Fast(o, (Py_ssize_t)i, is_list, wraparound, boundscheck) :\ + (is_list ? (PyErr_SetString(PyExc_IndexError, "list index out of range"), (PyObject*)NULL) :\ + __Pyx_GetItemInt_Generic(o, to_py_func(i)))) +#define __Pyx_GetItemInt_List(o, i, type, is_signed, to_py_func, is_list, wraparound, boundscheck)\ + (__Pyx_fits_Py_ssize_t(i, type, is_signed) ?\ + __Pyx_GetItemInt_List_Fast(o, (Py_ssize_t)i, wraparound, boundscheck) :\ + (PyErr_SetString(PyExc_IndexError, "list index out of range"), (PyObject*)NULL)) +static CYTHON_INLINE PyObject *__Pyx_GetItemInt_List_Fast(PyObject *o, Py_ssize_t i, + int wraparound, int boundscheck); +#define __Pyx_GetItemInt_Tuple(o, i, type, is_signed, to_py_func, is_list, wraparound, boundscheck)\ + (__Pyx_fits_Py_ssize_t(i, type, is_signed) ?\ + __Pyx_GetItemInt_Tuple_Fast(o, (Py_ssize_t)i, wraparound, boundscheck) :\ + (PyErr_SetString(PyExc_IndexError, "tuple index out of range"), (PyObject*)NULL)) +static CYTHON_INLINE PyObject *__Pyx_GetItemInt_Tuple_Fast(PyObject *o, Py_ssize_t i, + int wraparound, int boundscheck); +static PyObject *__Pyx_GetItemInt_Generic(PyObject *o, PyObject* j); +static CYTHON_INLINE PyObject *__Pyx_GetItemInt_Fast(PyObject *o, Py_ssize_t i, + int is_list, int wraparound, int boundscheck); + +/* PyObjectCallOneArg.proto */ +static CYTHON_INLINE PyObject* __Pyx_PyObject_CallOneArg(PyObject *func, PyObject *arg); + +/* ObjectGetItem.proto */ +#if CYTHON_USE_TYPE_SLOTS +static CYTHON_INLINE PyObject *__Pyx_PyObject_GetItem(PyObject *obj, PyObject *key); +#else +#define __Pyx_PyObject_GetItem(obj, key) PyObject_GetItem(obj, key) +#endif + +/* KeywordStringCheck.proto */ +static int __Pyx_CheckKeywordStrings(PyObject *kw, const char* function_name, int kw_allowed); + +/* DivInt[Py_ssize_t].proto */ +static CYTHON_INLINE Py_ssize_t __Pyx_div_Py_ssize_t(Py_ssize_t, Py_ssize_t); + +/* UnaryNegOverflows.proto */ +#define __Pyx_UNARY_NEG_WOULD_OVERFLOW(x)\ + (((x) < 0) & ((unsigned long)(x) == 0-(unsigned long)(x))) + +/* GetAttr3.proto */ +static CYTHON_INLINE PyObject *__Pyx_GetAttr3(PyObject *, PyObject *, PyObject *); + +/* PyDictVersioning.proto */ +#if CYTHON_USE_DICT_VERSIONS && CYTHON_USE_TYPE_SLOTS +#define __PYX_DICT_VERSION_INIT ((PY_UINT64_T) -1) +#define __PYX_GET_DICT_VERSION(dict) (((PyDictObject*)(dict))->ma_version_tag) +#define __PYX_UPDATE_DICT_CACHE(dict, value, cache_var, version_var)\ + (version_var) = __PYX_GET_DICT_VERSION(dict);\ + (cache_var) = (value); +#define __PYX_PY_DICT_LOOKUP_IF_MODIFIED(VAR, DICT, LOOKUP) {\ + static PY_UINT64_T __pyx_dict_version = 0;\ + static PyObject *__pyx_dict_cached_value = NULL;\ + if (likely(__PYX_GET_DICT_VERSION(DICT) == __pyx_dict_version)) {\ + (VAR) = __pyx_dict_cached_value;\ + } else {\ + (VAR) = __pyx_dict_cached_value = (LOOKUP);\ + __pyx_dict_version = __PYX_GET_DICT_VERSION(DICT);\ + }\ +} +static CYTHON_INLINE PY_UINT64_T __Pyx_get_tp_dict_version(PyObject *obj); +static CYTHON_INLINE PY_UINT64_T __Pyx_get_object_dict_version(PyObject *obj); +static CYTHON_INLINE int __Pyx_object_dict_version_matches(PyObject* obj, PY_UINT64_T tp_dict_version, PY_UINT64_T obj_dict_version); +#else +#define __PYX_GET_DICT_VERSION(dict) (0) +#define __PYX_UPDATE_DICT_CACHE(dict, value, cache_var, version_var) +#define __PYX_PY_DICT_LOOKUP_IF_MODIFIED(VAR, DICT, LOOKUP) (VAR) = (LOOKUP); +#endif + +/* GetModuleGlobalName.proto */ +#if CYTHON_USE_DICT_VERSIONS +#define __Pyx_GetModuleGlobalName(var, name) do {\ + static PY_UINT64_T __pyx_dict_version = 0;\ + static PyObject *__pyx_dict_cached_value = NULL;\ + (var) = (likely(__pyx_dict_version == __PYX_GET_DICT_VERSION(__pyx_d))) ?\ + (likely(__pyx_dict_cached_value) ? __Pyx_NewRef(__pyx_dict_cached_value) : __Pyx_GetBuiltinName(name)) :\ + __Pyx__GetModuleGlobalName(name, &__pyx_dict_version, &__pyx_dict_cached_value);\ +} while(0) +#define __Pyx_GetModuleGlobalNameUncached(var, name) do {\ + PY_UINT64_T __pyx_dict_version;\ + PyObject *__pyx_dict_cached_value;\ + (var) = __Pyx__GetModuleGlobalName(name, &__pyx_dict_version, &__pyx_dict_cached_value);\ +} while(0) +static PyObject *__Pyx__GetModuleGlobalName(PyObject *name, PY_UINT64_T *dict_version, PyObject **dict_cached_value); +#else +#define __Pyx_GetModuleGlobalName(var, name) (var) = __Pyx__GetModuleGlobalName(name) +#define __Pyx_GetModuleGlobalNameUncached(var, name) (var) = __Pyx__GetModuleGlobalName(name) +static CYTHON_INLINE PyObject *__Pyx__GetModuleGlobalName(PyObject *name); +#endif + +/* AssertionsEnabled.proto */ +#if CYTHON_COMPILING_IN_PYPY && PY_VERSION_HEX < 0x02070600 && !defined(Py_OptimizeFlag) + #define __Pyx_init_assertions_enabled() (0) + #define __pyx_assertions_enabled() (1) +#elif CYTHON_COMPILING_IN_LIMITED_API || (CYTHON_COMPILING_IN_CPYTHON && PY_VERSION_HEX >= 0x030C0000) + static int __pyx_assertions_enabled_flag; + #define __pyx_assertions_enabled() (__pyx_assertions_enabled_flag) + static int __Pyx_init_assertions_enabled(void) { + PyObject *builtins, *debug, *debug_str; + int flag; + builtins = PyEval_GetBuiltins(); + if (!builtins) goto bad; + debug_str = PyUnicode_FromStringAndSize("__debug__", 9); + if (!debug_str) goto bad; + debug = PyObject_GetItem(builtins, debug_str); + Py_DECREF(debug_str); + if (!debug) goto bad; + flag = PyObject_IsTrue(debug); + Py_DECREF(debug); + if (flag == -1) goto bad; + __pyx_assertions_enabled_flag = flag; + return 0; + bad: + __pyx_assertions_enabled_flag = 1; + return -1; + } +#else + #define __Pyx_init_assertions_enabled() (0) + #define __pyx_assertions_enabled() (!Py_OptimizeFlag) +#endif + +/* RaiseTooManyValuesToUnpack.proto */ +static CYTHON_INLINE void __Pyx_RaiseTooManyValuesError(Py_ssize_t expected); + +/* RaiseNeedMoreValuesToUnpack.proto */ +static CYTHON_INLINE void __Pyx_RaiseNeedMoreValuesError(Py_ssize_t index); + +/* RaiseNoneIterError.proto */ +static CYTHON_INLINE void __Pyx_RaiseNoneNotIterableError(void); + +/* ExtTypeTest.proto */ +static CYTHON_INLINE int __Pyx_TypeTest(PyObject *obj, PyTypeObject *type); + +/* GetTopmostException.proto */ +#if CYTHON_USE_EXC_INFO_STACK && CYTHON_FAST_THREAD_STATE +static _PyErr_StackItem * __Pyx_PyErr_GetTopmostException(PyThreadState *tstate); +#endif + +/* SaveResetException.proto */ +#if CYTHON_FAST_THREAD_STATE +#define __Pyx_ExceptionSave(type, value, tb) __Pyx__ExceptionSave(__pyx_tstate, type, value, tb) +static CYTHON_INLINE void __Pyx__ExceptionSave(PyThreadState *tstate, PyObject **type, PyObject **value, PyObject **tb); +#define __Pyx_ExceptionReset(type, value, tb) __Pyx__ExceptionReset(__pyx_tstate, type, value, tb) +static CYTHON_INLINE void __Pyx__ExceptionReset(PyThreadState *tstate, PyObject *type, PyObject *value, PyObject *tb); +#else +#define __Pyx_ExceptionSave(type, value, tb) PyErr_GetExcInfo(type, value, tb) +#define __Pyx_ExceptionReset(type, value, tb) PyErr_SetExcInfo(type, value, tb) +#endif + +/* GetException.proto */ +#if CYTHON_FAST_THREAD_STATE +#define __Pyx_GetException(type, value, tb) __Pyx__GetException(__pyx_tstate, type, value, tb) +static int __Pyx__GetException(PyThreadState *tstate, PyObject **type, PyObject **value, PyObject **tb); +#else +static int __Pyx_GetException(PyObject **type, PyObject **value, PyObject **tb); +#endif + +/* SwapException.proto */ +#if CYTHON_FAST_THREAD_STATE +#define __Pyx_ExceptionSwap(type, value, tb) __Pyx__ExceptionSwap(__pyx_tstate, type, value, tb) +static CYTHON_INLINE void __Pyx__ExceptionSwap(PyThreadState *tstate, PyObject **type, PyObject **value, PyObject **tb); +#else +static CYTHON_INLINE void __Pyx_ExceptionSwap(PyObject **type, PyObject **value, PyObject **tb); +#endif + +/* Import.proto */ +static PyObject *__Pyx_Import(PyObject *name, PyObject *from_list, int level); + +/* ImportDottedModule.proto */ +static PyObject *__Pyx_ImportDottedModule(PyObject *name, PyObject *parts_tuple); +#if PY_MAJOR_VERSION >= 3 +static PyObject *__Pyx_ImportDottedModule_WalkParts(PyObject *module, PyObject *name, PyObject *parts_tuple); +#endif + +/* FastTypeChecks.proto */ +#if CYTHON_COMPILING_IN_CPYTHON +#define __Pyx_TypeCheck(obj, type) __Pyx_IsSubtype(Py_TYPE(obj), (PyTypeObject *)type) +#define __Pyx_TypeCheck2(obj, type1, type2) __Pyx_IsAnySubtype2(Py_TYPE(obj), (PyTypeObject *)type1, (PyTypeObject *)type2) +static CYTHON_INLINE int __Pyx_IsSubtype(PyTypeObject *a, PyTypeObject *b); +static CYTHON_INLINE int __Pyx_IsAnySubtype2(PyTypeObject *cls, PyTypeObject *a, PyTypeObject *b); +static CYTHON_INLINE int __Pyx_PyErr_GivenExceptionMatches(PyObject *err, PyObject *type); +static CYTHON_INLINE int __Pyx_PyErr_GivenExceptionMatches2(PyObject *err, PyObject *type1, PyObject *type2); +#else +#define __Pyx_TypeCheck(obj, type) PyObject_TypeCheck(obj, (PyTypeObject *)type) +#define __Pyx_TypeCheck2(obj, type1, type2) (PyObject_TypeCheck(obj, (PyTypeObject *)type1) || PyObject_TypeCheck(obj, (PyTypeObject *)type2)) +#define __Pyx_PyErr_GivenExceptionMatches(err, type) PyErr_GivenExceptionMatches(err, type) +#define __Pyx_PyErr_GivenExceptionMatches2(err, type1, type2) (PyErr_GivenExceptionMatches(err, type1) || PyErr_GivenExceptionMatches(err, type2)) +#endif +#define __Pyx_PyErr_ExceptionMatches2(err1, err2) __Pyx_PyErr_GivenExceptionMatches2(__Pyx_PyErr_CurrentExceptionType(), err1, err2) +#define __Pyx_PyException_Check(obj) __Pyx_TypeCheck(obj, PyExc_Exception) + +CYTHON_UNUSED static int __pyx_memoryview_getbuffer(PyObject *__pyx_v_self, Py_buffer *__pyx_v_info, int __pyx_v_flags); /*proto*/ +/* ListCompAppend.proto */ +#if CYTHON_USE_PYLIST_INTERNALS && CYTHON_ASSUME_SAFE_MACROS +static CYTHON_INLINE int __Pyx_ListComp_Append(PyObject* list, PyObject* x) { + PyListObject* L = (PyListObject*) list; + Py_ssize_t len = Py_SIZE(list); + if (likely(L->allocated > len)) { + Py_INCREF(x); + #if CYTHON_COMPILING_IN_CPYTHON && PY_VERSION_HEX >= 0x030d0000 + L->ob_item[len] = x; + #else + PyList_SET_ITEM(list, len, x); + #endif + __Pyx_SET_SIZE(list, len + 1); + return 0; + } + return PyList_Append(list, x); +} +#else +#define __Pyx_ListComp_Append(L,x) PyList_Append(L,x) +#endif + +/* PySequenceMultiply.proto */ +#define __Pyx_PySequence_Multiply_Left(mul, seq) __Pyx_PySequence_Multiply(seq, mul) +static CYTHON_INLINE PyObject* __Pyx_PySequence_Multiply(PyObject *seq, Py_ssize_t mul); + +/* SetItemInt.proto */ +#define __Pyx_SetItemInt(o, i, v, type, is_signed, to_py_func, is_list, wraparound, boundscheck)\ + (__Pyx_fits_Py_ssize_t(i, type, is_signed) ?\ + __Pyx_SetItemInt_Fast(o, (Py_ssize_t)i, v, is_list, wraparound, boundscheck) :\ + (is_list ? (PyErr_SetString(PyExc_IndexError, "list assignment index out of range"), -1) :\ + __Pyx_SetItemInt_Generic(o, to_py_func(i), v))) +static int __Pyx_SetItemInt_Generic(PyObject *o, PyObject *j, PyObject *v); +static CYTHON_INLINE int __Pyx_SetItemInt_Fast(PyObject *o, Py_ssize_t i, PyObject *v, + int is_list, int wraparound, int boundscheck); + +/* RaiseUnboundLocalError.proto */ +static CYTHON_INLINE void __Pyx_RaiseUnboundLocalError(const char *varname); + +/* DivInt[long].proto */ +static CYTHON_INLINE long __Pyx_div_long(long, long); + +/* PySequenceContains.proto */ +static CYTHON_INLINE int __Pyx_PySequence_ContainsTF(PyObject* item, PyObject* seq, int eq) { + int result = PySequence_Contains(seq, item); + return unlikely(result < 0) ? result : (result == (eq == Py_EQ)); +} + +/* ImportFrom.proto */ +static PyObject* __Pyx_ImportFrom(PyObject* module, PyObject* name); + +/* HasAttr.proto */ +#if __PYX_LIMITED_VERSION_HEX >= 0x030d00A1 +#define __Pyx_HasAttr(o, n) PyObject_HasAttrWithError(o, n) +#else +static CYTHON_INLINE int __Pyx_HasAttr(PyObject *, PyObject *); +#endif + +/* MoveIfSupported.proto */ +#if CYTHON_USE_CPP_STD_MOVE + #include + #define __PYX_STD_MOVE_IF_SUPPORTED(x) std::move(x) +#else + #define __PYX_STD_MOVE_IF_SUPPORTED(x) x +#endif + +/* BufferIndexError.proto */ +static void __Pyx_RaiseBufferIndexError(int axis); + +/* PyObject_GenericGetAttrNoDict.proto */ +#if CYTHON_USE_TYPE_SLOTS && CYTHON_USE_PYTYPE_LOOKUP && PY_VERSION_HEX < 0x03070000 +static CYTHON_INLINE PyObject* __Pyx_PyObject_GenericGetAttrNoDict(PyObject* obj, PyObject* attr_name); +#else +#define __Pyx_PyObject_GenericGetAttrNoDict PyObject_GenericGetAttr +#endif + +/* PyObject_GenericGetAttr.proto */ +#if CYTHON_USE_TYPE_SLOTS && CYTHON_USE_PYTYPE_LOOKUP && PY_VERSION_HEX < 0x03070000 +static PyObject* __Pyx_PyObject_GenericGetAttr(PyObject* obj, PyObject* attr_name); +#else +#define __Pyx_PyObject_GenericGetAttr PyObject_GenericGetAttr +#endif + +/* IncludeStructmemberH.proto */ +#include + +/* FixUpExtensionType.proto */ +#if CYTHON_USE_TYPE_SPECS +static int __Pyx_fix_up_extension_type_from_spec(PyType_Spec *spec, PyTypeObject *type); +#endif + +/* PyObjectCallNoArg.proto */ +static CYTHON_INLINE PyObject* __Pyx_PyObject_CallNoArg(PyObject *func); + +/* PyObjectGetMethod.proto */ +static int __Pyx_PyObject_GetMethod(PyObject *obj, PyObject *name, PyObject **method); + +/* PyObjectCallMethod0.proto */ +static PyObject* __Pyx_PyObject_CallMethod0(PyObject* obj, PyObject* method_name); + +/* ValidateBasesTuple.proto */ +#if CYTHON_COMPILING_IN_CPYTHON || CYTHON_COMPILING_IN_LIMITED_API || CYTHON_USE_TYPE_SPECS +static int __Pyx_validate_bases_tuple(const char *type_name, Py_ssize_t dictoffset, PyObject *bases); +#endif + +/* PyType_Ready.proto */ +CYTHON_UNUSED static int __Pyx_PyType_Ready(PyTypeObject *t); + +/* SetupReduce.proto */ +#if !CYTHON_COMPILING_IN_LIMITED_API +static int __Pyx_setup_reduce(PyObject* type_obj); +#endif + +/* SetVTable.proto */ +static int __Pyx_SetVtable(PyTypeObject* typeptr , void* vtable); + +/* GetVTable.proto */ +static void* __Pyx_GetVtable(PyTypeObject *type); + +/* MergeVTables.proto */ +#if !CYTHON_COMPILING_IN_LIMITED_API +static int __Pyx_MergeVtables(PyTypeObject *type); +#endif + +/* TypeImport.proto */ +#ifndef __PYX_HAVE_RT_ImportType_proto_3_0_8 +#define __PYX_HAVE_RT_ImportType_proto_3_0_8 +#if defined (__STDC_VERSION__) && __STDC_VERSION__ >= 201112L +#include +#endif +#if (defined (__STDC_VERSION__) && __STDC_VERSION__ >= 201112L) || __cplusplus >= 201103L +#define __PYX_GET_STRUCT_ALIGNMENT_3_0_8(s) alignof(s) +#else +#define __PYX_GET_STRUCT_ALIGNMENT_3_0_8(s) sizeof(void*) +#endif +enum __Pyx_ImportType_CheckSize_3_0_8 { + __Pyx_ImportType_CheckSize_Error_3_0_8 = 0, + __Pyx_ImportType_CheckSize_Warn_3_0_8 = 1, + __Pyx_ImportType_CheckSize_Ignore_3_0_8 = 2 +}; +static PyTypeObject *__Pyx_ImportType_3_0_8(PyObject* module, const char *module_name, const char *class_name, size_t size, size_t alignment, enum __Pyx_ImportType_CheckSize_3_0_8 check_size); +#endif + +/* SetNameInClass.proto */ +#if CYTHON_COMPILING_IN_CPYTHON && PY_VERSION_HEX >= 0x030500A1 && PY_VERSION_HEX < 0x030d0000 +#define __Pyx_SetNameInClass(ns, name, value)\ + (likely(PyDict_CheckExact(ns)) ? _PyDict_SetItem_KnownHash(ns, name, value, ((PyASCIIObject *) name)->hash) : PyObject_SetItem(ns, name, value)) +#elif CYTHON_COMPILING_IN_CPYTHON +#define __Pyx_SetNameInClass(ns, name, value)\ + (likely(PyDict_CheckExact(ns)) ? PyDict_SetItem(ns, name, value) : PyObject_SetItem(ns, name, value)) +#else +#define __Pyx_SetNameInClass(ns, name, value) PyObject_SetItem(ns, name, value) +#endif + +/* CalculateMetaclass.proto */ +static PyObject *__Pyx_CalculateMetaclass(PyTypeObject *metaclass, PyObject *bases); + +/* PyObjectCall2Args.proto */ +static CYTHON_INLINE PyObject* __Pyx_PyObject_Call2Args(PyObject* function, PyObject* arg1, PyObject* arg2); + +/* PyObjectLookupSpecial.proto */ +#if CYTHON_USE_PYTYPE_LOOKUP && CYTHON_USE_TYPE_SLOTS +#define __Pyx_PyObject_LookupSpecialNoError(obj, attr_name) __Pyx__PyObject_LookupSpecial(obj, attr_name, 0) +#define __Pyx_PyObject_LookupSpecial(obj, attr_name) __Pyx__PyObject_LookupSpecial(obj, attr_name, 1) +static CYTHON_INLINE PyObject* __Pyx__PyObject_LookupSpecial(PyObject* obj, PyObject* attr_name, int with_error); +#else +#define __Pyx_PyObject_LookupSpecialNoError(o,n) __Pyx_PyObject_GetAttrStrNoError(o,n) +#define __Pyx_PyObject_LookupSpecial(o,n) __Pyx_PyObject_GetAttrStr(o,n) +#endif + +/* Py3ClassCreate.proto */ +static PyObject *__Pyx_Py3MetaclassPrepare(PyObject *metaclass, PyObject *bases, PyObject *name, PyObject *qualname, + PyObject *mkw, PyObject *modname, PyObject *doc); +static PyObject *__Pyx_Py3ClassCreate(PyObject *metaclass, PyObject *name, PyObject *bases, PyObject *dict, + PyObject *mkw, int calculate_metaclass, int allow_py2_metaclass); + +/* FetchSharedCythonModule.proto */ +static PyObject *__Pyx_FetchSharedCythonABIModule(void); + +/* FetchCommonType.proto */ +#if !CYTHON_USE_TYPE_SPECS +static PyTypeObject* __Pyx_FetchCommonType(PyTypeObject* type); +#else +static PyTypeObject* __Pyx_FetchCommonTypeFromSpec(PyObject *module, PyType_Spec *spec, PyObject *bases); +#endif + +/* PyMethodNew.proto */ +#if CYTHON_COMPILING_IN_LIMITED_API +static PyObject *__Pyx_PyMethod_New(PyObject *func, PyObject *self, PyObject *typ) { + PyObject *typesModule=NULL, *methodType=NULL, *result=NULL; + CYTHON_UNUSED_VAR(typ); + if (!self) + return __Pyx_NewRef(func); + typesModule = PyImport_ImportModule("types"); + if (!typesModule) return NULL; + methodType = PyObject_GetAttrString(typesModule, "MethodType"); + Py_DECREF(typesModule); + if (!methodType) return NULL; + result = PyObject_CallFunctionObjArgs(methodType, func, self, NULL); + Py_DECREF(methodType); + return result; +} +#elif PY_MAJOR_VERSION >= 3 +static PyObject *__Pyx_PyMethod_New(PyObject *func, PyObject *self, PyObject *typ) { + CYTHON_UNUSED_VAR(typ); + if (!self) + return __Pyx_NewRef(func); + return PyMethod_New(func, self); +} +#else + #define __Pyx_PyMethod_New PyMethod_New +#endif + +/* PyVectorcallFastCallDict.proto */ +#if CYTHON_METH_FASTCALL +static CYTHON_INLINE PyObject *__Pyx_PyVectorcall_FastCallDict(PyObject *func, __pyx_vectorcallfunc vc, PyObject *const *args, size_t nargs, PyObject *kw); +#endif + +/* CythonFunctionShared.proto */ +#define __Pyx_CyFunction_USED +#define __Pyx_CYFUNCTION_STATICMETHOD 0x01 +#define __Pyx_CYFUNCTION_CLASSMETHOD 0x02 +#define __Pyx_CYFUNCTION_CCLASS 0x04 +#define __Pyx_CYFUNCTION_COROUTINE 0x08 +#define __Pyx_CyFunction_GetClosure(f)\ + (((__pyx_CyFunctionObject *) (f))->func_closure) +#if PY_VERSION_HEX < 0x030900B1 || CYTHON_COMPILING_IN_LIMITED_API + #define __Pyx_CyFunction_GetClassObj(f)\ + (((__pyx_CyFunctionObject *) (f))->func_classobj) +#else + #define __Pyx_CyFunction_GetClassObj(f)\ + ((PyObject*) ((PyCMethodObject *) (f))->mm_class) +#endif +#define __Pyx_CyFunction_SetClassObj(f, classobj)\ + __Pyx__CyFunction_SetClassObj((__pyx_CyFunctionObject *) (f), (classobj)) +#define __Pyx_CyFunction_Defaults(type, f)\ + ((type *)(((__pyx_CyFunctionObject *) (f))->defaults)) +#define __Pyx_CyFunction_SetDefaultsGetter(f, g)\ + ((__pyx_CyFunctionObject *) (f))->defaults_getter = (g) +typedef struct { +#if CYTHON_COMPILING_IN_LIMITED_API + PyObject_HEAD + PyObject *func; +#elif PY_VERSION_HEX < 0x030900B1 + PyCFunctionObject func; +#else + PyCMethodObject func; +#endif +#if CYTHON_BACKPORT_VECTORCALL + __pyx_vectorcallfunc func_vectorcall; +#endif +#if PY_VERSION_HEX < 0x030500A0 || CYTHON_COMPILING_IN_LIMITED_API + PyObject *func_weakreflist; +#endif + PyObject *func_dict; + PyObject *func_name; + PyObject *func_qualname; + PyObject *func_doc; + PyObject *func_globals; + PyObject *func_code; + PyObject *func_closure; +#if PY_VERSION_HEX < 0x030900B1 || CYTHON_COMPILING_IN_LIMITED_API + PyObject *func_classobj; +#endif + void *defaults; + int defaults_pyobjects; + size_t defaults_size; + int flags; + PyObject *defaults_tuple; + PyObject *defaults_kwdict; + PyObject *(*defaults_getter)(PyObject *); + PyObject *func_annotations; + PyObject *func_is_coroutine; +} __pyx_CyFunctionObject; +#undef __Pyx_CyOrPyCFunction_Check +#define __Pyx_CyFunction_Check(obj) __Pyx_TypeCheck(obj, __pyx_CyFunctionType) +#define __Pyx_CyOrPyCFunction_Check(obj) __Pyx_TypeCheck2(obj, __pyx_CyFunctionType, &PyCFunction_Type) +#define __Pyx_CyFunction_CheckExact(obj) __Pyx_IS_TYPE(obj, __pyx_CyFunctionType) +static CYTHON_INLINE int __Pyx__IsSameCyOrCFunction(PyObject *func, void *cfunc); +#undef __Pyx_IsSameCFunction +#define __Pyx_IsSameCFunction(func, cfunc) __Pyx__IsSameCyOrCFunction(func, cfunc) +static PyObject *__Pyx_CyFunction_Init(__pyx_CyFunctionObject* op, PyMethodDef *ml, + int flags, PyObject* qualname, + PyObject *closure, + PyObject *module, PyObject *globals, + PyObject* code); +static CYTHON_INLINE void __Pyx__CyFunction_SetClassObj(__pyx_CyFunctionObject* f, PyObject* classobj); +static CYTHON_INLINE void *__Pyx_CyFunction_InitDefaults(PyObject *m, + size_t size, + int pyobjects); +static CYTHON_INLINE void __Pyx_CyFunction_SetDefaultsTuple(PyObject *m, + PyObject *tuple); +static CYTHON_INLINE void __Pyx_CyFunction_SetDefaultsKwDict(PyObject *m, + PyObject *dict); +static CYTHON_INLINE void __Pyx_CyFunction_SetAnnotationsDict(PyObject *m, + PyObject *dict); +static int __pyx_CyFunction_init(PyObject *module); +#if CYTHON_METH_FASTCALL +static PyObject * __Pyx_CyFunction_Vectorcall_NOARGS(PyObject *func, PyObject *const *args, size_t nargsf, PyObject *kwnames); +static PyObject * __Pyx_CyFunction_Vectorcall_O(PyObject *func, PyObject *const *args, size_t nargsf, PyObject *kwnames); +static PyObject * __Pyx_CyFunction_Vectorcall_FASTCALL_KEYWORDS(PyObject *func, PyObject *const *args, size_t nargsf, PyObject *kwnames); +static PyObject * __Pyx_CyFunction_Vectorcall_FASTCALL_KEYWORDS_METHOD(PyObject *func, PyObject *const *args, size_t nargsf, PyObject *kwnames); +#if CYTHON_BACKPORT_VECTORCALL +#define __Pyx_CyFunction_func_vectorcall(f) (((__pyx_CyFunctionObject*)f)->func_vectorcall) +#else +#define __Pyx_CyFunction_func_vectorcall(f) (((PyCFunctionObject*)f)->vectorcall) +#endif +#endif + +/* CythonFunction.proto */ +static PyObject *__Pyx_CyFunction_New(PyMethodDef *ml, + int flags, PyObject* qualname, + PyObject *closure, + PyObject *module, PyObject *globals, + PyObject* code); + +/* CLineInTraceback.proto */ +#ifdef CYTHON_CLINE_IN_TRACEBACK +#define __Pyx_CLineForTraceback(tstate, c_line) (((CYTHON_CLINE_IN_TRACEBACK)) ? c_line : 0) +#else +static int __Pyx_CLineForTraceback(PyThreadState *tstate, int c_line); +#endif + +/* CodeObjectCache.proto */ +#if !CYTHON_COMPILING_IN_LIMITED_API +typedef struct { + PyCodeObject* code_object; + int code_line; +} __Pyx_CodeObjectCacheEntry; +struct __Pyx_CodeObjectCache { + int count; + int max_count; + __Pyx_CodeObjectCacheEntry* entries; +}; +static struct __Pyx_CodeObjectCache __pyx_code_cache = {0,0,NULL}; +static int __pyx_bisect_code_objects(__Pyx_CodeObjectCacheEntry* entries, int count, int code_line); +static PyCodeObject *__pyx_find_code_object(int code_line); +static void __pyx_insert_code_object(int code_line, PyCodeObject* code_object); +#endif + +/* AddTraceback.proto */ +static void __Pyx_AddTraceback(const char *funcname, int c_line, + int py_line, const char *filename); + +#if PY_MAJOR_VERSION < 3 + static int __Pyx_GetBuffer(PyObject *obj, Py_buffer *view, int flags); + static void __Pyx_ReleaseBuffer(Py_buffer *view); +#else + #define __Pyx_GetBuffer PyObject_GetBuffer + #define __Pyx_ReleaseBuffer PyBuffer_Release +#endif + + +/* BufferStructDeclare.proto */ +typedef struct { + Py_ssize_t shape, strides, suboffsets; +} __Pyx_Buf_DimInfo; +typedef struct { + size_t refcount; + Py_buffer pybuffer; +} __Pyx_Buffer; +typedef struct { + __Pyx_Buffer *rcbuffer; + char *data; + __Pyx_Buf_DimInfo diminfo[8]; +} __Pyx_LocalBuf_ND; + +/* MemviewSliceIsContig.proto */ +static int __pyx_memviewslice_is_contig(const __Pyx_memviewslice mvs, char order, int ndim); + +/* OverlappingSlices.proto */ +static int __pyx_slices_overlap(__Pyx_memviewslice *slice1, + __Pyx_memviewslice *slice2, + int ndim, size_t itemsize); + +/* IsLittleEndian.proto */ +static CYTHON_INLINE int __Pyx_Is_Little_Endian(void); + +/* BufferFormatCheck.proto */ +static const char* __Pyx_BufFmt_CheckString(__Pyx_BufFmt_Context* ctx, const char* ts); +static void __Pyx_BufFmt_Init(__Pyx_BufFmt_Context* ctx, + __Pyx_BufFmt_StackElem* stack, + __Pyx_TypeInfo* type); + +/* TypeInfoCompare.proto */ +static int __pyx_typeinfo_cmp(__Pyx_TypeInfo *a, __Pyx_TypeInfo *b); + +/* MemviewSliceValidateAndInit.proto */ +static int __Pyx_ValidateAndInit_memviewslice( + int *axes_specs, + int c_or_f_flag, + int buf_flags, + int ndim, + __Pyx_TypeInfo *dtype, + __Pyx_BufFmt_StackElem stack[], + __Pyx_memviewslice *memviewslice, + PyObject *original_obj); + +/* ObjectToMemviewSlice.proto */ +static CYTHON_INLINE __Pyx_memviewslice __Pyx_PyObject_to_MemoryviewSlice_ds_float(PyObject *, int writable_flag); + +/* MemviewDtypeToObject.proto */ +static CYTHON_INLINE PyObject *__pyx_memview_get_float(const char *itemp); +static CYTHON_INLINE int __pyx_memview_set_float(const char *itemp, PyObject *obj); + +/* MemviewSliceCopyTemplate.proto */ +static __Pyx_memviewslice +__pyx_memoryview_copy_new_contig(const __Pyx_memviewslice *from_mvs, + const char *mode, int ndim, + size_t sizeof_dtype, int contig_flag, + int dtype_is_object); + +/* MemviewSliceInit.proto */ +#define __Pyx_BUF_MAX_NDIMS %(BUF_MAX_NDIMS)d +#define __Pyx_MEMVIEW_DIRECT 1 +#define __Pyx_MEMVIEW_PTR 2 +#define __Pyx_MEMVIEW_FULL 4 +#define __Pyx_MEMVIEW_CONTIG 8 +#define __Pyx_MEMVIEW_STRIDED 16 +#define __Pyx_MEMVIEW_FOLLOW 32 +#define __Pyx_IS_C_CONTIG 1 +#define __Pyx_IS_F_CONTIG 2 +static int __Pyx_init_memviewslice( + struct __pyx_memoryview_obj *memview, + int ndim, + __Pyx_memviewslice *memviewslice, + int memview_is_new_reference); +static CYTHON_INLINE int __pyx_add_acquisition_count_locked( + __pyx_atomic_int_type *acquisition_count, PyThread_type_lock lock); +static CYTHON_INLINE int __pyx_sub_acquisition_count_locked( + __pyx_atomic_int_type *acquisition_count, PyThread_type_lock lock); +#define __pyx_get_slice_count_pointer(memview) (&memview->acquisition_count) +#define __PYX_INC_MEMVIEW(slice, have_gil) __Pyx_INC_MEMVIEW(slice, have_gil, __LINE__) +#define __PYX_XCLEAR_MEMVIEW(slice, have_gil) __Pyx_XCLEAR_MEMVIEW(slice, have_gil, __LINE__) +static CYTHON_INLINE void __Pyx_INC_MEMVIEW(__Pyx_memviewslice *, int, int); +static CYTHON_INLINE void __Pyx_XCLEAR_MEMVIEW(__Pyx_memviewslice *, int, int); + +/* CIntToPy.proto */ +static CYTHON_INLINE PyObject* __Pyx_PyInt_From_int(int value); + +/* CppExceptionConversion.proto */ +#ifndef __Pyx_CppExn2PyErr +#include +#include +#include +#include +static void __Pyx_CppExn2PyErr() { + try { + if (PyErr_Occurred()) + ; // let the latest Python exn pass through and ignore the current one + else + throw; + } catch (const std::bad_alloc& exn) { + PyErr_SetString(PyExc_MemoryError, exn.what()); + } catch (const std::bad_cast& exn) { + PyErr_SetString(PyExc_TypeError, exn.what()); + } catch (const std::bad_typeid& exn) { + PyErr_SetString(PyExc_TypeError, exn.what()); + } catch (const std::domain_error& exn) { + PyErr_SetString(PyExc_ValueError, exn.what()); + } catch (const std::invalid_argument& exn) { + PyErr_SetString(PyExc_ValueError, exn.what()); + } catch (const std::ios_base::failure& exn) { + PyErr_SetString(PyExc_IOError, exn.what()); + } catch (const std::out_of_range& exn) { + PyErr_SetString(PyExc_IndexError, exn.what()); + } catch (const std::overflow_error& exn) { + PyErr_SetString(PyExc_OverflowError, exn.what()); + } catch (const std::range_error& exn) { + PyErr_SetString(PyExc_ArithmeticError, exn.what()); + } catch (const std::underflow_error& exn) { + PyErr_SetString(PyExc_ArithmeticError, exn.what()); + } catch (const std::exception& exn) { + PyErr_SetString(PyExc_RuntimeError, exn.what()); + } + catch (...) + { + PyErr_SetString(PyExc_RuntimeError, "Unknown exception"); + } +} +#endif + +/* None.proto */ +#include + +/* CIntFromPy.proto */ +static CYTHON_INLINE int __Pyx_PyInt_As_int(PyObject *); + +/* CIntFromPy.proto */ +static CYTHON_INLINE long __Pyx_PyInt_As_long(PyObject *); + +/* CIntToPy.proto */ +static CYTHON_INLINE PyObject* __Pyx_PyInt_From_long(long value); + +/* CIntFromPy.proto */ +static CYTHON_INLINE char __Pyx_PyInt_As_char(PyObject *); + +/* FormatTypeName.proto */ +#if CYTHON_COMPILING_IN_LIMITED_API +typedef PyObject *__Pyx_TypeName; +#define __Pyx_FMT_TYPENAME "%U" +static __Pyx_TypeName __Pyx_PyType_GetName(PyTypeObject* tp); +#define __Pyx_DECREF_TypeName(obj) Py_XDECREF(obj) +#else +typedef const char *__Pyx_TypeName; +#define __Pyx_FMT_TYPENAME "%.200s" +#define __Pyx_PyType_GetName(tp) ((tp)->tp_name) +#define __Pyx_DECREF_TypeName(obj) +#endif + +/* CheckBinaryVersion.proto */ +static unsigned long __Pyx_get_runtime_version(void); +static int __Pyx_check_binary_version(unsigned long ct_version, unsigned long rt_version, int allow_newer); + +/* InitStrings.proto */ +static int __Pyx_InitStrings(__Pyx_StringTabEntry *t); + +/* #### Code section: module_declarations ### */ +static PyObject *__pyx_array_get_memview(struct __pyx_array_obj *__pyx_v_self); /* proto*/ +static char *__pyx_memoryview_get_item_pointer(struct __pyx_memoryview_obj *__pyx_v_self, PyObject *__pyx_v_index); /* proto*/ +static PyObject *__pyx_memoryview_is_slice(struct __pyx_memoryview_obj *__pyx_v_self, PyObject *__pyx_v_obj); /* proto*/ +static PyObject *__pyx_memoryview_setitem_slice_assignment(struct __pyx_memoryview_obj *__pyx_v_self, PyObject *__pyx_v_dst, PyObject *__pyx_v_src); /* proto*/ +static PyObject *__pyx_memoryview_setitem_slice_assign_scalar(struct __pyx_memoryview_obj *__pyx_v_self, struct __pyx_memoryview_obj *__pyx_v_dst, PyObject *__pyx_v_value); /* proto*/ +static PyObject *__pyx_memoryview_setitem_indexed(struct __pyx_memoryview_obj *__pyx_v_self, PyObject *__pyx_v_index, PyObject *__pyx_v_value); /* proto*/ +static PyObject *__pyx_memoryview_convert_item_to_object(struct __pyx_memoryview_obj *__pyx_v_self, char *__pyx_v_itemp); /* proto*/ +static PyObject *__pyx_memoryview_assign_item_from_object(struct __pyx_memoryview_obj *__pyx_v_self, char *__pyx_v_itemp, PyObject *__pyx_v_value); /* proto*/ +static PyObject *__pyx_memoryview__get_base(struct __pyx_memoryview_obj *__pyx_v_self); /* proto*/ +static PyObject *__pyx_memoryviewslice_convert_item_to_object(struct __pyx_memoryviewslice_obj *__pyx_v_self, char *__pyx_v_itemp); /* proto*/ +static PyObject *__pyx_memoryviewslice_assign_item_from_object(struct __pyx_memoryviewslice_obj *__pyx_v_self, char *__pyx_v_itemp, PyObject *__pyx_v_value); /* proto*/ +static PyObject *__pyx_memoryviewslice__get_base(struct __pyx_memoryviewslice_obj *__pyx_v_self); /* proto*/ + +/* Module declarations from "libc.string" */ + +/* Module declarations from "libcpp.string" */ + +/* Module declarations from "selfdrive.classic_modeld.runners.runmodel" */ + +/* Module declarations from "libcpp.vector" */ + +/* Module declarations from "libcpp.utility" */ + +/* Module declarations from "libcpp.set" */ + +/* Module declarations from "libc.stdint" */ + +/* Module declarations from "libcpp" */ + +/* Module declarations from "msgq.visionipc.visionipc" */ + +/* Module declarations from "msgq.visionipc.visionipc_pyx" */ + +/* Module declarations from "selfdrive.classic_modeld.models.commonmodel_pyx" */ + +/* Module declarations from "selfdrive.classic_modeld.runners.runmodel_pyx" */ +static PyObject *__pyx_collections_abc_Sequence = 0; +static PyObject *generic = 0; +static PyObject *strided = 0; +static PyObject *indirect = 0; +static PyObject *contiguous = 0; +static PyObject *indirect_contiguous = 0; +static int __pyx_memoryview_thread_locks_used; +static PyThread_type_lock __pyx_memoryview_thread_locks[8]; +static std::string __pyx_convert_string_from_py_std__in_string(PyObject *); /*proto*/ +static int __pyx_array_allocate_buffer(struct __pyx_array_obj *); /*proto*/ +static struct __pyx_array_obj *__pyx_array_new(PyObject *, Py_ssize_t, char *, char *, char *); /*proto*/ +static PyObject *__pyx_memoryview_new(PyObject *, int, int, __Pyx_TypeInfo *); /*proto*/ +static CYTHON_INLINE int __pyx_memoryview_check(PyObject *); /*proto*/ +static PyObject *_unellipsify(PyObject *, int); /*proto*/ +static int assert_direct_dimensions(Py_ssize_t *, int); /*proto*/ +static struct __pyx_memoryview_obj *__pyx_memview_slice(struct __pyx_memoryview_obj *, PyObject *); /*proto*/ +static int __pyx_memoryview_slice_memviewslice(__Pyx_memviewslice *, Py_ssize_t, Py_ssize_t, Py_ssize_t, int, int, int *, Py_ssize_t, Py_ssize_t, Py_ssize_t, int, int, int, int); /*proto*/ +static char *__pyx_pybuffer_index(Py_buffer *, char *, Py_ssize_t, Py_ssize_t); /*proto*/ +static int __pyx_memslice_transpose(__Pyx_memviewslice *); /*proto*/ +static PyObject *__pyx_memoryview_fromslice(__Pyx_memviewslice, int, PyObject *(*)(char *), int (*)(char *, PyObject *), int); /*proto*/ +static __Pyx_memviewslice *__pyx_memoryview_get_slice_from_memoryview(struct __pyx_memoryview_obj *, __Pyx_memviewslice *); /*proto*/ +static void __pyx_memoryview_slice_copy(struct __pyx_memoryview_obj *, __Pyx_memviewslice *); /*proto*/ +static PyObject *__pyx_memoryview_copy_object(struct __pyx_memoryview_obj *); /*proto*/ +static PyObject *__pyx_memoryview_copy_object_from_slice(struct __pyx_memoryview_obj *, __Pyx_memviewslice *); /*proto*/ +static Py_ssize_t abs_py_ssize_t(Py_ssize_t); /*proto*/ +static char __pyx_get_best_slice_order(__Pyx_memviewslice *, int); /*proto*/ +static void _copy_strided_to_strided(char *, Py_ssize_t *, char *, Py_ssize_t *, Py_ssize_t *, Py_ssize_t *, int, size_t); /*proto*/ +static void copy_strided_to_strided(__Pyx_memviewslice *, __Pyx_memviewslice *, int, size_t); /*proto*/ +static Py_ssize_t __pyx_memoryview_slice_get_size(__Pyx_memviewslice *, int); /*proto*/ +static Py_ssize_t __pyx_fill_contig_strides_array(Py_ssize_t *, Py_ssize_t *, Py_ssize_t, int, char); /*proto*/ +static void *__pyx_memoryview_copy_data_to_temp(__Pyx_memviewslice *, __Pyx_memviewslice *, char, int); /*proto*/ +static int __pyx_memoryview_err_extents(int, Py_ssize_t, Py_ssize_t); /*proto*/ +static int __pyx_memoryview_err_dim(PyObject *, PyObject *, int); /*proto*/ +static int __pyx_memoryview_err(PyObject *, PyObject *); /*proto*/ +static int __pyx_memoryview_err_no_memory(void); /*proto*/ +static int __pyx_memoryview_copy_contents(__Pyx_memviewslice, __Pyx_memviewslice, int, int, int); /*proto*/ +static void __pyx_memoryview_broadcast_leading(__Pyx_memviewslice *, int, int); /*proto*/ +static void __pyx_memoryview_refcount_copying(__Pyx_memviewslice *, int, int, int); /*proto*/ +static void __pyx_memoryview_refcount_objects_in_slice_with_gil(char *, Py_ssize_t *, Py_ssize_t *, int, int); /*proto*/ +static void __pyx_memoryview_refcount_objects_in_slice(char *, Py_ssize_t *, Py_ssize_t *, int, int); /*proto*/ +static void __pyx_memoryview_slice_assign_scalar(__Pyx_memviewslice *, int, size_t, void *, int); /*proto*/ +static void __pyx_memoryview__slice_assign_scalar(char *, Py_ssize_t *, Py_ssize_t *, int, size_t, void *); /*proto*/ +static PyObject *__pyx_unpickle_Enum__set_state(struct __pyx_MemviewEnum_obj *, PyObject *); /*proto*/ +/* #### Code section: typeinfo ### */ +static __Pyx_TypeInfo __Pyx_TypeInfo_float = { "float", NULL, sizeof(float), { 0 }, 0, 'R', 0, 0 }; +/* #### Code section: before_global_var ### */ +#define __Pyx_MODULE_NAME "selfdrive.classic_modeld.runners.runmodel_pyx" +extern int __pyx_module_is_main_selfdrive__classic_modeld__runners__runmodel_pyx; +int __pyx_module_is_main_selfdrive__classic_modeld__runners__runmodel_pyx = 0; + +/* Implementation of "selfdrive.classic_modeld.runners.runmodel_pyx" */ +/* #### Code section: global_var ### */ +static PyObject *__pyx_builtin_TypeError; +static PyObject *__pyx_builtin___import__; +static PyObject *__pyx_builtin_ValueError; +static PyObject *__pyx_builtin_MemoryError; +static PyObject *__pyx_builtin_enumerate; +static PyObject *__pyx_builtin_range; +static PyObject *__pyx_builtin_AssertionError; +static PyObject *__pyx_builtin_Ellipsis; +static PyObject *__pyx_builtin_id; +static PyObject *__pyx_builtin_IndexError; +/* #### Code section: string_decls ### */ +static const char __pyx_k_[] = ": "; +static const char __pyx_k_O[] = "O"; +static const char __pyx_k_c[] = "c"; +static const char __pyx_k__2[] = "."; +static const char __pyx_k__3[] = "*"; +static const char __pyx_k__6[] = "'"; +static const char __pyx_k__7[] = ")"; +static const char __pyx_k_gc[] = "gc"; +static const char __pyx_k_id[] = "id"; +static const char __pyx_k_CPU[] = "CPU"; +static const char __pyx_k_DSP[] = "DSP"; +static const char __pyx_k_GPU[] = "GPU"; +static const char __pyx_k__30[] = "?"; +static const char __pyx_k_abc[] = "abc"; +static const char __pyx_k_and[] = " and "; +static const char __pyx_k_doc[] = "__doc__"; +static const char __pyx_k_got[] = " (got "; +static const char __pyx_k_new[] = "__new__"; +static const char __pyx_k_obj[] = "obj"; +static const char __pyx_k_sys[] = "sys"; +static const char __pyx_k_base[] = "base"; +static const char __pyx_k_dict[] = "__dict__"; +static const char __pyx_k_main[] = "__main__"; +static const char __pyx_k_mode[] = "mode"; +static const char __pyx_k_name[] = "name"; +static const char __pyx_k_ndim[] = "ndim"; +static const char __pyx_k_pack[] = "pack"; +static const char __pyx_k_self[] = "self"; +static const char __pyx_k_size[] = "size"; +static const char __pyx_k_spec[] = "__spec__"; +static const char __pyx_k_step[] = "step"; +static const char __pyx_k_stop[] = "stop"; +static const char __pyx_k_test[] = "__test__"; +static const char __pyx_k_ASCII[] = "ASCII"; +static const char __pyx_k_class[] = "__class__"; +static const char __pyx_k_count[] = "count"; +static const char __pyx_k_error[] = "error"; +static const char __pyx_k_flags[] = "flags"; +static const char __pyx_k_index[] = "index"; +static const char __pyx_k_range[] = "range"; +static const char __pyx_k_shape[] = "shape"; +static const char __pyx_k_start[] = "start"; +static const char __pyx_k_super[] = "super"; +static const char __pyx_k_buffer[] = "buffer"; +static const char __pyx_k_cl_buf[] = "cl_buf"; +static const char __pyx_k_enable[] = "enable"; +static const char __pyx_k_encode[] = "encode"; +static const char __pyx_k_format[] = "format"; +static const char __pyx_k_import[] = "__import__"; +static const char __pyx_k_module[] = "__module__"; +static const char __pyx_k_name_2[] = "__name__"; +static const char __pyx_k_pickle[] = "pickle"; +static const char __pyx_k_reduce[] = "__reduce__"; +static const char __pyx_k_struct[] = "struct"; +static const char __pyx_k_unpack[] = "unpack"; +static const char __pyx_k_update[] = "update"; +static const char __pyx_k_Runtime[] = "Runtime"; +static const char __pyx_k_disable[] = "disable"; +static const char __pyx_k_execute[] = "execute"; +static const char __pyx_k_fortran[] = "fortran"; +static const char __pyx_k_memview[] = "memview"; +static const char __pyx_k_prepare[] = "__prepare__"; +static const char __pyx_k_Ellipsis[] = "Ellipsis"; +static const char __pyx_k_RunModel[] = "RunModel"; +static const char __pyx_k_Sequence[] = "Sequence"; +static const char __pyx_k_addInput[] = "addInput"; +static const char __pyx_k_getstate[] = "__getstate__"; +static const char __pyx_k_itemsize[] = "itemsize"; +static const char __pyx_k_pyx_type[] = "__pyx_type"; +static const char __pyx_k_qualname[] = "__qualname__"; +static const char __pyx_k_register[] = "register"; +static const char __pyx_k_set_name[] = "__set_name__"; +static const char __pyx_k_setstate[] = "__setstate__"; +static const char __pyx_k_TypeError[] = "TypeError"; +static const char __pyx_k_enumerate[] = "enumerate"; +static const char __pyx_k_isenabled[] = "isenabled"; +static const char __pyx_k_metaclass[] = "__metaclass__"; +static const char __pyx_k_pyx_state[] = "__pyx_state"; +static const char __pyx_k_reduce_ex[] = "__reduce_ex__"; +static const char __pyx_k_IndexError[] = "IndexError"; +static const char __pyx_k_ValueError[] = "ValueError"; +static const char __pyx_k_pyx_result[] = "__pyx_result"; +static const char __pyx_k_pyx_vtable[] = "__pyx_vtable__"; +static const char __pyx_k_MemoryError[] = "MemoryError"; +static const char __pyx_k_PickleError[] = "PickleError"; +static const char __pyx_k_collections[] = "collections"; +static const char __pyx_k_getCLBuffer[] = "getCLBuffer"; +static const char __pyx_k_initializing[] = "_initializing"; +static const char __pyx_k_is_coroutine[] = "_is_coroutine"; +static const char __pyx_k_pyx_checksum[] = "__pyx_checksum"; +static const char __pyx_k_stringsource[] = ""; +static const char __pyx_k_version_info[] = "version_info"; +static const char __pyx_k_class_getitem[] = "__class_getitem__"; +static const char __pyx_k_init_subclass[] = "__init_subclass__"; +static const char __pyx_k_reduce_cython[] = "__reduce_cython__"; +static const char __pyx_k_AssertionError[] = "AssertionError"; +static const char __pyx_k_setInputBuffer[] = "setInputBuffer"; +static const char __pyx_k_View_MemoryView[] = "View.MemoryView"; +static const char __pyx_k_allocate_buffer[] = "allocate_buffer"; +static const char __pyx_k_collections_abc[] = "collections.abc"; +static const char __pyx_k_dtype_is_object[] = "dtype_is_object"; +static const char __pyx_k_pyx_PickleError[] = "__pyx_PickleError"; +static const char __pyx_k_setstate_cython[] = "__setstate_cython__"; +static const char __pyx_k_RunModel_execute[] = "RunModel.execute"; +static const char __pyx_k_RunModel_addInput[] = "RunModel.addInput"; +static const char __pyx_k_pyx_unpickle_Enum[] = "__pyx_unpickle_Enum"; +static const char __pyx_k_asyncio_coroutines[] = "asyncio.coroutines"; +static const char __pyx_k_cline_in_traceback[] = "cline_in_traceback"; +static const char __pyx_k_strided_and_direct[] = ""; +static const char __pyx_k_RunModel_getCLBuffer[] = "RunModel.getCLBuffer"; +static const char __pyx_k_strided_and_indirect[] = ""; +static const char __pyx_k_Invalid_shape_in_axis[] = "Invalid shape in axis "; +static const char __pyx_k_contiguous_and_direct[] = ""; +static const char __pyx_k_Cannot_index_with_type[] = "Cannot index with type '"; +static const char __pyx_k_MemoryView_of_r_object[] = ""; +static const char __pyx_k_MemoryView_of_r_at_0x_x[] = ""; +static const char __pyx_k_RunModel_setInputBuffer[] = "RunModel.setInputBuffer"; +static const char __pyx_k_contiguous_and_indirect[] = ""; +static const char __pyx_k_RunModel___reduce_cython[] = "RunModel.__reduce_cython__"; +static const char __pyx_k_Dimension_d_is_not_direct[] = "Dimension %d is not direct"; +static const char __pyx_k_Index_out_of_bounds_axis_d[] = "Index out of bounds (axis %d)"; +static const char __pyx_k_RunModel___setstate_cython[] = "RunModel.__setstate_cython__"; +static const char __pyx_k_Step_may_not_be_zero_axis_d[] = "Step may not be zero (axis %d)"; +static const char __pyx_k_itemsize_0_for_cython_array[] = "itemsize <= 0 for cython.array"; +static const char __pyx_k_unable_to_allocate_array_data[] = "unable to allocate array data."; +static const char __pyx_k_strided_and_direct_or_indirect[] = ""; +static const char __pyx_k_All_dimensions_preceding_dimensi[] = "All dimensions preceding dimension %d must be indexed and not sliced"; +static const char __pyx_k_Buffer_view_does_not_expose_stri[] = "Buffer view does not expose strides"; +static const char __pyx_k_Can_only_create_a_buffer_that_is[] = "Can only create a buffer that is contiguous in memory."; +static const char __pyx_k_Cannot_assign_to_read_only_memor[] = "Cannot assign to read-only memoryview"; +static const char __pyx_k_Cannot_create_writable_memory_vi[] = "Cannot create writable memory view from read-only memoryview"; +static const char __pyx_k_Cannot_transpose_memoryview_with[] = "Cannot transpose memoryview with indirect dimensions"; +static const char __pyx_k_Empty_shape_tuple_for_cython_arr[] = "Empty shape tuple for cython.array"; +static const char __pyx_k_Incompatible_checksums_0x_x_vs_0[] = "Incompatible checksums (0x%x vs (0x82a3537, 0x6ae9995, 0xb068931) = (name))"; +static const char __pyx_k_Indirect_dimensions_not_supporte[] = "Indirect dimensions not supported"; +static const char __pyx_k_Invalid_mode_expected_c_or_fortr[] = "Invalid mode, expected 'c' or 'fortran', got "; +static const char __pyx_k_Out_of_bounds_on_buffer_access_a[] = "Out of bounds on buffer access (axis "; +static const char __pyx_k_Unable_to_convert_item_to_object[] = "Unable to convert item to object"; +static const char __pyx_k_got_differing_extents_in_dimensi[] = "got differing extents in dimension "; +static const char __pyx_k_no_default___reduce___due_to_non[] = "no default __reduce__ due to non-trivial __cinit__"; +static const char __pyx_k_self_model_cannot_be_converted_t[] = "self.model cannot be converted to a Python object for pickling"; +static const char __pyx_k_selfdrive_classic_modeld_runners[] = "selfdrive.classic_modeld.runners.runmodel_pyx"; +static const char __pyx_k_unable_to_allocate_shape_and_str[] = "unable to allocate shape and strides."; +static const char __pyx_k_selfdrive_classic_modeld_runners_2[] = "selfdrive/classic_modeld/runners/runmodel_pyx.pyx"; +/* #### Code section: decls ### */ +static int __pyx_array___pyx_pf_15View_dot_MemoryView_5array___cinit__(struct __pyx_array_obj *__pyx_v_self, PyObject *__pyx_v_shape, Py_ssize_t __pyx_v_itemsize, PyObject *__pyx_v_format, PyObject *__pyx_v_mode, int __pyx_v_allocate_buffer); /* proto */ +static int __pyx_array___pyx_pf_15View_dot_MemoryView_5array_2__getbuffer__(struct __pyx_array_obj *__pyx_v_self, Py_buffer *__pyx_v_info, int __pyx_v_flags); /* proto */ +static void __pyx_array___pyx_pf_15View_dot_MemoryView_5array_4__dealloc__(struct __pyx_array_obj *__pyx_v_self); /* proto */ +static PyObject *__pyx_pf_15View_dot_MemoryView_5array_7memview___get__(struct __pyx_array_obj *__pyx_v_self); /* proto */ +static Py_ssize_t __pyx_array___pyx_pf_15View_dot_MemoryView_5array_6__len__(struct __pyx_array_obj *__pyx_v_self); /* proto */ +static PyObject *__pyx_array___pyx_pf_15View_dot_MemoryView_5array_8__getattr__(struct __pyx_array_obj *__pyx_v_self, PyObject *__pyx_v_attr); /* proto */ +static PyObject *__pyx_array___pyx_pf_15View_dot_MemoryView_5array_10__getitem__(struct __pyx_array_obj *__pyx_v_self, PyObject *__pyx_v_item); /* proto */ +static int __pyx_array___pyx_pf_15View_dot_MemoryView_5array_12__setitem__(struct __pyx_array_obj *__pyx_v_self, PyObject *__pyx_v_item, PyObject *__pyx_v_value); /* proto */ +static PyObject *__pyx_pf___pyx_array___reduce_cython__(CYTHON_UNUSED struct __pyx_array_obj *__pyx_v_self); /* proto */ +static PyObject *__pyx_pf___pyx_array_2__setstate_cython__(CYTHON_UNUSED struct __pyx_array_obj *__pyx_v_self, CYTHON_UNUSED PyObject *__pyx_v___pyx_state); /* proto */ +static int __pyx_MemviewEnum___pyx_pf_15View_dot_MemoryView_4Enum___init__(struct __pyx_MemviewEnum_obj *__pyx_v_self, PyObject *__pyx_v_name); /* proto */ +static PyObject *__pyx_MemviewEnum___pyx_pf_15View_dot_MemoryView_4Enum_2__repr__(struct __pyx_MemviewEnum_obj *__pyx_v_self); /* proto */ +static PyObject *__pyx_pf___pyx_MemviewEnum___reduce_cython__(struct __pyx_MemviewEnum_obj *__pyx_v_self); /* proto */ +static PyObject *__pyx_pf___pyx_MemviewEnum_2__setstate_cython__(struct __pyx_MemviewEnum_obj *__pyx_v_self, PyObject *__pyx_v___pyx_state); /* proto */ +static int __pyx_memoryview___pyx_pf_15View_dot_MemoryView_10memoryview___cinit__(struct __pyx_memoryview_obj *__pyx_v_self, PyObject *__pyx_v_obj, int __pyx_v_flags, int __pyx_v_dtype_is_object); /* proto */ +static void __pyx_memoryview___pyx_pf_15View_dot_MemoryView_10memoryview_2__dealloc__(struct __pyx_memoryview_obj *__pyx_v_self); /* proto */ +static PyObject *__pyx_memoryview___pyx_pf_15View_dot_MemoryView_10memoryview_4__getitem__(struct __pyx_memoryview_obj *__pyx_v_self, PyObject *__pyx_v_index); /* proto */ +static int __pyx_memoryview___pyx_pf_15View_dot_MemoryView_10memoryview_6__setitem__(struct __pyx_memoryview_obj *__pyx_v_self, PyObject *__pyx_v_index, PyObject *__pyx_v_value); /* proto */ +static int __pyx_memoryview___pyx_pf_15View_dot_MemoryView_10memoryview_8__getbuffer__(struct __pyx_memoryview_obj *__pyx_v_self, Py_buffer *__pyx_v_info, int __pyx_v_flags); /* proto */ +static PyObject *__pyx_pf_15View_dot_MemoryView_10memoryview_1T___get__(struct __pyx_memoryview_obj *__pyx_v_self); /* proto */ +static PyObject *__pyx_pf_15View_dot_MemoryView_10memoryview_4base___get__(struct __pyx_memoryview_obj *__pyx_v_self); /* proto */ +static PyObject *__pyx_pf_15View_dot_MemoryView_10memoryview_5shape___get__(struct __pyx_memoryview_obj *__pyx_v_self); /* proto */ +static PyObject *__pyx_pf_15View_dot_MemoryView_10memoryview_7strides___get__(struct __pyx_memoryview_obj *__pyx_v_self); /* proto */ +static PyObject *__pyx_pf_15View_dot_MemoryView_10memoryview_10suboffsets___get__(struct __pyx_memoryview_obj *__pyx_v_self); /* proto */ +static PyObject *__pyx_pf_15View_dot_MemoryView_10memoryview_4ndim___get__(struct __pyx_memoryview_obj *__pyx_v_self); /* proto */ +static PyObject *__pyx_pf_15View_dot_MemoryView_10memoryview_8itemsize___get__(struct __pyx_memoryview_obj *__pyx_v_self); /* proto */ +static PyObject *__pyx_pf_15View_dot_MemoryView_10memoryview_6nbytes___get__(struct __pyx_memoryview_obj *__pyx_v_self); /* proto */ +static PyObject *__pyx_pf_15View_dot_MemoryView_10memoryview_4size___get__(struct __pyx_memoryview_obj *__pyx_v_self); /* proto */ +static Py_ssize_t __pyx_memoryview___pyx_pf_15View_dot_MemoryView_10memoryview_10__len__(struct __pyx_memoryview_obj *__pyx_v_self); /* proto */ +static PyObject *__pyx_memoryview___pyx_pf_15View_dot_MemoryView_10memoryview_12__repr__(struct __pyx_memoryview_obj *__pyx_v_self); /* proto */ +static PyObject *__pyx_memoryview___pyx_pf_15View_dot_MemoryView_10memoryview_14__str__(struct __pyx_memoryview_obj *__pyx_v_self); /* proto */ +static PyObject *__pyx_memoryview___pyx_pf_15View_dot_MemoryView_10memoryview_16is_c_contig(struct __pyx_memoryview_obj *__pyx_v_self); /* proto */ +static PyObject *__pyx_memoryview___pyx_pf_15View_dot_MemoryView_10memoryview_18is_f_contig(struct __pyx_memoryview_obj *__pyx_v_self); /* proto */ +static PyObject *__pyx_memoryview___pyx_pf_15View_dot_MemoryView_10memoryview_20copy(struct __pyx_memoryview_obj *__pyx_v_self); /* proto */ +static PyObject *__pyx_memoryview___pyx_pf_15View_dot_MemoryView_10memoryview_22copy_fortran(struct __pyx_memoryview_obj *__pyx_v_self); /* proto */ +static PyObject *__pyx_pf___pyx_memoryview___reduce_cython__(CYTHON_UNUSED struct __pyx_memoryview_obj *__pyx_v_self); /* proto */ +static PyObject *__pyx_pf___pyx_memoryview_2__setstate_cython__(CYTHON_UNUSED struct __pyx_memoryview_obj *__pyx_v_self, CYTHON_UNUSED PyObject *__pyx_v___pyx_state); /* proto */ +static void __pyx_memoryviewslice___pyx_pf_15View_dot_MemoryView_16_memoryviewslice___dealloc__(struct __pyx_memoryviewslice_obj *__pyx_v_self); /* proto */ +static PyObject *__pyx_pf___pyx_memoryviewslice___reduce_cython__(CYTHON_UNUSED struct __pyx_memoryviewslice_obj *__pyx_v_self); /* proto */ +static PyObject *__pyx_pf___pyx_memoryviewslice_2__setstate_cython__(CYTHON_UNUSED struct __pyx_memoryviewslice_obj *__pyx_v_self, CYTHON_UNUSED PyObject *__pyx_v___pyx_state); /* proto */ +static PyObject *__pyx_pf_15View_dot_MemoryView___pyx_unpickle_Enum(CYTHON_UNUSED PyObject *__pyx_self, PyObject *__pyx_v___pyx_type, long __pyx_v___pyx_checksum, PyObject *__pyx_v___pyx_state); /* proto */ +static void __pyx_pf_9selfdrive_14classic_modeld_7runners_12runmodel_pyx_8RunModel___dealloc__(struct __pyx_obj_9selfdrive_14classic_modeld_7runners_12runmodel_pyx_RunModel *__pyx_v_self); /* proto */ +static PyObject *__pyx_pf_9selfdrive_14classic_modeld_7runners_12runmodel_pyx_8RunModel_2addInput(struct __pyx_obj_9selfdrive_14classic_modeld_7runners_12runmodel_pyx_RunModel *__pyx_v_self, std::string __pyx_v_name, __Pyx_memviewslice __pyx_v_buffer); /* proto */ +static PyObject *__pyx_pf_9selfdrive_14classic_modeld_7runners_12runmodel_pyx_8RunModel_4setInputBuffer(struct __pyx_obj_9selfdrive_14classic_modeld_7runners_12runmodel_pyx_RunModel *__pyx_v_self, std::string __pyx_v_name, __Pyx_memviewslice __pyx_v_buffer); /* proto */ +static PyObject *__pyx_pf_9selfdrive_14classic_modeld_7runners_12runmodel_pyx_8RunModel_6getCLBuffer(struct __pyx_obj_9selfdrive_14classic_modeld_7runners_12runmodel_pyx_RunModel *__pyx_v_self, std::string __pyx_v_name); /* proto */ +static PyObject *__pyx_pf_9selfdrive_14classic_modeld_7runners_12runmodel_pyx_8RunModel_8execute(struct __pyx_obj_9selfdrive_14classic_modeld_7runners_12runmodel_pyx_RunModel *__pyx_v_self); /* proto */ +static PyObject *__pyx_pf_9selfdrive_14classic_modeld_7runners_12runmodel_pyx_8RunModel_10__reduce_cython__(CYTHON_UNUSED struct __pyx_obj_9selfdrive_14classic_modeld_7runners_12runmodel_pyx_RunModel *__pyx_v_self); /* proto */ +static PyObject *__pyx_pf_9selfdrive_14classic_modeld_7runners_12runmodel_pyx_8RunModel_12__setstate_cython__(CYTHON_UNUSED struct __pyx_obj_9selfdrive_14classic_modeld_7runners_12runmodel_pyx_RunModel *__pyx_v_self, CYTHON_UNUSED PyObject *__pyx_v___pyx_state); /* proto */ +static PyObject *__pyx_tp_new_9selfdrive_14classic_modeld_7runners_12runmodel_pyx_RunModel(PyTypeObject *t, PyObject *a, PyObject *k); /*proto*/ +static PyObject *__pyx_tp_new_array(PyTypeObject *t, PyObject *a, PyObject *k); /*proto*/ +static PyObject *__pyx_tp_new_Enum(PyTypeObject *t, PyObject *a, PyObject *k); /*proto*/ +static PyObject *__pyx_tp_new_memoryview(PyTypeObject *t, PyObject *a, PyObject *k); /*proto*/ +static PyObject *__pyx_tp_new__memoryviewslice(PyTypeObject *t, PyObject *a, PyObject *k); /*proto*/ +/* #### Code section: late_includes ### */ +/* #### Code section: module_state ### */ +typedef struct { + PyObject *__pyx_d; + PyObject *__pyx_b; + PyObject *__pyx_cython_runtime; + PyObject *__pyx_empty_tuple; + PyObject *__pyx_empty_bytes; + PyObject *__pyx_empty_unicode; + #ifdef __Pyx_CyFunction_USED + PyTypeObject *__pyx_CyFunctionType; + #endif + #ifdef __Pyx_FusedFunction_USED + PyTypeObject *__pyx_FusedFunctionType; + #endif + #ifdef __Pyx_Generator_USED + PyTypeObject *__pyx_GeneratorType; + #endif + #ifdef __Pyx_IterableCoroutine_USED + PyTypeObject *__pyx_IterableCoroutineType; + #endif + #ifdef __Pyx_Coroutine_USED + PyTypeObject *__pyx_CoroutineAwaitType; + #endif + #ifdef __Pyx_Coroutine_USED + PyTypeObject *__pyx_CoroutineType; + #endif + #if CYTHON_USE_MODULE_STATE + #endif + #if CYTHON_USE_MODULE_STATE + #endif + #if CYTHON_USE_MODULE_STATE + #endif + #if CYTHON_USE_MODULE_STATE + #endif + #if CYTHON_USE_MODULE_STATE + #endif + #if CYTHON_USE_MODULE_STATE + #endif + #if CYTHON_USE_MODULE_STATE + #endif + #if CYTHON_USE_MODULE_STATE + #endif + #if CYTHON_USE_MODULE_STATE + #endif + #if CYTHON_USE_MODULE_STATE + #endif + PyTypeObject *__pyx_ptype_4msgq_9visionipc_13visionipc_pyx_CLContext; + PyTypeObject *__pyx_ptype_4msgq_9visionipc_13visionipc_pyx_VisionBuf; + #if CYTHON_USE_MODULE_STATE + #endif + PyTypeObject *__pyx_ptype_9selfdrive_14classic_modeld_6models_15commonmodel_pyx_CLContext; + PyTypeObject *__pyx_ptype_9selfdrive_14classic_modeld_6models_15commonmodel_pyx_CLMem; + #if CYTHON_USE_MODULE_STATE + PyObject *__pyx_type_9selfdrive_14classic_modeld_7runners_12runmodel_pyx_RunModel; + PyObject *__pyx_type___pyx_array; + PyObject *__pyx_type___pyx_MemviewEnum; + PyObject *__pyx_type___pyx_memoryview; + PyObject *__pyx_type___pyx_memoryviewslice; + #endif + PyTypeObject *__pyx_ptype_9selfdrive_14classic_modeld_7runners_12runmodel_pyx_RunModel; + PyTypeObject *__pyx_array_type; + PyTypeObject *__pyx_MemviewEnum_type; + PyTypeObject *__pyx_memoryview_type; + PyTypeObject *__pyx_memoryviewslice_type; + PyObject *__pyx_kp_u_; + PyObject *__pyx_n_s_ASCII; + PyObject *__pyx_kp_s_All_dimensions_preceding_dimensi; + PyObject *__pyx_n_s_AssertionError; + PyObject *__pyx_kp_s_Buffer_view_does_not_expose_stri; + PyObject *__pyx_n_s_CPU; + PyObject *__pyx_kp_s_Can_only_create_a_buffer_that_is; + PyObject *__pyx_kp_s_Cannot_assign_to_read_only_memor; + PyObject *__pyx_kp_s_Cannot_create_writable_memory_vi; + PyObject *__pyx_kp_u_Cannot_index_with_type; + PyObject *__pyx_kp_s_Cannot_transpose_memoryview_with; + PyObject *__pyx_n_s_DSP; + PyObject *__pyx_kp_s_Dimension_d_is_not_direct; + PyObject *__pyx_n_s_Ellipsis; + PyObject *__pyx_kp_s_Empty_shape_tuple_for_cython_arr; + PyObject *__pyx_n_s_GPU; + PyObject *__pyx_kp_s_Incompatible_checksums_0x_x_vs_0; + PyObject *__pyx_n_s_IndexError; + PyObject *__pyx_kp_s_Index_out_of_bounds_axis_d; + PyObject *__pyx_kp_s_Indirect_dimensions_not_supporte; + PyObject *__pyx_kp_u_Invalid_mode_expected_c_or_fortr; + PyObject *__pyx_kp_u_Invalid_shape_in_axis; + PyObject *__pyx_n_s_MemoryError; + PyObject *__pyx_kp_s_MemoryView_of_r_at_0x_x; + PyObject *__pyx_kp_s_MemoryView_of_r_object; + PyObject *__pyx_n_b_O; + PyObject *__pyx_kp_u_Out_of_bounds_on_buffer_access_a; + PyObject *__pyx_n_s_PickleError; + PyObject *__pyx_n_s_RunModel; + PyObject *__pyx_n_s_RunModel___reduce_cython; + PyObject *__pyx_n_s_RunModel___setstate_cython; + PyObject *__pyx_n_s_RunModel_addInput; + PyObject *__pyx_n_s_RunModel_execute; + PyObject *__pyx_n_s_RunModel_getCLBuffer; + PyObject *__pyx_n_s_RunModel_setInputBuffer; + PyObject *__pyx_n_s_Runtime; + PyObject *__pyx_n_s_Sequence; + PyObject *__pyx_kp_s_Step_may_not_be_zero_axis_d; + PyObject *__pyx_n_s_TypeError; + PyObject *__pyx_kp_s_Unable_to_convert_item_to_object; + PyObject *__pyx_n_s_ValueError; + PyObject *__pyx_n_s_View_MemoryView; + PyObject *__pyx_kp_u__2; + PyObject *__pyx_n_s__3; + PyObject *__pyx_n_s__30; + PyObject *__pyx_kp_u__6; + PyObject *__pyx_kp_u__7; + PyObject *__pyx_n_s_abc; + PyObject *__pyx_n_s_addInput; + PyObject *__pyx_n_s_allocate_buffer; + PyObject *__pyx_kp_u_and; + PyObject *__pyx_n_s_asyncio_coroutines; + PyObject *__pyx_n_s_base; + PyObject *__pyx_n_s_buffer; + PyObject *__pyx_n_s_c; + PyObject *__pyx_n_u_c; + PyObject *__pyx_n_s_cl_buf; + PyObject *__pyx_n_s_class; + PyObject *__pyx_n_s_class_getitem; + PyObject *__pyx_n_s_cline_in_traceback; + PyObject *__pyx_n_s_collections; + PyObject *__pyx_kp_s_collections_abc; + PyObject *__pyx_kp_s_contiguous_and_direct; + PyObject *__pyx_kp_s_contiguous_and_indirect; + PyObject *__pyx_n_s_count; + PyObject *__pyx_n_s_dict; + PyObject *__pyx_kp_u_disable; + PyObject *__pyx_n_s_doc; + PyObject *__pyx_n_s_dtype_is_object; + PyObject *__pyx_kp_u_enable; + PyObject *__pyx_n_s_encode; + PyObject *__pyx_n_s_enumerate; + PyObject *__pyx_n_s_error; + PyObject *__pyx_n_s_execute; + PyObject *__pyx_n_s_flags; + PyObject *__pyx_n_s_format; + PyObject *__pyx_n_s_fortran; + PyObject *__pyx_n_u_fortran; + PyObject *__pyx_kp_u_gc; + PyObject *__pyx_n_s_getCLBuffer; + PyObject *__pyx_n_s_getstate; + PyObject *__pyx_kp_u_got; + PyObject *__pyx_kp_u_got_differing_extents_in_dimensi; + PyObject *__pyx_n_s_id; + PyObject *__pyx_n_s_import; + PyObject *__pyx_n_s_index; + PyObject *__pyx_n_s_init_subclass; + PyObject *__pyx_n_s_initializing; + PyObject *__pyx_n_s_is_coroutine; + PyObject *__pyx_kp_u_isenabled; + PyObject *__pyx_n_s_itemsize; + PyObject *__pyx_kp_s_itemsize_0_for_cython_array; + PyObject *__pyx_n_s_main; + PyObject *__pyx_n_s_memview; + PyObject *__pyx_n_s_metaclass; + PyObject *__pyx_n_s_mode; + PyObject *__pyx_n_s_module; + PyObject *__pyx_n_s_name; + PyObject *__pyx_n_s_name_2; + PyObject *__pyx_n_s_ndim; + PyObject *__pyx_n_s_new; + PyObject *__pyx_kp_s_no_default___reduce___due_to_non; + PyObject *__pyx_n_s_obj; + PyObject *__pyx_n_s_pack; + PyObject *__pyx_n_s_pickle; + PyObject *__pyx_n_s_prepare; + PyObject *__pyx_n_s_pyx_PickleError; + PyObject *__pyx_n_s_pyx_checksum; + PyObject *__pyx_n_s_pyx_result; + PyObject *__pyx_n_s_pyx_state; + PyObject *__pyx_n_s_pyx_type; + PyObject *__pyx_n_s_pyx_unpickle_Enum; + PyObject *__pyx_n_s_pyx_vtable; + PyObject *__pyx_n_s_qualname; + PyObject *__pyx_n_s_range; + PyObject *__pyx_n_s_reduce; + PyObject *__pyx_n_s_reduce_cython; + PyObject *__pyx_n_s_reduce_ex; + PyObject *__pyx_n_s_register; + PyObject *__pyx_n_s_self; + PyObject *__pyx_kp_s_self_model_cannot_be_converted_t; + PyObject *__pyx_n_s_selfdrive_classic_modeld_runners; + PyObject *__pyx_kp_s_selfdrive_classic_modeld_runners_2; + PyObject *__pyx_n_s_setInputBuffer; + PyObject *__pyx_n_s_set_name; + PyObject *__pyx_n_s_setstate; + PyObject *__pyx_n_s_setstate_cython; + PyObject *__pyx_n_s_shape; + PyObject *__pyx_n_s_size; + PyObject *__pyx_n_s_spec; + PyObject *__pyx_n_s_start; + PyObject *__pyx_n_s_step; + PyObject *__pyx_n_s_stop; + PyObject *__pyx_kp_s_strided_and_direct; + PyObject *__pyx_kp_s_strided_and_direct_or_indirect; + PyObject *__pyx_kp_s_strided_and_indirect; + PyObject *__pyx_kp_s_stringsource; + PyObject *__pyx_n_s_struct; + PyObject *__pyx_n_s_super; + PyObject *__pyx_n_s_sys; + PyObject *__pyx_n_s_test; + PyObject *__pyx_kp_s_unable_to_allocate_array_data; + PyObject *__pyx_kp_s_unable_to_allocate_shape_and_str; + PyObject *__pyx_n_s_unpack; + PyObject *__pyx_n_s_update; + PyObject *__pyx_n_s_version_info; + PyObject *__pyx_int_0; + PyObject *__pyx_int_1; + PyObject *__pyx_int_3; + PyObject *__pyx_int_112105877; + PyObject *__pyx_int_136983863; + PyObject *__pyx_int_184977713; + PyObject *__pyx_int_neg_1; + PyObject *__pyx_slice__5; + PyObject *__pyx_tuple__4; + PyObject *__pyx_tuple__8; + PyObject *__pyx_tuple__9; + PyObject *__pyx_tuple__10; + PyObject *__pyx_tuple__11; + PyObject *__pyx_tuple__12; + PyObject *__pyx_tuple__13; + PyObject *__pyx_tuple__14; + PyObject *__pyx_tuple__15; + PyObject *__pyx_tuple__16; + PyObject *__pyx_tuple__17; + PyObject *__pyx_tuple__18; + PyObject *__pyx_tuple__20; + PyObject *__pyx_tuple__23; + PyObject *__pyx_tuple__25; + PyObject *__pyx_tuple__28; + PyObject *__pyx_codeobj__19; + PyObject *__pyx_codeobj__21; + PyObject *__pyx_codeobj__22; + PyObject *__pyx_codeobj__24; + PyObject *__pyx_codeobj__26; + PyObject *__pyx_codeobj__27; + PyObject *__pyx_codeobj__29; +} __pyx_mstate; + +#if CYTHON_USE_MODULE_STATE +#ifdef __cplusplus +namespace { + extern struct PyModuleDef __pyx_moduledef; +} /* anonymous namespace */ +#else +static struct PyModuleDef __pyx_moduledef; +#endif + +#define __pyx_mstate(o) ((__pyx_mstate *)__Pyx_PyModule_GetState(o)) + +#define __pyx_mstate_global (__pyx_mstate(PyState_FindModule(&__pyx_moduledef))) + +#define __pyx_m (PyState_FindModule(&__pyx_moduledef)) +#else +static __pyx_mstate __pyx_mstate_global_static = +#ifdef __cplusplus + {}; +#else + {0}; +#endif +static __pyx_mstate *__pyx_mstate_global = &__pyx_mstate_global_static; +#endif +/* #### Code section: module_state_clear ### */ +#if CYTHON_USE_MODULE_STATE +static int __pyx_m_clear(PyObject *m) { + __pyx_mstate *clear_module_state = __pyx_mstate(m); + if (!clear_module_state) return 0; + Py_CLEAR(clear_module_state->__pyx_d); + Py_CLEAR(clear_module_state->__pyx_b); + Py_CLEAR(clear_module_state->__pyx_cython_runtime); + Py_CLEAR(clear_module_state->__pyx_empty_tuple); + Py_CLEAR(clear_module_state->__pyx_empty_bytes); + Py_CLEAR(clear_module_state->__pyx_empty_unicode); + #ifdef __Pyx_CyFunction_USED + Py_CLEAR(clear_module_state->__pyx_CyFunctionType); + #endif + #ifdef __Pyx_FusedFunction_USED + Py_CLEAR(clear_module_state->__pyx_FusedFunctionType); + #endif + Py_CLEAR(clear_module_state->__pyx_ptype_4msgq_9visionipc_13visionipc_pyx_CLContext); + Py_CLEAR(clear_module_state->__pyx_ptype_4msgq_9visionipc_13visionipc_pyx_VisionBuf); + Py_CLEAR(clear_module_state->__pyx_ptype_9selfdrive_14classic_modeld_6models_15commonmodel_pyx_CLContext); + Py_CLEAR(clear_module_state->__pyx_ptype_9selfdrive_14classic_modeld_6models_15commonmodel_pyx_CLMem); + Py_CLEAR(clear_module_state->__pyx_ptype_9selfdrive_14classic_modeld_7runners_12runmodel_pyx_RunModel); + Py_CLEAR(clear_module_state->__pyx_type_9selfdrive_14classic_modeld_7runners_12runmodel_pyx_RunModel); + Py_CLEAR(clear_module_state->__pyx_array_type); + Py_CLEAR(clear_module_state->__pyx_type___pyx_array); + Py_CLEAR(clear_module_state->__pyx_MemviewEnum_type); + Py_CLEAR(clear_module_state->__pyx_type___pyx_MemviewEnum); + Py_CLEAR(clear_module_state->__pyx_memoryview_type); + Py_CLEAR(clear_module_state->__pyx_type___pyx_memoryview); + Py_CLEAR(clear_module_state->__pyx_memoryviewslice_type); + Py_CLEAR(clear_module_state->__pyx_type___pyx_memoryviewslice); + Py_CLEAR(clear_module_state->__pyx_kp_u_); + Py_CLEAR(clear_module_state->__pyx_n_s_ASCII); + Py_CLEAR(clear_module_state->__pyx_kp_s_All_dimensions_preceding_dimensi); + Py_CLEAR(clear_module_state->__pyx_n_s_AssertionError); + Py_CLEAR(clear_module_state->__pyx_kp_s_Buffer_view_does_not_expose_stri); + Py_CLEAR(clear_module_state->__pyx_n_s_CPU); + Py_CLEAR(clear_module_state->__pyx_kp_s_Can_only_create_a_buffer_that_is); + Py_CLEAR(clear_module_state->__pyx_kp_s_Cannot_assign_to_read_only_memor); + Py_CLEAR(clear_module_state->__pyx_kp_s_Cannot_create_writable_memory_vi); + Py_CLEAR(clear_module_state->__pyx_kp_u_Cannot_index_with_type); + Py_CLEAR(clear_module_state->__pyx_kp_s_Cannot_transpose_memoryview_with); + Py_CLEAR(clear_module_state->__pyx_n_s_DSP); + Py_CLEAR(clear_module_state->__pyx_kp_s_Dimension_d_is_not_direct); + Py_CLEAR(clear_module_state->__pyx_n_s_Ellipsis); + Py_CLEAR(clear_module_state->__pyx_kp_s_Empty_shape_tuple_for_cython_arr); + Py_CLEAR(clear_module_state->__pyx_n_s_GPU); + Py_CLEAR(clear_module_state->__pyx_kp_s_Incompatible_checksums_0x_x_vs_0); + Py_CLEAR(clear_module_state->__pyx_n_s_IndexError); + Py_CLEAR(clear_module_state->__pyx_kp_s_Index_out_of_bounds_axis_d); + Py_CLEAR(clear_module_state->__pyx_kp_s_Indirect_dimensions_not_supporte); + Py_CLEAR(clear_module_state->__pyx_kp_u_Invalid_mode_expected_c_or_fortr); + Py_CLEAR(clear_module_state->__pyx_kp_u_Invalid_shape_in_axis); + Py_CLEAR(clear_module_state->__pyx_n_s_MemoryError); + Py_CLEAR(clear_module_state->__pyx_kp_s_MemoryView_of_r_at_0x_x); + Py_CLEAR(clear_module_state->__pyx_kp_s_MemoryView_of_r_object); + Py_CLEAR(clear_module_state->__pyx_n_b_O); + Py_CLEAR(clear_module_state->__pyx_kp_u_Out_of_bounds_on_buffer_access_a); + Py_CLEAR(clear_module_state->__pyx_n_s_PickleError); + Py_CLEAR(clear_module_state->__pyx_n_s_RunModel); + Py_CLEAR(clear_module_state->__pyx_n_s_RunModel___reduce_cython); + Py_CLEAR(clear_module_state->__pyx_n_s_RunModel___setstate_cython); + Py_CLEAR(clear_module_state->__pyx_n_s_RunModel_addInput); + Py_CLEAR(clear_module_state->__pyx_n_s_RunModel_execute); + Py_CLEAR(clear_module_state->__pyx_n_s_RunModel_getCLBuffer); + Py_CLEAR(clear_module_state->__pyx_n_s_RunModel_setInputBuffer); + Py_CLEAR(clear_module_state->__pyx_n_s_Runtime); + Py_CLEAR(clear_module_state->__pyx_n_s_Sequence); + Py_CLEAR(clear_module_state->__pyx_kp_s_Step_may_not_be_zero_axis_d); + Py_CLEAR(clear_module_state->__pyx_n_s_TypeError); + Py_CLEAR(clear_module_state->__pyx_kp_s_Unable_to_convert_item_to_object); + Py_CLEAR(clear_module_state->__pyx_n_s_ValueError); + Py_CLEAR(clear_module_state->__pyx_n_s_View_MemoryView); + Py_CLEAR(clear_module_state->__pyx_kp_u__2); + Py_CLEAR(clear_module_state->__pyx_n_s__3); + Py_CLEAR(clear_module_state->__pyx_n_s__30); + Py_CLEAR(clear_module_state->__pyx_kp_u__6); + Py_CLEAR(clear_module_state->__pyx_kp_u__7); + Py_CLEAR(clear_module_state->__pyx_n_s_abc); + Py_CLEAR(clear_module_state->__pyx_n_s_addInput); + Py_CLEAR(clear_module_state->__pyx_n_s_allocate_buffer); + Py_CLEAR(clear_module_state->__pyx_kp_u_and); + Py_CLEAR(clear_module_state->__pyx_n_s_asyncio_coroutines); + Py_CLEAR(clear_module_state->__pyx_n_s_base); + Py_CLEAR(clear_module_state->__pyx_n_s_buffer); + Py_CLEAR(clear_module_state->__pyx_n_s_c); + Py_CLEAR(clear_module_state->__pyx_n_u_c); + Py_CLEAR(clear_module_state->__pyx_n_s_cl_buf); + Py_CLEAR(clear_module_state->__pyx_n_s_class); + Py_CLEAR(clear_module_state->__pyx_n_s_class_getitem); + Py_CLEAR(clear_module_state->__pyx_n_s_cline_in_traceback); + Py_CLEAR(clear_module_state->__pyx_n_s_collections); + Py_CLEAR(clear_module_state->__pyx_kp_s_collections_abc); + Py_CLEAR(clear_module_state->__pyx_kp_s_contiguous_and_direct); + Py_CLEAR(clear_module_state->__pyx_kp_s_contiguous_and_indirect); + Py_CLEAR(clear_module_state->__pyx_n_s_count); + Py_CLEAR(clear_module_state->__pyx_n_s_dict); + Py_CLEAR(clear_module_state->__pyx_kp_u_disable); + Py_CLEAR(clear_module_state->__pyx_n_s_doc); + Py_CLEAR(clear_module_state->__pyx_n_s_dtype_is_object); + Py_CLEAR(clear_module_state->__pyx_kp_u_enable); + Py_CLEAR(clear_module_state->__pyx_n_s_encode); + Py_CLEAR(clear_module_state->__pyx_n_s_enumerate); + Py_CLEAR(clear_module_state->__pyx_n_s_error); + Py_CLEAR(clear_module_state->__pyx_n_s_execute); + Py_CLEAR(clear_module_state->__pyx_n_s_flags); + Py_CLEAR(clear_module_state->__pyx_n_s_format); + Py_CLEAR(clear_module_state->__pyx_n_s_fortran); + Py_CLEAR(clear_module_state->__pyx_n_u_fortran); + Py_CLEAR(clear_module_state->__pyx_kp_u_gc); + Py_CLEAR(clear_module_state->__pyx_n_s_getCLBuffer); + Py_CLEAR(clear_module_state->__pyx_n_s_getstate); + Py_CLEAR(clear_module_state->__pyx_kp_u_got); + Py_CLEAR(clear_module_state->__pyx_kp_u_got_differing_extents_in_dimensi); + Py_CLEAR(clear_module_state->__pyx_n_s_id); + Py_CLEAR(clear_module_state->__pyx_n_s_import); + Py_CLEAR(clear_module_state->__pyx_n_s_index); + Py_CLEAR(clear_module_state->__pyx_n_s_init_subclass); + Py_CLEAR(clear_module_state->__pyx_n_s_initializing); + Py_CLEAR(clear_module_state->__pyx_n_s_is_coroutine); + Py_CLEAR(clear_module_state->__pyx_kp_u_isenabled); + Py_CLEAR(clear_module_state->__pyx_n_s_itemsize); + Py_CLEAR(clear_module_state->__pyx_kp_s_itemsize_0_for_cython_array); + Py_CLEAR(clear_module_state->__pyx_n_s_main); + Py_CLEAR(clear_module_state->__pyx_n_s_memview); + Py_CLEAR(clear_module_state->__pyx_n_s_metaclass); + Py_CLEAR(clear_module_state->__pyx_n_s_mode); + Py_CLEAR(clear_module_state->__pyx_n_s_module); + Py_CLEAR(clear_module_state->__pyx_n_s_name); + Py_CLEAR(clear_module_state->__pyx_n_s_name_2); + Py_CLEAR(clear_module_state->__pyx_n_s_ndim); + Py_CLEAR(clear_module_state->__pyx_n_s_new); + Py_CLEAR(clear_module_state->__pyx_kp_s_no_default___reduce___due_to_non); + Py_CLEAR(clear_module_state->__pyx_n_s_obj); + Py_CLEAR(clear_module_state->__pyx_n_s_pack); + Py_CLEAR(clear_module_state->__pyx_n_s_pickle); + Py_CLEAR(clear_module_state->__pyx_n_s_prepare); + Py_CLEAR(clear_module_state->__pyx_n_s_pyx_PickleError); + Py_CLEAR(clear_module_state->__pyx_n_s_pyx_checksum); + Py_CLEAR(clear_module_state->__pyx_n_s_pyx_result); + Py_CLEAR(clear_module_state->__pyx_n_s_pyx_state); + Py_CLEAR(clear_module_state->__pyx_n_s_pyx_type); + Py_CLEAR(clear_module_state->__pyx_n_s_pyx_unpickle_Enum); + Py_CLEAR(clear_module_state->__pyx_n_s_pyx_vtable); + Py_CLEAR(clear_module_state->__pyx_n_s_qualname); + Py_CLEAR(clear_module_state->__pyx_n_s_range); + Py_CLEAR(clear_module_state->__pyx_n_s_reduce); + Py_CLEAR(clear_module_state->__pyx_n_s_reduce_cython); + Py_CLEAR(clear_module_state->__pyx_n_s_reduce_ex); + Py_CLEAR(clear_module_state->__pyx_n_s_register); + Py_CLEAR(clear_module_state->__pyx_n_s_self); + Py_CLEAR(clear_module_state->__pyx_kp_s_self_model_cannot_be_converted_t); + Py_CLEAR(clear_module_state->__pyx_n_s_selfdrive_classic_modeld_runners); + Py_CLEAR(clear_module_state->__pyx_kp_s_selfdrive_classic_modeld_runners_2); + Py_CLEAR(clear_module_state->__pyx_n_s_setInputBuffer); + Py_CLEAR(clear_module_state->__pyx_n_s_set_name); + Py_CLEAR(clear_module_state->__pyx_n_s_setstate); + Py_CLEAR(clear_module_state->__pyx_n_s_setstate_cython); + Py_CLEAR(clear_module_state->__pyx_n_s_shape); + Py_CLEAR(clear_module_state->__pyx_n_s_size); + Py_CLEAR(clear_module_state->__pyx_n_s_spec); + Py_CLEAR(clear_module_state->__pyx_n_s_start); + Py_CLEAR(clear_module_state->__pyx_n_s_step); + Py_CLEAR(clear_module_state->__pyx_n_s_stop); + Py_CLEAR(clear_module_state->__pyx_kp_s_strided_and_direct); + Py_CLEAR(clear_module_state->__pyx_kp_s_strided_and_direct_or_indirect); + Py_CLEAR(clear_module_state->__pyx_kp_s_strided_and_indirect); + Py_CLEAR(clear_module_state->__pyx_kp_s_stringsource); + Py_CLEAR(clear_module_state->__pyx_n_s_struct); + Py_CLEAR(clear_module_state->__pyx_n_s_super); + Py_CLEAR(clear_module_state->__pyx_n_s_sys); + Py_CLEAR(clear_module_state->__pyx_n_s_test); + Py_CLEAR(clear_module_state->__pyx_kp_s_unable_to_allocate_array_data); + Py_CLEAR(clear_module_state->__pyx_kp_s_unable_to_allocate_shape_and_str); + Py_CLEAR(clear_module_state->__pyx_n_s_unpack); + Py_CLEAR(clear_module_state->__pyx_n_s_update); + Py_CLEAR(clear_module_state->__pyx_n_s_version_info); + Py_CLEAR(clear_module_state->__pyx_int_0); + Py_CLEAR(clear_module_state->__pyx_int_1); + Py_CLEAR(clear_module_state->__pyx_int_3); + Py_CLEAR(clear_module_state->__pyx_int_112105877); + Py_CLEAR(clear_module_state->__pyx_int_136983863); + Py_CLEAR(clear_module_state->__pyx_int_184977713); + Py_CLEAR(clear_module_state->__pyx_int_neg_1); + Py_CLEAR(clear_module_state->__pyx_slice__5); + Py_CLEAR(clear_module_state->__pyx_tuple__4); + Py_CLEAR(clear_module_state->__pyx_tuple__8); + Py_CLEAR(clear_module_state->__pyx_tuple__9); + Py_CLEAR(clear_module_state->__pyx_tuple__10); + Py_CLEAR(clear_module_state->__pyx_tuple__11); + Py_CLEAR(clear_module_state->__pyx_tuple__12); + Py_CLEAR(clear_module_state->__pyx_tuple__13); + Py_CLEAR(clear_module_state->__pyx_tuple__14); + Py_CLEAR(clear_module_state->__pyx_tuple__15); + Py_CLEAR(clear_module_state->__pyx_tuple__16); + Py_CLEAR(clear_module_state->__pyx_tuple__17); + Py_CLEAR(clear_module_state->__pyx_tuple__18); + Py_CLEAR(clear_module_state->__pyx_tuple__20); + Py_CLEAR(clear_module_state->__pyx_tuple__23); + Py_CLEAR(clear_module_state->__pyx_tuple__25); + Py_CLEAR(clear_module_state->__pyx_tuple__28); + Py_CLEAR(clear_module_state->__pyx_codeobj__19); + Py_CLEAR(clear_module_state->__pyx_codeobj__21); + Py_CLEAR(clear_module_state->__pyx_codeobj__22); + Py_CLEAR(clear_module_state->__pyx_codeobj__24); + Py_CLEAR(clear_module_state->__pyx_codeobj__26); + Py_CLEAR(clear_module_state->__pyx_codeobj__27); + Py_CLEAR(clear_module_state->__pyx_codeobj__29); + return 0; +} +#endif +/* #### Code section: module_state_traverse ### */ +#if CYTHON_USE_MODULE_STATE +static int __pyx_m_traverse(PyObject *m, visitproc visit, void *arg) { + __pyx_mstate *traverse_module_state = __pyx_mstate(m); + if (!traverse_module_state) return 0; + Py_VISIT(traverse_module_state->__pyx_d); + Py_VISIT(traverse_module_state->__pyx_b); + Py_VISIT(traverse_module_state->__pyx_cython_runtime); + Py_VISIT(traverse_module_state->__pyx_empty_tuple); + Py_VISIT(traverse_module_state->__pyx_empty_bytes); + Py_VISIT(traverse_module_state->__pyx_empty_unicode); + #ifdef __Pyx_CyFunction_USED + Py_VISIT(traverse_module_state->__pyx_CyFunctionType); + #endif + #ifdef __Pyx_FusedFunction_USED + Py_VISIT(traverse_module_state->__pyx_FusedFunctionType); + #endif + Py_VISIT(traverse_module_state->__pyx_ptype_4msgq_9visionipc_13visionipc_pyx_CLContext); + Py_VISIT(traverse_module_state->__pyx_ptype_4msgq_9visionipc_13visionipc_pyx_VisionBuf); + Py_VISIT(traverse_module_state->__pyx_ptype_9selfdrive_14classic_modeld_6models_15commonmodel_pyx_CLContext); + Py_VISIT(traverse_module_state->__pyx_ptype_9selfdrive_14classic_modeld_6models_15commonmodel_pyx_CLMem); + Py_VISIT(traverse_module_state->__pyx_ptype_9selfdrive_14classic_modeld_7runners_12runmodel_pyx_RunModel); + Py_VISIT(traverse_module_state->__pyx_type_9selfdrive_14classic_modeld_7runners_12runmodel_pyx_RunModel); + Py_VISIT(traverse_module_state->__pyx_array_type); + Py_VISIT(traverse_module_state->__pyx_type___pyx_array); + Py_VISIT(traverse_module_state->__pyx_MemviewEnum_type); + Py_VISIT(traverse_module_state->__pyx_type___pyx_MemviewEnum); + Py_VISIT(traverse_module_state->__pyx_memoryview_type); + Py_VISIT(traverse_module_state->__pyx_type___pyx_memoryview); + Py_VISIT(traverse_module_state->__pyx_memoryviewslice_type); + Py_VISIT(traverse_module_state->__pyx_type___pyx_memoryviewslice); + Py_VISIT(traverse_module_state->__pyx_kp_u_); + Py_VISIT(traverse_module_state->__pyx_n_s_ASCII); + Py_VISIT(traverse_module_state->__pyx_kp_s_All_dimensions_preceding_dimensi); + Py_VISIT(traverse_module_state->__pyx_n_s_AssertionError); + Py_VISIT(traverse_module_state->__pyx_kp_s_Buffer_view_does_not_expose_stri); + Py_VISIT(traverse_module_state->__pyx_n_s_CPU); + Py_VISIT(traverse_module_state->__pyx_kp_s_Can_only_create_a_buffer_that_is); + Py_VISIT(traverse_module_state->__pyx_kp_s_Cannot_assign_to_read_only_memor); + Py_VISIT(traverse_module_state->__pyx_kp_s_Cannot_create_writable_memory_vi); + Py_VISIT(traverse_module_state->__pyx_kp_u_Cannot_index_with_type); + Py_VISIT(traverse_module_state->__pyx_kp_s_Cannot_transpose_memoryview_with); + Py_VISIT(traverse_module_state->__pyx_n_s_DSP); + Py_VISIT(traverse_module_state->__pyx_kp_s_Dimension_d_is_not_direct); + Py_VISIT(traverse_module_state->__pyx_n_s_Ellipsis); + Py_VISIT(traverse_module_state->__pyx_kp_s_Empty_shape_tuple_for_cython_arr); + Py_VISIT(traverse_module_state->__pyx_n_s_GPU); + Py_VISIT(traverse_module_state->__pyx_kp_s_Incompatible_checksums_0x_x_vs_0); + Py_VISIT(traverse_module_state->__pyx_n_s_IndexError); + Py_VISIT(traverse_module_state->__pyx_kp_s_Index_out_of_bounds_axis_d); + Py_VISIT(traverse_module_state->__pyx_kp_s_Indirect_dimensions_not_supporte); + Py_VISIT(traverse_module_state->__pyx_kp_u_Invalid_mode_expected_c_or_fortr); + Py_VISIT(traverse_module_state->__pyx_kp_u_Invalid_shape_in_axis); + Py_VISIT(traverse_module_state->__pyx_n_s_MemoryError); + Py_VISIT(traverse_module_state->__pyx_kp_s_MemoryView_of_r_at_0x_x); + Py_VISIT(traverse_module_state->__pyx_kp_s_MemoryView_of_r_object); + Py_VISIT(traverse_module_state->__pyx_n_b_O); + Py_VISIT(traverse_module_state->__pyx_kp_u_Out_of_bounds_on_buffer_access_a); + Py_VISIT(traverse_module_state->__pyx_n_s_PickleError); + Py_VISIT(traverse_module_state->__pyx_n_s_RunModel); + Py_VISIT(traverse_module_state->__pyx_n_s_RunModel___reduce_cython); + Py_VISIT(traverse_module_state->__pyx_n_s_RunModel___setstate_cython); + Py_VISIT(traverse_module_state->__pyx_n_s_RunModel_addInput); + Py_VISIT(traverse_module_state->__pyx_n_s_RunModel_execute); + Py_VISIT(traverse_module_state->__pyx_n_s_RunModel_getCLBuffer); + Py_VISIT(traverse_module_state->__pyx_n_s_RunModel_setInputBuffer); + Py_VISIT(traverse_module_state->__pyx_n_s_Runtime); + Py_VISIT(traverse_module_state->__pyx_n_s_Sequence); + Py_VISIT(traverse_module_state->__pyx_kp_s_Step_may_not_be_zero_axis_d); + Py_VISIT(traverse_module_state->__pyx_n_s_TypeError); + Py_VISIT(traverse_module_state->__pyx_kp_s_Unable_to_convert_item_to_object); + Py_VISIT(traverse_module_state->__pyx_n_s_ValueError); + Py_VISIT(traverse_module_state->__pyx_n_s_View_MemoryView); + Py_VISIT(traverse_module_state->__pyx_kp_u__2); + Py_VISIT(traverse_module_state->__pyx_n_s__3); + Py_VISIT(traverse_module_state->__pyx_n_s__30); + Py_VISIT(traverse_module_state->__pyx_kp_u__6); + Py_VISIT(traverse_module_state->__pyx_kp_u__7); + Py_VISIT(traverse_module_state->__pyx_n_s_abc); + Py_VISIT(traverse_module_state->__pyx_n_s_addInput); + Py_VISIT(traverse_module_state->__pyx_n_s_allocate_buffer); + Py_VISIT(traverse_module_state->__pyx_kp_u_and); + Py_VISIT(traverse_module_state->__pyx_n_s_asyncio_coroutines); + Py_VISIT(traverse_module_state->__pyx_n_s_base); + Py_VISIT(traverse_module_state->__pyx_n_s_buffer); + Py_VISIT(traverse_module_state->__pyx_n_s_c); + Py_VISIT(traverse_module_state->__pyx_n_u_c); + Py_VISIT(traverse_module_state->__pyx_n_s_cl_buf); + Py_VISIT(traverse_module_state->__pyx_n_s_class); + Py_VISIT(traverse_module_state->__pyx_n_s_class_getitem); + Py_VISIT(traverse_module_state->__pyx_n_s_cline_in_traceback); + Py_VISIT(traverse_module_state->__pyx_n_s_collections); + Py_VISIT(traverse_module_state->__pyx_kp_s_collections_abc); + Py_VISIT(traverse_module_state->__pyx_kp_s_contiguous_and_direct); + Py_VISIT(traverse_module_state->__pyx_kp_s_contiguous_and_indirect); + Py_VISIT(traverse_module_state->__pyx_n_s_count); + Py_VISIT(traverse_module_state->__pyx_n_s_dict); + Py_VISIT(traverse_module_state->__pyx_kp_u_disable); + Py_VISIT(traverse_module_state->__pyx_n_s_doc); + Py_VISIT(traverse_module_state->__pyx_n_s_dtype_is_object); + Py_VISIT(traverse_module_state->__pyx_kp_u_enable); + Py_VISIT(traverse_module_state->__pyx_n_s_encode); + Py_VISIT(traverse_module_state->__pyx_n_s_enumerate); + Py_VISIT(traverse_module_state->__pyx_n_s_error); + Py_VISIT(traverse_module_state->__pyx_n_s_execute); + Py_VISIT(traverse_module_state->__pyx_n_s_flags); + Py_VISIT(traverse_module_state->__pyx_n_s_format); + Py_VISIT(traverse_module_state->__pyx_n_s_fortran); + Py_VISIT(traverse_module_state->__pyx_n_u_fortran); + Py_VISIT(traverse_module_state->__pyx_kp_u_gc); + Py_VISIT(traverse_module_state->__pyx_n_s_getCLBuffer); + Py_VISIT(traverse_module_state->__pyx_n_s_getstate); + Py_VISIT(traverse_module_state->__pyx_kp_u_got); + Py_VISIT(traverse_module_state->__pyx_kp_u_got_differing_extents_in_dimensi); + Py_VISIT(traverse_module_state->__pyx_n_s_id); + Py_VISIT(traverse_module_state->__pyx_n_s_import); + Py_VISIT(traverse_module_state->__pyx_n_s_index); + Py_VISIT(traverse_module_state->__pyx_n_s_init_subclass); + Py_VISIT(traverse_module_state->__pyx_n_s_initializing); + Py_VISIT(traverse_module_state->__pyx_n_s_is_coroutine); + Py_VISIT(traverse_module_state->__pyx_kp_u_isenabled); + Py_VISIT(traverse_module_state->__pyx_n_s_itemsize); + Py_VISIT(traverse_module_state->__pyx_kp_s_itemsize_0_for_cython_array); + Py_VISIT(traverse_module_state->__pyx_n_s_main); + Py_VISIT(traverse_module_state->__pyx_n_s_memview); + Py_VISIT(traverse_module_state->__pyx_n_s_metaclass); + Py_VISIT(traverse_module_state->__pyx_n_s_mode); + Py_VISIT(traverse_module_state->__pyx_n_s_module); + Py_VISIT(traverse_module_state->__pyx_n_s_name); + Py_VISIT(traverse_module_state->__pyx_n_s_name_2); + Py_VISIT(traverse_module_state->__pyx_n_s_ndim); + Py_VISIT(traverse_module_state->__pyx_n_s_new); + Py_VISIT(traverse_module_state->__pyx_kp_s_no_default___reduce___due_to_non); + Py_VISIT(traverse_module_state->__pyx_n_s_obj); + Py_VISIT(traverse_module_state->__pyx_n_s_pack); + Py_VISIT(traverse_module_state->__pyx_n_s_pickle); + Py_VISIT(traverse_module_state->__pyx_n_s_prepare); + Py_VISIT(traverse_module_state->__pyx_n_s_pyx_PickleError); + Py_VISIT(traverse_module_state->__pyx_n_s_pyx_checksum); + Py_VISIT(traverse_module_state->__pyx_n_s_pyx_result); + Py_VISIT(traverse_module_state->__pyx_n_s_pyx_state); + Py_VISIT(traverse_module_state->__pyx_n_s_pyx_type); + Py_VISIT(traverse_module_state->__pyx_n_s_pyx_unpickle_Enum); + Py_VISIT(traverse_module_state->__pyx_n_s_pyx_vtable); + Py_VISIT(traverse_module_state->__pyx_n_s_qualname); + Py_VISIT(traverse_module_state->__pyx_n_s_range); + Py_VISIT(traverse_module_state->__pyx_n_s_reduce); + Py_VISIT(traverse_module_state->__pyx_n_s_reduce_cython); + Py_VISIT(traverse_module_state->__pyx_n_s_reduce_ex); + Py_VISIT(traverse_module_state->__pyx_n_s_register); + Py_VISIT(traverse_module_state->__pyx_n_s_self); + Py_VISIT(traverse_module_state->__pyx_kp_s_self_model_cannot_be_converted_t); + Py_VISIT(traverse_module_state->__pyx_n_s_selfdrive_classic_modeld_runners); + Py_VISIT(traverse_module_state->__pyx_kp_s_selfdrive_classic_modeld_runners_2); + Py_VISIT(traverse_module_state->__pyx_n_s_setInputBuffer); + Py_VISIT(traverse_module_state->__pyx_n_s_set_name); + Py_VISIT(traverse_module_state->__pyx_n_s_setstate); + Py_VISIT(traverse_module_state->__pyx_n_s_setstate_cython); + Py_VISIT(traverse_module_state->__pyx_n_s_shape); + Py_VISIT(traverse_module_state->__pyx_n_s_size); + Py_VISIT(traverse_module_state->__pyx_n_s_spec); + Py_VISIT(traverse_module_state->__pyx_n_s_start); + Py_VISIT(traverse_module_state->__pyx_n_s_step); + Py_VISIT(traverse_module_state->__pyx_n_s_stop); + Py_VISIT(traverse_module_state->__pyx_kp_s_strided_and_direct); + Py_VISIT(traverse_module_state->__pyx_kp_s_strided_and_direct_or_indirect); + Py_VISIT(traverse_module_state->__pyx_kp_s_strided_and_indirect); + Py_VISIT(traverse_module_state->__pyx_kp_s_stringsource); + Py_VISIT(traverse_module_state->__pyx_n_s_struct); + Py_VISIT(traverse_module_state->__pyx_n_s_super); + Py_VISIT(traverse_module_state->__pyx_n_s_sys); + Py_VISIT(traverse_module_state->__pyx_n_s_test); + Py_VISIT(traverse_module_state->__pyx_kp_s_unable_to_allocate_array_data); + Py_VISIT(traverse_module_state->__pyx_kp_s_unable_to_allocate_shape_and_str); + Py_VISIT(traverse_module_state->__pyx_n_s_unpack); + Py_VISIT(traverse_module_state->__pyx_n_s_update); + Py_VISIT(traverse_module_state->__pyx_n_s_version_info); + Py_VISIT(traverse_module_state->__pyx_int_0); + Py_VISIT(traverse_module_state->__pyx_int_1); + Py_VISIT(traverse_module_state->__pyx_int_3); + Py_VISIT(traverse_module_state->__pyx_int_112105877); + Py_VISIT(traverse_module_state->__pyx_int_136983863); + Py_VISIT(traverse_module_state->__pyx_int_184977713); + Py_VISIT(traverse_module_state->__pyx_int_neg_1); + Py_VISIT(traverse_module_state->__pyx_slice__5); + Py_VISIT(traverse_module_state->__pyx_tuple__4); + Py_VISIT(traverse_module_state->__pyx_tuple__8); + Py_VISIT(traverse_module_state->__pyx_tuple__9); + Py_VISIT(traverse_module_state->__pyx_tuple__10); + Py_VISIT(traverse_module_state->__pyx_tuple__11); + Py_VISIT(traverse_module_state->__pyx_tuple__12); + Py_VISIT(traverse_module_state->__pyx_tuple__13); + Py_VISIT(traverse_module_state->__pyx_tuple__14); + Py_VISIT(traverse_module_state->__pyx_tuple__15); + Py_VISIT(traverse_module_state->__pyx_tuple__16); + Py_VISIT(traverse_module_state->__pyx_tuple__17); + Py_VISIT(traverse_module_state->__pyx_tuple__18); + Py_VISIT(traverse_module_state->__pyx_tuple__20); + Py_VISIT(traverse_module_state->__pyx_tuple__23); + Py_VISIT(traverse_module_state->__pyx_tuple__25); + Py_VISIT(traverse_module_state->__pyx_tuple__28); + Py_VISIT(traverse_module_state->__pyx_codeobj__19); + Py_VISIT(traverse_module_state->__pyx_codeobj__21); + Py_VISIT(traverse_module_state->__pyx_codeobj__22); + Py_VISIT(traverse_module_state->__pyx_codeobj__24); + Py_VISIT(traverse_module_state->__pyx_codeobj__26); + Py_VISIT(traverse_module_state->__pyx_codeobj__27); + Py_VISIT(traverse_module_state->__pyx_codeobj__29); + return 0; +} +#endif +/* #### Code section: module_state_defines ### */ +#define __pyx_d __pyx_mstate_global->__pyx_d +#define __pyx_b __pyx_mstate_global->__pyx_b +#define __pyx_cython_runtime __pyx_mstate_global->__pyx_cython_runtime +#define __pyx_empty_tuple __pyx_mstate_global->__pyx_empty_tuple +#define __pyx_empty_bytes __pyx_mstate_global->__pyx_empty_bytes +#define __pyx_empty_unicode __pyx_mstate_global->__pyx_empty_unicode +#ifdef __Pyx_CyFunction_USED +#define __pyx_CyFunctionType __pyx_mstate_global->__pyx_CyFunctionType +#endif +#ifdef __Pyx_FusedFunction_USED +#define __pyx_FusedFunctionType __pyx_mstate_global->__pyx_FusedFunctionType +#endif +#ifdef __Pyx_Generator_USED +#define __pyx_GeneratorType __pyx_mstate_global->__pyx_GeneratorType +#endif +#ifdef __Pyx_IterableCoroutine_USED +#define __pyx_IterableCoroutineType __pyx_mstate_global->__pyx_IterableCoroutineType +#endif +#ifdef __Pyx_Coroutine_USED +#define __pyx_CoroutineAwaitType __pyx_mstate_global->__pyx_CoroutineAwaitType +#endif +#ifdef __Pyx_Coroutine_USED +#define __pyx_CoroutineType __pyx_mstate_global->__pyx_CoroutineType +#endif +#if CYTHON_USE_MODULE_STATE +#endif +#if CYTHON_USE_MODULE_STATE +#endif +#if CYTHON_USE_MODULE_STATE +#endif +#if CYTHON_USE_MODULE_STATE +#endif +#if CYTHON_USE_MODULE_STATE +#endif +#if CYTHON_USE_MODULE_STATE +#endif +#if CYTHON_USE_MODULE_STATE +#endif +#if CYTHON_USE_MODULE_STATE +#endif +#if CYTHON_USE_MODULE_STATE +#endif +#if CYTHON_USE_MODULE_STATE +#endif +#define __pyx_ptype_4msgq_9visionipc_13visionipc_pyx_CLContext __pyx_mstate_global->__pyx_ptype_4msgq_9visionipc_13visionipc_pyx_CLContext +#define __pyx_ptype_4msgq_9visionipc_13visionipc_pyx_VisionBuf __pyx_mstate_global->__pyx_ptype_4msgq_9visionipc_13visionipc_pyx_VisionBuf +#if CYTHON_USE_MODULE_STATE +#endif +#define __pyx_ptype_9selfdrive_14classic_modeld_6models_15commonmodel_pyx_CLContext __pyx_mstate_global->__pyx_ptype_9selfdrive_14classic_modeld_6models_15commonmodel_pyx_CLContext +#define __pyx_ptype_9selfdrive_14classic_modeld_6models_15commonmodel_pyx_CLMem __pyx_mstate_global->__pyx_ptype_9selfdrive_14classic_modeld_6models_15commonmodel_pyx_CLMem +#if CYTHON_USE_MODULE_STATE +#define __pyx_type_9selfdrive_14classic_modeld_7runners_12runmodel_pyx_RunModel __pyx_mstate_global->__pyx_type_9selfdrive_14classic_modeld_7runners_12runmodel_pyx_RunModel +#define __pyx_type___pyx_array __pyx_mstate_global->__pyx_type___pyx_array +#define __pyx_type___pyx_MemviewEnum __pyx_mstate_global->__pyx_type___pyx_MemviewEnum +#define __pyx_type___pyx_memoryview __pyx_mstate_global->__pyx_type___pyx_memoryview +#define __pyx_type___pyx_memoryviewslice __pyx_mstate_global->__pyx_type___pyx_memoryviewslice +#endif +#define __pyx_ptype_9selfdrive_14classic_modeld_7runners_12runmodel_pyx_RunModel __pyx_mstate_global->__pyx_ptype_9selfdrive_14classic_modeld_7runners_12runmodel_pyx_RunModel +#define __pyx_array_type __pyx_mstate_global->__pyx_array_type +#define __pyx_MemviewEnum_type __pyx_mstate_global->__pyx_MemviewEnum_type +#define __pyx_memoryview_type __pyx_mstate_global->__pyx_memoryview_type +#define __pyx_memoryviewslice_type __pyx_mstate_global->__pyx_memoryviewslice_type +#define __pyx_kp_u_ __pyx_mstate_global->__pyx_kp_u_ +#define __pyx_n_s_ASCII __pyx_mstate_global->__pyx_n_s_ASCII +#define __pyx_kp_s_All_dimensions_preceding_dimensi __pyx_mstate_global->__pyx_kp_s_All_dimensions_preceding_dimensi +#define __pyx_n_s_AssertionError __pyx_mstate_global->__pyx_n_s_AssertionError +#define __pyx_kp_s_Buffer_view_does_not_expose_stri __pyx_mstate_global->__pyx_kp_s_Buffer_view_does_not_expose_stri +#define __pyx_n_s_CPU __pyx_mstate_global->__pyx_n_s_CPU +#define __pyx_kp_s_Can_only_create_a_buffer_that_is __pyx_mstate_global->__pyx_kp_s_Can_only_create_a_buffer_that_is +#define __pyx_kp_s_Cannot_assign_to_read_only_memor __pyx_mstate_global->__pyx_kp_s_Cannot_assign_to_read_only_memor +#define __pyx_kp_s_Cannot_create_writable_memory_vi __pyx_mstate_global->__pyx_kp_s_Cannot_create_writable_memory_vi +#define __pyx_kp_u_Cannot_index_with_type __pyx_mstate_global->__pyx_kp_u_Cannot_index_with_type +#define __pyx_kp_s_Cannot_transpose_memoryview_with __pyx_mstate_global->__pyx_kp_s_Cannot_transpose_memoryview_with +#define __pyx_n_s_DSP __pyx_mstate_global->__pyx_n_s_DSP +#define __pyx_kp_s_Dimension_d_is_not_direct __pyx_mstate_global->__pyx_kp_s_Dimension_d_is_not_direct +#define __pyx_n_s_Ellipsis __pyx_mstate_global->__pyx_n_s_Ellipsis +#define __pyx_kp_s_Empty_shape_tuple_for_cython_arr __pyx_mstate_global->__pyx_kp_s_Empty_shape_tuple_for_cython_arr +#define __pyx_n_s_GPU __pyx_mstate_global->__pyx_n_s_GPU +#define __pyx_kp_s_Incompatible_checksums_0x_x_vs_0 __pyx_mstate_global->__pyx_kp_s_Incompatible_checksums_0x_x_vs_0 +#define __pyx_n_s_IndexError __pyx_mstate_global->__pyx_n_s_IndexError +#define __pyx_kp_s_Index_out_of_bounds_axis_d __pyx_mstate_global->__pyx_kp_s_Index_out_of_bounds_axis_d +#define __pyx_kp_s_Indirect_dimensions_not_supporte __pyx_mstate_global->__pyx_kp_s_Indirect_dimensions_not_supporte +#define __pyx_kp_u_Invalid_mode_expected_c_or_fortr __pyx_mstate_global->__pyx_kp_u_Invalid_mode_expected_c_or_fortr +#define __pyx_kp_u_Invalid_shape_in_axis __pyx_mstate_global->__pyx_kp_u_Invalid_shape_in_axis +#define __pyx_n_s_MemoryError __pyx_mstate_global->__pyx_n_s_MemoryError +#define __pyx_kp_s_MemoryView_of_r_at_0x_x __pyx_mstate_global->__pyx_kp_s_MemoryView_of_r_at_0x_x +#define __pyx_kp_s_MemoryView_of_r_object __pyx_mstate_global->__pyx_kp_s_MemoryView_of_r_object +#define __pyx_n_b_O __pyx_mstate_global->__pyx_n_b_O +#define __pyx_kp_u_Out_of_bounds_on_buffer_access_a __pyx_mstate_global->__pyx_kp_u_Out_of_bounds_on_buffer_access_a +#define __pyx_n_s_PickleError __pyx_mstate_global->__pyx_n_s_PickleError +#define __pyx_n_s_RunModel __pyx_mstate_global->__pyx_n_s_RunModel +#define __pyx_n_s_RunModel___reduce_cython __pyx_mstate_global->__pyx_n_s_RunModel___reduce_cython +#define __pyx_n_s_RunModel___setstate_cython __pyx_mstate_global->__pyx_n_s_RunModel___setstate_cython +#define __pyx_n_s_RunModel_addInput __pyx_mstate_global->__pyx_n_s_RunModel_addInput +#define __pyx_n_s_RunModel_execute __pyx_mstate_global->__pyx_n_s_RunModel_execute +#define __pyx_n_s_RunModel_getCLBuffer __pyx_mstate_global->__pyx_n_s_RunModel_getCLBuffer +#define __pyx_n_s_RunModel_setInputBuffer __pyx_mstate_global->__pyx_n_s_RunModel_setInputBuffer +#define __pyx_n_s_Runtime __pyx_mstate_global->__pyx_n_s_Runtime +#define __pyx_n_s_Sequence __pyx_mstate_global->__pyx_n_s_Sequence +#define __pyx_kp_s_Step_may_not_be_zero_axis_d __pyx_mstate_global->__pyx_kp_s_Step_may_not_be_zero_axis_d +#define __pyx_n_s_TypeError __pyx_mstate_global->__pyx_n_s_TypeError +#define __pyx_kp_s_Unable_to_convert_item_to_object __pyx_mstate_global->__pyx_kp_s_Unable_to_convert_item_to_object +#define __pyx_n_s_ValueError __pyx_mstate_global->__pyx_n_s_ValueError +#define __pyx_n_s_View_MemoryView __pyx_mstate_global->__pyx_n_s_View_MemoryView +#define __pyx_kp_u__2 __pyx_mstate_global->__pyx_kp_u__2 +#define __pyx_n_s__3 __pyx_mstate_global->__pyx_n_s__3 +#define __pyx_n_s__30 __pyx_mstate_global->__pyx_n_s__30 +#define __pyx_kp_u__6 __pyx_mstate_global->__pyx_kp_u__6 +#define __pyx_kp_u__7 __pyx_mstate_global->__pyx_kp_u__7 +#define __pyx_n_s_abc __pyx_mstate_global->__pyx_n_s_abc +#define __pyx_n_s_addInput __pyx_mstate_global->__pyx_n_s_addInput +#define __pyx_n_s_allocate_buffer __pyx_mstate_global->__pyx_n_s_allocate_buffer +#define __pyx_kp_u_and __pyx_mstate_global->__pyx_kp_u_and +#define __pyx_n_s_asyncio_coroutines __pyx_mstate_global->__pyx_n_s_asyncio_coroutines +#define __pyx_n_s_base __pyx_mstate_global->__pyx_n_s_base +#define __pyx_n_s_buffer __pyx_mstate_global->__pyx_n_s_buffer +#define __pyx_n_s_c __pyx_mstate_global->__pyx_n_s_c +#define __pyx_n_u_c __pyx_mstate_global->__pyx_n_u_c +#define __pyx_n_s_cl_buf __pyx_mstate_global->__pyx_n_s_cl_buf +#define __pyx_n_s_class __pyx_mstate_global->__pyx_n_s_class +#define __pyx_n_s_class_getitem __pyx_mstate_global->__pyx_n_s_class_getitem +#define __pyx_n_s_cline_in_traceback __pyx_mstate_global->__pyx_n_s_cline_in_traceback +#define __pyx_n_s_collections __pyx_mstate_global->__pyx_n_s_collections +#define __pyx_kp_s_collections_abc __pyx_mstate_global->__pyx_kp_s_collections_abc +#define __pyx_kp_s_contiguous_and_direct __pyx_mstate_global->__pyx_kp_s_contiguous_and_direct +#define __pyx_kp_s_contiguous_and_indirect __pyx_mstate_global->__pyx_kp_s_contiguous_and_indirect +#define __pyx_n_s_count __pyx_mstate_global->__pyx_n_s_count +#define __pyx_n_s_dict __pyx_mstate_global->__pyx_n_s_dict +#define __pyx_kp_u_disable __pyx_mstate_global->__pyx_kp_u_disable +#define __pyx_n_s_doc __pyx_mstate_global->__pyx_n_s_doc +#define __pyx_n_s_dtype_is_object __pyx_mstate_global->__pyx_n_s_dtype_is_object +#define __pyx_kp_u_enable __pyx_mstate_global->__pyx_kp_u_enable +#define __pyx_n_s_encode __pyx_mstate_global->__pyx_n_s_encode +#define __pyx_n_s_enumerate __pyx_mstate_global->__pyx_n_s_enumerate +#define __pyx_n_s_error __pyx_mstate_global->__pyx_n_s_error +#define __pyx_n_s_execute __pyx_mstate_global->__pyx_n_s_execute +#define __pyx_n_s_flags __pyx_mstate_global->__pyx_n_s_flags +#define __pyx_n_s_format __pyx_mstate_global->__pyx_n_s_format +#define __pyx_n_s_fortran __pyx_mstate_global->__pyx_n_s_fortran +#define __pyx_n_u_fortran __pyx_mstate_global->__pyx_n_u_fortran +#define __pyx_kp_u_gc __pyx_mstate_global->__pyx_kp_u_gc +#define __pyx_n_s_getCLBuffer __pyx_mstate_global->__pyx_n_s_getCLBuffer +#define __pyx_n_s_getstate __pyx_mstate_global->__pyx_n_s_getstate +#define __pyx_kp_u_got __pyx_mstate_global->__pyx_kp_u_got +#define __pyx_kp_u_got_differing_extents_in_dimensi __pyx_mstate_global->__pyx_kp_u_got_differing_extents_in_dimensi +#define __pyx_n_s_id __pyx_mstate_global->__pyx_n_s_id +#define __pyx_n_s_import __pyx_mstate_global->__pyx_n_s_import +#define __pyx_n_s_index __pyx_mstate_global->__pyx_n_s_index +#define __pyx_n_s_init_subclass __pyx_mstate_global->__pyx_n_s_init_subclass +#define __pyx_n_s_initializing __pyx_mstate_global->__pyx_n_s_initializing +#define __pyx_n_s_is_coroutine __pyx_mstate_global->__pyx_n_s_is_coroutine +#define __pyx_kp_u_isenabled __pyx_mstate_global->__pyx_kp_u_isenabled +#define __pyx_n_s_itemsize __pyx_mstate_global->__pyx_n_s_itemsize +#define __pyx_kp_s_itemsize_0_for_cython_array __pyx_mstate_global->__pyx_kp_s_itemsize_0_for_cython_array +#define __pyx_n_s_main __pyx_mstate_global->__pyx_n_s_main +#define __pyx_n_s_memview __pyx_mstate_global->__pyx_n_s_memview +#define __pyx_n_s_metaclass __pyx_mstate_global->__pyx_n_s_metaclass +#define __pyx_n_s_mode __pyx_mstate_global->__pyx_n_s_mode +#define __pyx_n_s_module __pyx_mstate_global->__pyx_n_s_module +#define __pyx_n_s_name __pyx_mstate_global->__pyx_n_s_name +#define __pyx_n_s_name_2 __pyx_mstate_global->__pyx_n_s_name_2 +#define __pyx_n_s_ndim __pyx_mstate_global->__pyx_n_s_ndim +#define __pyx_n_s_new __pyx_mstate_global->__pyx_n_s_new +#define __pyx_kp_s_no_default___reduce___due_to_non __pyx_mstate_global->__pyx_kp_s_no_default___reduce___due_to_non +#define __pyx_n_s_obj __pyx_mstate_global->__pyx_n_s_obj +#define __pyx_n_s_pack __pyx_mstate_global->__pyx_n_s_pack +#define __pyx_n_s_pickle __pyx_mstate_global->__pyx_n_s_pickle +#define __pyx_n_s_prepare __pyx_mstate_global->__pyx_n_s_prepare +#define __pyx_n_s_pyx_PickleError __pyx_mstate_global->__pyx_n_s_pyx_PickleError +#define __pyx_n_s_pyx_checksum __pyx_mstate_global->__pyx_n_s_pyx_checksum +#define __pyx_n_s_pyx_result __pyx_mstate_global->__pyx_n_s_pyx_result +#define __pyx_n_s_pyx_state __pyx_mstate_global->__pyx_n_s_pyx_state +#define __pyx_n_s_pyx_type __pyx_mstate_global->__pyx_n_s_pyx_type +#define __pyx_n_s_pyx_unpickle_Enum __pyx_mstate_global->__pyx_n_s_pyx_unpickle_Enum +#define __pyx_n_s_pyx_vtable __pyx_mstate_global->__pyx_n_s_pyx_vtable +#define __pyx_n_s_qualname __pyx_mstate_global->__pyx_n_s_qualname +#define __pyx_n_s_range __pyx_mstate_global->__pyx_n_s_range +#define __pyx_n_s_reduce __pyx_mstate_global->__pyx_n_s_reduce +#define __pyx_n_s_reduce_cython __pyx_mstate_global->__pyx_n_s_reduce_cython +#define __pyx_n_s_reduce_ex __pyx_mstate_global->__pyx_n_s_reduce_ex +#define __pyx_n_s_register __pyx_mstate_global->__pyx_n_s_register +#define __pyx_n_s_self __pyx_mstate_global->__pyx_n_s_self +#define __pyx_kp_s_self_model_cannot_be_converted_t __pyx_mstate_global->__pyx_kp_s_self_model_cannot_be_converted_t +#define __pyx_n_s_selfdrive_classic_modeld_runners __pyx_mstate_global->__pyx_n_s_selfdrive_classic_modeld_runners +#define __pyx_kp_s_selfdrive_classic_modeld_runners_2 __pyx_mstate_global->__pyx_kp_s_selfdrive_classic_modeld_runners_2 +#define __pyx_n_s_setInputBuffer __pyx_mstate_global->__pyx_n_s_setInputBuffer +#define __pyx_n_s_set_name __pyx_mstate_global->__pyx_n_s_set_name +#define __pyx_n_s_setstate __pyx_mstate_global->__pyx_n_s_setstate +#define __pyx_n_s_setstate_cython __pyx_mstate_global->__pyx_n_s_setstate_cython +#define __pyx_n_s_shape __pyx_mstate_global->__pyx_n_s_shape +#define __pyx_n_s_size __pyx_mstate_global->__pyx_n_s_size +#define __pyx_n_s_spec __pyx_mstate_global->__pyx_n_s_spec +#define __pyx_n_s_start __pyx_mstate_global->__pyx_n_s_start +#define __pyx_n_s_step __pyx_mstate_global->__pyx_n_s_step +#define __pyx_n_s_stop __pyx_mstate_global->__pyx_n_s_stop +#define __pyx_kp_s_strided_and_direct __pyx_mstate_global->__pyx_kp_s_strided_and_direct +#define __pyx_kp_s_strided_and_direct_or_indirect __pyx_mstate_global->__pyx_kp_s_strided_and_direct_or_indirect +#define __pyx_kp_s_strided_and_indirect __pyx_mstate_global->__pyx_kp_s_strided_and_indirect +#define __pyx_kp_s_stringsource __pyx_mstate_global->__pyx_kp_s_stringsource +#define __pyx_n_s_struct __pyx_mstate_global->__pyx_n_s_struct +#define __pyx_n_s_super __pyx_mstate_global->__pyx_n_s_super +#define __pyx_n_s_sys __pyx_mstate_global->__pyx_n_s_sys +#define __pyx_n_s_test __pyx_mstate_global->__pyx_n_s_test +#define __pyx_kp_s_unable_to_allocate_array_data __pyx_mstate_global->__pyx_kp_s_unable_to_allocate_array_data +#define __pyx_kp_s_unable_to_allocate_shape_and_str __pyx_mstate_global->__pyx_kp_s_unable_to_allocate_shape_and_str +#define __pyx_n_s_unpack __pyx_mstate_global->__pyx_n_s_unpack +#define __pyx_n_s_update __pyx_mstate_global->__pyx_n_s_update +#define __pyx_n_s_version_info __pyx_mstate_global->__pyx_n_s_version_info +#define __pyx_int_0 __pyx_mstate_global->__pyx_int_0 +#define __pyx_int_1 __pyx_mstate_global->__pyx_int_1 +#define __pyx_int_3 __pyx_mstate_global->__pyx_int_3 +#define __pyx_int_112105877 __pyx_mstate_global->__pyx_int_112105877 +#define __pyx_int_136983863 __pyx_mstate_global->__pyx_int_136983863 +#define __pyx_int_184977713 __pyx_mstate_global->__pyx_int_184977713 +#define __pyx_int_neg_1 __pyx_mstate_global->__pyx_int_neg_1 +#define __pyx_slice__5 __pyx_mstate_global->__pyx_slice__5 +#define __pyx_tuple__4 __pyx_mstate_global->__pyx_tuple__4 +#define __pyx_tuple__8 __pyx_mstate_global->__pyx_tuple__8 +#define __pyx_tuple__9 __pyx_mstate_global->__pyx_tuple__9 +#define __pyx_tuple__10 __pyx_mstate_global->__pyx_tuple__10 +#define __pyx_tuple__11 __pyx_mstate_global->__pyx_tuple__11 +#define __pyx_tuple__12 __pyx_mstate_global->__pyx_tuple__12 +#define __pyx_tuple__13 __pyx_mstate_global->__pyx_tuple__13 +#define __pyx_tuple__14 __pyx_mstate_global->__pyx_tuple__14 +#define __pyx_tuple__15 __pyx_mstate_global->__pyx_tuple__15 +#define __pyx_tuple__16 __pyx_mstate_global->__pyx_tuple__16 +#define __pyx_tuple__17 __pyx_mstate_global->__pyx_tuple__17 +#define __pyx_tuple__18 __pyx_mstate_global->__pyx_tuple__18 +#define __pyx_tuple__20 __pyx_mstate_global->__pyx_tuple__20 +#define __pyx_tuple__23 __pyx_mstate_global->__pyx_tuple__23 +#define __pyx_tuple__25 __pyx_mstate_global->__pyx_tuple__25 +#define __pyx_tuple__28 __pyx_mstate_global->__pyx_tuple__28 +#define __pyx_codeobj__19 __pyx_mstate_global->__pyx_codeobj__19 +#define __pyx_codeobj__21 __pyx_mstate_global->__pyx_codeobj__21 +#define __pyx_codeobj__22 __pyx_mstate_global->__pyx_codeobj__22 +#define __pyx_codeobj__24 __pyx_mstate_global->__pyx_codeobj__24 +#define __pyx_codeobj__26 __pyx_mstate_global->__pyx_codeobj__26 +#define __pyx_codeobj__27 __pyx_mstate_global->__pyx_codeobj__27 +#define __pyx_codeobj__29 __pyx_mstate_global->__pyx_codeobj__29 +/* #### Code section: module_code ### */ + +/* "string.from_py":13 + * + * @cname("__pyx_convert_string_from_py_std__in_string") + * cdef string __pyx_convert_string_from_py_std__in_string(object o) except *: # <<<<<<<<<<<<<< + * cdef Py_ssize_t length = 0 + * cdef const char* data = __Pyx_PyObject_AsStringAndSize(o, &length) + */ + +static std::string __pyx_convert_string_from_py_std__in_string(PyObject *__pyx_v_o) { + Py_ssize_t __pyx_v_length; + char const *__pyx_v_data; + std::string __pyx_r; + char const *__pyx_t_1; + std::string __pyx_t_2; + int __pyx_lineno = 0; + const char *__pyx_filename = NULL; + int __pyx_clineno = 0; + + /* "string.from_py":14 + * @cname("__pyx_convert_string_from_py_std__in_string") + * cdef string __pyx_convert_string_from_py_std__in_string(object o) except *: + * cdef Py_ssize_t length = 0 # <<<<<<<<<<<<<< + * cdef const char* data = __Pyx_PyObject_AsStringAndSize(o, &length) + * return 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__pyx_memoryview_obj *)__pyx_t_2); + __pyx_t_2 = 0; + goto __pyx_L0; + } + + /* "View.MemoryView":711 + * + * @cname('__pyx_memview_slice') + * cdef memoryview memview_slice(memoryview memview, object indices): # <<<<<<<<<<<<<< + * cdef int new_ndim = 0, suboffset_dim = -1, dim + * cdef bint negative_step + */ + + /* function exit code */ + __pyx_L1_error:; + __Pyx_XDECREF(__pyx_t_2); + __Pyx_XDECREF(__pyx_t_8); + __Pyx_AddTraceback("View.MemoryView.memview_slice", __pyx_clineno, __pyx_lineno, __pyx_filename); + __pyx_r = 0; + __pyx_L0:; + __Pyx_XDECREF((PyObject *)__pyx_v_memviewsliceobj); + __Pyx_XDECREF(__pyx_v_index); + __Pyx_XGIVEREF((PyObject *)__pyx_r); + __Pyx_RefNannyFinishContext(); + return __pyx_r; +} + +/* "View.MemoryView":793 + * + * @cname('__pyx_memoryview_slice_memviewslice') + * cdef int slice_memviewslice( # <<<<<<<<<<<<<< + * __Pyx_memviewslice *dst, + * Py_ssize_t shape, Py_ssize_t stride, Py_ssize_t suboffset, + */ + +static int __pyx_memoryview_slice_memviewslice(__Pyx_memviewslice *__pyx_v_dst, Py_ssize_t __pyx_v_shape, Py_ssize_t __pyx_v_stride, Py_ssize_t __pyx_v_suboffset, int __pyx_v_dim, int __pyx_v_new_ndim, int *__pyx_v_suboffset_dim, Py_ssize_t __pyx_v_start, Py_ssize_t __pyx_v_stop, Py_ssize_t __pyx_v_step, int __pyx_v_have_start, int __pyx_v_have_stop, int __pyx_v_have_step, int __pyx_v_is_slice) { + Py_ssize_t __pyx_v_new_shape; + int __pyx_v_negative_step; + int __pyx_r; + int __pyx_t_1; + int __pyx_t_2; + int __pyx_t_3; + int __pyx_lineno = 0; + const char *__pyx_filename = NULL; + int __pyx_clineno = 0; + #ifdef WITH_THREAD + PyGILState_STATE __pyx_gilstate_save; + #endif + + /* "View.MemoryView":813 + * cdef bint negative_step + * + * if not is_slice: # <<<<<<<<<<<<<< + * + * if start < 0: + */ + __pyx_t_1 = (!__pyx_v_is_slice); + if (__pyx_t_1) { + + /* "View.MemoryView":815 + * if not is_slice: + * + * if start < 0: # <<<<<<<<<<<<<< + * start += shape + * if not 0 <= start < shape: + */ + __pyx_t_1 = (__pyx_v_start < 0); + if (__pyx_t_1) { + + /* "View.MemoryView":816 + * + * if start < 0: + * start += shape # <<<<<<<<<<<<<< + * if not 0 <= start < shape: + * _err_dim(PyExc_IndexError, "Index out of bounds (axis %d)", dim) + */ + __pyx_v_start = (__pyx_v_start + __pyx_v_shape); + + /* "View.MemoryView":815 + * if not is_slice: + * + * if start < 0: # <<<<<<<<<<<<<< + * start += shape + * if not 0 <= start < shape: + */ + } + + /* "View.MemoryView":817 + * if start < 0: + * start += shape + * if not 0 <= start < shape: # <<<<<<<<<<<<<< + * _err_dim(PyExc_IndexError, "Index out of bounds (axis %d)", dim) + * else: + */ + __pyx_t_1 = (0 <= __pyx_v_start); + if (__pyx_t_1) { + __pyx_t_1 = (__pyx_v_start < __pyx_v_shape); + } + __pyx_t_2 = (!__pyx_t_1); + if (__pyx_t_2) { + + /* "View.MemoryView":818 + * start += shape + * if not 0 <= start < shape: + * _err_dim(PyExc_IndexError, "Index out of bounds (axis %d)", dim) # <<<<<<<<<<<<<< + * else: + * + */ + __pyx_t_3 = __pyx_memoryview_err_dim(PyExc_IndexError, __pyx_kp_s_Index_out_of_bounds_axis_d, __pyx_v_dim); if (unlikely(__pyx_t_3 == ((int)-1))) __PYX_ERR(0, 818, __pyx_L1_error) + + /* "View.MemoryView":817 + * if start < 0: + * start += shape + * if not 0 <= start < shape: # <<<<<<<<<<<<<< + * _err_dim(PyExc_IndexError, "Index out of bounds (axis %d)", dim) + * else: + */ + } + + /* "View.MemoryView":813 + * cdef bint negative_step + * + * if not is_slice: # <<<<<<<<<<<<<< + * + * if start < 0: + */ + goto __pyx_L3; + } + + /* "View.MemoryView":821 + * else: + * + * if have_step: # <<<<<<<<<<<<<< + * negative_step = step < 0 + * if step == 0: + */ + /*else*/ { + __pyx_t_2 = (__pyx_v_have_step != 0); + if (__pyx_t_2) { + + /* "View.MemoryView":822 + * + * if have_step: + * negative_step = step < 0 # <<<<<<<<<<<<<< + * if step == 0: + * _err_dim(PyExc_ValueError, "Step may not be zero (axis %d)", dim) + */ + __pyx_v_negative_step = (__pyx_v_step < 0); + + /* "View.MemoryView":823 + * if have_step: + * negative_step = step < 0 + * if step == 0: # <<<<<<<<<<<<<< + * _err_dim(PyExc_ValueError, "Step may not be zero (axis %d)", dim) + * else: + */ + __pyx_t_2 = (__pyx_v_step == 0); + if (__pyx_t_2) { + + /* "View.MemoryView":824 + * negative_step = step < 0 + * if step == 0: + * _err_dim(PyExc_ValueError, "Step may not be zero (axis %d)", dim) # <<<<<<<<<<<<<< + * else: + * negative_step = False + */ + __pyx_t_3 = __pyx_memoryview_err_dim(PyExc_ValueError, __pyx_kp_s_Step_may_not_be_zero_axis_d, __pyx_v_dim); if (unlikely(__pyx_t_3 == ((int)-1))) __PYX_ERR(0, 824, __pyx_L1_error) + + /* "View.MemoryView":823 + * if have_step: + * negative_step = step < 0 + * if step == 0: # <<<<<<<<<<<<<< + * _err_dim(PyExc_ValueError, "Step may not be zero (axis %d)", dim) + * else: + */ + } + + /* "View.MemoryView":821 + * else: + * + * if have_step: # <<<<<<<<<<<<<< + * negative_step = step < 0 + * if step == 0: + */ + goto __pyx_L6; + } + + /* "View.MemoryView":826 + * _err_dim(PyExc_ValueError, "Step may not be zero (axis %d)", dim) + * else: + * negative_step = False # <<<<<<<<<<<<<< + * step = 1 + * + */ + /*else*/ { + __pyx_v_negative_step = 0; + + /* "View.MemoryView":827 + * else: + * negative_step = False + * step = 1 # <<<<<<<<<<<<<< + * + * + */ + __pyx_v_step = 1; + } + __pyx_L6:; + + /* "View.MemoryView":830 + * + * + * if have_start: # <<<<<<<<<<<<<< + * if start < 0: + * start += shape + */ + __pyx_t_2 = (__pyx_v_have_start != 0); + if (__pyx_t_2) { + + /* "View.MemoryView":831 + * + * if have_start: + * if start < 0: # <<<<<<<<<<<<<< + * start += shape + * if start < 0: + */ + __pyx_t_2 = (__pyx_v_start < 0); + if (__pyx_t_2) { + + /* "View.MemoryView":832 + * if have_start: + * if start < 0: + * start += shape # <<<<<<<<<<<<<< + * if start < 0: + * start = 0 + */ + __pyx_v_start = (__pyx_v_start + __pyx_v_shape); + + /* "View.MemoryView":833 + * if start < 0: + * start += shape + * if start < 0: # <<<<<<<<<<<<<< + * start = 0 + * elif start >= shape: + */ + __pyx_t_2 = (__pyx_v_start < 0); + if (__pyx_t_2) { + + /* "View.MemoryView":834 + * start += shape + * if start < 0: + * start = 0 # <<<<<<<<<<<<<< + * elif start >= shape: + * if negative_step: + */ + __pyx_v_start = 0; + + /* "View.MemoryView":833 + * if start < 0: + * start += shape + * if start < 0: # <<<<<<<<<<<<<< + * start = 0 + * elif start >= shape: + */ + } + + /* "View.MemoryView":831 + * + * if have_start: + * if start < 0: # <<<<<<<<<<<<<< + * start += shape + * if start < 0: + */ + goto __pyx_L9; + } + + /* "View.MemoryView":835 + * if start < 0: + * start = 0 + * elif start >= shape: # <<<<<<<<<<<<<< + * if negative_step: + * start = shape - 1 + */ + __pyx_t_2 = (__pyx_v_start >= __pyx_v_shape); + if (__pyx_t_2) { + + /* "View.MemoryView":836 + * start = 0 + * elif start >= shape: + * if negative_step: # <<<<<<<<<<<<<< + * start = shape - 1 + * else: + */ + if (__pyx_v_negative_step) { + + /* "View.MemoryView":837 + * elif start >= shape: + * if negative_step: + * start = shape - 1 # <<<<<<<<<<<<<< + * else: + * start = shape + */ + __pyx_v_start = (__pyx_v_shape - 1); + + /* "View.MemoryView":836 + * start = 0 + * elif start >= shape: + * if negative_step: # <<<<<<<<<<<<<< + * start = shape - 1 + * else: + */ + goto __pyx_L11; + } + + /* "View.MemoryView":839 + * start = shape - 1 + * else: + * start = shape # <<<<<<<<<<<<<< + * else: + * if negative_step: + */ + /*else*/ { + __pyx_v_start = __pyx_v_shape; + } + __pyx_L11:; + + /* "View.MemoryView":835 + * if start < 0: + * start = 0 + * elif start >= shape: # <<<<<<<<<<<<<< + * if negative_step: + * start = shape - 1 + */ + } + __pyx_L9:; + + /* "View.MemoryView":830 + * + * + * if have_start: # <<<<<<<<<<<<<< + * if start < 0: + * start += shape + */ + goto __pyx_L8; + } + + /* "View.MemoryView":841 + * start = shape + * else: + * if negative_step: # <<<<<<<<<<<<<< + * start = shape - 1 + * else: + */ + /*else*/ { + if (__pyx_v_negative_step) { + + /* "View.MemoryView":842 + * else: + * if negative_step: + * start = shape - 1 # <<<<<<<<<<<<<< + * else: + * start = 0 + */ + __pyx_v_start = (__pyx_v_shape - 1); + + /* "View.MemoryView":841 + * start = shape + * else: + * if negative_step: # <<<<<<<<<<<<<< + * start = shape - 1 + * else: + */ + goto __pyx_L12; + } + + /* "View.MemoryView":844 + * start = shape - 1 + * else: + * start = 0 # <<<<<<<<<<<<<< + * + * if have_stop: + */ + /*else*/ { + __pyx_v_start = 0; + } + __pyx_L12:; + } + __pyx_L8:; + + /* "View.MemoryView":846 + * start = 0 + * + * if have_stop: # <<<<<<<<<<<<<< + * if stop < 0: + * stop += shape + */ + __pyx_t_2 = (__pyx_v_have_stop != 0); + if (__pyx_t_2) { + + /* "View.MemoryView":847 + * + * if have_stop: + * if stop < 0: # <<<<<<<<<<<<<< + * stop += shape + * if stop < 0: + */ + __pyx_t_2 = (__pyx_v_stop < 0); + if (__pyx_t_2) { + + /* "View.MemoryView":848 + * if have_stop: + * if stop < 0: + * stop += shape # <<<<<<<<<<<<<< + * if stop < 0: + * stop = 0 + */ + __pyx_v_stop = (__pyx_v_stop + __pyx_v_shape); + + /* "View.MemoryView":849 + * if stop < 0: + * stop += shape + * if stop < 0: # <<<<<<<<<<<<<< + * stop = 0 + * elif stop > shape: + */ + __pyx_t_2 = (__pyx_v_stop < 0); + if (__pyx_t_2) { + + /* "View.MemoryView":850 + * stop += shape + * if stop < 0: + * stop = 0 # <<<<<<<<<<<<<< + * elif stop > shape: + * stop = shape + */ + __pyx_v_stop = 0; + + /* "View.MemoryView":849 + * if stop < 0: + * stop += shape + * if stop < 0: # <<<<<<<<<<<<<< + * stop = 0 + * elif stop > shape: + */ + } + + /* "View.MemoryView":847 + * + * if have_stop: + * if stop < 0: # <<<<<<<<<<<<<< + * stop += shape + * if stop < 0: + */ + goto __pyx_L14; + } + + /* "View.MemoryView":851 + * if stop < 0: + * stop = 0 + * elif stop > shape: # <<<<<<<<<<<<<< + * stop = shape + * else: + */ + __pyx_t_2 = (__pyx_v_stop > __pyx_v_shape); + if (__pyx_t_2) { + + /* "View.MemoryView":852 + * stop = 0 + * elif stop > shape: + * stop = shape # <<<<<<<<<<<<<< + * else: + * if negative_step: + */ + __pyx_v_stop = __pyx_v_shape; + + /* "View.MemoryView":851 + * if stop < 0: + * stop = 0 + * elif stop > shape: # <<<<<<<<<<<<<< + * stop = shape + * else: + */ + } + __pyx_L14:; + + /* "View.MemoryView":846 + * start = 0 + * + * if have_stop: # <<<<<<<<<<<<<< + * if stop < 0: + * stop += shape + */ + goto __pyx_L13; + } + + /* "View.MemoryView":854 + * stop = shape + * else: + * if negative_step: # <<<<<<<<<<<<<< + * stop = -1 + * else: + */ + /*else*/ { + if (__pyx_v_negative_step) { + + /* "View.MemoryView":855 + * else: + * if negative_step: + * stop = -1 # <<<<<<<<<<<<<< + * else: + * stop = shape + */ + __pyx_v_stop = -1L; + + /* "View.MemoryView":854 + * stop = shape + * else: + * if negative_step: # <<<<<<<<<<<<<< + * stop = -1 + * else: + */ + goto __pyx_L16; + } + + /* "View.MemoryView":857 + * stop = -1 + * else: + * stop = shape # <<<<<<<<<<<<<< + * + * + */ + /*else*/ { + __pyx_v_stop = __pyx_v_shape; + } + __pyx_L16:; + } + __pyx_L13:; + + /* "View.MemoryView":861 + * + * with cython.cdivision(True): + * new_shape = (stop - start) // step # <<<<<<<<<<<<<< + * + * if (stop - start) - step * new_shape: + */ + __pyx_v_new_shape = ((__pyx_v_stop - __pyx_v_start) / __pyx_v_step); + + /* "View.MemoryView":863 + * new_shape = (stop - start) // step + * + * if (stop - start) - step * new_shape: # <<<<<<<<<<<<<< + * new_shape += 1 + * + */ + __pyx_t_2 = (((__pyx_v_stop - __pyx_v_start) - (__pyx_v_step * __pyx_v_new_shape)) != 0); + if (__pyx_t_2) { + + /* "View.MemoryView":864 + * + * if (stop - start) - step * new_shape: + * new_shape += 1 # <<<<<<<<<<<<<< + * + * if new_shape < 0: + */ + __pyx_v_new_shape = (__pyx_v_new_shape + 1); + + /* "View.MemoryView":863 + * new_shape = (stop - start) // step + * + * if (stop - start) - step * new_shape: # <<<<<<<<<<<<<< + * new_shape += 1 + * + */ + } + + /* "View.MemoryView":866 + * new_shape += 1 + * + * if new_shape < 0: # <<<<<<<<<<<<<< + * new_shape = 0 + * + */ + __pyx_t_2 = (__pyx_v_new_shape < 0); + if (__pyx_t_2) { + + /* "View.MemoryView":867 + * + * if new_shape < 0: + * new_shape = 0 # <<<<<<<<<<<<<< + * + * + */ + __pyx_v_new_shape = 0; + + /* "View.MemoryView":866 + * new_shape += 1 + * + * if new_shape < 0: # <<<<<<<<<<<<<< + * new_shape = 0 + * + */ + } + + /* "View.MemoryView":870 + * + * + * dst.strides[new_ndim] = stride * step # <<<<<<<<<<<<<< + * dst.shape[new_ndim] = new_shape + * dst.suboffsets[new_ndim] = suboffset + */ + (__pyx_v_dst->strides[__pyx_v_new_ndim]) = (__pyx_v_stride * __pyx_v_step); + + /* "View.MemoryView":871 + * + * dst.strides[new_ndim] = stride * step + * dst.shape[new_ndim] = new_shape # <<<<<<<<<<<<<< + * dst.suboffsets[new_ndim] = suboffset + * + */ + (__pyx_v_dst->shape[__pyx_v_new_ndim]) = __pyx_v_new_shape; + + /* "View.MemoryView":872 + * dst.strides[new_ndim] = stride * step + * dst.shape[new_ndim] = new_shape + * dst.suboffsets[new_ndim] = suboffset # <<<<<<<<<<<<<< + * + * + */ + (__pyx_v_dst->suboffsets[__pyx_v_new_ndim]) = __pyx_v_suboffset; + } + __pyx_L3:; + + /* "View.MemoryView":875 + * + * + * if suboffset_dim[0] < 0: # <<<<<<<<<<<<<< + * dst.data += start * stride + * else: + */ + __pyx_t_2 = ((__pyx_v_suboffset_dim[0]) < 0); + if (__pyx_t_2) { + + /* "View.MemoryView":876 + * + * if suboffset_dim[0] < 0: + * dst.data += start * stride # <<<<<<<<<<<<<< + * else: + * dst.suboffsets[suboffset_dim[0]] += start * stride + */ + __pyx_v_dst->data = (__pyx_v_dst->data + (__pyx_v_start * __pyx_v_stride)); + + /* "View.MemoryView":875 + * + * + * if suboffset_dim[0] < 0: # <<<<<<<<<<<<<< + * dst.data += start * stride + * else: + */ + goto __pyx_L19; + } + + /* "View.MemoryView":878 + * dst.data += start * stride + * else: + * dst.suboffsets[suboffset_dim[0]] += start * stride # <<<<<<<<<<<<<< + * + * if suboffset >= 0: + */ + /*else*/ { + __pyx_t_3 = (__pyx_v_suboffset_dim[0]); + (__pyx_v_dst->suboffsets[__pyx_t_3]) = ((__pyx_v_dst->suboffsets[__pyx_t_3]) + (__pyx_v_start * __pyx_v_stride)); + } + __pyx_L19:; + + /* "View.MemoryView":880 + * dst.suboffsets[suboffset_dim[0]] += start * stride + * + * if suboffset >= 0: # <<<<<<<<<<<<<< + * if not is_slice: + * if new_ndim == 0: + */ + __pyx_t_2 = (__pyx_v_suboffset >= 0); + if (__pyx_t_2) { + + /* "View.MemoryView":881 + * + * if suboffset >= 0: + * if not is_slice: # <<<<<<<<<<<<<< + * if new_ndim == 0: + * dst.data = ( dst.data)[0] + suboffset + */ + __pyx_t_2 = (!__pyx_v_is_slice); + if (__pyx_t_2) { + + /* "View.MemoryView":882 + * if suboffset >= 0: + * if not is_slice: + * if new_ndim == 0: # <<<<<<<<<<<<<< + * dst.data = ( dst.data)[0] + suboffset + * else: + */ + __pyx_t_2 = (__pyx_v_new_ndim == 0); + if (__pyx_t_2) { + + /* "View.MemoryView":883 + * if not is_slice: + * if new_ndim == 0: + * dst.data = ( dst.data)[0] + suboffset # <<<<<<<<<<<<<< + * else: + * _err_dim(PyExc_IndexError, "All dimensions preceding dimension %d " + */ + __pyx_v_dst->data = ((((char **)__pyx_v_dst->data)[0]) + __pyx_v_suboffset); + + /* 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Py_ssize_t abs_py_ssize_t(Py_ssize_t arg) noexcept nogil: + * return -arg if arg < 0 else arg # <<<<<<<<<<<<<< + * + * @cname('__pyx_get_best_slice_order') + */ + __pyx_t_2 = (__pyx_v_arg < 0); + if (__pyx_t_2) { + __pyx_t_1 = (-__pyx_v_arg); + } else { + __pyx_t_1 = __pyx_v_arg; + } + __pyx_r = __pyx_t_1; + goto __pyx_L0; + + /* "View.MemoryView":1109 + * + * + * cdef Py_ssize_t abs_py_ssize_t(Py_ssize_t arg) noexcept nogil: # <<<<<<<<<<<<<< + * return -arg if arg < 0 else arg + * + */ + + /* function exit code */ + __pyx_L0:; + return __pyx_r; +} + +/* "View.MemoryView":1113 + * + * @cname('__pyx_get_best_slice_order') + * cdef char get_best_order(__Pyx_memviewslice *mslice, int ndim) noexcept nogil: # <<<<<<<<<<<<<< + * """ + * Figure out the best memory access order for a given slice. + */ + +static char __pyx_get_best_slice_order(__Pyx_memviewslice *__pyx_v_mslice, int __pyx_v_ndim) { + int __pyx_v_i; + Py_ssize_t __pyx_v_c_stride; + Py_ssize_t __pyx_v_f_stride; + char __pyx_r; + int __pyx_t_1; + int __pyx_t_2; + int __pyx_t_3; + int __pyx_t_4; + + /* "View.MemoryView":1118 + * """ + * cdef int i + * cdef Py_ssize_t c_stride = 0 # <<<<<<<<<<<<<< + * cdef Py_ssize_t f_stride = 0 + * + */ + __pyx_v_c_stride = 0; + + /* "View.MemoryView":1119 + * cdef int i + * cdef Py_ssize_t c_stride = 0 + * cdef Py_ssize_t f_stride = 0 # <<<<<<<<<<<<<< + * + * for i in range(ndim - 1, -1, -1): + */ + __pyx_v_f_stride = 0; + + /* "View.MemoryView":1121 + * cdef Py_ssize_t f_stride = 0 + * + * for i in range(ndim - 1, -1, -1): # <<<<<<<<<<<<<< + * if mslice.shape[i] > 1: + * c_stride = mslice.strides[i] + */ + for (__pyx_t_1 = (__pyx_v_ndim - 1); __pyx_t_1 > -1; __pyx_t_1-=1) { + __pyx_v_i = __pyx_t_1; + + /* "View.MemoryView":1122 + * + * for i in range(ndim - 1, -1, -1): + * if mslice.shape[i] > 1: # <<<<<<<<<<<<<< + * c_stride = mslice.strides[i] + * break + */ + __pyx_t_2 = ((__pyx_v_mslice->shape[__pyx_v_i]) > 1); + if (__pyx_t_2) { + + /* "View.MemoryView":1123 + * for i in range(ndim - 1, -1, -1): + * if mslice.shape[i] > 1: + * c_stride = mslice.strides[i] # <<<<<<<<<<<<<< + * break + * + */ + __pyx_v_c_stride = (__pyx_v_mslice->strides[__pyx_v_i]); + + /* "View.MemoryView":1124 + * if mslice.shape[i] > 1: + * c_stride = mslice.strides[i] + * break # <<<<<<<<<<<<<< + * + * for i in range(ndim): + */ + goto __pyx_L4_break; + + /* "View.MemoryView":1122 + * + * for i in range(ndim - 1, -1, -1): + * if mslice.shape[i] > 1: # <<<<<<<<<<<<<< + * c_stride = mslice.strides[i] + * break + */ + } + } + __pyx_L4_break:; + + /* "View.MemoryView":1126 + * break + * + * for i in range(ndim): # <<<<<<<<<<<<<< + * if mslice.shape[i] > 1: + * f_stride = mslice.strides[i] + */ + __pyx_t_1 = __pyx_v_ndim; + __pyx_t_3 = __pyx_t_1; + for (__pyx_t_4 = 0; __pyx_t_4 < __pyx_t_3; __pyx_t_4+=1) { + __pyx_v_i = __pyx_t_4; + + /* "View.MemoryView":1127 + * + * for i in range(ndim): + * if mslice.shape[i] > 1: # <<<<<<<<<<<<<< + * f_stride = mslice.strides[i] + * break + */ + __pyx_t_2 = ((__pyx_v_mslice->shape[__pyx_v_i]) > 1); + if (__pyx_t_2) { + + /* "View.MemoryView":1128 + * for i in range(ndim): + * if mslice.shape[i] > 1: + * f_stride = mslice.strides[i] # <<<<<<<<<<<<<< + * break + * + */ + __pyx_v_f_stride = (__pyx_v_mslice->strides[__pyx_v_i]); + + /* "View.MemoryView":1129 + * if mslice.shape[i] > 1: + * f_stride = mslice.strides[i] + * break # <<<<<<<<<<<<<< + * + * if abs_py_ssize_t(c_stride) <= abs_py_ssize_t(f_stride): + */ + goto __pyx_L7_break; + + /* "View.MemoryView":1127 + * + * for i in range(ndim): + * if mslice.shape[i] > 1: # <<<<<<<<<<<<<< + * f_stride = mslice.strides[i] + * break + */ + } + } + __pyx_L7_break:; + + /* "View.MemoryView":1131 + * break + * + * if abs_py_ssize_t(c_stride) <= abs_py_ssize_t(f_stride): # <<<<<<<<<<<<<< + * return 'C' + * else: + */ + __pyx_t_2 = (abs_py_ssize_t(__pyx_v_c_stride) <= abs_py_ssize_t(__pyx_v_f_stride)); + if (__pyx_t_2) { + + /* "View.MemoryView":1132 + * + * if abs_py_ssize_t(c_stride) <= abs_py_ssize_t(f_stride): + * return 'C' # <<<<<<<<<<<<<< + * else: + * return 'F' + */ + __pyx_r = 'C'; + goto __pyx_L0; + + /* "View.MemoryView":1131 + * break + * + * if abs_py_ssize_t(c_stride) <= abs_py_ssize_t(f_stride): # <<<<<<<<<<<<<< + * return 'C' + * else: + */ + } + + /* "View.MemoryView":1134 + * return 'C' + * else: + * return 'F' # <<<<<<<<<<<<<< + * + * @cython.cdivision(True) + */ + /*else*/ { + __pyx_r = 'F'; + goto __pyx_L0; + } + + /* "View.MemoryView":1113 + * + * @cname('__pyx_get_best_slice_order') + * cdef char get_best_order(__Pyx_memviewslice *mslice, int ndim) noexcept nogil: # <<<<<<<<<<<<<< + * """ + * Figure out the best memory access order for a given slice. + */ + + /* function exit code */ + __pyx_L0:; + return __pyx_r; +} + +/* "View.MemoryView":1137 + * + * @cython.cdivision(True) + * cdef void _copy_strided_to_strided(char *src_data, Py_ssize_t *src_strides, # <<<<<<<<<<<<<< + * char *dst_data, Py_ssize_t *dst_strides, + * Py_ssize_t *src_shape, Py_ssize_t *dst_shape, + */ + +static void _copy_strided_to_strided(char *__pyx_v_src_data, Py_ssize_t *__pyx_v_src_strides, char *__pyx_v_dst_data, Py_ssize_t *__pyx_v_dst_strides, Py_ssize_t *__pyx_v_src_shape, Py_ssize_t *__pyx_v_dst_shape, int __pyx_v_ndim, size_t __pyx_v_itemsize) { + CYTHON_UNUSED Py_ssize_t __pyx_v_i; + CYTHON_UNUSED Py_ssize_t __pyx_v_src_extent; + Py_ssize_t __pyx_v_dst_extent; + Py_ssize_t __pyx_v_src_stride; + Py_ssize_t __pyx_v_dst_stride; + int __pyx_t_1; + int __pyx_t_2; + Py_ssize_t __pyx_t_3; + Py_ssize_t __pyx_t_4; + Py_ssize_t __pyx_t_5; + + /* "View.MemoryView":1144 + * + * cdef Py_ssize_t i + * cdef Py_ssize_t src_extent = src_shape[0] # <<<<<<<<<<<<<< + * cdef Py_ssize_t dst_extent = dst_shape[0] + * cdef Py_ssize_t src_stride = src_strides[0] + */ + __pyx_v_src_extent = (__pyx_v_src_shape[0]); + + /* "View.MemoryView":1145 + * cdef Py_ssize_t i + * cdef Py_ssize_t src_extent = src_shape[0] + * cdef Py_ssize_t dst_extent = dst_shape[0] # <<<<<<<<<<<<<< + * cdef Py_ssize_t src_stride = src_strides[0] + * cdef Py_ssize_t dst_stride = dst_strides[0] + */ + __pyx_v_dst_extent = (__pyx_v_dst_shape[0]); + + /* "View.MemoryView":1146 + * cdef Py_ssize_t src_extent = src_shape[0] + * cdef Py_ssize_t dst_extent = dst_shape[0] + * cdef Py_ssize_t src_stride = src_strides[0] # <<<<<<<<<<<<<< + * cdef Py_ssize_t dst_stride = dst_strides[0] + * + */ + __pyx_v_src_stride = (__pyx_v_src_strides[0]); + + /* "View.MemoryView":1147 + * cdef Py_ssize_t dst_extent = dst_shape[0] + * cdef Py_ssize_t src_stride = src_strides[0] + * cdef Py_ssize_t dst_stride = dst_strides[0] # <<<<<<<<<<<<<< + * + * if ndim == 1: + */ + __pyx_v_dst_stride = (__pyx_v_dst_strides[0]); + + /* "View.MemoryView":1149 + * cdef Py_ssize_t dst_stride = dst_strides[0] + * + * if ndim == 1: # <<<<<<<<<<<<<< + * if (src_stride > 0 and dst_stride > 0 and + * src_stride == itemsize == dst_stride): + */ + __pyx_t_1 = (__pyx_v_ndim == 1); + if (__pyx_t_1) { + + /* "View.MemoryView":1150 + * + * if ndim == 1: + * if (src_stride > 0 and dst_stride > 0 and # <<<<<<<<<<<<<< + * src_stride == itemsize == dst_stride): + * memcpy(dst_data, src_data, itemsize * dst_extent) + */ + __pyx_t_2 = (__pyx_v_src_stride > 0); + if (__pyx_t_2) { + } else { + __pyx_t_1 = __pyx_t_2; + goto __pyx_L5_bool_binop_done; + } + __pyx_t_2 = (__pyx_v_dst_stride > 0); + if (__pyx_t_2) { + } else { + __pyx_t_1 = __pyx_t_2; + goto __pyx_L5_bool_binop_done; + } + + /* "View.MemoryView":1151 + * if ndim == 1: + * if (src_stride > 0 and dst_stride > 0 and + * src_stride == itemsize == dst_stride): # <<<<<<<<<<<<<< + * memcpy(dst_data, src_data, itemsize * dst_extent) + * else: + */ + __pyx_t_2 = (((size_t)__pyx_v_src_stride) == __pyx_v_itemsize); + if (__pyx_t_2) { + __pyx_t_2 = (__pyx_v_itemsize == ((size_t)__pyx_v_dst_stride)); + } + __pyx_t_1 = __pyx_t_2; + __pyx_L5_bool_binop_done:; + + /* "View.MemoryView":1150 + * + * if ndim == 1: + * if (src_stride > 0 and dst_stride > 0 and # <<<<<<<<<<<<<< + * src_stride == itemsize == dst_stride): + * memcpy(dst_data, src_data, itemsize * dst_extent) + */ + if (__pyx_t_1) { + + /* "View.MemoryView":1152 + * if (src_stride > 0 and dst_stride > 0 and + * src_stride == itemsize == dst_stride): + * memcpy(dst_data, src_data, itemsize * dst_extent) # <<<<<<<<<<<<<< + * else: + * for i in range(dst_extent): + */ + (void)(memcpy(__pyx_v_dst_data, __pyx_v_src_data, (__pyx_v_itemsize * __pyx_v_dst_extent))); + + /* "View.MemoryView":1150 + * + * if ndim == 1: + * if (src_stride > 0 and dst_stride > 0 and # <<<<<<<<<<<<<< + * src_stride == itemsize == dst_stride): + * memcpy(dst_data, src_data, itemsize * dst_extent) + */ + goto __pyx_L4; + } + + /* "View.MemoryView":1154 + * memcpy(dst_data, src_data, itemsize * dst_extent) + * else: + * for i in range(dst_extent): # <<<<<<<<<<<<<< + * memcpy(dst_data, src_data, itemsize) + * src_data += src_stride + */ + /*else*/ { + __pyx_t_3 = __pyx_v_dst_extent; + __pyx_t_4 = __pyx_t_3; 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(src_stride > 0 and dst_stride > 0 and + * src_stride == itemsize == dst_stride): + */ + goto __pyx_L3; + } + + /* "View.MemoryView":1159 + * dst_data += dst_stride + * else: + * for i in range(dst_extent): # <<<<<<<<<<<<<< + * _copy_strided_to_strided(src_data, src_strides + 1, + * dst_data, dst_strides + 1, + */ + /*else*/ { + __pyx_t_3 = __pyx_v_dst_extent; + __pyx_t_4 = __pyx_t_3; + for (__pyx_t_5 = 0; __pyx_t_5 < __pyx_t_4; __pyx_t_5+=1) { + __pyx_v_i = __pyx_t_5; + + /* "View.MemoryView":1160 + * else: + * for i in range(dst_extent): + * _copy_strided_to_strided(src_data, src_strides + 1, # <<<<<<<<<<<<<< + * dst_data, dst_strides + 1, + * src_shape + 1, dst_shape + 1, + */ + _copy_strided_to_strided(__pyx_v_src_data, (__pyx_v_src_strides + 1), __pyx_v_dst_data, (__pyx_v_dst_strides + 1), (__pyx_v_src_shape + 1), (__pyx_v_dst_shape + 1), (__pyx_v_ndim - 1), __pyx_v_itemsize); + + /* "View.MemoryView":1164 + * src_shape + 1, dst_shape + 1, + * ndim - 1, itemsize) + * src_data += 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__Pyx_memviewslice *__pyx_v_dst, int __pyx_v_ndim, size_t __pyx_v_itemsize) { + + /* "View.MemoryView":1170 + * __Pyx_memviewslice *dst, + * int ndim, size_t itemsize) noexcept nogil: + * _copy_strided_to_strided(src.data, src.strides, dst.data, dst.strides, # <<<<<<<<<<<<<< + * src.shape, dst.shape, ndim, itemsize) + * + */ + _copy_strided_to_strided(__pyx_v_src->data, __pyx_v_src->strides, __pyx_v_dst->data, __pyx_v_dst->strides, __pyx_v_src->shape, __pyx_v_dst->shape, __pyx_v_ndim, __pyx_v_itemsize); + + /* "View.MemoryView":1167 + * dst_data += dst_stride + * + * cdef void copy_strided_to_strided(__Pyx_memviewslice *src, # <<<<<<<<<<<<<< + * __Pyx_memviewslice *dst, + * int ndim, size_t itemsize) noexcept nogil: + */ + + /* function exit code */ +} + +/* "View.MemoryView":1174 + * + * @cname('__pyx_memoryview_slice_get_size') + * cdef Py_ssize_t slice_get_size(__Pyx_memviewslice *src, int ndim) noexcept nogil: # <<<<<<<<<<<<<< + * "Return the size of the memory occupied by the slice in number of bytes" + * cdef Py_ssize_t shape, size = src.memview.view.itemsize + */ + +static Py_ssize_t __pyx_memoryview_slice_get_size(__Pyx_memviewslice *__pyx_v_src, int __pyx_v_ndim) { + Py_ssize_t __pyx_v_shape; + Py_ssize_t __pyx_v_size; + Py_ssize_t __pyx_r; + Py_ssize_t __pyx_t_1; + Py_ssize_t *__pyx_t_2; + Py_ssize_t *__pyx_t_3; + Py_ssize_t *__pyx_t_4; + + /* "View.MemoryView":1176 + * cdef Py_ssize_t slice_get_size(__Pyx_memviewslice *src, int ndim) noexcept nogil: + * "Return the size of the memory occupied by the slice in number of bytes" + * cdef Py_ssize_t shape, size = src.memview.view.itemsize # <<<<<<<<<<<<<< + * + * for shape in src.shape[:ndim]: + */ + __pyx_t_1 = __pyx_v_src->memview->view.itemsize; + __pyx_v_size = __pyx_t_1; + + /* "View.MemoryView":1178 + * cdef Py_ssize_t shape, size = src.memview.view.itemsize + * + * for shape in src.shape[:ndim]: # <<<<<<<<<<<<<< + * size *= shape + * + */ + __pyx_t_3 = (__pyx_v_src->shape + __pyx_v_ndim); + for (__pyx_t_4 = __pyx_v_src->shape; __pyx_t_4 < __pyx_t_3; __pyx_t_4++) { + __pyx_t_2 = __pyx_t_4; + __pyx_v_shape = (__pyx_t_2[0]); + + /* "View.MemoryView":1179 + * + * for shape in src.shape[:ndim]: + * size *= shape # <<<<<<<<<<<<<< + * + * return size + */ + __pyx_v_size = (__pyx_v_size * __pyx_v_shape); + } + + /* "View.MemoryView":1181 + * size *= shape + * + * return size # <<<<<<<<<<<<<< + * + * @cname('__pyx_fill_contig_strides_array') + */ + __pyx_r = __pyx_v_size; + goto __pyx_L0; + + /* "View.MemoryView":1174 + * + * @cname('__pyx_memoryview_slice_get_size') + * cdef Py_ssize_t slice_get_size(__Pyx_memviewslice *src, int ndim) noexcept nogil: # <<<<<<<<<<<<<< + * "Return the size of the memory occupied by the slice in number of bytes" + * cdef Py_ssize_t shape, size = src.memview.view.itemsize + */ + + /* function exit code */ + __pyx_L0:; + return __pyx_r; +} + +/* "View.MemoryView":1184 + * + * @cname('__pyx_fill_contig_strides_array') + * cdef Py_ssize_t fill_contig_strides_array( # <<<<<<<<<<<<<< + * Py_ssize_t *shape, Py_ssize_t *strides, Py_ssize_t stride, + * int ndim, char order) noexcept nogil: + */ + +static Py_ssize_t __pyx_fill_contig_strides_array(Py_ssize_t *__pyx_v_shape, Py_ssize_t *__pyx_v_strides, Py_ssize_t __pyx_v_stride, int __pyx_v_ndim, char __pyx_v_order) { + int __pyx_v_idx; + Py_ssize_t __pyx_r; + int __pyx_t_1; + int __pyx_t_2; + int __pyx_t_3; + int __pyx_t_4; + + /* "View.MemoryView":1193 + * cdef int idx + * + * if order == 'F': # <<<<<<<<<<<<<< + * for idx in range(ndim): + * strides[idx] = stride + */ + __pyx_t_1 = (__pyx_v_order == 'F'); + if (__pyx_t_1) { + + /* "View.MemoryView":1194 + * + * if order == 'F': + * for idx in range(ndim): # <<<<<<<<<<<<<< + * strides[idx] = stride + * stride *= shape[idx] + */ + __pyx_t_2 = __pyx_v_ndim; + __pyx_t_3 = __pyx_t_2; + for (__pyx_t_4 = 0; __pyx_t_4 < __pyx_t_3; __pyx_t_4+=1) { + __pyx_v_idx = __pyx_t_4; + + /* "View.MemoryView":1195 + * if order == 'F': + * for 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&tmp, order, ndim) # <<<<<<<<<<<<<< + * src = tmp + * + */ + __pyx_t_7 = __pyx_memoryview_copy_data_to_temp((&__pyx_v_src), (&__pyx_v_tmp), __pyx_v_order, __pyx_v_ndim); if (unlikely(__pyx_t_7 == ((void *)NULL))) __PYX_ERR(0, 1304, __pyx_L1_error) + __pyx_v_tmpdata = __pyx_t_7; + + /* "View.MemoryView":1305 + * + * tmpdata = copy_data_to_temp(&src, &tmp, order, ndim) + * src = tmp # <<<<<<<<<<<<<< + * + * if not broadcasting: + */ + __pyx_v_src = __pyx_v_tmp; + + /* "View.MemoryView":1299 + * _err_dim(PyExc_ValueError, "Dimension %d is not direct", i) + * + * if slices_overlap(&src, &dst, ndim, itemsize): # <<<<<<<<<<<<<< + * + * if not slice_is_contig(src, order, ndim): + */ + } + + /* "View.MemoryView":1307 + * src = tmp + * + * if not broadcasting: # <<<<<<<<<<<<<< + * + * + */ + __pyx_t_2 = (!__pyx_v_broadcasting); + if (__pyx_t_2) { + + /* "View.MemoryView":1310 + * + * + * if slice_is_contig(src, 'C', ndim): # <<<<<<<<<<<<<< + * direct_copy = slice_is_contig(dst, 'C', ndim) + * elif slice_is_contig(src, 'F', ndim): + */ + __pyx_t_2 = __pyx_memviewslice_is_contig(__pyx_v_src, 'C', __pyx_v_ndim); + if (__pyx_t_2) { + + /* "View.MemoryView":1311 + * + * if slice_is_contig(src, 'C', ndim): + * direct_copy = slice_is_contig(dst, 'C', ndim) # <<<<<<<<<<<<<< + * elif slice_is_contig(src, 'F', ndim): + * direct_copy = slice_is_contig(dst, 'F', ndim) + */ + __pyx_v_direct_copy = __pyx_memviewslice_is_contig(__pyx_v_dst, 'C', __pyx_v_ndim); + + /* "View.MemoryView":1310 + * + * + * if slice_is_contig(src, 'C', ndim): # <<<<<<<<<<<<<< + * direct_copy = slice_is_contig(dst, 'C', ndim) + * elif slice_is_contig(src, 'F', ndim): + */ + goto __pyx_L12; + } + + /* "View.MemoryView":1312 + * if slice_is_contig(src, 'C', ndim): + * direct_copy = slice_is_contig(dst, 'C', ndim) + * elif slice_is_contig(src, 'F', ndim): # <<<<<<<<<<<<<< + * direct_copy = slice_is_contig(dst, 'F', ndim) + * + */ + __pyx_t_2 = __pyx_memviewslice_is_contig(__pyx_v_src, 'F', __pyx_v_ndim); + if (__pyx_t_2) { + + /* "View.MemoryView":1313 + * direct_copy = slice_is_contig(dst, 'C', ndim) + * elif slice_is_contig(src, 'F', ndim): + * direct_copy = slice_is_contig(dst, 'F', ndim) # <<<<<<<<<<<<<< + * + * if direct_copy: + */ + __pyx_v_direct_copy = __pyx_memviewslice_is_contig(__pyx_v_dst, 'F', __pyx_v_ndim); + + /* "View.MemoryView":1312 + * if slice_is_contig(src, 'C', ndim): + * direct_copy = slice_is_contig(dst, 'C', ndim) + * elif slice_is_contig(src, 'F', ndim): # <<<<<<<<<<<<<< + * direct_copy = slice_is_contig(dst, 'F', ndim) + * + */ + } + __pyx_L12:; + + /* "View.MemoryView":1315 + * direct_copy = slice_is_contig(dst, 'F', ndim) + * + * if direct_copy: # <<<<<<<<<<<<<< + * + * refcount_copying(&dst, dtype_is_object, ndim, inc=False) + */ + if (__pyx_v_direct_copy) { + + /* "View.MemoryView":1317 + * if direct_copy: + * + * refcount_copying(&dst, dtype_is_object, ndim, inc=False) # <<<<<<<<<<<<<< + * memcpy(dst.data, src.data, slice_get_size(&src, ndim)) + * refcount_copying(&dst, dtype_is_object, ndim, inc=True) + */ + __pyx_memoryview_refcount_copying((&__pyx_v_dst), __pyx_v_dtype_is_object, __pyx_v_ndim, 0); + + /* "View.MemoryView":1318 + * + * refcount_copying(&dst, dtype_is_object, ndim, inc=False) + * memcpy(dst.data, src.data, slice_get_size(&src, ndim)) # <<<<<<<<<<<<<< + * refcount_copying(&dst, dtype_is_object, ndim, inc=True) + * free(tmpdata) + */ + (void)(memcpy(__pyx_v_dst.data, __pyx_v_src.data, __pyx_memoryview_slice_get_size((&__pyx_v_src), __pyx_v_ndim))); + + /* "View.MemoryView":1319 + * refcount_copying(&dst, dtype_is_object, ndim, inc=False) + * memcpy(dst.data, src.data, slice_get_size(&src, ndim)) + * refcount_copying(&dst, dtype_is_object, ndim, inc=True) # <<<<<<<<<<<<<< + * free(tmpdata) + * return 0 + */ + __pyx_memoryview_refcount_copying((&__pyx_v_dst), __pyx_v_dtype_is_object, __pyx_v_ndim, 1); + + /* "View.MemoryView":1320 + * memcpy(dst.data, src.data, slice_get_size(&src, ndim)) + * refcount_copying(&dst, dtype_is_object, ndim, inc=True) + * free(tmpdata) # <<<<<<<<<<<<<< + * return 0 + * + */ + free(__pyx_v_tmpdata); + + /* "View.MemoryView":1321 + * refcount_copying(&dst, dtype_is_object, ndim, inc=True) + * free(tmpdata) + * return 0 # <<<<<<<<<<<<<< + * + * if order == 'F' == get_best_order(&dst, ndim): + */ + __pyx_r = 0; + goto __pyx_L0; + + /* "View.MemoryView":1315 + * direct_copy = slice_is_contig(dst, 'F', ndim) + * + * if direct_copy: # <<<<<<<<<<<<<< + * + * refcount_copying(&dst, dtype_is_object, ndim, inc=False) + */ + } + + /* "View.MemoryView":1307 + * src = tmp + * + * if not broadcasting: # <<<<<<<<<<<<<< + * + * + */ + } + + /* "View.MemoryView":1323 + * return 0 + * + * if order == 'F' == get_best_order(&dst, ndim): # <<<<<<<<<<<<<< + * + * + */ + __pyx_t_2 = (__pyx_v_order == 'F'); + if (__pyx_t_2) { + __pyx_t_2 = ('F' == __pyx_get_best_slice_order((&__pyx_v_dst), __pyx_v_ndim)); + } + if (__pyx_t_2) { + + /* "View.MemoryView":1326 + * + * + * transpose_memslice(&src) # <<<<<<<<<<<<<< + * transpose_memslice(&dst) + * + */ + __pyx_t_5 = __pyx_memslice_transpose((&__pyx_v_src)); if (unlikely(__pyx_t_5 == ((int)-1))) __PYX_ERR(0, 1326, __pyx_L1_error) + + /* "View.MemoryView":1327 + * + * transpose_memslice(&src) + * transpose_memslice(&dst) # <<<<<<<<<<<<<< + * + * refcount_copying(&dst, dtype_is_object, ndim, inc=False) + */ + __pyx_t_5 = __pyx_memslice_transpose((&__pyx_v_dst)); if (unlikely(__pyx_t_5 == ((int)-1))) __PYX_ERR(0, 1327, __pyx_L1_error) + + /* "View.MemoryView":1323 + * return 0 + * + * if order == 'F' == get_best_order(&dst, ndim): # <<<<<<<<<<<<<< + * + * + */ + } + + /* "View.MemoryView":1329 + * transpose_memslice(&dst) + * + * refcount_copying(&dst, dtype_is_object, ndim, inc=False) # <<<<<<<<<<<<<< + * copy_strided_to_strided(&src, &dst, ndim, itemsize) + * refcount_copying(&dst, dtype_is_object, ndim, inc=True) + */ + __pyx_memoryview_refcount_copying((&__pyx_v_dst), __pyx_v_dtype_is_object, __pyx_v_ndim, 0); + + /* "View.MemoryView":1330 + * + * refcount_copying(&dst, dtype_is_object, ndim, inc=False) + * copy_strided_to_strided(&src, &dst, ndim, itemsize) # <<<<<<<<<<<<<< + * refcount_copying(&dst, dtype_is_object, ndim, inc=True) + * + */ + copy_strided_to_strided((&__pyx_v_src), (&__pyx_v_dst), __pyx_v_ndim, __pyx_v_itemsize); + + /* "View.MemoryView":1331 + * refcount_copying(&dst, dtype_is_object, ndim, inc=False) + * copy_strided_to_strided(&src, &dst, ndim, itemsize) + * refcount_copying(&dst, dtype_is_object, ndim, inc=True) # <<<<<<<<<<<<<< + * + * free(tmpdata) + */ + __pyx_memoryview_refcount_copying((&__pyx_v_dst), __pyx_v_dtype_is_object, __pyx_v_ndim, 1); + + /* "View.MemoryView":1333 + * refcount_copying(&dst, dtype_is_object, ndim, inc=True) + * + * free(tmpdata) # <<<<<<<<<<<<<< + * return 0 + * + */ + free(__pyx_v_tmpdata); + + /* "View.MemoryView":1334 + * + * free(tmpdata) + * return 0 # <<<<<<<<<<<<<< + * + * @cname('__pyx_memoryview_broadcast_leading') + */ + __pyx_r = 0; + goto __pyx_L0; + + /* "View.MemoryView":1265 + * + * @cname('__pyx_memoryview_copy_contents') + * cdef int memoryview_copy_contents(__Pyx_memviewslice src, # <<<<<<<<<<<<<< + * __Pyx_memviewslice dst, + * int src_ndim, int dst_ndim, + */ + + /* function exit code */ + __pyx_L1_error:; + #ifdef WITH_THREAD + __pyx_gilstate_save = __Pyx_PyGILState_Ensure(); + #endif + __Pyx_AddTraceback("View.MemoryView.memoryview_copy_contents", __pyx_clineno, __pyx_lineno, __pyx_filename); + __pyx_r = -1; + #ifdef WITH_THREAD + __Pyx_PyGILState_Release(__pyx_gilstate_save); + #endif + __pyx_L0:; + return __pyx_r; +} + +/* "View.MemoryView":1337 + * + * @cname('__pyx_memoryview_broadcast_leading') + * cdef void broadcast_leading(__Pyx_memviewslice *mslice, # <<<<<<<<<<<<<< + * int ndim, + * int ndim_other) noexcept nogil: + */ + +static void __pyx_memoryview_broadcast_leading(__Pyx_memviewslice *__pyx_v_mslice, int __pyx_v_ndim, int __pyx_v_ndim_other) { + int __pyx_v_i; + int __pyx_v_offset; + int __pyx_t_1; + int __pyx_t_2; + int __pyx_t_3; + + /* "View.MemoryView":1341 + * int ndim_other) noexcept nogil: + * cdef int i + * cdef int offset = ndim_other - ndim # <<<<<<<<<<<<<< + * + * for i in range(ndim - 1, -1, -1): + */ + __pyx_v_offset = (__pyx_v_ndim_other - __pyx_v_ndim); + + /* "View.MemoryView":1343 + * cdef int offset = ndim_other - ndim + * + * for i in range(ndim - 1, -1, -1): # <<<<<<<<<<<<<< + * mslice.shape[i + offset] = mslice.shape[i] + * mslice.strides[i + offset] = mslice.strides[i] + */ + for (__pyx_t_1 = (__pyx_v_ndim - 1); __pyx_t_1 > -1; __pyx_t_1-=1) { + __pyx_v_i = __pyx_t_1; + + /* "View.MemoryView":1344 + * + * for i in range(ndim - 1, -1, -1): + * mslice.shape[i + offset] = mslice.shape[i] # <<<<<<<<<<<<<< + * mslice.strides[i + offset] = mslice.strides[i] + * mslice.suboffsets[i + offset] = mslice.suboffsets[i] + */ + (__pyx_v_mslice->shape[(__pyx_v_i + __pyx_v_offset)]) = (__pyx_v_mslice->shape[__pyx_v_i]); + + /* "View.MemoryView":1345 + * for i in range(ndim - 1, -1, -1): + * mslice.shape[i + offset] = mslice.shape[i] + * mslice.strides[i + offset] = mslice.strides[i] # <<<<<<<<<<<<<< + * mslice.suboffsets[i + offset] = mslice.suboffsets[i] + * + */ + (__pyx_v_mslice->strides[(__pyx_v_i + __pyx_v_offset)]) = (__pyx_v_mslice->strides[__pyx_v_i]); + + /* "View.MemoryView":1346 + * mslice.shape[i + offset] = mslice.shape[i] + * mslice.strides[i + offset] = mslice.strides[i] + * mslice.suboffsets[i + offset] = mslice.suboffsets[i] # <<<<<<<<<<<<<< + * + * for i in range(offset): + */ + (__pyx_v_mslice->suboffsets[(__pyx_v_i + __pyx_v_offset)]) = (__pyx_v_mslice->suboffsets[__pyx_v_i]); + } + + /* "View.MemoryView":1348 + * mslice.suboffsets[i + offset] = mslice.suboffsets[i] + * + * for i in range(offset): # <<<<<<<<<<<<<< + * mslice.shape[i] = 1 + * mslice.strides[i] = mslice.strides[0] + */ + __pyx_t_1 = __pyx_v_offset; + __pyx_t_2 = __pyx_t_1; + for (__pyx_t_3 = 0; __pyx_t_3 < __pyx_t_2; __pyx_t_3+=1) { + __pyx_v_i = __pyx_t_3; + + /* "View.MemoryView":1349 + * + * for i in range(offset): + * mslice.shape[i] = 1 # <<<<<<<<<<<<<< + * mslice.strides[i] = mslice.strides[0] + * mslice.suboffsets[i] = -1 + */ + (__pyx_v_mslice->shape[__pyx_v_i]) = 1; + + /* "View.MemoryView":1350 + * for i in range(offset): + * mslice.shape[i] = 1 + * mslice.strides[i] = mslice.strides[0] # <<<<<<<<<<<<<< + * mslice.suboffsets[i] = -1 + * + */ + (__pyx_v_mslice->strides[__pyx_v_i]) = (__pyx_v_mslice->strides[0]); + + /* "View.MemoryView":1351 + * mslice.shape[i] = 1 + * mslice.strides[i] = mslice.strides[0] + * mslice.suboffsets[i] = -1 # <<<<<<<<<<<<<< + * + * + */ + (__pyx_v_mslice->suboffsets[__pyx_v_i]) = -1L; + } + + /* "View.MemoryView":1337 + * + * @cname('__pyx_memoryview_broadcast_leading') + * cdef void broadcast_leading(__Pyx_memviewslice *mslice, # <<<<<<<<<<<<<< + * int ndim, + * int ndim_other) noexcept nogil: + */ + + /* function exit code */ +} + +/* "View.MemoryView":1359 + * + * @cname('__pyx_memoryview_refcount_copying') + * cdef void refcount_copying(__Pyx_memviewslice *dst, bint dtype_is_object, int ndim, bint inc) noexcept nogil: # <<<<<<<<<<<<<< + * + * if dtype_is_object: + */ + +static void __pyx_memoryview_refcount_copying(__Pyx_memviewslice *__pyx_v_dst, int __pyx_v_dtype_is_object, int __pyx_v_ndim, int __pyx_v_inc) { + + /* "View.MemoryView":1361 + * cdef void refcount_copying(__Pyx_memviewslice *dst, bint dtype_is_object, int ndim, bint inc) noexcept nogil: + * + * if dtype_is_object: # <<<<<<<<<<<<<< + * refcount_objects_in_slice_with_gil(dst.data, dst.shape, dst.strides, ndim, inc) + * + */ + if (__pyx_v_dtype_is_object) { + + /* "View.MemoryView":1362 + * + * if dtype_is_object: + * refcount_objects_in_slice_with_gil(dst.data, dst.shape, dst.strides, ndim, inc) # <<<<<<<<<<<<<< + * + * @cname('__pyx_memoryview_refcount_objects_in_slice_with_gil') + */ + __pyx_memoryview_refcount_objects_in_slice_with_gil(__pyx_v_dst->data, __pyx_v_dst->shape, __pyx_v_dst->strides, __pyx_v_ndim, __pyx_v_inc); + + /* "View.MemoryView":1361 + * cdef void refcount_copying(__Pyx_memviewslice *dst, bint dtype_is_object, int ndim, bint inc) noexcept nogil: + * + * if dtype_is_object: # <<<<<<<<<<<<<< + * refcount_objects_in_slice_with_gil(dst.data, dst.shape, dst.strides, ndim, inc) + * + */ + } + + /* "View.MemoryView":1359 + * + * @cname('__pyx_memoryview_refcount_copying') + * cdef void refcount_copying(__Pyx_memviewslice *dst, bint dtype_is_object, int ndim, bint inc) noexcept nogil: # <<<<<<<<<<<<<< + * + * if dtype_is_object: + */ + + /* function exit code */ +} + +/* "View.MemoryView":1365 + * + * @cname('__pyx_memoryview_refcount_objects_in_slice_with_gil') + * cdef void refcount_objects_in_slice_with_gil(char *data, Py_ssize_t *shape, # <<<<<<<<<<<<<< + * Py_ssize_t *strides, int ndim, + * bint inc) noexcept with gil: + */ + +static void __pyx_memoryview_refcount_objects_in_slice_with_gil(char *__pyx_v_data, Py_ssize_t *__pyx_v_shape, Py_ssize_t *__pyx_v_strides, int __pyx_v_ndim, int __pyx_v_inc) { + #ifdef WITH_THREAD + PyGILState_STATE __pyx_gilstate_save = __Pyx_PyGILState_Ensure(); + #endif + + /* "View.MemoryView":1368 + * Py_ssize_t *strides, int ndim, + * bint inc) noexcept with gil: + * refcount_objects_in_slice(data, shape, strides, ndim, inc) # <<<<<<<<<<<<<< + * + * @cname('__pyx_memoryview_refcount_objects_in_slice') + */ + __pyx_memoryview_refcount_objects_in_slice(__pyx_v_data, __pyx_v_shape, __pyx_v_strides, __pyx_v_ndim, __pyx_v_inc); + + /* "View.MemoryView":1365 + * + * @cname('__pyx_memoryview_refcount_objects_in_slice_with_gil') + * cdef void refcount_objects_in_slice_with_gil(char *data, Py_ssize_t *shape, # <<<<<<<<<<<<<< + * Py_ssize_t *strides, int ndim, + * bint inc) noexcept with gil: + */ + + /* function exit code */ + #ifdef WITH_THREAD + __Pyx_PyGILState_Release(__pyx_gilstate_save); + #endif +} + +/* "View.MemoryView":1371 + * + * @cname('__pyx_memoryview_refcount_objects_in_slice') + * cdef void refcount_objects_in_slice(char *data, Py_ssize_t *shape, # <<<<<<<<<<<<<< + * Py_ssize_t *strides, int ndim, bint inc) noexcept: + * cdef Py_ssize_t i + */ + +static void __pyx_memoryview_refcount_objects_in_slice(char *__pyx_v_data, Py_ssize_t *__pyx_v_shape, Py_ssize_t *__pyx_v_strides, int __pyx_v_ndim, int __pyx_v_inc) { + CYTHON_UNUSED Py_ssize_t __pyx_v_i; + Py_ssize_t __pyx_v_stride; + Py_ssize_t __pyx_t_1; + Py_ssize_t __pyx_t_2; + Py_ssize_t __pyx_t_3; + int __pyx_t_4; + + /* "View.MemoryView":1374 + * Py_ssize_t *strides, int ndim, bint inc) noexcept: + * cdef Py_ssize_t i + * cdef Py_ssize_t stride = strides[0] # <<<<<<<<<<<<<< + * + * for i in range(shape[0]): + */ + __pyx_v_stride = (__pyx_v_strides[0]); + + /* "View.MemoryView":1376 + * cdef Py_ssize_t stride = strides[0] + * + * for i in range(shape[0]): # <<<<<<<<<<<<<< + * if ndim == 1: + * if inc: + */ + __pyx_t_1 = (__pyx_v_shape[0]); + __pyx_t_2 = __pyx_t_1; + for (__pyx_t_3 = 0; __pyx_t_3 < __pyx_t_2; __pyx_t_3+=1) { + __pyx_v_i = __pyx_t_3; + + /* "View.MemoryView":1377 + * + * for i in range(shape[0]): + * if ndim == 1: # <<<<<<<<<<<<<< + * if inc: + * Py_INCREF(( data)[0]) + */ + __pyx_t_4 = (__pyx_v_ndim == 1); + if (__pyx_t_4) { + + /* "View.MemoryView":1378 + * for i in range(shape[0]): + * if ndim == 1: + * if inc: # <<<<<<<<<<<<<< + * Py_INCREF(( data)[0]) + * else: + */ + if (__pyx_v_inc) { + + /* "View.MemoryView":1379 + * if ndim == 1: + * if inc: + * Py_INCREF(( data)[0]) # <<<<<<<<<<<<<< + * else: + * Py_DECREF(( data)[0]) + */ + Py_INCREF((((PyObject **)__pyx_v_data)[0])); + + /* "View.MemoryView":1378 + * for i in range(shape[0]): + * if ndim == 1: + * if inc: # <<<<<<<<<<<<<< + * Py_INCREF(( data)[0]) + * else: + */ + goto __pyx_L6; + } + + /* "View.MemoryView":1381 + * Py_INCREF(( data)[0]) + * else: + * Py_DECREF(( data)[0]) # <<<<<<<<<<<<<< + * else: + * refcount_objects_in_slice(data, shape + 1, strides + 1, ndim - 1, inc) + */ + /*else*/ { + Py_DECREF((((PyObject **)__pyx_v_data)[0])); + } + __pyx_L6:; + + /* "View.MemoryView":1377 + * + * for i in range(shape[0]): + * if ndim == 1: # <<<<<<<<<<<<<< + * if inc: + * Py_INCREF(( data)[0]) + */ + goto __pyx_L5; + } + + /* "View.MemoryView":1383 + * Py_DECREF(( data)[0]) + * else: + * refcount_objects_in_slice(data, shape + 1, strides + 1, ndim - 1, inc) # <<<<<<<<<<<<<< + * + * data += stride + */ + /*else*/ { + __pyx_memoryview_refcount_objects_in_slice(__pyx_v_data, (__pyx_v_shape + 1), (__pyx_v_strides + 1), (__pyx_v_ndim - 1), __pyx_v_inc); + } + __pyx_L5:; + + /* "View.MemoryView":1385 + * refcount_objects_in_slice(data, shape + 1, strides + 1, ndim - 1, inc) + * + * data += stride # <<<<<<<<<<<<<< + * + * + */ + __pyx_v_data = (__pyx_v_data + __pyx_v_stride); + } + + /* "View.MemoryView":1371 + * + * @cname('__pyx_memoryview_refcount_objects_in_slice') + * cdef void refcount_objects_in_slice(char *data, Py_ssize_t *shape, # <<<<<<<<<<<<<< + * Py_ssize_t *strides, int ndim, bint inc) noexcept: + * cdef Py_ssize_t i + */ + + /* function exit code */ +} + +/* "View.MemoryView":1391 + * + * @cname('__pyx_memoryview_slice_assign_scalar') + * cdef void slice_assign_scalar(__Pyx_memviewslice *dst, int ndim, # <<<<<<<<<<<<<< + * size_t itemsize, void *item, + * bint dtype_is_object) noexcept nogil: + */ + +static void __pyx_memoryview_slice_assign_scalar(__Pyx_memviewslice *__pyx_v_dst, int __pyx_v_ndim, size_t __pyx_v_itemsize, void *__pyx_v_item, int __pyx_v_dtype_is_object) { + + /* "View.MemoryView":1394 + * size_t itemsize, void *item, + * bint dtype_is_object) noexcept nogil: + * refcount_copying(dst, dtype_is_object, ndim, inc=False) # <<<<<<<<<<<<<< + * _slice_assign_scalar(dst.data, dst.shape, dst.strides, ndim, itemsize, item) + * refcount_copying(dst, dtype_is_object, ndim, inc=True) + */ + __pyx_memoryview_refcount_copying(__pyx_v_dst, __pyx_v_dtype_is_object, __pyx_v_ndim, 0); + + /* "View.MemoryView":1395 + * bint dtype_is_object) noexcept nogil: + * refcount_copying(dst, dtype_is_object, ndim, inc=False) + * _slice_assign_scalar(dst.data, dst.shape, dst.strides, ndim, itemsize, item) # <<<<<<<<<<<<<< + * refcount_copying(dst, dtype_is_object, ndim, inc=True) + * + */ + __pyx_memoryview__slice_assign_scalar(__pyx_v_dst->data, __pyx_v_dst->shape, __pyx_v_dst->strides, __pyx_v_ndim, __pyx_v_itemsize, __pyx_v_item); + + /* "View.MemoryView":1396 + * refcount_copying(dst, dtype_is_object, ndim, inc=False) + * _slice_assign_scalar(dst.data, dst.shape, dst.strides, ndim, itemsize, item) + * refcount_copying(dst, dtype_is_object, ndim, inc=True) # <<<<<<<<<<<<<< + * + * + */ + __pyx_memoryview_refcount_copying(__pyx_v_dst, __pyx_v_dtype_is_object, __pyx_v_ndim, 1); + + /* "View.MemoryView":1391 + * + * @cname('__pyx_memoryview_slice_assign_scalar') + * cdef void slice_assign_scalar(__Pyx_memviewslice *dst, int ndim, # 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(PyCFunction)(void*)(__Pyx_PyCFunction_FastCallWithKeywords)__pyx_pw_9selfdrive_14classic_modeld_7runners_12runmodel_pyx_8RunModel_7getCLBuffer, __Pyx_METH_FASTCALL|METH_KEYWORDS, 0}, + {"execute", (PyCFunction)(void*)(__Pyx_PyCFunction_FastCallWithKeywords)__pyx_pw_9selfdrive_14classic_modeld_7runners_12runmodel_pyx_8RunModel_9execute, __Pyx_METH_FASTCALL|METH_KEYWORDS, 0}, + {"__reduce_cython__", (PyCFunction)(void*)(__Pyx_PyCFunction_FastCallWithKeywords)__pyx_pw_9selfdrive_14classic_modeld_7runners_12runmodel_pyx_8RunModel_11__reduce_cython__, __Pyx_METH_FASTCALL|METH_KEYWORDS, 0}, + {"__setstate_cython__", (PyCFunction)(void*)(__Pyx_PyCFunction_FastCallWithKeywords)__pyx_pw_9selfdrive_14classic_modeld_7runners_12runmodel_pyx_8RunModel_13__setstate_cython__, __Pyx_METH_FASTCALL|METH_KEYWORDS, 0}, + {0, 0, 0, 0} +}; +#if CYTHON_USE_TYPE_SPECS +static PyType_Slot __pyx_type_9selfdrive_14classic_modeld_7runners_12runmodel_pyx_RunModel_slots[] = { + {Py_tp_dealloc, (void 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PY_VERSION_HEX >= 0x03090000 && PY_VERSION_HEX < 0x030a0000 + 0, /*tp_pypy_flags*/ + #endif +}; +#endif +static struct __pyx_vtabstruct_array __pyx_vtable_array; + +static PyObject *__pyx_tp_new_array(PyTypeObject *t, PyObject *a, PyObject *k) { + struct __pyx_array_obj *p; + PyObject *o; + #if CYTHON_COMPILING_IN_LIMITED_API + allocfunc alloc_func = (allocfunc)PyType_GetSlot(t, Py_tp_alloc); + o = alloc_func(t, 0); + #else + if (likely(!__Pyx_PyType_HasFeature(t, Py_TPFLAGS_IS_ABSTRACT))) { + o = (*t->tp_alloc)(t, 0); + } else { + o = (PyObject *) PyBaseObject_Type.tp_new(t, __pyx_empty_tuple, 0); + } + if (unlikely(!o)) return 0; + #endif + p = ((struct __pyx_array_obj *)o); + p->__pyx_vtab = __pyx_vtabptr_array; + p->mode = ((PyObject*)Py_None); Py_INCREF(Py_None); + p->_format = ((PyObject*)Py_None); Py_INCREF(Py_None); + if (unlikely(__pyx_array___cinit__(o, a, k) < 0)) goto bad; + return o; + bad: + Py_DECREF(o); o = 0; + return NULL; +} + +static void __pyx_tp_dealloc_array(PyObject *o) { + struct __pyx_array_obj *p = (struct __pyx_array_obj *)o; + #if CYTHON_USE_TP_FINALIZE + if (unlikely((PY_VERSION_HEX >= 0x03080000 || __Pyx_PyType_HasFeature(Py_TYPE(o), Py_TPFLAGS_HAVE_FINALIZE)) && __Pyx_PyObject_GetSlot(o, tp_finalize, destructor)) && (!PyType_IS_GC(Py_TYPE(o)) || !__Pyx_PyObject_GC_IsFinalized(o))) { + if (__Pyx_PyObject_GetSlot(o, tp_dealloc, destructor) == __pyx_tp_dealloc_array) { + if (PyObject_CallFinalizerFromDealloc(o)) return; + } + } + #endif + { + PyObject *etype, *eval, *etb; + PyErr_Fetch(&etype, &eval, &etb); + __Pyx_SET_REFCNT(o, Py_REFCNT(o) + 1); + __pyx_array___dealloc__(o); + __Pyx_SET_REFCNT(o, Py_REFCNT(o) - 1); + PyErr_Restore(etype, eval, etb); + } + Py_CLEAR(p->mode); + Py_CLEAR(p->_format); + #if CYTHON_USE_TYPE_SLOTS || CYTHON_COMPILING_IN_PYPY + (*Py_TYPE(o)->tp_free)(o); + #else + { + freefunc tp_free = (freefunc)PyType_GetSlot(Py_TYPE(o), Py_tp_free); + if (tp_free) tp_free(o); + } + #endif +} +static PyObject *__pyx_sq_item_array(PyObject *o, Py_ssize_t i) { + PyObject *r; + PyObject *x = PyInt_FromSsize_t(i); if(!x) return 0; + r = Py_TYPE(o)->tp_as_mapping->mp_subscript(o, x); + Py_DECREF(x); + return r; +} + +static int __pyx_mp_ass_subscript_array(PyObject *o, PyObject *i, PyObject *v) { + if (v) { + return __pyx_array___setitem__(o, i, v); + } + else { + __Pyx_TypeName o_type_name; + o_type_name = __Pyx_PyType_GetName(Py_TYPE(o)); + PyErr_Format(PyExc_NotImplementedError, + "Subscript deletion not supported by " __Pyx_FMT_TYPENAME, o_type_name); + __Pyx_DECREF_TypeName(o_type_name); + return -1; + } +} + +static PyObject *__pyx_tp_getattro_array(PyObject *o, PyObject *n) { + PyObject *v = __Pyx_PyObject_GenericGetAttr(o, n); + if (!v && PyErr_ExceptionMatches(PyExc_AttributeError)) { + PyErr_Clear(); + v = __pyx_array___getattr__(o, n); + } + return v; +} + +static PyObject *__pyx_getprop___pyx_array_memview(PyObject *o, CYTHON_UNUSED void *x) { + return __pyx_pw_15View_dot_MemoryView_5array_7memview_1__get__(o); +} + +static PyMethodDef __pyx_methods_array[] = { + {"__getattr__", (PyCFunction)__pyx_array___getattr__, METH_O|METH_COEXIST, 0}, + {"__reduce_cython__", (PyCFunction)(void*)(__Pyx_PyCFunction_FastCallWithKeywords)__pyx_pw___pyx_array_1__reduce_cython__, __Pyx_METH_FASTCALL|METH_KEYWORDS, 0}, + {"__setstate_cython__", (PyCFunction)(void*)(__Pyx_PyCFunction_FastCallWithKeywords)__pyx_pw___pyx_array_3__setstate_cython__, __Pyx_METH_FASTCALL|METH_KEYWORDS, 0}, + {0, 0, 0, 0} +}; + +static struct PyGetSetDef __pyx_getsets_array[] = { + {(char *)"memview", __pyx_getprop___pyx_array_memview, 0, (char *)0, 0}, + {0, 0, 0, 0, 0} +}; +#if CYTHON_USE_TYPE_SPECS +#if !CYTHON_COMPILING_IN_LIMITED_API + +static PyBufferProcs __pyx_tp_as_buffer_array = { + #if PY_MAJOR_VERSION < 3 + 0, /*bf_getreadbuffer*/ + #endif + #if PY_MAJOR_VERSION < 3 + 0, /*bf_getwritebuffer*/ + #endif + #if PY_MAJOR_VERSION < 3 + 0, /*bf_getsegcount*/ + #endif + #if PY_MAJOR_VERSION < 3 + 0, /*bf_getcharbuffer*/ + #endif + __pyx_array_getbuffer, /*bf_getbuffer*/ + 0, /*bf_releasebuffer*/ +}; +#endif +static PyType_Slot __pyx_type___pyx_array_slots[] = { + {Py_tp_dealloc, (void *)__pyx_tp_dealloc_array}, + {Py_sq_length, (void *)__pyx_array___len__}, + {Py_sq_item, (void *)__pyx_sq_item_array}, + {Py_mp_length, (void *)__pyx_array___len__}, + {Py_mp_subscript, (void *)__pyx_array___getitem__}, + {Py_mp_ass_subscript, (void *)__pyx_mp_ass_subscript_array}, + {Py_tp_getattro, (void *)__pyx_tp_getattro_array}, + #if defined(Py_bf_getbuffer) + {Py_bf_getbuffer, (void *)__pyx_array_getbuffer}, + #endif + {Py_tp_methods, (void *)__pyx_methods_array}, + {Py_tp_getset, (void *)__pyx_getsets_array}, + {Py_tp_new, (void *)__pyx_tp_new_array}, + {0, 0}, +}; +static PyType_Spec __pyx_type___pyx_array_spec = { + "selfdrive.classic_modeld.runners.runmodel_pyx.array", + sizeof(struct __pyx_array_obj), + 0, + Py_TPFLAGS_DEFAULT|Py_TPFLAGS_HAVE_VERSION_TAG|Py_TPFLAGS_CHECKTYPES|Py_TPFLAGS_HAVE_NEWBUFFER|Py_TPFLAGS_BASETYPE|Py_TPFLAGS_SEQUENCE, + __pyx_type___pyx_array_slots, +}; +#else + +static PySequenceMethods __pyx_tp_as_sequence_array = { + __pyx_array___len__, /*sq_length*/ + 0, /*sq_concat*/ + 0, /*sq_repeat*/ + __pyx_sq_item_array, /*sq_item*/ + 0, /*sq_slice*/ + 0, /*sq_ass_item*/ + 0, /*sq_ass_slice*/ + 0, /*sq_contains*/ + 0, /*sq_inplace_concat*/ + 0, /*sq_inplace_repeat*/ +}; + +static PyMappingMethods __pyx_tp_as_mapping_array = { + __pyx_array___len__, /*mp_length*/ + __pyx_array___getitem__, /*mp_subscript*/ + __pyx_mp_ass_subscript_array, /*mp_ass_subscript*/ +}; + +static PyBufferProcs __pyx_tp_as_buffer_array = { + #if PY_MAJOR_VERSION < 3 + 0, /*bf_getreadbuffer*/ + #endif + #if PY_MAJOR_VERSION < 3 + 0, /*bf_getwritebuffer*/ + #endif + #if PY_MAJOR_VERSION < 3 + 0, /*bf_getsegcount*/ + #endif + #if PY_MAJOR_VERSION < 3 + 0, /*bf_getcharbuffer*/ + #endif + __pyx_array_getbuffer, /*bf_getbuffer*/ + 0, /*bf_releasebuffer*/ +}; + +static PyTypeObject __pyx_type___pyx_array = { + PyVarObject_HEAD_INIT(0, 0) + "selfdrive.classic_modeld.runners.runmodel_pyx.""array", /*tp_name*/ + sizeof(struct __pyx_array_obj), /*tp_basicsize*/ + 0, /*tp_itemsize*/ + __pyx_tp_dealloc_array, /*tp_dealloc*/ + #if PY_VERSION_HEX < 0x030800b4 + 0, /*tp_print*/ + #endif + #if PY_VERSION_HEX >= 0x030800b4 + 0, /*tp_vectorcall_offset*/ + #endif + 0, /*tp_getattr*/ + 0, /*tp_setattr*/ + #if PY_MAJOR_VERSION < 3 + 0, /*tp_compare*/ + #endif + #if PY_MAJOR_VERSION >= 3 + 0, /*tp_as_async*/ + #endif + 0, /*tp_repr*/ + 0, /*tp_as_number*/ + &__pyx_tp_as_sequence_array, /*tp_as_sequence*/ + &__pyx_tp_as_mapping_array, /*tp_as_mapping*/ + 0, /*tp_hash*/ + 0, /*tp_call*/ + 0, /*tp_str*/ + __pyx_tp_getattro_array, /*tp_getattro*/ + 0, /*tp_setattro*/ + &__pyx_tp_as_buffer_array, /*tp_as_buffer*/ + Py_TPFLAGS_DEFAULT|Py_TPFLAGS_HAVE_VERSION_TAG|Py_TPFLAGS_CHECKTYPES|Py_TPFLAGS_HAVE_NEWBUFFER|Py_TPFLAGS_BASETYPE|Py_TPFLAGS_SEQUENCE, /*tp_flags*/ + 0, /*tp_doc*/ + 0, /*tp_traverse*/ + 0, /*tp_clear*/ + 0, /*tp_richcompare*/ + 0, /*tp_weaklistoffset*/ + 0, /*tp_iter*/ + 0, /*tp_iternext*/ + __pyx_methods_array, /*tp_methods*/ + 0, /*tp_members*/ + __pyx_getsets_array, /*tp_getset*/ + 0, /*tp_base*/ + 0, /*tp_dict*/ + 0, /*tp_descr_get*/ + 0, /*tp_descr_set*/ + #if !CYTHON_USE_TYPE_SPECS + 0, /*tp_dictoffset*/ + #endif + 0, /*tp_init*/ + 0, /*tp_alloc*/ + __pyx_tp_new_array, /*tp_new*/ + 0, /*tp_free*/ + 0, /*tp_is_gc*/ + 0, /*tp_bases*/ + 0, /*tp_mro*/ + 0, /*tp_cache*/ + 0, /*tp_subclasses*/ + 0, /*tp_weaklist*/ + 0, /*tp_del*/ + 0, /*tp_version_tag*/ + #if PY_VERSION_HEX >= 0x030400a1 + #if CYTHON_USE_TP_FINALIZE + 0, /*tp_finalize*/ + #else + NULL, /*tp_finalize*/ + #endif + #endif + #if PY_VERSION_HEX >= 0x030800b1 && (!CYTHON_COMPILING_IN_PYPY || PYPY_VERSION_NUM >= 0x07030800) + 0, /*tp_vectorcall*/ + #endif + #if __PYX_NEED_TP_PRINT_SLOT == 1 + 0, /*tp_print*/ + #endif + #if PY_VERSION_HEX >= 0x030C0000 + 0, /*tp_watched*/ + #endif + #if CYTHON_COMPILING_IN_PYPY && PY_VERSION_HEX >= 0x03090000 && PY_VERSION_HEX < 0x030a0000 + 0, /*tp_pypy_flags*/ + #endif +}; +#endif + +static PyObject *__pyx_tp_new_Enum(PyTypeObject *t, CYTHON_UNUSED PyObject *a, CYTHON_UNUSED PyObject *k) { + struct __pyx_MemviewEnum_obj *p; + PyObject *o; + #if CYTHON_COMPILING_IN_LIMITED_API + allocfunc alloc_func = (allocfunc)PyType_GetSlot(t, Py_tp_alloc); + o = alloc_func(t, 0); + #else + if (likely(!__Pyx_PyType_HasFeature(t, Py_TPFLAGS_IS_ABSTRACT))) { + o = (*t->tp_alloc)(t, 0); + } else { + o = (PyObject *) PyBaseObject_Type.tp_new(t, __pyx_empty_tuple, 0); + } + if (unlikely(!o)) return 0; + #endif + p = ((struct __pyx_MemviewEnum_obj *)o); + p->name = Py_None; Py_INCREF(Py_None); + return o; +} + +static void __pyx_tp_dealloc_Enum(PyObject *o) { + struct __pyx_MemviewEnum_obj *p = (struct __pyx_MemviewEnum_obj *)o; + #if CYTHON_USE_TP_FINALIZE + if (unlikely((PY_VERSION_HEX >= 0x03080000 || __Pyx_PyType_HasFeature(Py_TYPE(o), Py_TPFLAGS_HAVE_FINALIZE)) && __Pyx_PyObject_GetSlot(o, tp_finalize, destructor)) && !__Pyx_PyObject_GC_IsFinalized(o)) { + if (__Pyx_PyObject_GetSlot(o, tp_dealloc, destructor) == __pyx_tp_dealloc_Enum) { + if (PyObject_CallFinalizerFromDealloc(o)) return; + } + } + #endif + PyObject_GC_UnTrack(o); + Py_CLEAR(p->name); + #if CYTHON_USE_TYPE_SLOTS || CYTHON_COMPILING_IN_PYPY + (*Py_TYPE(o)->tp_free)(o); + #else + { + freefunc tp_free = (freefunc)PyType_GetSlot(Py_TYPE(o), Py_tp_free); + if (tp_free) tp_free(o); + } + #endif +} + +static int __pyx_tp_traverse_Enum(PyObject *o, visitproc v, void *a) { + int e; + struct __pyx_MemviewEnum_obj *p = (struct __pyx_MemviewEnum_obj *)o; + if (p->name) { + e = (*v)(p->name, a); if (e) return e; + } + return 0; +} + +static int __pyx_tp_clear_Enum(PyObject *o) { + PyObject* tmp; + struct __pyx_MemviewEnum_obj *p = (struct __pyx_MemviewEnum_obj *)o; + tmp = ((PyObject*)p->name); + p->name = Py_None; Py_INCREF(Py_None); + Py_XDECREF(tmp); + return 0; +} + +static PyObject *__pyx_specialmethod___pyx_MemviewEnum___repr__(PyObject *self, CYTHON_UNUSED PyObject *arg) { + return __pyx_MemviewEnum___repr__(self); +} + +static PyMethodDef __pyx_methods_Enum[] = { + {"__repr__", (PyCFunction)__pyx_specialmethod___pyx_MemviewEnum___repr__, METH_NOARGS|METH_COEXIST, 0}, + {"__reduce_cython__", (PyCFunction)(void*)(__Pyx_PyCFunction_FastCallWithKeywords)__pyx_pw___pyx_MemviewEnum_1__reduce_cython__, __Pyx_METH_FASTCALL|METH_KEYWORDS, 0}, + {"__setstate_cython__", (PyCFunction)(void*)(__Pyx_PyCFunction_FastCallWithKeywords)__pyx_pw___pyx_MemviewEnum_3__setstate_cython__, __Pyx_METH_FASTCALL|METH_KEYWORDS, 0}, + {0, 0, 0, 0} +}; +#if CYTHON_USE_TYPE_SPECS +static PyType_Slot __pyx_type___pyx_MemviewEnum_slots[] = { + {Py_tp_dealloc, (void *)__pyx_tp_dealloc_Enum}, + {Py_tp_repr, (void *)__pyx_MemviewEnum___repr__}, + {Py_tp_traverse, (void *)__pyx_tp_traverse_Enum}, + {Py_tp_clear, (void *)__pyx_tp_clear_Enum}, + {Py_tp_methods, (void *)__pyx_methods_Enum}, + {Py_tp_init, (void *)__pyx_MemviewEnum___init__}, + {Py_tp_new, (void *)__pyx_tp_new_Enum}, + {0, 0}, +}; +static PyType_Spec __pyx_type___pyx_MemviewEnum_spec = { + "selfdrive.classic_modeld.runners.runmodel_pyx.Enum", + sizeof(struct __pyx_MemviewEnum_obj), + 0, + Py_TPFLAGS_DEFAULT|Py_TPFLAGS_HAVE_VERSION_TAG|Py_TPFLAGS_CHECKTYPES|Py_TPFLAGS_HAVE_NEWBUFFER|Py_TPFLAGS_BASETYPE|Py_TPFLAGS_HAVE_GC, + __pyx_type___pyx_MemviewEnum_slots, +}; +#else + +static PyTypeObject __pyx_type___pyx_MemviewEnum = { + PyVarObject_HEAD_INIT(0, 0) + "selfdrive.classic_modeld.runners.runmodel_pyx.""Enum", /*tp_name*/ + sizeof(struct __pyx_MemviewEnum_obj), /*tp_basicsize*/ + 0, /*tp_itemsize*/ + __pyx_tp_dealloc_Enum, /*tp_dealloc*/ + #if PY_VERSION_HEX < 0x030800b4 + 0, /*tp_print*/ + #endif + #if PY_VERSION_HEX >= 0x030800b4 + 0, /*tp_vectorcall_offset*/ + #endif + 0, /*tp_getattr*/ + 0, /*tp_setattr*/ + #if PY_MAJOR_VERSION < 3 + 0, /*tp_compare*/ + #endif + #if PY_MAJOR_VERSION >= 3 + 0, /*tp_as_async*/ + #endif + __pyx_MemviewEnum___repr__, /*tp_repr*/ + 0, /*tp_as_number*/ + 0, /*tp_as_sequence*/ + 0, /*tp_as_mapping*/ + 0, /*tp_hash*/ + 0, /*tp_call*/ + 0, /*tp_str*/ + 0, /*tp_getattro*/ + 0, /*tp_setattro*/ + 0, /*tp_as_buffer*/ + Py_TPFLAGS_DEFAULT|Py_TPFLAGS_HAVE_VERSION_TAG|Py_TPFLAGS_CHECKTYPES|Py_TPFLAGS_HAVE_NEWBUFFER|Py_TPFLAGS_BASETYPE|Py_TPFLAGS_HAVE_GC, /*tp_flags*/ + 0, /*tp_doc*/ + __pyx_tp_traverse_Enum, /*tp_traverse*/ + __pyx_tp_clear_Enum, /*tp_clear*/ + 0, /*tp_richcompare*/ + 0, /*tp_weaklistoffset*/ + 0, /*tp_iter*/ + 0, /*tp_iternext*/ + __pyx_methods_Enum, /*tp_methods*/ + 0, /*tp_members*/ + 0, /*tp_getset*/ + 0, /*tp_base*/ + 0, /*tp_dict*/ + 0, /*tp_descr_get*/ + 0, /*tp_descr_set*/ + #if !CYTHON_USE_TYPE_SPECS + 0, /*tp_dictoffset*/ + #endif + __pyx_MemviewEnum___init__, /*tp_init*/ + 0, /*tp_alloc*/ + __pyx_tp_new_Enum, /*tp_new*/ + 0, /*tp_free*/ + 0, /*tp_is_gc*/ + 0, /*tp_bases*/ + 0, /*tp_mro*/ + 0, /*tp_cache*/ + 0, /*tp_subclasses*/ + 0, /*tp_weaklist*/ + 0, /*tp_del*/ + 0, /*tp_version_tag*/ + #if PY_VERSION_HEX >= 0x030400a1 + #if CYTHON_USE_TP_FINALIZE + 0, /*tp_finalize*/ + #else + NULL, /*tp_finalize*/ + #endif + #endif + #if PY_VERSION_HEX >= 0x030800b1 && (!CYTHON_COMPILING_IN_PYPY || PYPY_VERSION_NUM >= 0x07030800) + 0, /*tp_vectorcall*/ + #endif + #if __PYX_NEED_TP_PRINT_SLOT == 1 + 0, /*tp_print*/ + #endif + #if PY_VERSION_HEX >= 0x030C0000 + 0, /*tp_watched*/ + #endif + #if CYTHON_COMPILING_IN_PYPY && PY_VERSION_HEX >= 0x03090000 && PY_VERSION_HEX < 0x030a0000 + 0, /*tp_pypy_flags*/ + #endif +}; +#endif +static struct __pyx_vtabstruct_memoryview __pyx_vtable_memoryview; + +static PyObject *__pyx_tp_new_memoryview(PyTypeObject *t, PyObject *a, PyObject *k) { + struct __pyx_memoryview_obj *p; + PyObject *o; + #if CYTHON_COMPILING_IN_LIMITED_API + allocfunc alloc_func = (allocfunc)PyType_GetSlot(t, Py_tp_alloc); + o = alloc_func(t, 0); + #else + if (likely(!__Pyx_PyType_HasFeature(t, Py_TPFLAGS_IS_ABSTRACT))) { + o = (*t->tp_alloc)(t, 0); + } else { + o = (PyObject *) PyBaseObject_Type.tp_new(t, __pyx_empty_tuple, 0); + } + if (unlikely(!o)) return 0; + #endif + p = ((struct __pyx_memoryview_obj *)o); + p->__pyx_vtab = __pyx_vtabptr_memoryview; + p->obj = Py_None; Py_INCREF(Py_None); + p->_size = Py_None; Py_INCREF(Py_None); + p->_array_interface = Py_None; Py_INCREF(Py_None); + p->view.obj = NULL; + if (unlikely(__pyx_memoryview___cinit__(o, a, k) < 0)) goto bad; + return o; + bad: + Py_DECREF(o); o = 0; + return NULL; +} + +static void __pyx_tp_dealloc_memoryview(PyObject *o) { + struct __pyx_memoryview_obj *p = (struct __pyx_memoryview_obj *)o; + #if CYTHON_USE_TP_FINALIZE + if (unlikely((PY_VERSION_HEX >= 0x03080000 || __Pyx_PyType_HasFeature(Py_TYPE(o), Py_TPFLAGS_HAVE_FINALIZE)) && __Pyx_PyObject_GetSlot(o, tp_finalize, destructor)) && !__Pyx_PyObject_GC_IsFinalized(o)) { + if (__Pyx_PyObject_GetSlot(o, tp_dealloc, destructor) == __pyx_tp_dealloc_memoryview) { + if (PyObject_CallFinalizerFromDealloc(o)) return; + } + } + #endif + PyObject_GC_UnTrack(o); + { + PyObject *etype, *eval, *etb; + PyErr_Fetch(&etype, &eval, &etb); + __Pyx_SET_REFCNT(o, Py_REFCNT(o) + 1); + __pyx_memoryview___dealloc__(o); + __Pyx_SET_REFCNT(o, Py_REFCNT(o) - 1); + PyErr_Restore(etype, eval, etb); + } + Py_CLEAR(p->obj); + Py_CLEAR(p->_size); + Py_CLEAR(p->_array_interface); + #if CYTHON_USE_TYPE_SLOTS || CYTHON_COMPILING_IN_PYPY + (*Py_TYPE(o)->tp_free)(o); + #else + { + freefunc tp_free = (freefunc)PyType_GetSlot(Py_TYPE(o), Py_tp_free); + if (tp_free) tp_free(o); + } + #endif +} + +static int __pyx_tp_traverse_memoryview(PyObject *o, visitproc v, void *a) { + int e; + struct __pyx_memoryview_obj *p = (struct __pyx_memoryview_obj *)o; + if (p->obj) { + e = (*v)(p->obj, a); if (e) return e; + } + if (p->_size) { + e = (*v)(p->_size, a); if (e) return e; + } + if (p->_array_interface) { + e = (*v)(p->_array_interface, a); if (e) return e; + } + if (p->view.obj) { + e = (*v)(p->view.obj, a); if (e) return e; + } + return 0; +} + +static int __pyx_tp_clear_memoryview(PyObject *o) { + PyObject* tmp; + struct __pyx_memoryview_obj *p = (struct __pyx_memoryview_obj *)o; + tmp = ((PyObject*)p->obj); + p->obj = Py_None; Py_INCREF(Py_None); + Py_XDECREF(tmp); + tmp = ((PyObject*)p->_size); + p->_size = Py_None; Py_INCREF(Py_None); + Py_XDECREF(tmp); + tmp = ((PyObject*)p->_array_interface); + p->_array_interface = Py_None; Py_INCREF(Py_None); + Py_XDECREF(tmp); + Py_CLEAR(p->view.obj); + return 0; +} +static PyObject *__pyx_sq_item_memoryview(PyObject *o, Py_ssize_t i) { + PyObject *r; + PyObject *x = PyInt_FromSsize_t(i); if(!x) return 0; + r = Py_TYPE(o)->tp_as_mapping->mp_subscript(o, x); + Py_DECREF(x); + return r; +} + +static int __pyx_mp_ass_subscript_memoryview(PyObject *o, PyObject *i, PyObject *v) { + if (v) { + return __pyx_memoryview___setitem__(o, i, v); + } + else { + __Pyx_TypeName o_type_name; + o_type_name = __Pyx_PyType_GetName(Py_TYPE(o)); + PyErr_Format(PyExc_NotImplementedError, + "Subscript deletion not supported by " __Pyx_FMT_TYPENAME, o_type_name); + __Pyx_DECREF_TypeName(o_type_name); + return -1; + } +} + +static PyObject *__pyx_getprop___pyx_memoryview_T(PyObject *o, CYTHON_UNUSED void *x) { + return __pyx_pw_15View_dot_MemoryView_10memoryview_1T_1__get__(o); +} + +static PyObject *__pyx_getprop___pyx_memoryview_base(PyObject *o, CYTHON_UNUSED void *x) { + return __pyx_pw_15View_dot_MemoryView_10memoryview_4base_1__get__(o); +} + +static PyObject *__pyx_getprop___pyx_memoryview_shape(PyObject *o, CYTHON_UNUSED void *x) { + return __pyx_pw_15View_dot_MemoryView_10memoryview_5shape_1__get__(o); +} + +static PyObject *__pyx_getprop___pyx_memoryview_strides(PyObject *o, CYTHON_UNUSED void *x) { + return __pyx_pw_15View_dot_MemoryView_10memoryview_7strides_1__get__(o); +} + +static PyObject *__pyx_getprop___pyx_memoryview_suboffsets(PyObject *o, CYTHON_UNUSED void *x) { + return __pyx_pw_15View_dot_MemoryView_10memoryview_10suboffsets_1__get__(o); +} + +static PyObject *__pyx_getprop___pyx_memoryview_ndim(PyObject *o, CYTHON_UNUSED void *x) { + return __pyx_pw_15View_dot_MemoryView_10memoryview_4ndim_1__get__(o); +} + +static PyObject *__pyx_getprop___pyx_memoryview_itemsize(PyObject *o, CYTHON_UNUSED void *x) { + return __pyx_pw_15View_dot_MemoryView_10memoryview_8itemsize_1__get__(o); +} + +static PyObject *__pyx_getprop___pyx_memoryview_nbytes(PyObject *o, CYTHON_UNUSED void *x) { + return __pyx_pw_15View_dot_MemoryView_10memoryview_6nbytes_1__get__(o); +} + +static PyObject *__pyx_getprop___pyx_memoryview_size(PyObject *o, CYTHON_UNUSED void *x) { + return __pyx_pw_15View_dot_MemoryView_10memoryview_4size_1__get__(o); +} + +static PyObject *__pyx_specialmethod___pyx_memoryview___repr__(PyObject *self, CYTHON_UNUSED PyObject *arg) { + return __pyx_memoryview___repr__(self); +} + +static PyMethodDef __pyx_methods_memoryview[] = { + {"__repr__", (PyCFunction)__pyx_specialmethod___pyx_memoryview___repr__, METH_NOARGS|METH_COEXIST, 0}, + {"is_c_contig", (PyCFunction)(void*)(__Pyx_PyCFunction_FastCallWithKeywords)__pyx_memoryview_is_c_contig, __Pyx_METH_FASTCALL|METH_KEYWORDS, 0}, + {"is_f_contig", (PyCFunction)(void*)(__Pyx_PyCFunction_FastCallWithKeywords)__pyx_memoryview_is_f_contig, __Pyx_METH_FASTCALL|METH_KEYWORDS, 0}, + {"copy", (PyCFunction)(void*)(__Pyx_PyCFunction_FastCallWithKeywords)__pyx_memoryview_copy, __Pyx_METH_FASTCALL|METH_KEYWORDS, 0}, + {"copy_fortran", (PyCFunction)(void*)(__Pyx_PyCFunction_FastCallWithKeywords)__pyx_memoryview_copy_fortran, __Pyx_METH_FASTCALL|METH_KEYWORDS, 0}, + {"__reduce_cython__", (PyCFunction)(void*)(__Pyx_PyCFunction_FastCallWithKeywords)__pyx_pw___pyx_memoryview_1__reduce_cython__, __Pyx_METH_FASTCALL|METH_KEYWORDS, 0}, + {"__setstate_cython__", (PyCFunction)(void*)(__Pyx_PyCFunction_FastCallWithKeywords)__pyx_pw___pyx_memoryview_3__setstate_cython__, __Pyx_METH_FASTCALL|METH_KEYWORDS, 0}, + {0, 0, 0, 0} +}; + +static struct PyGetSetDef __pyx_getsets_memoryview[] = { + {(char *)"T", __pyx_getprop___pyx_memoryview_T, 0, (char *)0, 0}, + {(char *)"base", __pyx_getprop___pyx_memoryview_base, 0, (char *)0, 0}, + {(char *)"shape", __pyx_getprop___pyx_memoryview_shape, 0, (char *)0, 0}, + {(char *)"strides", __pyx_getprop___pyx_memoryview_strides, 0, (char *)0, 0}, + {(char *)"suboffsets", __pyx_getprop___pyx_memoryview_suboffsets, 0, (char *)0, 0}, + {(char *)"ndim", __pyx_getprop___pyx_memoryview_ndim, 0, (char *)0, 0}, + {(char *)"itemsize", __pyx_getprop___pyx_memoryview_itemsize, 0, (char *)0, 0}, + {(char *)"nbytes", __pyx_getprop___pyx_memoryview_nbytes, 0, (char *)0, 0}, + {(char *)"size", __pyx_getprop___pyx_memoryview_size, 0, (char *)0, 0}, + {0, 0, 0, 0, 0} +}; +#if CYTHON_USE_TYPE_SPECS +#if !CYTHON_COMPILING_IN_LIMITED_API + +static PyBufferProcs __pyx_tp_as_buffer_memoryview = { + #if PY_MAJOR_VERSION < 3 + 0, /*bf_getreadbuffer*/ + #endif + #if PY_MAJOR_VERSION < 3 + 0, /*bf_getwritebuffer*/ + #endif + #if PY_MAJOR_VERSION < 3 + 0, /*bf_getsegcount*/ + #endif + #if PY_MAJOR_VERSION < 3 + 0, /*bf_getcharbuffer*/ + #endif + __pyx_memoryview_getbuffer, /*bf_getbuffer*/ + 0, /*bf_releasebuffer*/ +}; +#endif +static PyType_Slot __pyx_type___pyx_memoryview_slots[] = { + {Py_tp_dealloc, (void *)__pyx_tp_dealloc_memoryview}, + {Py_tp_repr, (void *)__pyx_memoryview___repr__}, + {Py_sq_length, (void *)__pyx_memoryview___len__}, + {Py_sq_item, (void *)__pyx_sq_item_memoryview}, + {Py_mp_length, (void *)__pyx_memoryview___len__}, + {Py_mp_subscript, (void *)__pyx_memoryview___getitem__}, + {Py_mp_ass_subscript, (void *)__pyx_mp_ass_subscript_memoryview}, + {Py_tp_str, (void *)__pyx_memoryview___str__}, + #if defined(Py_bf_getbuffer) + {Py_bf_getbuffer, (void *)__pyx_memoryview_getbuffer}, + #endif + {Py_tp_traverse, (void *)__pyx_tp_traverse_memoryview}, + {Py_tp_clear, (void *)__pyx_tp_clear_memoryview}, + {Py_tp_methods, (void *)__pyx_methods_memoryview}, + {Py_tp_getset, (void *)__pyx_getsets_memoryview}, + {Py_tp_new, (void *)__pyx_tp_new_memoryview}, + {0, 0}, +}; +static PyType_Spec __pyx_type___pyx_memoryview_spec = { + "selfdrive.classic_modeld.runners.runmodel_pyx.memoryview", + sizeof(struct __pyx_memoryview_obj), + 0, + Py_TPFLAGS_DEFAULT|Py_TPFLAGS_HAVE_VERSION_TAG|Py_TPFLAGS_CHECKTYPES|Py_TPFLAGS_HAVE_NEWBUFFER|Py_TPFLAGS_BASETYPE|Py_TPFLAGS_HAVE_GC, + __pyx_type___pyx_memoryview_slots, +}; +#else + +static PySequenceMethods __pyx_tp_as_sequence_memoryview = { + __pyx_memoryview___len__, /*sq_length*/ + 0, /*sq_concat*/ + 0, /*sq_repeat*/ + __pyx_sq_item_memoryview, /*sq_item*/ + 0, /*sq_slice*/ + 0, /*sq_ass_item*/ + 0, /*sq_ass_slice*/ + 0, /*sq_contains*/ + 0, /*sq_inplace_concat*/ + 0, /*sq_inplace_repeat*/ +}; + +static PyMappingMethods __pyx_tp_as_mapping_memoryview = { + __pyx_memoryview___len__, /*mp_length*/ + __pyx_memoryview___getitem__, /*mp_subscript*/ + __pyx_mp_ass_subscript_memoryview, /*mp_ass_subscript*/ +}; + +static PyBufferProcs __pyx_tp_as_buffer_memoryview = { + #if PY_MAJOR_VERSION < 3 + 0, /*bf_getreadbuffer*/ + #endif + #if PY_MAJOR_VERSION < 3 + 0, /*bf_getwritebuffer*/ + #endif + #if PY_MAJOR_VERSION < 3 + 0, /*bf_getsegcount*/ + #endif + #if PY_MAJOR_VERSION < 3 + 0, /*bf_getcharbuffer*/ + #endif + __pyx_memoryview_getbuffer, /*bf_getbuffer*/ + 0, /*bf_releasebuffer*/ +}; + +static PyTypeObject __pyx_type___pyx_memoryview = { + PyVarObject_HEAD_INIT(0, 0) + "selfdrive.classic_modeld.runners.runmodel_pyx.""memoryview", /*tp_name*/ + sizeof(struct __pyx_memoryview_obj), /*tp_basicsize*/ + 0, /*tp_itemsize*/ + __pyx_tp_dealloc_memoryview, /*tp_dealloc*/ + #if PY_VERSION_HEX < 0x030800b4 + 0, /*tp_print*/ + #endif + #if PY_VERSION_HEX >= 0x030800b4 + 0, /*tp_vectorcall_offset*/ + #endif + 0, /*tp_getattr*/ + 0, /*tp_setattr*/ + #if PY_MAJOR_VERSION < 3 + 0, /*tp_compare*/ + #endif + #if PY_MAJOR_VERSION >= 3 + 0, /*tp_as_async*/ + #endif + __pyx_memoryview___repr__, /*tp_repr*/ + 0, /*tp_as_number*/ + &__pyx_tp_as_sequence_memoryview, /*tp_as_sequence*/ + &__pyx_tp_as_mapping_memoryview, /*tp_as_mapping*/ + 0, /*tp_hash*/ + 0, /*tp_call*/ + __pyx_memoryview___str__, /*tp_str*/ + 0, /*tp_getattro*/ + 0, /*tp_setattro*/ + &__pyx_tp_as_buffer_memoryview, /*tp_as_buffer*/ + Py_TPFLAGS_DEFAULT|Py_TPFLAGS_HAVE_VERSION_TAG|Py_TPFLAGS_CHECKTYPES|Py_TPFLAGS_HAVE_NEWBUFFER|Py_TPFLAGS_BASETYPE|Py_TPFLAGS_HAVE_GC, /*tp_flags*/ + 0, /*tp_doc*/ + __pyx_tp_traverse_memoryview, /*tp_traverse*/ + __pyx_tp_clear_memoryview, /*tp_clear*/ + 0, /*tp_richcompare*/ + 0, /*tp_weaklistoffset*/ + 0, /*tp_iter*/ + 0, /*tp_iternext*/ + __pyx_methods_memoryview, /*tp_methods*/ + 0, /*tp_members*/ + __pyx_getsets_memoryview, /*tp_getset*/ + 0, /*tp_base*/ + 0, /*tp_dict*/ + 0, /*tp_descr_get*/ + 0, /*tp_descr_set*/ + #if !CYTHON_USE_TYPE_SPECS + 0, /*tp_dictoffset*/ + #endif + 0, /*tp_init*/ + 0, /*tp_alloc*/ + __pyx_tp_new_memoryview, /*tp_new*/ + 0, /*tp_free*/ + 0, /*tp_is_gc*/ + 0, /*tp_bases*/ + 0, /*tp_mro*/ + 0, /*tp_cache*/ + 0, /*tp_subclasses*/ + 0, /*tp_weaklist*/ + 0, /*tp_del*/ + 0, /*tp_version_tag*/ + #if PY_VERSION_HEX >= 0x030400a1 + #if CYTHON_USE_TP_FINALIZE + 0, /*tp_finalize*/ + #else + NULL, /*tp_finalize*/ + #endif + #endif + #if PY_VERSION_HEX >= 0x030800b1 && (!CYTHON_COMPILING_IN_PYPY || PYPY_VERSION_NUM >= 0x07030800) + 0, /*tp_vectorcall*/ + #endif + #if __PYX_NEED_TP_PRINT_SLOT == 1 + 0, /*tp_print*/ + #endif + #if PY_VERSION_HEX >= 0x030C0000 + 0, /*tp_watched*/ + #endif + #if CYTHON_COMPILING_IN_PYPY && PY_VERSION_HEX >= 0x03090000 && PY_VERSION_HEX < 0x030a0000 + 0, /*tp_pypy_flags*/ + #endif +}; +#endif +static struct __pyx_vtabstruct__memoryviewslice __pyx_vtable__memoryviewslice; + +static PyObject *__pyx_tp_new__memoryviewslice(PyTypeObject *t, PyObject *a, PyObject *k) { + struct __pyx_memoryviewslice_obj *p; + PyObject *o = __pyx_tp_new_memoryview(t, a, k); + if (unlikely(!o)) return 0; + p = ((struct __pyx_memoryviewslice_obj *)o); + p->__pyx_base.__pyx_vtab = (struct __pyx_vtabstruct_memoryview*)__pyx_vtabptr__memoryviewslice; + new((void*)&(p->from_slice)) __Pyx_memviewslice(); + p->from_object = Py_None; Py_INCREF(Py_None); + p->from_slice.memview = NULL; + return o; +} + +static void __pyx_tp_dealloc__memoryviewslice(PyObject *o) { + struct __pyx_memoryviewslice_obj *p = (struct __pyx_memoryviewslice_obj *)o; + #if CYTHON_USE_TP_FINALIZE + if (unlikely((PY_VERSION_HEX >= 0x03080000 || __Pyx_PyType_HasFeature(Py_TYPE(o), Py_TPFLAGS_HAVE_FINALIZE)) && __Pyx_PyObject_GetSlot(o, tp_finalize, destructor)) && !__Pyx_PyObject_GC_IsFinalized(o)) { + if (__Pyx_PyObject_GetSlot(o, tp_dealloc, destructor) == __pyx_tp_dealloc__memoryviewslice) { + if (PyObject_CallFinalizerFromDealloc(o)) return; + } + } + #endif + PyObject_GC_UnTrack(o); + { + PyObject *etype, *eval, *etb; + PyErr_Fetch(&etype, &eval, &etb); + __Pyx_SET_REFCNT(o, Py_REFCNT(o) + 1); + __pyx_memoryviewslice___dealloc__(o); + __Pyx_SET_REFCNT(o, Py_REFCNT(o) - 1); + PyErr_Restore(etype, eval, etb); + } + __Pyx_call_destructor(p->from_slice); + Py_CLEAR(p->from_object); + PyObject_GC_Track(o); + __pyx_tp_dealloc_memoryview(o); +} + +static int __pyx_tp_traverse__memoryviewslice(PyObject *o, visitproc v, void *a) { + int e; + struct __pyx_memoryviewslice_obj *p = (struct __pyx_memoryviewslice_obj *)o; + e = __pyx_tp_traverse_memoryview(o, v, a); if (e) return e; + if (p->from_object) { + e = (*v)(p->from_object, a); if (e) return e; + } + return 0; +} + +static int __pyx_tp_clear__memoryviewslice(PyObject *o) { + PyObject* tmp; + struct __pyx_memoryviewslice_obj *p = (struct __pyx_memoryviewslice_obj *)o; + __pyx_tp_clear_memoryview(o); + tmp = ((PyObject*)p->from_object); + p->from_object = Py_None; Py_INCREF(Py_None); + Py_XDECREF(tmp); + __PYX_XCLEAR_MEMVIEW(&p->from_slice, 1); + return 0; +} + +static PyMethodDef __pyx_methods__memoryviewslice[] = { + {"__reduce_cython__", (PyCFunction)(void*)(__Pyx_PyCFunction_FastCallWithKeywords)__pyx_pw___pyx_memoryviewslice_1__reduce_cython__, __Pyx_METH_FASTCALL|METH_KEYWORDS, 0}, + {"__setstate_cython__", (PyCFunction)(void*)(__Pyx_PyCFunction_FastCallWithKeywords)__pyx_pw___pyx_memoryviewslice_3__setstate_cython__, __Pyx_METH_FASTCALL|METH_KEYWORDS, 0}, + {0, 0, 0, 0} +}; +#if CYTHON_USE_TYPE_SPECS +static PyType_Slot __pyx_type___pyx_memoryviewslice_slots[] = { + {Py_tp_dealloc, (void *)__pyx_tp_dealloc__memoryviewslice}, + {Py_tp_doc, (void *)PyDoc_STR("Internal class for passing memoryview slices to Python")}, + {Py_tp_traverse, (void *)__pyx_tp_traverse__memoryviewslice}, + {Py_tp_clear, (void *)__pyx_tp_clear__memoryviewslice}, + {Py_tp_methods, (void *)__pyx_methods__memoryviewslice}, + {Py_tp_new, (void *)__pyx_tp_new__memoryviewslice}, + {0, 0}, +}; +static PyType_Spec __pyx_type___pyx_memoryviewslice_spec = { + "selfdrive.classic_modeld.runners.runmodel_pyx._memoryviewslice", + sizeof(struct __pyx_memoryviewslice_obj), + 0, + Py_TPFLAGS_DEFAULT|Py_TPFLAGS_HAVE_VERSION_TAG|Py_TPFLAGS_CHECKTYPES|Py_TPFLAGS_HAVE_NEWBUFFER|Py_TPFLAGS_BASETYPE|Py_TPFLAGS_HAVE_GC|Py_TPFLAGS_SEQUENCE, + __pyx_type___pyx_memoryviewslice_slots, +}; +#else + +static PyTypeObject __pyx_type___pyx_memoryviewslice = { + PyVarObject_HEAD_INIT(0, 0) + "selfdrive.classic_modeld.runners.runmodel_pyx.""_memoryviewslice", /*tp_name*/ + sizeof(struct __pyx_memoryviewslice_obj), /*tp_basicsize*/ + 0, /*tp_itemsize*/ + __pyx_tp_dealloc__memoryviewslice, /*tp_dealloc*/ + #if PY_VERSION_HEX < 0x030800b4 + 0, /*tp_print*/ + #endif + #if PY_VERSION_HEX >= 0x030800b4 + 0, /*tp_vectorcall_offset*/ + #endif + 0, /*tp_getattr*/ + 0, /*tp_setattr*/ + #if PY_MAJOR_VERSION < 3 + 0, /*tp_compare*/ + #endif + #if PY_MAJOR_VERSION >= 3 + 0, /*tp_as_async*/ + #endif + #if CYTHON_COMPILING_IN_PYPY || 0 + __pyx_memoryview___repr__, /*tp_repr*/ + #else + 0, /*tp_repr*/ + #endif + 0, /*tp_as_number*/ + 0, /*tp_as_sequence*/ + 0, /*tp_as_mapping*/ + 0, /*tp_hash*/ + 0, /*tp_call*/ + #if CYTHON_COMPILING_IN_PYPY || 0 + __pyx_memoryview___str__, /*tp_str*/ + #else + 0, /*tp_str*/ + #endif + 0, /*tp_getattro*/ + 0, /*tp_setattro*/ + 0, /*tp_as_buffer*/ + Py_TPFLAGS_DEFAULT|Py_TPFLAGS_HAVE_VERSION_TAG|Py_TPFLAGS_CHECKTYPES|Py_TPFLAGS_HAVE_NEWBUFFER|Py_TPFLAGS_BASETYPE|Py_TPFLAGS_HAVE_GC|Py_TPFLAGS_SEQUENCE, /*tp_flags*/ + PyDoc_STR("Internal class for passing memoryview slices to Python"), /*tp_doc*/ + __pyx_tp_traverse__memoryviewslice, /*tp_traverse*/ + __pyx_tp_clear__memoryviewslice, /*tp_clear*/ + 0, /*tp_richcompare*/ + 0, /*tp_weaklistoffset*/ + 0, /*tp_iter*/ + 0, /*tp_iternext*/ + __pyx_methods__memoryviewslice, /*tp_methods*/ + 0, /*tp_members*/ + 0, /*tp_getset*/ + 0, /*tp_base*/ + 0, /*tp_dict*/ + 0, /*tp_descr_get*/ + 0, /*tp_descr_set*/ + #if !CYTHON_USE_TYPE_SPECS + 0, /*tp_dictoffset*/ + #endif + 0, /*tp_init*/ + 0, /*tp_alloc*/ + __pyx_tp_new__memoryviewslice, /*tp_new*/ + 0, /*tp_free*/ + 0, /*tp_is_gc*/ + 0, /*tp_bases*/ + 0, /*tp_mro*/ + 0, /*tp_cache*/ + 0, /*tp_subclasses*/ + 0, /*tp_weaklist*/ + 0, /*tp_del*/ + 0, /*tp_version_tag*/ + #if PY_VERSION_HEX >= 0x030400a1 + #if CYTHON_USE_TP_FINALIZE + 0, /*tp_finalize*/ + #else + NULL, /*tp_finalize*/ + #endif + #endif + #if PY_VERSION_HEX >= 0x030800b1 && (!CYTHON_COMPILING_IN_PYPY || PYPY_VERSION_NUM >= 0x07030800) + 0, /*tp_vectorcall*/ + #endif + #if __PYX_NEED_TP_PRINT_SLOT == 1 + 0, /*tp_print*/ + #endif + #if PY_VERSION_HEX >= 0x030C0000 + 0, /*tp_watched*/ + #endif + #if CYTHON_COMPILING_IN_PYPY && PY_VERSION_HEX >= 0x03090000 && PY_VERSION_HEX < 0x030a0000 + 0, /*tp_pypy_flags*/ + #endif +}; +#endif + +static PyMethodDef __pyx_methods[] = { + {0, 0, 0, 0} +}; +#ifndef CYTHON_SMALL_CODE +#if defined(__clang__) + #define CYTHON_SMALL_CODE +#elif defined(__GNUC__) && (__GNUC__ > 4 || (__GNUC__ == 4 && __GNUC_MINOR__ >= 3)) + #define CYTHON_SMALL_CODE __attribute__((cold)) +#else + #define CYTHON_SMALL_CODE +#endif +#endif +/* #### Code section: pystring_table ### */ + +static int __Pyx_CreateStringTabAndInitStrings(void) { + __Pyx_StringTabEntry __pyx_string_tab[] = { + {&__pyx_kp_u_, __pyx_k_, sizeof(__pyx_k_), 0, 1, 0, 0}, + {&__pyx_n_s_ASCII, __pyx_k_ASCII, sizeof(__pyx_k_ASCII), 0, 0, 1, 1}, + {&__pyx_kp_s_All_dimensions_preceding_dimensi, __pyx_k_All_dimensions_preceding_dimensi, sizeof(__pyx_k_All_dimensions_preceding_dimensi), 0, 0, 1, 0}, + {&__pyx_n_s_AssertionError, __pyx_k_AssertionError, sizeof(__pyx_k_AssertionError), 0, 0, 1, 1}, + {&__pyx_kp_s_Buffer_view_does_not_expose_stri, __pyx_k_Buffer_view_does_not_expose_stri, 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+ } + #if CYTHON_AVOID_BORROWED_REFS + Py_DECREF(exc_type); + #endif + return result; +} +#endif + +/* PyErrFetchRestore */ +#if CYTHON_FAST_THREAD_STATE +static CYTHON_INLINE void __Pyx_ErrRestoreInState(PyThreadState *tstate, PyObject *type, PyObject *value, PyObject *tb) { +#if PY_VERSION_HEX >= 0x030C00A6 + PyObject *tmp_value; + assert(type == NULL || (value != NULL && type == (PyObject*) Py_TYPE(value))); + if (value) { + #if CYTHON_COMPILING_IN_CPYTHON + if (unlikely(((PyBaseExceptionObject*) value)->traceback != tb)) + #endif + PyException_SetTraceback(value, tb); + } + tmp_value = tstate->current_exception; + tstate->current_exception = value; + Py_XDECREF(tmp_value); + Py_XDECREF(type); + Py_XDECREF(tb); +#else + PyObject *tmp_type, *tmp_value, *tmp_tb; + tmp_type = tstate->curexc_type; + tmp_value = tstate->curexc_value; + tmp_tb = tstate->curexc_traceback; + tstate->curexc_type = type; + tstate->curexc_value = value; + tstate->curexc_traceback = tb; + Py_XDECREF(tmp_type); + Py_XDECREF(tmp_value); + Py_XDECREF(tmp_tb); +#endif +} +static CYTHON_INLINE void __Pyx_ErrFetchInState(PyThreadState *tstate, PyObject **type, PyObject **value, PyObject **tb) { +#if PY_VERSION_HEX >= 0x030C00A6 + PyObject* exc_value; + exc_value = tstate->current_exception; + tstate->current_exception = 0; + *value = exc_value; + *type = NULL; + *tb = NULL; + if (exc_value) { + *type = (PyObject*) Py_TYPE(exc_value); + Py_INCREF(*type); + #if CYTHON_COMPILING_IN_CPYTHON + *tb = ((PyBaseExceptionObject*) exc_value)->traceback; + Py_XINCREF(*tb); + #else + *tb = PyException_GetTraceback(exc_value); + #endif + } +#else + *type = tstate->curexc_type; + *value = tstate->curexc_value; + *tb = tstate->curexc_traceback; + tstate->curexc_type = 0; + tstate->curexc_value = 0; + tstate->curexc_traceback = 0; +#endif +} +#endif + +/* PyObjectGetAttrStr */ +#if CYTHON_USE_TYPE_SLOTS +static CYTHON_INLINE PyObject* __Pyx_PyObject_GetAttrStr(PyObject* obj, PyObject* attr_name) { + PyTypeObject* tp = Py_TYPE(obj); + if (likely(tp->tp_getattro)) + return tp->tp_getattro(obj, attr_name); +#if PY_MAJOR_VERSION < 3 + if (likely(tp->tp_getattr)) + return tp->tp_getattr(obj, PyString_AS_STRING(attr_name)); +#endif + return PyObject_GetAttr(obj, attr_name); +} +#endif + +/* PyObjectGetAttrStrNoError */ +#if __PYX_LIMITED_VERSION_HEX < 0x030d00A1 +static void __Pyx_PyObject_GetAttrStr_ClearAttributeError(void) { + __Pyx_PyThreadState_declare + __Pyx_PyThreadState_assign + if (likely(__Pyx_PyErr_ExceptionMatches(PyExc_AttributeError))) + __Pyx_PyErr_Clear(); +} +#endif +static CYTHON_INLINE PyObject* __Pyx_PyObject_GetAttrStrNoError(PyObject* obj, PyObject* attr_name) { + PyObject *result; +#if __PYX_LIMITED_VERSION_HEX >= 0x030d00A1 + (void) PyObject_GetOptionalAttr(obj, attr_name, &result); + return result; +#else +#if CYTHON_COMPILING_IN_CPYTHON && CYTHON_USE_TYPE_SLOTS && PY_VERSION_HEX >= 0x030700B1 + PyTypeObject* tp = Py_TYPE(obj); + if (likely(tp->tp_getattro == PyObject_GenericGetAttr)) { + return _PyObject_GenericGetAttrWithDict(obj, attr_name, NULL, 1); + } +#endif + result = __Pyx_PyObject_GetAttrStr(obj, attr_name); + if (unlikely(!result)) { + __Pyx_PyObject_GetAttrStr_ClearAttributeError(); + } + return result; +#endif +} + +/* GetBuiltinName */ +static PyObject *__Pyx_GetBuiltinName(PyObject *name) { + PyObject* result = __Pyx_PyObject_GetAttrStrNoError(__pyx_b, name); + if (unlikely(!result) && !PyErr_Occurred()) { + PyErr_Format(PyExc_NameError, +#if PY_MAJOR_VERSION >= 3 + "name '%U' is not defined", name); +#else + "name '%.200s' is not defined", PyString_AS_STRING(name)); +#endif + } + return result; +} + +/* TupleAndListFromArray */ +#if CYTHON_COMPILING_IN_CPYTHON +static CYTHON_INLINE void __Pyx_copy_object_array(PyObject *const *CYTHON_RESTRICT src, PyObject** CYTHON_RESTRICT dest, Py_ssize_t length) { + PyObject *v; + Py_ssize_t i; + for (i = 0; i < length; i++) { + v = dest[i] = src[i]; + Py_INCREF(v); + } +} +static CYTHON_INLINE PyObject * +__Pyx_PyTuple_FromArray(PyObject *const *src, Py_ssize_t n) +{ + PyObject *res; + if (n <= 0) { + Py_INCREF(__pyx_empty_tuple); + return __pyx_empty_tuple; + } + res = PyTuple_New(n); + if (unlikely(res == NULL)) return NULL; + __Pyx_copy_object_array(src, ((PyTupleObject*)res)->ob_item, n); + return res; +} +static CYTHON_INLINE PyObject * +__Pyx_PyList_FromArray(PyObject *const *src, Py_ssize_t n) +{ + PyObject *res; + if (n <= 0) { + return PyList_New(0); + } + res = PyList_New(n); + if (unlikely(res == NULL)) return NULL; + __Pyx_copy_object_array(src, ((PyListObject*)res)->ob_item, n); + return res; +} +#endif + +/* BytesEquals */ +static CYTHON_INLINE int __Pyx_PyBytes_Equals(PyObject* s1, PyObject* s2, int equals) { +#if CYTHON_COMPILING_IN_PYPY || CYTHON_COMPILING_IN_LIMITED_API + return PyObject_RichCompareBool(s1, s2, equals); +#else + if (s1 == s2) { + return (equals == Py_EQ); + } else if (PyBytes_CheckExact(s1) & PyBytes_CheckExact(s2)) { + const char *ps1, *ps2; + Py_ssize_t length = PyBytes_GET_SIZE(s1); + if (length != PyBytes_GET_SIZE(s2)) + return (equals == Py_NE); + ps1 = PyBytes_AS_STRING(s1); + ps2 = PyBytes_AS_STRING(s2); + if (ps1[0] != ps2[0]) { + return (equals == Py_NE); + } else if (length == 1) { + return (equals == Py_EQ); + } else { + int result; +#if CYTHON_USE_UNICODE_INTERNALS && (PY_VERSION_HEX < 0x030B0000) + Py_hash_t hash1, hash2; + hash1 = ((PyBytesObject*)s1)->ob_shash; + hash2 = ((PyBytesObject*)s2)->ob_shash; + if (hash1 != hash2 && hash1 != -1 && hash2 != -1) { + return (equals == Py_NE); + } +#endif + result = memcmp(ps1, ps2, (size_t)length); + return (equals == Py_EQ) ? (result == 0) : (result != 0); + } + } else if ((s1 == Py_None) & PyBytes_CheckExact(s2)) { + return (equals == Py_NE); + } else if ((s2 == Py_None) & PyBytes_CheckExact(s1)) { + return (equals == Py_NE); + } else { + int result; + PyObject* py_result = PyObject_RichCompare(s1, s2, equals); + if (!py_result) + return -1; + result = __Pyx_PyObject_IsTrue(py_result); + Py_DECREF(py_result); + return result; + } +#endif +} + +/* UnicodeEquals */ +static CYTHON_INLINE int __Pyx_PyUnicode_Equals(PyObject* s1, PyObject* s2, int equals) { +#if CYTHON_COMPILING_IN_PYPY || CYTHON_COMPILING_IN_LIMITED_API + return PyObject_RichCompareBool(s1, s2, equals); +#else +#if PY_MAJOR_VERSION < 3 + PyObject* owned_ref = NULL; +#endif + int s1_is_unicode, s2_is_unicode; + if (s1 == s2) { + goto return_eq; + } + s1_is_unicode = PyUnicode_CheckExact(s1); + s2_is_unicode = PyUnicode_CheckExact(s2); +#if PY_MAJOR_VERSION < 3 + if ((s1_is_unicode & (!s2_is_unicode)) && PyString_CheckExact(s2)) { + owned_ref = PyUnicode_FromObject(s2); + if (unlikely(!owned_ref)) + return -1; + s2 = owned_ref; + s2_is_unicode = 1; + } else if ((s2_is_unicode & (!s1_is_unicode)) && PyString_CheckExact(s1)) { + owned_ref = PyUnicode_FromObject(s1); + if (unlikely(!owned_ref)) + return -1; + s1 = owned_ref; + s1_is_unicode = 1; + } else if (((!s2_is_unicode) & (!s1_is_unicode))) { + return __Pyx_PyBytes_Equals(s1, s2, equals); + } +#endif + if (s1_is_unicode & s2_is_unicode) { + Py_ssize_t length; + int kind; + void *data1, *data2; + if (unlikely(__Pyx_PyUnicode_READY(s1) < 0) || unlikely(__Pyx_PyUnicode_READY(s2) < 0)) + return -1; + length = __Pyx_PyUnicode_GET_LENGTH(s1); + if (length != __Pyx_PyUnicode_GET_LENGTH(s2)) { + goto return_ne; + } +#if CYTHON_USE_UNICODE_INTERNALS + { + Py_hash_t hash1, hash2; + #if CYTHON_PEP393_ENABLED + hash1 = ((PyASCIIObject*)s1)->hash; + hash2 = ((PyASCIIObject*)s2)->hash; + #else + hash1 = ((PyUnicodeObject*)s1)->hash; + hash2 = ((PyUnicodeObject*)s2)->hash; + #endif + if (hash1 != hash2 && hash1 != -1 && hash2 != -1) { + goto return_ne; + } + } +#endif + kind = __Pyx_PyUnicode_KIND(s1); + if (kind != __Pyx_PyUnicode_KIND(s2)) { + goto return_ne; + } + data1 = __Pyx_PyUnicode_DATA(s1); + data2 = __Pyx_PyUnicode_DATA(s2); + if (__Pyx_PyUnicode_READ(kind, data1, 0) != __Pyx_PyUnicode_READ(kind, data2, 0)) { + goto return_ne; + } else if (length == 1) { + goto return_eq; + } else { + int result = memcmp(data1, data2, (size_t)(length * kind)); + #if PY_MAJOR_VERSION < 3 + Py_XDECREF(owned_ref); + #endif + return (equals == Py_EQ) ? (result == 0) : (result != 0); + } + } else if ((s1 == Py_None) & s2_is_unicode) { + goto return_ne; + } else if ((s2 == Py_None) & s1_is_unicode) { + goto return_ne; + } else { + int result; + PyObject* py_result = PyObject_RichCompare(s1, s2, equals); + #if PY_MAJOR_VERSION < 3 + Py_XDECREF(owned_ref); + #endif + if (!py_result) + return -1; + result = __Pyx_PyObject_IsTrue(py_result); + Py_DECREF(py_result); + return result; + } +return_eq: + #if PY_MAJOR_VERSION < 3 + Py_XDECREF(owned_ref); + #endif + return (equals == Py_EQ); +return_ne: + #if PY_MAJOR_VERSION < 3 + Py_XDECREF(owned_ref); + #endif + return (equals == Py_NE); +#endif +} + +/* fastcall */ +#if CYTHON_METH_FASTCALL +static CYTHON_INLINE PyObject * __Pyx_GetKwValue_FASTCALL(PyObject *kwnames, PyObject *const *kwvalues, PyObject *s) +{ + Py_ssize_t i, n = PyTuple_GET_SIZE(kwnames); + for (i = 0; i < n; i++) + { + if (s == PyTuple_GET_ITEM(kwnames, i)) return kwvalues[i]; + } + for (i = 0; i < n; i++) + { + int eq = __Pyx_PyUnicode_Equals(s, PyTuple_GET_ITEM(kwnames, i), Py_EQ); + if (unlikely(eq != 0)) { + if (unlikely(eq < 0)) return NULL; + return kwvalues[i]; + } + } + return NULL; +} +#if CYTHON_COMPILING_IN_CPYTHON && PY_VERSION_HEX >= 0x030d0000 +CYTHON_UNUSED static PyObject *__Pyx_KwargsAsDict_FASTCALL(PyObject *kwnames, PyObject *const *kwvalues) { + Py_ssize_t i, nkwargs = PyTuple_GET_SIZE(kwnames); + PyObject *dict; + dict = PyDict_New(); + if (unlikely(!dict)) + return NULL; + for (i=0; i= 3 + "%s() got multiple values for keyword argument '%U'", func_name, kw_name); + #else + "%s() got multiple values for keyword argument '%s'", func_name, + PyString_AsString(kw_name)); + #endif +} + +/* ParseKeywords */ +static int __Pyx_ParseOptionalKeywords( + PyObject *kwds, + PyObject *const *kwvalues, + PyObject **argnames[], + PyObject *kwds2, + PyObject *values[], + Py_ssize_t num_pos_args, + const char* function_name) +{ + PyObject *key = 0, *value = 0; + Py_ssize_t pos = 0; + PyObject*** name; + PyObject*** first_kw_arg = argnames + num_pos_args; + int kwds_is_tuple = CYTHON_METH_FASTCALL && likely(PyTuple_Check(kwds)); + while (1) { + Py_XDECREF(key); key = NULL; + Py_XDECREF(value); value = NULL; + if (kwds_is_tuple) { + Py_ssize_t size; +#if CYTHON_ASSUME_SAFE_MACROS + size = PyTuple_GET_SIZE(kwds); +#else + size = PyTuple_Size(kwds); + if (size < 0) goto bad; +#endif + if (pos >= size) break; +#if CYTHON_AVOID_BORROWED_REFS + key = __Pyx_PySequence_ITEM(kwds, pos); + if (!key) goto bad; +#elif CYTHON_ASSUME_SAFE_MACROS + key = PyTuple_GET_ITEM(kwds, pos); +#else + key = PyTuple_GetItem(kwds, pos); + if (!key) goto bad; +#endif + value = kwvalues[pos]; + pos++; + } + else + { + if (!PyDict_Next(kwds, &pos, &key, &value)) break; +#if CYTHON_AVOID_BORROWED_REFS + Py_INCREF(key); +#endif + } + name = first_kw_arg; + while (*name && (**name != key)) name++; + if (*name) { + values[name-argnames] = value; +#if CYTHON_AVOID_BORROWED_REFS + Py_INCREF(value); + Py_DECREF(key); +#endif + key = NULL; + value = NULL; + continue; + } +#if !CYTHON_AVOID_BORROWED_REFS + Py_INCREF(key); +#endif + Py_INCREF(value); + name = first_kw_arg; + #if PY_MAJOR_VERSION < 3 + if (likely(PyString_Check(key))) { + while (*name) { + if ((CYTHON_COMPILING_IN_PYPY || PyString_GET_SIZE(**name) == PyString_GET_SIZE(key)) + && _PyString_Eq(**name, key)) { + values[name-argnames] = value; +#if CYTHON_AVOID_BORROWED_REFS + value = NULL; +#endif + break; + } + name++; + } + if (*name) continue; + else { + PyObject*** argname = argnames; + while (argname != first_kw_arg) { + if ((**argname == key) || ( + (CYTHON_COMPILING_IN_PYPY || PyString_GET_SIZE(**argname) == PyString_GET_SIZE(key)) + && _PyString_Eq(**argname, key))) { + goto arg_passed_twice; + } + argname++; + } + } + } else + #endif + if (likely(PyUnicode_Check(key))) { + while (*name) { + int cmp = ( + #if !CYTHON_COMPILING_IN_PYPY && PY_MAJOR_VERSION >= 3 + (__Pyx_PyUnicode_GET_LENGTH(**name) != __Pyx_PyUnicode_GET_LENGTH(key)) ? 1 : + #endif + PyUnicode_Compare(**name, key) + ); + if (cmp < 0 && unlikely(PyErr_Occurred())) goto bad; + if (cmp == 0) { + values[name-argnames] = value; +#if CYTHON_AVOID_BORROWED_REFS + value = NULL; +#endif + break; + } + name++; + } + if (*name) continue; + else { + PyObject*** argname = argnames; + while (argname != first_kw_arg) { + int cmp = (**argname == key) ? 0 : + #if !CYTHON_COMPILING_IN_PYPY && PY_MAJOR_VERSION >= 3 + (__Pyx_PyUnicode_GET_LENGTH(**argname) != __Pyx_PyUnicode_GET_LENGTH(key)) ? 1 : + #endif + PyUnicode_Compare(**argname, key); + if (cmp < 0 && unlikely(PyErr_Occurred())) goto bad; + if (cmp == 0) goto arg_passed_twice; + argname++; + } + } + } else + goto invalid_keyword_type; + if (kwds2) { + if (unlikely(PyDict_SetItem(kwds2, key, value))) goto bad; + } else { + goto invalid_keyword; + } + } + Py_XDECREF(key); + Py_XDECREF(value); + return 0; +arg_passed_twice: + __Pyx_RaiseDoubleKeywordsError(function_name, key); + goto bad; +invalid_keyword_type: + PyErr_Format(PyExc_TypeError, + "%.200s() keywords must be strings", function_name); + goto bad; +invalid_keyword: + #if PY_MAJOR_VERSION < 3 + PyErr_Format(PyExc_TypeError, + "%.200s() got an unexpected keyword argument '%.200s'", + function_name, PyString_AsString(key)); + #else + PyErr_Format(PyExc_TypeError, + "%s() got an unexpected keyword argument '%U'", + function_name, key); + #endif +bad: + Py_XDECREF(key); + Py_XDECREF(value); + return -1; +} + +/* ArgTypeTest */ +static int __Pyx__ArgTypeTest(PyObject *obj, PyTypeObject *type, const char *name, int exact) +{ + __Pyx_TypeName type_name; + __Pyx_TypeName obj_type_name; + if (unlikely(!type)) { + PyErr_SetString(PyExc_SystemError, "Missing type object"); + return 0; + } + else if (exact) { + #if PY_MAJOR_VERSION == 2 + if ((type == &PyBaseString_Type) && likely(__Pyx_PyBaseString_CheckExact(obj))) return 1; + #endif + } + else { + if (likely(__Pyx_TypeCheck(obj, type))) return 1; + } + type_name = __Pyx_PyType_GetName(type); + obj_type_name = __Pyx_PyType_GetName(Py_TYPE(obj)); + PyErr_Format(PyExc_TypeError, + "Argument '%.200s' has incorrect type (expected " __Pyx_FMT_TYPENAME + ", got " __Pyx_FMT_TYPENAME ")", name, type_name, obj_type_name); + __Pyx_DECREF_TypeName(type_name); + __Pyx_DECREF_TypeName(obj_type_name); + return 0; +} + +/* RaiseException */ +#if PY_MAJOR_VERSION < 3 +static void __Pyx_Raise(PyObject *type, PyObject *value, PyObject *tb, PyObject *cause) { + __Pyx_PyThreadState_declare + CYTHON_UNUSED_VAR(cause); + Py_XINCREF(type); + if (!value || value == Py_None) + value = NULL; + else + Py_INCREF(value); + if (!tb || tb == Py_None) + tb = NULL; + else { + Py_INCREF(tb); + if (!PyTraceBack_Check(tb)) { + PyErr_SetString(PyExc_TypeError, + "raise: arg 3 must be a traceback or None"); + goto raise_error; + } + } + if (PyType_Check(type)) { +#if CYTHON_COMPILING_IN_PYPY + if (!value) { + Py_INCREF(Py_None); + value = Py_None; + } +#endif + PyErr_NormalizeException(&type, &value, &tb); + } else { + if (value) { + PyErr_SetString(PyExc_TypeError, + "instance exception may not have a separate value"); + goto raise_error; + } + value = type; + type = (PyObject*) Py_TYPE(type); + Py_INCREF(type); + if (!PyType_IsSubtype((PyTypeObject *)type, (PyTypeObject *)PyExc_BaseException)) { + PyErr_SetString(PyExc_TypeError, + "raise: exception class must be a subclass of BaseException"); + goto raise_error; + } + } + __Pyx_PyThreadState_assign + __Pyx_ErrRestore(type, value, tb); + return; +raise_error: + Py_XDECREF(value); + Py_XDECREF(type); + Py_XDECREF(tb); + return; +} +#else +static void __Pyx_Raise(PyObject *type, PyObject *value, PyObject *tb, PyObject *cause) { + PyObject* owned_instance = NULL; + if (tb == Py_None) { + tb = 0; + } else if (tb && !PyTraceBack_Check(tb)) { + PyErr_SetString(PyExc_TypeError, + "raise: arg 3 must be a traceback or None"); + goto bad; + } + if (value == Py_None) + value = 0; + if (PyExceptionInstance_Check(type)) { + if (value) { + PyErr_SetString(PyExc_TypeError, + "instance exception may not have a separate value"); + goto bad; + } + value = type; + type = (PyObject*) Py_TYPE(value); + } else if (PyExceptionClass_Check(type)) { + PyObject *instance_class = NULL; + if (value && PyExceptionInstance_Check(value)) { + instance_class = (PyObject*) Py_TYPE(value); + if (instance_class != type) { + int is_subclass = PyObject_IsSubclass(instance_class, type); + if (!is_subclass) { + instance_class = NULL; + } else if (unlikely(is_subclass == -1)) { + goto bad; + } else { + type = instance_class; + } + } + } + if (!instance_class) { + PyObject *args; + if (!value) + args = PyTuple_New(0); + else if (PyTuple_Check(value)) { + Py_INCREF(value); + args = value; + } else + args = PyTuple_Pack(1, value); + if (!args) + goto bad; + owned_instance = PyObject_Call(type, args, NULL); + Py_DECREF(args); + if (!owned_instance) + goto bad; + value = owned_instance; + if (!PyExceptionInstance_Check(value)) { + PyErr_Format(PyExc_TypeError, + "calling %R should have returned an instance of " + "BaseException, not %R", + type, Py_TYPE(value)); + goto bad; + } + } + } else { + PyErr_SetString(PyExc_TypeError, + "raise: exception class must be a subclass of BaseException"); + goto bad; + } + if (cause) { + PyObject *fixed_cause; + if (cause == Py_None) { + fixed_cause = NULL; + } else if (PyExceptionClass_Check(cause)) { + fixed_cause = PyObject_CallObject(cause, NULL); + if (fixed_cause == NULL) + goto bad; + } else if (PyExceptionInstance_Check(cause)) { + fixed_cause = cause; + Py_INCREF(fixed_cause); + } else { + PyErr_SetString(PyExc_TypeError, + "exception causes must derive from " + "BaseException"); + goto bad; + } + PyException_SetCause(value, fixed_cause); + } + PyErr_SetObject(type, value); + if (tb) { + #if PY_VERSION_HEX >= 0x030C00A6 + PyException_SetTraceback(value, tb); + #elif CYTHON_FAST_THREAD_STATE + PyThreadState *tstate = __Pyx_PyThreadState_Current; + PyObject* tmp_tb = tstate->curexc_traceback; + if (tb != tmp_tb) { + Py_INCREF(tb); + tstate->curexc_traceback = tb; + Py_XDECREF(tmp_tb); + } +#else + PyObject *tmp_type, *tmp_value, *tmp_tb; + PyErr_Fetch(&tmp_type, &tmp_value, &tmp_tb); + Py_INCREF(tb); + PyErr_Restore(tmp_type, tmp_value, tb); + Py_XDECREF(tmp_tb); +#endif + } +bad: + Py_XDECREF(owned_instance); + return; +} +#endif + +/* PyFunctionFastCall */ +#if CYTHON_FAST_PYCALL && !CYTHON_VECTORCALL +static PyObject* __Pyx_PyFunction_FastCallNoKw(PyCodeObject *co, PyObject **args, Py_ssize_t na, + PyObject *globals) { + PyFrameObject *f; + PyThreadState *tstate = __Pyx_PyThreadState_Current; + PyObject **fastlocals; + Py_ssize_t i; + PyObject *result; + assert(globals != NULL); + /* XXX Perhaps we should create a specialized + PyFrame_New() that doesn't take locals, but does + take builtins without sanity checking them. + */ + assert(tstate != NULL); + f = PyFrame_New(tstate, co, globals, NULL); + if (f == NULL) { + return NULL; + } + fastlocals = __Pyx_PyFrame_GetLocalsplus(f); + for (i = 0; i < na; i++) { + Py_INCREF(*args); + fastlocals[i] = *args++; + } + result = PyEval_EvalFrameEx(f,0); + ++tstate->recursion_depth; + Py_DECREF(f); + --tstate->recursion_depth; + return result; +} +static PyObject *__Pyx_PyFunction_FastCallDict(PyObject *func, PyObject **args, Py_ssize_t nargs, PyObject *kwargs) { + PyCodeObject *co = (PyCodeObject *)PyFunction_GET_CODE(func); + PyObject *globals = PyFunction_GET_GLOBALS(func); + PyObject *argdefs = PyFunction_GET_DEFAULTS(func); + PyObject *closure; +#if PY_MAJOR_VERSION >= 3 + PyObject *kwdefs; +#endif + PyObject *kwtuple, **k; + PyObject **d; + Py_ssize_t nd; + Py_ssize_t nk; + PyObject *result; + assert(kwargs == NULL || PyDict_Check(kwargs)); + nk = kwargs ? PyDict_Size(kwargs) : 0; + #if PY_MAJOR_VERSION < 3 + if (unlikely(Py_EnterRecursiveCall((char*)" while calling a Python object"))) { + return NULL; + } + #else + if (unlikely(Py_EnterRecursiveCall(" while calling a Python object"))) { + return NULL; + } + #endif + if ( +#if PY_MAJOR_VERSION >= 3 + co->co_kwonlyargcount == 0 && +#endif + likely(kwargs == NULL || nk == 0) && + co->co_flags == (CO_OPTIMIZED | CO_NEWLOCALS | CO_NOFREE)) { + if (argdefs == NULL && co->co_argcount == nargs) { + result = __Pyx_PyFunction_FastCallNoKw(co, args, nargs, globals); + goto done; + } + else if (nargs == 0 && argdefs != NULL + && co->co_argcount == Py_SIZE(argdefs)) { + /* function called with no arguments, but all parameters have + a default value: use default values as arguments .*/ + args = &PyTuple_GET_ITEM(argdefs, 0); + result =__Pyx_PyFunction_FastCallNoKw(co, args, Py_SIZE(argdefs), globals); + goto done; + } + } + if (kwargs != NULL) { + Py_ssize_t pos, i; + kwtuple = PyTuple_New(2 * nk); + if (kwtuple == NULL) { + result = NULL; + goto done; + } + k = &PyTuple_GET_ITEM(kwtuple, 0); + pos = i = 0; + while (PyDict_Next(kwargs, &pos, &k[i], &k[i+1])) { + Py_INCREF(k[i]); + Py_INCREF(k[i+1]); + i += 2; + } + nk = i / 2; + } + else { + kwtuple = NULL; + k = NULL; + } + closure = PyFunction_GET_CLOSURE(func); +#if PY_MAJOR_VERSION >= 3 + kwdefs = PyFunction_GET_KW_DEFAULTS(func); +#endif + if (argdefs != NULL) { + d = &PyTuple_GET_ITEM(argdefs, 0); + nd = Py_SIZE(argdefs); + } + else { + d = NULL; + nd = 0; + } +#if PY_MAJOR_VERSION >= 3 + result = PyEval_EvalCodeEx((PyObject*)co, globals, (PyObject *)NULL, + args, (int)nargs, + k, (int)nk, + d, (int)nd, kwdefs, closure); +#else + result = PyEval_EvalCodeEx(co, globals, (PyObject *)NULL, + args, (int)nargs, + k, (int)nk, + d, (int)nd, closure); +#endif + Py_XDECREF(kwtuple); +done: + Py_LeaveRecursiveCall(); + return result; +} +#endif + +/* PyObjectCall */ +#if CYTHON_COMPILING_IN_CPYTHON +static CYTHON_INLINE PyObject* __Pyx_PyObject_Call(PyObject *func, PyObject *arg, PyObject *kw) { + PyObject *result; + ternaryfunc call = Py_TYPE(func)->tp_call; + if (unlikely(!call)) + return PyObject_Call(func, arg, kw); + #if PY_MAJOR_VERSION < 3 + if (unlikely(Py_EnterRecursiveCall((char*)" while calling a Python object"))) + return NULL; + #else + if (unlikely(Py_EnterRecursiveCall(" while calling a Python object"))) + return NULL; + #endif + result = (*call)(func, arg, kw); + Py_LeaveRecursiveCall(); + if (unlikely(!result) && unlikely(!PyErr_Occurred())) { + PyErr_SetString( + PyExc_SystemError, + "NULL result without error in PyObject_Call"); + } + return result; +} +#endif + +/* PyObjectCallMethO */ +#if CYTHON_COMPILING_IN_CPYTHON +static CYTHON_INLINE PyObject* __Pyx_PyObject_CallMethO(PyObject *func, PyObject *arg) { + PyObject *self, *result; + PyCFunction cfunc; + cfunc = __Pyx_CyOrPyCFunction_GET_FUNCTION(func); + self = __Pyx_CyOrPyCFunction_GET_SELF(func); + #if PY_MAJOR_VERSION < 3 + if (unlikely(Py_EnterRecursiveCall((char*)" while calling a Python object"))) + return NULL; + #else + if (unlikely(Py_EnterRecursiveCall(" while calling a Python object"))) + return NULL; + #endif + result = cfunc(self, arg); + Py_LeaveRecursiveCall(); + if (unlikely(!result) && unlikely(!PyErr_Occurred())) { + PyErr_SetString( + PyExc_SystemError, + "NULL result without error in PyObject_Call"); + } + return result; +} +#endif + +/* PyObjectFastCall */ +#if PY_VERSION_HEX < 0x03090000 || CYTHON_COMPILING_IN_LIMITED_API +static PyObject* __Pyx_PyObject_FastCall_fallback(PyObject *func, PyObject **args, size_t nargs, PyObject *kwargs) { + PyObject *argstuple; + PyObject *result = 0; + size_t i; + argstuple = PyTuple_New((Py_ssize_t)nargs); + if (unlikely(!argstuple)) return NULL; + for (i = 0; i < nargs; i++) { + Py_INCREF(args[i]); + if (__Pyx_PyTuple_SET_ITEM(argstuple, (Py_ssize_t)i, args[i]) < 0) goto bad; + } + result = __Pyx_PyObject_Call(func, argstuple, kwargs); + bad: + Py_DECREF(argstuple); + return result; +} +#endif +static CYTHON_INLINE PyObject* __Pyx_PyObject_FastCallDict(PyObject *func, PyObject **args, size_t _nargs, PyObject *kwargs) { + Py_ssize_t nargs = __Pyx_PyVectorcall_NARGS(_nargs); +#if CYTHON_COMPILING_IN_CPYTHON + if (nargs == 0 && kwargs == NULL) { + if (__Pyx_CyOrPyCFunction_Check(func) && likely( __Pyx_CyOrPyCFunction_GET_FLAGS(func) & METH_NOARGS)) + return __Pyx_PyObject_CallMethO(func, NULL); + } + else if (nargs == 1 && kwargs == NULL) { + if (__Pyx_CyOrPyCFunction_Check(func) && likely( __Pyx_CyOrPyCFunction_GET_FLAGS(func) & METH_O)) + return __Pyx_PyObject_CallMethO(func, args[0]); + } +#endif + #if PY_VERSION_HEX < 0x030800B1 + #if CYTHON_FAST_PYCCALL + if (PyCFunction_Check(func)) { + if (kwargs) { + return _PyCFunction_FastCallDict(func, args, nargs, kwargs); + } else { + return _PyCFunction_FastCallKeywords(func, args, nargs, NULL); + } + } + #if PY_VERSION_HEX >= 0x030700A1 + if (!kwargs && __Pyx_IS_TYPE(func, &PyMethodDescr_Type)) { + return _PyMethodDescr_FastCallKeywords(func, args, nargs, NULL); + } + #endif + #endif + #if CYTHON_FAST_PYCALL + if (PyFunction_Check(func)) { + return __Pyx_PyFunction_FastCallDict(func, args, nargs, kwargs); + } + #endif + #endif + if (kwargs == NULL) { + #if CYTHON_VECTORCALL + #if PY_VERSION_HEX < 0x03090000 + vectorcallfunc f = _PyVectorcall_Function(func); + #else + vectorcallfunc f = PyVectorcall_Function(func); + #endif + if (f) { + return f(func, args, (size_t)nargs, NULL); + } + #elif defined(__Pyx_CyFunction_USED) && CYTHON_BACKPORT_VECTORCALL + if (__Pyx_CyFunction_CheckExact(func)) { + __pyx_vectorcallfunc f = __Pyx_CyFunction_func_vectorcall(func); + if (f) return f(func, args, (size_t)nargs, NULL); + } + #endif + } + if (nargs == 0) { + return __Pyx_PyObject_Call(func, __pyx_empty_tuple, kwargs); + } + #if PY_VERSION_HEX >= 0x03090000 && !CYTHON_COMPILING_IN_LIMITED_API + return PyObject_VectorcallDict(func, args, (size_t)nargs, kwargs); + #else + return __Pyx_PyObject_FastCall_fallback(func, args, (size_t)nargs, kwargs); + #endif +} + +/* RaiseUnexpectedTypeError */ +static int +__Pyx_RaiseUnexpectedTypeError(const char *expected, PyObject *obj) +{ + __Pyx_TypeName obj_type_name = __Pyx_PyType_GetName(Py_TYPE(obj)); + PyErr_Format(PyExc_TypeError, "Expected %s, got " __Pyx_FMT_TYPENAME, + expected, obj_type_name); + __Pyx_DECREF_TypeName(obj_type_name); + return 0; +} + +/* CIntToDigits */ +static const char DIGIT_PAIRS_10[2*10*10+1] = { + "00010203040506070809" + "10111213141516171819" + "20212223242526272829" + "30313233343536373839" + "40414243444546474849" + "50515253545556575859" + "60616263646566676869" + "70717273747576777879" + "80818283848586878889" + "90919293949596979899" +}; +static const char DIGIT_PAIRS_8[2*8*8+1] = { + "0001020304050607" + "1011121314151617" + "2021222324252627" + "3031323334353637" + "4041424344454647" + "5051525354555657" + "6061626364656667" + "7071727374757677" +}; +static const char DIGITS_HEX[2*16+1] = { + "0123456789abcdef" + "0123456789ABCDEF" +}; + +/* BuildPyUnicode */ +static PyObject* __Pyx_PyUnicode_BuildFromAscii(Py_ssize_t ulength, char* chars, int clength, + int prepend_sign, char padding_char) { + PyObject *uval; + Py_ssize_t uoffset = ulength - clength; +#if CYTHON_USE_UNICODE_INTERNALS + Py_ssize_t i; +#if CYTHON_PEP393_ENABLED + void *udata; + uval = PyUnicode_New(ulength, 127); + if (unlikely(!uval)) return NULL; + udata = PyUnicode_DATA(uval); +#else + Py_UNICODE *udata; + uval = PyUnicode_FromUnicode(NULL, ulength); + if (unlikely(!uval)) return NULL; + udata = PyUnicode_AS_UNICODE(uval); +#endif + if (uoffset > 0) { + i = 0; + if (prepend_sign) { + __Pyx_PyUnicode_WRITE(PyUnicode_1BYTE_KIND, udata, 0, '-'); + i++; + } + for (; i < uoffset; i++) { + __Pyx_PyUnicode_WRITE(PyUnicode_1BYTE_KIND, udata, i, padding_char); + } + } + for (i=0; i < clength; i++) { + __Pyx_PyUnicode_WRITE(PyUnicode_1BYTE_KIND, udata, uoffset+i, chars[i]); + } +#else + { + PyObject *sign = NULL, *padding = NULL; + uval = NULL; + if (uoffset > 0) { + prepend_sign = !!prepend_sign; + if (uoffset > prepend_sign) { + padding = PyUnicode_FromOrdinal(padding_char); + if (likely(padding) && uoffset > prepend_sign + 1) { + PyObject *tmp; + PyObject *repeat = PyInt_FromSsize_t(uoffset - prepend_sign); + if (unlikely(!repeat)) goto done_or_error; + tmp = PyNumber_Multiply(padding, repeat); + Py_DECREF(repeat); + Py_DECREF(padding); + padding = tmp; + } + if (unlikely(!padding)) goto done_or_error; + } + if (prepend_sign) { + sign = PyUnicode_FromOrdinal('-'); + if (unlikely(!sign)) goto done_or_error; + } + } + uval = PyUnicode_DecodeASCII(chars, clength, NULL); + if (likely(uval) && padding) { + PyObject *tmp = PyNumber_Add(padding, uval); + Py_DECREF(uval); + uval = tmp; + } + if (likely(uval) && sign) { + PyObject *tmp = PyNumber_Add(sign, uval); + Py_DECREF(uval); + uval = tmp; + } +done_or_error: + Py_XDECREF(padding); + Py_XDECREF(sign); + } +#endif + return uval; +} + +/* CIntToPyUnicode */ +static CYTHON_INLINE PyObject* __Pyx_PyUnicode_From_int(int value, Py_ssize_t width, char padding_char, char format_char) { + char digits[sizeof(int)*3+2]; + char *dpos, *end = digits + sizeof(int)*3+2; + const char *hex_digits = DIGITS_HEX; + Py_ssize_t length, ulength; + int prepend_sign, last_one_off; + int remaining; +#ifdef __Pyx_HAS_GCC_DIAGNOSTIC +#pragma GCC diagnostic push +#pragma GCC diagnostic ignored "-Wconversion" +#endif + const int neg_one = (int) -1, const_zero = (int) 0; +#ifdef __Pyx_HAS_GCC_DIAGNOSTIC +#pragma GCC diagnostic pop +#endif + const int is_unsigned = neg_one > const_zero; + if (format_char == 'X') { + hex_digits += 16; + format_char = 'x'; + } + remaining = value; + last_one_off = 0; + dpos = end; + do { + int digit_pos; + switch (format_char) { + case 'o': + digit_pos = abs((int)(remaining % (8*8))); + remaining = (int) (remaining / (8*8)); + dpos -= 2; + memcpy(dpos, DIGIT_PAIRS_8 + digit_pos * 2, 2); + last_one_off = (digit_pos < 8); + break; + case 'd': + digit_pos = abs((int)(remaining % (10*10))); + remaining = (int) (remaining / (10*10)); + dpos -= 2; + memcpy(dpos, DIGIT_PAIRS_10 + digit_pos * 2, 2); + last_one_off = (digit_pos < 10); + break; + case 'x': + *(--dpos) = hex_digits[abs((int)(remaining % 16))]; + remaining = (int) (remaining / 16); + break; + default: + assert(0); + break; + } + } while (unlikely(remaining != 0)); + assert(!last_one_off || *dpos == '0'); + dpos += last_one_off; + length = end - dpos; + ulength = length; + prepend_sign = 0; + if (!is_unsigned && value <= neg_one) { + if (padding_char == ' ' || width <= length + 1) { + *(--dpos) = '-'; + ++length; + } else { + prepend_sign = 1; + } + ++ulength; + } + if (width > ulength) { + ulength = width; + } + if (ulength == 1) { + return PyUnicode_FromOrdinal(*dpos); + } + return __Pyx_PyUnicode_BuildFromAscii(ulength, dpos, (int) length, prepend_sign, padding_char); +} + +/* CIntToPyUnicode */ +static CYTHON_INLINE PyObject* __Pyx_PyUnicode_From_Py_ssize_t(Py_ssize_t value, Py_ssize_t width, char padding_char, char format_char) { + char digits[sizeof(Py_ssize_t)*3+2]; + char *dpos, *end = digits + sizeof(Py_ssize_t)*3+2; + const char *hex_digits = DIGITS_HEX; + Py_ssize_t length, ulength; + int prepend_sign, last_one_off; + Py_ssize_t remaining; +#ifdef __Pyx_HAS_GCC_DIAGNOSTIC +#pragma GCC diagnostic push +#pragma GCC diagnostic ignored "-Wconversion" +#endif + const Py_ssize_t neg_one = (Py_ssize_t) -1, const_zero = (Py_ssize_t) 0; +#ifdef __Pyx_HAS_GCC_DIAGNOSTIC +#pragma GCC diagnostic pop +#endif + const int is_unsigned = neg_one > const_zero; + if (format_char == 'X') { + hex_digits += 16; + format_char = 'x'; + } + remaining = value; + last_one_off = 0; + dpos = end; + do { + int digit_pos; + switch (format_char) { + case 'o': + digit_pos = abs((int)(remaining % (8*8))); + remaining = (Py_ssize_t) (remaining / (8*8)); + dpos -= 2; + memcpy(dpos, DIGIT_PAIRS_8 + digit_pos * 2, 2); + last_one_off = (digit_pos < 8); + break; + case 'd': + digit_pos = abs((int)(remaining % (10*10))); + remaining = (Py_ssize_t) (remaining / (10*10)); + dpos -= 2; + memcpy(dpos, DIGIT_PAIRS_10 + digit_pos * 2, 2); + last_one_off = (digit_pos < 10); + break; + case 'x': + *(--dpos) = hex_digits[abs((int)(remaining % 16))]; + remaining = (Py_ssize_t) (remaining / 16); + break; + default: + assert(0); + break; + } + } while (unlikely(remaining != 0)); + assert(!last_one_off || *dpos == '0'); + dpos += last_one_off; + length = end - dpos; + ulength = length; + prepend_sign = 0; + if (!is_unsigned && value <= neg_one) { + if (padding_char == ' ' || width <= length + 1) { + *(--dpos) = '-'; + ++length; + } else { + prepend_sign = 1; + } + ++ulength; + } + if (width > ulength) { + ulength = width; + } + if (ulength == 1) { + return PyUnicode_FromOrdinal(*dpos); + } + return __Pyx_PyUnicode_BuildFromAscii(ulength, dpos, (int) length, prepend_sign, padding_char); +} + +/* JoinPyUnicode */ +static PyObject* __Pyx_PyUnicode_Join(PyObject* value_tuple, Py_ssize_t value_count, Py_ssize_t result_ulength, + Py_UCS4 max_char) { +#if CYTHON_USE_UNICODE_INTERNALS && CYTHON_ASSUME_SAFE_MACROS && !CYTHON_AVOID_BORROWED_REFS + PyObject *result_uval; + int result_ukind, kind_shift; + Py_ssize_t i, char_pos; + void *result_udata; + CYTHON_MAYBE_UNUSED_VAR(max_char); +#if CYTHON_PEP393_ENABLED + result_uval = PyUnicode_New(result_ulength, max_char); + if (unlikely(!result_uval)) return NULL; + result_ukind = (max_char <= 255) ? PyUnicode_1BYTE_KIND : (max_char <= 65535) ? PyUnicode_2BYTE_KIND : PyUnicode_4BYTE_KIND; + kind_shift = (result_ukind == PyUnicode_4BYTE_KIND) ? 2 : result_ukind - 1; + result_udata = PyUnicode_DATA(result_uval); +#else + result_uval = PyUnicode_FromUnicode(NULL, result_ulength); + if (unlikely(!result_uval)) return NULL; + result_ukind = sizeof(Py_UNICODE); + kind_shift = (result_ukind == 4) ? 2 : result_ukind - 1; + result_udata = PyUnicode_AS_UNICODE(result_uval); +#endif + assert(kind_shift == 2 || kind_shift == 1 || kind_shift == 0); + char_pos = 0; + for (i=0; i < value_count; i++) { + int ukind; + Py_ssize_t ulength; + void *udata; + PyObject *uval = PyTuple_GET_ITEM(value_tuple, i); + if (unlikely(__Pyx_PyUnicode_READY(uval))) + goto bad; + ulength = __Pyx_PyUnicode_GET_LENGTH(uval); + if (unlikely(!ulength)) + continue; + if (unlikely((PY_SSIZE_T_MAX >> kind_shift) - ulength < char_pos)) + goto overflow; + ukind = __Pyx_PyUnicode_KIND(uval); + udata = __Pyx_PyUnicode_DATA(uval); + if (!CYTHON_PEP393_ENABLED || ukind == result_ukind) { + memcpy((char *)result_udata + (char_pos << kind_shift), udata, (size_t) (ulength << kind_shift)); + } else { + #if PY_VERSION_HEX >= 0x030d0000 + if (unlikely(PyUnicode_CopyCharacters(result_uval, char_pos, uval, 0, ulength) < 0)) goto bad; + #elif CYTHON_COMPILING_IN_CPYTHON && PY_VERSION_HEX >= 0x030300F0 || defined(_PyUnicode_FastCopyCharacters) + _PyUnicode_FastCopyCharacters(result_uval, char_pos, uval, 0, ulength); + #else + Py_ssize_t j; + for (j=0; j < ulength; j++) { + Py_UCS4 uchar = __Pyx_PyUnicode_READ(ukind, udata, j); + __Pyx_PyUnicode_WRITE(result_ukind, result_udata, char_pos+j, uchar); + } + #endif + } + char_pos += ulength; + } + return result_uval; +overflow: + PyErr_SetString(PyExc_OverflowError, "join() result is too long for a Python string"); +bad: + Py_DECREF(result_uval); + return NULL; +#else + CYTHON_UNUSED_VAR(max_char); + CYTHON_UNUSED_VAR(result_ulength); + CYTHON_UNUSED_VAR(value_count); + return PyUnicode_Join(__pyx_empty_unicode, value_tuple); +#endif +} + +/* GetAttr */ +static CYTHON_INLINE PyObject *__Pyx_GetAttr(PyObject *o, PyObject *n) { +#if CYTHON_USE_TYPE_SLOTS +#if PY_MAJOR_VERSION >= 3 + if (likely(PyUnicode_Check(n))) +#else + if (likely(PyString_Check(n))) +#endif + return __Pyx_PyObject_GetAttrStr(o, n); +#endif + return PyObject_GetAttr(o, n); +} + +/* GetItemInt */ +static PyObject *__Pyx_GetItemInt_Generic(PyObject *o, PyObject* j) { + PyObject *r; + if (unlikely(!j)) return NULL; + r = PyObject_GetItem(o, j); + Py_DECREF(j); + return r; +} +static CYTHON_INLINE PyObject *__Pyx_GetItemInt_List_Fast(PyObject *o, Py_ssize_t i, + CYTHON_NCP_UNUSED int wraparound, + CYTHON_NCP_UNUSED int boundscheck) { +#if CYTHON_ASSUME_SAFE_MACROS && !CYTHON_AVOID_BORROWED_REFS + Py_ssize_t wrapped_i = i; + if (wraparound & unlikely(i < 0)) { + wrapped_i += PyList_GET_SIZE(o); + } + if ((!boundscheck) || likely(__Pyx_is_valid_index(wrapped_i, PyList_GET_SIZE(o)))) { + PyObject *r = PyList_GET_ITEM(o, wrapped_i); + Py_INCREF(r); + return r; + } + return __Pyx_GetItemInt_Generic(o, PyInt_FromSsize_t(i)); +#else + return PySequence_GetItem(o, i); +#endif +} +static CYTHON_INLINE PyObject *__Pyx_GetItemInt_Tuple_Fast(PyObject *o, Py_ssize_t i, + CYTHON_NCP_UNUSED int wraparound, + CYTHON_NCP_UNUSED int boundscheck) { +#if CYTHON_ASSUME_SAFE_MACROS && !CYTHON_AVOID_BORROWED_REFS + Py_ssize_t wrapped_i = i; + if (wraparound & unlikely(i < 0)) { + wrapped_i += PyTuple_GET_SIZE(o); + } + if ((!boundscheck) || likely(__Pyx_is_valid_index(wrapped_i, PyTuple_GET_SIZE(o)))) { + PyObject *r = PyTuple_GET_ITEM(o, wrapped_i); + Py_INCREF(r); + return r; + } + return __Pyx_GetItemInt_Generic(o, PyInt_FromSsize_t(i)); +#else + return PySequence_GetItem(o, i); +#endif +} +static CYTHON_INLINE PyObject *__Pyx_GetItemInt_Fast(PyObject *o, Py_ssize_t i, int is_list, + CYTHON_NCP_UNUSED int wraparound, + CYTHON_NCP_UNUSED int boundscheck) { +#if CYTHON_ASSUME_SAFE_MACROS && !CYTHON_AVOID_BORROWED_REFS && CYTHON_USE_TYPE_SLOTS + if (is_list || PyList_CheckExact(o)) { + Py_ssize_t n = ((!wraparound) | likely(i >= 0)) ? i : i + PyList_GET_SIZE(o); + if ((!boundscheck) || (likely(__Pyx_is_valid_index(n, PyList_GET_SIZE(o))))) { + PyObject *r = PyList_GET_ITEM(o, n); + Py_INCREF(r); + return r; + } + } + else if (PyTuple_CheckExact(o)) { + Py_ssize_t n = ((!wraparound) | likely(i >= 0)) ? i : i + PyTuple_GET_SIZE(o); + if ((!boundscheck) || likely(__Pyx_is_valid_index(n, PyTuple_GET_SIZE(o)))) { + PyObject *r = PyTuple_GET_ITEM(o, n); + Py_INCREF(r); + return r; + } + } else { + PyMappingMethods *mm = Py_TYPE(o)->tp_as_mapping; + PySequenceMethods *sm = Py_TYPE(o)->tp_as_sequence; + if (mm && mm->mp_subscript) { + PyObject *r, *key = PyInt_FromSsize_t(i); + if (unlikely(!key)) return NULL; + r = mm->mp_subscript(o, key); + Py_DECREF(key); + return r; + } + if (likely(sm && sm->sq_item)) { + if (wraparound && unlikely(i < 0) && likely(sm->sq_length)) { + Py_ssize_t l = sm->sq_length(o); + if (likely(l >= 0)) { + i += l; + } else { + if (!PyErr_ExceptionMatches(PyExc_OverflowError)) + return NULL; + PyErr_Clear(); + } + } + return sm->sq_item(o, i); + } + } +#else + if (is_list || !PyMapping_Check(o)) { + return PySequence_GetItem(o, i); + } +#endif + return __Pyx_GetItemInt_Generic(o, PyInt_FromSsize_t(i)); +} + +/* PyObjectCallOneArg */ +static CYTHON_INLINE PyObject* __Pyx_PyObject_CallOneArg(PyObject *func, PyObject *arg) { + PyObject *args[2] = {NULL, arg}; + return __Pyx_PyObject_FastCall(func, args+1, 1 | __Pyx_PY_VECTORCALL_ARGUMENTS_OFFSET); +} + +/* ObjectGetItem */ +#if CYTHON_USE_TYPE_SLOTS +static PyObject *__Pyx_PyObject_GetIndex(PyObject *obj, PyObject *index) { + PyObject *runerr = NULL; + Py_ssize_t key_value; + key_value = __Pyx_PyIndex_AsSsize_t(index); + if (likely(key_value != -1 || !(runerr = PyErr_Occurred()))) { + return __Pyx_GetItemInt_Fast(obj, key_value, 0, 1, 1); + } + if (PyErr_GivenExceptionMatches(runerr, PyExc_OverflowError)) { + __Pyx_TypeName index_type_name = __Pyx_PyType_GetName(Py_TYPE(index)); + PyErr_Clear(); + PyErr_Format(PyExc_IndexError, + "cannot fit '" __Pyx_FMT_TYPENAME "' into an index-sized integer", index_type_name); + __Pyx_DECREF_TypeName(index_type_name); + } + return NULL; +} +static PyObject *__Pyx_PyObject_GetItem_Slow(PyObject *obj, PyObject *key) { + __Pyx_TypeName obj_type_name; + if (likely(PyType_Check(obj))) { + PyObject *meth = __Pyx_PyObject_GetAttrStrNoError(obj, __pyx_n_s_class_getitem); + if (!meth) { + PyErr_Clear(); + } else { + PyObject *result = __Pyx_PyObject_CallOneArg(meth, key); + Py_DECREF(meth); + return result; + } + } + obj_type_name = __Pyx_PyType_GetName(Py_TYPE(obj)); + PyErr_Format(PyExc_TypeError, + "'" __Pyx_FMT_TYPENAME "' object is not subscriptable", obj_type_name); + __Pyx_DECREF_TypeName(obj_type_name); + return NULL; +} +static PyObject *__Pyx_PyObject_GetItem(PyObject *obj, PyObject *key) { + PyTypeObject *tp = Py_TYPE(obj); + PyMappingMethods *mm = tp->tp_as_mapping; + PySequenceMethods *sm = tp->tp_as_sequence; + if (likely(mm && mm->mp_subscript)) { + return mm->mp_subscript(obj, key); + } + if (likely(sm && sm->sq_item)) { + return __Pyx_PyObject_GetIndex(obj, key); + } + return __Pyx_PyObject_GetItem_Slow(obj, key); +} +#endif + +/* KeywordStringCheck */ +static int __Pyx_CheckKeywordStrings( + PyObject *kw, + const char* function_name, + int kw_allowed) +{ + PyObject* key = 0; + Py_ssize_t pos = 0; +#if CYTHON_COMPILING_IN_PYPY + if (!kw_allowed && PyDict_Next(kw, &pos, &key, 0)) + goto invalid_keyword; + return 1; +#else + if (CYTHON_METH_FASTCALL && likely(PyTuple_Check(kw))) { + Py_ssize_t kwsize; +#if CYTHON_ASSUME_SAFE_MACROS + kwsize = PyTuple_GET_SIZE(kw); +#else + kwsize = PyTuple_Size(kw); + if (kwsize < 0) return 0; +#endif + if (unlikely(kwsize == 0)) + return 1; + if (!kw_allowed) { +#if CYTHON_ASSUME_SAFE_MACROS + key = PyTuple_GET_ITEM(kw, 0); +#else + key = PyTuple_GetItem(kw, pos); + if (!key) return 0; +#endif + goto invalid_keyword; + } +#if PY_VERSION_HEX < 0x03090000 + for (pos = 0; pos < kwsize; pos++) { +#if CYTHON_ASSUME_SAFE_MACROS + key = PyTuple_GET_ITEM(kw, pos); +#else + key = PyTuple_GetItem(kw, pos); + if (!key) return 0; +#endif + if (unlikely(!PyUnicode_Check(key))) + goto invalid_keyword_type; + } +#endif + return 1; + } + while (PyDict_Next(kw, &pos, &key, 0)) { + #if PY_MAJOR_VERSION < 3 + if (unlikely(!PyString_Check(key))) + #endif + if (unlikely(!PyUnicode_Check(key))) + goto invalid_keyword_type; + } + if (!kw_allowed && unlikely(key)) + goto invalid_keyword; + return 1; +invalid_keyword_type: + PyErr_Format(PyExc_TypeError, + "%.200s() keywords must be strings", function_name); + return 0; +#endif +invalid_keyword: + #if PY_MAJOR_VERSION < 3 + PyErr_Format(PyExc_TypeError, + "%.200s() got an unexpected keyword argument '%.200s'", + function_name, PyString_AsString(key)); + #else + PyErr_Format(PyExc_TypeError, + "%s() got an unexpected keyword argument '%U'", + function_name, key); + #endif + return 0; +} + +/* DivInt[Py_ssize_t] */ +static CYTHON_INLINE Py_ssize_t __Pyx_div_Py_ssize_t(Py_ssize_t a, Py_ssize_t b) { + Py_ssize_t q = a / b; + Py_ssize_t r = a - q*b; + q -= ((r != 0) & ((r ^ b) < 0)); + return q; +} + +/* GetAttr3 */ +#if __PYX_LIMITED_VERSION_HEX < 0x030d00A1 +static PyObject *__Pyx_GetAttr3Default(PyObject *d) { + __Pyx_PyThreadState_declare + __Pyx_PyThreadState_assign + if (unlikely(!__Pyx_PyErr_ExceptionMatches(PyExc_AttributeError))) + return NULL; + __Pyx_PyErr_Clear(); + Py_INCREF(d); + return d; +} +#endif +static CYTHON_INLINE PyObject *__Pyx_GetAttr3(PyObject *o, PyObject *n, PyObject *d) { + PyObject *r; +#if __PYX_LIMITED_VERSION_HEX >= 0x030d00A1 + int res = PyObject_GetOptionalAttr(o, n, &r); + return (res != 0) ? r : __Pyx_NewRef(d); +#else + #if CYTHON_USE_TYPE_SLOTS + if (likely(PyString_Check(n))) { + r = __Pyx_PyObject_GetAttrStrNoError(o, n); + if (unlikely(!r) && likely(!PyErr_Occurred())) { + r = __Pyx_NewRef(d); + } + return r; + } + #endif + r = PyObject_GetAttr(o, n); + return (likely(r)) ? r : __Pyx_GetAttr3Default(d); +#endif +} + +/* PyDictVersioning */ +#if CYTHON_USE_DICT_VERSIONS && CYTHON_USE_TYPE_SLOTS +static CYTHON_INLINE PY_UINT64_T __Pyx_get_tp_dict_version(PyObject *obj) { + PyObject *dict = Py_TYPE(obj)->tp_dict; + return likely(dict) ? __PYX_GET_DICT_VERSION(dict) : 0; +} +static CYTHON_INLINE PY_UINT64_T __Pyx_get_object_dict_version(PyObject *obj) { + PyObject **dictptr = NULL; + Py_ssize_t offset = Py_TYPE(obj)->tp_dictoffset; + if (offset) { +#if CYTHON_COMPILING_IN_CPYTHON + dictptr = (likely(offset > 0)) ? (PyObject **) ((char *)obj + offset) : _PyObject_GetDictPtr(obj); +#else + dictptr = _PyObject_GetDictPtr(obj); +#endif + } + return (dictptr && *dictptr) ? __PYX_GET_DICT_VERSION(*dictptr) : 0; +} +static CYTHON_INLINE int __Pyx_object_dict_version_matches(PyObject* obj, PY_UINT64_T tp_dict_version, PY_UINT64_T obj_dict_version) { + PyObject *dict = Py_TYPE(obj)->tp_dict; + if (unlikely(!dict) || unlikely(tp_dict_version != __PYX_GET_DICT_VERSION(dict))) + return 0; + return obj_dict_version == __Pyx_get_object_dict_version(obj); +} +#endif + +/* GetModuleGlobalName */ +#if CYTHON_USE_DICT_VERSIONS +static PyObject *__Pyx__GetModuleGlobalName(PyObject *name, PY_UINT64_T *dict_version, PyObject **dict_cached_value) +#else +static CYTHON_INLINE PyObject *__Pyx__GetModuleGlobalName(PyObject *name) +#endif +{ + PyObject *result; +#if !CYTHON_AVOID_BORROWED_REFS +#if CYTHON_COMPILING_IN_CPYTHON && PY_VERSION_HEX >= 0x030500A1 && PY_VERSION_HEX < 0x030d0000 + result = _PyDict_GetItem_KnownHash(__pyx_d, name, ((PyASCIIObject *) name)->hash); + __PYX_UPDATE_DICT_CACHE(__pyx_d, result, *dict_cached_value, *dict_version) + if (likely(result)) { + return __Pyx_NewRef(result); + } else if (unlikely(PyErr_Occurred())) { + return NULL; + } +#elif CYTHON_COMPILING_IN_LIMITED_API + if (unlikely(!__pyx_m)) { + return NULL; + } + result = PyObject_GetAttr(__pyx_m, name); + if (likely(result)) { + return result; + } +#else + result = PyDict_GetItem(__pyx_d, name); + __PYX_UPDATE_DICT_CACHE(__pyx_d, result, *dict_cached_value, *dict_version) + if (likely(result)) { + return __Pyx_NewRef(result); + } +#endif +#else + result = PyObject_GetItem(__pyx_d, name); + __PYX_UPDATE_DICT_CACHE(__pyx_d, result, *dict_cached_value, *dict_version) + if (likely(result)) { + return __Pyx_NewRef(result); + } + PyErr_Clear(); +#endif + return __Pyx_GetBuiltinName(name); +} + +/* RaiseTooManyValuesToUnpack */ +static CYTHON_INLINE void __Pyx_RaiseTooManyValuesError(Py_ssize_t expected) { + PyErr_Format(PyExc_ValueError, + "too many values to unpack (expected %" CYTHON_FORMAT_SSIZE_T "d)", expected); +} + +/* RaiseNeedMoreValuesToUnpack */ +static CYTHON_INLINE void __Pyx_RaiseNeedMoreValuesError(Py_ssize_t index) { + PyErr_Format(PyExc_ValueError, + "need more than %" CYTHON_FORMAT_SSIZE_T "d value%.1s to unpack", + index, (index == 1) ? "" : "s"); +} + +/* RaiseNoneIterError */ +static CYTHON_INLINE void __Pyx_RaiseNoneNotIterableError(void) { + PyErr_SetString(PyExc_TypeError, "'NoneType' object is not iterable"); +} + +/* ExtTypeTest */ +static CYTHON_INLINE int __Pyx_TypeTest(PyObject *obj, PyTypeObject *type) { + __Pyx_TypeName obj_type_name; + __Pyx_TypeName type_name; + if (unlikely(!type)) { + PyErr_SetString(PyExc_SystemError, "Missing type object"); + return 0; + } + if (likely(__Pyx_TypeCheck(obj, type))) + return 1; + obj_type_name = __Pyx_PyType_GetName(Py_TYPE(obj)); + type_name = __Pyx_PyType_GetName(type); + PyErr_Format(PyExc_TypeError, + "Cannot convert " __Pyx_FMT_TYPENAME " to " __Pyx_FMT_TYPENAME, + obj_type_name, type_name); + __Pyx_DECREF_TypeName(obj_type_name); + __Pyx_DECREF_TypeName(type_name); + return 0; +} + +/* GetTopmostException */ +#if CYTHON_USE_EXC_INFO_STACK && CYTHON_FAST_THREAD_STATE +static _PyErr_StackItem * +__Pyx_PyErr_GetTopmostException(PyThreadState *tstate) +{ + _PyErr_StackItem *exc_info = tstate->exc_info; + while ((exc_info->exc_value == NULL || exc_info->exc_value == Py_None) && + exc_info->previous_item != NULL) + { + exc_info = exc_info->previous_item; + } + return exc_info; +} +#endif + +/* SaveResetException */ +#if CYTHON_FAST_THREAD_STATE +static CYTHON_INLINE void __Pyx__ExceptionSave(PyThreadState *tstate, PyObject **type, PyObject **value, PyObject **tb) { + #if CYTHON_USE_EXC_INFO_STACK && PY_VERSION_HEX >= 0x030B00a4 + _PyErr_StackItem *exc_info = __Pyx_PyErr_GetTopmostException(tstate); + PyObject *exc_value = exc_info->exc_value; + if (exc_value == NULL || exc_value == Py_None) { + *value = NULL; + *type = NULL; + *tb = NULL; + } else { + *value = exc_value; + Py_INCREF(*value); + *type = (PyObject*) Py_TYPE(exc_value); + Py_INCREF(*type); + *tb = PyException_GetTraceback(exc_value); + } + #elif CYTHON_USE_EXC_INFO_STACK + _PyErr_StackItem *exc_info = __Pyx_PyErr_GetTopmostException(tstate); + *type = exc_info->exc_type; + *value = exc_info->exc_value; + *tb = exc_info->exc_traceback; + Py_XINCREF(*type); + Py_XINCREF(*value); + Py_XINCREF(*tb); + #else + *type = tstate->exc_type; + *value = tstate->exc_value; + *tb = tstate->exc_traceback; + Py_XINCREF(*type); + Py_XINCREF(*value); + Py_XINCREF(*tb); + #endif +} +static CYTHON_INLINE void __Pyx__ExceptionReset(PyThreadState *tstate, PyObject *type, PyObject *value, PyObject *tb) { + #if CYTHON_USE_EXC_INFO_STACK && PY_VERSION_HEX >= 0x030B00a4 + _PyErr_StackItem *exc_info = tstate->exc_info; + PyObject *tmp_value = exc_info->exc_value; + exc_info->exc_value = value; + Py_XDECREF(tmp_value); + Py_XDECREF(type); + Py_XDECREF(tb); + #else + PyObject *tmp_type, *tmp_value, *tmp_tb; + #if CYTHON_USE_EXC_INFO_STACK + _PyErr_StackItem *exc_info = tstate->exc_info; + tmp_type = exc_info->exc_type; + tmp_value = exc_info->exc_value; + tmp_tb = exc_info->exc_traceback; + exc_info->exc_type = type; + exc_info->exc_value = value; + exc_info->exc_traceback = tb; + #else + tmp_type = tstate->exc_type; + tmp_value = tstate->exc_value; + tmp_tb = tstate->exc_traceback; + tstate->exc_type = type; + tstate->exc_value = value; + tstate->exc_traceback = tb; + #endif + Py_XDECREF(tmp_type); + Py_XDECREF(tmp_value); + Py_XDECREF(tmp_tb); + #endif +} +#endif + +/* GetException */ +#if CYTHON_FAST_THREAD_STATE +static int __Pyx__GetException(PyThreadState *tstate, PyObject **type, PyObject **value, PyObject **tb) +#else +static int __Pyx_GetException(PyObject **type, PyObject **value, PyObject **tb) +#endif +{ + PyObject *local_type = NULL, *local_value, *local_tb = NULL; +#if CYTHON_FAST_THREAD_STATE + PyObject *tmp_type, *tmp_value, *tmp_tb; + #if PY_VERSION_HEX >= 0x030C00A6 + local_value = tstate->current_exception; + tstate->current_exception = 0; + if (likely(local_value)) { + local_type = (PyObject*) Py_TYPE(local_value); + Py_INCREF(local_type); + local_tb = PyException_GetTraceback(local_value); + } + #else + local_type = tstate->curexc_type; + local_value = tstate->curexc_value; + local_tb = tstate->curexc_traceback; + tstate->curexc_type = 0; + tstate->curexc_value = 0; + tstate->curexc_traceback = 0; + #endif +#else + PyErr_Fetch(&local_type, &local_value, &local_tb); +#endif + PyErr_NormalizeException(&local_type, &local_value, &local_tb); +#if CYTHON_FAST_THREAD_STATE && PY_VERSION_HEX >= 0x030C00A6 + if (unlikely(tstate->current_exception)) +#elif CYTHON_FAST_THREAD_STATE + if (unlikely(tstate->curexc_type)) +#else + if (unlikely(PyErr_Occurred())) +#endif + goto bad; + #if PY_MAJOR_VERSION >= 3 + if (local_tb) { + if (unlikely(PyException_SetTraceback(local_value, local_tb) < 0)) + goto bad; + } + #endif + Py_XINCREF(local_tb); + Py_XINCREF(local_type); + Py_XINCREF(local_value); + *type = local_type; + *value = local_value; + *tb = local_tb; +#if CYTHON_FAST_THREAD_STATE + #if CYTHON_USE_EXC_INFO_STACK + { + _PyErr_StackItem *exc_info = tstate->exc_info; + #if PY_VERSION_HEX >= 0x030B00a4 + tmp_value = exc_info->exc_value; + exc_info->exc_value = local_value; + tmp_type = NULL; + tmp_tb = NULL; + Py_XDECREF(local_type); + Py_XDECREF(local_tb); + #else + tmp_type = exc_info->exc_type; + tmp_value = exc_info->exc_value; + tmp_tb = exc_info->exc_traceback; + exc_info->exc_type = local_type; + exc_info->exc_value = local_value; + exc_info->exc_traceback = local_tb; + #endif + } + #else + tmp_type = tstate->exc_type; + tmp_value = tstate->exc_value; + tmp_tb = tstate->exc_traceback; + tstate->exc_type = local_type; + tstate->exc_value = local_value; + tstate->exc_traceback = local_tb; + #endif + Py_XDECREF(tmp_type); + Py_XDECREF(tmp_value); + Py_XDECREF(tmp_tb); +#else + PyErr_SetExcInfo(local_type, local_value, local_tb); +#endif + return 0; +bad: + *type = 0; + *value = 0; + *tb = 0; + Py_XDECREF(local_type); + Py_XDECREF(local_value); + Py_XDECREF(local_tb); + return -1; +} + +/* SwapException */ +#if CYTHON_FAST_THREAD_STATE +static CYTHON_INLINE void __Pyx__ExceptionSwap(PyThreadState *tstate, PyObject **type, PyObject **value, PyObject **tb) { + PyObject *tmp_type, *tmp_value, *tmp_tb; + #if CYTHON_USE_EXC_INFO_STACK && PY_VERSION_HEX >= 0x030B00a4 + _PyErr_StackItem *exc_info = tstate->exc_info; + tmp_value = exc_info->exc_value; + exc_info->exc_value = *value; + if (tmp_value == NULL || tmp_value == Py_None) { + Py_XDECREF(tmp_value); + tmp_value = NULL; + tmp_type = NULL; + tmp_tb = NULL; + } else { + tmp_type = (PyObject*) Py_TYPE(tmp_value); + Py_INCREF(tmp_type); + #if CYTHON_COMPILING_IN_CPYTHON + tmp_tb = ((PyBaseExceptionObject*) tmp_value)->traceback; + Py_XINCREF(tmp_tb); + #else + tmp_tb = PyException_GetTraceback(tmp_value); + #endif + } + #elif CYTHON_USE_EXC_INFO_STACK + _PyErr_StackItem *exc_info = tstate->exc_info; + tmp_type = exc_info->exc_type; + tmp_value = exc_info->exc_value; + tmp_tb = exc_info->exc_traceback; + exc_info->exc_type = *type; + exc_info->exc_value = *value; + exc_info->exc_traceback = *tb; + #else + tmp_type = tstate->exc_type; + tmp_value = tstate->exc_value; + tmp_tb = tstate->exc_traceback; + tstate->exc_type = *type; + tstate->exc_value = *value; + tstate->exc_traceback = *tb; + #endif + *type = tmp_type; + *value = tmp_value; + *tb = tmp_tb; +} +#else +static CYTHON_INLINE void __Pyx_ExceptionSwap(PyObject **type, PyObject **value, PyObject **tb) { + PyObject *tmp_type, *tmp_value, *tmp_tb; + PyErr_GetExcInfo(&tmp_type, &tmp_value, &tmp_tb); + PyErr_SetExcInfo(*type, *value, *tb); + *type = tmp_type; + *value = tmp_value; + *tb = tmp_tb; +} +#endif + +/* Import */ +static PyObject *__Pyx_Import(PyObject *name, PyObject *from_list, int level) { + PyObject *module = 0; + PyObject *empty_dict = 0; + PyObject *empty_list = 0; + #if PY_MAJOR_VERSION < 3 + PyObject *py_import; + py_import = __Pyx_PyObject_GetAttrStr(__pyx_b, __pyx_n_s_import); + if (unlikely(!py_import)) + goto bad; + if (!from_list) { + empty_list = PyList_New(0); + if (unlikely(!empty_list)) + goto bad; + from_list = empty_list; + } + #endif + empty_dict = PyDict_New(); + if (unlikely(!empty_dict)) + goto bad; + { + #if PY_MAJOR_VERSION >= 3 + if (level == -1) { + if (strchr(__Pyx_MODULE_NAME, '.') != NULL) { + module = PyImport_ImportModuleLevelObject( + name, __pyx_d, empty_dict, from_list, 1); + if (unlikely(!module)) { + if (unlikely(!PyErr_ExceptionMatches(PyExc_ImportError))) + goto bad; + PyErr_Clear(); + } + } + level = 0; + } + #endif + if (!module) { + #if PY_MAJOR_VERSION < 3 + PyObject *py_level = PyInt_FromLong(level); + if (unlikely(!py_level)) + goto bad; + module = PyObject_CallFunctionObjArgs(py_import, + name, __pyx_d, empty_dict, from_list, py_level, (PyObject *)NULL); + Py_DECREF(py_level); + #else + module = PyImport_ImportModuleLevelObject( + name, __pyx_d, empty_dict, from_list, level); + #endif + } + } +bad: + Py_XDECREF(empty_dict); + Py_XDECREF(empty_list); + #if PY_MAJOR_VERSION < 3 + Py_XDECREF(py_import); + #endif + return module; +} + +/* ImportDottedModule */ +#if PY_MAJOR_VERSION >= 3 +static PyObject *__Pyx__ImportDottedModule_Error(PyObject *name, PyObject *parts_tuple, Py_ssize_t count) { + PyObject *partial_name = NULL, *slice = NULL, *sep = NULL; + if (unlikely(PyErr_Occurred())) { + PyErr_Clear(); + } + if (likely(PyTuple_GET_SIZE(parts_tuple) == count)) { + partial_name = name; + } else { + slice = PySequence_GetSlice(parts_tuple, 0, count); + if (unlikely(!slice)) + goto bad; + sep = PyUnicode_FromStringAndSize(".", 1); + if (unlikely(!sep)) + goto bad; + partial_name = PyUnicode_Join(sep, slice); + } + PyErr_Format( +#if PY_MAJOR_VERSION < 3 + PyExc_ImportError, + "No module named '%s'", PyString_AS_STRING(partial_name)); +#else +#if PY_VERSION_HEX >= 0x030600B1 + PyExc_ModuleNotFoundError, +#else + PyExc_ImportError, +#endif + "No module named '%U'", partial_name); +#endif +bad: + Py_XDECREF(sep); + Py_XDECREF(slice); + Py_XDECREF(partial_name); + return NULL; +} +#endif +#if PY_MAJOR_VERSION >= 3 +static PyObject *__Pyx__ImportDottedModule_Lookup(PyObject *name) { + PyObject *imported_module; +#if PY_VERSION_HEX < 0x030700A1 || (CYTHON_COMPILING_IN_PYPY && PYPY_VERSION_NUM < 0x07030400) + PyObject *modules = PyImport_GetModuleDict(); + if (unlikely(!modules)) + return NULL; + imported_module = __Pyx_PyDict_GetItemStr(modules, name); + Py_XINCREF(imported_module); +#else + imported_module = PyImport_GetModule(name); +#endif + return imported_module; +} +#endif +#if PY_MAJOR_VERSION >= 3 +static PyObject *__Pyx_ImportDottedModule_WalkParts(PyObject *module, PyObject *name, PyObject *parts_tuple) { + Py_ssize_t i, nparts; + nparts = PyTuple_GET_SIZE(parts_tuple); + for (i=1; i < nparts && module; i++) { + PyObject *part, *submodule; +#if CYTHON_ASSUME_SAFE_MACROS && !CYTHON_AVOID_BORROWED_REFS + part = PyTuple_GET_ITEM(parts_tuple, i); +#else + part = PySequence_ITEM(parts_tuple, i); +#endif + submodule = __Pyx_PyObject_GetAttrStrNoError(module, part); +#if !(CYTHON_ASSUME_SAFE_MACROS && !CYTHON_AVOID_BORROWED_REFS) + Py_DECREF(part); +#endif + Py_DECREF(module); + module = submodule; + } + if (unlikely(!module)) { + return __Pyx__ImportDottedModule_Error(name, parts_tuple, i); + } + return module; +} +#endif +static PyObject *__Pyx__ImportDottedModule(PyObject *name, PyObject *parts_tuple) { +#if PY_MAJOR_VERSION < 3 + PyObject *module, *from_list, *star = __pyx_n_s__3; + CYTHON_UNUSED_VAR(parts_tuple); + from_list = PyList_New(1); + if (unlikely(!from_list)) + return NULL; + Py_INCREF(star); + PyList_SET_ITEM(from_list, 0, star); + module = __Pyx_Import(name, from_list, 0); + Py_DECREF(from_list); + return module; +#else + PyObject *imported_module; + PyObject *module = __Pyx_Import(name, NULL, 0); + if (!parts_tuple || unlikely(!module)) + return module; + imported_module = __Pyx__ImportDottedModule_Lookup(name); + if (likely(imported_module)) { + Py_DECREF(module); + return imported_module; + } + PyErr_Clear(); + return __Pyx_ImportDottedModule_WalkParts(module, name, parts_tuple); +#endif +} +static PyObject *__Pyx_ImportDottedModule(PyObject *name, PyObject *parts_tuple) { +#if CYTHON_COMPILING_IN_CPYTHON && PY_VERSION_HEX >= 0x030400B1 + PyObject *module = __Pyx__ImportDottedModule_Lookup(name); + if (likely(module)) { + PyObject *spec = __Pyx_PyObject_GetAttrStrNoError(module, __pyx_n_s_spec); + if (likely(spec)) { + PyObject *unsafe = __Pyx_PyObject_GetAttrStrNoError(spec, __pyx_n_s_initializing); + if (likely(!unsafe || !__Pyx_PyObject_IsTrue(unsafe))) { + Py_DECREF(spec); + spec = NULL; + } + Py_XDECREF(unsafe); + } + if (likely(!spec)) { + PyErr_Clear(); + return module; + } + Py_DECREF(spec); + Py_DECREF(module); + } else if (PyErr_Occurred()) { + PyErr_Clear(); + } +#endif + return __Pyx__ImportDottedModule(name, parts_tuple); +} + +/* FastTypeChecks */ +#if CYTHON_COMPILING_IN_CPYTHON +static int __Pyx_InBases(PyTypeObject *a, PyTypeObject *b) { + while (a) { + a = __Pyx_PyType_GetSlot(a, tp_base, PyTypeObject*); + if (a == b) + return 1; + } + return b == &PyBaseObject_Type; +} +static CYTHON_INLINE int __Pyx_IsSubtype(PyTypeObject *a, PyTypeObject *b) { + PyObject *mro; + if (a == b) return 1; + mro = a->tp_mro; + if (likely(mro)) { + Py_ssize_t i, n; + n = PyTuple_GET_SIZE(mro); + for (i = 0; i < n; i++) { + if (PyTuple_GET_ITEM(mro, i) == (PyObject *)b) + return 1; + } + return 0; + } + return __Pyx_InBases(a, b); +} +static CYTHON_INLINE int __Pyx_IsAnySubtype2(PyTypeObject *cls, PyTypeObject *a, PyTypeObject *b) { + PyObject *mro; + if (cls == a || cls == b) return 1; + mro = cls->tp_mro; + if (likely(mro)) { + Py_ssize_t i, n; + n = PyTuple_GET_SIZE(mro); + for (i = 0; i < n; i++) { + PyObject *base = PyTuple_GET_ITEM(mro, i); + if (base == (PyObject *)a || base == (PyObject *)b) + return 1; + } + return 0; + } + return __Pyx_InBases(cls, a) || __Pyx_InBases(cls, b); +} +#if PY_MAJOR_VERSION == 2 +static int __Pyx_inner_PyErr_GivenExceptionMatches2(PyObject *err, PyObject* exc_type1, PyObject* exc_type2) { + PyObject *exception, *value, *tb; + int res; + __Pyx_PyThreadState_declare + __Pyx_PyThreadState_assign + __Pyx_ErrFetch(&exception, &value, &tb); + res = exc_type1 ? PyObject_IsSubclass(err, exc_type1) : 0; + if (unlikely(res == -1)) { + PyErr_WriteUnraisable(err); + res = 0; + } + if (!res) { + res = PyObject_IsSubclass(err, exc_type2); + if (unlikely(res == -1)) { + PyErr_WriteUnraisable(err); + res = 0; + } + } + __Pyx_ErrRestore(exception, value, tb); + return res; +} +#else +static CYTHON_INLINE int __Pyx_inner_PyErr_GivenExceptionMatches2(PyObject *err, PyObject* exc_type1, PyObject *exc_type2) { + if (exc_type1) { + return __Pyx_IsAnySubtype2((PyTypeObject*)err, (PyTypeObject*)exc_type1, (PyTypeObject*)exc_type2); + } else { + return __Pyx_IsSubtype((PyTypeObject*)err, (PyTypeObject*)exc_type2); + } +} +#endif +static int __Pyx_PyErr_GivenExceptionMatchesTuple(PyObject *exc_type, PyObject *tuple) { + Py_ssize_t i, n; + assert(PyExceptionClass_Check(exc_type)); + n = PyTuple_GET_SIZE(tuple); +#if PY_MAJOR_VERSION >= 3 + for (i=0; itp_as_sequence && type->tp_as_sequence->sq_repeat)) { + return type->tp_as_sequence->sq_repeat(seq, mul); + } else +#endif + { + return __Pyx_PySequence_Multiply_Generic(seq, mul); + } +} + +/* SetItemInt */ +static int __Pyx_SetItemInt_Generic(PyObject *o, PyObject *j, PyObject *v) { + int r; + if (unlikely(!j)) return -1; + r = PyObject_SetItem(o, j, v); + Py_DECREF(j); + return r; +} +static CYTHON_INLINE int __Pyx_SetItemInt_Fast(PyObject *o, Py_ssize_t i, PyObject *v, int is_list, + CYTHON_NCP_UNUSED int wraparound, CYTHON_NCP_UNUSED int boundscheck) { +#if CYTHON_ASSUME_SAFE_MACROS && !CYTHON_AVOID_BORROWED_REFS && CYTHON_USE_TYPE_SLOTS + if (is_list || PyList_CheckExact(o)) { + Py_ssize_t n = (!wraparound) ? i : ((likely(i >= 0)) ? i : i + PyList_GET_SIZE(o)); + if ((!boundscheck) || likely(__Pyx_is_valid_index(n, PyList_GET_SIZE(o)))) { + PyObject* old = PyList_GET_ITEM(o, n); + Py_INCREF(v); + PyList_SET_ITEM(o, n, v); + Py_DECREF(old); + return 1; + } + } else { + PyMappingMethods *mm = Py_TYPE(o)->tp_as_mapping; + PySequenceMethods *sm = Py_TYPE(o)->tp_as_sequence; + if (mm && mm->mp_ass_subscript) { + int r; + PyObject *key = PyInt_FromSsize_t(i); + if (unlikely(!key)) return -1; + r = mm->mp_ass_subscript(o, key, v); + Py_DECREF(key); + return r; + } + if (likely(sm && sm->sq_ass_item)) { + if (wraparound && unlikely(i < 0) && likely(sm->sq_length)) { + Py_ssize_t l = sm->sq_length(o); + if (likely(l >= 0)) { + i += l; + } else { + if (!PyErr_ExceptionMatches(PyExc_OverflowError)) + return -1; + PyErr_Clear(); + } + } + return sm->sq_ass_item(o, i, v); + } + } +#else + if (is_list || !PyMapping_Check(o)) + { + return PySequence_SetItem(o, i, v); + } +#endif + return __Pyx_SetItemInt_Generic(o, PyInt_FromSsize_t(i), v); +} + +/* RaiseUnboundLocalError */ +static CYTHON_INLINE void __Pyx_RaiseUnboundLocalError(const char *varname) { + PyErr_Format(PyExc_UnboundLocalError, "local variable '%s' referenced before assignment", varname); +} + +/* DivInt[long] */ +static CYTHON_INLINE long __Pyx_div_long(long a, long b) { + long q = a / b; + long r = a - q*b; + q -= ((r != 0) & ((r ^ b) < 0)); + return q; +} + +/* ImportFrom */ +static PyObject* __Pyx_ImportFrom(PyObject* module, PyObject* name) { + PyObject* value = __Pyx_PyObject_GetAttrStr(module, name); + if (unlikely(!value) && PyErr_ExceptionMatches(PyExc_AttributeError)) { + const char* module_name_str = 0; + PyObject* module_name = 0; + PyObject* module_dot = 0; + PyObject* full_name = 0; + PyErr_Clear(); + module_name_str = PyModule_GetName(module); + if (unlikely(!module_name_str)) { goto modbad; } + module_name = PyUnicode_FromString(module_name_str); + if (unlikely(!module_name)) { goto modbad; } + module_dot = PyUnicode_Concat(module_name, __pyx_kp_u__2); + if (unlikely(!module_dot)) { goto modbad; } + full_name = PyUnicode_Concat(module_dot, name); + if (unlikely(!full_name)) { goto modbad; } + #if PY_VERSION_HEX < 0x030700A1 || (CYTHON_COMPILING_IN_PYPY && PYPY_VERSION_NUM < 0x07030400) + { + PyObject *modules = PyImport_GetModuleDict(); + if (unlikely(!modules)) + goto modbad; + value = PyObject_GetItem(modules, full_name); + } + #else + value = PyImport_GetModule(full_name); + #endif + modbad: + Py_XDECREF(full_name); + Py_XDECREF(module_dot); + Py_XDECREF(module_name); + } + if (unlikely(!value)) { + PyErr_Format(PyExc_ImportError, + #if PY_MAJOR_VERSION < 3 + "cannot import name %.230s", PyString_AS_STRING(name)); + #else + "cannot import name %S", name); + #endif + } + return value; +} + +/* HasAttr */ +#if __PYX_LIMITED_VERSION_HEX < 0x030d00A1 +static CYTHON_INLINE int __Pyx_HasAttr(PyObject *o, PyObject *n) { + PyObject *r; + if (unlikely(!__Pyx_PyBaseString_Check(n))) { + PyErr_SetString(PyExc_TypeError, + "hasattr(): attribute name must be string"); + return -1; + } + r = __Pyx_GetAttr(o, n); + if (!r) { + PyErr_Clear(); + return 0; + } else { + Py_DECREF(r); + return 1; + } +} +#endif + +/* BufferIndexError */ +static void __Pyx_RaiseBufferIndexError(int axis) { + PyErr_Format(PyExc_IndexError, + "Out of bounds on buffer access (axis %d)", axis); +} + +/* PyObject_GenericGetAttrNoDict */ +#if CYTHON_USE_TYPE_SLOTS && CYTHON_USE_PYTYPE_LOOKUP && PY_VERSION_HEX < 0x03070000 +static PyObject *__Pyx_RaiseGenericGetAttributeError(PyTypeObject *tp, PyObject *attr_name) { + __Pyx_TypeName type_name = __Pyx_PyType_GetName(tp); + PyErr_Format(PyExc_AttributeError, +#if PY_MAJOR_VERSION >= 3 + "'" __Pyx_FMT_TYPENAME "' object has no attribute '%U'", + type_name, attr_name); +#else + "'" __Pyx_FMT_TYPENAME "' object has no attribute '%.400s'", + type_name, PyString_AS_STRING(attr_name)); +#endif + __Pyx_DECREF_TypeName(type_name); + return NULL; +} +static CYTHON_INLINE PyObject* __Pyx_PyObject_GenericGetAttrNoDict(PyObject* obj, PyObject* attr_name) { + PyObject *descr; + PyTypeObject *tp = Py_TYPE(obj); + if (unlikely(!PyString_Check(attr_name))) { + return PyObject_GenericGetAttr(obj, attr_name); + } + assert(!tp->tp_dictoffset); + descr = _PyType_Lookup(tp, attr_name); + if (unlikely(!descr)) { + return __Pyx_RaiseGenericGetAttributeError(tp, attr_name); + } + Py_INCREF(descr); + #if PY_MAJOR_VERSION < 3 + if (likely(PyType_HasFeature(Py_TYPE(descr), Py_TPFLAGS_HAVE_CLASS))) + #endif + { + descrgetfunc f = Py_TYPE(descr)->tp_descr_get; + if (unlikely(f)) { + PyObject *res = f(descr, obj, (PyObject *)tp); + Py_DECREF(descr); + return res; + } + } + return descr; +} +#endif + +/* PyObject_GenericGetAttr */ +#if CYTHON_USE_TYPE_SLOTS && CYTHON_USE_PYTYPE_LOOKUP && PY_VERSION_HEX < 0x03070000 +static PyObject* __Pyx_PyObject_GenericGetAttr(PyObject* obj, PyObject* attr_name) { + if (unlikely(Py_TYPE(obj)->tp_dictoffset)) { + return PyObject_GenericGetAttr(obj, attr_name); + } + return __Pyx_PyObject_GenericGetAttrNoDict(obj, attr_name); +} +#endif + +/* FixUpExtensionType */ +#if CYTHON_USE_TYPE_SPECS +static int __Pyx_fix_up_extension_type_from_spec(PyType_Spec *spec, PyTypeObject *type) { +#if PY_VERSION_HEX > 0x030900B1 || CYTHON_COMPILING_IN_LIMITED_API + CYTHON_UNUSED_VAR(spec); + CYTHON_UNUSED_VAR(type); +#else + const PyType_Slot *slot = spec->slots; + while (slot && slot->slot && slot->slot != Py_tp_members) + slot++; + if (slot && slot->slot == Py_tp_members) { + int changed = 0; +#if !(PY_VERSION_HEX <= 0x030900b1 && CYTHON_COMPILING_IN_CPYTHON) + const +#endif + PyMemberDef *memb = (PyMemberDef*) slot->pfunc; + while (memb && memb->name) { + if (memb->name[0] == '_' && memb->name[1] == '_') { +#if PY_VERSION_HEX < 0x030900b1 + if (strcmp(memb->name, "__weaklistoffset__") == 0) { + assert(memb->type == T_PYSSIZET); + assert(memb->flags == READONLY); + type->tp_weaklistoffset = memb->offset; + changed = 1; + } + else if (strcmp(memb->name, "__dictoffset__") == 0) { + assert(memb->type == T_PYSSIZET); + assert(memb->flags == READONLY); + type->tp_dictoffset = memb->offset; + changed = 1; + } +#if CYTHON_METH_FASTCALL + else if (strcmp(memb->name, "__vectorcalloffset__") == 0) { + assert(memb->type == T_PYSSIZET); + assert(memb->flags == READONLY); +#if PY_VERSION_HEX >= 0x030800b4 + type->tp_vectorcall_offset = memb->offset; +#else + type->tp_print = (printfunc) memb->offset; +#endif + changed = 1; + } +#endif +#else + if ((0)); +#endif +#if PY_VERSION_HEX <= 0x030900b1 && CYTHON_COMPILING_IN_CPYTHON + else if (strcmp(memb->name, "__module__") == 0) { + PyObject *descr; + assert(memb->type == T_OBJECT); + assert(memb->flags == 0 || memb->flags == READONLY); + descr = PyDescr_NewMember(type, memb); + if (unlikely(!descr)) + return -1; + if (unlikely(PyDict_SetItem(type->tp_dict, PyDescr_NAME(descr), descr) < 0)) { + Py_DECREF(descr); + return -1; + } + Py_DECREF(descr); + changed = 1; + } +#endif + } + memb++; + } + if (changed) + PyType_Modified(type); + } +#endif + return 0; +} +#endif + +/* PyObjectCallNoArg */ +static CYTHON_INLINE PyObject* __Pyx_PyObject_CallNoArg(PyObject *func) { + PyObject *arg[2] = {NULL, NULL}; + return __Pyx_PyObject_FastCall(func, arg + 1, 0 | __Pyx_PY_VECTORCALL_ARGUMENTS_OFFSET); +} + +/* PyObjectGetMethod */ +static int __Pyx_PyObject_GetMethod(PyObject *obj, PyObject *name, PyObject **method) { + PyObject *attr; +#if CYTHON_UNPACK_METHODS && CYTHON_COMPILING_IN_CPYTHON && CYTHON_USE_PYTYPE_LOOKUP + __Pyx_TypeName type_name; + PyTypeObject *tp = Py_TYPE(obj); + PyObject *descr; + descrgetfunc f = NULL; + PyObject **dictptr, *dict; + int meth_found = 0; + assert (*method == NULL); + if (unlikely(tp->tp_getattro != PyObject_GenericGetAttr)) { + attr = __Pyx_PyObject_GetAttrStr(obj, name); + goto try_unpack; + } + if (unlikely(tp->tp_dict == NULL) && unlikely(PyType_Ready(tp) < 0)) { + return 0; + } + descr = _PyType_Lookup(tp, name); + if (likely(descr != NULL)) { + Py_INCREF(descr); +#if defined(Py_TPFLAGS_METHOD_DESCRIPTOR) && Py_TPFLAGS_METHOD_DESCRIPTOR + if (__Pyx_PyType_HasFeature(Py_TYPE(descr), Py_TPFLAGS_METHOD_DESCRIPTOR)) +#elif PY_MAJOR_VERSION >= 3 + #ifdef __Pyx_CyFunction_USED + if (likely(PyFunction_Check(descr) || __Pyx_IS_TYPE(descr, &PyMethodDescr_Type) || __Pyx_CyFunction_Check(descr))) + #else + if (likely(PyFunction_Check(descr) || __Pyx_IS_TYPE(descr, &PyMethodDescr_Type))) + #endif +#else + #ifdef __Pyx_CyFunction_USED + if (likely(PyFunction_Check(descr) || __Pyx_CyFunction_Check(descr))) + #else + if (likely(PyFunction_Check(descr))) + #endif +#endif + { + meth_found = 1; + } else { + f = Py_TYPE(descr)->tp_descr_get; + if (f != NULL && PyDescr_IsData(descr)) { + attr = f(descr, obj, (PyObject *)Py_TYPE(obj)); + Py_DECREF(descr); + goto try_unpack; + } + } + } + dictptr = _PyObject_GetDictPtr(obj); + if (dictptr != NULL && (dict = *dictptr) != NULL) { + Py_INCREF(dict); + attr = __Pyx_PyDict_GetItemStr(dict, name); + if (attr != NULL) { + Py_INCREF(attr); + Py_DECREF(dict); + Py_XDECREF(descr); + goto try_unpack; + } + Py_DECREF(dict); + } + if (meth_found) { + *method = descr; + return 1; + } + if (f != NULL) { + attr = f(descr, obj, (PyObject *)Py_TYPE(obj)); + Py_DECREF(descr); + goto try_unpack; + } + if (likely(descr != NULL)) { + *method = descr; + return 0; + } + type_name = __Pyx_PyType_GetName(tp); + PyErr_Format(PyExc_AttributeError, +#if PY_MAJOR_VERSION >= 3 + "'" __Pyx_FMT_TYPENAME "' object has no attribute '%U'", + type_name, name); +#else + "'" __Pyx_FMT_TYPENAME "' object has no attribute '%.400s'", + type_name, PyString_AS_STRING(name)); +#endif + __Pyx_DECREF_TypeName(type_name); + return 0; +#else + attr = __Pyx_PyObject_GetAttrStr(obj, name); + goto try_unpack; +#endif +try_unpack: +#if CYTHON_UNPACK_METHODS + if (likely(attr) && PyMethod_Check(attr) && likely(PyMethod_GET_SELF(attr) == obj)) { + PyObject *function = PyMethod_GET_FUNCTION(attr); + Py_INCREF(function); + Py_DECREF(attr); + *method = function; + return 1; + } +#endif + *method = attr; + return 0; +} + +/* PyObjectCallMethod0 */ +static PyObject* __Pyx_PyObject_CallMethod0(PyObject* obj, PyObject* method_name) { + PyObject *method = NULL, *result = NULL; + int is_method = __Pyx_PyObject_GetMethod(obj, method_name, &method); + if (likely(is_method)) { + result = __Pyx_PyObject_CallOneArg(method, obj); + Py_DECREF(method); + return result; + } + if (unlikely(!method)) goto bad; + result = __Pyx_PyObject_CallNoArg(method); + Py_DECREF(method); +bad: + return result; +} + +/* ValidateBasesTuple */ +#if CYTHON_COMPILING_IN_CPYTHON || CYTHON_COMPILING_IN_LIMITED_API || CYTHON_USE_TYPE_SPECS +static int __Pyx_validate_bases_tuple(const char *type_name, Py_ssize_t dictoffset, PyObject *bases) { + Py_ssize_t i, n; +#if CYTHON_ASSUME_SAFE_MACROS + n = PyTuple_GET_SIZE(bases); +#else + n = PyTuple_Size(bases); + if (n < 0) return -1; +#endif + for (i = 1; i < n; i++) + { +#if CYTHON_AVOID_BORROWED_REFS + PyObject *b0 = PySequence_GetItem(bases, i); + if (!b0) return -1; +#elif CYTHON_ASSUME_SAFE_MACROS + PyObject *b0 = PyTuple_GET_ITEM(bases, i); +#else + PyObject *b0 = PyTuple_GetItem(bases, i); + if (!b0) return -1; +#endif + PyTypeObject *b; +#if PY_MAJOR_VERSION < 3 + if (PyClass_Check(b0)) + { + PyErr_Format(PyExc_TypeError, "base class '%.200s' is an old-style class", + PyString_AS_STRING(((PyClassObject*)b0)->cl_name)); +#if CYTHON_AVOID_BORROWED_REFS + Py_DECREF(b0); +#endif + return -1; + } +#endif + b = (PyTypeObject*) b0; + if (!__Pyx_PyType_HasFeature(b, Py_TPFLAGS_HEAPTYPE)) + { + __Pyx_TypeName b_name = __Pyx_PyType_GetName(b); + PyErr_Format(PyExc_TypeError, + "base class '" __Pyx_FMT_TYPENAME "' is not a heap type", b_name); + __Pyx_DECREF_TypeName(b_name); +#if CYTHON_AVOID_BORROWED_REFS + Py_DECREF(b0); +#endif + return -1; + } + if (dictoffset == 0) + { + Py_ssize_t b_dictoffset = 0; +#if CYTHON_USE_TYPE_SLOTS || CYTHON_COMPILING_IN_PYPY + b_dictoffset = b->tp_dictoffset; +#else + PyObject *py_b_dictoffset = PyObject_GetAttrString((PyObject*)b, "__dictoffset__"); + if (!py_b_dictoffset) goto dictoffset_return; + b_dictoffset = PyLong_AsSsize_t(py_b_dictoffset); + Py_DECREF(py_b_dictoffset); + if (b_dictoffset == -1 && PyErr_Occurred()) goto dictoffset_return; +#endif + if (b_dictoffset) { + { + __Pyx_TypeName b_name = __Pyx_PyType_GetName(b); + PyErr_Format(PyExc_TypeError, + "extension type '%.200s' has no __dict__ slot, " + "but base type '" __Pyx_FMT_TYPENAME "' has: " + "either add 'cdef dict __dict__' to the extension type " + "or add '__slots__ = [...]' to the base type", + type_name, b_name); + __Pyx_DECREF_TypeName(b_name); + } +#if !(CYTHON_USE_TYPE_SLOTS || CYTHON_COMPILING_IN_PYPY) + dictoffset_return: +#endif +#if CYTHON_AVOID_BORROWED_REFS + Py_DECREF(b0); +#endif + return -1; + } + } +#if CYTHON_AVOID_BORROWED_REFS + Py_DECREF(b0); +#endif + } + return 0; +} +#endif + +/* PyType_Ready */ +static int __Pyx_PyType_Ready(PyTypeObject *t) { +#if CYTHON_USE_TYPE_SPECS || !(CYTHON_COMPILING_IN_CPYTHON || CYTHON_COMPILING_IN_LIMITED_API) || defined(PYSTON_MAJOR_VERSION) + (void)__Pyx_PyObject_CallMethod0; +#if CYTHON_USE_TYPE_SPECS + (void)__Pyx_validate_bases_tuple; +#endif + return PyType_Ready(t); +#else + int r; + PyObject *bases = __Pyx_PyType_GetSlot(t, tp_bases, PyObject*); + if (bases && unlikely(__Pyx_validate_bases_tuple(t->tp_name, t->tp_dictoffset, bases) == -1)) + return -1; +#if PY_VERSION_HEX >= 0x03050000 && !defined(PYSTON_MAJOR_VERSION) + { + int gc_was_enabled; + #if PY_VERSION_HEX >= 0x030A00b1 + gc_was_enabled = PyGC_Disable(); + (void)__Pyx_PyObject_CallMethod0; + #else + PyObject *ret, *py_status; + PyObject *gc = NULL; + #if PY_VERSION_HEX >= 0x030700a1 && (!CYTHON_COMPILING_IN_PYPY || PYPY_VERSION_NUM+0 >= 0x07030400) + gc = PyImport_GetModule(__pyx_kp_u_gc); + #endif + if (unlikely(!gc)) gc = PyImport_Import(__pyx_kp_u_gc); + if (unlikely(!gc)) return -1; + py_status = __Pyx_PyObject_CallMethod0(gc, __pyx_kp_u_isenabled); + if (unlikely(!py_status)) { + Py_DECREF(gc); + return -1; + } + gc_was_enabled = __Pyx_PyObject_IsTrue(py_status); + Py_DECREF(py_status); + if (gc_was_enabled > 0) { + ret = __Pyx_PyObject_CallMethod0(gc, __pyx_kp_u_disable); + if (unlikely(!ret)) { + Py_DECREF(gc); + return -1; + } + Py_DECREF(ret); + } else if (unlikely(gc_was_enabled == -1)) { + Py_DECREF(gc); + return -1; + } + #endif + t->tp_flags |= Py_TPFLAGS_HEAPTYPE; +#if PY_VERSION_HEX >= 0x030A0000 + t->tp_flags |= Py_TPFLAGS_IMMUTABLETYPE; +#endif +#else + (void)__Pyx_PyObject_CallMethod0; +#endif + r = PyType_Ready(t); +#if PY_VERSION_HEX >= 0x03050000 && !defined(PYSTON_MAJOR_VERSION) + t->tp_flags &= ~Py_TPFLAGS_HEAPTYPE; + #if PY_VERSION_HEX >= 0x030A00b1 + if (gc_was_enabled) + PyGC_Enable(); + #else + if (gc_was_enabled) { + PyObject *tp, *v, *tb; + PyErr_Fetch(&tp, &v, &tb); + ret = __Pyx_PyObject_CallMethod0(gc, __pyx_kp_u_enable); + if (likely(ret || r == -1)) { + Py_XDECREF(ret); + PyErr_Restore(tp, v, tb); + } else { + Py_XDECREF(tp); + Py_XDECREF(v); + Py_XDECREF(tb); + r = -1; + } + } + Py_DECREF(gc); + #endif + } +#endif + return r; +#endif +} + +/* SetupReduce */ +#if !CYTHON_COMPILING_IN_LIMITED_API +static int __Pyx_setup_reduce_is_named(PyObject* meth, PyObject* name) { + int ret; + PyObject *name_attr; + name_attr = __Pyx_PyObject_GetAttrStrNoError(meth, __pyx_n_s_name_2); + if (likely(name_attr)) { + ret = PyObject_RichCompareBool(name_attr, name, Py_EQ); + } else { + ret = -1; + } + if (unlikely(ret < 0)) { + PyErr_Clear(); + ret = 0; + } + Py_XDECREF(name_attr); + return ret; +} +static int __Pyx_setup_reduce(PyObject* type_obj) { + int ret = 0; + PyObject *object_reduce = NULL; + PyObject *object_getstate = NULL; + PyObject *object_reduce_ex = NULL; + PyObject *reduce = NULL; + PyObject *reduce_ex = NULL; + PyObject *reduce_cython = NULL; + PyObject *setstate = NULL; + PyObject *setstate_cython = NULL; + PyObject *getstate = NULL; +#if CYTHON_USE_PYTYPE_LOOKUP + getstate = _PyType_Lookup((PyTypeObject*)type_obj, __pyx_n_s_getstate); +#else + getstate = __Pyx_PyObject_GetAttrStrNoError(type_obj, __pyx_n_s_getstate); + if (!getstate && PyErr_Occurred()) { + goto __PYX_BAD; + } +#endif + if (getstate) { +#if CYTHON_USE_PYTYPE_LOOKUP + object_getstate = _PyType_Lookup(&PyBaseObject_Type, __pyx_n_s_getstate); +#else + object_getstate = __Pyx_PyObject_GetAttrStrNoError((PyObject*)&PyBaseObject_Type, __pyx_n_s_getstate); + if (!object_getstate && PyErr_Occurred()) { + goto __PYX_BAD; + } +#endif + if (object_getstate != getstate) { + goto __PYX_GOOD; + } + } +#if CYTHON_USE_PYTYPE_LOOKUP + object_reduce_ex = _PyType_Lookup(&PyBaseObject_Type, __pyx_n_s_reduce_ex); if (!object_reduce_ex) goto __PYX_BAD; +#else + object_reduce_ex = __Pyx_PyObject_GetAttrStr((PyObject*)&PyBaseObject_Type, __pyx_n_s_reduce_ex); if (!object_reduce_ex) goto __PYX_BAD; +#endif + reduce_ex = __Pyx_PyObject_GetAttrStr(type_obj, __pyx_n_s_reduce_ex); if (unlikely(!reduce_ex)) goto __PYX_BAD; + if (reduce_ex == object_reduce_ex) { +#if CYTHON_USE_PYTYPE_LOOKUP + object_reduce = _PyType_Lookup(&PyBaseObject_Type, __pyx_n_s_reduce); if (!object_reduce) goto __PYX_BAD; +#else + object_reduce = __Pyx_PyObject_GetAttrStr((PyObject*)&PyBaseObject_Type, __pyx_n_s_reduce); if (!object_reduce) goto __PYX_BAD; +#endif + reduce = __Pyx_PyObject_GetAttrStr(type_obj, __pyx_n_s_reduce); if (unlikely(!reduce)) goto __PYX_BAD; + if (reduce == object_reduce || __Pyx_setup_reduce_is_named(reduce, __pyx_n_s_reduce_cython)) { + reduce_cython = __Pyx_PyObject_GetAttrStrNoError(type_obj, __pyx_n_s_reduce_cython); + if (likely(reduce_cython)) { + ret = PyDict_SetItem(((PyTypeObject*)type_obj)->tp_dict, __pyx_n_s_reduce, reduce_cython); if (unlikely(ret < 0)) goto __PYX_BAD; + ret = PyDict_DelItem(((PyTypeObject*)type_obj)->tp_dict, __pyx_n_s_reduce_cython); if (unlikely(ret < 0)) goto __PYX_BAD; + } else if (reduce == object_reduce || PyErr_Occurred()) { + goto __PYX_BAD; + } + setstate = __Pyx_PyObject_GetAttrStrNoError(type_obj, __pyx_n_s_setstate); + if (!setstate) PyErr_Clear(); + if (!setstate || __Pyx_setup_reduce_is_named(setstate, __pyx_n_s_setstate_cython)) { + setstate_cython = __Pyx_PyObject_GetAttrStrNoError(type_obj, __pyx_n_s_setstate_cython); + if (likely(setstate_cython)) { + ret = PyDict_SetItem(((PyTypeObject*)type_obj)->tp_dict, __pyx_n_s_setstate, setstate_cython); if (unlikely(ret < 0)) goto __PYX_BAD; + ret = PyDict_DelItem(((PyTypeObject*)type_obj)->tp_dict, __pyx_n_s_setstate_cython); if (unlikely(ret < 0)) goto __PYX_BAD; + } else if (!setstate || PyErr_Occurred()) { + goto __PYX_BAD; + } + } + PyType_Modified((PyTypeObject*)type_obj); + } + } + goto __PYX_GOOD; +__PYX_BAD: + if (!PyErr_Occurred()) { + __Pyx_TypeName type_obj_name = + __Pyx_PyType_GetName((PyTypeObject*)type_obj); + PyErr_Format(PyExc_RuntimeError, + "Unable to initialize pickling for " __Pyx_FMT_TYPENAME, type_obj_name); + __Pyx_DECREF_TypeName(type_obj_name); + } + ret = -1; +__PYX_GOOD: +#if !CYTHON_USE_PYTYPE_LOOKUP + Py_XDECREF(object_reduce); + Py_XDECREF(object_reduce_ex); + Py_XDECREF(object_getstate); + Py_XDECREF(getstate); +#endif + Py_XDECREF(reduce); + Py_XDECREF(reduce_ex); + Py_XDECREF(reduce_cython); + Py_XDECREF(setstate); + Py_XDECREF(setstate_cython); + return ret; +} +#endif + +/* SetVTable */ +static int __Pyx_SetVtable(PyTypeObject *type, void *vtable) { + PyObject *ob = PyCapsule_New(vtable, 0, 0); + if (unlikely(!ob)) + goto bad; +#if CYTHON_COMPILING_IN_LIMITED_API + if (unlikely(PyObject_SetAttr((PyObject *) type, __pyx_n_s_pyx_vtable, ob) < 0)) +#else + if (unlikely(PyDict_SetItem(type->tp_dict, __pyx_n_s_pyx_vtable, ob) < 0)) +#endif + goto bad; + Py_DECREF(ob); + return 0; +bad: + Py_XDECREF(ob); + return -1; +} + +/* GetVTable */ +static void* __Pyx_GetVtable(PyTypeObject *type) { + void* ptr; +#if CYTHON_COMPILING_IN_LIMITED_API + PyObject *ob = PyObject_GetAttr((PyObject *)type, __pyx_n_s_pyx_vtable); +#else + PyObject *ob = PyObject_GetItem(type->tp_dict, __pyx_n_s_pyx_vtable); +#endif + if (!ob) + goto bad; + ptr = PyCapsule_GetPointer(ob, 0); + if (!ptr && !PyErr_Occurred()) + PyErr_SetString(PyExc_RuntimeError, "invalid vtable found for imported type"); + Py_DECREF(ob); + return ptr; +bad: + Py_XDECREF(ob); + return NULL; +} + +/* MergeVTables */ +#if !CYTHON_COMPILING_IN_LIMITED_API +static int __Pyx_MergeVtables(PyTypeObject *type) { + int i; + void** base_vtables; + __Pyx_TypeName tp_base_name; + __Pyx_TypeName base_name; + void* unknown = (void*)-1; + PyObject* bases = type->tp_bases; + int base_depth = 0; + { + PyTypeObject* base = type->tp_base; + while (base) { + base_depth += 1; + base = base->tp_base; + } + } + base_vtables = (void**) malloc(sizeof(void*) * (size_t)(base_depth + 1)); + base_vtables[0] = unknown; + for (i = 1; i < PyTuple_GET_SIZE(bases); i++) { + void* base_vtable = __Pyx_GetVtable(((PyTypeObject*)PyTuple_GET_ITEM(bases, i))); + if (base_vtable != NULL) { + int j; + PyTypeObject* base = type->tp_base; + for (j = 0; j < base_depth; j++) { + if (base_vtables[j] == unknown) { + base_vtables[j] = __Pyx_GetVtable(base); + base_vtables[j + 1] = unknown; + } + if (base_vtables[j] == base_vtable) { + break; + } else if (base_vtables[j] == NULL) { + goto bad; + } + base = base->tp_base; + } + } + } + PyErr_Clear(); + free(base_vtables); + return 0; +bad: + tp_base_name = __Pyx_PyType_GetName(type->tp_base); + base_name = __Pyx_PyType_GetName((PyTypeObject*)PyTuple_GET_ITEM(bases, i)); + PyErr_Format(PyExc_TypeError, + "multiple bases have vtable conflict: '" __Pyx_FMT_TYPENAME "' and '" __Pyx_FMT_TYPENAME "'", tp_base_name, base_name); + __Pyx_DECREF_TypeName(tp_base_name); + __Pyx_DECREF_TypeName(base_name); + free(base_vtables); + return -1; +} +#endif + +/* TypeImport */ +#ifndef __PYX_HAVE_RT_ImportType_3_0_8 +#define __PYX_HAVE_RT_ImportType_3_0_8 +static PyTypeObject *__Pyx_ImportType_3_0_8(PyObject *module, const char *module_name, const char *class_name, + size_t size, size_t alignment, enum __Pyx_ImportType_CheckSize_3_0_8 check_size) +{ + PyObject *result = 0; + char warning[200]; + Py_ssize_t basicsize; + Py_ssize_t itemsize; +#if CYTHON_COMPILING_IN_LIMITED_API + PyObject *py_basicsize; + PyObject *py_itemsize; +#endif + result = PyObject_GetAttrString(module, class_name); + if (!result) + goto bad; + if (!PyType_Check(result)) { + PyErr_Format(PyExc_TypeError, + "%.200s.%.200s is not a type object", + module_name, class_name); + goto bad; + } +#if !CYTHON_COMPILING_IN_LIMITED_API + basicsize = ((PyTypeObject *)result)->tp_basicsize; + itemsize = ((PyTypeObject *)result)->tp_itemsize; +#else + py_basicsize = PyObject_GetAttrString(result, "__basicsize__"); + if (!py_basicsize) + goto bad; + basicsize = PyLong_AsSsize_t(py_basicsize); + Py_DECREF(py_basicsize); + py_basicsize = 0; + if (basicsize == (Py_ssize_t)-1 && PyErr_Occurred()) + goto bad; + py_itemsize = PyObject_GetAttrString(result, "__itemsize__"); + if (!py_itemsize) + goto bad; + itemsize = PyLong_AsSsize_t(py_itemsize); + Py_DECREF(py_itemsize); + py_itemsize = 0; + if (itemsize == (Py_ssize_t)-1 && PyErr_Occurred()) + goto bad; +#endif + if (itemsize) { + if (size % alignment) { + alignment = size % alignment; + } + if (itemsize < (Py_ssize_t)alignment) + itemsize = (Py_ssize_t)alignment; + } + if ((size_t)(basicsize + itemsize) < size) { + PyErr_Format(PyExc_ValueError, + "%.200s.%.200s size changed, may indicate binary incompatibility. " + "Expected %zd from C header, got %zd from PyObject", + module_name, class_name, size, basicsize+itemsize); + goto bad; + } + if (check_size == __Pyx_ImportType_CheckSize_Error_3_0_8 && + ((size_t)basicsize > size || (size_t)(basicsize + itemsize) < size)) { + PyErr_Format(PyExc_ValueError, + "%.200s.%.200s size changed, may indicate binary incompatibility. " + "Expected %zd from C header, got %zd-%zd from PyObject", + module_name, class_name, size, basicsize, basicsize+itemsize); + goto bad; + } + else if (check_size == __Pyx_ImportType_CheckSize_Warn_3_0_8 && (size_t)basicsize > size) { + PyOS_snprintf(warning, sizeof(warning), + "%s.%s size changed, may indicate binary incompatibility. " + "Expected %zd from C header, got %zd from PyObject", + module_name, class_name, size, basicsize); + if (PyErr_WarnEx(NULL, warning, 0) < 0) goto bad; + } + return (PyTypeObject *)result; +bad: + Py_XDECREF(result); + return NULL; +} +#endif + +/* CalculateMetaclass */ +static PyObject *__Pyx_CalculateMetaclass(PyTypeObject *metaclass, PyObject *bases) { + Py_ssize_t i, nbases; +#if CYTHON_ASSUME_SAFE_MACROS + nbases = PyTuple_GET_SIZE(bases); +#else + nbases = PyTuple_Size(bases); + if (nbases < 0) return NULL; +#endif + for (i=0; i < nbases; i++) { + PyTypeObject *tmptype; +#if CYTHON_ASSUME_SAFE_MACROS + PyObject *tmp = PyTuple_GET_ITEM(bases, i); +#else + PyObject *tmp = PyTuple_GetItem(bases, i); + if (!tmp) return NULL; +#endif + tmptype = Py_TYPE(tmp); +#if PY_MAJOR_VERSION < 3 + if (tmptype == &PyClass_Type) + continue; +#endif + if (!metaclass) { + metaclass = tmptype; + continue; + } + if (PyType_IsSubtype(metaclass, tmptype)) + continue; + if (PyType_IsSubtype(tmptype, metaclass)) { + metaclass = tmptype; + continue; + } + PyErr_SetString(PyExc_TypeError, + "metaclass conflict: " + "the metaclass of a derived class " + "must be a (non-strict) subclass " + "of the metaclasses of all its bases"); + return NULL; + } + if (!metaclass) { +#if PY_MAJOR_VERSION < 3 + metaclass = &PyClass_Type; +#else + metaclass = &PyType_Type; +#endif + } + Py_INCREF((PyObject*) metaclass); + return (PyObject*) metaclass; +} + +/* PyObjectCall2Args */ +static CYTHON_INLINE PyObject* __Pyx_PyObject_Call2Args(PyObject* function, PyObject* arg1, PyObject* arg2) { + PyObject *args[3] = {NULL, arg1, arg2}; + return __Pyx_PyObject_FastCall(function, args+1, 2 | __Pyx_PY_VECTORCALL_ARGUMENTS_OFFSET); +} + +/* PyObjectLookupSpecial */ +#if CYTHON_USE_PYTYPE_LOOKUP && CYTHON_USE_TYPE_SLOTS +static CYTHON_INLINE PyObject* __Pyx__PyObject_LookupSpecial(PyObject* obj, PyObject* attr_name, int with_error) { + PyObject *res; + PyTypeObject *tp = Py_TYPE(obj); +#if PY_MAJOR_VERSION < 3 + if (unlikely(PyInstance_Check(obj))) + return with_error ? __Pyx_PyObject_GetAttrStr(obj, attr_name) : __Pyx_PyObject_GetAttrStrNoError(obj, attr_name); +#endif + res = _PyType_Lookup(tp, attr_name); + if (likely(res)) { + descrgetfunc f = Py_TYPE(res)->tp_descr_get; + if (!f) { + Py_INCREF(res); + } else { + res = f(res, obj, (PyObject *)tp); + } + } else if (with_error) { + PyErr_SetObject(PyExc_AttributeError, attr_name); + } + return res; +} +#endif + +/* Py3ClassCreate */ +static PyObject *__Pyx_Py3MetaclassPrepare(PyObject *metaclass, PyObject *bases, PyObject *name, + PyObject *qualname, PyObject *mkw, PyObject *modname, PyObject *doc) { + PyObject *ns; + if (metaclass) { + PyObject *prep = __Pyx_PyObject_GetAttrStrNoError(metaclass, __pyx_n_s_prepare); + if (prep) { + PyObject *pargs[3] = {NULL, name, bases}; + ns = __Pyx_PyObject_FastCallDict(prep, pargs+1, 2 | __Pyx_PY_VECTORCALL_ARGUMENTS_OFFSET, mkw); + Py_DECREF(prep); + } else { + if (unlikely(PyErr_Occurred())) + return NULL; + ns = PyDict_New(); + } + } else { + ns = PyDict_New(); + } + if (unlikely(!ns)) + return NULL; + if (unlikely(PyObject_SetItem(ns, __pyx_n_s_module, modname) < 0)) goto bad; +#if PY_VERSION_HEX >= 0x03030000 + if (unlikely(PyObject_SetItem(ns, __pyx_n_s_qualname, qualname) < 0)) goto bad; +#else + CYTHON_MAYBE_UNUSED_VAR(qualname); +#endif + if (unlikely(doc && PyObject_SetItem(ns, __pyx_n_s_doc, doc) < 0)) goto bad; + return ns; +bad: + Py_DECREF(ns); + return NULL; +} +#if PY_VERSION_HEX < 0x030600A4 && CYTHON_PEP487_INIT_SUBCLASS +static int __Pyx_SetNamesPEP487(PyObject *type_obj) { + PyTypeObject *type = (PyTypeObject*) type_obj; + PyObject *names_to_set, *key, *value, *set_name, *tmp; + Py_ssize_t i = 0; +#if CYTHON_USE_TYPE_SLOTS + names_to_set = PyDict_Copy(type->tp_dict); +#else + { + PyObject *d = PyObject_GetAttr(type_obj, __pyx_n_s_dict); + names_to_set = NULL; + if (likely(d)) { + PyObject *names_to_set = PyDict_New(); + int ret = likely(names_to_set) ? PyDict_Update(names_to_set, d) : -1; + Py_DECREF(d); + if (unlikely(ret < 0)) + Py_CLEAR(names_to_set); + } + } +#endif + if (unlikely(names_to_set == NULL)) + goto bad; + while (PyDict_Next(names_to_set, &i, &key, &value)) { + set_name = __Pyx_PyObject_LookupSpecialNoError(value, __pyx_n_s_set_name); + if (unlikely(set_name != NULL)) { + tmp = __Pyx_PyObject_Call2Args(set_name, type_obj, key); + Py_DECREF(set_name); + if (unlikely(tmp == NULL)) { + __Pyx_TypeName value_type_name = + __Pyx_PyType_GetName(Py_TYPE(value)); + __Pyx_TypeName type_name = __Pyx_PyType_GetName(type); + PyErr_Format(PyExc_RuntimeError, +#if PY_MAJOR_VERSION >= 3 + "Error calling __set_name__ on '" __Pyx_FMT_TYPENAME "' instance %R " "in '" __Pyx_FMT_TYPENAME "'", + value_type_name, key, type_name); +#else + "Error calling __set_name__ on '" __Pyx_FMT_TYPENAME "' instance %.100s in '" __Pyx_FMT_TYPENAME "'", + value_type_name, + PyString_Check(key) ? PyString_AS_STRING(key) : "?", + type_name); +#endif + goto bad; + } else { + Py_DECREF(tmp); + } + } + else if (unlikely(PyErr_Occurred())) { + goto bad; + } + } + Py_DECREF(names_to_set); + return 0; +bad: + Py_XDECREF(names_to_set); + return -1; +} +static PyObject *__Pyx_InitSubclassPEP487(PyObject *type_obj, PyObject *mkw) { +#if CYTHON_USE_TYPE_SLOTS && CYTHON_ASSUME_SAFE_MACROS && !CYTHON_AVOID_BORROWED_REFS + PyTypeObject *type = (PyTypeObject*) type_obj; + PyObject *mro = type->tp_mro; + Py_ssize_t i, nbases; + if (unlikely(!mro)) goto done; + (void) &__Pyx_GetBuiltinName; + Py_INCREF(mro); + nbases = PyTuple_GET_SIZE(mro); + assert(PyTuple_GET_ITEM(mro, 0) == type_obj); + for (i = 1; i < nbases-1; i++) { + PyObject *base, *dict, *meth; + base = PyTuple_GET_ITEM(mro, i); + dict = ((PyTypeObject *)base)->tp_dict; + meth = __Pyx_PyDict_GetItemStrWithError(dict, __pyx_n_s_init_subclass); + if (unlikely(meth)) { + descrgetfunc f = Py_TYPE(meth)->tp_descr_get; + PyObject *res; + Py_INCREF(meth); + if (likely(f)) { + res = f(meth, NULL, type_obj); + Py_DECREF(meth); + if (unlikely(!res)) goto bad; + meth = res; + } + res = __Pyx_PyObject_FastCallDict(meth, NULL, 0, mkw); + Py_DECREF(meth); + if (unlikely(!res)) goto bad; + Py_DECREF(res); + goto done; + } else if (unlikely(PyErr_Occurred())) { + goto bad; + } + } +done: + Py_XDECREF(mro); + return type_obj; +bad: + Py_XDECREF(mro); + Py_DECREF(type_obj); + return NULL; +#else + PyObject *super_type, *super, *func, *res; +#if CYTHON_COMPILING_IN_PYPY && !defined(PySuper_Type) + super_type = __Pyx_GetBuiltinName(__pyx_n_s_super); +#else + super_type = (PyObject*) &PySuper_Type; + (void) &__Pyx_GetBuiltinName; +#endif + super = likely(super_type) ? __Pyx_PyObject_Call2Args(super_type, type_obj, type_obj) : NULL; +#if CYTHON_COMPILING_IN_PYPY && !defined(PySuper_Type) + Py_XDECREF(super_type); +#endif + if (unlikely(!super)) { + Py_CLEAR(type_obj); + goto done; + } + func = __Pyx_PyObject_GetAttrStrNoError(super, __pyx_n_s_init_subclass); + Py_DECREF(super); + if (likely(!func)) { + if (unlikely(PyErr_Occurred())) + Py_CLEAR(type_obj); + goto done; + } + res = __Pyx_PyObject_FastCallDict(func, NULL, 0, mkw); + Py_DECREF(func); + if (unlikely(!res)) + Py_CLEAR(type_obj); + Py_XDECREF(res); +done: + return type_obj; +#endif +} +#endif +static PyObject *__Pyx_Py3ClassCreate(PyObject *metaclass, PyObject *name, PyObject *bases, + PyObject *dict, PyObject *mkw, + int calculate_metaclass, int allow_py2_metaclass) { + PyObject *result; + PyObject *owned_metaclass = NULL; + PyObject *margs[4] = {NULL, name, bases, dict}; + if (allow_py2_metaclass) { + owned_metaclass = PyObject_GetItem(dict, __pyx_n_s_metaclass); + if (owned_metaclass) { + metaclass = owned_metaclass; + } else if (likely(PyErr_ExceptionMatches(PyExc_KeyError))) { + PyErr_Clear(); + } else { + return NULL; + } + } + if (calculate_metaclass && (!metaclass || PyType_Check(metaclass))) { + metaclass = __Pyx_CalculateMetaclass((PyTypeObject*) metaclass, bases); + Py_XDECREF(owned_metaclass); + if (unlikely(!metaclass)) + return NULL; + owned_metaclass = metaclass; + } + result = __Pyx_PyObject_FastCallDict(metaclass, margs+1, 3 | __Pyx_PY_VECTORCALL_ARGUMENTS_OFFSET, +#if PY_VERSION_HEX < 0x030600A4 + (metaclass == (PyObject*)&PyType_Type) ? NULL : mkw +#else + mkw +#endif + ); + Py_XDECREF(owned_metaclass); +#if PY_VERSION_HEX < 0x030600A4 && CYTHON_PEP487_INIT_SUBCLASS + if (likely(result) && likely(PyType_Check(result))) { + if (unlikely(__Pyx_SetNamesPEP487(result) < 0)) { + Py_CLEAR(result); + } else { + result = __Pyx_InitSubclassPEP487(result, mkw); + } + } +#else + (void) &__Pyx_GetBuiltinName; +#endif + return result; +} + +/* FetchSharedCythonModule */ +static PyObject *__Pyx_FetchSharedCythonABIModule(void) { + return __Pyx_PyImport_AddModuleRef((char*) __PYX_ABI_MODULE_NAME); +} + +/* FetchCommonType */ +static int __Pyx_VerifyCachedType(PyObject *cached_type, + const char *name, + Py_ssize_t basicsize, + Py_ssize_t expected_basicsize) { + if (!PyType_Check(cached_type)) { + PyErr_Format(PyExc_TypeError, + "Shared Cython type %.200s is not a type object", name); + return -1; + } + if (basicsize != expected_basicsize) { + PyErr_Format(PyExc_TypeError, + "Shared Cython type %.200s has the wrong size, try recompiling", + name); + return -1; + } + return 0; +} +#if !CYTHON_USE_TYPE_SPECS +static PyTypeObject* __Pyx_FetchCommonType(PyTypeObject* type) { + PyObject* abi_module; + const char* object_name; + PyTypeObject *cached_type = NULL; + abi_module = __Pyx_FetchSharedCythonABIModule(); + if (!abi_module) return NULL; + object_name = strrchr(type->tp_name, '.'); + object_name = object_name ? object_name+1 : type->tp_name; + cached_type = (PyTypeObject*) PyObject_GetAttrString(abi_module, object_name); + if (cached_type) { + if (__Pyx_VerifyCachedType( + (PyObject *)cached_type, + object_name, + cached_type->tp_basicsize, + type->tp_basicsize) < 0) { + goto bad; + } + goto done; + } + if (!PyErr_ExceptionMatches(PyExc_AttributeError)) goto bad; + PyErr_Clear(); + if (PyType_Ready(type) < 0) goto bad; + if (PyObject_SetAttrString(abi_module, object_name, (PyObject *)type) < 0) + goto bad; + Py_INCREF(type); + cached_type = type; +done: + Py_DECREF(abi_module); + return cached_type; +bad: + Py_XDECREF(cached_type); + cached_type = NULL; + goto done; +} +#else +static PyTypeObject *__Pyx_FetchCommonTypeFromSpec(PyObject *module, PyType_Spec *spec, PyObject *bases) { + PyObject *abi_module, *cached_type = NULL; + const char* object_name = strrchr(spec->name, '.'); + object_name = object_name ? object_name+1 : spec->name; + abi_module = __Pyx_FetchSharedCythonABIModule(); + if (!abi_module) return NULL; + cached_type = PyObject_GetAttrString(abi_module, object_name); + if (cached_type) { + Py_ssize_t basicsize; +#if CYTHON_COMPILING_IN_LIMITED_API + PyObject *py_basicsize; + py_basicsize = PyObject_GetAttrString(cached_type, "__basicsize__"); + if (unlikely(!py_basicsize)) goto bad; + basicsize = PyLong_AsSsize_t(py_basicsize); + Py_DECREF(py_basicsize); + py_basicsize = 0; + if (unlikely(basicsize == (Py_ssize_t)-1) && PyErr_Occurred()) goto bad; +#else + basicsize = likely(PyType_Check(cached_type)) ? ((PyTypeObject*) cached_type)->tp_basicsize : -1; +#endif + if (__Pyx_VerifyCachedType( + cached_type, + object_name, + basicsize, + spec->basicsize) < 0) { + goto bad; + } + goto done; + } + if (!PyErr_ExceptionMatches(PyExc_AttributeError)) goto bad; + PyErr_Clear(); + CYTHON_UNUSED_VAR(module); + cached_type = __Pyx_PyType_FromModuleAndSpec(abi_module, spec, bases); + if (unlikely(!cached_type)) goto bad; + if (unlikely(__Pyx_fix_up_extension_type_from_spec(spec, (PyTypeObject *) cached_type) < 0)) goto bad; + if (PyObject_SetAttrString(abi_module, object_name, cached_type) < 0) goto bad; +done: + Py_DECREF(abi_module); + assert(cached_type == NULL || PyType_Check(cached_type)); + return (PyTypeObject *) cached_type; +bad: + Py_XDECREF(cached_type); + cached_type = NULL; + goto done; +} +#endif + +/* PyVectorcallFastCallDict */ +#if CYTHON_METH_FASTCALL +static PyObject *__Pyx_PyVectorcall_FastCallDict_kw(PyObject *func, __pyx_vectorcallfunc vc, PyObject *const *args, size_t nargs, PyObject *kw) +{ + PyObject *res = NULL; + PyObject *kwnames; + PyObject **newargs; + PyObject **kwvalues; + Py_ssize_t i, pos; + size_t j; + PyObject *key, *value; + unsigned long keys_are_strings; + Py_ssize_t nkw = PyDict_GET_SIZE(kw); + newargs = (PyObject **)PyMem_Malloc((nargs + (size_t)nkw) * sizeof(args[0])); + if (unlikely(newargs == NULL)) { + PyErr_NoMemory(); + return NULL; + } + for (j = 0; j < nargs; j++) newargs[j] = args[j]; + kwnames = PyTuple_New(nkw); + if (unlikely(kwnames == NULL)) { + PyMem_Free(newargs); + return NULL; + } + kwvalues = newargs + nargs; + pos = i = 0; + keys_are_strings = Py_TPFLAGS_UNICODE_SUBCLASS; + while (PyDict_Next(kw, &pos, &key, &value)) { + keys_are_strings &= Py_TYPE(key)->tp_flags; + Py_INCREF(key); + Py_INCREF(value); + PyTuple_SET_ITEM(kwnames, i, key); + kwvalues[i] = value; + i++; + } + if (unlikely(!keys_are_strings)) { + PyErr_SetString(PyExc_TypeError, "keywords must be strings"); + goto cleanup; + } + res = vc(func, newargs, nargs, kwnames); +cleanup: + Py_DECREF(kwnames); + for (i = 0; i < nkw; i++) + Py_DECREF(kwvalues[i]); + PyMem_Free(newargs); + return res; +} +static CYTHON_INLINE PyObject *__Pyx_PyVectorcall_FastCallDict(PyObject *func, __pyx_vectorcallfunc vc, PyObject *const *args, size_t nargs, PyObject *kw) +{ + if (likely(kw == NULL) || PyDict_GET_SIZE(kw) == 0) { + return vc(func, args, nargs, NULL); + } + return __Pyx_PyVectorcall_FastCallDict_kw(func, vc, args, nargs, kw); +} +#endif + +/* CythonFunctionShared */ +#if CYTHON_COMPILING_IN_LIMITED_API +static CYTHON_INLINE int __Pyx__IsSameCyOrCFunction(PyObject *func, void *cfunc) { + if (__Pyx_CyFunction_Check(func)) { + return PyCFunction_GetFunction(((__pyx_CyFunctionObject*)func)->func) == (PyCFunction) cfunc; + } else if (PyCFunction_Check(func)) { + return PyCFunction_GetFunction(func) == (PyCFunction) cfunc; + } + return 0; +} +#else +static CYTHON_INLINE int __Pyx__IsSameCyOrCFunction(PyObject *func, void *cfunc) { + return __Pyx_CyOrPyCFunction_Check(func) && __Pyx_CyOrPyCFunction_GET_FUNCTION(func) == (PyCFunction) cfunc; +} +#endif +static CYTHON_INLINE void __Pyx__CyFunction_SetClassObj(__pyx_CyFunctionObject* f, PyObject* classobj) { +#if PY_VERSION_HEX < 0x030900B1 || CYTHON_COMPILING_IN_LIMITED_API + __Pyx_Py_XDECREF_SET( + __Pyx_CyFunction_GetClassObj(f), + ((classobj) ? __Pyx_NewRef(classobj) : NULL)); +#else + __Pyx_Py_XDECREF_SET( + ((PyCMethodObject *) (f))->mm_class, + (PyTypeObject*)((classobj) ? __Pyx_NewRef(classobj) : NULL)); +#endif +} +static PyObject * +__Pyx_CyFunction_get_doc(__pyx_CyFunctionObject *op, void *closure) +{ + CYTHON_UNUSED_VAR(closure); + if (unlikely(op->func_doc == NULL)) { +#if CYTHON_COMPILING_IN_LIMITED_API + op->func_doc = PyObject_GetAttrString(op->func, "__doc__"); + if (unlikely(!op->func_doc)) return NULL; +#else + if (((PyCFunctionObject*)op)->m_ml->ml_doc) { +#if PY_MAJOR_VERSION >= 3 + op->func_doc = PyUnicode_FromString(((PyCFunctionObject*)op)->m_ml->ml_doc); +#else + op->func_doc = PyString_FromString(((PyCFunctionObject*)op)->m_ml->ml_doc); +#endif + if (unlikely(op->func_doc == NULL)) + return NULL; + } else { + Py_INCREF(Py_None); + return Py_None; + } +#endif + } + Py_INCREF(op->func_doc); + return op->func_doc; +} +static int +__Pyx_CyFunction_set_doc(__pyx_CyFunctionObject *op, PyObject *value, void *context) +{ + CYTHON_UNUSED_VAR(context); + if (value == NULL) { + value = Py_None; + } + Py_INCREF(value); + __Pyx_Py_XDECREF_SET(op->func_doc, value); + return 0; +} +static PyObject * +__Pyx_CyFunction_get_name(__pyx_CyFunctionObject *op, void *context) +{ + CYTHON_UNUSED_VAR(context); + if (unlikely(op->func_name == NULL)) { +#if CYTHON_COMPILING_IN_LIMITED_API + op->func_name = PyObject_GetAttrString(op->func, "__name__"); +#elif PY_MAJOR_VERSION >= 3 + op->func_name = PyUnicode_InternFromString(((PyCFunctionObject*)op)->m_ml->ml_name); +#else + op->func_name = PyString_InternFromString(((PyCFunctionObject*)op)->m_ml->ml_name); +#endif + if (unlikely(op->func_name == NULL)) + return NULL; + } + Py_INCREF(op->func_name); + return op->func_name; +} +static int +__Pyx_CyFunction_set_name(__pyx_CyFunctionObject *op, PyObject *value, void *context) +{ + CYTHON_UNUSED_VAR(context); +#if PY_MAJOR_VERSION >= 3 + if (unlikely(value == NULL || !PyUnicode_Check(value))) +#else + if (unlikely(value == NULL || !PyString_Check(value))) +#endif + { + PyErr_SetString(PyExc_TypeError, + "__name__ must be set to a string object"); + return -1; + } + Py_INCREF(value); + __Pyx_Py_XDECREF_SET(op->func_name, value); + return 0; +} +static PyObject * +__Pyx_CyFunction_get_qualname(__pyx_CyFunctionObject *op, void *context) +{ + CYTHON_UNUSED_VAR(context); + Py_INCREF(op->func_qualname); + return op->func_qualname; +} +static int +__Pyx_CyFunction_set_qualname(__pyx_CyFunctionObject *op, PyObject *value, void *context) +{ + CYTHON_UNUSED_VAR(context); +#if PY_MAJOR_VERSION >= 3 + if (unlikely(value == NULL || !PyUnicode_Check(value))) +#else + if (unlikely(value == NULL || !PyString_Check(value))) +#endif + { + PyErr_SetString(PyExc_TypeError, + "__qualname__ must be set to a string object"); + return -1; + } + Py_INCREF(value); + __Pyx_Py_XDECREF_SET(op->func_qualname, value); + return 0; +} +static PyObject * +__Pyx_CyFunction_get_dict(__pyx_CyFunctionObject *op, void *context) +{ + CYTHON_UNUSED_VAR(context); + if (unlikely(op->func_dict == NULL)) { + op->func_dict = PyDict_New(); + if (unlikely(op->func_dict == NULL)) + return NULL; + } + Py_INCREF(op->func_dict); + return op->func_dict; +} +static int +__Pyx_CyFunction_set_dict(__pyx_CyFunctionObject *op, PyObject *value, void *context) +{ + CYTHON_UNUSED_VAR(context); + if (unlikely(value == NULL)) { + PyErr_SetString(PyExc_TypeError, + "function's dictionary may not be deleted"); + return -1; + } + if (unlikely(!PyDict_Check(value))) { + PyErr_SetString(PyExc_TypeError, + "setting function's dictionary to a non-dict"); + return -1; + } + Py_INCREF(value); + __Pyx_Py_XDECREF_SET(op->func_dict, value); + return 0; +} +static PyObject * +__Pyx_CyFunction_get_globals(__pyx_CyFunctionObject *op, void *context) +{ + CYTHON_UNUSED_VAR(context); + Py_INCREF(op->func_globals); + return op->func_globals; +} +static PyObject * +__Pyx_CyFunction_get_closure(__pyx_CyFunctionObject *op, void *context) +{ + CYTHON_UNUSED_VAR(op); + CYTHON_UNUSED_VAR(context); + Py_INCREF(Py_None); + return Py_None; +} +static PyObject * +__Pyx_CyFunction_get_code(__pyx_CyFunctionObject *op, void *context) +{ + PyObject* result = (op->func_code) ? op->func_code : Py_None; + CYTHON_UNUSED_VAR(context); + Py_INCREF(result); + return result; +} +static int +__Pyx_CyFunction_init_defaults(__pyx_CyFunctionObject *op) { + int result = 0; + PyObject *res = op->defaults_getter((PyObject *) op); + if (unlikely(!res)) + return -1; + #if CYTHON_ASSUME_SAFE_MACROS && !CYTHON_AVOID_BORROWED_REFS + op->defaults_tuple = PyTuple_GET_ITEM(res, 0); + Py_INCREF(op->defaults_tuple); + op->defaults_kwdict = PyTuple_GET_ITEM(res, 1); + Py_INCREF(op->defaults_kwdict); + #else + op->defaults_tuple = __Pyx_PySequence_ITEM(res, 0); + if (unlikely(!op->defaults_tuple)) result = -1; + else { + op->defaults_kwdict = __Pyx_PySequence_ITEM(res, 1); + if (unlikely(!op->defaults_kwdict)) result = -1; + } + #endif + Py_DECREF(res); + return result; +} +static int +__Pyx_CyFunction_set_defaults(__pyx_CyFunctionObject *op, PyObject* value, void *context) { + CYTHON_UNUSED_VAR(context); + if (!value) { + value = Py_None; + } else if (unlikely(value != Py_None && !PyTuple_Check(value))) { + PyErr_SetString(PyExc_TypeError, + "__defaults__ must be set to a tuple object"); + return -1; + } + PyErr_WarnEx(PyExc_RuntimeWarning, "changes to cyfunction.__defaults__ will not " + "currently affect the values used in function calls", 1); + Py_INCREF(value); + __Pyx_Py_XDECREF_SET(op->defaults_tuple, value); + return 0; +} +static PyObject * +__Pyx_CyFunction_get_defaults(__pyx_CyFunctionObject *op, void *context) { + PyObject* result = op->defaults_tuple; + CYTHON_UNUSED_VAR(context); + if (unlikely(!result)) { + if (op->defaults_getter) { + if (unlikely(__Pyx_CyFunction_init_defaults(op) < 0)) return NULL; + result = op->defaults_tuple; + } else { + result = Py_None; + } + } + Py_INCREF(result); + return result; +} +static int +__Pyx_CyFunction_set_kwdefaults(__pyx_CyFunctionObject *op, PyObject* value, void *context) { + CYTHON_UNUSED_VAR(context); + if (!value) { + value = Py_None; + } else if (unlikely(value != Py_None && !PyDict_Check(value))) { + PyErr_SetString(PyExc_TypeError, + "__kwdefaults__ must be set to a dict object"); + return -1; + } + PyErr_WarnEx(PyExc_RuntimeWarning, "changes to cyfunction.__kwdefaults__ will not " + "currently affect the values used in function calls", 1); + Py_INCREF(value); + __Pyx_Py_XDECREF_SET(op->defaults_kwdict, value); + return 0; +} +static PyObject * +__Pyx_CyFunction_get_kwdefaults(__pyx_CyFunctionObject *op, void *context) { + PyObject* result = op->defaults_kwdict; + CYTHON_UNUSED_VAR(context); + if (unlikely(!result)) { + if (op->defaults_getter) { + if (unlikely(__Pyx_CyFunction_init_defaults(op) < 0)) return NULL; + result = op->defaults_kwdict; + } else { + result = Py_None; + } + } + Py_INCREF(result); + return result; +} +static int +__Pyx_CyFunction_set_annotations(__pyx_CyFunctionObject *op, PyObject* value, void *context) { + CYTHON_UNUSED_VAR(context); + if (!value || value == Py_None) { + value = NULL; + } else if (unlikely(!PyDict_Check(value))) { + PyErr_SetString(PyExc_TypeError, + "__annotations__ must be set to a dict object"); + return -1; + } + Py_XINCREF(value); + __Pyx_Py_XDECREF_SET(op->func_annotations, value); + return 0; +} +static PyObject * +__Pyx_CyFunction_get_annotations(__pyx_CyFunctionObject *op, void *context) { + PyObject* result = op->func_annotations; + CYTHON_UNUSED_VAR(context); + if (unlikely(!result)) { + result = PyDict_New(); + if (unlikely(!result)) return NULL; + op->func_annotations = result; + } + Py_INCREF(result); + return result; +} +static PyObject * +__Pyx_CyFunction_get_is_coroutine(__pyx_CyFunctionObject *op, void *context) { + int is_coroutine; + CYTHON_UNUSED_VAR(context); + if (op->func_is_coroutine) { + return __Pyx_NewRef(op->func_is_coroutine); + } + is_coroutine = op->flags & __Pyx_CYFUNCTION_COROUTINE; +#if PY_VERSION_HEX >= 0x03050000 + if (is_coroutine) { + PyObject *module, *fromlist, *marker = __pyx_n_s_is_coroutine; + fromlist = PyList_New(1); + if (unlikely(!fromlist)) return NULL; + Py_INCREF(marker); +#if CYTHON_ASSUME_SAFE_MACROS + PyList_SET_ITEM(fromlist, 0, marker); +#else + if (unlikely(PyList_SetItem(fromlist, 0, marker) < 0)) { + Py_DECREF(marker); + Py_DECREF(fromlist); + return NULL; + } +#endif + module = PyImport_ImportModuleLevelObject(__pyx_n_s_asyncio_coroutines, NULL, NULL, fromlist, 0); + Py_DECREF(fromlist); + if (unlikely(!module)) goto ignore; + op->func_is_coroutine = __Pyx_PyObject_GetAttrStr(module, marker); + Py_DECREF(module); + if (likely(op->func_is_coroutine)) { + return __Pyx_NewRef(op->func_is_coroutine); + } +ignore: + PyErr_Clear(); + } +#endif + op->func_is_coroutine = __Pyx_PyBool_FromLong(is_coroutine); + return __Pyx_NewRef(op->func_is_coroutine); +} +#if CYTHON_COMPILING_IN_LIMITED_API +static PyObject * +__Pyx_CyFunction_get_module(__pyx_CyFunctionObject *op, void *context) { + CYTHON_UNUSED_VAR(context); + return PyObject_GetAttrString(op->func, "__module__"); +} +static int +__Pyx_CyFunction_set_module(__pyx_CyFunctionObject *op, PyObject* value, void *context) { + CYTHON_UNUSED_VAR(context); + return PyObject_SetAttrString(op->func, "__module__", value); +} +#endif +static PyGetSetDef __pyx_CyFunction_getsets[] = { + {(char *) "func_doc", (getter)__Pyx_CyFunction_get_doc, (setter)__Pyx_CyFunction_set_doc, 0, 0}, + {(char *) "__doc__", (getter)__Pyx_CyFunction_get_doc, (setter)__Pyx_CyFunction_set_doc, 0, 0}, + {(char *) "func_name", (getter)__Pyx_CyFunction_get_name, (setter)__Pyx_CyFunction_set_name, 0, 0}, + {(char *) "__name__", (getter)__Pyx_CyFunction_get_name, (setter)__Pyx_CyFunction_set_name, 0, 0}, + {(char *) "__qualname__", (getter)__Pyx_CyFunction_get_qualname, (setter)__Pyx_CyFunction_set_qualname, 0, 0}, + {(char *) "func_dict", (getter)__Pyx_CyFunction_get_dict, (setter)__Pyx_CyFunction_set_dict, 0, 0}, + {(char *) "__dict__", (getter)__Pyx_CyFunction_get_dict, (setter)__Pyx_CyFunction_set_dict, 0, 0}, + {(char *) "func_globals", (getter)__Pyx_CyFunction_get_globals, 0, 0, 0}, + {(char *) "__globals__", (getter)__Pyx_CyFunction_get_globals, 0, 0, 0}, + {(char *) "func_closure", (getter)__Pyx_CyFunction_get_closure, 0, 0, 0}, + {(char *) "__closure__", (getter)__Pyx_CyFunction_get_closure, 0, 0, 0}, + {(char *) "func_code", (getter)__Pyx_CyFunction_get_code, 0, 0, 0}, + {(char *) "__code__", (getter)__Pyx_CyFunction_get_code, 0, 0, 0}, + {(char *) "func_defaults", (getter)__Pyx_CyFunction_get_defaults, (setter)__Pyx_CyFunction_set_defaults, 0, 0}, + {(char *) "__defaults__", (getter)__Pyx_CyFunction_get_defaults, (setter)__Pyx_CyFunction_set_defaults, 0, 0}, + {(char *) "__kwdefaults__", (getter)__Pyx_CyFunction_get_kwdefaults, (setter)__Pyx_CyFunction_set_kwdefaults, 0, 0}, + {(char *) "__annotations__", (getter)__Pyx_CyFunction_get_annotations, (setter)__Pyx_CyFunction_set_annotations, 0, 0}, + {(char *) "_is_coroutine", (getter)__Pyx_CyFunction_get_is_coroutine, 0, 0, 0}, +#if CYTHON_COMPILING_IN_LIMITED_API + {"__module__", (getter)__Pyx_CyFunction_get_module, (setter)__Pyx_CyFunction_set_module, 0, 0}, +#endif + {0, 0, 0, 0, 0} +}; +static PyMemberDef __pyx_CyFunction_members[] = { +#if !CYTHON_COMPILING_IN_LIMITED_API + {(char *) "__module__", T_OBJECT, offsetof(PyCFunctionObject, m_module), 0, 0}, +#endif +#if CYTHON_USE_TYPE_SPECS + {(char *) "__dictoffset__", T_PYSSIZET, offsetof(__pyx_CyFunctionObject, func_dict), READONLY, 0}, +#if CYTHON_METH_FASTCALL +#if CYTHON_BACKPORT_VECTORCALL + {(char *) "__vectorcalloffset__", T_PYSSIZET, offsetof(__pyx_CyFunctionObject, func_vectorcall), READONLY, 0}, +#else +#if !CYTHON_COMPILING_IN_LIMITED_API + {(char *) "__vectorcalloffset__", T_PYSSIZET, offsetof(PyCFunctionObject, vectorcall), READONLY, 0}, +#endif +#endif +#endif +#if PY_VERSION_HEX < 0x030500A0 || CYTHON_COMPILING_IN_LIMITED_API + {(char *) "__weaklistoffset__", T_PYSSIZET, offsetof(__pyx_CyFunctionObject, func_weakreflist), READONLY, 0}, +#else + {(char *) "__weaklistoffset__", T_PYSSIZET, offsetof(PyCFunctionObject, m_weakreflist), READONLY, 0}, +#endif +#endif + {0, 0, 0, 0, 0} +}; +static PyObject * +__Pyx_CyFunction_reduce(__pyx_CyFunctionObject *m, PyObject *args) +{ + CYTHON_UNUSED_VAR(args); +#if PY_MAJOR_VERSION >= 3 + Py_INCREF(m->func_qualname); + return m->func_qualname; +#else + return PyString_FromString(((PyCFunctionObject*)m)->m_ml->ml_name); +#endif +} +static PyMethodDef __pyx_CyFunction_methods[] = { + {"__reduce__", (PyCFunction)__Pyx_CyFunction_reduce, METH_VARARGS, 0}, + {0, 0, 0, 0} +}; +#if PY_VERSION_HEX < 0x030500A0 || CYTHON_COMPILING_IN_LIMITED_API +#define __Pyx_CyFunction_weakreflist(cyfunc) ((cyfunc)->func_weakreflist) +#else +#define __Pyx_CyFunction_weakreflist(cyfunc) (((PyCFunctionObject*)cyfunc)->m_weakreflist) +#endif +static PyObject *__Pyx_CyFunction_Init(__pyx_CyFunctionObject *op, PyMethodDef *ml, int flags, PyObject* qualname, + PyObject *closure, PyObject *module, PyObject* globals, PyObject* code) { +#if !CYTHON_COMPILING_IN_LIMITED_API + PyCFunctionObject *cf = (PyCFunctionObject*) op; +#endif + if (unlikely(op == NULL)) + return NULL; +#if CYTHON_COMPILING_IN_LIMITED_API + op->func = PyCFunction_NewEx(ml, (PyObject*)op, module); + if (unlikely(!op->func)) return NULL; +#endif + op->flags = flags; + __Pyx_CyFunction_weakreflist(op) = NULL; +#if !CYTHON_COMPILING_IN_LIMITED_API + cf->m_ml = ml; + cf->m_self = (PyObject *) op; +#endif + Py_XINCREF(closure); + op->func_closure = closure; +#if !CYTHON_COMPILING_IN_LIMITED_API + Py_XINCREF(module); + cf->m_module = module; +#endif + op->func_dict = NULL; + op->func_name = NULL; + Py_INCREF(qualname); + op->func_qualname = qualname; + op->func_doc = NULL; +#if PY_VERSION_HEX < 0x030900B1 || CYTHON_COMPILING_IN_LIMITED_API + op->func_classobj = NULL; +#else + ((PyCMethodObject*)op)->mm_class = NULL; +#endif + op->func_globals = globals; + Py_INCREF(op->func_globals); + Py_XINCREF(code); + op->func_code = code; + op->defaults_pyobjects = 0; + op->defaults_size = 0; + op->defaults = NULL; + op->defaults_tuple = NULL; + op->defaults_kwdict = NULL; + op->defaults_getter = NULL; + op->func_annotations = NULL; + op->func_is_coroutine = NULL; +#if CYTHON_METH_FASTCALL + switch (ml->ml_flags & (METH_VARARGS | METH_FASTCALL | METH_NOARGS | METH_O | METH_KEYWORDS | METH_METHOD)) { + case METH_NOARGS: + __Pyx_CyFunction_func_vectorcall(op) = __Pyx_CyFunction_Vectorcall_NOARGS; + break; + case METH_O: + __Pyx_CyFunction_func_vectorcall(op) = __Pyx_CyFunction_Vectorcall_O; + break; + case METH_METHOD | METH_FASTCALL | METH_KEYWORDS: + __Pyx_CyFunction_func_vectorcall(op) = __Pyx_CyFunction_Vectorcall_FASTCALL_KEYWORDS_METHOD; + break; + case METH_FASTCALL | METH_KEYWORDS: + __Pyx_CyFunction_func_vectorcall(op) = __Pyx_CyFunction_Vectorcall_FASTCALL_KEYWORDS; + break; + case METH_VARARGS | METH_KEYWORDS: + __Pyx_CyFunction_func_vectorcall(op) = NULL; + break; + default: + PyErr_SetString(PyExc_SystemError, "Bad call flags for CyFunction"); + Py_DECREF(op); + return NULL; + } +#endif + return (PyObject *) op; +} +static int +__Pyx_CyFunction_clear(__pyx_CyFunctionObject *m) +{ + Py_CLEAR(m->func_closure); +#if CYTHON_COMPILING_IN_LIMITED_API + Py_CLEAR(m->func); +#else + Py_CLEAR(((PyCFunctionObject*)m)->m_module); +#endif + Py_CLEAR(m->func_dict); + Py_CLEAR(m->func_name); + Py_CLEAR(m->func_qualname); + Py_CLEAR(m->func_doc); + Py_CLEAR(m->func_globals); + Py_CLEAR(m->func_code); +#if !CYTHON_COMPILING_IN_LIMITED_API +#if PY_VERSION_HEX < 0x030900B1 + Py_CLEAR(__Pyx_CyFunction_GetClassObj(m)); +#else + { + PyObject *cls = (PyObject*) ((PyCMethodObject *) (m))->mm_class; + ((PyCMethodObject *) (m))->mm_class = NULL; + Py_XDECREF(cls); + } +#endif +#endif + Py_CLEAR(m->defaults_tuple); + Py_CLEAR(m->defaults_kwdict); + Py_CLEAR(m->func_annotations); + Py_CLEAR(m->func_is_coroutine); + if (m->defaults) { + PyObject **pydefaults = __Pyx_CyFunction_Defaults(PyObject *, m); + int i; + for (i = 0; i < m->defaults_pyobjects; i++) + Py_XDECREF(pydefaults[i]); + PyObject_Free(m->defaults); + m->defaults = NULL; + } + return 0; +} +static void __Pyx__CyFunction_dealloc(__pyx_CyFunctionObject *m) +{ + if (__Pyx_CyFunction_weakreflist(m) != NULL) + PyObject_ClearWeakRefs((PyObject *) m); + __Pyx_CyFunction_clear(m); + __Pyx_PyHeapTypeObject_GC_Del(m); +} +static void __Pyx_CyFunction_dealloc(__pyx_CyFunctionObject *m) +{ + PyObject_GC_UnTrack(m); + __Pyx__CyFunction_dealloc(m); +} +static int __Pyx_CyFunction_traverse(__pyx_CyFunctionObject *m, visitproc visit, void *arg) +{ + Py_VISIT(m->func_closure); +#if CYTHON_COMPILING_IN_LIMITED_API + Py_VISIT(m->func); +#else + Py_VISIT(((PyCFunctionObject*)m)->m_module); +#endif + Py_VISIT(m->func_dict); + Py_VISIT(m->func_name); + Py_VISIT(m->func_qualname); + Py_VISIT(m->func_doc); + Py_VISIT(m->func_globals); + Py_VISIT(m->func_code); +#if !CYTHON_COMPILING_IN_LIMITED_API + Py_VISIT(__Pyx_CyFunction_GetClassObj(m)); +#endif + Py_VISIT(m->defaults_tuple); + Py_VISIT(m->defaults_kwdict); + Py_VISIT(m->func_is_coroutine); + if (m->defaults) { + PyObject **pydefaults = __Pyx_CyFunction_Defaults(PyObject *, m); + int i; + for (i = 0; i < m->defaults_pyobjects; i++) + Py_VISIT(pydefaults[i]); + } + return 0; +} +static PyObject* +__Pyx_CyFunction_repr(__pyx_CyFunctionObject *op) +{ +#if PY_MAJOR_VERSION >= 3 + return PyUnicode_FromFormat("", + op->func_qualname, (void *)op); +#else + return PyString_FromFormat("", + PyString_AsString(op->func_qualname), (void *)op); +#endif +} +static PyObject * __Pyx_CyFunction_CallMethod(PyObject *func, PyObject *self, PyObject *arg, PyObject *kw) { +#if CYTHON_COMPILING_IN_LIMITED_API + PyObject *f = ((__pyx_CyFunctionObject*)func)->func; + PyObject *py_name = NULL; + PyCFunction meth; + int flags; + meth = PyCFunction_GetFunction(f); + if (unlikely(!meth)) return NULL; + flags = PyCFunction_GetFlags(f); + if (unlikely(flags < 0)) return NULL; +#else + PyCFunctionObject* f = (PyCFunctionObject*)func; + PyCFunction meth = f->m_ml->ml_meth; + int flags = f->m_ml->ml_flags; +#endif + Py_ssize_t size; + switch (flags & (METH_VARARGS | METH_KEYWORDS | METH_NOARGS | METH_O)) { + case METH_VARARGS: + if (likely(kw == NULL || PyDict_Size(kw) == 0)) + return (*meth)(self, arg); + break; + case METH_VARARGS | METH_KEYWORDS: + return (*(PyCFunctionWithKeywords)(void*)meth)(self, arg, kw); + case METH_NOARGS: + if (likely(kw == NULL || PyDict_Size(kw) == 0)) { +#if CYTHON_ASSUME_SAFE_MACROS + size = PyTuple_GET_SIZE(arg); +#else + size = PyTuple_Size(arg); + if (unlikely(size < 0)) return NULL; +#endif + if (likely(size == 0)) + return (*meth)(self, NULL); +#if CYTHON_COMPILING_IN_LIMITED_API + py_name = __Pyx_CyFunction_get_name((__pyx_CyFunctionObject*)func, NULL); + if (!py_name) return NULL; + PyErr_Format(PyExc_TypeError, + "%.200S() takes no arguments (%" CYTHON_FORMAT_SSIZE_T "d given)", + py_name, size); + Py_DECREF(py_name); +#else + PyErr_Format(PyExc_TypeError, + "%.200s() takes no arguments (%" CYTHON_FORMAT_SSIZE_T "d given)", + f->m_ml->ml_name, size); +#endif + return NULL; + } + break; + case METH_O: + if (likely(kw == NULL || PyDict_Size(kw) == 0)) { +#if CYTHON_ASSUME_SAFE_MACROS + size = PyTuple_GET_SIZE(arg); +#else + size = PyTuple_Size(arg); + if (unlikely(size < 0)) return NULL; +#endif + if (likely(size == 1)) { + PyObject *result, *arg0; + #if CYTHON_ASSUME_SAFE_MACROS && !CYTHON_AVOID_BORROWED_REFS + arg0 = PyTuple_GET_ITEM(arg, 0); + #else + arg0 = __Pyx_PySequence_ITEM(arg, 0); if (unlikely(!arg0)) return NULL; + #endif + result = (*meth)(self, arg0); + #if !(CYTHON_ASSUME_SAFE_MACROS && !CYTHON_AVOID_BORROWED_REFS) + Py_DECREF(arg0); + #endif + return result; + } +#if CYTHON_COMPILING_IN_LIMITED_API + py_name = __Pyx_CyFunction_get_name((__pyx_CyFunctionObject*)func, NULL); + if (!py_name) return NULL; + PyErr_Format(PyExc_TypeError, + "%.200S() takes exactly one argument (%" CYTHON_FORMAT_SSIZE_T "d given)", + py_name, size); + Py_DECREF(py_name); +#else + PyErr_Format(PyExc_TypeError, + "%.200s() takes exactly one argument (%" CYTHON_FORMAT_SSIZE_T "d given)", + f->m_ml->ml_name, size); +#endif + return NULL; + } + break; + default: + PyErr_SetString(PyExc_SystemError, "Bad call flags for CyFunction"); + return NULL; + } +#if CYTHON_COMPILING_IN_LIMITED_API + py_name = __Pyx_CyFunction_get_name((__pyx_CyFunctionObject*)func, NULL); + if (!py_name) return NULL; + PyErr_Format(PyExc_TypeError, "%.200S() takes no keyword arguments", + py_name); + Py_DECREF(py_name); +#else + PyErr_Format(PyExc_TypeError, "%.200s() takes no keyword arguments", + f->m_ml->ml_name); +#endif + return NULL; +} +static CYTHON_INLINE PyObject *__Pyx_CyFunction_Call(PyObject *func, PyObject *arg, PyObject *kw) { + PyObject *self, *result; +#if CYTHON_COMPILING_IN_LIMITED_API + self = PyCFunction_GetSelf(((__pyx_CyFunctionObject*)func)->func); + if (unlikely(!self) && PyErr_Occurred()) return NULL; +#else + self = ((PyCFunctionObject*)func)->m_self; +#endif + result = __Pyx_CyFunction_CallMethod(func, self, arg, kw); + return result; +} +static PyObject *__Pyx_CyFunction_CallAsMethod(PyObject *func, PyObject *args, PyObject *kw) { + PyObject *result; + __pyx_CyFunctionObject *cyfunc = (__pyx_CyFunctionObject *) func; +#if CYTHON_METH_FASTCALL + __pyx_vectorcallfunc vc = __Pyx_CyFunction_func_vectorcall(cyfunc); + if (vc) { +#if CYTHON_ASSUME_SAFE_MACROS + return __Pyx_PyVectorcall_FastCallDict(func, vc, &PyTuple_GET_ITEM(args, 0), (size_t)PyTuple_GET_SIZE(args), kw); +#else + (void) &__Pyx_PyVectorcall_FastCallDict; + return PyVectorcall_Call(func, args, kw); +#endif + } +#endif + if ((cyfunc->flags & __Pyx_CYFUNCTION_CCLASS) && !(cyfunc->flags & __Pyx_CYFUNCTION_STATICMETHOD)) { + Py_ssize_t argc; + PyObject *new_args; + PyObject *self; +#if CYTHON_ASSUME_SAFE_MACROS + argc = PyTuple_GET_SIZE(args); +#else + argc = PyTuple_Size(args); + if (unlikely(!argc) < 0) return NULL; +#endif + new_args = PyTuple_GetSlice(args, 1, argc); + if (unlikely(!new_args)) + return NULL; + self = PyTuple_GetItem(args, 0); + if (unlikely(!self)) { + Py_DECREF(new_args); +#if PY_MAJOR_VERSION > 2 + PyErr_Format(PyExc_TypeError, + "unbound method %.200S() needs an argument", + cyfunc->func_qualname); +#else + PyErr_SetString(PyExc_TypeError, + "unbound method needs an argument"); +#endif + return NULL; + } + result = __Pyx_CyFunction_CallMethod(func, self, new_args, kw); + Py_DECREF(new_args); + } else { + result = __Pyx_CyFunction_Call(func, args, kw); + } + return result; +} +#if CYTHON_METH_FASTCALL +static CYTHON_INLINE int __Pyx_CyFunction_Vectorcall_CheckArgs(__pyx_CyFunctionObject *cyfunc, Py_ssize_t nargs, PyObject *kwnames) +{ + int ret = 0; + if ((cyfunc->flags & __Pyx_CYFUNCTION_CCLASS) && !(cyfunc->flags & __Pyx_CYFUNCTION_STATICMETHOD)) { + if (unlikely(nargs < 1)) { + PyErr_Format(PyExc_TypeError, "%.200s() needs an argument", + ((PyCFunctionObject*)cyfunc)->m_ml->ml_name); + return -1; + } + ret = 1; + } + if (unlikely(kwnames) && unlikely(PyTuple_GET_SIZE(kwnames))) { + PyErr_Format(PyExc_TypeError, + "%.200s() takes no keyword arguments", ((PyCFunctionObject*)cyfunc)->m_ml->ml_name); + return -1; + } + return ret; +} +static PyObject * __Pyx_CyFunction_Vectorcall_NOARGS(PyObject *func, PyObject *const *args, size_t nargsf, PyObject *kwnames) +{ + __pyx_CyFunctionObject *cyfunc = (__pyx_CyFunctionObject *)func; + PyMethodDef* def = ((PyCFunctionObject*)cyfunc)->m_ml; +#if CYTHON_BACKPORT_VECTORCALL + Py_ssize_t nargs = (Py_ssize_t)nargsf; +#else + Py_ssize_t nargs = PyVectorcall_NARGS(nargsf); +#endif + PyObject *self; + switch (__Pyx_CyFunction_Vectorcall_CheckArgs(cyfunc, nargs, kwnames)) { + case 1: + self = args[0]; + args += 1; + nargs -= 1; + break; + case 0: + self = ((PyCFunctionObject*)cyfunc)->m_self; + break; + default: + return NULL; + } + if (unlikely(nargs != 0)) { + PyErr_Format(PyExc_TypeError, + "%.200s() takes no arguments (%" CYTHON_FORMAT_SSIZE_T "d given)", + def->ml_name, nargs); + return NULL; + } + return def->ml_meth(self, NULL); +} +static PyObject * __Pyx_CyFunction_Vectorcall_O(PyObject *func, PyObject *const *args, size_t nargsf, PyObject *kwnames) +{ + __pyx_CyFunctionObject *cyfunc = (__pyx_CyFunctionObject *)func; + PyMethodDef* def = ((PyCFunctionObject*)cyfunc)->m_ml; +#if CYTHON_BACKPORT_VECTORCALL + Py_ssize_t nargs = (Py_ssize_t)nargsf; +#else + Py_ssize_t nargs = PyVectorcall_NARGS(nargsf); +#endif + PyObject *self; + switch (__Pyx_CyFunction_Vectorcall_CheckArgs(cyfunc, nargs, kwnames)) { + case 1: + self = args[0]; + args += 1; + nargs -= 1; + break; + case 0: + self = ((PyCFunctionObject*)cyfunc)->m_self; + break; + default: + return NULL; + } + if (unlikely(nargs != 1)) { + PyErr_Format(PyExc_TypeError, + "%.200s() takes exactly one argument (%" CYTHON_FORMAT_SSIZE_T "d given)", + def->ml_name, nargs); + return NULL; + } + return def->ml_meth(self, args[0]); +} +static PyObject * __Pyx_CyFunction_Vectorcall_FASTCALL_KEYWORDS(PyObject *func, PyObject *const *args, size_t nargsf, PyObject *kwnames) +{ + __pyx_CyFunctionObject *cyfunc = (__pyx_CyFunctionObject *)func; + PyMethodDef* def = ((PyCFunctionObject*)cyfunc)->m_ml; +#if CYTHON_BACKPORT_VECTORCALL + Py_ssize_t nargs = (Py_ssize_t)nargsf; +#else + Py_ssize_t nargs = PyVectorcall_NARGS(nargsf); +#endif + PyObject *self; + switch (__Pyx_CyFunction_Vectorcall_CheckArgs(cyfunc, nargs, NULL)) { + case 1: + self = args[0]; + args += 1; + nargs -= 1; + break; + case 0: + self = ((PyCFunctionObject*)cyfunc)->m_self; + break; + default: + return NULL; + } + return ((_PyCFunctionFastWithKeywords)(void(*)(void))def->ml_meth)(self, args, nargs, kwnames); +} +static PyObject * __Pyx_CyFunction_Vectorcall_FASTCALL_KEYWORDS_METHOD(PyObject *func, PyObject *const *args, size_t nargsf, PyObject *kwnames) +{ + __pyx_CyFunctionObject *cyfunc = (__pyx_CyFunctionObject *)func; + PyMethodDef* def = ((PyCFunctionObject*)cyfunc)->m_ml; + PyTypeObject *cls = (PyTypeObject *) __Pyx_CyFunction_GetClassObj(cyfunc); +#if CYTHON_BACKPORT_VECTORCALL + Py_ssize_t nargs = (Py_ssize_t)nargsf; +#else + Py_ssize_t nargs = PyVectorcall_NARGS(nargsf); +#endif + PyObject *self; + switch (__Pyx_CyFunction_Vectorcall_CheckArgs(cyfunc, nargs, NULL)) { + case 1: + self = args[0]; + args += 1; + nargs -= 1; + break; + case 0: + self = ((PyCFunctionObject*)cyfunc)->m_self; + break; + default: + return NULL; + } + return ((__Pyx_PyCMethod)(void(*)(void))def->ml_meth)(self, cls, args, (size_t)nargs, kwnames); +} +#endif +#if CYTHON_USE_TYPE_SPECS +static PyType_Slot __pyx_CyFunctionType_slots[] = { + {Py_tp_dealloc, (void *)__Pyx_CyFunction_dealloc}, + {Py_tp_repr, (void *)__Pyx_CyFunction_repr}, + {Py_tp_call, (void *)__Pyx_CyFunction_CallAsMethod}, + {Py_tp_traverse, (void *)__Pyx_CyFunction_traverse}, + {Py_tp_clear, (void *)__Pyx_CyFunction_clear}, + {Py_tp_methods, (void *)__pyx_CyFunction_methods}, + {Py_tp_members, (void *)__pyx_CyFunction_members}, + {Py_tp_getset, (void *)__pyx_CyFunction_getsets}, + {Py_tp_descr_get, (void *)__Pyx_PyMethod_New}, + {0, 0}, +}; +static PyType_Spec __pyx_CyFunctionType_spec = { + __PYX_TYPE_MODULE_PREFIX "cython_function_or_method", + sizeof(__pyx_CyFunctionObject), + 0, +#ifdef Py_TPFLAGS_METHOD_DESCRIPTOR + Py_TPFLAGS_METHOD_DESCRIPTOR | +#endif +#if (defined(_Py_TPFLAGS_HAVE_VECTORCALL) && CYTHON_METH_FASTCALL) + _Py_TPFLAGS_HAVE_VECTORCALL | +#endif + Py_TPFLAGS_DEFAULT | Py_TPFLAGS_HAVE_GC | Py_TPFLAGS_BASETYPE, + __pyx_CyFunctionType_slots +}; +#else +static PyTypeObject __pyx_CyFunctionType_type = { + PyVarObject_HEAD_INIT(0, 0) + __PYX_TYPE_MODULE_PREFIX "cython_function_or_method", + sizeof(__pyx_CyFunctionObject), + 0, + (destructor) __Pyx_CyFunction_dealloc, +#if !CYTHON_METH_FASTCALL + 0, +#elif CYTHON_BACKPORT_VECTORCALL + (printfunc)offsetof(__pyx_CyFunctionObject, func_vectorcall), +#else + offsetof(PyCFunctionObject, vectorcall), +#endif + 0, + 0, +#if PY_MAJOR_VERSION < 3 + 0, +#else + 0, +#endif + (reprfunc) __Pyx_CyFunction_repr, + 0, + 0, + 0, + 0, + __Pyx_CyFunction_CallAsMethod, + 0, + 0, + 0, + 0, +#ifdef Py_TPFLAGS_METHOD_DESCRIPTOR + Py_TPFLAGS_METHOD_DESCRIPTOR | +#endif +#if defined(_Py_TPFLAGS_HAVE_VECTORCALL) && CYTHON_METH_FASTCALL + _Py_TPFLAGS_HAVE_VECTORCALL | +#endif + Py_TPFLAGS_DEFAULT | Py_TPFLAGS_HAVE_GC | Py_TPFLAGS_BASETYPE, + 0, + (traverseproc) __Pyx_CyFunction_traverse, + (inquiry) __Pyx_CyFunction_clear, + 0, +#if PY_VERSION_HEX < 0x030500A0 + offsetof(__pyx_CyFunctionObject, func_weakreflist), +#else + offsetof(PyCFunctionObject, m_weakreflist), +#endif + 0, + 0, + __pyx_CyFunction_methods, + __pyx_CyFunction_members, + __pyx_CyFunction_getsets, + 0, + 0, + __Pyx_PyMethod_New, + 0, + offsetof(__pyx_CyFunctionObject, func_dict), + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, +#if PY_VERSION_HEX >= 0x030400a1 + 0, +#endif +#if PY_VERSION_HEX >= 0x030800b1 && (!CYTHON_COMPILING_IN_PYPY || PYPY_VERSION_NUM >= 0x07030800) + 0, +#endif +#if __PYX_NEED_TP_PRINT_SLOT + 0, +#endif +#if PY_VERSION_HEX >= 0x030C0000 + 0, +#endif +#if CYTHON_COMPILING_IN_PYPY && PY_VERSION_HEX >= 0x03090000 && PY_VERSION_HEX < 0x030a0000 + 0, +#endif +}; +#endif +static int __pyx_CyFunction_init(PyObject *module) { +#if CYTHON_USE_TYPE_SPECS + __pyx_CyFunctionType = __Pyx_FetchCommonTypeFromSpec(module, &__pyx_CyFunctionType_spec, NULL); +#else + CYTHON_UNUSED_VAR(module); + __pyx_CyFunctionType = __Pyx_FetchCommonType(&__pyx_CyFunctionType_type); +#endif + if (unlikely(__pyx_CyFunctionType == NULL)) { + return -1; + } + return 0; +} +static CYTHON_INLINE void *__Pyx_CyFunction_InitDefaults(PyObject *func, size_t size, int pyobjects) { + __pyx_CyFunctionObject *m = (__pyx_CyFunctionObject *) func; + m->defaults = PyObject_Malloc(size); + if (unlikely(!m->defaults)) + return PyErr_NoMemory(); + memset(m->defaults, 0, size); + m->defaults_pyobjects = pyobjects; + m->defaults_size = size; + return m->defaults; +} +static CYTHON_INLINE void __Pyx_CyFunction_SetDefaultsTuple(PyObject *func, PyObject *tuple) { + __pyx_CyFunctionObject *m = (__pyx_CyFunctionObject *) func; + m->defaults_tuple = tuple; + Py_INCREF(tuple); +} +static CYTHON_INLINE void __Pyx_CyFunction_SetDefaultsKwDict(PyObject *func, PyObject *dict) { + __pyx_CyFunctionObject *m = (__pyx_CyFunctionObject *) func; + m->defaults_kwdict = dict; + Py_INCREF(dict); +} +static CYTHON_INLINE void __Pyx_CyFunction_SetAnnotationsDict(PyObject *func, PyObject *dict) { + __pyx_CyFunctionObject *m = (__pyx_CyFunctionObject *) func; + m->func_annotations = dict; + Py_INCREF(dict); +} + +/* CythonFunction */ +static PyObject *__Pyx_CyFunction_New(PyMethodDef *ml, int flags, PyObject* qualname, + PyObject *closure, PyObject *module, PyObject* globals, PyObject* code) { + PyObject *op = __Pyx_CyFunction_Init( + PyObject_GC_New(__pyx_CyFunctionObject, __pyx_CyFunctionType), + ml, flags, qualname, closure, module, globals, code + ); + if (likely(op)) { + PyObject_GC_Track(op); + } + return op; +} + +/* CLineInTraceback */ +#ifndef CYTHON_CLINE_IN_TRACEBACK +static int __Pyx_CLineForTraceback(PyThreadState *tstate, int c_line) { + PyObject *use_cline; + PyObject *ptype, *pvalue, *ptraceback; +#if CYTHON_COMPILING_IN_CPYTHON + PyObject **cython_runtime_dict; +#endif + CYTHON_MAYBE_UNUSED_VAR(tstate); + if (unlikely(!__pyx_cython_runtime)) { + return c_line; + } + __Pyx_ErrFetchInState(tstate, &ptype, &pvalue, &ptraceback); +#if CYTHON_COMPILING_IN_CPYTHON + cython_runtime_dict = _PyObject_GetDictPtr(__pyx_cython_runtime); + if (likely(cython_runtime_dict)) { + __PYX_PY_DICT_LOOKUP_IF_MODIFIED( + use_cline, *cython_runtime_dict, + __Pyx_PyDict_GetItemStr(*cython_runtime_dict, __pyx_n_s_cline_in_traceback)) + } else +#endif + { + PyObject *use_cline_obj = __Pyx_PyObject_GetAttrStrNoError(__pyx_cython_runtime, __pyx_n_s_cline_in_traceback); + if (use_cline_obj) { + use_cline = PyObject_Not(use_cline_obj) ? Py_False : Py_True; + Py_DECREF(use_cline_obj); + } else { + PyErr_Clear(); + use_cline = NULL; + } + } + if (!use_cline) { + c_line = 0; + (void) PyObject_SetAttr(__pyx_cython_runtime, __pyx_n_s_cline_in_traceback, Py_False); + } + else if (use_cline == Py_False || (use_cline != Py_True && PyObject_Not(use_cline) != 0)) { + c_line = 0; + } + __Pyx_ErrRestoreInState(tstate, ptype, pvalue, ptraceback); + return c_line; +} +#endif + +/* CodeObjectCache */ +#if !CYTHON_COMPILING_IN_LIMITED_API +static int __pyx_bisect_code_objects(__Pyx_CodeObjectCacheEntry* entries, int count, int code_line) { + int start = 0, mid = 0, end = count - 1; + if (end >= 0 && code_line > entries[end].code_line) { + return count; + } + while (start < end) { + mid = start + (end - start) / 2; + if (code_line < entries[mid].code_line) { + end = mid; + } else if (code_line > entries[mid].code_line) { + start = mid + 1; + } else { + return mid; + } + } + if (code_line <= entries[mid].code_line) { + return mid; + } else { + return mid + 1; + } +} +static PyCodeObject *__pyx_find_code_object(int code_line) { + PyCodeObject* code_object; + int pos; + if (unlikely(!code_line) || unlikely(!__pyx_code_cache.entries)) { + return NULL; + } + pos = __pyx_bisect_code_objects(__pyx_code_cache.entries, __pyx_code_cache.count, code_line); + if (unlikely(pos >= __pyx_code_cache.count) || unlikely(__pyx_code_cache.entries[pos].code_line != code_line)) { + return NULL; + } + code_object = __pyx_code_cache.entries[pos].code_object; + Py_INCREF(code_object); + return code_object; +} +static void __pyx_insert_code_object(int code_line, PyCodeObject* code_object) { + int pos, i; + __Pyx_CodeObjectCacheEntry* entries = __pyx_code_cache.entries; + if (unlikely(!code_line)) { + return; + } + if (unlikely(!entries)) { + entries = (__Pyx_CodeObjectCacheEntry*)PyMem_Malloc(64*sizeof(__Pyx_CodeObjectCacheEntry)); + if (likely(entries)) { + __pyx_code_cache.entries = entries; + __pyx_code_cache.max_count = 64; + __pyx_code_cache.count = 1; + entries[0].code_line = code_line; + entries[0].code_object = code_object; + Py_INCREF(code_object); + } + return; + } + pos = __pyx_bisect_code_objects(__pyx_code_cache.entries, __pyx_code_cache.count, code_line); + if ((pos < __pyx_code_cache.count) && unlikely(__pyx_code_cache.entries[pos].code_line == code_line)) { + PyCodeObject* tmp = entries[pos].code_object; + entries[pos].code_object = code_object; + Py_DECREF(tmp); + return; + } + if (__pyx_code_cache.count == __pyx_code_cache.max_count) { + int new_max = __pyx_code_cache.max_count + 64; + entries = (__Pyx_CodeObjectCacheEntry*)PyMem_Realloc( + __pyx_code_cache.entries, ((size_t)new_max) * sizeof(__Pyx_CodeObjectCacheEntry)); + if (unlikely(!entries)) { + return; + } + __pyx_code_cache.entries = entries; + __pyx_code_cache.max_count = new_max; + } + for (i=__pyx_code_cache.count; i>pos; i--) { + entries[i] = entries[i-1]; + } + entries[pos].code_line = code_line; + entries[pos].code_object = code_object; + __pyx_code_cache.count++; + Py_INCREF(code_object); +} +#endif + +/* AddTraceback */ +#include "compile.h" +#include "frameobject.h" +#include "traceback.h" +#if PY_VERSION_HEX >= 0x030b00a6 && !CYTHON_COMPILING_IN_LIMITED_API + #ifndef Py_BUILD_CORE + #define Py_BUILD_CORE 1 + #endif + #include "internal/pycore_frame.h" +#endif +#if CYTHON_COMPILING_IN_LIMITED_API +static PyObject *__Pyx_PyCode_Replace_For_AddTraceback(PyObject *code, PyObject *scratch_dict, + PyObject *firstlineno, PyObject *name) { + PyObject *replace = NULL; + if (unlikely(PyDict_SetItemString(scratch_dict, "co_firstlineno", firstlineno))) return NULL; + if (unlikely(PyDict_SetItemString(scratch_dict, "co_name", name))) return NULL; + replace = PyObject_GetAttrString(code, "replace"); + if (likely(replace)) { + PyObject *result; + result = PyObject_Call(replace, __pyx_empty_tuple, scratch_dict); + Py_DECREF(replace); + return result; + } + PyErr_Clear(); + #if __PYX_LIMITED_VERSION_HEX < 0x030780000 + { + PyObject *compiled = NULL, *result = NULL; + if (unlikely(PyDict_SetItemString(scratch_dict, "code", code))) return NULL; + if (unlikely(PyDict_SetItemString(scratch_dict, "type", (PyObject*)(&PyType_Type)))) return NULL; + compiled = Py_CompileString( + "out = type(code)(\n" + " code.co_argcount, code.co_kwonlyargcount, code.co_nlocals, code.co_stacksize,\n" + " code.co_flags, code.co_code, code.co_consts, code.co_names,\n" + " code.co_varnames, code.co_filename, co_name, co_firstlineno,\n" + " code.co_lnotab)\n", "", Py_file_input); + if (!compiled) return NULL; + result = PyEval_EvalCode(compiled, scratch_dict, scratch_dict); + Py_DECREF(compiled); + if (!result) PyErr_Print(); + Py_DECREF(result); + result = PyDict_GetItemString(scratch_dict, "out"); + if (result) Py_INCREF(result); + return result; + } + #else + return NULL; + #endif +} +static void __Pyx_AddTraceback(const char *funcname, int c_line, + int py_line, const char *filename) { + PyObject *code_object = NULL, *py_py_line = NULL, *py_funcname = NULL, *dict = NULL; + PyObject *replace = NULL, *getframe = NULL, *frame = NULL; + PyObject *exc_type, *exc_value, *exc_traceback; + int success = 0; + if (c_line) { + (void) __pyx_cfilenm; + (void) __Pyx_CLineForTraceback(__Pyx_PyThreadState_Current, c_line); + } + PyErr_Fetch(&exc_type, &exc_value, &exc_traceback); + code_object = Py_CompileString("_getframe()", filename, Py_eval_input); + if (unlikely(!code_object)) goto bad; + py_py_line = PyLong_FromLong(py_line); + if (unlikely(!py_py_line)) goto bad; + py_funcname = PyUnicode_FromString(funcname); + if (unlikely(!py_funcname)) goto bad; + dict = PyDict_New(); + if (unlikely(!dict)) goto bad; + { + PyObject *old_code_object = code_object; + code_object = __Pyx_PyCode_Replace_For_AddTraceback(code_object, dict, py_py_line, py_funcname); + Py_DECREF(old_code_object); + } + if (unlikely(!code_object)) goto bad; + getframe = PySys_GetObject("_getframe"); + if (unlikely(!getframe)) goto bad; + if (unlikely(PyDict_SetItemString(dict, "_getframe", getframe))) goto bad; + frame = PyEval_EvalCode(code_object, dict, dict); + if (unlikely(!frame) || frame == Py_None) goto bad; + success = 1; + bad: + PyErr_Restore(exc_type, exc_value, exc_traceback); + Py_XDECREF(code_object); + Py_XDECREF(py_py_line); + Py_XDECREF(py_funcname); + Py_XDECREF(dict); + Py_XDECREF(replace); + if (success) { + PyTraceBack_Here( + (struct _frame*)frame); + } + Py_XDECREF(frame); +} +#else +static PyCodeObject* __Pyx_CreateCodeObjectForTraceback( + const char *funcname, int c_line, + int py_line, const char *filename) { + PyCodeObject *py_code = NULL; + PyObject *py_funcname = NULL; + #if PY_MAJOR_VERSION < 3 + PyObject *py_srcfile = NULL; + py_srcfile = PyString_FromString(filename); + if (!py_srcfile) goto bad; + #endif + if (c_line) { + #if PY_MAJOR_VERSION < 3 + py_funcname = PyString_FromFormat( "%s (%s:%d)", funcname, __pyx_cfilenm, c_line); + if (!py_funcname) goto bad; + #else + py_funcname = PyUnicode_FromFormat( "%s (%s:%d)", funcname, __pyx_cfilenm, c_line); + if (!py_funcname) goto bad; + funcname = PyUnicode_AsUTF8(py_funcname); + if (!funcname) goto bad; + #endif + } + else { + #if PY_MAJOR_VERSION < 3 + py_funcname = PyString_FromString(funcname); + if (!py_funcname) goto bad; + #endif + } + #if PY_MAJOR_VERSION < 3 + py_code = __Pyx_PyCode_New( + 0, + 0, + 0, + 0, + 0, + 0, + __pyx_empty_bytes, /*PyObject *code,*/ + __pyx_empty_tuple, /*PyObject *consts,*/ + __pyx_empty_tuple, /*PyObject *names,*/ + __pyx_empty_tuple, /*PyObject *varnames,*/ + __pyx_empty_tuple, /*PyObject *freevars,*/ + __pyx_empty_tuple, /*PyObject *cellvars,*/ + py_srcfile, /*PyObject *filename,*/ + py_funcname, /*PyObject *name,*/ + py_line, + __pyx_empty_bytes /*PyObject *lnotab*/ + ); + Py_DECREF(py_srcfile); + #else + py_code = PyCode_NewEmpty(filename, funcname, py_line); + #endif + Py_XDECREF(py_funcname); + return py_code; +bad: + Py_XDECREF(py_funcname); + #if PY_MAJOR_VERSION < 3 + Py_XDECREF(py_srcfile); + #endif + return NULL; +} +static void __Pyx_AddTraceback(const char *funcname, int c_line, + int py_line, const char *filename) { + PyCodeObject *py_code = 0; + PyFrameObject *py_frame = 0; + PyThreadState *tstate = __Pyx_PyThreadState_Current; + PyObject *ptype, *pvalue, *ptraceback; + if (c_line) { + c_line = __Pyx_CLineForTraceback(tstate, c_line); + } + py_code = __pyx_find_code_object(c_line ? -c_line : py_line); + if (!py_code) { + __Pyx_ErrFetchInState(tstate, &ptype, &pvalue, &ptraceback); + py_code = __Pyx_CreateCodeObjectForTraceback( + funcname, c_line, py_line, filename); + if (!py_code) { + /* If the code object creation fails, then we should clear the + fetched exception references and propagate the new exception */ + Py_XDECREF(ptype); + Py_XDECREF(pvalue); + Py_XDECREF(ptraceback); + goto bad; + } + __Pyx_ErrRestoreInState(tstate, ptype, pvalue, ptraceback); + __pyx_insert_code_object(c_line ? -c_line : py_line, py_code); + } + py_frame = PyFrame_New( + tstate, /*PyThreadState *tstate,*/ + py_code, /*PyCodeObject *code,*/ + __pyx_d, /*PyObject *globals,*/ + 0 /*PyObject *locals*/ + ); + if (!py_frame) goto bad; + __Pyx_PyFrame_SetLineNumber(py_frame, py_line); + PyTraceBack_Here(py_frame); +bad: + Py_XDECREF(py_code); + Py_XDECREF(py_frame); +} +#endif + +#if PY_MAJOR_VERSION < 3 +static int __Pyx_GetBuffer(PyObject *obj, Py_buffer *view, int flags) { + __Pyx_TypeName obj_type_name; + if (PyObject_CheckBuffer(obj)) return PyObject_GetBuffer(obj, view, flags); + if (__Pyx_TypeCheck(obj, __pyx_array_type)) return __pyx_array_getbuffer(obj, view, flags); + if (__Pyx_TypeCheck(obj, __pyx_memoryview_type)) return __pyx_memoryview_getbuffer(obj, view, flags); + obj_type_name = __Pyx_PyType_GetName(Py_TYPE(obj)); + PyErr_Format(PyExc_TypeError, + "'" __Pyx_FMT_TYPENAME "' does not have the buffer interface", + obj_type_name); + __Pyx_DECREF_TypeName(obj_type_name); + return -1; +} +static void __Pyx_ReleaseBuffer(Py_buffer *view) { + PyObject *obj = view->obj; + if (!obj) return; + if (PyObject_CheckBuffer(obj)) { + PyBuffer_Release(view); + return; + } + if ((0)) {} + view->obj = NULL; + Py_DECREF(obj); +} +#endif + + +/* MemviewSliceIsContig */ +static int +__pyx_memviewslice_is_contig(const __Pyx_memviewslice mvs, char order, int ndim) +{ + int i, index, step, start; + Py_ssize_t itemsize = mvs.memview->view.itemsize; + if (order == 'F') { + step = 1; + start = 0; + } else { + step = -1; + start = ndim - 1; + } + for (i = 0; i < ndim; i++) { + index = start + step * i; + if (mvs.suboffsets[index] >= 0 || mvs.strides[index] != itemsize) + return 0; + itemsize *= mvs.shape[index]; + } + return 1; +} + +/* OverlappingSlices */ +static void +__pyx_get_array_memory_extents(__Pyx_memviewslice *slice, + void **out_start, void **out_end, + int ndim, size_t itemsize) +{ + char *start, *end; + int i; + start = end = slice->data; + for (i = 0; i < ndim; i++) { + Py_ssize_t stride = slice->strides[i]; + Py_ssize_t extent = slice->shape[i]; + if (extent == 0) { + *out_start = *out_end = start; + return; + } else { + if (stride > 0) + end += stride * (extent - 1); + else + start += stride * (extent - 1); + } + } + *out_start = start; + *out_end = end + itemsize; +} +static int +__pyx_slices_overlap(__Pyx_memviewslice *slice1, + __Pyx_memviewslice *slice2, + int ndim, size_t itemsize) +{ + void *start1, *end1, *start2, *end2; + __pyx_get_array_memory_extents(slice1, &start1, &end1, ndim, itemsize); + __pyx_get_array_memory_extents(slice2, &start2, &end2, ndim, itemsize); + return (start1 < end2) && (start2 < end1); +} + +/* IsLittleEndian */ +static CYTHON_INLINE int __Pyx_Is_Little_Endian(void) +{ + union { + uint32_t u32; + uint8_t u8[4]; + } S; + S.u32 = 0x01020304; + return S.u8[0] == 4; +} + +/* BufferFormatCheck */ +static void __Pyx_BufFmt_Init(__Pyx_BufFmt_Context* ctx, + __Pyx_BufFmt_StackElem* stack, + __Pyx_TypeInfo* type) { + stack[0].field = &ctx->root; + stack[0].parent_offset = 0; + ctx->root.type = type; + ctx->root.name = "buffer dtype"; + ctx->root.offset = 0; + ctx->head = stack; + ctx->head->field = &ctx->root; + ctx->fmt_offset = 0; + ctx->head->parent_offset = 0; + ctx->new_packmode = '@'; + ctx->enc_packmode = '@'; + ctx->new_count = 1; + ctx->enc_count = 0; + ctx->enc_type = 0; + ctx->is_complex = 0; + ctx->is_valid_array = 0; + ctx->struct_alignment = 0; + while (type->typegroup == 'S') { + ++ctx->head; + ctx->head->field = type->fields; + ctx->head->parent_offset = 0; + type = type->fields->type; + } +} +static int __Pyx_BufFmt_ParseNumber(const char** ts) { + int count; + const char* t = *ts; + if (*t < '0' || *t > '9') { + return -1; + } else { + count = *t++ - '0'; + while (*t >= '0' && *t <= '9') { + count *= 10; + count += *t++ - '0'; + } + } + *ts = t; + return count; +} +static int __Pyx_BufFmt_ExpectNumber(const char **ts) { + int number = __Pyx_BufFmt_ParseNumber(ts); + if (number == -1) + PyErr_Format(PyExc_ValueError,\ + "Does not understand character buffer dtype format string ('%c')", **ts); + return number; +} +static void __Pyx_BufFmt_RaiseUnexpectedChar(char ch) { + PyErr_Format(PyExc_ValueError, + "Unexpected format string character: '%c'", ch); +} +static const char* __Pyx_BufFmt_DescribeTypeChar(char ch, int is_complex) { + switch (ch) { + case '?': return "'bool'"; + case 'c': return "'char'"; + case 'b': return "'signed char'"; + case 'B': return "'unsigned char'"; + case 'h': return "'short'"; + case 'H': return "'unsigned short'"; + case 'i': return "'int'"; + case 'I': return "'unsigned int'"; + case 'l': return "'long'"; + case 'L': return "'unsigned long'"; + case 'q': return "'long long'"; + case 'Q': return "'unsigned long long'"; + case 'f': return (is_complex ? "'complex float'" : "'float'"); + case 'd': return (is_complex ? "'complex double'" : "'double'"); + case 'g': return (is_complex ? "'complex long double'" : "'long double'"); + case 'T': return "a struct"; + case 'O': return "Python object"; + case 'P': return "a pointer"; + case 's': case 'p': return "a string"; + case 0: return "end"; + default: return "unparsable format string"; + } +} +static size_t __Pyx_BufFmt_TypeCharToStandardSize(char ch, int is_complex) { + switch (ch) { + case '?': case 'c': case 'b': case 'B': case 's': case 'p': return 1; + case 'h': case 'H': return 2; + case 'i': case 'I': case 'l': case 'L': return 4; + case 'q': case 'Q': return 8; + case 'f': return (is_complex ? 8 : 4); + case 'd': return (is_complex ? 16 : 8); + case 'g': { + PyErr_SetString(PyExc_ValueError, "Python does not define a standard format string size for long double ('g').."); + return 0; + } + case 'O': case 'P': return sizeof(void*); + default: + __Pyx_BufFmt_RaiseUnexpectedChar(ch); + return 0; + } +} +static size_t __Pyx_BufFmt_TypeCharToNativeSize(char ch, int is_complex) { + switch (ch) { + case '?': case 'c': case 'b': case 'B': case 's': case 'p': return 1; + case 'h': case 'H': return sizeof(short); + case 'i': case 'I': return sizeof(int); + case 'l': case 'L': return sizeof(long); + #ifdef HAVE_LONG_LONG + case 'q': case 'Q': return sizeof(PY_LONG_LONG); + #endif + case 'f': return sizeof(float) * (is_complex ? 2 : 1); + case 'd': return sizeof(double) * (is_complex ? 2 : 1); + case 'g': return sizeof(long double) * (is_complex ? 2 : 1); + case 'O': case 'P': return sizeof(void*); + default: { + __Pyx_BufFmt_RaiseUnexpectedChar(ch); + return 0; + } + } +} +typedef struct { char c; short x; } __Pyx_st_short; +typedef struct { char c; int x; } __Pyx_st_int; +typedef struct { char c; long x; } __Pyx_st_long; +typedef struct { char c; float x; } __Pyx_st_float; +typedef struct { char c; double x; } __Pyx_st_double; +typedef struct { char c; long double x; } __Pyx_st_longdouble; +typedef struct { char c; void *x; } __Pyx_st_void_p; +#ifdef HAVE_LONG_LONG +typedef struct { char c; PY_LONG_LONG x; } __Pyx_st_longlong; +#endif +static size_t __Pyx_BufFmt_TypeCharToAlignment(char ch, int is_complex) { + CYTHON_UNUSED_VAR(is_complex); + switch (ch) { + case '?': case 'c': case 'b': case 'B': case 's': case 'p': return 1; + case 'h': case 'H': return sizeof(__Pyx_st_short) - sizeof(short); + case 'i': case 'I': return sizeof(__Pyx_st_int) - sizeof(int); + case 'l': case 'L': return sizeof(__Pyx_st_long) - sizeof(long); +#ifdef HAVE_LONG_LONG + case 'q': case 'Q': return sizeof(__Pyx_st_longlong) - sizeof(PY_LONG_LONG); +#endif + case 'f': return sizeof(__Pyx_st_float) - sizeof(float); + case 'd': return sizeof(__Pyx_st_double) - sizeof(double); + case 'g': return sizeof(__Pyx_st_longdouble) - sizeof(long double); + case 'P': case 'O': return sizeof(__Pyx_st_void_p) - sizeof(void*); + default: + __Pyx_BufFmt_RaiseUnexpectedChar(ch); + return 0; + } +} +/* These are for computing the padding at the end of the struct to align + on the first member of the struct. This will probably the same as above, + but we don't have any guarantees. + */ +typedef struct { short x; char c; } __Pyx_pad_short; +typedef struct { int x; char c; } __Pyx_pad_int; +typedef struct { long x; char c; } __Pyx_pad_long; +typedef struct { float x; char c; } __Pyx_pad_float; +typedef struct { double x; char c; } __Pyx_pad_double; +typedef struct { long double x; char c; } __Pyx_pad_longdouble; +typedef struct { void *x; char c; } __Pyx_pad_void_p; +#ifdef HAVE_LONG_LONG +typedef struct { PY_LONG_LONG x; char c; } __Pyx_pad_longlong; +#endif +static size_t __Pyx_BufFmt_TypeCharToPadding(char ch, int is_complex) { + CYTHON_UNUSED_VAR(is_complex); + switch (ch) { + case '?': case 'c': case 'b': case 'B': case 's': case 'p': return 1; + case 'h': case 'H': return sizeof(__Pyx_pad_short) - sizeof(short); + case 'i': case 'I': return sizeof(__Pyx_pad_int) - sizeof(int); + case 'l': case 'L': return sizeof(__Pyx_pad_long) - sizeof(long); +#ifdef HAVE_LONG_LONG + case 'q': case 'Q': return sizeof(__Pyx_pad_longlong) - sizeof(PY_LONG_LONG); +#endif + case 'f': return sizeof(__Pyx_pad_float) - sizeof(float); + case 'd': return sizeof(__Pyx_pad_double) - sizeof(double); + case 'g': return sizeof(__Pyx_pad_longdouble) - sizeof(long double); + case 'P': case 'O': return sizeof(__Pyx_pad_void_p) - sizeof(void*); + default: + __Pyx_BufFmt_RaiseUnexpectedChar(ch); + return 0; + } +} +static char __Pyx_BufFmt_TypeCharToGroup(char ch, int is_complex) { + switch (ch) { + case 'c': + return 'H'; + case 'b': case 'h': case 'i': + case 'l': case 'q': case 's': case 'p': + return 'I'; + case '?': case 'B': case 'H': case 'I': case 'L': case 'Q': + return 'U'; + case 'f': case 'd': case 'g': + return (is_complex ? 'C' : 'R'); + case 'O': + return 'O'; + case 'P': + return 'P'; + default: { + __Pyx_BufFmt_RaiseUnexpectedChar(ch); + return 0; + } + } +} +static void __Pyx_BufFmt_RaiseExpected(__Pyx_BufFmt_Context* ctx) { + if (ctx->head == NULL || ctx->head->field == &ctx->root) { + const char* expected; + const char* quote; + if (ctx->head == NULL) { + expected = "end"; + quote = ""; + } else { + expected = ctx->head->field->type->name; + quote = "'"; + } + PyErr_Format(PyExc_ValueError, + "Buffer dtype mismatch, expected %s%s%s but got %s", + quote, expected, quote, + __Pyx_BufFmt_DescribeTypeChar(ctx->enc_type, ctx->is_complex)); + } else { + __Pyx_StructField* field = ctx->head->field; + __Pyx_StructField* parent = (ctx->head - 1)->field; + PyErr_Format(PyExc_ValueError, + "Buffer dtype mismatch, expected '%s' but got %s in '%s.%s'", + field->type->name, __Pyx_BufFmt_DescribeTypeChar(ctx->enc_type, ctx->is_complex), + parent->type->name, field->name); + } +} +static int __Pyx_BufFmt_ProcessTypeChunk(__Pyx_BufFmt_Context* ctx) { + char group; + size_t size, offset, arraysize = 1; + if (ctx->enc_type == 0) return 0; + if (ctx->head->field->type->arraysize[0]) { + int i, ndim = 0; + if (ctx->enc_type == 's' || ctx->enc_type == 'p') { + ctx->is_valid_array = ctx->head->field->type->ndim == 1; + ndim = 1; + if (ctx->enc_count != ctx->head->field->type->arraysize[0]) { + PyErr_Format(PyExc_ValueError, + "Expected a dimension of size %zu, got %zu", + ctx->head->field->type->arraysize[0], ctx->enc_count); + return -1; + } + } + if (!ctx->is_valid_array) { + PyErr_Format(PyExc_ValueError, "Expected %d dimensions, got %d", + ctx->head->field->type->ndim, ndim); + return -1; + } + for (i = 0; i < ctx->head->field->type->ndim; i++) { + arraysize *= ctx->head->field->type->arraysize[i]; + } + ctx->is_valid_array = 0; + ctx->enc_count = 1; + } + group = __Pyx_BufFmt_TypeCharToGroup(ctx->enc_type, ctx->is_complex); + do { + __Pyx_StructField* field = ctx->head->field; + __Pyx_TypeInfo* type = field->type; + if (ctx->enc_packmode == '@' || ctx->enc_packmode == '^') { + size = __Pyx_BufFmt_TypeCharToNativeSize(ctx->enc_type, ctx->is_complex); + } else { + size = __Pyx_BufFmt_TypeCharToStandardSize(ctx->enc_type, ctx->is_complex); + } + if (ctx->enc_packmode == '@') { + size_t align_at = __Pyx_BufFmt_TypeCharToAlignment(ctx->enc_type, ctx->is_complex); + size_t align_mod_offset; + if (align_at == 0) return -1; + align_mod_offset = ctx->fmt_offset % align_at; + if (align_mod_offset > 0) ctx->fmt_offset += align_at - align_mod_offset; + if (ctx->struct_alignment == 0) + ctx->struct_alignment = __Pyx_BufFmt_TypeCharToPadding(ctx->enc_type, + ctx->is_complex); + } + if (type->size != size || type->typegroup != group) { + if (type->typegroup == 'C' && type->fields != NULL) { + size_t parent_offset = ctx->head->parent_offset + field->offset; + ++ctx->head; + ctx->head->field = type->fields; + ctx->head->parent_offset = parent_offset; + continue; + } + if ((type->typegroup == 'H' || group == 'H') && type->size == size) { + } else { + __Pyx_BufFmt_RaiseExpected(ctx); + return -1; + } + } + offset = ctx->head->parent_offset + field->offset; + if (ctx->fmt_offset != offset) { + PyErr_Format(PyExc_ValueError, + "Buffer dtype mismatch; next field is at offset %" CYTHON_FORMAT_SSIZE_T "d but %" CYTHON_FORMAT_SSIZE_T "d expected", + (Py_ssize_t)ctx->fmt_offset, (Py_ssize_t)offset); + return -1; + } + ctx->fmt_offset += size; + if (arraysize) + ctx->fmt_offset += (arraysize - 1) * size; + --ctx->enc_count; + while (1) { + if (field == &ctx->root) { + ctx->head = NULL; + if (ctx->enc_count != 0) { + __Pyx_BufFmt_RaiseExpected(ctx); + return -1; + } + break; + } + ctx->head->field = ++field; + if (field->type == NULL) { + --ctx->head; + field = ctx->head->field; + continue; + } else if (field->type->typegroup == 'S') { + size_t parent_offset = ctx->head->parent_offset + field->offset; + if (field->type->fields->type == NULL) continue; + field = field->type->fields; + ++ctx->head; + ctx->head->field = field; + ctx->head->parent_offset = parent_offset; + break; + } else { + break; + } + } + } while (ctx->enc_count); + ctx->enc_type = 0; + ctx->is_complex = 0; + return 0; +} +static int +__pyx_buffmt_parse_array(__Pyx_BufFmt_Context* ctx, const char** tsp) +{ + const char *ts = *tsp; + int i = 0, number, ndim; + ++ts; + if (ctx->new_count != 1) { + PyErr_SetString(PyExc_ValueError, + "Cannot handle repeated arrays in format string"); + return -1; + } + if (__Pyx_BufFmt_ProcessTypeChunk(ctx) == -1) return -1; + ndim = ctx->head->field->type->ndim; + while (*ts && *ts != ')') { + switch (*ts) { + case ' ': case '\f': case '\r': case '\n': case '\t': case '\v': continue; + default: break; + } + number = __Pyx_BufFmt_ExpectNumber(&ts); + if (number == -1) return -1; + if (i < ndim && (size_t) number != ctx->head->field->type->arraysize[i]) { + PyErr_Format(PyExc_ValueError, + "Expected a dimension of size %zu, got %d", + ctx->head->field->type->arraysize[i], number); + return -1; + } + if (*ts != ',' && *ts != ')') { + PyErr_Format(PyExc_ValueError, + "Expected a comma in format string, got '%c'", *ts); + return -1; + } + if (*ts == ',') ts++; + i++; + } + if (i != ndim) { + PyErr_Format(PyExc_ValueError, "Expected %d dimension(s), got %d", + ctx->head->field->type->ndim, i); + return -1; + } + if (!*ts) { + PyErr_SetString(PyExc_ValueError, + "Unexpected end of format string, expected ')'"); + return -1; + } + ctx->is_valid_array = 1; + ctx->new_count = 1; + *tsp = ++ts; + return 0; +} +static const char* __Pyx_BufFmt_CheckString(__Pyx_BufFmt_Context* ctx, const char* ts) { + int got_Z = 0; + while (1) { + switch(*ts) { + case 0: + if (ctx->enc_type != 0 && ctx->head == NULL) { + __Pyx_BufFmt_RaiseExpected(ctx); + return NULL; + } + if (__Pyx_BufFmt_ProcessTypeChunk(ctx) == -1) return NULL; + if (ctx->head != NULL) { + __Pyx_BufFmt_RaiseExpected(ctx); + return NULL; + } + return ts; + case ' ': + case '\r': + case '\n': + ++ts; + break; + case '<': + if (!__Pyx_Is_Little_Endian()) { + PyErr_SetString(PyExc_ValueError, "Little-endian buffer not supported on big-endian compiler"); + return NULL; + } + ctx->new_packmode = '='; + ++ts; + break; + case '>': + case '!': + if (__Pyx_Is_Little_Endian()) { + PyErr_SetString(PyExc_ValueError, "Big-endian buffer not supported on little-endian compiler"); + return NULL; + } + ctx->new_packmode = '='; + ++ts; + break; + case '=': + case '@': + case '^': + ctx->new_packmode = *ts++; + break; + case 'T': + { + const char* ts_after_sub; + size_t i, struct_count = ctx->new_count; + size_t struct_alignment = ctx->struct_alignment; + ctx->new_count = 1; + ++ts; + if (*ts != '{') { + PyErr_SetString(PyExc_ValueError, "Buffer acquisition: Expected '{' after 'T'"); + return NULL; + } + if (__Pyx_BufFmt_ProcessTypeChunk(ctx) == -1) return NULL; + ctx->enc_type = 0; + ctx->enc_count = 0; + ctx->struct_alignment = 0; + ++ts; + ts_after_sub = ts; + for (i = 0; i != struct_count; ++i) { + ts_after_sub = __Pyx_BufFmt_CheckString(ctx, ts); + if (!ts_after_sub) return NULL; + } + ts = ts_after_sub; + if (struct_alignment) ctx->struct_alignment = struct_alignment; + } + break; + case '}': + { + size_t alignment = ctx->struct_alignment; + ++ts; + if (__Pyx_BufFmt_ProcessTypeChunk(ctx) == -1) return NULL; + ctx->enc_type = 0; + if (alignment && ctx->fmt_offset % alignment) { + ctx->fmt_offset += alignment - (ctx->fmt_offset % alignment); + } + } + return ts; + case 'x': + if (__Pyx_BufFmt_ProcessTypeChunk(ctx) == -1) return NULL; + ctx->fmt_offset += ctx->new_count; + ctx->new_count = 1; + ctx->enc_count = 0; + ctx->enc_type = 0; + ctx->enc_packmode = ctx->new_packmode; + ++ts; + break; + case 'Z': + got_Z = 1; + ++ts; + if (*ts != 'f' && *ts != 'd' && *ts != 'g') { + __Pyx_BufFmt_RaiseUnexpectedChar('Z'); + return NULL; + } + CYTHON_FALLTHROUGH; + case '?': case 'c': case 'b': case 'B': case 'h': case 'H': case 'i': case 'I': + case 'l': case 'L': case 'q': case 'Q': + case 'f': case 'd': case 'g': + case 'O': case 'p': + if ((ctx->enc_type == *ts) && (got_Z == ctx->is_complex) && + (ctx->enc_packmode == ctx->new_packmode) && (!ctx->is_valid_array)) { + ctx->enc_count += ctx->new_count; + ctx->new_count = 1; + got_Z = 0; + ++ts; + break; + } + CYTHON_FALLTHROUGH; + case 's': + if (__Pyx_BufFmt_ProcessTypeChunk(ctx) == -1) return NULL; + ctx->enc_count = ctx->new_count; + ctx->enc_packmode = ctx->new_packmode; + ctx->enc_type = *ts; + ctx->is_complex = got_Z; + ++ts; + ctx->new_count = 1; + got_Z = 0; + break; + case ':': + ++ts; + while(*ts != ':') ++ts; + ++ts; + break; + case '(': + if (__pyx_buffmt_parse_array(ctx, &ts) < 0) return NULL; + break; + default: + { + int number = __Pyx_BufFmt_ExpectNumber(&ts); + if (number == -1) return NULL; + ctx->new_count = (size_t)number; + } + } + } +} + +/* TypeInfoCompare */ + static int +__pyx_typeinfo_cmp(__Pyx_TypeInfo *a, __Pyx_TypeInfo *b) +{ + int i; + if (!a || !b) + return 0; + if (a == b) + return 1; + if (a->size != b->size || a->typegroup != b->typegroup || + a->is_unsigned != b->is_unsigned || a->ndim != b->ndim) { + if (a->typegroup == 'H' || b->typegroup == 'H') { + return a->size == b->size; + } else { + return 0; + } + } + if (a->ndim) { + for (i = 0; i < a->ndim; i++) + if (a->arraysize[i] != b->arraysize[i]) + return 0; + } + if (a->typegroup == 'S') { + if (a->flags != b->flags) + return 0; + if (a->fields || b->fields) { + if (!(a->fields && b->fields)) + return 0; + for (i = 0; a->fields[i].type && b->fields[i].type; i++) { + __Pyx_StructField *field_a = a->fields + i; + __Pyx_StructField *field_b = b->fields + i; + if (field_a->offset != field_b->offset || + !__pyx_typeinfo_cmp(field_a->type, field_b->type)) + return 0; + } + return !a->fields[i].type && !b->fields[i].type; + } + } + return 1; +} + +/* MemviewSliceValidateAndInit */ + static int +__pyx_check_strides(Py_buffer *buf, int dim, int ndim, int spec) +{ + if (buf->shape[dim] <= 1) + return 1; + if (buf->strides) { + if (spec & __Pyx_MEMVIEW_CONTIG) { + if (spec & (__Pyx_MEMVIEW_PTR|__Pyx_MEMVIEW_FULL)) { + if (unlikely(buf->strides[dim] != sizeof(void *))) { + PyErr_Format(PyExc_ValueError, + "Buffer is not indirectly contiguous " + "in dimension %d.", dim); + goto fail; + } + } else if (unlikely(buf->strides[dim] != buf->itemsize)) { + PyErr_SetString(PyExc_ValueError, + "Buffer and memoryview are not contiguous " + "in the same dimension."); + goto fail; + } + } + if (spec & __Pyx_MEMVIEW_FOLLOW) { + Py_ssize_t stride = buf->strides[dim]; + if (stride < 0) + stride = -stride; + if (unlikely(stride < buf->itemsize)) { + PyErr_SetString(PyExc_ValueError, + "Buffer and memoryview are not contiguous " + "in the same dimension."); + goto fail; + } + } + } else { + if (unlikely(spec & __Pyx_MEMVIEW_CONTIG && dim != ndim - 1)) { + PyErr_Format(PyExc_ValueError, + "C-contiguous buffer is not contiguous in " + "dimension %d", dim); + goto fail; + } else if (unlikely(spec & (__Pyx_MEMVIEW_PTR))) { + PyErr_Format(PyExc_ValueError, + "C-contiguous buffer is not indirect in " + "dimension %d", dim); + goto fail; + } else if (unlikely(buf->suboffsets)) { + PyErr_SetString(PyExc_ValueError, + "Buffer exposes suboffsets but no strides"); + goto fail; + } + } + return 1; +fail: + return 0; +} +static int +__pyx_check_suboffsets(Py_buffer *buf, int dim, int ndim, int spec) +{ + CYTHON_UNUSED_VAR(ndim); + if (spec & __Pyx_MEMVIEW_DIRECT) { + if (unlikely(buf->suboffsets && buf->suboffsets[dim] >= 0)) { + PyErr_Format(PyExc_ValueError, + "Buffer not compatible with direct access " + "in dimension %d.", dim); + goto fail; + } + } + if (spec & __Pyx_MEMVIEW_PTR) { + if (unlikely(!buf->suboffsets || (buf->suboffsets[dim] < 0))) { + PyErr_Format(PyExc_ValueError, + "Buffer is not indirectly accessible " + "in dimension %d.", dim); + goto fail; + } + } + return 1; +fail: + return 0; +} +static int +__pyx_verify_contig(Py_buffer *buf, int ndim, int c_or_f_flag) +{ + int i; + if (c_or_f_flag & __Pyx_IS_F_CONTIG) { + Py_ssize_t stride = 1; + for (i = 0; i < ndim; i++) { + if (unlikely(stride * buf->itemsize != buf->strides[i] && buf->shape[i] > 1)) { + PyErr_SetString(PyExc_ValueError, + "Buffer not fortran contiguous."); + goto fail; + } + stride = stride * buf->shape[i]; + } + } else if (c_or_f_flag & __Pyx_IS_C_CONTIG) { + Py_ssize_t stride = 1; + for (i = ndim - 1; i >- 1; i--) { + if (unlikely(stride * buf->itemsize != buf->strides[i] && buf->shape[i] > 1)) { + PyErr_SetString(PyExc_ValueError, + "Buffer not C contiguous."); + goto fail; + } + stride = stride * buf->shape[i]; + } + } + return 1; +fail: + return 0; +} +static int __Pyx_ValidateAndInit_memviewslice( + int *axes_specs, + int c_or_f_flag, + int buf_flags, + int ndim, + __Pyx_TypeInfo *dtype, + __Pyx_BufFmt_StackElem stack[], + __Pyx_memviewslice *memviewslice, + PyObject *original_obj) +{ + struct __pyx_memoryview_obj *memview, *new_memview; + __Pyx_RefNannyDeclarations + Py_buffer *buf; + int i, spec = 0, retval = -1; + __Pyx_BufFmt_Context ctx; + int from_memoryview = __pyx_memoryview_check(original_obj); + __Pyx_RefNannySetupContext("ValidateAndInit_memviewslice", 0); + if (from_memoryview && __pyx_typeinfo_cmp(dtype, ((struct __pyx_memoryview_obj *) + original_obj)->typeinfo)) { + memview = (struct __pyx_memoryview_obj *) original_obj; + new_memview = NULL; + } else { + memview = (struct __pyx_memoryview_obj *) __pyx_memoryview_new( + original_obj, buf_flags, 0, dtype); + new_memview = memview; + if (unlikely(!memview)) + goto fail; + } + buf = &memview->view; + if (unlikely(buf->ndim != ndim)) { + PyErr_Format(PyExc_ValueError, + "Buffer has wrong number of dimensions (expected %d, got %d)", + ndim, buf->ndim); + goto fail; + } + if (new_memview) { + __Pyx_BufFmt_Init(&ctx, stack, dtype); + if (unlikely(!__Pyx_BufFmt_CheckString(&ctx, buf->format))) goto fail; + } + if (unlikely((unsigned) buf->itemsize != dtype->size)) { + PyErr_Format(PyExc_ValueError, + "Item size of buffer (%" CYTHON_FORMAT_SSIZE_T "u byte%s) " + "does not match size of '%s' (%" CYTHON_FORMAT_SSIZE_T "u byte%s)", + buf->itemsize, + (buf->itemsize > 1) ? "s" : "", + dtype->name, + dtype->size, + (dtype->size > 1) ? "s" : ""); + goto fail; + } + if (buf->len > 0) { + for (i = 0; i < ndim; i++) { + spec = axes_specs[i]; + if (unlikely(!__pyx_check_strides(buf, i, ndim, spec))) + goto fail; + if (unlikely(!__pyx_check_suboffsets(buf, i, ndim, spec))) + goto fail; + } + if (unlikely(buf->strides && !__pyx_verify_contig(buf, ndim, c_or_f_flag))) + goto fail; + } + if (unlikely(__Pyx_init_memviewslice(memview, ndim, memviewslice, + new_memview != NULL) == -1)) { + goto fail; + } + retval = 0; + goto no_fail; +fail: + Py_XDECREF(new_memview); + retval = -1; +no_fail: + __Pyx_RefNannyFinishContext(); + return retval; +} + +/* ObjectToMemviewSlice */ + static CYTHON_INLINE __Pyx_memviewslice __Pyx_PyObject_to_MemoryviewSlice_ds_float(PyObject *obj, int writable_flag) { + __Pyx_memviewslice result = { 0, 0, { 0 }, { 0 }, { 0 } }; + __Pyx_BufFmt_StackElem stack[1]; + int axes_specs[] = { (__Pyx_MEMVIEW_DIRECT | __Pyx_MEMVIEW_STRIDED) }; + int retcode; + if (obj == Py_None) { + result.memview = (struct __pyx_memoryview_obj *) Py_None; + return result; + } + retcode = __Pyx_ValidateAndInit_memviewslice(axes_specs, 0, + PyBUF_RECORDS_RO | writable_flag, 1, + &__Pyx_TypeInfo_float, stack, + &result, obj); + if (unlikely(retcode == -1)) + goto __pyx_fail; + return result; +__pyx_fail: + result.memview = NULL; + result.data = NULL; + return result; +} + +/* MemviewDtypeToObject */ + static CYTHON_INLINE PyObject *__pyx_memview_get_float(const char *itemp) { + return (PyObject *) PyFloat_FromDouble(*(float *) itemp); +} +static CYTHON_INLINE int __pyx_memview_set_float(const char *itemp, PyObject *obj) { + float value = __pyx_PyFloat_AsFloat(obj); + if (unlikely((value == (float)-1) && PyErr_Occurred())) + return 0; + *(float *) itemp = value; + return 1; +} + +/* MemviewSliceCopyTemplate */ + static __Pyx_memviewslice +__pyx_memoryview_copy_new_contig(const __Pyx_memviewslice *from_mvs, + const char *mode, int ndim, + size_t sizeof_dtype, int contig_flag, + int dtype_is_object) +{ + __Pyx_RefNannyDeclarations + int i; + __Pyx_memviewslice new_mvs = { 0, 0, { 0 }, { 0 }, { 0 } }; + struct __pyx_memoryview_obj *from_memview = from_mvs->memview; + Py_buffer *buf = &from_memview->view; + PyObject *shape_tuple = NULL; + PyObject *temp_int = NULL; + struct __pyx_array_obj *array_obj = NULL; + struct __pyx_memoryview_obj *memview_obj = NULL; + __Pyx_RefNannySetupContext("__pyx_memoryview_copy_new_contig", 0); + for (i = 0; i < ndim; i++) { + if (unlikely(from_mvs->suboffsets[i] >= 0)) { + PyErr_Format(PyExc_ValueError, "Cannot copy memoryview slice with " + "indirect dimensions (axis %d)", i); + goto fail; + } + } + shape_tuple = PyTuple_New(ndim); + if (unlikely(!shape_tuple)) { + goto fail; + } + __Pyx_GOTREF(shape_tuple); + for(i = 0; i < ndim; i++) { + temp_int = PyInt_FromSsize_t(from_mvs->shape[i]); + if(unlikely(!temp_int)) { + goto fail; + } else { + PyTuple_SET_ITEM(shape_tuple, i, temp_int); + temp_int = NULL; + } + } + array_obj = __pyx_array_new(shape_tuple, sizeof_dtype, buf->format, (char *) mode, NULL); + if (unlikely(!array_obj)) { + goto fail; + } + __Pyx_GOTREF(array_obj); + memview_obj = (struct __pyx_memoryview_obj *) __pyx_memoryview_new( + (PyObject *) array_obj, contig_flag, + dtype_is_object, + from_mvs->memview->typeinfo); + if (unlikely(!memview_obj)) + goto fail; + if (unlikely(__Pyx_init_memviewslice(memview_obj, ndim, &new_mvs, 1) < 0)) + goto fail; + if (unlikely(__pyx_memoryview_copy_contents(*from_mvs, new_mvs, ndim, ndim, + dtype_is_object) < 0)) + goto fail; + goto no_fail; +fail: + __Pyx_XDECREF(new_mvs.memview); + new_mvs.memview = NULL; + new_mvs.data = NULL; +no_fail: + __Pyx_XDECREF(shape_tuple); + __Pyx_XDECREF(temp_int); + __Pyx_XDECREF(array_obj); + __Pyx_RefNannyFinishContext(); + return new_mvs; +} + +/* MemviewSliceInit */ + static int +__Pyx_init_memviewslice(struct __pyx_memoryview_obj *memview, + int ndim, + __Pyx_memviewslice *memviewslice, + int memview_is_new_reference) +{ + __Pyx_RefNannyDeclarations + int i, retval=-1; + Py_buffer *buf = &memview->view; + __Pyx_RefNannySetupContext("init_memviewslice", 0); + if (unlikely(memviewslice->memview || memviewslice->data)) { + PyErr_SetString(PyExc_ValueError, + "memviewslice is already initialized!"); + goto fail; + } + if (buf->strides) { + for (i = 0; i < ndim; i++) { + memviewslice->strides[i] = buf->strides[i]; + } + } else { + Py_ssize_t stride = buf->itemsize; + for (i = ndim - 1; i >= 0; i--) { + memviewslice->strides[i] = stride; + stride *= buf->shape[i]; + } + } + for (i = 0; i < ndim; i++) { + memviewslice->shape[i] = buf->shape[i]; + if (buf->suboffsets) { + memviewslice->suboffsets[i] = buf->suboffsets[i]; + } else { + memviewslice->suboffsets[i] = -1; + } + } + memviewslice->memview = memview; + memviewslice->data = (char *)buf->buf; + if (__pyx_add_acquisition_count(memview) == 0 && !memview_is_new_reference) { + Py_INCREF(memview); + } + retval = 0; + goto no_fail; +fail: + memviewslice->memview = 0; + memviewslice->data = 0; + retval = -1; +no_fail: + __Pyx_RefNannyFinishContext(); + return retval; +} +#ifndef Py_NO_RETURN +#define Py_NO_RETURN +#endif +static void __pyx_fatalerror(const char *fmt, ...) Py_NO_RETURN { + va_list vargs; + char msg[200]; +#if PY_VERSION_HEX >= 0x030A0000 || defined(HAVE_STDARG_PROTOTYPES) + va_start(vargs, fmt); +#else + va_start(vargs); +#endif + vsnprintf(msg, 200, fmt, vargs); + va_end(vargs); + Py_FatalError(msg); +} +static CYTHON_INLINE int +__pyx_add_acquisition_count_locked(__pyx_atomic_int_type *acquisition_count, + PyThread_type_lock lock) +{ + int result; + PyThread_acquire_lock(lock, 1); + result = (*acquisition_count)++; + PyThread_release_lock(lock); + return result; +} +static CYTHON_INLINE int +__pyx_sub_acquisition_count_locked(__pyx_atomic_int_type *acquisition_count, + PyThread_type_lock lock) +{ + int result; + PyThread_acquire_lock(lock, 1); + result = (*acquisition_count)--; + PyThread_release_lock(lock); + return result; +} +static CYTHON_INLINE void +__Pyx_INC_MEMVIEW(__Pyx_memviewslice *memslice, int have_gil, int lineno) +{ + __pyx_nonatomic_int_type old_acquisition_count; + struct __pyx_memoryview_obj *memview = memslice->memview; + if (unlikely(!memview || (PyObject *) memview == Py_None)) { + return; + } + old_acquisition_count = __pyx_add_acquisition_count(memview); + if (unlikely(old_acquisition_count <= 0)) { + if (likely(old_acquisition_count == 0)) { + if (have_gil) { + Py_INCREF((PyObject *) memview); + } else { + PyGILState_STATE _gilstate = PyGILState_Ensure(); + Py_INCREF((PyObject *) memview); + PyGILState_Release(_gilstate); + } + } else { + __pyx_fatalerror("Acquisition count is %d (line %d)", + old_acquisition_count+1, lineno); + } + } +} +static CYTHON_INLINE void __Pyx_XCLEAR_MEMVIEW(__Pyx_memviewslice *memslice, + int have_gil, int lineno) { + __pyx_nonatomic_int_type old_acquisition_count; + struct __pyx_memoryview_obj *memview = memslice->memview; + if (unlikely(!memview || (PyObject *) memview == Py_None)) { + memslice->memview = NULL; + return; + } + old_acquisition_count = __pyx_sub_acquisition_count(memview); + memslice->data = NULL; + if (likely(old_acquisition_count > 1)) { + memslice->memview = NULL; + } else if (likely(old_acquisition_count == 1)) { + if (have_gil) { + Py_CLEAR(memslice->memview); + } else { + PyGILState_STATE _gilstate = PyGILState_Ensure(); + Py_CLEAR(memslice->memview); + PyGILState_Release(_gilstate); + } + } else { + __pyx_fatalerror("Acquisition count is %d (line %d)", + old_acquisition_count-1, lineno); + } +} + +/* CIntToPy */ + static CYTHON_INLINE PyObject* __Pyx_PyInt_From_int(int value) { +#ifdef __Pyx_HAS_GCC_DIAGNOSTIC +#pragma GCC diagnostic push +#pragma GCC diagnostic ignored "-Wconversion" +#endif + const int neg_one = (int) -1, const_zero = (int) 0; +#ifdef __Pyx_HAS_GCC_DIAGNOSTIC +#pragma GCC diagnostic pop +#endif + const int is_unsigned = neg_one > const_zero; + if (is_unsigned) { + if (sizeof(int) < sizeof(long)) { + return PyInt_FromLong((long) value); + } else if (sizeof(int) <= sizeof(unsigned long)) { + return PyLong_FromUnsignedLong((unsigned long) value); +#ifdef HAVE_LONG_LONG + } else if (sizeof(int) <= sizeof(unsigned PY_LONG_LONG)) { + return PyLong_FromUnsignedLongLong((unsigned PY_LONG_LONG) value); +#endif + } + } else { + if (sizeof(int) <= sizeof(long)) { + return PyInt_FromLong((long) value); +#ifdef HAVE_LONG_LONG + } else if (sizeof(int) <= sizeof(PY_LONG_LONG)) { + return PyLong_FromLongLong((PY_LONG_LONG) value); +#endif + } + } + { + int one = 1; int little = (int)*(unsigned char *)&one; + unsigned char *bytes = (unsigned char *)&value; +#if !CYTHON_COMPILING_IN_LIMITED_API && PY_VERSION_HEX < 0x030d0000 + return _PyLong_FromByteArray(bytes, sizeof(int), + little, !is_unsigned); +#else + PyObject *from_bytes, *result = NULL; + PyObject *py_bytes = NULL, *arg_tuple = NULL, *kwds = NULL, *order_str = NULL; + from_bytes = PyObject_GetAttrString((PyObject*)&PyLong_Type, "from_bytes"); + if (!from_bytes) return NULL; + py_bytes = PyBytes_FromStringAndSize((char*)bytes, sizeof(int)); + if (!py_bytes) goto limited_bad; + order_str = PyUnicode_FromString(little ? "little" : "big"); + if (!order_str) goto limited_bad; + arg_tuple = PyTuple_Pack(2, py_bytes, order_str); + if (!arg_tuple) goto limited_bad; + if (!is_unsigned) { + kwds = PyDict_New(); + if (!kwds) goto limited_bad; + if (PyDict_SetItemString(kwds, "signed", __Pyx_NewRef(Py_True))) goto limited_bad; + } + result = PyObject_Call(from_bytes, arg_tuple, kwds); + limited_bad: + Py_XDECREF(kwds); + Py_XDECREF(arg_tuple); + Py_XDECREF(order_str); + Py_XDECREF(py_bytes); + Py_XDECREF(from_bytes); + return result; +#endif + } +} + +/* CIntFromPyVerify */ + #define __PYX_VERIFY_RETURN_INT(target_type, func_type, func_value)\ + __PYX__VERIFY_RETURN_INT(target_type, func_type, func_value, 0) +#define __PYX_VERIFY_RETURN_INT_EXC(target_type, func_type, func_value)\ + __PYX__VERIFY_RETURN_INT(target_type, func_type, func_value, 1) +#define __PYX__VERIFY_RETURN_INT(target_type, func_type, func_value, exc)\ + {\ + func_type value = func_value;\ + if (sizeof(target_type) < sizeof(func_type)) {\ + if (unlikely(value != (func_type) (target_type) value)) {\ + func_type zero = 0;\ + if (exc && unlikely(value == (func_type)-1 && PyErr_Occurred()))\ + return (target_type) -1;\ + if (is_unsigned && unlikely(value < zero))\ + goto raise_neg_overflow;\ + else\ + goto raise_overflow;\ + }\ + }\ + return (target_type) value;\ + } + +/* CIntFromPy */ + static CYTHON_INLINE int __Pyx_PyInt_As_int(PyObject *x) { +#ifdef __Pyx_HAS_GCC_DIAGNOSTIC +#pragma GCC diagnostic push +#pragma GCC diagnostic ignored "-Wconversion" +#endif + const int neg_one = (int) -1, const_zero = (int) 0; +#ifdef __Pyx_HAS_GCC_DIAGNOSTIC +#pragma GCC diagnostic pop +#endif + const int is_unsigned = neg_one > const_zero; +#if PY_MAJOR_VERSION < 3 + if (likely(PyInt_Check(x))) { + if ((sizeof(int) < sizeof(long))) { + __PYX_VERIFY_RETURN_INT(int, long, PyInt_AS_LONG(x)) + } else { + long val = PyInt_AS_LONG(x); + if (is_unsigned && unlikely(val < 0)) { + goto raise_neg_overflow; + } + return (int) val; + } + } else +#endif + if (likely(PyLong_Check(x))) { + if (is_unsigned) { +#if CYTHON_USE_PYLONG_INTERNALS + if (unlikely(__Pyx_PyLong_IsNeg(x))) { + goto raise_neg_overflow; + } else if (__Pyx_PyLong_IsCompact(x)) { + __PYX_VERIFY_RETURN_INT(int, __Pyx_compact_upylong, __Pyx_PyLong_CompactValueUnsigned(x)) + } else { + const digit* digits = __Pyx_PyLong_Digits(x); + assert(__Pyx_PyLong_DigitCount(x) > 1); + switch (__Pyx_PyLong_DigitCount(x)) { + case 2: + if ((8 * sizeof(int) > 1 * PyLong_SHIFT)) { + if ((8 * sizeof(unsigned long) > 2 * PyLong_SHIFT)) { + __PYX_VERIFY_RETURN_INT(int, unsigned long, (((((unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if ((8 * sizeof(int) >= 2 * PyLong_SHIFT)) { + return (int) (((((int)digits[1]) << PyLong_SHIFT) | (int)digits[0])); + } + } + break; + case 3: + if ((8 * sizeof(int) > 2 * PyLong_SHIFT)) { + if ((8 * sizeof(unsigned long) > 3 * PyLong_SHIFT)) { + __PYX_VERIFY_RETURN_INT(int, unsigned long, (((((((unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if ((8 * sizeof(int) >= 3 * PyLong_SHIFT)) { + return (int) (((((((int)digits[2]) << PyLong_SHIFT) | (int)digits[1]) << PyLong_SHIFT) | (int)digits[0])); + } + } + break; + case 4: + if ((8 * sizeof(int) > 3 * PyLong_SHIFT)) { + if ((8 * sizeof(unsigned long) > 4 * PyLong_SHIFT)) { + __PYX_VERIFY_RETURN_INT(int, unsigned long, (((((((((unsigned long)digits[3]) << PyLong_SHIFT) | (unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if ((8 * sizeof(int) >= 4 * PyLong_SHIFT)) { + return (int) (((((((((int)digits[3]) << PyLong_SHIFT) | (int)digits[2]) << PyLong_SHIFT) | (int)digits[1]) << PyLong_SHIFT) | (int)digits[0])); + } + } + break; + } + } +#endif +#if CYTHON_COMPILING_IN_CPYTHON && PY_VERSION_HEX < 0x030C00A7 + if (unlikely(Py_SIZE(x) < 0)) { + goto raise_neg_overflow; + } +#else + { + int result = PyObject_RichCompareBool(x, Py_False, Py_LT); + if (unlikely(result < 0)) + return (int) -1; + if (unlikely(result == 1)) + goto raise_neg_overflow; + } +#endif + if ((sizeof(int) <= sizeof(unsigned long))) { + __PYX_VERIFY_RETURN_INT_EXC(int, unsigned long, PyLong_AsUnsignedLong(x)) +#ifdef HAVE_LONG_LONG + } else if ((sizeof(int) <= sizeof(unsigned PY_LONG_LONG))) { + __PYX_VERIFY_RETURN_INT_EXC(int, unsigned PY_LONG_LONG, PyLong_AsUnsignedLongLong(x)) +#endif + } + } else { +#if CYTHON_USE_PYLONG_INTERNALS + if (__Pyx_PyLong_IsCompact(x)) { + __PYX_VERIFY_RETURN_INT(int, __Pyx_compact_pylong, __Pyx_PyLong_CompactValue(x)) + } else { + const digit* digits = __Pyx_PyLong_Digits(x); + assert(__Pyx_PyLong_DigitCount(x) > 1); + switch (__Pyx_PyLong_SignedDigitCount(x)) { + case -2: + if ((8 * sizeof(int) - 1 > 1 * PyLong_SHIFT)) { + if ((8 * sizeof(unsigned long) > 2 * PyLong_SHIFT)) { + __PYX_VERIFY_RETURN_INT(int, long, -(long) (((((unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if ((8 * sizeof(int) - 1 > 2 * PyLong_SHIFT)) { + return (int) (((int)-1)*(((((int)digits[1]) << PyLong_SHIFT) | (int)digits[0]))); + } + } + break; + case 2: + if ((8 * sizeof(int) > 1 * PyLong_SHIFT)) { + if ((8 * sizeof(unsigned long) > 2 * PyLong_SHIFT)) { + __PYX_VERIFY_RETURN_INT(int, unsigned long, (((((unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if ((8 * sizeof(int) - 1 > 2 * PyLong_SHIFT)) { + return (int) ((((((int)digits[1]) << PyLong_SHIFT) | (int)digits[0]))); + } + } + break; + case -3: + if ((8 * sizeof(int) - 1 > 2 * PyLong_SHIFT)) { + if ((8 * sizeof(unsigned long) > 3 * PyLong_SHIFT)) { + __PYX_VERIFY_RETURN_INT(int, long, -(long) (((((((unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if ((8 * sizeof(int) - 1 > 3 * PyLong_SHIFT)) { + return (int) (((int)-1)*(((((((int)digits[2]) << PyLong_SHIFT) | (int)digits[1]) << PyLong_SHIFT) | (int)digits[0]))); + } + } + break; + case 3: + if ((8 * sizeof(int) > 2 * PyLong_SHIFT)) { + if ((8 * sizeof(unsigned long) > 3 * PyLong_SHIFT)) { + __PYX_VERIFY_RETURN_INT(int, unsigned long, (((((((unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if ((8 * sizeof(int) - 1 > 3 * PyLong_SHIFT)) { + return (int) ((((((((int)digits[2]) << PyLong_SHIFT) | (int)digits[1]) << PyLong_SHIFT) | (int)digits[0]))); + } + } + break; + case -4: + if ((8 * sizeof(int) - 1 > 3 * PyLong_SHIFT)) { + if ((8 * sizeof(unsigned long) > 4 * PyLong_SHIFT)) { + __PYX_VERIFY_RETURN_INT(int, long, -(long) (((((((((unsigned long)digits[3]) << PyLong_SHIFT) | (unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if ((8 * sizeof(int) - 1 > 4 * PyLong_SHIFT)) { + return (int) (((int)-1)*(((((((((int)digits[3]) << PyLong_SHIFT) | (int)digits[2]) << PyLong_SHIFT) | (int)digits[1]) << PyLong_SHIFT) | (int)digits[0]))); + } + } + break; + case 4: + if ((8 * sizeof(int) > 3 * PyLong_SHIFT)) { + if ((8 * sizeof(unsigned long) > 4 * PyLong_SHIFT)) { + __PYX_VERIFY_RETURN_INT(int, unsigned long, (((((((((unsigned long)digits[3]) << PyLong_SHIFT) | (unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if ((8 * sizeof(int) - 1 > 4 * PyLong_SHIFT)) { + return (int) ((((((((((int)digits[3]) << PyLong_SHIFT) | (int)digits[2]) << PyLong_SHIFT) | (int)digits[1]) << PyLong_SHIFT) | (int)digits[0]))); + } + } + break; + } + } +#endif + if ((sizeof(int) <= sizeof(long))) { + __PYX_VERIFY_RETURN_INT_EXC(int, long, PyLong_AsLong(x)) +#ifdef HAVE_LONG_LONG + } else if ((sizeof(int) <= sizeof(PY_LONG_LONG))) { + __PYX_VERIFY_RETURN_INT_EXC(int, PY_LONG_LONG, PyLong_AsLongLong(x)) +#endif + } + } + { + int val; + PyObject *v = __Pyx_PyNumber_IntOrLong(x); +#if PY_MAJOR_VERSION < 3 + if (likely(v) && !PyLong_Check(v)) { + PyObject *tmp = v; + v = PyNumber_Long(tmp); + Py_DECREF(tmp); + } +#endif + if (likely(v)) { + int ret = -1; +#if PY_VERSION_HEX < 0x030d0000 && !(CYTHON_COMPILING_IN_PYPY || CYTHON_COMPILING_IN_LIMITED_API) || defined(_PyLong_AsByteArray) + int one = 1; int is_little = (int)*(unsigned char *)&one; + unsigned char *bytes = (unsigned char *)&val; + ret = _PyLong_AsByteArray((PyLongObject *)v, + bytes, sizeof(val), + is_little, !is_unsigned); +#else + PyObject *stepval = NULL, *mask = NULL, *shift = NULL; + int bits, remaining_bits, is_negative = 0; + long idigit; + int chunk_size = (sizeof(long) < 8) ? 30 : 62; + if (unlikely(!PyLong_CheckExact(v))) { + PyObject *tmp = v; + v = PyNumber_Long(v); + assert(PyLong_CheckExact(v)); + Py_DECREF(tmp); + if (unlikely(!v)) return (int) -1; + } +#if CYTHON_COMPILING_IN_LIMITED_API && PY_VERSION_HEX < 0x030B0000 + if (Py_SIZE(x) == 0) + return (int) 0; + is_negative = Py_SIZE(x) < 0; +#else + { + int result = PyObject_RichCompareBool(x, Py_False, Py_LT); + if (unlikely(result < 0)) + return (int) -1; + is_negative = result == 1; + } +#endif + if (is_unsigned && unlikely(is_negative)) { + goto raise_neg_overflow; + } else if (is_negative) { + stepval = PyNumber_Invert(v); + if (unlikely(!stepval)) + return (int) -1; + } else { + stepval = __Pyx_NewRef(v); + } + val = (int) 0; + mask = PyLong_FromLong((1L << chunk_size) - 1); if (unlikely(!mask)) goto done; + shift = PyLong_FromLong(chunk_size); if (unlikely(!shift)) goto done; + for (bits = 0; bits < (int) sizeof(int) * 8 - chunk_size; bits += chunk_size) { + PyObject *tmp, *digit; + digit = PyNumber_And(stepval, mask); + if (unlikely(!digit)) goto done; + idigit = PyLong_AsLong(digit); + Py_DECREF(digit); + if (unlikely(idigit < 0)) goto done; + tmp = PyNumber_Rshift(stepval, shift); + if (unlikely(!tmp)) goto done; + Py_DECREF(stepval); stepval = tmp; + val |= ((int) idigit) << bits; + #if CYTHON_COMPILING_IN_LIMITED_API && PY_VERSION_HEX < 0x030B0000 + if (Py_SIZE(stepval) == 0) + goto unpacking_done; + #endif + } + idigit = PyLong_AsLong(stepval); + if (unlikely(idigit < 0)) goto done; + remaining_bits = ((int) sizeof(int) * 8) - bits - (is_unsigned ? 0 : 1); + if (unlikely(idigit >= (1L << remaining_bits))) + goto raise_overflow; + val |= ((int) idigit) << bits; + #if CYTHON_COMPILING_IN_LIMITED_API && PY_VERSION_HEX < 0x030B0000 + unpacking_done: + #endif + if (!is_unsigned) { + if (unlikely(val & (((int) 1) << (sizeof(int) * 8 - 1)))) + goto raise_overflow; + if (is_negative) + val = ~val; + } + ret = 0; + done: + Py_XDECREF(shift); + Py_XDECREF(mask); + Py_XDECREF(stepval); +#endif + Py_DECREF(v); + if (likely(!ret)) + return val; + } + return (int) -1; + } + } else { + int val; + PyObject *tmp = __Pyx_PyNumber_IntOrLong(x); + if (!tmp) return (int) -1; + val = __Pyx_PyInt_As_int(tmp); + Py_DECREF(tmp); + return val; + } +raise_overflow: + PyErr_SetString(PyExc_OverflowError, + "value too large to convert to int"); + return (int) -1; +raise_neg_overflow: + PyErr_SetString(PyExc_OverflowError, + "can't convert negative value to int"); + return (int) -1; +} + +/* CIntFromPy */ + static CYTHON_INLINE long __Pyx_PyInt_As_long(PyObject *x) { +#ifdef __Pyx_HAS_GCC_DIAGNOSTIC +#pragma GCC diagnostic push +#pragma GCC diagnostic ignored "-Wconversion" +#endif + const long neg_one = (long) -1, const_zero = (long) 0; +#ifdef __Pyx_HAS_GCC_DIAGNOSTIC +#pragma GCC diagnostic pop +#endif + const int is_unsigned = neg_one > const_zero; +#if PY_MAJOR_VERSION < 3 + if (likely(PyInt_Check(x))) { + if ((sizeof(long) < sizeof(long))) { + __PYX_VERIFY_RETURN_INT(long, long, PyInt_AS_LONG(x)) + } else { + long val = PyInt_AS_LONG(x); + if (is_unsigned && unlikely(val < 0)) { + goto raise_neg_overflow; + } + return (long) val; + } + } else +#endif + if (likely(PyLong_Check(x))) { + if (is_unsigned) { +#if CYTHON_USE_PYLONG_INTERNALS + if (unlikely(__Pyx_PyLong_IsNeg(x))) { + goto raise_neg_overflow; + } else if (__Pyx_PyLong_IsCompact(x)) { + __PYX_VERIFY_RETURN_INT(long, __Pyx_compact_upylong, __Pyx_PyLong_CompactValueUnsigned(x)) + } else { + const digit* digits = __Pyx_PyLong_Digits(x); + assert(__Pyx_PyLong_DigitCount(x) > 1); + switch (__Pyx_PyLong_DigitCount(x)) { + case 2: + if ((8 * sizeof(long) > 1 * PyLong_SHIFT)) { + if ((8 * sizeof(unsigned long) > 2 * PyLong_SHIFT)) { + __PYX_VERIFY_RETURN_INT(long, unsigned long, (((((unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if ((8 * sizeof(long) >= 2 * PyLong_SHIFT)) { + return (long) (((((long)digits[1]) << PyLong_SHIFT) | (long)digits[0])); + } + } + break; + case 3: + if ((8 * sizeof(long) > 2 * PyLong_SHIFT)) { + if ((8 * sizeof(unsigned long) > 3 * PyLong_SHIFT)) { + __PYX_VERIFY_RETURN_INT(long, unsigned long, (((((((unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if ((8 * sizeof(long) >= 3 * PyLong_SHIFT)) { + return (long) (((((((long)digits[2]) << PyLong_SHIFT) | (long)digits[1]) << PyLong_SHIFT) | (long)digits[0])); + } + } + break; + case 4: + if ((8 * sizeof(long) > 3 * PyLong_SHIFT)) { + if ((8 * sizeof(unsigned long) > 4 * PyLong_SHIFT)) { + __PYX_VERIFY_RETURN_INT(long, unsigned long, (((((((((unsigned long)digits[3]) << PyLong_SHIFT) | (unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if ((8 * sizeof(long) >= 4 * PyLong_SHIFT)) { + return (long) (((((((((long)digits[3]) << PyLong_SHIFT) | (long)digits[2]) << PyLong_SHIFT) | (long)digits[1]) << PyLong_SHIFT) | (long)digits[0])); + } + } + break; + } + } +#endif +#if CYTHON_COMPILING_IN_CPYTHON && PY_VERSION_HEX < 0x030C00A7 + if (unlikely(Py_SIZE(x) < 0)) { + goto raise_neg_overflow; + } +#else + { + int result = PyObject_RichCompareBool(x, Py_False, Py_LT); + if (unlikely(result < 0)) + return (long) -1; + if (unlikely(result == 1)) + goto raise_neg_overflow; + } +#endif + if ((sizeof(long) <= sizeof(unsigned long))) { + __PYX_VERIFY_RETURN_INT_EXC(long, unsigned long, PyLong_AsUnsignedLong(x)) +#ifdef HAVE_LONG_LONG + } else if ((sizeof(long) <= sizeof(unsigned PY_LONG_LONG))) { + __PYX_VERIFY_RETURN_INT_EXC(long, unsigned PY_LONG_LONG, PyLong_AsUnsignedLongLong(x)) +#endif + } + } else { +#if CYTHON_USE_PYLONG_INTERNALS + if (__Pyx_PyLong_IsCompact(x)) { + __PYX_VERIFY_RETURN_INT(long, __Pyx_compact_pylong, __Pyx_PyLong_CompactValue(x)) + } else { + const digit* digits = __Pyx_PyLong_Digits(x); + assert(__Pyx_PyLong_DigitCount(x) > 1); + switch (__Pyx_PyLong_SignedDigitCount(x)) { + case -2: + if ((8 * sizeof(long) - 1 > 1 * PyLong_SHIFT)) { + if ((8 * sizeof(unsigned long) > 2 * PyLong_SHIFT)) { + __PYX_VERIFY_RETURN_INT(long, long, -(long) (((((unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if ((8 * sizeof(long) - 1 > 2 * PyLong_SHIFT)) { + return (long) (((long)-1)*(((((long)digits[1]) << PyLong_SHIFT) | (long)digits[0]))); + } + } + break; + case 2: + if ((8 * sizeof(long) > 1 * PyLong_SHIFT)) { + if ((8 * sizeof(unsigned long) > 2 * PyLong_SHIFT)) { + __PYX_VERIFY_RETURN_INT(long, unsigned long, (((((unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if ((8 * sizeof(long) - 1 > 2 * PyLong_SHIFT)) { + return (long) ((((((long)digits[1]) << PyLong_SHIFT) | (long)digits[0]))); + } + } + break; + case -3: + if ((8 * sizeof(long) - 1 > 2 * PyLong_SHIFT)) { + if ((8 * sizeof(unsigned long) > 3 * PyLong_SHIFT)) { + __PYX_VERIFY_RETURN_INT(long, long, -(long) (((((((unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if ((8 * sizeof(long) - 1 > 3 * PyLong_SHIFT)) { + return (long) (((long)-1)*(((((((long)digits[2]) << PyLong_SHIFT) | (long)digits[1]) << PyLong_SHIFT) | (long)digits[0]))); + } + } + break; + case 3: + if ((8 * sizeof(long) > 2 * PyLong_SHIFT)) { + if ((8 * sizeof(unsigned long) > 3 * PyLong_SHIFT)) { + __PYX_VERIFY_RETURN_INT(long, unsigned long, (((((((unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if ((8 * sizeof(long) - 1 > 3 * PyLong_SHIFT)) { + return (long) ((((((((long)digits[2]) << PyLong_SHIFT) | (long)digits[1]) << PyLong_SHIFT) | (long)digits[0]))); + } + } + break; + case -4: + if ((8 * sizeof(long) - 1 > 3 * PyLong_SHIFT)) { + if ((8 * sizeof(unsigned long) > 4 * PyLong_SHIFT)) { + __PYX_VERIFY_RETURN_INT(long, long, -(long) (((((((((unsigned long)digits[3]) << PyLong_SHIFT) | (unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if ((8 * sizeof(long) - 1 > 4 * PyLong_SHIFT)) { + return (long) (((long)-1)*(((((((((long)digits[3]) << PyLong_SHIFT) | (long)digits[2]) << PyLong_SHIFT) | (long)digits[1]) << PyLong_SHIFT) | (long)digits[0]))); + } + } + break; + case 4: + if ((8 * sizeof(long) > 3 * PyLong_SHIFT)) { + if ((8 * sizeof(unsigned long) > 4 * PyLong_SHIFT)) { + __PYX_VERIFY_RETURN_INT(long, unsigned long, (((((((((unsigned long)digits[3]) << PyLong_SHIFT) | (unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if ((8 * sizeof(long) - 1 > 4 * PyLong_SHIFT)) { + return (long) ((((((((((long)digits[3]) << PyLong_SHIFT) | (long)digits[2]) << PyLong_SHIFT) | (long)digits[1]) << PyLong_SHIFT) | (long)digits[0]))); + } + } + break; + } + } +#endif + if ((sizeof(long) <= sizeof(long))) { + __PYX_VERIFY_RETURN_INT_EXC(long, long, PyLong_AsLong(x)) +#ifdef HAVE_LONG_LONG + } else if ((sizeof(long) <= sizeof(PY_LONG_LONG))) { + __PYX_VERIFY_RETURN_INT_EXC(long, PY_LONG_LONG, PyLong_AsLongLong(x)) +#endif + } + } + { + long val; + PyObject *v = __Pyx_PyNumber_IntOrLong(x); +#if PY_MAJOR_VERSION < 3 + if (likely(v) && !PyLong_Check(v)) { + PyObject *tmp = v; + v = PyNumber_Long(tmp); + Py_DECREF(tmp); + } +#endif + if (likely(v)) { + int ret = -1; +#if PY_VERSION_HEX < 0x030d0000 && !(CYTHON_COMPILING_IN_PYPY || CYTHON_COMPILING_IN_LIMITED_API) || defined(_PyLong_AsByteArray) + int one = 1; int is_little = (int)*(unsigned char *)&one; + unsigned char *bytes = (unsigned char *)&val; + ret = _PyLong_AsByteArray((PyLongObject *)v, + bytes, sizeof(val), + is_little, !is_unsigned); +#else + PyObject *stepval = NULL, *mask = NULL, *shift = NULL; + int bits, remaining_bits, is_negative = 0; + long idigit; + int chunk_size = (sizeof(long) < 8) ? 30 : 62; + if (unlikely(!PyLong_CheckExact(v))) { + PyObject *tmp = v; + v = PyNumber_Long(v); + assert(PyLong_CheckExact(v)); + Py_DECREF(tmp); + if (unlikely(!v)) return (long) -1; + } +#if CYTHON_COMPILING_IN_LIMITED_API && PY_VERSION_HEX < 0x030B0000 + if (Py_SIZE(x) == 0) + return (long) 0; + is_negative = Py_SIZE(x) < 0; +#else + { + int result = PyObject_RichCompareBool(x, Py_False, Py_LT); + if (unlikely(result < 0)) + return (long) -1; + is_negative = result == 1; + } +#endif + if (is_unsigned && unlikely(is_negative)) { + goto raise_neg_overflow; + } else if (is_negative) { + stepval = PyNumber_Invert(v); + if (unlikely(!stepval)) + return (long) -1; + } else { + stepval = __Pyx_NewRef(v); + } + val = (long) 0; + mask = PyLong_FromLong((1L << chunk_size) - 1); if (unlikely(!mask)) goto done; + shift = PyLong_FromLong(chunk_size); if (unlikely(!shift)) goto done; + for (bits = 0; bits < (int) sizeof(long) * 8 - chunk_size; bits += chunk_size) { + PyObject *tmp, *digit; + digit = PyNumber_And(stepval, mask); + if (unlikely(!digit)) goto done; + idigit = PyLong_AsLong(digit); + Py_DECREF(digit); + if (unlikely(idigit < 0)) goto done; + tmp = PyNumber_Rshift(stepval, shift); + if (unlikely(!tmp)) goto done; + Py_DECREF(stepval); stepval = tmp; + val |= ((long) idigit) << bits; + #if CYTHON_COMPILING_IN_LIMITED_API && PY_VERSION_HEX < 0x030B0000 + if (Py_SIZE(stepval) == 0) + goto unpacking_done; + #endif + } + idigit = PyLong_AsLong(stepval); + if (unlikely(idigit < 0)) goto done; + remaining_bits = ((int) sizeof(long) * 8) - bits - (is_unsigned ? 0 : 1); + if (unlikely(idigit >= (1L << remaining_bits))) + goto raise_overflow; + val |= ((long) idigit) << bits; + #if CYTHON_COMPILING_IN_LIMITED_API && PY_VERSION_HEX < 0x030B0000 + unpacking_done: + #endif + if (!is_unsigned) { + if (unlikely(val & (((long) 1) << (sizeof(long) * 8 - 1)))) + goto raise_overflow; + if (is_negative) + val = ~val; + } + ret = 0; + done: + Py_XDECREF(shift); + Py_XDECREF(mask); + Py_XDECREF(stepval); +#endif + Py_DECREF(v); + if (likely(!ret)) + return val; + } + return (long) -1; + } + } else { + long val; + PyObject *tmp = __Pyx_PyNumber_IntOrLong(x); + if (!tmp) return (long) -1; + val = __Pyx_PyInt_As_long(tmp); + Py_DECREF(tmp); + return val; + } +raise_overflow: + PyErr_SetString(PyExc_OverflowError, + "value too large to convert to long"); + return (long) -1; +raise_neg_overflow: + PyErr_SetString(PyExc_OverflowError, + "can't convert negative value to long"); + return (long) -1; +} + +/* CIntToPy */ + static CYTHON_INLINE PyObject* __Pyx_PyInt_From_long(long value) { +#ifdef __Pyx_HAS_GCC_DIAGNOSTIC +#pragma GCC diagnostic push +#pragma GCC diagnostic ignored "-Wconversion" +#endif + const long neg_one = (long) -1, const_zero = (long) 0; +#ifdef __Pyx_HAS_GCC_DIAGNOSTIC +#pragma GCC diagnostic pop +#endif + const int is_unsigned = neg_one > const_zero; + if (is_unsigned) { + if (sizeof(long) < sizeof(long)) { + return PyInt_FromLong((long) value); + } else if (sizeof(long) <= sizeof(unsigned long)) { + return PyLong_FromUnsignedLong((unsigned long) value); +#ifdef HAVE_LONG_LONG + } else if (sizeof(long) <= sizeof(unsigned PY_LONG_LONG)) { + return PyLong_FromUnsignedLongLong((unsigned PY_LONG_LONG) value); +#endif + } + } else { + if (sizeof(long) <= sizeof(long)) { + return PyInt_FromLong((long) value); +#ifdef HAVE_LONG_LONG + } else if (sizeof(long) <= sizeof(PY_LONG_LONG)) { + return PyLong_FromLongLong((PY_LONG_LONG) value); +#endif + } + } + { + int one = 1; int little = (int)*(unsigned char *)&one; + unsigned char *bytes = (unsigned char *)&value; +#if !CYTHON_COMPILING_IN_LIMITED_API && PY_VERSION_HEX < 0x030d0000 + return _PyLong_FromByteArray(bytes, sizeof(long), + little, !is_unsigned); +#else + PyObject *from_bytes, *result = NULL; + PyObject *py_bytes = NULL, *arg_tuple = NULL, *kwds = NULL, *order_str = NULL; + from_bytes = PyObject_GetAttrString((PyObject*)&PyLong_Type, "from_bytes"); + if (!from_bytes) return NULL; + py_bytes = PyBytes_FromStringAndSize((char*)bytes, sizeof(long)); + if (!py_bytes) goto limited_bad; + order_str = PyUnicode_FromString(little ? "little" : "big"); + if (!order_str) goto limited_bad; + arg_tuple = PyTuple_Pack(2, py_bytes, order_str); + if (!arg_tuple) goto limited_bad; + if (!is_unsigned) { + kwds = PyDict_New(); + if (!kwds) goto limited_bad; + if (PyDict_SetItemString(kwds, "signed", __Pyx_NewRef(Py_True))) goto limited_bad; + } + result = PyObject_Call(from_bytes, arg_tuple, kwds); + limited_bad: + Py_XDECREF(kwds); + Py_XDECREF(arg_tuple); + Py_XDECREF(order_str); + Py_XDECREF(py_bytes); + Py_XDECREF(from_bytes); + return result; +#endif + } +} + +/* CIntFromPy */ + static CYTHON_INLINE char __Pyx_PyInt_As_char(PyObject *x) { +#ifdef __Pyx_HAS_GCC_DIAGNOSTIC +#pragma GCC diagnostic push +#pragma GCC diagnostic ignored "-Wconversion" +#endif + const char neg_one = (char) -1, const_zero = (char) 0; +#ifdef __Pyx_HAS_GCC_DIAGNOSTIC +#pragma GCC diagnostic pop +#endif + const int is_unsigned = neg_one > const_zero; +#if PY_MAJOR_VERSION < 3 + if (likely(PyInt_Check(x))) { + if ((sizeof(char) < sizeof(long))) { + __PYX_VERIFY_RETURN_INT(char, long, PyInt_AS_LONG(x)) + } else { + long val = PyInt_AS_LONG(x); + if (is_unsigned && unlikely(val < 0)) { + goto raise_neg_overflow; + } + return (char) val; + } + } else +#endif + if (likely(PyLong_Check(x))) { + if (is_unsigned) { +#if CYTHON_USE_PYLONG_INTERNALS + if (unlikely(__Pyx_PyLong_IsNeg(x))) { + goto raise_neg_overflow; + } else if (__Pyx_PyLong_IsCompact(x)) { + __PYX_VERIFY_RETURN_INT(char, __Pyx_compact_upylong, __Pyx_PyLong_CompactValueUnsigned(x)) + } else { + const digit* digits = __Pyx_PyLong_Digits(x); + assert(__Pyx_PyLong_DigitCount(x) > 1); + switch (__Pyx_PyLong_DigitCount(x)) { + case 2: + if ((8 * sizeof(char) > 1 * PyLong_SHIFT)) { + if ((8 * sizeof(unsigned long) > 2 * PyLong_SHIFT)) { + __PYX_VERIFY_RETURN_INT(char, unsigned long, (((((unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if ((8 * sizeof(char) >= 2 * PyLong_SHIFT)) { + return (char) (((((char)digits[1]) << PyLong_SHIFT) | (char)digits[0])); + } + } + break; + case 3: + if ((8 * sizeof(char) > 2 * PyLong_SHIFT)) { + if ((8 * sizeof(unsigned long) > 3 * PyLong_SHIFT)) { + __PYX_VERIFY_RETURN_INT(char, unsigned long, (((((((unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if ((8 * sizeof(char) >= 3 * PyLong_SHIFT)) { + return (char) (((((((char)digits[2]) << PyLong_SHIFT) | (char)digits[1]) << PyLong_SHIFT) | (char)digits[0])); + } + } + break; + case 4: + if ((8 * sizeof(char) > 3 * PyLong_SHIFT)) { + if ((8 * sizeof(unsigned long) > 4 * PyLong_SHIFT)) { + __PYX_VERIFY_RETURN_INT(char, unsigned long, (((((((((unsigned long)digits[3]) << PyLong_SHIFT) | (unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if ((8 * sizeof(char) >= 4 * PyLong_SHIFT)) { + return (char) (((((((((char)digits[3]) << PyLong_SHIFT) | (char)digits[2]) << PyLong_SHIFT) | (char)digits[1]) << PyLong_SHIFT) | (char)digits[0])); + } + } + break; + } + } +#endif +#if CYTHON_COMPILING_IN_CPYTHON && PY_VERSION_HEX < 0x030C00A7 + if (unlikely(Py_SIZE(x) < 0)) { + goto raise_neg_overflow; + } +#else + { + int result = PyObject_RichCompareBool(x, Py_False, Py_LT); + if (unlikely(result < 0)) + return (char) -1; + if (unlikely(result == 1)) + goto raise_neg_overflow; + } +#endif + if ((sizeof(char) <= sizeof(unsigned long))) { + __PYX_VERIFY_RETURN_INT_EXC(char, unsigned long, PyLong_AsUnsignedLong(x)) +#ifdef HAVE_LONG_LONG + } else if ((sizeof(char) <= sizeof(unsigned PY_LONG_LONG))) { + __PYX_VERIFY_RETURN_INT_EXC(char, unsigned PY_LONG_LONG, PyLong_AsUnsignedLongLong(x)) +#endif + } + } else { +#if CYTHON_USE_PYLONG_INTERNALS + if (__Pyx_PyLong_IsCompact(x)) { + __PYX_VERIFY_RETURN_INT(char, __Pyx_compact_pylong, __Pyx_PyLong_CompactValue(x)) + } else { + const digit* digits = __Pyx_PyLong_Digits(x); + assert(__Pyx_PyLong_DigitCount(x) > 1); + switch (__Pyx_PyLong_SignedDigitCount(x)) { + case -2: + if ((8 * sizeof(char) - 1 > 1 * PyLong_SHIFT)) { + if ((8 * sizeof(unsigned long) > 2 * PyLong_SHIFT)) { + __PYX_VERIFY_RETURN_INT(char, long, -(long) (((((unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if ((8 * sizeof(char) - 1 > 2 * PyLong_SHIFT)) { + return (char) (((char)-1)*(((((char)digits[1]) << PyLong_SHIFT) | (char)digits[0]))); + } + } + break; + case 2: + if ((8 * sizeof(char) > 1 * PyLong_SHIFT)) { + if ((8 * sizeof(unsigned long) > 2 * PyLong_SHIFT)) { + __PYX_VERIFY_RETURN_INT(char, unsigned long, (((((unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if ((8 * sizeof(char) - 1 > 2 * PyLong_SHIFT)) { + return (char) ((((((char)digits[1]) << PyLong_SHIFT) | (char)digits[0]))); + } + } + break; + case -3: + if ((8 * sizeof(char) - 1 > 2 * PyLong_SHIFT)) { + if ((8 * sizeof(unsigned long) > 3 * PyLong_SHIFT)) { + __PYX_VERIFY_RETURN_INT(char, long, -(long) (((((((unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if ((8 * sizeof(char) - 1 > 3 * PyLong_SHIFT)) { + return (char) (((char)-1)*(((((((char)digits[2]) << PyLong_SHIFT) | (char)digits[1]) << PyLong_SHIFT) | (char)digits[0]))); + } + } + break; + case 3: + if ((8 * sizeof(char) > 2 * PyLong_SHIFT)) { + if ((8 * sizeof(unsigned long) > 3 * PyLong_SHIFT)) { + __PYX_VERIFY_RETURN_INT(char, unsigned long, (((((((unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if ((8 * sizeof(char) - 1 > 3 * PyLong_SHIFT)) { + return (char) ((((((((char)digits[2]) << PyLong_SHIFT) | (char)digits[1]) << PyLong_SHIFT) | (char)digits[0]))); + } + } + break; + case -4: + if ((8 * sizeof(char) - 1 > 3 * PyLong_SHIFT)) { + if ((8 * sizeof(unsigned long) > 4 * PyLong_SHIFT)) { + __PYX_VERIFY_RETURN_INT(char, long, -(long) (((((((((unsigned long)digits[3]) << PyLong_SHIFT) | (unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if ((8 * sizeof(char) - 1 > 4 * PyLong_SHIFT)) { + return (char) (((char)-1)*(((((((((char)digits[3]) << PyLong_SHIFT) | (char)digits[2]) << PyLong_SHIFT) | (char)digits[1]) << PyLong_SHIFT) | (char)digits[0]))); + } + } + break; + case 4: + if ((8 * sizeof(char) > 3 * PyLong_SHIFT)) { + if ((8 * sizeof(unsigned long) > 4 * PyLong_SHIFT)) { + __PYX_VERIFY_RETURN_INT(char, unsigned long, (((((((((unsigned long)digits[3]) << PyLong_SHIFT) | (unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if ((8 * sizeof(char) - 1 > 4 * PyLong_SHIFT)) { + return (char) ((((((((((char)digits[3]) << PyLong_SHIFT) | (char)digits[2]) << PyLong_SHIFT) | (char)digits[1]) << PyLong_SHIFT) | (char)digits[0]))); + } + } + break; + } + } +#endif + if ((sizeof(char) <= sizeof(long))) { + __PYX_VERIFY_RETURN_INT_EXC(char, long, PyLong_AsLong(x)) +#ifdef HAVE_LONG_LONG + } else if ((sizeof(char) <= sizeof(PY_LONG_LONG))) { + __PYX_VERIFY_RETURN_INT_EXC(char, PY_LONG_LONG, PyLong_AsLongLong(x)) +#endif + } + } + { + char val; + PyObject *v = __Pyx_PyNumber_IntOrLong(x); +#if PY_MAJOR_VERSION < 3 + if (likely(v) && !PyLong_Check(v)) { + PyObject *tmp = v; + v = PyNumber_Long(tmp); + Py_DECREF(tmp); + } +#endif + if (likely(v)) { + int ret = -1; +#if PY_VERSION_HEX < 0x030d0000 && !(CYTHON_COMPILING_IN_PYPY || CYTHON_COMPILING_IN_LIMITED_API) || defined(_PyLong_AsByteArray) + int one = 1; int is_little = (int)*(unsigned char *)&one; + unsigned char *bytes = (unsigned char *)&val; + ret = _PyLong_AsByteArray((PyLongObject *)v, + bytes, sizeof(val), + is_little, !is_unsigned); +#else + PyObject *stepval = NULL, *mask = NULL, *shift = NULL; + int bits, remaining_bits, is_negative = 0; + long idigit; + int chunk_size = (sizeof(long) < 8) ? 30 : 62; + if (unlikely(!PyLong_CheckExact(v))) { + PyObject *tmp = v; + v = PyNumber_Long(v); + assert(PyLong_CheckExact(v)); + Py_DECREF(tmp); + if (unlikely(!v)) return (char) -1; + } +#if CYTHON_COMPILING_IN_LIMITED_API && PY_VERSION_HEX < 0x030B0000 + if (Py_SIZE(x) == 0) + return (char) 0; + is_negative = Py_SIZE(x) < 0; +#else + { + int result = PyObject_RichCompareBool(x, Py_False, Py_LT); + if (unlikely(result < 0)) + return (char) -1; + is_negative = result == 1; + } +#endif + if (is_unsigned && unlikely(is_negative)) { + goto raise_neg_overflow; + } else if (is_negative) { + stepval = PyNumber_Invert(v); + if (unlikely(!stepval)) + return (char) -1; + } else { + stepval = __Pyx_NewRef(v); + } + val = (char) 0; + mask = PyLong_FromLong((1L << chunk_size) - 1); if (unlikely(!mask)) goto done; + shift = PyLong_FromLong(chunk_size); if (unlikely(!shift)) goto done; + for (bits = 0; bits < (int) sizeof(char) * 8 - chunk_size; bits += chunk_size) { + PyObject *tmp, *digit; + digit = PyNumber_And(stepval, mask); + if (unlikely(!digit)) goto done; + idigit = PyLong_AsLong(digit); + Py_DECREF(digit); + if (unlikely(idigit < 0)) goto done; + tmp = PyNumber_Rshift(stepval, shift); + if (unlikely(!tmp)) goto done; + Py_DECREF(stepval); stepval = tmp; + val |= ((char) idigit) << bits; + #if CYTHON_COMPILING_IN_LIMITED_API && PY_VERSION_HEX < 0x030B0000 + if (Py_SIZE(stepval) == 0) + goto unpacking_done; + #endif + } + idigit = PyLong_AsLong(stepval); + if (unlikely(idigit < 0)) goto done; + remaining_bits = ((int) sizeof(char) * 8) - bits - (is_unsigned ? 0 : 1); + if (unlikely(idigit >= (1L << remaining_bits))) + goto raise_overflow; + val |= ((char) idigit) << bits; + #if CYTHON_COMPILING_IN_LIMITED_API && PY_VERSION_HEX < 0x030B0000 + unpacking_done: + #endif + if (!is_unsigned) { + if (unlikely(val & (((char) 1) << (sizeof(char) * 8 - 1)))) + goto raise_overflow; + if (is_negative) + val = ~val; + } + ret = 0; + done: + Py_XDECREF(shift); + Py_XDECREF(mask); + Py_XDECREF(stepval); +#endif + Py_DECREF(v); + if (likely(!ret)) + return val; + } + return (char) -1; + } + } else { + char val; + PyObject *tmp = __Pyx_PyNumber_IntOrLong(x); + if (!tmp) return (char) -1; + val = __Pyx_PyInt_As_char(tmp); + Py_DECREF(tmp); + return val; + } +raise_overflow: + PyErr_SetString(PyExc_OverflowError, + "value too large to convert to char"); + return (char) -1; +raise_neg_overflow: + PyErr_SetString(PyExc_OverflowError, + "can't convert negative value to char"); + return (char) -1; +} + +/* FormatTypeName */ + #if CYTHON_COMPILING_IN_LIMITED_API +static __Pyx_TypeName +__Pyx_PyType_GetName(PyTypeObject* tp) +{ + PyObject *name = __Pyx_PyObject_GetAttrStr((PyObject *)tp, + __pyx_n_s_name_2); + if (unlikely(name == NULL) || unlikely(!PyUnicode_Check(name))) { + PyErr_Clear(); + Py_XDECREF(name); + name = __Pyx_NewRef(__pyx_n_s__30); + } + return name; +} +#endif + +/* CheckBinaryVersion */ + static unsigned long __Pyx_get_runtime_version(void) { +#if __PYX_LIMITED_VERSION_HEX >= 0x030B00A4 + return Py_Version & ~0xFFUL; +#else + const char* rt_version = Py_GetVersion(); + unsigned long version = 0; + unsigned long factor = 0x01000000UL; + unsigned int digit = 0; + int i = 0; + while (factor) { + while ('0' <= rt_version[i] && rt_version[i] <= '9') { + digit = digit * 10 + (unsigned int) (rt_version[i] - '0'); + ++i; + } + version += factor * digit; + if (rt_version[i] != '.') + break; + digit = 0; + factor >>= 8; + ++i; + } + return version; +#endif +} +static int __Pyx_check_binary_version(unsigned long ct_version, unsigned long rt_version, int allow_newer) { + const unsigned long MAJOR_MINOR = 0xFFFF0000UL; + if ((rt_version & MAJOR_MINOR) == (ct_version & MAJOR_MINOR)) + return 0; + if (likely(allow_newer && (rt_version & MAJOR_MINOR) > (ct_version & MAJOR_MINOR))) + return 1; + { + char message[200]; + PyOS_snprintf(message, sizeof(message), + "compile time Python version %d.%d " + "of module '%.100s' " + "%s " + "runtime version %d.%d", + (int) (ct_version >> 24), (int) ((ct_version >> 16) & 0xFF), + __Pyx_MODULE_NAME, + (allow_newer) ? "was newer than" : "does not match", + (int) (rt_version >> 24), (int) ((rt_version >> 16) & 0xFF) + ); + return PyErr_WarnEx(NULL, message, 1); + } +} + +/* InitStrings */ + #if PY_MAJOR_VERSION >= 3 +static int __Pyx_InitString(__Pyx_StringTabEntry t, PyObject **str) { + if (t.is_unicode | t.is_str) { + if (t.intern) { + *str = PyUnicode_InternFromString(t.s); + } else if (t.encoding) { + *str = PyUnicode_Decode(t.s, t.n - 1, t.encoding, NULL); + } else { + *str = PyUnicode_FromStringAndSize(t.s, t.n - 1); + } + } else { + *str = PyBytes_FromStringAndSize(t.s, t.n - 1); + } + if (!*str) + return -1; + if (PyObject_Hash(*str) == -1) + return -1; + return 0; +} +#endif +static int __Pyx_InitStrings(__Pyx_StringTabEntry *t) { + while (t->p) { + #if PY_MAJOR_VERSION >= 3 + __Pyx_InitString(*t, t->p); + #else + if (t->is_unicode) { + *t->p = PyUnicode_DecodeUTF8(t->s, t->n - 1, NULL); + } else if (t->intern) { + *t->p = PyString_InternFromString(t->s); + } else { + *t->p = PyString_FromStringAndSize(t->s, t->n - 1); + } + if (!*t->p) + return -1; + if (PyObject_Hash(*t->p) == -1) + return -1; + #endif + ++t; + } + return 0; +} + +#include +static CYTHON_INLINE Py_ssize_t __Pyx_ssize_strlen(const char *s) { + size_t len = strlen(s); + if (unlikely(len > (size_t) PY_SSIZE_T_MAX)) { + PyErr_SetString(PyExc_OverflowError, "byte string is too long"); + return -1; + } + return (Py_ssize_t) len; +} +static CYTHON_INLINE PyObject* __Pyx_PyUnicode_FromString(const char* c_str) { + Py_ssize_t len = __Pyx_ssize_strlen(c_str); + if (unlikely(len < 0)) return NULL; + return __Pyx_PyUnicode_FromStringAndSize(c_str, len); +} +static CYTHON_INLINE PyObject* __Pyx_PyByteArray_FromString(const char* c_str) { + Py_ssize_t len = __Pyx_ssize_strlen(c_str); + if (unlikely(len < 0)) return NULL; + return PyByteArray_FromStringAndSize(c_str, len); +} +static CYTHON_INLINE const char* __Pyx_PyObject_AsString(PyObject* o) { + Py_ssize_t ignore; + return __Pyx_PyObject_AsStringAndSize(o, &ignore); +} +#if __PYX_DEFAULT_STRING_ENCODING_IS_ASCII || __PYX_DEFAULT_STRING_ENCODING_IS_DEFAULT +#if !CYTHON_PEP393_ENABLED +static const char* __Pyx_PyUnicode_AsStringAndSize(PyObject* o, Py_ssize_t *length) { + char* defenc_c; + PyObject* defenc = _PyUnicode_AsDefaultEncodedString(o, NULL); + if (!defenc) return NULL; + defenc_c = PyBytes_AS_STRING(defenc); +#if __PYX_DEFAULT_STRING_ENCODING_IS_ASCII + { + char* end = defenc_c + PyBytes_GET_SIZE(defenc); + char* c; + for (c = defenc_c; c < end; c++) { + if ((unsigned char) (*c) >= 128) { + PyUnicode_AsASCIIString(o); + return NULL; + } + } + } +#endif + *length = PyBytes_GET_SIZE(defenc); + return defenc_c; +} +#else +static CYTHON_INLINE const char* __Pyx_PyUnicode_AsStringAndSize(PyObject* o, Py_ssize_t *length) { + if (unlikely(__Pyx_PyUnicode_READY(o) == -1)) return NULL; +#if __PYX_DEFAULT_STRING_ENCODING_IS_ASCII + if (likely(PyUnicode_IS_ASCII(o))) { + *length = PyUnicode_GET_LENGTH(o); + return PyUnicode_AsUTF8(o); + } else { + PyUnicode_AsASCIIString(o); + return NULL; + } +#else + return PyUnicode_AsUTF8AndSize(o, length); +#endif +} +#endif +#endif +static CYTHON_INLINE const char* __Pyx_PyObject_AsStringAndSize(PyObject* o, Py_ssize_t *length) { +#if __PYX_DEFAULT_STRING_ENCODING_IS_ASCII || __PYX_DEFAULT_STRING_ENCODING_IS_DEFAULT + if ( +#if PY_MAJOR_VERSION < 3 && __PYX_DEFAULT_STRING_ENCODING_IS_ASCII + __Pyx_sys_getdefaultencoding_not_ascii && +#endif + PyUnicode_Check(o)) { + return __Pyx_PyUnicode_AsStringAndSize(o, length); + } else +#endif +#if (!CYTHON_COMPILING_IN_PYPY && !CYTHON_COMPILING_IN_LIMITED_API) || (defined(PyByteArray_AS_STRING) && defined(PyByteArray_GET_SIZE)) + if (PyByteArray_Check(o)) { + *length = PyByteArray_GET_SIZE(o); + return PyByteArray_AS_STRING(o); + } else +#endif + { + char* result; + int r = PyBytes_AsStringAndSize(o, &result, length); + if (unlikely(r < 0)) { + return NULL; + } else { + return result; + } + } +} +static CYTHON_INLINE int __Pyx_PyObject_IsTrue(PyObject* x) { + int is_true = x == Py_True; + if (is_true | (x == Py_False) | (x == Py_None)) return is_true; + else return PyObject_IsTrue(x); +} +static CYTHON_INLINE int __Pyx_PyObject_IsTrueAndDecref(PyObject* x) { + int retval; + if (unlikely(!x)) return -1; + retval = __Pyx_PyObject_IsTrue(x); + Py_DECREF(x); + return retval; +} +static PyObject* __Pyx_PyNumber_IntOrLongWrongResultType(PyObject* result, const char* type_name) { + __Pyx_TypeName result_type_name = __Pyx_PyType_GetName(Py_TYPE(result)); +#if PY_MAJOR_VERSION >= 3 + if (PyLong_Check(result)) { + if (PyErr_WarnFormat(PyExc_DeprecationWarning, 1, + "__int__ returned non-int (type " __Pyx_FMT_TYPENAME "). " + "The ability to return an instance of a strict subclass of int is deprecated, " + "and may be removed in a future version of Python.", + result_type_name)) { + __Pyx_DECREF_TypeName(result_type_name); + Py_DECREF(result); + return NULL; + } + __Pyx_DECREF_TypeName(result_type_name); + return result; + } +#endif + PyErr_Format(PyExc_TypeError, + "__%.4s__ returned non-%.4s (type " __Pyx_FMT_TYPENAME ")", + type_name, type_name, result_type_name); + __Pyx_DECREF_TypeName(result_type_name); + Py_DECREF(result); + return NULL; +} +static CYTHON_INLINE PyObject* __Pyx_PyNumber_IntOrLong(PyObject* x) { +#if CYTHON_USE_TYPE_SLOTS + PyNumberMethods *m; +#endif + const char *name = NULL; + PyObject *res = NULL; +#if PY_MAJOR_VERSION < 3 + if (likely(PyInt_Check(x) || PyLong_Check(x))) +#else + if (likely(PyLong_Check(x))) +#endif + return __Pyx_NewRef(x); +#if CYTHON_USE_TYPE_SLOTS + m = Py_TYPE(x)->tp_as_number; + #if PY_MAJOR_VERSION < 3 + if (m && m->nb_int) { + name = "int"; + res = m->nb_int(x); + } + else if (m && m->nb_long) { + name = "long"; + res = m->nb_long(x); + } + #else + if (likely(m && m->nb_int)) { + name = "int"; + res = m->nb_int(x); + } + #endif +#else + if (!PyBytes_CheckExact(x) && !PyUnicode_CheckExact(x)) { + res = PyNumber_Int(x); + } +#endif + if (likely(res)) { +#if PY_MAJOR_VERSION < 3 + if (unlikely(!PyInt_Check(res) && !PyLong_Check(res))) { +#else + if (unlikely(!PyLong_CheckExact(res))) { +#endif + return __Pyx_PyNumber_IntOrLongWrongResultType(res, name); + } + } + else if (!PyErr_Occurred()) { + PyErr_SetString(PyExc_TypeError, + "an integer is required"); + } + return res; +} +static CYTHON_INLINE Py_ssize_t __Pyx_PyIndex_AsSsize_t(PyObject* b) { + Py_ssize_t ival; + PyObject *x; +#if PY_MAJOR_VERSION < 3 + if (likely(PyInt_CheckExact(b))) { + if (sizeof(Py_ssize_t) >= sizeof(long)) + return PyInt_AS_LONG(b); + else + return PyInt_AsSsize_t(b); + } +#endif + if (likely(PyLong_CheckExact(b))) { + #if CYTHON_USE_PYLONG_INTERNALS + if (likely(__Pyx_PyLong_IsCompact(b))) { + return __Pyx_PyLong_CompactValue(b); + } else { + const digit* digits = __Pyx_PyLong_Digits(b); + const Py_ssize_t size = __Pyx_PyLong_SignedDigitCount(b); + switch (size) { + case 2: + if (8 * sizeof(Py_ssize_t) > 2 * PyLong_SHIFT) { + return (Py_ssize_t) (((((size_t)digits[1]) << PyLong_SHIFT) | (size_t)digits[0])); + } + break; + case -2: + if (8 * sizeof(Py_ssize_t) > 2 * PyLong_SHIFT) { + return -(Py_ssize_t) (((((size_t)digits[1]) << PyLong_SHIFT) | (size_t)digits[0])); + } + break; + case 3: + if (8 * sizeof(Py_ssize_t) > 3 * PyLong_SHIFT) { + return (Py_ssize_t) (((((((size_t)digits[2]) << PyLong_SHIFT) | (size_t)digits[1]) << PyLong_SHIFT) | (size_t)digits[0])); + } + break; + case -3: + if (8 * sizeof(Py_ssize_t) > 3 * PyLong_SHIFT) { + return -(Py_ssize_t) (((((((size_t)digits[2]) << PyLong_SHIFT) | (size_t)digits[1]) << PyLong_SHIFT) | (size_t)digits[0])); + } + break; + case 4: + if (8 * sizeof(Py_ssize_t) > 4 * PyLong_SHIFT) { + return (Py_ssize_t) (((((((((size_t)digits[3]) << PyLong_SHIFT) | (size_t)digits[2]) << PyLong_SHIFT) | (size_t)digits[1]) << PyLong_SHIFT) | (size_t)digits[0])); + } + break; + case -4: + if (8 * sizeof(Py_ssize_t) > 4 * PyLong_SHIFT) { + return -(Py_ssize_t) (((((((((size_t)digits[3]) << PyLong_SHIFT) | (size_t)digits[2]) << PyLong_SHIFT) | (size_t)digits[1]) << PyLong_SHIFT) | (size_t)digits[0])); + } + break; + } + } + #endif + return PyLong_AsSsize_t(b); + } + x = PyNumber_Index(b); + if (!x) return -1; + ival = PyInt_AsSsize_t(x); + Py_DECREF(x); + return ival; +} +static CYTHON_INLINE Py_hash_t __Pyx_PyIndex_AsHash_t(PyObject* o) { + if (sizeof(Py_hash_t) == sizeof(Py_ssize_t)) { + return (Py_hash_t) __Pyx_PyIndex_AsSsize_t(o); +#if PY_MAJOR_VERSION < 3 + } else if (likely(PyInt_CheckExact(o))) { + return PyInt_AS_LONG(o); +#endif + } else { + Py_ssize_t ival; + PyObject *x; + x = PyNumber_Index(o); + if (!x) return -1; + ival = PyInt_AsLong(x); + Py_DECREF(x); + return ival; + } +} +static CYTHON_INLINE PyObject * __Pyx_PyBool_FromLong(long b) { + return b ? __Pyx_NewRef(Py_True) : __Pyx_NewRef(Py_False); +} +static CYTHON_INLINE PyObject * __Pyx_PyInt_FromSize_t(size_t ival) { + return PyInt_FromSize_t(ival); +} + + +/* #### Code section: utility_code_pragmas_end ### */ +#ifdef _MSC_VER +#pragma warning( pop ) +#endif + + + +/* #### Code section: end ### */ +#endif /* Py_PYTHON_H */ diff --git a/selfdrive/classic_modeld/runners/runmodel_pyx.pxd b/selfdrive/classic_modeld/runners/runmodel_pyx.pxd new file mode 100644 index 00000000000000..b6ede7cf37f733 --- /dev/null +++ b/selfdrive/classic_modeld/runners/runmodel_pyx.pxd @@ -0,0 +1,6 @@ +# distutils: language = c++ + +from .runmodel cimport RunModel as cppRunModel + +cdef class RunModel: + cdef cppRunModel * model diff --git a/selfdrive/classic_modeld/runners/runmodel_pyx.pyx b/selfdrive/classic_modeld/runners/runmodel_pyx.pyx new file mode 100644 index 00000000000000..4c1ab2c8fcb058 --- /dev/null +++ b/selfdrive/classic_modeld/runners/runmodel_pyx.pyx @@ -0,0 +1,37 @@ +# distutils: language = c++ +# cython: c_string_encoding=ascii + +from libcpp.string cimport string + +from .runmodel cimport USE_CPU_RUNTIME, USE_GPU_RUNTIME, USE_DSP_RUNTIME +from selfdrive.classic_modeld.models.commonmodel_pyx cimport CLMem + +class Runtime: + CPU = USE_CPU_RUNTIME + GPU = USE_GPU_RUNTIME + DSP = USE_DSP_RUNTIME + +cdef class RunModel: + def __dealloc__(self): + del self.model + + def addInput(self, string name, float[:] buffer): + if buffer is not None: + self.model.addInput(name, &buffer[0], len(buffer)) + else: + self.model.addInput(name, NULL, 0) + + def setInputBuffer(self, string name, float[:] buffer): + if buffer is not None: + self.model.setInputBuffer(name, &buffer[0], len(buffer)) + else: + self.model.setInputBuffer(name, NULL, 0) + + def getCLBuffer(self, string name): + cdef void * cl_buf = self.model.getCLBuffer(name) + if not cl_buf: + return None + return CLMem.create(cl_buf) + + def execute(self): + self.model.execute() diff --git a/selfdrive/classic_modeld/runners/runmodel_pyx.so b/selfdrive/classic_modeld/runners/runmodel_pyx.so new file mode 100644 index 00000000000000..6f4431dcc716e9 Binary files /dev/null and b/selfdrive/classic_modeld/runners/runmodel_pyx.so differ diff --git a/selfdrive/classic_modeld/runners/snpemodel.pxd b/selfdrive/classic_modeld/runners/snpemodel.pxd new file mode 100644 index 00000000000000..2a09231284c2e7 --- /dev/null +++ b/selfdrive/classic_modeld/runners/snpemodel.pxd @@ -0,0 +1,9 @@ +# distutils: language = c++ + +from libcpp.string cimport string + +from msgq.visionipc.visionipc cimport cl_context + +cdef extern from "selfdrive/classic_modeld/runners/snpemodel.h": + cdef cppclass SNPEModel: + SNPEModel(string, float*, size_t, int, bool, cl_context) diff --git a/selfdrive/classic_modeld/runners/snpemodel_pyx.cpp b/selfdrive/classic_modeld/runners/snpemodel_pyx.cpp new file mode 100644 index 00000000000000..193403a0cc6a43 --- /dev/null +++ b/selfdrive/classic_modeld/runners/snpemodel_pyx.cpp @@ -0,0 +1,27817 @@ +/* Generated by Cython 3.0.8 */ + +/* BEGIN: Cython Metadata +{ + "distutils": { + "depends": [ + "msgq/visionipc/visionbuf.h", + "msgq/visionipc/visionipc.h", + "msgq/visionipc/visionipc_client.h", + "msgq/visionipc/visionipc_server.h", + "selfdrive/classic_modeld/runners/runmodel.h", + "selfdrive/classic_modeld/runners/snpemodel.h" + ], + "language": "c++", + "name": "selfdrive.classic_modeld.runners.snpemodel_pyx", + "sources": [ + "/data/openpilot/selfdrive/classic_modeld/runners/snpemodel_pyx.pyx" + ] + }, + "module_name": "selfdrive.classic_modeld.runners.snpemodel_pyx" +} +END: Cython Metadata */ + +#ifndef PY_SSIZE_T_CLEAN +#define PY_SSIZE_T_CLEAN +#endif /* PY_SSIZE_T_CLEAN */ +#if defined(CYTHON_LIMITED_API) && 0 + #ifndef Py_LIMITED_API + #if CYTHON_LIMITED_API+0 > 0x03030000 + #define Py_LIMITED_API CYTHON_LIMITED_API + #else + #define Py_LIMITED_API 0x03030000 + #endif + #endif +#endif + +#include "Python.h" +#ifndef Py_PYTHON_H + #error Python headers needed to compile C extensions, please install development version of Python. +#elif PY_VERSION_HEX < 0x02070000 || (0x03000000 <= PY_VERSION_HEX && PY_VERSION_HEX < 0x03030000) + #error Cython requires Python 2.7+ or Python 3.3+. +#else +#if defined(CYTHON_LIMITED_API) && CYTHON_LIMITED_API +#define __PYX_EXTRA_ABI_MODULE_NAME "limited" +#else +#define __PYX_EXTRA_ABI_MODULE_NAME "" +#endif +#define CYTHON_ABI "3_0_8" __PYX_EXTRA_ABI_MODULE_NAME +#define __PYX_ABI_MODULE_NAME "_cython_" CYTHON_ABI +#define __PYX_TYPE_MODULE_PREFIX __PYX_ABI_MODULE_NAME "." +#define CYTHON_HEX_VERSION 0x030008F0 +#define CYTHON_FUTURE_DIVISION 1 +#include +#ifndef offsetof + #define offsetof(type, member) ( (size_t) & ((type*)0) -> member ) +#endif +#if !defined(_WIN32) && !defined(WIN32) && !defined(MS_WINDOWS) + #ifndef __stdcall + #define __stdcall + #endif + #ifndef __cdecl + #define __cdecl + #endif + #ifndef __fastcall + #define __fastcall + #endif +#endif +#ifndef DL_IMPORT + #define DL_IMPORT(t) t +#endif +#ifndef DL_EXPORT + #define DL_EXPORT(t) t +#endif +#define __PYX_COMMA , +#ifndef HAVE_LONG_LONG + #define HAVE_LONG_LONG +#endif +#ifndef PY_LONG_LONG + #define PY_LONG_LONG LONG_LONG +#endif +#ifndef Py_HUGE_VAL + #define Py_HUGE_VAL HUGE_VAL +#endif +#define __PYX_LIMITED_VERSION_HEX PY_VERSION_HEX +#if defined(GRAALVM_PYTHON) + /* For very preliminary testing purposes. Most variables are set the same as PyPy. + The existence of this section does not imply that anything works or is even tested */ + #define CYTHON_COMPILING_IN_PYPY 0 + #define CYTHON_COMPILING_IN_CPYTHON 0 + #define CYTHON_COMPILING_IN_LIMITED_API 0 + #define CYTHON_COMPILING_IN_GRAAL 1 + #define CYTHON_COMPILING_IN_NOGIL 0 + #undef CYTHON_USE_TYPE_SLOTS + #define CYTHON_USE_TYPE_SLOTS 0 + #undef CYTHON_USE_TYPE_SPECS + #define CYTHON_USE_TYPE_SPECS 0 + #undef CYTHON_USE_PYTYPE_LOOKUP + #define CYTHON_USE_PYTYPE_LOOKUP 0 + #if PY_VERSION_HEX < 0x03050000 + #undef CYTHON_USE_ASYNC_SLOTS + #define CYTHON_USE_ASYNC_SLOTS 0 + #elif !defined(CYTHON_USE_ASYNC_SLOTS) + #define CYTHON_USE_ASYNC_SLOTS 1 + #endif + #undef CYTHON_USE_PYLIST_INTERNALS + #define CYTHON_USE_PYLIST_INTERNALS 0 + #undef CYTHON_USE_UNICODE_INTERNALS + #define CYTHON_USE_UNICODE_INTERNALS 0 + #undef CYTHON_USE_UNICODE_WRITER + #define CYTHON_USE_UNICODE_WRITER 0 + #undef CYTHON_USE_PYLONG_INTERNALS + #define CYTHON_USE_PYLONG_INTERNALS 0 + #undef CYTHON_AVOID_BORROWED_REFS + #define CYTHON_AVOID_BORROWED_REFS 1 + #undef CYTHON_ASSUME_SAFE_MACROS + #define CYTHON_ASSUME_SAFE_MACROS 0 + #undef CYTHON_UNPACK_METHODS + #define CYTHON_UNPACK_METHODS 0 + #undef CYTHON_FAST_THREAD_STATE + #define CYTHON_FAST_THREAD_STATE 0 + #undef CYTHON_FAST_GIL + #define CYTHON_FAST_GIL 0 + #undef CYTHON_METH_FASTCALL + #define CYTHON_METH_FASTCALL 0 + #undef CYTHON_FAST_PYCALL + #define CYTHON_FAST_PYCALL 0 + #ifndef CYTHON_PEP487_INIT_SUBCLASS + #define CYTHON_PEP487_INIT_SUBCLASS (PY_MAJOR_VERSION >= 3) + #endif + #undef CYTHON_PEP489_MULTI_PHASE_INIT + #define CYTHON_PEP489_MULTI_PHASE_INIT 1 + #undef CYTHON_USE_MODULE_STATE + #define CYTHON_USE_MODULE_STATE 0 + #undef CYTHON_USE_TP_FINALIZE + #define CYTHON_USE_TP_FINALIZE 0 + #undef CYTHON_USE_DICT_VERSIONS + #define CYTHON_USE_DICT_VERSIONS 0 + #undef CYTHON_USE_EXC_INFO_STACK + #define CYTHON_USE_EXC_INFO_STACK 0 + #ifndef CYTHON_UPDATE_DESCRIPTOR_DOC + #define CYTHON_UPDATE_DESCRIPTOR_DOC 0 + #endif +#elif defined(PYPY_VERSION) + #define CYTHON_COMPILING_IN_PYPY 1 + #define CYTHON_COMPILING_IN_CPYTHON 0 + #define CYTHON_COMPILING_IN_LIMITED_API 0 + #define CYTHON_COMPILING_IN_GRAAL 0 + #define CYTHON_COMPILING_IN_NOGIL 0 + #undef CYTHON_USE_TYPE_SLOTS + #define CYTHON_USE_TYPE_SLOTS 0 + #ifndef CYTHON_USE_TYPE_SPECS + #define CYTHON_USE_TYPE_SPECS 0 + #endif + #undef CYTHON_USE_PYTYPE_LOOKUP + #define CYTHON_USE_PYTYPE_LOOKUP 0 + #if PY_VERSION_HEX < 0x03050000 + #undef CYTHON_USE_ASYNC_SLOTS + #define CYTHON_USE_ASYNC_SLOTS 0 + #elif !defined(CYTHON_USE_ASYNC_SLOTS) + #define CYTHON_USE_ASYNC_SLOTS 1 + #endif + #undef CYTHON_USE_PYLIST_INTERNALS + #define CYTHON_USE_PYLIST_INTERNALS 0 + #undef CYTHON_USE_UNICODE_INTERNALS + #define CYTHON_USE_UNICODE_INTERNALS 0 + #undef CYTHON_USE_UNICODE_WRITER + #define CYTHON_USE_UNICODE_WRITER 0 + #undef CYTHON_USE_PYLONG_INTERNALS + #define CYTHON_USE_PYLONG_INTERNALS 0 + #undef CYTHON_AVOID_BORROWED_REFS + #define CYTHON_AVOID_BORROWED_REFS 1 + #undef CYTHON_ASSUME_SAFE_MACROS + #define CYTHON_ASSUME_SAFE_MACROS 0 + #undef CYTHON_UNPACK_METHODS + #define CYTHON_UNPACK_METHODS 0 + #undef CYTHON_FAST_THREAD_STATE + #define CYTHON_FAST_THREAD_STATE 0 + #undef CYTHON_FAST_GIL + #define CYTHON_FAST_GIL 0 + #undef CYTHON_METH_FASTCALL + #define CYTHON_METH_FASTCALL 0 + #undef CYTHON_FAST_PYCALL + #define CYTHON_FAST_PYCALL 0 + #ifndef CYTHON_PEP487_INIT_SUBCLASS + #define CYTHON_PEP487_INIT_SUBCLASS (PY_MAJOR_VERSION >= 3) + #endif + #if PY_VERSION_HEX < 0x03090000 + #undef CYTHON_PEP489_MULTI_PHASE_INIT + #define CYTHON_PEP489_MULTI_PHASE_INIT 0 + #elif !defined(CYTHON_PEP489_MULTI_PHASE_INIT) + #define CYTHON_PEP489_MULTI_PHASE_INIT 1 + #endif + #undef CYTHON_USE_MODULE_STATE + #define CYTHON_USE_MODULE_STATE 0 + #undef CYTHON_USE_TP_FINALIZE + #define CYTHON_USE_TP_FINALIZE (PY_VERSION_HEX >= 0x030400a1 && PYPY_VERSION_NUM >= 0x07030C00) + #undef CYTHON_USE_DICT_VERSIONS + #define CYTHON_USE_DICT_VERSIONS 0 + #undef CYTHON_USE_EXC_INFO_STACK + #define CYTHON_USE_EXC_INFO_STACK 0 + #ifndef CYTHON_UPDATE_DESCRIPTOR_DOC + #define CYTHON_UPDATE_DESCRIPTOR_DOC 0 + #endif +#elif defined(CYTHON_LIMITED_API) + #ifdef Py_LIMITED_API + #undef __PYX_LIMITED_VERSION_HEX + #define __PYX_LIMITED_VERSION_HEX Py_LIMITED_API + #endif + #define CYTHON_COMPILING_IN_PYPY 0 + #define CYTHON_COMPILING_IN_CPYTHON 0 + #define CYTHON_COMPILING_IN_LIMITED_API 1 + #define CYTHON_COMPILING_IN_GRAAL 0 + #define CYTHON_COMPILING_IN_NOGIL 0 + #undef CYTHON_CLINE_IN_TRACEBACK + #define CYTHON_CLINE_IN_TRACEBACK 0 + #undef CYTHON_USE_TYPE_SLOTS + #define CYTHON_USE_TYPE_SLOTS 0 + #undef CYTHON_USE_TYPE_SPECS + #define CYTHON_USE_TYPE_SPECS 1 + #undef CYTHON_USE_PYTYPE_LOOKUP + #define CYTHON_USE_PYTYPE_LOOKUP 0 + #undef CYTHON_USE_ASYNC_SLOTS + #define CYTHON_USE_ASYNC_SLOTS 0 + #undef CYTHON_USE_PYLIST_INTERNALS + #define CYTHON_USE_PYLIST_INTERNALS 0 + #undef CYTHON_USE_UNICODE_INTERNALS + #define CYTHON_USE_UNICODE_INTERNALS 0 + #ifndef CYTHON_USE_UNICODE_WRITER + #define CYTHON_USE_UNICODE_WRITER 0 + #endif + #undef CYTHON_USE_PYLONG_INTERNALS + #define CYTHON_USE_PYLONG_INTERNALS 0 + #ifndef CYTHON_AVOID_BORROWED_REFS + #define CYTHON_AVOID_BORROWED_REFS 0 + #endif + #undef CYTHON_ASSUME_SAFE_MACROS + #define CYTHON_ASSUME_SAFE_MACROS 0 + #undef CYTHON_UNPACK_METHODS + #define CYTHON_UNPACK_METHODS 0 + #undef CYTHON_FAST_THREAD_STATE + #define CYTHON_FAST_THREAD_STATE 0 + #undef CYTHON_FAST_GIL + #define CYTHON_FAST_GIL 0 + #undef CYTHON_METH_FASTCALL + #define CYTHON_METH_FASTCALL 0 + #undef CYTHON_FAST_PYCALL + #define CYTHON_FAST_PYCALL 0 + #ifndef CYTHON_PEP487_INIT_SUBCLASS + #define CYTHON_PEP487_INIT_SUBCLASS 1 + #endif + #undef CYTHON_PEP489_MULTI_PHASE_INIT + #define CYTHON_PEP489_MULTI_PHASE_INIT 0 + #undef CYTHON_USE_MODULE_STATE + #define CYTHON_USE_MODULE_STATE 1 + #ifndef CYTHON_USE_TP_FINALIZE + #define CYTHON_USE_TP_FINALIZE 0 + #endif + #undef CYTHON_USE_DICT_VERSIONS + #define CYTHON_USE_DICT_VERSIONS 0 + #undef CYTHON_USE_EXC_INFO_STACK + #define CYTHON_USE_EXC_INFO_STACK 0 + #ifndef CYTHON_UPDATE_DESCRIPTOR_DOC + #define CYTHON_UPDATE_DESCRIPTOR_DOC 0 + #endif +#elif defined(Py_GIL_DISABLED) || defined(Py_NOGIL) + #define CYTHON_COMPILING_IN_PYPY 0 + #define CYTHON_COMPILING_IN_CPYTHON 0 + #define CYTHON_COMPILING_IN_LIMITED_API 0 + #define CYTHON_COMPILING_IN_GRAAL 0 + #define CYTHON_COMPILING_IN_NOGIL 1 + #ifndef CYTHON_USE_TYPE_SLOTS + #define CYTHON_USE_TYPE_SLOTS 1 + #endif + #undef CYTHON_USE_PYTYPE_LOOKUP + #define CYTHON_USE_PYTYPE_LOOKUP 0 + #ifndef CYTHON_USE_ASYNC_SLOTS + #define CYTHON_USE_ASYNC_SLOTS 1 + #endif + #undef CYTHON_USE_PYLIST_INTERNALS + #define CYTHON_USE_PYLIST_INTERNALS 0 + #ifndef CYTHON_USE_UNICODE_INTERNALS + #define CYTHON_USE_UNICODE_INTERNALS 1 + #endif + #undef CYTHON_USE_UNICODE_WRITER + #define CYTHON_USE_UNICODE_WRITER 0 + #undef CYTHON_USE_PYLONG_INTERNALS + #define CYTHON_USE_PYLONG_INTERNALS 0 + #ifndef CYTHON_AVOID_BORROWED_REFS + #define CYTHON_AVOID_BORROWED_REFS 0 + #endif + #ifndef CYTHON_ASSUME_SAFE_MACROS + #define CYTHON_ASSUME_SAFE_MACROS 1 + #endif + #ifndef CYTHON_UNPACK_METHODS + #define CYTHON_UNPACK_METHODS 1 + #endif + #undef CYTHON_FAST_THREAD_STATE + #define CYTHON_FAST_THREAD_STATE 0 + #undef CYTHON_FAST_PYCALL + #define CYTHON_FAST_PYCALL 0 + #ifndef CYTHON_PEP489_MULTI_PHASE_INIT + #define CYTHON_PEP489_MULTI_PHASE_INIT 1 + #endif + #ifndef CYTHON_USE_TP_FINALIZE + #define CYTHON_USE_TP_FINALIZE 1 + #endif + #undef CYTHON_USE_DICT_VERSIONS + #define CYTHON_USE_DICT_VERSIONS 0 + #undef CYTHON_USE_EXC_INFO_STACK + #define CYTHON_USE_EXC_INFO_STACK 0 +#else + #define CYTHON_COMPILING_IN_PYPY 0 + #define CYTHON_COMPILING_IN_CPYTHON 1 + #define CYTHON_COMPILING_IN_LIMITED_API 0 + #define CYTHON_COMPILING_IN_GRAAL 0 + #define CYTHON_COMPILING_IN_NOGIL 0 + #ifndef CYTHON_USE_TYPE_SLOTS + #define CYTHON_USE_TYPE_SLOTS 1 + #endif + #ifndef CYTHON_USE_TYPE_SPECS + #define CYTHON_USE_TYPE_SPECS 0 + #endif + #ifndef CYTHON_USE_PYTYPE_LOOKUP + #define CYTHON_USE_PYTYPE_LOOKUP 1 + #endif + #if PY_MAJOR_VERSION < 3 + #undef CYTHON_USE_ASYNC_SLOTS + #define CYTHON_USE_ASYNC_SLOTS 0 + #elif !defined(CYTHON_USE_ASYNC_SLOTS) + #define CYTHON_USE_ASYNC_SLOTS 1 + #endif + #ifndef CYTHON_USE_PYLONG_INTERNALS + #define CYTHON_USE_PYLONG_INTERNALS 1 + #endif + #ifndef CYTHON_USE_PYLIST_INTERNALS + #define CYTHON_USE_PYLIST_INTERNALS 1 + #endif + #ifndef CYTHON_USE_UNICODE_INTERNALS + #define CYTHON_USE_UNICODE_INTERNALS 1 + #endif + #if PY_VERSION_HEX < 0x030300F0 || PY_VERSION_HEX >= 0x030B00A2 + #undef CYTHON_USE_UNICODE_WRITER + #define CYTHON_USE_UNICODE_WRITER 0 + #elif !defined(CYTHON_USE_UNICODE_WRITER) + #define CYTHON_USE_UNICODE_WRITER 1 + #endif + #ifndef CYTHON_AVOID_BORROWED_REFS + #define CYTHON_AVOID_BORROWED_REFS 0 + #endif + #ifndef CYTHON_ASSUME_SAFE_MACROS + #define CYTHON_ASSUME_SAFE_MACROS 1 + #endif + #ifndef CYTHON_UNPACK_METHODS + #define CYTHON_UNPACK_METHODS 1 + #endif + #ifndef CYTHON_FAST_THREAD_STATE + #define CYTHON_FAST_THREAD_STATE 1 + #endif + #ifndef CYTHON_FAST_GIL + #define CYTHON_FAST_GIL (PY_MAJOR_VERSION < 3 || PY_VERSION_HEX >= 0x03060000 && PY_VERSION_HEX < 0x030C00A6) + #endif + #ifndef CYTHON_METH_FASTCALL + #define CYTHON_METH_FASTCALL (PY_VERSION_HEX >= 0x030700A1) + #endif + #ifndef CYTHON_FAST_PYCALL + #define CYTHON_FAST_PYCALL 1 + #endif + #ifndef CYTHON_PEP487_INIT_SUBCLASS + #define CYTHON_PEP487_INIT_SUBCLASS 1 + #endif + #if PY_VERSION_HEX < 0x03050000 + #undef CYTHON_PEP489_MULTI_PHASE_INIT + #define CYTHON_PEP489_MULTI_PHASE_INIT 0 + #elif !defined(CYTHON_PEP489_MULTI_PHASE_INIT) + #define CYTHON_PEP489_MULTI_PHASE_INIT 1 + #endif + #ifndef CYTHON_USE_MODULE_STATE + #define CYTHON_USE_MODULE_STATE 0 + #endif + #if PY_VERSION_HEX < 0x030400a1 + #undef CYTHON_USE_TP_FINALIZE + #define CYTHON_USE_TP_FINALIZE 0 + #elif !defined(CYTHON_USE_TP_FINALIZE) + #define CYTHON_USE_TP_FINALIZE 1 + #endif + #if PY_VERSION_HEX < 0x030600B1 + #undef CYTHON_USE_DICT_VERSIONS + #define CYTHON_USE_DICT_VERSIONS 0 + #elif !defined(CYTHON_USE_DICT_VERSIONS) + #define CYTHON_USE_DICT_VERSIONS (PY_VERSION_HEX < 0x030C00A5) + #endif + #if PY_VERSION_HEX < 0x030700A3 + #undef CYTHON_USE_EXC_INFO_STACK + #define CYTHON_USE_EXC_INFO_STACK 0 + #elif !defined(CYTHON_USE_EXC_INFO_STACK) + #define CYTHON_USE_EXC_INFO_STACK 1 + #endif + #ifndef CYTHON_UPDATE_DESCRIPTOR_DOC + #define CYTHON_UPDATE_DESCRIPTOR_DOC 1 + #endif +#endif +#if !defined(CYTHON_FAST_PYCCALL) +#define CYTHON_FAST_PYCCALL (CYTHON_FAST_PYCALL && PY_VERSION_HEX >= 0x030600B1) +#endif +#if !defined(CYTHON_VECTORCALL) +#define CYTHON_VECTORCALL (CYTHON_FAST_PYCCALL && PY_VERSION_HEX >= 0x030800B1) +#endif +#define CYTHON_BACKPORT_VECTORCALL (CYTHON_METH_FASTCALL && PY_VERSION_HEX < 0x030800B1) +#if CYTHON_USE_PYLONG_INTERNALS + #if PY_MAJOR_VERSION < 3 + #include "longintrepr.h" + #endif + #undef SHIFT + #undef BASE + #undef MASK + #ifdef SIZEOF_VOID_P + enum { __pyx_check_sizeof_voidp = 1 / (int)(SIZEOF_VOID_P == sizeof(void*)) }; + #endif +#endif +#ifndef __has_attribute + #define __has_attribute(x) 0 +#endif +#ifndef __has_cpp_attribute + #define __has_cpp_attribute(x) 0 +#endif +#ifndef CYTHON_RESTRICT + #if defined(__GNUC__) + #define CYTHON_RESTRICT __restrict__ + #elif defined(_MSC_VER) && _MSC_VER >= 1400 + #define CYTHON_RESTRICT __restrict + #elif defined (__STDC_VERSION__) && __STDC_VERSION__ >= 199901L + #define CYTHON_RESTRICT restrict + #else + #define CYTHON_RESTRICT + #endif +#endif +#ifndef CYTHON_UNUSED + #if defined(__cplusplus) + /* for clang __has_cpp_attribute(maybe_unused) is true even before C++17 + * but leads to warnings with -pedantic, since it is a C++17 feature */ + #if ((defined(_MSVC_LANG) && _MSVC_LANG >= 201703L) || __cplusplus >= 201703L) + #if __has_cpp_attribute(maybe_unused) + #define CYTHON_UNUSED [[maybe_unused]] + #endif + #endif + #endif +#endif +#ifndef CYTHON_UNUSED +# if defined(__GNUC__) +# if !(defined(__cplusplus)) || (__GNUC__ > 3 || (__GNUC__ == 3 && __GNUC_MINOR__ >= 4)) +# define CYTHON_UNUSED __attribute__ ((__unused__)) +# else +# define CYTHON_UNUSED +# endif +# elif defined(__ICC) || (defined(__INTEL_COMPILER) && !defined(_MSC_VER)) +# define CYTHON_UNUSED __attribute__ ((__unused__)) +# else +# define CYTHON_UNUSED +# endif +#endif +#ifndef CYTHON_UNUSED_VAR +# if defined(__cplusplus) + template void CYTHON_UNUSED_VAR( const T& ) { } +# else +# define CYTHON_UNUSED_VAR(x) (void)(x) +# endif +#endif +#ifndef CYTHON_MAYBE_UNUSED_VAR + #define CYTHON_MAYBE_UNUSED_VAR(x) CYTHON_UNUSED_VAR(x) +#endif +#ifndef CYTHON_NCP_UNUSED +# if CYTHON_COMPILING_IN_CPYTHON +# define CYTHON_NCP_UNUSED +# else +# define CYTHON_NCP_UNUSED CYTHON_UNUSED +# endif +#endif +#ifndef CYTHON_USE_CPP_STD_MOVE + #if defined(__cplusplus) && (\ + __cplusplus >= 201103L || (defined(_MSC_VER) && _MSC_VER >= 1600)) + #define CYTHON_USE_CPP_STD_MOVE 1 + #else + #define CYTHON_USE_CPP_STD_MOVE 0 + #endif +#endif +#define __Pyx_void_to_None(void_result) ((void)(void_result), Py_INCREF(Py_None), Py_None) +#ifdef _MSC_VER + #ifndef _MSC_STDINT_H_ + #if _MSC_VER < 1300 + typedef unsigned char uint8_t; + typedef unsigned short uint16_t; + typedef unsigned int uint32_t; + #else + typedef unsigned __int8 uint8_t; + typedef unsigned __int16 uint16_t; + typedef unsigned __int32 uint32_t; + #endif + #endif + #if _MSC_VER < 1300 + #ifdef _WIN64 + typedef unsigned long long __pyx_uintptr_t; + #else + typedef unsigned int __pyx_uintptr_t; + #endif + #else + #ifdef _WIN64 + typedef unsigned __int64 __pyx_uintptr_t; + #else + typedef unsigned __int32 __pyx_uintptr_t; + #endif + #endif +#else + #include + typedef uintptr_t __pyx_uintptr_t; +#endif +#ifndef CYTHON_FALLTHROUGH + #if defined(__cplusplus) + /* for clang __has_cpp_attribute(fallthrough) is true even before C++17 + * but leads to warnings with -pedantic, since it is a C++17 feature */ + #if ((defined(_MSVC_LANG) && _MSVC_LANG >= 201703L) || __cplusplus >= 201703L) + #if __has_cpp_attribute(fallthrough) + #define CYTHON_FALLTHROUGH [[fallthrough]] + #endif + #endif + #ifndef CYTHON_FALLTHROUGH + #if __has_cpp_attribute(clang::fallthrough) + #define CYTHON_FALLTHROUGH [[clang::fallthrough]] + #elif __has_cpp_attribute(gnu::fallthrough) + #define CYTHON_FALLTHROUGH [[gnu::fallthrough]] + #endif + #endif + #endif + #ifndef CYTHON_FALLTHROUGH + #if __has_attribute(fallthrough) + #define CYTHON_FALLTHROUGH __attribute__((fallthrough)) + #else + #define CYTHON_FALLTHROUGH + #endif + #endif + #if defined(__clang__) && defined(__apple_build_version__) + #if __apple_build_version__ < 7000000 + #undef CYTHON_FALLTHROUGH + #define CYTHON_FALLTHROUGH + #endif + #endif +#endif +#ifdef __cplusplus + template + struct __PYX_IS_UNSIGNED_IMPL {static const bool value = T(0) < T(-1);}; + #define __PYX_IS_UNSIGNED(type) (__PYX_IS_UNSIGNED_IMPL::value) +#else + #define __PYX_IS_UNSIGNED(type) (((type)-1) > 0) +#endif +#if CYTHON_COMPILING_IN_PYPY == 1 + #define __PYX_NEED_TP_PRINT_SLOT (PY_VERSION_HEX >= 0x030800b4 && PY_VERSION_HEX < 0x030A0000) +#else + #define __PYX_NEED_TP_PRINT_SLOT (PY_VERSION_HEX >= 0x030800b4 && PY_VERSION_HEX < 0x03090000) +#endif +#define __PYX_REINTERPRET_FUNCION(func_pointer, other_pointer) ((func_pointer)(void(*)(void))(other_pointer)) + +#ifndef __cplusplus + #error "Cython files generated with the C++ option must be compiled with a C++ compiler." +#endif +#ifndef CYTHON_INLINE + #if defined(__clang__) + #define CYTHON_INLINE __inline__ __attribute__ ((__unused__)) + #else + #define CYTHON_INLINE inline + #endif +#endif +template +void __Pyx_call_destructor(T& x) { + x.~T(); +} +template +class __Pyx_FakeReference { + public: + __Pyx_FakeReference() : ptr(NULL) { } + __Pyx_FakeReference(const T& ref) : ptr(const_cast(&ref)) { } + T *operator->() { return ptr; } + T *operator&() { return ptr; } + operator T&() { return *ptr; } + template bool operator ==(const U& other) const { return *ptr == other; } + template bool operator !=(const U& other) const { return *ptr != other; } + template bool operator==(const __Pyx_FakeReference& other) const { return *ptr == *other.ptr; } + template bool operator!=(const __Pyx_FakeReference& other) const { return *ptr != *other.ptr; } + private: + T *ptr; +}; + +#define __PYX_BUILD_PY_SSIZE_T "n" +#define CYTHON_FORMAT_SSIZE_T "z" +#if PY_MAJOR_VERSION < 3 + #define __Pyx_BUILTIN_MODULE_NAME "__builtin__" + #define __Pyx_DefaultClassType PyClass_Type + #define __Pyx_PyCode_New(a, p, k, l, s, f, code, c, n, v, fv, cell, fn, name, fline, lnos)\ + PyCode_New(a+k, l, s, f, code, c, n, v, fv, cell, fn, name, fline, lnos) +#else + #define __Pyx_BUILTIN_MODULE_NAME "builtins" + #define __Pyx_DefaultClassType PyType_Type +#if CYTHON_COMPILING_IN_LIMITED_API + static CYTHON_INLINE PyObject* __Pyx_PyCode_New(int a, int p, int k, int l, int s, int f, + PyObject *code, PyObject *c, PyObject* n, PyObject *v, + PyObject *fv, PyObject *cell, PyObject* fn, + PyObject *name, int fline, PyObject *lnos) { + PyObject *exception_table = NULL; + PyObject *types_module=NULL, *code_type=NULL, *result=NULL; + #if __PYX_LIMITED_VERSION_HEX < 0x030B0000 + PyObject *version_info; + PyObject *py_minor_version = NULL; + #endif + long minor_version = 0; + PyObject *type, *value, *traceback; + PyErr_Fetch(&type, &value, &traceback); + #if __PYX_LIMITED_VERSION_HEX >= 0x030B0000 + minor_version = 11; + #else + if (!(version_info = PySys_GetObject("version_info"))) goto end; + if (!(py_minor_version = PySequence_GetItem(version_info, 1))) goto end; + minor_version = PyLong_AsLong(py_minor_version); + Py_DECREF(py_minor_version); + if (minor_version == -1 && PyErr_Occurred()) goto end; + #endif + if (!(types_module = PyImport_ImportModule("types"))) goto end; + if (!(code_type = PyObject_GetAttrString(types_module, "CodeType"))) goto end; + if (minor_version <= 7) { + (void)p; + result = PyObject_CallFunction(code_type, "iiiiiOOOOOOiOO", a, k, l, s, f, code, + c, n, v, fn, name, fline, lnos, fv, cell); + } else if (minor_version <= 10) { + result = PyObject_CallFunction(code_type, "iiiiiiOOOOOOiOO", a,p, k, l, s, f, code, + c, n, v, fn, name, fline, lnos, fv, cell); + } else { + if (!(exception_table = PyBytes_FromStringAndSize(NULL, 0))) goto end; + result = PyObject_CallFunction(code_type, "iiiiiiOOOOOOOiOO", a,p, k, l, s, f, code, + c, n, v, fn, name, name, fline, lnos, exception_table, fv, cell); + } + end: + Py_XDECREF(code_type); + Py_XDECREF(exception_table); + Py_XDECREF(types_module); + if (type) { + PyErr_Restore(type, value, traceback); + } + return result; + } + #ifndef CO_OPTIMIZED + #define CO_OPTIMIZED 0x0001 + #endif + #ifndef CO_NEWLOCALS + #define CO_NEWLOCALS 0x0002 + #endif + #ifndef CO_VARARGS + #define CO_VARARGS 0x0004 + #endif + #ifndef CO_VARKEYWORDS + #define CO_VARKEYWORDS 0x0008 + #endif + #ifndef CO_ASYNC_GENERATOR + #define CO_ASYNC_GENERATOR 0x0200 + #endif + #ifndef CO_GENERATOR + #define CO_GENERATOR 0x0020 + #endif + #ifndef CO_COROUTINE + #define CO_COROUTINE 0x0080 + #endif +#elif PY_VERSION_HEX >= 0x030B0000 + static CYTHON_INLINE PyCodeObject* __Pyx_PyCode_New(int a, int p, int k, int l, int s, int f, + PyObject *code, PyObject *c, PyObject* n, PyObject *v, + PyObject *fv, PyObject *cell, PyObject* fn, + PyObject *name, int fline, PyObject *lnos) { + PyCodeObject *result; + PyObject *empty_bytes = PyBytes_FromStringAndSize("", 0); + if (!empty_bytes) return NULL; + result = + #if PY_VERSION_HEX >= 0x030C0000 + PyUnstable_Code_NewWithPosOnlyArgs + #else + PyCode_NewWithPosOnlyArgs + #endif + (a, p, k, l, s, f, code, c, n, v, fv, cell, fn, name, name, fline, lnos, empty_bytes); + Py_DECREF(empty_bytes); + return result; + } +#elif PY_VERSION_HEX >= 0x030800B2 && !CYTHON_COMPILING_IN_PYPY + #define __Pyx_PyCode_New(a, p, k, l, s, f, code, c, n, v, fv, cell, fn, name, fline, lnos)\ + PyCode_NewWithPosOnlyArgs(a, p, k, l, s, f, code, c, n, v, fv, cell, fn, name, fline, lnos) +#else + #define __Pyx_PyCode_New(a, p, k, l, s, f, code, c, n, v, fv, cell, fn, name, fline, lnos)\ + PyCode_New(a, k, l, s, f, code, c, n, v, fv, cell, fn, name, fline, lnos) +#endif +#endif +#if PY_VERSION_HEX >= 0x030900A4 || defined(Py_IS_TYPE) + #define __Pyx_IS_TYPE(ob, type) Py_IS_TYPE(ob, type) +#else + #define __Pyx_IS_TYPE(ob, type) (((const PyObject*)ob)->ob_type == (type)) +#endif +#if PY_VERSION_HEX >= 0x030A00B1 || defined(Py_Is) + #define __Pyx_Py_Is(x, y) Py_Is(x, y) +#else + #define __Pyx_Py_Is(x, y) ((x) == (y)) +#endif +#if PY_VERSION_HEX >= 0x030A00B1 || defined(Py_IsNone) + #define __Pyx_Py_IsNone(ob) Py_IsNone(ob) +#else + #define __Pyx_Py_IsNone(ob) __Pyx_Py_Is((ob), Py_None) +#endif +#if PY_VERSION_HEX >= 0x030A00B1 || defined(Py_IsTrue) + #define __Pyx_Py_IsTrue(ob) Py_IsTrue(ob) +#else + #define __Pyx_Py_IsTrue(ob) __Pyx_Py_Is((ob), Py_True) +#endif +#if PY_VERSION_HEX >= 0x030A00B1 || defined(Py_IsFalse) + #define __Pyx_Py_IsFalse(ob) Py_IsFalse(ob) +#else + #define __Pyx_Py_IsFalse(ob) __Pyx_Py_Is((ob), Py_False) +#endif +#define __Pyx_NoneAsNull(obj) (__Pyx_Py_IsNone(obj) ? NULL : (obj)) +#if PY_VERSION_HEX >= 0x030900F0 && !CYTHON_COMPILING_IN_PYPY + #define __Pyx_PyObject_GC_IsFinalized(o) PyObject_GC_IsFinalized(o) +#else + #define __Pyx_PyObject_GC_IsFinalized(o) _PyGC_FINALIZED(o) +#endif +#ifndef CO_COROUTINE + #define CO_COROUTINE 0x80 +#endif +#ifndef CO_ASYNC_GENERATOR + #define CO_ASYNC_GENERATOR 0x200 +#endif +#ifndef Py_TPFLAGS_CHECKTYPES + #define Py_TPFLAGS_CHECKTYPES 0 +#endif +#ifndef Py_TPFLAGS_HAVE_INDEX + #define Py_TPFLAGS_HAVE_INDEX 0 +#endif +#ifndef Py_TPFLAGS_HAVE_NEWBUFFER + #define Py_TPFLAGS_HAVE_NEWBUFFER 0 +#endif +#ifndef Py_TPFLAGS_HAVE_FINALIZE + #define Py_TPFLAGS_HAVE_FINALIZE 0 +#endif +#ifndef Py_TPFLAGS_SEQUENCE + #define Py_TPFLAGS_SEQUENCE 0 +#endif +#ifndef Py_TPFLAGS_MAPPING + #define Py_TPFLAGS_MAPPING 0 +#endif +#ifndef METH_STACKLESS + #define METH_STACKLESS 0 +#endif +#if PY_VERSION_HEX <= 0x030700A3 || !defined(METH_FASTCALL) + #ifndef METH_FASTCALL + #define METH_FASTCALL 0x80 + #endif + typedef PyObject *(*__Pyx_PyCFunctionFast) (PyObject *self, PyObject *const *args, Py_ssize_t nargs); + typedef PyObject *(*__Pyx_PyCFunctionFastWithKeywords) (PyObject *self, PyObject *const *args, + Py_ssize_t nargs, PyObject *kwnames); +#else + #define __Pyx_PyCFunctionFast _PyCFunctionFast + #define __Pyx_PyCFunctionFastWithKeywords _PyCFunctionFastWithKeywords +#endif +#if CYTHON_METH_FASTCALL + #define __Pyx_METH_FASTCALL METH_FASTCALL + #define __Pyx_PyCFunction_FastCall __Pyx_PyCFunctionFast + #define __Pyx_PyCFunction_FastCallWithKeywords __Pyx_PyCFunctionFastWithKeywords +#else + #define __Pyx_METH_FASTCALL METH_VARARGS + #define __Pyx_PyCFunction_FastCall PyCFunction + #define __Pyx_PyCFunction_FastCallWithKeywords PyCFunctionWithKeywords +#endif +#if CYTHON_VECTORCALL + #define __pyx_vectorcallfunc vectorcallfunc + #define __Pyx_PY_VECTORCALL_ARGUMENTS_OFFSET PY_VECTORCALL_ARGUMENTS_OFFSET + #define __Pyx_PyVectorcall_NARGS(n) PyVectorcall_NARGS((size_t)(n)) +#elif CYTHON_BACKPORT_VECTORCALL + typedef PyObject *(*__pyx_vectorcallfunc)(PyObject *callable, PyObject *const *args, + size_t nargsf, PyObject *kwnames); + #define __Pyx_PY_VECTORCALL_ARGUMENTS_OFFSET ((size_t)1 << (8 * sizeof(size_t) - 1)) + #define __Pyx_PyVectorcall_NARGS(n) ((Py_ssize_t)(((size_t)(n)) & ~__Pyx_PY_VECTORCALL_ARGUMENTS_OFFSET)) +#else + #define __Pyx_PY_VECTORCALL_ARGUMENTS_OFFSET 0 + #define __Pyx_PyVectorcall_NARGS(n) ((Py_ssize_t)(n)) +#endif +#if PY_MAJOR_VERSION >= 0x030900B1 +#define __Pyx_PyCFunction_CheckExact(func) PyCFunction_CheckExact(func) +#else +#define __Pyx_PyCFunction_CheckExact(func) PyCFunction_Check(func) +#endif +#define __Pyx_CyOrPyCFunction_Check(func) PyCFunction_Check(func) +#if CYTHON_COMPILING_IN_CPYTHON +#define __Pyx_CyOrPyCFunction_GET_FUNCTION(func) (((PyCFunctionObject*)(func))->m_ml->ml_meth) +#elif !CYTHON_COMPILING_IN_LIMITED_API +#define __Pyx_CyOrPyCFunction_GET_FUNCTION(func) PyCFunction_GET_FUNCTION(func) +#endif +#if CYTHON_COMPILING_IN_CPYTHON +#define __Pyx_CyOrPyCFunction_GET_FLAGS(func) (((PyCFunctionObject*)(func))->m_ml->ml_flags) +static CYTHON_INLINE PyObject* __Pyx_CyOrPyCFunction_GET_SELF(PyObject *func) { + return (__Pyx_CyOrPyCFunction_GET_FLAGS(func) & METH_STATIC) ? NULL : ((PyCFunctionObject*)func)->m_self; +} +#endif +static CYTHON_INLINE int __Pyx__IsSameCFunction(PyObject *func, void *cfunc) { +#if CYTHON_COMPILING_IN_LIMITED_API + return PyCFunction_Check(func) && PyCFunction_GetFunction(func) == (PyCFunction) cfunc; +#else + return PyCFunction_Check(func) && PyCFunction_GET_FUNCTION(func) == (PyCFunction) cfunc; +#endif +} +#define __Pyx_IsSameCFunction(func, cfunc) __Pyx__IsSameCFunction(func, cfunc) +#if __PYX_LIMITED_VERSION_HEX < 0x030900B1 + #define __Pyx_PyType_FromModuleAndSpec(m, s, b) ((void)m, PyType_FromSpecWithBases(s, b)) + typedef PyObject *(*__Pyx_PyCMethod)(PyObject *, PyTypeObject *, PyObject *const *, size_t, PyObject *); +#else + #define __Pyx_PyType_FromModuleAndSpec(m, s, b) PyType_FromModuleAndSpec(m, s, b) + #define __Pyx_PyCMethod PyCMethod +#endif +#ifndef METH_METHOD + #define METH_METHOD 0x200 +#endif +#if CYTHON_COMPILING_IN_PYPY && !defined(PyObject_Malloc) + #define PyObject_Malloc(s) PyMem_Malloc(s) + #define PyObject_Free(p) PyMem_Free(p) + #define PyObject_Realloc(p) PyMem_Realloc(p) +#endif +#if CYTHON_COMPILING_IN_LIMITED_API + #define __Pyx_PyCode_HasFreeVars(co) (PyCode_GetNumFree(co) > 0) + #define __Pyx_PyFrame_SetLineNumber(frame, lineno) +#else + #define __Pyx_PyCode_HasFreeVars(co) (PyCode_GetNumFree(co) > 0) + #define __Pyx_PyFrame_SetLineNumber(frame, lineno) (frame)->f_lineno = (lineno) +#endif +#if CYTHON_COMPILING_IN_LIMITED_API + #define __Pyx_PyThreadState_Current PyThreadState_Get() +#elif !CYTHON_FAST_THREAD_STATE + #define __Pyx_PyThreadState_Current PyThreadState_GET() +#elif PY_VERSION_HEX >= 0x030d00A1 + #define __Pyx_PyThreadState_Current PyThreadState_GetUnchecked() +#elif PY_VERSION_HEX >= 0x03060000 + #define __Pyx_PyThreadState_Current _PyThreadState_UncheckedGet() +#elif PY_VERSION_HEX >= 0x03000000 + #define __Pyx_PyThreadState_Current PyThreadState_GET() +#else + #define __Pyx_PyThreadState_Current _PyThreadState_Current +#endif +#if CYTHON_COMPILING_IN_LIMITED_API +static CYTHON_INLINE void *__Pyx_PyModule_GetState(PyObject *op) +{ + void *result; + result = PyModule_GetState(op); + if (!result) + Py_FatalError("Couldn't find the module state"); + return result; +} +#endif +#define __Pyx_PyObject_GetSlot(obj, name, func_ctype) __Pyx_PyType_GetSlot(Py_TYPE(obj), name, func_ctype) +#if CYTHON_COMPILING_IN_LIMITED_API + #define __Pyx_PyType_GetSlot(type, name, func_ctype) ((func_ctype) PyType_GetSlot((type), Py_##name)) +#else + #define __Pyx_PyType_GetSlot(type, name, func_ctype) ((type)->name) +#endif +#if PY_VERSION_HEX < 0x030700A2 && !defined(PyThread_tss_create) && !defined(Py_tss_NEEDS_INIT) +#include "pythread.h" +#define Py_tss_NEEDS_INIT 0 +typedef int Py_tss_t; +static CYTHON_INLINE int PyThread_tss_create(Py_tss_t *key) { + *key = PyThread_create_key(); + return 0; +} +static CYTHON_INLINE Py_tss_t * PyThread_tss_alloc(void) { + Py_tss_t *key = (Py_tss_t *)PyObject_Malloc(sizeof(Py_tss_t)); + *key = Py_tss_NEEDS_INIT; + return key; +} +static CYTHON_INLINE void PyThread_tss_free(Py_tss_t *key) { + PyObject_Free(key); +} +static CYTHON_INLINE int PyThread_tss_is_created(Py_tss_t *key) { + return *key != Py_tss_NEEDS_INIT; +} +static CYTHON_INLINE void PyThread_tss_delete(Py_tss_t *key) { + PyThread_delete_key(*key); + *key = Py_tss_NEEDS_INIT; +} +static CYTHON_INLINE int PyThread_tss_set(Py_tss_t *key, void *value) { + return PyThread_set_key_value(*key, value); +} +static CYTHON_INLINE void * PyThread_tss_get(Py_tss_t *key) { + return PyThread_get_key_value(*key); +} +#endif +#if PY_MAJOR_VERSION < 3 + #if CYTHON_COMPILING_IN_PYPY + #if PYPY_VERSION_NUM < 0x07030600 + #if defined(__cplusplus) && __cplusplus >= 201402L + [[deprecated("`with nogil:` inside a nogil function will not release the GIL in PyPy2 < 7.3.6")]] + #elif defined(__GNUC__) || defined(__clang__) + __attribute__ ((__deprecated__("`with nogil:` inside a nogil function will not release the GIL in PyPy2 < 7.3.6"))) + #elif defined(_MSC_VER) + __declspec(deprecated("`with nogil:` inside a nogil function will not release the GIL in PyPy2 < 7.3.6")) + #endif + static CYTHON_INLINE int PyGILState_Check(void) { + return 0; + } + #else // PYPY_VERSION_NUM < 0x07030600 + #endif // PYPY_VERSION_NUM < 0x07030600 + #else + static CYTHON_INLINE int PyGILState_Check(void) { + PyThreadState * tstate = _PyThreadState_Current; + return tstate && (tstate == PyGILState_GetThisThreadState()); + } + #endif +#endif +#if CYTHON_COMPILING_IN_CPYTHON && PY_VERSION_HEX < 0x030d0000 || defined(_PyDict_NewPresized) +#define __Pyx_PyDict_NewPresized(n) ((n <= 8) ? PyDict_New() : _PyDict_NewPresized(n)) +#else +#define __Pyx_PyDict_NewPresized(n) PyDict_New() +#endif +#if PY_MAJOR_VERSION >= 3 || CYTHON_FUTURE_DIVISION + #define __Pyx_PyNumber_Divide(x,y) PyNumber_TrueDivide(x,y) + #define __Pyx_PyNumber_InPlaceDivide(x,y) PyNumber_InPlaceTrueDivide(x,y) +#else + #define __Pyx_PyNumber_Divide(x,y) PyNumber_Divide(x,y) + #define __Pyx_PyNumber_InPlaceDivide(x,y) PyNumber_InPlaceDivide(x,y) +#endif +#if CYTHON_COMPILING_IN_CPYTHON && PY_VERSION_HEX > 0x030600B4 && PY_VERSION_HEX < 0x030d0000 && CYTHON_USE_UNICODE_INTERNALS +#define __Pyx_PyDict_GetItemStrWithError(dict, name) _PyDict_GetItem_KnownHash(dict, name, ((PyASCIIObject *) name)->hash) +static CYTHON_INLINE PyObject * __Pyx_PyDict_GetItemStr(PyObject *dict, PyObject *name) { + PyObject *res = __Pyx_PyDict_GetItemStrWithError(dict, name); + if (res == NULL) PyErr_Clear(); + return res; +} +#elif PY_MAJOR_VERSION >= 3 && (!CYTHON_COMPILING_IN_PYPY || PYPY_VERSION_NUM >= 0x07020000) +#define __Pyx_PyDict_GetItemStrWithError PyDict_GetItemWithError +#define __Pyx_PyDict_GetItemStr PyDict_GetItem +#else +static CYTHON_INLINE PyObject * __Pyx_PyDict_GetItemStrWithError(PyObject *dict, PyObject *name) { +#if CYTHON_COMPILING_IN_PYPY + return PyDict_GetItem(dict, name); +#else + PyDictEntry *ep; + PyDictObject *mp = (PyDictObject*) dict; + long hash = ((PyStringObject *) name)->ob_shash; + assert(hash != -1); + ep = (mp->ma_lookup)(mp, name, hash); + if (ep == NULL) { + return NULL; + } + return ep->me_value; +#endif +} +#define __Pyx_PyDict_GetItemStr PyDict_GetItem +#endif +#if CYTHON_USE_TYPE_SLOTS + #define __Pyx_PyType_GetFlags(tp) (((PyTypeObject *)tp)->tp_flags) + #define __Pyx_PyType_HasFeature(type, feature) ((__Pyx_PyType_GetFlags(type) & (feature)) != 0) + #define __Pyx_PyObject_GetIterNextFunc(obj) (Py_TYPE(obj)->tp_iternext) +#else + #define __Pyx_PyType_GetFlags(tp) (PyType_GetFlags((PyTypeObject *)tp)) + #define __Pyx_PyType_HasFeature(type, feature) PyType_HasFeature(type, feature) + #define __Pyx_PyObject_GetIterNextFunc(obj) PyIter_Next +#endif +#if CYTHON_COMPILING_IN_LIMITED_API + #define __Pyx_SetItemOnTypeDict(tp, k, v) PyObject_GenericSetAttr((PyObject*)tp, k, v) +#else + #define __Pyx_SetItemOnTypeDict(tp, k, v) PyDict_SetItem(tp->tp_dict, k, v) +#endif +#if CYTHON_USE_TYPE_SPECS && PY_VERSION_HEX >= 0x03080000 +#define __Pyx_PyHeapTypeObject_GC_Del(obj) {\ + PyTypeObject *type = Py_TYPE((PyObject*)obj);\ + assert(__Pyx_PyType_HasFeature(type, Py_TPFLAGS_HEAPTYPE));\ + PyObject_GC_Del(obj);\ + Py_DECREF(type);\ +} +#else +#define __Pyx_PyHeapTypeObject_GC_Del(obj) PyObject_GC_Del(obj) +#endif +#if CYTHON_COMPILING_IN_LIMITED_API + #define CYTHON_PEP393_ENABLED 1 + #define __Pyx_PyUnicode_READY(op) (0) + #define __Pyx_PyUnicode_GET_LENGTH(u) PyUnicode_GetLength(u) + #define __Pyx_PyUnicode_READ_CHAR(u, i) PyUnicode_ReadChar(u, i) + #define __Pyx_PyUnicode_MAX_CHAR_VALUE(u) ((void)u, 1114111U) + #define __Pyx_PyUnicode_KIND(u) ((void)u, (0)) + #define __Pyx_PyUnicode_DATA(u) ((void*)u) + #define __Pyx_PyUnicode_READ(k, d, i) ((void)k, PyUnicode_ReadChar((PyObject*)(d), i)) + #define __Pyx_PyUnicode_IS_TRUE(u) (0 != PyUnicode_GetLength(u)) +#elif PY_VERSION_HEX > 0x03030000 && defined(PyUnicode_KIND) + #define CYTHON_PEP393_ENABLED 1 + #if PY_VERSION_HEX >= 0x030C0000 + #define __Pyx_PyUnicode_READY(op) (0) + #else + #define __Pyx_PyUnicode_READY(op) (likely(PyUnicode_IS_READY(op)) ?\ + 0 : _PyUnicode_Ready((PyObject *)(op))) + #endif + #define __Pyx_PyUnicode_GET_LENGTH(u) PyUnicode_GET_LENGTH(u) + #define __Pyx_PyUnicode_READ_CHAR(u, i) PyUnicode_READ_CHAR(u, i) + #define __Pyx_PyUnicode_MAX_CHAR_VALUE(u) PyUnicode_MAX_CHAR_VALUE(u) + #define __Pyx_PyUnicode_KIND(u) ((int)PyUnicode_KIND(u)) + #define __Pyx_PyUnicode_DATA(u) PyUnicode_DATA(u) + #define __Pyx_PyUnicode_READ(k, d, i) PyUnicode_READ(k, d, i) + #define __Pyx_PyUnicode_WRITE(k, d, i, ch) PyUnicode_WRITE(k, d, i, (Py_UCS4) ch) + #if PY_VERSION_HEX >= 0x030C0000 + #define __Pyx_PyUnicode_IS_TRUE(u) (0 != PyUnicode_GET_LENGTH(u)) + #else + #if CYTHON_COMPILING_IN_CPYTHON && PY_VERSION_HEX >= 0x03090000 + #define __Pyx_PyUnicode_IS_TRUE(u) (0 != (likely(PyUnicode_IS_READY(u)) ? PyUnicode_GET_LENGTH(u) : ((PyCompactUnicodeObject *)(u))->wstr_length)) + #else + #define __Pyx_PyUnicode_IS_TRUE(u) (0 != (likely(PyUnicode_IS_READY(u)) ? PyUnicode_GET_LENGTH(u) : PyUnicode_GET_SIZE(u))) + #endif + #endif +#else + #define CYTHON_PEP393_ENABLED 0 + #define PyUnicode_1BYTE_KIND 1 + #define PyUnicode_2BYTE_KIND 2 + #define PyUnicode_4BYTE_KIND 4 + #define __Pyx_PyUnicode_READY(op) (0) + #define __Pyx_PyUnicode_GET_LENGTH(u) PyUnicode_GET_SIZE(u) + #define __Pyx_PyUnicode_READ_CHAR(u, i) ((Py_UCS4)(PyUnicode_AS_UNICODE(u)[i])) + #define __Pyx_PyUnicode_MAX_CHAR_VALUE(u) ((sizeof(Py_UNICODE) == 2) ? 65535U : 1114111U) + #define __Pyx_PyUnicode_KIND(u) ((int)sizeof(Py_UNICODE)) + #define __Pyx_PyUnicode_DATA(u) ((void*)PyUnicode_AS_UNICODE(u)) + #define __Pyx_PyUnicode_READ(k, d, i) ((void)(k), (Py_UCS4)(((Py_UNICODE*)d)[i])) + #define __Pyx_PyUnicode_WRITE(k, d, i, ch) (((void)(k)), ((Py_UNICODE*)d)[i] = (Py_UNICODE) ch) + #define __Pyx_PyUnicode_IS_TRUE(u) (0 != PyUnicode_GET_SIZE(u)) +#endif +#if CYTHON_COMPILING_IN_PYPY + #define __Pyx_PyUnicode_Concat(a, b) PyNumber_Add(a, b) + #define __Pyx_PyUnicode_ConcatSafe(a, b) PyNumber_Add(a, b) +#else + #define __Pyx_PyUnicode_Concat(a, b) PyUnicode_Concat(a, b) + #define __Pyx_PyUnicode_ConcatSafe(a, b) ((unlikely((a) == Py_None) || unlikely((b) == Py_None)) ?\ + PyNumber_Add(a, b) : __Pyx_PyUnicode_Concat(a, b)) +#endif +#if CYTHON_COMPILING_IN_PYPY + #if !defined(PyUnicode_DecodeUnicodeEscape) + #define PyUnicode_DecodeUnicodeEscape(s, size, errors) PyUnicode_Decode(s, size, "unicode_escape", errors) + #endif + #if !defined(PyUnicode_Contains) || (PY_MAJOR_VERSION == 2 && PYPY_VERSION_NUM < 0x07030500) + #undef PyUnicode_Contains + #define PyUnicode_Contains(u, s) PySequence_Contains(u, s) + #endif + #if !defined(PyByteArray_Check) + #define PyByteArray_Check(obj) PyObject_TypeCheck(obj, &PyByteArray_Type) + #endif + #if !defined(PyObject_Format) + #define PyObject_Format(obj, fmt) PyObject_CallMethod(obj, "__format__", "O", fmt) + #endif +#endif +#define __Pyx_PyString_FormatSafe(a, b) ((unlikely((a) == Py_None || (PyString_Check(b) && !PyString_CheckExact(b)))) ? PyNumber_Remainder(a, b) : __Pyx_PyString_Format(a, b)) +#define __Pyx_PyUnicode_FormatSafe(a, b) ((unlikely((a) == Py_None || (PyUnicode_Check(b) && !PyUnicode_CheckExact(b)))) ? PyNumber_Remainder(a, b) : PyUnicode_Format(a, b)) +#if PY_MAJOR_VERSION >= 3 + #define __Pyx_PyString_Format(a, b) PyUnicode_Format(a, b) +#else + #define __Pyx_PyString_Format(a, b) PyString_Format(a, b) +#endif +#if PY_MAJOR_VERSION < 3 && !defined(PyObject_ASCII) + #define PyObject_ASCII(o) PyObject_Repr(o) +#endif +#if PY_MAJOR_VERSION >= 3 + #define PyBaseString_Type PyUnicode_Type + #define PyStringObject PyUnicodeObject + #define PyString_Type PyUnicode_Type + #define PyString_Check PyUnicode_Check + #define PyString_CheckExact PyUnicode_CheckExact +#ifndef PyObject_Unicode + #define PyObject_Unicode PyObject_Str +#endif +#endif +#if PY_MAJOR_VERSION >= 3 + #define __Pyx_PyBaseString_Check(obj) PyUnicode_Check(obj) + #define __Pyx_PyBaseString_CheckExact(obj) PyUnicode_CheckExact(obj) +#else + #define __Pyx_PyBaseString_Check(obj) (PyString_Check(obj) || PyUnicode_Check(obj)) + #define __Pyx_PyBaseString_CheckExact(obj) (PyString_CheckExact(obj) || PyUnicode_CheckExact(obj)) +#endif +#if CYTHON_COMPILING_IN_CPYTHON + #define __Pyx_PySequence_ListKeepNew(obj)\ + (likely(PyList_CheckExact(obj) && Py_REFCNT(obj) == 1) ? __Pyx_NewRef(obj) : PySequence_List(obj)) +#else + #define __Pyx_PySequence_ListKeepNew(obj) PySequence_List(obj) +#endif +#ifndef PySet_CheckExact + #define PySet_CheckExact(obj) __Pyx_IS_TYPE(obj, &PySet_Type) +#endif +#if PY_VERSION_HEX >= 0x030900A4 + #define __Pyx_SET_REFCNT(obj, refcnt) Py_SET_REFCNT(obj, refcnt) + #define __Pyx_SET_SIZE(obj, size) Py_SET_SIZE(obj, size) +#else + #define __Pyx_SET_REFCNT(obj, refcnt) Py_REFCNT(obj) = (refcnt) + #define __Pyx_SET_SIZE(obj, size) Py_SIZE(obj) = (size) +#endif +#if CYTHON_ASSUME_SAFE_MACROS + #define __Pyx_PySequence_ITEM(o, i) PySequence_ITEM(o, i) + #define __Pyx_PySequence_SIZE(seq) Py_SIZE(seq) + #define __Pyx_PyTuple_SET_ITEM(o, i, v) (PyTuple_SET_ITEM(o, i, v), (0)) + #define __Pyx_PyList_SET_ITEM(o, i, v) (PyList_SET_ITEM(o, i, v), (0)) + #define __Pyx_PyTuple_GET_SIZE(o) PyTuple_GET_SIZE(o) + #define __Pyx_PyList_GET_SIZE(o) PyList_GET_SIZE(o) + #define __Pyx_PySet_GET_SIZE(o) PySet_GET_SIZE(o) + #define __Pyx_PyBytes_GET_SIZE(o) PyBytes_GET_SIZE(o) + #define __Pyx_PyByteArray_GET_SIZE(o) PyByteArray_GET_SIZE(o) +#else + #define __Pyx_PySequence_ITEM(o, i) PySequence_GetItem(o, i) + #define __Pyx_PySequence_SIZE(seq) PySequence_Size(seq) + #define __Pyx_PyTuple_SET_ITEM(o, i, v) PyTuple_SetItem(o, i, v) + #define __Pyx_PyList_SET_ITEM(o, i, v) PyList_SetItem(o, i, v) + #define __Pyx_PyTuple_GET_SIZE(o) PyTuple_Size(o) + #define __Pyx_PyList_GET_SIZE(o) PyList_Size(o) + #define __Pyx_PySet_GET_SIZE(o) PySet_Size(o) + #define __Pyx_PyBytes_GET_SIZE(o) PyBytes_Size(o) + #define __Pyx_PyByteArray_GET_SIZE(o) PyByteArray_Size(o) +#endif +#if PY_VERSION_HEX >= 0x030d00A1 + #define __Pyx_PyImport_AddModuleRef(name) PyImport_AddModuleRef(name) +#else + static CYTHON_INLINE PyObject *__Pyx_PyImport_AddModuleRef(const char *name) { + PyObject *module = PyImport_AddModule(name); + Py_XINCREF(module); + return module; + } +#endif +#if PY_MAJOR_VERSION >= 3 + #define PyIntObject PyLongObject + #define PyInt_Type PyLong_Type + #define PyInt_Check(op) PyLong_Check(op) + #define PyInt_CheckExact(op) PyLong_CheckExact(op) + #define __Pyx_Py3Int_Check(op) PyLong_Check(op) + #define __Pyx_Py3Int_CheckExact(op) PyLong_CheckExact(op) + #define PyInt_FromString PyLong_FromString + #define PyInt_FromUnicode PyLong_FromUnicode + #define PyInt_FromLong PyLong_FromLong + #define PyInt_FromSize_t PyLong_FromSize_t + #define PyInt_FromSsize_t PyLong_FromSsize_t + #define PyInt_AsLong PyLong_AsLong + #define PyInt_AS_LONG PyLong_AS_LONG + #define PyInt_AsSsize_t PyLong_AsSsize_t + #define PyInt_AsUnsignedLongMask PyLong_AsUnsignedLongMask + #define PyInt_AsUnsignedLongLongMask PyLong_AsUnsignedLongLongMask + #define PyNumber_Int PyNumber_Long +#else + #define __Pyx_Py3Int_Check(op) (PyLong_Check(op) || PyInt_Check(op)) + #define __Pyx_Py3Int_CheckExact(op) (PyLong_CheckExact(op) || PyInt_CheckExact(op)) +#endif +#if PY_MAJOR_VERSION >= 3 + #define PyBoolObject PyLongObject +#endif +#if PY_MAJOR_VERSION >= 3 && CYTHON_COMPILING_IN_PYPY + #ifndef PyUnicode_InternFromString + #define PyUnicode_InternFromString(s) PyUnicode_FromString(s) + #endif +#endif +#if PY_VERSION_HEX < 0x030200A4 + typedef long Py_hash_t; + #define __Pyx_PyInt_FromHash_t PyInt_FromLong + #define __Pyx_PyInt_AsHash_t __Pyx_PyIndex_AsHash_t +#else + #define __Pyx_PyInt_FromHash_t PyInt_FromSsize_t + #define __Pyx_PyInt_AsHash_t __Pyx_PyIndex_AsSsize_t +#endif +#if CYTHON_USE_ASYNC_SLOTS + #if PY_VERSION_HEX >= 0x030500B1 + #define __Pyx_PyAsyncMethodsStruct PyAsyncMethods + #define __Pyx_PyType_AsAsync(obj) (Py_TYPE(obj)->tp_as_async) + #else + #define __Pyx_PyType_AsAsync(obj) ((__Pyx_PyAsyncMethodsStruct*) (Py_TYPE(obj)->tp_reserved)) + #endif +#else + #define __Pyx_PyType_AsAsync(obj) NULL +#endif +#ifndef __Pyx_PyAsyncMethodsStruct + typedef struct { + unaryfunc am_await; + unaryfunc am_aiter; + unaryfunc am_anext; + } __Pyx_PyAsyncMethodsStruct; +#endif + +#if defined(_WIN32) || defined(WIN32) || defined(MS_WINDOWS) + #if !defined(_USE_MATH_DEFINES) + #define _USE_MATH_DEFINES + #endif +#endif +#include +#ifdef NAN +#define __PYX_NAN() ((float) NAN) +#else +static CYTHON_INLINE float __PYX_NAN() { + float value; + memset(&value, 0xFF, sizeof(value)); + return value; +} +#endif +#if defined(__CYGWIN__) && defined(_LDBL_EQ_DBL) +#define __Pyx_truncl trunc +#else +#define __Pyx_truncl truncl +#endif + +#define __PYX_MARK_ERR_POS(f_index, lineno) \ + { __pyx_filename = __pyx_f[f_index]; (void)__pyx_filename; __pyx_lineno = lineno; (void)__pyx_lineno; __pyx_clineno = __LINE__; (void)__pyx_clineno; } +#define __PYX_ERR(f_index, lineno, Ln_error) \ + { __PYX_MARK_ERR_POS(f_index, lineno) goto Ln_error; } + +#ifdef CYTHON_EXTERN_C + #undef __PYX_EXTERN_C + #define __PYX_EXTERN_C CYTHON_EXTERN_C +#elif defined(__PYX_EXTERN_C) + #ifdef _MSC_VER + #pragma message ("Please do not define the '__PYX_EXTERN_C' macro externally. Use 'CYTHON_EXTERN_C' instead.") + #else + #warning Please do not define the '__PYX_EXTERN_C' macro externally. Use 'CYTHON_EXTERN_C' instead. + #endif +#else + #define __PYX_EXTERN_C extern "C++" +#endif + +#define __PYX_HAVE__selfdrive__classic_modeld__runners__snpemodel_pyx +#define __PYX_HAVE_API__selfdrive__classic_modeld__runners__snpemodel_pyx +/* Early includes */ +#include +#include +#include "ios" +#include "new" +#include "stdexcept" +#include "typeinfo" +#include +#include + + #if __cplusplus >= 201103L || (defined(_MSC_VER) && _MSC_VER >= 1600) + // move should be defined for these versions of MSVC, but __cplusplus isn't set usefully + #include + + namespace cython_std { + template typename std::remove_reference::type&& move(T& t) noexcept { return std::move(t); } + template typename std::remove_reference::type&& move(T&& t) noexcept { return std::move(t); } + } + + #endif + +#include +#include +#include "msgq/visionipc/visionbuf.h" +#include "msgq/visionipc/visionipc.h" +#include "msgq/visionipc/visionipc_server.h" +#include "msgq/visionipc/visionipc_client.h" +#include "selfdrive/classic_modeld/runners/snpemodel.h" +#include "selfdrive/classic_modeld/runners/runmodel.h" +#include "pythread.h" +#include +#ifdef _OPENMP +#include +#endif /* _OPENMP */ + +#if defined(PYREX_WITHOUT_ASSERTIONS) && !defined(CYTHON_WITHOUT_ASSERTIONS) +#define CYTHON_WITHOUT_ASSERTIONS +#endif + +typedef struct {PyObject **p; const char *s; const Py_ssize_t n; const char* encoding; + const char is_unicode; const char is_str; const char intern; } __Pyx_StringTabEntry; + +#define __PYX_DEFAULT_STRING_ENCODING_IS_ASCII 1 +#define __PYX_DEFAULT_STRING_ENCODING_IS_UTF8 0 +#define __PYX_DEFAULT_STRING_ENCODING_IS_DEFAULT (PY_MAJOR_VERSION >= 3 && __PYX_DEFAULT_STRING_ENCODING_IS_UTF8) +#define __PYX_DEFAULT_STRING_ENCODING "ascii" +#define __Pyx_PyObject_FromString __Pyx_PyBytes_FromString +#define __Pyx_PyObject_FromStringAndSize __Pyx_PyBytes_FromStringAndSize +#define __Pyx_uchar_cast(c) ((unsigned char)c) +#define __Pyx_long_cast(x) ((long)x) +#define __Pyx_fits_Py_ssize_t(v, type, is_signed) (\ + (sizeof(type) < sizeof(Py_ssize_t)) ||\ + (sizeof(type) > sizeof(Py_ssize_t) &&\ + likely(v < (type)PY_SSIZE_T_MAX ||\ + v == (type)PY_SSIZE_T_MAX) &&\ + (!is_signed || likely(v > (type)PY_SSIZE_T_MIN ||\ + v == (type)PY_SSIZE_T_MIN))) ||\ + (sizeof(type) == sizeof(Py_ssize_t) &&\ + (is_signed || likely(v < (type)PY_SSIZE_T_MAX ||\ + v == (type)PY_SSIZE_T_MAX))) ) +static CYTHON_INLINE int __Pyx_is_valid_index(Py_ssize_t i, Py_ssize_t limit) { + return (size_t) i < (size_t) limit; +} +#if defined (__cplusplus) && __cplusplus >= 201103L + #include + #define __Pyx_sst_abs(value) std::abs(value) +#elif SIZEOF_INT >= SIZEOF_SIZE_T + #define __Pyx_sst_abs(value) abs(value) +#elif SIZEOF_LONG >= SIZEOF_SIZE_T + #define __Pyx_sst_abs(value) labs(value) +#elif defined (_MSC_VER) + #define __Pyx_sst_abs(value) ((Py_ssize_t)_abs64(value)) +#elif defined (__STDC_VERSION__) && __STDC_VERSION__ >= 199901L + #define __Pyx_sst_abs(value) llabs(value) +#elif defined (__GNUC__) + #define __Pyx_sst_abs(value) __builtin_llabs(value) +#else + #define __Pyx_sst_abs(value) ((value<0) ? -value : value) +#endif +static CYTHON_INLINE Py_ssize_t __Pyx_ssize_strlen(const char *s); +static CYTHON_INLINE const char* __Pyx_PyObject_AsString(PyObject*); +static CYTHON_INLINE const char* __Pyx_PyObject_AsStringAndSize(PyObject*, Py_ssize_t* length); +static CYTHON_INLINE PyObject* __Pyx_PyByteArray_FromString(const char*); +#define __Pyx_PyByteArray_FromStringAndSize(s, l) PyByteArray_FromStringAndSize((const char*)s, l) +#define __Pyx_PyBytes_FromString PyBytes_FromString +#define __Pyx_PyBytes_FromStringAndSize PyBytes_FromStringAndSize +static CYTHON_INLINE PyObject* __Pyx_PyUnicode_FromString(const char*); +#if PY_MAJOR_VERSION < 3 + #define __Pyx_PyStr_FromString __Pyx_PyBytes_FromString + #define __Pyx_PyStr_FromStringAndSize __Pyx_PyBytes_FromStringAndSize +#else + #define __Pyx_PyStr_FromString __Pyx_PyUnicode_FromString + #define __Pyx_PyStr_FromStringAndSize __Pyx_PyUnicode_FromStringAndSize +#endif +#define __Pyx_PyBytes_AsWritableString(s) ((char*) PyBytes_AS_STRING(s)) +#define __Pyx_PyBytes_AsWritableSString(s) ((signed char*) PyBytes_AS_STRING(s)) +#define __Pyx_PyBytes_AsWritableUString(s) ((unsigned char*) PyBytes_AS_STRING(s)) +#define __Pyx_PyBytes_AsString(s) ((const char*) PyBytes_AS_STRING(s)) +#define __Pyx_PyBytes_AsSString(s) ((const signed char*) PyBytes_AS_STRING(s)) +#define __Pyx_PyBytes_AsUString(s) ((const unsigned char*) PyBytes_AS_STRING(s)) +#define __Pyx_PyObject_AsWritableString(s) ((char*)(__pyx_uintptr_t) __Pyx_PyObject_AsString(s)) +#define __Pyx_PyObject_AsWritableSString(s) ((signed char*)(__pyx_uintptr_t) __Pyx_PyObject_AsString(s)) +#define __Pyx_PyObject_AsWritableUString(s) ((unsigned char*)(__pyx_uintptr_t) __Pyx_PyObject_AsString(s)) +#define __Pyx_PyObject_AsSString(s) ((const signed char*) __Pyx_PyObject_AsString(s)) +#define __Pyx_PyObject_AsUString(s) ((const unsigned char*) __Pyx_PyObject_AsString(s)) +#define __Pyx_PyObject_FromCString(s) __Pyx_PyObject_FromString((const char*)s) +#define __Pyx_PyBytes_FromCString(s) __Pyx_PyBytes_FromString((const char*)s) +#define __Pyx_PyByteArray_FromCString(s) __Pyx_PyByteArray_FromString((const char*)s) +#define __Pyx_PyStr_FromCString(s) __Pyx_PyStr_FromString((const char*)s) +#define __Pyx_PyUnicode_FromCString(s) __Pyx_PyUnicode_FromString((const char*)s) +#if CYTHON_COMPILING_IN_LIMITED_API +static CYTHON_INLINE size_t __Pyx_Py_UNICODE_strlen(const wchar_t *u) +{ + const wchar_t *u_end = u; + while (*u_end++) ; + return (size_t)(u_end - u - 1); +} +#else +static CYTHON_INLINE size_t __Pyx_Py_UNICODE_strlen(const Py_UNICODE *u) +{ + const Py_UNICODE *u_end = u; + while (*u_end++) ; + return (size_t)(u_end - u - 1); +} +#endif +#define __Pyx_PyUnicode_FromOrdinal(o) PyUnicode_FromOrdinal((int)o) +#define __Pyx_PyUnicode_FromUnicode(u) PyUnicode_FromUnicode(u, __Pyx_Py_UNICODE_strlen(u)) +#define __Pyx_PyUnicode_FromUnicodeAndLength PyUnicode_FromUnicode +#define __Pyx_PyUnicode_AsUnicode PyUnicode_AsUnicode +#define __Pyx_NewRef(obj) (Py_INCREF(obj), obj) +#define __Pyx_Owned_Py_None(b) __Pyx_NewRef(Py_None) +static CYTHON_INLINE PyObject * __Pyx_PyBool_FromLong(long b); +static CYTHON_INLINE int __Pyx_PyObject_IsTrue(PyObject*); +static CYTHON_INLINE int __Pyx_PyObject_IsTrueAndDecref(PyObject*); +static CYTHON_INLINE PyObject* __Pyx_PyNumber_IntOrLong(PyObject* x); +#define __Pyx_PySequence_Tuple(obj)\ + (likely(PyTuple_CheckExact(obj)) ? __Pyx_NewRef(obj) : PySequence_Tuple(obj)) +static CYTHON_INLINE Py_ssize_t __Pyx_PyIndex_AsSsize_t(PyObject*); +static CYTHON_INLINE PyObject * __Pyx_PyInt_FromSize_t(size_t); +static CYTHON_INLINE Py_hash_t __Pyx_PyIndex_AsHash_t(PyObject*); +#if CYTHON_ASSUME_SAFE_MACROS +#define __pyx_PyFloat_AsDouble(x) (PyFloat_CheckExact(x) ? PyFloat_AS_DOUBLE(x) : PyFloat_AsDouble(x)) +#else +#define __pyx_PyFloat_AsDouble(x) PyFloat_AsDouble(x) +#endif +#define __pyx_PyFloat_AsFloat(x) ((float) __pyx_PyFloat_AsDouble(x)) +#if PY_MAJOR_VERSION >= 3 +#define __Pyx_PyNumber_Int(x) (PyLong_CheckExact(x) ? __Pyx_NewRef(x) : PyNumber_Long(x)) +#else +#define __Pyx_PyNumber_Int(x) (PyInt_CheckExact(x) ? __Pyx_NewRef(x) : PyNumber_Int(x)) +#endif +#if CYTHON_USE_PYLONG_INTERNALS + #if PY_VERSION_HEX >= 0x030C00A7 + #ifndef _PyLong_SIGN_MASK + #define _PyLong_SIGN_MASK 3 + #endif + #ifndef _PyLong_NON_SIZE_BITS + #define _PyLong_NON_SIZE_BITS 3 + #endif + #define __Pyx_PyLong_Sign(x) (((PyLongObject*)x)->long_value.lv_tag & _PyLong_SIGN_MASK) + #define __Pyx_PyLong_IsNeg(x) ((__Pyx_PyLong_Sign(x) & 2) != 0) + #define __Pyx_PyLong_IsNonNeg(x) (!__Pyx_PyLong_IsNeg(x)) + #define __Pyx_PyLong_IsZero(x) (__Pyx_PyLong_Sign(x) & 1) + #define __Pyx_PyLong_IsPos(x) (__Pyx_PyLong_Sign(x) == 0) + #define __Pyx_PyLong_CompactValueUnsigned(x) (__Pyx_PyLong_Digits(x)[0]) + #define __Pyx_PyLong_DigitCount(x) ((Py_ssize_t) (((PyLongObject*)x)->long_value.lv_tag >> _PyLong_NON_SIZE_BITS)) + #define __Pyx_PyLong_SignedDigitCount(x)\ + ((1 - (Py_ssize_t) __Pyx_PyLong_Sign(x)) * __Pyx_PyLong_DigitCount(x)) + #if defined(PyUnstable_Long_IsCompact) && defined(PyUnstable_Long_CompactValue) + #define __Pyx_PyLong_IsCompact(x) PyUnstable_Long_IsCompact((PyLongObject*) x) + #define __Pyx_PyLong_CompactValue(x) PyUnstable_Long_CompactValue((PyLongObject*) x) + #else + #define __Pyx_PyLong_IsCompact(x) (((PyLongObject*)x)->long_value.lv_tag < (2 << _PyLong_NON_SIZE_BITS)) + #define __Pyx_PyLong_CompactValue(x) ((1 - (Py_ssize_t) __Pyx_PyLong_Sign(x)) * (Py_ssize_t) __Pyx_PyLong_Digits(x)[0]) + #endif + typedef Py_ssize_t __Pyx_compact_pylong; + typedef size_t __Pyx_compact_upylong; + #else + #define __Pyx_PyLong_IsNeg(x) (Py_SIZE(x) < 0) + #define __Pyx_PyLong_IsNonNeg(x) (Py_SIZE(x) >= 0) + #define __Pyx_PyLong_IsZero(x) (Py_SIZE(x) == 0) + #define __Pyx_PyLong_IsPos(x) (Py_SIZE(x) > 0) + #define __Pyx_PyLong_CompactValueUnsigned(x) ((Py_SIZE(x) == 0) ? 0 : __Pyx_PyLong_Digits(x)[0]) + #define __Pyx_PyLong_DigitCount(x) __Pyx_sst_abs(Py_SIZE(x)) + #define __Pyx_PyLong_SignedDigitCount(x) Py_SIZE(x) + #define __Pyx_PyLong_IsCompact(x) (Py_SIZE(x) == 0 || Py_SIZE(x) == 1 || Py_SIZE(x) == -1) + #define __Pyx_PyLong_CompactValue(x)\ + ((Py_SIZE(x) == 0) ? (sdigit) 0 : ((Py_SIZE(x) < 0) ? -(sdigit)__Pyx_PyLong_Digits(x)[0] : (sdigit)__Pyx_PyLong_Digits(x)[0])) + typedef sdigit __Pyx_compact_pylong; + typedef digit __Pyx_compact_upylong; + #endif + #if PY_VERSION_HEX >= 0x030C00A5 + #define __Pyx_PyLong_Digits(x) (((PyLongObject*)x)->long_value.ob_digit) + #else + #define __Pyx_PyLong_Digits(x) (((PyLongObject*)x)->ob_digit) + #endif +#endif +#if PY_MAJOR_VERSION < 3 && __PYX_DEFAULT_STRING_ENCODING_IS_ASCII +#include +static int __Pyx_sys_getdefaultencoding_not_ascii; +static int __Pyx_init_sys_getdefaultencoding_params(void) { + PyObject* sys; + PyObject* default_encoding = NULL; + PyObject* ascii_chars_u = NULL; + PyObject* ascii_chars_b = NULL; + const char* default_encoding_c; + sys = PyImport_ImportModule("sys"); + if (!sys) goto bad; + default_encoding = PyObject_CallMethod(sys, (char*) "getdefaultencoding", NULL); + Py_DECREF(sys); + if (!default_encoding) goto bad; + default_encoding_c = PyBytes_AsString(default_encoding); + if (!default_encoding_c) goto bad; + if (strcmp(default_encoding_c, "ascii") == 0) { + __Pyx_sys_getdefaultencoding_not_ascii = 0; + } else { + char ascii_chars[128]; + int c; + for (c = 0; c < 128; c++) { + ascii_chars[c] = (char) c; + } + __Pyx_sys_getdefaultencoding_not_ascii = 1; + ascii_chars_u = PyUnicode_DecodeASCII(ascii_chars, 128, NULL); + if (!ascii_chars_u) goto bad; + ascii_chars_b = PyUnicode_AsEncodedString(ascii_chars_u, default_encoding_c, NULL); + if (!ascii_chars_b || !PyBytes_Check(ascii_chars_b) || memcmp(ascii_chars, PyBytes_AS_STRING(ascii_chars_b), 128) != 0) { + PyErr_Format( + PyExc_ValueError, + "This module compiled with c_string_encoding=ascii, but default encoding '%.200s' is not a superset of ascii.", + default_encoding_c); + goto bad; + } + Py_DECREF(ascii_chars_u); + Py_DECREF(ascii_chars_b); + } + Py_DECREF(default_encoding); + return 0; +bad: + Py_XDECREF(default_encoding); + Py_XDECREF(ascii_chars_u); + Py_XDECREF(ascii_chars_b); + return -1; +} +#endif +#if __PYX_DEFAULT_STRING_ENCODING_IS_DEFAULT && PY_MAJOR_VERSION >= 3 +#define __Pyx_PyUnicode_FromStringAndSize(c_str, size) PyUnicode_DecodeUTF8(c_str, size, NULL) +#else +#define __Pyx_PyUnicode_FromStringAndSize(c_str, size) PyUnicode_Decode(c_str, size, __PYX_DEFAULT_STRING_ENCODING, NULL) +#if __PYX_DEFAULT_STRING_ENCODING_IS_DEFAULT +#include +static char* __PYX_DEFAULT_STRING_ENCODING; +static int __Pyx_init_sys_getdefaultencoding_params(void) { + PyObject* sys; + PyObject* default_encoding = NULL; + char* default_encoding_c; + sys = PyImport_ImportModule("sys"); + if (!sys) goto bad; + default_encoding = PyObject_CallMethod(sys, (char*) (const char*) "getdefaultencoding", NULL); + Py_DECREF(sys); + if (!default_encoding) goto bad; + default_encoding_c = PyBytes_AsString(default_encoding); + if (!default_encoding_c) goto bad; + __PYX_DEFAULT_STRING_ENCODING = (char*) malloc(strlen(default_encoding_c) + 1); + if (!__PYX_DEFAULT_STRING_ENCODING) goto bad; + strcpy(__PYX_DEFAULT_STRING_ENCODING, default_encoding_c); + Py_DECREF(default_encoding); + return 0; +bad: + Py_XDECREF(default_encoding); + return -1; +} +#endif +#endif + + +/* Test for GCC > 2.95 */ +#if defined(__GNUC__) && (__GNUC__ > 2 || (__GNUC__ == 2 && (__GNUC_MINOR__ > 95))) + #define likely(x) __builtin_expect(!!(x), 1) + #define unlikely(x) __builtin_expect(!!(x), 0) +#else /* !__GNUC__ or GCC < 2.95 */ + #define likely(x) (x) + #define unlikely(x) (x) +#endif /* __GNUC__ */ +static CYTHON_INLINE void __Pyx_pretend_to_initialize(void* ptr) { (void)ptr; } + +#if !CYTHON_USE_MODULE_STATE +static PyObject *__pyx_m = NULL; +#endif +static int __pyx_lineno; +static int __pyx_clineno = 0; +static const char * __pyx_cfilenm = __FILE__; +static const char *__pyx_filename; + +/* #### Code section: filename_table ### */ + +static const char *__pyx_f[] = { + "", + "selfdrive/classic_modeld/runners/snpemodel_pyx.pyx", + "msgq/visionipc/visionipc_pyx.pxd", + "selfdrive/classic_modeld/models/commonmodel_pyx.pxd", +}; +/* #### Code section: utility_code_proto_before_types ### */ +/* ForceInitThreads.proto */ +#ifndef __PYX_FORCE_INIT_THREADS + #define __PYX_FORCE_INIT_THREADS 0 +#endif + +/* NoFastGil.proto */ +#define __Pyx_PyGILState_Ensure PyGILState_Ensure +#define __Pyx_PyGILState_Release PyGILState_Release +#define __Pyx_FastGIL_Remember() +#define __Pyx_FastGIL_Forget() +#define __Pyx_FastGilFuncInit() + +/* BufferFormatStructs.proto */ +struct __Pyx_StructField_; +#define __PYX_BUF_FLAGS_PACKED_STRUCT (1 << 0) +typedef struct { + const char* name; + struct __Pyx_StructField_* fields; + size_t size; + size_t arraysize[8]; + int ndim; + char typegroup; + char is_unsigned; + int flags; +} __Pyx_TypeInfo; +typedef struct __Pyx_StructField_ { + __Pyx_TypeInfo* type; + const char* name; + size_t offset; +} __Pyx_StructField; +typedef struct { + __Pyx_StructField* field; + size_t parent_offset; +} __Pyx_BufFmt_StackElem; +typedef struct { + __Pyx_StructField root; + __Pyx_BufFmt_StackElem* head; + size_t fmt_offset; + size_t new_count, enc_count; + size_t struct_alignment; + int is_complex; + char enc_type; + char new_packmode; + char enc_packmode; + char is_valid_array; +} __Pyx_BufFmt_Context; + +/* Atomics.proto */ +#include +#ifndef CYTHON_ATOMICS + #define CYTHON_ATOMICS 1 +#endif +#define __PYX_CYTHON_ATOMICS_ENABLED() CYTHON_ATOMICS +#define __pyx_atomic_int_type int +#define __pyx_nonatomic_int_type int +#if CYTHON_ATOMICS && (defined(__STDC_VERSION__) &&\ + (__STDC_VERSION__ >= 201112L) &&\ + !defined(__STDC_NO_ATOMICS__)) + #include +#elif CYTHON_ATOMICS && (defined(__cplusplus) && (\ + (__cplusplus >= 201103L) ||\ + (defined(_MSC_VER) && _MSC_VER >= 1700))) + #include +#endif +#if CYTHON_ATOMICS && (defined(__STDC_VERSION__) &&\ + (__STDC_VERSION__ >= 201112L) &&\ + !defined(__STDC_NO_ATOMICS__) &&\ + ATOMIC_INT_LOCK_FREE == 2) + #undef __pyx_atomic_int_type + #define __pyx_atomic_int_type atomic_int + #define __pyx_atomic_incr_aligned(value) atomic_fetch_add_explicit(value, 1, memory_order_relaxed) + #define __pyx_atomic_decr_aligned(value) atomic_fetch_sub_explicit(value, 1, memory_order_acq_rel) + #if defined(__PYX_DEBUG_ATOMICS) && defined(_MSC_VER) + #pragma message ("Using standard C atomics") + #elif defined(__PYX_DEBUG_ATOMICS) + #warning "Using standard C atomics" + #endif +#elif CYTHON_ATOMICS && (defined(__cplusplus) && (\ + (__cplusplus >= 201103L) ||\ +\ + (defined(_MSC_VER) && _MSC_VER >= 1700)) &&\ + ATOMIC_INT_LOCK_FREE == 2) + #undef __pyx_atomic_int_type + #define __pyx_atomic_int_type std::atomic_int + #define __pyx_atomic_incr_aligned(value) std::atomic_fetch_add_explicit(value, 1, std::memory_order_relaxed) + #define __pyx_atomic_decr_aligned(value) std::atomic_fetch_sub_explicit(value, 1, std::memory_order_acq_rel) + #if defined(__PYX_DEBUG_ATOMICS) && defined(_MSC_VER) + #pragma message ("Using standard C++ atomics") + #elif defined(__PYX_DEBUG_ATOMICS) + #warning "Using standard C++ atomics" + #endif +#elif CYTHON_ATOMICS && (__GNUC__ >= 5 || (__GNUC__ == 4 &&\ + (__GNUC_MINOR__ > 1 ||\ + (__GNUC_MINOR__ == 1 && __GNUC_PATCHLEVEL__ >= 2)))) + #define __pyx_atomic_incr_aligned(value) __sync_fetch_and_add(value, 1) + #define __pyx_atomic_decr_aligned(value) __sync_fetch_and_sub(value, 1) + #ifdef __PYX_DEBUG_ATOMICS + #warning "Using GNU atomics" + #endif +#elif CYTHON_ATOMICS && defined(_MSC_VER) + #include + #undef __pyx_atomic_int_type + #define __pyx_atomic_int_type long + #undef __pyx_nonatomic_int_type + #define __pyx_nonatomic_int_type long + #pragma intrinsic (_InterlockedExchangeAdd) + #define __pyx_atomic_incr_aligned(value) _InterlockedExchangeAdd(value, 1) + #define __pyx_atomic_decr_aligned(value) _InterlockedExchangeAdd(value, -1) + #ifdef __PYX_DEBUG_ATOMICS + #pragma message ("Using MSVC atomics") + #endif +#else + #undef CYTHON_ATOMICS + #define CYTHON_ATOMICS 0 + #ifdef __PYX_DEBUG_ATOMICS + #warning "Not using atomics" + #endif +#endif +#if CYTHON_ATOMICS + #define __pyx_add_acquisition_count(memview)\ + __pyx_atomic_incr_aligned(__pyx_get_slice_count_pointer(memview)) + #define __pyx_sub_acquisition_count(memview)\ + __pyx_atomic_decr_aligned(__pyx_get_slice_count_pointer(memview)) +#else + #define __pyx_add_acquisition_count(memview)\ + __pyx_add_acquisition_count_locked(__pyx_get_slice_count_pointer(memview), memview->lock) + #define __pyx_sub_acquisition_count(memview)\ + __pyx_sub_acquisition_count_locked(__pyx_get_slice_count_pointer(memview), memview->lock) +#endif + +/* MemviewSliceStruct.proto */ +struct __pyx_memoryview_obj; +typedef struct { + struct __pyx_memoryview_obj *memview; + char *data; + Py_ssize_t shape[8]; + Py_ssize_t strides[8]; + Py_ssize_t suboffsets[8]; +} __Pyx_memviewslice; +#define __Pyx_MemoryView_Len(m) (m.shape[0]) + +/* #### Code section: numeric_typedefs ### */ +/* #### Code section: complex_type_declarations ### */ +/* #### Code section: type_declarations ### */ + +/*--- Type declarations ---*/ +struct __pyx_obj_4msgq_9visionipc_13visionipc_pyx_CLContext; +struct __pyx_obj_4msgq_9visionipc_13visionipc_pyx_VisionBuf; +struct __pyx_obj_9selfdrive_14classic_modeld_6models_15commonmodel_pyx_CLContext; +struct __pyx_obj_9selfdrive_14classic_modeld_6models_15commonmodel_pyx_CLMem; +struct __pyx_obj_9selfdrive_14classic_modeld_7runners_12runmodel_pyx_RunModel; +struct __pyx_obj_9selfdrive_14classic_modeld_7runners_13snpemodel_pyx_SNPEModel; +struct __pyx_array_obj; +struct __pyx_MemviewEnum_obj; +struct __pyx_memoryview_obj; +struct __pyx_memoryviewslice_obj; + +/* "msgq/visionipc/visionipc_pyx.pxd":7 + * from .visionipc cimport cl_device_id, cl_context + * + * cdef class CLContext: # <<<<<<<<<<<<<< + * cdef cl_device_id device_id + * cdef cl_context context + */ +struct __pyx_obj_4msgq_9visionipc_13visionipc_pyx_CLContext { + PyObject_HEAD + cl_device_id device_id; + cl_context context; +}; + + +/* "msgq/visionipc/visionipc_pyx.pxd":11 + * cdef cl_context context + * + * cdef class VisionBuf: # <<<<<<<<<<<<<< + * cdef cppVisionBuf * buf + * + */ +struct __pyx_obj_4msgq_9visionipc_13visionipc_pyx_VisionBuf { + PyObject_HEAD + struct __pyx_vtabstruct_4msgq_9visionipc_13visionipc_pyx_VisionBuf *__pyx_vtab; + VisionBuf *buf; +}; + + +/* "selfdrive/classic_modeld/models/commonmodel_pyx.pxd":6 + * from msgq.visionipc.visionipc_pyx cimport CLContext as BaseCLContext + * + * cdef class CLContext(BaseCLContext): # <<<<<<<<<<<<<< + * pass + * + */ +struct __pyx_obj_9selfdrive_14classic_modeld_6models_15commonmodel_pyx_CLContext { + struct __pyx_obj_4msgq_9visionipc_13visionipc_pyx_CLContext __pyx_base; +}; + + +/* "selfdrive/classic_modeld/models/commonmodel_pyx.pxd":9 + * pass + * + * cdef class CLMem: # <<<<<<<<<<<<<< + * cdef cl_mem * mem + * + */ +struct __pyx_obj_9selfdrive_14classic_modeld_6models_15commonmodel_pyx_CLMem { + PyObject_HEAD + struct __pyx_vtabstruct_9selfdrive_14classic_modeld_6models_15commonmodel_pyx_CLMem *__pyx_vtab; + cl_mem *mem; +}; + + +/* "selfdrive/classic_modeld/runners/runmodel_pyx.pxd":5 + * from .runmodel cimport RunModel as cppRunModel + * + * cdef class RunModel: # <<<<<<<<<<<<<< + * cdef cppRunModel * model + */ +struct __pyx_obj_9selfdrive_14classic_modeld_7runners_12runmodel_pyx_RunModel { + PyObject_HEAD + RunModel *model; +}; + + +/* "selfdrive/classic_modeld/runners/snpemodel_pyx.pyx":15 + * os.environ['ADSP_LIBRARY_PATH'] = "/data/pythonpath/third_party/snpe/dsp/" + * + * cdef class SNPEModel(RunModel): # <<<<<<<<<<<<<< + * def __cinit__(self, string path, float[:] output, int runtime, bool use_tf8, CLContext context): + * self.model = new cppSNPEModel(path, &output[0], len(output), runtime, use_tf8, context.context) + */ +struct __pyx_obj_9selfdrive_14classic_modeld_7runners_13snpemodel_pyx_SNPEModel { + struct __pyx_obj_9selfdrive_14classic_modeld_7runners_12runmodel_pyx_RunModel __pyx_base; +}; + + +/* "View.MemoryView":114 + * @cython.collection_type("sequence") + * @cname("__pyx_array") + * cdef class array: # <<<<<<<<<<<<<< + * + * cdef: + */ +struct __pyx_array_obj { + PyObject_HEAD + struct __pyx_vtabstruct_array *__pyx_vtab; + char *data; + Py_ssize_t len; + char *format; + int ndim; + Py_ssize_t *_shape; + Py_ssize_t *_strides; + Py_ssize_t itemsize; + PyObject *mode; + PyObject *_format; + void (*callback_free_data)(void *); + int free_data; + int dtype_is_object; +}; + + +/* "View.MemoryView":302 + * + * @cname('__pyx_MemviewEnum') + * cdef class Enum(object): # <<<<<<<<<<<<<< + * cdef object name + * def __init__(self, name): + */ +struct __pyx_MemviewEnum_obj { + PyObject_HEAD + PyObject *name; +}; + + +/* "View.MemoryView":337 + * + * @cname('__pyx_memoryview') + * cdef class memoryview: # <<<<<<<<<<<<<< + * + * cdef object obj + */ +struct __pyx_memoryview_obj { + PyObject_HEAD + struct __pyx_vtabstruct_memoryview *__pyx_vtab; + PyObject *obj; + PyObject *_size; + PyObject *_array_interface; + PyThread_type_lock lock; + __pyx_atomic_int_type acquisition_count; + Py_buffer view; + int flags; + int dtype_is_object; + __Pyx_TypeInfo *typeinfo; +}; + + +/* "View.MemoryView":952 + * @cython.collection_type("sequence") + * @cname('__pyx_memoryviewslice') + * cdef class _memoryviewslice(memoryview): # <<<<<<<<<<<<<< + * "Internal class for passing memoryview slices to Python" + * + */ +struct __pyx_memoryviewslice_obj { + struct __pyx_memoryview_obj __pyx_base; + __Pyx_memviewslice from_slice; + PyObject *from_object; + PyObject *(*to_object_func)(char *); + int (*to_dtype_func)(char *, PyObject *); +}; + + + +/* "msgq/visionipc/visionipc_pyx.pxd":11 + * cdef cl_context context + * + * cdef class VisionBuf: # <<<<<<<<<<<<<< + * cdef cppVisionBuf * buf + * + */ + +struct __pyx_vtabstruct_4msgq_9visionipc_13visionipc_pyx_VisionBuf { + PyObject *(*create)(VisionBuf *); +}; +static struct __pyx_vtabstruct_4msgq_9visionipc_13visionipc_pyx_VisionBuf *__pyx_vtabptr_4msgq_9visionipc_13visionipc_pyx_VisionBuf; + + +/* "selfdrive/classic_modeld/models/commonmodel_pyx.pxd":9 + * pass + * + * cdef class CLMem: # <<<<<<<<<<<<<< + * cdef cl_mem * mem + * + */ + +struct __pyx_vtabstruct_9selfdrive_14classic_modeld_6models_15commonmodel_pyx_CLMem { + PyObject *(*create)(void *); +}; +static struct __pyx_vtabstruct_9selfdrive_14classic_modeld_6models_15commonmodel_pyx_CLMem *__pyx_vtabptr_9selfdrive_14classic_modeld_6models_15commonmodel_pyx_CLMem; + + +/* "View.MemoryView":114 + * @cython.collection_type("sequence") + * @cname("__pyx_array") + * cdef class array: # <<<<<<<<<<<<<< + * + * cdef: + */ + +struct __pyx_vtabstruct_array { + PyObject *(*get_memview)(struct __pyx_array_obj *); +}; +static struct __pyx_vtabstruct_array *__pyx_vtabptr_array; + + +/* "View.MemoryView":337 + * + * @cname('__pyx_memoryview') + * cdef class memoryview: # <<<<<<<<<<<<<< + * + * cdef object obj + */ + +struct __pyx_vtabstruct_memoryview { + char *(*get_item_pointer)(struct __pyx_memoryview_obj *, PyObject *); + PyObject *(*is_slice)(struct __pyx_memoryview_obj *, PyObject *); + PyObject *(*setitem_slice_assignment)(struct __pyx_memoryview_obj *, PyObject *, PyObject *); + PyObject *(*setitem_slice_assign_scalar)(struct __pyx_memoryview_obj *, struct __pyx_memoryview_obj *, PyObject *); + PyObject *(*setitem_indexed)(struct __pyx_memoryview_obj *, PyObject *, PyObject *); + PyObject *(*convert_item_to_object)(struct __pyx_memoryview_obj *, char *); + PyObject *(*assign_item_from_object)(struct __pyx_memoryview_obj *, char *, PyObject *); + PyObject *(*_get_base)(struct __pyx_memoryview_obj *); +}; +static struct __pyx_vtabstruct_memoryview *__pyx_vtabptr_memoryview; + + +/* "View.MemoryView":952 + * @cython.collection_type("sequence") + * @cname('__pyx_memoryviewslice') + * cdef class _memoryviewslice(memoryview): # <<<<<<<<<<<<<< + * "Internal class for passing memoryview slices to Python" + * + */ + +struct __pyx_vtabstruct__memoryviewslice { + struct __pyx_vtabstruct_memoryview __pyx_base; 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else {__Pyx_INCREF(r); }} while(0) + #define __Pyx_XDECREF(r) do { if((r) == NULL); else {__Pyx_DECREF(r); }} while(0) + #define __Pyx_XGOTREF(r) do { if((r) == NULL); else {__Pyx_GOTREF(r); }} while(0) + #define __Pyx_XGIVEREF(r) do { if((r) == NULL); else {__Pyx_GIVEREF(r);}} while(0) +#else + #define __Pyx_RefNannyDeclarations + #define __Pyx_RefNannySetupContext(name, acquire_gil) + #define __Pyx_RefNannyFinishContextNogil() + #define __Pyx_RefNannyFinishContext() + #define __Pyx_INCREF(r) Py_INCREF(r) + #define __Pyx_DECREF(r) Py_DECREF(r) + #define __Pyx_GOTREF(r) + #define __Pyx_GIVEREF(r) + #define __Pyx_XINCREF(r) Py_XINCREF(r) + #define __Pyx_XDECREF(r) Py_XDECREF(r) + #define __Pyx_XGOTREF(r) + #define __Pyx_XGIVEREF(r) +#endif +#define __Pyx_Py_XDECREF_SET(r, v) do {\ + PyObject *tmp = (PyObject *) r;\ + r = v; Py_XDECREF(tmp);\ + } while (0) +#define __Pyx_XDECREF_SET(r, v) do {\ + PyObject *tmp = (PyObject *) r;\ + r = v; __Pyx_XDECREF(tmp);\ + } while (0) +#define __Pyx_DECREF_SET(r, v) do {\ + PyObject *tmp = (PyObject *) r;\ + r = v; __Pyx_DECREF(tmp);\ + } while (0) +#define __Pyx_CLEAR(r) do { PyObject* tmp = ((PyObject*)(r)); r = NULL; __Pyx_DECREF(tmp);} while(0) +#define __Pyx_XCLEAR(r) do { if((r) != NULL) {PyObject* tmp = ((PyObject*)(r)); r = NULL; __Pyx_DECREF(tmp);}} while(0) + +/* PyErrExceptionMatches.proto */ +#if CYTHON_FAST_THREAD_STATE +#define __Pyx_PyErr_ExceptionMatches(err) __Pyx_PyErr_ExceptionMatchesInState(__pyx_tstate, err) +static CYTHON_INLINE int __Pyx_PyErr_ExceptionMatchesInState(PyThreadState* tstate, PyObject* err); +#else +#define __Pyx_PyErr_ExceptionMatches(err) PyErr_ExceptionMatches(err) +#endif + +/* PyThreadStateGet.proto */ +#if CYTHON_FAST_THREAD_STATE +#define __Pyx_PyThreadState_declare PyThreadState *__pyx_tstate; +#define __Pyx_PyThreadState_assign __pyx_tstate = __Pyx_PyThreadState_Current; +#if PY_VERSION_HEX >= 0x030C00A6 +#define __Pyx_PyErr_Occurred() (__pyx_tstate->current_exception != NULL) +#define __Pyx_PyErr_CurrentExceptionType() (__pyx_tstate->current_exception ? (PyObject*) Py_TYPE(__pyx_tstate->current_exception) : (PyObject*) NULL) +#else +#define __Pyx_PyErr_Occurred() (__pyx_tstate->curexc_type != NULL) +#define __Pyx_PyErr_CurrentExceptionType() (__pyx_tstate->curexc_type) +#endif +#else +#define __Pyx_PyThreadState_declare +#define __Pyx_PyThreadState_assign +#define __Pyx_PyErr_Occurred() (PyErr_Occurred() != NULL) +#define __Pyx_PyErr_CurrentExceptionType() PyErr_Occurred() +#endif + +/* PyErrFetchRestore.proto */ +#if CYTHON_FAST_THREAD_STATE +#define __Pyx_PyErr_Clear() __Pyx_ErrRestore(NULL, NULL, NULL) +#define __Pyx_ErrRestoreWithState(type, value, tb) __Pyx_ErrRestoreInState(PyThreadState_GET(), type, value, tb) +#define __Pyx_ErrFetchWithState(type, value, tb) __Pyx_ErrFetchInState(PyThreadState_GET(), type, value, tb) +#define __Pyx_ErrRestore(type, value, tb) __Pyx_ErrRestoreInState(__pyx_tstate, type, value, tb) +#define __Pyx_ErrFetch(type, value, tb) __Pyx_ErrFetchInState(__pyx_tstate, type, value, tb) +static CYTHON_INLINE void __Pyx_ErrRestoreInState(PyThreadState *tstate, PyObject *type, PyObject *value, PyObject *tb); +static CYTHON_INLINE void __Pyx_ErrFetchInState(PyThreadState *tstate, PyObject **type, PyObject **value, PyObject **tb); +#if CYTHON_COMPILING_IN_CPYTHON && PY_VERSION_HEX < 0x030C00A6 +#define __Pyx_PyErr_SetNone(exc) (Py_INCREF(exc), __Pyx_ErrRestore((exc), NULL, NULL)) +#else +#define __Pyx_PyErr_SetNone(exc) PyErr_SetNone(exc) +#endif +#else +#define __Pyx_PyErr_Clear() PyErr_Clear() +#define __Pyx_PyErr_SetNone(exc) PyErr_SetNone(exc) +#define __Pyx_ErrRestoreWithState(type, value, tb) PyErr_Restore(type, value, tb) +#define __Pyx_ErrFetchWithState(type, value, tb) PyErr_Fetch(type, value, tb) +#define __Pyx_ErrRestoreInState(tstate, type, value, tb) PyErr_Restore(type, value, tb) +#define __Pyx_ErrFetchInState(tstate, type, value, tb) PyErr_Fetch(type, value, tb) +#define __Pyx_ErrRestore(type, value, tb) PyErr_Restore(type, value, tb) +#define __Pyx_ErrFetch(type, value, tb) PyErr_Fetch(type, value, tb) +#endif + +/* PyObjectGetAttrStr.proto */ +#if CYTHON_USE_TYPE_SLOTS +static CYTHON_INLINE PyObject* __Pyx_PyObject_GetAttrStr(PyObject* obj, PyObject* attr_name); +#else +#define __Pyx_PyObject_GetAttrStr(o,n) PyObject_GetAttr(o,n) +#endif + +/* PyObjectGetAttrStrNoError.proto */ +static CYTHON_INLINE PyObject* __Pyx_PyObject_GetAttrStrNoError(PyObject* obj, PyObject* attr_name); + +/* GetBuiltinName.proto */ +static PyObject *__Pyx_GetBuiltinName(PyObject *name); + +/* TupleAndListFromArray.proto */ +#if CYTHON_COMPILING_IN_CPYTHON +static CYTHON_INLINE PyObject* __Pyx_PyList_FromArray(PyObject *const *src, Py_ssize_t n); +static CYTHON_INLINE PyObject* __Pyx_PyTuple_FromArray(PyObject *const *src, Py_ssize_t n); +#endif + +/* IncludeStringH.proto */ +#include + +/* BytesEquals.proto */ +static CYTHON_INLINE int __Pyx_PyBytes_Equals(PyObject* s1, PyObject* s2, int equals); + +/* UnicodeEquals.proto */ +static CYTHON_INLINE int __Pyx_PyUnicode_Equals(PyObject* s1, PyObject* s2, int equals); + +/* fastcall.proto */ +#if CYTHON_AVOID_BORROWED_REFS + #define __Pyx_Arg_VARARGS(args, i) PySequence_GetItem(args, i) +#elif CYTHON_ASSUME_SAFE_MACROS + #define __Pyx_Arg_VARARGS(args, i) PyTuple_GET_ITEM(args, i) +#else + #define __Pyx_Arg_VARARGS(args, i) PyTuple_GetItem(args, i) +#endif +#if CYTHON_AVOID_BORROWED_REFS + #define __Pyx_Arg_NewRef_VARARGS(arg) __Pyx_NewRef(arg) + #define __Pyx_Arg_XDECREF_VARARGS(arg) Py_XDECREF(arg) +#else + #define __Pyx_Arg_NewRef_VARARGS(arg) arg + #define __Pyx_Arg_XDECREF_VARARGS(arg) +#endif +#define __Pyx_NumKwargs_VARARGS(kwds) PyDict_Size(kwds) +#define __Pyx_KwValues_VARARGS(args, nargs) NULL +#define __Pyx_GetKwValue_VARARGS(kw, kwvalues, s) __Pyx_PyDict_GetItemStrWithError(kw, s) +#define __Pyx_KwargsAsDict_VARARGS(kw, kwvalues) PyDict_Copy(kw) +#if CYTHON_METH_FASTCALL + #define __Pyx_Arg_FASTCALL(args, i) args[i] + #define __Pyx_NumKwargs_FASTCALL(kwds) PyTuple_GET_SIZE(kwds) + #define __Pyx_KwValues_FASTCALL(args, nargs) ((args) + (nargs)) + static CYTHON_INLINE PyObject * __Pyx_GetKwValue_FASTCALL(PyObject *kwnames, PyObject *const *kwvalues, PyObject *s); +#if CYTHON_COMPILING_IN_CPYTHON && PY_VERSION_HEX >= 0x030d0000 + CYTHON_UNUSED static PyObject *__Pyx_KwargsAsDict_FASTCALL(PyObject *kwnames, PyObject *const *kwvalues); + #else + #define __Pyx_KwargsAsDict_FASTCALL(kw, kwvalues) _PyStack_AsDict(kwvalues, kw) + #endif + #define __Pyx_Arg_NewRef_FASTCALL(arg) arg /* no-op, __Pyx_Arg_FASTCALL is direct and this needs + to have the same reference counting */ + #define __Pyx_Arg_XDECREF_FASTCALL(arg) +#else + #define __Pyx_Arg_FASTCALL __Pyx_Arg_VARARGS + #define __Pyx_NumKwargs_FASTCALL __Pyx_NumKwargs_VARARGS + #define __Pyx_KwValues_FASTCALL __Pyx_KwValues_VARARGS + #define __Pyx_GetKwValue_FASTCALL __Pyx_GetKwValue_VARARGS + #define __Pyx_KwargsAsDict_FASTCALL __Pyx_KwargsAsDict_VARARGS + #define __Pyx_Arg_NewRef_FASTCALL(arg) __Pyx_Arg_NewRef_VARARGS(arg) + #define __Pyx_Arg_XDECREF_FASTCALL(arg) __Pyx_Arg_XDECREF_VARARGS(arg) +#endif +#if CYTHON_COMPILING_IN_CPYTHON && CYTHON_ASSUME_SAFE_MACROS && !CYTHON_AVOID_BORROWED_REFS +#define __Pyx_ArgsSlice_VARARGS(args, start, stop) __Pyx_PyTuple_FromArray(&__Pyx_Arg_VARARGS(args, start), stop - start) +#define __Pyx_ArgsSlice_FASTCALL(args, start, stop) __Pyx_PyTuple_FromArray(&__Pyx_Arg_FASTCALL(args, start), stop - start) +#else +#define __Pyx_ArgsSlice_VARARGS(args, start, stop) PyTuple_GetSlice(args, start, stop) +#define __Pyx_ArgsSlice_FASTCALL(args, start, stop) PyTuple_GetSlice(args, start, stop) +#endif + +/* RaiseArgTupleInvalid.proto */ +static void __Pyx_RaiseArgtupleInvalid(const char* func_name, int exact, + Py_ssize_t num_min, Py_ssize_t num_max, Py_ssize_t num_found); + +/* RaiseDoubleKeywords.proto */ +static void __Pyx_RaiseDoubleKeywordsError(const char* func_name, PyObject* kw_name); + +/* ParseKeywords.proto */ +static int __Pyx_ParseOptionalKeywords(PyObject *kwds, PyObject *const *kwvalues, + PyObject **argnames[], + PyObject *kwds2, PyObject *values[], Py_ssize_t num_pos_args, + const char* function_name); + +/* ArgTypeTest.proto */ +#define __Pyx_ArgTypeTest(obj, type, none_allowed, name, exact)\ + ((likely(__Pyx_IS_TYPE(obj, type) | (none_allowed && (obj == Py_None)))) ? 1 :\ + __Pyx__ArgTypeTest(obj, type, name, exact)) +static int __Pyx__ArgTypeTest(PyObject *obj, PyTypeObject *type, const char *name, int exact); + +/* RaiseException.proto */ +static void __Pyx_Raise(PyObject *type, PyObject *value, PyObject *tb, PyObject *cause); + +/* PyFunctionFastCall.proto */ +#if CYTHON_FAST_PYCALL +#if !CYTHON_VECTORCALL +#define __Pyx_PyFunction_FastCall(func, args, nargs)\ + __Pyx_PyFunction_FastCallDict((func), (args), (nargs), NULL) +static PyObject *__Pyx_PyFunction_FastCallDict(PyObject *func, PyObject **args, Py_ssize_t nargs, PyObject *kwargs); +#endif +#define __Pyx_BUILD_ASSERT_EXPR(cond)\ + (sizeof(char [1 - 2*!(cond)]) - 1) +#ifndef Py_MEMBER_SIZE +#define Py_MEMBER_SIZE(type, member) sizeof(((type *)0)->member) +#endif +#if !CYTHON_VECTORCALL +#if PY_VERSION_HEX >= 0x03080000 + #include "frameobject.h" +#if PY_VERSION_HEX >= 0x030b00a6 && !CYTHON_COMPILING_IN_LIMITED_API + #ifndef Py_BUILD_CORE + #define Py_BUILD_CORE 1 + #endif + #include "internal/pycore_frame.h" +#endif + #define __Pxy_PyFrame_Initialize_Offsets() + #define __Pyx_PyFrame_GetLocalsplus(frame) ((frame)->f_localsplus) +#else + static size_t __pyx_pyframe_localsplus_offset = 0; + #include "frameobject.h" + #define __Pxy_PyFrame_Initialize_Offsets()\ + ((void)__Pyx_BUILD_ASSERT_EXPR(sizeof(PyFrameObject) == offsetof(PyFrameObject, f_localsplus) + Py_MEMBER_SIZE(PyFrameObject, f_localsplus)),\ + (void)(__pyx_pyframe_localsplus_offset = ((size_t)PyFrame_Type.tp_basicsize) - Py_MEMBER_SIZE(PyFrameObject, f_localsplus))) + #define __Pyx_PyFrame_GetLocalsplus(frame)\ + (assert(__pyx_pyframe_localsplus_offset), (PyObject **)(((char *)(frame)) + __pyx_pyframe_localsplus_offset)) +#endif +#endif +#endif + +/* PyObjectCall.proto */ +#if CYTHON_COMPILING_IN_CPYTHON +static CYTHON_INLINE PyObject* __Pyx_PyObject_Call(PyObject *func, PyObject *arg, PyObject *kw); +#else +#define __Pyx_PyObject_Call(func, arg, kw) PyObject_Call(func, arg, kw) +#endif + +/* PyObjectCallMethO.proto */ +#if CYTHON_COMPILING_IN_CPYTHON +static CYTHON_INLINE PyObject* __Pyx_PyObject_CallMethO(PyObject *func, PyObject *arg); +#endif + +/* PyObjectFastCall.proto */ +#define __Pyx_PyObject_FastCall(func, args, nargs) __Pyx_PyObject_FastCallDict(func, args, (size_t)(nargs), NULL) +static CYTHON_INLINE PyObject* __Pyx_PyObject_FastCallDict(PyObject *func, PyObject **args, size_t nargs, PyObject *kwargs); + +/* RaiseUnexpectedTypeError.proto */ +static int __Pyx_RaiseUnexpectedTypeError(const char *expected, PyObject *obj); + +/* GCCDiagnostics.proto */ +#if !defined(__INTEL_COMPILER) && defined(__GNUC__) && (__GNUC__ > 4 || (__GNUC__ == 4 && __GNUC_MINOR__ >= 6)) +#define __Pyx_HAS_GCC_DIAGNOSTIC +#endif + +/* BuildPyUnicode.proto */ +static PyObject* __Pyx_PyUnicode_BuildFromAscii(Py_ssize_t ulength, char* chars, int clength, + int prepend_sign, char padding_char); + +/* CIntToPyUnicode.proto */ +static CYTHON_INLINE PyObject* __Pyx_PyUnicode_From_int(int value, Py_ssize_t width, char padding_char, char format_char); + +/* CIntToPyUnicode.proto */ +static CYTHON_INLINE PyObject* __Pyx_PyUnicode_From_Py_ssize_t(Py_ssize_t value, Py_ssize_t width, char padding_char, char format_char); + +/* JoinPyUnicode.proto */ +static PyObject* __Pyx_PyUnicode_Join(PyObject* value_tuple, Py_ssize_t value_count, Py_ssize_t result_ulength, + Py_UCS4 max_char); + +/* StrEquals.proto */ +#if PY_MAJOR_VERSION >= 3 +#define __Pyx_PyString_Equals __Pyx_PyUnicode_Equals +#else +#define __Pyx_PyString_Equals __Pyx_PyBytes_Equals +#endif + +/* PyObjectFormatSimple.proto */ +#if CYTHON_COMPILING_IN_PYPY + #define __Pyx_PyObject_FormatSimple(s, f) (\ + likely(PyUnicode_CheckExact(s)) ? (Py_INCREF(s), s) :\ + PyObject_Format(s, f)) +#elif PY_MAJOR_VERSION < 3 + #define __Pyx_PyObject_FormatSimple(s, f) (\ + likely(PyUnicode_CheckExact(s)) ? (Py_INCREF(s), s) :\ + likely(PyString_CheckExact(s)) ? PyUnicode_FromEncodedObject(s, NULL, "strict") :\ + PyObject_Format(s, f)) +#elif CYTHON_USE_TYPE_SLOTS + #define __Pyx_PyObject_FormatSimple(s, f) (\ + likely(PyUnicode_CheckExact(s)) ? (Py_INCREF(s), s) :\ + likely(PyLong_CheckExact(s)) ? PyLong_Type.tp_repr(s) :\ + likely(PyFloat_CheckExact(s)) ? PyFloat_Type.tp_repr(s) :\ + PyObject_Format(s, f)) +#else + #define __Pyx_PyObject_FormatSimple(s, f) (\ + likely(PyUnicode_CheckExact(s)) ? (Py_INCREF(s), s) :\ + PyObject_Format(s, f)) +#endif + +CYTHON_UNUSED static int __pyx_array_getbuffer(PyObject *__pyx_v_self, Py_buffer *__pyx_v_info, int __pyx_v_flags); /*proto*/ +static PyObject *__pyx_array_get_memview(struct __pyx_array_obj *); /*proto*/ +/* GetAttr.proto */ +static CYTHON_INLINE PyObject *__Pyx_GetAttr(PyObject *, PyObject *); + +/* GetItemInt.proto */ +#define __Pyx_GetItemInt(o, i, type, is_signed, to_py_func, is_list, wraparound, boundscheck)\ + (__Pyx_fits_Py_ssize_t(i, type, is_signed) ?\ + __Pyx_GetItemInt_Fast(o, (Py_ssize_t)i, is_list, wraparound, boundscheck) :\ + (is_list ? (PyErr_SetString(PyExc_IndexError, "list index out of range"), (PyObject*)NULL) :\ + __Pyx_GetItemInt_Generic(o, to_py_func(i)))) +#define __Pyx_GetItemInt_List(o, i, type, is_signed, to_py_func, is_list, wraparound, boundscheck)\ + (__Pyx_fits_Py_ssize_t(i, type, is_signed) ?\ + __Pyx_GetItemInt_List_Fast(o, (Py_ssize_t)i, wraparound, boundscheck) :\ + (PyErr_SetString(PyExc_IndexError, "list index out of range"), (PyObject*)NULL)) +static CYTHON_INLINE PyObject *__Pyx_GetItemInt_List_Fast(PyObject *o, Py_ssize_t i, + int wraparound, int boundscheck); +#define __Pyx_GetItemInt_Tuple(o, i, type, is_signed, to_py_func, is_list, wraparound, boundscheck)\ + (__Pyx_fits_Py_ssize_t(i, type, is_signed) ?\ + __Pyx_GetItemInt_Tuple_Fast(o, (Py_ssize_t)i, wraparound, boundscheck) :\ + (PyErr_SetString(PyExc_IndexError, "tuple index out of range"), (PyObject*)NULL)) +static CYTHON_INLINE PyObject *__Pyx_GetItemInt_Tuple_Fast(PyObject *o, Py_ssize_t i, + int wraparound, int boundscheck); +static PyObject *__Pyx_GetItemInt_Generic(PyObject *o, PyObject* j); +static CYTHON_INLINE PyObject *__Pyx_GetItemInt_Fast(PyObject *o, Py_ssize_t i, + int is_list, int wraparound, int boundscheck); + +/* PyObjectCallOneArg.proto */ +static CYTHON_INLINE PyObject* __Pyx_PyObject_CallOneArg(PyObject *func, PyObject *arg); + +/* ObjectGetItem.proto */ +#if CYTHON_USE_TYPE_SLOTS +static CYTHON_INLINE PyObject *__Pyx_PyObject_GetItem(PyObject *obj, PyObject *key); +#else +#define __Pyx_PyObject_GetItem(obj, key) PyObject_GetItem(obj, key) +#endif + +/* KeywordStringCheck.proto */ +static int __Pyx_CheckKeywordStrings(PyObject *kw, const char* function_name, int kw_allowed); + +/* DivInt[Py_ssize_t].proto */ +static CYTHON_INLINE Py_ssize_t __Pyx_div_Py_ssize_t(Py_ssize_t, Py_ssize_t); + +/* UnaryNegOverflows.proto */ +#define __Pyx_UNARY_NEG_WOULD_OVERFLOW(x)\ + (((x) < 0) & ((unsigned long)(x) == 0-(unsigned long)(x))) + +/* GetAttr3.proto */ +static CYTHON_INLINE PyObject *__Pyx_GetAttr3(PyObject *, PyObject *, PyObject *); + +/* PyDictVersioning.proto */ +#if CYTHON_USE_DICT_VERSIONS && CYTHON_USE_TYPE_SLOTS +#define __PYX_DICT_VERSION_INIT ((PY_UINT64_T) -1) +#define __PYX_GET_DICT_VERSION(dict) (((PyDictObject*)(dict))->ma_version_tag) +#define __PYX_UPDATE_DICT_CACHE(dict, value, cache_var, version_var)\ + (version_var) = __PYX_GET_DICT_VERSION(dict);\ + (cache_var) = (value); +#define __PYX_PY_DICT_LOOKUP_IF_MODIFIED(VAR, DICT, LOOKUP) {\ + static PY_UINT64_T __pyx_dict_version = 0;\ + static PyObject *__pyx_dict_cached_value = NULL;\ + if (likely(__PYX_GET_DICT_VERSION(DICT) == __pyx_dict_version)) {\ + (VAR) = __pyx_dict_cached_value;\ + } else {\ + (VAR) = __pyx_dict_cached_value = (LOOKUP);\ + __pyx_dict_version = __PYX_GET_DICT_VERSION(DICT);\ + }\ +} +static CYTHON_INLINE PY_UINT64_T __Pyx_get_tp_dict_version(PyObject *obj); +static CYTHON_INLINE PY_UINT64_T __Pyx_get_object_dict_version(PyObject *obj); +static CYTHON_INLINE int __Pyx_object_dict_version_matches(PyObject* obj, PY_UINT64_T tp_dict_version, PY_UINT64_T obj_dict_version); +#else +#define __PYX_GET_DICT_VERSION(dict) (0) +#define __PYX_UPDATE_DICT_CACHE(dict, value, cache_var, version_var) +#define __PYX_PY_DICT_LOOKUP_IF_MODIFIED(VAR, DICT, LOOKUP) (VAR) = (LOOKUP); +#endif + +/* GetModuleGlobalName.proto */ +#if CYTHON_USE_DICT_VERSIONS +#define __Pyx_GetModuleGlobalName(var, name) do {\ + static PY_UINT64_T __pyx_dict_version = 0;\ + static PyObject *__pyx_dict_cached_value = NULL;\ + (var) = (likely(__pyx_dict_version == __PYX_GET_DICT_VERSION(__pyx_d))) ?\ + (likely(__pyx_dict_cached_value) ? __Pyx_NewRef(__pyx_dict_cached_value) : __Pyx_GetBuiltinName(name)) :\ + __Pyx__GetModuleGlobalName(name, &__pyx_dict_version, &__pyx_dict_cached_value);\ +} while(0) +#define __Pyx_GetModuleGlobalNameUncached(var, name) do {\ + PY_UINT64_T __pyx_dict_version;\ + PyObject *__pyx_dict_cached_value;\ + (var) = __Pyx__GetModuleGlobalName(name, &__pyx_dict_version, &__pyx_dict_cached_value);\ +} while(0) +static PyObject *__Pyx__GetModuleGlobalName(PyObject *name, PY_UINT64_T *dict_version, PyObject **dict_cached_value); +#else +#define __Pyx_GetModuleGlobalName(var, name) (var) = __Pyx__GetModuleGlobalName(name) +#define __Pyx_GetModuleGlobalNameUncached(var, name) (var) = __Pyx__GetModuleGlobalName(name) +static CYTHON_INLINE PyObject *__Pyx__GetModuleGlobalName(PyObject *name); +#endif + +/* AssertionsEnabled.proto */ +#if CYTHON_COMPILING_IN_PYPY && PY_VERSION_HEX < 0x02070600 && !defined(Py_OptimizeFlag) + #define __Pyx_init_assertions_enabled() (0) + #define __pyx_assertions_enabled() (1) +#elif CYTHON_COMPILING_IN_LIMITED_API || (CYTHON_COMPILING_IN_CPYTHON && PY_VERSION_HEX >= 0x030C0000) + static int __pyx_assertions_enabled_flag; + #define __pyx_assertions_enabled() (__pyx_assertions_enabled_flag) + static int __Pyx_init_assertions_enabled(void) { + PyObject *builtins, *debug, *debug_str; + int flag; + builtins = PyEval_GetBuiltins(); + if (!builtins) goto bad; + debug_str = PyUnicode_FromStringAndSize("__debug__", 9); + if (!debug_str) goto bad; + debug = PyObject_GetItem(builtins, debug_str); + Py_DECREF(debug_str); + if (!debug) goto bad; + flag = PyObject_IsTrue(debug); + Py_DECREF(debug); + if (flag == -1) goto bad; + __pyx_assertions_enabled_flag = flag; + return 0; + bad: + __pyx_assertions_enabled_flag = 1; + return -1; + } +#else + #define __Pyx_init_assertions_enabled() (0) + #define __pyx_assertions_enabled() (!Py_OptimizeFlag) +#endif + +/* RaiseTooManyValuesToUnpack.proto */ +static CYTHON_INLINE void __Pyx_RaiseTooManyValuesError(Py_ssize_t expected); + +/* RaiseNeedMoreValuesToUnpack.proto */ +static CYTHON_INLINE void __Pyx_RaiseNeedMoreValuesError(Py_ssize_t index); + +/* RaiseNoneIterError.proto */ +static CYTHON_INLINE void __Pyx_RaiseNoneNotIterableError(void); + +/* ExtTypeTest.proto */ +static CYTHON_INLINE int __Pyx_TypeTest(PyObject *obj, PyTypeObject *type); + +/* GetTopmostException.proto */ +#if CYTHON_USE_EXC_INFO_STACK && CYTHON_FAST_THREAD_STATE +static _PyErr_StackItem * __Pyx_PyErr_GetTopmostException(PyThreadState *tstate); +#endif + +/* SaveResetException.proto */ +#if CYTHON_FAST_THREAD_STATE +#define __Pyx_ExceptionSave(type, value, tb) __Pyx__ExceptionSave(__pyx_tstate, type, value, tb) +static CYTHON_INLINE void __Pyx__ExceptionSave(PyThreadState *tstate, PyObject **type, PyObject **value, PyObject **tb); +#define __Pyx_ExceptionReset(type, value, tb) __Pyx__ExceptionReset(__pyx_tstate, type, value, tb) +static CYTHON_INLINE void __Pyx__ExceptionReset(PyThreadState *tstate, PyObject *type, PyObject *value, PyObject *tb); +#else +#define __Pyx_ExceptionSave(type, value, tb) PyErr_GetExcInfo(type, value, tb) +#define __Pyx_ExceptionReset(type, value, tb) PyErr_SetExcInfo(type, value, tb) +#endif + +/* GetException.proto */ +#if CYTHON_FAST_THREAD_STATE +#define __Pyx_GetException(type, value, tb) __Pyx__GetException(__pyx_tstate, type, value, tb) +static int __Pyx__GetException(PyThreadState *tstate, PyObject **type, PyObject **value, PyObject **tb); +#else +static int __Pyx_GetException(PyObject **type, PyObject **value, PyObject **tb); +#endif + +/* SwapException.proto */ +#if CYTHON_FAST_THREAD_STATE +#define __Pyx_ExceptionSwap(type, value, tb) __Pyx__ExceptionSwap(__pyx_tstate, type, value, tb) +static CYTHON_INLINE void __Pyx__ExceptionSwap(PyThreadState *tstate, PyObject **type, PyObject **value, PyObject **tb); +#else +static CYTHON_INLINE void __Pyx_ExceptionSwap(PyObject **type, PyObject **value, PyObject **tb); +#endif + +/* Import.proto */ +static PyObject *__Pyx_Import(PyObject *name, PyObject *from_list, int level); + +/* ImportDottedModule.proto */ +static PyObject *__Pyx_ImportDottedModule(PyObject *name, PyObject *parts_tuple); +#if PY_MAJOR_VERSION >= 3 +static PyObject *__Pyx_ImportDottedModule_WalkParts(PyObject *module, PyObject *name, PyObject *parts_tuple); +#endif + +/* FastTypeChecks.proto */ +#if CYTHON_COMPILING_IN_CPYTHON +#define __Pyx_TypeCheck(obj, type) __Pyx_IsSubtype(Py_TYPE(obj), (PyTypeObject *)type) +#define __Pyx_TypeCheck2(obj, type1, type2) __Pyx_IsAnySubtype2(Py_TYPE(obj), (PyTypeObject *)type1, (PyTypeObject *)type2) +static CYTHON_INLINE int __Pyx_IsSubtype(PyTypeObject *a, PyTypeObject *b); +static CYTHON_INLINE int __Pyx_IsAnySubtype2(PyTypeObject *cls, PyTypeObject *a, PyTypeObject *b); +static CYTHON_INLINE int __Pyx_PyErr_GivenExceptionMatches(PyObject *err, PyObject *type); +static CYTHON_INLINE int __Pyx_PyErr_GivenExceptionMatches2(PyObject *err, PyObject *type1, PyObject *type2); +#else +#define __Pyx_TypeCheck(obj, type) PyObject_TypeCheck(obj, (PyTypeObject *)type) +#define __Pyx_TypeCheck2(obj, type1, type2) (PyObject_TypeCheck(obj, (PyTypeObject *)type1) || PyObject_TypeCheck(obj, (PyTypeObject *)type2)) +#define __Pyx_PyErr_GivenExceptionMatches(err, type) PyErr_GivenExceptionMatches(err, type) +#define __Pyx_PyErr_GivenExceptionMatches2(err, type1, type2) (PyErr_GivenExceptionMatches(err, type1) || PyErr_GivenExceptionMatches(err, type2)) +#endif +#define __Pyx_PyErr_ExceptionMatches2(err1, err2) __Pyx_PyErr_GivenExceptionMatches2(__Pyx_PyErr_CurrentExceptionType(), err1, err2) +#define __Pyx_PyException_Check(obj) __Pyx_TypeCheck(obj, PyExc_Exception) + +CYTHON_UNUSED static int __pyx_memoryview_getbuffer(PyObject *__pyx_v_self, Py_buffer *__pyx_v_info, int __pyx_v_flags); /*proto*/ +/* ListCompAppend.proto */ +#if CYTHON_USE_PYLIST_INTERNALS && CYTHON_ASSUME_SAFE_MACROS +static CYTHON_INLINE int __Pyx_ListComp_Append(PyObject* list, PyObject* x) { + PyListObject* L = (PyListObject*) list; + Py_ssize_t len = Py_SIZE(list); + if (likely(L->allocated > len)) { + Py_INCREF(x); + #if CYTHON_COMPILING_IN_CPYTHON && PY_VERSION_HEX >= 0x030d0000 + L->ob_item[len] = x; + #else + PyList_SET_ITEM(list, len, x); + #endif + __Pyx_SET_SIZE(list, len + 1); + return 0; + } + return PyList_Append(list, x); +} +#else +#define __Pyx_ListComp_Append(L,x) PyList_Append(L,x) +#endif + +/* PySequenceMultiply.proto */ +#define __Pyx_PySequence_Multiply_Left(mul, seq) __Pyx_PySequence_Multiply(seq, mul) +static CYTHON_INLINE PyObject* __Pyx_PySequence_Multiply(PyObject *seq, Py_ssize_t mul); + +/* SetItemInt.proto */ +#define __Pyx_SetItemInt(o, i, v, type, is_signed, to_py_func, is_list, wraparound, boundscheck)\ + (__Pyx_fits_Py_ssize_t(i, type, is_signed) ?\ + __Pyx_SetItemInt_Fast(o, (Py_ssize_t)i, v, is_list, wraparound, boundscheck) :\ + (is_list ? (PyErr_SetString(PyExc_IndexError, "list assignment index out of range"), -1) :\ + __Pyx_SetItemInt_Generic(o, to_py_func(i), v))) +static int __Pyx_SetItemInt_Generic(PyObject *o, PyObject *j, PyObject *v); +static CYTHON_INLINE int __Pyx_SetItemInt_Fast(PyObject *o, Py_ssize_t i, PyObject *v, + int is_list, int wraparound, int boundscheck); + +/* RaiseUnboundLocalError.proto */ +static CYTHON_INLINE void __Pyx_RaiseUnboundLocalError(const char *varname); + +/* DivInt[long].proto */ +static CYTHON_INLINE long __Pyx_div_long(long, long); + +/* PySequenceContains.proto */ +static CYTHON_INLINE int __Pyx_PySequence_ContainsTF(PyObject* item, PyObject* seq, int eq) { + int result = PySequence_Contains(seq, item); + return unlikely(result < 0) ? result : (result == (eq == Py_EQ)); +} + +/* ImportFrom.proto */ +static PyObject* __Pyx_ImportFrom(PyObject* module, PyObject* name); + +/* HasAttr.proto */ +#if __PYX_LIMITED_VERSION_HEX >= 0x030d00A1 +#define __Pyx_HasAttr(o, n) PyObject_HasAttrWithError(o, n) +#else +static CYTHON_INLINE int __Pyx_HasAttr(PyObject *, PyObject *); +#endif + +/* MoveIfSupported.proto */ +#if CYTHON_USE_CPP_STD_MOVE + #include + #define __PYX_STD_MOVE_IF_SUPPORTED(x) std::move(x) +#else + #define __PYX_STD_MOVE_IF_SUPPORTED(x) x +#endif + +/* BufferIndexError.proto */ +static void __Pyx_RaiseBufferIndexError(int axis); + +/* PyObject_GenericGetAttrNoDict.proto */ +#if CYTHON_USE_TYPE_SLOTS && CYTHON_USE_PYTYPE_LOOKUP && PY_VERSION_HEX < 0x03070000 +static CYTHON_INLINE PyObject* __Pyx_PyObject_GenericGetAttrNoDict(PyObject* obj, PyObject* attr_name); +#else +#define __Pyx_PyObject_GenericGetAttrNoDict PyObject_GenericGetAttr +#endif + +/* PyObject_GenericGetAttr.proto */ +#if CYTHON_USE_TYPE_SLOTS && CYTHON_USE_PYTYPE_LOOKUP && PY_VERSION_HEX < 0x03070000 +static PyObject* __Pyx_PyObject_GenericGetAttr(PyObject* obj, PyObject* attr_name); +#else +#define __Pyx_PyObject_GenericGetAttr PyObject_GenericGetAttr +#endif + +/* TypeImport.proto */ +#ifndef __PYX_HAVE_RT_ImportType_proto_3_0_8 +#define __PYX_HAVE_RT_ImportType_proto_3_0_8 +#if defined (__STDC_VERSION__) && __STDC_VERSION__ >= 201112L +#include +#endif +#if (defined (__STDC_VERSION__) && __STDC_VERSION__ >= 201112L) || __cplusplus >= 201103L +#define __PYX_GET_STRUCT_ALIGNMENT_3_0_8(s) alignof(s) +#else +#define __PYX_GET_STRUCT_ALIGNMENT_3_0_8(s) sizeof(void*) +#endif +enum __Pyx_ImportType_CheckSize_3_0_8 { + __Pyx_ImportType_CheckSize_Error_3_0_8 = 0, + __Pyx_ImportType_CheckSize_Warn_3_0_8 = 1, + __Pyx_ImportType_CheckSize_Ignore_3_0_8 = 2 +}; +static PyTypeObject *__Pyx_ImportType_3_0_8(PyObject* module, const char *module_name, const char *class_name, size_t size, size_t alignment, enum __Pyx_ImportType_CheckSize_3_0_8 check_size); +#endif + +/* IncludeStructmemberH.proto */ +#include + +/* FixUpExtensionType.proto */ +#if CYTHON_USE_TYPE_SPECS +static int __Pyx_fix_up_extension_type_from_spec(PyType_Spec *spec, PyTypeObject *type); +#endif + +/* PyObjectCallNoArg.proto */ +static CYTHON_INLINE PyObject* __Pyx_PyObject_CallNoArg(PyObject *func); + +/* PyObjectGetMethod.proto */ +static int __Pyx_PyObject_GetMethod(PyObject *obj, PyObject *name, PyObject **method); + +/* PyObjectCallMethod0.proto */ +static PyObject* __Pyx_PyObject_CallMethod0(PyObject* obj, PyObject* method_name); + +/* ValidateBasesTuple.proto */ +#if CYTHON_COMPILING_IN_CPYTHON || CYTHON_COMPILING_IN_LIMITED_API || CYTHON_USE_TYPE_SPECS +static int __Pyx_validate_bases_tuple(const char *type_name, Py_ssize_t dictoffset, PyObject *bases); +#endif + +/* PyType_Ready.proto */ +CYTHON_UNUSED static int __Pyx_PyType_Ready(PyTypeObject *t); + +/* SetupReduce.proto */ +#if !CYTHON_COMPILING_IN_LIMITED_API +static int __Pyx_setup_reduce(PyObject* type_obj); +#endif + +/* SetVTable.proto */ +static int __Pyx_SetVtable(PyTypeObject* typeptr , void* vtable); + +/* GetVTable.proto */ +static void* __Pyx_GetVtable(PyTypeObject *type); + +/* MergeVTables.proto */ +#if !CYTHON_COMPILING_IN_LIMITED_API +static int __Pyx_MergeVtables(PyTypeObject *type); +#endif + +/* FetchSharedCythonModule.proto */ +static PyObject *__Pyx_FetchSharedCythonABIModule(void); + +/* FetchCommonType.proto */ +#if !CYTHON_USE_TYPE_SPECS +static PyTypeObject* __Pyx_FetchCommonType(PyTypeObject* type); +#else +static PyTypeObject* __Pyx_FetchCommonTypeFromSpec(PyObject *module, PyType_Spec *spec, PyObject *bases); +#endif + +/* PyMethodNew.proto */ +#if CYTHON_COMPILING_IN_LIMITED_API +static PyObject *__Pyx_PyMethod_New(PyObject *func, PyObject *self, PyObject *typ) { + PyObject *typesModule=NULL, *methodType=NULL, *result=NULL; + CYTHON_UNUSED_VAR(typ); + if (!self) + return __Pyx_NewRef(func); + typesModule = PyImport_ImportModule("types"); + if (!typesModule) return NULL; + methodType = PyObject_GetAttrString(typesModule, "MethodType"); + Py_DECREF(typesModule); + if (!methodType) return NULL; + result = PyObject_CallFunctionObjArgs(methodType, func, self, NULL); + Py_DECREF(methodType); + return result; +} +#elif PY_MAJOR_VERSION >= 3 +static PyObject *__Pyx_PyMethod_New(PyObject *func, PyObject *self, PyObject *typ) { + CYTHON_UNUSED_VAR(typ); + if (!self) + return __Pyx_NewRef(func); + return PyMethod_New(func, self); +} +#else + #define __Pyx_PyMethod_New PyMethod_New +#endif + +/* PyVectorcallFastCallDict.proto */ +#if CYTHON_METH_FASTCALL +static CYTHON_INLINE PyObject *__Pyx_PyVectorcall_FastCallDict(PyObject *func, __pyx_vectorcallfunc vc, PyObject *const *args, size_t nargs, PyObject *kw); +#endif + +/* CythonFunctionShared.proto */ +#define __Pyx_CyFunction_USED +#define __Pyx_CYFUNCTION_STATICMETHOD 0x01 +#define __Pyx_CYFUNCTION_CLASSMETHOD 0x02 +#define __Pyx_CYFUNCTION_CCLASS 0x04 +#define __Pyx_CYFUNCTION_COROUTINE 0x08 +#define __Pyx_CyFunction_GetClosure(f)\ + (((__pyx_CyFunctionObject *) (f))->func_closure) +#if PY_VERSION_HEX < 0x030900B1 || CYTHON_COMPILING_IN_LIMITED_API + #define __Pyx_CyFunction_GetClassObj(f)\ + (((__pyx_CyFunctionObject *) (f))->func_classobj) +#else + #define __Pyx_CyFunction_GetClassObj(f)\ + ((PyObject*) ((PyCMethodObject *) (f))->mm_class) +#endif +#define __Pyx_CyFunction_SetClassObj(f, classobj)\ + __Pyx__CyFunction_SetClassObj((__pyx_CyFunctionObject *) (f), (classobj)) +#define __Pyx_CyFunction_Defaults(type, f)\ + ((type *)(((__pyx_CyFunctionObject *) (f))->defaults)) +#define __Pyx_CyFunction_SetDefaultsGetter(f, g)\ + ((__pyx_CyFunctionObject *) (f))->defaults_getter = (g) +typedef struct { +#if CYTHON_COMPILING_IN_LIMITED_API + PyObject_HEAD + PyObject *func; +#elif PY_VERSION_HEX < 0x030900B1 + PyCFunctionObject func; +#else + PyCMethodObject func; +#endif +#if CYTHON_BACKPORT_VECTORCALL + __pyx_vectorcallfunc func_vectorcall; +#endif +#if PY_VERSION_HEX < 0x030500A0 || CYTHON_COMPILING_IN_LIMITED_API + PyObject *func_weakreflist; +#endif + PyObject *func_dict; + PyObject *func_name; + PyObject *func_qualname; + PyObject *func_doc; + PyObject *func_globals; + PyObject *func_code; + PyObject *func_closure; +#if PY_VERSION_HEX < 0x030900B1 || CYTHON_COMPILING_IN_LIMITED_API + PyObject *func_classobj; +#endif + void *defaults; + int defaults_pyobjects; + size_t defaults_size; + int flags; + PyObject *defaults_tuple; + PyObject *defaults_kwdict; + PyObject *(*defaults_getter)(PyObject *); + PyObject *func_annotations; + PyObject *func_is_coroutine; +} __pyx_CyFunctionObject; +#undef __Pyx_CyOrPyCFunction_Check +#define __Pyx_CyFunction_Check(obj) __Pyx_TypeCheck(obj, __pyx_CyFunctionType) +#define __Pyx_CyOrPyCFunction_Check(obj) __Pyx_TypeCheck2(obj, __pyx_CyFunctionType, &PyCFunction_Type) +#define __Pyx_CyFunction_CheckExact(obj) __Pyx_IS_TYPE(obj, __pyx_CyFunctionType) +static CYTHON_INLINE int __Pyx__IsSameCyOrCFunction(PyObject *func, void *cfunc); +#undef __Pyx_IsSameCFunction +#define __Pyx_IsSameCFunction(func, cfunc) __Pyx__IsSameCyOrCFunction(func, cfunc) +static PyObject *__Pyx_CyFunction_Init(__pyx_CyFunctionObject* op, PyMethodDef *ml, + int flags, PyObject* qualname, + PyObject *closure, + PyObject *module, PyObject *globals, + PyObject* code); +static CYTHON_INLINE void __Pyx__CyFunction_SetClassObj(__pyx_CyFunctionObject* f, PyObject* classobj); +static CYTHON_INLINE void *__Pyx_CyFunction_InitDefaults(PyObject *m, + size_t size, + int pyobjects); +static CYTHON_INLINE void __Pyx_CyFunction_SetDefaultsTuple(PyObject *m, + PyObject *tuple); +static CYTHON_INLINE void __Pyx_CyFunction_SetDefaultsKwDict(PyObject *m, + PyObject *dict); +static CYTHON_INLINE void __Pyx_CyFunction_SetAnnotationsDict(PyObject *m, + PyObject *dict); +static int __pyx_CyFunction_init(PyObject *module); +#if CYTHON_METH_FASTCALL +static PyObject * __Pyx_CyFunction_Vectorcall_NOARGS(PyObject *func, PyObject *const *args, size_t nargsf, PyObject *kwnames); +static PyObject * __Pyx_CyFunction_Vectorcall_O(PyObject *func, PyObject *const *args, size_t nargsf, PyObject *kwnames); +static PyObject * __Pyx_CyFunction_Vectorcall_FASTCALL_KEYWORDS(PyObject *func, PyObject *const *args, size_t nargsf, PyObject *kwnames); +static PyObject * __Pyx_CyFunction_Vectorcall_FASTCALL_KEYWORDS_METHOD(PyObject *func, PyObject *const *args, size_t nargsf, PyObject *kwnames); +#if CYTHON_BACKPORT_VECTORCALL +#define __Pyx_CyFunction_func_vectorcall(f) (((__pyx_CyFunctionObject*)f)->func_vectorcall) +#else +#define __Pyx_CyFunction_func_vectorcall(f) (((PyCFunctionObject*)f)->vectorcall) +#endif +#endif + +/* CythonFunction.proto */ +static PyObject *__Pyx_CyFunction_New(PyMethodDef *ml, + int flags, PyObject* qualname, + PyObject *closure, + PyObject *module, PyObject *globals, + PyObject* code); + +/* CLineInTraceback.proto */ +#ifdef CYTHON_CLINE_IN_TRACEBACK +#define __Pyx_CLineForTraceback(tstate, c_line) (((CYTHON_CLINE_IN_TRACEBACK)) ? c_line : 0) +#else +static int __Pyx_CLineForTraceback(PyThreadState *tstate, int c_line); +#endif + +/* CodeObjectCache.proto */ +#if !CYTHON_COMPILING_IN_LIMITED_API +typedef struct { + PyCodeObject* code_object; + int code_line; +} __Pyx_CodeObjectCacheEntry; +struct __Pyx_CodeObjectCache { + int count; + int max_count; + __Pyx_CodeObjectCacheEntry* entries; +}; +static struct __Pyx_CodeObjectCache __pyx_code_cache = {0,0,NULL}; +static int __pyx_bisect_code_objects(__Pyx_CodeObjectCacheEntry* entries, int count, int code_line); +static PyCodeObject *__pyx_find_code_object(int code_line); +static void __pyx_insert_code_object(int code_line, PyCodeObject* code_object); +#endif + +/* AddTraceback.proto */ +static void __Pyx_AddTraceback(const char *funcname, int c_line, + int py_line, const char *filename); + +#if PY_MAJOR_VERSION < 3 + static int __Pyx_GetBuffer(PyObject *obj, Py_buffer *view, int flags); + static void __Pyx_ReleaseBuffer(Py_buffer *view); +#else + #define __Pyx_GetBuffer PyObject_GetBuffer + #define __Pyx_ReleaseBuffer PyBuffer_Release +#endif + + +/* BufferStructDeclare.proto */ +typedef struct { + Py_ssize_t shape, strides, suboffsets; +} __Pyx_Buf_DimInfo; +typedef struct { + size_t refcount; + Py_buffer pybuffer; +} __Pyx_Buffer; +typedef struct { + __Pyx_Buffer *rcbuffer; + char *data; + __Pyx_Buf_DimInfo diminfo[8]; +} __Pyx_LocalBuf_ND; + +/* MemviewSliceIsContig.proto */ +static int __pyx_memviewslice_is_contig(const __Pyx_memviewslice mvs, char order, int ndim); + +/* OverlappingSlices.proto */ +static int __pyx_slices_overlap(__Pyx_memviewslice *slice1, + __Pyx_memviewslice *slice2, + int ndim, size_t itemsize); + +/* IsLittleEndian.proto */ +static CYTHON_INLINE int __Pyx_Is_Little_Endian(void); + +/* BufferFormatCheck.proto */ +static const char* __Pyx_BufFmt_CheckString(__Pyx_BufFmt_Context* ctx, const char* ts); +static void __Pyx_BufFmt_Init(__Pyx_BufFmt_Context* ctx, + __Pyx_BufFmt_StackElem* stack, + __Pyx_TypeInfo* type); + +/* TypeInfoCompare.proto */ +static int __pyx_typeinfo_cmp(__Pyx_TypeInfo *a, __Pyx_TypeInfo *b); + +/* MemviewSliceValidateAndInit.proto */ +static int __Pyx_ValidateAndInit_memviewslice( + int *axes_specs, + int c_or_f_flag, + int buf_flags, + int ndim, + __Pyx_TypeInfo *dtype, + __Pyx_BufFmt_StackElem stack[], + __Pyx_memviewslice *memviewslice, + PyObject *original_obj); + +/* ObjectToMemviewSlice.proto */ +static CYTHON_INLINE __Pyx_memviewslice __Pyx_PyObject_to_MemoryviewSlice_ds_float(PyObject *, int writable_flag); + +/* MemviewDtypeToObject.proto */ +static CYTHON_INLINE PyObject *__pyx_memview_get_float(const char *itemp); +static CYTHON_INLINE int __pyx_memview_set_float(const char *itemp, PyObject *obj); + +/* MemviewSliceCopyTemplate.proto */ +static __Pyx_memviewslice +__pyx_memoryview_copy_new_contig(const __Pyx_memviewslice *from_mvs, + const char *mode, int ndim, + size_t sizeof_dtype, int contig_flag, + int dtype_is_object); + +/* MemviewSliceInit.proto */ +#define __Pyx_BUF_MAX_NDIMS %(BUF_MAX_NDIMS)d +#define __Pyx_MEMVIEW_DIRECT 1 +#define __Pyx_MEMVIEW_PTR 2 +#define __Pyx_MEMVIEW_FULL 4 +#define __Pyx_MEMVIEW_CONTIG 8 +#define __Pyx_MEMVIEW_STRIDED 16 +#define __Pyx_MEMVIEW_FOLLOW 32 +#define __Pyx_IS_C_CONTIG 1 +#define __Pyx_IS_F_CONTIG 2 +static int __Pyx_init_memviewslice( + struct __pyx_memoryview_obj *memview, + int ndim, + __Pyx_memviewslice *memviewslice, + int memview_is_new_reference); +static CYTHON_INLINE int __pyx_add_acquisition_count_locked( + __pyx_atomic_int_type *acquisition_count, PyThread_type_lock lock); +static CYTHON_INLINE int __pyx_sub_acquisition_count_locked( + __pyx_atomic_int_type *acquisition_count, PyThread_type_lock lock); +#define __pyx_get_slice_count_pointer(memview) (&memview->acquisition_count) +#define __PYX_INC_MEMVIEW(slice, have_gil) __Pyx_INC_MEMVIEW(slice, have_gil, __LINE__) +#define __PYX_XCLEAR_MEMVIEW(slice, have_gil) __Pyx_XCLEAR_MEMVIEW(slice, have_gil, __LINE__) +static CYTHON_INLINE void __Pyx_INC_MEMVIEW(__Pyx_memviewslice *, int, int); +static CYTHON_INLINE void __Pyx_XCLEAR_MEMVIEW(__Pyx_memviewslice *, int, int); + +/* CIntFromPy.proto */ +static CYTHON_INLINE int __Pyx_PyInt_As_int(PyObject *); + +/* CppExceptionConversion.proto */ +#ifndef __Pyx_CppExn2PyErr +#include +#include +#include +#include +static void __Pyx_CppExn2PyErr() { + try { + if (PyErr_Occurred()) + ; // let the latest Python exn pass through and ignore the current one + else + throw; + } catch (const std::bad_alloc& exn) { + PyErr_SetString(PyExc_MemoryError, exn.what()); + } catch (const std::bad_cast& exn) { + PyErr_SetString(PyExc_TypeError, exn.what()); + } catch (const std::bad_typeid& exn) { + PyErr_SetString(PyExc_TypeError, exn.what()); + } catch (const std::domain_error& exn) { + PyErr_SetString(PyExc_ValueError, exn.what()); + } catch (const std::invalid_argument& exn) { + PyErr_SetString(PyExc_ValueError, exn.what()); + } catch (const std::ios_base::failure& exn) { + PyErr_SetString(PyExc_IOError, exn.what()); + } catch (const std::out_of_range& exn) { + PyErr_SetString(PyExc_IndexError, exn.what()); + } catch (const std::overflow_error& exn) { + PyErr_SetString(PyExc_OverflowError, exn.what()); + } catch (const std::range_error& exn) { + PyErr_SetString(PyExc_ArithmeticError, exn.what()); + } catch (const std::underflow_error& exn) { + PyErr_SetString(PyExc_ArithmeticError, exn.what()); + } catch (const std::exception& exn) { + PyErr_SetString(PyExc_RuntimeError, exn.what()); + } + catch (...) + { + PyErr_SetString(PyExc_RuntimeError, "Unknown exception"); + } +} +#endif + +/* None.proto */ +#include + +/* CIntFromPy.proto */ +static CYTHON_INLINE long __Pyx_PyInt_As_long(PyObject *); + +/* CIntToPy.proto */ +static CYTHON_INLINE PyObject* __Pyx_PyInt_From_int(int value); + +/* CIntToPy.proto */ +static CYTHON_INLINE PyObject* __Pyx_PyInt_From_long(long value); + +/* CIntFromPy.proto */ +static CYTHON_INLINE char __Pyx_PyInt_As_char(PyObject *); + +/* FormatTypeName.proto */ +#if CYTHON_COMPILING_IN_LIMITED_API +typedef PyObject *__Pyx_TypeName; +#define __Pyx_FMT_TYPENAME "%U" +static __Pyx_TypeName __Pyx_PyType_GetName(PyTypeObject* tp); +#define __Pyx_DECREF_TypeName(obj) Py_XDECREF(obj) +#else +typedef const char *__Pyx_TypeName; +#define __Pyx_FMT_TYPENAME "%.200s" +#define __Pyx_PyType_GetName(tp) ((tp)->tp_name) +#define __Pyx_DECREF_TypeName(obj) +#endif + +/* CheckBinaryVersion.proto */ +static unsigned long __Pyx_get_runtime_version(void); +static int __Pyx_check_binary_version(unsigned long ct_version, unsigned long rt_version, int allow_newer); + +/* InitStrings.proto */ +static int __Pyx_InitStrings(__Pyx_StringTabEntry *t); + +/* #### Code section: module_declarations ### */ +static PyObject *__pyx_array_get_memview(struct __pyx_array_obj *__pyx_v_self); /* proto*/ +static char *__pyx_memoryview_get_item_pointer(struct __pyx_memoryview_obj *__pyx_v_self, PyObject *__pyx_v_index); /* proto*/ +static PyObject *__pyx_memoryview_is_slice(struct __pyx_memoryview_obj *__pyx_v_self, PyObject *__pyx_v_obj); /* proto*/ +static PyObject *__pyx_memoryview_setitem_slice_assignment(struct __pyx_memoryview_obj *__pyx_v_self, PyObject *__pyx_v_dst, PyObject *__pyx_v_src); /* proto*/ +static PyObject *__pyx_memoryview_setitem_slice_assign_scalar(struct __pyx_memoryview_obj *__pyx_v_self, struct __pyx_memoryview_obj *__pyx_v_dst, PyObject *__pyx_v_value); /* proto*/ +static PyObject *__pyx_memoryview_setitem_indexed(struct __pyx_memoryview_obj *__pyx_v_self, PyObject *__pyx_v_index, PyObject *__pyx_v_value); /* proto*/ +static PyObject *__pyx_memoryview_convert_item_to_object(struct __pyx_memoryview_obj *__pyx_v_self, char *__pyx_v_itemp); /* proto*/ +static PyObject *__pyx_memoryview_assign_item_from_object(struct __pyx_memoryview_obj *__pyx_v_self, char *__pyx_v_itemp, PyObject *__pyx_v_value); /* proto*/ +static PyObject *__pyx_memoryview__get_base(struct __pyx_memoryview_obj *__pyx_v_self); /* proto*/ +static PyObject *__pyx_memoryviewslice_convert_item_to_object(struct __pyx_memoryviewslice_obj *__pyx_v_self, char *__pyx_v_itemp); /* proto*/ +static PyObject *__pyx_memoryviewslice_assign_item_from_object(struct __pyx_memoryviewslice_obj *__pyx_v_self, char *__pyx_v_itemp, PyObject *__pyx_v_value); /* proto*/ +static PyObject *__pyx_memoryviewslice__get_base(struct __pyx_memoryviewslice_obj *__pyx_v_self); /* proto*/ + +/* Module declarations from "libcpp" */ + +/* Module declarations from "libc.string" */ + +/* Module declarations from "libcpp.string" */ + +/* Module declarations from "libcpp.vector" */ + +/* Module declarations from "libcpp.utility" */ + +/* Module declarations from "libcpp.set" */ + +/* Module declarations from "libc.stdint" */ + +/* Module declarations from "msgq.visionipc.visionipc" */ + +/* Module declarations from "selfdrive.classic_modeld.runners.snpemodel" */ + +/* Module declarations from "msgq.visionipc.visionipc_pyx" */ + +/* Module declarations from "selfdrive.classic_modeld.models.commonmodel_pyx" */ + +/* Module declarations from "selfdrive.classic_modeld.runners.runmodel" */ + +/* Module declarations from "selfdrive.classic_modeld.runners.runmodel_pyx" */ + +/* Module declarations from "selfdrive.classic_modeld.runners.snpemodel_pyx" */ +static PyObject *__pyx_collections_abc_Sequence = 0; +static PyObject *generic = 0; +static PyObject *strided = 0; +static PyObject *indirect = 0; +static PyObject *contiguous = 0; +static PyObject *indirect_contiguous = 0; +static int __pyx_memoryview_thread_locks_used; +static PyThread_type_lock __pyx_memoryview_thread_locks[8]; +static std::string __pyx_convert_string_from_py_std__in_string(PyObject *); /*proto*/ +static int __pyx_array_allocate_buffer(struct __pyx_array_obj *); /*proto*/ +static struct __pyx_array_obj *__pyx_array_new(PyObject *, Py_ssize_t, char *, char *, char *); /*proto*/ +static PyObject *__pyx_memoryview_new(PyObject *, int, int, __Pyx_TypeInfo *); /*proto*/ +static CYTHON_INLINE int __pyx_memoryview_check(PyObject *); /*proto*/ +static PyObject *_unellipsify(PyObject *, int); /*proto*/ +static int assert_direct_dimensions(Py_ssize_t *, int); /*proto*/ +static struct __pyx_memoryview_obj *__pyx_memview_slice(struct __pyx_memoryview_obj *, PyObject *); /*proto*/ +static int __pyx_memoryview_slice_memviewslice(__Pyx_memviewslice *, Py_ssize_t, Py_ssize_t, Py_ssize_t, int, int, int *, Py_ssize_t, Py_ssize_t, Py_ssize_t, int, int, int, int); /*proto*/ +static char *__pyx_pybuffer_index(Py_buffer *, char *, Py_ssize_t, Py_ssize_t); /*proto*/ +static int __pyx_memslice_transpose(__Pyx_memviewslice *); /*proto*/ +static PyObject *__pyx_memoryview_fromslice(__Pyx_memviewslice, int, PyObject *(*)(char *), int (*)(char *, PyObject *), int); /*proto*/ +static __Pyx_memviewslice *__pyx_memoryview_get_slice_from_memoryview(struct __pyx_memoryview_obj *, __Pyx_memviewslice *); /*proto*/ +static void __pyx_memoryview_slice_copy(struct __pyx_memoryview_obj *, __Pyx_memviewslice *); /*proto*/ +static PyObject *__pyx_memoryview_copy_object(struct __pyx_memoryview_obj *); /*proto*/ +static PyObject *__pyx_memoryview_copy_object_from_slice(struct __pyx_memoryview_obj *, __Pyx_memviewslice *); /*proto*/ +static Py_ssize_t abs_py_ssize_t(Py_ssize_t); /*proto*/ +static char __pyx_get_best_slice_order(__Pyx_memviewslice *, int); /*proto*/ +static void _copy_strided_to_strided(char *, Py_ssize_t *, char *, Py_ssize_t *, Py_ssize_t *, Py_ssize_t *, int, size_t); /*proto*/ +static void copy_strided_to_strided(__Pyx_memviewslice *, __Pyx_memviewslice *, int, size_t); /*proto*/ +static Py_ssize_t __pyx_memoryview_slice_get_size(__Pyx_memviewslice *, int); /*proto*/ +static Py_ssize_t __pyx_fill_contig_strides_array(Py_ssize_t *, Py_ssize_t *, Py_ssize_t, int, char); /*proto*/ +static void *__pyx_memoryview_copy_data_to_temp(__Pyx_memviewslice *, __Pyx_memviewslice *, char, int); /*proto*/ +static int __pyx_memoryview_err_extents(int, Py_ssize_t, Py_ssize_t); /*proto*/ +static int __pyx_memoryview_err_dim(PyObject *, PyObject *, int); /*proto*/ +static int __pyx_memoryview_err(PyObject *, PyObject *); /*proto*/ +static int __pyx_memoryview_err_no_memory(void); /*proto*/ +static int __pyx_memoryview_copy_contents(__Pyx_memviewslice, __Pyx_memviewslice, int, int, int); /*proto*/ +static void __pyx_memoryview_broadcast_leading(__Pyx_memviewslice *, int, int); /*proto*/ +static void __pyx_memoryview_refcount_copying(__Pyx_memviewslice *, int, int, int); /*proto*/ +static void __pyx_memoryview_refcount_objects_in_slice_with_gil(char *, Py_ssize_t *, Py_ssize_t *, int, int); /*proto*/ +static void __pyx_memoryview_refcount_objects_in_slice(char *, Py_ssize_t *, Py_ssize_t *, int, int); /*proto*/ +static void __pyx_memoryview_slice_assign_scalar(__Pyx_memviewslice *, int, size_t, void *, int); /*proto*/ +static void __pyx_memoryview__slice_assign_scalar(char *, Py_ssize_t *, Py_ssize_t *, int, size_t, void *); /*proto*/ +static PyObject *__pyx_unpickle_Enum__set_state(struct __pyx_MemviewEnum_obj *, PyObject *); /*proto*/ +/* #### Code section: typeinfo ### */ +static __Pyx_TypeInfo __Pyx_TypeInfo_float = { "float", NULL, sizeof(float), { 0 }, 0, 'R', 0, 0 }; +/* #### Code section: before_global_var ### */ +#define __Pyx_MODULE_NAME "selfdrive.classic_modeld.runners.snpemodel_pyx" +extern int __pyx_module_is_main_selfdrive__classic_modeld__runners__snpemodel_pyx; +int __pyx_module_is_main_selfdrive__classic_modeld__runners__snpemodel_pyx = 0; + +/* Implementation of "selfdrive.classic_modeld.runners.snpemodel_pyx" */ +/* #### Code section: global_var ### */ +static PyObject *__pyx_builtin_TypeError; +static PyObject *__pyx_builtin___import__; +static PyObject *__pyx_builtin_ValueError; +static PyObject *__pyx_builtin_MemoryError; +static PyObject *__pyx_builtin_enumerate; +static PyObject *__pyx_builtin_range; +static PyObject *__pyx_builtin_AssertionError; +static PyObject *__pyx_builtin_Ellipsis; +static PyObject *__pyx_builtin_id; +static PyObject *__pyx_builtin_IndexError; +/* #### Code section: string_decls ### */ +static const char __pyx_k_[] = ": "; +static const char __pyx_k_O[] = "O"; +static const char __pyx_k_c[] = "c"; +static const char __pyx_k__2[] = "."; +static const char __pyx_k__3[] = "*"; +static const char __pyx_k__6[] = "'"; +static const char __pyx_k__7[] = ")"; +static const char __pyx_k_gc[] = "gc"; +static const char __pyx_k_id[] = "id"; +static const char __pyx_k_os[] = "os"; +static const char __pyx_k__24[] = "?"; +static const char __pyx_k_abc[] = "abc"; +static const char __pyx_k_and[] = " and "; +static const char __pyx_k_got[] = " (got "; +static const char __pyx_k_new[] = "__new__"; +static const char __pyx_k_obj[] = "obj"; +static const char __pyx_k_sys[] = "sys"; +static const char __pyx_k_base[] = "base"; +static const char __pyx_k_dict[] = "__dict__"; +static const char __pyx_k_main[] = "__main__"; +static const char __pyx_k_mode[] = "mode"; +static const char __pyx_k_name[] = "name"; +static const char __pyx_k_ndim[] = "ndim"; +static const char __pyx_k_pack[] = "pack"; +static const char __pyx_k_path[] = "path"; +static const char __pyx_k_self[] = "self"; +static const char __pyx_k_size[] = "size"; +static const char __pyx_k_spec[] = "__spec__"; +static const char __pyx_k_step[] = "step"; +static const char __pyx_k_stop[] = "stop"; +static const char __pyx_k_test[] = "__test__"; +static const char __pyx_k_ASCII[] = "ASCII"; +static const char __pyx_k_class[] = "__class__"; +static const char __pyx_k_count[] = "count"; +static const char __pyx_k_error[] = "error"; +static const char __pyx_k_flags[] = "flags"; +static const char __pyx_k_index[] = "index"; +static const char __pyx_k_range[] = "range"; +static const char __pyx_k_shape[] = "shape"; +static const char __pyx_k_start[] = "start"; +static const char __pyx_k_enable[] = "enable"; +static const char __pyx_k_encode[] = "encode"; +static const char __pyx_k_format[] = "format"; +static const char __pyx_k_import[] = "__import__"; +static const char __pyx_k_name_2[] = "__name__"; +static const char __pyx_k_output[] = "output"; +static const char __pyx_k_pickle[] = "pickle"; +static const char __pyx_k_reduce[] = "__reduce__"; +static const char __pyx_k_struct[] = "struct"; +static const char __pyx_k_unpack[] = "unpack"; +static const char __pyx_k_update[] = "update"; +static const char __pyx_k_context[] = "context"; +static const char __pyx_k_disable[] = "disable"; +static const char __pyx_k_environ[] = "environ"; +static const char __pyx_k_fortran[] = "fortran"; +static const char __pyx_k_memview[] = "memview"; +static const char __pyx_k_runtime[] = "runtime"; +static const char __pyx_k_use_tf8[] = "use_tf8"; +static const char __pyx_k_Ellipsis[] = "Ellipsis"; +static const char __pyx_k_Sequence[] = "Sequence"; +static const char __pyx_k_getstate[] = "__getstate__"; +static const char __pyx_k_itemsize[] = "itemsize"; +static const char __pyx_k_pyx_type[] = "__pyx_type"; +static const char __pyx_k_register[] = "register"; +static const char __pyx_k_setstate[] = "__setstate__"; +static const char __pyx_k_SNPEModel[] = "SNPEModel"; +static const char __pyx_k_TypeError[] = "TypeError"; +static const char __pyx_k_enumerate[] = "enumerate"; +static const char __pyx_k_isenabled[] = "isenabled"; +static const char __pyx_k_pyx_state[] = "__pyx_state"; +static const char __pyx_k_reduce_ex[] = "__reduce_ex__"; +static const char __pyx_k_IndexError[] = "IndexError"; +static const char __pyx_k_ValueError[] = "ValueError"; +static const char __pyx_k_pyx_result[] = "__pyx_result"; +static const char __pyx_k_pyx_vtable[] = "__pyx_vtable__"; +static const char __pyx_k_MemoryError[] = "MemoryError"; +static const char __pyx_k_PickleError[] = "PickleError"; +static const char __pyx_k_collections[] = "collections"; +static const char __pyx_k_initializing[] = "_initializing"; +static const char __pyx_k_is_coroutine[] = "_is_coroutine"; +static const char __pyx_k_pyx_checksum[] = "__pyx_checksum"; +static const char __pyx_k_stringsource[] = ""; +static const char __pyx_k_version_info[] = "version_info"; +static const char __pyx_k_class_getitem[] = "__class_getitem__"; +static const char __pyx_k_reduce_cython[] = "__reduce_cython__"; +static const char __pyx_k_AssertionError[] = "AssertionError"; +static const char __pyx_k_View_MemoryView[] = "View.MemoryView"; +static const char __pyx_k_allocate_buffer[] = "allocate_buffer"; +static const char __pyx_k_collections_abc[] = "collections.abc"; +static const char __pyx_k_dtype_is_object[] = "dtype_is_object"; +static const char __pyx_k_pyx_PickleError[] = "__pyx_PickleError"; +static const char __pyx_k_setstate_cython[] = "__setstate_cython__"; +static const char __pyx_k_ADSP_LIBRARY_PATH[] = "ADSP_LIBRARY_PATH"; +static const char __pyx_k_pyx_unpickle_Enum[] = "__pyx_unpickle_Enum"; +static const char __pyx_k_asyncio_coroutines[] = "asyncio.coroutines"; +static const char __pyx_k_cline_in_traceback[] = "cline_in_traceback"; +static const char __pyx_k_strided_and_direct[] = ""; +static const char __pyx_k_strided_and_indirect[] = ""; +static const char __pyx_k_Invalid_shape_in_axis[] = "Invalid shape in axis "; +static const char __pyx_k_contiguous_and_direct[] = ""; +static const char __pyx_k_Cannot_index_with_type[] = "Cannot index with type '"; +static const char __pyx_k_MemoryView_of_r_object[] = ""; +static const char __pyx_k_MemoryView_of_r_at_0x_x[] = ""; +static const char __pyx_k_contiguous_and_indirect[] = ""; +static const char __pyx_k_Dimension_d_is_not_direct[] = "Dimension %d is not direct"; +static const char __pyx_k_SNPEModel___reduce_cython[] = "SNPEModel.__reduce_cython__"; +static const char __pyx_k_Index_out_of_bounds_axis_d[] = "Index out of bounds (axis %d)"; +static const char __pyx_k_SNPEModel___setstate_cython[] = "SNPEModel.__setstate_cython__"; +static const char __pyx_k_Step_may_not_be_zero_axis_d[] = "Step may not be zero (axis %d)"; +static const char __pyx_k_itemsize_0_for_cython_array[] = "itemsize <= 0 for cython.array"; +static const char __pyx_k_unable_to_allocate_array_data[] = "unable to allocate array data."; +static const char __pyx_k_strided_and_direct_or_indirect[] = ""; +static const char __pyx_k_data_pythonpath_third_party_snp[] = "/data/pythonpath/third_party/snpe/dsp/"; +static const char __pyx_k_All_dimensions_preceding_dimensi[] = "All dimensions preceding dimension %d must be indexed and not sliced"; +static const char __pyx_k_Buffer_view_does_not_expose_stri[] = "Buffer view does not expose strides"; +static const char __pyx_k_Can_only_create_a_buffer_that_is[] = "Can only create a buffer that is contiguous in memory."; +static const char __pyx_k_Cannot_assign_to_read_only_memor[] = "Cannot assign to read-only memoryview"; +static const char __pyx_k_Cannot_create_writable_memory_vi[] = "Cannot create writable memory view from read-only memoryview"; +static const char __pyx_k_Cannot_transpose_memoryview_with[] = "Cannot transpose memoryview with indirect dimensions"; +static const char __pyx_k_Empty_shape_tuple_for_cython_arr[] = "Empty shape tuple for cython.array"; +static const char __pyx_k_Incompatible_checksums_0x_x_vs_0[] = "Incompatible checksums (0x%x vs (0x82a3537, 0x6ae9995, 0xb068931) = (name))"; +static const char __pyx_k_Indirect_dimensions_not_supporte[] = "Indirect dimensions not supported"; +static const char __pyx_k_Invalid_mode_expected_c_or_fortr[] = "Invalid mode, expected 'c' or 'fortran', got "; +static const char __pyx_k_Out_of_bounds_on_buffer_access_a[] = "Out of bounds on buffer access (axis "; +static const char __pyx_k_Unable_to_convert_item_to_object[] = "Unable to convert item to object"; +static const char __pyx_k_got_differing_extents_in_dimensi[] = "got differing extents in dimension "; +static const char __pyx_k_no_default___reduce___due_to_non[] = "no default __reduce__ due to non-trivial __cinit__"; +static const char __pyx_k_selfdrive_classic_modeld_runners[] = "selfdrive.classic_modeld.runners.snpemodel_pyx"; +static const char __pyx_k_unable_to_allocate_shape_and_str[] = "unable to allocate shape and strides."; +/* #### Code section: decls ### */ +static int __pyx_array___pyx_pf_15View_dot_MemoryView_5array___cinit__(struct __pyx_array_obj *__pyx_v_self, PyObject *__pyx_v_shape, Py_ssize_t __pyx_v_itemsize, PyObject *__pyx_v_format, PyObject *__pyx_v_mode, int __pyx_v_allocate_buffer); /* proto */ +static int __pyx_array___pyx_pf_15View_dot_MemoryView_5array_2__getbuffer__(struct __pyx_array_obj *__pyx_v_self, Py_buffer *__pyx_v_info, int __pyx_v_flags); /* proto */ +static void __pyx_array___pyx_pf_15View_dot_MemoryView_5array_4__dealloc__(struct __pyx_array_obj *__pyx_v_self); /* proto */ +static PyObject *__pyx_pf_15View_dot_MemoryView_5array_7memview___get__(struct __pyx_array_obj *__pyx_v_self); /* proto */ +static Py_ssize_t __pyx_array___pyx_pf_15View_dot_MemoryView_5array_6__len__(struct __pyx_array_obj *__pyx_v_self); /* proto */ +static PyObject *__pyx_array___pyx_pf_15View_dot_MemoryView_5array_8__getattr__(struct __pyx_array_obj *__pyx_v_self, PyObject *__pyx_v_attr); /* proto */ +static PyObject *__pyx_array___pyx_pf_15View_dot_MemoryView_5array_10__getitem__(struct __pyx_array_obj *__pyx_v_self, PyObject *__pyx_v_item); /* proto */ +static int __pyx_array___pyx_pf_15View_dot_MemoryView_5array_12__setitem__(struct __pyx_array_obj *__pyx_v_self, PyObject *__pyx_v_item, PyObject *__pyx_v_value); /* proto */ +static PyObject *__pyx_pf___pyx_array___reduce_cython__(CYTHON_UNUSED struct __pyx_array_obj *__pyx_v_self); /* proto */ +static PyObject *__pyx_pf___pyx_array_2__setstate_cython__(CYTHON_UNUSED struct __pyx_array_obj *__pyx_v_self, CYTHON_UNUSED PyObject *__pyx_v___pyx_state); /* proto */ +static int __pyx_MemviewEnum___pyx_pf_15View_dot_MemoryView_4Enum___init__(struct __pyx_MemviewEnum_obj *__pyx_v_self, PyObject *__pyx_v_name); /* proto */ +static PyObject *__pyx_MemviewEnum___pyx_pf_15View_dot_MemoryView_4Enum_2__repr__(struct __pyx_MemviewEnum_obj *__pyx_v_self); /* proto */ +static PyObject *__pyx_pf___pyx_MemviewEnum___reduce_cython__(struct __pyx_MemviewEnum_obj *__pyx_v_self); /* proto */ +static PyObject *__pyx_pf___pyx_MemviewEnum_2__setstate_cython__(struct __pyx_MemviewEnum_obj *__pyx_v_self, PyObject *__pyx_v___pyx_state); /* proto */ +static int __pyx_memoryview___pyx_pf_15View_dot_MemoryView_10memoryview___cinit__(struct __pyx_memoryview_obj *__pyx_v_self, PyObject *__pyx_v_obj, int __pyx_v_flags, int __pyx_v_dtype_is_object); /* proto */ +static void __pyx_memoryview___pyx_pf_15View_dot_MemoryView_10memoryview_2__dealloc__(struct __pyx_memoryview_obj *__pyx_v_self); /* proto */ +static PyObject *__pyx_memoryview___pyx_pf_15View_dot_MemoryView_10memoryview_4__getitem__(struct __pyx_memoryview_obj *__pyx_v_self, PyObject *__pyx_v_index); /* proto */ +static int __pyx_memoryview___pyx_pf_15View_dot_MemoryView_10memoryview_6__setitem__(struct __pyx_memoryview_obj *__pyx_v_self, PyObject *__pyx_v_index, PyObject *__pyx_v_value); /* proto */ +static int __pyx_memoryview___pyx_pf_15View_dot_MemoryView_10memoryview_8__getbuffer__(struct __pyx_memoryview_obj *__pyx_v_self, Py_buffer *__pyx_v_info, int __pyx_v_flags); /* proto */ +static PyObject *__pyx_pf_15View_dot_MemoryView_10memoryview_1T___get__(struct __pyx_memoryview_obj *__pyx_v_self); /* proto */ +static PyObject *__pyx_pf_15View_dot_MemoryView_10memoryview_4base___get__(struct __pyx_memoryview_obj *__pyx_v_self); /* proto */ +static PyObject *__pyx_pf_15View_dot_MemoryView_10memoryview_5shape___get__(struct __pyx_memoryview_obj *__pyx_v_self); /* proto */ +static PyObject *__pyx_pf_15View_dot_MemoryView_10memoryview_7strides___get__(struct __pyx_memoryview_obj *__pyx_v_self); /* proto */ +static PyObject *__pyx_pf_15View_dot_MemoryView_10memoryview_10suboffsets___get__(struct __pyx_memoryview_obj *__pyx_v_self); /* proto */ +static PyObject *__pyx_pf_15View_dot_MemoryView_10memoryview_4ndim___get__(struct __pyx_memoryview_obj *__pyx_v_self); /* proto */ +static PyObject *__pyx_pf_15View_dot_MemoryView_10memoryview_8itemsize___get__(struct __pyx_memoryview_obj *__pyx_v_self); /* proto */ +static PyObject *__pyx_pf_15View_dot_MemoryView_10memoryview_6nbytes___get__(struct __pyx_memoryview_obj *__pyx_v_self); /* proto */ +static PyObject *__pyx_pf_15View_dot_MemoryView_10memoryview_4size___get__(struct __pyx_memoryview_obj *__pyx_v_self); /* proto */ +static Py_ssize_t __pyx_memoryview___pyx_pf_15View_dot_MemoryView_10memoryview_10__len__(struct __pyx_memoryview_obj *__pyx_v_self); /* proto */ +static PyObject *__pyx_memoryview___pyx_pf_15View_dot_MemoryView_10memoryview_12__repr__(struct __pyx_memoryview_obj *__pyx_v_self); /* proto */ +static PyObject *__pyx_memoryview___pyx_pf_15View_dot_MemoryView_10memoryview_14__str__(struct __pyx_memoryview_obj *__pyx_v_self); /* proto */ +static PyObject *__pyx_memoryview___pyx_pf_15View_dot_MemoryView_10memoryview_16is_c_contig(struct __pyx_memoryview_obj *__pyx_v_self); /* proto */ +static PyObject *__pyx_memoryview___pyx_pf_15View_dot_MemoryView_10memoryview_18is_f_contig(struct __pyx_memoryview_obj *__pyx_v_self); /* proto */ +static PyObject *__pyx_memoryview___pyx_pf_15View_dot_MemoryView_10memoryview_20copy(struct __pyx_memoryview_obj *__pyx_v_self); /* proto */ +static PyObject *__pyx_memoryview___pyx_pf_15View_dot_MemoryView_10memoryview_22copy_fortran(struct __pyx_memoryview_obj *__pyx_v_self); /* proto */ +static PyObject *__pyx_pf___pyx_memoryview___reduce_cython__(CYTHON_UNUSED struct __pyx_memoryview_obj *__pyx_v_self); /* proto */ +static PyObject *__pyx_pf___pyx_memoryview_2__setstate_cython__(CYTHON_UNUSED struct __pyx_memoryview_obj *__pyx_v_self, CYTHON_UNUSED PyObject *__pyx_v___pyx_state); /* proto */ +static void __pyx_memoryviewslice___pyx_pf_15View_dot_MemoryView_16_memoryviewslice___dealloc__(struct __pyx_memoryviewslice_obj *__pyx_v_self); /* proto */ +static PyObject *__pyx_pf___pyx_memoryviewslice___reduce_cython__(CYTHON_UNUSED struct __pyx_memoryviewslice_obj *__pyx_v_self); /* proto */ +static PyObject *__pyx_pf___pyx_memoryviewslice_2__setstate_cython__(CYTHON_UNUSED struct __pyx_memoryviewslice_obj *__pyx_v_self, CYTHON_UNUSED PyObject *__pyx_v___pyx_state); /* proto */ +static PyObject *__pyx_pf_15View_dot_MemoryView___pyx_unpickle_Enum(CYTHON_UNUSED PyObject *__pyx_self, PyObject *__pyx_v___pyx_type, long __pyx_v___pyx_checksum, PyObject *__pyx_v___pyx_state); /* proto */ +static int __pyx_pf_9selfdrive_14classic_modeld_7runners_13snpemodel_pyx_9SNPEModel___cinit__(struct __pyx_obj_9selfdrive_14classic_modeld_7runners_13snpemodel_pyx_SNPEModel *__pyx_v_self, std::string __pyx_v_path, __Pyx_memviewslice __pyx_v_output, int __pyx_v_runtime, bool __pyx_v_use_tf8, struct __pyx_obj_9selfdrive_14classic_modeld_6models_15commonmodel_pyx_CLContext *__pyx_v_context); /* proto */ +static PyObject *__pyx_pf_9selfdrive_14classic_modeld_7runners_13snpemodel_pyx_9SNPEModel_2__reduce_cython__(CYTHON_UNUSED struct __pyx_obj_9selfdrive_14classic_modeld_7runners_13snpemodel_pyx_SNPEModel *__pyx_v_self); /* proto */ +static PyObject *__pyx_pf_9selfdrive_14classic_modeld_7runners_13snpemodel_pyx_9SNPEModel_4__setstate_cython__(CYTHON_UNUSED struct __pyx_obj_9selfdrive_14classic_modeld_7runners_13snpemodel_pyx_SNPEModel *__pyx_v_self, CYTHON_UNUSED PyObject *__pyx_v___pyx_state); /* proto */ +static PyObject *__pyx_tp_new_9selfdrive_14classic_modeld_7runners_13snpemodel_pyx_SNPEModel(PyTypeObject *t, PyObject *a, PyObject *k); /*proto*/ +static PyObject *__pyx_tp_new_array(PyTypeObject *t, PyObject *a, PyObject *k); /*proto*/ +static PyObject *__pyx_tp_new_Enum(PyTypeObject *t, PyObject *a, PyObject *k); /*proto*/ +static PyObject *__pyx_tp_new_memoryview(PyTypeObject *t, PyObject *a, PyObject *k); /*proto*/ +static PyObject *__pyx_tp_new__memoryviewslice(PyTypeObject *t, PyObject *a, PyObject *k); /*proto*/ +/* #### Code section: late_includes ### */ +/* #### Code section: module_state ### */ +typedef struct { + PyObject *__pyx_d; + PyObject *__pyx_b; + PyObject *__pyx_cython_runtime; + PyObject *__pyx_empty_tuple; + PyObject *__pyx_empty_bytes; + PyObject *__pyx_empty_unicode; + #ifdef __Pyx_CyFunction_USED + PyTypeObject *__pyx_CyFunctionType; + #endif + #ifdef __Pyx_FusedFunction_USED + PyTypeObject *__pyx_FusedFunctionType; + #endif + #ifdef __Pyx_Generator_USED + PyTypeObject *__pyx_GeneratorType; + #endif + #ifdef __Pyx_IterableCoroutine_USED + PyTypeObject *__pyx_IterableCoroutineType; + #endif + #ifdef __Pyx_Coroutine_USED + PyTypeObject *__pyx_CoroutineAwaitType; + #endif + #ifdef __Pyx_Coroutine_USED + PyTypeObject *__pyx_CoroutineType; + #endif + #if CYTHON_USE_MODULE_STATE + #endif + #if CYTHON_USE_MODULE_STATE + #endif + #if CYTHON_USE_MODULE_STATE + #endif + #if CYTHON_USE_MODULE_STATE + #endif + #if CYTHON_USE_MODULE_STATE + #endif + #if CYTHON_USE_MODULE_STATE + #endif + #if CYTHON_USE_MODULE_STATE + #endif + #if CYTHON_USE_MODULE_STATE + #endif + #if CYTHON_USE_MODULE_STATE + #endif + #if CYTHON_USE_MODULE_STATE + #endif + PyTypeObject *__pyx_ptype_4msgq_9visionipc_13visionipc_pyx_CLContext; + PyTypeObject *__pyx_ptype_4msgq_9visionipc_13visionipc_pyx_VisionBuf; + #if CYTHON_USE_MODULE_STATE + #endif + PyTypeObject *__pyx_ptype_9selfdrive_14classic_modeld_6models_15commonmodel_pyx_CLContext; + PyTypeObject *__pyx_ptype_9selfdrive_14classic_modeld_6models_15commonmodel_pyx_CLMem; + #if CYTHON_USE_MODULE_STATE + #endif + #if CYTHON_USE_MODULE_STATE + #endif + PyTypeObject *__pyx_ptype_9selfdrive_14classic_modeld_7runners_12runmodel_pyx_RunModel; + #if CYTHON_USE_MODULE_STATE + PyObject *__pyx_type_9selfdrive_14classic_modeld_7runners_13snpemodel_pyx_SNPEModel; + PyObject *__pyx_type___pyx_array; + PyObject *__pyx_type___pyx_MemviewEnum; + PyObject *__pyx_type___pyx_memoryview; + PyObject *__pyx_type___pyx_memoryviewslice; + #endif + PyTypeObject *__pyx_ptype_9selfdrive_14classic_modeld_7runners_13snpemodel_pyx_SNPEModel; + PyTypeObject *__pyx_array_type; + PyTypeObject *__pyx_MemviewEnum_type; + PyTypeObject *__pyx_memoryview_type; + PyTypeObject *__pyx_memoryviewslice_type; + PyObject *__pyx_kp_u_; + PyObject *__pyx_n_s_ADSP_LIBRARY_PATH; + PyObject *__pyx_n_s_ASCII; + PyObject *__pyx_kp_s_All_dimensions_preceding_dimensi; + PyObject *__pyx_n_s_AssertionError; + PyObject *__pyx_kp_s_Buffer_view_does_not_expose_stri; + PyObject *__pyx_kp_s_Can_only_create_a_buffer_that_is; + PyObject *__pyx_kp_s_Cannot_assign_to_read_only_memor; + PyObject *__pyx_kp_s_Cannot_create_writable_memory_vi; + PyObject *__pyx_kp_u_Cannot_index_with_type; + PyObject *__pyx_kp_s_Cannot_transpose_memoryview_with; + PyObject *__pyx_kp_s_Dimension_d_is_not_direct; + PyObject *__pyx_n_s_Ellipsis; + PyObject *__pyx_kp_s_Empty_shape_tuple_for_cython_arr; + PyObject *__pyx_kp_s_Incompatible_checksums_0x_x_vs_0; + PyObject *__pyx_n_s_IndexError; + PyObject *__pyx_kp_s_Index_out_of_bounds_axis_d; + PyObject *__pyx_kp_s_Indirect_dimensions_not_supporte; + PyObject *__pyx_kp_u_Invalid_mode_expected_c_or_fortr; + PyObject *__pyx_kp_u_Invalid_shape_in_axis; + PyObject *__pyx_n_s_MemoryError; + PyObject *__pyx_kp_s_MemoryView_of_r_at_0x_x; + PyObject *__pyx_kp_s_MemoryView_of_r_object; + PyObject *__pyx_n_b_O; + PyObject *__pyx_kp_u_Out_of_bounds_on_buffer_access_a; + PyObject *__pyx_n_s_PickleError; + PyObject *__pyx_n_s_SNPEModel; + PyObject *__pyx_n_s_SNPEModel___reduce_cython; + PyObject *__pyx_n_s_SNPEModel___setstate_cython; + PyObject *__pyx_n_s_Sequence; + PyObject *__pyx_kp_s_Step_may_not_be_zero_axis_d; + PyObject *__pyx_n_s_TypeError; + PyObject *__pyx_kp_s_Unable_to_convert_item_to_object; + PyObject *__pyx_n_s_ValueError; + PyObject *__pyx_n_s_View_MemoryView; + PyObject *__pyx_kp_u__2; + PyObject *__pyx_n_s__24; + PyObject *__pyx_n_s__3; + PyObject *__pyx_kp_u__6; + PyObject *__pyx_kp_u__7; + PyObject *__pyx_n_s_abc; + PyObject *__pyx_n_s_allocate_buffer; + PyObject *__pyx_kp_u_and; + PyObject *__pyx_n_s_asyncio_coroutines; + PyObject *__pyx_n_s_base; + PyObject *__pyx_n_s_c; + PyObject *__pyx_n_u_c; + PyObject *__pyx_n_s_class; + PyObject *__pyx_n_s_class_getitem; + PyObject *__pyx_n_s_cline_in_traceback; + PyObject *__pyx_n_s_collections; + PyObject *__pyx_kp_s_collections_abc; + PyObject *__pyx_n_s_context; + PyObject *__pyx_kp_s_contiguous_and_direct; + PyObject *__pyx_kp_s_contiguous_and_indirect; + PyObject *__pyx_n_s_count; + PyObject *__pyx_kp_s_data_pythonpath_third_party_snp; + PyObject *__pyx_n_s_dict; + PyObject *__pyx_kp_u_disable; + PyObject *__pyx_n_s_dtype_is_object; + PyObject *__pyx_kp_u_enable; + PyObject *__pyx_n_s_encode; + PyObject *__pyx_n_s_enumerate; + PyObject *__pyx_n_s_environ; + PyObject *__pyx_n_s_error; + PyObject *__pyx_n_s_flags; + PyObject *__pyx_n_s_format; + PyObject *__pyx_n_s_fortran; + PyObject *__pyx_n_u_fortran; + PyObject *__pyx_kp_u_gc; + PyObject *__pyx_n_s_getstate; + PyObject *__pyx_kp_u_got; + PyObject *__pyx_kp_u_got_differing_extents_in_dimensi; + PyObject *__pyx_n_s_id; + PyObject *__pyx_n_s_import; + PyObject *__pyx_n_s_index; + PyObject *__pyx_n_s_initializing; + PyObject *__pyx_n_s_is_coroutine; + PyObject *__pyx_kp_u_isenabled; + PyObject *__pyx_n_s_itemsize; + PyObject *__pyx_kp_s_itemsize_0_for_cython_array; + PyObject *__pyx_n_s_main; + PyObject *__pyx_n_s_memview; + PyObject *__pyx_n_s_mode; + PyObject *__pyx_n_s_name; + PyObject *__pyx_n_s_name_2; + PyObject *__pyx_n_s_ndim; + PyObject *__pyx_n_s_new; + PyObject *__pyx_kp_s_no_default___reduce___due_to_non; + PyObject *__pyx_n_s_obj; + PyObject *__pyx_n_s_os; + PyObject *__pyx_n_s_output; + PyObject *__pyx_n_s_pack; + PyObject *__pyx_n_s_path; + PyObject *__pyx_n_s_pickle; + PyObject *__pyx_n_s_pyx_PickleError; + PyObject *__pyx_n_s_pyx_checksum; + PyObject *__pyx_n_s_pyx_result; + PyObject *__pyx_n_s_pyx_state; + PyObject *__pyx_n_s_pyx_type; + PyObject *__pyx_n_s_pyx_unpickle_Enum; + PyObject *__pyx_n_s_pyx_vtable; + PyObject *__pyx_n_s_range; + PyObject *__pyx_n_s_reduce; + PyObject *__pyx_n_s_reduce_cython; + PyObject *__pyx_n_s_reduce_ex; + PyObject *__pyx_n_s_register; + PyObject *__pyx_n_s_runtime; + PyObject *__pyx_n_s_self; + PyObject *__pyx_n_s_selfdrive_classic_modeld_runners; + PyObject *__pyx_n_s_setstate; + PyObject *__pyx_n_s_setstate_cython; + PyObject *__pyx_n_s_shape; + PyObject *__pyx_n_s_size; + PyObject *__pyx_n_s_spec; + PyObject *__pyx_n_s_start; + PyObject *__pyx_n_s_step; + PyObject *__pyx_n_s_stop; + PyObject *__pyx_kp_s_strided_and_direct; + PyObject *__pyx_kp_s_strided_and_direct_or_indirect; + PyObject *__pyx_kp_s_strided_and_indirect; + PyObject *__pyx_kp_s_stringsource; + PyObject *__pyx_n_s_struct; + PyObject *__pyx_n_s_sys; + PyObject *__pyx_n_s_test; + PyObject *__pyx_kp_s_unable_to_allocate_array_data; + PyObject *__pyx_kp_s_unable_to_allocate_shape_and_str; + PyObject *__pyx_n_s_unpack; + PyObject *__pyx_n_s_update; + PyObject *__pyx_n_s_use_tf8; + PyObject *__pyx_n_s_version_info; + PyObject *__pyx_int_0; + PyObject *__pyx_int_1; + PyObject *__pyx_int_3; + PyObject *__pyx_int_112105877; + PyObject *__pyx_int_136983863; + PyObject *__pyx_int_184977713; + PyObject *__pyx_int_neg_1; + PyObject *__pyx_slice__5; + PyObject *__pyx_tuple__4; + PyObject *__pyx_tuple__8; + PyObject *__pyx_tuple__9; + PyObject *__pyx_tuple__10; + PyObject *__pyx_tuple__11; + PyObject *__pyx_tuple__12; + PyObject *__pyx_tuple__13; + PyObject *__pyx_tuple__14; + PyObject *__pyx_tuple__15; + PyObject *__pyx_tuple__16; + PyObject *__pyx_tuple__17; + PyObject *__pyx_tuple__18; + PyObject *__pyx_tuple__20; + PyObject *__pyx_tuple__22; + PyObject *__pyx_codeobj__19; + PyObject *__pyx_codeobj__21; + PyObject *__pyx_codeobj__23; +} __pyx_mstate; + +#if CYTHON_USE_MODULE_STATE +#ifdef __cplusplus +namespace { + extern struct PyModuleDef __pyx_moduledef; +} /* anonymous namespace */ +#else +static struct PyModuleDef __pyx_moduledef; +#endif + +#define __pyx_mstate(o) ((__pyx_mstate *)__Pyx_PyModule_GetState(o)) + +#define __pyx_mstate_global (__pyx_mstate(PyState_FindModule(&__pyx_moduledef))) + +#define __pyx_m (PyState_FindModule(&__pyx_moduledef)) +#else +static __pyx_mstate __pyx_mstate_global_static = +#ifdef __cplusplus + {}; +#else + {0}; +#endif +static __pyx_mstate *__pyx_mstate_global = &__pyx_mstate_global_static; +#endif +/* #### Code section: module_state_clear ### */ +#if CYTHON_USE_MODULE_STATE +static int __pyx_m_clear(PyObject *m) { + __pyx_mstate *clear_module_state = __pyx_mstate(m); + if (!clear_module_state) return 0; + Py_CLEAR(clear_module_state->__pyx_d); + Py_CLEAR(clear_module_state->__pyx_b); + Py_CLEAR(clear_module_state->__pyx_cython_runtime); + Py_CLEAR(clear_module_state->__pyx_empty_tuple); + Py_CLEAR(clear_module_state->__pyx_empty_bytes); + Py_CLEAR(clear_module_state->__pyx_empty_unicode); + #ifdef __Pyx_CyFunction_USED + Py_CLEAR(clear_module_state->__pyx_CyFunctionType); + #endif + #ifdef __Pyx_FusedFunction_USED + Py_CLEAR(clear_module_state->__pyx_FusedFunctionType); + #endif + Py_CLEAR(clear_module_state->__pyx_ptype_4msgq_9visionipc_13visionipc_pyx_CLContext); + Py_CLEAR(clear_module_state->__pyx_ptype_4msgq_9visionipc_13visionipc_pyx_VisionBuf); + Py_CLEAR(clear_module_state->__pyx_ptype_9selfdrive_14classic_modeld_6models_15commonmodel_pyx_CLContext); + Py_CLEAR(clear_module_state->__pyx_ptype_9selfdrive_14classic_modeld_6models_15commonmodel_pyx_CLMem); + Py_CLEAR(clear_module_state->__pyx_ptype_9selfdrive_14classic_modeld_7runners_12runmodel_pyx_RunModel); + Py_CLEAR(clear_module_state->__pyx_ptype_9selfdrive_14classic_modeld_7runners_13snpemodel_pyx_SNPEModel); + Py_CLEAR(clear_module_state->__pyx_type_9selfdrive_14classic_modeld_7runners_13snpemodel_pyx_SNPEModel); + Py_CLEAR(clear_module_state->__pyx_array_type); + Py_CLEAR(clear_module_state->__pyx_type___pyx_array); + Py_CLEAR(clear_module_state->__pyx_MemviewEnum_type); + Py_CLEAR(clear_module_state->__pyx_type___pyx_MemviewEnum); + Py_CLEAR(clear_module_state->__pyx_memoryview_type); + Py_CLEAR(clear_module_state->__pyx_type___pyx_memoryview); + Py_CLEAR(clear_module_state->__pyx_memoryviewslice_type); + Py_CLEAR(clear_module_state->__pyx_type___pyx_memoryviewslice); + Py_CLEAR(clear_module_state->__pyx_kp_u_); + Py_CLEAR(clear_module_state->__pyx_n_s_ADSP_LIBRARY_PATH); + Py_CLEAR(clear_module_state->__pyx_n_s_ASCII); + Py_CLEAR(clear_module_state->__pyx_kp_s_All_dimensions_preceding_dimensi); + Py_CLEAR(clear_module_state->__pyx_n_s_AssertionError); + Py_CLEAR(clear_module_state->__pyx_kp_s_Buffer_view_does_not_expose_stri); + Py_CLEAR(clear_module_state->__pyx_kp_s_Can_only_create_a_buffer_that_is); + Py_CLEAR(clear_module_state->__pyx_kp_s_Cannot_assign_to_read_only_memor); + Py_CLEAR(clear_module_state->__pyx_kp_s_Cannot_create_writable_memory_vi); + Py_CLEAR(clear_module_state->__pyx_kp_u_Cannot_index_with_type); + Py_CLEAR(clear_module_state->__pyx_kp_s_Cannot_transpose_memoryview_with); + Py_CLEAR(clear_module_state->__pyx_kp_s_Dimension_d_is_not_direct); + Py_CLEAR(clear_module_state->__pyx_n_s_Ellipsis); + Py_CLEAR(clear_module_state->__pyx_kp_s_Empty_shape_tuple_for_cython_arr); + Py_CLEAR(clear_module_state->__pyx_kp_s_Incompatible_checksums_0x_x_vs_0); + Py_CLEAR(clear_module_state->__pyx_n_s_IndexError); + Py_CLEAR(clear_module_state->__pyx_kp_s_Index_out_of_bounds_axis_d); + Py_CLEAR(clear_module_state->__pyx_kp_s_Indirect_dimensions_not_supporte); + Py_CLEAR(clear_module_state->__pyx_kp_u_Invalid_mode_expected_c_or_fortr); + Py_CLEAR(clear_module_state->__pyx_kp_u_Invalid_shape_in_axis); + Py_CLEAR(clear_module_state->__pyx_n_s_MemoryError); + Py_CLEAR(clear_module_state->__pyx_kp_s_MemoryView_of_r_at_0x_x); + Py_CLEAR(clear_module_state->__pyx_kp_s_MemoryView_of_r_object); + Py_CLEAR(clear_module_state->__pyx_n_b_O); + Py_CLEAR(clear_module_state->__pyx_kp_u_Out_of_bounds_on_buffer_access_a); + Py_CLEAR(clear_module_state->__pyx_n_s_PickleError); + Py_CLEAR(clear_module_state->__pyx_n_s_SNPEModel); + Py_CLEAR(clear_module_state->__pyx_n_s_SNPEModel___reduce_cython); + Py_CLEAR(clear_module_state->__pyx_n_s_SNPEModel___setstate_cython); + Py_CLEAR(clear_module_state->__pyx_n_s_Sequence); + Py_CLEAR(clear_module_state->__pyx_kp_s_Step_may_not_be_zero_axis_d); + Py_CLEAR(clear_module_state->__pyx_n_s_TypeError); + Py_CLEAR(clear_module_state->__pyx_kp_s_Unable_to_convert_item_to_object); + Py_CLEAR(clear_module_state->__pyx_n_s_ValueError); + Py_CLEAR(clear_module_state->__pyx_n_s_View_MemoryView); + Py_CLEAR(clear_module_state->__pyx_kp_u__2); + Py_CLEAR(clear_module_state->__pyx_n_s__24); + Py_CLEAR(clear_module_state->__pyx_n_s__3); + Py_CLEAR(clear_module_state->__pyx_kp_u__6); + Py_CLEAR(clear_module_state->__pyx_kp_u__7); + Py_CLEAR(clear_module_state->__pyx_n_s_abc); + Py_CLEAR(clear_module_state->__pyx_n_s_allocate_buffer); + Py_CLEAR(clear_module_state->__pyx_kp_u_and); + Py_CLEAR(clear_module_state->__pyx_n_s_asyncio_coroutines); + Py_CLEAR(clear_module_state->__pyx_n_s_base); + Py_CLEAR(clear_module_state->__pyx_n_s_c); + Py_CLEAR(clear_module_state->__pyx_n_u_c); + Py_CLEAR(clear_module_state->__pyx_n_s_class); + Py_CLEAR(clear_module_state->__pyx_n_s_class_getitem); + Py_CLEAR(clear_module_state->__pyx_n_s_cline_in_traceback); + Py_CLEAR(clear_module_state->__pyx_n_s_collections); + Py_CLEAR(clear_module_state->__pyx_kp_s_collections_abc); + Py_CLEAR(clear_module_state->__pyx_n_s_context); + Py_CLEAR(clear_module_state->__pyx_kp_s_contiguous_and_direct); + Py_CLEAR(clear_module_state->__pyx_kp_s_contiguous_and_indirect); + Py_CLEAR(clear_module_state->__pyx_n_s_count); + Py_CLEAR(clear_module_state->__pyx_kp_s_data_pythonpath_third_party_snp); + Py_CLEAR(clear_module_state->__pyx_n_s_dict); + Py_CLEAR(clear_module_state->__pyx_kp_u_disable); + Py_CLEAR(clear_module_state->__pyx_n_s_dtype_is_object); + Py_CLEAR(clear_module_state->__pyx_kp_u_enable); + Py_CLEAR(clear_module_state->__pyx_n_s_encode); + Py_CLEAR(clear_module_state->__pyx_n_s_enumerate); + Py_CLEAR(clear_module_state->__pyx_n_s_environ); + Py_CLEAR(clear_module_state->__pyx_n_s_error); + Py_CLEAR(clear_module_state->__pyx_n_s_flags); + Py_CLEAR(clear_module_state->__pyx_n_s_format); + Py_CLEAR(clear_module_state->__pyx_n_s_fortran); + Py_CLEAR(clear_module_state->__pyx_n_u_fortran); + Py_CLEAR(clear_module_state->__pyx_kp_u_gc); + Py_CLEAR(clear_module_state->__pyx_n_s_getstate); + Py_CLEAR(clear_module_state->__pyx_kp_u_got); + Py_CLEAR(clear_module_state->__pyx_kp_u_got_differing_extents_in_dimensi); + Py_CLEAR(clear_module_state->__pyx_n_s_id); + Py_CLEAR(clear_module_state->__pyx_n_s_import); + Py_CLEAR(clear_module_state->__pyx_n_s_index); + Py_CLEAR(clear_module_state->__pyx_n_s_initializing); + Py_CLEAR(clear_module_state->__pyx_n_s_is_coroutine); + Py_CLEAR(clear_module_state->__pyx_kp_u_isenabled); + Py_CLEAR(clear_module_state->__pyx_n_s_itemsize); + Py_CLEAR(clear_module_state->__pyx_kp_s_itemsize_0_for_cython_array); + Py_CLEAR(clear_module_state->__pyx_n_s_main); + Py_CLEAR(clear_module_state->__pyx_n_s_memview); + Py_CLEAR(clear_module_state->__pyx_n_s_mode); + Py_CLEAR(clear_module_state->__pyx_n_s_name); + Py_CLEAR(clear_module_state->__pyx_n_s_name_2); + Py_CLEAR(clear_module_state->__pyx_n_s_ndim); + Py_CLEAR(clear_module_state->__pyx_n_s_new); + Py_CLEAR(clear_module_state->__pyx_kp_s_no_default___reduce___due_to_non); + Py_CLEAR(clear_module_state->__pyx_n_s_obj); + Py_CLEAR(clear_module_state->__pyx_n_s_os); + Py_CLEAR(clear_module_state->__pyx_n_s_output); + Py_CLEAR(clear_module_state->__pyx_n_s_pack); + Py_CLEAR(clear_module_state->__pyx_n_s_path); + Py_CLEAR(clear_module_state->__pyx_n_s_pickle); + Py_CLEAR(clear_module_state->__pyx_n_s_pyx_PickleError); + Py_CLEAR(clear_module_state->__pyx_n_s_pyx_checksum); + Py_CLEAR(clear_module_state->__pyx_n_s_pyx_result); + Py_CLEAR(clear_module_state->__pyx_n_s_pyx_state); + Py_CLEAR(clear_module_state->__pyx_n_s_pyx_type); + Py_CLEAR(clear_module_state->__pyx_n_s_pyx_unpickle_Enum); + Py_CLEAR(clear_module_state->__pyx_n_s_pyx_vtable); + Py_CLEAR(clear_module_state->__pyx_n_s_range); + Py_CLEAR(clear_module_state->__pyx_n_s_reduce); + Py_CLEAR(clear_module_state->__pyx_n_s_reduce_cython); + Py_CLEAR(clear_module_state->__pyx_n_s_reduce_ex); + Py_CLEAR(clear_module_state->__pyx_n_s_register); + Py_CLEAR(clear_module_state->__pyx_n_s_runtime); + Py_CLEAR(clear_module_state->__pyx_n_s_self); + Py_CLEAR(clear_module_state->__pyx_n_s_selfdrive_classic_modeld_runners); + Py_CLEAR(clear_module_state->__pyx_n_s_setstate); + Py_CLEAR(clear_module_state->__pyx_n_s_setstate_cython); + Py_CLEAR(clear_module_state->__pyx_n_s_shape); + Py_CLEAR(clear_module_state->__pyx_n_s_size); + Py_CLEAR(clear_module_state->__pyx_n_s_spec); + Py_CLEAR(clear_module_state->__pyx_n_s_start); + Py_CLEAR(clear_module_state->__pyx_n_s_step); + Py_CLEAR(clear_module_state->__pyx_n_s_stop); + Py_CLEAR(clear_module_state->__pyx_kp_s_strided_and_direct); + Py_CLEAR(clear_module_state->__pyx_kp_s_strided_and_direct_or_indirect); + Py_CLEAR(clear_module_state->__pyx_kp_s_strided_and_indirect); + Py_CLEAR(clear_module_state->__pyx_kp_s_stringsource); + Py_CLEAR(clear_module_state->__pyx_n_s_struct); + Py_CLEAR(clear_module_state->__pyx_n_s_sys); + Py_CLEAR(clear_module_state->__pyx_n_s_test); + Py_CLEAR(clear_module_state->__pyx_kp_s_unable_to_allocate_array_data); + Py_CLEAR(clear_module_state->__pyx_kp_s_unable_to_allocate_shape_and_str); + Py_CLEAR(clear_module_state->__pyx_n_s_unpack); + Py_CLEAR(clear_module_state->__pyx_n_s_update); + Py_CLEAR(clear_module_state->__pyx_n_s_use_tf8); + Py_CLEAR(clear_module_state->__pyx_n_s_version_info); + Py_CLEAR(clear_module_state->__pyx_int_0); + Py_CLEAR(clear_module_state->__pyx_int_1); + Py_CLEAR(clear_module_state->__pyx_int_3); + Py_CLEAR(clear_module_state->__pyx_int_112105877); + Py_CLEAR(clear_module_state->__pyx_int_136983863); + Py_CLEAR(clear_module_state->__pyx_int_184977713); + Py_CLEAR(clear_module_state->__pyx_int_neg_1); + Py_CLEAR(clear_module_state->__pyx_slice__5); + Py_CLEAR(clear_module_state->__pyx_tuple__4); + Py_CLEAR(clear_module_state->__pyx_tuple__8); + Py_CLEAR(clear_module_state->__pyx_tuple__9); + Py_CLEAR(clear_module_state->__pyx_tuple__10); + Py_CLEAR(clear_module_state->__pyx_tuple__11); + Py_CLEAR(clear_module_state->__pyx_tuple__12); + Py_CLEAR(clear_module_state->__pyx_tuple__13); + Py_CLEAR(clear_module_state->__pyx_tuple__14); + Py_CLEAR(clear_module_state->__pyx_tuple__15); + Py_CLEAR(clear_module_state->__pyx_tuple__16); + Py_CLEAR(clear_module_state->__pyx_tuple__17); + Py_CLEAR(clear_module_state->__pyx_tuple__18); + Py_CLEAR(clear_module_state->__pyx_tuple__20); + Py_CLEAR(clear_module_state->__pyx_tuple__22); + Py_CLEAR(clear_module_state->__pyx_codeobj__19); + Py_CLEAR(clear_module_state->__pyx_codeobj__21); + Py_CLEAR(clear_module_state->__pyx_codeobj__23); + return 0; +} +#endif +/* #### Code section: module_state_traverse ### */ +#if CYTHON_USE_MODULE_STATE +static int __pyx_m_traverse(PyObject *m, visitproc visit, void *arg) { + __pyx_mstate *traverse_module_state = __pyx_mstate(m); + if (!traverse_module_state) return 0; + Py_VISIT(traverse_module_state->__pyx_d); + Py_VISIT(traverse_module_state->__pyx_b); + Py_VISIT(traverse_module_state->__pyx_cython_runtime); + Py_VISIT(traverse_module_state->__pyx_empty_tuple); + Py_VISIT(traverse_module_state->__pyx_empty_bytes); + Py_VISIT(traverse_module_state->__pyx_empty_unicode); + #ifdef __Pyx_CyFunction_USED + Py_VISIT(traverse_module_state->__pyx_CyFunctionType); + #endif + #ifdef __Pyx_FusedFunction_USED + Py_VISIT(traverse_module_state->__pyx_FusedFunctionType); + #endif + Py_VISIT(traverse_module_state->__pyx_ptype_4msgq_9visionipc_13visionipc_pyx_CLContext); + Py_VISIT(traverse_module_state->__pyx_ptype_4msgq_9visionipc_13visionipc_pyx_VisionBuf); + Py_VISIT(traverse_module_state->__pyx_ptype_9selfdrive_14classic_modeld_6models_15commonmodel_pyx_CLContext); + Py_VISIT(traverse_module_state->__pyx_ptype_9selfdrive_14classic_modeld_6models_15commonmodel_pyx_CLMem); + Py_VISIT(traverse_module_state->__pyx_ptype_9selfdrive_14classic_modeld_7runners_12runmodel_pyx_RunModel); + Py_VISIT(traverse_module_state->__pyx_ptype_9selfdrive_14classic_modeld_7runners_13snpemodel_pyx_SNPEModel); + Py_VISIT(traverse_module_state->__pyx_type_9selfdrive_14classic_modeld_7runners_13snpemodel_pyx_SNPEModel); + Py_VISIT(traverse_module_state->__pyx_array_type); + Py_VISIT(traverse_module_state->__pyx_type___pyx_array); + Py_VISIT(traverse_module_state->__pyx_MemviewEnum_type); + Py_VISIT(traverse_module_state->__pyx_type___pyx_MemviewEnum); + Py_VISIT(traverse_module_state->__pyx_memoryview_type); + Py_VISIT(traverse_module_state->__pyx_type___pyx_memoryview); + Py_VISIT(traverse_module_state->__pyx_memoryviewslice_type); + Py_VISIT(traverse_module_state->__pyx_type___pyx_memoryviewslice); + Py_VISIT(traverse_module_state->__pyx_kp_u_); + Py_VISIT(traverse_module_state->__pyx_n_s_ADSP_LIBRARY_PATH); + Py_VISIT(traverse_module_state->__pyx_n_s_ASCII); + Py_VISIT(traverse_module_state->__pyx_kp_s_All_dimensions_preceding_dimensi); + Py_VISIT(traverse_module_state->__pyx_n_s_AssertionError); + Py_VISIT(traverse_module_state->__pyx_kp_s_Buffer_view_does_not_expose_stri); + Py_VISIT(traverse_module_state->__pyx_kp_s_Can_only_create_a_buffer_that_is); + Py_VISIT(traverse_module_state->__pyx_kp_s_Cannot_assign_to_read_only_memor); + Py_VISIT(traverse_module_state->__pyx_kp_s_Cannot_create_writable_memory_vi); + Py_VISIT(traverse_module_state->__pyx_kp_u_Cannot_index_with_type); + Py_VISIT(traverse_module_state->__pyx_kp_s_Cannot_transpose_memoryview_with); + Py_VISIT(traverse_module_state->__pyx_kp_s_Dimension_d_is_not_direct); + Py_VISIT(traverse_module_state->__pyx_n_s_Ellipsis); + Py_VISIT(traverse_module_state->__pyx_kp_s_Empty_shape_tuple_for_cython_arr); + Py_VISIT(traverse_module_state->__pyx_kp_s_Incompatible_checksums_0x_x_vs_0); + Py_VISIT(traverse_module_state->__pyx_n_s_IndexError); + Py_VISIT(traverse_module_state->__pyx_kp_s_Index_out_of_bounds_axis_d); + Py_VISIT(traverse_module_state->__pyx_kp_s_Indirect_dimensions_not_supporte); + Py_VISIT(traverse_module_state->__pyx_kp_u_Invalid_mode_expected_c_or_fortr); + Py_VISIT(traverse_module_state->__pyx_kp_u_Invalid_shape_in_axis); + Py_VISIT(traverse_module_state->__pyx_n_s_MemoryError); + Py_VISIT(traverse_module_state->__pyx_kp_s_MemoryView_of_r_at_0x_x); + Py_VISIT(traverse_module_state->__pyx_kp_s_MemoryView_of_r_object); + Py_VISIT(traverse_module_state->__pyx_n_b_O); + Py_VISIT(traverse_module_state->__pyx_kp_u_Out_of_bounds_on_buffer_access_a); + Py_VISIT(traverse_module_state->__pyx_n_s_PickleError); + Py_VISIT(traverse_module_state->__pyx_n_s_SNPEModel); + Py_VISIT(traverse_module_state->__pyx_n_s_SNPEModel___reduce_cython); + Py_VISIT(traverse_module_state->__pyx_n_s_SNPEModel___setstate_cython); + Py_VISIT(traverse_module_state->__pyx_n_s_Sequence); + Py_VISIT(traverse_module_state->__pyx_kp_s_Step_may_not_be_zero_axis_d); + Py_VISIT(traverse_module_state->__pyx_n_s_TypeError); + Py_VISIT(traverse_module_state->__pyx_kp_s_Unable_to_convert_item_to_object); + Py_VISIT(traverse_module_state->__pyx_n_s_ValueError); + Py_VISIT(traverse_module_state->__pyx_n_s_View_MemoryView); + Py_VISIT(traverse_module_state->__pyx_kp_u__2); + Py_VISIT(traverse_module_state->__pyx_n_s__24); + Py_VISIT(traverse_module_state->__pyx_n_s__3); + Py_VISIT(traverse_module_state->__pyx_kp_u__6); + Py_VISIT(traverse_module_state->__pyx_kp_u__7); + Py_VISIT(traverse_module_state->__pyx_n_s_abc); + Py_VISIT(traverse_module_state->__pyx_n_s_allocate_buffer); + Py_VISIT(traverse_module_state->__pyx_kp_u_and); + Py_VISIT(traverse_module_state->__pyx_n_s_asyncio_coroutines); + Py_VISIT(traverse_module_state->__pyx_n_s_base); + Py_VISIT(traverse_module_state->__pyx_n_s_c); + Py_VISIT(traverse_module_state->__pyx_n_u_c); + Py_VISIT(traverse_module_state->__pyx_n_s_class); + Py_VISIT(traverse_module_state->__pyx_n_s_class_getitem); + Py_VISIT(traverse_module_state->__pyx_n_s_cline_in_traceback); + Py_VISIT(traverse_module_state->__pyx_n_s_collections); + Py_VISIT(traverse_module_state->__pyx_kp_s_collections_abc); + Py_VISIT(traverse_module_state->__pyx_n_s_context); + Py_VISIT(traverse_module_state->__pyx_kp_s_contiguous_and_direct); + Py_VISIT(traverse_module_state->__pyx_kp_s_contiguous_and_indirect); + Py_VISIT(traverse_module_state->__pyx_n_s_count); + Py_VISIT(traverse_module_state->__pyx_kp_s_data_pythonpath_third_party_snp); + Py_VISIT(traverse_module_state->__pyx_n_s_dict); + Py_VISIT(traverse_module_state->__pyx_kp_u_disable); + Py_VISIT(traverse_module_state->__pyx_n_s_dtype_is_object); + Py_VISIT(traverse_module_state->__pyx_kp_u_enable); + Py_VISIT(traverse_module_state->__pyx_n_s_encode); + Py_VISIT(traverse_module_state->__pyx_n_s_enumerate); + Py_VISIT(traverse_module_state->__pyx_n_s_environ); + Py_VISIT(traverse_module_state->__pyx_n_s_error); + Py_VISIT(traverse_module_state->__pyx_n_s_flags); + Py_VISIT(traverse_module_state->__pyx_n_s_format); + Py_VISIT(traverse_module_state->__pyx_n_s_fortran); + Py_VISIT(traverse_module_state->__pyx_n_u_fortran); + Py_VISIT(traverse_module_state->__pyx_kp_u_gc); + Py_VISIT(traverse_module_state->__pyx_n_s_getstate); + Py_VISIT(traverse_module_state->__pyx_kp_u_got); + Py_VISIT(traverse_module_state->__pyx_kp_u_got_differing_extents_in_dimensi); + Py_VISIT(traverse_module_state->__pyx_n_s_id); + Py_VISIT(traverse_module_state->__pyx_n_s_import); + Py_VISIT(traverse_module_state->__pyx_n_s_index); + Py_VISIT(traverse_module_state->__pyx_n_s_initializing); + Py_VISIT(traverse_module_state->__pyx_n_s_is_coroutine); + Py_VISIT(traverse_module_state->__pyx_kp_u_isenabled); + Py_VISIT(traverse_module_state->__pyx_n_s_itemsize); + Py_VISIT(traverse_module_state->__pyx_kp_s_itemsize_0_for_cython_array); + Py_VISIT(traverse_module_state->__pyx_n_s_main); + Py_VISIT(traverse_module_state->__pyx_n_s_memview); + Py_VISIT(traverse_module_state->__pyx_n_s_mode); + Py_VISIT(traverse_module_state->__pyx_n_s_name); + Py_VISIT(traverse_module_state->__pyx_n_s_name_2); + Py_VISIT(traverse_module_state->__pyx_n_s_ndim); + Py_VISIT(traverse_module_state->__pyx_n_s_new); + Py_VISIT(traverse_module_state->__pyx_kp_s_no_default___reduce___due_to_non); + Py_VISIT(traverse_module_state->__pyx_n_s_obj); + Py_VISIT(traverse_module_state->__pyx_n_s_os); + Py_VISIT(traverse_module_state->__pyx_n_s_output); + Py_VISIT(traverse_module_state->__pyx_n_s_pack); + Py_VISIT(traverse_module_state->__pyx_n_s_path); + Py_VISIT(traverse_module_state->__pyx_n_s_pickle); + Py_VISIT(traverse_module_state->__pyx_n_s_pyx_PickleError); + Py_VISIT(traverse_module_state->__pyx_n_s_pyx_checksum); + Py_VISIT(traverse_module_state->__pyx_n_s_pyx_result); + Py_VISIT(traverse_module_state->__pyx_n_s_pyx_state); + Py_VISIT(traverse_module_state->__pyx_n_s_pyx_type); + Py_VISIT(traverse_module_state->__pyx_n_s_pyx_unpickle_Enum); + Py_VISIT(traverse_module_state->__pyx_n_s_pyx_vtable); + Py_VISIT(traverse_module_state->__pyx_n_s_range); + Py_VISIT(traverse_module_state->__pyx_n_s_reduce); + Py_VISIT(traverse_module_state->__pyx_n_s_reduce_cython); + Py_VISIT(traverse_module_state->__pyx_n_s_reduce_ex); + Py_VISIT(traverse_module_state->__pyx_n_s_register); + Py_VISIT(traverse_module_state->__pyx_n_s_runtime); + Py_VISIT(traverse_module_state->__pyx_n_s_self); + Py_VISIT(traverse_module_state->__pyx_n_s_selfdrive_classic_modeld_runners); + Py_VISIT(traverse_module_state->__pyx_n_s_setstate); + Py_VISIT(traverse_module_state->__pyx_n_s_setstate_cython); + Py_VISIT(traverse_module_state->__pyx_n_s_shape); + Py_VISIT(traverse_module_state->__pyx_n_s_size); + Py_VISIT(traverse_module_state->__pyx_n_s_spec); + Py_VISIT(traverse_module_state->__pyx_n_s_start); + Py_VISIT(traverse_module_state->__pyx_n_s_step); + Py_VISIT(traverse_module_state->__pyx_n_s_stop); + Py_VISIT(traverse_module_state->__pyx_kp_s_strided_and_direct); + Py_VISIT(traverse_module_state->__pyx_kp_s_strided_and_direct_or_indirect); + Py_VISIT(traverse_module_state->__pyx_kp_s_strided_and_indirect); + Py_VISIT(traverse_module_state->__pyx_kp_s_stringsource); + Py_VISIT(traverse_module_state->__pyx_n_s_struct); + Py_VISIT(traverse_module_state->__pyx_n_s_sys); + Py_VISIT(traverse_module_state->__pyx_n_s_test); + Py_VISIT(traverse_module_state->__pyx_kp_s_unable_to_allocate_array_data); + Py_VISIT(traverse_module_state->__pyx_kp_s_unable_to_allocate_shape_and_str); + Py_VISIT(traverse_module_state->__pyx_n_s_unpack); + Py_VISIT(traverse_module_state->__pyx_n_s_update); + Py_VISIT(traverse_module_state->__pyx_n_s_use_tf8); + Py_VISIT(traverse_module_state->__pyx_n_s_version_info); + Py_VISIT(traverse_module_state->__pyx_int_0); + Py_VISIT(traverse_module_state->__pyx_int_1); + Py_VISIT(traverse_module_state->__pyx_int_3); + Py_VISIT(traverse_module_state->__pyx_int_112105877); + Py_VISIT(traverse_module_state->__pyx_int_136983863); + Py_VISIT(traverse_module_state->__pyx_int_184977713); + Py_VISIT(traverse_module_state->__pyx_int_neg_1); + Py_VISIT(traverse_module_state->__pyx_slice__5); + Py_VISIT(traverse_module_state->__pyx_tuple__4); + Py_VISIT(traverse_module_state->__pyx_tuple__8); + Py_VISIT(traverse_module_state->__pyx_tuple__9); + Py_VISIT(traverse_module_state->__pyx_tuple__10); + Py_VISIT(traverse_module_state->__pyx_tuple__11); + Py_VISIT(traverse_module_state->__pyx_tuple__12); + Py_VISIT(traverse_module_state->__pyx_tuple__13); + Py_VISIT(traverse_module_state->__pyx_tuple__14); + Py_VISIT(traverse_module_state->__pyx_tuple__15); + Py_VISIT(traverse_module_state->__pyx_tuple__16); + Py_VISIT(traverse_module_state->__pyx_tuple__17); + Py_VISIT(traverse_module_state->__pyx_tuple__18); + Py_VISIT(traverse_module_state->__pyx_tuple__20); + Py_VISIT(traverse_module_state->__pyx_tuple__22); + Py_VISIT(traverse_module_state->__pyx_codeobj__19); + Py_VISIT(traverse_module_state->__pyx_codeobj__21); + Py_VISIT(traverse_module_state->__pyx_codeobj__23); + return 0; +} +#endif +/* #### Code section: module_state_defines ### */ +#define __pyx_d __pyx_mstate_global->__pyx_d +#define __pyx_b __pyx_mstate_global->__pyx_b +#define __pyx_cython_runtime __pyx_mstate_global->__pyx_cython_runtime +#define __pyx_empty_tuple __pyx_mstate_global->__pyx_empty_tuple +#define __pyx_empty_bytes __pyx_mstate_global->__pyx_empty_bytes +#define __pyx_empty_unicode __pyx_mstate_global->__pyx_empty_unicode +#ifdef __Pyx_CyFunction_USED +#define __pyx_CyFunctionType __pyx_mstate_global->__pyx_CyFunctionType +#endif +#ifdef __Pyx_FusedFunction_USED +#define __pyx_FusedFunctionType __pyx_mstate_global->__pyx_FusedFunctionType +#endif +#ifdef __Pyx_Generator_USED +#define __pyx_GeneratorType __pyx_mstate_global->__pyx_GeneratorType +#endif +#ifdef __Pyx_IterableCoroutine_USED +#define __pyx_IterableCoroutineType __pyx_mstate_global->__pyx_IterableCoroutineType +#endif +#ifdef __Pyx_Coroutine_USED +#define __pyx_CoroutineAwaitType __pyx_mstate_global->__pyx_CoroutineAwaitType +#endif +#ifdef __Pyx_Coroutine_USED +#define __pyx_CoroutineType __pyx_mstate_global->__pyx_CoroutineType +#endif +#if CYTHON_USE_MODULE_STATE +#endif +#if CYTHON_USE_MODULE_STATE +#endif +#if CYTHON_USE_MODULE_STATE +#endif +#if CYTHON_USE_MODULE_STATE +#endif +#if CYTHON_USE_MODULE_STATE +#endif +#if CYTHON_USE_MODULE_STATE +#endif +#if CYTHON_USE_MODULE_STATE +#endif +#if CYTHON_USE_MODULE_STATE +#endif +#if CYTHON_USE_MODULE_STATE +#endif +#if CYTHON_USE_MODULE_STATE +#endif +#define __pyx_ptype_4msgq_9visionipc_13visionipc_pyx_CLContext __pyx_mstate_global->__pyx_ptype_4msgq_9visionipc_13visionipc_pyx_CLContext +#define __pyx_ptype_4msgq_9visionipc_13visionipc_pyx_VisionBuf __pyx_mstate_global->__pyx_ptype_4msgq_9visionipc_13visionipc_pyx_VisionBuf +#if CYTHON_USE_MODULE_STATE +#endif +#define __pyx_ptype_9selfdrive_14classic_modeld_6models_15commonmodel_pyx_CLContext __pyx_mstate_global->__pyx_ptype_9selfdrive_14classic_modeld_6models_15commonmodel_pyx_CLContext +#define __pyx_ptype_9selfdrive_14classic_modeld_6models_15commonmodel_pyx_CLMem __pyx_mstate_global->__pyx_ptype_9selfdrive_14classic_modeld_6models_15commonmodel_pyx_CLMem +#if CYTHON_USE_MODULE_STATE +#endif +#if CYTHON_USE_MODULE_STATE +#endif +#define __pyx_ptype_9selfdrive_14classic_modeld_7runners_12runmodel_pyx_RunModel __pyx_mstate_global->__pyx_ptype_9selfdrive_14classic_modeld_7runners_12runmodel_pyx_RunModel +#if CYTHON_USE_MODULE_STATE +#define __pyx_type_9selfdrive_14classic_modeld_7runners_13snpemodel_pyx_SNPEModel __pyx_mstate_global->__pyx_type_9selfdrive_14classic_modeld_7runners_13snpemodel_pyx_SNPEModel +#define __pyx_type___pyx_array __pyx_mstate_global->__pyx_type___pyx_array +#define __pyx_type___pyx_MemviewEnum __pyx_mstate_global->__pyx_type___pyx_MemviewEnum +#define __pyx_type___pyx_memoryview __pyx_mstate_global->__pyx_type___pyx_memoryview +#define __pyx_type___pyx_memoryviewslice __pyx_mstate_global->__pyx_type___pyx_memoryviewslice +#endif +#define __pyx_ptype_9selfdrive_14classic_modeld_7runners_13snpemodel_pyx_SNPEModel __pyx_mstate_global->__pyx_ptype_9selfdrive_14classic_modeld_7runners_13snpemodel_pyx_SNPEModel +#define __pyx_array_type __pyx_mstate_global->__pyx_array_type +#define __pyx_MemviewEnum_type __pyx_mstate_global->__pyx_MemviewEnum_type +#define __pyx_memoryview_type __pyx_mstate_global->__pyx_memoryview_type +#define __pyx_memoryviewslice_type __pyx_mstate_global->__pyx_memoryviewslice_type +#define __pyx_kp_u_ __pyx_mstate_global->__pyx_kp_u_ +#define __pyx_n_s_ADSP_LIBRARY_PATH __pyx_mstate_global->__pyx_n_s_ADSP_LIBRARY_PATH +#define __pyx_n_s_ASCII __pyx_mstate_global->__pyx_n_s_ASCII +#define __pyx_kp_s_All_dimensions_preceding_dimensi __pyx_mstate_global->__pyx_kp_s_All_dimensions_preceding_dimensi +#define __pyx_n_s_AssertionError __pyx_mstate_global->__pyx_n_s_AssertionError +#define __pyx_kp_s_Buffer_view_does_not_expose_stri __pyx_mstate_global->__pyx_kp_s_Buffer_view_does_not_expose_stri +#define __pyx_kp_s_Can_only_create_a_buffer_that_is __pyx_mstate_global->__pyx_kp_s_Can_only_create_a_buffer_that_is +#define __pyx_kp_s_Cannot_assign_to_read_only_memor __pyx_mstate_global->__pyx_kp_s_Cannot_assign_to_read_only_memor +#define __pyx_kp_s_Cannot_create_writable_memory_vi __pyx_mstate_global->__pyx_kp_s_Cannot_create_writable_memory_vi +#define __pyx_kp_u_Cannot_index_with_type __pyx_mstate_global->__pyx_kp_u_Cannot_index_with_type +#define __pyx_kp_s_Cannot_transpose_memoryview_with __pyx_mstate_global->__pyx_kp_s_Cannot_transpose_memoryview_with +#define __pyx_kp_s_Dimension_d_is_not_direct __pyx_mstate_global->__pyx_kp_s_Dimension_d_is_not_direct +#define __pyx_n_s_Ellipsis __pyx_mstate_global->__pyx_n_s_Ellipsis +#define __pyx_kp_s_Empty_shape_tuple_for_cython_arr __pyx_mstate_global->__pyx_kp_s_Empty_shape_tuple_for_cython_arr +#define __pyx_kp_s_Incompatible_checksums_0x_x_vs_0 __pyx_mstate_global->__pyx_kp_s_Incompatible_checksums_0x_x_vs_0 +#define __pyx_n_s_IndexError __pyx_mstate_global->__pyx_n_s_IndexError +#define __pyx_kp_s_Index_out_of_bounds_axis_d __pyx_mstate_global->__pyx_kp_s_Index_out_of_bounds_axis_d +#define __pyx_kp_s_Indirect_dimensions_not_supporte __pyx_mstate_global->__pyx_kp_s_Indirect_dimensions_not_supporte +#define __pyx_kp_u_Invalid_mode_expected_c_or_fortr __pyx_mstate_global->__pyx_kp_u_Invalid_mode_expected_c_or_fortr +#define __pyx_kp_u_Invalid_shape_in_axis __pyx_mstate_global->__pyx_kp_u_Invalid_shape_in_axis +#define __pyx_n_s_MemoryError __pyx_mstate_global->__pyx_n_s_MemoryError +#define __pyx_kp_s_MemoryView_of_r_at_0x_x __pyx_mstate_global->__pyx_kp_s_MemoryView_of_r_at_0x_x +#define __pyx_kp_s_MemoryView_of_r_object __pyx_mstate_global->__pyx_kp_s_MemoryView_of_r_object +#define __pyx_n_b_O __pyx_mstate_global->__pyx_n_b_O +#define __pyx_kp_u_Out_of_bounds_on_buffer_access_a __pyx_mstate_global->__pyx_kp_u_Out_of_bounds_on_buffer_access_a +#define __pyx_n_s_PickleError __pyx_mstate_global->__pyx_n_s_PickleError +#define __pyx_n_s_SNPEModel __pyx_mstate_global->__pyx_n_s_SNPEModel +#define __pyx_n_s_SNPEModel___reduce_cython __pyx_mstate_global->__pyx_n_s_SNPEModel___reduce_cython +#define __pyx_n_s_SNPEModel___setstate_cython __pyx_mstate_global->__pyx_n_s_SNPEModel___setstate_cython +#define __pyx_n_s_Sequence __pyx_mstate_global->__pyx_n_s_Sequence +#define __pyx_kp_s_Step_may_not_be_zero_axis_d __pyx_mstate_global->__pyx_kp_s_Step_may_not_be_zero_axis_d +#define __pyx_n_s_TypeError __pyx_mstate_global->__pyx_n_s_TypeError +#define __pyx_kp_s_Unable_to_convert_item_to_object __pyx_mstate_global->__pyx_kp_s_Unable_to_convert_item_to_object +#define __pyx_n_s_ValueError __pyx_mstate_global->__pyx_n_s_ValueError +#define __pyx_n_s_View_MemoryView __pyx_mstate_global->__pyx_n_s_View_MemoryView +#define __pyx_kp_u__2 __pyx_mstate_global->__pyx_kp_u__2 +#define __pyx_n_s__24 __pyx_mstate_global->__pyx_n_s__24 +#define __pyx_n_s__3 __pyx_mstate_global->__pyx_n_s__3 +#define __pyx_kp_u__6 __pyx_mstate_global->__pyx_kp_u__6 +#define __pyx_kp_u__7 __pyx_mstate_global->__pyx_kp_u__7 +#define __pyx_n_s_abc __pyx_mstate_global->__pyx_n_s_abc +#define __pyx_n_s_allocate_buffer __pyx_mstate_global->__pyx_n_s_allocate_buffer +#define __pyx_kp_u_and __pyx_mstate_global->__pyx_kp_u_and +#define __pyx_n_s_asyncio_coroutines __pyx_mstate_global->__pyx_n_s_asyncio_coroutines +#define __pyx_n_s_base __pyx_mstate_global->__pyx_n_s_base +#define __pyx_n_s_c __pyx_mstate_global->__pyx_n_s_c +#define __pyx_n_u_c __pyx_mstate_global->__pyx_n_u_c +#define __pyx_n_s_class __pyx_mstate_global->__pyx_n_s_class +#define __pyx_n_s_class_getitem __pyx_mstate_global->__pyx_n_s_class_getitem +#define __pyx_n_s_cline_in_traceback __pyx_mstate_global->__pyx_n_s_cline_in_traceback +#define __pyx_n_s_collections __pyx_mstate_global->__pyx_n_s_collections +#define __pyx_kp_s_collections_abc __pyx_mstate_global->__pyx_kp_s_collections_abc +#define __pyx_n_s_context __pyx_mstate_global->__pyx_n_s_context +#define __pyx_kp_s_contiguous_and_direct __pyx_mstate_global->__pyx_kp_s_contiguous_and_direct +#define __pyx_kp_s_contiguous_and_indirect __pyx_mstate_global->__pyx_kp_s_contiguous_and_indirect +#define __pyx_n_s_count __pyx_mstate_global->__pyx_n_s_count +#define __pyx_kp_s_data_pythonpath_third_party_snp __pyx_mstate_global->__pyx_kp_s_data_pythonpath_third_party_snp +#define __pyx_n_s_dict __pyx_mstate_global->__pyx_n_s_dict +#define __pyx_kp_u_disable __pyx_mstate_global->__pyx_kp_u_disable +#define __pyx_n_s_dtype_is_object __pyx_mstate_global->__pyx_n_s_dtype_is_object +#define __pyx_kp_u_enable __pyx_mstate_global->__pyx_kp_u_enable +#define __pyx_n_s_encode __pyx_mstate_global->__pyx_n_s_encode +#define __pyx_n_s_enumerate __pyx_mstate_global->__pyx_n_s_enumerate +#define __pyx_n_s_environ __pyx_mstate_global->__pyx_n_s_environ +#define __pyx_n_s_error __pyx_mstate_global->__pyx_n_s_error +#define __pyx_n_s_flags __pyx_mstate_global->__pyx_n_s_flags +#define __pyx_n_s_format __pyx_mstate_global->__pyx_n_s_format +#define __pyx_n_s_fortran __pyx_mstate_global->__pyx_n_s_fortran +#define __pyx_n_u_fortran __pyx_mstate_global->__pyx_n_u_fortran +#define __pyx_kp_u_gc __pyx_mstate_global->__pyx_kp_u_gc +#define __pyx_n_s_getstate __pyx_mstate_global->__pyx_n_s_getstate +#define __pyx_kp_u_got __pyx_mstate_global->__pyx_kp_u_got +#define __pyx_kp_u_got_differing_extents_in_dimensi __pyx_mstate_global->__pyx_kp_u_got_differing_extents_in_dimensi +#define __pyx_n_s_id __pyx_mstate_global->__pyx_n_s_id +#define __pyx_n_s_import __pyx_mstate_global->__pyx_n_s_import +#define __pyx_n_s_index __pyx_mstate_global->__pyx_n_s_index +#define __pyx_n_s_initializing __pyx_mstate_global->__pyx_n_s_initializing +#define __pyx_n_s_is_coroutine __pyx_mstate_global->__pyx_n_s_is_coroutine +#define __pyx_kp_u_isenabled __pyx_mstate_global->__pyx_kp_u_isenabled +#define __pyx_n_s_itemsize __pyx_mstate_global->__pyx_n_s_itemsize +#define __pyx_kp_s_itemsize_0_for_cython_array __pyx_mstate_global->__pyx_kp_s_itemsize_0_for_cython_array +#define __pyx_n_s_main __pyx_mstate_global->__pyx_n_s_main +#define __pyx_n_s_memview __pyx_mstate_global->__pyx_n_s_memview +#define __pyx_n_s_mode __pyx_mstate_global->__pyx_n_s_mode +#define __pyx_n_s_name __pyx_mstate_global->__pyx_n_s_name +#define __pyx_n_s_name_2 __pyx_mstate_global->__pyx_n_s_name_2 +#define __pyx_n_s_ndim __pyx_mstate_global->__pyx_n_s_ndim +#define __pyx_n_s_new __pyx_mstate_global->__pyx_n_s_new +#define __pyx_kp_s_no_default___reduce___due_to_non __pyx_mstate_global->__pyx_kp_s_no_default___reduce___due_to_non +#define __pyx_n_s_obj __pyx_mstate_global->__pyx_n_s_obj +#define __pyx_n_s_os __pyx_mstate_global->__pyx_n_s_os +#define __pyx_n_s_output __pyx_mstate_global->__pyx_n_s_output +#define __pyx_n_s_pack __pyx_mstate_global->__pyx_n_s_pack +#define __pyx_n_s_path __pyx_mstate_global->__pyx_n_s_path +#define __pyx_n_s_pickle __pyx_mstate_global->__pyx_n_s_pickle +#define __pyx_n_s_pyx_PickleError __pyx_mstate_global->__pyx_n_s_pyx_PickleError +#define __pyx_n_s_pyx_checksum __pyx_mstate_global->__pyx_n_s_pyx_checksum +#define __pyx_n_s_pyx_result __pyx_mstate_global->__pyx_n_s_pyx_result +#define __pyx_n_s_pyx_state __pyx_mstate_global->__pyx_n_s_pyx_state +#define __pyx_n_s_pyx_type __pyx_mstate_global->__pyx_n_s_pyx_type +#define __pyx_n_s_pyx_unpickle_Enum __pyx_mstate_global->__pyx_n_s_pyx_unpickle_Enum +#define __pyx_n_s_pyx_vtable __pyx_mstate_global->__pyx_n_s_pyx_vtable +#define __pyx_n_s_range __pyx_mstate_global->__pyx_n_s_range +#define __pyx_n_s_reduce __pyx_mstate_global->__pyx_n_s_reduce +#define __pyx_n_s_reduce_cython __pyx_mstate_global->__pyx_n_s_reduce_cython +#define __pyx_n_s_reduce_ex __pyx_mstate_global->__pyx_n_s_reduce_ex +#define __pyx_n_s_register __pyx_mstate_global->__pyx_n_s_register +#define __pyx_n_s_runtime __pyx_mstate_global->__pyx_n_s_runtime +#define __pyx_n_s_self __pyx_mstate_global->__pyx_n_s_self +#define __pyx_n_s_selfdrive_classic_modeld_runners __pyx_mstate_global->__pyx_n_s_selfdrive_classic_modeld_runners +#define __pyx_n_s_setstate __pyx_mstate_global->__pyx_n_s_setstate +#define __pyx_n_s_setstate_cython __pyx_mstate_global->__pyx_n_s_setstate_cython +#define __pyx_n_s_shape __pyx_mstate_global->__pyx_n_s_shape +#define __pyx_n_s_size __pyx_mstate_global->__pyx_n_s_size +#define __pyx_n_s_spec __pyx_mstate_global->__pyx_n_s_spec +#define __pyx_n_s_start __pyx_mstate_global->__pyx_n_s_start +#define __pyx_n_s_step __pyx_mstate_global->__pyx_n_s_step +#define __pyx_n_s_stop __pyx_mstate_global->__pyx_n_s_stop +#define __pyx_kp_s_strided_and_direct __pyx_mstate_global->__pyx_kp_s_strided_and_direct +#define __pyx_kp_s_strided_and_direct_or_indirect __pyx_mstate_global->__pyx_kp_s_strided_and_direct_or_indirect +#define __pyx_kp_s_strided_and_indirect __pyx_mstate_global->__pyx_kp_s_strided_and_indirect +#define __pyx_kp_s_stringsource __pyx_mstate_global->__pyx_kp_s_stringsource +#define __pyx_n_s_struct __pyx_mstate_global->__pyx_n_s_struct +#define __pyx_n_s_sys __pyx_mstate_global->__pyx_n_s_sys +#define __pyx_n_s_test __pyx_mstate_global->__pyx_n_s_test +#define __pyx_kp_s_unable_to_allocate_array_data __pyx_mstate_global->__pyx_kp_s_unable_to_allocate_array_data +#define __pyx_kp_s_unable_to_allocate_shape_and_str __pyx_mstate_global->__pyx_kp_s_unable_to_allocate_shape_and_str +#define __pyx_n_s_unpack __pyx_mstate_global->__pyx_n_s_unpack +#define __pyx_n_s_update __pyx_mstate_global->__pyx_n_s_update +#define __pyx_n_s_use_tf8 __pyx_mstate_global->__pyx_n_s_use_tf8 +#define __pyx_n_s_version_info __pyx_mstate_global->__pyx_n_s_version_info +#define __pyx_int_0 __pyx_mstate_global->__pyx_int_0 +#define __pyx_int_1 __pyx_mstate_global->__pyx_int_1 +#define __pyx_int_3 __pyx_mstate_global->__pyx_int_3 +#define __pyx_int_112105877 __pyx_mstate_global->__pyx_int_112105877 +#define __pyx_int_136983863 __pyx_mstate_global->__pyx_int_136983863 +#define __pyx_int_184977713 __pyx_mstate_global->__pyx_int_184977713 +#define __pyx_int_neg_1 __pyx_mstate_global->__pyx_int_neg_1 +#define __pyx_slice__5 __pyx_mstate_global->__pyx_slice__5 +#define __pyx_tuple__4 __pyx_mstate_global->__pyx_tuple__4 +#define __pyx_tuple__8 __pyx_mstate_global->__pyx_tuple__8 +#define __pyx_tuple__9 __pyx_mstate_global->__pyx_tuple__9 +#define __pyx_tuple__10 __pyx_mstate_global->__pyx_tuple__10 +#define __pyx_tuple__11 __pyx_mstate_global->__pyx_tuple__11 +#define __pyx_tuple__12 __pyx_mstate_global->__pyx_tuple__12 +#define __pyx_tuple__13 __pyx_mstate_global->__pyx_tuple__13 +#define __pyx_tuple__14 __pyx_mstate_global->__pyx_tuple__14 +#define __pyx_tuple__15 __pyx_mstate_global->__pyx_tuple__15 +#define __pyx_tuple__16 __pyx_mstate_global->__pyx_tuple__16 +#define __pyx_tuple__17 __pyx_mstate_global->__pyx_tuple__17 +#define __pyx_tuple__18 __pyx_mstate_global->__pyx_tuple__18 +#define __pyx_tuple__20 __pyx_mstate_global->__pyx_tuple__20 +#define __pyx_tuple__22 __pyx_mstate_global->__pyx_tuple__22 +#define __pyx_codeobj__19 __pyx_mstate_global->__pyx_codeobj__19 +#define __pyx_codeobj__21 __pyx_mstate_global->__pyx_codeobj__21 +#define __pyx_codeobj__23 __pyx_mstate_global->__pyx_codeobj__23 +/* #### Code section: module_code ### */ + +/* "string.from_py":13 + * + * @cname("__pyx_convert_string_from_py_std__in_string") + * cdef string __pyx_convert_string_from_py_std__in_string(object o) except *: # <<<<<<<<<<<<<< + * cdef Py_ssize_t length = 0 + * cdef const char* data = __Pyx_PyObject_AsStringAndSize(o, &length) + */ + +static std::string __pyx_convert_string_from_py_std__in_string(PyObject *__pyx_v_o) { + Py_ssize_t __pyx_v_length; + char const *__pyx_v_data; + std::string __pyx_r; + char const *__pyx_t_1; + std::string __pyx_t_2; + int __pyx_lineno = 0; + const char *__pyx_filename = NULL; + int __pyx_clineno = 0; + + /* "string.from_py":14 + * @cname("__pyx_convert_string_from_py_std__in_string") + * cdef string 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__Pyx_RefNannyFinishContext(); + return __pyx_r; +} + +/* "View.MemoryView":793 + * + * @cname('__pyx_memoryview_slice_memviewslice') + * cdef int slice_memviewslice( # <<<<<<<<<<<<<< + * __Pyx_memviewslice *dst, + * Py_ssize_t shape, Py_ssize_t stride, Py_ssize_t suboffset, + */ + +static int __pyx_memoryview_slice_memviewslice(__Pyx_memviewslice *__pyx_v_dst, Py_ssize_t __pyx_v_shape, Py_ssize_t __pyx_v_stride, Py_ssize_t __pyx_v_suboffset, int __pyx_v_dim, int __pyx_v_new_ndim, int *__pyx_v_suboffset_dim, Py_ssize_t __pyx_v_start, Py_ssize_t __pyx_v_stop, Py_ssize_t __pyx_v_step, int __pyx_v_have_start, int __pyx_v_have_stop, int __pyx_v_have_step, int __pyx_v_is_slice) { + Py_ssize_t __pyx_v_new_shape; + int __pyx_v_negative_step; + int __pyx_r; + int __pyx_t_1; + int __pyx_t_2; + int __pyx_t_3; + int __pyx_lineno = 0; + const char *__pyx_filename = NULL; + int __pyx_clineno = 0; + #ifdef WITH_THREAD + PyGILState_STATE __pyx_gilstate_save; + #endif + + /* "View.MemoryView":813 + * cdef bint negative_step + * + * if not is_slice: # <<<<<<<<<<<<<< + * + * if start < 0: + */ + __pyx_t_1 = (!__pyx_v_is_slice); + if (__pyx_t_1) { + + /* "View.MemoryView":815 + * if not is_slice: + * + * if start < 0: # <<<<<<<<<<<<<< + * start += shape + * if not 0 <= start < shape: + */ + __pyx_t_1 = (__pyx_v_start < 0); + if (__pyx_t_1) { + + /* "View.MemoryView":816 + * + * if start < 0: + * start += shape # <<<<<<<<<<<<<< + * if not 0 <= start < shape: + * _err_dim(PyExc_IndexError, "Index out of bounds (axis %d)", dim) + */ + __pyx_v_start = (__pyx_v_start + __pyx_v_shape); + + /* "View.MemoryView":815 + * if not is_slice: + * + * if start < 0: # <<<<<<<<<<<<<< + * start += shape + * if not 0 <= start < shape: + */ + } + + /* "View.MemoryView":817 + * if start < 0: + * start += shape + * if not 0 <= start < shape: # <<<<<<<<<<<<<< + * _err_dim(PyExc_IndexError, "Index out of bounds (axis %d)", dim) + * else: + */ + __pyx_t_1 = (0 <= __pyx_v_start); + if (__pyx_t_1) { + __pyx_t_1 = (__pyx_v_start < __pyx_v_shape); + } + __pyx_t_2 = (!__pyx_t_1); + if (__pyx_t_2) { + + /* "View.MemoryView":818 + * start += shape + * if not 0 <= start < shape: + * _err_dim(PyExc_IndexError, "Index out of bounds (axis %d)", dim) # <<<<<<<<<<<<<< + * else: + * + */ + __pyx_t_3 = __pyx_memoryview_err_dim(PyExc_IndexError, __pyx_kp_s_Index_out_of_bounds_axis_d, __pyx_v_dim); if (unlikely(__pyx_t_3 == ((int)-1))) __PYX_ERR(0, 818, __pyx_L1_error) + + /* "View.MemoryView":817 + * if start < 0: + * start += shape + * if not 0 <= start < shape: # <<<<<<<<<<<<<< + * _err_dim(PyExc_IndexError, "Index out of bounds (axis %d)", dim) + * else: + */ + } + + /* "View.MemoryView":813 + * cdef bint negative_step + * + * if not is_slice: # <<<<<<<<<<<<<< + * + * if start < 0: + */ + goto __pyx_L3; + } + + /* "View.MemoryView":821 + * else: + * + * if have_step: # <<<<<<<<<<<<<< + * negative_step = step < 0 + * if step == 0: + */ + /*else*/ { + __pyx_t_2 = (__pyx_v_have_step != 0); + if (__pyx_t_2) { + + /* "View.MemoryView":822 + * + * if have_step: + * negative_step = step < 0 # <<<<<<<<<<<<<< + * if step == 0: + * _err_dim(PyExc_ValueError, "Step may not be zero (axis %d)", dim) + */ + __pyx_v_negative_step = (__pyx_v_step < 0); + + /* "View.MemoryView":823 + * if have_step: + * negative_step = step < 0 + * if step == 0: # <<<<<<<<<<<<<< + * _err_dim(PyExc_ValueError, "Step may not be zero (axis %d)", dim) + * else: + */ + __pyx_t_2 = (__pyx_v_step == 0); + if (__pyx_t_2) { + + /* "View.MemoryView":824 + * negative_step = step < 0 + * if step == 0: + * _err_dim(PyExc_ValueError, "Step may not be zero (axis %d)", dim) # <<<<<<<<<<<<<< + * else: + * negative_step = False + */ + __pyx_t_3 = __pyx_memoryview_err_dim(PyExc_ValueError, __pyx_kp_s_Step_may_not_be_zero_axis_d, __pyx_v_dim); if (unlikely(__pyx_t_3 == ((int)-1))) __PYX_ERR(0, 824, __pyx_L1_error) + + /* "View.MemoryView":823 + * if have_step: + * negative_step = step < 0 + * if step == 0: # <<<<<<<<<<<<<< + * _err_dim(PyExc_ValueError, "Step may not be zero (axis %d)", dim) + * else: + */ + } + + /* "View.MemoryView":821 + * else: + * + * if have_step: # <<<<<<<<<<<<<< + * negative_step = step < 0 + * if step == 0: + */ + goto __pyx_L6; + } + + /* "View.MemoryView":826 + * _err_dim(PyExc_ValueError, "Step may not be zero (axis %d)", dim) + * else: + * negative_step = False # <<<<<<<<<<<<<< + * step = 1 + * + */ + /*else*/ { + __pyx_v_negative_step = 0; + + /* "View.MemoryView":827 + * else: + * negative_step = False + * step = 1 # <<<<<<<<<<<<<< + * + * + */ + __pyx_v_step = 1; + } + __pyx_L6:; + + /* "View.MemoryView":830 + * + * + * if have_start: # <<<<<<<<<<<<<< + * if start < 0: + * start += shape + */ + __pyx_t_2 = (__pyx_v_have_start != 0); + if (__pyx_t_2) { + + /* "View.MemoryView":831 + * + * if have_start: + * if start < 0: # <<<<<<<<<<<<<< + * start += shape + * if start < 0: + */ + __pyx_t_2 = (__pyx_v_start < 0); + if (__pyx_t_2) { + + /* "View.MemoryView":832 + * if have_start: + * if start < 0: + * start += shape # <<<<<<<<<<<<<< + * if start < 0: + * start = 0 + */ + __pyx_v_start = (__pyx_v_start + __pyx_v_shape); + + /* "View.MemoryView":833 + * if start < 0: + * start += shape + * if start < 0: # <<<<<<<<<<<<<< + * start = 0 + * elif start >= shape: + */ + __pyx_t_2 = (__pyx_v_start < 0); + if (__pyx_t_2) { + + /* "View.MemoryView":834 + * start += shape + * if start < 0: + * start = 0 # <<<<<<<<<<<<<< + * elif start >= shape: + * if negative_step: + */ + __pyx_v_start = 0; + + /* "View.MemoryView":833 + * if start < 0: + * start += shape + * if start < 0: # <<<<<<<<<<<<<< + * start = 0 + * elif start >= shape: + */ + } + + /* "View.MemoryView":831 + * + * if have_start: + * if start < 0: # <<<<<<<<<<<<<< + * start += shape + * if start < 0: + */ + goto __pyx_L9; + } + + /* "View.MemoryView":835 + * if start < 0: + * start = 0 + * elif start >= shape: # <<<<<<<<<<<<<< + * if negative_step: + * start = shape - 1 + */ + __pyx_t_2 = (__pyx_v_start >= __pyx_v_shape); + if (__pyx_t_2) { + + /* "View.MemoryView":836 + * start = 0 + * elif start >= shape: + * if negative_step: # <<<<<<<<<<<<<< + * start = shape - 1 + * else: + */ + if (__pyx_v_negative_step) { + + /* "View.MemoryView":837 + * elif start >= shape: + * if negative_step: + * start = shape - 1 # <<<<<<<<<<<<<< + * else: + * start = shape + */ + __pyx_v_start = (__pyx_v_shape - 1); + + /* "View.MemoryView":836 + * start = 0 + * elif start >= shape: + * if negative_step: # <<<<<<<<<<<<<< + * start = shape - 1 + * else: + */ + goto __pyx_L11; + } + + /* "View.MemoryView":839 + * start = shape - 1 + * else: + * start = shape # <<<<<<<<<<<<<< + * else: + * if negative_step: + */ + /*else*/ { + __pyx_v_start = __pyx_v_shape; + } + __pyx_L11:; + + /* "View.MemoryView":835 + * if start < 0: + * start = 0 + * elif start >= shape: # <<<<<<<<<<<<<< + * if negative_step: + * start = shape - 1 + */ + } + __pyx_L9:; + + /* "View.MemoryView":830 + * + * + * if have_start: # <<<<<<<<<<<<<< + * if start < 0: + * start += shape + */ + goto __pyx_L8; + } + + /* "View.MemoryView":841 + * start = shape + * else: + * if negative_step: # <<<<<<<<<<<<<< + * start = shape - 1 + * else: + */ + /*else*/ { + if (__pyx_v_negative_step) { + + /* "View.MemoryView":842 + * else: + * if negative_step: + * start = shape - 1 # <<<<<<<<<<<<<< + * else: + * start = 0 + */ + __pyx_v_start = (__pyx_v_shape - 1); + + /* "View.MemoryView":841 + * start = shape + * else: + * if negative_step: # <<<<<<<<<<<<<< + * start = shape - 1 + * else: + */ + goto __pyx_L12; + } + + /* "View.MemoryView":844 + * start = shape - 1 + * else: + * start = 0 # <<<<<<<<<<<<<< + * + * if have_stop: + */ + /*else*/ { + __pyx_v_start = 0; + } + __pyx_L12:; + } + __pyx_L8:; + + /* "View.MemoryView":846 + * start = 0 + * + * if have_stop: # <<<<<<<<<<<<<< + * if stop < 0: + * stop += shape + */ + __pyx_t_2 = (__pyx_v_have_stop != 0); + if (__pyx_t_2) { + + /* "View.MemoryView":847 + * + * if have_stop: + * if stop < 0: # <<<<<<<<<<<<<< + * stop += shape + * if stop < 0: + */ + __pyx_t_2 = (__pyx_v_stop < 0); + if (__pyx_t_2) { + + /* "View.MemoryView":848 + * if have_stop: + * if stop < 0: + * stop += shape # <<<<<<<<<<<<<< + * if stop < 0: + * stop = 0 + */ + __pyx_v_stop = (__pyx_v_stop + __pyx_v_shape); + + /* "View.MemoryView":849 + * if stop < 0: + * stop += shape + * if stop < 0: # <<<<<<<<<<<<<< + * stop = 0 + * elif stop > shape: + */ + __pyx_t_2 = (__pyx_v_stop < 0); + if (__pyx_t_2) { + + /* "View.MemoryView":850 + * stop += shape + * if stop < 0: + * stop = 0 # <<<<<<<<<<<<<< + * elif stop > shape: + * stop = shape + */ + __pyx_v_stop = 0; + + /* "View.MemoryView":849 + * if stop < 0: + * stop += shape + * if stop < 0: # <<<<<<<<<<<<<< + * stop = 0 + * elif stop > shape: + */ + } + + /* "View.MemoryView":847 + * + * if have_stop: + * if stop < 0: # <<<<<<<<<<<<<< + * stop += shape + * if stop < 0: + */ + goto __pyx_L14; + } + + /* "View.MemoryView":851 + * if stop < 0: + * stop = 0 + * elif stop > shape: # <<<<<<<<<<<<<< + * stop = shape + * else: + */ + __pyx_t_2 = (__pyx_v_stop > __pyx_v_shape); + if (__pyx_t_2) { + + /* "View.MemoryView":852 + * stop = 0 + * elif stop > shape: + * stop = shape # <<<<<<<<<<<<<< + * else: + * if negative_step: + */ + __pyx_v_stop = __pyx_v_shape; + + /* "View.MemoryView":851 + * if stop < 0: + * stop = 0 + * elif stop > shape: # <<<<<<<<<<<<<< + * stop = shape + * else: + */ + } + __pyx_L14:; + + /* "View.MemoryView":846 + * start = 0 + * + * if have_stop: # <<<<<<<<<<<<<< + * if stop < 0: + * stop += shape + */ + goto __pyx_L13; + } + + /* "View.MemoryView":854 + * stop = shape + * else: + * if negative_step: # <<<<<<<<<<<<<< + * stop = -1 + * else: + */ + /*else*/ { + if (__pyx_v_negative_step) { + + /* "View.MemoryView":855 + * else: + * if negative_step: + * stop = -1 # <<<<<<<<<<<<<< + * else: + * stop = shape + */ + __pyx_v_stop = -1L; + + /* "View.MemoryView":854 + * stop = shape + * else: + * if negative_step: # <<<<<<<<<<<<<< + * stop = -1 + * else: + */ + goto __pyx_L16; + } + + /* "View.MemoryView":857 + * stop = -1 + * else: + * stop = shape # <<<<<<<<<<<<<< + * + * + */ + /*else*/ { + __pyx_v_stop = __pyx_v_shape; + } + __pyx_L16:; + } + __pyx_L13:; + + /* "View.MemoryView":861 + * + * with cython.cdivision(True): + * new_shape = (stop - start) // step # <<<<<<<<<<<<<< + * + * if (stop - start) - step * new_shape: + */ + __pyx_v_new_shape = ((__pyx_v_stop - __pyx_v_start) / __pyx_v_step); + + /* "View.MemoryView":863 + * new_shape = (stop - start) // step + * + * if (stop - start) - step * new_shape: # <<<<<<<<<<<<<< + * new_shape += 1 + * + */ + __pyx_t_2 = (((__pyx_v_stop - __pyx_v_start) - (__pyx_v_step * __pyx_v_new_shape)) != 0); + if (__pyx_t_2) { + + /* "View.MemoryView":864 + * + * if (stop - start) - step * new_shape: + * new_shape += 1 # <<<<<<<<<<<<<< + * + * if new_shape < 0: + */ + __pyx_v_new_shape = (__pyx_v_new_shape + 1); + + /* "View.MemoryView":863 + * new_shape = (stop - start) // step + * + * if (stop - start) - step * new_shape: # <<<<<<<<<<<<<< + * new_shape += 1 + * + */ + } + + /* "View.MemoryView":866 + * new_shape += 1 + * + * if new_shape < 0: # <<<<<<<<<<<<<< + * new_shape = 0 + * + */ + __pyx_t_2 = (__pyx_v_new_shape < 0); + if (__pyx_t_2) { + + /* "View.MemoryView":867 + * + * if new_shape < 0: + * new_shape = 0 # <<<<<<<<<<<<<< + * + * + */ + __pyx_v_new_shape = 0; + + /* "View.MemoryView":866 + * new_shape += 1 + * + * if new_shape < 0: # <<<<<<<<<<<<<< + * new_shape = 0 + * + */ + } + + /* "View.MemoryView":870 + * + * + * dst.strides[new_ndim] = stride * step # <<<<<<<<<<<<<< + * dst.shape[new_ndim] = new_shape + * dst.suboffsets[new_ndim] = suboffset + */ + (__pyx_v_dst->strides[__pyx_v_new_ndim]) = (__pyx_v_stride * __pyx_v_step); + + /* "View.MemoryView":871 + * + * dst.strides[new_ndim] = stride * step + * dst.shape[new_ndim] = new_shape # <<<<<<<<<<<<<< + * dst.suboffsets[new_ndim] = suboffset + * + */ + (__pyx_v_dst->shape[__pyx_v_new_ndim]) = __pyx_v_new_shape; + + /* "View.MemoryView":872 + * dst.strides[new_ndim] = stride * step + * dst.shape[new_ndim] = new_shape + * dst.suboffsets[new_ndim] = suboffset # <<<<<<<<<<<<<< + * + * + */ + (__pyx_v_dst->suboffsets[__pyx_v_new_ndim]) = __pyx_v_suboffset; + } + __pyx_L3:; + + /* "View.MemoryView":875 + * + * + * if suboffset_dim[0] < 0: # <<<<<<<<<<<<<< + * dst.data += start * stride + * else: + */ + __pyx_t_2 = ((__pyx_v_suboffset_dim[0]) < 0); + if (__pyx_t_2) { + + /* "View.MemoryView":876 + * + * if suboffset_dim[0] < 0: + * dst.data += start * stride # <<<<<<<<<<<<<< + * else: + * dst.suboffsets[suboffset_dim[0]] += start * stride + */ + __pyx_v_dst->data = (__pyx_v_dst->data + (__pyx_v_start * __pyx_v_stride)); + + /* "View.MemoryView":875 + * + * + * if suboffset_dim[0] < 0: # <<<<<<<<<<<<<< + * dst.data += start * stride + * else: + */ + goto __pyx_L19; + } + + /* "View.MemoryView":878 + * dst.data += start * stride + * else: + * dst.suboffsets[suboffset_dim[0]] += start * stride # <<<<<<<<<<<<<< + * + * if suboffset >= 0: + */ + /*else*/ { + __pyx_t_3 = (__pyx_v_suboffset_dim[0]); + (__pyx_v_dst->suboffsets[__pyx_t_3]) = ((__pyx_v_dst->suboffsets[__pyx_t_3]) + (__pyx_v_start * __pyx_v_stride)); + } + __pyx_L19:; + + /* "View.MemoryView":880 + * dst.suboffsets[suboffset_dim[0]] += start * stride + * + * if suboffset >= 0: # <<<<<<<<<<<<<< + * if not is_slice: + * if new_ndim == 0: + */ + __pyx_t_2 = (__pyx_v_suboffset >= 0); + if (__pyx_t_2) { + + /* "View.MemoryView":881 + * + * if suboffset >= 0: + * if not is_slice: # <<<<<<<<<<<<<< + * if new_ndim == 0: + * dst.data = ( dst.data)[0] + suboffset + */ + __pyx_t_2 = (!__pyx_v_is_slice); + if (__pyx_t_2) { + + /* "View.MemoryView":882 + * if suboffset >= 0: + * if not is_slice: + * if new_ndim == 0: # <<<<<<<<<<<<<< + * dst.data = ( dst.data)[0] + suboffset + * else: + */ + __pyx_t_2 = (__pyx_v_new_ndim == 0); + if (__pyx_t_2) { + + /* "View.MemoryView":883 + * if not is_slice: + * if new_ndim == 0: + * dst.data = ( dst.data)[0] + suboffset # <<<<<<<<<<<<<< + * else: + * _err_dim(PyExc_IndexError, "All dimensions preceding dimension %d " + */ + __pyx_v_dst->data = ((((char **)__pyx_v_dst->data)[0]) + __pyx_v_suboffset); + + /* "View.MemoryView":882 + * if suboffset >= 0: + * if not is_slice: + * if new_ndim == 0: # <<<<<<<<<<<<<< + * dst.data = ( dst.data)[0] + suboffset + * else: + */ + goto __pyx_L22; + } + + /* "View.MemoryView":885 + * dst.data = ( dst.data)[0] + suboffset + * else: + * _err_dim(PyExc_IndexError, "All dimensions preceding dimension %d " # <<<<<<<<<<<<<< + * "must be indexed and not sliced", dim) + * else: + */ + /*else*/ { + + /* "View.MemoryView":886 + * else: + * _err_dim(PyExc_IndexError, "All dimensions preceding dimension %d " + * "must be indexed and not sliced", dim) # <<<<<<<<<<<<<< + * else: + * suboffset_dim[0] = new_ndim + */ + __pyx_t_3 = __pyx_memoryview_err_dim(PyExc_IndexError, __pyx_kp_s_All_dimensions_preceding_dimensi, __pyx_v_dim); if (unlikely(__pyx_t_3 == ((int)-1))) __PYX_ERR(0, 885, __pyx_L1_error) + } + __pyx_L22:; + + /* "View.MemoryView":881 + * + * if suboffset >= 0: + * if not is_slice: # <<<<<<<<<<<<<< + * if new_ndim == 0: + * dst.data = ( dst.data)[0] + suboffset + */ + goto __pyx_L21; + } + + /* "View.MemoryView":888 + * "must be indexed and not sliced", dim) + * else: + * suboffset_dim[0] = new_ndim # <<<<<<<<<<<<<< + * + * return 0 + */ + /*else*/ { + (__pyx_v_suboffset_dim[0]) = __pyx_v_new_ndim; + } + __pyx_L21:; + + /* "View.MemoryView":880 + * dst.suboffsets[suboffset_dim[0]] += start * stride + * + * if suboffset >= 0: # <<<<<<<<<<<<<< + * if not is_slice: + * if new_ndim == 0: + */ + } + + /* "View.MemoryView":890 + * suboffset_dim[0] = new_ndim + * + * return 0 # <<<<<<<<<<<<<< + * + * + */ + __pyx_r = 0; + goto __pyx_L0; + + /* "View.MemoryView":793 + * + * @cname('__pyx_memoryview_slice_memviewslice') + * cdef int slice_memviewslice( # <<<<<<<<<<<<<< + * __Pyx_memviewslice *dst, + * Py_ssize_t shape, Py_ssize_t stride, Py_ssize_t suboffset, + */ + + /* function exit code */ + __pyx_L1_error:; + #ifdef WITH_THREAD + __pyx_gilstate_save = __Pyx_PyGILState_Ensure(); + #endif + __Pyx_AddTraceback("View.MemoryView.slice_memviewslice", __pyx_clineno, __pyx_lineno, __pyx_filename); + __pyx_r = -1; + #ifdef WITH_THREAD + __Pyx_PyGILState_Release(__pyx_gilstate_save); + #endif + __pyx_L0:; + return __pyx_r; +} + +/* "View.MemoryView":896 + * + * @cname('__pyx_pybuffer_index') + * cdef char *pybuffer_index(Py_buffer *view, char *bufp, Py_ssize_t index, # <<<<<<<<<<<<<< + * Py_ssize_t dim) except NULL: + * cdef Py_ssize_t shape, stride, suboffset = -1 + */ + +static char *__pyx_pybuffer_index(Py_buffer *__pyx_v_view, char *__pyx_v_bufp, Py_ssize_t __pyx_v_index, Py_ssize_t __pyx_v_dim) { + Py_ssize_t __pyx_v_shape; + Py_ssize_t __pyx_v_stride; + Py_ssize_t __pyx_v_suboffset; + Py_ssize_t __pyx_v_itemsize; 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(__pyx_t_1) { + + /* "View.MemoryView":1095 + * + * if isinstance(memview, _memoryviewslice): + * to_object_func = (<_memoryviewslice> memview).to_object_func # <<<<<<<<<<<<<< + * to_dtype_func = (<_memoryviewslice> memview).to_dtype_func + * else: + */ + __pyx_t_2 = ((struct __pyx_memoryviewslice_obj *)__pyx_v_memview)->to_object_func; + __pyx_v_to_object_func = __pyx_t_2; + + /* "View.MemoryView":1096 + * if isinstance(memview, _memoryviewslice): + * to_object_func = (<_memoryviewslice> memview).to_object_func + * to_dtype_func = (<_memoryviewslice> memview).to_dtype_func # <<<<<<<<<<<<<< + * else: + * to_object_func = NULL + */ + __pyx_t_3 = ((struct __pyx_memoryviewslice_obj *)__pyx_v_memview)->to_dtype_func; + __pyx_v_to_dtype_func = __pyx_t_3; + + /* "View.MemoryView":1094 + * cdef int (*to_dtype_func)(char *, object) except 0 + * + * if isinstance(memview, _memoryviewslice): # <<<<<<<<<<<<<< + * to_object_func = (<_memoryviewslice> memview).to_object_func + * to_dtype_func = (<_memoryviewslice> memview).to_dtype_func + */ + goto __pyx_L3; + } + + /* "View.MemoryView":1098 + * to_dtype_func = (<_memoryviewslice> memview).to_dtype_func + * else: + * to_object_func = NULL # <<<<<<<<<<<<<< + * to_dtype_func = NULL + * + */ + /*else*/ { + __pyx_v_to_object_func = NULL; + + /* "View.MemoryView":1099 + * else: + * to_object_func = NULL + * to_dtype_func = NULL # <<<<<<<<<<<<<< + * + * return memoryview_fromslice(memviewslice[0], memview.view.ndim, + */ + __pyx_v_to_dtype_func = NULL; + } + __pyx_L3:; + + /* "View.MemoryView":1101 + * to_dtype_func = NULL + * + * return memoryview_fromslice(memviewslice[0], memview.view.ndim, # <<<<<<<<<<<<<< + * to_object_func, to_dtype_func, + * memview.dtype_is_object) + */ + __Pyx_XDECREF(__pyx_r); + + /* "View.MemoryView":1103 + * return memoryview_fromslice(memviewslice[0], memview.view.ndim, + * to_object_func, to_dtype_func, + * memview.dtype_is_object) # <<<<<<<<<<<<<< + * + * + */ + __pyx_t_4 = 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<<<<<<<<<<<<<< + * return -arg if arg < 0 else arg + * + */ + +static Py_ssize_t abs_py_ssize_t(Py_ssize_t __pyx_v_arg) { + Py_ssize_t __pyx_r; + Py_ssize_t __pyx_t_1; + int __pyx_t_2; + + /* "View.MemoryView":1110 + * + * cdef Py_ssize_t abs_py_ssize_t(Py_ssize_t arg) noexcept nogil: + * return -arg if arg < 0 else arg # <<<<<<<<<<<<<< + * + * @cname('__pyx_get_best_slice_order') + */ + __pyx_t_2 = (__pyx_v_arg < 0); + if (__pyx_t_2) { + __pyx_t_1 = (-__pyx_v_arg); + } else { + __pyx_t_1 = __pyx_v_arg; + } + __pyx_r = __pyx_t_1; + goto __pyx_L0; + + /* "View.MemoryView":1109 + * + * + * cdef Py_ssize_t abs_py_ssize_t(Py_ssize_t arg) noexcept nogil: # <<<<<<<<<<<<<< + * return -arg if arg < 0 else arg + * + */ + + /* function exit code */ + __pyx_L0:; + return __pyx_r; +} + +/* "View.MemoryView":1113 + * + * @cname('__pyx_get_best_slice_order') + * cdef char get_best_order(__Pyx_memviewslice *mslice, int ndim) noexcept nogil: # <<<<<<<<<<<<<< + * """ + * Figure out the best memory access order for a given slice. + */ + +static char __pyx_get_best_slice_order(__Pyx_memviewslice *__pyx_v_mslice, int __pyx_v_ndim) { + int __pyx_v_i; + Py_ssize_t __pyx_v_c_stride; + Py_ssize_t __pyx_v_f_stride; + char __pyx_r; + int __pyx_t_1; + int __pyx_t_2; + int __pyx_t_3; + int __pyx_t_4; + + /* "View.MemoryView":1118 + * """ + * cdef int i + * cdef Py_ssize_t c_stride = 0 # <<<<<<<<<<<<<< + * cdef Py_ssize_t f_stride = 0 + * + */ + __pyx_v_c_stride = 0; + + /* "View.MemoryView":1119 + * cdef int i + * cdef Py_ssize_t c_stride = 0 + * cdef Py_ssize_t f_stride = 0 # <<<<<<<<<<<<<< + * + * for i in range(ndim - 1, -1, -1): + */ + __pyx_v_f_stride = 0; + + /* "View.MemoryView":1121 + * cdef Py_ssize_t f_stride = 0 + * + * for i in range(ndim - 1, -1, -1): # <<<<<<<<<<<<<< + * if mslice.shape[i] > 1: + * c_stride = mslice.strides[i] + */ + for (__pyx_t_1 = (__pyx_v_ndim - 1); __pyx_t_1 > -1; __pyx_t_1-=1) { + __pyx_v_i = __pyx_t_1; + + /* "View.MemoryView":1122 + * + * for i in range(ndim - 1, -1, -1): + * if mslice.shape[i] > 1: # <<<<<<<<<<<<<< + * c_stride = mslice.strides[i] + * break + */ + __pyx_t_2 = ((__pyx_v_mslice->shape[__pyx_v_i]) > 1); + if (__pyx_t_2) { + + /* "View.MemoryView":1123 + * for i in range(ndim - 1, -1, -1): + * if mslice.shape[i] > 1: + * c_stride = mslice.strides[i] # <<<<<<<<<<<<<< + * break + * + */ + __pyx_v_c_stride = (__pyx_v_mslice->strides[__pyx_v_i]); + + /* "View.MemoryView":1124 + * if mslice.shape[i] > 1: + * c_stride = mslice.strides[i] + * break # <<<<<<<<<<<<<< + * + * for i in range(ndim): + */ + goto __pyx_L4_break; + + /* "View.MemoryView":1122 + * + * for i in range(ndim - 1, -1, -1): + * if mslice.shape[i] > 1: # <<<<<<<<<<<<<< + * c_stride = mslice.strides[i] + * break + */ + } + } + __pyx_L4_break:; + + /* "View.MemoryView":1126 + * break + * + * for i in range(ndim): # <<<<<<<<<<<<<< + * if mslice.shape[i] > 1: + * f_stride = mslice.strides[i] + */ + __pyx_t_1 = __pyx_v_ndim; + __pyx_t_3 = __pyx_t_1; + for (__pyx_t_4 = 0; __pyx_t_4 < __pyx_t_3; __pyx_t_4+=1) { + __pyx_v_i = __pyx_t_4; + + /* "View.MemoryView":1127 + * + * for i in range(ndim): + * if mslice.shape[i] > 1: # <<<<<<<<<<<<<< + * f_stride = mslice.strides[i] + * break + */ + __pyx_t_2 = ((__pyx_v_mslice->shape[__pyx_v_i]) > 1); + if (__pyx_t_2) { + + /* "View.MemoryView":1128 + * for i in range(ndim): + * if mslice.shape[i] > 1: + * f_stride = mslice.strides[i] # <<<<<<<<<<<<<< + * break + * + */ + __pyx_v_f_stride = (__pyx_v_mslice->strides[__pyx_v_i]); + + /* "View.MemoryView":1129 + * if mslice.shape[i] > 1: + * f_stride = mslice.strides[i] + * break # <<<<<<<<<<<<<< + * + * if abs_py_ssize_t(c_stride) <= abs_py_ssize_t(f_stride): + */ + goto __pyx_L7_break; + + /* "View.MemoryView":1127 + * + * for i in range(ndim): + * if mslice.shape[i] > 1: # <<<<<<<<<<<<<< + * f_stride = mslice.strides[i] + * break + */ + } + } + __pyx_L7_break:; + + /* "View.MemoryView":1131 + * break + * + * if abs_py_ssize_t(c_stride) <= abs_py_ssize_t(f_stride): # <<<<<<<<<<<<<< + * return 'C' + * else: + */ + __pyx_t_2 = (abs_py_ssize_t(__pyx_v_c_stride) <= abs_py_ssize_t(__pyx_v_f_stride)); + if (__pyx_t_2) { + + /* "View.MemoryView":1132 + * + * if abs_py_ssize_t(c_stride) <= abs_py_ssize_t(f_stride): + * return 'C' # <<<<<<<<<<<<<< + * else: + * return 'F' + */ + __pyx_r = 'C'; + goto __pyx_L0; + + /* "View.MemoryView":1131 + * break + * + * if abs_py_ssize_t(c_stride) <= abs_py_ssize_t(f_stride): # <<<<<<<<<<<<<< + * return 'C' + * else: + */ + } + + /* "View.MemoryView":1134 + * return 'C' + * else: + * return 'F' # <<<<<<<<<<<<<< + * + * @cython.cdivision(True) + */ + /*else*/ { + __pyx_r = 'F'; + goto __pyx_L0; + } + + /* "View.MemoryView":1113 + * + * @cname('__pyx_get_best_slice_order') + * cdef char get_best_order(__Pyx_memviewslice *mslice, int ndim) noexcept nogil: # <<<<<<<<<<<<<< + * """ + * Figure out the best memory access order for a given slice. + */ + + /* function exit code */ + __pyx_L0:; + return __pyx_r; +} + +/* "View.MemoryView":1137 + * + * @cython.cdivision(True) + * cdef void _copy_strided_to_strided(char *src_data, Py_ssize_t *src_strides, # <<<<<<<<<<<<<< + * char *dst_data, Py_ssize_t *dst_strides, + * Py_ssize_t *src_shape, Py_ssize_t *dst_shape, + */ + +static void _copy_strided_to_strided(char *__pyx_v_src_data, Py_ssize_t *__pyx_v_src_strides, char *__pyx_v_dst_data, Py_ssize_t *__pyx_v_dst_strides, Py_ssize_t *__pyx_v_src_shape, Py_ssize_t *__pyx_v_dst_shape, int __pyx_v_ndim, size_t __pyx_v_itemsize) { + CYTHON_UNUSED Py_ssize_t __pyx_v_i; + CYTHON_UNUSED Py_ssize_t __pyx_v_src_extent; + Py_ssize_t __pyx_v_dst_extent; + Py_ssize_t __pyx_v_src_stride; + Py_ssize_t __pyx_v_dst_stride; + int __pyx_t_1; + int __pyx_t_2; + Py_ssize_t __pyx_t_3; + Py_ssize_t __pyx_t_4; + Py_ssize_t __pyx_t_5; + + /* "View.MemoryView":1144 + * + * cdef Py_ssize_t i + * cdef Py_ssize_t src_extent = src_shape[0] # <<<<<<<<<<<<<< + * cdef Py_ssize_t dst_extent = dst_shape[0] + * cdef Py_ssize_t src_stride = src_strides[0] + */ + __pyx_v_src_extent = (__pyx_v_src_shape[0]); + + /* "View.MemoryView":1145 + * cdef Py_ssize_t i + * cdef Py_ssize_t src_extent = src_shape[0] + * cdef Py_ssize_t dst_extent = dst_shape[0] # <<<<<<<<<<<<<< + * cdef Py_ssize_t src_stride = src_strides[0] + * cdef Py_ssize_t dst_stride = dst_strides[0] + */ + __pyx_v_dst_extent = (__pyx_v_dst_shape[0]); + + /* "View.MemoryView":1146 + * cdef Py_ssize_t src_extent = src_shape[0] + * cdef Py_ssize_t dst_extent = dst_shape[0] + * cdef Py_ssize_t src_stride = src_strides[0] # <<<<<<<<<<<<<< + * cdef Py_ssize_t dst_stride = dst_strides[0] + * + */ + __pyx_v_src_stride = (__pyx_v_src_strides[0]); + + /* "View.MemoryView":1147 + * cdef Py_ssize_t dst_extent = dst_shape[0] + * cdef Py_ssize_t src_stride = src_strides[0] + * cdef Py_ssize_t dst_stride = dst_strides[0] # <<<<<<<<<<<<<< + * + * if ndim == 1: + */ + __pyx_v_dst_stride = (__pyx_v_dst_strides[0]); + + /* "View.MemoryView":1149 + * cdef Py_ssize_t dst_stride = dst_strides[0] + * + * if ndim == 1: # <<<<<<<<<<<<<< + * if (src_stride > 0 and dst_stride > 0 and + * src_stride == itemsize == dst_stride): + */ + __pyx_t_1 = (__pyx_v_ndim == 1); + if (__pyx_t_1) { + + /* "View.MemoryView":1150 + * + * if ndim == 1: + * if (src_stride > 0 and dst_stride > 0 and # <<<<<<<<<<<<<< + * src_stride == itemsize == dst_stride): + * memcpy(dst_data, src_data, itemsize * dst_extent) + */ + __pyx_t_2 = (__pyx_v_src_stride > 0); + if (__pyx_t_2) { + } else { + __pyx_t_1 = __pyx_t_2; + goto __pyx_L5_bool_binop_done; + } + __pyx_t_2 = (__pyx_v_dst_stride > 0); + if (__pyx_t_2) { + } else { + __pyx_t_1 = __pyx_t_2; + goto __pyx_L5_bool_binop_done; + } + + /* "View.MemoryView":1151 + * if ndim == 1: + * if (src_stride > 0 and dst_stride > 0 and + * src_stride == itemsize == dst_stride): # <<<<<<<<<<<<<< + * memcpy(dst_data, src_data, itemsize * dst_extent) + * else: + */ + __pyx_t_2 = (((size_t)__pyx_v_src_stride) == __pyx_v_itemsize); + if (__pyx_t_2) { + __pyx_t_2 = (__pyx_v_itemsize == ((size_t)__pyx_v_dst_stride)); + } + __pyx_t_1 = __pyx_t_2; + __pyx_L5_bool_binop_done:; + + /* "View.MemoryView":1150 + * + * if ndim == 1: + * if (src_stride > 0 and dst_stride > 0 and # <<<<<<<<<<<<<< + * src_stride == itemsize == dst_stride): + * memcpy(dst_data, src_data, itemsize * dst_extent) + */ + if (__pyx_t_1) { + + /* "View.MemoryView":1152 + * if (src_stride > 0 and dst_stride > 0 and + * src_stride == itemsize == dst_stride): + * memcpy(dst_data, src_data, itemsize * dst_extent) # <<<<<<<<<<<<<< + * else: + * for i in range(dst_extent): + */ + (void)(memcpy(__pyx_v_dst_data, __pyx_v_src_data, (__pyx_v_itemsize * __pyx_v_dst_extent))); + + /* "View.MemoryView":1150 + * + * if ndim == 1: + * if (src_stride > 0 and dst_stride > 0 and # <<<<<<<<<<<<<< + * src_stride == itemsize == dst_stride): + * memcpy(dst_data, src_data, itemsize * dst_extent) + */ + goto __pyx_L4; + } + + /* "View.MemoryView":1154 + * memcpy(dst_data, src_data, itemsize * dst_extent) + * else: + * for i in range(dst_extent): # <<<<<<<<<<<<<< + * memcpy(dst_data, src_data, itemsize) + * src_data += src_stride + */ + /*else*/ { + __pyx_t_3 = __pyx_v_dst_extent; + __pyx_t_4 = __pyx_t_3; + for (__pyx_t_5 = 0; __pyx_t_5 < __pyx_t_4; __pyx_t_5+=1) { + __pyx_v_i = __pyx_t_5; + + /* "View.MemoryView":1155 + * else: + * for i in range(dst_extent): + * memcpy(dst_data, src_data, itemsize) # <<<<<<<<<<<<<< + * src_data += src_stride + * dst_data += dst_stride + */ + (void)(memcpy(__pyx_v_dst_data, __pyx_v_src_data, __pyx_v_itemsize)); + + /* "View.MemoryView":1156 + * for i in range(dst_extent): + * memcpy(dst_data, src_data, itemsize) + * src_data += src_stride # <<<<<<<<<<<<<< + * dst_data += dst_stride + * else: + */ + __pyx_v_src_data = (__pyx_v_src_data + __pyx_v_src_stride); + + /* "View.MemoryView":1157 + * memcpy(dst_data, src_data, itemsize) + * src_data += src_stride + * dst_data += dst_stride # <<<<<<<<<<<<<< + * else: + * for i in range(dst_extent): + */ + __pyx_v_dst_data = (__pyx_v_dst_data + __pyx_v_dst_stride); + } + } + __pyx_L4:; + + /* "View.MemoryView":1149 + * cdef Py_ssize_t dst_stride = dst_strides[0] + * + * if ndim == 1: # <<<<<<<<<<<<<< + * if (src_stride > 0 and dst_stride > 0 and + * src_stride == itemsize == dst_stride): + */ + goto __pyx_L3; + } + + /* "View.MemoryView":1159 + * dst_data += dst_stride + * else: + * for i in range(dst_extent): # <<<<<<<<<<<<<< + * _copy_strided_to_strided(src_data, src_strides + 1, + * dst_data, dst_strides + 1, + */ + /*else*/ { + __pyx_t_3 = __pyx_v_dst_extent; + __pyx_t_4 = __pyx_t_3; + for (__pyx_t_5 = 0; __pyx_t_5 < __pyx_t_4; __pyx_t_5+=1) { + __pyx_v_i = __pyx_t_5; + + /* "View.MemoryView":1160 + * else: + * for i in range(dst_extent): + * _copy_strided_to_strided(src_data, src_strides + 1, # <<<<<<<<<<<<<< + * dst_data, dst_strides + 1, + * src_shape + 1, dst_shape + 1, + */ + _copy_strided_to_strided(__pyx_v_src_data, (__pyx_v_src_strides + 1), __pyx_v_dst_data, (__pyx_v_dst_strides + 1), (__pyx_v_src_shape + 1), (__pyx_v_dst_shape + 1), (__pyx_v_ndim - 1), __pyx_v_itemsize); + + /* "View.MemoryView":1164 + * src_shape + 1, dst_shape + 1, + * ndim - 1, itemsize) + * src_data += src_stride # <<<<<<<<<<<<<< + * dst_data += dst_stride + * + */ + __pyx_v_src_data = (__pyx_v_src_data + __pyx_v_src_stride); + + /* "View.MemoryView":1165 + * ndim - 1, itemsize) + * src_data += src_stride + * dst_data += dst_stride # <<<<<<<<<<<<<< + * + * cdef void copy_strided_to_strided(__Pyx_memviewslice *src, + */ + __pyx_v_dst_data = (__pyx_v_dst_data + __pyx_v_dst_stride); + } + } + __pyx_L3:; + + /* "View.MemoryView":1137 + * + * @cython.cdivision(True) + * cdef void _copy_strided_to_strided(char *src_data, Py_ssize_t *src_strides, # <<<<<<<<<<<<<< + * char *dst_data, Py_ssize_t *dst_strides, + * Py_ssize_t *src_shape, Py_ssize_t *dst_shape, + */ + + /* function exit code */ +} + +/* "View.MemoryView":1167 + * dst_data += dst_stride + * + * 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"View.MemoryView":1312 + * if slice_is_contig(src, 'C', ndim): + * direct_copy = slice_is_contig(dst, 'C', ndim) + * elif slice_is_contig(src, 'F', ndim): # <<<<<<<<<<<<<< + * direct_copy = slice_is_contig(dst, 'F', ndim) + * + */ + __pyx_t_2 = __pyx_memviewslice_is_contig(__pyx_v_src, 'F', __pyx_v_ndim); + if (__pyx_t_2) { + + /* "View.MemoryView":1313 + * direct_copy = slice_is_contig(dst, 'C', ndim) + * elif slice_is_contig(src, 'F', ndim): + * direct_copy = slice_is_contig(dst, 'F', ndim) # <<<<<<<<<<<<<< + * + * if direct_copy: + */ + __pyx_v_direct_copy = __pyx_memviewslice_is_contig(__pyx_v_dst, 'F', __pyx_v_ndim); + + /* "View.MemoryView":1312 + * if slice_is_contig(src, 'C', ndim): + * direct_copy = slice_is_contig(dst, 'C', ndim) + * elif slice_is_contig(src, 'F', ndim): # <<<<<<<<<<<<<< + * direct_copy = slice_is_contig(dst, 'F', ndim) + * + */ + } + __pyx_L12:; + + /* "View.MemoryView":1315 + * direct_copy = slice_is_contig(dst, 'F', ndim) + * + * if direct_copy: # <<<<<<<<<<<<<< + * + * refcount_copying(&dst, dtype_is_object, ndim, inc=False) + */ + if (__pyx_v_direct_copy) { + + /* "View.MemoryView":1317 + * if direct_copy: + * + * refcount_copying(&dst, dtype_is_object, ndim, inc=False) # <<<<<<<<<<<<<< + * memcpy(dst.data, src.data, slice_get_size(&src, ndim)) + * refcount_copying(&dst, dtype_is_object, ndim, inc=True) + */ + __pyx_memoryview_refcount_copying((&__pyx_v_dst), __pyx_v_dtype_is_object, __pyx_v_ndim, 0); + + /* "View.MemoryView":1318 + * + * refcount_copying(&dst, dtype_is_object, ndim, inc=False) + * memcpy(dst.data, src.data, slice_get_size(&src, ndim)) # <<<<<<<<<<<<<< + * refcount_copying(&dst, dtype_is_object, ndim, inc=True) + * free(tmpdata) + */ + (void)(memcpy(__pyx_v_dst.data, __pyx_v_src.data, __pyx_memoryview_slice_get_size((&__pyx_v_src), __pyx_v_ndim))); + + /* "View.MemoryView":1319 + * refcount_copying(&dst, dtype_is_object, ndim, inc=False) + * memcpy(dst.data, src.data, slice_get_size(&src, ndim)) + * refcount_copying(&dst, dtype_is_object, ndim, inc=True) # <<<<<<<<<<<<<< + * free(tmpdata) + * return 0 + */ + __pyx_memoryview_refcount_copying((&__pyx_v_dst), __pyx_v_dtype_is_object, __pyx_v_ndim, 1); + + /* "View.MemoryView":1320 + * memcpy(dst.data, src.data, slice_get_size(&src, ndim)) + * refcount_copying(&dst, dtype_is_object, ndim, inc=True) + * free(tmpdata) # <<<<<<<<<<<<<< + * return 0 + * + */ + free(__pyx_v_tmpdata); + + /* "View.MemoryView":1321 + * refcount_copying(&dst, dtype_is_object, ndim, inc=True) + * free(tmpdata) + * return 0 # <<<<<<<<<<<<<< + * + * if order == 'F' == get_best_order(&dst, ndim): + */ + __pyx_r = 0; + goto __pyx_L0; + + /* "View.MemoryView":1315 + * direct_copy = slice_is_contig(dst, 'F', ndim) + * + * if direct_copy: # <<<<<<<<<<<<<< + * + * refcount_copying(&dst, dtype_is_object, ndim, inc=False) + */ + } + + /* "View.MemoryView":1307 + * src = tmp + * + * if not broadcasting: # <<<<<<<<<<<<<< + * + * + */ + } + + /* "View.MemoryView":1323 + * return 0 + * + * if order == 'F' == get_best_order(&dst, ndim): # <<<<<<<<<<<<<< + * + * + */ + __pyx_t_2 = (__pyx_v_order == 'F'); + if (__pyx_t_2) { + __pyx_t_2 = ('F' == __pyx_get_best_slice_order((&__pyx_v_dst), __pyx_v_ndim)); + } + if (__pyx_t_2) { + + /* "View.MemoryView":1326 + * + * + * transpose_memslice(&src) # <<<<<<<<<<<<<< + * transpose_memslice(&dst) + * + */ + __pyx_t_5 = __pyx_memslice_transpose((&__pyx_v_src)); if (unlikely(__pyx_t_5 == ((int)-1))) __PYX_ERR(0, 1326, __pyx_L1_error) + + /* "View.MemoryView":1327 + * + * transpose_memslice(&src) + * transpose_memslice(&dst) # <<<<<<<<<<<<<< + * + * refcount_copying(&dst, dtype_is_object, ndim, inc=False) + */ + __pyx_t_5 = __pyx_memslice_transpose((&__pyx_v_dst)); if (unlikely(__pyx_t_5 == ((int)-1))) __PYX_ERR(0, 1327, __pyx_L1_error) + + /* "View.MemoryView":1323 + * return 0 + * + * if order == 'F' == get_best_order(&dst, ndim): # <<<<<<<<<<<<<< + * + * + */ + } + + /* "View.MemoryView":1329 + * transpose_memslice(&dst) + * + * refcount_copying(&dst, dtype_is_object, ndim, inc=False) # <<<<<<<<<<<<<< + * copy_strided_to_strided(&src, &dst, ndim, itemsize) + * refcount_copying(&dst, dtype_is_object, ndim, inc=True) + */ + __pyx_memoryview_refcount_copying((&__pyx_v_dst), __pyx_v_dtype_is_object, __pyx_v_ndim, 0); + + /* "View.MemoryView":1330 + * + * refcount_copying(&dst, dtype_is_object, ndim, inc=False) + * copy_strided_to_strided(&src, &dst, ndim, itemsize) # <<<<<<<<<<<<<< + * refcount_copying(&dst, dtype_is_object, ndim, inc=True) + * + */ + copy_strided_to_strided((&__pyx_v_src), (&__pyx_v_dst), __pyx_v_ndim, __pyx_v_itemsize); + + /* "View.MemoryView":1331 + * refcount_copying(&dst, dtype_is_object, ndim, inc=False) + * copy_strided_to_strided(&src, &dst, ndim, itemsize) + * refcount_copying(&dst, dtype_is_object, ndim, inc=True) # <<<<<<<<<<<<<< + * + * free(tmpdata) + */ + __pyx_memoryview_refcount_copying((&__pyx_v_dst), __pyx_v_dtype_is_object, __pyx_v_ndim, 1); + + /* "View.MemoryView":1333 + * refcount_copying(&dst, dtype_is_object, ndim, inc=True) + * + * free(tmpdata) # <<<<<<<<<<<<<< + * return 0 + * + */ + free(__pyx_v_tmpdata); + + /* "View.MemoryView":1334 + * + * free(tmpdata) + * return 0 # <<<<<<<<<<<<<< + * + * @cname('__pyx_memoryview_broadcast_leading') + */ + __pyx_r = 0; + goto __pyx_L0; + + /* "View.MemoryView":1265 + * + * @cname('__pyx_memoryview_copy_contents') + * cdef int memoryview_copy_contents(__Pyx_memviewslice src, # <<<<<<<<<<<<<< + * __Pyx_memviewslice dst, + * int src_ndim, int dst_ndim, + */ + + /* function exit code */ + __pyx_L1_error:; + #ifdef WITH_THREAD + __pyx_gilstate_save = __Pyx_PyGILState_Ensure(); + #endif + __Pyx_AddTraceback("View.MemoryView.memoryview_copy_contents", __pyx_clineno, __pyx_lineno, __pyx_filename); + __pyx_r = -1; + #ifdef WITH_THREAD + __Pyx_PyGILState_Release(__pyx_gilstate_save); + #endif + __pyx_L0:; + return __pyx_r; +} + +/* "View.MemoryView":1337 + * + * @cname('__pyx_memoryview_broadcast_leading') + * cdef void broadcast_leading(__Pyx_memviewslice *mslice, # <<<<<<<<<<<<<< + * int ndim, + * int ndim_other) noexcept nogil: + */ + +static void __pyx_memoryview_broadcast_leading(__Pyx_memviewslice *__pyx_v_mslice, int __pyx_v_ndim, int __pyx_v_ndim_other) { + int __pyx_v_i; + int __pyx_v_offset; + int __pyx_t_1; + int __pyx_t_2; + int __pyx_t_3; + + /* "View.MemoryView":1341 + * int ndim_other) noexcept nogil: + * cdef int i + * cdef int offset = ndim_other - ndim # <<<<<<<<<<<<<< + * + * for i in range(ndim - 1, -1, -1): + */ + __pyx_v_offset = (__pyx_v_ndim_other - __pyx_v_ndim); + + /* "View.MemoryView":1343 + * cdef int offset = ndim_other - ndim + * + * for i in range(ndim - 1, -1, -1): # <<<<<<<<<<<<<< + * mslice.shape[i + offset] = mslice.shape[i] + * mslice.strides[i + offset] = mslice.strides[i] + */ + for (__pyx_t_1 = (__pyx_v_ndim - 1); __pyx_t_1 > -1; __pyx_t_1-=1) { + __pyx_v_i = __pyx_t_1; + + /* "View.MemoryView":1344 + * + * for i in range(ndim - 1, -1, -1): + * mslice.shape[i + offset] = mslice.shape[i] # <<<<<<<<<<<<<< + * mslice.strides[i + offset] = mslice.strides[i] + * mslice.suboffsets[i + offset] = mslice.suboffsets[i] + */ + (__pyx_v_mslice->shape[(__pyx_v_i + __pyx_v_offset)]) = (__pyx_v_mslice->shape[__pyx_v_i]); + + /* "View.MemoryView":1345 + * for i in range(ndim - 1, -1, -1): + * mslice.shape[i + offset] = mslice.shape[i] + * mslice.strides[i + offset] = mslice.strides[i] # <<<<<<<<<<<<<< + * mslice.suboffsets[i + offset] = mslice.suboffsets[i] + * + */ + (__pyx_v_mslice->strides[(__pyx_v_i + __pyx_v_offset)]) = (__pyx_v_mslice->strides[__pyx_v_i]); + + /* "View.MemoryView":1346 + * mslice.shape[i + offset] = mslice.shape[i] + * mslice.strides[i + offset] = mslice.strides[i] + * mslice.suboffsets[i + offset] = mslice.suboffsets[i] # <<<<<<<<<<<<<< + * + * for i in range(offset): + */ + (__pyx_v_mslice->suboffsets[(__pyx_v_i + __pyx_v_offset)]) = (__pyx_v_mslice->suboffsets[__pyx_v_i]); + } + + /* "View.MemoryView":1348 + * mslice.suboffsets[i + offset] = mslice.suboffsets[i] + * + * for i in range(offset): # <<<<<<<<<<<<<< + * mslice.shape[i] = 1 + * mslice.strides[i] = mslice.strides[0] + */ + __pyx_t_1 = __pyx_v_offset; + __pyx_t_2 = __pyx_t_1; + for (__pyx_t_3 = 0; __pyx_t_3 < __pyx_t_2; __pyx_t_3+=1) { + __pyx_v_i = __pyx_t_3; + + /* "View.MemoryView":1349 + * + * for i in range(offset): + * mslice.shape[i] = 1 # <<<<<<<<<<<<<< + * mslice.strides[i] = mslice.strides[0] + * mslice.suboffsets[i] = -1 + */ + (__pyx_v_mslice->shape[__pyx_v_i]) = 1; + + /* "View.MemoryView":1350 + * for i in range(offset): + * mslice.shape[i] = 1 + * mslice.strides[i] = mslice.strides[0] # <<<<<<<<<<<<<< + * mslice.suboffsets[i] = -1 + * + */ + (__pyx_v_mslice->strides[__pyx_v_i]) = (__pyx_v_mslice->strides[0]); + + /* "View.MemoryView":1351 + * mslice.shape[i] = 1 + * mslice.strides[i] = mslice.strides[0] + * mslice.suboffsets[i] = -1 # <<<<<<<<<<<<<< + * + * + */ + (__pyx_v_mslice->suboffsets[__pyx_v_i]) = -1L; + } + + /* "View.MemoryView":1337 + * + * @cname('__pyx_memoryview_broadcast_leading') + * cdef void broadcast_leading(__Pyx_memviewslice *mslice, # <<<<<<<<<<<<<< + * int ndim, + * int ndim_other) noexcept nogil: + */ + + /* function exit code */ +} + +/* "View.MemoryView":1359 + * + * @cname('__pyx_memoryview_refcount_copying') + * cdef void refcount_copying(__Pyx_memviewslice *dst, bint dtype_is_object, int ndim, bint inc) noexcept nogil: # <<<<<<<<<<<<<< + * + * if dtype_is_object: + */ + +static void __pyx_memoryview_refcount_copying(__Pyx_memviewslice *__pyx_v_dst, int __pyx_v_dtype_is_object, int __pyx_v_ndim, int __pyx_v_inc) { + + /* "View.MemoryView":1361 + * cdef void refcount_copying(__Pyx_memviewslice *dst, bint dtype_is_object, int ndim, bint inc) noexcept nogil: + * + * if dtype_is_object: # <<<<<<<<<<<<<< + * refcount_objects_in_slice_with_gil(dst.data, dst.shape, dst.strides, ndim, inc) + * + */ + if (__pyx_v_dtype_is_object) { + + /* "View.MemoryView":1362 + * + * if dtype_is_object: + * refcount_objects_in_slice_with_gil(dst.data, dst.shape, dst.strides, ndim, inc) # <<<<<<<<<<<<<< + * + * @cname('__pyx_memoryview_refcount_objects_in_slice_with_gil') + */ + __pyx_memoryview_refcount_objects_in_slice_with_gil(__pyx_v_dst->data, __pyx_v_dst->shape, __pyx_v_dst->strides, __pyx_v_ndim, __pyx_v_inc); + + /* "View.MemoryView":1361 + * cdef void refcount_copying(__Pyx_memviewslice *dst, bint dtype_is_object, int ndim, bint inc) noexcept nogil: + * + * if dtype_is_object: # <<<<<<<<<<<<<< + * refcount_objects_in_slice_with_gil(dst.data, dst.shape, dst.strides, ndim, inc) + * + */ + } + + /* "View.MemoryView":1359 + * + * @cname('__pyx_memoryview_refcount_copying') + * cdef void refcount_copying(__Pyx_memviewslice *dst, bint dtype_is_object, int ndim, bint inc) noexcept nogil: # <<<<<<<<<<<<<< + * + * if dtype_is_object: + */ + + /* function exit code */ +} + +/* "View.MemoryView":1365 + * + * @cname('__pyx_memoryview_refcount_objects_in_slice_with_gil') + * cdef void refcount_objects_in_slice_with_gil(char *data, Py_ssize_t *shape, # <<<<<<<<<<<<<< + * Py_ssize_t *strides, int ndim, + * bint inc) noexcept with gil: + */ + +static void __pyx_memoryview_refcount_objects_in_slice_with_gil(char *__pyx_v_data, Py_ssize_t *__pyx_v_shape, Py_ssize_t *__pyx_v_strides, int __pyx_v_ndim, int __pyx_v_inc) { + #ifdef WITH_THREAD + PyGILState_STATE __pyx_gilstate_save = __Pyx_PyGILState_Ensure(); + #endif + + /* "View.MemoryView":1368 + * Py_ssize_t *strides, int ndim, + * bint inc) noexcept with gil: + * refcount_objects_in_slice(data, shape, strides, ndim, inc) # <<<<<<<<<<<<<< + * + * @cname('__pyx_memoryview_refcount_objects_in_slice') + */ + __pyx_memoryview_refcount_objects_in_slice(__pyx_v_data, __pyx_v_shape, __pyx_v_strides, __pyx_v_ndim, __pyx_v_inc); + + /* "View.MemoryView":1365 + * + * @cname('__pyx_memoryview_refcount_objects_in_slice_with_gil') + * cdef void refcount_objects_in_slice_with_gil(char *data, Py_ssize_t *shape, # <<<<<<<<<<<<<< + * Py_ssize_t *strides, int ndim, + * bint inc) noexcept with gil: + */ + + /* function exit code */ + #ifdef WITH_THREAD + __Pyx_PyGILState_Release(__pyx_gilstate_save); + #endif +} + +/* "View.MemoryView":1371 + * + * @cname('__pyx_memoryview_refcount_objects_in_slice') + * cdef void refcount_objects_in_slice(char *data, Py_ssize_t *shape, # <<<<<<<<<<<<<< + * Py_ssize_t *strides, int ndim, bint inc) noexcept: + * cdef Py_ssize_t i + */ + +static void __pyx_memoryview_refcount_objects_in_slice(char *__pyx_v_data, Py_ssize_t *__pyx_v_shape, Py_ssize_t *__pyx_v_strides, int __pyx_v_ndim, int __pyx_v_inc) { + CYTHON_UNUSED Py_ssize_t __pyx_v_i; + Py_ssize_t __pyx_v_stride; + Py_ssize_t __pyx_t_1; + Py_ssize_t __pyx_t_2; + Py_ssize_t __pyx_t_3; + int __pyx_t_4; + + /* "View.MemoryView":1374 + * Py_ssize_t *strides, int ndim, bint inc) noexcept: + * cdef Py_ssize_t i + * cdef Py_ssize_t stride = strides[0] # <<<<<<<<<<<<<< + * + * for i in range(shape[0]): + */ + __pyx_v_stride = (__pyx_v_strides[0]); + + /* "View.MemoryView":1376 + * cdef Py_ssize_t stride = strides[0] + * + * for i in range(shape[0]): # <<<<<<<<<<<<<< + * if ndim == 1: + * if inc: + */ + __pyx_t_1 = (__pyx_v_shape[0]); + __pyx_t_2 = __pyx_t_1; + for (__pyx_t_3 = 0; __pyx_t_3 < __pyx_t_2; __pyx_t_3+=1) { + __pyx_v_i = __pyx_t_3; + + /* "View.MemoryView":1377 + * + * for i in range(shape[0]): + * if ndim == 1: # <<<<<<<<<<<<<< + * if inc: + * Py_INCREF(( data)[0]) + */ + __pyx_t_4 = (__pyx_v_ndim == 1); + if (__pyx_t_4) { + + /* "View.MemoryView":1378 + * for i in range(shape[0]): + * if ndim == 1: + * if inc: # <<<<<<<<<<<<<< + * Py_INCREF(( data)[0]) + * else: + */ + if (__pyx_v_inc) { + + /* "View.MemoryView":1379 + * if ndim == 1: + * if inc: + * Py_INCREF(( data)[0]) # <<<<<<<<<<<<<< + * else: + * Py_DECREF(( data)[0]) + */ + Py_INCREF((((PyObject **)__pyx_v_data)[0])); + + /* "View.MemoryView":1378 + * for i in range(shape[0]): + * if ndim == 1: + * if inc: # <<<<<<<<<<<<<< + * Py_INCREF(( data)[0]) + * else: + */ + goto __pyx_L6; + } + + /* "View.MemoryView":1381 + * Py_INCREF(( data)[0]) + * else: + * Py_DECREF(( data)[0]) # <<<<<<<<<<<<<< + * else: + * refcount_objects_in_slice(data, shape + 1, strides + 1, ndim - 1, inc) + */ + /*else*/ { + Py_DECREF((((PyObject **)__pyx_v_data)[0])); + } + __pyx_L6:; + + /* "View.MemoryView":1377 + * + * for i in range(shape[0]): + * if ndim == 1: # <<<<<<<<<<<<<< + * if inc: + * Py_INCREF(( data)[0]) + */ + goto __pyx_L5; + } + + /* "View.MemoryView":1383 + * Py_DECREF(( data)[0]) + * else: + * refcount_objects_in_slice(data, shape + 1, strides + 1, ndim - 1, inc) # <<<<<<<<<<<<<< + * + * data += stride + */ + /*else*/ { + __pyx_memoryview_refcount_objects_in_slice(__pyx_v_data, (__pyx_v_shape + 1), (__pyx_v_strides + 1), (__pyx_v_ndim - 1), __pyx_v_inc); + } + __pyx_L5:; + + /* "View.MemoryView":1385 + * refcount_objects_in_slice(data, shape + 1, strides + 1, ndim - 1, inc) + * + * data += stride # <<<<<<<<<<<<<< + * + * + */ + __pyx_v_data = (__pyx_v_data + __pyx_v_stride); + } + + /* "View.MemoryView":1371 + * + * @cname('__pyx_memoryview_refcount_objects_in_slice') + * cdef void refcount_objects_in_slice(char *data, Py_ssize_t *shape, # <<<<<<<<<<<<<< + * Py_ssize_t *strides, int ndim, bint inc) noexcept: + * cdef Py_ssize_t i + */ + + /* function exit code */ +} + +/* "View.MemoryView":1391 + * + * @cname('__pyx_memoryview_slice_assign_scalar') + * cdef void slice_assign_scalar(__Pyx_memviewslice *dst, int ndim, # <<<<<<<<<<<<<< + * size_t itemsize, void *item, + * bint dtype_is_object) noexcept nogil: + */ + +static void __pyx_memoryview_slice_assign_scalar(__Pyx_memviewslice *__pyx_v_dst, int __pyx_v_ndim, size_t __pyx_v_itemsize, void *__pyx_v_item, int __pyx_v_dtype_is_object) { + + /* "View.MemoryView":1394 + * size_t itemsize, void *item, + * bint dtype_is_object) noexcept nogil: + * refcount_copying(dst, dtype_is_object, ndim, inc=False) # <<<<<<<<<<<<<< + * _slice_assign_scalar(dst.data, dst.shape, dst.strides, ndim, itemsize, item) + * refcount_copying(dst, dtype_is_object, ndim, inc=True) + */ + __pyx_memoryview_refcount_copying(__pyx_v_dst, __pyx_v_dtype_is_object, __pyx_v_ndim, 0); + + /* "View.MemoryView":1395 + * bint dtype_is_object) noexcept nogil: + * refcount_copying(dst, dtype_is_object, ndim, inc=False) + * _slice_assign_scalar(dst.data, dst.shape, dst.strides, ndim, itemsize, item) # <<<<<<<<<<<<<< + * refcount_copying(dst, dtype_is_object, ndim, inc=True) + * + */ + __pyx_memoryview__slice_assign_scalar(__pyx_v_dst->data, __pyx_v_dst->shape, __pyx_v_dst->strides, __pyx_v_ndim, __pyx_v_itemsize, __pyx_v_item); + + /* "View.MemoryView":1396 + * refcount_copying(dst, dtype_is_object, ndim, inc=False) + * _slice_assign_scalar(dst.data, dst.shape, dst.strides, ndim, itemsize, item) + * refcount_copying(dst, dtype_is_object, ndim, inc=True) # <<<<<<<<<<<<<< + * + * + */ + __pyx_memoryview_refcount_copying(__pyx_v_dst, __pyx_v_dtype_is_object, __pyx_v_ndim, 1); + + /* "View.MemoryView":1391 + * + * @cname('__pyx_memoryview_slice_assign_scalar') + * cdef void slice_assign_scalar(__Pyx_memviewslice *dst, int ndim, # <<<<<<<<<<<<<< + * size_t itemsize, void *item, + * bint dtype_is_object) noexcept nogil: + */ + + /* function exit code */ +} + +/* "View.MemoryView":1400 + * + * @cname('__pyx_memoryview__slice_assign_scalar') + * cdef void _slice_assign_scalar(char *data, Py_ssize_t *shape, # <<<<<<<<<<<<<< + * Py_ssize_t *strides, int ndim, + * size_t itemsize, void *item) noexcept nogil: + */ + +static void __pyx_memoryview__slice_assign_scalar(char *__pyx_v_data, Py_ssize_t *__pyx_v_shape, Py_ssize_t *__pyx_v_strides, int __pyx_v_ndim, size_t __pyx_v_itemsize, void *__pyx_v_item) { + CYTHON_UNUSED Py_ssize_t __pyx_v_i; + Py_ssize_t __pyx_v_stride; + Py_ssize_t __pyx_v_extent; + int __pyx_t_1; + Py_ssize_t __pyx_t_2; + Py_ssize_t __pyx_t_3; + Py_ssize_t __pyx_t_4; + + /* "View.MemoryView":1404 + * size_t itemsize, void *item) noexcept nogil: + * cdef Py_ssize_t i + * cdef Py_ssize_t stride = strides[0] # <<<<<<<<<<<<<< + * cdef Py_ssize_t extent = shape[0] + * + */ + __pyx_v_stride = (__pyx_v_strides[0]); + + /* "View.MemoryView":1405 + * cdef Py_ssize_t i + * cdef Py_ssize_t stride = strides[0] + * cdef Py_ssize_t extent = shape[0] # <<<<<<<<<<<<<< + * + * if ndim == 1: + */ + __pyx_v_extent = (__pyx_v_shape[0]); + + /* "View.MemoryView":1407 + * cdef Py_ssize_t extent = shape[0] + * + * if ndim == 1: # <<<<<<<<<<<<<< + * for i in range(extent): + * memcpy(data, item, itemsize) + */ + __pyx_t_1 = (__pyx_v_ndim == 1); + if (__pyx_t_1) { + + /* "View.MemoryView":1408 + * + * if ndim == 1: + * for i in range(extent): # <<<<<<<<<<<<<< + * memcpy(data, item, itemsize) + * data += stride + */ + __pyx_t_2 = __pyx_v_extent; + __pyx_t_3 = __pyx_t_2; + for (__pyx_t_4 = 0; __pyx_t_4 < __pyx_t_3; __pyx_t_4+=1) { + __pyx_v_i = __pyx_t_4; + + /* 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__Pyx_METH_FASTCALL|METH_KEYWORDS, 0}; +static PyObject *__pyx_pw_9selfdrive_14classic_modeld_7runners_13snpemodel_pyx_9SNPEModel_5__setstate_cython__(PyObject *__pyx_v_self, +#if CYTHON_METH_FASTCALL +PyObject *const *__pyx_args, Py_ssize_t __pyx_nargs, PyObject *__pyx_kwds +#else +PyObject *__pyx_args, PyObject *__pyx_kwds +#endif +) { + CYTHON_UNUSED PyObject *__pyx_v___pyx_state = 0; + #if !CYTHON_METH_FASTCALL + CYTHON_UNUSED Py_ssize_t __pyx_nargs; + #endif + CYTHON_UNUSED PyObject *const *__pyx_kwvalues; + PyObject* values[1] = {0}; + int __pyx_lineno = 0; + const char *__pyx_filename = NULL; + int __pyx_clineno = 0; + PyObject *__pyx_r = 0; + __Pyx_RefNannyDeclarations + __Pyx_RefNannySetupContext("__setstate_cython__ (wrapper)", 0); + #if !CYTHON_METH_FASTCALL + #if CYTHON_ASSUME_SAFE_MACROS + __pyx_nargs = PyTuple_GET_SIZE(__pyx_args); + #else + __pyx_nargs = PyTuple_Size(__pyx_args); if (unlikely(__pyx_nargs < 0)) return NULL; + #endif + #endif + __pyx_kwvalues = __Pyx_KwValues_FASTCALL(__pyx_args, __pyx_nargs); + { + PyObject **__pyx_pyargnames[] = {&__pyx_n_s_pyx_state,0}; + if (__pyx_kwds) { + Py_ssize_t kw_args; + switch (__pyx_nargs) { + case 1: values[0] = __Pyx_Arg_FASTCALL(__pyx_args, 0); + CYTHON_FALLTHROUGH; + case 0: break; + default: goto __pyx_L5_argtuple_error; + } + kw_args = __Pyx_NumKwargs_FASTCALL(__pyx_kwds); + switch (__pyx_nargs) { + case 0: + if (likely((values[0] = __Pyx_GetKwValue_FASTCALL(__pyx_kwds, __pyx_kwvalues, __pyx_n_s_pyx_state)) != 0)) { + (void)__Pyx_Arg_NewRef_FASTCALL(values[0]); + kw_args--; + } + else if (unlikely(PyErr_Occurred())) __PYX_ERR(0, 3, __pyx_L3_error) + else goto __pyx_L5_argtuple_error; + } + if (unlikely(kw_args > 0)) { + const Py_ssize_t kwd_pos_args = __pyx_nargs; + if (unlikely(__Pyx_ParseOptionalKeywords(__pyx_kwds, __pyx_kwvalues, __pyx_pyargnames, 0, values + 0, kwd_pos_args, "__setstate_cython__") < 0)) __PYX_ERR(0, 3, __pyx_L3_error) + } + } else if (unlikely(__pyx_nargs != 1)) { + goto __pyx_L5_argtuple_error; + } else { + values[0] = __Pyx_Arg_FASTCALL(__pyx_args, 0); + } + __pyx_v___pyx_state = values[0]; + } + goto __pyx_L6_skip; + __pyx_L5_argtuple_error:; + __Pyx_RaiseArgtupleInvalid("__setstate_cython__", 1, 1, 1, __pyx_nargs); __PYX_ERR(0, 3, __pyx_L3_error) + __pyx_L6_skip:; + goto __pyx_L4_argument_unpacking_done; + __pyx_L3_error:; + { + Py_ssize_t __pyx_temp; + for (__pyx_temp=0; __pyx_temp < (Py_ssize_t)(sizeof(values)/sizeof(values[0])); ++__pyx_temp) { + __Pyx_Arg_XDECREF_FASTCALL(values[__pyx_temp]); + } + } + __Pyx_AddTraceback("selfdrive.classic_modeld.runners.snpemodel_pyx.SNPEModel.__setstate_cython__", __pyx_clineno, __pyx_lineno, __pyx_filename); + __Pyx_RefNannyFinishContext(); + return NULL; + __pyx_L4_argument_unpacking_done:; + __pyx_r = __pyx_pf_9selfdrive_14classic_modeld_7runners_13snpemodel_pyx_9SNPEModel_4__setstate_cython__(((struct __pyx_obj_9selfdrive_14classic_modeld_7runners_13snpemodel_pyx_SNPEModel *)__pyx_v_self), __pyx_v___pyx_state); + + /* function exit code */ + { + Py_ssize_t __pyx_temp; + for (__pyx_temp=0; __pyx_temp < (Py_ssize_t)(sizeof(values)/sizeof(values[0])); ++__pyx_temp) { + __Pyx_Arg_XDECREF_FASTCALL(values[__pyx_temp]); + } + } + __Pyx_RefNannyFinishContext(); + return __pyx_r; +} + +static PyObject *__pyx_pf_9selfdrive_14classic_modeld_7runners_13snpemodel_pyx_9SNPEModel_4__setstate_cython__(CYTHON_UNUSED struct __pyx_obj_9selfdrive_14classic_modeld_7runners_13snpemodel_pyx_SNPEModel *__pyx_v_self, CYTHON_UNUSED PyObject *__pyx_v___pyx_state) { + PyObject *__pyx_r = NULL; + __Pyx_RefNannyDeclarations + int __pyx_lineno = 0; + const char *__pyx_filename = NULL; + int __pyx_clineno = 0; + __Pyx_RefNannySetupContext("__setstate_cython__", 1); + + /* "(tree fragment)":4 + * raise TypeError, "no default __reduce__ due to non-trivial __cinit__" + * def __setstate_cython__(self, __pyx_state): + * raise TypeError, "no default __reduce__ due to non-trivial __cinit__" # <<<<<<<<<<<<<< + */ + __Pyx_Raise(__pyx_builtin_TypeError, __pyx_kp_s_no_default___reduce___due_to_non, 0, 0); + __PYX_ERR(0, 4, __pyx_L1_error) + + /* "(tree fragment)":3 + * def __reduce_cython__(self): + * raise TypeError, "no default __reduce__ due to non-trivial __cinit__" + * def __setstate_cython__(self, __pyx_state): # <<<<<<<<<<<<<< + * raise TypeError, "no default __reduce__ due to non-trivial __cinit__" + */ + + /* function exit code */ + __pyx_L1_error:; + __Pyx_AddTraceback("selfdrive.classic_modeld.runners.snpemodel_pyx.SNPEModel.__setstate_cython__", __pyx_clineno, __pyx_lineno, __pyx_filename); + __pyx_r = NULL; + __Pyx_XGIVEREF(__pyx_r); + __Pyx_RefNannyFinishContext(); + return __pyx_r; +} + +static PyObject *__pyx_tp_new_9selfdrive_14classic_modeld_7runners_13snpemodel_pyx_SNPEModel(PyTypeObject *t, PyObject *a, PyObject *k) { + PyObject *o = __Pyx_PyType_GetSlot(__pyx_ptype_9selfdrive_14classic_modeld_7runners_12runmodel_pyx_RunModel, tp_new, newfunc)(t, a, k); + if (unlikely(!o)) return 0; + if (unlikely(__pyx_pw_9selfdrive_14classic_modeld_7runners_13snpemodel_pyx_9SNPEModel_1__cinit__(o, a, k) < 0)) goto bad; + return o; + bad: + Py_DECREF(o); o = 0; + return NULL; +} + +static PyMethodDef __pyx_methods_9selfdrive_14classic_modeld_7runners_13snpemodel_pyx_SNPEModel[] = { + {"__reduce_cython__", (PyCFunction)(void*)(__Pyx_PyCFunction_FastCallWithKeywords)__pyx_pw_9selfdrive_14classic_modeld_7runners_13snpemodel_pyx_9SNPEModel_3__reduce_cython__, __Pyx_METH_FASTCALL|METH_KEYWORDS, 0}, + {"__setstate_cython__", (PyCFunction)(void*)(__Pyx_PyCFunction_FastCallWithKeywords)__pyx_pw_9selfdrive_14classic_modeld_7runners_13snpemodel_pyx_9SNPEModel_5__setstate_cython__, __Pyx_METH_FASTCALL|METH_KEYWORDS, 0}, + {0, 0, 0, 0} +}; +#if CYTHON_USE_TYPE_SPECS +static PyType_Slot __pyx_type_9selfdrive_14classic_modeld_7runners_13snpemodel_pyx_SNPEModel_slots[] = { + {Py_tp_methods, (void *)__pyx_methods_9selfdrive_14classic_modeld_7runners_13snpemodel_pyx_SNPEModel}, + {Py_tp_new, (void *)__pyx_tp_new_9selfdrive_14classic_modeld_7runners_13snpemodel_pyx_SNPEModel}, + {0, 0}, +}; +static PyType_Spec __pyx_type_9selfdrive_14classic_modeld_7runners_13snpemodel_pyx_SNPEModel_spec = { + "selfdrive.classic_modeld.runners.snpemodel_pyx.SNPEModel", + sizeof(struct __pyx_obj_9selfdrive_14classic_modeld_7runners_13snpemodel_pyx_SNPEModel), + 0, + Py_TPFLAGS_DEFAULT|Py_TPFLAGS_HAVE_VERSION_TAG|Py_TPFLAGS_CHECKTYPES|Py_TPFLAGS_HAVE_NEWBUFFER|Py_TPFLAGS_BASETYPE|Py_TPFLAGS_HAVE_FINALIZE, + __pyx_type_9selfdrive_14classic_modeld_7runners_13snpemodel_pyx_SNPEModel_slots, +}; +#else + +static PyTypeObject __pyx_type_9selfdrive_14classic_modeld_7runners_13snpemodel_pyx_SNPEModel = { + PyVarObject_HEAD_INIT(0, 0) + "selfdrive.classic_modeld.runners.snpemodel_pyx.""SNPEModel", /*tp_name*/ + sizeof(struct __pyx_obj_9selfdrive_14classic_modeld_7runners_13snpemodel_pyx_SNPEModel), /*tp_basicsize*/ + 0, /*tp_itemsize*/ + 0, /*tp_dealloc*/ + #if PY_VERSION_HEX < 0x030800b4 + 0, /*tp_print*/ + #endif + #if PY_VERSION_HEX >= 0x030800b4 + 0, /*tp_vectorcall_offset*/ + #endif + 0, /*tp_getattr*/ + 0, /*tp_setattr*/ + #if PY_MAJOR_VERSION < 3 + 0, /*tp_compare*/ + #endif + #if PY_MAJOR_VERSION >= 3 + 0, /*tp_as_async*/ + #endif + 0, /*tp_repr*/ + 0, /*tp_as_number*/ + 0, /*tp_as_sequence*/ + 0, /*tp_as_mapping*/ + 0, /*tp_hash*/ + 0, /*tp_call*/ + 0, /*tp_str*/ + 0, /*tp_getattro*/ + 0, /*tp_setattro*/ + 0, /*tp_as_buffer*/ + Py_TPFLAGS_DEFAULT|Py_TPFLAGS_HAVE_VERSION_TAG|Py_TPFLAGS_CHECKTYPES|Py_TPFLAGS_HAVE_NEWBUFFER|Py_TPFLAGS_BASETYPE|Py_TPFLAGS_HAVE_FINALIZE, /*tp_flags*/ + 0, /*tp_doc*/ + 0, /*tp_traverse*/ + 0, /*tp_clear*/ + 0, /*tp_richcompare*/ + 0, /*tp_weaklistoffset*/ + 0, /*tp_iter*/ + 0, /*tp_iternext*/ + __pyx_methods_9selfdrive_14classic_modeld_7runners_13snpemodel_pyx_SNPEModel, /*tp_methods*/ + 0, /*tp_members*/ + 0, /*tp_getset*/ + 0, /*tp_base*/ + 0, /*tp_dict*/ + 0, /*tp_descr_get*/ + 0, /*tp_descr_set*/ + #if !CYTHON_USE_TYPE_SPECS + 0, /*tp_dictoffset*/ + #endif + 0, /*tp_init*/ + 0, /*tp_alloc*/ + __pyx_tp_new_9selfdrive_14classic_modeld_7runners_13snpemodel_pyx_SNPEModel, /*tp_new*/ + 0, /*tp_free*/ + 0, /*tp_is_gc*/ + 0, /*tp_bases*/ + 0, /*tp_mro*/ + 0, /*tp_cache*/ + 0, /*tp_subclasses*/ + 0, /*tp_weaklist*/ + 0, /*tp_del*/ + 0, /*tp_version_tag*/ + #if PY_VERSION_HEX >= 0x030400a1 + #if CYTHON_USE_TP_FINALIZE + 0, /*tp_finalize*/ + #else + NULL, /*tp_finalize*/ + #endif + #endif + #if PY_VERSION_HEX >= 0x030800b1 && (!CYTHON_COMPILING_IN_PYPY || PYPY_VERSION_NUM >= 0x07030800) + 0, /*tp_vectorcall*/ + #endif + #if __PYX_NEED_TP_PRINT_SLOT == 1 + 0, /*tp_print*/ + #endif + #if PY_VERSION_HEX >= 0x030C0000 + 0, /*tp_watched*/ + #endif + #if CYTHON_COMPILING_IN_PYPY && PY_VERSION_HEX >= 0x03090000 && PY_VERSION_HEX < 0x030a0000 + 0, /*tp_pypy_flags*/ + #endif +}; +#endif +static struct __pyx_vtabstruct_array __pyx_vtable_array; + +static PyObject *__pyx_tp_new_array(PyTypeObject *t, PyObject *a, PyObject *k) { + struct __pyx_array_obj *p; + PyObject *o; + #if CYTHON_COMPILING_IN_LIMITED_API + allocfunc alloc_func = (allocfunc)PyType_GetSlot(t, Py_tp_alloc); + o = alloc_func(t, 0); + #else + if (likely(!__Pyx_PyType_HasFeature(t, Py_TPFLAGS_IS_ABSTRACT))) { + o = (*t->tp_alloc)(t, 0); + } else { + o = (PyObject *) PyBaseObject_Type.tp_new(t, __pyx_empty_tuple, 0); + } + if (unlikely(!o)) return 0; + #endif + p = ((struct __pyx_array_obj *)o); + p->__pyx_vtab = __pyx_vtabptr_array; + p->mode = ((PyObject*)Py_None); Py_INCREF(Py_None); + p->_format = ((PyObject*)Py_None); Py_INCREF(Py_None); + if (unlikely(__pyx_array___cinit__(o, a, k) < 0)) goto bad; + return o; + bad: + Py_DECREF(o); o = 0; + return NULL; +} + +static void __pyx_tp_dealloc_array(PyObject *o) { + struct __pyx_array_obj *p = (struct __pyx_array_obj *)o; + #if CYTHON_USE_TP_FINALIZE + if (unlikely((PY_VERSION_HEX >= 0x03080000 || __Pyx_PyType_HasFeature(Py_TYPE(o), Py_TPFLAGS_HAVE_FINALIZE)) && __Pyx_PyObject_GetSlot(o, tp_finalize, destructor)) && (!PyType_IS_GC(Py_TYPE(o)) || !__Pyx_PyObject_GC_IsFinalized(o))) { + if (__Pyx_PyObject_GetSlot(o, tp_dealloc, destructor) == __pyx_tp_dealloc_array) { + if (PyObject_CallFinalizerFromDealloc(o)) return; + } + } + #endif + { + PyObject *etype, *eval, *etb; + PyErr_Fetch(&etype, &eval, &etb); + __Pyx_SET_REFCNT(o, Py_REFCNT(o) + 1); + __pyx_array___dealloc__(o); + __Pyx_SET_REFCNT(o, Py_REFCNT(o) - 1); + PyErr_Restore(etype, eval, etb); + } + Py_CLEAR(p->mode); + Py_CLEAR(p->_format); + #if CYTHON_USE_TYPE_SLOTS || CYTHON_COMPILING_IN_PYPY + (*Py_TYPE(o)->tp_free)(o); + #else + { + freefunc tp_free = (freefunc)PyType_GetSlot(Py_TYPE(o), Py_tp_free); + if (tp_free) tp_free(o); + } + #endif +} +static PyObject *__pyx_sq_item_array(PyObject *o, Py_ssize_t i) { + PyObject *r; + PyObject *x = PyInt_FromSsize_t(i); if(!x) return 0; + r = Py_TYPE(o)->tp_as_mapping->mp_subscript(o, x); + Py_DECREF(x); + return r; +} + +static int __pyx_mp_ass_subscript_array(PyObject *o, PyObject *i, PyObject *v) { + if (v) { + return __pyx_array___setitem__(o, i, v); + } + else { + __Pyx_TypeName o_type_name; + o_type_name = __Pyx_PyType_GetName(Py_TYPE(o)); + PyErr_Format(PyExc_NotImplementedError, + "Subscript deletion not supported by " __Pyx_FMT_TYPENAME, o_type_name); + __Pyx_DECREF_TypeName(o_type_name); + return -1; + } +} + +static PyObject *__pyx_tp_getattro_array(PyObject *o, PyObject *n) { + PyObject *v = __Pyx_PyObject_GenericGetAttr(o, n); + if (!v && PyErr_ExceptionMatches(PyExc_AttributeError)) { + PyErr_Clear(); + v = __pyx_array___getattr__(o, n); + } + return v; +} + +static PyObject *__pyx_getprop___pyx_array_memview(PyObject *o, CYTHON_UNUSED void *x) { + return __pyx_pw_15View_dot_MemoryView_5array_7memview_1__get__(o); +} + +static PyMethodDef __pyx_methods_array[] = { + {"__getattr__", (PyCFunction)__pyx_array___getattr__, METH_O|METH_COEXIST, 0}, + {"__reduce_cython__", (PyCFunction)(void*)(__Pyx_PyCFunction_FastCallWithKeywords)__pyx_pw___pyx_array_1__reduce_cython__, __Pyx_METH_FASTCALL|METH_KEYWORDS, 0}, + {"__setstate_cython__", (PyCFunction)(void*)(__Pyx_PyCFunction_FastCallWithKeywords)__pyx_pw___pyx_array_3__setstate_cython__, __Pyx_METH_FASTCALL|METH_KEYWORDS, 0}, + {0, 0, 0, 0} +}; + +static struct PyGetSetDef __pyx_getsets_array[] = { + {(char *)"memview", __pyx_getprop___pyx_array_memview, 0, (char *)0, 0}, + {0, 0, 0, 0, 0} +}; +#if CYTHON_USE_TYPE_SPECS +#if !CYTHON_COMPILING_IN_LIMITED_API + +static PyBufferProcs __pyx_tp_as_buffer_array = { + #if PY_MAJOR_VERSION < 3 + 0, /*bf_getreadbuffer*/ + #endif + #if PY_MAJOR_VERSION < 3 + 0, /*bf_getwritebuffer*/ + #endif + #if PY_MAJOR_VERSION < 3 + 0, /*bf_getsegcount*/ + #endif + #if PY_MAJOR_VERSION < 3 + 0, /*bf_getcharbuffer*/ + #endif + __pyx_array_getbuffer, /*bf_getbuffer*/ + 0, /*bf_releasebuffer*/ +}; +#endif +static PyType_Slot __pyx_type___pyx_array_slots[] = { + {Py_tp_dealloc, (void *)__pyx_tp_dealloc_array}, + {Py_sq_length, (void *)__pyx_array___len__}, + {Py_sq_item, (void *)__pyx_sq_item_array}, + {Py_mp_length, (void *)__pyx_array___len__}, + {Py_mp_subscript, (void *)__pyx_array___getitem__}, + {Py_mp_ass_subscript, (void *)__pyx_mp_ass_subscript_array}, + {Py_tp_getattro, (void *)__pyx_tp_getattro_array}, + #if defined(Py_bf_getbuffer) + {Py_bf_getbuffer, (void *)__pyx_array_getbuffer}, + #endif + {Py_tp_methods, (void *)__pyx_methods_array}, + {Py_tp_getset, (void *)__pyx_getsets_array}, + {Py_tp_new, (void *)__pyx_tp_new_array}, + {0, 0}, +}; +static PyType_Spec __pyx_type___pyx_array_spec = { + "selfdrive.classic_modeld.runners.snpemodel_pyx.array", + sizeof(struct __pyx_array_obj), + 0, + Py_TPFLAGS_DEFAULT|Py_TPFLAGS_HAVE_VERSION_TAG|Py_TPFLAGS_CHECKTYPES|Py_TPFLAGS_HAVE_NEWBUFFER|Py_TPFLAGS_BASETYPE|Py_TPFLAGS_SEQUENCE, + __pyx_type___pyx_array_slots, +}; +#else + +static PySequenceMethods __pyx_tp_as_sequence_array = { + __pyx_array___len__, /*sq_length*/ + 0, /*sq_concat*/ + 0, /*sq_repeat*/ + __pyx_sq_item_array, /*sq_item*/ + 0, /*sq_slice*/ + 0, /*sq_ass_item*/ + 0, /*sq_ass_slice*/ + 0, /*sq_contains*/ + 0, /*sq_inplace_concat*/ + 0, /*sq_inplace_repeat*/ +}; + +static PyMappingMethods __pyx_tp_as_mapping_array = { + __pyx_array___len__, /*mp_length*/ + __pyx_array___getitem__, /*mp_subscript*/ + __pyx_mp_ass_subscript_array, /*mp_ass_subscript*/ +}; + +static PyBufferProcs __pyx_tp_as_buffer_array = { + #if PY_MAJOR_VERSION < 3 + 0, /*bf_getreadbuffer*/ + #endif + #if PY_MAJOR_VERSION < 3 + 0, /*bf_getwritebuffer*/ + #endif + #if PY_MAJOR_VERSION < 3 + 0, /*bf_getsegcount*/ + #endif + #if PY_MAJOR_VERSION < 3 + 0, /*bf_getcharbuffer*/ + #endif + __pyx_array_getbuffer, /*bf_getbuffer*/ + 0, /*bf_releasebuffer*/ +}; + +static PyTypeObject __pyx_type___pyx_array = { + PyVarObject_HEAD_INIT(0, 0) + "selfdrive.classic_modeld.runners.snpemodel_pyx.""array", /*tp_name*/ + sizeof(struct __pyx_array_obj), /*tp_basicsize*/ + 0, /*tp_itemsize*/ + __pyx_tp_dealloc_array, /*tp_dealloc*/ + #if PY_VERSION_HEX < 0x030800b4 + 0, /*tp_print*/ + #endif + #if PY_VERSION_HEX >= 0x030800b4 + 0, /*tp_vectorcall_offset*/ + #endif + 0, /*tp_getattr*/ + 0, /*tp_setattr*/ + #if PY_MAJOR_VERSION < 3 + 0, /*tp_compare*/ + #endif + #if PY_MAJOR_VERSION >= 3 + 0, /*tp_as_async*/ + #endif + 0, /*tp_repr*/ + 0, /*tp_as_number*/ + &__pyx_tp_as_sequence_array, /*tp_as_sequence*/ + &__pyx_tp_as_mapping_array, /*tp_as_mapping*/ + 0, /*tp_hash*/ + 0, /*tp_call*/ + 0, /*tp_str*/ + __pyx_tp_getattro_array, /*tp_getattro*/ + 0, /*tp_setattro*/ + &__pyx_tp_as_buffer_array, /*tp_as_buffer*/ + Py_TPFLAGS_DEFAULT|Py_TPFLAGS_HAVE_VERSION_TAG|Py_TPFLAGS_CHECKTYPES|Py_TPFLAGS_HAVE_NEWBUFFER|Py_TPFLAGS_BASETYPE|Py_TPFLAGS_SEQUENCE, /*tp_flags*/ + 0, /*tp_doc*/ + 0, /*tp_traverse*/ + 0, /*tp_clear*/ + 0, /*tp_richcompare*/ + 0, /*tp_weaklistoffset*/ + 0, /*tp_iter*/ + 0, /*tp_iternext*/ + __pyx_methods_array, /*tp_methods*/ + 0, /*tp_members*/ + __pyx_getsets_array, /*tp_getset*/ + 0, /*tp_base*/ + 0, /*tp_dict*/ + 0, /*tp_descr_get*/ + 0, /*tp_descr_set*/ + #if !CYTHON_USE_TYPE_SPECS + 0, /*tp_dictoffset*/ + #endif + 0, /*tp_init*/ + 0, /*tp_alloc*/ + __pyx_tp_new_array, /*tp_new*/ + 0, /*tp_free*/ + 0, /*tp_is_gc*/ + 0, /*tp_bases*/ + 0, /*tp_mro*/ + 0, /*tp_cache*/ + 0, /*tp_subclasses*/ + 0, /*tp_weaklist*/ + 0, /*tp_del*/ + 0, /*tp_version_tag*/ + #if PY_VERSION_HEX >= 0x030400a1 + #if CYTHON_USE_TP_FINALIZE + 0, /*tp_finalize*/ + #else + NULL, /*tp_finalize*/ + #endif + #endif + #if PY_VERSION_HEX >= 0x030800b1 && (!CYTHON_COMPILING_IN_PYPY || PYPY_VERSION_NUM >= 0x07030800) + 0, /*tp_vectorcall*/ + #endif + #if __PYX_NEED_TP_PRINT_SLOT == 1 + 0, /*tp_print*/ + #endif + #if PY_VERSION_HEX >= 0x030C0000 + 0, /*tp_watched*/ + #endif + #if CYTHON_COMPILING_IN_PYPY && PY_VERSION_HEX >= 0x03090000 && PY_VERSION_HEX < 0x030a0000 + 0, /*tp_pypy_flags*/ + #endif +}; +#endif + +static PyObject *__pyx_tp_new_Enum(PyTypeObject *t, CYTHON_UNUSED PyObject *a, CYTHON_UNUSED PyObject *k) { + struct __pyx_MemviewEnum_obj *p; + PyObject *o; + #if CYTHON_COMPILING_IN_LIMITED_API + allocfunc alloc_func = (allocfunc)PyType_GetSlot(t, Py_tp_alloc); + o = alloc_func(t, 0); + #else + if (likely(!__Pyx_PyType_HasFeature(t, Py_TPFLAGS_IS_ABSTRACT))) { + o = (*t->tp_alloc)(t, 0); + } else { + o = (PyObject *) PyBaseObject_Type.tp_new(t, __pyx_empty_tuple, 0); + } + if (unlikely(!o)) return 0; + #endif + p = ((struct __pyx_MemviewEnum_obj *)o); + p->name = Py_None; Py_INCREF(Py_None); + return o; +} + +static void __pyx_tp_dealloc_Enum(PyObject *o) { + struct __pyx_MemviewEnum_obj *p = (struct __pyx_MemviewEnum_obj *)o; + #if CYTHON_USE_TP_FINALIZE + if (unlikely((PY_VERSION_HEX >= 0x03080000 || __Pyx_PyType_HasFeature(Py_TYPE(o), Py_TPFLAGS_HAVE_FINALIZE)) && __Pyx_PyObject_GetSlot(o, tp_finalize, destructor)) && !__Pyx_PyObject_GC_IsFinalized(o)) { + if (__Pyx_PyObject_GetSlot(o, tp_dealloc, destructor) == __pyx_tp_dealloc_Enum) { + if (PyObject_CallFinalizerFromDealloc(o)) return; + } + } + #endif + PyObject_GC_UnTrack(o); + Py_CLEAR(p->name); + #if CYTHON_USE_TYPE_SLOTS || CYTHON_COMPILING_IN_PYPY + (*Py_TYPE(o)->tp_free)(o); + #else + { + freefunc tp_free = (freefunc)PyType_GetSlot(Py_TYPE(o), Py_tp_free); + if (tp_free) tp_free(o); + } + #endif +} + +static int __pyx_tp_traverse_Enum(PyObject *o, visitproc v, void *a) { + int e; + struct __pyx_MemviewEnum_obj *p = (struct __pyx_MemviewEnum_obj *)o; + if (p->name) { + e = (*v)(p->name, a); if (e) return e; + } + return 0; +} + +static int __pyx_tp_clear_Enum(PyObject *o) { + PyObject* tmp; + struct __pyx_MemviewEnum_obj *p = (struct __pyx_MemviewEnum_obj *)o; + tmp = ((PyObject*)p->name); + p->name = Py_None; Py_INCREF(Py_None); + Py_XDECREF(tmp); + return 0; +} + +static PyObject *__pyx_specialmethod___pyx_MemviewEnum___repr__(PyObject *self, CYTHON_UNUSED PyObject *arg) { + return __pyx_MemviewEnum___repr__(self); +} + +static PyMethodDef __pyx_methods_Enum[] = { + {"__repr__", (PyCFunction)__pyx_specialmethod___pyx_MemviewEnum___repr__, METH_NOARGS|METH_COEXIST, 0}, + {"__reduce_cython__", (PyCFunction)(void*)(__Pyx_PyCFunction_FastCallWithKeywords)__pyx_pw___pyx_MemviewEnum_1__reduce_cython__, __Pyx_METH_FASTCALL|METH_KEYWORDS, 0}, + {"__setstate_cython__", (PyCFunction)(void*)(__Pyx_PyCFunction_FastCallWithKeywords)__pyx_pw___pyx_MemviewEnum_3__setstate_cython__, __Pyx_METH_FASTCALL|METH_KEYWORDS, 0}, + {0, 0, 0, 0} +}; +#if CYTHON_USE_TYPE_SPECS +static PyType_Slot __pyx_type___pyx_MemviewEnum_slots[] = { + {Py_tp_dealloc, (void *)__pyx_tp_dealloc_Enum}, + {Py_tp_repr, (void *)__pyx_MemviewEnum___repr__}, + {Py_tp_traverse, (void *)__pyx_tp_traverse_Enum}, + {Py_tp_clear, (void *)__pyx_tp_clear_Enum}, + {Py_tp_methods, (void *)__pyx_methods_Enum}, + {Py_tp_init, (void *)__pyx_MemviewEnum___init__}, + {Py_tp_new, (void *)__pyx_tp_new_Enum}, + {0, 0}, +}; +static PyType_Spec __pyx_type___pyx_MemviewEnum_spec = { + "selfdrive.classic_modeld.runners.snpemodel_pyx.Enum", + sizeof(struct __pyx_MemviewEnum_obj), + 0, + Py_TPFLAGS_DEFAULT|Py_TPFLAGS_HAVE_VERSION_TAG|Py_TPFLAGS_CHECKTYPES|Py_TPFLAGS_HAVE_NEWBUFFER|Py_TPFLAGS_BASETYPE|Py_TPFLAGS_HAVE_GC, + __pyx_type___pyx_MemviewEnum_slots, +}; +#else + +static PyTypeObject __pyx_type___pyx_MemviewEnum = { + PyVarObject_HEAD_INIT(0, 0) + "selfdrive.classic_modeld.runners.snpemodel_pyx.""Enum", /*tp_name*/ + sizeof(struct __pyx_MemviewEnum_obj), /*tp_basicsize*/ + 0, /*tp_itemsize*/ + __pyx_tp_dealloc_Enum, /*tp_dealloc*/ + #if PY_VERSION_HEX < 0x030800b4 + 0, /*tp_print*/ + #endif + #if PY_VERSION_HEX >= 0x030800b4 + 0, /*tp_vectorcall_offset*/ + #endif + 0, /*tp_getattr*/ + 0, /*tp_setattr*/ + #if PY_MAJOR_VERSION < 3 + 0, /*tp_compare*/ + #endif + #if PY_MAJOR_VERSION >= 3 + 0, /*tp_as_async*/ + #endif + __pyx_MemviewEnum___repr__, /*tp_repr*/ + 0, /*tp_as_number*/ + 0, /*tp_as_sequence*/ + 0, /*tp_as_mapping*/ + 0, /*tp_hash*/ + 0, /*tp_call*/ + 0, /*tp_str*/ + 0, /*tp_getattro*/ + 0, /*tp_setattro*/ + 0, /*tp_as_buffer*/ + Py_TPFLAGS_DEFAULT|Py_TPFLAGS_HAVE_VERSION_TAG|Py_TPFLAGS_CHECKTYPES|Py_TPFLAGS_HAVE_NEWBUFFER|Py_TPFLAGS_BASETYPE|Py_TPFLAGS_HAVE_GC, /*tp_flags*/ + 0, /*tp_doc*/ + __pyx_tp_traverse_Enum, /*tp_traverse*/ + __pyx_tp_clear_Enum, /*tp_clear*/ + 0, /*tp_richcompare*/ + 0, /*tp_weaklistoffset*/ + 0, /*tp_iter*/ + 0, /*tp_iternext*/ + __pyx_methods_Enum, /*tp_methods*/ + 0, /*tp_members*/ + 0, /*tp_getset*/ + 0, /*tp_base*/ + 0, /*tp_dict*/ + 0, /*tp_descr_get*/ + 0, /*tp_descr_set*/ + #if !CYTHON_USE_TYPE_SPECS + 0, /*tp_dictoffset*/ + #endif + __pyx_MemviewEnum___init__, /*tp_init*/ + 0, /*tp_alloc*/ + __pyx_tp_new_Enum, /*tp_new*/ + 0, /*tp_free*/ + 0, /*tp_is_gc*/ + 0, /*tp_bases*/ + 0, /*tp_mro*/ + 0, /*tp_cache*/ + 0, /*tp_subclasses*/ + 0, /*tp_weaklist*/ + 0, /*tp_del*/ + 0, /*tp_version_tag*/ + #if PY_VERSION_HEX >= 0x030400a1 + #if CYTHON_USE_TP_FINALIZE + 0, /*tp_finalize*/ + #else + NULL, /*tp_finalize*/ + #endif + #endif + #if PY_VERSION_HEX >= 0x030800b1 && (!CYTHON_COMPILING_IN_PYPY || PYPY_VERSION_NUM >= 0x07030800) + 0, /*tp_vectorcall*/ + #endif + #if __PYX_NEED_TP_PRINT_SLOT == 1 + 0, /*tp_print*/ + #endif + #if PY_VERSION_HEX >= 0x030C0000 + 0, /*tp_watched*/ + #endif + #if CYTHON_COMPILING_IN_PYPY && PY_VERSION_HEX >= 0x03090000 && PY_VERSION_HEX < 0x030a0000 + 0, /*tp_pypy_flags*/ + #endif +}; +#endif +static struct __pyx_vtabstruct_memoryview __pyx_vtable_memoryview; + +static PyObject *__pyx_tp_new_memoryview(PyTypeObject *t, PyObject *a, PyObject *k) { + struct __pyx_memoryview_obj *p; + PyObject *o; + #if CYTHON_COMPILING_IN_LIMITED_API + allocfunc alloc_func = (allocfunc)PyType_GetSlot(t, Py_tp_alloc); + o = alloc_func(t, 0); + #else + if (likely(!__Pyx_PyType_HasFeature(t, Py_TPFLAGS_IS_ABSTRACT))) { + o = (*t->tp_alloc)(t, 0); + } else { + o = (PyObject *) PyBaseObject_Type.tp_new(t, __pyx_empty_tuple, 0); + } + if (unlikely(!o)) return 0; + #endif + p = ((struct __pyx_memoryview_obj *)o); + p->__pyx_vtab = __pyx_vtabptr_memoryview; + p->obj = Py_None; Py_INCREF(Py_None); + p->_size = Py_None; Py_INCREF(Py_None); + p->_array_interface = Py_None; Py_INCREF(Py_None); + p->view.obj = NULL; + if (unlikely(__pyx_memoryview___cinit__(o, a, k) < 0)) goto bad; + return o; + bad: + Py_DECREF(o); o = 0; + return NULL; +} + +static void __pyx_tp_dealloc_memoryview(PyObject *o) { + struct __pyx_memoryview_obj *p = (struct __pyx_memoryview_obj *)o; + #if CYTHON_USE_TP_FINALIZE + if (unlikely((PY_VERSION_HEX >= 0x03080000 || __Pyx_PyType_HasFeature(Py_TYPE(o), Py_TPFLAGS_HAVE_FINALIZE)) && __Pyx_PyObject_GetSlot(o, tp_finalize, destructor)) && !__Pyx_PyObject_GC_IsFinalized(o)) { + if (__Pyx_PyObject_GetSlot(o, tp_dealloc, destructor) == __pyx_tp_dealloc_memoryview) { + if (PyObject_CallFinalizerFromDealloc(o)) return; + } + } + #endif + PyObject_GC_UnTrack(o); + { + PyObject *etype, *eval, *etb; + PyErr_Fetch(&etype, &eval, &etb); + __Pyx_SET_REFCNT(o, Py_REFCNT(o) + 1); + __pyx_memoryview___dealloc__(o); + __Pyx_SET_REFCNT(o, Py_REFCNT(o) - 1); + PyErr_Restore(etype, eval, etb); + } + Py_CLEAR(p->obj); + Py_CLEAR(p->_size); + Py_CLEAR(p->_array_interface); + #if CYTHON_USE_TYPE_SLOTS || CYTHON_COMPILING_IN_PYPY + (*Py_TYPE(o)->tp_free)(o); + #else + { + freefunc tp_free = (freefunc)PyType_GetSlot(Py_TYPE(o), Py_tp_free); + if (tp_free) tp_free(o); + } + #endif +} + +static int __pyx_tp_traverse_memoryview(PyObject *o, visitproc v, void *a) { + int e; + struct __pyx_memoryview_obj *p = (struct __pyx_memoryview_obj *)o; + if (p->obj) { + e = (*v)(p->obj, a); if (e) return e; + } + if (p->_size) { + e = (*v)(p->_size, a); if (e) return e; + } + if (p->_array_interface) { + e = (*v)(p->_array_interface, a); if (e) return e; + } + if (p->view.obj) { + e = (*v)(p->view.obj, a); if (e) return e; + } + return 0; +} + +static int __pyx_tp_clear_memoryview(PyObject *o) { + PyObject* tmp; + struct __pyx_memoryview_obj *p = (struct __pyx_memoryview_obj *)o; + tmp = ((PyObject*)p->obj); + p->obj = Py_None; Py_INCREF(Py_None); + Py_XDECREF(tmp); + tmp = ((PyObject*)p->_size); + p->_size = Py_None; Py_INCREF(Py_None); + Py_XDECREF(tmp); + tmp = ((PyObject*)p->_array_interface); + p->_array_interface = Py_None; Py_INCREF(Py_None); + Py_XDECREF(tmp); + Py_CLEAR(p->view.obj); + return 0; +} +static PyObject *__pyx_sq_item_memoryview(PyObject *o, Py_ssize_t i) { + PyObject *r; + PyObject *x = PyInt_FromSsize_t(i); if(!x) return 0; + r = Py_TYPE(o)->tp_as_mapping->mp_subscript(o, x); + Py_DECREF(x); + return r; +} + +static int __pyx_mp_ass_subscript_memoryview(PyObject *o, PyObject *i, PyObject *v) { + if (v) { + return __pyx_memoryview___setitem__(o, i, v); + } + else { + __Pyx_TypeName o_type_name; + o_type_name = __Pyx_PyType_GetName(Py_TYPE(o)); + PyErr_Format(PyExc_NotImplementedError, + "Subscript deletion not supported by " __Pyx_FMT_TYPENAME, o_type_name); + __Pyx_DECREF_TypeName(o_type_name); + return -1; + } +} + +static PyObject *__pyx_getprop___pyx_memoryview_T(PyObject *o, CYTHON_UNUSED void *x) { + return __pyx_pw_15View_dot_MemoryView_10memoryview_1T_1__get__(o); +} + +static PyObject *__pyx_getprop___pyx_memoryview_base(PyObject *o, CYTHON_UNUSED void *x) { + return __pyx_pw_15View_dot_MemoryView_10memoryview_4base_1__get__(o); +} + +static PyObject *__pyx_getprop___pyx_memoryview_shape(PyObject *o, CYTHON_UNUSED void *x) { + return __pyx_pw_15View_dot_MemoryView_10memoryview_5shape_1__get__(o); +} + +static PyObject *__pyx_getprop___pyx_memoryview_strides(PyObject *o, CYTHON_UNUSED void *x) { + return __pyx_pw_15View_dot_MemoryView_10memoryview_7strides_1__get__(o); +} + +static PyObject *__pyx_getprop___pyx_memoryview_suboffsets(PyObject *o, CYTHON_UNUSED void *x) { + return __pyx_pw_15View_dot_MemoryView_10memoryview_10suboffsets_1__get__(o); +} + +static PyObject *__pyx_getprop___pyx_memoryview_ndim(PyObject *o, CYTHON_UNUSED void *x) { + return __pyx_pw_15View_dot_MemoryView_10memoryview_4ndim_1__get__(o); +} + +static PyObject *__pyx_getprop___pyx_memoryview_itemsize(PyObject *o, CYTHON_UNUSED void *x) { + return __pyx_pw_15View_dot_MemoryView_10memoryview_8itemsize_1__get__(o); +} + +static PyObject *__pyx_getprop___pyx_memoryview_nbytes(PyObject *o, CYTHON_UNUSED void *x) { + return __pyx_pw_15View_dot_MemoryView_10memoryview_6nbytes_1__get__(o); +} + +static PyObject *__pyx_getprop___pyx_memoryview_size(PyObject *o, CYTHON_UNUSED void *x) { + return __pyx_pw_15View_dot_MemoryView_10memoryview_4size_1__get__(o); +} + +static PyObject *__pyx_specialmethod___pyx_memoryview___repr__(PyObject *self, CYTHON_UNUSED PyObject *arg) { + return __pyx_memoryview___repr__(self); +} + +static PyMethodDef __pyx_methods_memoryview[] = { + {"__repr__", (PyCFunction)__pyx_specialmethod___pyx_memoryview___repr__, METH_NOARGS|METH_COEXIST, 0}, + {"is_c_contig", (PyCFunction)(void*)(__Pyx_PyCFunction_FastCallWithKeywords)__pyx_memoryview_is_c_contig, __Pyx_METH_FASTCALL|METH_KEYWORDS, 0}, + {"is_f_contig", (PyCFunction)(void*)(__Pyx_PyCFunction_FastCallWithKeywords)__pyx_memoryview_is_f_contig, __Pyx_METH_FASTCALL|METH_KEYWORDS, 0}, + {"copy", (PyCFunction)(void*)(__Pyx_PyCFunction_FastCallWithKeywords)__pyx_memoryview_copy, __Pyx_METH_FASTCALL|METH_KEYWORDS, 0}, + {"copy_fortran", (PyCFunction)(void*)(__Pyx_PyCFunction_FastCallWithKeywords)__pyx_memoryview_copy_fortran, __Pyx_METH_FASTCALL|METH_KEYWORDS, 0}, + {"__reduce_cython__", (PyCFunction)(void*)(__Pyx_PyCFunction_FastCallWithKeywords)__pyx_pw___pyx_memoryview_1__reduce_cython__, __Pyx_METH_FASTCALL|METH_KEYWORDS, 0}, + {"__setstate_cython__", (PyCFunction)(void*)(__Pyx_PyCFunction_FastCallWithKeywords)__pyx_pw___pyx_memoryview_3__setstate_cython__, __Pyx_METH_FASTCALL|METH_KEYWORDS, 0}, + {0, 0, 0, 0} +}; + +static struct PyGetSetDef __pyx_getsets_memoryview[] = { + {(char *)"T", __pyx_getprop___pyx_memoryview_T, 0, (char *)0, 0}, + {(char *)"base", __pyx_getprop___pyx_memoryview_base, 0, (char *)0, 0}, + {(char *)"shape", __pyx_getprop___pyx_memoryview_shape, 0, (char *)0, 0}, + {(char *)"strides", __pyx_getprop___pyx_memoryview_strides, 0, (char *)0, 0}, + {(char *)"suboffsets", __pyx_getprop___pyx_memoryview_suboffsets, 0, (char *)0, 0}, + {(char *)"ndim", __pyx_getprop___pyx_memoryview_ndim, 0, (char *)0, 0}, + {(char *)"itemsize", __pyx_getprop___pyx_memoryview_itemsize, 0, (char *)0, 0}, + {(char *)"nbytes", __pyx_getprop___pyx_memoryview_nbytes, 0, (char *)0, 0}, + {(char *)"size", __pyx_getprop___pyx_memoryview_size, 0, (char *)0, 0}, + {0, 0, 0, 0, 0} +}; +#if CYTHON_USE_TYPE_SPECS +#if !CYTHON_COMPILING_IN_LIMITED_API + +static PyBufferProcs __pyx_tp_as_buffer_memoryview = { + #if PY_MAJOR_VERSION < 3 + 0, /*bf_getreadbuffer*/ + #endif + #if PY_MAJOR_VERSION < 3 + 0, /*bf_getwritebuffer*/ + #endif + #if PY_MAJOR_VERSION < 3 + 0, /*bf_getsegcount*/ + #endif + #if PY_MAJOR_VERSION < 3 + 0, /*bf_getcharbuffer*/ + #endif + __pyx_memoryview_getbuffer, /*bf_getbuffer*/ + 0, /*bf_releasebuffer*/ +}; +#endif +static PyType_Slot __pyx_type___pyx_memoryview_slots[] = { + {Py_tp_dealloc, (void *)__pyx_tp_dealloc_memoryview}, + {Py_tp_repr, (void *)__pyx_memoryview___repr__}, + {Py_sq_length, (void *)__pyx_memoryview___len__}, + {Py_sq_item, (void *)__pyx_sq_item_memoryview}, + {Py_mp_length, (void *)__pyx_memoryview___len__}, + {Py_mp_subscript, (void *)__pyx_memoryview___getitem__}, + {Py_mp_ass_subscript, (void *)__pyx_mp_ass_subscript_memoryview}, + {Py_tp_str, (void *)__pyx_memoryview___str__}, + #if defined(Py_bf_getbuffer) + {Py_bf_getbuffer, (void *)__pyx_memoryview_getbuffer}, + #endif + {Py_tp_traverse, (void *)__pyx_tp_traverse_memoryview}, + {Py_tp_clear, (void *)__pyx_tp_clear_memoryview}, + {Py_tp_methods, (void *)__pyx_methods_memoryview}, + {Py_tp_getset, (void *)__pyx_getsets_memoryview}, + {Py_tp_new, (void *)__pyx_tp_new_memoryview}, + {0, 0}, +}; +static PyType_Spec __pyx_type___pyx_memoryview_spec = { + "selfdrive.classic_modeld.runners.snpemodel_pyx.memoryview", + sizeof(struct __pyx_memoryview_obj), + 0, + Py_TPFLAGS_DEFAULT|Py_TPFLAGS_HAVE_VERSION_TAG|Py_TPFLAGS_CHECKTYPES|Py_TPFLAGS_HAVE_NEWBUFFER|Py_TPFLAGS_BASETYPE|Py_TPFLAGS_HAVE_GC, + __pyx_type___pyx_memoryview_slots, +}; +#else + +static PySequenceMethods __pyx_tp_as_sequence_memoryview = { + __pyx_memoryview___len__, /*sq_length*/ + 0, /*sq_concat*/ + 0, /*sq_repeat*/ + __pyx_sq_item_memoryview, /*sq_item*/ + 0, /*sq_slice*/ + 0, /*sq_ass_item*/ + 0, /*sq_ass_slice*/ + 0, /*sq_contains*/ + 0, /*sq_inplace_concat*/ + 0, /*sq_inplace_repeat*/ +}; + +static PyMappingMethods __pyx_tp_as_mapping_memoryview = { + __pyx_memoryview___len__, /*mp_length*/ + __pyx_memoryview___getitem__, /*mp_subscript*/ + __pyx_mp_ass_subscript_memoryview, /*mp_ass_subscript*/ +}; + +static PyBufferProcs __pyx_tp_as_buffer_memoryview = { + #if PY_MAJOR_VERSION < 3 + 0, /*bf_getreadbuffer*/ + #endif + #if PY_MAJOR_VERSION < 3 + 0, /*bf_getwritebuffer*/ + #endif + #if PY_MAJOR_VERSION < 3 + 0, /*bf_getsegcount*/ + #endif + #if PY_MAJOR_VERSION < 3 + 0, /*bf_getcharbuffer*/ + #endif + __pyx_memoryview_getbuffer, /*bf_getbuffer*/ + 0, /*bf_releasebuffer*/ +}; + +static PyTypeObject __pyx_type___pyx_memoryview = { + PyVarObject_HEAD_INIT(0, 0) + "selfdrive.classic_modeld.runners.snpemodel_pyx.""memoryview", /*tp_name*/ + sizeof(struct __pyx_memoryview_obj), /*tp_basicsize*/ + 0, /*tp_itemsize*/ + __pyx_tp_dealloc_memoryview, /*tp_dealloc*/ + #if PY_VERSION_HEX < 0x030800b4 + 0, /*tp_print*/ + #endif + #if PY_VERSION_HEX >= 0x030800b4 + 0, /*tp_vectorcall_offset*/ + #endif + 0, /*tp_getattr*/ + 0, /*tp_setattr*/ + #if PY_MAJOR_VERSION < 3 + 0, /*tp_compare*/ + #endif + #if PY_MAJOR_VERSION >= 3 + 0, /*tp_as_async*/ + #endif + __pyx_memoryview___repr__, /*tp_repr*/ + 0, /*tp_as_number*/ + &__pyx_tp_as_sequence_memoryview, /*tp_as_sequence*/ + &__pyx_tp_as_mapping_memoryview, /*tp_as_mapping*/ + 0, /*tp_hash*/ + 0, /*tp_call*/ + __pyx_memoryview___str__, /*tp_str*/ + 0, /*tp_getattro*/ + 0, /*tp_setattro*/ + &__pyx_tp_as_buffer_memoryview, /*tp_as_buffer*/ + Py_TPFLAGS_DEFAULT|Py_TPFLAGS_HAVE_VERSION_TAG|Py_TPFLAGS_CHECKTYPES|Py_TPFLAGS_HAVE_NEWBUFFER|Py_TPFLAGS_BASETYPE|Py_TPFLAGS_HAVE_GC, /*tp_flags*/ + 0, /*tp_doc*/ + __pyx_tp_traverse_memoryview, /*tp_traverse*/ + __pyx_tp_clear_memoryview, /*tp_clear*/ + 0, /*tp_richcompare*/ + 0, /*tp_weaklistoffset*/ + 0, /*tp_iter*/ + 0, /*tp_iternext*/ + __pyx_methods_memoryview, /*tp_methods*/ + 0, /*tp_members*/ + __pyx_getsets_memoryview, /*tp_getset*/ + 0, /*tp_base*/ + 0, /*tp_dict*/ + 0, /*tp_descr_get*/ + 0, /*tp_descr_set*/ + #if !CYTHON_USE_TYPE_SPECS + 0, /*tp_dictoffset*/ + #endif + 0, /*tp_init*/ + 0, /*tp_alloc*/ + __pyx_tp_new_memoryview, /*tp_new*/ + 0, /*tp_free*/ + 0, /*tp_is_gc*/ + 0, /*tp_bases*/ + 0, /*tp_mro*/ + 0, /*tp_cache*/ + 0, /*tp_subclasses*/ + 0, /*tp_weaklist*/ + 0, /*tp_del*/ + 0, /*tp_version_tag*/ + #if PY_VERSION_HEX >= 0x030400a1 + #if CYTHON_USE_TP_FINALIZE + 0, /*tp_finalize*/ + #else + NULL, /*tp_finalize*/ + #endif + #endif + #if PY_VERSION_HEX >= 0x030800b1 && (!CYTHON_COMPILING_IN_PYPY || PYPY_VERSION_NUM >= 0x07030800) + 0, /*tp_vectorcall*/ + #endif + #if __PYX_NEED_TP_PRINT_SLOT == 1 + 0, /*tp_print*/ + #endif + #if PY_VERSION_HEX >= 0x030C0000 + 0, /*tp_watched*/ + #endif + #if CYTHON_COMPILING_IN_PYPY && PY_VERSION_HEX >= 0x03090000 && PY_VERSION_HEX < 0x030a0000 + 0, /*tp_pypy_flags*/ + #endif +}; +#endif +static struct __pyx_vtabstruct__memoryviewslice __pyx_vtable__memoryviewslice; + +static PyObject *__pyx_tp_new__memoryviewslice(PyTypeObject *t, PyObject *a, PyObject *k) { + struct __pyx_memoryviewslice_obj *p; + PyObject *o = __pyx_tp_new_memoryview(t, a, k); + if (unlikely(!o)) return 0; + p = ((struct __pyx_memoryviewslice_obj *)o); + p->__pyx_base.__pyx_vtab = (struct __pyx_vtabstruct_memoryview*)__pyx_vtabptr__memoryviewslice; + new((void*)&(p->from_slice)) __Pyx_memviewslice(); + p->from_object = Py_None; Py_INCREF(Py_None); + p->from_slice.memview = NULL; + return o; +} + +static void __pyx_tp_dealloc__memoryviewslice(PyObject *o) { + struct __pyx_memoryviewslice_obj *p = (struct __pyx_memoryviewslice_obj *)o; + #if CYTHON_USE_TP_FINALIZE + if (unlikely((PY_VERSION_HEX >= 0x03080000 || __Pyx_PyType_HasFeature(Py_TYPE(o), Py_TPFLAGS_HAVE_FINALIZE)) && __Pyx_PyObject_GetSlot(o, tp_finalize, destructor)) && !__Pyx_PyObject_GC_IsFinalized(o)) { + if (__Pyx_PyObject_GetSlot(o, tp_dealloc, destructor) == __pyx_tp_dealloc__memoryviewslice) { + if (PyObject_CallFinalizerFromDealloc(o)) return; + } + } + #endif + PyObject_GC_UnTrack(o); + { + PyObject *etype, *eval, *etb; + PyErr_Fetch(&etype, &eval, &etb); + __Pyx_SET_REFCNT(o, Py_REFCNT(o) + 1); + __pyx_memoryviewslice___dealloc__(o); + __Pyx_SET_REFCNT(o, Py_REFCNT(o) - 1); + PyErr_Restore(etype, eval, etb); + } + __Pyx_call_destructor(p->from_slice); + Py_CLEAR(p->from_object); + PyObject_GC_Track(o); + __pyx_tp_dealloc_memoryview(o); +} + +static int __pyx_tp_traverse__memoryviewslice(PyObject *o, visitproc v, void *a) { + int e; + struct __pyx_memoryviewslice_obj *p = (struct __pyx_memoryviewslice_obj *)o; + e = __pyx_tp_traverse_memoryview(o, v, a); if (e) return e; + if (p->from_object) { + e = (*v)(p->from_object, a); if (e) return e; + } + return 0; +} + +static int __pyx_tp_clear__memoryviewslice(PyObject *o) { + PyObject* tmp; + struct __pyx_memoryviewslice_obj *p = (struct __pyx_memoryviewslice_obj *)o; + __pyx_tp_clear_memoryview(o); + tmp = ((PyObject*)p->from_object); + p->from_object = Py_None; Py_INCREF(Py_None); + Py_XDECREF(tmp); + __PYX_XCLEAR_MEMVIEW(&p->from_slice, 1); + return 0; +} + +static PyMethodDef __pyx_methods__memoryviewslice[] = { + {"__reduce_cython__", (PyCFunction)(void*)(__Pyx_PyCFunction_FastCallWithKeywords)__pyx_pw___pyx_memoryviewslice_1__reduce_cython__, __Pyx_METH_FASTCALL|METH_KEYWORDS, 0}, + {"__setstate_cython__", (PyCFunction)(void*)(__Pyx_PyCFunction_FastCallWithKeywords)__pyx_pw___pyx_memoryviewslice_3__setstate_cython__, __Pyx_METH_FASTCALL|METH_KEYWORDS, 0}, + {0, 0, 0, 0} +}; +#if CYTHON_USE_TYPE_SPECS +static PyType_Slot __pyx_type___pyx_memoryviewslice_slots[] = { + {Py_tp_dealloc, (void *)__pyx_tp_dealloc__memoryviewslice}, + {Py_tp_doc, (void *)PyDoc_STR("Internal class for passing memoryview slices to Python")}, + {Py_tp_traverse, (void *)__pyx_tp_traverse__memoryviewslice}, + {Py_tp_clear, (void *)__pyx_tp_clear__memoryviewslice}, + {Py_tp_methods, (void *)__pyx_methods__memoryviewslice}, + {Py_tp_new, (void *)__pyx_tp_new__memoryviewslice}, + {0, 0}, +}; +static PyType_Spec __pyx_type___pyx_memoryviewslice_spec = { + "selfdrive.classic_modeld.runners.snpemodel_pyx._memoryviewslice", + sizeof(struct __pyx_memoryviewslice_obj), + 0, + Py_TPFLAGS_DEFAULT|Py_TPFLAGS_HAVE_VERSION_TAG|Py_TPFLAGS_CHECKTYPES|Py_TPFLAGS_HAVE_NEWBUFFER|Py_TPFLAGS_BASETYPE|Py_TPFLAGS_HAVE_GC|Py_TPFLAGS_SEQUENCE, + __pyx_type___pyx_memoryviewslice_slots, +}; +#else + +static PyTypeObject __pyx_type___pyx_memoryviewslice = { + PyVarObject_HEAD_INIT(0, 0) + "selfdrive.classic_modeld.runners.snpemodel_pyx.""_memoryviewslice", /*tp_name*/ + sizeof(struct __pyx_memoryviewslice_obj), /*tp_basicsize*/ + 0, /*tp_itemsize*/ + __pyx_tp_dealloc__memoryviewslice, /*tp_dealloc*/ + #if PY_VERSION_HEX < 0x030800b4 + 0, /*tp_print*/ + #endif + #if PY_VERSION_HEX >= 0x030800b4 + 0, /*tp_vectorcall_offset*/ + #endif + 0, /*tp_getattr*/ + 0, /*tp_setattr*/ + #if PY_MAJOR_VERSION < 3 + 0, /*tp_compare*/ + #endif + #if PY_MAJOR_VERSION >= 3 + 0, /*tp_as_async*/ + #endif + #if CYTHON_COMPILING_IN_PYPY || 0 + __pyx_memoryview___repr__, /*tp_repr*/ + #else + 0, /*tp_repr*/ + #endif + 0, /*tp_as_number*/ + 0, /*tp_as_sequence*/ + 0, /*tp_as_mapping*/ + 0, /*tp_hash*/ + 0, /*tp_call*/ + #if CYTHON_COMPILING_IN_PYPY || 0 + __pyx_memoryview___str__, /*tp_str*/ + #else + 0, /*tp_str*/ + #endif + 0, /*tp_getattro*/ + 0, /*tp_setattro*/ + 0, /*tp_as_buffer*/ + Py_TPFLAGS_DEFAULT|Py_TPFLAGS_HAVE_VERSION_TAG|Py_TPFLAGS_CHECKTYPES|Py_TPFLAGS_HAVE_NEWBUFFER|Py_TPFLAGS_BASETYPE|Py_TPFLAGS_HAVE_GC|Py_TPFLAGS_SEQUENCE, /*tp_flags*/ + PyDoc_STR("Internal class for passing memoryview slices to Python"), /*tp_doc*/ + __pyx_tp_traverse__memoryviewslice, /*tp_traverse*/ + __pyx_tp_clear__memoryviewslice, /*tp_clear*/ + 0, /*tp_richcompare*/ + 0, /*tp_weaklistoffset*/ + 0, /*tp_iter*/ + 0, /*tp_iternext*/ + __pyx_methods__memoryviewslice, /*tp_methods*/ + 0, /*tp_members*/ + 0, /*tp_getset*/ + 0, /*tp_base*/ + 0, /*tp_dict*/ + 0, /*tp_descr_get*/ + 0, /*tp_descr_set*/ + #if !CYTHON_USE_TYPE_SPECS + 0, /*tp_dictoffset*/ + #endif + 0, /*tp_init*/ + 0, /*tp_alloc*/ + __pyx_tp_new__memoryviewslice, /*tp_new*/ + 0, /*tp_free*/ + 0, 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+ ps1 = PyBytes_AS_STRING(s1); + ps2 = PyBytes_AS_STRING(s2); + if (ps1[0] != ps2[0]) { + return (equals == Py_NE); + } else if (length == 1) { + return (equals == Py_EQ); + } else { + int result; +#if CYTHON_USE_UNICODE_INTERNALS && (PY_VERSION_HEX < 0x030B0000) + Py_hash_t hash1, hash2; + hash1 = ((PyBytesObject*)s1)->ob_shash; + hash2 = ((PyBytesObject*)s2)->ob_shash; + if (hash1 != hash2 && hash1 != -1 && hash2 != -1) { + return (equals == Py_NE); + } +#endif + result = memcmp(ps1, ps2, (size_t)length); + return (equals == Py_EQ) ? (result == 0) : (result != 0); + } + } else if ((s1 == Py_None) & PyBytes_CheckExact(s2)) { + return (equals == Py_NE); + } else if ((s2 == Py_None) & PyBytes_CheckExact(s1)) { + return (equals == Py_NE); + } else { + int result; + PyObject* py_result = PyObject_RichCompare(s1, s2, equals); + if (!py_result) + return -1; + result = __Pyx_PyObject_IsTrue(py_result); + Py_DECREF(py_result); + return result; + } +#endif +} + +/* UnicodeEquals */ +static CYTHON_INLINE int __Pyx_PyUnicode_Equals(PyObject* s1, PyObject* s2, int equals) { +#if CYTHON_COMPILING_IN_PYPY || CYTHON_COMPILING_IN_LIMITED_API + return PyObject_RichCompareBool(s1, s2, equals); +#else +#if PY_MAJOR_VERSION < 3 + PyObject* owned_ref = NULL; +#endif + int s1_is_unicode, s2_is_unicode; + if (s1 == s2) { + goto return_eq; + } + s1_is_unicode = PyUnicode_CheckExact(s1); + s2_is_unicode = PyUnicode_CheckExact(s2); +#if PY_MAJOR_VERSION < 3 + if ((s1_is_unicode & (!s2_is_unicode)) && PyString_CheckExact(s2)) { + owned_ref = PyUnicode_FromObject(s2); + if (unlikely(!owned_ref)) + return -1; + s2 = owned_ref; + s2_is_unicode = 1; + } else if ((s2_is_unicode & (!s1_is_unicode)) && PyString_CheckExact(s1)) { + owned_ref = PyUnicode_FromObject(s1); + if (unlikely(!owned_ref)) + return -1; + s1 = owned_ref; + s1_is_unicode = 1; + } else if (((!s2_is_unicode) & (!s1_is_unicode))) { + return __Pyx_PyBytes_Equals(s1, s2, equals); + } +#endif + if (s1_is_unicode & s2_is_unicode) { + Py_ssize_t length; + int kind; + void *data1, *data2; + if (unlikely(__Pyx_PyUnicode_READY(s1) < 0) || unlikely(__Pyx_PyUnicode_READY(s2) < 0)) + return -1; + length = __Pyx_PyUnicode_GET_LENGTH(s1); + if (length != __Pyx_PyUnicode_GET_LENGTH(s2)) { + goto return_ne; + } +#if CYTHON_USE_UNICODE_INTERNALS + { + Py_hash_t hash1, hash2; + #if CYTHON_PEP393_ENABLED + hash1 = ((PyASCIIObject*)s1)->hash; + hash2 = ((PyASCIIObject*)s2)->hash; + #else + hash1 = ((PyUnicodeObject*)s1)->hash; + hash2 = ((PyUnicodeObject*)s2)->hash; + #endif + if (hash1 != hash2 && hash1 != -1 && hash2 != -1) { + goto return_ne; + } + } +#endif + kind = __Pyx_PyUnicode_KIND(s1); + if (kind != __Pyx_PyUnicode_KIND(s2)) { + goto return_ne; + } + data1 = __Pyx_PyUnicode_DATA(s1); + data2 = __Pyx_PyUnicode_DATA(s2); + if (__Pyx_PyUnicode_READ(kind, data1, 0) != __Pyx_PyUnicode_READ(kind, data2, 0)) { + goto return_ne; + } else if (length == 1) { + goto return_eq; + } else { + int result = memcmp(data1, data2, (size_t)(length * kind)); + #if PY_MAJOR_VERSION < 3 + Py_XDECREF(owned_ref); + #endif + return (equals == Py_EQ) ? (result == 0) : (result != 0); + } + } else if ((s1 == Py_None) & s2_is_unicode) { + goto return_ne; + } else if ((s2 == Py_None) & s1_is_unicode) { + goto return_ne; + } else { + int result; + PyObject* py_result = PyObject_RichCompare(s1, s2, equals); + #if PY_MAJOR_VERSION < 3 + Py_XDECREF(owned_ref); + #endif + if (!py_result) + return -1; + result = __Pyx_PyObject_IsTrue(py_result); + Py_DECREF(py_result); + return result; + } +return_eq: + #if PY_MAJOR_VERSION < 3 + Py_XDECREF(owned_ref); + #endif + return (equals == Py_EQ); +return_ne: + #if PY_MAJOR_VERSION < 3 + Py_XDECREF(owned_ref); + #endif + return (equals == Py_NE); +#endif +} + +/* fastcall */ +#if CYTHON_METH_FASTCALL +static CYTHON_INLINE PyObject * __Pyx_GetKwValue_FASTCALL(PyObject *kwnames, PyObject *const *kwvalues, PyObject *s) +{ + Py_ssize_t i, n = PyTuple_GET_SIZE(kwnames); + for (i = 0; i < n; i++) + { + if (s == PyTuple_GET_ITEM(kwnames, i)) return kwvalues[i]; + } + for (i = 0; i < n; i++) + { + int eq = __Pyx_PyUnicode_Equals(s, PyTuple_GET_ITEM(kwnames, i), Py_EQ); 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+ while (1) { + Py_XDECREF(key); key = NULL; + Py_XDECREF(value); value = NULL; + if (kwds_is_tuple) { + Py_ssize_t size; +#if CYTHON_ASSUME_SAFE_MACROS + size = PyTuple_GET_SIZE(kwds); +#else + size = PyTuple_Size(kwds); + if (size < 0) goto bad; +#endif + if (pos >= size) break; +#if CYTHON_AVOID_BORROWED_REFS + key = __Pyx_PySequence_ITEM(kwds, pos); + if (!key) goto bad; +#elif CYTHON_ASSUME_SAFE_MACROS + key = PyTuple_GET_ITEM(kwds, pos); +#else + key = PyTuple_GetItem(kwds, pos); + if (!key) goto bad; +#endif + value = kwvalues[pos]; + pos++; + } + else + { + if (!PyDict_Next(kwds, &pos, &key, &value)) break; +#if CYTHON_AVOID_BORROWED_REFS + Py_INCREF(key); +#endif + } + name = first_kw_arg; + while (*name && (**name != key)) name++; + if (*name) { + values[name-argnames] = value; +#if CYTHON_AVOID_BORROWED_REFS + Py_INCREF(value); + Py_DECREF(key); +#endif + key = NULL; + value = NULL; + continue; + } +#if !CYTHON_AVOID_BORROWED_REFS + Py_INCREF(key); +#endif + Py_INCREF(value); + name = first_kw_arg; + #if PY_MAJOR_VERSION < 3 + if (likely(PyString_Check(key))) { + while (*name) { + if ((CYTHON_COMPILING_IN_PYPY || PyString_GET_SIZE(**name) == PyString_GET_SIZE(key)) + && _PyString_Eq(**name, key)) { + values[name-argnames] = value; +#if CYTHON_AVOID_BORROWED_REFS + value = NULL; +#endif + break; + } + name++; + } + if (*name) continue; + else { + PyObject*** argname = argnames; + while (argname != first_kw_arg) { + if ((**argname == key) || ( + (CYTHON_COMPILING_IN_PYPY || PyString_GET_SIZE(**argname) == PyString_GET_SIZE(key)) + && _PyString_Eq(**argname, key))) { + goto arg_passed_twice; + } + argname++; + } + } + } else + #endif + if (likely(PyUnicode_Check(key))) { + while (*name) { + int cmp = ( + #if !CYTHON_COMPILING_IN_PYPY && PY_MAJOR_VERSION >= 3 + (__Pyx_PyUnicode_GET_LENGTH(**name) != __Pyx_PyUnicode_GET_LENGTH(key)) ? 1 : + #endif + PyUnicode_Compare(**name, key) + ); + if (cmp < 0 && unlikely(PyErr_Occurred())) goto bad; + if (cmp == 0) { + values[name-argnames] = value; +#if CYTHON_AVOID_BORROWED_REFS + value = NULL; +#endif + break; + } + name++; + } + if (*name) continue; + else { + PyObject*** argname = argnames; + while (argname != first_kw_arg) { + int cmp = (**argname == key) ? 0 : + #if !CYTHON_COMPILING_IN_PYPY && PY_MAJOR_VERSION >= 3 + (__Pyx_PyUnicode_GET_LENGTH(**argname) != __Pyx_PyUnicode_GET_LENGTH(key)) ? 1 : + #endif + PyUnicode_Compare(**argname, key); + if (cmp < 0 && unlikely(PyErr_Occurred())) goto bad; + if (cmp == 0) goto arg_passed_twice; + argname++; + } + } + } else + goto invalid_keyword_type; + if (kwds2) { + if (unlikely(PyDict_SetItem(kwds2, key, value))) goto bad; + } else { + goto invalid_keyword; + } + } + Py_XDECREF(key); + Py_XDECREF(value); + return 0; +arg_passed_twice: + __Pyx_RaiseDoubleKeywordsError(function_name, key); + goto bad; +invalid_keyword_type: + PyErr_Format(PyExc_TypeError, + "%.200s() keywords must be strings", function_name); + goto bad; +invalid_keyword: + #if PY_MAJOR_VERSION < 3 + PyErr_Format(PyExc_TypeError, + "%.200s() got an unexpected keyword argument '%.200s'", + function_name, PyString_AsString(key)); + #else + PyErr_Format(PyExc_TypeError, + "%s() got an unexpected keyword argument '%U'", + function_name, key); + #endif +bad: + Py_XDECREF(key); + Py_XDECREF(value); + return -1; +} + +/* ArgTypeTest */ +static int __Pyx__ArgTypeTest(PyObject *obj, PyTypeObject *type, const char *name, int exact) +{ + __Pyx_TypeName type_name; + __Pyx_TypeName obj_type_name; + if (unlikely(!type)) { + PyErr_SetString(PyExc_SystemError, "Missing type object"); + return 0; + } + else if (exact) { + #if PY_MAJOR_VERSION == 2 + if ((type == &PyBaseString_Type) && likely(__Pyx_PyBaseString_CheckExact(obj))) return 1; + #endif + } + else { + if (likely(__Pyx_TypeCheck(obj, type))) return 1; + } + type_name = __Pyx_PyType_GetName(type); + obj_type_name = __Pyx_PyType_GetName(Py_TYPE(obj)); + PyErr_Format(PyExc_TypeError, + "Argument '%.200s' has incorrect type (expected " __Pyx_FMT_TYPENAME + ", got " __Pyx_FMT_TYPENAME ")", name, type_name, obj_type_name); + __Pyx_DECREF_TypeName(type_name); + __Pyx_DECREF_TypeName(obj_type_name); + return 0; +} + +/* RaiseException */ +#if PY_MAJOR_VERSION < 3 +static void __Pyx_Raise(PyObject *type, PyObject *value, PyObject *tb, PyObject *cause) { + __Pyx_PyThreadState_declare + CYTHON_UNUSED_VAR(cause); + Py_XINCREF(type); + if (!value || value == Py_None) + value = NULL; + else + Py_INCREF(value); + if (!tb || tb == Py_None) + tb = NULL; + else { + Py_INCREF(tb); + if (!PyTraceBack_Check(tb)) { + PyErr_SetString(PyExc_TypeError, + "raise: arg 3 must be a traceback or None"); + goto raise_error; + } + } + if (PyType_Check(type)) { +#if CYTHON_COMPILING_IN_PYPY + if (!value) { + Py_INCREF(Py_None); + value = Py_None; + } +#endif + PyErr_NormalizeException(&type, &value, &tb); + } else { + if (value) { + PyErr_SetString(PyExc_TypeError, + "instance exception may not have a separate value"); + goto raise_error; + } + value = type; + type = (PyObject*) Py_TYPE(type); + Py_INCREF(type); + if (!PyType_IsSubtype((PyTypeObject *)type, (PyTypeObject *)PyExc_BaseException)) { + PyErr_SetString(PyExc_TypeError, + "raise: exception class must be a subclass of BaseException"); + goto raise_error; + } + } + __Pyx_PyThreadState_assign + __Pyx_ErrRestore(type, value, tb); + return; +raise_error: + Py_XDECREF(value); + Py_XDECREF(type); + Py_XDECREF(tb); + return; +} +#else +static void __Pyx_Raise(PyObject *type, PyObject *value, PyObject *tb, PyObject *cause) { + PyObject* owned_instance = NULL; + if (tb == Py_None) { + tb = 0; + } else if (tb && !PyTraceBack_Check(tb)) { + PyErr_SetString(PyExc_TypeError, + "raise: arg 3 must be a traceback or None"); + goto bad; + } + if (value == Py_None) + value = 0; + if (PyExceptionInstance_Check(type)) { + if (value) { + PyErr_SetString(PyExc_TypeError, + "instance exception may not have a separate value"); + goto bad; + } + value = type; + type = (PyObject*) Py_TYPE(value); + } else if (PyExceptionClass_Check(type)) { + PyObject *instance_class = NULL; + if (value && PyExceptionInstance_Check(value)) { + instance_class = (PyObject*) Py_TYPE(value); + if (instance_class != type) { + int is_subclass = PyObject_IsSubclass(instance_class, type); + if (!is_subclass) { + instance_class = NULL; + } else if (unlikely(is_subclass == -1)) { + goto bad; + } else { + type = instance_class; + } + } + } + if (!instance_class) { + PyObject *args; + if (!value) + args = PyTuple_New(0); + else if (PyTuple_Check(value)) { + Py_INCREF(value); + args = value; + } else + args = PyTuple_Pack(1, value); + if (!args) + goto bad; + owned_instance = PyObject_Call(type, args, NULL); + Py_DECREF(args); + if (!owned_instance) + goto bad; + value = owned_instance; + if (!PyExceptionInstance_Check(value)) { + PyErr_Format(PyExc_TypeError, + "calling %R should have returned an instance of " + "BaseException, not %R", + type, Py_TYPE(value)); + goto bad; + } + } + } else { + PyErr_SetString(PyExc_TypeError, + "raise: exception class must be a subclass of BaseException"); + goto bad; + } + if (cause) { + PyObject *fixed_cause; + if (cause == Py_None) { + fixed_cause = NULL; + } else if (PyExceptionClass_Check(cause)) { + fixed_cause = PyObject_CallObject(cause, NULL); + if (fixed_cause == NULL) + goto bad; + } else if (PyExceptionInstance_Check(cause)) { + fixed_cause = cause; + Py_INCREF(fixed_cause); + } else { + PyErr_SetString(PyExc_TypeError, + "exception causes must derive from " + "BaseException"); + goto bad; + } + PyException_SetCause(value, fixed_cause); + } + PyErr_SetObject(type, value); + if (tb) { + #if PY_VERSION_HEX >= 0x030C00A6 + PyException_SetTraceback(value, tb); + #elif CYTHON_FAST_THREAD_STATE + PyThreadState *tstate = __Pyx_PyThreadState_Current; + PyObject* tmp_tb = tstate->curexc_traceback; + if (tb != tmp_tb) { + Py_INCREF(tb); + tstate->curexc_traceback = tb; + Py_XDECREF(tmp_tb); + } +#else + PyObject *tmp_type, *tmp_value, *tmp_tb; + PyErr_Fetch(&tmp_type, &tmp_value, &tmp_tb); + Py_INCREF(tb); + PyErr_Restore(tmp_type, tmp_value, tb); + Py_XDECREF(tmp_tb); +#endif + } +bad: + Py_XDECREF(owned_instance); + return; +} +#endif + +/* PyFunctionFastCall */ +#if CYTHON_FAST_PYCALL && !CYTHON_VECTORCALL +static PyObject* __Pyx_PyFunction_FastCallNoKw(PyCodeObject *co, PyObject **args, Py_ssize_t na, + PyObject *globals) { + PyFrameObject *f; + PyThreadState *tstate = __Pyx_PyThreadState_Current; + PyObject **fastlocals; + Py_ssize_t i; + PyObject *result; + assert(globals != NULL); + /* XXX Perhaps we should create a specialized + PyFrame_New() that doesn't take locals, but does + take builtins without sanity checking them. + */ + assert(tstate != NULL); + f = PyFrame_New(tstate, co, globals, NULL); + if (f == NULL) { + return NULL; + } + fastlocals = __Pyx_PyFrame_GetLocalsplus(f); + for (i = 0; i < na; i++) { + Py_INCREF(*args); + fastlocals[i] = *args++; + } + result = PyEval_EvalFrameEx(f,0); + ++tstate->recursion_depth; + Py_DECREF(f); + --tstate->recursion_depth; + return result; +} +static PyObject *__Pyx_PyFunction_FastCallDict(PyObject *func, PyObject **args, Py_ssize_t nargs, PyObject *kwargs) { + PyCodeObject *co = (PyCodeObject *)PyFunction_GET_CODE(func); + PyObject *globals = PyFunction_GET_GLOBALS(func); + PyObject *argdefs = PyFunction_GET_DEFAULTS(func); + PyObject *closure; +#if PY_MAJOR_VERSION >= 3 + PyObject *kwdefs; +#endif + PyObject *kwtuple, **k; + PyObject **d; + Py_ssize_t nd; + Py_ssize_t nk; + PyObject *result; + assert(kwargs == NULL || PyDict_Check(kwargs)); + nk = kwargs ? PyDict_Size(kwargs) : 0; + #if PY_MAJOR_VERSION < 3 + if (unlikely(Py_EnterRecursiveCall((char*)" while calling a Python object"))) { + return NULL; + } + #else + if (unlikely(Py_EnterRecursiveCall(" while calling a Python object"))) { + return NULL; + } + #endif + if ( +#if PY_MAJOR_VERSION >= 3 + co->co_kwonlyargcount == 0 && +#endif + likely(kwargs == NULL || nk == 0) && + co->co_flags == (CO_OPTIMIZED | CO_NEWLOCALS | CO_NOFREE)) { + if (argdefs == NULL && co->co_argcount == nargs) { + result = __Pyx_PyFunction_FastCallNoKw(co, args, nargs, globals); + goto done; + } + else if (nargs == 0 && argdefs != NULL + && co->co_argcount == Py_SIZE(argdefs)) { + /* function called with no arguments, but all parameters have + a default value: use default values as arguments .*/ + args = &PyTuple_GET_ITEM(argdefs, 0); + result =__Pyx_PyFunction_FastCallNoKw(co, args, Py_SIZE(argdefs), globals); + goto done; + } + } + if (kwargs != NULL) { + Py_ssize_t pos, i; + kwtuple = PyTuple_New(2 * nk); + if (kwtuple == NULL) { + result = NULL; + goto done; + } + k = &PyTuple_GET_ITEM(kwtuple, 0); + pos = i = 0; + while (PyDict_Next(kwargs, &pos, &k[i], &k[i+1])) { + Py_INCREF(k[i]); + Py_INCREF(k[i+1]); + i += 2; + } + nk = i / 2; + } + else { + kwtuple = NULL; + k = NULL; + } + closure = PyFunction_GET_CLOSURE(func); +#if PY_MAJOR_VERSION >= 3 + kwdefs = PyFunction_GET_KW_DEFAULTS(func); +#endif + if (argdefs != NULL) { + d = &PyTuple_GET_ITEM(argdefs, 0); + nd = Py_SIZE(argdefs); + } + else { + d = NULL; + nd = 0; + } +#if PY_MAJOR_VERSION >= 3 + result = PyEval_EvalCodeEx((PyObject*)co, globals, (PyObject *)NULL, + args, (int)nargs, + k, (int)nk, + d, (int)nd, kwdefs, closure); +#else + result = PyEval_EvalCodeEx(co, globals, (PyObject *)NULL, + args, (int)nargs, + k, (int)nk, + d, (int)nd, closure); +#endif + Py_XDECREF(kwtuple); +done: + Py_LeaveRecursiveCall(); + return result; +} +#endif + +/* PyObjectCall */ +#if CYTHON_COMPILING_IN_CPYTHON +static CYTHON_INLINE PyObject* __Pyx_PyObject_Call(PyObject *func, PyObject *arg, PyObject *kw) { + PyObject *result; + ternaryfunc call = Py_TYPE(func)->tp_call; + if (unlikely(!call)) + return PyObject_Call(func, arg, kw); + #if PY_MAJOR_VERSION < 3 + if (unlikely(Py_EnterRecursiveCall((char*)" while calling a Python object"))) + return NULL; + #else + if (unlikely(Py_EnterRecursiveCall(" while calling a Python object"))) + return NULL; + #endif + result = (*call)(func, arg, kw); + Py_LeaveRecursiveCall(); + if (unlikely(!result) && unlikely(!PyErr_Occurred())) { + PyErr_SetString( + PyExc_SystemError, + "NULL result without error in PyObject_Call"); + } + return result; +} +#endif + +/* PyObjectCallMethO */ +#if CYTHON_COMPILING_IN_CPYTHON +static CYTHON_INLINE PyObject* __Pyx_PyObject_CallMethO(PyObject *func, PyObject *arg) { + PyObject *self, *result; + PyCFunction cfunc; + cfunc = __Pyx_CyOrPyCFunction_GET_FUNCTION(func); + self = __Pyx_CyOrPyCFunction_GET_SELF(func); + #if PY_MAJOR_VERSION < 3 + if (unlikely(Py_EnterRecursiveCall((char*)" while calling a Python object"))) + return NULL; + #else + if (unlikely(Py_EnterRecursiveCall(" while calling a Python object"))) + return NULL; + #endif + result = cfunc(self, arg); + Py_LeaveRecursiveCall(); + if (unlikely(!result) && unlikely(!PyErr_Occurred())) { + PyErr_SetString( + PyExc_SystemError, + "NULL result without error in PyObject_Call"); + } + return result; +} +#endif + +/* PyObjectFastCall */ +#if PY_VERSION_HEX < 0x03090000 || CYTHON_COMPILING_IN_LIMITED_API +static PyObject* __Pyx_PyObject_FastCall_fallback(PyObject *func, PyObject **args, size_t nargs, PyObject *kwargs) { + PyObject *argstuple; + PyObject *result = 0; + size_t i; + argstuple = PyTuple_New((Py_ssize_t)nargs); + if (unlikely(!argstuple)) return NULL; + for (i = 0; i < nargs; i++) { + Py_INCREF(args[i]); + if (__Pyx_PyTuple_SET_ITEM(argstuple, (Py_ssize_t)i, args[i]) < 0) goto bad; + } + result = __Pyx_PyObject_Call(func, argstuple, kwargs); + bad: + Py_DECREF(argstuple); + return result; +} +#endif +static CYTHON_INLINE PyObject* __Pyx_PyObject_FastCallDict(PyObject *func, PyObject **args, size_t _nargs, PyObject *kwargs) { + Py_ssize_t nargs = __Pyx_PyVectorcall_NARGS(_nargs); +#if CYTHON_COMPILING_IN_CPYTHON + if (nargs == 0 && kwargs == NULL) { + if (__Pyx_CyOrPyCFunction_Check(func) && likely( __Pyx_CyOrPyCFunction_GET_FLAGS(func) & METH_NOARGS)) + return __Pyx_PyObject_CallMethO(func, NULL); + } + else if (nargs == 1 && kwargs == NULL) { + if (__Pyx_CyOrPyCFunction_Check(func) && likely( __Pyx_CyOrPyCFunction_GET_FLAGS(func) & METH_O)) + return __Pyx_PyObject_CallMethO(func, args[0]); + } +#endif + #if PY_VERSION_HEX < 0x030800B1 + #if CYTHON_FAST_PYCCALL + if (PyCFunction_Check(func)) { + if (kwargs) { + return _PyCFunction_FastCallDict(func, args, nargs, kwargs); + } else { + return _PyCFunction_FastCallKeywords(func, args, nargs, NULL); + } + } + #if PY_VERSION_HEX >= 0x030700A1 + if (!kwargs && __Pyx_IS_TYPE(func, &PyMethodDescr_Type)) { + return _PyMethodDescr_FastCallKeywords(func, args, nargs, NULL); + } + #endif + #endif + #if CYTHON_FAST_PYCALL + if (PyFunction_Check(func)) { + return __Pyx_PyFunction_FastCallDict(func, args, nargs, kwargs); + } + #endif + #endif + if (kwargs == NULL) { + #if CYTHON_VECTORCALL + #if PY_VERSION_HEX < 0x03090000 + vectorcallfunc f = _PyVectorcall_Function(func); + #else + vectorcallfunc f = PyVectorcall_Function(func); + #endif + if (f) { + return f(func, args, (size_t)nargs, NULL); + } + #elif defined(__Pyx_CyFunction_USED) && CYTHON_BACKPORT_VECTORCALL + if (__Pyx_CyFunction_CheckExact(func)) { + __pyx_vectorcallfunc f = __Pyx_CyFunction_func_vectorcall(func); + if (f) return f(func, args, (size_t)nargs, NULL); + } + #endif + } + if (nargs == 0) { + return __Pyx_PyObject_Call(func, __pyx_empty_tuple, kwargs); + } + #if PY_VERSION_HEX >= 0x03090000 && !CYTHON_COMPILING_IN_LIMITED_API + return PyObject_VectorcallDict(func, args, (size_t)nargs, kwargs); + #else + return __Pyx_PyObject_FastCall_fallback(func, args, (size_t)nargs, kwargs); + #endif +} + +/* RaiseUnexpectedTypeError */ +static int +__Pyx_RaiseUnexpectedTypeError(const char *expected, PyObject *obj) +{ + __Pyx_TypeName obj_type_name = __Pyx_PyType_GetName(Py_TYPE(obj)); + PyErr_Format(PyExc_TypeError, "Expected %s, got " __Pyx_FMT_TYPENAME, + expected, obj_type_name); + __Pyx_DECREF_TypeName(obj_type_name); + return 0; +} + +/* CIntToDigits */ +static const char DIGIT_PAIRS_10[2*10*10+1] = { + "00010203040506070809" + "10111213141516171819" + "20212223242526272829" + "30313233343536373839" + "40414243444546474849" + "50515253545556575859" + "60616263646566676869" + "70717273747576777879" + "80818283848586878889" + "90919293949596979899" +}; +static const char DIGIT_PAIRS_8[2*8*8+1] = { + "0001020304050607" + "1011121314151617" + "2021222324252627" + "3031323334353637" + "4041424344454647" + "5051525354555657" + "6061626364656667" + "7071727374757677" +}; +static const char DIGITS_HEX[2*16+1] = { + "0123456789abcdef" + "0123456789ABCDEF" +}; + +/* BuildPyUnicode */ +static PyObject* __Pyx_PyUnicode_BuildFromAscii(Py_ssize_t ulength, char* chars, int clength, + int prepend_sign, char padding_char) { + PyObject *uval; + Py_ssize_t uoffset = ulength - clength; +#if CYTHON_USE_UNICODE_INTERNALS + Py_ssize_t i; +#if CYTHON_PEP393_ENABLED + void *udata; + uval = PyUnicode_New(ulength, 127); + if (unlikely(!uval)) return NULL; + udata = PyUnicode_DATA(uval); +#else + Py_UNICODE *udata; + uval = PyUnicode_FromUnicode(NULL, ulength); + if (unlikely(!uval)) return NULL; + udata = PyUnicode_AS_UNICODE(uval); +#endif + if (uoffset > 0) { + i = 0; + if (prepend_sign) { + __Pyx_PyUnicode_WRITE(PyUnicode_1BYTE_KIND, udata, 0, '-'); + i++; + } + for (; i < uoffset; i++) { + __Pyx_PyUnicode_WRITE(PyUnicode_1BYTE_KIND, udata, i, padding_char); + } + } + for (i=0; i < clength; i++) { + __Pyx_PyUnicode_WRITE(PyUnicode_1BYTE_KIND, udata, uoffset+i, chars[i]); + } +#else + { + PyObject *sign = NULL, *padding = NULL; + uval = NULL; + if (uoffset > 0) { + prepend_sign = !!prepend_sign; + if (uoffset > prepend_sign) { + padding = PyUnicode_FromOrdinal(padding_char); + if (likely(padding) && uoffset > prepend_sign + 1) { + PyObject *tmp; + PyObject *repeat = PyInt_FromSsize_t(uoffset - prepend_sign); + if (unlikely(!repeat)) goto done_or_error; + tmp = PyNumber_Multiply(padding, repeat); + Py_DECREF(repeat); + Py_DECREF(padding); + padding = tmp; + } + if (unlikely(!padding)) goto done_or_error; + } + if (prepend_sign) { + sign = PyUnicode_FromOrdinal('-'); + if (unlikely(!sign)) goto done_or_error; + } + } + uval = PyUnicode_DecodeASCII(chars, clength, NULL); + if (likely(uval) && padding) { + PyObject *tmp = PyNumber_Add(padding, uval); + Py_DECREF(uval); + uval = tmp; + } + if (likely(uval) && sign) { + PyObject *tmp = PyNumber_Add(sign, uval); + Py_DECREF(uval); + uval = tmp; + } +done_or_error: + Py_XDECREF(padding); + Py_XDECREF(sign); + } +#endif + return uval; +} + +/* CIntToPyUnicode */ +static CYTHON_INLINE PyObject* __Pyx_PyUnicode_From_int(int value, Py_ssize_t width, char padding_char, char format_char) { + char digits[sizeof(int)*3+2]; + char *dpos, *end = digits + sizeof(int)*3+2; + const char *hex_digits = DIGITS_HEX; + Py_ssize_t length, ulength; + int prepend_sign, last_one_off; + int remaining; +#ifdef __Pyx_HAS_GCC_DIAGNOSTIC +#pragma GCC diagnostic push +#pragma GCC diagnostic ignored "-Wconversion" +#endif + const int neg_one = (int) -1, const_zero = (int) 0; +#ifdef __Pyx_HAS_GCC_DIAGNOSTIC +#pragma GCC diagnostic pop +#endif + const int is_unsigned = neg_one > const_zero; + if (format_char == 'X') { + hex_digits += 16; + format_char = 'x'; + } + remaining = value; + last_one_off = 0; + dpos = end; + do { + int digit_pos; + switch (format_char) { + case 'o': + digit_pos = abs((int)(remaining % (8*8))); + remaining = (int) (remaining / (8*8)); + dpos -= 2; + memcpy(dpos, DIGIT_PAIRS_8 + digit_pos * 2, 2); + last_one_off = (digit_pos < 8); + break; + case 'd': + digit_pos = abs((int)(remaining % (10*10))); + remaining = (int) (remaining / (10*10)); + dpos -= 2; + memcpy(dpos, DIGIT_PAIRS_10 + digit_pos * 2, 2); + last_one_off = (digit_pos < 10); + break; + case 'x': + *(--dpos) = hex_digits[abs((int)(remaining % 16))]; + remaining = (int) (remaining / 16); + break; + default: + assert(0); + break; + } + } while (unlikely(remaining != 0)); + assert(!last_one_off || *dpos == '0'); + dpos += last_one_off; + length = end - dpos; + ulength = length; + prepend_sign = 0; + if (!is_unsigned && value <= neg_one) { + if (padding_char == ' ' || width <= length + 1) { + *(--dpos) = '-'; + ++length; + } else { + prepend_sign = 1; + } + ++ulength; + } + if (width > ulength) { + ulength = width; + } + if (ulength == 1) { + return PyUnicode_FromOrdinal(*dpos); + } + return __Pyx_PyUnicode_BuildFromAscii(ulength, dpos, (int) length, prepend_sign, padding_char); +} + +/* CIntToPyUnicode */ +static CYTHON_INLINE PyObject* __Pyx_PyUnicode_From_Py_ssize_t(Py_ssize_t value, Py_ssize_t width, char padding_char, char format_char) { + char digits[sizeof(Py_ssize_t)*3+2]; + char *dpos, *end = digits + sizeof(Py_ssize_t)*3+2; + const char *hex_digits = DIGITS_HEX; + Py_ssize_t length, ulength; + int prepend_sign, last_one_off; + Py_ssize_t remaining; +#ifdef __Pyx_HAS_GCC_DIAGNOSTIC +#pragma GCC diagnostic push +#pragma GCC diagnostic ignored "-Wconversion" +#endif + const Py_ssize_t neg_one = (Py_ssize_t) -1, const_zero = (Py_ssize_t) 0; +#ifdef __Pyx_HAS_GCC_DIAGNOSTIC +#pragma GCC diagnostic pop +#endif + const int is_unsigned = neg_one > const_zero; + if (format_char == 'X') { + hex_digits += 16; + format_char = 'x'; + } + remaining = value; + last_one_off = 0; + dpos = end; + do { + int digit_pos; + switch (format_char) { + case 'o': + digit_pos = abs((int)(remaining % (8*8))); + remaining = (Py_ssize_t) (remaining / (8*8)); + dpos -= 2; + memcpy(dpos, DIGIT_PAIRS_8 + digit_pos * 2, 2); + last_one_off = (digit_pos < 8); + break; + case 'd': + digit_pos = abs((int)(remaining % (10*10))); + remaining = (Py_ssize_t) (remaining / (10*10)); + dpos -= 2; + memcpy(dpos, DIGIT_PAIRS_10 + digit_pos * 2, 2); + last_one_off = (digit_pos < 10); + break; + case 'x': + *(--dpos) = hex_digits[abs((int)(remaining % 16))]; + remaining = (Py_ssize_t) (remaining / 16); + break; + default: + assert(0); + break; + } + } while (unlikely(remaining != 0)); + assert(!last_one_off || *dpos == '0'); + dpos += last_one_off; + length = end - dpos; + ulength = length; + prepend_sign = 0; + if (!is_unsigned && value <= neg_one) { + if (padding_char == ' ' || width <= length + 1) { + *(--dpos) = '-'; + ++length; + } else { + prepend_sign = 1; + } + ++ulength; + } + if (width > ulength) { + ulength = width; + } + if (ulength == 1) { + return PyUnicode_FromOrdinal(*dpos); + } + return __Pyx_PyUnicode_BuildFromAscii(ulength, dpos, (int) length, prepend_sign, padding_char); +} + +/* JoinPyUnicode */ +static PyObject* __Pyx_PyUnicode_Join(PyObject* value_tuple, Py_ssize_t value_count, Py_ssize_t result_ulength, + Py_UCS4 max_char) { +#if CYTHON_USE_UNICODE_INTERNALS && CYTHON_ASSUME_SAFE_MACROS && !CYTHON_AVOID_BORROWED_REFS + PyObject *result_uval; + int result_ukind, kind_shift; + Py_ssize_t i, char_pos; + void *result_udata; + CYTHON_MAYBE_UNUSED_VAR(max_char); +#if CYTHON_PEP393_ENABLED + result_uval = PyUnicode_New(result_ulength, max_char); + if (unlikely(!result_uval)) return NULL; + result_ukind = (max_char <= 255) ? PyUnicode_1BYTE_KIND : (max_char <= 65535) ? PyUnicode_2BYTE_KIND : PyUnicode_4BYTE_KIND; + kind_shift = (result_ukind == PyUnicode_4BYTE_KIND) ? 2 : result_ukind - 1; + result_udata = PyUnicode_DATA(result_uval); +#else + result_uval = PyUnicode_FromUnicode(NULL, result_ulength); + if (unlikely(!result_uval)) return NULL; + result_ukind = sizeof(Py_UNICODE); + kind_shift = (result_ukind == 4) ? 2 : result_ukind - 1; + result_udata = PyUnicode_AS_UNICODE(result_uval); +#endif + assert(kind_shift == 2 || kind_shift == 1 || kind_shift == 0); + char_pos = 0; + for (i=0; i < value_count; i++) { + int ukind; + Py_ssize_t ulength; + void *udata; + PyObject *uval = PyTuple_GET_ITEM(value_tuple, i); + if (unlikely(__Pyx_PyUnicode_READY(uval))) + goto bad; + ulength = __Pyx_PyUnicode_GET_LENGTH(uval); + if (unlikely(!ulength)) + continue; + if (unlikely((PY_SSIZE_T_MAX >> kind_shift) - ulength < char_pos)) + goto overflow; + ukind = __Pyx_PyUnicode_KIND(uval); + udata = __Pyx_PyUnicode_DATA(uval); + if (!CYTHON_PEP393_ENABLED || ukind == result_ukind) { + memcpy((char *)result_udata + (char_pos << kind_shift), udata, (size_t) (ulength << kind_shift)); + } else { + #if PY_VERSION_HEX >= 0x030d0000 + if (unlikely(PyUnicode_CopyCharacters(result_uval, char_pos, uval, 0, ulength) < 0)) goto bad; + #elif CYTHON_COMPILING_IN_CPYTHON && PY_VERSION_HEX >= 0x030300F0 || defined(_PyUnicode_FastCopyCharacters) + _PyUnicode_FastCopyCharacters(result_uval, char_pos, uval, 0, ulength); + #else + Py_ssize_t j; + for (j=0; j < ulength; j++) { + Py_UCS4 uchar = __Pyx_PyUnicode_READ(ukind, udata, j); + __Pyx_PyUnicode_WRITE(result_ukind, result_udata, char_pos+j, uchar); + } + #endif + } + char_pos += ulength; + } + return result_uval; +overflow: + PyErr_SetString(PyExc_OverflowError, "join() result is too long for a Python string"); +bad: + Py_DECREF(result_uval); + return NULL; +#else + CYTHON_UNUSED_VAR(max_char); + CYTHON_UNUSED_VAR(result_ulength); + CYTHON_UNUSED_VAR(value_count); + return PyUnicode_Join(__pyx_empty_unicode, value_tuple); +#endif +} + +/* GetAttr */ +static CYTHON_INLINE PyObject *__Pyx_GetAttr(PyObject *o, PyObject *n) { +#if CYTHON_USE_TYPE_SLOTS +#if PY_MAJOR_VERSION >= 3 + if (likely(PyUnicode_Check(n))) +#else + if (likely(PyString_Check(n))) +#endif + return __Pyx_PyObject_GetAttrStr(o, n); +#endif + return PyObject_GetAttr(o, n); +} + +/* GetItemInt */ +static PyObject *__Pyx_GetItemInt_Generic(PyObject *o, PyObject* j) { + PyObject *r; + if (unlikely(!j)) return NULL; + r = PyObject_GetItem(o, j); + Py_DECREF(j); + return r; +} +static CYTHON_INLINE PyObject *__Pyx_GetItemInt_List_Fast(PyObject *o, Py_ssize_t i, + CYTHON_NCP_UNUSED int wraparound, + CYTHON_NCP_UNUSED int boundscheck) { +#if CYTHON_ASSUME_SAFE_MACROS && !CYTHON_AVOID_BORROWED_REFS + Py_ssize_t wrapped_i = i; + if (wraparound & unlikely(i < 0)) { + wrapped_i += PyList_GET_SIZE(o); + } + if ((!boundscheck) || likely(__Pyx_is_valid_index(wrapped_i, PyList_GET_SIZE(o)))) { + PyObject *r = PyList_GET_ITEM(o, wrapped_i); + Py_INCREF(r); + return r; + } + return __Pyx_GetItemInt_Generic(o, PyInt_FromSsize_t(i)); +#else + return PySequence_GetItem(o, i); +#endif +} +static CYTHON_INLINE PyObject *__Pyx_GetItemInt_Tuple_Fast(PyObject *o, Py_ssize_t i, + CYTHON_NCP_UNUSED int wraparound, + CYTHON_NCP_UNUSED int boundscheck) { +#if CYTHON_ASSUME_SAFE_MACROS && !CYTHON_AVOID_BORROWED_REFS + Py_ssize_t wrapped_i = i; + if (wraparound & unlikely(i < 0)) { + wrapped_i += PyTuple_GET_SIZE(o); + } + if ((!boundscheck) || likely(__Pyx_is_valid_index(wrapped_i, PyTuple_GET_SIZE(o)))) { + PyObject *r = PyTuple_GET_ITEM(o, wrapped_i); + Py_INCREF(r); + return r; + } + return __Pyx_GetItemInt_Generic(o, PyInt_FromSsize_t(i)); +#else + return PySequence_GetItem(o, i); +#endif +} +static CYTHON_INLINE PyObject *__Pyx_GetItemInt_Fast(PyObject *o, Py_ssize_t i, int is_list, + CYTHON_NCP_UNUSED int wraparound, + CYTHON_NCP_UNUSED int boundscheck) { +#if CYTHON_ASSUME_SAFE_MACROS && !CYTHON_AVOID_BORROWED_REFS && CYTHON_USE_TYPE_SLOTS + if (is_list || PyList_CheckExact(o)) { + Py_ssize_t n = ((!wraparound) | likely(i >= 0)) ? i : i + PyList_GET_SIZE(o); + if ((!boundscheck) || (likely(__Pyx_is_valid_index(n, PyList_GET_SIZE(o))))) { + PyObject *r = PyList_GET_ITEM(o, n); + Py_INCREF(r); + return r; + } + } + else if (PyTuple_CheckExact(o)) { + Py_ssize_t n = ((!wraparound) | likely(i >= 0)) ? i : i + PyTuple_GET_SIZE(o); + if ((!boundscheck) || likely(__Pyx_is_valid_index(n, PyTuple_GET_SIZE(o)))) { + PyObject *r = PyTuple_GET_ITEM(o, n); + Py_INCREF(r); + return r; + } + } else { + PyMappingMethods *mm = Py_TYPE(o)->tp_as_mapping; + PySequenceMethods *sm = Py_TYPE(o)->tp_as_sequence; + if (mm && mm->mp_subscript) { + PyObject *r, *key = PyInt_FromSsize_t(i); + if (unlikely(!key)) return NULL; + r = mm->mp_subscript(o, key); + Py_DECREF(key); + return r; + } + if (likely(sm && sm->sq_item)) { + if (wraparound && unlikely(i < 0) && likely(sm->sq_length)) { + Py_ssize_t l = sm->sq_length(o); + if (likely(l >= 0)) { + i += l; + } else { + if (!PyErr_ExceptionMatches(PyExc_OverflowError)) + return NULL; + PyErr_Clear(); + } + } + return sm->sq_item(o, i); + } + } +#else + if (is_list || !PyMapping_Check(o)) { + return PySequence_GetItem(o, i); + } +#endif + return __Pyx_GetItemInt_Generic(o, PyInt_FromSsize_t(i)); +} + +/* PyObjectCallOneArg */ +static CYTHON_INLINE PyObject* __Pyx_PyObject_CallOneArg(PyObject *func, PyObject *arg) { + PyObject *args[2] = {NULL, arg}; + return __Pyx_PyObject_FastCall(func, args+1, 1 | __Pyx_PY_VECTORCALL_ARGUMENTS_OFFSET); +} + +/* ObjectGetItem */ +#if CYTHON_USE_TYPE_SLOTS +static PyObject *__Pyx_PyObject_GetIndex(PyObject *obj, PyObject *index) { + PyObject *runerr = NULL; + Py_ssize_t key_value; + key_value = __Pyx_PyIndex_AsSsize_t(index); + if (likely(key_value != -1 || !(runerr = PyErr_Occurred()))) { + return __Pyx_GetItemInt_Fast(obj, key_value, 0, 1, 1); + } + if (PyErr_GivenExceptionMatches(runerr, PyExc_OverflowError)) { + __Pyx_TypeName index_type_name = __Pyx_PyType_GetName(Py_TYPE(index)); + PyErr_Clear(); + PyErr_Format(PyExc_IndexError, + "cannot fit '" __Pyx_FMT_TYPENAME "' into an index-sized integer", index_type_name); + __Pyx_DECREF_TypeName(index_type_name); + } + return NULL; +} +static PyObject *__Pyx_PyObject_GetItem_Slow(PyObject *obj, PyObject *key) { + __Pyx_TypeName obj_type_name; + if (likely(PyType_Check(obj))) { + PyObject *meth = __Pyx_PyObject_GetAttrStrNoError(obj, __pyx_n_s_class_getitem); + if (!meth) { + PyErr_Clear(); + } else { + PyObject *result = __Pyx_PyObject_CallOneArg(meth, key); + Py_DECREF(meth); + return result; + } + } + obj_type_name = __Pyx_PyType_GetName(Py_TYPE(obj)); + PyErr_Format(PyExc_TypeError, + "'" __Pyx_FMT_TYPENAME "' object is not subscriptable", obj_type_name); + __Pyx_DECREF_TypeName(obj_type_name); + return NULL; +} +static PyObject *__Pyx_PyObject_GetItem(PyObject *obj, PyObject *key) { + PyTypeObject *tp = Py_TYPE(obj); + PyMappingMethods *mm = tp->tp_as_mapping; + PySequenceMethods *sm = tp->tp_as_sequence; + if (likely(mm && mm->mp_subscript)) { + return mm->mp_subscript(obj, key); + } + if (likely(sm && sm->sq_item)) { + return __Pyx_PyObject_GetIndex(obj, key); + } + return __Pyx_PyObject_GetItem_Slow(obj, key); +} +#endif + +/* KeywordStringCheck */ +static int __Pyx_CheckKeywordStrings( + PyObject *kw, + const char* function_name, + int kw_allowed) +{ + PyObject* key = 0; + Py_ssize_t pos = 0; +#if CYTHON_COMPILING_IN_PYPY + if (!kw_allowed && PyDict_Next(kw, &pos, &key, 0)) + goto invalid_keyword; + return 1; +#else + if (CYTHON_METH_FASTCALL && likely(PyTuple_Check(kw))) { + Py_ssize_t kwsize; +#if CYTHON_ASSUME_SAFE_MACROS + kwsize = PyTuple_GET_SIZE(kw); +#else + kwsize = PyTuple_Size(kw); + if (kwsize < 0) return 0; +#endif + if (unlikely(kwsize == 0)) + return 1; + if (!kw_allowed) { +#if CYTHON_ASSUME_SAFE_MACROS + key = PyTuple_GET_ITEM(kw, 0); +#else + key = PyTuple_GetItem(kw, pos); + if (!key) return 0; +#endif + goto invalid_keyword; + } +#if PY_VERSION_HEX < 0x03090000 + for (pos = 0; pos < kwsize; pos++) { +#if CYTHON_ASSUME_SAFE_MACROS + key = PyTuple_GET_ITEM(kw, pos); +#else + key = PyTuple_GetItem(kw, pos); + if (!key) return 0; +#endif + if (unlikely(!PyUnicode_Check(key))) + goto invalid_keyword_type; + } +#endif + return 1; + } + while (PyDict_Next(kw, &pos, &key, 0)) { + #if PY_MAJOR_VERSION < 3 + if (unlikely(!PyString_Check(key))) + #endif + if (unlikely(!PyUnicode_Check(key))) + goto invalid_keyword_type; + } + if (!kw_allowed && unlikely(key)) + goto invalid_keyword; + return 1; +invalid_keyword_type: + PyErr_Format(PyExc_TypeError, + "%.200s() keywords must be strings", function_name); + return 0; +#endif +invalid_keyword: + #if PY_MAJOR_VERSION < 3 + PyErr_Format(PyExc_TypeError, + "%.200s() got an unexpected keyword argument '%.200s'", + function_name, PyString_AsString(key)); + #else + PyErr_Format(PyExc_TypeError, + "%s() got an unexpected keyword argument '%U'", + function_name, key); + #endif + return 0; +} + +/* DivInt[Py_ssize_t] */ +static CYTHON_INLINE Py_ssize_t __Pyx_div_Py_ssize_t(Py_ssize_t a, Py_ssize_t b) { + Py_ssize_t q = a / b; + Py_ssize_t r = a - q*b; + q -= ((r != 0) & ((r ^ b) < 0)); + return q; +} + +/* GetAttr3 */ +#if __PYX_LIMITED_VERSION_HEX < 0x030d00A1 +static PyObject *__Pyx_GetAttr3Default(PyObject *d) { + __Pyx_PyThreadState_declare + __Pyx_PyThreadState_assign + if (unlikely(!__Pyx_PyErr_ExceptionMatches(PyExc_AttributeError))) + return NULL; + __Pyx_PyErr_Clear(); + Py_INCREF(d); + return d; +} +#endif +static CYTHON_INLINE PyObject *__Pyx_GetAttr3(PyObject *o, PyObject *n, PyObject *d) { + PyObject *r; +#if __PYX_LIMITED_VERSION_HEX >= 0x030d00A1 + int res = PyObject_GetOptionalAttr(o, n, &r); + return (res != 0) ? r : __Pyx_NewRef(d); +#else + #if CYTHON_USE_TYPE_SLOTS + if (likely(PyString_Check(n))) { + r = __Pyx_PyObject_GetAttrStrNoError(o, n); + if (unlikely(!r) && likely(!PyErr_Occurred())) { + r = __Pyx_NewRef(d); + } + return r; + } + #endif + r = PyObject_GetAttr(o, n); + return (likely(r)) ? r : __Pyx_GetAttr3Default(d); +#endif +} + +/* PyDictVersioning */ +#if CYTHON_USE_DICT_VERSIONS && CYTHON_USE_TYPE_SLOTS +static CYTHON_INLINE PY_UINT64_T __Pyx_get_tp_dict_version(PyObject *obj) { + PyObject *dict = Py_TYPE(obj)->tp_dict; + return likely(dict) ? __PYX_GET_DICT_VERSION(dict) : 0; +} +static CYTHON_INLINE PY_UINT64_T __Pyx_get_object_dict_version(PyObject *obj) { + PyObject **dictptr = NULL; + Py_ssize_t offset = Py_TYPE(obj)->tp_dictoffset; + if (offset) { +#if CYTHON_COMPILING_IN_CPYTHON + dictptr = (likely(offset > 0)) ? (PyObject **) ((char *)obj + offset) : _PyObject_GetDictPtr(obj); +#else + dictptr = _PyObject_GetDictPtr(obj); +#endif + } + return (dictptr && *dictptr) ? __PYX_GET_DICT_VERSION(*dictptr) : 0; +} +static CYTHON_INLINE int __Pyx_object_dict_version_matches(PyObject* obj, PY_UINT64_T tp_dict_version, PY_UINT64_T obj_dict_version) { + PyObject *dict = Py_TYPE(obj)->tp_dict; + if (unlikely(!dict) || unlikely(tp_dict_version != __PYX_GET_DICT_VERSION(dict))) + return 0; + return obj_dict_version == __Pyx_get_object_dict_version(obj); +} +#endif + +/* GetModuleGlobalName */ +#if CYTHON_USE_DICT_VERSIONS +static PyObject *__Pyx__GetModuleGlobalName(PyObject *name, PY_UINT64_T *dict_version, PyObject **dict_cached_value) +#else +static CYTHON_INLINE PyObject *__Pyx__GetModuleGlobalName(PyObject *name) +#endif +{ + PyObject *result; +#if !CYTHON_AVOID_BORROWED_REFS +#if CYTHON_COMPILING_IN_CPYTHON && PY_VERSION_HEX >= 0x030500A1 && PY_VERSION_HEX < 0x030d0000 + result = _PyDict_GetItem_KnownHash(__pyx_d, name, ((PyASCIIObject *) name)->hash); + __PYX_UPDATE_DICT_CACHE(__pyx_d, result, *dict_cached_value, *dict_version) + if (likely(result)) { + return __Pyx_NewRef(result); + } else if (unlikely(PyErr_Occurred())) { + return NULL; + } +#elif CYTHON_COMPILING_IN_LIMITED_API + if (unlikely(!__pyx_m)) { + return NULL; + } + result = PyObject_GetAttr(__pyx_m, name); + if (likely(result)) { + return result; + } +#else + result = PyDict_GetItem(__pyx_d, name); + __PYX_UPDATE_DICT_CACHE(__pyx_d, result, *dict_cached_value, *dict_version) + if (likely(result)) { + return __Pyx_NewRef(result); + } +#endif +#else + result = PyObject_GetItem(__pyx_d, name); + __PYX_UPDATE_DICT_CACHE(__pyx_d, result, *dict_cached_value, *dict_version) + if (likely(result)) { + return __Pyx_NewRef(result); + } + PyErr_Clear(); +#endif + return __Pyx_GetBuiltinName(name); +} + +/* RaiseTooManyValuesToUnpack */ +static CYTHON_INLINE void __Pyx_RaiseTooManyValuesError(Py_ssize_t expected) { + PyErr_Format(PyExc_ValueError, + "too many values to unpack (expected %" CYTHON_FORMAT_SSIZE_T "d)", expected); +} + +/* RaiseNeedMoreValuesToUnpack */ +static CYTHON_INLINE void __Pyx_RaiseNeedMoreValuesError(Py_ssize_t index) { + PyErr_Format(PyExc_ValueError, + "need more than %" CYTHON_FORMAT_SSIZE_T "d value%.1s to unpack", + index, (index == 1) ? "" : "s"); +} + +/* RaiseNoneIterError */ +static CYTHON_INLINE void __Pyx_RaiseNoneNotIterableError(void) { + PyErr_SetString(PyExc_TypeError, "'NoneType' object is not iterable"); +} + +/* ExtTypeTest */ +static CYTHON_INLINE int __Pyx_TypeTest(PyObject *obj, PyTypeObject *type) { + __Pyx_TypeName obj_type_name; + __Pyx_TypeName type_name; + if (unlikely(!type)) { + PyErr_SetString(PyExc_SystemError, "Missing type object"); + return 0; + } + if (likely(__Pyx_TypeCheck(obj, type))) + return 1; + obj_type_name = __Pyx_PyType_GetName(Py_TYPE(obj)); + type_name = __Pyx_PyType_GetName(type); + PyErr_Format(PyExc_TypeError, + "Cannot convert " __Pyx_FMT_TYPENAME " to " __Pyx_FMT_TYPENAME, + obj_type_name, type_name); + __Pyx_DECREF_TypeName(obj_type_name); + __Pyx_DECREF_TypeName(type_name); + return 0; +} + +/* GetTopmostException */ +#if CYTHON_USE_EXC_INFO_STACK && CYTHON_FAST_THREAD_STATE +static _PyErr_StackItem * +__Pyx_PyErr_GetTopmostException(PyThreadState *tstate) +{ + _PyErr_StackItem *exc_info = tstate->exc_info; + while ((exc_info->exc_value == NULL || exc_info->exc_value == Py_None) && + exc_info->previous_item != NULL) + { + exc_info = exc_info->previous_item; + } + return exc_info; +} +#endif + +/* SaveResetException */ +#if CYTHON_FAST_THREAD_STATE +static CYTHON_INLINE void __Pyx__ExceptionSave(PyThreadState *tstate, PyObject **type, PyObject **value, PyObject **tb) { + #if CYTHON_USE_EXC_INFO_STACK && PY_VERSION_HEX >= 0x030B00a4 + _PyErr_StackItem *exc_info = __Pyx_PyErr_GetTopmostException(tstate); + PyObject *exc_value = exc_info->exc_value; + if (exc_value == NULL || exc_value == Py_None) { + *value = NULL; + *type = NULL; + *tb = NULL; + } else { + *value = exc_value; + Py_INCREF(*value); + *type = (PyObject*) Py_TYPE(exc_value); + Py_INCREF(*type); + *tb = PyException_GetTraceback(exc_value); + } + #elif CYTHON_USE_EXC_INFO_STACK + _PyErr_StackItem *exc_info = __Pyx_PyErr_GetTopmostException(tstate); + *type = exc_info->exc_type; + *value = exc_info->exc_value; + *tb = exc_info->exc_traceback; + Py_XINCREF(*type); + Py_XINCREF(*value); + Py_XINCREF(*tb); + #else + *type = tstate->exc_type; + *value = tstate->exc_value; + *tb = tstate->exc_traceback; + Py_XINCREF(*type); + Py_XINCREF(*value); + Py_XINCREF(*tb); + #endif +} +static CYTHON_INLINE void __Pyx__ExceptionReset(PyThreadState *tstate, PyObject *type, PyObject *value, PyObject *tb) { + #if CYTHON_USE_EXC_INFO_STACK && PY_VERSION_HEX >= 0x030B00a4 + _PyErr_StackItem *exc_info = tstate->exc_info; + PyObject *tmp_value = exc_info->exc_value; + exc_info->exc_value = value; + Py_XDECREF(tmp_value); + Py_XDECREF(type); + Py_XDECREF(tb); + #else + PyObject *tmp_type, *tmp_value, *tmp_tb; + #if CYTHON_USE_EXC_INFO_STACK + _PyErr_StackItem *exc_info = tstate->exc_info; + tmp_type = exc_info->exc_type; + tmp_value = exc_info->exc_value; + tmp_tb = exc_info->exc_traceback; + exc_info->exc_type = type; + exc_info->exc_value = value; + exc_info->exc_traceback = tb; + #else + tmp_type = tstate->exc_type; + tmp_value = tstate->exc_value; + tmp_tb = tstate->exc_traceback; + tstate->exc_type = type; + tstate->exc_value = value; + tstate->exc_traceback = tb; + #endif + Py_XDECREF(tmp_type); + Py_XDECREF(tmp_value); + Py_XDECREF(tmp_tb); + #endif +} +#endif + +/* GetException */ +#if CYTHON_FAST_THREAD_STATE +static int __Pyx__GetException(PyThreadState *tstate, PyObject **type, PyObject **value, PyObject **tb) +#else +static int __Pyx_GetException(PyObject **type, PyObject **value, PyObject **tb) +#endif +{ + PyObject *local_type = NULL, *local_value, *local_tb = NULL; +#if CYTHON_FAST_THREAD_STATE + PyObject *tmp_type, *tmp_value, *tmp_tb; + #if PY_VERSION_HEX >= 0x030C00A6 + local_value = tstate->current_exception; + tstate->current_exception = 0; + if (likely(local_value)) { + local_type = (PyObject*) Py_TYPE(local_value); + Py_INCREF(local_type); + local_tb = PyException_GetTraceback(local_value); + } + #else + local_type = tstate->curexc_type; + local_value = tstate->curexc_value; + local_tb = tstate->curexc_traceback; + tstate->curexc_type = 0; + tstate->curexc_value = 0; + tstate->curexc_traceback = 0; + #endif +#else + PyErr_Fetch(&local_type, &local_value, &local_tb); +#endif + PyErr_NormalizeException(&local_type, &local_value, &local_tb); +#if CYTHON_FAST_THREAD_STATE && PY_VERSION_HEX >= 0x030C00A6 + if (unlikely(tstate->current_exception)) +#elif CYTHON_FAST_THREAD_STATE + if (unlikely(tstate->curexc_type)) +#else + if (unlikely(PyErr_Occurred())) +#endif + goto bad; + #if PY_MAJOR_VERSION >= 3 + if (local_tb) { + if (unlikely(PyException_SetTraceback(local_value, local_tb) < 0)) + goto bad; + } + #endif + Py_XINCREF(local_tb); + Py_XINCREF(local_type); + Py_XINCREF(local_value); + *type = local_type; + *value = local_value; + *tb = local_tb; +#if CYTHON_FAST_THREAD_STATE + #if CYTHON_USE_EXC_INFO_STACK + { + _PyErr_StackItem *exc_info = tstate->exc_info; + #if PY_VERSION_HEX >= 0x030B00a4 + tmp_value = exc_info->exc_value; + exc_info->exc_value = local_value; + tmp_type = NULL; + tmp_tb = NULL; + Py_XDECREF(local_type); + Py_XDECREF(local_tb); + #else + tmp_type = exc_info->exc_type; + tmp_value = exc_info->exc_value; + tmp_tb = exc_info->exc_traceback; + exc_info->exc_type = local_type; + exc_info->exc_value = local_value; + exc_info->exc_traceback = local_tb; + #endif + } + #else + tmp_type = tstate->exc_type; + tmp_value = tstate->exc_value; + tmp_tb = tstate->exc_traceback; + tstate->exc_type = local_type; + tstate->exc_value = local_value; + tstate->exc_traceback = local_tb; + #endif + Py_XDECREF(tmp_type); + Py_XDECREF(tmp_value); + Py_XDECREF(tmp_tb); +#else + PyErr_SetExcInfo(local_type, local_value, local_tb); +#endif + return 0; +bad: + *type = 0; + *value = 0; + *tb = 0; + Py_XDECREF(local_type); + Py_XDECREF(local_value); + Py_XDECREF(local_tb); + return -1; +} + +/* SwapException */ +#if CYTHON_FAST_THREAD_STATE +static CYTHON_INLINE void __Pyx__ExceptionSwap(PyThreadState *tstate, PyObject **type, PyObject **value, PyObject **tb) { + PyObject *tmp_type, *tmp_value, *tmp_tb; + #if CYTHON_USE_EXC_INFO_STACK && PY_VERSION_HEX >= 0x030B00a4 + _PyErr_StackItem *exc_info = tstate->exc_info; + tmp_value = exc_info->exc_value; + exc_info->exc_value = *value; + if (tmp_value == NULL || tmp_value == Py_None) { + Py_XDECREF(tmp_value); + tmp_value = NULL; + tmp_type = NULL; + tmp_tb = NULL; + } else { + tmp_type = (PyObject*) Py_TYPE(tmp_value); + Py_INCREF(tmp_type); + #if CYTHON_COMPILING_IN_CPYTHON + tmp_tb = ((PyBaseExceptionObject*) tmp_value)->traceback; + Py_XINCREF(tmp_tb); + #else + tmp_tb = PyException_GetTraceback(tmp_value); + #endif + } + #elif CYTHON_USE_EXC_INFO_STACK + _PyErr_StackItem *exc_info = tstate->exc_info; + tmp_type = exc_info->exc_type; + tmp_value = exc_info->exc_value; + tmp_tb = exc_info->exc_traceback; + exc_info->exc_type = *type; + exc_info->exc_value = *value; + exc_info->exc_traceback = *tb; + #else + tmp_type = tstate->exc_type; + tmp_value = tstate->exc_value; + tmp_tb = tstate->exc_traceback; + tstate->exc_type = *type; + tstate->exc_value = *value; + tstate->exc_traceback = *tb; + #endif + *type = tmp_type; + *value = tmp_value; + *tb = tmp_tb; +} +#else +static CYTHON_INLINE void __Pyx_ExceptionSwap(PyObject **type, PyObject **value, PyObject **tb) { + PyObject *tmp_type, *tmp_value, *tmp_tb; + PyErr_GetExcInfo(&tmp_type, &tmp_value, &tmp_tb); + PyErr_SetExcInfo(*type, *value, *tb); + *type = tmp_type; + *value = tmp_value; + *tb = tmp_tb; +} +#endif + +/* Import */ +static PyObject *__Pyx_Import(PyObject *name, PyObject *from_list, int level) { + PyObject *module = 0; + PyObject *empty_dict = 0; + PyObject *empty_list = 0; + #if PY_MAJOR_VERSION < 3 + PyObject *py_import; + py_import = __Pyx_PyObject_GetAttrStr(__pyx_b, __pyx_n_s_import); + if (unlikely(!py_import)) + goto bad; + if (!from_list) { + empty_list = PyList_New(0); + if (unlikely(!empty_list)) + goto bad; + from_list = empty_list; + } + #endif + empty_dict = PyDict_New(); + if (unlikely(!empty_dict)) + goto bad; + { + #if PY_MAJOR_VERSION >= 3 + if (level == -1) { + if (strchr(__Pyx_MODULE_NAME, '.') != NULL) { + module = PyImport_ImportModuleLevelObject( + name, __pyx_d, empty_dict, from_list, 1); + if (unlikely(!module)) { + if (unlikely(!PyErr_ExceptionMatches(PyExc_ImportError))) + goto bad; + PyErr_Clear(); + } + } + level = 0; + } + #endif + if (!module) { + #if PY_MAJOR_VERSION < 3 + PyObject *py_level = PyInt_FromLong(level); + if (unlikely(!py_level)) + goto bad; + module = PyObject_CallFunctionObjArgs(py_import, + name, __pyx_d, empty_dict, from_list, py_level, (PyObject *)NULL); + Py_DECREF(py_level); + #else + module = PyImport_ImportModuleLevelObject( + name, __pyx_d, empty_dict, from_list, level); + #endif + } + } +bad: + Py_XDECREF(empty_dict); + Py_XDECREF(empty_list); + #if PY_MAJOR_VERSION < 3 + Py_XDECREF(py_import); + #endif + return module; +} + +/* ImportDottedModule */ +#if PY_MAJOR_VERSION >= 3 +static PyObject *__Pyx__ImportDottedModule_Error(PyObject *name, PyObject *parts_tuple, Py_ssize_t count) { + PyObject *partial_name = NULL, *slice = NULL, *sep = NULL; + if (unlikely(PyErr_Occurred())) { + PyErr_Clear(); + } + if (likely(PyTuple_GET_SIZE(parts_tuple) == count)) { + partial_name = name; + } else { + slice = PySequence_GetSlice(parts_tuple, 0, count); + if (unlikely(!slice)) + goto bad; + sep = PyUnicode_FromStringAndSize(".", 1); + if (unlikely(!sep)) + goto bad; + partial_name = PyUnicode_Join(sep, slice); + } + PyErr_Format( +#if PY_MAJOR_VERSION < 3 + PyExc_ImportError, + "No module named '%s'", PyString_AS_STRING(partial_name)); +#else +#if PY_VERSION_HEX >= 0x030600B1 + PyExc_ModuleNotFoundError, +#else + PyExc_ImportError, +#endif + "No module named '%U'", partial_name); +#endif +bad: + Py_XDECREF(sep); + Py_XDECREF(slice); + Py_XDECREF(partial_name); + return NULL; +} +#endif +#if PY_MAJOR_VERSION >= 3 +static PyObject *__Pyx__ImportDottedModule_Lookup(PyObject *name) { + PyObject *imported_module; +#if PY_VERSION_HEX < 0x030700A1 || (CYTHON_COMPILING_IN_PYPY && PYPY_VERSION_NUM < 0x07030400) + PyObject *modules = PyImport_GetModuleDict(); + if (unlikely(!modules)) + return NULL; + imported_module = __Pyx_PyDict_GetItemStr(modules, name); + Py_XINCREF(imported_module); +#else + imported_module = PyImport_GetModule(name); +#endif + return imported_module; +} +#endif +#if PY_MAJOR_VERSION >= 3 +static PyObject *__Pyx_ImportDottedModule_WalkParts(PyObject *module, PyObject *name, PyObject *parts_tuple) { + Py_ssize_t i, nparts; + nparts = PyTuple_GET_SIZE(parts_tuple); + for (i=1; i < nparts && module; i++) { + PyObject *part, *submodule; +#if CYTHON_ASSUME_SAFE_MACROS && !CYTHON_AVOID_BORROWED_REFS + part = PyTuple_GET_ITEM(parts_tuple, i); +#else + part = PySequence_ITEM(parts_tuple, i); +#endif + submodule = __Pyx_PyObject_GetAttrStrNoError(module, part); +#if !(CYTHON_ASSUME_SAFE_MACROS && !CYTHON_AVOID_BORROWED_REFS) + Py_DECREF(part); +#endif + Py_DECREF(module); + module = submodule; + } + if (unlikely(!module)) { + return __Pyx__ImportDottedModule_Error(name, parts_tuple, i); + } + return module; +} +#endif +static PyObject *__Pyx__ImportDottedModule(PyObject *name, PyObject *parts_tuple) { +#if PY_MAJOR_VERSION < 3 + PyObject *module, *from_list, *star = __pyx_n_s__3; + CYTHON_UNUSED_VAR(parts_tuple); + from_list = PyList_New(1); + if (unlikely(!from_list)) + return NULL; + Py_INCREF(star); + PyList_SET_ITEM(from_list, 0, star); + module = __Pyx_Import(name, from_list, 0); + Py_DECREF(from_list); + return module; +#else + PyObject *imported_module; + PyObject *module = __Pyx_Import(name, NULL, 0); + if (!parts_tuple || unlikely(!module)) + return module; + imported_module = __Pyx__ImportDottedModule_Lookup(name); + if (likely(imported_module)) { + Py_DECREF(module); + return imported_module; + } + PyErr_Clear(); + return __Pyx_ImportDottedModule_WalkParts(module, name, parts_tuple); +#endif +} +static PyObject *__Pyx_ImportDottedModule(PyObject *name, PyObject *parts_tuple) { +#if CYTHON_COMPILING_IN_CPYTHON && PY_VERSION_HEX >= 0x030400B1 + PyObject *module = __Pyx__ImportDottedModule_Lookup(name); + if (likely(module)) { + PyObject *spec = __Pyx_PyObject_GetAttrStrNoError(module, __pyx_n_s_spec); + if (likely(spec)) { + PyObject *unsafe = __Pyx_PyObject_GetAttrStrNoError(spec, __pyx_n_s_initializing); + if (likely(!unsafe || !__Pyx_PyObject_IsTrue(unsafe))) { + Py_DECREF(spec); + spec = NULL; + } + Py_XDECREF(unsafe); + } + if (likely(!spec)) { + PyErr_Clear(); + return module; + } + Py_DECREF(spec); + Py_DECREF(module); + } else if (PyErr_Occurred()) { + PyErr_Clear(); + } +#endif + return __Pyx__ImportDottedModule(name, parts_tuple); +} + +/* FastTypeChecks */ +#if CYTHON_COMPILING_IN_CPYTHON +static int __Pyx_InBases(PyTypeObject *a, PyTypeObject *b) { + while (a) { + a = __Pyx_PyType_GetSlot(a, tp_base, PyTypeObject*); + if (a == b) + return 1; + } + return b == &PyBaseObject_Type; +} +static CYTHON_INLINE int __Pyx_IsSubtype(PyTypeObject *a, PyTypeObject *b) { + PyObject *mro; + if (a == b) return 1; + mro = a->tp_mro; + if (likely(mro)) { + Py_ssize_t i, n; + n = PyTuple_GET_SIZE(mro); + for (i = 0; i < n; i++) { + if (PyTuple_GET_ITEM(mro, i) == (PyObject *)b) + return 1; + } + return 0; + } + return __Pyx_InBases(a, b); +} +static CYTHON_INLINE int __Pyx_IsAnySubtype2(PyTypeObject *cls, PyTypeObject *a, PyTypeObject *b) { + PyObject *mro; + if (cls == a || cls == b) return 1; + mro = cls->tp_mro; + if (likely(mro)) { + Py_ssize_t i, n; + n = PyTuple_GET_SIZE(mro); + for (i = 0; i < n; i++) { + PyObject *base = PyTuple_GET_ITEM(mro, i); + if (base == (PyObject *)a || base == (PyObject *)b) + return 1; + } + return 0; + } + return __Pyx_InBases(cls, a) || __Pyx_InBases(cls, b); +} +#if PY_MAJOR_VERSION == 2 +static int __Pyx_inner_PyErr_GivenExceptionMatches2(PyObject *err, PyObject* exc_type1, PyObject* exc_type2) { + PyObject *exception, *value, *tb; + int res; + __Pyx_PyThreadState_declare + __Pyx_PyThreadState_assign + __Pyx_ErrFetch(&exception, &value, &tb); + res = exc_type1 ? PyObject_IsSubclass(err, exc_type1) : 0; + if (unlikely(res == -1)) { + PyErr_WriteUnraisable(err); + res = 0; + } + if (!res) { + res = PyObject_IsSubclass(err, exc_type2); + if (unlikely(res == -1)) { + PyErr_WriteUnraisable(err); + res = 0; + } + } + __Pyx_ErrRestore(exception, value, tb); + return res; +} +#else +static CYTHON_INLINE int __Pyx_inner_PyErr_GivenExceptionMatches2(PyObject *err, PyObject* exc_type1, PyObject *exc_type2) { + if (exc_type1) { + return __Pyx_IsAnySubtype2((PyTypeObject*)err, (PyTypeObject*)exc_type1, (PyTypeObject*)exc_type2); + } else { + return __Pyx_IsSubtype((PyTypeObject*)err, (PyTypeObject*)exc_type2); + } +} +#endif +static int __Pyx_PyErr_GivenExceptionMatchesTuple(PyObject *exc_type, PyObject *tuple) { + Py_ssize_t i, n; + assert(PyExceptionClass_Check(exc_type)); + n = PyTuple_GET_SIZE(tuple); +#if PY_MAJOR_VERSION >= 3 + for (i=0; itp_as_sequence && type->tp_as_sequence->sq_repeat)) { + return type->tp_as_sequence->sq_repeat(seq, mul); + } else +#endif + { + return __Pyx_PySequence_Multiply_Generic(seq, mul); + } +} + +/* SetItemInt */ +static int __Pyx_SetItemInt_Generic(PyObject *o, PyObject *j, PyObject *v) { + int r; + if (unlikely(!j)) return -1; + r = PyObject_SetItem(o, j, v); + Py_DECREF(j); + return r; +} +static CYTHON_INLINE int __Pyx_SetItemInt_Fast(PyObject *o, Py_ssize_t i, PyObject *v, int is_list, + CYTHON_NCP_UNUSED int wraparound, CYTHON_NCP_UNUSED int boundscheck) { +#if CYTHON_ASSUME_SAFE_MACROS && !CYTHON_AVOID_BORROWED_REFS && CYTHON_USE_TYPE_SLOTS + if (is_list || PyList_CheckExact(o)) { + Py_ssize_t n = (!wraparound) ? i : ((likely(i >= 0)) ? i : i + PyList_GET_SIZE(o)); + if ((!boundscheck) || likely(__Pyx_is_valid_index(n, PyList_GET_SIZE(o)))) { + PyObject* old = PyList_GET_ITEM(o, n); + Py_INCREF(v); + PyList_SET_ITEM(o, n, v); + Py_DECREF(old); + return 1; + } + } else { + PyMappingMethods *mm = Py_TYPE(o)->tp_as_mapping; + PySequenceMethods *sm = Py_TYPE(o)->tp_as_sequence; + if (mm && mm->mp_ass_subscript) { + int r; + PyObject *key = PyInt_FromSsize_t(i); + if (unlikely(!key)) return -1; + r = mm->mp_ass_subscript(o, key, v); + Py_DECREF(key); + return r; + } + if (likely(sm && sm->sq_ass_item)) { + if (wraparound && unlikely(i < 0) && likely(sm->sq_length)) { + Py_ssize_t l = sm->sq_length(o); + if (likely(l >= 0)) { + i += l; + } else { + if (!PyErr_ExceptionMatches(PyExc_OverflowError)) + return -1; + PyErr_Clear(); + } + } + return sm->sq_ass_item(o, i, v); + } + } +#else + if (is_list || !PyMapping_Check(o)) + { + return PySequence_SetItem(o, i, v); + } +#endif + return __Pyx_SetItemInt_Generic(o, PyInt_FromSsize_t(i), v); +} + +/* RaiseUnboundLocalError */ +static CYTHON_INLINE void __Pyx_RaiseUnboundLocalError(const char *varname) { + PyErr_Format(PyExc_UnboundLocalError, "local variable '%s' referenced before assignment", varname); +} + +/* DivInt[long] */ +static CYTHON_INLINE long __Pyx_div_long(long a, long b) { + long q = a / b; + long r = a - q*b; + q -= ((r != 0) & ((r ^ b) < 0)); + return q; +} + +/* ImportFrom */ +static PyObject* __Pyx_ImportFrom(PyObject* module, PyObject* name) { + PyObject* value = __Pyx_PyObject_GetAttrStr(module, name); + if (unlikely(!value) && PyErr_ExceptionMatches(PyExc_AttributeError)) { + const char* module_name_str = 0; + PyObject* module_name = 0; + PyObject* module_dot = 0; + PyObject* full_name = 0; + PyErr_Clear(); + module_name_str = PyModule_GetName(module); + if (unlikely(!module_name_str)) { goto modbad; } + module_name = PyUnicode_FromString(module_name_str); + if (unlikely(!module_name)) { goto modbad; } + module_dot = PyUnicode_Concat(module_name, __pyx_kp_u__2); + if (unlikely(!module_dot)) { goto modbad; } + full_name = PyUnicode_Concat(module_dot, name); + if (unlikely(!full_name)) { goto modbad; } + #if PY_VERSION_HEX < 0x030700A1 || (CYTHON_COMPILING_IN_PYPY && PYPY_VERSION_NUM < 0x07030400) + { + PyObject *modules = PyImport_GetModuleDict(); + if (unlikely(!modules)) + goto modbad; + value = PyObject_GetItem(modules, full_name); + } + #else + value = PyImport_GetModule(full_name); + #endif + modbad: + Py_XDECREF(full_name); + Py_XDECREF(module_dot); + Py_XDECREF(module_name); + } + if (unlikely(!value)) { + PyErr_Format(PyExc_ImportError, + #if PY_MAJOR_VERSION < 3 + "cannot import name %.230s", PyString_AS_STRING(name)); + #else + "cannot import name %S", name); + #endif + } + return value; +} + +/* HasAttr */ +#if __PYX_LIMITED_VERSION_HEX < 0x030d00A1 +static CYTHON_INLINE int __Pyx_HasAttr(PyObject *o, PyObject *n) { + PyObject *r; + if (unlikely(!__Pyx_PyBaseString_Check(n))) { + PyErr_SetString(PyExc_TypeError, + "hasattr(): attribute name must be string"); + return -1; + } + r = __Pyx_GetAttr(o, n); + if (!r) { + PyErr_Clear(); + return 0; + } else { + Py_DECREF(r); + return 1; + } +} +#endif + +/* BufferIndexError */ +static void __Pyx_RaiseBufferIndexError(int axis) { + PyErr_Format(PyExc_IndexError, + "Out of bounds on buffer access (axis %d)", axis); +} + +/* PyObject_GenericGetAttrNoDict */ +#if CYTHON_USE_TYPE_SLOTS && CYTHON_USE_PYTYPE_LOOKUP && PY_VERSION_HEX < 0x03070000 +static PyObject *__Pyx_RaiseGenericGetAttributeError(PyTypeObject *tp, PyObject *attr_name) { + __Pyx_TypeName type_name = __Pyx_PyType_GetName(tp); + PyErr_Format(PyExc_AttributeError, +#if PY_MAJOR_VERSION >= 3 + "'" __Pyx_FMT_TYPENAME "' object has no attribute '%U'", + type_name, attr_name); +#else + "'" __Pyx_FMT_TYPENAME "' object has no attribute '%.400s'", + type_name, PyString_AS_STRING(attr_name)); +#endif + __Pyx_DECREF_TypeName(type_name); + return NULL; +} +static CYTHON_INLINE PyObject* __Pyx_PyObject_GenericGetAttrNoDict(PyObject* obj, PyObject* attr_name) { + PyObject *descr; + PyTypeObject *tp = Py_TYPE(obj); + if (unlikely(!PyString_Check(attr_name))) { + return PyObject_GenericGetAttr(obj, attr_name); + } + assert(!tp->tp_dictoffset); + descr = _PyType_Lookup(tp, attr_name); + if (unlikely(!descr)) { + return __Pyx_RaiseGenericGetAttributeError(tp, attr_name); + } + Py_INCREF(descr); + #if PY_MAJOR_VERSION < 3 + if (likely(PyType_HasFeature(Py_TYPE(descr), Py_TPFLAGS_HAVE_CLASS))) + #endif + { + descrgetfunc f = Py_TYPE(descr)->tp_descr_get; + if (unlikely(f)) { + PyObject *res = f(descr, obj, (PyObject *)tp); + Py_DECREF(descr); + return res; + } + } + return descr; +} +#endif + +/* PyObject_GenericGetAttr */ +#if CYTHON_USE_TYPE_SLOTS && CYTHON_USE_PYTYPE_LOOKUP && PY_VERSION_HEX < 0x03070000 +static PyObject* __Pyx_PyObject_GenericGetAttr(PyObject* obj, PyObject* attr_name) { + if (unlikely(Py_TYPE(obj)->tp_dictoffset)) { + return PyObject_GenericGetAttr(obj, attr_name); + } + return __Pyx_PyObject_GenericGetAttrNoDict(obj, attr_name); +} +#endif + +/* TypeImport */ +#ifndef __PYX_HAVE_RT_ImportType_3_0_8 +#define __PYX_HAVE_RT_ImportType_3_0_8 +static PyTypeObject *__Pyx_ImportType_3_0_8(PyObject *module, const char *module_name, const char *class_name, + size_t size, size_t alignment, enum __Pyx_ImportType_CheckSize_3_0_8 check_size) +{ + PyObject *result = 0; + char warning[200]; + Py_ssize_t basicsize; + Py_ssize_t itemsize; +#if CYTHON_COMPILING_IN_LIMITED_API + PyObject *py_basicsize; + PyObject *py_itemsize; +#endif + result = PyObject_GetAttrString(module, class_name); + if (!result) + goto bad; + if (!PyType_Check(result)) { + PyErr_Format(PyExc_TypeError, + "%.200s.%.200s is not a type object", + module_name, class_name); + goto bad; + } +#if !CYTHON_COMPILING_IN_LIMITED_API + basicsize = ((PyTypeObject *)result)->tp_basicsize; + itemsize = ((PyTypeObject *)result)->tp_itemsize; +#else + py_basicsize = PyObject_GetAttrString(result, "__basicsize__"); + if (!py_basicsize) + goto bad; + basicsize = PyLong_AsSsize_t(py_basicsize); + Py_DECREF(py_basicsize); + py_basicsize = 0; + if (basicsize == (Py_ssize_t)-1 && PyErr_Occurred()) + goto bad; + py_itemsize = PyObject_GetAttrString(result, "__itemsize__"); + if (!py_itemsize) + goto bad; + itemsize = PyLong_AsSsize_t(py_itemsize); + Py_DECREF(py_itemsize); + py_itemsize = 0; + if (itemsize == (Py_ssize_t)-1 && PyErr_Occurred()) + goto bad; +#endif + if (itemsize) { + if (size % alignment) { + alignment = size % alignment; + } + if (itemsize < (Py_ssize_t)alignment) + itemsize = (Py_ssize_t)alignment; + } + if ((size_t)(basicsize + itemsize) < size) { + PyErr_Format(PyExc_ValueError, + "%.200s.%.200s size changed, may indicate binary incompatibility. " + "Expected %zd from C header, got %zd from PyObject", + module_name, class_name, size, basicsize+itemsize); + goto bad; + } + if (check_size == __Pyx_ImportType_CheckSize_Error_3_0_8 && + ((size_t)basicsize > size || (size_t)(basicsize + itemsize) < size)) { + PyErr_Format(PyExc_ValueError, + "%.200s.%.200s size changed, may indicate binary incompatibility. " + "Expected %zd from C header, got %zd-%zd from PyObject", + module_name, class_name, size, basicsize, basicsize+itemsize); + goto bad; + } + else if (check_size == __Pyx_ImportType_CheckSize_Warn_3_0_8 && (size_t)basicsize > size) { + PyOS_snprintf(warning, sizeof(warning), + "%s.%s size changed, may indicate binary incompatibility. " + "Expected %zd from C header, got %zd from PyObject", + module_name, class_name, size, basicsize); + if (PyErr_WarnEx(NULL, warning, 0) < 0) goto bad; + } + return (PyTypeObject *)result; +bad: + Py_XDECREF(result); + return NULL; +} +#endif + +/* FixUpExtensionType */ +#if CYTHON_USE_TYPE_SPECS +static int __Pyx_fix_up_extension_type_from_spec(PyType_Spec *spec, PyTypeObject *type) { +#if PY_VERSION_HEX > 0x030900B1 || CYTHON_COMPILING_IN_LIMITED_API + CYTHON_UNUSED_VAR(spec); + CYTHON_UNUSED_VAR(type); +#else + const PyType_Slot *slot = spec->slots; + while (slot && slot->slot && slot->slot != Py_tp_members) + slot++; + if (slot && slot->slot == Py_tp_members) { + int changed = 0; +#if !(PY_VERSION_HEX <= 0x030900b1 && CYTHON_COMPILING_IN_CPYTHON) + const +#endif + PyMemberDef *memb = (PyMemberDef*) slot->pfunc; + while (memb && memb->name) { + if (memb->name[0] == '_' && memb->name[1] == '_') { +#if PY_VERSION_HEX < 0x030900b1 + if (strcmp(memb->name, "__weaklistoffset__") == 0) { + assert(memb->type == T_PYSSIZET); + assert(memb->flags == READONLY); + type->tp_weaklistoffset = memb->offset; + changed = 1; + } + else if (strcmp(memb->name, "__dictoffset__") == 0) { + assert(memb->type == T_PYSSIZET); + assert(memb->flags == READONLY); + type->tp_dictoffset = memb->offset; + changed = 1; + } +#if CYTHON_METH_FASTCALL + else if (strcmp(memb->name, "__vectorcalloffset__") == 0) { + assert(memb->type == T_PYSSIZET); + assert(memb->flags == READONLY); +#if PY_VERSION_HEX >= 0x030800b4 + type->tp_vectorcall_offset = memb->offset; +#else + type->tp_print = (printfunc) memb->offset; +#endif + changed = 1; + } +#endif +#else + if ((0)); +#endif +#if PY_VERSION_HEX <= 0x030900b1 && CYTHON_COMPILING_IN_CPYTHON + else if (strcmp(memb->name, "__module__") == 0) { + PyObject *descr; + assert(memb->type == T_OBJECT); + assert(memb->flags == 0 || memb->flags == READONLY); + descr = PyDescr_NewMember(type, memb); + if (unlikely(!descr)) + return -1; + if (unlikely(PyDict_SetItem(type->tp_dict, PyDescr_NAME(descr), descr) < 0)) { + Py_DECREF(descr); + return -1; + } + Py_DECREF(descr); + changed = 1; + } +#endif + } + memb++; + } + if (changed) + PyType_Modified(type); + } +#endif + return 0; +} +#endif + +/* PyObjectCallNoArg */ +static CYTHON_INLINE PyObject* __Pyx_PyObject_CallNoArg(PyObject *func) { + PyObject *arg[2] = {NULL, NULL}; + return __Pyx_PyObject_FastCall(func, arg + 1, 0 | __Pyx_PY_VECTORCALL_ARGUMENTS_OFFSET); +} + +/* PyObjectGetMethod */ +static int __Pyx_PyObject_GetMethod(PyObject *obj, PyObject *name, PyObject **method) { + PyObject *attr; +#if CYTHON_UNPACK_METHODS && CYTHON_COMPILING_IN_CPYTHON && CYTHON_USE_PYTYPE_LOOKUP + __Pyx_TypeName type_name; + PyTypeObject *tp = Py_TYPE(obj); + PyObject *descr; + descrgetfunc f = NULL; + PyObject **dictptr, *dict; + int meth_found = 0; + assert (*method == NULL); + if (unlikely(tp->tp_getattro != PyObject_GenericGetAttr)) { + attr = __Pyx_PyObject_GetAttrStr(obj, name); + goto try_unpack; + } + if (unlikely(tp->tp_dict == NULL) && unlikely(PyType_Ready(tp) < 0)) { + return 0; + } + descr = _PyType_Lookup(tp, name); + if (likely(descr != NULL)) { + Py_INCREF(descr); +#if defined(Py_TPFLAGS_METHOD_DESCRIPTOR) && Py_TPFLAGS_METHOD_DESCRIPTOR + if (__Pyx_PyType_HasFeature(Py_TYPE(descr), Py_TPFLAGS_METHOD_DESCRIPTOR)) +#elif PY_MAJOR_VERSION >= 3 + #ifdef __Pyx_CyFunction_USED + if (likely(PyFunction_Check(descr) || __Pyx_IS_TYPE(descr, &PyMethodDescr_Type) || __Pyx_CyFunction_Check(descr))) + #else + if (likely(PyFunction_Check(descr) || __Pyx_IS_TYPE(descr, &PyMethodDescr_Type))) + #endif +#else + #ifdef __Pyx_CyFunction_USED + if (likely(PyFunction_Check(descr) || __Pyx_CyFunction_Check(descr))) + #else + if (likely(PyFunction_Check(descr))) + #endif +#endif + { + meth_found = 1; + } else { + f = Py_TYPE(descr)->tp_descr_get; + if (f != NULL && PyDescr_IsData(descr)) { + attr = f(descr, obj, (PyObject *)Py_TYPE(obj)); + Py_DECREF(descr); + goto try_unpack; + } + } + } + dictptr = _PyObject_GetDictPtr(obj); + if (dictptr != NULL && (dict = *dictptr) != NULL) { + Py_INCREF(dict); + attr = __Pyx_PyDict_GetItemStr(dict, name); + if (attr != NULL) { + Py_INCREF(attr); + Py_DECREF(dict); + Py_XDECREF(descr); + goto try_unpack; + } + Py_DECREF(dict); + } + if (meth_found) { + *method = descr; + return 1; + } + if (f != NULL) { + attr = f(descr, obj, (PyObject *)Py_TYPE(obj)); + Py_DECREF(descr); + goto try_unpack; + } + if (likely(descr != NULL)) { + *method = descr; + return 0; + } + type_name = __Pyx_PyType_GetName(tp); + PyErr_Format(PyExc_AttributeError, +#if PY_MAJOR_VERSION >= 3 + "'" __Pyx_FMT_TYPENAME "' object has no attribute '%U'", + type_name, name); +#else + "'" __Pyx_FMT_TYPENAME "' object has no attribute '%.400s'", + type_name, PyString_AS_STRING(name)); +#endif + __Pyx_DECREF_TypeName(type_name); + return 0; +#else + attr = __Pyx_PyObject_GetAttrStr(obj, name); + goto try_unpack; +#endif +try_unpack: +#if CYTHON_UNPACK_METHODS + if (likely(attr) && PyMethod_Check(attr) && likely(PyMethod_GET_SELF(attr) == obj)) { + PyObject *function = PyMethod_GET_FUNCTION(attr); + Py_INCREF(function); + Py_DECREF(attr); + *method = function; + return 1; + } +#endif + *method = attr; + return 0; +} + +/* PyObjectCallMethod0 */ +static PyObject* __Pyx_PyObject_CallMethod0(PyObject* obj, PyObject* method_name) { + PyObject *method = NULL, *result = NULL; + int is_method = __Pyx_PyObject_GetMethod(obj, method_name, &method); + if (likely(is_method)) { + result = __Pyx_PyObject_CallOneArg(method, obj); + Py_DECREF(method); + return result; + } + if (unlikely(!method)) goto bad; + result = __Pyx_PyObject_CallNoArg(method); + Py_DECREF(method); +bad: + return result; +} + +/* ValidateBasesTuple */ +#if CYTHON_COMPILING_IN_CPYTHON || CYTHON_COMPILING_IN_LIMITED_API || CYTHON_USE_TYPE_SPECS +static int __Pyx_validate_bases_tuple(const char *type_name, Py_ssize_t dictoffset, PyObject *bases) { + Py_ssize_t i, n; +#if CYTHON_ASSUME_SAFE_MACROS + n = PyTuple_GET_SIZE(bases); +#else + n = PyTuple_Size(bases); + if (n < 0) return -1; +#endif + for (i = 1; i < n; i++) + { +#if CYTHON_AVOID_BORROWED_REFS + PyObject *b0 = PySequence_GetItem(bases, i); + if (!b0) return -1; +#elif CYTHON_ASSUME_SAFE_MACROS + PyObject *b0 = PyTuple_GET_ITEM(bases, i); +#else + PyObject *b0 = PyTuple_GetItem(bases, i); + if (!b0) return -1; +#endif + PyTypeObject *b; +#if PY_MAJOR_VERSION < 3 + if (PyClass_Check(b0)) + { + PyErr_Format(PyExc_TypeError, "base class '%.200s' is an old-style class", + PyString_AS_STRING(((PyClassObject*)b0)->cl_name)); +#if CYTHON_AVOID_BORROWED_REFS + Py_DECREF(b0); +#endif + return -1; + } +#endif + b = (PyTypeObject*) b0; + if (!__Pyx_PyType_HasFeature(b, Py_TPFLAGS_HEAPTYPE)) + { + __Pyx_TypeName b_name = __Pyx_PyType_GetName(b); + PyErr_Format(PyExc_TypeError, + "base class '" __Pyx_FMT_TYPENAME "' is not a heap type", b_name); + __Pyx_DECREF_TypeName(b_name); +#if CYTHON_AVOID_BORROWED_REFS + Py_DECREF(b0); +#endif + return -1; + } + if (dictoffset == 0) + { + Py_ssize_t b_dictoffset = 0; +#if CYTHON_USE_TYPE_SLOTS || CYTHON_COMPILING_IN_PYPY + b_dictoffset = b->tp_dictoffset; +#else + PyObject *py_b_dictoffset = PyObject_GetAttrString((PyObject*)b, "__dictoffset__"); + if (!py_b_dictoffset) goto dictoffset_return; + b_dictoffset = PyLong_AsSsize_t(py_b_dictoffset); + Py_DECREF(py_b_dictoffset); + if (b_dictoffset == -1 && PyErr_Occurred()) goto dictoffset_return; +#endif + if (b_dictoffset) { + { + __Pyx_TypeName b_name = __Pyx_PyType_GetName(b); + PyErr_Format(PyExc_TypeError, + "extension type '%.200s' has no __dict__ slot, " + "but base type '" __Pyx_FMT_TYPENAME "' has: " + "either add 'cdef dict __dict__' to the extension type " + "or add '__slots__ = [...]' to the base type", + type_name, b_name); + __Pyx_DECREF_TypeName(b_name); + } +#if !(CYTHON_USE_TYPE_SLOTS || CYTHON_COMPILING_IN_PYPY) + dictoffset_return: +#endif +#if CYTHON_AVOID_BORROWED_REFS + Py_DECREF(b0); +#endif + return -1; + } + } +#if CYTHON_AVOID_BORROWED_REFS + Py_DECREF(b0); +#endif + } + return 0; +} +#endif + +/* PyType_Ready */ +static int __Pyx_PyType_Ready(PyTypeObject *t) { +#if CYTHON_USE_TYPE_SPECS || !(CYTHON_COMPILING_IN_CPYTHON || CYTHON_COMPILING_IN_LIMITED_API) || defined(PYSTON_MAJOR_VERSION) + (void)__Pyx_PyObject_CallMethod0; +#if CYTHON_USE_TYPE_SPECS + (void)__Pyx_validate_bases_tuple; +#endif + return PyType_Ready(t); +#else + int r; + PyObject *bases = __Pyx_PyType_GetSlot(t, tp_bases, PyObject*); + if (bases && unlikely(__Pyx_validate_bases_tuple(t->tp_name, t->tp_dictoffset, bases) == -1)) + return -1; +#if PY_VERSION_HEX >= 0x03050000 && !defined(PYSTON_MAJOR_VERSION) + { + int gc_was_enabled; + #if PY_VERSION_HEX >= 0x030A00b1 + gc_was_enabled = PyGC_Disable(); + (void)__Pyx_PyObject_CallMethod0; + #else + PyObject *ret, *py_status; + PyObject *gc = NULL; + #if PY_VERSION_HEX >= 0x030700a1 && (!CYTHON_COMPILING_IN_PYPY || PYPY_VERSION_NUM+0 >= 0x07030400) + gc = PyImport_GetModule(__pyx_kp_u_gc); + #endif + if (unlikely(!gc)) gc = PyImport_Import(__pyx_kp_u_gc); + if (unlikely(!gc)) return -1; + py_status = __Pyx_PyObject_CallMethod0(gc, __pyx_kp_u_isenabled); + if (unlikely(!py_status)) { + Py_DECREF(gc); + return -1; + } + gc_was_enabled = __Pyx_PyObject_IsTrue(py_status); + Py_DECREF(py_status); + if (gc_was_enabled > 0) { + ret = __Pyx_PyObject_CallMethod0(gc, __pyx_kp_u_disable); + if (unlikely(!ret)) { + Py_DECREF(gc); + return -1; + } + Py_DECREF(ret); + } else if (unlikely(gc_was_enabled == -1)) { + Py_DECREF(gc); + return -1; + } + #endif + t->tp_flags |= Py_TPFLAGS_HEAPTYPE; +#if PY_VERSION_HEX >= 0x030A0000 + t->tp_flags |= Py_TPFLAGS_IMMUTABLETYPE; +#endif +#else + (void)__Pyx_PyObject_CallMethod0; +#endif + r = PyType_Ready(t); +#if PY_VERSION_HEX >= 0x03050000 && !defined(PYSTON_MAJOR_VERSION) + t->tp_flags &= ~Py_TPFLAGS_HEAPTYPE; + #if PY_VERSION_HEX >= 0x030A00b1 + if (gc_was_enabled) + PyGC_Enable(); + #else + if (gc_was_enabled) { + PyObject *tp, *v, *tb; + PyErr_Fetch(&tp, &v, &tb); + ret = __Pyx_PyObject_CallMethod0(gc, __pyx_kp_u_enable); + if (likely(ret || r == -1)) { + Py_XDECREF(ret); + PyErr_Restore(tp, v, tb); + } else { + Py_XDECREF(tp); + Py_XDECREF(v); + Py_XDECREF(tb); + r = -1; + } + } + Py_DECREF(gc); + #endif + } +#endif + return r; +#endif +} + +/* SetupReduce */ +#if !CYTHON_COMPILING_IN_LIMITED_API +static int __Pyx_setup_reduce_is_named(PyObject* meth, PyObject* name) { + int ret; + PyObject *name_attr; + name_attr = __Pyx_PyObject_GetAttrStrNoError(meth, __pyx_n_s_name_2); + if (likely(name_attr)) { + ret = PyObject_RichCompareBool(name_attr, name, Py_EQ); + } else { + ret = -1; + } + if (unlikely(ret < 0)) { + PyErr_Clear(); + ret = 0; + } + Py_XDECREF(name_attr); + return ret; +} +static int __Pyx_setup_reduce(PyObject* type_obj) { + int ret = 0; + PyObject *object_reduce = NULL; + PyObject *object_getstate = NULL; + PyObject *object_reduce_ex = NULL; + PyObject *reduce = NULL; + PyObject *reduce_ex = NULL; + PyObject *reduce_cython = NULL; + PyObject *setstate = NULL; + PyObject *setstate_cython = NULL; + PyObject *getstate = NULL; +#if CYTHON_USE_PYTYPE_LOOKUP + getstate = _PyType_Lookup((PyTypeObject*)type_obj, __pyx_n_s_getstate); +#else + getstate = __Pyx_PyObject_GetAttrStrNoError(type_obj, __pyx_n_s_getstate); + if (!getstate && PyErr_Occurred()) { + goto __PYX_BAD; + } +#endif + if (getstate) { +#if CYTHON_USE_PYTYPE_LOOKUP + object_getstate = _PyType_Lookup(&PyBaseObject_Type, __pyx_n_s_getstate); +#else + object_getstate = __Pyx_PyObject_GetAttrStrNoError((PyObject*)&PyBaseObject_Type, __pyx_n_s_getstate); + if (!object_getstate && PyErr_Occurred()) { + goto __PYX_BAD; + } +#endif + if (object_getstate != getstate) { + goto __PYX_GOOD; + } + } +#if CYTHON_USE_PYTYPE_LOOKUP + object_reduce_ex = _PyType_Lookup(&PyBaseObject_Type, __pyx_n_s_reduce_ex); if (!object_reduce_ex) goto __PYX_BAD; +#else + object_reduce_ex = __Pyx_PyObject_GetAttrStr((PyObject*)&PyBaseObject_Type, __pyx_n_s_reduce_ex); if (!object_reduce_ex) goto __PYX_BAD; +#endif + reduce_ex = __Pyx_PyObject_GetAttrStr(type_obj, __pyx_n_s_reduce_ex); if (unlikely(!reduce_ex)) goto __PYX_BAD; + if (reduce_ex == object_reduce_ex) { +#if CYTHON_USE_PYTYPE_LOOKUP + object_reduce = _PyType_Lookup(&PyBaseObject_Type, __pyx_n_s_reduce); if (!object_reduce) goto __PYX_BAD; +#else + object_reduce = __Pyx_PyObject_GetAttrStr((PyObject*)&PyBaseObject_Type, __pyx_n_s_reduce); if (!object_reduce) goto __PYX_BAD; +#endif + reduce = __Pyx_PyObject_GetAttrStr(type_obj, __pyx_n_s_reduce); if (unlikely(!reduce)) goto __PYX_BAD; + if (reduce == object_reduce || __Pyx_setup_reduce_is_named(reduce, __pyx_n_s_reduce_cython)) { + reduce_cython = __Pyx_PyObject_GetAttrStrNoError(type_obj, __pyx_n_s_reduce_cython); + if (likely(reduce_cython)) { + ret = PyDict_SetItem(((PyTypeObject*)type_obj)->tp_dict, __pyx_n_s_reduce, reduce_cython); if (unlikely(ret < 0)) goto __PYX_BAD; + ret = PyDict_DelItem(((PyTypeObject*)type_obj)->tp_dict, __pyx_n_s_reduce_cython); if (unlikely(ret < 0)) goto __PYX_BAD; + } else if (reduce == object_reduce || PyErr_Occurred()) { + goto __PYX_BAD; + } + setstate = __Pyx_PyObject_GetAttrStrNoError(type_obj, __pyx_n_s_setstate); + if (!setstate) PyErr_Clear(); + if (!setstate || __Pyx_setup_reduce_is_named(setstate, __pyx_n_s_setstate_cython)) { + setstate_cython = __Pyx_PyObject_GetAttrStrNoError(type_obj, __pyx_n_s_setstate_cython); + if (likely(setstate_cython)) { + ret = PyDict_SetItem(((PyTypeObject*)type_obj)->tp_dict, __pyx_n_s_setstate, setstate_cython); if (unlikely(ret < 0)) goto __PYX_BAD; + ret = PyDict_DelItem(((PyTypeObject*)type_obj)->tp_dict, __pyx_n_s_setstate_cython); if (unlikely(ret < 0)) goto __PYX_BAD; + } else if (!setstate || PyErr_Occurred()) { + goto __PYX_BAD; + } + } + PyType_Modified((PyTypeObject*)type_obj); + } + } + goto __PYX_GOOD; +__PYX_BAD: + if (!PyErr_Occurred()) { + __Pyx_TypeName type_obj_name = + __Pyx_PyType_GetName((PyTypeObject*)type_obj); + PyErr_Format(PyExc_RuntimeError, + "Unable to initialize pickling for " __Pyx_FMT_TYPENAME, type_obj_name); + __Pyx_DECREF_TypeName(type_obj_name); + } + ret = -1; +__PYX_GOOD: +#if !CYTHON_USE_PYTYPE_LOOKUP + Py_XDECREF(object_reduce); + Py_XDECREF(object_reduce_ex); + Py_XDECREF(object_getstate); + Py_XDECREF(getstate); +#endif + Py_XDECREF(reduce); + Py_XDECREF(reduce_ex); + Py_XDECREF(reduce_cython); + Py_XDECREF(setstate); + Py_XDECREF(setstate_cython); + return ret; +} +#endif + +/* SetVTable */ +static int __Pyx_SetVtable(PyTypeObject *type, void *vtable) { + PyObject *ob = PyCapsule_New(vtable, 0, 0); + if (unlikely(!ob)) + goto bad; +#if CYTHON_COMPILING_IN_LIMITED_API + if (unlikely(PyObject_SetAttr((PyObject *) type, __pyx_n_s_pyx_vtable, ob) < 0)) +#else + if (unlikely(PyDict_SetItem(type->tp_dict, __pyx_n_s_pyx_vtable, ob) < 0)) +#endif + goto bad; + Py_DECREF(ob); + return 0; +bad: + Py_XDECREF(ob); + return -1; +} + +/* GetVTable */ +static void* __Pyx_GetVtable(PyTypeObject *type) { + void* ptr; +#if CYTHON_COMPILING_IN_LIMITED_API + PyObject *ob = PyObject_GetAttr((PyObject *)type, __pyx_n_s_pyx_vtable); +#else + PyObject *ob = PyObject_GetItem(type->tp_dict, __pyx_n_s_pyx_vtable); +#endif + if (!ob) + goto bad; + ptr = PyCapsule_GetPointer(ob, 0); + if (!ptr && !PyErr_Occurred()) + PyErr_SetString(PyExc_RuntimeError, "invalid vtable found for imported type"); + Py_DECREF(ob); + return ptr; +bad: + Py_XDECREF(ob); + return NULL; +} + +/* MergeVTables */ +#if !CYTHON_COMPILING_IN_LIMITED_API +static int __Pyx_MergeVtables(PyTypeObject *type) { + int i; + void** base_vtables; + __Pyx_TypeName tp_base_name; + __Pyx_TypeName base_name; + void* unknown = (void*)-1; + PyObject* bases = type->tp_bases; + int base_depth = 0; + { + PyTypeObject* base = type->tp_base; + while (base) { + base_depth += 1; + base = base->tp_base; + } + } + base_vtables = (void**) malloc(sizeof(void*) * (size_t)(base_depth + 1)); + base_vtables[0] = unknown; + for (i = 1; i < PyTuple_GET_SIZE(bases); i++) { + void* base_vtable = __Pyx_GetVtable(((PyTypeObject*)PyTuple_GET_ITEM(bases, i))); + if (base_vtable != NULL) { + int j; + PyTypeObject* base = type->tp_base; + for (j = 0; j < base_depth; j++) { + if (base_vtables[j] == unknown) { + base_vtables[j] = __Pyx_GetVtable(base); + base_vtables[j + 1] = unknown; + } + if (base_vtables[j] == base_vtable) { + break; + } else if (base_vtables[j] == NULL) { + goto bad; + } + base = base->tp_base; + } + } + } + PyErr_Clear(); + free(base_vtables); + return 0; +bad: + tp_base_name = __Pyx_PyType_GetName(type->tp_base); + base_name = __Pyx_PyType_GetName((PyTypeObject*)PyTuple_GET_ITEM(bases, i)); + PyErr_Format(PyExc_TypeError, + "multiple bases have vtable conflict: '" __Pyx_FMT_TYPENAME "' and '" __Pyx_FMT_TYPENAME "'", tp_base_name, base_name); + __Pyx_DECREF_TypeName(tp_base_name); + __Pyx_DECREF_TypeName(base_name); + free(base_vtables); + return -1; +} +#endif + +/* FetchSharedCythonModule */ +static PyObject *__Pyx_FetchSharedCythonABIModule(void) { + return __Pyx_PyImport_AddModuleRef((char*) __PYX_ABI_MODULE_NAME); +} + +/* FetchCommonType */ +static int __Pyx_VerifyCachedType(PyObject *cached_type, + const char *name, + Py_ssize_t basicsize, + Py_ssize_t expected_basicsize) { + if (!PyType_Check(cached_type)) { + PyErr_Format(PyExc_TypeError, + "Shared Cython type %.200s is not a type object", name); + return -1; + } + if (basicsize != expected_basicsize) { + PyErr_Format(PyExc_TypeError, + "Shared Cython type %.200s has the wrong size, try recompiling", + name); + return -1; + } + return 0; +} +#if !CYTHON_USE_TYPE_SPECS +static PyTypeObject* __Pyx_FetchCommonType(PyTypeObject* type) { + PyObject* abi_module; + const char* object_name; + PyTypeObject *cached_type = NULL; + abi_module = __Pyx_FetchSharedCythonABIModule(); + if (!abi_module) return NULL; + object_name = strrchr(type->tp_name, '.'); + object_name = object_name ? object_name+1 : type->tp_name; + cached_type = (PyTypeObject*) PyObject_GetAttrString(abi_module, object_name); + if (cached_type) { + if (__Pyx_VerifyCachedType( + (PyObject *)cached_type, + object_name, + cached_type->tp_basicsize, + type->tp_basicsize) < 0) { + goto bad; + } + goto done; + } + if (!PyErr_ExceptionMatches(PyExc_AttributeError)) goto bad; + PyErr_Clear(); + if (PyType_Ready(type) < 0) goto bad; + if (PyObject_SetAttrString(abi_module, object_name, (PyObject *)type) < 0) + goto bad; + Py_INCREF(type); + cached_type = type; +done: + Py_DECREF(abi_module); + return cached_type; +bad: + Py_XDECREF(cached_type); + cached_type = NULL; + goto done; +} +#else +static PyTypeObject *__Pyx_FetchCommonTypeFromSpec(PyObject *module, PyType_Spec *spec, PyObject *bases) { + PyObject *abi_module, *cached_type = NULL; + const char* object_name = strrchr(spec->name, '.'); + object_name = object_name ? object_name+1 : spec->name; + abi_module = __Pyx_FetchSharedCythonABIModule(); + if (!abi_module) return NULL; + cached_type = PyObject_GetAttrString(abi_module, object_name); + if (cached_type) { + Py_ssize_t basicsize; +#if CYTHON_COMPILING_IN_LIMITED_API + PyObject *py_basicsize; + py_basicsize = PyObject_GetAttrString(cached_type, "__basicsize__"); + if (unlikely(!py_basicsize)) goto bad; + basicsize = PyLong_AsSsize_t(py_basicsize); + Py_DECREF(py_basicsize); + py_basicsize = 0; + if (unlikely(basicsize == (Py_ssize_t)-1) && PyErr_Occurred()) goto bad; +#else + basicsize = likely(PyType_Check(cached_type)) ? ((PyTypeObject*) cached_type)->tp_basicsize : -1; +#endif + if (__Pyx_VerifyCachedType( + cached_type, + object_name, + basicsize, + spec->basicsize) < 0) { + goto bad; + } + goto done; + } + if (!PyErr_ExceptionMatches(PyExc_AttributeError)) goto bad; + PyErr_Clear(); + CYTHON_UNUSED_VAR(module); + cached_type = __Pyx_PyType_FromModuleAndSpec(abi_module, spec, bases); + if (unlikely(!cached_type)) goto bad; + if (unlikely(__Pyx_fix_up_extension_type_from_spec(spec, (PyTypeObject *) cached_type) < 0)) goto bad; + if (PyObject_SetAttrString(abi_module, object_name, cached_type) < 0) goto bad; +done: + Py_DECREF(abi_module); + assert(cached_type == NULL || PyType_Check(cached_type)); + return (PyTypeObject *) cached_type; +bad: + Py_XDECREF(cached_type); + cached_type = NULL; + goto done; +} +#endif + +/* PyVectorcallFastCallDict */ +#if CYTHON_METH_FASTCALL +static PyObject *__Pyx_PyVectorcall_FastCallDict_kw(PyObject *func, __pyx_vectorcallfunc vc, PyObject *const *args, size_t nargs, PyObject *kw) +{ + PyObject *res = NULL; + PyObject *kwnames; + PyObject **newargs; + PyObject **kwvalues; + Py_ssize_t i, pos; + size_t j; + PyObject *key, *value; + unsigned long keys_are_strings; + Py_ssize_t nkw = PyDict_GET_SIZE(kw); + newargs = (PyObject **)PyMem_Malloc((nargs + (size_t)nkw) * sizeof(args[0])); + if (unlikely(newargs == NULL)) { + PyErr_NoMemory(); + return NULL; + } + for (j = 0; j < nargs; j++) newargs[j] = args[j]; + kwnames = PyTuple_New(nkw); + if (unlikely(kwnames == NULL)) { + PyMem_Free(newargs); + return NULL; + } + kwvalues = newargs + nargs; + pos = i = 0; + keys_are_strings = Py_TPFLAGS_UNICODE_SUBCLASS; + while (PyDict_Next(kw, &pos, &key, &value)) { + keys_are_strings &= Py_TYPE(key)->tp_flags; + Py_INCREF(key); + Py_INCREF(value); + PyTuple_SET_ITEM(kwnames, i, key); + kwvalues[i] = value; + i++; + } + if (unlikely(!keys_are_strings)) { + PyErr_SetString(PyExc_TypeError, "keywords must be strings"); + goto cleanup; + } + res = vc(func, newargs, nargs, kwnames); +cleanup: + Py_DECREF(kwnames); + for (i = 0; i < nkw; i++) + Py_DECREF(kwvalues[i]); + PyMem_Free(newargs); + return res; +} +static CYTHON_INLINE PyObject *__Pyx_PyVectorcall_FastCallDict(PyObject *func, __pyx_vectorcallfunc vc, PyObject *const *args, size_t nargs, PyObject *kw) +{ + if (likely(kw == NULL) || PyDict_GET_SIZE(kw) == 0) { + return vc(func, args, nargs, NULL); + } + return __Pyx_PyVectorcall_FastCallDict_kw(func, vc, args, nargs, kw); +} +#endif + +/* CythonFunctionShared */ +#if CYTHON_COMPILING_IN_LIMITED_API +static CYTHON_INLINE int __Pyx__IsSameCyOrCFunction(PyObject *func, void *cfunc) { + if (__Pyx_CyFunction_Check(func)) { + return PyCFunction_GetFunction(((__pyx_CyFunctionObject*)func)->func) == (PyCFunction) cfunc; + } else if (PyCFunction_Check(func)) { + return PyCFunction_GetFunction(func) == (PyCFunction) cfunc; + } + return 0; +} +#else +static CYTHON_INLINE int __Pyx__IsSameCyOrCFunction(PyObject *func, void *cfunc) { + return __Pyx_CyOrPyCFunction_Check(func) && __Pyx_CyOrPyCFunction_GET_FUNCTION(func) == (PyCFunction) cfunc; +} +#endif +static CYTHON_INLINE void __Pyx__CyFunction_SetClassObj(__pyx_CyFunctionObject* f, PyObject* classobj) { +#if PY_VERSION_HEX < 0x030900B1 || CYTHON_COMPILING_IN_LIMITED_API + __Pyx_Py_XDECREF_SET( + __Pyx_CyFunction_GetClassObj(f), + ((classobj) ? __Pyx_NewRef(classobj) : NULL)); +#else + __Pyx_Py_XDECREF_SET( + ((PyCMethodObject *) (f))->mm_class, + (PyTypeObject*)((classobj) ? __Pyx_NewRef(classobj) : NULL)); +#endif +} +static PyObject * +__Pyx_CyFunction_get_doc(__pyx_CyFunctionObject *op, void *closure) +{ + CYTHON_UNUSED_VAR(closure); + if (unlikely(op->func_doc == NULL)) { +#if CYTHON_COMPILING_IN_LIMITED_API + op->func_doc = PyObject_GetAttrString(op->func, "__doc__"); + if (unlikely(!op->func_doc)) return NULL; +#else + if (((PyCFunctionObject*)op)->m_ml->ml_doc) { +#if PY_MAJOR_VERSION >= 3 + op->func_doc = PyUnicode_FromString(((PyCFunctionObject*)op)->m_ml->ml_doc); +#else + op->func_doc = PyString_FromString(((PyCFunctionObject*)op)->m_ml->ml_doc); +#endif + if (unlikely(op->func_doc == NULL)) + return NULL; + } else { + Py_INCREF(Py_None); + return Py_None; + } +#endif + } + Py_INCREF(op->func_doc); + return op->func_doc; +} +static int +__Pyx_CyFunction_set_doc(__pyx_CyFunctionObject *op, PyObject *value, void *context) +{ + CYTHON_UNUSED_VAR(context); + if (value == NULL) { + value = Py_None; + } + Py_INCREF(value); + __Pyx_Py_XDECREF_SET(op->func_doc, value); + return 0; +} +static PyObject * +__Pyx_CyFunction_get_name(__pyx_CyFunctionObject *op, void *context) +{ + CYTHON_UNUSED_VAR(context); + if (unlikely(op->func_name == NULL)) { +#if CYTHON_COMPILING_IN_LIMITED_API + op->func_name = PyObject_GetAttrString(op->func, "__name__"); +#elif PY_MAJOR_VERSION >= 3 + op->func_name = PyUnicode_InternFromString(((PyCFunctionObject*)op)->m_ml->ml_name); +#else + op->func_name = PyString_InternFromString(((PyCFunctionObject*)op)->m_ml->ml_name); +#endif + if (unlikely(op->func_name == NULL)) + return NULL; + } + Py_INCREF(op->func_name); + return op->func_name; +} +static int +__Pyx_CyFunction_set_name(__pyx_CyFunctionObject *op, PyObject *value, void *context) +{ + CYTHON_UNUSED_VAR(context); +#if PY_MAJOR_VERSION >= 3 + if (unlikely(value == NULL || !PyUnicode_Check(value))) +#else + if (unlikely(value == NULL || !PyString_Check(value))) +#endif + { + PyErr_SetString(PyExc_TypeError, + "__name__ must be set to a string object"); + return -1; + } + Py_INCREF(value); + __Pyx_Py_XDECREF_SET(op->func_name, value); + return 0; +} +static PyObject * +__Pyx_CyFunction_get_qualname(__pyx_CyFunctionObject *op, void *context) +{ + CYTHON_UNUSED_VAR(context); + Py_INCREF(op->func_qualname); + return op->func_qualname; +} +static int +__Pyx_CyFunction_set_qualname(__pyx_CyFunctionObject *op, PyObject *value, void *context) +{ + CYTHON_UNUSED_VAR(context); +#if PY_MAJOR_VERSION >= 3 + if (unlikely(value == NULL || !PyUnicode_Check(value))) +#else + if (unlikely(value == NULL || !PyString_Check(value))) +#endif + { + PyErr_SetString(PyExc_TypeError, + "__qualname__ must be set to a string object"); + return -1; + } + Py_INCREF(value); + __Pyx_Py_XDECREF_SET(op->func_qualname, value); + return 0; +} +static PyObject * +__Pyx_CyFunction_get_dict(__pyx_CyFunctionObject *op, void *context) +{ + CYTHON_UNUSED_VAR(context); + if (unlikely(op->func_dict == NULL)) { + op->func_dict = PyDict_New(); + if (unlikely(op->func_dict == NULL)) + return NULL; + } + Py_INCREF(op->func_dict); + return op->func_dict; +} +static int +__Pyx_CyFunction_set_dict(__pyx_CyFunctionObject *op, PyObject *value, void *context) +{ + CYTHON_UNUSED_VAR(context); + if (unlikely(value == NULL)) { + PyErr_SetString(PyExc_TypeError, + "function's dictionary may not be deleted"); + return -1; + } + if (unlikely(!PyDict_Check(value))) { + PyErr_SetString(PyExc_TypeError, + "setting function's dictionary to a non-dict"); + return -1; + } + Py_INCREF(value); + __Pyx_Py_XDECREF_SET(op->func_dict, value); + return 0; +} +static PyObject * +__Pyx_CyFunction_get_globals(__pyx_CyFunctionObject *op, void *context) +{ + CYTHON_UNUSED_VAR(context); + Py_INCREF(op->func_globals); + return op->func_globals; +} +static PyObject * +__Pyx_CyFunction_get_closure(__pyx_CyFunctionObject *op, void *context) +{ + CYTHON_UNUSED_VAR(op); + CYTHON_UNUSED_VAR(context); + Py_INCREF(Py_None); + return Py_None; +} +static PyObject * +__Pyx_CyFunction_get_code(__pyx_CyFunctionObject *op, void *context) +{ + PyObject* result = (op->func_code) ? op->func_code : Py_None; + CYTHON_UNUSED_VAR(context); + Py_INCREF(result); + return result; +} +static int +__Pyx_CyFunction_init_defaults(__pyx_CyFunctionObject *op) { + int result = 0; + PyObject *res = op->defaults_getter((PyObject *) op); + if (unlikely(!res)) + return -1; + #if CYTHON_ASSUME_SAFE_MACROS && !CYTHON_AVOID_BORROWED_REFS + op->defaults_tuple = PyTuple_GET_ITEM(res, 0); + Py_INCREF(op->defaults_tuple); + op->defaults_kwdict = PyTuple_GET_ITEM(res, 1); + Py_INCREF(op->defaults_kwdict); + #else + op->defaults_tuple = __Pyx_PySequence_ITEM(res, 0); + if (unlikely(!op->defaults_tuple)) result = -1; + else { + op->defaults_kwdict = __Pyx_PySequence_ITEM(res, 1); + if (unlikely(!op->defaults_kwdict)) result = -1; + } + #endif + Py_DECREF(res); + return result; +} +static int +__Pyx_CyFunction_set_defaults(__pyx_CyFunctionObject *op, PyObject* value, void *context) { + CYTHON_UNUSED_VAR(context); + if (!value) { + value = Py_None; + } else if (unlikely(value != Py_None && !PyTuple_Check(value))) { + PyErr_SetString(PyExc_TypeError, + "__defaults__ must be set to a tuple object"); + return -1; + } + PyErr_WarnEx(PyExc_RuntimeWarning, "changes to cyfunction.__defaults__ will not " + "currently affect the values used in function calls", 1); + Py_INCREF(value); + __Pyx_Py_XDECREF_SET(op->defaults_tuple, value); + return 0; +} +static PyObject * +__Pyx_CyFunction_get_defaults(__pyx_CyFunctionObject *op, void *context) { + PyObject* result = op->defaults_tuple; + CYTHON_UNUSED_VAR(context); + if (unlikely(!result)) { + if (op->defaults_getter) { + if (unlikely(__Pyx_CyFunction_init_defaults(op) < 0)) return NULL; + result = op->defaults_tuple; + } else { + result = Py_None; + } + } + Py_INCREF(result); + return result; +} +static int +__Pyx_CyFunction_set_kwdefaults(__pyx_CyFunctionObject *op, PyObject* value, void *context) { + CYTHON_UNUSED_VAR(context); + if (!value) { + value = Py_None; + } else if (unlikely(value != Py_None && !PyDict_Check(value))) { + PyErr_SetString(PyExc_TypeError, + "__kwdefaults__ must be set to a dict object"); + return -1; + } + PyErr_WarnEx(PyExc_RuntimeWarning, "changes to cyfunction.__kwdefaults__ will not " + "currently affect the values used in function calls", 1); + Py_INCREF(value); + __Pyx_Py_XDECREF_SET(op->defaults_kwdict, value); + return 0; +} +static PyObject * +__Pyx_CyFunction_get_kwdefaults(__pyx_CyFunctionObject *op, void *context) { + PyObject* result = op->defaults_kwdict; + CYTHON_UNUSED_VAR(context); + if (unlikely(!result)) { + if (op->defaults_getter) { + if (unlikely(__Pyx_CyFunction_init_defaults(op) < 0)) return NULL; + result = op->defaults_kwdict; + } else { + result = Py_None; + } + } + Py_INCREF(result); + return result; +} +static int +__Pyx_CyFunction_set_annotations(__pyx_CyFunctionObject *op, PyObject* value, void *context) { + CYTHON_UNUSED_VAR(context); + if (!value || value == Py_None) { + value = NULL; + } else if (unlikely(!PyDict_Check(value))) { + PyErr_SetString(PyExc_TypeError, + "__annotations__ must be set to a dict object"); + return -1; + } + Py_XINCREF(value); + __Pyx_Py_XDECREF_SET(op->func_annotations, value); + return 0; +} +static PyObject * +__Pyx_CyFunction_get_annotations(__pyx_CyFunctionObject *op, void *context) { + PyObject* result = op->func_annotations; + CYTHON_UNUSED_VAR(context); + if (unlikely(!result)) { + result = PyDict_New(); + if (unlikely(!result)) return NULL; + op->func_annotations = result; + } + Py_INCREF(result); + return result; +} +static PyObject * +__Pyx_CyFunction_get_is_coroutine(__pyx_CyFunctionObject *op, void *context) { + int is_coroutine; + CYTHON_UNUSED_VAR(context); + if (op->func_is_coroutine) { + return __Pyx_NewRef(op->func_is_coroutine); + } + is_coroutine = op->flags & __Pyx_CYFUNCTION_COROUTINE; +#if PY_VERSION_HEX >= 0x03050000 + if (is_coroutine) { + PyObject *module, *fromlist, *marker = __pyx_n_s_is_coroutine; + fromlist = PyList_New(1); + if (unlikely(!fromlist)) return NULL; + Py_INCREF(marker); +#if CYTHON_ASSUME_SAFE_MACROS + PyList_SET_ITEM(fromlist, 0, marker); +#else + if (unlikely(PyList_SetItem(fromlist, 0, marker) < 0)) { + Py_DECREF(marker); + Py_DECREF(fromlist); + return NULL; + } +#endif + module = PyImport_ImportModuleLevelObject(__pyx_n_s_asyncio_coroutines, NULL, NULL, fromlist, 0); + Py_DECREF(fromlist); + if (unlikely(!module)) goto ignore; + op->func_is_coroutine = __Pyx_PyObject_GetAttrStr(module, marker); + Py_DECREF(module); + if (likely(op->func_is_coroutine)) { + return __Pyx_NewRef(op->func_is_coroutine); + } +ignore: + PyErr_Clear(); + } +#endif + op->func_is_coroutine = __Pyx_PyBool_FromLong(is_coroutine); + return __Pyx_NewRef(op->func_is_coroutine); +} +#if CYTHON_COMPILING_IN_LIMITED_API +static PyObject * +__Pyx_CyFunction_get_module(__pyx_CyFunctionObject *op, void *context) { + CYTHON_UNUSED_VAR(context); + return PyObject_GetAttrString(op->func, "__module__"); +} +static int +__Pyx_CyFunction_set_module(__pyx_CyFunctionObject *op, PyObject* value, void *context) { + CYTHON_UNUSED_VAR(context); + return PyObject_SetAttrString(op->func, "__module__", value); +} +#endif +static PyGetSetDef __pyx_CyFunction_getsets[] = { + {(char *) "func_doc", (getter)__Pyx_CyFunction_get_doc, (setter)__Pyx_CyFunction_set_doc, 0, 0}, + {(char *) "__doc__", (getter)__Pyx_CyFunction_get_doc, (setter)__Pyx_CyFunction_set_doc, 0, 0}, + {(char *) "func_name", (getter)__Pyx_CyFunction_get_name, (setter)__Pyx_CyFunction_set_name, 0, 0}, + {(char *) "__name__", (getter)__Pyx_CyFunction_get_name, (setter)__Pyx_CyFunction_set_name, 0, 0}, + {(char *) "__qualname__", (getter)__Pyx_CyFunction_get_qualname, (setter)__Pyx_CyFunction_set_qualname, 0, 0}, + {(char *) "func_dict", (getter)__Pyx_CyFunction_get_dict, (setter)__Pyx_CyFunction_set_dict, 0, 0}, + {(char *) "__dict__", (getter)__Pyx_CyFunction_get_dict, (setter)__Pyx_CyFunction_set_dict, 0, 0}, + {(char *) "func_globals", (getter)__Pyx_CyFunction_get_globals, 0, 0, 0}, + {(char *) "__globals__", (getter)__Pyx_CyFunction_get_globals, 0, 0, 0}, + {(char *) "func_closure", (getter)__Pyx_CyFunction_get_closure, 0, 0, 0}, + {(char *) "__closure__", (getter)__Pyx_CyFunction_get_closure, 0, 0, 0}, + {(char *) "func_code", (getter)__Pyx_CyFunction_get_code, 0, 0, 0}, + {(char *) "__code__", (getter)__Pyx_CyFunction_get_code, 0, 0, 0}, + {(char *) "func_defaults", (getter)__Pyx_CyFunction_get_defaults, (setter)__Pyx_CyFunction_set_defaults, 0, 0}, + {(char *) "__defaults__", (getter)__Pyx_CyFunction_get_defaults, (setter)__Pyx_CyFunction_set_defaults, 0, 0}, + {(char *) "__kwdefaults__", (getter)__Pyx_CyFunction_get_kwdefaults, (setter)__Pyx_CyFunction_set_kwdefaults, 0, 0}, + {(char *) "__annotations__", (getter)__Pyx_CyFunction_get_annotations, (setter)__Pyx_CyFunction_set_annotations, 0, 0}, + {(char *) "_is_coroutine", (getter)__Pyx_CyFunction_get_is_coroutine, 0, 0, 0}, +#if CYTHON_COMPILING_IN_LIMITED_API + {"__module__", (getter)__Pyx_CyFunction_get_module, (setter)__Pyx_CyFunction_set_module, 0, 0}, +#endif + {0, 0, 0, 0, 0} +}; +static PyMemberDef __pyx_CyFunction_members[] = { +#if !CYTHON_COMPILING_IN_LIMITED_API + {(char *) "__module__", T_OBJECT, offsetof(PyCFunctionObject, m_module), 0, 0}, +#endif +#if CYTHON_USE_TYPE_SPECS + {(char *) "__dictoffset__", T_PYSSIZET, offsetof(__pyx_CyFunctionObject, func_dict), READONLY, 0}, +#if CYTHON_METH_FASTCALL +#if CYTHON_BACKPORT_VECTORCALL + {(char *) "__vectorcalloffset__", T_PYSSIZET, offsetof(__pyx_CyFunctionObject, func_vectorcall), READONLY, 0}, +#else +#if !CYTHON_COMPILING_IN_LIMITED_API + {(char *) "__vectorcalloffset__", T_PYSSIZET, offsetof(PyCFunctionObject, vectorcall), READONLY, 0}, +#endif +#endif +#endif +#if PY_VERSION_HEX < 0x030500A0 || CYTHON_COMPILING_IN_LIMITED_API + {(char *) "__weaklistoffset__", T_PYSSIZET, offsetof(__pyx_CyFunctionObject, func_weakreflist), READONLY, 0}, +#else + {(char *) "__weaklistoffset__", T_PYSSIZET, offsetof(PyCFunctionObject, m_weakreflist), READONLY, 0}, +#endif +#endif + {0, 0, 0, 0, 0} +}; +static PyObject * +__Pyx_CyFunction_reduce(__pyx_CyFunctionObject *m, PyObject *args) +{ + CYTHON_UNUSED_VAR(args); +#if PY_MAJOR_VERSION >= 3 + Py_INCREF(m->func_qualname); + return m->func_qualname; +#else + return PyString_FromString(((PyCFunctionObject*)m)->m_ml->ml_name); +#endif +} +static PyMethodDef __pyx_CyFunction_methods[] = { + {"__reduce__", (PyCFunction)__Pyx_CyFunction_reduce, METH_VARARGS, 0}, + {0, 0, 0, 0} +}; +#if PY_VERSION_HEX < 0x030500A0 || CYTHON_COMPILING_IN_LIMITED_API +#define __Pyx_CyFunction_weakreflist(cyfunc) ((cyfunc)->func_weakreflist) +#else +#define __Pyx_CyFunction_weakreflist(cyfunc) (((PyCFunctionObject*)cyfunc)->m_weakreflist) +#endif +static PyObject *__Pyx_CyFunction_Init(__pyx_CyFunctionObject *op, PyMethodDef *ml, int flags, PyObject* qualname, + PyObject *closure, PyObject *module, PyObject* globals, PyObject* code) { +#if !CYTHON_COMPILING_IN_LIMITED_API + PyCFunctionObject *cf = (PyCFunctionObject*) op; +#endif + if (unlikely(op == NULL)) + return NULL; +#if CYTHON_COMPILING_IN_LIMITED_API + op->func = PyCFunction_NewEx(ml, (PyObject*)op, module); + if (unlikely(!op->func)) return NULL; +#endif + op->flags = flags; + __Pyx_CyFunction_weakreflist(op) = NULL; +#if !CYTHON_COMPILING_IN_LIMITED_API + cf->m_ml = ml; + cf->m_self = (PyObject *) op; +#endif + Py_XINCREF(closure); + op->func_closure = closure; +#if !CYTHON_COMPILING_IN_LIMITED_API + Py_XINCREF(module); + cf->m_module = module; +#endif + op->func_dict = NULL; + op->func_name = NULL; + Py_INCREF(qualname); + op->func_qualname = qualname; + op->func_doc = NULL; +#if PY_VERSION_HEX < 0x030900B1 || CYTHON_COMPILING_IN_LIMITED_API + op->func_classobj = NULL; +#else + ((PyCMethodObject*)op)->mm_class = NULL; +#endif + op->func_globals = globals; + Py_INCREF(op->func_globals); + Py_XINCREF(code); + op->func_code = code; + op->defaults_pyobjects = 0; + op->defaults_size = 0; + op->defaults = NULL; + op->defaults_tuple = NULL; + op->defaults_kwdict = NULL; + op->defaults_getter = NULL; + op->func_annotations = NULL; + op->func_is_coroutine = NULL; +#if CYTHON_METH_FASTCALL + switch (ml->ml_flags & (METH_VARARGS | METH_FASTCALL | METH_NOARGS | METH_O | METH_KEYWORDS | METH_METHOD)) { + case METH_NOARGS: + __Pyx_CyFunction_func_vectorcall(op) = __Pyx_CyFunction_Vectorcall_NOARGS; + break; + case METH_O: + __Pyx_CyFunction_func_vectorcall(op) = __Pyx_CyFunction_Vectorcall_O; + break; + case METH_METHOD | METH_FASTCALL | METH_KEYWORDS: + __Pyx_CyFunction_func_vectorcall(op) = __Pyx_CyFunction_Vectorcall_FASTCALL_KEYWORDS_METHOD; + break; + case METH_FASTCALL | METH_KEYWORDS: + __Pyx_CyFunction_func_vectorcall(op) = __Pyx_CyFunction_Vectorcall_FASTCALL_KEYWORDS; + break; + case METH_VARARGS | METH_KEYWORDS: + __Pyx_CyFunction_func_vectorcall(op) = NULL; + break; + default: + PyErr_SetString(PyExc_SystemError, "Bad call flags for CyFunction"); + Py_DECREF(op); + return NULL; + } +#endif + return (PyObject *) op; +} +static int +__Pyx_CyFunction_clear(__pyx_CyFunctionObject *m) +{ + Py_CLEAR(m->func_closure); +#if CYTHON_COMPILING_IN_LIMITED_API + Py_CLEAR(m->func); +#else + Py_CLEAR(((PyCFunctionObject*)m)->m_module); +#endif + Py_CLEAR(m->func_dict); + Py_CLEAR(m->func_name); + Py_CLEAR(m->func_qualname); + Py_CLEAR(m->func_doc); + Py_CLEAR(m->func_globals); + Py_CLEAR(m->func_code); +#if !CYTHON_COMPILING_IN_LIMITED_API +#if PY_VERSION_HEX < 0x030900B1 + Py_CLEAR(__Pyx_CyFunction_GetClassObj(m)); +#else + { + PyObject *cls = (PyObject*) ((PyCMethodObject *) (m))->mm_class; + ((PyCMethodObject *) (m))->mm_class = NULL; + Py_XDECREF(cls); + } +#endif +#endif + Py_CLEAR(m->defaults_tuple); + Py_CLEAR(m->defaults_kwdict); + Py_CLEAR(m->func_annotations); + Py_CLEAR(m->func_is_coroutine); + if (m->defaults) { + PyObject **pydefaults = __Pyx_CyFunction_Defaults(PyObject *, m); + int i; + for (i = 0; i < m->defaults_pyobjects; i++) + Py_XDECREF(pydefaults[i]); + PyObject_Free(m->defaults); + m->defaults = NULL; + } + return 0; +} +static void __Pyx__CyFunction_dealloc(__pyx_CyFunctionObject *m) +{ + if (__Pyx_CyFunction_weakreflist(m) != NULL) + PyObject_ClearWeakRefs((PyObject *) m); + __Pyx_CyFunction_clear(m); + __Pyx_PyHeapTypeObject_GC_Del(m); +} +static void __Pyx_CyFunction_dealloc(__pyx_CyFunctionObject *m) +{ + PyObject_GC_UnTrack(m); + __Pyx__CyFunction_dealloc(m); +} +static int __Pyx_CyFunction_traverse(__pyx_CyFunctionObject *m, visitproc visit, void *arg) +{ + Py_VISIT(m->func_closure); +#if CYTHON_COMPILING_IN_LIMITED_API + Py_VISIT(m->func); +#else + Py_VISIT(((PyCFunctionObject*)m)->m_module); +#endif + Py_VISIT(m->func_dict); + Py_VISIT(m->func_name); + Py_VISIT(m->func_qualname); + Py_VISIT(m->func_doc); + Py_VISIT(m->func_globals); + Py_VISIT(m->func_code); +#if !CYTHON_COMPILING_IN_LIMITED_API + Py_VISIT(__Pyx_CyFunction_GetClassObj(m)); +#endif + Py_VISIT(m->defaults_tuple); + Py_VISIT(m->defaults_kwdict); + Py_VISIT(m->func_is_coroutine); + if (m->defaults) { + PyObject **pydefaults = __Pyx_CyFunction_Defaults(PyObject *, m); + int i; + for (i = 0; i < m->defaults_pyobjects; i++) + Py_VISIT(pydefaults[i]); + } + return 0; +} +static PyObject* +__Pyx_CyFunction_repr(__pyx_CyFunctionObject *op) +{ +#if PY_MAJOR_VERSION >= 3 + return PyUnicode_FromFormat("", + op->func_qualname, (void *)op); +#else + return PyString_FromFormat("", + PyString_AsString(op->func_qualname), (void *)op); +#endif +} +static PyObject * __Pyx_CyFunction_CallMethod(PyObject *func, PyObject *self, PyObject *arg, PyObject *kw) { +#if CYTHON_COMPILING_IN_LIMITED_API + PyObject *f = ((__pyx_CyFunctionObject*)func)->func; + PyObject *py_name = NULL; + PyCFunction meth; + int flags; + meth = PyCFunction_GetFunction(f); + if (unlikely(!meth)) return NULL; + flags = PyCFunction_GetFlags(f); + if (unlikely(flags < 0)) return NULL; +#else + PyCFunctionObject* f = (PyCFunctionObject*)func; + PyCFunction meth = f->m_ml->ml_meth; + int flags = f->m_ml->ml_flags; +#endif + Py_ssize_t size; + switch (flags & (METH_VARARGS | METH_KEYWORDS | METH_NOARGS | METH_O)) { + case METH_VARARGS: + if (likely(kw == NULL || PyDict_Size(kw) == 0)) + return (*meth)(self, arg); + break; + case METH_VARARGS | METH_KEYWORDS: + return (*(PyCFunctionWithKeywords)(void*)meth)(self, arg, kw); + case METH_NOARGS: + if (likely(kw == NULL || PyDict_Size(kw) == 0)) { +#if CYTHON_ASSUME_SAFE_MACROS + size = PyTuple_GET_SIZE(arg); +#else + size = PyTuple_Size(arg); + if (unlikely(size < 0)) return NULL; +#endif + if (likely(size == 0)) + return (*meth)(self, NULL); +#if CYTHON_COMPILING_IN_LIMITED_API + py_name = __Pyx_CyFunction_get_name((__pyx_CyFunctionObject*)func, NULL); + if (!py_name) return NULL; + PyErr_Format(PyExc_TypeError, + "%.200S() takes no arguments (%" CYTHON_FORMAT_SSIZE_T "d given)", + py_name, size); + Py_DECREF(py_name); +#else + PyErr_Format(PyExc_TypeError, + "%.200s() takes no arguments (%" CYTHON_FORMAT_SSIZE_T "d given)", + f->m_ml->ml_name, size); +#endif + return NULL; + } + break; + case METH_O: + if (likely(kw == NULL || PyDict_Size(kw) == 0)) { +#if CYTHON_ASSUME_SAFE_MACROS + size = PyTuple_GET_SIZE(arg); +#else + size = PyTuple_Size(arg); + if (unlikely(size < 0)) return NULL; +#endif + if (likely(size == 1)) { + PyObject *result, *arg0; + #if CYTHON_ASSUME_SAFE_MACROS && !CYTHON_AVOID_BORROWED_REFS + arg0 = PyTuple_GET_ITEM(arg, 0); + #else + arg0 = __Pyx_PySequence_ITEM(arg, 0); if (unlikely(!arg0)) return NULL; + #endif + result = (*meth)(self, arg0); + #if !(CYTHON_ASSUME_SAFE_MACROS && !CYTHON_AVOID_BORROWED_REFS) + Py_DECREF(arg0); + #endif + return result; + } +#if CYTHON_COMPILING_IN_LIMITED_API + py_name = __Pyx_CyFunction_get_name((__pyx_CyFunctionObject*)func, NULL); + if (!py_name) return NULL; + PyErr_Format(PyExc_TypeError, + "%.200S() takes exactly one argument (%" CYTHON_FORMAT_SSIZE_T "d given)", + py_name, size); + Py_DECREF(py_name); +#else + PyErr_Format(PyExc_TypeError, + "%.200s() takes exactly one argument (%" CYTHON_FORMAT_SSIZE_T "d given)", + f->m_ml->ml_name, size); +#endif + return NULL; + } + break; + default: + PyErr_SetString(PyExc_SystemError, "Bad call flags for CyFunction"); + return NULL; + } +#if CYTHON_COMPILING_IN_LIMITED_API + py_name = __Pyx_CyFunction_get_name((__pyx_CyFunctionObject*)func, NULL); + if (!py_name) return NULL; + PyErr_Format(PyExc_TypeError, "%.200S() takes no keyword arguments", + py_name); + Py_DECREF(py_name); +#else + PyErr_Format(PyExc_TypeError, "%.200s() takes no keyword arguments", + f->m_ml->ml_name); +#endif + return NULL; +} +static CYTHON_INLINE PyObject *__Pyx_CyFunction_Call(PyObject *func, PyObject *arg, PyObject *kw) { + PyObject *self, *result; +#if CYTHON_COMPILING_IN_LIMITED_API + self = PyCFunction_GetSelf(((__pyx_CyFunctionObject*)func)->func); + if (unlikely(!self) && PyErr_Occurred()) return NULL; +#else + self = ((PyCFunctionObject*)func)->m_self; +#endif + result = __Pyx_CyFunction_CallMethod(func, self, arg, kw); + return result; +} +static PyObject *__Pyx_CyFunction_CallAsMethod(PyObject *func, PyObject *args, PyObject *kw) { + PyObject *result; + __pyx_CyFunctionObject *cyfunc = (__pyx_CyFunctionObject *) func; +#if CYTHON_METH_FASTCALL + __pyx_vectorcallfunc vc = __Pyx_CyFunction_func_vectorcall(cyfunc); + if (vc) { +#if CYTHON_ASSUME_SAFE_MACROS + return __Pyx_PyVectorcall_FastCallDict(func, vc, &PyTuple_GET_ITEM(args, 0), (size_t)PyTuple_GET_SIZE(args), kw); +#else + (void) &__Pyx_PyVectorcall_FastCallDict; + return PyVectorcall_Call(func, args, kw); +#endif + } +#endif + if ((cyfunc->flags & __Pyx_CYFUNCTION_CCLASS) && !(cyfunc->flags & __Pyx_CYFUNCTION_STATICMETHOD)) { + Py_ssize_t argc; + PyObject *new_args; + PyObject *self; +#if CYTHON_ASSUME_SAFE_MACROS + argc = PyTuple_GET_SIZE(args); +#else + argc = PyTuple_Size(args); + if (unlikely(!argc) < 0) return NULL; +#endif + new_args = PyTuple_GetSlice(args, 1, argc); + if (unlikely(!new_args)) + return NULL; + self = PyTuple_GetItem(args, 0); + if (unlikely(!self)) { + Py_DECREF(new_args); +#if PY_MAJOR_VERSION > 2 + PyErr_Format(PyExc_TypeError, + "unbound method %.200S() needs an argument", + cyfunc->func_qualname); +#else + PyErr_SetString(PyExc_TypeError, + "unbound method needs an argument"); +#endif + return NULL; + } + result = __Pyx_CyFunction_CallMethod(func, self, new_args, kw); + Py_DECREF(new_args); + } else { + result = __Pyx_CyFunction_Call(func, args, kw); + } + return result; +} +#if CYTHON_METH_FASTCALL +static CYTHON_INLINE int __Pyx_CyFunction_Vectorcall_CheckArgs(__pyx_CyFunctionObject *cyfunc, Py_ssize_t nargs, PyObject *kwnames) +{ + int ret = 0; + if ((cyfunc->flags & __Pyx_CYFUNCTION_CCLASS) && !(cyfunc->flags & __Pyx_CYFUNCTION_STATICMETHOD)) { + if (unlikely(nargs < 1)) { + PyErr_Format(PyExc_TypeError, "%.200s() needs an argument", + ((PyCFunctionObject*)cyfunc)->m_ml->ml_name); + return -1; + } + ret = 1; + } + if (unlikely(kwnames) && unlikely(PyTuple_GET_SIZE(kwnames))) { + PyErr_Format(PyExc_TypeError, + "%.200s() takes no keyword arguments", ((PyCFunctionObject*)cyfunc)->m_ml->ml_name); + return -1; + } + return ret; +} +static PyObject * __Pyx_CyFunction_Vectorcall_NOARGS(PyObject *func, PyObject *const *args, size_t nargsf, PyObject *kwnames) +{ + __pyx_CyFunctionObject *cyfunc = (__pyx_CyFunctionObject *)func; + PyMethodDef* def = ((PyCFunctionObject*)cyfunc)->m_ml; +#if CYTHON_BACKPORT_VECTORCALL + Py_ssize_t nargs = (Py_ssize_t)nargsf; +#else + Py_ssize_t nargs = PyVectorcall_NARGS(nargsf); +#endif + PyObject *self; + switch (__Pyx_CyFunction_Vectorcall_CheckArgs(cyfunc, nargs, kwnames)) { + case 1: + self = args[0]; + args += 1; + nargs -= 1; + break; + case 0: + self = ((PyCFunctionObject*)cyfunc)->m_self; + break; + default: + return NULL; + } + if (unlikely(nargs != 0)) { + PyErr_Format(PyExc_TypeError, + "%.200s() takes no arguments (%" CYTHON_FORMAT_SSIZE_T "d given)", + def->ml_name, nargs); + return NULL; + } + return def->ml_meth(self, NULL); +} +static PyObject * __Pyx_CyFunction_Vectorcall_O(PyObject *func, PyObject *const *args, size_t nargsf, PyObject *kwnames) +{ + __pyx_CyFunctionObject *cyfunc = (__pyx_CyFunctionObject *)func; + PyMethodDef* def = ((PyCFunctionObject*)cyfunc)->m_ml; +#if CYTHON_BACKPORT_VECTORCALL + Py_ssize_t nargs = (Py_ssize_t)nargsf; +#else + Py_ssize_t nargs = PyVectorcall_NARGS(nargsf); +#endif + PyObject *self; + switch (__Pyx_CyFunction_Vectorcall_CheckArgs(cyfunc, nargs, kwnames)) { + case 1: + self = args[0]; + args += 1; + nargs -= 1; + break; + case 0: + self = ((PyCFunctionObject*)cyfunc)->m_self; + break; + default: + return NULL; + } + if (unlikely(nargs != 1)) { + PyErr_Format(PyExc_TypeError, + "%.200s() takes exactly one argument (%" CYTHON_FORMAT_SSIZE_T "d given)", + def->ml_name, nargs); + return NULL; + } + return def->ml_meth(self, args[0]); +} +static PyObject * __Pyx_CyFunction_Vectorcall_FASTCALL_KEYWORDS(PyObject *func, PyObject *const *args, size_t nargsf, PyObject *kwnames) +{ + __pyx_CyFunctionObject *cyfunc = (__pyx_CyFunctionObject *)func; + PyMethodDef* def = ((PyCFunctionObject*)cyfunc)->m_ml; +#if CYTHON_BACKPORT_VECTORCALL + Py_ssize_t nargs = (Py_ssize_t)nargsf; +#else + Py_ssize_t nargs = PyVectorcall_NARGS(nargsf); +#endif + PyObject *self; + switch (__Pyx_CyFunction_Vectorcall_CheckArgs(cyfunc, nargs, NULL)) { + case 1: + self = args[0]; + args += 1; + nargs -= 1; + break; + case 0: + self = ((PyCFunctionObject*)cyfunc)->m_self; + break; + default: + return NULL; + } + return ((_PyCFunctionFastWithKeywords)(void(*)(void))def->ml_meth)(self, args, nargs, kwnames); +} +static PyObject * __Pyx_CyFunction_Vectorcall_FASTCALL_KEYWORDS_METHOD(PyObject *func, PyObject *const *args, size_t nargsf, PyObject *kwnames) +{ + __pyx_CyFunctionObject *cyfunc = (__pyx_CyFunctionObject *)func; + PyMethodDef* def = ((PyCFunctionObject*)cyfunc)->m_ml; + PyTypeObject *cls = (PyTypeObject *) __Pyx_CyFunction_GetClassObj(cyfunc); +#if CYTHON_BACKPORT_VECTORCALL + Py_ssize_t nargs = (Py_ssize_t)nargsf; +#else + Py_ssize_t nargs = PyVectorcall_NARGS(nargsf); +#endif + PyObject *self; + switch (__Pyx_CyFunction_Vectorcall_CheckArgs(cyfunc, nargs, NULL)) { + case 1: + self = args[0]; + args += 1; + nargs -= 1; + break; + case 0: + self = ((PyCFunctionObject*)cyfunc)->m_self; + break; + default: + return NULL; + } + return ((__Pyx_PyCMethod)(void(*)(void))def->ml_meth)(self, cls, args, (size_t)nargs, kwnames); +} +#endif +#if CYTHON_USE_TYPE_SPECS +static PyType_Slot __pyx_CyFunctionType_slots[] = { + {Py_tp_dealloc, (void *)__Pyx_CyFunction_dealloc}, + {Py_tp_repr, (void *)__Pyx_CyFunction_repr}, + {Py_tp_call, (void *)__Pyx_CyFunction_CallAsMethod}, + {Py_tp_traverse, (void *)__Pyx_CyFunction_traverse}, + {Py_tp_clear, (void *)__Pyx_CyFunction_clear}, + {Py_tp_methods, (void *)__pyx_CyFunction_methods}, + {Py_tp_members, (void *)__pyx_CyFunction_members}, + {Py_tp_getset, (void *)__pyx_CyFunction_getsets}, + {Py_tp_descr_get, (void *)__Pyx_PyMethod_New}, + {0, 0}, +}; +static PyType_Spec __pyx_CyFunctionType_spec = { + __PYX_TYPE_MODULE_PREFIX "cython_function_or_method", + sizeof(__pyx_CyFunctionObject), + 0, +#ifdef Py_TPFLAGS_METHOD_DESCRIPTOR + Py_TPFLAGS_METHOD_DESCRIPTOR | +#endif +#if (defined(_Py_TPFLAGS_HAVE_VECTORCALL) && CYTHON_METH_FASTCALL) + _Py_TPFLAGS_HAVE_VECTORCALL | +#endif + Py_TPFLAGS_DEFAULT | Py_TPFLAGS_HAVE_GC | Py_TPFLAGS_BASETYPE, + __pyx_CyFunctionType_slots +}; +#else +static PyTypeObject __pyx_CyFunctionType_type = { + PyVarObject_HEAD_INIT(0, 0) + __PYX_TYPE_MODULE_PREFIX "cython_function_or_method", + sizeof(__pyx_CyFunctionObject), + 0, + (destructor) __Pyx_CyFunction_dealloc, +#if !CYTHON_METH_FASTCALL + 0, +#elif CYTHON_BACKPORT_VECTORCALL + (printfunc)offsetof(__pyx_CyFunctionObject, func_vectorcall), +#else + offsetof(PyCFunctionObject, vectorcall), +#endif + 0, + 0, +#if PY_MAJOR_VERSION < 3 + 0, +#else + 0, +#endif + (reprfunc) __Pyx_CyFunction_repr, + 0, + 0, + 0, + 0, + __Pyx_CyFunction_CallAsMethod, + 0, + 0, + 0, + 0, +#ifdef Py_TPFLAGS_METHOD_DESCRIPTOR + Py_TPFLAGS_METHOD_DESCRIPTOR | +#endif +#if defined(_Py_TPFLAGS_HAVE_VECTORCALL) && CYTHON_METH_FASTCALL + _Py_TPFLAGS_HAVE_VECTORCALL | +#endif + Py_TPFLAGS_DEFAULT | Py_TPFLAGS_HAVE_GC | Py_TPFLAGS_BASETYPE, + 0, + (traverseproc) __Pyx_CyFunction_traverse, + (inquiry) __Pyx_CyFunction_clear, + 0, +#if PY_VERSION_HEX < 0x030500A0 + offsetof(__pyx_CyFunctionObject, func_weakreflist), +#else + offsetof(PyCFunctionObject, m_weakreflist), +#endif + 0, + 0, + __pyx_CyFunction_methods, + __pyx_CyFunction_members, + __pyx_CyFunction_getsets, + 0, + 0, + __Pyx_PyMethod_New, + 0, + offsetof(__pyx_CyFunctionObject, func_dict), + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, +#if PY_VERSION_HEX >= 0x030400a1 + 0, +#endif +#if PY_VERSION_HEX >= 0x030800b1 && (!CYTHON_COMPILING_IN_PYPY || PYPY_VERSION_NUM >= 0x07030800) + 0, +#endif +#if __PYX_NEED_TP_PRINT_SLOT + 0, +#endif +#if PY_VERSION_HEX >= 0x030C0000 + 0, +#endif +#if CYTHON_COMPILING_IN_PYPY && PY_VERSION_HEX >= 0x03090000 && PY_VERSION_HEX < 0x030a0000 + 0, +#endif +}; +#endif +static int __pyx_CyFunction_init(PyObject *module) { +#if CYTHON_USE_TYPE_SPECS + __pyx_CyFunctionType = __Pyx_FetchCommonTypeFromSpec(module, &__pyx_CyFunctionType_spec, NULL); +#else + CYTHON_UNUSED_VAR(module); + __pyx_CyFunctionType = __Pyx_FetchCommonType(&__pyx_CyFunctionType_type); +#endif + if (unlikely(__pyx_CyFunctionType == NULL)) { + return -1; + } + return 0; +} +static CYTHON_INLINE void *__Pyx_CyFunction_InitDefaults(PyObject *func, size_t size, int pyobjects) { + __pyx_CyFunctionObject *m = (__pyx_CyFunctionObject *) func; + m->defaults = PyObject_Malloc(size); + if (unlikely(!m->defaults)) + return PyErr_NoMemory(); + memset(m->defaults, 0, size); + m->defaults_pyobjects = pyobjects; + m->defaults_size = size; + return m->defaults; +} +static CYTHON_INLINE void __Pyx_CyFunction_SetDefaultsTuple(PyObject *func, PyObject *tuple) { + __pyx_CyFunctionObject *m = (__pyx_CyFunctionObject *) func; + m->defaults_tuple = tuple; + Py_INCREF(tuple); +} +static CYTHON_INLINE void __Pyx_CyFunction_SetDefaultsKwDict(PyObject *func, PyObject *dict) { + __pyx_CyFunctionObject *m = (__pyx_CyFunctionObject *) func; + m->defaults_kwdict = dict; + Py_INCREF(dict); +} +static CYTHON_INLINE void __Pyx_CyFunction_SetAnnotationsDict(PyObject *func, PyObject *dict) { + __pyx_CyFunctionObject *m = (__pyx_CyFunctionObject *) func; + m->func_annotations = dict; + Py_INCREF(dict); +} + +/* CythonFunction */ +static PyObject *__Pyx_CyFunction_New(PyMethodDef *ml, int flags, PyObject* qualname, + PyObject *closure, PyObject *module, PyObject* globals, PyObject* code) { + PyObject *op = __Pyx_CyFunction_Init( + PyObject_GC_New(__pyx_CyFunctionObject, __pyx_CyFunctionType), + ml, flags, qualname, closure, module, globals, code + ); + if (likely(op)) { + PyObject_GC_Track(op); + } + return op; +} + +/* CLineInTraceback */ +#ifndef CYTHON_CLINE_IN_TRACEBACK +static int __Pyx_CLineForTraceback(PyThreadState *tstate, int c_line) { + PyObject *use_cline; + PyObject *ptype, *pvalue, *ptraceback; +#if CYTHON_COMPILING_IN_CPYTHON + PyObject **cython_runtime_dict; +#endif + CYTHON_MAYBE_UNUSED_VAR(tstate); + if (unlikely(!__pyx_cython_runtime)) { + return c_line; + } + __Pyx_ErrFetchInState(tstate, &ptype, &pvalue, &ptraceback); +#if CYTHON_COMPILING_IN_CPYTHON + cython_runtime_dict = _PyObject_GetDictPtr(__pyx_cython_runtime); + if (likely(cython_runtime_dict)) { + __PYX_PY_DICT_LOOKUP_IF_MODIFIED( + use_cline, *cython_runtime_dict, + __Pyx_PyDict_GetItemStr(*cython_runtime_dict, __pyx_n_s_cline_in_traceback)) + } else +#endif + { + PyObject *use_cline_obj = __Pyx_PyObject_GetAttrStrNoError(__pyx_cython_runtime, __pyx_n_s_cline_in_traceback); + if (use_cline_obj) { + use_cline = PyObject_Not(use_cline_obj) ? Py_False : Py_True; + Py_DECREF(use_cline_obj); + } else { + PyErr_Clear(); + use_cline = NULL; + } + } + if (!use_cline) { + c_line = 0; + (void) PyObject_SetAttr(__pyx_cython_runtime, __pyx_n_s_cline_in_traceback, Py_False); + } + else if (use_cline == Py_False || (use_cline != Py_True && PyObject_Not(use_cline) != 0)) { + c_line = 0; + } + __Pyx_ErrRestoreInState(tstate, ptype, pvalue, ptraceback); + return c_line; +} +#endif + +/* CodeObjectCache */ +#if !CYTHON_COMPILING_IN_LIMITED_API +static int __pyx_bisect_code_objects(__Pyx_CodeObjectCacheEntry* entries, int count, int code_line) { + int start = 0, mid = 0, end = count - 1; + if (end >= 0 && code_line > entries[end].code_line) { + return count; + } + while (start < end) { + mid = start + (end - start) / 2; + if (code_line < entries[mid].code_line) { + end = mid; + } else if (code_line > entries[mid].code_line) { + start = mid + 1; + } else { + return mid; + } + } + if (code_line <= entries[mid].code_line) { + return mid; + } else { + return mid + 1; + } +} +static PyCodeObject *__pyx_find_code_object(int code_line) { + PyCodeObject* code_object; + int pos; + if (unlikely(!code_line) || unlikely(!__pyx_code_cache.entries)) { + return NULL; + } + pos = __pyx_bisect_code_objects(__pyx_code_cache.entries, __pyx_code_cache.count, code_line); + if (unlikely(pos >= __pyx_code_cache.count) || unlikely(__pyx_code_cache.entries[pos].code_line != code_line)) { + return NULL; + } + code_object = __pyx_code_cache.entries[pos].code_object; + Py_INCREF(code_object); + return code_object; +} +static void __pyx_insert_code_object(int code_line, PyCodeObject* code_object) { + int pos, i; + __Pyx_CodeObjectCacheEntry* entries = __pyx_code_cache.entries; + if (unlikely(!code_line)) { + return; + } + if (unlikely(!entries)) { + entries = (__Pyx_CodeObjectCacheEntry*)PyMem_Malloc(64*sizeof(__Pyx_CodeObjectCacheEntry)); + if (likely(entries)) { + __pyx_code_cache.entries = entries; + __pyx_code_cache.max_count = 64; + __pyx_code_cache.count = 1; + entries[0].code_line = code_line; + entries[0].code_object = code_object; + Py_INCREF(code_object); + } + return; + } + pos = __pyx_bisect_code_objects(__pyx_code_cache.entries, __pyx_code_cache.count, code_line); + if ((pos < __pyx_code_cache.count) && unlikely(__pyx_code_cache.entries[pos].code_line == code_line)) { + PyCodeObject* tmp = entries[pos].code_object; + entries[pos].code_object = code_object; + Py_DECREF(tmp); + return; + } + if (__pyx_code_cache.count == __pyx_code_cache.max_count) { + int new_max = __pyx_code_cache.max_count + 64; + entries = (__Pyx_CodeObjectCacheEntry*)PyMem_Realloc( + __pyx_code_cache.entries, ((size_t)new_max) * sizeof(__Pyx_CodeObjectCacheEntry)); + if (unlikely(!entries)) { + return; + } + __pyx_code_cache.entries = entries; + __pyx_code_cache.max_count = new_max; + } + for (i=__pyx_code_cache.count; i>pos; i--) { + entries[i] = entries[i-1]; + } + entries[pos].code_line = code_line; + entries[pos].code_object = code_object; + __pyx_code_cache.count++; + Py_INCREF(code_object); +} +#endif + +/* AddTraceback */ +#include "compile.h" +#include "frameobject.h" +#include "traceback.h" +#if PY_VERSION_HEX >= 0x030b00a6 && !CYTHON_COMPILING_IN_LIMITED_API + #ifndef Py_BUILD_CORE + #define Py_BUILD_CORE 1 + #endif + #include "internal/pycore_frame.h" +#endif +#if CYTHON_COMPILING_IN_LIMITED_API +static PyObject *__Pyx_PyCode_Replace_For_AddTraceback(PyObject *code, PyObject *scratch_dict, + PyObject *firstlineno, PyObject *name) { + PyObject *replace = NULL; + if (unlikely(PyDict_SetItemString(scratch_dict, "co_firstlineno", firstlineno))) return NULL; + if (unlikely(PyDict_SetItemString(scratch_dict, "co_name", name))) return NULL; + replace = PyObject_GetAttrString(code, "replace"); + if (likely(replace)) { + PyObject *result; + result = PyObject_Call(replace, __pyx_empty_tuple, scratch_dict); + Py_DECREF(replace); + return result; + } + PyErr_Clear(); + #if __PYX_LIMITED_VERSION_HEX < 0x030780000 + { + PyObject *compiled = NULL, *result = NULL; + if (unlikely(PyDict_SetItemString(scratch_dict, "code", code))) return NULL; + if (unlikely(PyDict_SetItemString(scratch_dict, "type", (PyObject*)(&PyType_Type)))) return NULL; + compiled = Py_CompileString( + "out = type(code)(\n" + " code.co_argcount, code.co_kwonlyargcount, code.co_nlocals, code.co_stacksize,\n" + " code.co_flags, code.co_code, code.co_consts, code.co_names,\n" + " code.co_varnames, code.co_filename, co_name, co_firstlineno,\n" + " code.co_lnotab)\n", "", Py_file_input); + if (!compiled) return NULL; + result = PyEval_EvalCode(compiled, scratch_dict, scratch_dict); + Py_DECREF(compiled); + if (!result) PyErr_Print(); + Py_DECREF(result); + result = PyDict_GetItemString(scratch_dict, "out"); + if (result) Py_INCREF(result); + return result; + } + #else + return NULL; + #endif +} +static void __Pyx_AddTraceback(const char *funcname, int c_line, + int py_line, const char *filename) { + PyObject *code_object = NULL, *py_py_line = NULL, *py_funcname = NULL, *dict = NULL; + PyObject *replace = NULL, *getframe = NULL, *frame = NULL; + PyObject *exc_type, *exc_value, *exc_traceback; + int success = 0; + if (c_line) { + (void) __pyx_cfilenm; + (void) __Pyx_CLineForTraceback(__Pyx_PyThreadState_Current, c_line); + } + PyErr_Fetch(&exc_type, &exc_value, &exc_traceback); + code_object = Py_CompileString("_getframe()", filename, Py_eval_input); + if (unlikely(!code_object)) goto bad; + py_py_line = PyLong_FromLong(py_line); + if (unlikely(!py_py_line)) goto bad; + py_funcname = PyUnicode_FromString(funcname); + if (unlikely(!py_funcname)) goto bad; + dict = PyDict_New(); + if (unlikely(!dict)) goto bad; + { + PyObject *old_code_object = code_object; + code_object = __Pyx_PyCode_Replace_For_AddTraceback(code_object, dict, py_py_line, py_funcname); + Py_DECREF(old_code_object); + } + if (unlikely(!code_object)) goto bad; + getframe = PySys_GetObject("_getframe"); + if (unlikely(!getframe)) goto bad; + if (unlikely(PyDict_SetItemString(dict, "_getframe", getframe))) goto bad; + frame = PyEval_EvalCode(code_object, dict, dict); + if (unlikely(!frame) || frame == Py_None) goto bad; + success = 1; + bad: + PyErr_Restore(exc_type, exc_value, exc_traceback); + Py_XDECREF(code_object); + Py_XDECREF(py_py_line); + Py_XDECREF(py_funcname); + Py_XDECREF(dict); + Py_XDECREF(replace); + if (success) { + PyTraceBack_Here( + (struct _frame*)frame); + } + Py_XDECREF(frame); +} +#else +static PyCodeObject* __Pyx_CreateCodeObjectForTraceback( + const char *funcname, int c_line, + int py_line, const char *filename) { + PyCodeObject *py_code = NULL; + PyObject *py_funcname = NULL; + #if PY_MAJOR_VERSION < 3 + PyObject *py_srcfile = NULL; + py_srcfile = PyString_FromString(filename); + if (!py_srcfile) goto bad; + #endif + if (c_line) { + #if PY_MAJOR_VERSION < 3 + py_funcname = PyString_FromFormat( "%s (%s:%d)", funcname, __pyx_cfilenm, c_line); + if (!py_funcname) goto bad; + #else + py_funcname = PyUnicode_FromFormat( "%s (%s:%d)", funcname, __pyx_cfilenm, c_line); + if (!py_funcname) goto bad; + funcname = PyUnicode_AsUTF8(py_funcname); + if (!funcname) goto bad; + #endif + } + else { + #if PY_MAJOR_VERSION < 3 + py_funcname = PyString_FromString(funcname); + if (!py_funcname) goto bad; + #endif + } + #if PY_MAJOR_VERSION < 3 + py_code = __Pyx_PyCode_New( + 0, + 0, + 0, + 0, + 0, + 0, + __pyx_empty_bytes, /*PyObject *code,*/ + __pyx_empty_tuple, /*PyObject *consts,*/ + __pyx_empty_tuple, /*PyObject *names,*/ + __pyx_empty_tuple, /*PyObject *varnames,*/ + __pyx_empty_tuple, /*PyObject *freevars,*/ + __pyx_empty_tuple, /*PyObject *cellvars,*/ + py_srcfile, /*PyObject *filename,*/ + py_funcname, /*PyObject *name,*/ + py_line, + __pyx_empty_bytes /*PyObject *lnotab*/ + ); + Py_DECREF(py_srcfile); + #else + py_code = PyCode_NewEmpty(filename, funcname, py_line); + #endif + Py_XDECREF(py_funcname); + return py_code; +bad: + Py_XDECREF(py_funcname); + #if PY_MAJOR_VERSION < 3 + Py_XDECREF(py_srcfile); + #endif + return NULL; +} +static void __Pyx_AddTraceback(const char *funcname, int c_line, + int py_line, const char *filename) { + PyCodeObject *py_code = 0; + PyFrameObject *py_frame = 0; + PyThreadState *tstate = __Pyx_PyThreadState_Current; + PyObject *ptype, *pvalue, *ptraceback; + if (c_line) { + c_line = __Pyx_CLineForTraceback(tstate, c_line); + } + py_code = __pyx_find_code_object(c_line ? -c_line : py_line); + if (!py_code) { + __Pyx_ErrFetchInState(tstate, &ptype, &pvalue, &ptraceback); + py_code = __Pyx_CreateCodeObjectForTraceback( + funcname, c_line, py_line, filename); + if (!py_code) { + /* If the code object creation fails, then we should clear the + fetched exception references and propagate the new exception */ + Py_XDECREF(ptype); + Py_XDECREF(pvalue); + Py_XDECREF(ptraceback); + goto bad; + } + __Pyx_ErrRestoreInState(tstate, ptype, pvalue, ptraceback); + __pyx_insert_code_object(c_line ? -c_line : py_line, py_code); + } + py_frame = PyFrame_New( + tstate, /*PyThreadState *tstate,*/ + py_code, /*PyCodeObject *code,*/ + __pyx_d, /*PyObject *globals,*/ + 0 /*PyObject *locals*/ + ); + if (!py_frame) goto bad; + __Pyx_PyFrame_SetLineNumber(py_frame, py_line); + PyTraceBack_Here(py_frame); +bad: + Py_XDECREF(py_code); + Py_XDECREF(py_frame); +} +#endif + +#if PY_MAJOR_VERSION < 3 +static int __Pyx_GetBuffer(PyObject *obj, Py_buffer *view, int flags) { + __Pyx_TypeName obj_type_name; + if (PyObject_CheckBuffer(obj)) return PyObject_GetBuffer(obj, view, flags); + if (__Pyx_TypeCheck(obj, __pyx_array_type)) return __pyx_array_getbuffer(obj, view, flags); + if (__Pyx_TypeCheck(obj, __pyx_memoryview_type)) return __pyx_memoryview_getbuffer(obj, view, flags); + obj_type_name = __Pyx_PyType_GetName(Py_TYPE(obj)); + PyErr_Format(PyExc_TypeError, + "'" __Pyx_FMT_TYPENAME "' does not have the buffer interface", + obj_type_name); + __Pyx_DECREF_TypeName(obj_type_name); + return -1; +} +static void __Pyx_ReleaseBuffer(Py_buffer *view) { + PyObject *obj = view->obj; + if (!obj) return; + if (PyObject_CheckBuffer(obj)) { + PyBuffer_Release(view); + return; + } + if ((0)) {} + view->obj = NULL; + Py_DECREF(obj); +} +#endif + + +/* MemviewSliceIsContig */ +static int +__pyx_memviewslice_is_contig(const __Pyx_memviewslice mvs, char order, int ndim) +{ + int i, index, step, start; + Py_ssize_t itemsize = mvs.memview->view.itemsize; + if (order == 'F') { + step = 1; + start = 0; + } else { + step = -1; + start = ndim - 1; + } + for (i = 0; i < ndim; i++) { + index = start + step * i; + if (mvs.suboffsets[index] >= 0 || mvs.strides[index] != itemsize) + return 0; + itemsize *= mvs.shape[index]; + } + return 1; +} + +/* OverlappingSlices */ +static void +__pyx_get_array_memory_extents(__Pyx_memviewslice *slice, + void **out_start, void **out_end, + int ndim, size_t itemsize) +{ + char *start, *end; + int i; + start = end = slice->data; + for (i = 0; i < ndim; i++) { + Py_ssize_t stride = slice->strides[i]; + Py_ssize_t extent = slice->shape[i]; + if (extent == 0) { + *out_start = *out_end = start; + return; + } else { + if (stride > 0) + end += stride * (extent - 1); + else + start += stride * (extent - 1); + } + } + *out_start = start; + *out_end = end + itemsize; +} +static int +__pyx_slices_overlap(__Pyx_memviewslice *slice1, + __Pyx_memviewslice *slice2, + int ndim, size_t itemsize) +{ + void *start1, *end1, *start2, *end2; + __pyx_get_array_memory_extents(slice1, &start1, &end1, ndim, itemsize); + __pyx_get_array_memory_extents(slice2, &start2, &end2, ndim, itemsize); + return (start1 < end2) && (start2 < end1); +} + +/* IsLittleEndian */ +static CYTHON_INLINE int __Pyx_Is_Little_Endian(void) +{ + union { + uint32_t u32; + uint8_t u8[4]; + } S; + S.u32 = 0x01020304; + return S.u8[0] == 4; +} + +/* BufferFormatCheck */ +static void __Pyx_BufFmt_Init(__Pyx_BufFmt_Context* ctx, + __Pyx_BufFmt_StackElem* stack, + __Pyx_TypeInfo* type) { + stack[0].field = &ctx->root; + stack[0].parent_offset = 0; + ctx->root.type = type; + ctx->root.name = "buffer dtype"; + ctx->root.offset = 0; + ctx->head = stack; + ctx->head->field = &ctx->root; + ctx->fmt_offset = 0; + ctx->head->parent_offset = 0; + ctx->new_packmode = '@'; + ctx->enc_packmode = '@'; + ctx->new_count = 1; + ctx->enc_count = 0; + ctx->enc_type = 0; + ctx->is_complex = 0; + ctx->is_valid_array = 0; + ctx->struct_alignment = 0; + while (type->typegroup == 'S') { + ++ctx->head; + ctx->head->field = type->fields; + ctx->head->parent_offset = 0; + type = type->fields->type; + } +} +static int __Pyx_BufFmt_ParseNumber(const char** ts) { + int count; + const char* t = *ts; + if (*t < '0' || *t > '9') { + return -1; + } else { + count = *t++ - '0'; + while (*t >= '0' && *t <= '9') { + count *= 10; + count += *t++ - '0'; + } + } + *ts = t; + return count; +} +static int __Pyx_BufFmt_ExpectNumber(const char **ts) { + int number = __Pyx_BufFmt_ParseNumber(ts); + if (number == -1) + PyErr_Format(PyExc_ValueError,\ + "Does not understand character buffer dtype format string ('%c')", **ts); + return number; +} +static void __Pyx_BufFmt_RaiseUnexpectedChar(char ch) { + PyErr_Format(PyExc_ValueError, + "Unexpected format string character: '%c'", ch); +} +static const char* __Pyx_BufFmt_DescribeTypeChar(char ch, int is_complex) { + switch (ch) { + case '?': return "'bool'"; + case 'c': return "'char'"; + case 'b': return "'signed char'"; + case 'B': return "'unsigned char'"; + case 'h': return "'short'"; + case 'H': return "'unsigned short'"; + case 'i': return "'int'"; + case 'I': return "'unsigned int'"; + case 'l': return "'long'"; + case 'L': return "'unsigned long'"; + case 'q': return "'long long'"; + case 'Q': return "'unsigned long long'"; + case 'f': return (is_complex ? "'complex float'" : "'float'"); + case 'd': return (is_complex ? "'complex double'" : "'double'"); + case 'g': return (is_complex ? "'complex long double'" : "'long double'"); + case 'T': return "a struct"; + case 'O': return "Python object"; + case 'P': return "a pointer"; + case 's': case 'p': return "a string"; + case 0: return "end"; + default: return "unparsable format string"; + } +} +static size_t __Pyx_BufFmt_TypeCharToStandardSize(char ch, int is_complex) { + switch (ch) { + case '?': case 'c': case 'b': case 'B': case 's': case 'p': return 1; + case 'h': case 'H': return 2; + case 'i': case 'I': case 'l': case 'L': return 4; + case 'q': case 'Q': return 8; + case 'f': return (is_complex ? 8 : 4); + case 'd': return (is_complex ? 16 : 8); + case 'g': { + PyErr_SetString(PyExc_ValueError, "Python does not define a standard format string size for long double ('g').."); + return 0; + } + case 'O': case 'P': return sizeof(void*); + default: + __Pyx_BufFmt_RaiseUnexpectedChar(ch); + return 0; + } +} +static size_t __Pyx_BufFmt_TypeCharToNativeSize(char ch, int is_complex) { + switch (ch) { + case '?': case 'c': case 'b': case 'B': case 's': case 'p': return 1; + case 'h': case 'H': return sizeof(short); + case 'i': case 'I': return sizeof(int); + case 'l': case 'L': return sizeof(long); + #ifdef HAVE_LONG_LONG + case 'q': case 'Q': return sizeof(PY_LONG_LONG); + #endif + case 'f': return sizeof(float) * (is_complex ? 2 : 1); + case 'd': return sizeof(double) * (is_complex ? 2 : 1); + case 'g': return sizeof(long double) * (is_complex ? 2 : 1); + case 'O': case 'P': return sizeof(void*); + default: { + __Pyx_BufFmt_RaiseUnexpectedChar(ch); + return 0; + } + } +} +typedef struct { char c; short x; } __Pyx_st_short; +typedef struct { char c; int x; } __Pyx_st_int; +typedef struct { char c; long x; } __Pyx_st_long; +typedef struct { char c; float x; } __Pyx_st_float; +typedef struct { char c; double x; } __Pyx_st_double; +typedef struct { char c; long double x; } __Pyx_st_longdouble; +typedef struct { char c; void *x; } __Pyx_st_void_p; +#ifdef HAVE_LONG_LONG +typedef struct { char c; PY_LONG_LONG x; } __Pyx_st_longlong; +#endif +static size_t __Pyx_BufFmt_TypeCharToAlignment(char ch, int is_complex) { + CYTHON_UNUSED_VAR(is_complex); + switch (ch) { + case '?': case 'c': case 'b': case 'B': case 's': case 'p': return 1; + case 'h': case 'H': return sizeof(__Pyx_st_short) - sizeof(short); + case 'i': case 'I': return sizeof(__Pyx_st_int) - sizeof(int); + case 'l': case 'L': return sizeof(__Pyx_st_long) - sizeof(long); +#ifdef HAVE_LONG_LONG + case 'q': case 'Q': return sizeof(__Pyx_st_longlong) - sizeof(PY_LONG_LONG); +#endif + case 'f': return sizeof(__Pyx_st_float) - sizeof(float); + case 'd': return sizeof(__Pyx_st_double) - sizeof(double); + case 'g': return sizeof(__Pyx_st_longdouble) - sizeof(long double); + case 'P': case 'O': return sizeof(__Pyx_st_void_p) - sizeof(void*); + default: + __Pyx_BufFmt_RaiseUnexpectedChar(ch); + return 0; + } +} +/* These are for computing the padding at the end of the struct to align + on the first member of the struct. This will probably the same as above, + but we don't have any guarantees. + */ +typedef struct { short x; char c; } __Pyx_pad_short; +typedef struct { int x; char c; } __Pyx_pad_int; +typedef struct { long x; char c; } __Pyx_pad_long; +typedef struct { float x; char c; } __Pyx_pad_float; +typedef struct { double x; char c; } __Pyx_pad_double; +typedef struct { long double x; char c; } __Pyx_pad_longdouble; +typedef struct { void *x; char c; } __Pyx_pad_void_p; +#ifdef HAVE_LONG_LONG +typedef struct { PY_LONG_LONG x; char c; } __Pyx_pad_longlong; +#endif +static size_t __Pyx_BufFmt_TypeCharToPadding(char ch, int is_complex) { + CYTHON_UNUSED_VAR(is_complex); + switch (ch) { + case '?': case 'c': case 'b': case 'B': case 's': case 'p': return 1; + case 'h': case 'H': return sizeof(__Pyx_pad_short) - sizeof(short); + case 'i': case 'I': return sizeof(__Pyx_pad_int) - sizeof(int); + case 'l': case 'L': return sizeof(__Pyx_pad_long) - sizeof(long); +#ifdef HAVE_LONG_LONG + case 'q': case 'Q': return sizeof(__Pyx_pad_longlong) - sizeof(PY_LONG_LONG); +#endif + case 'f': return sizeof(__Pyx_pad_float) - sizeof(float); + case 'd': return sizeof(__Pyx_pad_double) - sizeof(double); + case 'g': return sizeof(__Pyx_pad_longdouble) - sizeof(long double); + case 'P': case 'O': return sizeof(__Pyx_pad_void_p) - sizeof(void*); + default: + __Pyx_BufFmt_RaiseUnexpectedChar(ch); + return 0; + } +} +static char __Pyx_BufFmt_TypeCharToGroup(char ch, int is_complex) { + switch (ch) { + case 'c': + return 'H'; + case 'b': case 'h': case 'i': + case 'l': case 'q': case 's': case 'p': + return 'I'; + case '?': case 'B': case 'H': case 'I': case 'L': case 'Q': + return 'U'; + case 'f': case 'd': case 'g': + return (is_complex ? 'C' : 'R'); + case 'O': + return 'O'; + case 'P': + return 'P'; + default: { + __Pyx_BufFmt_RaiseUnexpectedChar(ch); + return 0; + } + } +} +static void __Pyx_BufFmt_RaiseExpected(__Pyx_BufFmt_Context* ctx) { + if (ctx->head == NULL || ctx->head->field == &ctx->root) { + const char* expected; + const char* quote; + if (ctx->head == NULL) { + expected = "end"; + quote = ""; + } else { + expected = ctx->head->field->type->name; + quote = "'"; + } + PyErr_Format(PyExc_ValueError, + "Buffer dtype mismatch, expected %s%s%s but got %s", + quote, expected, quote, + __Pyx_BufFmt_DescribeTypeChar(ctx->enc_type, ctx->is_complex)); + } else { + __Pyx_StructField* field = ctx->head->field; + __Pyx_StructField* parent = (ctx->head - 1)->field; + PyErr_Format(PyExc_ValueError, + "Buffer dtype mismatch, expected '%s' but got %s in '%s.%s'", + field->type->name, __Pyx_BufFmt_DescribeTypeChar(ctx->enc_type, ctx->is_complex), + parent->type->name, field->name); + } +} +static int __Pyx_BufFmt_ProcessTypeChunk(__Pyx_BufFmt_Context* ctx) { + char group; + size_t size, offset, arraysize = 1; + if (ctx->enc_type == 0) return 0; + if (ctx->head->field->type->arraysize[0]) { + int i, ndim = 0; + if (ctx->enc_type == 's' || ctx->enc_type == 'p') { + ctx->is_valid_array = ctx->head->field->type->ndim == 1; + ndim = 1; + if (ctx->enc_count != ctx->head->field->type->arraysize[0]) { + PyErr_Format(PyExc_ValueError, + "Expected a dimension of size %zu, got %zu", + ctx->head->field->type->arraysize[0], ctx->enc_count); + return -1; + } + } + if (!ctx->is_valid_array) { + PyErr_Format(PyExc_ValueError, "Expected %d dimensions, got %d", + ctx->head->field->type->ndim, ndim); + return -1; + } + for (i = 0; i < ctx->head->field->type->ndim; i++) { + arraysize *= ctx->head->field->type->arraysize[i]; + } + ctx->is_valid_array = 0; + ctx->enc_count = 1; + } + group = __Pyx_BufFmt_TypeCharToGroup(ctx->enc_type, ctx->is_complex); + do { + __Pyx_StructField* field = ctx->head->field; + __Pyx_TypeInfo* type = field->type; + if (ctx->enc_packmode == '@' || ctx->enc_packmode == '^') { + size = __Pyx_BufFmt_TypeCharToNativeSize(ctx->enc_type, ctx->is_complex); + } else { + size = __Pyx_BufFmt_TypeCharToStandardSize(ctx->enc_type, ctx->is_complex); + } + if (ctx->enc_packmode == '@') { + size_t align_at = __Pyx_BufFmt_TypeCharToAlignment(ctx->enc_type, ctx->is_complex); + size_t align_mod_offset; + if (align_at == 0) return -1; + align_mod_offset = ctx->fmt_offset % align_at; + if (align_mod_offset > 0) ctx->fmt_offset += align_at - align_mod_offset; + if (ctx->struct_alignment == 0) + ctx->struct_alignment = __Pyx_BufFmt_TypeCharToPadding(ctx->enc_type, + ctx->is_complex); + } + if (type->size != size || type->typegroup != group) { + if (type->typegroup == 'C' && type->fields != NULL) { + size_t parent_offset = ctx->head->parent_offset + field->offset; + ++ctx->head; + ctx->head->field = type->fields; + ctx->head->parent_offset = parent_offset; + continue; + } + if ((type->typegroup == 'H' || group == 'H') && type->size == size) { + } else { + __Pyx_BufFmt_RaiseExpected(ctx); + return -1; + } + } + offset = ctx->head->parent_offset + field->offset; + if (ctx->fmt_offset != offset) { + PyErr_Format(PyExc_ValueError, + "Buffer dtype mismatch; next field is at offset %" CYTHON_FORMAT_SSIZE_T "d but %" CYTHON_FORMAT_SSIZE_T "d expected", + (Py_ssize_t)ctx->fmt_offset, (Py_ssize_t)offset); + return -1; + } + ctx->fmt_offset += size; + if (arraysize) + ctx->fmt_offset += (arraysize - 1) * size; + --ctx->enc_count; + while (1) { + if (field == &ctx->root) { + ctx->head = NULL; + if (ctx->enc_count != 0) { + __Pyx_BufFmt_RaiseExpected(ctx); + return -1; + } + break; + } + ctx->head->field = ++field; + if (field->type == NULL) { + --ctx->head; + field = ctx->head->field; + continue; + } else if (field->type->typegroup == 'S') { + size_t parent_offset = ctx->head->parent_offset + field->offset; + if (field->type->fields->type == NULL) continue; + field = field->type->fields; + ++ctx->head; + ctx->head->field = field; + ctx->head->parent_offset = parent_offset; + break; + } else { + break; + } + } + } while (ctx->enc_count); + ctx->enc_type = 0; + ctx->is_complex = 0; + return 0; +} +static int +__pyx_buffmt_parse_array(__Pyx_BufFmt_Context* ctx, const char** tsp) +{ + const char *ts = *tsp; + int i = 0, number, ndim; + ++ts; + if (ctx->new_count != 1) { + PyErr_SetString(PyExc_ValueError, + "Cannot handle repeated arrays in format string"); + return -1; + } + if (__Pyx_BufFmt_ProcessTypeChunk(ctx) == -1) return -1; + ndim = ctx->head->field->type->ndim; + while (*ts && *ts != ')') { + switch (*ts) { + case ' ': case '\f': case '\r': case '\n': case '\t': case '\v': continue; + default: break; + } + number = __Pyx_BufFmt_ExpectNumber(&ts); + if (number == -1) return -1; + if (i < ndim && (size_t) number != ctx->head->field->type->arraysize[i]) { + PyErr_Format(PyExc_ValueError, + "Expected a dimension of size %zu, got %d", + ctx->head->field->type->arraysize[i], number); + return -1; + } + if (*ts != ',' && *ts != ')') { + PyErr_Format(PyExc_ValueError, + "Expected a comma in format string, got '%c'", *ts); + return -1; + } + if (*ts == ',') ts++; + i++; + } + if (i != ndim) { + PyErr_Format(PyExc_ValueError, "Expected %d dimension(s), got %d", + ctx->head->field->type->ndim, i); + return -1; + } + if (!*ts) { + PyErr_SetString(PyExc_ValueError, + "Unexpected end of format string, expected ')'"); + return -1; + } + ctx->is_valid_array = 1; + ctx->new_count = 1; + *tsp = ++ts; + return 0; +} +static const char* __Pyx_BufFmt_CheckString(__Pyx_BufFmt_Context* ctx, const char* ts) { + int got_Z = 0; + while (1) { + switch(*ts) { + case 0: + if (ctx->enc_type != 0 && ctx->head == NULL) { + __Pyx_BufFmt_RaiseExpected(ctx); + return NULL; + } + if (__Pyx_BufFmt_ProcessTypeChunk(ctx) == -1) return NULL; + if (ctx->head != NULL) { + __Pyx_BufFmt_RaiseExpected(ctx); + return NULL; + } + return ts; + case ' ': + case '\r': + case '\n': + ++ts; + break; + case '<': + if (!__Pyx_Is_Little_Endian()) { + PyErr_SetString(PyExc_ValueError, "Little-endian buffer not supported on big-endian compiler"); + return NULL; + } + ctx->new_packmode = '='; + ++ts; + break; + case '>': + case '!': + if (__Pyx_Is_Little_Endian()) { + PyErr_SetString(PyExc_ValueError, "Big-endian buffer not supported on little-endian compiler"); + return NULL; + } + ctx->new_packmode = '='; + ++ts; + break; + case '=': + case '@': + case '^': + ctx->new_packmode = *ts++; + break; + case 'T': + { + const char* ts_after_sub; + size_t i, struct_count = ctx->new_count; + size_t struct_alignment = ctx->struct_alignment; + ctx->new_count = 1; + ++ts; + if (*ts != '{') { + PyErr_SetString(PyExc_ValueError, "Buffer acquisition: Expected '{' after 'T'"); + return NULL; + } + if (__Pyx_BufFmt_ProcessTypeChunk(ctx) == -1) return NULL; + ctx->enc_type = 0; + ctx->enc_count = 0; + ctx->struct_alignment = 0; + ++ts; + ts_after_sub = ts; + for (i = 0; i != struct_count; ++i) { + ts_after_sub = __Pyx_BufFmt_CheckString(ctx, ts); + if (!ts_after_sub) return NULL; + } + ts = ts_after_sub; + if (struct_alignment) ctx->struct_alignment = struct_alignment; + } + break; + case '}': + { + size_t alignment = ctx->struct_alignment; + ++ts; + if (__Pyx_BufFmt_ProcessTypeChunk(ctx) == -1) return NULL; + ctx->enc_type = 0; + if (alignment && ctx->fmt_offset % alignment) { + ctx->fmt_offset += alignment - (ctx->fmt_offset % alignment); + } + } + return ts; + case 'x': + if (__Pyx_BufFmt_ProcessTypeChunk(ctx) == -1) return NULL; + ctx->fmt_offset += ctx->new_count; + ctx->new_count = 1; + ctx->enc_count = 0; + ctx->enc_type = 0; + ctx->enc_packmode = ctx->new_packmode; + ++ts; + break; + case 'Z': + got_Z = 1; + ++ts; + if (*ts != 'f' && *ts != 'd' && *ts != 'g') { + __Pyx_BufFmt_RaiseUnexpectedChar('Z'); + return NULL; + } + CYTHON_FALLTHROUGH; + case '?': case 'c': case 'b': case 'B': case 'h': case 'H': case 'i': case 'I': + case 'l': case 'L': case 'q': case 'Q': + case 'f': case 'd': case 'g': + case 'O': case 'p': + if ((ctx->enc_type == *ts) && (got_Z == ctx->is_complex) && + (ctx->enc_packmode == ctx->new_packmode) && (!ctx->is_valid_array)) { + ctx->enc_count += ctx->new_count; + ctx->new_count = 1; + got_Z = 0; + ++ts; + break; + } + CYTHON_FALLTHROUGH; + case 's': + if (__Pyx_BufFmt_ProcessTypeChunk(ctx) == -1) return NULL; + ctx->enc_count = ctx->new_count; + ctx->enc_packmode = ctx->new_packmode; + ctx->enc_type = *ts; + ctx->is_complex = got_Z; + ++ts; + ctx->new_count = 1; + got_Z = 0; + break; + case ':': + ++ts; + while(*ts != ':') ++ts; + ++ts; + break; + case '(': + if (__pyx_buffmt_parse_array(ctx, &ts) < 0) return NULL; + break; + default: + { + int number = __Pyx_BufFmt_ExpectNumber(&ts); + if (number == -1) return NULL; + ctx->new_count = (size_t)number; + } + } + } +} + +/* TypeInfoCompare */ + static int +__pyx_typeinfo_cmp(__Pyx_TypeInfo *a, __Pyx_TypeInfo *b) +{ + int i; + if (!a || !b) + return 0; + if (a == b) + return 1; + if (a->size != b->size || a->typegroup != b->typegroup || + a->is_unsigned != b->is_unsigned || a->ndim != b->ndim) { + if (a->typegroup == 'H' || b->typegroup == 'H') { + return a->size == b->size; + } else { + return 0; + } + } + if (a->ndim) { + for (i = 0; i < a->ndim; i++) + if (a->arraysize[i] != b->arraysize[i]) + return 0; + } + if (a->typegroup == 'S') { + if (a->flags != b->flags) + return 0; + if (a->fields || b->fields) { + if (!(a->fields && b->fields)) + return 0; + for (i = 0; a->fields[i].type && b->fields[i].type; i++) { + __Pyx_StructField *field_a = a->fields + i; + __Pyx_StructField *field_b = b->fields + i; + if (field_a->offset != field_b->offset || + !__pyx_typeinfo_cmp(field_a->type, field_b->type)) + return 0; + } + return !a->fields[i].type && !b->fields[i].type; + } + } + return 1; +} + +/* MemviewSliceValidateAndInit */ + static int +__pyx_check_strides(Py_buffer *buf, int dim, int ndim, int spec) +{ + if (buf->shape[dim] <= 1) + return 1; + if (buf->strides) { + if (spec & __Pyx_MEMVIEW_CONTIG) { + if (spec & (__Pyx_MEMVIEW_PTR|__Pyx_MEMVIEW_FULL)) { + if (unlikely(buf->strides[dim] != sizeof(void *))) { + PyErr_Format(PyExc_ValueError, + "Buffer is not indirectly contiguous " + "in dimension %d.", dim); + goto fail; + } + } else if (unlikely(buf->strides[dim] != buf->itemsize)) { + PyErr_SetString(PyExc_ValueError, + "Buffer and memoryview are not contiguous " + "in the same dimension."); + goto fail; + } + } + if (spec & __Pyx_MEMVIEW_FOLLOW) { + Py_ssize_t stride = buf->strides[dim]; + if (stride < 0) + stride = -stride; + if (unlikely(stride < buf->itemsize)) { + PyErr_SetString(PyExc_ValueError, + "Buffer and memoryview are not contiguous " + "in the same dimension."); + goto fail; + } + } + } else { + if (unlikely(spec & __Pyx_MEMVIEW_CONTIG && dim != ndim - 1)) { + PyErr_Format(PyExc_ValueError, + "C-contiguous buffer is not contiguous in " + "dimension %d", dim); + goto fail; + } else if (unlikely(spec & (__Pyx_MEMVIEW_PTR))) { + PyErr_Format(PyExc_ValueError, + "C-contiguous buffer is not indirect in " + "dimension %d", dim); + goto fail; + } else if (unlikely(buf->suboffsets)) { + PyErr_SetString(PyExc_ValueError, + "Buffer exposes suboffsets but no strides"); + goto fail; + } + } + return 1; +fail: + return 0; +} +static int +__pyx_check_suboffsets(Py_buffer *buf, int dim, int ndim, int spec) +{ + CYTHON_UNUSED_VAR(ndim); + if (spec & __Pyx_MEMVIEW_DIRECT) { + if (unlikely(buf->suboffsets && buf->suboffsets[dim] >= 0)) { + PyErr_Format(PyExc_ValueError, + "Buffer not compatible with direct access " + "in dimension %d.", dim); + goto fail; + } + } + if (spec & __Pyx_MEMVIEW_PTR) { + if (unlikely(!buf->suboffsets || (buf->suboffsets[dim] < 0))) { + PyErr_Format(PyExc_ValueError, + "Buffer is not indirectly accessible " + "in dimension %d.", dim); + goto fail; + } + } + return 1; +fail: + return 0; +} +static int +__pyx_verify_contig(Py_buffer *buf, int ndim, int c_or_f_flag) +{ + int i; + if (c_or_f_flag & __Pyx_IS_F_CONTIG) { + Py_ssize_t stride = 1; + for (i = 0; i < ndim; i++) { + if (unlikely(stride * buf->itemsize != buf->strides[i] && buf->shape[i] > 1)) { + PyErr_SetString(PyExc_ValueError, + "Buffer not fortran contiguous."); + goto fail; + } + stride = stride * buf->shape[i]; + } + } else if (c_or_f_flag & __Pyx_IS_C_CONTIG) { + Py_ssize_t stride = 1; + for (i = ndim - 1; i >- 1; i--) { + if (unlikely(stride * buf->itemsize != buf->strides[i] && buf->shape[i] > 1)) { + PyErr_SetString(PyExc_ValueError, + "Buffer not C contiguous."); + goto fail; + } + stride = stride * buf->shape[i]; + } + } + return 1; +fail: + return 0; +} +static int __Pyx_ValidateAndInit_memviewslice( + int *axes_specs, + int c_or_f_flag, + int buf_flags, + int ndim, + __Pyx_TypeInfo *dtype, + __Pyx_BufFmt_StackElem stack[], + __Pyx_memviewslice *memviewslice, + PyObject *original_obj) +{ + struct __pyx_memoryview_obj *memview, *new_memview; + __Pyx_RefNannyDeclarations + Py_buffer *buf; + int i, spec = 0, retval = -1; + __Pyx_BufFmt_Context ctx; + int from_memoryview = __pyx_memoryview_check(original_obj); + __Pyx_RefNannySetupContext("ValidateAndInit_memviewslice", 0); + if (from_memoryview && __pyx_typeinfo_cmp(dtype, ((struct __pyx_memoryview_obj *) + original_obj)->typeinfo)) { + memview = (struct __pyx_memoryview_obj *) original_obj; + new_memview = NULL; + } else { + memview = (struct __pyx_memoryview_obj *) __pyx_memoryview_new( + original_obj, buf_flags, 0, dtype); + new_memview = memview; + if (unlikely(!memview)) + goto fail; + } + buf = &memview->view; + if (unlikely(buf->ndim != ndim)) { + PyErr_Format(PyExc_ValueError, + "Buffer has wrong number of dimensions (expected %d, got %d)", + ndim, buf->ndim); + goto fail; + } + if (new_memview) { + __Pyx_BufFmt_Init(&ctx, stack, dtype); + if (unlikely(!__Pyx_BufFmt_CheckString(&ctx, buf->format))) goto fail; + } + if (unlikely((unsigned) buf->itemsize != dtype->size)) { + PyErr_Format(PyExc_ValueError, + "Item size of buffer (%" CYTHON_FORMAT_SSIZE_T "u byte%s) " + "does not match size of '%s' (%" CYTHON_FORMAT_SSIZE_T "u byte%s)", + buf->itemsize, + (buf->itemsize > 1) ? "s" : "", + dtype->name, + dtype->size, + (dtype->size > 1) ? "s" : ""); + goto fail; + } + if (buf->len > 0) { + for (i = 0; i < ndim; i++) { + spec = axes_specs[i]; + if (unlikely(!__pyx_check_strides(buf, i, ndim, spec))) + goto fail; + if (unlikely(!__pyx_check_suboffsets(buf, i, ndim, spec))) + goto fail; + } + if (unlikely(buf->strides && !__pyx_verify_contig(buf, ndim, c_or_f_flag))) + goto fail; + } + if (unlikely(__Pyx_init_memviewslice(memview, ndim, memviewslice, + new_memview != NULL) == -1)) { + goto fail; + } + retval = 0; + goto no_fail; +fail: + Py_XDECREF(new_memview); + retval = -1; +no_fail: + __Pyx_RefNannyFinishContext(); + return retval; +} + +/* ObjectToMemviewSlice */ + static CYTHON_INLINE __Pyx_memviewslice __Pyx_PyObject_to_MemoryviewSlice_ds_float(PyObject *obj, int writable_flag) { + __Pyx_memviewslice result = { 0, 0, { 0 }, { 0 }, { 0 } }; + __Pyx_BufFmt_StackElem stack[1]; + int axes_specs[] = { (__Pyx_MEMVIEW_DIRECT | __Pyx_MEMVIEW_STRIDED) }; + int retcode; + if (obj == Py_None) { + result.memview = (struct __pyx_memoryview_obj *) Py_None; + return result; + } + retcode = __Pyx_ValidateAndInit_memviewslice(axes_specs, 0, + PyBUF_RECORDS_RO | writable_flag, 1, + &__Pyx_TypeInfo_float, stack, + &result, obj); + if (unlikely(retcode == -1)) + goto __pyx_fail; + return result; +__pyx_fail: + result.memview = NULL; + result.data = NULL; + return result; +} + +/* CIntFromPyVerify */ + #define __PYX_VERIFY_RETURN_INT(target_type, func_type, func_value)\ + __PYX__VERIFY_RETURN_INT(target_type, func_type, func_value, 0) +#define __PYX_VERIFY_RETURN_INT_EXC(target_type, func_type, func_value)\ + __PYX__VERIFY_RETURN_INT(target_type, func_type, func_value, 1) +#define __PYX__VERIFY_RETURN_INT(target_type, func_type, func_value, exc)\ + {\ + func_type value = func_value;\ + if (sizeof(target_type) < sizeof(func_type)) {\ + if (unlikely(value != (func_type) (target_type) value)) {\ + func_type zero = 0;\ + if (exc && unlikely(value == (func_type)-1 && PyErr_Occurred()))\ + return (target_type) -1;\ + if (is_unsigned && unlikely(value < zero))\ + goto raise_neg_overflow;\ + else\ + goto raise_overflow;\ + }\ + }\ + return (target_type) value;\ + } + +/* MemviewDtypeToObject */ + static CYTHON_INLINE PyObject *__pyx_memview_get_float(const char *itemp) { + return (PyObject *) PyFloat_FromDouble(*(float *) itemp); +} +static CYTHON_INLINE int __pyx_memview_set_float(const char *itemp, PyObject *obj) { + float value = __pyx_PyFloat_AsFloat(obj); + if (unlikely((value == (float)-1) && PyErr_Occurred())) + return 0; + *(float *) itemp = value; + return 1; +} + +/* MemviewSliceCopyTemplate */ + static __Pyx_memviewslice +__pyx_memoryview_copy_new_contig(const __Pyx_memviewslice *from_mvs, + const char *mode, int ndim, + size_t sizeof_dtype, int contig_flag, + int dtype_is_object) +{ + __Pyx_RefNannyDeclarations + int i; + __Pyx_memviewslice new_mvs = { 0, 0, { 0 }, { 0 }, { 0 } }; + struct __pyx_memoryview_obj *from_memview = from_mvs->memview; + Py_buffer *buf = &from_memview->view; + PyObject *shape_tuple = NULL; + PyObject *temp_int = NULL; + struct __pyx_array_obj *array_obj = NULL; + struct __pyx_memoryview_obj *memview_obj = NULL; + __Pyx_RefNannySetupContext("__pyx_memoryview_copy_new_contig", 0); + for (i = 0; i < ndim; i++) { + if (unlikely(from_mvs->suboffsets[i] >= 0)) { + PyErr_Format(PyExc_ValueError, "Cannot copy memoryview slice with " + "indirect dimensions (axis %d)", i); + goto fail; + } + } + shape_tuple = PyTuple_New(ndim); + if (unlikely(!shape_tuple)) { + goto fail; + } + __Pyx_GOTREF(shape_tuple); + for(i = 0; i < ndim; i++) { + temp_int = PyInt_FromSsize_t(from_mvs->shape[i]); + if(unlikely(!temp_int)) { + goto fail; + } else { + PyTuple_SET_ITEM(shape_tuple, i, temp_int); + temp_int = NULL; + } + } + array_obj = __pyx_array_new(shape_tuple, sizeof_dtype, buf->format, (char *) mode, NULL); + if (unlikely(!array_obj)) { + goto fail; + } + __Pyx_GOTREF(array_obj); + memview_obj = (struct __pyx_memoryview_obj *) __pyx_memoryview_new( + (PyObject *) array_obj, contig_flag, + dtype_is_object, + from_mvs->memview->typeinfo); + if (unlikely(!memview_obj)) + goto fail; + if (unlikely(__Pyx_init_memviewslice(memview_obj, ndim, &new_mvs, 1) < 0)) + goto fail; + if (unlikely(__pyx_memoryview_copy_contents(*from_mvs, new_mvs, ndim, ndim, + dtype_is_object) < 0)) + goto fail; + goto no_fail; +fail: + __Pyx_XDECREF(new_mvs.memview); + new_mvs.memview = NULL; + new_mvs.data = NULL; +no_fail: + __Pyx_XDECREF(shape_tuple); + __Pyx_XDECREF(temp_int); + __Pyx_XDECREF(array_obj); + __Pyx_RefNannyFinishContext(); + return new_mvs; +} + +/* MemviewSliceInit */ + static int +__Pyx_init_memviewslice(struct __pyx_memoryview_obj *memview, + int ndim, + __Pyx_memviewslice *memviewslice, + int memview_is_new_reference) +{ + __Pyx_RefNannyDeclarations + int i, retval=-1; + Py_buffer *buf = &memview->view; + __Pyx_RefNannySetupContext("init_memviewslice", 0); + if (unlikely(memviewslice->memview || memviewslice->data)) { + PyErr_SetString(PyExc_ValueError, + "memviewslice is already initialized!"); + goto fail; + } + if (buf->strides) { + for (i = 0; i < ndim; i++) { + memviewslice->strides[i] = buf->strides[i]; + } + } else { + Py_ssize_t stride = buf->itemsize; + for (i = ndim - 1; i >= 0; i--) { + memviewslice->strides[i] = stride; + stride *= buf->shape[i]; + } + } + for (i = 0; i < ndim; i++) { + memviewslice->shape[i] = buf->shape[i]; + if (buf->suboffsets) { + memviewslice->suboffsets[i] = buf->suboffsets[i]; + } else { + memviewslice->suboffsets[i] = -1; + } + } + memviewslice->memview = memview; + memviewslice->data = (char *)buf->buf; + if (__pyx_add_acquisition_count(memview) == 0 && !memview_is_new_reference) { + Py_INCREF(memview); + } + retval = 0; + goto no_fail; +fail: + memviewslice->memview = 0; + memviewslice->data = 0; + retval = -1; +no_fail: + __Pyx_RefNannyFinishContext(); + return retval; +} +#ifndef Py_NO_RETURN +#define Py_NO_RETURN +#endif +static void __pyx_fatalerror(const char *fmt, ...) Py_NO_RETURN { + va_list vargs; + char msg[200]; +#if PY_VERSION_HEX >= 0x030A0000 || defined(HAVE_STDARG_PROTOTYPES) + va_start(vargs, fmt); +#else + va_start(vargs); +#endif + vsnprintf(msg, 200, fmt, vargs); + va_end(vargs); + Py_FatalError(msg); +} +static CYTHON_INLINE int +__pyx_add_acquisition_count_locked(__pyx_atomic_int_type *acquisition_count, + PyThread_type_lock lock) +{ + int result; + PyThread_acquire_lock(lock, 1); + result = (*acquisition_count)++; + PyThread_release_lock(lock); + return result; +} +static CYTHON_INLINE int +__pyx_sub_acquisition_count_locked(__pyx_atomic_int_type *acquisition_count, + PyThread_type_lock lock) +{ + int result; + PyThread_acquire_lock(lock, 1); + result = (*acquisition_count)--; + PyThread_release_lock(lock); + return result; +} +static CYTHON_INLINE void +__Pyx_INC_MEMVIEW(__Pyx_memviewslice *memslice, int have_gil, int lineno) +{ + __pyx_nonatomic_int_type old_acquisition_count; + struct __pyx_memoryview_obj *memview = memslice->memview; + if (unlikely(!memview || (PyObject *) memview == Py_None)) { + return; + } + old_acquisition_count = __pyx_add_acquisition_count(memview); + if (unlikely(old_acquisition_count <= 0)) { + if (likely(old_acquisition_count == 0)) { + if (have_gil) { + Py_INCREF((PyObject *) memview); + } else { + PyGILState_STATE _gilstate = PyGILState_Ensure(); + Py_INCREF((PyObject *) memview); + PyGILState_Release(_gilstate); + } + } else { + __pyx_fatalerror("Acquisition count is %d (line %d)", + old_acquisition_count+1, lineno); + } + } +} +static CYTHON_INLINE void __Pyx_XCLEAR_MEMVIEW(__Pyx_memviewslice *memslice, + int have_gil, int lineno) { + __pyx_nonatomic_int_type old_acquisition_count; + struct __pyx_memoryview_obj *memview = memslice->memview; + if (unlikely(!memview || (PyObject *) memview == Py_None)) { + memslice->memview = NULL; + return; + } + old_acquisition_count = __pyx_sub_acquisition_count(memview); + memslice->data = NULL; + if (likely(old_acquisition_count > 1)) { + memslice->memview = NULL; + } else if (likely(old_acquisition_count == 1)) { + if (have_gil) { + Py_CLEAR(memslice->memview); + } else { + PyGILState_STATE _gilstate = PyGILState_Ensure(); + Py_CLEAR(memslice->memview); + PyGILState_Release(_gilstate); + } + } else { + __pyx_fatalerror("Acquisition count is %d (line %d)", + old_acquisition_count-1, lineno); + } +} + +/* CIntFromPy */ + static CYTHON_INLINE int __Pyx_PyInt_As_int(PyObject *x) { +#ifdef __Pyx_HAS_GCC_DIAGNOSTIC +#pragma GCC diagnostic push +#pragma GCC diagnostic ignored "-Wconversion" +#endif + const int neg_one = (int) -1, const_zero = (int) 0; +#ifdef __Pyx_HAS_GCC_DIAGNOSTIC +#pragma GCC diagnostic pop +#endif + const int is_unsigned = neg_one > const_zero; +#if PY_MAJOR_VERSION < 3 + if (likely(PyInt_Check(x))) { + if ((sizeof(int) < sizeof(long))) { + __PYX_VERIFY_RETURN_INT(int, long, PyInt_AS_LONG(x)) + } else { + long val = PyInt_AS_LONG(x); + if (is_unsigned && unlikely(val < 0)) { + goto raise_neg_overflow; + } + return (int) val; + } + } else +#endif + if (likely(PyLong_Check(x))) { + if (is_unsigned) { +#if CYTHON_USE_PYLONG_INTERNALS + if (unlikely(__Pyx_PyLong_IsNeg(x))) { + goto raise_neg_overflow; + } else if (__Pyx_PyLong_IsCompact(x)) { + __PYX_VERIFY_RETURN_INT(int, __Pyx_compact_upylong, __Pyx_PyLong_CompactValueUnsigned(x)) + } else { + const digit* digits = __Pyx_PyLong_Digits(x); + assert(__Pyx_PyLong_DigitCount(x) > 1); + switch (__Pyx_PyLong_DigitCount(x)) { + case 2: + if ((8 * sizeof(int) > 1 * PyLong_SHIFT)) { + if ((8 * sizeof(unsigned long) > 2 * PyLong_SHIFT)) { + __PYX_VERIFY_RETURN_INT(int, unsigned long, (((((unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if ((8 * sizeof(int) >= 2 * PyLong_SHIFT)) { + return (int) (((((int)digits[1]) << PyLong_SHIFT) | (int)digits[0])); + } + } + break; + case 3: + if ((8 * sizeof(int) > 2 * PyLong_SHIFT)) { + if ((8 * sizeof(unsigned long) > 3 * PyLong_SHIFT)) { + __PYX_VERIFY_RETURN_INT(int, unsigned long, (((((((unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if ((8 * sizeof(int) >= 3 * PyLong_SHIFT)) { + return (int) (((((((int)digits[2]) << PyLong_SHIFT) | (int)digits[1]) << PyLong_SHIFT) | (int)digits[0])); + } + } + break; + case 4: + if ((8 * sizeof(int) > 3 * PyLong_SHIFT)) { + if ((8 * sizeof(unsigned long) > 4 * PyLong_SHIFT)) { + __PYX_VERIFY_RETURN_INT(int, unsigned long, (((((((((unsigned long)digits[3]) << PyLong_SHIFT) | (unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if ((8 * sizeof(int) >= 4 * PyLong_SHIFT)) { + return (int) (((((((((int)digits[3]) << PyLong_SHIFT) | (int)digits[2]) << PyLong_SHIFT) | (int)digits[1]) << PyLong_SHIFT) | (int)digits[0])); + } + } + break; + } + } +#endif +#if CYTHON_COMPILING_IN_CPYTHON && PY_VERSION_HEX < 0x030C00A7 + if (unlikely(Py_SIZE(x) < 0)) { + goto raise_neg_overflow; + } +#else + { + int result = PyObject_RichCompareBool(x, Py_False, Py_LT); + if (unlikely(result < 0)) + return (int) -1; + if (unlikely(result == 1)) + goto raise_neg_overflow; + } +#endif + if ((sizeof(int) <= sizeof(unsigned long))) { + __PYX_VERIFY_RETURN_INT_EXC(int, unsigned long, PyLong_AsUnsignedLong(x)) +#ifdef HAVE_LONG_LONG + } else if ((sizeof(int) <= sizeof(unsigned PY_LONG_LONG))) { + __PYX_VERIFY_RETURN_INT_EXC(int, unsigned PY_LONG_LONG, PyLong_AsUnsignedLongLong(x)) +#endif + } + } else { +#if CYTHON_USE_PYLONG_INTERNALS + if (__Pyx_PyLong_IsCompact(x)) { + __PYX_VERIFY_RETURN_INT(int, __Pyx_compact_pylong, __Pyx_PyLong_CompactValue(x)) + } else { + const digit* digits = __Pyx_PyLong_Digits(x); + assert(__Pyx_PyLong_DigitCount(x) > 1); + switch (__Pyx_PyLong_SignedDigitCount(x)) { + case -2: + if ((8 * sizeof(int) - 1 > 1 * PyLong_SHIFT)) { + if ((8 * sizeof(unsigned long) > 2 * PyLong_SHIFT)) { + __PYX_VERIFY_RETURN_INT(int, long, -(long) (((((unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if ((8 * sizeof(int) - 1 > 2 * PyLong_SHIFT)) { + return (int) (((int)-1)*(((((int)digits[1]) << PyLong_SHIFT) | (int)digits[0]))); + } + } + break; + case 2: + if ((8 * sizeof(int) > 1 * PyLong_SHIFT)) { + if ((8 * sizeof(unsigned long) > 2 * PyLong_SHIFT)) { + __PYX_VERIFY_RETURN_INT(int, unsigned long, (((((unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if ((8 * sizeof(int) - 1 > 2 * PyLong_SHIFT)) { + return (int) ((((((int)digits[1]) << PyLong_SHIFT) | (int)digits[0]))); + } + } + break; + case -3: + if ((8 * sizeof(int) - 1 > 2 * PyLong_SHIFT)) { + if ((8 * sizeof(unsigned long) > 3 * PyLong_SHIFT)) { + __PYX_VERIFY_RETURN_INT(int, long, -(long) (((((((unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if ((8 * sizeof(int) - 1 > 3 * PyLong_SHIFT)) { + return (int) (((int)-1)*(((((((int)digits[2]) << PyLong_SHIFT) | (int)digits[1]) << PyLong_SHIFT) | (int)digits[0]))); + } + } + break; + case 3: + if ((8 * sizeof(int) > 2 * PyLong_SHIFT)) { + if ((8 * sizeof(unsigned long) > 3 * PyLong_SHIFT)) { + __PYX_VERIFY_RETURN_INT(int, unsigned long, (((((((unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if ((8 * sizeof(int) - 1 > 3 * PyLong_SHIFT)) { + return (int) ((((((((int)digits[2]) << PyLong_SHIFT) | (int)digits[1]) << PyLong_SHIFT) | (int)digits[0]))); + } + } + break; + case -4: + if ((8 * sizeof(int) - 1 > 3 * PyLong_SHIFT)) { + if ((8 * sizeof(unsigned long) > 4 * PyLong_SHIFT)) { + __PYX_VERIFY_RETURN_INT(int, long, -(long) (((((((((unsigned long)digits[3]) << PyLong_SHIFT) | (unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if ((8 * sizeof(int) - 1 > 4 * PyLong_SHIFT)) { + return (int) (((int)-1)*(((((((((int)digits[3]) << PyLong_SHIFT) | (int)digits[2]) << PyLong_SHIFT) | (int)digits[1]) << PyLong_SHIFT) | (int)digits[0]))); + } + } + break; + case 4: + if ((8 * sizeof(int) > 3 * PyLong_SHIFT)) { + if ((8 * sizeof(unsigned long) > 4 * PyLong_SHIFT)) { + __PYX_VERIFY_RETURN_INT(int, unsigned long, (((((((((unsigned long)digits[3]) << PyLong_SHIFT) | (unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if ((8 * sizeof(int) - 1 > 4 * PyLong_SHIFT)) { + return (int) ((((((((((int)digits[3]) << PyLong_SHIFT) | (int)digits[2]) << PyLong_SHIFT) | (int)digits[1]) << PyLong_SHIFT) | (int)digits[0]))); + } + } + break; + } + } +#endif + if ((sizeof(int) <= sizeof(long))) { + __PYX_VERIFY_RETURN_INT_EXC(int, long, PyLong_AsLong(x)) +#ifdef HAVE_LONG_LONG + } else if ((sizeof(int) <= sizeof(PY_LONG_LONG))) { + __PYX_VERIFY_RETURN_INT_EXC(int, PY_LONG_LONG, PyLong_AsLongLong(x)) +#endif + } + } + { + int val; + PyObject *v = __Pyx_PyNumber_IntOrLong(x); +#if PY_MAJOR_VERSION < 3 + if (likely(v) && !PyLong_Check(v)) { + PyObject *tmp = v; + v = PyNumber_Long(tmp); + Py_DECREF(tmp); + } +#endif + if (likely(v)) { + int ret = -1; +#if PY_VERSION_HEX < 0x030d0000 && !(CYTHON_COMPILING_IN_PYPY || CYTHON_COMPILING_IN_LIMITED_API) || defined(_PyLong_AsByteArray) + int one = 1; int is_little = (int)*(unsigned char *)&one; + unsigned char *bytes = (unsigned char *)&val; + ret = _PyLong_AsByteArray((PyLongObject *)v, + bytes, sizeof(val), + is_little, !is_unsigned); +#else + PyObject *stepval = NULL, *mask = NULL, *shift = NULL; + int bits, remaining_bits, is_negative = 0; + long idigit; + int chunk_size = (sizeof(long) < 8) ? 30 : 62; + if (unlikely(!PyLong_CheckExact(v))) { + PyObject *tmp = v; + v = PyNumber_Long(v); + assert(PyLong_CheckExact(v)); + Py_DECREF(tmp); + if (unlikely(!v)) return (int) -1; + } +#if CYTHON_COMPILING_IN_LIMITED_API && PY_VERSION_HEX < 0x030B0000 + if (Py_SIZE(x) == 0) + return (int) 0; + is_negative = Py_SIZE(x) < 0; +#else + { + int result = PyObject_RichCompareBool(x, Py_False, Py_LT); + if (unlikely(result < 0)) + return (int) -1; + is_negative = result == 1; + } +#endif + if (is_unsigned && unlikely(is_negative)) { + goto raise_neg_overflow; + } else if (is_negative) { + stepval = PyNumber_Invert(v); + if (unlikely(!stepval)) + return (int) -1; + } else { + stepval = __Pyx_NewRef(v); + } + val = (int) 0; + mask = PyLong_FromLong((1L << chunk_size) - 1); if (unlikely(!mask)) goto done; + shift = PyLong_FromLong(chunk_size); if (unlikely(!shift)) goto done; + for (bits = 0; bits < (int) sizeof(int) * 8 - chunk_size; bits += chunk_size) { + PyObject *tmp, *digit; + digit = PyNumber_And(stepval, mask); + if (unlikely(!digit)) goto done; + idigit = PyLong_AsLong(digit); + Py_DECREF(digit); + if (unlikely(idigit < 0)) goto done; + tmp = PyNumber_Rshift(stepval, shift); + if (unlikely(!tmp)) goto done; + Py_DECREF(stepval); stepval = tmp; + val |= ((int) idigit) << bits; + #if CYTHON_COMPILING_IN_LIMITED_API && PY_VERSION_HEX < 0x030B0000 + if (Py_SIZE(stepval) == 0) + goto unpacking_done; + #endif + } + idigit = PyLong_AsLong(stepval); + if (unlikely(idigit < 0)) goto done; + remaining_bits = ((int) sizeof(int) * 8) - bits - (is_unsigned ? 0 : 1); + if (unlikely(idigit >= (1L << remaining_bits))) + goto raise_overflow; + val |= ((int) idigit) << bits; + #if CYTHON_COMPILING_IN_LIMITED_API && PY_VERSION_HEX < 0x030B0000 + unpacking_done: + #endif + if (!is_unsigned) { + if (unlikely(val & (((int) 1) << (sizeof(int) * 8 - 1)))) + goto raise_overflow; + if (is_negative) + val = ~val; + } + ret = 0; + done: + Py_XDECREF(shift); + Py_XDECREF(mask); + Py_XDECREF(stepval); +#endif + Py_DECREF(v); + if (likely(!ret)) + return val; + } + return (int) -1; + } + } else { + int val; + PyObject *tmp = __Pyx_PyNumber_IntOrLong(x); + if (!tmp) return (int) -1; + val = __Pyx_PyInt_As_int(tmp); + Py_DECREF(tmp); + return val; + } +raise_overflow: + PyErr_SetString(PyExc_OverflowError, + "value too large to convert to int"); + return (int) -1; +raise_neg_overflow: + PyErr_SetString(PyExc_OverflowError, + "can't convert negative value to int"); + return (int) -1; +} + +/* CIntFromPy */ + static CYTHON_INLINE long __Pyx_PyInt_As_long(PyObject *x) { +#ifdef __Pyx_HAS_GCC_DIAGNOSTIC +#pragma GCC diagnostic push +#pragma GCC diagnostic ignored "-Wconversion" +#endif + const long neg_one = (long) -1, const_zero = (long) 0; +#ifdef __Pyx_HAS_GCC_DIAGNOSTIC +#pragma GCC diagnostic pop +#endif + const int is_unsigned = neg_one > const_zero; +#if PY_MAJOR_VERSION < 3 + if (likely(PyInt_Check(x))) { + if ((sizeof(long) < sizeof(long))) { + __PYX_VERIFY_RETURN_INT(long, long, PyInt_AS_LONG(x)) + } else { + long val = PyInt_AS_LONG(x); + if (is_unsigned && unlikely(val < 0)) { + goto raise_neg_overflow; + } + return (long) val; + } + } else +#endif + if (likely(PyLong_Check(x))) { + if (is_unsigned) { +#if CYTHON_USE_PYLONG_INTERNALS + if (unlikely(__Pyx_PyLong_IsNeg(x))) { + goto raise_neg_overflow; + } else if (__Pyx_PyLong_IsCompact(x)) { + __PYX_VERIFY_RETURN_INT(long, __Pyx_compact_upylong, __Pyx_PyLong_CompactValueUnsigned(x)) + } else { + const digit* digits = __Pyx_PyLong_Digits(x); + assert(__Pyx_PyLong_DigitCount(x) > 1); + switch (__Pyx_PyLong_DigitCount(x)) { + case 2: + if ((8 * sizeof(long) > 1 * PyLong_SHIFT)) { + if ((8 * sizeof(unsigned long) > 2 * PyLong_SHIFT)) { + __PYX_VERIFY_RETURN_INT(long, unsigned long, (((((unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if ((8 * sizeof(long) >= 2 * PyLong_SHIFT)) { + return (long) (((((long)digits[1]) << PyLong_SHIFT) | (long)digits[0])); + } + } + break; + case 3: + if ((8 * sizeof(long) > 2 * PyLong_SHIFT)) { + if ((8 * sizeof(unsigned long) > 3 * PyLong_SHIFT)) { + __PYX_VERIFY_RETURN_INT(long, unsigned long, (((((((unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if ((8 * sizeof(long) >= 3 * PyLong_SHIFT)) { + return (long) (((((((long)digits[2]) << PyLong_SHIFT) | (long)digits[1]) << PyLong_SHIFT) | (long)digits[0])); + } + } + break; + case 4: + if ((8 * sizeof(long) > 3 * PyLong_SHIFT)) { + if ((8 * sizeof(unsigned long) > 4 * PyLong_SHIFT)) { + __PYX_VERIFY_RETURN_INT(long, unsigned long, (((((((((unsigned long)digits[3]) << PyLong_SHIFT) | (unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if ((8 * sizeof(long) >= 4 * PyLong_SHIFT)) { + return (long) (((((((((long)digits[3]) << PyLong_SHIFT) | (long)digits[2]) << PyLong_SHIFT) | (long)digits[1]) << PyLong_SHIFT) | (long)digits[0])); + } + } + break; + } + } +#endif +#if CYTHON_COMPILING_IN_CPYTHON && PY_VERSION_HEX < 0x030C00A7 + if (unlikely(Py_SIZE(x) < 0)) { + goto raise_neg_overflow; + } +#else + { + int result = PyObject_RichCompareBool(x, Py_False, Py_LT); + if (unlikely(result < 0)) + return (long) -1; + if (unlikely(result == 1)) + goto raise_neg_overflow; + } +#endif + if ((sizeof(long) <= sizeof(unsigned long))) { + __PYX_VERIFY_RETURN_INT_EXC(long, unsigned long, PyLong_AsUnsignedLong(x)) +#ifdef HAVE_LONG_LONG + } else if ((sizeof(long) <= sizeof(unsigned PY_LONG_LONG))) { + __PYX_VERIFY_RETURN_INT_EXC(long, unsigned PY_LONG_LONG, PyLong_AsUnsignedLongLong(x)) +#endif + } + } else { +#if CYTHON_USE_PYLONG_INTERNALS + if (__Pyx_PyLong_IsCompact(x)) { + __PYX_VERIFY_RETURN_INT(long, __Pyx_compact_pylong, __Pyx_PyLong_CompactValue(x)) + } else { + const digit* digits = __Pyx_PyLong_Digits(x); + assert(__Pyx_PyLong_DigitCount(x) > 1); + switch (__Pyx_PyLong_SignedDigitCount(x)) { + case -2: + if ((8 * sizeof(long) - 1 > 1 * PyLong_SHIFT)) { + if ((8 * sizeof(unsigned long) > 2 * PyLong_SHIFT)) { + __PYX_VERIFY_RETURN_INT(long, long, -(long) (((((unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if ((8 * sizeof(long) - 1 > 2 * PyLong_SHIFT)) { + return (long) (((long)-1)*(((((long)digits[1]) << PyLong_SHIFT) | (long)digits[0]))); + } + } + break; + case 2: + if ((8 * sizeof(long) > 1 * PyLong_SHIFT)) { + if ((8 * sizeof(unsigned long) > 2 * PyLong_SHIFT)) { + __PYX_VERIFY_RETURN_INT(long, unsigned long, (((((unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if ((8 * sizeof(long) - 1 > 2 * PyLong_SHIFT)) { + return (long) ((((((long)digits[1]) << PyLong_SHIFT) | (long)digits[0]))); + } + } + break; + case -3: + if ((8 * sizeof(long) - 1 > 2 * PyLong_SHIFT)) { + if ((8 * sizeof(unsigned long) > 3 * PyLong_SHIFT)) { + __PYX_VERIFY_RETURN_INT(long, long, -(long) (((((((unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if ((8 * sizeof(long) - 1 > 3 * PyLong_SHIFT)) { + return (long) (((long)-1)*(((((((long)digits[2]) << PyLong_SHIFT) | (long)digits[1]) << PyLong_SHIFT) | (long)digits[0]))); + } + } + break; + case 3: + if ((8 * sizeof(long) > 2 * PyLong_SHIFT)) { + if ((8 * sizeof(unsigned long) > 3 * PyLong_SHIFT)) { + __PYX_VERIFY_RETURN_INT(long, unsigned long, (((((((unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if ((8 * sizeof(long) - 1 > 3 * PyLong_SHIFT)) { + return (long) ((((((((long)digits[2]) << PyLong_SHIFT) | (long)digits[1]) << PyLong_SHIFT) | (long)digits[0]))); + } + } + break; + case -4: + if ((8 * sizeof(long) - 1 > 3 * PyLong_SHIFT)) { + if ((8 * sizeof(unsigned long) > 4 * PyLong_SHIFT)) { + __PYX_VERIFY_RETURN_INT(long, long, -(long) (((((((((unsigned long)digits[3]) << PyLong_SHIFT) | (unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if ((8 * sizeof(long) - 1 > 4 * PyLong_SHIFT)) { + return (long) (((long)-1)*(((((((((long)digits[3]) << PyLong_SHIFT) | (long)digits[2]) << PyLong_SHIFT) | (long)digits[1]) << PyLong_SHIFT) | (long)digits[0]))); + } + } + break; + case 4: + if ((8 * sizeof(long) > 3 * PyLong_SHIFT)) { + if ((8 * sizeof(unsigned long) > 4 * PyLong_SHIFT)) { + __PYX_VERIFY_RETURN_INT(long, unsigned long, (((((((((unsigned long)digits[3]) << PyLong_SHIFT) | (unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if ((8 * sizeof(long) - 1 > 4 * PyLong_SHIFT)) { + return (long) ((((((((((long)digits[3]) << PyLong_SHIFT) | (long)digits[2]) << PyLong_SHIFT) | (long)digits[1]) << PyLong_SHIFT) | (long)digits[0]))); + } + } + break; + } + } +#endif + if ((sizeof(long) <= sizeof(long))) { + __PYX_VERIFY_RETURN_INT_EXC(long, long, PyLong_AsLong(x)) +#ifdef HAVE_LONG_LONG + } else if ((sizeof(long) <= sizeof(PY_LONG_LONG))) { + __PYX_VERIFY_RETURN_INT_EXC(long, PY_LONG_LONG, PyLong_AsLongLong(x)) +#endif + } + } + { + long val; + PyObject *v = __Pyx_PyNumber_IntOrLong(x); +#if PY_MAJOR_VERSION < 3 + if (likely(v) && !PyLong_Check(v)) { + PyObject *tmp = v; + v = PyNumber_Long(tmp); + Py_DECREF(tmp); + } +#endif + if (likely(v)) { + int ret = -1; +#if PY_VERSION_HEX < 0x030d0000 && !(CYTHON_COMPILING_IN_PYPY || CYTHON_COMPILING_IN_LIMITED_API) || defined(_PyLong_AsByteArray) + int one = 1; int is_little = (int)*(unsigned char *)&one; + unsigned char *bytes = (unsigned char *)&val; + ret = _PyLong_AsByteArray((PyLongObject *)v, + bytes, sizeof(val), + is_little, !is_unsigned); +#else + PyObject *stepval = NULL, *mask = NULL, *shift = NULL; + int bits, remaining_bits, is_negative = 0; + long idigit; + int chunk_size = (sizeof(long) < 8) ? 30 : 62; + if (unlikely(!PyLong_CheckExact(v))) { + PyObject *tmp = v; + v = PyNumber_Long(v); + assert(PyLong_CheckExact(v)); + Py_DECREF(tmp); + if (unlikely(!v)) return (long) -1; + } +#if CYTHON_COMPILING_IN_LIMITED_API && PY_VERSION_HEX < 0x030B0000 + if (Py_SIZE(x) == 0) + return (long) 0; + is_negative = Py_SIZE(x) < 0; +#else + { + int result = PyObject_RichCompareBool(x, Py_False, Py_LT); + if (unlikely(result < 0)) + return (long) -1; + is_negative = result == 1; + } +#endif + if (is_unsigned && unlikely(is_negative)) { + goto raise_neg_overflow; + } else if (is_negative) { + stepval = PyNumber_Invert(v); + if (unlikely(!stepval)) + return (long) -1; + } else { + stepval = __Pyx_NewRef(v); + } + val = (long) 0; + mask = PyLong_FromLong((1L << chunk_size) - 1); if (unlikely(!mask)) goto done; + shift = PyLong_FromLong(chunk_size); if (unlikely(!shift)) goto done; + for (bits = 0; bits < (int) sizeof(long) * 8 - chunk_size; bits += chunk_size) { + PyObject *tmp, *digit; + digit = PyNumber_And(stepval, mask); + if (unlikely(!digit)) goto done; + idigit = PyLong_AsLong(digit); + Py_DECREF(digit); + if (unlikely(idigit < 0)) goto done; + tmp = PyNumber_Rshift(stepval, shift); + if (unlikely(!tmp)) goto done; + Py_DECREF(stepval); stepval = tmp; + val |= ((long) idigit) << bits; + #if CYTHON_COMPILING_IN_LIMITED_API && PY_VERSION_HEX < 0x030B0000 + if (Py_SIZE(stepval) == 0) + goto unpacking_done; + #endif + } + idigit = PyLong_AsLong(stepval); + if (unlikely(idigit < 0)) goto done; + remaining_bits = ((int) sizeof(long) * 8) - bits - (is_unsigned ? 0 : 1); + if (unlikely(idigit >= (1L << remaining_bits))) + goto raise_overflow; + val |= ((long) idigit) << bits; + #if CYTHON_COMPILING_IN_LIMITED_API && PY_VERSION_HEX < 0x030B0000 + unpacking_done: + #endif + if (!is_unsigned) { + if (unlikely(val & (((long) 1) << (sizeof(long) * 8 - 1)))) + goto raise_overflow; + if (is_negative) + val = ~val; + } + ret = 0; + done: + Py_XDECREF(shift); + Py_XDECREF(mask); + Py_XDECREF(stepval); +#endif + Py_DECREF(v); + if (likely(!ret)) + return val; + } + return (long) -1; + } + } else { + long val; + PyObject *tmp = __Pyx_PyNumber_IntOrLong(x); + if (!tmp) return (long) -1; + val = __Pyx_PyInt_As_long(tmp); + Py_DECREF(tmp); + return val; + } +raise_overflow: + PyErr_SetString(PyExc_OverflowError, + "value too large to convert to long"); + return (long) -1; +raise_neg_overflow: + PyErr_SetString(PyExc_OverflowError, + "can't convert negative value to long"); + return (long) -1; +} + +/* CIntToPy */ + static CYTHON_INLINE PyObject* __Pyx_PyInt_From_int(int value) { +#ifdef __Pyx_HAS_GCC_DIAGNOSTIC +#pragma GCC diagnostic push +#pragma GCC diagnostic ignored "-Wconversion" +#endif + const int neg_one = (int) -1, const_zero = (int) 0; +#ifdef __Pyx_HAS_GCC_DIAGNOSTIC +#pragma GCC diagnostic pop +#endif + const int is_unsigned = neg_one > const_zero; + if (is_unsigned) { + if (sizeof(int) < sizeof(long)) { + return PyInt_FromLong((long) value); + } else if (sizeof(int) <= sizeof(unsigned long)) { + return PyLong_FromUnsignedLong((unsigned long) value); +#ifdef HAVE_LONG_LONG + } else if (sizeof(int) <= sizeof(unsigned PY_LONG_LONG)) { + return PyLong_FromUnsignedLongLong((unsigned PY_LONG_LONG) value); +#endif + } + } else { + if (sizeof(int) <= sizeof(long)) { + return PyInt_FromLong((long) value); +#ifdef HAVE_LONG_LONG + } else if (sizeof(int) <= sizeof(PY_LONG_LONG)) { + return PyLong_FromLongLong((PY_LONG_LONG) value); +#endif + } + } + { + int one = 1; int little = (int)*(unsigned char *)&one; + unsigned char *bytes = (unsigned char *)&value; +#if !CYTHON_COMPILING_IN_LIMITED_API && PY_VERSION_HEX < 0x030d0000 + return _PyLong_FromByteArray(bytes, sizeof(int), + little, !is_unsigned); +#else + PyObject *from_bytes, *result = NULL; + PyObject *py_bytes = NULL, *arg_tuple = NULL, *kwds = NULL, *order_str = NULL; + from_bytes = PyObject_GetAttrString((PyObject*)&PyLong_Type, "from_bytes"); + if (!from_bytes) return NULL; + py_bytes = PyBytes_FromStringAndSize((char*)bytes, sizeof(int)); + if (!py_bytes) goto limited_bad; + order_str = PyUnicode_FromString(little ? "little" : "big"); + if (!order_str) goto limited_bad; + arg_tuple = PyTuple_Pack(2, py_bytes, order_str); + if (!arg_tuple) goto limited_bad; + if (!is_unsigned) { + kwds = PyDict_New(); + if (!kwds) goto limited_bad; + if (PyDict_SetItemString(kwds, "signed", __Pyx_NewRef(Py_True))) goto limited_bad; + } + result = PyObject_Call(from_bytes, arg_tuple, kwds); + limited_bad: + Py_XDECREF(kwds); + Py_XDECREF(arg_tuple); + Py_XDECREF(order_str); + Py_XDECREF(py_bytes); + Py_XDECREF(from_bytes); + return result; +#endif + } +} + +/* CIntToPy */ + static CYTHON_INLINE PyObject* __Pyx_PyInt_From_long(long value) { +#ifdef __Pyx_HAS_GCC_DIAGNOSTIC +#pragma GCC diagnostic push +#pragma GCC diagnostic ignored "-Wconversion" +#endif + const long neg_one = (long) -1, const_zero = (long) 0; +#ifdef __Pyx_HAS_GCC_DIAGNOSTIC +#pragma GCC diagnostic pop +#endif + const int is_unsigned = neg_one > const_zero; + if (is_unsigned) { + if (sizeof(long) < sizeof(long)) { + return PyInt_FromLong((long) value); + } else if (sizeof(long) <= sizeof(unsigned long)) { + return PyLong_FromUnsignedLong((unsigned long) value); +#ifdef HAVE_LONG_LONG + } else if (sizeof(long) <= sizeof(unsigned PY_LONG_LONG)) { + return PyLong_FromUnsignedLongLong((unsigned PY_LONG_LONG) value); +#endif + } + } else { + if (sizeof(long) <= sizeof(long)) { + return PyInt_FromLong((long) value); +#ifdef HAVE_LONG_LONG + } else if (sizeof(long) <= sizeof(PY_LONG_LONG)) { + return PyLong_FromLongLong((PY_LONG_LONG) value); +#endif + } + } + { + int one = 1; int little = (int)*(unsigned char *)&one; + unsigned char *bytes = (unsigned char *)&value; +#if !CYTHON_COMPILING_IN_LIMITED_API && PY_VERSION_HEX < 0x030d0000 + return _PyLong_FromByteArray(bytes, sizeof(long), + little, !is_unsigned); +#else + PyObject *from_bytes, *result = NULL; + PyObject *py_bytes = NULL, *arg_tuple = NULL, *kwds = NULL, *order_str = NULL; + from_bytes = PyObject_GetAttrString((PyObject*)&PyLong_Type, "from_bytes"); + if (!from_bytes) return NULL; + py_bytes = PyBytes_FromStringAndSize((char*)bytes, sizeof(long)); + if (!py_bytes) goto limited_bad; + order_str = PyUnicode_FromString(little ? "little" : "big"); + if (!order_str) goto limited_bad; + arg_tuple = PyTuple_Pack(2, py_bytes, order_str); + if (!arg_tuple) goto limited_bad; + if (!is_unsigned) { + kwds = PyDict_New(); + if (!kwds) goto limited_bad; + if (PyDict_SetItemString(kwds, "signed", __Pyx_NewRef(Py_True))) goto limited_bad; + } + result = PyObject_Call(from_bytes, arg_tuple, kwds); + limited_bad: + Py_XDECREF(kwds); + Py_XDECREF(arg_tuple); + Py_XDECREF(order_str); + Py_XDECREF(py_bytes); + Py_XDECREF(from_bytes); + return result; +#endif + } +} + +/* CIntFromPy */ + static CYTHON_INLINE char __Pyx_PyInt_As_char(PyObject *x) { +#ifdef __Pyx_HAS_GCC_DIAGNOSTIC +#pragma GCC diagnostic push +#pragma GCC diagnostic ignored "-Wconversion" +#endif + const char neg_one = (char) -1, const_zero = (char) 0; +#ifdef __Pyx_HAS_GCC_DIAGNOSTIC +#pragma GCC diagnostic pop +#endif + const int is_unsigned = neg_one > const_zero; +#if PY_MAJOR_VERSION < 3 + if (likely(PyInt_Check(x))) { + if ((sizeof(char) < sizeof(long))) { + __PYX_VERIFY_RETURN_INT(char, long, PyInt_AS_LONG(x)) + } else { + long val = PyInt_AS_LONG(x); + if (is_unsigned && unlikely(val < 0)) { + goto raise_neg_overflow; + } + return (char) val; + } + } else +#endif + if (likely(PyLong_Check(x))) { + if (is_unsigned) { +#if CYTHON_USE_PYLONG_INTERNALS + if (unlikely(__Pyx_PyLong_IsNeg(x))) { + goto raise_neg_overflow; + } else if (__Pyx_PyLong_IsCompact(x)) { + __PYX_VERIFY_RETURN_INT(char, __Pyx_compact_upylong, __Pyx_PyLong_CompactValueUnsigned(x)) + } else { + const digit* digits = __Pyx_PyLong_Digits(x); + assert(__Pyx_PyLong_DigitCount(x) > 1); + switch (__Pyx_PyLong_DigitCount(x)) { + case 2: + if ((8 * sizeof(char) > 1 * PyLong_SHIFT)) { + if ((8 * sizeof(unsigned long) > 2 * PyLong_SHIFT)) { + __PYX_VERIFY_RETURN_INT(char, unsigned long, (((((unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if ((8 * sizeof(char) >= 2 * PyLong_SHIFT)) { + return (char) (((((char)digits[1]) << PyLong_SHIFT) | (char)digits[0])); + } + } + break; + case 3: + if ((8 * sizeof(char) > 2 * PyLong_SHIFT)) { + if ((8 * sizeof(unsigned long) > 3 * PyLong_SHIFT)) { + __PYX_VERIFY_RETURN_INT(char, unsigned long, (((((((unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if ((8 * sizeof(char) >= 3 * PyLong_SHIFT)) { + return (char) (((((((char)digits[2]) << PyLong_SHIFT) | (char)digits[1]) << PyLong_SHIFT) | (char)digits[0])); + } + } + break; + case 4: + if ((8 * sizeof(char) > 3 * PyLong_SHIFT)) { + if ((8 * sizeof(unsigned long) > 4 * PyLong_SHIFT)) { + __PYX_VERIFY_RETURN_INT(char, unsigned long, (((((((((unsigned long)digits[3]) << PyLong_SHIFT) | (unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if ((8 * sizeof(char) >= 4 * PyLong_SHIFT)) { + return (char) (((((((((char)digits[3]) << PyLong_SHIFT) | (char)digits[2]) << PyLong_SHIFT) | (char)digits[1]) << PyLong_SHIFT) | (char)digits[0])); + } + } + break; + } + } +#endif +#if CYTHON_COMPILING_IN_CPYTHON && PY_VERSION_HEX < 0x030C00A7 + if (unlikely(Py_SIZE(x) < 0)) { + goto raise_neg_overflow; + } +#else + { + int result = PyObject_RichCompareBool(x, Py_False, Py_LT); + if (unlikely(result < 0)) + return (char) -1; + if (unlikely(result == 1)) + goto raise_neg_overflow; + } +#endif + if ((sizeof(char) <= sizeof(unsigned long))) { + __PYX_VERIFY_RETURN_INT_EXC(char, unsigned long, PyLong_AsUnsignedLong(x)) +#ifdef HAVE_LONG_LONG + } else if ((sizeof(char) <= sizeof(unsigned PY_LONG_LONG))) { + __PYX_VERIFY_RETURN_INT_EXC(char, unsigned PY_LONG_LONG, PyLong_AsUnsignedLongLong(x)) +#endif + } + } else { +#if CYTHON_USE_PYLONG_INTERNALS + if (__Pyx_PyLong_IsCompact(x)) { + __PYX_VERIFY_RETURN_INT(char, __Pyx_compact_pylong, __Pyx_PyLong_CompactValue(x)) + } else { + const digit* digits = __Pyx_PyLong_Digits(x); + assert(__Pyx_PyLong_DigitCount(x) > 1); + switch (__Pyx_PyLong_SignedDigitCount(x)) { + case -2: + if ((8 * sizeof(char) - 1 > 1 * PyLong_SHIFT)) { + if ((8 * sizeof(unsigned long) > 2 * PyLong_SHIFT)) { + __PYX_VERIFY_RETURN_INT(char, long, -(long) (((((unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if ((8 * sizeof(char) - 1 > 2 * PyLong_SHIFT)) { + return (char) (((char)-1)*(((((char)digits[1]) << PyLong_SHIFT) | (char)digits[0]))); + } + } + break; + case 2: + if ((8 * sizeof(char) > 1 * PyLong_SHIFT)) { + if ((8 * sizeof(unsigned long) > 2 * PyLong_SHIFT)) { + __PYX_VERIFY_RETURN_INT(char, unsigned long, (((((unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if ((8 * sizeof(char) - 1 > 2 * PyLong_SHIFT)) { + return (char) ((((((char)digits[1]) << PyLong_SHIFT) | (char)digits[0]))); + } + } + break; + case -3: + if ((8 * sizeof(char) - 1 > 2 * PyLong_SHIFT)) { + if ((8 * sizeof(unsigned long) > 3 * PyLong_SHIFT)) { + __PYX_VERIFY_RETURN_INT(char, long, -(long) (((((((unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if ((8 * sizeof(char) - 1 > 3 * PyLong_SHIFT)) { + return (char) (((char)-1)*(((((((char)digits[2]) << PyLong_SHIFT) | (char)digits[1]) << PyLong_SHIFT) | (char)digits[0]))); + } + } + break; + case 3: + if ((8 * sizeof(char) > 2 * PyLong_SHIFT)) { + if ((8 * sizeof(unsigned long) > 3 * PyLong_SHIFT)) { + __PYX_VERIFY_RETURN_INT(char, unsigned long, (((((((unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if ((8 * sizeof(char) - 1 > 3 * PyLong_SHIFT)) { + return (char) ((((((((char)digits[2]) << PyLong_SHIFT) | (char)digits[1]) << PyLong_SHIFT) | (char)digits[0]))); + } + } + break; + case -4: + if ((8 * sizeof(char) - 1 > 3 * PyLong_SHIFT)) { + if ((8 * sizeof(unsigned long) > 4 * PyLong_SHIFT)) { + __PYX_VERIFY_RETURN_INT(char, long, -(long) (((((((((unsigned long)digits[3]) << PyLong_SHIFT) | (unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if ((8 * sizeof(char) - 1 > 4 * PyLong_SHIFT)) { + return (char) (((char)-1)*(((((((((char)digits[3]) << PyLong_SHIFT) | (char)digits[2]) << PyLong_SHIFT) | (char)digits[1]) << PyLong_SHIFT) | (char)digits[0]))); + } + } + break; + case 4: + if ((8 * sizeof(char) > 3 * PyLong_SHIFT)) { + if ((8 * sizeof(unsigned long) > 4 * PyLong_SHIFT)) { + __PYX_VERIFY_RETURN_INT(char, unsigned long, (((((((((unsigned long)digits[3]) << PyLong_SHIFT) | (unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if ((8 * sizeof(char) - 1 > 4 * PyLong_SHIFT)) { + return (char) ((((((((((char)digits[3]) << PyLong_SHIFT) | (char)digits[2]) << PyLong_SHIFT) | (char)digits[1]) << PyLong_SHIFT) | (char)digits[0]))); + } + } + break; + } + } +#endif + if ((sizeof(char) <= sizeof(long))) { + __PYX_VERIFY_RETURN_INT_EXC(char, long, PyLong_AsLong(x)) +#ifdef HAVE_LONG_LONG + } else if ((sizeof(char) <= sizeof(PY_LONG_LONG))) { + __PYX_VERIFY_RETURN_INT_EXC(char, PY_LONG_LONG, PyLong_AsLongLong(x)) +#endif + } + } + { + char val; + PyObject *v = __Pyx_PyNumber_IntOrLong(x); +#if PY_MAJOR_VERSION < 3 + if (likely(v) && !PyLong_Check(v)) { + PyObject *tmp = v; + v = PyNumber_Long(tmp); + Py_DECREF(tmp); + } +#endif + if (likely(v)) { + int ret = -1; +#if PY_VERSION_HEX < 0x030d0000 && !(CYTHON_COMPILING_IN_PYPY || CYTHON_COMPILING_IN_LIMITED_API) || defined(_PyLong_AsByteArray) + int one = 1; int is_little = (int)*(unsigned char *)&one; + unsigned char *bytes = (unsigned char *)&val; + ret = _PyLong_AsByteArray((PyLongObject *)v, + bytes, sizeof(val), + is_little, !is_unsigned); +#else + PyObject *stepval = NULL, *mask = NULL, *shift = NULL; + int bits, remaining_bits, is_negative = 0; + long idigit; + int chunk_size = (sizeof(long) < 8) ? 30 : 62; + if (unlikely(!PyLong_CheckExact(v))) { + PyObject *tmp = v; + v = PyNumber_Long(v); + assert(PyLong_CheckExact(v)); + Py_DECREF(tmp); + if (unlikely(!v)) return (char) -1; + } +#if CYTHON_COMPILING_IN_LIMITED_API && PY_VERSION_HEX < 0x030B0000 + if (Py_SIZE(x) == 0) + return (char) 0; + is_negative = Py_SIZE(x) < 0; +#else + { + int result = PyObject_RichCompareBool(x, Py_False, Py_LT); + if (unlikely(result < 0)) + return (char) -1; + is_negative = result == 1; + } +#endif + if (is_unsigned && unlikely(is_negative)) { + goto raise_neg_overflow; + } else if (is_negative) { + stepval = PyNumber_Invert(v); + if (unlikely(!stepval)) + return (char) -1; + } else { + stepval = __Pyx_NewRef(v); + } + val = (char) 0; + mask = PyLong_FromLong((1L << chunk_size) - 1); if (unlikely(!mask)) goto done; + shift = PyLong_FromLong(chunk_size); if (unlikely(!shift)) goto done; + for (bits = 0; bits < (int) sizeof(char) * 8 - chunk_size; bits += chunk_size) { + PyObject *tmp, *digit; + digit = PyNumber_And(stepval, mask); + if (unlikely(!digit)) goto done; + idigit = PyLong_AsLong(digit); + Py_DECREF(digit); + if (unlikely(idigit < 0)) goto done; + tmp = PyNumber_Rshift(stepval, shift); + if (unlikely(!tmp)) goto done; + Py_DECREF(stepval); stepval = tmp; + val |= ((char) idigit) << bits; + #if CYTHON_COMPILING_IN_LIMITED_API && PY_VERSION_HEX < 0x030B0000 + if (Py_SIZE(stepval) == 0) + goto unpacking_done; + #endif + } + idigit = PyLong_AsLong(stepval); + if (unlikely(idigit < 0)) goto done; + remaining_bits = ((int) sizeof(char) * 8) - bits - (is_unsigned ? 0 : 1); + if (unlikely(idigit >= (1L << remaining_bits))) + goto raise_overflow; + val |= ((char) idigit) << bits; + #if CYTHON_COMPILING_IN_LIMITED_API && PY_VERSION_HEX < 0x030B0000 + unpacking_done: + #endif + if (!is_unsigned) { + if (unlikely(val & (((char) 1) << (sizeof(char) * 8 - 1)))) + goto raise_overflow; + if (is_negative) + val = ~val; + } + ret = 0; + done: + Py_XDECREF(shift); + Py_XDECREF(mask); + Py_XDECREF(stepval); +#endif + Py_DECREF(v); + if (likely(!ret)) + return val; + } + return (char) -1; + } + } else { + char val; + PyObject *tmp = __Pyx_PyNumber_IntOrLong(x); + if (!tmp) return (char) -1; + val = __Pyx_PyInt_As_char(tmp); + Py_DECREF(tmp); + return val; + } +raise_overflow: + PyErr_SetString(PyExc_OverflowError, + "value too large to convert to char"); + return (char) -1; +raise_neg_overflow: + PyErr_SetString(PyExc_OverflowError, + "can't convert negative value to char"); + return (char) -1; +} + +/* FormatTypeName */ + #if CYTHON_COMPILING_IN_LIMITED_API +static __Pyx_TypeName +__Pyx_PyType_GetName(PyTypeObject* tp) +{ + PyObject *name = __Pyx_PyObject_GetAttrStr((PyObject *)tp, + __pyx_n_s_name_2); + if (unlikely(name == NULL) || unlikely(!PyUnicode_Check(name))) { + PyErr_Clear(); + Py_XDECREF(name); + name = __Pyx_NewRef(__pyx_n_s__24); + } + return name; +} +#endif + +/* CheckBinaryVersion */ + static unsigned long __Pyx_get_runtime_version(void) { +#if __PYX_LIMITED_VERSION_HEX >= 0x030B00A4 + return Py_Version & ~0xFFUL; +#else + const char* rt_version = Py_GetVersion(); + unsigned long version = 0; + unsigned long factor = 0x01000000UL; + unsigned int digit = 0; + int i = 0; + while (factor) { + while ('0' <= rt_version[i] && rt_version[i] <= '9') { + digit = digit * 10 + (unsigned int) (rt_version[i] - '0'); + ++i; + } + version += factor * digit; + if (rt_version[i] != '.') + break; + digit = 0; + factor >>= 8; + ++i; + } + return version; +#endif +} +static int __Pyx_check_binary_version(unsigned long ct_version, unsigned long rt_version, int allow_newer) { + const unsigned long MAJOR_MINOR = 0xFFFF0000UL; + if ((rt_version & MAJOR_MINOR) == (ct_version & MAJOR_MINOR)) + return 0; + if (likely(allow_newer && (rt_version & MAJOR_MINOR) > (ct_version & MAJOR_MINOR))) + return 1; + { + char message[200]; + PyOS_snprintf(message, sizeof(message), + "compile time Python version %d.%d " + "of module '%.100s' " + "%s " + "runtime version %d.%d", + (int) (ct_version >> 24), (int) ((ct_version >> 16) & 0xFF), + __Pyx_MODULE_NAME, + (allow_newer) ? "was newer than" : "does not match", + (int) (rt_version >> 24), (int) ((rt_version >> 16) & 0xFF) + ); + return PyErr_WarnEx(NULL, message, 1); + } +} + +/* InitStrings */ + #if PY_MAJOR_VERSION >= 3 +static int __Pyx_InitString(__Pyx_StringTabEntry t, PyObject **str) { + if (t.is_unicode | t.is_str) { + if (t.intern) { + *str = PyUnicode_InternFromString(t.s); + } else if (t.encoding) { + *str = PyUnicode_Decode(t.s, t.n - 1, t.encoding, NULL); + } else { + *str = PyUnicode_FromStringAndSize(t.s, t.n - 1); + } + } else { + *str = PyBytes_FromStringAndSize(t.s, t.n - 1); + } + if (!*str) + return -1; + if (PyObject_Hash(*str) == -1) + return -1; + return 0; +} +#endif +static int __Pyx_InitStrings(__Pyx_StringTabEntry *t) { + while (t->p) { + #if PY_MAJOR_VERSION >= 3 + __Pyx_InitString(*t, t->p); + #else + if (t->is_unicode) { + *t->p = PyUnicode_DecodeUTF8(t->s, t->n - 1, NULL); + } else if (t->intern) { + *t->p = PyString_InternFromString(t->s); + } else { + *t->p = PyString_FromStringAndSize(t->s, t->n - 1); + } + if (!*t->p) + return -1; + if (PyObject_Hash(*t->p) == -1) + return -1; + #endif + ++t; + } + return 0; +} + +#include +static CYTHON_INLINE Py_ssize_t __Pyx_ssize_strlen(const char *s) { + size_t len = strlen(s); + if (unlikely(len > (size_t) PY_SSIZE_T_MAX)) { + PyErr_SetString(PyExc_OverflowError, "byte string is too long"); + return -1; + } + return (Py_ssize_t) len; +} +static CYTHON_INLINE PyObject* __Pyx_PyUnicode_FromString(const char* c_str) { + Py_ssize_t len = __Pyx_ssize_strlen(c_str); + if (unlikely(len < 0)) return NULL; + return __Pyx_PyUnicode_FromStringAndSize(c_str, len); +} +static CYTHON_INLINE PyObject* __Pyx_PyByteArray_FromString(const char* c_str) { + Py_ssize_t len = __Pyx_ssize_strlen(c_str); + if (unlikely(len < 0)) return NULL; + return PyByteArray_FromStringAndSize(c_str, len); +} +static CYTHON_INLINE const char* __Pyx_PyObject_AsString(PyObject* o) { + Py_ssize_t ignore; + return __Pyx_PyObject_AsStringAndSize(o, &ignore); +} +#if __PYX_DEFAULT_STRING_ENCODING_IS_ASCII || __PYX_DEFAULT_STRING_ENCODING_IS_DEFAULT +#if !CYTHON_PEP393_ENABLED +static const char* __Pyx_PyUnicode_AsStringAndSize(PyObject* o, Py_ssize_t *length) { + char* defenc_c; + PyObject* defenc = _PyUnicode_AsDefaultEncodedString(o, NULL); + if (!defenc) return NULL; + defenc_c = PyBytes_AS_STRING(defenc); +#if __PYX_DEFAULT_STRING_ENCODING_IS_ASCII + { + char* end = defenc_c + PyBytes_GET_SIZE(defenc); + char* c; + for (c = defenc_c; c < end; c++) { + if ((unsigned char) (*c) >= 128) { + PyUnicode_AsASCIIString(o); + return NULL; + } + } + } +#endif + *length = PyBytes_GET_SIZE(defenc); + return defenc_c; +} +#else +static CYTHON_INLINE const char* __Pyx_PyUnicode_AsStringAndSize(PyObject* o, Py_ssize_t *length) { + if (unlikely(__Pyx_PyUnicode_READY(o) == -1)) return NULL; +#if __PYX_DEFAULT_STRING_ENCODING_IS_ASCII + if (likely(PyUnicode_IS_ASCII(o))) { + *length = PyUnicode_GET_LENGTH(o); + return PyUnicode_AsUTF8(o); + } else { + PyUnicode_AsASCIIString(o); + return NULL; + } +#else + return PyUnicode_AsUTF8AndSize(o, length); +#endif +} +#endif +#endif +static CYTHON_INLINE const char* __Pyx_PyObject_AsStringAndSize(PyObject* o, Py_ssize_t *length) { +#if __PYX_DEFAULT_STRING_ENCODING_IS_ASCII || __PYX_DEFAULT_STRING_ENCODING_IS_DEFAULT + if ( +#if PY_MAJOR_VERSION < 3 && __PYX_DEFAULT_STRING_ENCODING_IS_ASCII + __Pyx_sys_getdefaultencoding_not_ascii && +#endif + PyUnicode_Check(o)) { + return __Pyx_PyUnicode_AsStringAndSize(o, length); + } else +#endif +#if (!CYTHON_COMPILING_IN_PYPY && !CYTHON_COMPILING_IN_LIMITED_API) || (defined(PyByteArray_AS_STRING) && defined(PyByteArray_GET_SIZE)) + if (PyByteArray_Check(o)) { + *length = PyByteArray_GET_SIZE(o); + return PyByteArray_AS_STRING(o); + } else +#endif + { + char* result; + int r = PyBytes_AsStringAndSize(o, &result, length); + if (unlikely(r < 0)) { + return NULL; + } else { + return result; + } + } +} +static CYTHON_INLINE int __Pyx_PyObject_IsTrue(PyObject* x) { + int is_true = x == Py_True; + if (is_true | (x == Py_False) | (x == Py_None)) return is_true; + else return PyObject_IsTrue(x); +} +static CYTHON_INLINE int __Pyx_PyObject_IsTrueAndDecref(PyObject* x) { + int retval; + if (unlikely(!x)) return -1; + retval = __Pyx_PyObject_IsTrue(x); + Py_DECREF(x); + return retval; +} +static PyObject* __Pyx_PyNumber_IntOrLongWrongResultType(PyObject* result, const char* type_name) { + __Pyx_TypeName result_type_name = __Pyx_PyType_GetName(Py_TYPE(result)); +#if PY_MAJOR_VERSION >= 3 + if (PyLong_Check(result)) { + if (PyErr_WarnFormat(PyExc_DeprecationWarning, 1, + "__int__ returned non-int (type " __Pyx_FMT_TYPENAME "). " + "The ability to return an instance of a strict subclass of int is deprecated, " + "and may be removed in a future version of Python.", + result_type_name)) { + __Pyx_DECREF_TypeName(result_type_name); + Py_DECREF(result); + return NULL; + } + __Pyx_DECREF_TypeName(result_type_name); + return result; + } +#endif + PyErr_Format(PyExc_TypeError, + "__%.4s__ returned non-%.4s (type " __Pyx_FMT_TYPENAME ")", + type_name, type_name, result_type_name); + __Pyx_DECREF_TypeName(result_type_name); + Py_DECREF(result); + return NULL; +} +static CYTHON_INLINE PyObject* __Pyx_PyNumber_IntOrLong(PyObject* x) { +#if CYTHON_USE_TYPE_SLOTS + PyNumberMethods *m; +#endif + const char *name = NULL; + PyObject *res = NULL; +#if PY_MAJOR_VERSION < 3 + if (likely(PyInt_Check(x) || PyLong_Check(x))) +#else + if (likely(PyLong_Check(x))) +#endif + return __Pyx_NewRef(x); +#if CYTHON_USE_TYPE_SLOTS + m = Py_TYPE(x)->tp_as_number; + #if PY_MAJOR_VERSION < 3 + if (m && m->nb_int) { + name = "int"; + res = m->nb_int(x); + } + else if (m && m->nb_long) { + name = "long"; + res = m->nb_long(x); + } + #else + if (likely(m && m->nb_int)) { + name = "int"; + res = m->nb_int(x); + } + #endif +#else + if (!PyBytes_CheckExact(x) && !PyUnicode_CheckExact(x)) { + res = PyNumber_Int(x); + } +#endif + if (likely(res)) { +#if PY_MAJOR_VERSION < 3 + if (unlikely(!PyInt_Check(res) && !PyLong_Check(res))) { +#else + if (unlikely(!PyLong_CheckExact(res))) { +#endif + return __Pyx_PyNumber_IntOrLongWrongResultType(res, name); + } + } + else if (!PyErr_Occurred()) { + PyErr_SetString(PyExc_TypeError, + "an integer is required"); + } + return res; +} +static CYTHON_INLINE Py_ssize_t __Pyx_PyIndex_AsSsize_t(PyObject* b) { + Py_ssize_t ival; + PyObject *x; +#if PY_MAJOR_VERSION < 3 + if (likely(PyInt_CheckExact(b))) { + if (sizeof(Py_ssize_t) >= sizeof(long)) + return PyInt_AS_LONG(b); + else + return PyInt_AsSsize_t(b); + } +#endif + if (likely(PyLong_CheckExact(b))) { + #if CYTHON_USE_PYLONG_INTERNALS + if (likely(__Pyx_PyLong_IsCompact(b))) { + return __Pyx_PyLong_CompactValue(b); + } else { + const digit* digits = __Pyx_PyLong_Digits(b); + const Py_ssize_t size = __Pyx_PyLong_SignedDigitCount(b); + switch (size) { + case 2: + if (8 * sizeof(Py_ssize_t) > 2 * PyLong_SHIFT) { + return (Py_ssize_t) (((((size_t)digits[1]) << PyLong_SHIFT) | (size_t)digits[0])); + } + break; + case -2: + if (8 * sizeof(Py_ssize_t) > 2 * PyLong_SHIFT) { + return -(Py_ssize_t) (((((size_t)digits[1]) << PyLong_SHIFT) | (size_t)digits[0])); + } + break; + case 3: + if (8 * sizeof(Py_ssize_t) > 3 * PyLong_SHIFT) { + return (Py_ssize_t) (((((((size_t)digits[2]) << PyLong_SHIFT) | (size_t)digits[1]) << PyLong_SHIFT) | (size_t)digits[0])); + } + break; + case -3: + if (8 * sizeof(Py_ssize_t) > 3 * PyLong_SHIFT) { + return -(Py_ssize_t) (((((((size_t)digits[2]) << PyLong_SHIFT) | (size_t)digits[1]) << PyLong_SHIFT) | (size_t)digits[0])); + } + break; + case 4: + if (8 * sizeof(Py_ssize_t) > 4 * PyLong_SHIFT) { + return (Py_ssize_t) (((((((((size_t)digits[3]) << PyLong_SHIFT) | (size_t)digits[2]) << PyLong_SHIFT) | (size_t)digits[1]) << PyLong_SHIFT) | (size_t)digits[0])); + } + break; + case -4: + if (8 * sizeof(Py_ssize_t) > 4 * PyLong_SHIFT) { + return -(Py_ssize_t) (((((((((size_t)digits[3]) << PyLong_SHIFT) | (size_t)digits[2]) << PyLong_SHIFT) | (size_t)digits[1]) << PyLong_SHIFT) | (size_t)digits[0])); + } + break; + } + } + #endif + return PyLong_AsSsize_t(b); + } + x = PyNumber_Index(b); + if (!x) return -1; + ival = PyInt_AsSsize_t(x); + Py_DECREF(x); + return ival; +} +static CYTHON_INLINE Py_hash_t __Pyx_PyIndex_AsHash_t(PyObject* o) { + if (sizeof(Py_hash_t) == sizeof(Py_ssize_t)) { + return (Py_hash_t) __Pyx_PyIndex_AsSsize_t(o); +#if PY_MAJOR_VERSION < 3 + } else if (likely(PyInt_CheckExact(o))) { + return PyInt_AS_LONG(o); +#endif + } else { + Py_ssize_t ival; + PyObject *x; + x = PyNumber_Index(o); + if (!x) return -1; + ival = PyInt_AsLong(x); + Py_DECREF(x); + return ival; + } +} +static CYTHON_INLINE PyObject * __Pyx_PyBool_FromLong(long b) { + return b ? __Pyx_NewRef(Py_True) : __Pyx_NewRef(Py_False); +} +static CYTHON_INLINE PyObject * __Pyx_PyInt_FromSize_t(size_t ival) { + return PyInt_FromSize_t(ival); +} + + +/* #### Code section: utility_code_pragmas_end ### */ +#ifdef _MSC_VER +#pragma warning( pop ) +#endif + + + +/* #### Code section: end ### */ +#endif /* Py_PYTHON_H */ diff --git a/selfdrive/classic_modeld/runners/snpemodel_pyx.pyx b/selfdrive/classic_modeld/runners/snpemodel_pyx.pyx new file mode 100644 index 00000000000000..e042b44afe8dc1 --- /dev/null +++ b/selfdrive/classic_modeld/runners/snpemodel_pyx.pyx @@ -0,0 +1,17 @@ +# distutils: language = c++ +# cython: c_string_encoding=ascii + +import os +from libcpp cimport bool +from libcpp.string cimport string + +from .snpemodel cimport SNPEModel as cppSNPEModel +from selfdrive.classic_modeld.models.commonmodel_pyx cimport CLContext +from selfdrive.classic_modeld.runners.runmodel_pyx cimport RunModel +from selfdrive.classic_modeld.runners.runmodel cimport RunModel as cppRunModel + +os.environ['ADSP_LIBRARY_PATH'] = "/data/pythonpath/third_party/snpe/dsp/" + +cdef class SNPEModel(RunModel): + def __cinit__(self, string path, float[:] output, int runtime, bool use_tf8, CLContext context): + self.model = new cppSNPEModel(path, &output[0], len(output), runtime, use_tf8, context.context) diff --git a/selfdrive/classic_modeld/runners/snpemodel_pyx.so b/selfdrive/classic_modeld/runners/snpemodel_pyx.so new file mode 100644 index 00000000000000..cab4b7683a34af Binary files /dev/null and b/selfdrive/classic_modeld/runners/snpemodel_pyx.so differ diff --git a/selfdrive/classic_modeld/runners/thneedmodel.pxd b/selfdrive/classic_modeld/runners/thneedmodel.pxd new file mode 100644 index 00000000000000..97bc12685d375e --- /dev/null +++ b/selfdrive/classic_modeld/runners/thneedmodel.pxd @@ -0,0 +1,9 @@ +# distutils: language = c++ + +from libcpp.string cimport string + +from msgq.visionipc.visionipc cimport cl_context + +cdef extern from "selfdrive/classic_modeld/runners/thneedmodel.h": + cdef cppclass ThneedModel: + ThneedModel(string, float*, size_t, int, bool, cl_context) diff --git a/selfdrive/classic_modeld/runners/thneedmodel_pyx.cpp b/selfdrive/classic_modeld/runners/thneedmodel_pyx.cpp new file mode 100644 index 00000000000000..dc7e4fe0e873ba --- /dev/null +++ b/selfdrive/classic_modeld/runners/thneedmodel_pyx.cpp @@ -0,0 +1,27767 @@ +/* Generated by Cython 3.0.8 */ + +/* BEGIN: Cython Metadata +{ + "distutils": { + "depends": [ + "msgq/visionipc/visionbuf.h", + "msgq/visionipc/visionipc.h", + "msgq/visionipc/visionipc_client.h", + "msgq/visionipc/visionipc_server.h", + "selfdrive/classic_modeld/runners/runmodel.h", + "selfdrive/classic_modeld/runners/thneedmodel.h" + ], + "language": "c++", + "name": "selfdrive.classic_modeld.runners.thneedmodel_pyx", + "sources": [ + "/data/openpilot/selfdrive/classic_modeld/runners/thneedmodel_pyx.pyx" + ] + }, + "module_name": "selfdrive.classic_modeld.runners.thneedmodel_pyx" +} +END: Cython Metadata */ + +#ifndef PY_SSIZE_T_CLEAN +#define PY_SSIZE_T_CLEAN +#endif /* PY_SSIZE_T_CLEAN */ +#if defined(CYTHON_LIMITED_API) && 0 + #ifndef Py_LIMITED_API + #if CYTHON_LIMITED_API+0 > 0x03030000 + #define Py_LIMITED_API CYTHON_LIMITED_API + #else + #define Py_LIMITED_API 0x03030000 + #endif + #endif +#endif + +#include "Python.h" +#ifndef Py_PYTHON_H + #error Python headers needed to compile C extensions, please install development version of Python. +#elif PY_VERSION_HEX < 0x02070000 || (0x03000000 <= PY_VERSION_HEX && PY_VERSION_HEX < 0x03030000) + #error Cython requires Python 2.7+ or Python 3.3+. +#else +#if defined(CYTHON_LIMITED_API) && CYTHON_LIMITED_API +#define __PYX_EXTRA_ABI_MODULE_NAME "limited" +#else +#define __PYX_EXTRA_ABI_MODULE_NAME "" +#endif +#define CYTHON_ABI "3_0_8" __PYX_EXTRA_ABI_MODULE_NAME +#define __PYX_ABI_MODULE_NAME "_cython_" CYTHON_ABI +#define __PYX_TYPE_MODULE_PREFIX __PYX_ABI_MODULE_NAME "." +#define CYTHON_HEX_VERSION 0x030008F0 +#define CYTHON_FUTURE_DIVISION 1 +#include +#ifndef offsetof + #define offsetof(type, member) ( (size_t) & ((type*)0) -> member ) +#endif +#if !defined(_WIN32) && !defined(WIN32) && !defined(MS_WINDOWS) + #ifndef __stdcall + #define __stdcall + #endif + #ifndef __cdecl + #define __cdecl + #endif + #ifndef __fastcall + #define __fastcall + #endif +#endif +#ifndef DL_IMPORT + #define DL_IMPORT(t) t +#endif +#ifndef DL_EXPORT + #define DL_EXPORT(t) t +#endif +#define __PYX_COMMA , +#ifndef HAVE_LONG_LONG + #define HAVE_LONG_LONG +#endif +#ifndef PY_LONG_LONG + #define PY_LONG_LONG LONG_LONG +#endif +#ifndef Py_HUGE_VAL + #define Py_HUGE_VAL HUGE_VAL +#endif +#define __PYX_LIMITED_VERSION_HEX PY_VERSION_HEX +#if defined(GRAALVM_PYTHON) + /* For very preliminary testing purposes. Most variables are set the same as PyPy. + The existence of this section does not imply that anything works or is even tested */ + #define CYTHON_COMPILING_IN_PYPY 0 + #define CYTHON_COMPILING_IN_CPYTHON 0 + #define CYTHON_COMPILING_IN_LIMITED_API 0 + #define CYTHON_COMPILING_IN_GRAAL 1 + #define CYTHON_COMPILING_IN_NOGIL 0 + #undef CYTHON_USE_TYPE_SLOTS + #define CYTHON_USE_TYPE_SLOTS 0 + #undef CYTHON_USE_TYPE_SPECS + #define CYTHON_USE_TYPE_SPECS 0 + #undef CYTHON_USE_PYTYPE_LOOKUP + #define CYTHON_USE_PYTYPE_LOOKUP 0 + #if PY_VERSION_HEX < 0x03050000 + #undef CYTHON_USE_ASYNC_SLOTS + #define CYTHON_USE_ASYNC_SLOTS 0 + #elif !defined(CYTHON_USE_ASYNC_SLOTS) + #define CYTHON_USE_ASYNC_SLOTS 1 + #endif + #undef CYTHON_USE_PYLIST_INTERNALS + #define CYTHON_USE_PYLIST_INTERNALS 0 + #undef CYTHON_USE_UNICODE_INTERNALS + #define CYTHON_USE_UNICODE_INTERNALS 0 + #undef CYTHON_USE_UNICODE_WRITER + #define CYTHON_USE_UNICODE_WRITER 0 + #undef CYTHON_USE_PYLONG_INTERNALS + #define CYTHON_USE_PYLONG_INTERNALS 0 + #undef CYTHON_AVOID_BORROWED_REFS + #define CYTHON_AVOID_BORROWED_REFS 1 + #undef CYTHON_ASSUME_SAFE_MACROS + #define CYTHON_ASSUME_SAFE_MACROS 0 + #undef CYTHON_UNPACK_METHODS + #define CYTHON_UNPACK_METHODS 0 + #undef CYTHON_FAST_THREAD_STATE + #define CYTHON_FAST_THREAD_STATE 0 + #undef CYTHON_FAST_GIL + #define CYTHON_FAST_GIL 0 + #undef CYTHON_METH_FASTCALL + #define CYTHON_METH_FASTCALL 0 + #undef CYTHON_FAST_PYCALL + #define CYTHON_FAST_PYCALL 0 + #ifndef CYTHON_PEP487_INIT_SUBCLASS + #define CYTHON_PEP487_INIT_SUBCLASS (PY_MAJOR_VERSION >= 3) + #endif + #undef CYTHON_PEP489_MULTI_PHASE_INIT + #define CYTHON_PEP489_MULTI_PHASE_INIT 1 + #undef CYTHON_USE_MODULE_STATE + #define CYTHON_USE_MODULE_STATE 0 + #undef CYTHON_USE_TP_FINALIZE + #define CYTHON_USE_TP_FINALIZE 0 + #undef CYTHON_USE_DICT_VERSIONS + #define CYTHON_USE_DICT_VERSIONS 0 + #undef CYTHON_USE_EXC_INFO_STACK + #define CYTHON_USE_EXC_INFO_STACK 0 + #ifndef CYTHON_UPDATE_DESCRIPTOR_DOC + #define CYTHON_UPDATE_DESCRIPTOR_DOC 0 + #endif +#elif defined(PYPY_VERSION) + #define CYTHON_COMPILING_IN_PYPY 1 + #define CYTHON_COMPILING_IN_CPYTHON 0 + #define CYTHON_COMPILING_IN_LIMITED_API 0 + #define CYTHON_COMPILING_IN_GRAAL 0 + #define CYTHON_COMPILING_IN_NOGIL 0 + #undef CYTHON_USE_TYPE_SLOTS + #define CYTHON_USE_TYPE_SLOTS 0 + #ifndef CYTHON_USE_TYPE_SPECS + #define CYTHON_USE_TYPE_SPECS 0 + #endif + #undef CYTHON_USE_PYTYPE_LOOKUP + #define CYTHON_USE_PYTYPE_LOOKUP 0 + #if PY_VERSION_HEX < 0x03050000 + #undef CYTHON_USE_ASYNC_SLOTS + #define CYTHON_USE_ASYNC_SLOTS 0 + #elif !defined(CYTHON_USE_ASYNC_SLOTS) + #define CYTHON_USE_ASYNC_SLOTS 1 + #endif + #undef CYTHON_USE_PYLIST_INTERNALS + #define CYTHON_USE_PYLIST_INTERNALS 0 + #undef CYTHON_USE_UNICODE_INTERNALS + #define CYTHON_USE_UNICODE_INTERNALS 0 + #undef CYTHON_USE_UNICODE_WRITER + #define CYTHON_USE_UNICODE_WRITER 0 + #undef CYTHON_USE_PYLONG_INTERNALS + #define CYTHON_USE_PYLONG_INTERNALS 0 + #undef CYTHON_AVOID_BORROWED_REFS + #define CYTHON_AVOID_BORROWED_REFS 1 + #undef CYTHON_ASSUME_SAFE_MACROS + #define CYTHON_ASSUME_SAFE_MACROS 0 + #undef CYTHON_UNPACK_METHODS + #define CYTHON_UNPACK_METHODS 0 + #undef CYTHON_FAST_THREAD_STATE + #define CYTHON_FAST_THREAD_STATE 0 + #undef CYTHON_FAST_GIL + #define CYTHON_FAST_GIL 0 + #undef CYTHON_METH_FASTCALL + #define CYTHON_METH_FASTCALL 0 + #undef CYTHON_FAST_PYCALL + #define CYTHON_FAST_PYCALL 0 + #ifndef CYTHON_PEP487_INIT_SUBCLASS + #define CYTHON_PEP487_INIT_SUBCLASS (PY_MAJOR_VERSION >= 3) + #endif + #if PY_VERSION_HEX < 0x03090000 + #undef CYTHON_PEP489_MULTI_PHASE_INIT + #define CYTHON_PEP489_MULTI_PHASE_INIT 0 + #elif !defined(CYTHON_PEP489_MULTI_PHASE_INIT) + #define CYTHON_PEP489_MULTI_PHASE_INIT 1 + #endif + #undef CYTHON_USE_MODULE_STATE + #define CYTHON_USE_MODULE_STATE 0 + #undef CYTHON_USE_TP_FINALIZE + #define CYTHON_USE_TP_FINALIZE (PY_VERSION_HEX >= 0x030400a1 && PYPY_VERSION_NUM >= 0x07030C00) + #undef CYTHON_USE_DICT_VERSIONS + #define CYTHON_USE_DICT_VERSIONS 0 + #undef CYTHON_USE_EXC_INFO_STACK + #define CYTHON_USE_EXC_INFO_STACK 0 + #ifndef CYTHON_UPDATE_DESCRIPTOR_DOC + #define CYTHON_UPDATE_DESCRIPTOR_DOC 0 + #endif +#elif defined(CYTHON_LIMITED_API) + #ifdef Py_LIMITED_API + #undef __PYX_LIMITED_VERSION_HEX + #define __PYX_LIMITED_VERSION_HEX Py_LIMITED_API + #endif + #define CYTHON_COMPILING_IN_PYPY 0 + #define CYTHON_COMPILING_IN_CPYTHON 0 + #define CYTHON_COMPILING_IN_LIMITED_API 1 + #define CYTHON_COMPILING_IN_GRAAL 0 + #define CYTHON_COMPILING_IN_NOGIL 0 + #undef CYTHON_CLINE_IN_TRACEBACK + #define CYTHON_CLINE_IN_TRACEBACK 0 + #undef CYTHON_USE_TYPE_SLOTS + #define CYTHON_USE_TYPE_SLOTS 0 + #undef CYTHON_USE_TYPE_SPECS + #define CYTHON_USE_TYPE_SPECS 1 + #undef CYTHON_USE_PYTYPE_LOOKUP + #define CYTHON_USE_PYTYPE_LOOKUP 0 + #undef CYTHON_USE_ASYNC_SLOTS + #define CYTHON_USE_ASYNC_SLOTS 0 + #undef CYTHON_USE_PYLIST_INTERNALS + #define CYTHON_USE_PYLIST_INTERNALS 0 + #undef CYTHON_USE_UNICODE_INTERNALS + #define CYTHON_USE_UNICODE_INTERNALS 0 + #ifndef CYTHON_USE_UNICODE_WRITER + #define CYTHON_USE_UNICODE_WRITER 0 + #endif + #undef CYTHON_USE_PYLONG_INTERNALS + #define CYTHON_USE_PYLONG_INTERNALS 0 + #ifndef CYTHON_AVOID_BORROWED_REFS + #define CYTHON_AVOID_BORROWED_REFS 0 + #endif + #undef CYTHON_ASSUME_SAFE_MACROS + #define CYTHON_ASSUME_SAFE_MACROS 0 + #undef CYTHON_UNPACK_METHODS + #define CYTHON_UNPACK_METHODS 0 + #undef CYTHON_FAST_THREAD_STATE + #define CYTHON_FAST_THREAD_STATE 0 + #undef CYTHON_FAST_GIL + #define CYTHON_FAST_GIL 0 + #undef CYTHON_METH_FASTCALL + #define CYTHON_METH_FASTCALL 0 + #undef CYTHON_FAST_PYCALL + #define CYTHON_FAST_PYCALL 0 + #ifndef CYTHON_PEP487_INIT_SUBCLASS + #define CYTHON_PEP487_INIT_SUBCLASS 1 + #endif + #undef CYTHON_PEP489_MULTI_PHASE_INIT + #define CYTHON_PEP489_MULTI_PHASE_INIT 0 + #undef CYTHON_USE_MODULE_STATE + #define CYTHON_USE_MODULE_STATE 1 + #ifndef CYTHON_USE_TP_FINALIZE + #define CYTHON_USE_TP_FINALIZE 0 + #endif + #undef CYTHON_USE_DICT_VERSIONS + #define CYTHON_USE_DICT_VERSIONS 0 + #undef CYTHON_USE_EXC_INFO_STACK + #define CYTHON_USE_EXC_INFO_STACK 0 + #ifndef CYTHON_UPDATE_DESCRIPTOR_DOC + #define CYTHON_UPDATE_DESCRIPTOR_DOC 0 + #endif +#elif defined(Py_GIL_DISABLED) || defined(Py_NOGIL) + #define CYTHON_COMPILING_IN_PYPY 0 + #define CYTHON_COMPILING_IN_CPYTHON 0 + #define CYTHON_COMPILING_IN_LIMITED_API 0 + #define CYTHON_COMPILING_IN_GRAAL 0 + #define CYTHON_COMPILING_IN_NOGIL 1 + #ifndef CYTHON_USE_TYPE_SLOTS + #define CYTHON_USE_TYPE_SLOTS 1 + #endif + #undef CYTHON_USE_PYTYPE_LOOKUP + #define CYTHON_USE_PYTYPE_LOOKUP 0 + #ifndef CYTHON_USE_ASYNC_SLOTS + #define CYTHON_USE_ASYNC_SLOTS 1 + #endif + #undef CYTHON_USE_PYLIST_INTERNALS + #define CYTHON_USE_PYLIST_INTERNALS 0 + #ifndef CYTHON_USE_UNICODE_INTERNALS + #define CYTHON_USE_UNICODE_INTERNALS 1 + #endif + #undef CYTHON_USE_UNICODE_WRITER + #define CYTHON_USE_UNICODE_WRITER 0 + #undef CYTHON_USE_PYLONG_INTERNALS + #define CYTHON_USE_PYLONG_INTERNALS 0 + #ifndef CYTHON_AVOID_BORROWED_REFS + #define CYTHON_AVOID_BORROWED_REFS 0 + #endif + #ifndef CYTHON_ASSUME_SAFE_MACROS + #define CYTHON_ASSUME_SAFE_MACROS 1 + #endif + #ifndef CYTHON_UNPACK_METHODS + #define CYTHON_UNPACK_METHODS 1 + #endif + #undef CYTHON_FAST_THREAD_STATE + #define CYTHON_FAST_THREAD_STATE 0 + #undef CYTHON_FAST_PYCALL + #define CYTHON_FAST_PYCALL 0 + #ifndef CYTHON_PEP489_MULTI_PHASE_INIT + #define CYTHON_PEP489_MULTI_PHASE_INIT 1 + #endif + #ifndef CYTHON_USE_TP_FINALIZE + #define CYTHON_USE_TP_FINALIZE 1 + #endif + #undef CYTHON_USE_DICT_VERSIONS + #define CYTHON_USE_DICT_VERSIONS 0 + #undef CYTHON_USE_EXC_INFO_STACK + #define CYTHON_USE_EXC_INFO_STACK 0 +#else + #define CYTHON_COMPILING_IN_PYPY 0 + #define CYTHON_COMPILING_IN_CPYTHON 1 + #define CYTHON_COMPILING_IN_LIMITED_API 0 + #define CYTHON_COMPILING_IN_GRAAL 0 + #define CYTHON_COMPILING_IN_NOGIL 0 + #ifndef CYTHON_USE_TYPE_SLOTS + #define CYTHON_USE_TYPE_SLOTS 1 + #endif + #ifndef CYTHON_USE_TYPE_SPECS + #define CYTHON_USE_TYPE_SPECS 0 + #endif + #ifndef CYTHON_USE_PYTYPE_LOOKUP + #define CYTHON_USE_PYTYPE_LOOKUP 1 + #endif + #if PY_MAJOR_VERSION < 3 + #undef CYTHON_USE_ASYNC_SLOTS + #define CYTHON_USE_ASYNC_SLOTS 0 + #elif !defined(CYTHON_USE_ASYNC_SLOTS) + #define CYTHON_USE_ASYNC_SLOTS 1 + #endif + #ifndef CYTHON_USE_PYLONG_INTERNALS + #define CYTHON_USE_PYLONG_INTERNALS 1 + #endif + #ifndef CYTHON_USE_PYLIST_INTERNALS + #define CYTHON_USE_PYLIST_INTERNALS 1 + #endif + #ifndef CYTHON_USE_UNICODE_INTERNALS + #define CYTHON_USE_UNICODE_INTERNALS 1 + #endif + #if PY_VERSION_HEX < 0x030300F0 || PY_VERSION_HEX >= 0x030B00A2 + #undef CYTHON_USE_UNICODE_WRITER + #define CYTHON_USE_UNICODE_WRITER 0 + #elif !defined(CYTHON_USE_UNICODE_WRITER) + #define CYTHON_USE_UNICODE_WRITER 1 + #endif + #ifndef CYTHON_AVOID_BORROWED_REFS + #define CYTHON_AVOID_BORROWED_REFS 0 + #endif + #ifndef CYTHON_ASSUME_SAFE_MACROS + #define CYTHON_ASSUME_SAFE_MACROS 1 + #endif + #ifndef CYTHON_UNPACK_METHODS + #define CYTHON_UNPACK_METHODS 1 + #endif + #ifndef CYTHON_FAST_THREAD_STATE + #define CYTHON_FAST_THREAD_STATE 1 + #endif + #ifndef CYTHON_FAST_GIL + #define CYTHON_FAST_GIL (PY_MAJOR_VERSION < 3 || PY_VERSION_HEX >= 0x03060000 && PY_VERSION_HEX < 0x030C00A6) + #endif + #ifndef CYTHON_METH_FASTCALL + #define CYTHON_METH_FASTCALL (PY_VERSION_HEX >= 0x030700A1) + #endif + #ifndef CYTHON_FAST_PYCALL + #define CYTHON_FAST_PYCALL 1 + #endif + #ifndef CYTHON_PEP487_INIT_SUBCLASS + #define CYTHON_PEP487_INIT_SUBCLASS 1 + #endif + #if PY_VERSION_HEX < 0x03050000 + #undef CYTHON_PEP489_MULTI_PHASE_INIT + #define CYTHON_PEP489_MULTI_PHASE_INIT 0 + #elif !defined(CYTHON_PEP489_MULTI_PHASE_INIT) + #define CYTHON_PEP489_MULTI_PHASE_INIT 1 + #endif + #ifndef CYTHON_USE_MODULE_STATE + #define CYTHON_USE_MODULE_STATE 0 + #endif + #if PY_VERSION_HEX < 0x030400a1 + #undef CYTHON_USE_TP_FINALIZE + #define CYTHON_USE_TP_FINALIZE 0 + #elif !defined(CYTHON_USE_TP_FINALIZE) + #define CYTHON_USE_TP_FINALIZE 1 + #endif + #if PY_VERSION_HEX < 0x030600B1 + #undef CYTHON_USE_DICT_VERSIONS + #define CYTHON_USE_DICT_VERSIONS 0 + #elif !defined(CYTHON_USE_DICT_VERSIONS) + #define CYTHON_USE_DICT_VERSIONS (PY_VERSION_HEX < 0x030C00A5) + #endif + #if PY_VERSION_HEX < 0x030700A3 + #undef CYTHON_USE_EXC_INFO_STACK + #define CYTHON_USE_EXC_INFO_STACK 0 + #elif !defined(CYTHON_USE_EXC_INFO_STACK) + #define CYTHON_USE_EXC_INFO_STACK 1 + #endif + #ifndef CYTHON_UPDATE_DESCRIPTOR_DOC + #define CYTHON_UPDATE_DESCRIPTOR_DOC 1 + #endif +#endif +#if !defined(CYTHON_FAST_PYCCALL) +#define CYTHON_FAST_PYCCALL (CYTHON_FAST_PYCALL && PY_VERSION_HEX >= 0x030600B1) +#endif +#if !defined(CYTHON_VECTORCALL) +#define CYTHON_VECTORCALL (CYTHON_FAST_PYCCALL && PY_VERSION_HEX >= 0x030800B1) +#endif +#define CYTHON_BACKPORT_VECTORCALL (CYTHON_METH_FASTCALL && PY_VERSION_HEX < 0x030800B1) +#if CYTHON_USE_PYLONG_INTERNALS + #if PY_MAJOR_VERSION < 3 + #include "longintrepr.h" + #endif + #undef SHIFT + #undef BASE + #undef MASK + #ifdef SIZEOF_VOID_P + enum { __pyx_check_sizeof_voidp = 1 / (int)(SIZEOF_VOID_P == sizeof(void*)) }; + #endif +#endif +#ifndef __has_attribute + #define __has_attribute(x) 0 +#endif +#ifndef __has_cpp_attribute + #define __has_cpp_attribute(x) 0 +#endif +#ifndef CYTHON_RESTRICT + #if defined(__GNUC__) + #define CYTHON_RESTRICT __restrict__ + #elif defined(_MSC_VER) && _MSC_VER >= 1400 + #define CYTHON_RESTRICT __restrict + #elif defined (__STDC_VERSION__) && __STDC_VERSION__ >= 199901L + #define CYTHON_RESTRICT restrict + #else + #define CYTHON_RESTRICT + #endif +#endif +#ifndef CYTHON_UNUSED + #if defined(__cplusplus) + /* for clang __has_cpp_attribute(maybe_unused) is true even before C++17 + * but leads to warnings with -pedantic, since it is a C++17 feature */ + #if ((defined(_MSVC_LANG) && _MSVC_LANG >= 201703L) || __cplusplus >= 201703L) + #if __has_cpp_attribute(maybe_unused) + #define CYTHON_UNUSED [[maybe_unused]] + #endif + #endif + #endif +#endif +#ifndef CYTHON_UNUSED +# if defined(__GNUC__) +# if !(defined(__cplusplus)) || (__GNUC__ > 3 || (__GNUC__ == 3 && __GNUC_MINOR__ >= 4)) +# define CYTHON_UNUSED __attribute__ ((__unused__)) +# else +# define CYTHON_UNUSED +# endif +# elif defined(__ICC) || (defined(__INTEL_COMPILER) && !defined(_MSC_VER)) +# define CYTHON_UNUSED __attribute__ ((__unused__)) +# else +# define CYTHON_UNUSED +# endif +#endif +#ifndef CYTHON_UNUSED_VAR +# if defined(__cplusplus) + template void CYTHON_UNUSED_VAR( const T& ) { } +# else +# define CYTHON_UNUSED_VAR(x) (void)(x) +# endif +#endif +#ifndef CYTHON_MAYBE_UNUSED_VAR + #define CYTHON_MAYBE_UNUSED_VAR(x) CYTHON_UNUSED_VAR(x) +#endif +#ifndef CYTHON_NCP_UNUSED +# if CYTHON_COMPILING_IN_CPYTHON +# define CYTHON_NCP_UNUSED +# else +# define CYTHON_NCP_UNUSED CYTHON_UNUSED +# endif +#endif +#ifndef CYTHON_USE_CPP_STD_MOVE + #if defined(__cplusplus) && (\ + __cplusplus >= 201103L || (defined(_MSC_VER) && _MSC_VER >= 1600)) + #define CYTHON_USE_CPP_STD_MOVE 1 + #else + #define CYTHON_USE_CPP_STD_MOVE 0 + #endif +#endif +#define __Pyx_void_to_None(void_result) ((void)(void_result), Py_INCREF(Py_None), Py_None) +#ifdef _MSC_VER + #ifndef _MSC_STDINT_H_ + #if _MSC_VER < 1300 + typedef unsigned char uint8_t; + typedef unsigned short uint16_t; + typedef unsigned int uint32_t; + #else + typedef unsigned __int8 uint8_t; + typedef unsigned __int16 uint16_t; + typedef unsigned __int32 uint32_t; + #endif + #endif + #if _MSC_VER < 1300 + #ifdef _WIN64 + typedef unsigned long long __pyx_uintptr_t; + #else + typedef unsigned int __pyx_uintptr_t; + #endif + #else + #ifdef _WIN64 + typedef unsigned __int64 __pyx_uintptr_t; + #else + typedef unsigned __int32 __pyx_uintptr_t; + #endif + #endif +#else + #include + typedef uintptr_t __pyx_uintptr_t; +#endif +#ifndef CYTHON_FALLTHROUGH + #if defined(__cplusplus) + /* for clang __has_cpp_attribute(fallthrough) is true even before C++17 + * but leads to warnings with -pedantic, since it is a C++17 feature */ + #if ((defined(_MSVC_LANG) && _MSVC_LANG >= 201703L) || __cplusplus >= 201703L) + #if __has_cpp_attribute(fallthrough) + #define CYTHON_FALLTHROUGH [[fallthrough]] + #endif + #endif + #ifndef CYTHON_FALLTHROUGH + #if __has_cpp_attribute(clang::fallthrough) + #define CYTHON_FALLTHROUGH [[clang::fallthrough]] + #elif __has_cpp_attribute(gnu::fallthrough) + #define CYTHON_FALLTHROUGH [[gnu::fallthrough]] + #endif + #endif + #endif + #ifndef CYTHON_FALLTHROUGH + #if __has_attribute(fallthrough) + #define CYTHON_FALLTHROUGH __attribute__((fallthrough)) + #else + #define CYTHON_FALLTHROUGH + #endif + #endif + #if defined(__clang__) && defined(__apple_build_version__) + #if __apple_build_version__ < 7000000 + #undef CYTHON_FALLTHROUGH + #define CYTHON_FALLTHROUGH + #endif + #endif +#endif +#ifdef __cplusplus + template + struct __PYX_IS_UNSIGNED_IMPL {static const bool value = T(0) < T(-1);}; + #define __PYX_IS_UNSIGNED(type) (__PYX_IS_UNSIGNED_IMPL::value) +#else + #define __PYX_IS_UNSIGNED(type) (((type)-1) > 0) +#endif +#if CYTHON_COMPILING_IN_PYPY == 1 + #define __PYX_NEED_TP_PRINT_SLOT (PY_VERSION_HEX >= 0x030800b4 && PY_VERSION_HEX < 0x030A0000) +#else + #define __PYX_NEED_TP_PRINT_SLOT (PY_VERSION_HEX >= 0x030800b4 && PY_VERSION_HEX < 0x03090000) +#endif +#define __PYX_REINTERPRET_FUNCION(func_pointer, other_pointer) ((func_pointer)(void(*)(void))(other_pointer)) + +#ifndef __cplusplus + #error "Cython files generated with the C++ option must be compiled with a C++ compiler." +#endif +#ifndef CYTHON_INLINE + #if defined(__clang__) + #define CYTHON_INLINE __inline__ __attribute__ ((__unused__)) + #else + #define CYTHON_INLINE inline + #endif +#endif +template +void __Pyx_call_destructor(T& x) { + x.~T(); +} +template +class __Pyx_FakeReference { + public: + __Pyx_FakeReference() : ptr(NULL) { } + __Pyx_FakeReference(const T& ref) : ptr(const_cast(&ref)) { } + T *operator->() { return ptr; } + T *operator&() { return ptr; } + operator T&() { return *ptr; } + template bool operator ==(const U& other) const { return *ptr == other; } + template bool operator !=(const U& other) const { return *ptr != other; } + template bool operator==(const __Pyx_FakeReference& other) const { return *ptr == *other.ptr; } + template bool operator!=(const __Pyx_FakeReference& other) const { return *ptr != *other.ptr; } + private: + T *ptr; +}; + +#define __PYX_BUILD_PY_SSIZE_T "n" +#define CYTHON_FORMAT_SSIZE_T "z" +#if PY_MAJOR_VERSION < 3 + #define __Pyx_BUILTIN_MODULE_NAME "__builtin__" + #define __Pyx_DefaultClassType PyClass_Type + #define __Pyx_PyCode_New(a, p, k, l, s, f, code, c, n, v, fv, cell, fn, name, fline, lnos)\ + PyCode_New(a+k, l, s, f, code, c, n, v, fv, cell, fn, name, fline, lnos) +#else + #define __Pyx_BUILTIN_MODULE_NAME "builtins" + #define __Pyx_DefaultClassType PyType_Type +#if CYTHON_COMPILING_IN_LIMITED_API + static CYTHON_INLINE PyObject* __Pyx_PyCode_New(int a, int p, int k, int l, int s, int f, + PyObject *code, PyObject *c, PyObject* n, PyObject *v, + PyObject *fv, PyObject *cell, PyObject* fn, + PyObject *name, int fline, PyObject *lnos) { + PyObject *exception_table = NULL; + PyObject *types_module=NULL, *code_type=NULL, *result=NULL; + #if __PYX_LIMITED_VERSION_HEX < 0x030B0000 + PyObject *version_info; + PyObject *py_minor_version = NULL; + #endif + long minor_version = 0; + PyObject *type, *value, *traceback; + PyErr_Fetch(&type, &value, &traceback); + #if __PYX_LIMITED_VERSION_HEX >= 0x030B0000 + minor_version = 11; + #else + if (!(version_info = PySys_GetObject("version_info"))) goto end; + if (!(py_minor_version = PySequence_GetItem(version_info, 1))) goto end; + minor_version = PyLong_AsLong(py_minor_version); + Py_DECREF(py_minor_version); + if (minor_version == -1 && PyErr_Occurred()) goto end; + #endif + if (!(types_module = PyImport_ImportModule("types"))) goto end; + if (!(code_type = PyObject_GetAttrString(types_module, "CodeType"))) goto end; + if (minor_version <= 7) { + (void)p; + result = PyObject_CallFunction(code_type, "iiiiiOOOOOOiOO", a, k, l, s, f, code, + c, n, v, fn, name, fline, lnos, fv, cell); + } else if (minor_version <= 10) { + result = PyObject_CallFunction(code_type, "iiiiiiOOOOOOiOO", a,p, k, l, s, f, code, + c, n, v, fn, name, fline, lnos, fv, cell); + } else { + if (!(exception_table = PyBytes_FromStringAndSize(NULL, 0))) goto end; + result = PyObject_CallFunction(code_type, "iiiiiiOOOOOOOiOO", a,p, k, l, s, f, code, + c, n, v, fn, name, name, fline, lnos, exception_table, fv, cell); + } + end: + Py_XDECREF(code_type); + Py_XDECREF(exception_table); + Py_XDECREF(types_module); + if (type) { + PyErr_Restore(type, value, traceback); + } + return result; + } + #ifndef CO_OPTIMIZED + #define CO_OPTIMIZED 0x0001 + #endif + #ifndef CO_NEWLOCALS + #define CO_NEWLOCALS 0x0002 + #endif + #ifndef CO_VARARGS + #define CO_VARARGS 0x0004 + #endif + #ifndef CO_VARKEYWORDS + #define CO_VARKEYWORDS 0x0008 + #endif + #ifndef CO_ASYNC_GENERATOR + #define CO_ASYNC_GENERATOR 0x0200 + #endif + #ifndef CO_GENERATOR + #define CO_GENERATOR 0x0020 + #endif + #ifndef CO_COROUTINE + #define CO_COROUTINE 0x0080 + #endif +#elif PY_VERSION_HEX >= 0x030B0000 + static CYTHON_INLINE PyCodeObject* __Pyx_PyCode_New(int a, int p, int k, int l, int s, int f, + PyObject *code, PyObject *c, PyObject* n, PyObject *v, + PyObject *fv, PyObject *cell, PyObject* fn, + PyObject *name, int fline, PyObject *lnos) { + PyCodeObject *result; + PyObject *empty_bytes = PyBytes_FromStringAndSize("", 0); + if (!empty_bytes) return NULL; + result = + #if PY_VERSION_HEX >= 0x030C0000 + PyUnstable_Code_NewWithPosOnlyArgs + #else + PyCode_NewWithPosOnlyArgs + #endif + (a, p, k, l, s, f, code, c, n, v, fv, cell, fn, name, name, fline, lnos, empty_bytes); + Py_DECREF(empty_bytes); + return result; + } +#elif PY_VERSION_HEX >= 0x030800B2 && !CYTHON_COMPILING_IN_PYPY + #define __Pyx_PyCode_New(a, p, k, l, s, f, code, c, n, v, fv, cell, fn, name, fline, lnos)\ + PyCode_NewWithPosOnlyArgs(a, p, k, l, s, f, code, c, n, v, fv, cell, fn, name, fline, lnos) +#else + #define __Pyx_PyCode_New(a, p, k, l, s, f, code, c, n, v, fv, cell, fn, name, fline, lnos)\ + PyCode_New(a, k, l, s, f, code, c, n, v, fv, cell, fn, name, fline, lnos) +#endif +#endif +#if PY_VERSION_HEX >= 0x030900A4 || defined(Py_IS_TYPE) + #define __Pyx_IS_TYPE(ob, type) Py_IS_TYPE(ob, type) +#else + #define __Pyx_IS_TYPE(ob, type) (((const PyObject*)ob)->ob_type == (type)) +#endif +#if PY_VERSION_HEX >= 0x030A00B1 || defined(Py_Is) + #define __Pyx_Py_Is(x, y) Py_Is(x, y) +#else + #define __Pyx_Py_Is(x, y) ((x) == (y)) +#endif +#if PY_VERSION_HEX >= 0x030A00B1 || defined(Py_IsNone) + #define __Pyx_Py_IsNone(ob) Py_IsNone(ob) +#else + #define __Pyx_Py_IsNone(ob) __Pyx_Py_Is((ob), Py_None) +#endif +#if PY_VERSION_HEX >= 0x030A00B1 || defined(Py_IsTrue) + #define __Pyx_Py_IsTrue(ob) Py_IsTrue(ob) +#else + #define __Pyx_Py_IsTrue(ob) __Pyx_Py_Is((ob), Py_True) +#endif +#if PY_VERSION_HEX >= 0x030A00B1 || defined(Py_IsFalse) + #define __Pyx_Py_IsFalse(ob) Py_IsFalse(ob) +#else + #define __Pyx_Py_IsFalse(ob) __Pyx_Py_Is((ob), Py_False) +#endif +#define __Pyx_NoneAsNull(obj) (__Pyx_Py_IsNone(obj) ? NULL : (obj)) +#if PY_VERSION_HEX >= 0x030900F0 && !CYTHON_COMPILING_IN_PYPY + #define __Pyx_PyObject_GC_IsFinalized(o) PyObject_GC_IsFinalized(o) +#else + #define __Pyx_PyObject_GC_IsFinalized(o) _PyGC_FINALIZED(o) +#endif +#ifndef CO_COROUTINE + #define CO_COROUTINE 0x80 +#endif +#ifndef CO_ASYNC_GENERATOR + #define CO_ASYNC_GENERATOR 0x200 +#endif +#ifndef Py_TPFLAGS_CHECKTYPES + #define Py_TPFLAGS_CHECKTYPES 0 +#endif +#ifndef Py_TPFLAGS_HAVE_INDEX + #define Py_TPFLAGS_HAVE_INDEX 0 +#endif +#ifndef Py_TPFLAGS_HAVE_NEWBUFFER + #define Py_TPFLAGS_HAVE_NEWBUFFER 0 +#endif +#ifndef Py_TPFLAGS_HAVE_FINALIZE + #define Py_TPFLAGS_HAVE_FINALIZE 0 +#endif +#ifndef Py_TPFLAGS_SEQUENCE + #define Py_TPFLAGS_SEQUENCE 0 +#endif +#ifndef Py_TPFLAGS_MAPPING + #define Py_TPFLAGS_MAPPING 0 +#endif +#ifndef METH_STACKLESS + #define METH_STACKLESS 0 +#endif +#if PY_VERSION_HEX <= 0x030700A3 || !defined(METH_FASTCALL) + #ifndef METH_FASTCALL + #define METH_FASTCALL 0x80 + #endif + typedef PyObject *(*__Pyx_PyCFunctionFast) (PyObject *self, PyObject *const *args, Py_ssize_t nargs); + typedef PyObject *(*__Pyx_PyCFunctionFastWithKeywords) (PyObject *self, PyObject *const *args, + Py_ssize_t nargs, PyObject *kwnames); +#else + #define __Pyx_PyCFunctionFast _PyCFunctionFast + #define __Pyx_PyCFunctionFastWithKeywords _PyCFunctionFastWithKeywords +#endif +#if CYTHON_METH_FASTCALL + #define __Pyx_METH_FASTCALL METH_FASTCALL + #define __Pyx_PyCFunction_FastCall __Pyx_PyCFunctionFast + #define __Pyx_PyCFunction_FastCallWithKeywords __Pyx_PyCFunctionFastWithKeywords +#else + #define __Pyx_METH_FASTCALL METH_VARARGS + #define __Pyx_PyCFunction_FastCall PyCFunction + #define __Pyx_PyCFunction_FastCallWithKeywords PyCFunctionWithKeywords +#endif +#if CYTHON_VECTORCALL + #define __pyx_vectorcallfunc vectorcallfunc + #define __Pyx_PY_VECTORCALL_ARGUMENTS_OFFSET PY_VECTORCALL_ARGUMENTS_OFFSET + #define __Pyx_PyVectorcall_NARGS(n) PyVectorcall_NARGS((size_t)(n)) +#elif CYTHON_BACKPORT_VECTORCALL + typedef PyObject *(*__pyx_vectorcallfunc)(PyObject *callable, PyObject *const *args, + size_t nargsf, PyObject *kwnames); + #define __Pyx_PY_VECTORCALL_ARGUMENTS_OFFSET ((size_t)1 << (8 * sizeof(size_t) - 1)) + #define __Pyx_PyVectorcall_NARGS(n) ((Py_ssize_t)(((size_t)(n)) & ~__Pyx_PY_VECTORCALL_ARGUMENTS_OFFSET)) +#else + #define __Pyx_PY_VECTORCALL_ARGUMENTS_OFFSET 0 + #define __Pyx_PyVectorcall_NARGS(n) ((Py_ssize_t)(n)) +#endif +#if PY_MAJOR_VERSION >= 0x030900B1 +#define __Pyx_PyCFunction_CheckExact(func) PyCFunction_CheckExact(func) +#else +#define __Pyx_PyCFunction_CheckExact(func) PyCFunction_Check(func) +#endif +#define __Pyx_CyOrPyCFunction_Check(func) PyCFunction_Check(func) +#if CYTHON_COMPILING_IN_CPYTHON +#define __Pyx_CyOrPyCFunction_GET_FUNCTION(func) (((PyCFunctionObject*)(func))->m_ml->ml_meth) +#elif !CYTHON_COMPILING_IN_LIMITED_API +#define __Pyx_CyOrPyCFunction_GET_FUNCTION(func) PyCFunction_GET_FUNCTION(func) +#endif +#if CYTHON_COMPILING_IN_CPYTHON +#define __Pyx_CyOrPyCFunction_GET_FLAGS(func) (((PyCFunctionObject*)(func))->m_ml->ml_flags) +static CYTHON_INLINE PyObject* __Pyx_CyOrPyCFunction_GET_SELF(PyObject *func) { + return (__Pyx_CyOrPyCFunction_GET_FLAGS(func) & METH_STATIC) ? NULL : ((PyCFunctionObject*)func)->m_self; +} +#endif +static CYTHON_INLINE int __Pyx__IsSameCFunction(PyObject *func, void *cfunc) { +#if CYTHON_COMPILING_IN_LIMITED_API + return PyCFunction_Check(func) && PyCFunction_GetFunction(func) == (PyCFunction) cfunc; +#else + return PyCFunction_Check(func) && PyCFunction_GET_FUNCTION(func) == (PyCFunction) cfunc; +#endif +} +#define __Pyx_IsSameCFunction(func, cfunc) __Pyx__IsSameCFunction(func, cfunc) +#if __PYX_LIMITED_VERSION_HEX < 0x030900B1 + #define __Pyx_PyType_FromModuleAndSpec(m, s, b) ((void)m, PyType_FromSpecWithBases(s, b)) + typedef PyObject *(*__Pyx_PyCMethod)(PyObject *, PyTypeObject *, PyObject *const *, size_t, PyObject *); +#else + #define __Pyx_PyType_FromModuleAndSpec(m, s, b) PyType_FromModuleAndSpec(m, s, b) + #define __Pyx_PyCMethod PyCMethod +#endif +#ifndef METH_METHOD + #define METH_METHOD 0x200 +#endif +#if CYTHON_COMPILING_IN_PYPY && !defined(PyObject_Malloc) + #define PyObject_Malloc(s) PyMem_Malloc(s) + #define PyObject_Free(p) PyMem_Free(p) + #define PyObject_Realloc(p) PyMem_Realloc(p) +#endif +#if CYTHON_COMPILING_IN_LIMITED_API + #define __Pyx_PyCode_HasFreeVars(co) (PyCode_GetNumFree(co) > 0) + #define __Pyx_PyFrame_SetLineNumber(frame, lineno) +#else + #define __Pyx_PyCode_HasFreeVars(co) (PyCode_GetNumFree(co) > 0) + #define __Pyx_PyFrame_SetLineNumber(frame, lineno) (frame)->f_lineno = (lineno) +#endif +#if CYTHON_COMPILING_IN_LIMITED_API + #define __Pyx_PyThreadState_Current PyThreadState_Get() +#elif !CYTHON_FAST_THREAD_STATE + #define __Pyx_PyThreadState_Current PyThreadState_GET() +#elif PY_VERSION_HEX >= 0x030d00A1 + #define __Pyx_PyThreadState_Current PyThreadState_GetUnchecked() +#elif PY_VERSION_HEX >= 0x03060000 + #define __Pyx_PyThreadState_Current _PyThreadState_UncheckedGet() +#elif PY_VERSION_HEX >= 0x03000000 + #define __Pyx_PyThreadState_Current PyThreadState_GET() +#else + #define __Pyx_PyThreadState_Current _PyThreadState_Current +#endif +#if CYTHON_COMPILING_IN_LIMITED_API +static CYTHON_INLINE void *__Pyx_PyModule_GetState(PyObject *op) +{ + void *result; + result = PyModule_GetState(op); + if (!result) + Py_FatalError("Couldn't find the module state"); + return result; +} +#endif +#define __Pyx_PyObject_GetSlot(obj, name, func_ctype) __Pyx_PyType_GetSlot(Py_TYPE(obj), name, func_ctype) +#if CYTHON_COMPILING_IN_LIMITED_API + #define __Pyx_PyType_GetSlot(type, name, func_ctype) ((func_ctype) PyType_GetSlot((type), Py_##name)) +#else + #define __Pyx_PyType_GetSlot(type, name, func_ctype) ((type)->name) +#endif +#if PY_VERSION_HEX < 0x030700A2 && !defined(PyThread_tss_create) && !defined(Py_tss_NEEDS_INIT) +#include "pythread.h" +#define Py_tss_NEEDS_INIT 0 +typedef int Py_tss_t; +static CYTHON_INLINE int PyThread_tss_create(Py_tss_t *key) { + *key = PyThread_create_key(); + return 0; +} +static CYTHON_INLINE Py_tss_t * PyThread_tss_alloc(void) { + Py_tss_t *key = (Py_tss_t *)PyObject_Malloc(sizeof(Py_tss_t)); + *key = Py_tss_NEEDS_INIT; + return key; +} +static CYTHON_INLINE void PyThread_tss_free(Py_tss_t *key) { + PyObject_Free(key); +} +static CYTHON_INLINE int PyThread_tss_is_created(Py_tss_t *key) { + return *key != Py_tss_NEEDS_INIT; +} +static CYTHON_INLINE void PyThread_tss_delete(Py_tss_t *key) { + PyThread_delete_key(*key); + *key = Py_tss_NEEDS_INIT; +} +static CYTHON_INLINE int PyThread_tss_set(Py_tss_t *key, void *value) { + return PyThread_set_key_value(*key, value); +} +static CYTHON_INLINE void * PyThread_tss_get(Py_tss_t *key) { + return PyThread_get_key_value(*key); +} +#endif +#if PY_MAJOR_VERSION < 3 + #if CYTHON_COMPILING_IN_PYPY + #if PYPY_VERSION_NUM < 0x07030600 + #if defined(__cplusplus) && __cplusplus >= 201402L + [[deprecated("`with nogil:` inside a nogil function will not release the GIL in PyPy2 < 7.3.6")]] + #elif defined(__GNUC__) || defined(__clang__) + __attribute__ ((__deprecated__("`with nogil:` inside a nogil function will not release the GIL in PyPy2 < 7.3.6"))) + #elif defined(_MSC_VER) + __declspec(deprecated("`with nogil:` inside a nogil function will not release the GIL in PyPy2 < 7.3.6")) + #endif + static CYTHON_INLINE int PyGILState_Check(void) { + return 0; + } + #else // PYPY_VERSION_NUM < 0x07030600 + #endif // PYPY_VERSION_NUM < 0x07030600 + #else + static CYTHON_INLINE int PyGILState_Check(void) { + PyThreadState * tstate = _PyThreadState_Current; + return tstate && (tstate == PyGILState_GetThisThreadState()); + } + #endif +#endif +#if CYTHON_COMPILING_IN_CPYTHON && PY_VERSION_HEX < 0x030d0000 || defined(_PyDict_NewPresized) +#define __Pyx_PyDict_NewPresized(n) ((n <= 8) ? PyDict_New() : _PyDict_NewPresized(n)) +#else +#define __Pyx_PyDict_NewPresized(n) PyDict_New() +#endif +#if PY_MAJOR_VERSION >= 3 || CYTHON_FUTURE_DIVISION + #define __Pyx_PyNumber_Divide(x,y) PyNumber_TrueDivide(x,y) + #define __Pyx_PyNumber_InPlaceDivide(x,y) PyNumber_InPlaceTrueDivide(x,y) +#else + #define __Pyx_PyNumber_Divide(x,y) PyNumber_Divide(x,y) + #define __Pyx_PyNumber_InPlaceDivide(x,y) PyNumber_InPlaceDivide(x,y) +#endif +#if CYTHON_COMPILING_IN_CPYTHON && PY_VERSION_HEX > 0x030600B4 && PY_VERSION_HEX < 0x030d0000 && CYTHON_USE_UNICODE_INTERNALS +#define __Pyx_PyDict_GetItemStrWithError(dict, name) _PyDict_GetItem_KnownHash(dict, name, ((PyASCIIObject *) name)->hash) +static CYTHON_INLINE PyObject * __Pyx_PyDict_GetItemStr(PyObject *dict, PyObject *name) { + PyObject *res = __Pyx_PyDict_GetItemStrWithError(dict, name); + if (res == NULL) PyErr_Clear(); + return res; +} +#elif PY_MAJOR_VERSION >= 3 && (!CYTHON_COMPILING_IN_PYPY || PYPY_VERSION_NUM >= 0x07020000) +#define __Pyx_PyDict_GetItemStrWithError PyDict_GetItemWithError +#define __Pyx_PyDict_GetItemStr PyDict_GetItem +#else +static CYTHON_INLINE PyObject * __Pyx_PyDict_GetItemStrWithError(PyObject *dict, PyObject *name) { +#if CYTHON_COMPILING_IN_PYPY + return PyDict_GetItem(dict, name); +#else + PyDictEntry *ep; + PyDictObject *mp = (PyDictObject*) dict; + long hash = ((PyStringObject *) name)->ob_shash; + assert(hash != -1); + ep = (mp->ma_lookup)(mp, name, hash); + if (ep == NULL) { + return NULL; + } + return ep->me_value; +#endif +} +#define __Pyx_PyDict_GetItemStr PyDict_GetItem +#endif +#if CYTHON_USE_TYPE_SLOTS + #define __Pyx_PyType_GetFlags(tp) (((PyTypeObject *)tp)->tp_flags) + #define __Pyx_PyType_HasFeature(type, feature) ((__Pyx_PyType_GetFlags(type) & (feature)) != 0) + #define __Pyx_PyObject_GetIterNextFunc(obj) (Py_TYPE(obj)->tp_iternext) +#else + #define __Pyx_PyType_GetFlags(tp) (PyType_GetFlags((PyTypeObject *)tp)) + #define __Pyx_PyType_HasFeature(type, feature) PyType_HasFeature(type, feature) + #define __Pyx_PyObject_GetIterNextFunc(obj) PyIter_Next +#endif +#if CYTHON_COMPILING_IN_LIMITED_API + #define __Pyx_SetItemOnTypeDict(tp, k, v) PyObject_GenericSetAttr((PyObject*)tp, k, v) +#else + #define __Pyx_SetItemOnTypeDict(tp, k, v) PyDict_SetItem(tp->tp_dict, k, v) +#endif +#if CYTHON_USE_TYPE_SPECS && PY_VERSION_HEX >= 0x03080000 +#define __Pyx_PyHeapTypeObject_GC_Del(obj) {\ + PyTypeObject *type = Py_TYPE((PyObject*)obj);\ + assert(__Pyx_PyType_HasFeature(type, Py_TPFLAGS_HEAPTYPE));\ + PyObject_GC_Del(obj);\ + Py_DECREF(type);\ +} +#else +#define __Pyx_PyHeapTypeObject_GC_Del(obj) PyObject_GC_Del(obj) +#endif +#if CYTHON_COMPILING_IN_LIMITED_API + #define CYTHON_PEP393_ENABLED 1 + #define __Pyx_PyUnicode_READY(op) (0) + #define __Pyx_PyUnicode_GET_LENGTH(u) PyUnicode_GetLength(u) + #define __Pyx_PyUnicode_READ_CHAR(u, i) PyUnicode_ReadChar(u, i) + #define __Pyx_PyUnicode_MAX_CHAR_VALUE(u) ((void)u, 1114111U) + #define __Pyx_PyUnicode_KIND(u) ((void)u, (0)) + #define __Pyx_PyUnicode_DATA(u) ((void*)u) + #define __Pyx_PyUnicode_READ(k, d, i) ((void)k, PyUnicode_ReadChar((PyObject*)(d), i)) + #define __Pyx_PyUnicode_IS_TRUE(u) (0 != PyUnicode_GetLength(u)) +#elif PY_VERSION_HEX > 0x03030000 && defined(PyUnicode_KIND) + #define CYTHON_PEP393_ENABLED 1 + #if PY_VERSION_HEX >= 0x030C0000 + #define __Pyx_PyUnicode_READY(op) (0) + #else + #define __Pyx_PyUnicode_READY(op) (likely(PyUnicode_IS_READY(op)) ?\ + 0 : _PyUnicode_Ready((PyObject *)(op))) + #endif + #define __Pyx_PyUnicode_GET_LENGTH(u) PyUnicode_GET_LENGTH(u) + #define __Pyx_PyUnicode_READ_CHAR(u, i) PyUnicode_READ_CHAR(u, i) + #define __Pyx_PyUnicode_MAX_CHAR_VALUE(u) PyUnicode_MAX_CHAR_VALUE(u) + #define __Pyx_PyUnicode_KIND(u) ((int)PyUnicode_KIND(u)) + #define __Pyx_PyUnicode_DATA(u) PyUnicode_DATA(u) + #define __Pyx_PyUnicode_READ(k, d, i) PyUnicode_READ(k, d, i) + #define __Pyx_PyUnicode_WRITE(k, d, i, ch) PyUnicode_WRITE(k, d, i, (Py_UCS4) ch) + #if PY_VERSION_HEX >= 0x030C0000 + #define __Pyx_PyUnicode_IS_TRUE(u) (0 != PyUnicode_GET_LENGTH(u)) + #else + #if CYTHON_COMPILING_IN_CPYTHON && PY_VERSION_HEX >= 0x03090000 + #define __Pyx_PyUnicode_IS_TRUE(u) (0 != (likely(PyUnicode_IS_READY(u)) ? PyUnicode_GET_LENGTH(u) : ((PyCompactUnicodeObject *)(u))->wstr_length)) + #else + #define __Pyx_PyUnicode_IS_TRUE(u) (0 != (likely(PyUnicode_IS_READY(u)) ? PyUnicode_GET_LENGTH(u) : PyUnicode_GET_SIZE(u))) + #endif + #endif +#else + #define CYTHON_PEP393_ENABLED 0 + #define PyUnicode_1BYTE_KIND 1 + #define PyUnicode_2BYTE_KIND 2 + #define PyUnicode_4BYTE_KIND 4 + #define __Pyx_PyUnicode_READY(op) (0) + #define __Pyx_PyUnicode_GET_LENGTH(u) PyUnicode_GET_SIZE(u) + #define __Pyx_PyUnicode_READ_CHAR(u, i) ((Py_UCS4)(PyUnicode_AS_UNICODE(u)[i])) + #define __Pyx_PyUnicode_MAX_CHAR_VALUE(u) ((sizeof(Py_UNICODE) == 2) ? 65535U : 1114111U) + #define __Pyx_PyUnicode_KIND(u) ((int)sizeof(Py_UNICODE)) + #define __Pyx_PyUnicode_DATA(u) ((void*)PyUnicode_AS_UNICODE(u)) + #define __Pyx_PyUnicode_READ(k, d, i) ((void)(k), (Py_UCS4)(((Py_UNICODE*)d)[i])) + #define __Pyx_PyUnicode_WRITE(k, d, i, ch) (((void)(k)), ((Py_UNICODE*)d)[i] = (Py_UNICODE) ch) + #define __Pyx_PyUnicode_IS_TRUE(u) (0 != PyUnicode_GET_SIZE(u)) +#endif +#if CYTHON_COMPILING_IN_PYPY + #define __Pyx_PyUnicode_Concat(a, b) PyNumber_Add(a, b) + #define __Pyx_PyUnicode_ConcatSafe(a, b) PyNumber_Add(a, b) +#else + #define __Pyx_PyUnicode_Concat(a, b) PyUnicode_Concat(a, b) + #define __Pyx_PyUnicode_ConcatSafe(a, b) ((unlikely((a) == Py_None) || unlikely((b) == Py_None)) ?\ + PyNumber_Add(a, b) : __Pyx_PyUnicode_Concat(a, b)) +#endif +#if CYTHON_COMPILING_IN_PYPY + #if !defined(PyUnicode_DecodeUnicodeEscape) + #define PyUnicode_DecodeUnicodeEscape(s, size, errors) PyUnicode_Decode(s, size, "unicode_escape", errors) + #endif + #if !defined(PyUnicode_Contains) || (PY_MAJOR_VERSION == 2 && PYPY_VERSION_NUM < 0x07030500) + #undef PyUnicode_Contains + #define PyUnicode_Contains(u, s) PySequence_Contains(u, s) + #endif + #if !defined(PyByteArray_Check) + #define PyByteArray_Check(obj) PyObject_TypeCheck(obj, &PyByteArray_Type) + #endif + #if !defined(PyObject_Format) + #define PyObject_Format(obj, fmt) PyObject_CallMethod(obj, "__format__", "O", fmt) + #endif +#endif +#define __Pyx_PyString_FormatSafe(a, b) ((unlikely((a) == Py_None || (PyString_Check(b) && !PyString_CheckExact(b)))) ? PyNumber_Remainder(a, b) : __Pyx_PyString_Format(a, b)) +#define __Pyx_PyUnicode_FormatSafe(a, b) ((unlikely((a) == Py_None || (PyUnicode_Check(b) && !PyUnicode_CheckExact(b)))) ? PyNumber_Remainder(a, b) : PyUnicode_Format(a, b)) +#if PY_MAJOR_VERSION >= 3 + #define __Pyx_PyString_Format(a, b) PyUnicode_Format(a, b) +#else + #define __Pyx_PyString_Format(a, b) PyString_Format(a, b) +#endif +#if PY_MAJOR_VERSION < 3 && !defined(PyObject_ASCII) + #define PyObject_ASCII(o) PyObject_Repr(o) +#endif +#if PY_MAJOR_VERSION >= 3 + #define PyBaseString_Type PyUnicode_Type + #define PyStringObject PyUnicodeObject + #define PyString_Type PyUnicode_Type + #define PyString_Check PyUnicode_Check + #define PyString_CheckExact PyUnicode_CheckExact +#ifndef PyObject_Unicode + #define PyObject_Unicode PyObject_Str +#endif +#endif +#if PY_MAJOR_VERSION >= 3 + #define __Pyx_PyBaseString_Check(obj) PyUnicode_Check(obj) + #define __Pyx_PyBaseString_CheckExact(obj) PyUnicode_CheckExact(obj) +#else + #define __Pyx_PyBaseString_Check(obj) (PyString_Check(obj) || PyUnicode_Check(obj)) + #define __Pyx_PyBaseString_CheckExact(obj) (PyString_CheckExact(obj) || PyUnicode_CheckExact(obj)) +#endif +#if CYTHON_COMPILING_IN_CPYTHON + #define __Pyx_PySequence_ListKeepNew(obj)\ + (likely(PyList_CheckExact(obj) && Py_REFCNT(obj) == 1) ? __Pyx_NewRef(obj) : PySequence_List(obj)) +#else + #define __Pyx_PySequence_ListKeepNew(obj) PySequence_List(obj) +#endif +#ifndef PySet_CheckExact + #define PySet_CheckExact(obj) __Pyx_IS_TYPE(obj, &PySet_Type) +#endif +#if PY_VERSION_HEX >= 0x030900A4 + #define __Pyx_SET_REFCNT(obj, refcnt) Py_SET_REFCNT(obj, refcnt) + #define __Pyx_SET_SIZE(obj, size) Py_SET_SIZE(obj, size) +#else + #define __Pyx_SET_REFCNT(obj, refcnt) Py_REFCNT(obj) = (refcnt) + #define __Pyx_SET_SIZE(obj, size) Py_SIZE(obj) = (size) +#endif +#if CYTHON_ASSUME_SAFE_MACROS + #define __Pyx_PySequence_ITEM(o, i) PySequence_ITEM(o, i) + #define __Pyx_PySequence_SIZE(seq) Py_SIZE(seq) + #define __Pyx_PyTuple_SET_ITEM(o, i, v) (PyTuple_SET_ITEM(o, i, v), (0)) + #define __Pyx_PyList_SET_ITEM(o, i, v) (PyList_SET_ITEM(o, i, v), (0)) + #define __Pyx_PyTuple_GET_SIZE(o) PyTuple_GET_SIZE(o) + #define __Pyx_PyList_GET_SIZE(o) PyList_GET_SIZE(o) + #define __Pyx_PySet_GET_SIZE(o) PySet_GET_SIZE(o) + #define __Pyx_PyBytes_GET_SIZE(o) PyBytes_GET_SIZE(o) + #define __Pyx_PyByteArray_GET_SIZE(o) PyByteArray_GET_SIZE(o) +#else + #define __Pyx_PySequence_ITEM(o, i) PySequence_GetItem(o, i) + #define __Pyx_PySequence_SIZE(seq) PySequence_Size(seq) + #define __Pyx_PyTuple_SET_ITEM(o, i, v) PyTuple_SetItem(o, i, v) + #define __Pyx_PyList_SET_ITEM(o, i, v) PyList_SetItem(o, i, v) + #define __Pyx_PyTuple_GET_SIZE(o) PyTuple_Size(o) + #define __Pyx_PyList_GET_SIZE(o) PyList_Size(o) + #define __Pyx_PySet_GET_SIZE(o) PySet_Size(o) + #define __Pyx_PyBytes_GET_SIZE(o) PyBytes_Size(o) + #define __Pyx_PyByteArray_GET_SIZE(o) PyByteArray_Size(o) +#endif +#if PY_VERSION_HEX >= 0x030d00A1 + #define __Pyx_PyImport_AddModuleRef(name) PyImport_AddModuleRef(name) +#else + static CYTHON_INLINE PyObject *__Pyx_PyImport_AddModuleRef(const char *name) { + PyObject *module = PyImport_AddModule(name); + Py_XINCREF(module); + return module; + } +#endif +#if PY_MAJOR_VERSION >= 3 + #define PyIntObject PyLongObject + #define PyInt_Type PyLong_Type + #define PyInt_Check(op) PyLong_Check(op) + #define PyInt_CheckExact(op) PyLong_CheckExact(op) + #define __Pyx_Py3Int_Check(op) PyLong_Check(op) + #define __Pyx_Py3Int_CheckExact(op) PyLong_CheckExact(op) + #define PyInt_FromString PyLong_FromString + #define PyInt_FromUnicode PyLong_FromUnicode + #define PyInt_FromLong PyLong_FromLong + #define PyInt_FromSize_t PyLong_FromSize_t + #define PyInt_FromSsize_t PyLong_FromSsize_t + #define PyInt_AsLong PyLong_AsLong + #define PyInt_AS_LONG PyLong_AS_LONG + #define PyInt_AsSsize_t PyLong_AsSsize_t + #define PyInt_AsUnsignedLongMask PyLong_AsUnsignedLongMask + #define PyInt_AsUnsignedLongLongMask PyLong_AsUnsignedLongLongMask + #define PyNumber_Int PyNumber_Long +#else + #define __Pyx_Py3Int_Check(op) (PyLong_Check(op) || PyInt_Check(op)) + #define __Pyx_Py3Int_CheckExact(op) (PyLong_CheckExact(op) || PyInt_CheckExact(op)) +#endif +#if PY_MAJOR_VERSION >= 3 + #define PyBoolObject PyLongObject +#endif +#if PY_MAJOR_VERSION >= 3 && CYTHON_COMPILING_IN_PYPY + #ifndef PyUnicode_InternFromString + #define PyUnicode_InternFromString(s) PyUnicode_FromString(s) + #endif +#endif +#if PY_VERSION_HEX < 0x030200A4 + typedef long Py_hash_t; + #define __Pyx_PyInt_FromHash_t PyInt_FromLong + #define __Pyx_PyInt_AsHash_t __Pyx_PyIndex_AsHash_t +#else + #define __Pyx_PyInt_FromHash_t PyInt_FromSsize_t + #define __Pyx_PyInt_AsHash_t __Pyx_PyIndex_AsSsize_t +#endif +#if CYTHON_USE_ASYNC_SLOTS + #if PY_VERSION_HEX >= 0x030500B1 + #define __Pyx_PyAsyncMethodsStruct PyAsyncMethods + #define __Pyx_PyType_AsAsync(obj) (Py_TYPE(obj)->tp_as_async) + #else + #define __Pyx_PyType_AsAsync(obj) ((__Pyx_PyAsyncMethodsStruct*) (Py_TYPE(obj)->tp_reserved)) + #endif +#else + #define __Pyx_PyType_AsAsync(obj) NULL +#endif +#ifndef __Pyx_PyAsyncMethodsStruct + typedef struct { + unaryfunc am_await; + unaryfunc am_aiter; + unaryfunc am_anext; + } __Pyx_PyAsyncMethodsStruct; +#endif + +#if defined(_WIN32) || defined(WIN32) || defined(MS_WINDOWS) + #if !defined(_USE_MATH_DEFINES) + #define _USE_MATH_DEFINES + #endif +#endif +#include +#ifdef NAN +#define __PYX_NAN() ((float) NAN) +#else +static CYTHON_INLINE float __PYX_NAN() { + float value; + memset(&value, 0xFF, sizeof(value)); + return value; +} +#endif +#if defined(__CYGWIN__) && defined(_LDBL_EQ_DBL) +#define __Pyx_truncl trunc +#else +#define __Pyx_truncl truncl +#endif + +#define __PYX_MARK_ERR_POS(f_index, lineno) \ + { __pyx_filename = __pyx_f[f_index]; (void)__pyx_filename; __pyx_lineno = lineno; (void)__pyx_lineno; __pyx_clineno = __LINE__; (void)__pyx_clineno; } +#define __PYX_ERR(f_index, lineno, Ln_error) \ + { __PYX_MARK_ERR_POS(f_index, lineno) goto Ln_error; } + +#ifdef CYTHON_EXTERN_C + #undef __PYX_EXTERN_C + #define __PYX_EXTERN_C CYTHON_EXTERN_C +#elif defined(__PYX_EXTERN_C) + #ifdef _MSC_VER + #pragma message ("Please do not define the '__PYX_EXTERN_C' macro externally. Use 'CYTHON_EXTERN_C' instead.") + #else + #warning Please do not define the '__PYX_EXTERN_C' macro externally. Use 'CYTHON_EXTERN_C' instead. + #endif +#else + #define __PYX_EXTERN_C extern "C++" +#endif + +#define __PYX_HAVE__selfdrive__classic_modeld__runners__thneedmodel_pyx +#define __PYX_HAVE_API__selfdrive__classic_modeld__runners__thneedmodel_pyx +/* Early includes */ +#include +#include +#include "ios" +#include "new" +#include "stdexcept" +#include "typeinfo" +#include +#include + + #if __cplusplus >= 201103L || (defined(_MSC_VER) && _MSC_VER >= 1600) + // move should be defined for these versions of MSVC, but __cplusplus isn't set usefully + #include + + namespace cython_std { + template typename std::remove_reference::type&& move(T& t) noexcept { return std::move(t); } + template typename std::remove_reference::type&& move(T&& t) noexcept { return std::move(t); } + } + + #endif + +#include +#include +#include "msgq/visionipc/visionbuf.h" +#include "msgq/visionipc/visionipc.h" +#include "msgq/visionipc/visionipc_server.h" +#include "msgq/visionipc/visionipc_client.h" +#include "selfdrive/classic_modeld/runners/thneedmodel.h" +#include "selfdrive/classic_modeld/runners/runmodel.h" +#include "pythread.h" +#include +#ifdef _OPENMP +#include +#endif /* _OPENMP */ + +#if defined(PYREX_WITHOUT_ASSERTIONS) && !defined(CYTHON_WITHOUT_ASSERTIONS) +#define CYTHON_WITHOUT_ASSERTIONS +#endif + +typedef struct {PyObject **p; const char *s; const Py_ssize_t n; const char* encoding; + const char is_unicode; const char is_str; const char intern; } __Pyx_StringTabEntry; + +#define __PYX_DEFAULT_STRING_ENCODING_IS_ASCII 1 +#define __PYX_DEFAULT_STRING_ENCODING_IS_UTF8 0 +#define __PYX_DEFAULT_STRING_ENCODING_IS_DEFAULT (PY_MAJOR_VERSION >= 3 && __PYX_DEFAULT_STRING_ENCODING_IS_UTF8) +#define __PYX_DEFAULT_STRING_ENCODING "ascii" +#define __Pyx_PyObject_FromString __Pyx_PyBytes_FromString +#define __Pyx_PyObject_FromStringAndSize __Pyx_PyBytes_FromStringAndSize +#define __Pyx_uchar_cast(c) ((unsigned char)c) +#define __Pyx_long_cast(x) ((long)x) +#define __Pyx_fits_Py_ssize_t(v, type, is_signed) (\ + (sizeof(type) < sizeof(Py_ssize_t)) ||\ + (sizeof(type) > sizeof(Py_ssize_t) &&\ + likely(v < (type)PY_SSIZE_T_MAX ||\ + v == (type)PY_SSIZE_T_MAX) &&\ + (!is_signed || likely(v > (type)PY_SSIZE_T_MIN ||\ + v == (type)PY_SSIZE_T_MIN))) ||\ + (sizeof(type) == sizeof(Py_ssize_t) &&\ + (is_signed || likely(v < (type)PY_SSIZE_T_MAX ||\ + v == (type)PY_SSIZE_T_MAX))) ) +static CYTHON_INLINE int __Pyx_is_valid_index(Py_ssize_t i, Py_ssize_t limit) { + return (size_t) i < (size_t) limit; +} +#if defined (__cplusplus) && __cplusplus >= 201103L + #include + #define __Pyx_sst_abs(value) std::abs(value) +#elif SIZEOF_INT >= SIZEOF_SIZE_T + #define __Pyx_sst_abs(value) abs(value) +#elif SIZEOF_LONG >= SIZEOF_SIZE_T + #define __Pyx_sst_abs(value) labs(value) +#elif defined (_MSC_VER) + #define __Pyx_sst_abs(value) ((Py_ssize_t)_abs64(value)) +#elif defined (__STDC_VERSION__) && __STDC_VERSION__ >= 199901L + #define __Pyx_sst_abs(value) llabs(value) +#elif defined (__GNUC__) + #define __Pyx_sst_abs(value) __builtin_llabs(value) +#else + #define __Pyx_sst_abs(value) ((value<0) ? -value : value) +#endif +static CYTHON_INLINE Py_ssize_t __Pyx_ssize_strlen(const char *s); +static CYTHON_INLINE const char* __Pyx_PyObject_AsString(PyObject*); +static CYTHON_INLINE const char* __Pyx_PyObject_AsStringAndSize(PyObject*, Py_ssize_t* length); +static CYTHON_INLINE PyObject* __Pyx_PyByteArray_FromString(const char*); +#define __Pyx_PyByteArray_FromStringAndSize(s, l) PyByteArray_FromStringAndSize((const char*)s, l) +#define __Pyx_PyBytes_FromString PyBytes_FromString +#define __Pyx_PyBytes_FromStringAndSize PyBytes_FromStringAndSize +static CYTHON_INLINE PyObject* __Pyx_PyUnicode_FromString(const char*); +#if PY_MAJOR_VERSION < 3 + #define __Pyx_PyStr_FromString __Pyx_PyBytes_FromString + #define __Pyx_PyStr_FromStringAndSize __Pyx_PyBytes_FromStringAndSize +#else + #define __Pyx_PyStr_FromString __Pyx_PyUnicode_FromString + #define __Pyx_PyStr_FromStringAndSize __Pyx_PyUnicode_FromStringAndSize +#endif +#define __Pyx_PyBytes_AsWritableString(s) ((char*) PyBytes_AS_STRING(s)) +#define __Pyx_PyBytes_AsWritableSString(s) ((signed char*) PyBytes_AS_STRING(s)) +#define __Pyx_PyBytes_AsWritableUString(s) ((unsigned char*) PyBytes_AS_STRING(s)) +#define __Pyx_PyBytes_AsString(s) ((const char*) PyBytes_AS_STRING(s)) +#define __Pyx_PyBytes_AsSString(s) ((const signed char*) PyBytes_AS_STRING(s)) +#define __Pyx_PyBytes_AsUString(s) ((const unsigned char*) PyBytes_AS_STRING(s)) +#define __Pyx_PyObject_AsWritableString(s) ((char*)(__pyx_uintptr_t) __Pyx_PyObject_AsString(s)) +#define __Pyx_PyObject_AsWritableSString(s) ((signed char*)(__pyx_uintptr_t) __Pyx_PyObject_AsString(s)) +#define __Pyx_PyObject_AsWritableUString(s) ((unsigned char*)(__pyx_uintptr_t) __Pyx_PyObject_AsString(s)) +#define __Pyx_PyObject_AsSString(s) ((const signed char*) __Pyx_PyObject_AsString(s)) +#define __Pyx_PyObject_AsUString(s) ((const unsigned char*) __Pyx_PyObject_AsString(s)) +#define __Pyx_PyObject_FromCString(s) __Pyx_PyObject_FromString((const char*)s) +#define __Pyx_PyBytes_FromCString(s) __Pyx_PyBytes_FromString((const char*)s) +#define __Pyx_PyByteArray_FromCString(s) __Pyx_PyByteArray_FromString((const char*)s) +#define __Pyx_PyStr_FromCString(s) __Pyx_PyStr_FromString((const char*)s) +#define __Pyx_PyUnicode_FromCString(s) __Pyx_PyUnicode_FromString((const char*)s) +#if CYTHON_COMPILING_IN_LIMITED_API +static CYTHON_INLINE size_t __Pyx_Py_UNICODE_strlen(const wchar_t *u) +{ + const wchar_t *u_end = u; + while (*u_end++) ; + return (size_t)(u_end - u - 1); +} +#else +static CYTHON_INLINE size_t __Pyx_Py_UNICODE_strlen(const Py_UNICODE *u) +{ + const Py_UNICODE *u_end = u; + while (*u_end++) ; + return (size_t)(u_end - u - 1); +} +#endif +#define __Pyx_PyUnicode_FromOrdinal(o) PyUnicode_FromOrdinal((int)o) +#define __Pyx_PyUnicode_FromUnicode(u) PyUnicode_FromUnicode(u, __Pyx_Py_UNICODE_strlen(u)) +#define __Pyx_PyUnicode_FromUnicodeAndLength PyUnicode_FromUnicode +#define __Pyx_PyUnicode_AsUnicode PyUnicode_AsUnicode +#define __Pyx_NewRef(obj) (Py_INCREF(obj), obj) +#define __Pyx_Owned_Py_None(b) __Pyx_NewRef(Py_None) +static CYTHON_INLINE PyObject * __Pyx_PyBool_FromLong(long b); +static CYTHON_INLINE int __Pyx_PyObject_IsTrue(PyObject*); +static CYTHON_INLINE int __Pyx_PyObject_IsTrueAndDecref(PyObject*); +static CYTHON_INLINE PyObject* __Pyx_PyNumber_IntOrLong(PyObject* x); +#define __Pyx_PySequence_Tuple(obj)\ + (likely(PyTuple_CheckExact(obj)) ? __Pyx_NewRef(obj) : PySequence_Tuple(obj)) +static CYTHON_INLINE Py_ssize_t __Pyx_PyIndex_AsSsize_t(PyObject*); +static CYTHON_INLINE PyObject * __Pyx_PyInt_FromSize_t(size_t); +static CYTHON_INLINE Py_hash_t __Pyx_PyIndex_AsHash_t(PyObject*); +#if CYTHON_ASSUME_SAFE_MACROS +#define __pyx_PyFloat_AsDouble(x) (PyFloat_CheckExact(x) ? PyFloat_AS_DOUBLE(x) : PyFloat_AsDouble(x)) +#else +#define __pyx_PyFloat_AsDouble(x) PyFloat_AsDouble(x) +#endif +#define __pyx_PyFloat_AsFloat(x) ((float) __pyx_PyFloat_AsDouble(x)) +#if PY_MAJOR_VERSION >= 3 +#define __Pyx_PyNumber_Int(x) (PyLong_CheckExact(x) ? __Pyx_NewRef(x) : PyNumber_Long(x)) +#else +#define __Pyx_PyNumber_Int(x) (PyInt_CheckExact(x) ? __Pyx_NewRef(x) : PyNumber_Int(x)) +#endif +#if CYTHON_USE_PYLONG_INTERNALS + #if PY_VERSION_HEX >= 0x030C00A7 + #ifndef _PyLong_SIGN_MASK + #define _PyLong_SIGN_MASK 3 + #endif + #ifndef _PyLong_NON_SIZE_BITS + #define _PyLong_NON_SIZE_BITS 3 + #endif + #define __Pyx_PyLong_Sign(x) (((PyLongObject*)x)->long_value.lv_tag & _PyLong_SIGN_MASK) + #define __Pyx_PyLong_IsNeg(x) ((__Pyx_PyLong_Sign(x) & 2) != 0) + #define __Pyx_PyLong_IsNonNeg(x) (!__Pyx_PyLong_IsNeg(x)) + #define __Pyx_PyLong_IsZero(x) (__Pyx_PyLong_Sign(x) & 1) + #define __Pyx_PyLong_IsPos(x) (__Pyx_PyLong_Sign(x) == 0) + #define __Pyx_PyLong_CompactValueUnsigned(x) (__Pyx_PyLong_Digits(x)[0]) + #define __Pyx_PyLong_DigitCount(x) ((Py_ssize_t) (((PyLongObject*)x)->long_value.lv_tag >> _PyLong_NON_SIZE_BITS)) + #define __Pyx_PyLong_SignedDigitCount(x)\ + ((1 - (Py_ssize_t) __Pyx_PyLong_Sign(x)) * __Pyx_PyLong_DigitCount(x)) + #if defined(PyUnstable_Long_IsCompact) && defined(PyUnstable_Long_CompactValue) + #define __Pyx_PyLong_IsCompact(x) PyUnstable_Long_IsCompact((PyLongObject*) x) + #define __Pyx_PyLong_CompactValue(x) PyUnstable_Long_CompactValue((PyLongObject*) x) + #else + #define __Pyx_PyLong_IsCompact(x) (((PyLongObject*)x)->long_value.lv_tag < (2 << _PyLong_NON_SIZE_BITS)) + #define __Pyx_PyLong_CompactValue(x) ((1 - (Py_ssize_t) __Pyx_PyLong_Sign(x)) * (Py_ssize_t) __Pyx_PyLong_Digits(x)[0]) + #endif + typedef Py_ssize_t __Pyx_compact_pylong; + typedef size_t __Pyx_compact_upylong; + #else + #define __Pyx_PyLong_IsNeg(x) (Py_SIZE(x) < 0) + #define __Pyx_PyLong_IsNonNeg(x) (Py_SIZE(x) >= 0) + #define __Pyx_PyLong_IsZero(x) (Py_SIZE(x) == 0) + #define __Pyx_PyLong_IsPos(x) (Py_SIZE(x) > 0) + #define __Pyx_PyLong_CompactValueUnsigned(x) ((Py_SIZE(x) == 0) ? 0 : __Pyx_PyLong_Digits(x)[0]) + #define __Pyx_PyLong_DigitCount(x) __Pyx_sst_abs(Py_SIZE(x)) + #define __Pyx_PyLong_SignedDigitCount(x) Py_SIZE(x) + #define __Pyx_PyLong_IsCompact(x) (Py_SIZE(x) == 0 || Py_SIZE(x) == 1 || Py_SIZE(x) == -1) + #define __Pyx_PyLong_CompactValue(x)\ + ((Py_SIZE(x) == 0) ? (sdigit) 0 : ((Py_SIZE(x) < 0) ? -(sdigit)__Pyx_PyLong_Digits(x)[0] : (sdigit)__Pyx_PyLong_Digits(x)[0])) + typedef sdigit __Pyx_compact_pylong; + typedef digit __Pyx_compact_upylong; + #endif + #if PY_VERSION_HEX >= 0x030C00A5 + #define __Pyx_PyLong_Digits(x) (((PyLongObject*)x)->long_value.ob_digit) + #else + #define __Pyx_PyLong_Digits(x) (((PyLongObject*)x)->ob_digit) + #endif +#endif +#if PY_MAJOR_VERSION < 3 && __PYX_DEFAULT_STRING_ENCODING_IS_ASCII +#include +static int __Pyx_sys_getdefaultencoding_not_ascii; +static int __Pyx_init_sys_getdefaultencoding_params(void) { + PyObject* sys; + PyObject* default_encoding = NULL; + PyObject* ascii_chars_u = NULL; + PyObject* ascii_chars_b = NULL; + const char* default_encoding_c; + sys = PyImport_ImportModule("sys"); + if (!sys) goto bad; + default_encoding = PyObject_CallMethod(sys, (char*) "getdefaultencoding", NULL); + Py_DECREF(sys); + if (!default_encoding) goto bad; + default_encoding_c = PyBytes_AsString(default_encoding); + if (!default_encoding_c) goto bad; + if (strcmp(default_encoding_c, "ascii") == 0) { + __Pyx_sys_getdefaultencoding_not_ascii = 0; + } else { + char ascii_chars[128]; + int c; + for (c = 0; c < 128; c++) { + ascii_chars[c] = (char) c; + } + __Pyx_sys_getdefaultencoding_not_ascii = 1; + ascii_chars_u = PyUnicode_DecodeASCII(ascii_chars, 128, NULL); + if (!ascii_chars_u) goto bad; + ascii_chars_b = PyUnicode_AsEncodedString(ascii_chars_u, default_encoding_c, NULL); + if (!ascii_chars_b || !PyBytes_Check(ascii_chars_b) || memcmp(ascii_chars, PyBytes_AS_STRING(ascii_chars_b), 128) != 0) { + PyErr_Format( + PyExc_ValueError, + "This module compiled with c_string_encoding=ascii, but default encoding '%.200s' is not a superset of ascii.", + default_encoding_c); + goto bad; + } + Py_DECREF(ascii_chars_u); + Py_DECREF(ascii_chars_b); + } + Py_DECREF(default_encoding); + return 0; +bad: + Py_XDECREF(default_encoding); + Py_XDECREF(ascii_chars_u); + Py_XDECREF(ascii_chars_b); + return -1; +} +#endif +#if __PYX_DEFAULT_STRING_ENCODING_IS_DEFAULT && PY_MAJOR_VERSION >= 3 +#define __Pyx_PyUnicode_FromStringAndSize(c_str, size) PyUnicode_DecodeUTF8(c_str, size, NULL) +#else +#define __Pyx_PyUnicode_FromStringAndSize(c_str, size) PyUnicode_Decode(c_str, size, __PYX_DEFAULT_STRING_ENCODING, NULL) +#if __PYX_DEFAULT_STRING_ENCODING_IS_DEFAULT +#include +static char* __PYX_DEFAULT_STRING_ENCODING; +static int __Pyx_init_sys_getdefaultencoding_params(void) { + PyObject* sys; + PyObject* default_encoding = NULL; + char* default_encoding_c; + sys = PyImport_ImportModule("sys"); + if (!sys) goto bad; + default_encoding = PyObject_CallMethod(sys, (char*) (const char*) "getdefaultencoding", NULL); + Py_DECREF(sys); + if (!default_encoding) goto bad; + default_encoding_c = PyBytes_AsString(default_encoding); + if (!default_encoding_c) goto bad; + __PYX_DEFAULT_STRING_ENCODING = (char*) malloc(strlen(default_encoding_c) + 1); + if (!__PYX_DEFAULT_STRING_ENCODING) goto bad; + strcpy(__PYX_DEFAULT_STRING_ENCODING, default_encoding_c); + Py_DECREF(default_encoding); + return 0; +bad: + Py_XDECREF(default_encoding); + return -1; +} +#endif +#endif + + +/* Test for GCC > 2.95 */ +#if defined(__GNUC__) && (__GNUC__ > 2 || (__GNUC__ == 2 && (__GNUC_MINOR__ > 95))) + #define likely(x) __builtin_expect(!!(x), 1) + #define unlikely(x) __builtin_expect(!!(x), 0) +#else /* !__GNUC__ or GCC < 2.95 */ + #define likely(x) (x) + #define unlikely(x) (x) +#endif /* __GNUC__ */ +static CYTHON_INLINE void __Pyx_pretend_to_initialize(void* ptr) { (void)ptr; } + +#if !CYTHON_USE_MODULE_STATE +static PyObject *__pyx_m = NULL; +#endif +static int __pyx_lineno; +static int __pyx_clineno = 0; +static const char * __pyx_cfilenm = __FILE__; +static const char *__pyx_filename; + +/* #### Code section: filename_table ### */ + +static const char *__pyx_f[] = { + "", + "selfdrive/classic_modeld/runners/thneedmodel_pyx.pyx", + "msgq/visionipc/visionipc_pyx.pxd", + "selfdrive/classic_modeld/models/commonmodel_pyx.pxd", +}; +/* #### Code section: utility_code_proto_before_types ### */ +/* ForceInitThreads.proto */ +#ifndef __PYX_FORCE_INIT_THREADS + #define __PYX_FORCE_INIT_THREADS 0 +#endif + +/* NoFastGil.proto */ +#define __Pyx_PyGILState_Ensure PyGILState_Ensure +#define __Pyx_PyGILState_Release PyGILState_Release +#define __Pyx_FastGIL_Remember() +#define __Pyx_FastGIL_Forget() +#define __Pyx_FastGilFuncInit() + +/* BufferFormatStructs.proto */ +struct __Pyx_StructField_; +#define __PYX_BUF_FLAGS_PACKED_STRUCT (1 << 0) +typedef struct { + const char* name; + struct __Pyx_StructField_* fields; + size_t size; + size_t arraysize[8]; + int ndim; + char typegroup; + char is_unsigned; + int flags; +} __Pyx_TypeInfo; +typedef struct __Pyx_StructField_ { + __Pyx_TypeInfo* type; + const char* name; + size_t offset; +} __Pyx_StructField; +typedef struct { + __Pyx_StructField* field; + size_t parent_offset; +} __Pyx_BufFmt_StackElem; +typedef struct { + __Pyx_StructField root; + __Pyx_BufFmt_StackElem* head; + size_t fmt_offset; + size_t new_count, enc_count; + size_t struct_alignment; + int is_complex; + char enc_type; + char new_packmode; + char enc_packmode; + char is_valid_array; +} __Pyx_BufFmt_Context; + +/* Atomics.proto */ +#include +#ifndef CYTHON_ATOMICS + #define CYTHON_ATOMICS 1 +#endif +#define __PYX_CYTHON_ATOMICS_ENABLED() CYTHON_ATOMICS +#define __pyx_atomic_int_type int +#define __pyx_nonatomic_int_type int +#if CYTHON_ATOMICS && (defined(__STDC_VERSION__) &&\ + (__STDC_VERSION__ >= 201112L) &&\ + !defined(__STDC_NO_ATOMICS__)) + #include +#elif CYTHON_ATOMICS && (defined(__cplusplus) && (\ + (__cplusplus >= 201103L) ||\ + (defined(_MSC_VER) && _MSC_VER >= 1700))) + #include +#endif +#if CYTHON_ATOMICS && (defined(__STDC_VERSION__) &&\ + (__STDC_VERSION__ >= 201112L) &&\ + !defined(__STDC_NO_ATOMICS__) &&\ + ATOMIC_INT_LOCK_FREE == 2) + #undef __pyx_atomic_int_type + #define __pyx_atomic_int_type atomic_int + #define __pyx_atomic_incr_aligned(value) atomic_fetch_add_explicit(value, 1, memory_order_relaxed) + #define __pyx_atomic_decr_aligned(value) atomic_fetch_sub_explicit(value, 1, memory_order_acq_rel) + #if defined(__PYX_DEBUG_ATOMICS) && defined(_MSC_VER) + #pragma message ("Using standard C atomics") + #elif defined(__PYX_DEBUG_ATOMICS) + #warning "Using standard C atomics" + #endif +#elif CYTHON_ATOMICS && (defined(__cplusplus) && (\ + (__cplusplus >= 201103L) ||\ +\ + (defined(_MSC_VER) && _MSC_VER >= 1700)) &&\ + ATOMIC_INT_LOCK_FREE == 2) + #undef __pyx_atomic_int_type + #define __pyx_atomic_int_type std::atomic_int + #define __pyx_atomic_incr_aligned(value) std::atomic_fetch_add_explicit(value, 1, std::memory_order_relaxed) + #define __pyx_atomic_decr_aligned(value) std::atomic_fetch_sub_explicit(value, 1, std::memory_order_acq_rel) + #if defined(__PYX_DEBUG_ATOMICS) && defined(_MSC_VER) + #pragma message ("Using standard C++ atomics") + #elif defined(__PYX_DEBUG_ATOMICS) + #warning "Using standard C++ atomics" + #endif +#elif CYTHON_ATOMICS && (__GNUC__ >= 5 || (__GNUC__ == 4 &&\ + (__GNUC_MINOR__ > 1 ||\ + (__GNUC_MINOR__ == 1 && __GNUC_PATCHLEVEL__ >= 2)))) + #define __pyx_atomic_incr_aligned(value) __sync_fetch_and_add(value, 1) + #define __pyx_atomic_decr_aligned(value) __sync_fetch_and_sub(value, 1) + #ifdef __PYX_DEBUG_ATOMICS + #warning "Using GNU atomics" + #endif +#elif CYTHON_ATOMICS && defined(_MSC_VER) + #include + #undef __pyx_atomic_int_type + #define __pyx_atomic_int_type long + #undef __pyx_nonatomic_int_type + #define __pyx_nonatomic_int_type long + #pragma intrinsic (_InterlockedExchangeAdd) + #define __pyx_atomic_incr_aligned(value) _InterlockedExchangeAdd(value, 1) + #define __pyx_atomic_decr_aligned(value) _InterlockedExchangeAdd(value, -1) + #ifdef __PYX_DEBUG_ATOMICS + #pragma message ("Using MSVC atomics") + #endif +#else + #undef CYTHON_ATOMICS + #define CYTHON_ATOMICS 0 + #ifdef __PYX_DEBUG_ATOMICS + #warning "Not using atomics" + #endif +#endif +#if CYTHON_ATOMICS + #define __pyx_add_acquisition_count(memview)\ + __pyx_atomic_incr_aligned(__pyx_get_slice_count_pointer(memview)) + #define __pyx_sub_acquisition_count(memview)\ + __pyx_atomic_decr_aligned(__pyx_get_slice_count_pointer(memview)) +#else + #define __pyx_add_acquisition_count(memview)\ + __pyx_add_acquisition_count_locked(__pyx_get_slice_count_pointer(memview), memview->lock) + #define __pyx_sub_acquisition_count(memview)\ + __pyx_sub_acquisition_count_locked(__pyx_get_slice_count_pointer(memview), memview->lock) +#endif + +/* MemviewSliceStruct.proto */ +struct __pyx_memoryview_obj; +typedef struct { + struct __pyx_memoryview_obj *memview; + char *data; + Py_ssize_t shape[8]; + Py_ssize_t strides[8]; + Py_ssize_t suboffsets[8]; +} __Pyx_memviewslice; +#define __Pyx_MemoryView_Len(m) (m.shape[0]) + +/* #### Code section: numeric_typedefs ### */ +/* #### Code section: complex_type_declarations ### */ +/* #### Code section: type_declarations ### */ + +/*--- Type declarations ---*/ +struct __pyx_obj_4msgq_9visionipc_13visionipc_pyx_CLContext; +struct __pyx_obj_4msgq_9visionipc_13visionipc_pyx_VisionBuf; +struct __pyx_obj_9selfdrive_14classic_modeld_6models_15commonmodel_pyx_CLContext; +struct __pyx_obj_9selfdrive_14classic_modeld_6models_15commonmodel_pyx_CLMem; +struct __pyx_obj_9selfdrive_14classic_modeld_7runners_12runmodel_pyx_RunModel; +struct __pyx_obj_9selfdrive_14classic_modeld_7runners_15thneedmodel_pyx_ThneedModel; +struct __pyx_array_obj; +struct __pyx_MemviewEnum_obj; +struct __pyx_memoryview_obj; +struct __pyx_memoryviewslice_obj; + +/* "msgq/visionipc/visionipc_pyx.pxd":7 + * from .visionipc cimport cl_device_id, cl_context + * + * cdef class CLContext: # <<<<<<<<<<<<<< + * cdef cl_device_id device_id + * cdef cl_context context + */ +struct __pyx_obj_4msgq_9visionipc_13visionipc_pyx_CLContext { + PyObject_HEAD + cl_device_id device_id; + cl_context context; +}; + + +/* "msgq/visionipc/visionipc_pyx.pxd":11 + * cdef cl_context context + * + * cdef class VisionBuf: # <<<<<<<<<<<<<< + * cdef cppVisionBuf * buf + * + */ +struct __pyx_obj_4msgq_9visionipc_13visionipc_pyx_VisionBuf { + PyObject_HEAD + struct __pyx_vtabstruct_4msgq_9visionipc_13visionipc_pyx_VisionBuf *__pyx_vtab; + VisionBuf *buf; +}; + + +/* "selfdrive/classic_modeld/models/commonmodel_pyx.pxd":6 + * from msgq.visionipc.visionipc_pyx cimport CLContext as BaseCLContext + * + * cdef class CLContext(BaseCLContext): # <<<<<<<<<<<<<< + * pass + * + */ +struct __pyx_obj_9selfdrive_14classic_modeld_6models_15commonmodel_pyx_CLContext { + struct __pyx_obj_4msgq_9visionipc_13visionipc_pyx_CLContext __pyx_base; +}; + + +/* "selfdrive/classic_modeld/models/commonmodel_pyx.pxd":9 + * pass + * + * cdef class CLMem: # <<<<<<<<<<<<<< + * cdef cl_mem * mem + * + */ +struct __pyx_obj_9selfdrive_14classic_modeld_6models_15commonmodel_pyx_CLMem { + PyObject_HEAD + struct __pyx_vtabstruct_9selfdrive_14classic_modeld_6models_15commonmodel_pyx_CLMem *__pyx_vtab; + cl_mem *mem; +}; + + +/* "selfdrive/classic_modeld/runners/runmodel_pyx.pxd":5 + * from .runmodel cimport RunModel as cppRunModel + * + * cdef class RunModel: # <<<<<<<<<<<<<< + * cdef cppRunModel * model + */ +struct __pyx_obj_9selfdrive_14classic_modeld_7runners_12runmodel_pyx_RunModel { + PyObject_HEAD + RunModel *model; +}; + + +/* "selfdrive/classic_modeld/runners/thneedmodel_pyx.pyx":12 + * from selfdrive.classic_modeld.runners.runmodel cimport RunModel as cppRunModel + * + * cdef class ThneedModel(RunModel): # <<<<<<<<<<<<<< + * def __cinit__(self, string path, float[:] output, int runtime, bool use_tf8, CLContext context): + * self.model = new cppThneedModel(path, &output[0], len(output), runtime, use_tf8, context.context) + */ +struct __pyx_obj_9selfdrive_14classic_modeld_7runners_15thneedmodel_pyx_ThneedModel { + struct __pyx_obj_9selfdrive_14classic_modeld_7runners_12runmodel_pyx_RunModel __pyx_base; +}; + + +/* "View.MemoryView":114 + * @cython.collection_type("sequence") + * @cname("__pyx_array") + * cdef class array: # <<<<<<<<<<<<<< + * + * cdef: + */ +struct __pyx_array_obj { + PyObject_HEAD + struct __pyx_vtabstruct_array *__pyx_vtab; 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(PyObject*) Py_TYPE(__pyx_tstate->current_exception) : (PyObject*) NULL) +#else +#define __Pyx_PyErr_Occurred() (__pyx_tstate->curexc_type != NULL) +#define __Pyx_PyErr_CurrentExceptionType() (__pyx_tstate->curexc_type) +#endif +#else +#define __Pyx_PyThreadState_declare +#define __Pyx_PyThreadState_assign +#define __Pyx_PyErr_Occurred() (PyErr_Occurred() != NULL) +#define __Pyx_PyErr_CurrentExceptionType() PyErr_Occurred() +#endif + +/* PyErrFetchRestore.proto */ +#if CYTHON_FAST_THREAD_STATE +#define __Pyx_PyErr_Clear() __Pyx_ErrRestore(NULL, NULL, NULL) +#define __Pyx_ErrRestoreWithState(type, value, tb) __Pyx_ErrRestoreInState(PyThreadState_GET(), type, value, tb) +#define __Pyx_ErrFetchWithState(type, value, tb) __Pyx_ErrFetchInState(PyThreadState_GET(), type, value, tb) +#define __Pyx_ErrRestore(type, value, tb) __Pyx_ErrRestoreInState(__pyx_tstate, type, value, tb) +#define __Pyx_ErrFetch(type, value, tb) __Pyx_ErrFetchInState(__pyx_tstate, type, value, tb) +static CYTHON_INLINE void __Pyx_ErrRestoreInState(PyThreadState *tstate, PyObject *type, PyObject *value, PyObject *tb); +static CYTHON_INLINE void __Pyx_ErrFetchInState(PyThreadState *tstate, PyObject **type, PyObject **value, PyObject **tb); +#if CYTHON_COMPILING_IN_CPYTHON && PY_VERSION_HEX < 0x030C00A6 +#define __Pyx_PyErr_SetNone(exc) (Py_INCREF(exc), __Pyx_ErrRestore((exc), NULL, NULL)) +#else +#define __Pyx_PyErr_SetNone(exc) PyErr_SetNone(exc) +#endif +#else +#define __Pyx_PyErr_Clear() PyErr_Clear() +#define __Pyx_PyErr_SetNone(exc) PyErr_SetNone(exc) +#define __Pyx_ErrRestoreWithState(type, value, tb) PyErr_Restore(type, value, tb) +#define __Pyx_ErrFetchWithState(type, value, tb) PyErr_Fetch(type, value, tb) +#define __Pyx_ErrRestoreInState(tstate, type, value, tb) PyErr_Restore(type, value, tb) +#define __Pyx_ErrFetchInState(tstate, type, value, tb) PyErr_Fetch(type, value, tb) +#define __Pyx_ErrRestore(type, value, tb) PyErr_Restore(type, value, tb) +#define __Pyx_ErrFetch(type, value, tb) PyErr_Fetch(type, value, tb) +#endif + +/* PyObjectGetAttrStr.proto */ +#if CYTHON_USE_TYPE_SLOTS +static CYTHON_INLINE PyObject* __Pyx_PyObject_GetAttrStr(PyObject* obj, PyObject* attr_name); +#else +#define __Pyx_PyObject_GetAttrStr(o,n) PyObject_GetAttr(o,n) +#endif + +/* PyObjectGetAttrStrNoError.proto */ +static CYTHON_INLINE PyObject* __Pyx_PyObject_GetAttrStrNoError(PyObject* obj, PyObject* attr_name); + +/* GetBuiltinName.proto */ +static PyObject *__Pyx_GetBuiltinName(PyObject *name); + +/* TupleAndListFromArray.proto */ +#if CYTHON_COMPILING_IN_CPYTHON +static CYTHON_INLINE PyObject* __Pyx_PyList_FromArray(PyObject *const *src, Py_ssize_t n); +static CYTHON_INLINE PyObject* __Pyx_PyTuple_FromArray(PyObject *const *src, Py_ssize_t n); +#endif + +/* IncludeStringH.proto */ +#include + +/* BytesEquals.proto */ +static CYTHON_INLINE int __Pyx_PyBytes_Equals(PyObject* s1, PyObject* s2, int equals); + +/* UnicodeEquals.proto */ +static CYTHON_INLINE int __Pyx_PyUnicode_Equals(PyObject* s1, PyObject* s2, int equals); + +/* fastcall.proto */ +#if CYTHON_AVOID_BORROWED_REFS + #define __Pyx_Arg_VARARGS(args, i) PySequence_GetItem(args, i) +#elif CYTHON_ASSUME_SAFE_MACROS + #define __Pyx_Arg_VARARGS(args, i) PyTuple_GET_ITEM(args, i) +#else + #define __Pyx_Arg_VARARGS(args, i) PyTuple_GetItem(args, i) +#endif +#if CYTHON_AVOID_BORROWED_REFS + #define __Pyx_Arg_NewRef_VARARGS(arg) __Pyx_NewRef(arg) + #define __Pyx_Arg_XDECREF_VARARGS(arg) Py_XDECREF(arg) +#else + #define __Pyx_Arg_NewRef_VARARGS(arg) arg + #define __Pyx_Arg_XDECREF_VARARGS(arg) +#endif +#define __Pyx_NumKwargs_VARARGS(kwds) PyDict_Size(kwds) +#define __Pyx_KwValues_VARARGS(args, nargs) NULL +#define __Pyx_GetKwValue_VARARGS(kw, kwvalues, s) __Pyx_PyDict_GetItemStrWithError(kw, s) +#define __Pyx_KwargsAsDict_VARARGS(kw, kwvalues) PyDict_Copy(kw) +#if CYTHON_METH_FASTCALL + #define __Pyx_Arg_FASTCALL(args, i) args[i] + #define __Pyx_NumKwargs_FASTCALL(kwds) PyTuple_GET_SIZE(kwds) + #define __Pyx_KwValues_FASTCALL(args, nargs) ((args) + (nargs)) + static CYTHON_INLINE PyObject * __Pyx_GetKwValue_FASTCALL(PyObject *kwnames, PyObject *const *kwvalues, PyObject *s); +#if CYTHON_COMPILING_IN_CPYTHON && PY_VERSION_HEX >= 0x030d0000 + CYTHON_UNUSED static PyObject *__Pyx_KwargsAsDict_FASTCALL(PyObject *kwnames, PyObject *const *kwvalues); + #else + #define __Pyx_KwargsAsDict_FASTCALL(kw, kwvalues) _PyStack_AsDict(kwvalues, kw) + #endif + #define __Pyx_Arg_NewRef_FASTCALL(arg) arg /* no-op, __Pyx_Arg_FASTCALL is direct and this needs + to have the same reference counting */ + #define __Pyx_Arg_XDECREF_FASTCALL(arg) +#else + #define __Pyx_Arg_FASTCALL __Pyx_Arg_VARARGS + #define __Pyx_NumKwargs_FASTCALL __Pyx_NumKwargs_VARARGS + #define __Pyx_KwValues_FASTCALL __Pyx_KwValues_VARARGS + #define __Pyx_GetKwValue_FASTCALL __Pyx_GetKwValue_VARARGS + #define __Pyx_KwargsAsDict_FASTCALL __Pyx_KwargsAsDict_VARARGS + #define __Pyx_Arg_NewRef_FASTCALL(arg) __Pyx_Arg_NewRef_VARARGS(arg) + #define __Pyx_Arg_XDECREF_FASTCALL(arg) __Pyx_Arg_XDECREF_VARARGS(arg) +#endif +#if CYTHON_COMPILING_IN_CPYTHON && CYTHON_ASSUME_SAFE_MACROS && !CYTHON_AVOID_BORROWED_REFS +#define __Pyx_ArgsSlice_VARARGS(args, start, stop) __Pyx_PyTuple_FromArray(&__Pyx_Arg_VARARGS(args, start), stop - start) +#define __Pyx_ArgsSlice_FASTCALL(args, start, stop) __Pyx_PyTuple_FromArray(&__Pyx_Arg_FASTCALL(args, start), stop - start) +#else +#define __Pyx_ArgsSlice_VARARGS(args, start, stop) PyTuple_GetSlice(args, start, stop) +#define __Pyx_ArgsSlice_FASTCALL(args, start, stop) PyTuple_GetSlice(args, start, stop) +#endif + +/* RaiseArgTupleInvalid.proto */ +static void __Pyx_RaiseArgtupleInvalid(const char* func_name, int exact, + Py_ssize_t num_min, Py_ssize_t num_max, Py_ssize_t num_found); + +/* RaiseDoubleKeywords.proto */ +static void __Pyx_RaiseDoubleKeywordsError(const char* func_name, PyObject* kw_name); + +/* ParseKeywords.proto */ +static int __Pyx_ParseOptionalKeywords(PyObject *kwds, PyObject *const *kwvalues, + PyObject **argnames[], + PyObject *kwds2, PyObject *values[], Py_ssize_t num_pos_args, + const char* function_name); + +/* ArgTypeTest.proto */ +#define __Pyx_ArgTypeTest(obj, type, none_allowed, name, exact)\ + ((likely(__Pyx_IS_TYPE(obj, type) | (none_allowed && (obj == Py_None)))) ? 1 :\ + __Pyx__ArgTypeTest(obj, type, name, exact)) +static int __Pyx__ArgTypeTest(PyObject *obj, PyTypeObject *type, const char *name, int exact); + +/* RaiseException.proto */ +static void __Pyx_Raise(PyObject *type, PyObject *value, PyObject *tb, PyObject *cause); + +/* PyFunctionFastCall.proto */ +#if CYTHON_FAST_PYCALL +#if !CYTHON_VECTORCALL +#define __Pyx_PyFunction_FastCall(func, args, nargs)\ + __Pyx_PyFunction_FastCallDict((func), (args), (nargs), NULL) +static PyObject *__Pyx_PyFunction_FastCallDict(PyObject *func, PyObject **args, Py_ssize_t nargs, PyObject *kwargs); +#endif +#define __Pyx_BUILD_ASSERT_EXPR(cond)\ + (sizeof(char [1 - 2*!(cond)]) - 1) +#ifndef Py_MEMBER_SIZE +#define Py_MEMBER_SIZE(type, member) sizeof(((type *)0)->member) +#endif +#if !CYTHON_VECTORCALL +#if PY_VERSION_HEX >= 0x03080000 + #include "frameobject.h" +#if PY_VERSION_HEX >= 0x030b00a6 && !CYTHON_COMPILING_IN_LIMITED_API + #ifndef Py_BUILD_CORE + #define Py_BUILD_CORE 1 + #endif + #include "internal/pycore_frame.h" +#endif + #define __Pxy_PyFrame_Initialize_Offsets() + #define __Pyx_PyFrame_GetLocalsplus(frame) ((frame)->f_localsplus) +#else + static size_t __pyx_pyframe_localsplus_offset = 0; + #include "frameobject.h" + #define __Pxy_PyFrame_Initialize_Offsets()\ + ((void)__Pyx_BUILD_ASSERT_EXPR(sizeof(PyFrameObject) == offsetof(PyFrameObject, f_localsplus) + Py_MEMBER_SIZE(PyFrameObject, f_localsplus)),\ + (void)(__pyx_pyframe_localsplus_offset = ((size_t)PyFrame_Type.tp_basicsize) - Py_MEMBER_SIZE(PyFrameObject, f_localsplus))) + #define __Pyx_PyFrame_GetLocalsplus(frame)\ + (assert(__pyx_pyframe_localsplus_offset), (PyObject **)(((char *)(frame)) + __pyx_pyframe_localsplus_offset)) +#endif +#endif +#endif + +/* PyObjectCall.proto */ +#if CYTHON_COMPILING_IN_CPYTHON +static CYTHON_INLINE PyObject* __Pyx_PyObject_Call(PyObject *func, PyObject *arg, PyObject *kw); +#else +#define __Pyx_PyObject_Call(func, arg, kw) PyObject_Call(func, arg, kw) +#endif + +/* PyObjectCallMethO.proto */ +#if CYTHON_COMPILING_IN_CPYTHON +static CYTHON_INLINE PyObject* __Pyx_PyObject_CallMethO(PyObject *func, PyObject *arg); +#endif + +/* PyObjectFastCall.proto */ +#define __Pyx_PyObject_FastCall(func, args, nargs) __Pyx_PyObject_FastCallDict(func, args, (size_t)(nargs), NULL) +static CYTHON_INLINE PyObject* __Pyx_PyObject_FastCallDict(PyObject *func, PyObject **args, size_t nargs, PyObject *kwargs); + +/* RaiseUnexpectedTypeError.proto */ +static int __Pyx_RaiseUnexpectedTypeError(const char *expected, PyObject *obj); + +/* GCCDiagnostics.proto */ +#if !defined(__INTEL_COMPILER) && defined(__GNUC__) && (__GNUC__ > 4 || (__GNUC__ == 4 && __GNUC_MINOR__ >= 6)) +#define __Pyx_HAS_GCC_DIAGNOSTIC +#endif + +/* BuildPyUnicode.proto */ +static PyObject* __Pyx_PyUnicode_BuildFromAscii(Py_ssize_t ulength, char* chars, int clength, + int prepend_sign, char padding_char); + +/* CIntToPyUnicode.proto */ +static CYTHON_INLINE PyObject* __Pyx_PyUnicode_From_int(int value, Py_ssize_t width, char padding_char, char format_char); + +/* CIntToPyUnicode.proto */ +static CYTHON_INLINE PyObject* __Pyx_PyUnicode_From_Py_ssize_t(Py_ssize_t value, Py_ssize_t width, char padding_char, char format_char); + +/* JoinPyUnicode.proto */ +static PyObject* __Pyx_PyUnicode_Join(PyObject* value_tuple, Py_ssize_t value_count, Py_ssize_t result_ulength, + Py_UCS4 max_char); + +/* StrEquals.proto */ +#if PY_MAJOR_VERSION >= 3 +#define __Pyx_PyString_Equals __Pyx_PyUnicode_Equals +#else +#define __Pyx_PyString_Equals __Pyx_PyBytes_Equals +#endif + +/* PyObjectFormatSimple.proto */ +#if CYTHON_COMPILING_IN_PYPY + #define __Pyx_PyObject_FormatSimple(s, f) (\ + likely(PyUnicode_CheckExact(s)) ? (Py_INCREF(s), s) :\ + PyObject_Format(s, f)) +#elif PY_MAJOR_VERSION < 3 + #define __Pyx_PyObject_FormatSimple(s, f) (\ + likely(PyUnicode_CheckExact(s)) ? (Py_INCREF(s), s) :\ + likely(PyString_CheckExact(s)) ? PyUnicode_FromEncodedObject(s, NULL, "strict") :\ + PyObject_Format(s, f)) +#elif CYTHON_USE_TYPE_SLOTS + #define __Pyx_PyObject_FormatSimple(s, f) (\ + likely(PyUnicode_CheckExact(s)) ? (Py_INCREF(s), s) :\ + likely(PyLong_CheckExact(s)) ? PyLong_Type.tp_repr(s) :\ + likely(PyFloat_CheckExact(s)) ? PyFloat_Type.tp_repr(s) :\ + PyObject_Format(s, f)) +#else + #define __Pyx_PyObject_FormatSimple(s, f) (\ + likely(PyUnicode_CheckExact(s)) ? (Py_INCREF(s), s) :\ + PyObject_Format(s, f)) +#endif + +CYTHON_UNUSED static int __pyx_array_getbuffer(PyObject *__pyx_v_self, Py_buffer *__pyx_v_info, int __pyx_v_flags); /*proto*/ +static PyObject *__pyx_array_get_memview(struct __pyx_array_obj *); /*proto*/ +/* GetAttr.proto */ +static CYTHON_INLINE PyObject *__Pyx_GetAttr(PyObject *, PyObject *); + +/* GetItemInt.proto */ +#define __Pyx_GetItemInt(o, i, type, is_signed, to_py_func, is_list, wraparound, boundscheck)\ + (__Pyx_fits_Py_ssize_t(i, type, is_signed) ?\ + __Pyx_GetItemInt_Fast(o, (Py_ssize_t)i, is_list, wraparound, boundscheck) :\ + (is_list ? (PyErr_SetString(PyExc_IndexError, "list index out of range"), (PyObject*)NULL) :\ + __Pyx_GetItemInt_Generic(o, to_py_func(i)))) +#define __Pyx_GetItemInt_List(o, i, type, is_signed, to_py_func, is_list, wraparound, boundscheck)\ + (__Pyx_fits_Py_ssize_t(i, type, is_signed) ?\ + __Pyx_GetItemInt_List_Fast(o, (Py_ssize_t)i, wraparound, boundscheck) :\ + (PyErr_SetString(PyExc_IndexError, "list index out of range"), (PyObject*)NULL)) +static CYTHON_INLINE PyObject *__Pyx_GetItemInt_List_Fast(PyObject *o, Py_ssize_t i, + int wraparound, int boundscheck); +#define __Pyx_GetItemInt_Tuple(o, i, type, is_signed, to_py_func, is_list, wraparound, boundscheck)\ + (__Pyx_fits_Py_ssize_t(i, type, is_signed) ?\ + __Pyx_GetItemInt_Tuple_Fast(o, (Py_ssize_t)i, wraparound, boundscheck) :\ + (PyErr_SetString(PyExc_IndexError, "tuple index out of range"), (PyObject*)NULL)) +static CYTHON_INLINE PyObject *__Pyx_GetItemInt_Tuple_Fast(PyObject *o, Py_ssize_t i, + int wraparound, int boundscheck); +static PyObject *__Pyx_GetItemInt_Generic(PyObject *o, PyObject* j); +static CYTHON_INLINE PyObject *__Pyx_GetItemInt_Fast(PyObject *o, Py_ssize_t i, + int is_list, int wraparound, int boundscheck); + +/* PyObjectCallOneArg.proto */ +static CYTHON_INLINE PyObject* __Pyx_PyObject_CallOneArg(PyObject *func, PyObject *arg); + +/* ObjectGetItem.proto */ +#if CYTHON_USE_TYPE_SLOTS +static CYTHON_INLINE PyObject *__Pyx_PyObject_GetItem(PyObject *obj, PyObject *key); +#else +#define __Pyx_PyObject_GetItem(obj, key) PyObject_GetItem(obj, key) +#endif + +/* KeywordStringCheck.proto */ +static int __Pyx_CheckKeywordStrings(PyObject *kw, const char* function_name, int kw_allowed); + +/* DivInt[Py_ssize_t].proto */ +static CYTHON_INLINE Py_ssize_t __Pyx_div_Py_ssize_t(Py_ssize_t, Py_ssize_t); + +/* UnaryNegOverflows.proto */ +#define __Pyx_UNARY_NEG_WOULD_OVERFLOW(x)\ + (((x) < 0) & ((unsigned long)(x) == 0-(unsigned long)(x))) + +/* GetAttr3.proto */ +static CYTHON_INLINE PyObject *__Pyx_GetAttr3(PyObject *, PyObject *, PyObject *); + +/* PyDictVersioning.proto */ +#if CYTHON_USE_DICT_VERSIONS && CYTHON_USE_TYPE_SLOTS +#define __PYX_DICT_VERSION_INIT ((PY_UINT64_T) -1) +#define __PYX_GET_DICT_VERSION(dict) (((PyDictObject*)(dict))->ma_version_tag) +#define __PYX_UPDATE_DICT_CACHE(dict, value, cache_var, version_var)\ + (version_var) = __PYX_GET_DICT_VERSION(dict);\ + (cache_var) = (value); +#define __PYX_PY_DICT_LOOKUP_IF_MODIFIED(VAR, DICT, LOOKUP) {\ + static PY_UINT64_T __pyx_dict_version = 0;\ + static PyObject *__pyx_dict_cached_value = NULL;\ + if (likely(__PYX_GET_DICT_VERSION(DICT) == __pyx_dict_version)) {\ + (VAR) = __pyx_dict_cached_value;\ + } else {\ + (VAR) = __pyx_dict_cached_value = (LOOKUP);\ + __pyx_dict_version = __PYX_GET_DICT_VERSION(DICT);\ + }\ +} +static CYTHON_INLINE PY_UINT64_T __Pyx_get_tp_dict_version(PyObject *obj); +static CYTHON_INLINE PY_UINT64_T __Pyx_get_object_dict_version(PyObject *obj); +static CYTHON_INLINE int __Pyx_object_dict_version_matches(PyObject* obj, PY_UINT64_T tp_dict_version, PY_UINT64_T obj_dict_version); +#else +#define __PYX_GET_DICT_VERSION(dict) (0) +#define __PYX_UPDATE_DICT_CACHE(dict, value, cache_var, version_var) +#define __PYX_PY_DICT_LOOKUP_IF_MODIFIED(VAR, DICT, LOOKUP) (VAR) = (LOOKUP); +#endif + +/* GetModuleGlobalName.proto */ +#if CYTHON_USE_DICT_VERSIONS +#define __Pyx_GetModuleGlobalName(var, name) do {\ + static PY_UINT64_T __pyx_dict_version = 0;\ + static PyObject *__pyx_dict_cached_value = NULL;\ + (var) = (likely(__pyx_dict_version == __PYX_GET_DICT_VERSION(__pyx_d))) ?\ + (likely(__pyx_dict_cached_value) ? __Pyx_NewRef(__pyx_dict_cached_value) : __Pyx_GetBuiltinName(name)) :\ + __Pyx__GetModuleGlobalName(name, &__pyx_dict_version, &__pyx_dict_cached_value);\ +} while(0) +#define __Pyx_GetModuleGlobalNameUncached(var, name) do {\ + PY_UINT64_T __pyx_dict_version;\ + PyObject *__pyx_dict_cached_value;\ + (var) = __Pyx__GetModuleGlobalName(name, &__pyx_dict_version, &__pyx_dict_cached_value);\ +} while(0) +static PyObject *__Pyx__GetModuleGlobalName(PyObject *name, PY_UINT64_T *dict_version, PyObject **dict_cached_value); +#else +#define __Pyx_GetModuleGlobalName(var, name) (var) = __Pyx__GetModuleGlobalName(name) +#define __Pyx_GetModuleGlobalNameUncached(var, name) (var) = __Pyx__GetModuleGlobalName(name) +static CYTHON_INLINE PyObject *__Pyx__GetModuleGlobalName(PyObject *name); +#endif + +/* AssertionsEnabled.proto */ +#if CYTHON_COMPILING_IN_PYPY && PY_VERSION_HEX < 0x02070600 && !defined(Py_OptimizeFlag) + #define __Pyx_init_assertions_enabled() (0) + #define __pyx_assertions_enabled() (1) +#elif CYTHON_COMPILING_IN_LIMITED_API || (CYTHON_COMPILING_IN_CPYTHON && PY_VERSION_HEX >= 0x030C0000) + static int __pyx_assertions_enabled_flag; + #define __pyx_assertions_enabled() (__pyx_assertions_enabled_flag) + static int __Pyx_init_assertions_enabled(void) { + PyObject *builtins, *debug, *debug_str; + int flag; + builtins = PyEval_GetBuiltins(); + if (!builtins) goto bad; + debug_str = PyUnicode_FromStringAndSize("__debug__", 9); + if (!debug_str) goto bad; + debug = PyObject_GetItem(builtins, debug_str); + Py_DECREF(debug_str); + if (!debug) goto bad; + flag = PyObject_IsTrue(debug); + Py_DECREF(debug); + if (flag == -1) goto bad; + __pyx_assertions_enabled_flag = flag; + return 0; + bad: + __pyx_assertions_enabled_flag = 1; + return -1; + } +#else + #define __Pyx_init_assertions_enabled() (0) + #define __pyx_assertions_enabled() (!Py_OptimizeFlag) +#endif + +/* RaiseTooManyValuesToUnpack.proto */ +static CYTHON_INLINE void __Pyx_RaiseTooManyValuesError(Py_ssize_t expected); + +/* RaiseNeedMoreValuesToUnpack.proto */ +static CYTHON_INLINE void __Pyx_RaiseNeedMoreValuesError(Py_ssize_t index); + +/* RaiseNoneIterError.proto */ +static CYTHON_INLINE void __Pyx_RaiseNoneNotIterableError(void); + +/* ExtTypeTest.proto */ +static CYTHON_INLINE int __Pyx_TypeTest(PyObject *obj, PyTypeObject *type); + +/* GetTopmostException.proto */ +#if CYTHON_USE_EXC_INFO_STACK && CYTHON_FAST_THREAD_STATE +static _PyErr_StackItem * __Pyx_PyErr_GetTopmostException(PyThreadState *tstate); +#endif + +/* SaveResetException.proto */ +#if CYTHON_FAST_THREAD_STATE +#define __Pyx_ExceptionSave(type, value, tb) __Pyx__ExceptionSave(__pyx_tstate, type, value, tb) +static CYTHON_INLINE void __Pyx__ExceptionSave(PyThreadState *tstate, PyObject **type, PyObject **value, PyObject **tb); +#define __Pyx_ExceptionReset(type, value, tb) __Pyx__ExceptionReset(__pyx_tstate, type, value, tb) +static CYTHON_INLINE void __Pyx__ExceptionReset(PyThreadState *tstate, PyObject *type, PyObject *value, PyObject *tb); +#else +#define __Pyx_ExceptionSave(type, value, tb) PyErr_GetExcInfo(type, value, tb) +#define __Pyx_ExceptionReset(type, value, tb) PyErr_SetExcInfo(type, value, tb) +#endif + +/* GetException.proto */ +#if CYTHON_FAST_THREAD_STATE +#define __Pyx_GetException(type, value, tb) __Pyx__GetException(__pyx_tstate, type, value, tb) +static int __Pyx__GetException(PyThreadState *tstate, PyObject **type, PyObject **value, PyObject **tb); +#else +static int __Pyx_GetException(PyObject **type, PyObject **value, PyObject **tb); +#endif + +/* SwapException.proto */ +#if CYTHON_FAST_THREAD_STATE +#define __Pyx_ExceptionSwap(type, value, tb) __Pyx__ExceptionSwap(__pyx_tstate, type, value, tb) +static CYTHON_INLINE void __Pyx__ExceptionSwap(PyThreadState *tstate, PyObject **type, PyObject **value, PyObject **tb); +#else +static CYTHON_INLINE void __Pyx_ExceptionSwap(PyObject **type, PyObject **value, PyObject **tb); +#endif + +/* Import.proto */ +static PyObject *__Pyx_Import(PyObject *name, PyObject *from_list, int level); + +/* ImportDottedModule.proto */ +static PyObject *__Pyx_ImportDottedModule(PyObject *name, PyObject *parts_tuple); +#if PY_MAJOR_VERSION >= 3 +static PyObject *__Pyx_ImportDottedModule_WalkParts(PyObject *module, PyObject *name, PyObject *parts_tuple); +#endif + +/* FastTypeChecks.proto */ +#if CYTHON_COMPILING_IN_CPYTHON +#define __Pyx_TypeCheck(obj, type) __Pyx_IsSubtype(Py_TYPE(obj), (PyTypeObject *)type) +#define __Pyx_TypeCheck2(obj, type1, type2) __Pyx_IsAnySubtype2(Py_TYPE(obj), (PyTypeObject *)type1, (PyTypeObject *)type2) +static CYTHON_INLINE int __Pyx_IsSubtype(PyTypeObject *a, PyTypeObject *b); +static CYTHON_INLINE int __Pyx_IsAnySubtype2(PyTypeObject *cls, PyTypeObject *a, PyTypeObject *b); +static CYTHON_INLINE int __Pyx_PyErr_GivenExceptionMatches(PyObject *err, PyObject *type); +static CYTHON_INLINE int __Pyx_PyErr_GivenExceptionMatches2(PyObject *err, PyObject *type1, PyObject *type2); +#else +#define __Pyx_TypeCheck(obj, type) PyObject_TypeCheck(obj, (PyTypeObject *)type) +#define __Pyx_TypeCheck2(obj, type1, type2) (PyObject_TypeCheck(obj, (PyTypeObject *)type1) || PyObject_TypeCheck(obj, (PyTypeObject *)type2)) +#define __Pyx_PyErr_GivenExceptionMatches(err, type) PyErr_GivenExceptionMatches(err, type) +#define __Pyx_PyErr_GivenExceptionMatches2(err, type1, type2) (PyErr_GivenExceptionMatches(err, type1) || PyErr_GivenExceptionMatches(err, type2)) +#endif +#define __Pyx_PyErr_ExceptionMatches2(err1, err2) __Pyx_PyErr_GivenExceptionMatches2(__Pyx_PyErr_CurrentExceptionType(), err1, err2) +#define __Pyx_PyException_Check(obj) __Pyx_TypeCheck(obj, PyExc_Exception) + +CYTHON_UNUSED static int __pyx_memoryview_getbuffer(PyObject *__pyx_v_self, Py_buffer *__pyx_v_info, int __pyx_v_flags); /*proto*/ +/* ListCompAppend.proto */ +#if CYTHON_USE_PYLIST_INTERNALS && CYTHON_ASSUME_SAFE_MACROS +static CYTHON_INLINE int __Pyx_ListComp_Append(PyObject* list, PyObject* x) { + PyListObject* L = (PyListObject*) list; + Py_ssize_t len = Py_SIZE(list); + if (likely(L->allocated > len)) { + Py_INCREF(x); + #if CYTHON_COMPILING_IN_CPYTHON && PY_VERSION_HEX >= 0x030d0000 + L->ob_item[len] = x; + #else + PyList_SET_ITEM(list, len, x); + #endif + __Pyx_SET_SIZE(list, len + 1); + return 0; + } + return PyList_Append(list, x); +} +#else +#define __Pyx_ListComp_Append(L,x) PyList_Append(L,x) +#endif + +/* PySequenceMultiply.proto */ +#define __Pyx_PySequence_Multiply_Left(mul, seq) __Pyx_PySequence_Multiply(seq, mul) +static CYTHON_INLINE PyObject* __Pyx_PySequence_Multiply(PyObject *seq, Py_ssize_t mul); + +/* SetItemInt.proto */ +#define __Pyx_SetItemInt(o, i, v, type, is_signed, to_py_func, is_list, wraparound, boundscheck)\ + (__Pyx_fits_Py_ssize_t(i, type, is_signed) ?\ + __Pyx_SetItemInt_Fast(o, (Py_ssize_t)i, v, is_list, wraparound, boundscheck) :\ + (is_list ? (PyErr_SetString(PyExc_IndexError, "list assignment index out of range"), -1) :\ + __Pyx_SetItemInt_Generic(o, to_py_func(i), v))) +static int __Pyx_SetItemInt_Generic(PyObject *o, PyObject *j, PyObject *v); +static CYTHON_INLINE int __Pyx_SetItemInt_Fast(PyObject *o, Py_ssize_t i, PyObject *v, + int is_list, int wraparound, int boundscheck); + +/* RaiseUnboundLocalError.proto */ +static CYTHON_INLINE void __Pyx_RaiseUnboundLocalError(const char *varname); + +/* DivInt[long].proto */ +static CYTHON_INLINE long __Pyx_div_long(long, long); + +/* PySequenceContains.proto */ +static CYTHON_INLINE int __Pyx_PySequence_ContainsTF(PyObject* item, PyObject* seq, int eq) { + int result = PySequence_Contains(seq, item); + return unlikely(result < 0) ? result : (result == (eq == Py_EQ)); +} + +/* ImportFrom.proto */ +static PyObject* __Pyx_ImportFrom(PyObject* module, PyObject* name); + +/* HasAttr.proto */ +#if __PYX_LIMITED_VERSION_HEX >= 0x030d00A1 +#define __Pyx_HasAttr(o, n) PyObject_HasAttrWithError(o, n) +#else +static CYTHON_INLINE int __Pyx_HasAttr(PyObject *, PyObject *); +#endif + +/* MoveIfSupported.proto */ +#if CYTHON_USE_CPP_STD_MOVE + #include + #define __PYX_STD_MOVE_IF_SUPPORTED(x) std::move(x) +#else + #define __PYX_STD_MOVE_IF_SUPPORTED(x) x +#endif + +/* BufferIndexError.proto */ +static void __Pyx_RaiseBufferIndexError(int axis); + +/* PyObject_GenericGetAttrNoDict.proto */ +#if CYTHON_USE_TYPE_SLOTS && CYTHON_USE_PYTYPE_LOOKUP && PY_VERSION_HEX < 0x03070000 +static CYTHON_INLINE PyObject* __Pyx_PyObject_GenericGetAttrNoDict(PyObject* obj, PyObject* attr_name); +#else +#define __Pyx_PyObject_GenericGetAttrNoDict PyObject_GenericGetAttr +#endif + +/* PyObject_GenericGetAttr.proto */ +#if CYTHON_USE_TYPE_SLOTS && CYTHON_USE_PYTYPE_LOOKUP && PY_VERSION_HEX < 0x03070000 +static PyObject* __Pyx_PyObject_GenericGetAttr(PyObject* obj, PyObject* attr_name); +#else +#define __Pyx_PyObject_GenericGetAttr PyObject_GenericGetAttr +#endif + +/* TypeImport.proto */ +#ifndef __PYX_HAVE_RT_ImportType_proto_3_0_8 +#define __PYX_HAVE_RT_ImportType_proto_3_0_8 +#if defined (__STDC_VERSION__) && __STDC_VERSION__ >= 201112L +#include +#endif +#if (defined (__STDC_VERSION__) && __STDC_VERSION__ >= 201112L) || __cplusplus >= 201103L +#define __PYX_GET_STRUCT_ALIGNMENT_3_0_8(s) alignof(s) +#else +#define __PYX_GET_STRUCT_ALIGNMENT_3_0_8(s) sizeof(void*) +#endif +enum __Pyx_ImportType_CheckSize_3_0_8 { + __Pyx_ImportType_CheckSize_Error_3_0_8 = 0, + __Pyx_ImportType_CheckSize_Warn_3_0_8 = 1, + __Pyx_ImportType_CheckSize_Ignore_3_0_8 = 2 +}; +static PyTypeObject *__Pyx_ImportType_3_0_8(PyObject* module, const char *module_name, const char *class_name, size_t size, size_t alignment, enum __Pyx_ImportType_CheckSize_3_0_8 check_size); +#endif + +/* IncludeStructmemberH.proto */ +#include + +/* FixUpExtensionType.proto */ +#if CYTHON_USE_TYPE_SPECS +static int __Pyx_fix_up_extension_type_from_spec(PyType_Spec *spec, PyTypeObject *type); +#endif + +/* PyObjectCallNoArg.proto */ +static CYTHON_INLINE PyObject* __Pyx_PyObject_CallNoArg(PyObject *func); + +/* PyObjectGetMethod.proto */ +static int __Pyx_PyObject_GetMethod(PyObject *obj, PyObject *name, PyObject **method); + +/* PyObjectCallMethod0.proto */ +static PyObject* __Pyx_PyObject_CallMethod0(PyObject* obj, PyObject* method_name); + +/* ValidateBasesTuple.proto */ +#if CYTHON_COMPILING_IN_CPYTHON || CYTHON_COMPILING_IN_LIMITED_API || CYTHON_USE_TYPE_SPECS +static int __Pyx_validate_bases_tuple(const char *type_name, Py_ssize_t dictoffset, PyObject *bases); +#endif + +/* PyType_Ready.proto */ +CYTHON_UNUSED static int __Pyx_PyType_Ready(PyTypeObject *t); + +/* SetupReduce.proto */ +#if !CYTHON_COMPILING_IN_LIMITED_API +static int __Pyx_setup_reduce(PyObject* type_obj); +#endif + +/* SetVTable.proto */ +static int __Pyx_SetVtable(PyTypeObject* typeptr , void* vtable); + +/* GetVTable.proto */ +static void* __Pyx_GetVtable(PyTypeObject *type); + +/* MergeVTables.proto */ +#if !CYTHON_COMPILING_IN_LIMITED_API +static int __Pyx_MergeVtables(PyTypeObject *type); +#endif + +/* FetchSharedCythonModule.proto */ +static PyObject *__Pyx_FetchSharedCythonABIModule(void); + +/* FetchCommonType.proto */ +#if !CYTHON_USE_TYPE_SPECS +static PyTypeObject* __Pyx_FetchCommonType(PyTypeObject* type); +#else +static PyTypeObject* __Pyx_FetchCommonTypeFromSpec(PyObject *module, PyType_Spec *spec, PyObject *bases); +#endif + +/* PyMethodNew.proto */ +#if CYTHON_COMPILING_IN_LIMITED_API +static PyObject *__Pyx_PyMethod_New(PyObject *func, PyObject *self, PyObject *typ) { + PyObject *typesModule=NULL, *methodType=NULL, *result=NULL; + CYTHON_UNUSED_VAR(typ); + if (!self) + return __Pyx_NewRef(func); + typesModule = PyImport_ImportModule("types"); + if (!typesModule) return NULL; + methodType = PyObject_GetAttrString(typesModule, "MethodType"); + Py_DECREF(typesModule); + if (!methodType) return NULL; + result = PyObject_CallFunctionObjArgs(methodType, func, self, NULL); + Py_DECREF(methodType); + return result; +} +#elif PY_MAJOR_VERSION >= 3 +static PyObject *__Pyx_PyMethod_New(PyObject *func, PyObject *self, PyObject *typ) { + CYTHON_UNUSED_VAR(typ); + if (!self) + return __Pyx_NewRef(func); + return PyMethod_New(func, self); +} +#else + #define __Pyx_PyMethod_New PyMethod_New +#endif + +/* PyVectorcallFastCallDict.proto */ +#if CYTHON_METH_FASTCALL +static CYTHON_INLINE PyObject *__Pyx_PyVectorcall_FastCallDict(PyObject *func, __pyx_vectorcallfunc vc, PyObject *const *args, size_t nargs, PyObject *kw); +#endif + +/* CythonFunctionShared.proto */ +#define __Pyx_CyFunction_USED +#define __Pyx_CYFUNCTION_STATICMETHOD 0x01 +#define __Pyx_CYFUNCTION_CLASSMETHOD 0x02 +#define __Pyx_CYFUNCTION_CCLASS 0x04 +#define __Pyx_CYFUNCTION_COROUTINE 0x08 +#define __Pyx_CyFunction_GetClosure(f)\ + (((__pyx_CyFunctionObject *) (f))->func_closure) +#if PY_VERSION_HEX < 0x030900B1 || CYTHON_COMPILING_IN_LIMITED_API + #define __Pyx_CyFunction_GetClassObj(f)\ + (((__pyx_CyFunctionObject *) (f))->func_classobj) +#else + #define __Pyx_CyFunction_GetClassObj(f)\ + ((PyObject*) ((PyCMethodObject *) (f))->mm_class) +#endif +#define __Pyx_CyFunction_SetClassObj(f, classobj)\ + __Pyx__CyFunction_SetClassObj((__pyx_CyFunctionObject *) (f), (classobj)) +#define __Pyx_CyFunction_Defaults(type, f)\ + ((type *)(((__pyx_CyFunctionObject *) (f))->defaults)) +#define __Pyx_CyFunction_SetDefaultsGetter(f, g)\ + ((__pyx_CyFunctionObject *) (f))->defaults_getter = (g) +typedef struct { +#if CYTHON_COMPILING_IN_LIMITED_API + PyObject_HEAD + PyObject *func; +#elif PY_VERSION_HEX < 0x030900B1 + PyCFunctionObject func; +#else + PyCMethodObject func; +#endif +#if CYTHON_BACKPORT_VECTORCALL + __pyx_vectorcallfunc func_vectorcall; +#endif +#if PY_VERSION_HEX < 0x030500A0 || CYTHON_COMPILING_IN_LIMITED_API + PyObject *func_weakreflist; +#endif + PyObject *func_dict; + PyObject *func_name; + PyObject *func_qualname; + PyObject *func_doc; + PyObject *func_globals; + PyObject *func_code; + PyObject *func_closure; +#if PY_VERSION_HEX < 0x030900B1 || CYTHON_COMPILING_IN_LIMITED_API + PyObject *func_classobj; +#endif + void *defaults; + int defaults_pyobjects; + size_t defaults_size; + int flags; + PyObject *defaults_tuple; + PyObject *defaults_kwdict; + PyObject *(*defaults_getter)(PyObject *); + PyObject *func_annotations; + PyObject *func_is_coroutine; +} __pyx_CyFunctionObject; +#undef __Pyx_CyOrPyCFunction_Check +#define __Pyx_CyFunction_Check(obj) __Pyx_TypeCheck(obj, __pyx_CyFunctionType) +#define __Pyx_CyOrPyCFunction_Check(obj) __Pyx_TypeCheck2(obj, __pyx_CyFunctionType, &PyCFunction_Type) +#define __Pyx_CyFunction_CheckExact(obj) __Pyx_IS_TYPE(obj, __pyx_CyFunctionType) +static CYTHON_INLINE int __Pyx__IsSameCyOrCFunction(PyObject *func, void *cfunc); +#undef __Pyx_IsSameCFunction +#define __Pyx_IsSameCFunction(func, cfunc) __Pyx__IsSameCyOrCFunction(func, cfunc) +static PyObject *__Pyx_CyFunction_Init(__pyx_CyFunctionObject* op, PyMethodDef *ml, + int flags, PyObject* qualname, + PyObject *closure, + PyObject *module, PyObject *globals, + PyObject* code); +static CYTHON_INLINE void __Pyx__CyFunction_SetClassObj(__pyx_CyFunctionObject* f, PyObject* classobj); +static CYTHON_INLINE void *__Pyx_CyFunction_InitDefaults(PyObject *m, + size_t size, + int pyobjects); +static CYTHON_INLINE void __Pyx_CyFunction_SetDefaultsTuple(PyObject *m, + PyObject *tuple); +static CYTHON_INLINE void __Pyx_CyFunction_SetDefaultsKwDict(PyObject *m, + PyObject *dict); +static CYTHON_INLINE void __Pyx_CyFunction_SetAnnotationsDict(PyObject *m, + PyObject *dict); +static int __pyx_CyFunction_init(PyObject *module); +#if CYTHON_METH_FASTCALL +static PyObject * __Pyx_CyFunction_Vectorcall_NOARGS(PyObject *func, PyObject *const *args, size_t nargsf, PyObject *kwnames); +static PyObject * __Pyx_CyFunction_Vectorcall_O(PyObject *func, PyObject *const *args, size_t nargsf, PyObject *kwnames); +static PyObject * __Pyx_CyFunction_Vectorcall_FASTCALL_KEYWORDS(PyObject *func, PyObject *const *args, size_t nargsf, PyObject *kwnames); +static PyObject * __Pyx_CyFunction_Vectorcall_FASTCALL_KEYWORDS_METHOD(PyObject *func, PyObject *const *args, size_t nargsf, PyObject *kwnames); +#if CYTHON_BACKPORT_VECTORCALL +#define __Pyx_CyFunction_func_vectorcall(f) (((__pyx_CyFunctionObject*)f)->func_vectorcall) +#else +#define __Pyx_CyFunction_func_vectorcall(f) (((PyCFunctionObject*)f)->vectorcall) +#endif +#endif + +/* CythonFunction.proto */ +static PyObject *__Pyx_CyFunction_New(PyMethodDef *ml, + int flags, PyObject* qualname, + PyObject *closure, + PyObject *module, PyObject *globals, + PyObject* code); + +/* CLineInTraceback.proto */ +#ifdef CYTHON_CLINE_IN_TRACEBACK +#define __Pyx_CLineForTraceback(tstate, c_line) (((CYTHON_CLINE_IN_TRACEBACK)) ? c_line : 0) +#else +static int __Pyx_CLineForTraceback(PyThreadState *tstate, int c_line); +#endif + +/* CodeObjectCache.proto */ +#if !CYTHON_COMPILING_IN_LIMITED_API +typedef struct { + PyCodeObject* code_object; + int code_line; +} __Pyx_CodeObjectCacheEntry; +struct __Pyx_CodeObjectCache { + int count; + int max_count; + __Pyx_CodeObjectCacheEntry* entries; +}; +static struct __Pyx_CodeObjectCache __pyx_code_cache = {0,0,NULL}; +static int __pyx_bisect_code_objects(__Pyx_CodeObjectCacheEntry* entries, int count, int code_line); +static PyCodeObject *__pyx_find_code_object(int code_line); +static void __pyx_insert_code_object(int code_line, PyCodeObject* code_object); +#endif + +/* AddTraceback.proto */ +static void __Pyx_AddTraceback(const char *funcname, int c_line, + int py_line, const char *filename); + +#if PY_MAJOR_VERSION < 3 + static int __Pyx_GetBuffer(PyObject *obj, Py_buffer *view, int flags); + static void __Pyx_ReleaseBuffer(Py_buffer *view); +#else + #define __Pyx_GetBuffer PyObject_GetBuffer + #define __Pyx_ReleaseBuffer PyBuffer_Release +#endif + + +/* BufferStructDeclare.proto */ +typedef struct { + Py_ssize_t shape, strides, suboffsets; +} __Pyx_Buf_DimInfo; +typedef struct { + size_t refcount; + Py_buffer pybuffer; +} __Pyx_Buffer; +typedef struct { + __Pyx_Buffer *rcbuffer; + char *data; + __Pyx_Buf_DimInfo diminfo[8]; +} __Pyx_LocalBuf_ND; + +/* MemviewSliceIsContig.proto */ +static int __pyx_memviewslice_is_contig(const __Pyx_memviewslice mvs, char order, int ndim); + +/* OverlappingSlices.proto */ +static int __pyx_slices_overlap(__Pyx_memviewslice *slice1, + __Pyx_memviewslice *slice2, + int ndim, size_t itemsize); + +/* IsLittleEndian.proto */ +static CYTHON_INLINE int __Pyx_Is_Little_Endian(void); + +/* BufferFormatCheck.proto */ +static const char* __Pyx_BufFmt_CheckString(__Pyx_BufFmt_Context* ctx, const char* ts); +static void __Pyx_BufFmt_Init(__Pyx_BufFmt_Context* ctx, + __Pyx_BufFmt_StackElem* stack, + __Pyx_TypeInfo* type); + +/* TypeInfoCompare.proto */ +static int __pyx_typeinfo_cmp(__Pyx_TypeInfo *a, __Pyx_TypeInfo *b); + +/* MemviewSliceValidateAndInit.proto */ +static int __Pyx_ValidateAndInit_memviewslice( + int *axes_specs, + int c_or_f_flag, + int buf_flags, + int ndim, + __Pyx_TypeInfo *dtype, + __Pyx_BufFmt_StackElem stack[], + __Pyx_memviewslice *memviewslice, + PyObject *original_obj); + +/* ObjectToMemviewSlice.proto */ +static CYTHON_INLINE __Pyx_memviewslice __Pyx_PyObject_to_MemoryviewSlice_ds_float(PyObject *, int writable_flag); + +/* MemviewDtypeToObject.proto */ +static CYTHON_INLINE PyObject *__pyx_memview_get_float(const char *itemp); +static CYTHON_INLINE int __pyx_memview_set_float(const char *itemp, PyObject *obj); + +/* MemviewSliceCopyTemplate.proto */ +static __Pyx_memviewslice +__pyx_memoryview_copy_new_contig(const __Pyx_memviewslice *from_mvs, + const char *mode, int ndim, + size_t sizeof_dtype, int contig_flag, + int dtype_is_object); + +/* MemviewSliceInit.proto */ +#define __Pyx_BUF_MAX_NDIMS %(BUF_MAX_NDIMS)d +#define __Pyx_MEMVIEW_DIRECT 1 +#define __Pyx_MEMVIEW_PTR 2 +#define __Pyx_MEMVIEW_FULL 4 +#define __Pyx_MEMVIEW_CONTIG 8 +#define __Pyx_MEMVIEW_STRIDED 16 +#define __Pyx_MEMVIEW_FOLLOW 32 +#define __Pyx_IS_C_CONTIG 1 +#define __Pyx_IS_F_CONTIG 2 +static int __Pyx_init_memviewslice( + struct __pyx_memoryview_obj *memview, + int ndim, + __Pyx_memviewslice *memviewslice, + int memview_is_new_reference); +static CYTHON_INLINE int __pyx_add_acquisition_count_locked( + __pyx_atomic_int_type *acquisition_count, PyThread_type_lock lock); +static CYTHON_INLINE int __pyx_sub_acquisition_count_locked( + __pyx_atomic_int_type *acquisition_count, PyThread_type_lock lock); +#define __pyx_get_slice_count_pointer(memview) (&memview->acquisition_count) +#define __PYX_INC_MEMVIEW(slice, have_gil) __Pyx_INC_MEMVIEW(slice, have_gil, __LINE__) +#define __PYX_XCLEAR_MEMVIEW(slice, have_gil) __Pyx_XCLEAR_MEMVIEW(slice, have_gil, __LINE__) +static CYTHON_INLINE void __Pyx_INC_MEMVIEW(__Pyx_memviewslice *, int, int); +static CYTHON_INLINE void __Pyx_XCLEAR_MEMVIEW(__Pyx_memviewslice *, int, int); + +/* CIntFromPy.proto */ +static CYTHON_INLINE int __Pyx_PyInt_As_int(PyObject *); + +/* CppExceptionConversion.proto */ +#ifndef __Pyx_CppExn2PyErr +#include +#include +#include +#include +static void __Pyx_CppExn2PyErr() { + try { + if (PyErr_Occurred()) + ; // let the latest Python exn pass through and ignore the current one + else + throw; + } catch (const std::bad_alloc& exn) { + PyErr_SetString(PyExc_MemoryError, exn.what()); + } catch (const std::bad_cast& exn) { + PyErr_SetString(PyExc_TypeError, exn.what()); + } catch (const std::bad_typeid& exn) { + PyErr_SetString(PyExc_TypeError, exn.what()); + } catch (const std::domain_error& exn) { + PyErr_SetString(PyExc_ValueError, exn.what()); + } catch (const std::invalid_argument& exn) { + PyErr_SetString(PyExc_ValueError, exn.what()); + } catch (const std::ios_base::failure& exn) { + PyErr_SetString(PyExc_IOError, exn.what()); + } catch (const std::out_of_range& exn) { + PyErr_SetString(PyExc_IndexError, exn.what()); + } catch (const std::overflow_error& exn) { + PyErr_SetString(PyExc_OverflowError, exn.what()); + } catch (const std::range_error& exn) { + PyErr_SetString(PyExc_ArithmeticError, exn.what()); + } catch (const std::underflow_error& exn) { + PyErr_SetString(PyExc_ArithmeticError, exn.what()); + } catch (const std::exception& exn) { + PyErr_SetString(PyExc_RuntimeError, exn.what()); + } + catch (...) + { + PyErr_SetString(PyExc_RuntimeError, "Unknown exception"); + } +} +#endif + +/* None.proto */ +#include + +/* CIntFromPy.proto */ +static CYTHON_INLINE long __Pyx_PyInt_As_long(PyObject *); + +/* CIntToPy.proto */ +static CYTHON_INLINE PyObject* __Pyx_PyInt_From_int(int value); + +/* CIntToPy.proto */ +static CYTHON_INLINE PyObject* __Pyx_PyInt_From_long(long value); + +/* CIntFromPy.proto */ +static CYTHON_INLINE char __Pyx_PyInt_As_char(PyObject *); + +/* FormatTypeName.proto */ +#if CYTHON_COMPILING_IN_LIMITED_API +typedef PyObject *__Pyx_TypeName; +#define __Pyx_FMT_TYPENAME "%U" +static __Pyx_TypeName __Pyx_PyType_GetName(PyTypeObject* tp); +#define __Pyx_DECREF_TypeName(obj) Py_XDECREF(obj) +#else +typedef const char *__Pyx_TypeName; +#define __Pyx_FMT_TYPENAME "%.200s" +#define __Pyx_PyType_GetName(tp) ((tp)->tp_name) +#define __Pyx_DECREF_TypeName(obj) +#endif + +/* CheckBinaryVersion.proto */ +static unsigned long __Pyx_get_runtime_version(void); +static int __Pyx_check_binary_version(unsigned long ct_version, unsigned long rt_version, int allow_newer); + +/* InitStrings.proto */ +static int __Pyx_InitStrings(__Pyx_StringTabEntry *t); + +/* #### Code section: module_declarations ### */ +static PyObject *__pyx_array_get_memview(struct __pyx_array_obj *__pyx_v_self); /* proto*/ +static char *__pyx_memoryview_get_item_pointer(struct __pyx_memoryview_obj *__pyx_v_self, PyObject *__pyx_v_index); /* proto*/ +static PyObject *__pyx_memoryview_is_slice(struct __pyx_memoryview_obj *__pyx_v_self, PyObject *__pyx_v_obj); /* proto*/ +static PyObject *__pyx_memoryview_setitem_slice_assignment(struct __pyx_memoryview_obj *__pyx_v_self, PyObject *__pyx_v_dst, PyObject *__pyx_v_src); /* proto*/ +static PyObject *__pyx_memoryview_setitem_slice_assign_scalar(struct __pyx_memoryview_obj *__pyx_v_self, struct __pyx_memoryview_obj *__pyx_v_dst, PyObject *__pyx_v_value); /* proto*/ +static PyObject *__pyx_memoryview_setitem_indexed(struct __pyx_memoryview_obj *__pyx_v_self, PyObject *__pyx_v_index, PyObject *__pyx_v_value); /* proto*/ +static PyObject *__pyx_memoryview_convert_item_to_object(struct __pyx_memoryview_obj *__pyx_v_self, char *__pyx_v_itemp); /* proto*/ +static PyObject *__pyx_memoryview_assign_item_from_object(struct __pyx_memoryview_obj *__pyx_v_self, char *__pyx_v_itemp, PyObject *__pyx_v_value); /* proto*/ +static PyObject *__pyx_memoryview__get_base(struct __pyx_memoryview_obj *__pyx_v_self); /* proto*/ +static PyObject *__pyx_memoryviewslice_convert_item_to_object(struct __pyx_memoryviewslice_obj *__pyx_v_self, char *__pyx_v_itemp); /* proto*/ +static PyObject *__pyx_memoryviewslice_assign_item_from_object(struct __pyx_memoryviewslice_obj *__pyx_v_self, char *__pyx_v_itemp, PyObject *__pyx_v_value); /* proto*/ +static PyObject *__pyx_memoryviewslice__get_base(struct __pyx_memoryviewslice_obj *__pyx_v_self); /* proto*/ + +/* Module declarations from "libcpp" */ + +/* Module declarations from "libc.string" */ + +/* Module declarations from "libcpp.string" */ + +/* Module declarations from "libcpp.vector" */ + +/* Module declarations from "libcpp.utility" */ + +/* Module declarations from "libcpp.set" */ + +/* Module declarations from "libc.stdint" */ + +/* Module declarations from "msgq.visionipc.visionipc" */ + +/* Module declarations from "selfdrive.classic_modeld.runners.thneedmodel" */ + +/* Module declarations from "msgq.visionipc.visionipc_pyx" */ + +/* Module declarations from "selfdrive.classic_modeld.models.commonmodel_pyx" */ + +/* Module declarations from "selfdrive.classic_modeld.runners.runmodel" */ + +/* Module declarations from "selfdrive.classic_modeld.runners.runmodel_pyx" */ + +/* Module declarations from "selfdrive.classic_modeld.runners.thneedmodel_pyx" */ +static PyObject *__pyx_collections_abc_Sequence = 0; +static PyObject *generic = 0; +static PyObject *strided = 0; +static PyObject *indirect = 0; +static PyObject *contiguous = 0; +static PyObject *indirect_contiguous = 0; +static int __pyx_memoryview_thread_locks_used; +static PyThread_type_lock __pyx_memoryview_thread_locks[8]; +static std::string __pyx_convert_string_from_py_std__in_string(PyObject *); /*proto*/ +static int __pyx_array_allocate_buffer(struct __pyx_array_obj *); /*proto*/ +static struct __pyx_array_obj *__pyx_array_new(PyObject *, Py_ssize_t, char *, char *, char *); /*proto*/ +static PyObject *__pyx_memoryview_new(PyObject *, int, int, __Pyx_TypeInfo *); /*proto*/ +static CYTHON_INLINE int __pyx_memoryview_check(PyObject *); /*proto*/ +static PyObject *_unellipsify(PyObject *, int); /*proto*/ +static int assert_direct_dimensions(Py_ssize_t *, int); /*proto*/ +static struct __pyx_memoryview_obj *__pyx_memview_slice(struct __pyx_memoryview_obj *, PyObject *); /*proto*/ +static int __pyx_memoryview_slice_memviewslice(__Pyx_memviewslice *, Py_ssize_t, Py_ssize_t, Py_ssize_t, int, int, int *, Py_ssize_t, Py_ssize_t, Py_ssize_t, int, int, int, int); /*proto*/ +static char *__pyx_pybuffer_index(Py_buffer *, char *, Py_ssize_t, Py_ssize_t); /*proto*/ +static int __pyx_memslice_transpose(__Pyx_memviewslice *); /*proto*/ +static PyObject *__pyx_memoryview_fromslice(__Pyx_memviewslice, int, PyObject *(*)(char *), int (*)(char *, PyObject *), int); /*proto*/ +static __Pyx_memviewslice *__pyx_memoryview_get_slice_from_memoryview(struct __pyx_memoryview_obj *, __Pyx_memviewslice *); /*proto*/ +static void __pyx_memoryview_slice_copy(struct __pyx_memoryview_obj *, __Pyx_memviewslice *); /*proto*/ +static PyObject *__pyx_memoryview_copy_object(struct __pyx_memoryview_obj *); /*proto*/ +static PyObject *__pyx_memoryview_copy_object_from_slice(struct __pyx_memoryview_obj *, __Pyx_memviewslice *); /*proto*/ +static Py_ssize_t abs_py_ssize_t(Py_ssize_t); /*proto*/ +static char __pyx_get_best_slice_order(__Pyx_memviewslice *, int); /*proto*/ +static void _copy_strided_to_strided(char *, Py_ssize_t *, char *, Py_ssize_t *, Py_ssize_t *, Py_ssize_t *, int, size_t); /*proto*/ +static void copy_strided_to_strided(__Pyx_memviewslice *, __Pyx_memviewslice *, int, size_t); /*proto*/ +static Py_ssize_t __pyx_memoryview_slice_get_size(__Pyx_memviewslice *, int); /*proto*/ +static Py_ssize_t __pyx_fill_contig_strides_array(Py_ssize_t *, Py_ssize_t *, Py_ssize_t, int, char); /*proto*/ +static void *__pyx_memoryview_copy_data_to_temp(__Pyx_memviewslice *, __Pyx_memviewslice *, char, int); /*proto*/ +static int __pyx_memoryview_err_extents(int, Py_ssize_t, Py_ssize_t); /*proto*/ +static int __pyx_memoryview_err_dim(PyObject *, PyObject *, int); /*proto*/ +static int __pyx_memoryview_err(PyObject *, PyObject *); /*proto*/ +static int __pyx_memoryview_err_no_memory(void); /*proto*/ +static int __pyx_memoryview_copy_contents(__Pyx_memviewslice, __Pyx_memviewslice, int, int, int); /*proto*/ +static void __pyx_memoryview_broadcast_leading(__Pyx_memviewslice *, int, int); /*proto*/ +static void __pyx_memoryview_refcount_copying(__Pyx_memviewslice *, int, int, int); /*proto*/ +static void __pyx_memoryview_refcount_objects_in_slice_with_gil(char *, Py_ssize_t *, Py_ssize_t *, int, int); /*proto*/ +static void __pyx_memoryview_refcount_objects_in_slice(char *, Py_ssize_t *, Py_ssize_t *, int, int); /*proto*/ +static void __pyx_memoryview_slice_assign_scalar(__Pyx_memviewslice *, int, size_t, void *, int); /*proto*/ +static void __pyx_memoryview__slice_assign_scalar(char *, Py_ssize_t *, Py_ssize_t *, int, size_t, void *); /*proto*/ +static PyObject *__pyx_unpickle_Enum__set_state(struct __pyx_MemviewEnum_obj *, PyObject *); /*proto*/ +/* #### Code section: typeinfo ### */ +static __Pyx_TypeInfo __Pyx_TypeInfo_float = { "float", NULL, sizeof(float), { 0 }, 0, 'R', 0, 0 }; +/* #### Code section: before_global_var ### */ +#define __Pyx_MODULE_NAME "selfdrive.classic_modeld.runners.thneedmodel_pyx" +extern int __pyx_module_is_main_selfdrive__classic_modeld__runners__thneedmodel_pyx; +int __pyx_module_is_main_selfdrive__classic_modeld__runners__thneedmodel_pyx = 0; + +/* Implementation of "selfdrive.classic_modeld.runners.thneedmodel_pyx" */ +/* #### Code section: global_var ### */ +static PyObject *__pyx_builtin_TypeError; +static PyObject *__pyx_builtin___import__; +static PyObject *__pyx_builtin_ValueError; +static PyObject *__pyx_builtin_MemoryError; +static PyObject *__pyx_builtin_enumerate; +static PyObject *__pyx_builtin_range; +static PyObject *__pyx_builtin_AssertionError; +static PyObject *__pyx_builtin_Ellipsis; +static PyObject *__pyx_builtin_id; +static PyObject *__pyx_builtin_IndexError; +/* #### Code section: string_decls ### */ +static const char __pyx_k_[] = ": "; +static const char __pyx_k_O[] = "O"; +static const char __pyx_k_c[] = "c"; +static const char __pyx_k__2[] = "."; +static const char __pyx_k__3[] = "*"; +static const char __pyx_k__6[] = "'"; +static const char __pyx_k__7[] = ")"; +static const char __pyx_k_gc[] = "gc"; +static const char __pyx_k_id[] = "id"; +static const char __pyx_k__24[] = "?"; +static const char __pyx_k_abc[] = "abc"; +static const char __pyx_k_and[] = " and "; +static const char __pyx_k_got[] = " (got "; +static const char __pyx_k_new[] = "__new__"; +static const char __pyx_k_obj[] = "obj"; +static const char __pyx_k_sys[] = "sys"; +static const char __pyx_k_base[] = "base"; +static const char __pyx_k_dict[] = "__dict__"; +static const char __pyx_k_main[] = "__main__"; +static const char __pyx_k_mode[] = "mode"; +static const char __pyx_k_name[] = "name"; +static const char __pyx_k_ndim[] = "ndim"; +static const char __pyx_k_pack[] = "pack"; +static const char __pyx_k_path[] = "path"; +static const char __pyx_k_self[] = "self"; +static const char __pyx_k_size[] = "size"; +static const char __pyx_k_spec[] = "__spec__"; +static const char __pyx_k_step[] = "step"; +static const char __pyx_k_stop[] = "stop"; +static const char __pyx_k_test[] = "__test__"; +static const char __pyx_k_ASCII[] = "ASCII"; +static const char __pyx_k_class[] = "__class__"; +static const char __pyx_k_count[] = "count"; +static const char __pyx_k_error[] = "error"; +static const char __pyx_k_flags[] = "flags"; +static const char __pyx_k_index[] = "index"; +static const char __pyx_k_range[] = "range"; +static const char __pyx_k_shape[] = "shape"; +static const char __pyx_k_start[] = "start"; +static const char __pyx_k_enable[] = "enable"; +static const char __pyx_k_encode[] = "encode"; +static const char __pyx_k_format[] = "format"; +static const char __pyx_k_import[] = "__import__"; +static const char __pyx_k_name_2[] = "__name__"; +static const char __pyx_k_output[] = "output"; +static const char __pyx_k_pickle[] = "pickle"; +static const char __pyx_k_reduce[] = "__reduce__"; +static const char __pyx_k_struct[] = "struct"; +static const char __pyx_k_unpack[] = "unpack"; +static const char __pyx_k_update[] = "update"; +static const char __pyx_k_context[] = "context"; +static const char __pyx_k_disable[] = "disable"; +static const char __pyx_k_fortran[] = "fortran"; +static const char __pyx_k_memview[] = "memview"; +static const char __pyx_k_runtime[] = "runtime"; +static const char __pyx_k_use_tf8[] = "use_tf8"; +static const char __pyx_k_Ellipsis[] = "Ellipsis"; +static const char __pyx_k_Sequence[] = "Sequence"; +static const char __pyx_k_getstate[] = "__getstate__"; +static const char __pyx_k_itemsize[] = "itemsize"; +static const char __pyx_k_pyx_type[] = "__pyx_type"; +static const char __pyx_k_register[] = "register"; +static const char __pyx_k_setstate[] = "__setstate__"; +static const char __pyx_k_TypeError[] = "TypeError"; +static const char __pyx_k_enumerate[] = "enumerate"; +static const char __pyx_k_isenabled[] = "isenabled"; +static const char __pyx_k_pyx_state[] = "__pyx_state"; +static const char __pyx_k_reduce_ex[] = "__reduce_ex__"; +static const char __pyx_k_IndexError[] = "IndexError"; +static const char __pyx_k_ValueError[] = "ValueError"; +static const char __pyx_k_pyx_result[] = "__pyx_result"; +static const char __pyx_k_pyx_vtable[] = "__pyx_vtable__"; +static const char __pyx_k_MemoryError[] = "MemoryError"; +static const char __pyx_k_PickleError[] = "PickleError"; +static const char __pyx_k_ThneedModel[] = "ThneedModel"; +static const char __pyx_k_collections[] = "collections"; +static const char __pyx_k_initializing[] = "_initializing"; +static const char __pyx_k_is_coroutine[] = "_is_coroutine"; +static const char __pyx_k_pyx_checksum[] = "__pyx_checksum"; +static const char __pyx_k_stringsource[] = ""; +static const char __pyx_k_version_info[] = "version_info"; +static const char __pyx_k_class_getitem[] = "__class_getitem__"; +static const char __pyx_k_reduce_cython[] = "__reduce_cython__"; +static const char __pyx_k_AssertionError[] = "AssertionError"; +static const char __pyx_k_View_MemoryView[] = "View.MemoryView"; +static const char __pyx_k_allocate_buffer[] = "allocate_buffer"; +static const char __pyx_k_collections_abc[] = "collections.abc"; +static const char __pyx_k_dtype_is_object[] = "dtype_is_object"; +static const char __pyx_k_pyx_PickleError[] = "__pyx_PickleError"; +static const char __pyx_k_setstate_cython[] = "__setstate_cython__"; +static const char __pyx_k_pyx_unpickle_Enum[] = "__pyx_unpickle_Enum"; +static const char __pyx_k_asyncio_coroutines[] = "asyncio.coroutines"; +static const char __pyx_k_cline_in_traceback[] = "cline_in_traceback"; +static const char __pyx_k_strided_and_direct[] = ""; +static const char __pyx_k_strided_and_indirect[] = ""; +static const char __pyx_k_Invalid_shape_in_axis[] = "Invalid shape in axis "; +static const char __pyx_k_contiguous_and_direct[] = ""; +static const char __pyx_k_Cannot_index_with_type[] = "Cannot index with type '"; +static const char __pyx_k_MemoryView_of_r_object[] = ""; +static const char __pyx_k_MemoryView_of_r_at_0x_x[] = ""; +static const char __pyx_k_contiguous_and_indirect[] = ""; +static const char __pyx_k_Dimension_d_is_not_direct[] = "Dimension %d is not direct"; +static const char __pyx_k_Index_out_of_bounds_axis_d[] = "Index out of bounds (axis %d)"; +static const char __pyx_k_Step_may_not_be_zero_axis_d[] = "Step may not be zero (axis %d)"; +static const char __pyx_k_ThneedModel___reduce_cython[] = "ThneedModel.__reduce_cython__"; +static const char __pyx_k_itemsize_0_for_cython_array[] = "itemsize <= 0 for cython.array"; +static const char __pyx_k_ThneedModel___setstate_cython[] = "ThneedModel.__setstate_cython__"; +static const char __pyx_k_unable_to_allocate_array_data[] = "unable to allocate array data."; +static const char __pyx_k_strided_and_direct_or_indirect[] = ""; +static const char __pyx_k_All_dimensions_preceding_dimensi[] = "All dimensions preceding dimension %d must be indexed and not sliced"; +static const char __pyx_k_Buffer_view_does_not_expose_stri[] = "Buffer view does not expose strides"; +static const char __pyx_k_Can_only_create_a_buffer_that_is[] = "Can only create a buffer that is contiguous in memory."; +static const char __pyx_k_Cannot_assign_to_read_only_memor[] = "Cannot assign to read-only memoryview"; +static const char __pyx_k_Cannot_create_writable_memory_vi[] = "Cannot create writable memory view from read-only memoryview"; +static const char __pyx_k_Cannot_transpose_memoryview_with[] = "Cannot transpose memoryview with indirect dimensions"; +static const char __pyx_k_Empty_shape_tuple_for_cython_arr[] = "Empty shape tuple for cython.array"; +static const char __pyx_k_Incompatible_checksums_0x_x_vs_0[] = "Incompatible checksums (0x%x vs (0x82a3537, 0x6ae9995, 0xb068931) = (name))"; +static const char __pyx_k_Indirect_dimensions_not_supporte[] = "Indirect dimensions not supported"; +static const char __pyx_k_Invalid_mode_expected_c_or_fortr[] = "Invalid mode, expected 'c' or 'fortran', got "; +static const char __pyx_k_Out_of_bounds_on_buffer_access_a[] = "Out of bounds on buffer access (axis "; +static const char __pyx_k_Unable_to_convert_item_to_object[] = "Unable to convert item to object"; +static const char __pyx_k_got_differing_extents_in_dimensi[] = "got differing extents in dimension "; +static const char __pyx_k_no_default___reduce___due_to_non[] = "no default __reduce__ due to non-trivial __cinit__"; +static const char __pyx_k_selfdrive_classic_modeld_runners[] = "selfdrive.classic_modeld.runners.thneedmodel_pyx"; +static const char __pyx_k_unable_to_allocate_shape_and_str[] = "unable to allocate shape and strides."; +/* #### Code section: decls ### */ +static int __pyx_array___pyx_pf_15View_dot_MemoryView_5array___cinit__(struct __pyx_array_obj *__pyx_v_self, PyObject *__pyx_v_shape, Py_ssize_t __pyx_v_itemsize, PyObject *__pyx_v_format, PyObject *__pyx_v_mode, int __pyx_v_allocate_buffer); /* proto */ +static int __pyx_array___pyx_pf_15View_dot_MemoryView_5array_2__getbuffer__(struct __pyx_array_obj *__pyx_v_self, Py_buffer *__pyx_v_info, int __pyx_v_flags); /* proto */ +static void __pyx_array___pyx_pf_15View_dot_MemoryView_5array_4__dealloc__(struct __pyx_array_obj *__pyx_v_self); /* proto */ +static PyObject *__pyx_pf_15View_dot_MemoryView_5array_7memview___get__(struct __pyx_array_obj *__pyx_v_self); /* proto */ +static Py_ssize_t __pyx_array___pyx_pf_15View_dot_MemoryView_5array_6__len__(struct __pyx_array_obj *__pyx_v_self); /* proto */ +static PyObject *__pyx_array___pyx_pf_15View_dot_MemoryView_5array_8__getattr__(struct __pyx_array_obj *__pyx_v_self, PyObject *__pyx_v_attr); /* proto */ +static PyObject *__pyx_array___pyx_pf_15View_dot_MemoryView_5array_10__getitem__(struct __pyx_array_obj *__pyx_v_self, PyObject *__pyx_v_item); /* proto */ +static int __pyx_array___pyx_pf_15View_dot_MemoryView_5array_12__setitem__(struct __pyx_array_obj *__pyx_v_self, PyObject *__pyx_v_item, PyObject *__pyx_v_value); /* proto */ +static PyObject *__pyx_pf___pyx_array___reduce_cython__(CYTHON_UNUSED struct __pyx_array_obj *__pyx_v_self); /* proto */ +static PyObject *__pyx_pf___pyx_array_2__setstate_cython__(CYTHON_UNUSED struct __pyx_array_obj *__pyx_v_self, CYTHON_UNUSED PyObject *__pyx_v___pyx_state); /* proto */ +static int __pyx_MemviewEnum___pyx_pf_15View_dot_MemoryView_4Enum___init__(struct __pyx_MemviewEnum_obj *__pyx_v_self, PyObject *__pyx_v_name); /* proto */ +static PyObject *__pyx_MemviewEnum___pyx_pf_15View_dot_MemoryView_4Enum_2__repr__(struct __pyx_MemviewEnum_obj *__pyx_v_self); /* proto */ +static PyObject *__pyx_pf___pyx_MemviewEnum___reduce_cython__(struct __pyx_MemviewEnum_obj *__pyx_v_self); /* proto */ +static PyObject *__pyx_pf___pyx_MemviewEnum_2__setstate_cython__(struct __pyx_MemviewEnum_obj *__pyx_v_self, PyObject *__pyx_v___pyx_state); /* proto */ +static int __pyx_memoryview___pyx_pf_15View_dot_MemoryView_10memoryview___cinit__(struct __pyx_memoryview_obj *__pyx_v_self, PyObject *__pyx_v_obj, int __pyx_v_flags, int __pyx_v_dtype_is_object); /* proto */ +static void __pyx_memoryview___pyx_pf_15View_dot_MemoryView_10memoryview_2__dealloc__(struct __pyx_memoryview_obj *__pyx_v_self); /* proto */ +static PyObject *__pyx_memoryview___pyx_pf_15View_dot_MemoryView_10memoryview_4__getitem__(struct __pyx_memoryview_obj *__pyx_v_self, PyObject *__pyx_v_index); /* proto */ +static int __pyx_memoryview___pyx_pf_15View_dot_MemoryView_10memoryview_6__setitem__(struct __pyx_memoryview_obj *__pyx_v_self, PyObject *__pyx_v_index, PyObject *__pyx_v_value); /* proto */ +static int __pyx_memoryview___pyx_pf_15View_dot_MemoryView_10memoryview_8__getbuffer__(struct __pyx_memoryview_obj *__pyx_v_self, Py_buffer *__pyx_v_info, int __pyx_v_flags); /* proto */ +static PyObject *__pyx_pf_15View_dot_MemoryView_10memoryview_1T___get__(struct __pyx_memoryview_obj *__pyx_v_self); /* proto */ +static PyObject *__pyx_pf_15View_dot_MemoryView_10memoryview_4base___get__(struct __pyx_memoryview_obj *__pyx_v_self); /* proto */ +static PyObject *__pyx_pf_15View_dot_MemoryView_10memoryview_5shape___get__(struct __pyx_memoryview_obj *__pyx_v_self); /* proto */ +static PyObject *__pyx_pf_15View_dot_MemoryView_10memoryview_7strides___get__(struct __pyx_memoryview_obj *__pyx_v_self); /* proto */ +static PyObject *__pyx_pf_15View_dot_MemoryView_10memoryview_10suboffsets___get__(struct __pyx_memoryview_obj *__pyx_v_self); /* proto */ +static PyObject *__pyx_pf_15View_dot_MemoryView_10memoryview_4ndim___get__(struct __pyx_memoryview_obj *__pyx_v_self); /* proto */ +static PyObject *__pyx_pf_15View_dot_MemoryView_10memoryview_8itemsize___get__(struct __pyx_memoryview_obj *__pyx_v_self); /* proto */ +static PyObject *__pyx_pf_15View_dot_MemoryView_10memoryview_6nbytes___get__(struct __pyx_memoryview_obj *__pyx_v_self); /* proto */ +static PyObject *__pyx_pf_15View_dot_MemoryView_10memoryview_4size___get__(struct __pyx_memoryview_obj *__pyx_v_self); /* proto */ +static Py_ssize_t __pyx_memoryview___pyx_pf_15View_dot_MemoryView_10memoryview_10__len__(struct __pyx_memoryview_obj *__pyx_v_self); /* proto */ +static PyObject *__pyx_memoryview___pyx_pf_15View_dot_MemoryView_10memoryview_12__repr__(struct __pyx_memoryview_obj *__pyx_v_self); /* proto */ +static PyObject *__pyx_memoryview___pyx_pf_15View_dot_MemoryView_10memoryview_14__str__(struct __pyx_memoryview_obj *__pyx_v_self); /* proto */ +static PyObject *__pyx_memoryview___pyx_pf_15View_dot_MemoryView_10memoryview_16is_c_contig(struct __pyx_memoryview_obj *__pyx_v_self); /* proto */ +static PyObject *__pyx_memoryview___pyx_pf_15View_dot_MemoryView_10memoryview_18is_f_contig(struct __pyx_memoryview_obj *__pyx_v_self); /* proto */ +static PyObject *__pyx_memoryview___pyx_pf_15View_dot_MemoryView_10memoryview_20copy(struct __pyx_memoryview_obj *__pyx_v_self); /* proto */ +static PyObject *__pyx_memoryview___pyx_pf_15View_dot_MemoryView_10memoryview_22copy_fortran(struct __pyx_memoryview_obj *__pyx_v_self); /* proto */ +static PyObject *__pyx_pf___pyx_memoryview___reduce_cython__(CYTHON_UNUSED struct __pyx_memoryview_obj *__pyx_v_self); /* proto */ +static PyObject *__pyx_pf___pyx_memoryview_2__setstate_cython__(CYTHON_UNUSED struct __pyx_memoryview_obj *__pyx_v_self, CYTHON_UNUSED PyObject *__pyx_v___pyx_state); /* proto */ +static void __pyx_memoryviewslice___pyx_pf_15View_dot_MemoryView_16_memoryviewslice___dealloc__(struct __pyx_memoryviewslice_obj *__pyx_v_self); /* proto */ +static PyObject *__pyx_pf___pyx_memoryviewslice___reduce_cython__(CYTHON_UNUSED struct __pyx_memoryviewslice_obj *__pyx_v_self); /* proto */ +static PyObject *__pyx_pf___pyx_memoryviewslice_2__setstate_cython__(CYTHON_UNUSED struct __pyx_memoryviewslice_obj *__pyx_v_self, CYTHON_UNUSED PyObject *__pyx_v___pyx_state); /* proto */ +static PyObject *__pyx_pf_15View_dot_MemoryView___pyx_unpickle_Enum(CYTHON_UNUSED PyObject *__pyx_self, PyObject *__pyx_v___pyx_type, long __pyx_v___pyx_checksum, PyObject *__pyx_v___pyx_state); /* proto */ +static int __pyx_pf_9selfdrive_14classic_modeld_7runners_15thneedmodel_pyx_11ThneedModel___cinit__(struct __pyx_obj_9selfdrive_14classic_modeld_7runners_15thneedmodel_pyx_ThneedModel *__pyx_v_self, std::string __pyx_v_path, __Pyx_memviewslice __pyx_v_output, int __pyx_v_runtime, bool __pyx_v_use_tf8, struct __pyx_obj_9selfdrive_14classic_modeld_6models_15commonmodel_pyx_CLContext *__pyx_v_context); /* proto */ +static PyObject *__pyx_pf_9selfdrive_14classic_modeld_7runners_15thneedmodel_pyx_11ThneedModel_2__reduce_cython__(CYTHON_UNUSED struct __pyx_obj_9selfdrive_14classic_modeld_7runners_15thneedmodel_pyx_ThneedModel *__pyx_v_self); /* proto */ +static PyObject *__pyx_pf_9selfdrive_14classic_modeld_7runners_15thneedmodel_pyx_11ThneedModel_4__setstate_cython__(CYTHON_UNUSED struct __pyx_obj_9selfdrive_14classic_modeld_7runners_15thneedmodel_pyx_ThneedModel *__pyx_v_self, CYTHON_UNUSED PyObject *__pyx_v___pyx_state); /* proto */ +static PyObject *__pyx_tp_new_9selfdrive_14classic_modeld_7runners_15thneedmodel_pyx_ThneedModel(PyTypeObject *t, PyObject *a, PyObject *k); /*proto*/ +static PyObject *__pyx_tp_new_array(PyTypeObject *t, PyObject *a, PyObject *k); /*proto*/ +static PyObject *__pyx_tp_new_Enum(PyTypeObject *t, PyObject *a, PyObject *k); /*proto*/ +static PyObject *__pyx_tp_new_memoryview(PyTypeObject *t, PyObject *a, PyObject *k); /*proto*/ +static PyObject *__pyx_tp_new__memoryviewslice(PyTypeObject *t, PyObject *a, PyObject *k); /*proto*/ +/* #### Code section: late_includes ### */ +/* #### Code section: module_state ### */ +typedef struct { + PyObject *__pyx_d; + PyObject *__pyx_b; + PyObject *__pyx_cython_runtime; + PyObject *__pyx_empty_tuple; + PyObject *__pyx_empty_bytes; + PyObject *__pyx_empty_unicode; + #ifdef __Pyx_CyFunction_USED + PyTypeObject *__pyx_CyFunctionType; + #endif + #ifdef __Pyx_FusedFunction_USED + PyTypeObject *__pyx_FusedFunctionType; + #endif + #ifdef __Pyx_Generator_USED + PyTypeObject *__pyx_GeneratorType; + #endif + #ifdef __Pyx_IterableCoroutine_USED + PyTypeObject *__pyx_IterableCoroutineType; + #endif + #ifdef __Pyx_Coroutine_USED + PyTypeObject *__pyx_CoroutineAwaitType; + #endif + #ifdef __Pyx_Coroutine_USED + PyTypeObject *__pyx_CoroutineType; + #endif + #if CYTHON_USE_MODULE_STATE + #endif + #if CYTHON_USE_MODULE_STATE + #endif + #if CYTHON_USE_MODULE_STATE + #endif + #if CYTHON_USE_MODULE_STATE + #endif + #if CYTHON_USE_MODULE_STATE + #endif + #if CYTHON_USE_MODULE_STATE + #endif + #if CYTHON_USE_MODULE_STATE + #endif + #if CYTHON_USE_MODULE_STATE + #endif + #if CYTHON_USE_MODULE_STATE + #endif + #if CYTHON_USE_MODULE_STATE + #endif + PyTypeObject *__pyx_ptype_4msgq_9visionipc_13visionipc_pyx_CLContext; + PyTypeObject *__pyx_ptype_4msgq_9visionipc_13visionipc_pyx_VisionBuf; + #if CYTHON_USE_MODULE_STATE + #endif + PyTypeObject *__pyx_ptype_9selfdrive_14classic_modeld_6models_15commonmodel_pyx_CLContext; + PyTypeObject *__pyx_ptype_9selfdrive_14classic_modeld_6models_15commonmodel_pyx_CLMem; + #if CYTHON_USE_MODULE_STATE + #endif + #if CYTHON_USE_MODULE_STATE + #endif + PyTypeObject *__pyx_ptype_9selfdrive_14classic_modeld_7runners_12runmodel_pyx_RunModel; + #if CYTHON_USE_MODULE_STATE + PyObject *__pyx_type_9selfdrive_14classic_modeld_7runners_15thneedmodel_pyx_ThneedModel; + PyObject *__pyx_type___pyx_array; + PyObject *__pyx_type___pyx_MemviewEnum; + PyObject *__pyx_type___pyx_memoryview; + PyObject *__pyx_type___pyx_memoryviewslice; + #endif + PyTypeObject *__pyx_ptype_9selfdrive_14classic_modeld_7runners_15thneedmodel_pyx_ThneedModel; + PyTypeObject *__pyx_array_type; + PyTypeObject *__pyx_MemviewEnum_type; + PyTypeObject *__pyx_memoryview_type; + PyTypeObject *__pyx_memoryviewslice_type; + PyObject *__pyx_kp_u_; + PyObject *__pyx_n_s_ASCII; + PyObject *__pyx_kp_s_All_dimensions_preceding_dimensi; + PyObject *__pyx_n_s_AssertionError; + PyObject *__pyx_kp_s_Buffer_view_does_not_expose_stri; + PyObject *__pyx_kp_s_Can_only_create_a_buffer_that_is; + PyObject *__pyx_kp_s_Cannot_assign_to_read_only_memor; + PyObject *__pyx_kp_s_Cannot_create_writable_memory_vi; + PyObject *__pyx_kp_u_Cannot_index_with_type; + PyObject *__pyx_kp_s_Cannot_transpose_memoryview_with; + PyObject *__pyx_kp_s_Dimension_d_is_not_direct; + PyObject *__pyx_n_s_Ellipsis; + PyObject *__pyx_kp_s_Empty_shape_tuple_for_cython_arr; + PyObject *__pyx_kp_s_Incompatible_checksums_0x_x_vs_0; + PyObject *__pyx_n_s_IndexError; + PyObject *__pyx_kp_s_Index_out_of_bounds_axis_d; + PyObject *__pyx_kp_s_Indirect_dimensions_not_supporte; + PyObject *__pyx_kp_u_Invalid_mode_expected_c_or_fortr; + PyObject *__pyx_kp_u_Invalid_shape_in_axis; + PyObject *__pyx_n_s_MemoryError; + PyObject *__pyx_kp_s_MemoryView_of_r_at_0x_x; + PyObject *__pyx_kp_s_MemoryView_of_r_object; + PyObject *__pyx_n_b_O; + PyObject *__pyx_kp_u_Out_of_bounds_on_buffer_access_a; + PyObject *__pyx_n_s_PickleError; + PyObject *__pyx_n_s_Sequence; + PyObject *__pyx_kp_s_Step_may_not_be_zero_axis_d; + PyObject *__pyx_n_s_ThneedModel; + PyObject *__pyx_n_s_ThneedModel___reduce_cython; + PyObject *__pyx_n_s_ThneedModel___setstate_cython; + PyObject *__pyx_n_s_TypeError; + PyObject *__pyx_kp_s_Unable_to_convert_item_to_object; + PyObject *__pyx_n_s_ValueError; + PyObject *__pyx_n_s_View_MemoryView; + PyObject *__pyx_kp_u__2; + PyObject *__pyx_n_s__24; + PyObject *__pyx_n_s__3; + PyObject *__pyx_kp_u__6; + PyObject *__pyx_kp_u__7; + PyObject *__pyx_n_s_abc; + PyObject *__pyx_n_s_allocate_buffer; + PyObject *__pyx_kp_u_and; + PyObject *__pyx_n_s_asyncio_coroutines; + PyObject *__pyx_n_s_base; + PyObject *__pyx_n_s_c; + PyObject *__pyx_n_u_c; + PyObject *__pyx_n_s_class; + PyObject *__pyx_n_s_class_getitem; + PyObject *__pyx_n_s_cline_in_traceback; + PyObject *__pyx_n_s_collections; + PyObject *__pyx_kp_s_collections_abc; + PyObject *__pyx_n_s_context; + PyObject *__pyx_kp_s_contiguous_and_direct; + PyObject *__pyx_kp_s_contiguous_and_indirect; + PyObject *__pyx_n_s_count; + PyObject *__pyx_n_s_dict; + PyObject *__pyx_kp_u_disable; + PyObject *__pyx_n_s_dtype_is_object; + PyObject *__pyx_kp_u_enable; + PyObject *__pyx_n_s_encode; + PyObject *__pyx_n_s_enumerate; + PyObject *__pyx_n_s_error; + PyObject *__pyx_n_s_flags; + PyObject *__pyx_n_s_format; + PyObject *__pyx_n_s_fortran; + PyObject *__pyx_n_u_fortran; + PyObject *__pyx_kp_u_gc; + PyObject *__pyx_n_s_getstate; + PyObject *__pyx_kp_u_got; + PyObject *__pyx_kp_u_got_differing_extents_in_dimensi; + PyObject *__pyx_n_s_id; + PyObject *__pyx_n_s_import; + PyObject *__pyx_n_s_index; + PyObject *__pyx_n_s_initializing; + PyObject *__pyx_n_s_is_coroutine; + PyObject *__pyx_kp_u_isenabled; + PyObject *__pyx_n_s_itemsize; + PyObject *__pyx_kp_s_itemsize_0_for_cython_array; + PyObject *__pyx_n_s_main; + PyObject *__pyx_n_s_memview; + PyObject *__pyx_n_s_mode; + PyObject *__pyx_n_s_name; + PyObject *__pyx_n_s_name_2; + PyObject *__pyx_n_s_ndim; + PyObject *__pyx_n_s_new; + PyObject *__pyx_kp_s_no_default___reduce___due_to_non; + PyObject *__pyx_n_s_obj; + PyObject *__pyx_n_s_output; + PyObject *__pyx_n_s_pack; + PyObject *__pyx_n_s_path; + PyObject *__pyx_n_s_pickle; + PyObject *__pyx_n_s_pyx_PickleError; + PyObject *__pyx_n_s_pyx_checksum; + PyObject *__pyx_n_s_pyx_result; + PyObject *__pyx_n_s_pyx_state; + PyObject *__pyx_n_s_pyx_type; + PyObject *__pyx_n_s_pyx_unpickle_Enum; + PyObject *__pyx_n_s_pyx_vtable; + PyObject *__pyx_n_s_range; + PyObject *__pyx_n_s_reduce; + PyObject *__pyx_n_s_reduce_cython; + PyObject *__pyx_n_s_reduce_ex; + PyObject *__pyx_n_s_register; + PyObject *__pyx_n_s_runtime; + PyObject *__pyx_n_s_self; + PyObject *__pyx_n_s_selfdrive_classic_modeld_runners; + PyObject *__pyx_n_s_setstate; + PyObject *__pyx_n_s_setstate_cython; + PyObject *__pyx_n_s_shape; + PyObject *__pyx_n_s_size; + PyObject *__pyx_n_s_spec; + PyObject *__pyx_n_s_start; + PyObject *__pyx_n_s_step; + PyObject *__pyx_n_s_stop; + PyObject *__pyx_kp_s_strided_and_direct; + PyObject *__pyx_kp_s_strided_and_direct_or_indirect; + PyObject *__pyx_kp_s_strided_and_indirect; + PyObject *__pyx_kp_s_stringsource; + PyObject *__pyx_n_s_struct; + PyObject *__pyx_n_s_sys; + PyObject *__pyx_n_s_test; + PyObject *__pyx_kp_s_unable_to_allocate_array_data; + PyObject *__pyx_kp_s_unable_to_allocate_shape_and_str; + PyObject *__pyx_n_s_unpack; + PyObject *__pyx_n_s_update; + PyObject *__pyx_n_s_use_tf8; + PyObject *__pyx_n_s_version_info; + PyObject *__pyx_int_0; + PyObject *__pyx_int_1; + PyObject *__pyx_int_3; + PyObject *__pyx_int_112105877; + PyObject *__pyx_int_136983863; + PyObject *__pyx_int_184977713; + PyObject *__pyx_int_neg_1; + PyObject *__pyx_slice__5; + PyObject *__pyx_tuple__4; + PyObject *__pyx_tuple__8; + PyObject *__pyx_tuple__9; + PyObject *__pyx_tuple__10; + PyObject *__pyx_tuple__11; + PyObject *__pyx_tuple__12; + PyObject *__pyx_tuple__13; + PyObject *__pyx_tuple__14; + PyObject *__pyx_tuple__15; + PyObject *__pyx_tuple__16; + PyObject *__pyx_tuple__17; + PyObject *__pyx_tuple__18; + PyObject *__pyx_tuple__20; + PyObject *__pyx_tuple__22; + PyObject *__pyx_codeobj__19; + PyObject *__pyx_codeobj__21; + PyObject *__pyx_codeobj__23; +} __pyx_mstate; + +#if CYTHON_USE_MODULE_STATE +#ifdef __cplusplus +namespace { + extern struct PyModuleDef __pyx_moduledef; +} /* anonymous namespace */ +#else +static struct PyModuleDef __pyx_moduledef; +#endif + +#define __pyx_mstate(o) ((__pyx_mstate *)__Pyx_PyModule_GetState(o)) + +#define __pyx_mstate_global (__pyx_mstate(PyState_FindModule(&__pyx_moduledef))) + +#define __pyx_m (PyState_FindModule(&__pyx_moduledef)) +#else +static __pyx_mstate __pyx_mstate_global_static = +#ifdef __cplusplus + {}; +#else + {0}; +#endif +static __pyx_mstate *__pyx_mstate_global = &__pyx_mstate_global_static; +#endif +/* #### Code section: module_state_clear ### */ +#if CYTHON_USE_MODULE_STATE +static int __pyx_m_clear(PyObject *m) { + __pyx_mstate *clear_module_state = __pyx_mstate(m); + if (!clear_module_state) return 0; + Py_CLEAR(clear_module_state->__pyx_d); + Py_CLEAR(clear_module_state->__pyx_b); + Py_CLEAR(clear_module_state->__pyx_cython_runtime); + Py_CLEAR(clear_module_state->__pyx_empty_tuple); + Py_CLEAR(clear_module_state->__pyx_empty_bytes); + Py_CLEAR(clear_module_state->__pyx_empty_unicode); + #ifdef __Pyx_CyFunction_USED + Py_CLEAR(clear_module_state->__pyx_CyFunctionType); + #endif + #ifdef __Pyx_FusedFunction_USED + Py_CLEAR(clear_module_state->__pyx_FusedFunctionType); + #endif + Py_CLEAR(clear_module_state->__pyx_ptype_4msgq_9visionipc_13visionipc_pyx_CLContext); + Py_CLEAR(clear_module_state->__pyx_ptype_4msgq_9visionipc_13visionipc_pyx_VisionBuf); + Py_CLEAR(clear_module_state->__pyx_ptype_9selfdrive_14classic_modeld_6models_15commonmodel_pyx_CLContext); + Py_CLEAR(clear_module_state->__pyx_ptype_9selfdrive_14classic_modeld_6models_15commonmodel_pyx_CLMem); + Py_CLEAR(clear_module_state->__pyx_ptype_9selfdrive_14classic_modeld_7runners_12runmodel_pyx_RunModel); + Py_CLEAR(clear_module_state->__pyx_ptype_9selfdrive_14classic_modeld_7runners_15thneedmodel_pyx_ThneedModel); + Py_CLEAR(clear_module_state->__pyx_type_9selfdrive_14classic_modeld_7runners_15thneedmodel_pyx_ThneedModel); + Py_CLEAR(clear_module_state->__pyx_array_type); + Py_CLEAR(clear_module_state->__pyx_type___pyx_array); + Py_CLEAR(clear_module_state->__pyx_MemviewEnum_type); + Py_CLEAR(clear_module_state->__pyx_type___pyx_MemviewEnum); + Py_CLEAR(clear_module_state->__pyx_memoryview_type); + Py_CLEAR(clear_module_state->__pyx_type___pyx_memoryview); + Py_CLEAR(clear_module_state->__pyx_memoryviewslice_type); + Py_CLEAR(clear_module_state->__pyx_type___pyx_memoryviewslice); + Py_CLEAR(clear_module_state->__pyx_kp_u_); + Py_CLEAR(clear_module_state->__pyx_n_s_ASCII); + Py_CLEAR(clear_module_state->__pyx_kp_s_All_dimensions_preceding_dimensi); + Py_CLEAR(clear_module_state->__pyx_n_s_AssertionError); + Py_CLEAR(clear_module_state->__pyx_kp_s_Buffer_view_does_not_expose_stri); + Py_CLEAR(clear_module_state->__pyx_kp_s_Can_only_create_a_buffer_that_is); + Py_CLEAR(clear_module_state->__pyx_kp_s_Cannot_assign_to_read_only_memor); + Py_CLEAR(clear_module_state->__pyx_kp_s_Cannot_create_writable_memory_vi); + Py_CLEAR(clear_module_state->__pyx_kp_u_Cannot_index_with_type); + Py_CLEAR(clear_module_state->__pyx_kp_s_Cannot_transpose_memoryview_with); + Py_CLEAR(clear_module_state->__pyx_kp_s_Dimension_d_is_not_direct); + Py_CLEAR(clear_module_state->__pyx_n_s_Ellipsis); + Py_CLEAR(clear_module_state->__pyx_kp_s_Empty_shape_tuple_for_cython_arr); + Py_CLEAR(clear_module_state->__pyx_kp_s_Incompatible_checksums_0x_x_vs_0); + Py_CLEAR(clear_module_state->__pyx_n_s_IndexError); + Py_CLEAR(clear_module_state->__pyx_kp_s_Index_out_of_bounds_axis_d); + Py_CLEAR(clear_module_state->__pyx_kp_s_Indirect_dimensions_not_supporte); + Py_CLEAR(clear_module_state->__pyx_kp_u_Invalid_mode_expected_c_or_fortr); + Py_CLEAR(clear_module_state->__pyx_kp_u_Invalid_shape_in_axis); + Py_CLEAR(clear_module_state->__pyx_n_s_MemoryError); + Py_CLEAR(clear_module_state->__pyx_kp_s_MemoryView_of_r_at_0x_x); + Py_CLEAR(clear_module_state->__pyx_kp_s_MemoryView_of_r_object); + Py_CLEAR(clear_module_state->__pyx_n_b_O); + Py_CLEAR(clear_module_state->__pyx_kp_u_Out_of_bounds_on_buffer_access_a); + Py_CLEAR(clear_module_state->__pyx_n_s_PickleError); + Py_CLEAR(clear_module_state->__pyx_n_s_Sequence); + Py_CLEAR(clear_module_state->__pyx_kp_s_Step_may_not_be_zero_axis_d); + Py_CLEAR(clear_module_state->__pyx_n_s_ThneedModel); + Py_CLEAR(clear_module_state->__pyx_n_s_ThneedModel___reduce_cython); + Py_CLEAR(clear_module_state->__pyx_n_s_ThneedModel___setstate_cython); + Py_CLEAR(clear_module_state->__pyx_n_s_TypeError); + Py_CLEAR(clear_module_state->__pyx_kp_s_Unable_to_convert_item_to_object); + Py_CLEAR(clear_module_state->__pyx_n_s_ValueError); + Py_CLEAR(clear_module_state->__pyx_n_s_View_MemoryView); + Py_CLEAR(clear_module_state->__pyx_kp_u__2); + Py_CLEAR(clear_module_state->__pyx_n_s__24); + Py_CLEAR(clear_module_state->__pyx_n_s__3); + Py_CLEAR(clear_module_state->__pyx_kp_u__6); + Py_CLEAR(clear_module_state->__pyx_kp_u__7); + Py_CLEAR(clear_module_state->__pyx_n_s_abc); + Py_CLEAR(clear_module_state->__pyx_n_s_allocate_buffer); + Py_CLEAR(clear_module_state->__pyx_kp_u_and); + Py_CLEAR(clear_module_state->__pyx_n_s_asyncio_coroutines); + Py_CLEAR(clear_module_state->__pyx_n_s_base); + Py_CLEAR(clear_module_state->__pyx_n_s_c); + Py_CLEAR(clear_module_state->__pyx_n_u_c); + Py_CLEAR(clear_module_state->__pyx_n_s_class); + Py_CLEAR(clear_module_state->__pyx_n_s_class_getitem); + Py_CLEAR(clear_module_state->__pyx_n_s_cline_in_traceback); + Py_CLEAR(clear_module_state->__pyx_n_s_collections); + Py_CLEAR(clear_module_state->__pyx_kp_s_collections_abc); + Py_CLEAR(clear_module_state->__pyx_n_s_context); + Py_CLEAR(clear_module_state->__pyx_kp_s_contiguous_and_direct); + Py_CLEAR(clear_module_state->__pyx_kp_s_contiguous_and_indirect); + Py_CLEAR(clear_module_state->__pyx_n_s_count); + Py_CLEAR(clear_module_state->__pyx_n_s_dict); + Py_CLEAR(clear_module_state->__pyx_kp_u_disable); + Py_CLEAR(clear_module_state->__pyx_n_s_dtype_is_object); + Py_CLEAR(clear_module_state->__pyx_kp_u_enable); + Py_CLEAR(clear_module_state->__pyx_n_s_encode); + Py_CLEAR(clear_module_state->__pyx_n_s_enumerate); + Py_CLEAR(clear_module_state->__pyx_n_s_error); + Py_CLEAR(clear_module_state->__pyx_n_s_flags); + Py_CLEAR(clear_module_state->__pyx_n_s_format); + Py_CLEAR(clear_module_state->__pyx_n_s_fortran); + Py_CLEAR(clear_module_state->__pyx_n_u_fortran); + Py_CLEAR(clear_module_state->__pyx_kp_u_gc); + Py_CLEAR(clear_module_state->__pyx_n_s_getstate); + Py_CLEAR(clear_module_state->__pyx_kp_u_got); + Py_CLEAR(clear_module_state->__pyx_kp_u_got_differing_extents_in_dimensi); + Py_CLEAR(clear_module_state->__pyx_n_s_id); + Py_CLEAR(clear_module_state->__pyx_n_s_import); + Py_CLEAR(clear_module_state->__pyx_n_s_index); + Py_CLEAR(clear_module_state->__pyx_n_s_initializing); + Py_CLEAR(clear_module_state->__pyx_n_s_is_coroutine); + Py_CLEAR(clear_module_state->__pyx_kp_u_isenabled); + Py_CLEAR(clear_module_state->__pyx_n_s_itemsize); + Py_CLEAR(clear_module_state->__pyx_kp_s_itemsize_0_for_cython_array); + Py_CLEAR(clear_module_state->__pyx_n_s_main); + Py_CLEAR(clear_module_state->__pyx_n_s_memview); + Py_CLEAR(clear_module_state->__pyx_n_s_mode); + Py_CLEAR(clear_module_state->__pyx_n_s_name); + Py_CLEAR(clear_module_state->__pyx_n_s_name_2); + Py_CLEAR(clear_module_state->__pyx_n_s_ndim); + Py_CLEAR(clear_module_state->__pyx_n_s_new); + Py_CLEAR(clear_module_state->__pyx_kp_s_no_default___reduce___due_to_non); + Py_CLEAR(clear_module_state->__pyx_n_s_obj); + Py_CLEAR(clear_module_state->__pyx_n_s_output); + Py_CLEAR(clear_module_state->__pyx_n_s_pack); + Py_CLEAR(clear_module_state->__pyx_n_s_path); + Py_CLEAR(clear_module_state->__pyx_n_s_pickle); + Py_CLEAR(clear_module_state->__pyx_n_s_pyx_PickleError); + Py_CLEAR(clear_module_state->__pyx_n_s_pyx_checksum); + Py_CLEAR(clear_module_state->__pyx_n_s_pyx_result); + Py_CLEAR(clear_module_state->__pyx_n_s_pyx_state); + Py_CLEAR(clear_module_state->__pyx_n_s_pyx_type); + Py_CLEAR(clear_module_state->__pyx_n_s_pyx_unpickle_Enum); + Py_CLEAR(clear_module_state->__pyx_n_s_pyx_vtable); + Py_CLEAR(clear_module_state->__pyx_n_s_range); + Py_CLEAR(clear_module_state->__pyx_n_s_reduce); + Py_CLEAR(clear_module_state->__pyx_n_s_reduce_cython); + Py_CLEAR(clear_module_state->__pyx_n_s_reduce_ex); + Py_CLEAR(clear_module_state->__pyx_n_s_register); + Py_CLEAR(clear_module_state->__pyx_n_s_runtime); + Py_CLEAR(clear_module_state->__pyx_n_s_self); + Py_CLEAR(clear_module_state->__pyx_n_s_selfdrive_classic_modeld_runners); + Py_CLEAR(clear_module_state->__pyx_n_s_setstate); + Py_CLEAR(clear_module_state->__pyx_n_s_setstate_cython); + Py_CLEAR(clear_module_state->__pyx_n_s_shape); + Py_CLEAR(clear_module_state->__pyx_n_s_size); + Py_CLEAR(clear_module_state->__pyx_n_s_spec); + Py_CLEAR(clear_module_state->__pyx_n_s_start); + Py_CLEAR(clear_module_state->__pyx_n_s_step); + Py_CLEAR(clear_module_state->__pyx_n_s_stop); + Py_CLEAR(clear_module_state->__pyx_kp_s_strided_and_direct); + Py_CLEAR(clear_module_state->__pyx_kp_s_strided_and_direct_or_indirect); + Py_CLEAR(clear_module_state->__pyx_kp_s_strided_and_indirect); + Py_CLEAR(clear_module_state->__pyx_kp_s_stringsource); + Py_CLEAR(clear_module_state->__pyx_n_s_struct); + Py_CLEAR(clear_module_state->__pyx_n_s_sys); + Py_CLEAR(clear_module_state->__pyx_n_s_test); + Py_CLEAR(clear_module_state->__pyx_kp_s_unable_to_allocate_array_data); + Py_CLEAR(clear_module_state->__pyx_kp_s_unable_to_allocate_shape_and_str); + Py_CLEAR(clear_module_state->__pyx_n_s_unpack); + Py_CLEAR(clear_module_state->__pyx_n_s_update); + Py_CLEAR(clear_module_state->__pyx_n_s_use_tf8); + Py_CLEAR(clear_module_state->__pyx_n_s_version_info); + Py_CLEAR(clear_module_state->__pyx_int_0); + Py_CLEAR(clear_module_state->__pyx_int_1); + Py_CLEAR(clear_module_state->__pyx_int_3); + Py_CLEAR(clear_module_state->__pyx_int_112105877); + Py_CLEAR(clear_module_state->__pyx_int_136983863); + Py_CLEAR(clear_module_state->__pyx_int_184977713); + Py_CLEAR(clear_module_state->__pyx_int_neg_1); + Py_CLEAR(clear_module_state->__pyx_slice__5); + Py_CLEAR(clear_module_state->__pyx_tuple__4); + Py_CLEAR(clear_module_state->__pyx_tuple__8); + Py_CLEAR(clear_module_state->__pyx_tuple__9); + Py_CLEAR(clear_module_state->__pyx_tuple__10); + Py_CLEAR(clear_module_state->__pyx_tuple__11); + Py_CLEAR(clear_module_state->__pyx_tuple__12); + Py_CLEAR(clear_module_state->__pyx_tuple__13); + Py_CLEAR(clear_module_state->__pyx_tuple__14); + Py_CLEAR(clear_module_state->__pyx_tuple__15); + Py_CLEAR(clear_module_state->__pyx_tuple__16); + Py_CLEAR(clear_module_state->__pyx_tuple__17); + Py_CLEAR(clear_module_state->__pyx_tuple__18); + Py_CLEAR(clear_module_state->__pyx_tuple__20); + Py_CLEAR(clear_module_state->__pyx_tuple__22); + Py_CLEAR(clear_module_state->__pyx_codeobj__19); + Py_CLEAR(clear_module_state->__pyx_codeobj__21); + Py_CLEAR(clear_module_state->__pyx_codeobj__23); + return 0; +} +#endif +/* #### Code section: module_state_traverse ### */ +#if CYTHON_USE_MODULE_STATE +static int __pyx_m_traverse(PyObject *m, visitproc visit, void *arg) { + __pyx_mstate *traverse_module_state = __pyx_mstate(m); + if (!traverse_module_state) return 0; + Py_VISIT(traverse_module_state->__pyx_d); + Py_VISIT(traverse_module_state->__pyx_b); + Py_VISIT(traverse_module_state->__pyx_cython_runtime); + Py_VISIT(traverse_module_state->__pyx_empty_tuple); + Py_VISIT(traverse_module_state->__pyx_empty_bytes); + Py_VISIT(traverse_module_state->__pyx_empty_unicode); + #ifdef __Pyx_CyFunction_USED + Py_VISIT(traverse_module_state->__pyx_CyFunctionType); + #endif + #ifdef __Pyx_FusedFunction_USED + Py_VISIT(traverse_module_state->__pyx_FusedFunctionType); + #endif + Py_VISIT(traverse_module_state->__pyx_ptype_4msgq_9visionipc_13visionipc_pyx_CLContext); + Py_VISIT(traverse_module_state->__pyx_ptype_4msgq_9visionipc_13visionipc_pyx_VisionBuf); + Py_VISIT(traverse_module_state->__pyx_ptype_9selfdrive_14classic_modeld_6models_15commonmodel_pyx_CLContext); + Py_VISIT(traverse_module_state->__pyx_ptype_9selfdrive_14classic_modeld_6models_15commonmodel_pyx_CLMem); + Py_VISIT(traverse_module_state->__pyx_ptype_9selfdrive_14classic_modeld_7runners_12runmodel_pyx_RunModel); + Py_VISIT(traverse_module_state->__pyx_ptype_9selfdrive_14classic_modeld_7runners_15thneedmodel_pyx_ThneedModel); + Py_VISIT(traverse_module_state->__pyx_type_9selfdrive_14classic_modeld_7runners_15thneedmodel_pyx_ThneedModel); + Py_VISIT(traverse_module_state->__pyx_array_type); + Py_VISIT(traverse_module_state->__pyx_type___pyx_array); + Py_VISIT(traverse_module_state->__pyx_MemviewEnum_type); + Py_VISIT(traverse_module_state->__pyx_type___pyx_MemviewEnum); + Py_VISIT(traverse_module_state->__pyx_memoryview_type); + Py_VISIT(traverse_module_state->__pyx_type___pyx_memoryview); + Py_VISIT(traverse_module_state->__pyx_memoryviewslice_type); + Py_VISIT(traverse_module_state->__pyx_type___pyx_memoryviewslice); + Py_VISIT(traverse_module_state->__pyx_kp_u_); + Py_VISIT(traverse_module_state->__pyx_n_s_ASCII); + Py_VISIT(traverse_module_state->__pyx_kp_s_All_dimensions_preceding_dimensi); + Py_VISIT(traverse_module_state->__pyx_n_s_AssertionError); + Py_VISIT(traverse_module_state->__pyx_kp_s_Buffer_view_does_not_expose_stri); + Py_VISIT(traverse_module_state->__pyx_kp_s_Can_only_create_a_buffer_that_is); + Py_VISIT(traverse_module_state->__pyx_kp_s_Cannot_assign_to_read_only_memor); + Py_VISIT(traverse_module_state->__pyx_kp_s_Cannot_create_writable_memory_vi); + Py_VISIT(traverse_module_state->__pyx_kp_u_Cannot_index_with_type); + Py_VISIT(traverse_module_state->__pyx_kp_s_Cannot_transpose_memoryview_with); + Py_VISIT(traverse_module_state->__pyx_kp_s_Dimension_d_is_not_direct); + Py_VISIT(traverse_module_state->__pyx_n_s_Ellipsis); + Py_VISIT(traverse_module_state->__pyx_kp_s_Empty_shape_tuple_for_cython_arr); + Py_VISIT(traverse_module_state->__pyx_kp_s_Incompatible_checksums_0x_x_vs_0); + Py_VISIT(traverse_module_state->__pyx_n_s_IndexError); + Py_VISIT(traverse_module_state->__pyx_kp_s_Index_out_of_bounds_axis_d); + Py_VISIT(traverse_module_state->__pyx_kp_s_Indirect_dimensions_not_supporte); + Py_VISIT(traverse_module_state->__pyx_kp_u_Invalid_mode_expected_c_or_fortr); + Py_VISIT(traverse_module_state->__pyx_kp_u_Invalid_shape_in_axis); + Py_VISIT(traverse_module_state->__pyx_n_s_MemoryError); + Py_VISIT(traverse_module_state->__pyx_kp_s_MemoryView_of_r_at_0x_x); + Py_VISIT(traverse_module_state->__pyx_kp_s_MemoryView_of_r_object); + Py_VISIT(traverse_module_state->__pyx_n_b_O); + Py_VISIT(traverse_module_state->__pyx_kp_u_Out_of_bounds_on_buffer_access_a); + Py_VISIT(traverse_module_state->__pyx_n_s_PickleError); + Py_VISIT(traverse_module_state->__pyx_n_s_Sequence); + Py_VISIT(traverse_module_state->__pyx_kp_s_Step_may_not_be_zero_axis_d); + Py_VISIT(traverse_module_state->__pyx_n_s_ThneedModel); + Py_VISIT(traverse_module_state->__pyx_n_s_ThneedModel___reduce_cython); + Py_VISIT(traverse_module_state->__pyx_n_s_ThneedModel___setstate_cython); + Py_VISIT(traverse_module_state->__pyx_n_s_TypeError); + Py_VISIT(traverse_module_state->__pyx_kp_s_Unable_to_convert_item_to_object); + Py_VISIT(traverse_module_state->__pyx_n_s_ValueError); + Py_VISIT(traverse_module_state->__pyx_n_s_View_MemoryView); + Py_VISIT(traverse_module_state->__pyx_kp_u__2); + Py_VISIT(traverse_module_state->__pyx_n_s__24); + Py_VISIT(traverse_module_state->__pyx_n_s__3); + Py_VISIT(traverse_module_state->__pyx_kp_u__6); + Py_VISIT(traverse_module_state->__pyx_kp_u__7); + Py_VISIT(traverse_module_state->__pyx_n_s_abc); + Py_VISIT(traverse_module_state->__pyx_n_s_allocate_buffer); + Py_VISIT(traverse_module_state->__pyx_kp_u_and); + Py_VISIT(traverse_module_state->__pyx_n_s_asyncio_coroutines); + Py_VISIT(traverse_module_state->__pyx_n_s_base); + Py_VISIT(traverse_module_state->__pyx_n_s_c); + Py_VISIT(traverse_module_state->__pyx_n_u_c); + Py_VISIT(traverse_module_state->__pyx_n_s_class); + Py_VISIT(traverse_module_state->__pyx_n_s_class_getitem); + Py_VISIT(traverse_module_state->__pyx_n_s_cline_in_traceback); + Py_VISIT(traverse_module_state->__pyx_n_s_collections); + Py_VISIT(traverse_module_state->__pyx_kp_s_collections_abc); + Py_VISIT(traverse_module_state->__pyx_n_s_context); + Py_VISIT(traverse_module_state->__pyx_kp_s_contiguous_and_direct); + Py_VISIT(traverse_module_state->__pyx_kp_s_contiguous_and_indirect); + Py_VISIT(traverse_module_state->__pyx_n_s_count); + Py_VISIT(traverse_module_state->__pyx_n_s_dict); + Py_VISIT(traverse_module_state->__pyx_kp_u_disable); + Py_VISIT(traverse_module_state->__pyx_n_s_dtype_is_object); + Py_VISIT(traverse_module_state->__pyx_kp_u_enable); + Py_VISIT(traverse_module_state->__pyx_n_s_encode); + Py_VISIT(traverse_module_state->__pyx_n_s_enumerate); + Py_VISIT(traverse_module_state->__pyx_n_s_error); + Py_VISIT(traverse_module_state->__pyx_n_s_flags); + Py_VISIT(traverse_module_state->__pyx_n_s_format); + Py_VISIT(traverse_module_state->__pyx_n_s_fortran); + Py_VISIT(traverse_module_state->__pyx_n_u_fortran); + Py_VISIT(traverse_module_state->__pyx_kp_u_gc); + Py_VISIT(traverse_module_state->__pyx_n_s_getstate); + Py_VISIT(traverse_module_state->__pyx_kp_u_got); + Py_VISIT(traverse_module_state->__pyx_kp_u_got_differing_extents_in_dimensi); + Py_VISIT(traverse_module_state->__pyx_n_s_id); + Py_VISIT(traverse_module_state->__pyx_n_s_import); + Py_VISIT(traverse_module_state->__pyx_n_s_index); + Py_VISIT(traverse_module_state->__pyx_n_s_initializing); + Py_VISIT(traverse_module_state->__pyx_n_s_is_coroutine); + Py_VISIT(traverse_module_state->__pyx_kp_u_isenabled); + Py_VISIT(traverse_module_state->__pyx_n_s_itemsize); + Py_VISIT(traverse_module_state->__pyx_kp_s_itemsize_0_for_cython_array); + Py_VISIT(traverse_module_state->__pyx_n_s_main); + Py_VISIT(traverse_module_state->__pyx_n_s_memview); + Py_VISIT(traverse_module_state->__pyx_n_s_mode); + Py_VISIT(traverse_module_state->__pyx_n_s_name); + Py_VISIT(traverse_module_state->__pyx_n_s_name_2); + Py_VISIT(traverse_module_state->__pyx_n_s_ndim); + Py_VISIT(traverse_module_state->__pyx_n_s_new); + Py_VISIT(traverse_module_state->__pyx_kp_s_no_default___reduce___due_to_non); + Py_VISIT(traverse_module_state->__pyx_n_s_obj); + Py_VISIT(traverse_module_state->__pyx_n_s_output); + Py_VISIT(traverse_module_state->__pyx_n_s_pack); + Py_VISIT(traverse_module_state->__pyx_n_s_path); + Py_VISIT(traverse_module_state->__pyx_n_s_pickle); + Py_VISIT(traverse_module_state->__pyx_n_s_pyx_PickleError); + Py_VISIT(traverse_module_state->__pyx_n_s_pyx_checksum); + Py_VISIT(traverse_module_state->__pyx_n_s_pyx_result); + Py_VISIT(traverse_module_state->__pyx_n_s_pyx_state); + Py_VISIT(traverse_module_state->__pyx_n_s_pyx_type); + Py_VISIT(traverse_module_state->__pyx_n_s_pyx_unpickle_Enum); + Py_VISIT(traverse_module_state->__pyx_n_s_pyx_vtable); + Py_VISIT(traverse_module_state->__pyx_n_s_range); + Py_VISIT(traverse_module_state->__pyx_n_s_reduce); + Py_VISIT(traverse_module_state->__pyx_n_s_reduce_cython); + Py_VISIT(traverse_module_state->__pyx_n_s_reduce_ex); + Py_VISIT(traverse_module_state->__pyx_n_s_register); + Py_VISIT(traverse_module_state->__pyx_n_s_runtime); + Py_VISIT(traverse_module_state->__pyx_n_s_self); + Py_VISIT(traverse_module_state->__pyx_n_s_selfdrive_classic_modeld_runners); + Py_VISIT(traverse_module_state->__pyx_n_s_setstate); + Py_VISIT(traverse_module_state->__pyx_n_s_setstate_cython); + Py_VISIT(traverse_module_state->__pyx_n_s_shape); + Py_VISIT(traverse_module_state->__pyx_n_s_size); + Py_VISIT(traverse_module_state->__pyx_n_s_spec); + Py_VISIT(traverse_module_state->__pyx_n_s_start); + Py_VISIT(traverse_module_state->__pyx_n_s_step); + Py_VISIT(traverse_module_state->__pyx_n_s_stop); + Py_VISIT(traverse_module_state->__pyx_kp_s_strided_and_direct); + Py_VISIT(traverse_module_state->__pyx_kp_s_strided_and_direct_or_indirect); + Py_VISIT(traverse_module_state->__pyx_kp_s_strided_and_indirect); + Py_VISIT(traverse_module_state->__pyx_kp_s_stringsource); + Py_VISIT(traverse_module_state->__pyx_n_s_struct); + Py_VISIT(traverse_module_state->__pyx_n_s_sys); + Py_VISIT(traverse_module_state->__pyx_n_s_test); + Py_VISIT(traverse_module_state->__pyx_kp_s_unable_to_allocate_array_data); + Py_VISIT(traverse_module_state->__pyx_kp_s_unable_to_allocate_shape_and_str); + Py_VISIT(traverse_module_state->__pyx_n_s_unpack); + Py_VISIT(traverse_module_state->__pyx_n_s_update); + Py_VISIT(traverse_module_state->__pyx_n_s_use_tf8); + Py_VISIT(traverse_module_state->__pyx_n_s_version_info); + Py_VISIT(traverse_module_state->__pyx_int_0); + Py_VISIT(traverse_module_state->__pyx_int_1); + Py_VISIT(traverse_module_state->__pyx_int_3); + Py_VISIT(traverse_module_state->__pyx_int_112105877); + Py_VISIT(traverse_module_state->__pyx_int_136983863); + Py_VISIT(traverse_module_state->__pyx_int_184977713); + Py_VISIT(traverse_module_state->__pyx_int_neg_1); + Py_VISIT(traverse_module_state->__pyx_slice__5); + Py_VISIT(traverse_module_state->__pyx_tuple__4); + Py_VISIT(traverse_module_state->__pyx_tuple__8); + Py_VISIT(traverse_module_state->__pyx_tuple__9); + Py_VISIT(traverse_module_state->__pyx_tuple__10); + Py_VISIT(traverse_module_state->__pyx_tuple__11); + Py_VISIT(traverse_module_state->__pyx_tuple__12); + Py_VISIT(traverse_module_state->__pyx_tuple__13); + Py_VISIT(traverse_module_state->__pyx_tuple__14); + Py_VISIT(traverse_module_state->__pyx_tuple__15); + Py_VISIT(traverse_module_state->__pyx_tuple__16); + Py_VISIT(traverse_module_state->__pyx_tuple__17); + Py_VISIT(traverse_module_state->__pyx_tuple__18); + Py_VISIT(traverse_module_state->__pyx_tuple__20); + Py_VISIT(traverse_module_state->__pyx_tuple__22); + Py_VISIT(traverse_module_state->__pyx_codeobj__19); + Py_VISIT(traverse_module_state->__pyx_codeobj__21); + Py_VISIT(traverse_module_state->__pyx_codeobj__23); + return 0; +} +#endif +/* #### Code section: module_state_defines ### */ +#define __pyx_d __pyx_mstate_global->__pyx_d +#define __pyx_b __pyx_mstate_global->__pyx_b +#define __pyx_cython_runtime __pyx_mstate_global->__pyx_cython_runtime +#define __pyx_empty_tuple __pyx_mstate_global->__pyx_empty_tuple +#define __pyx_empty_bytes __pyx_mstate_global->__pyx_empty_bytes +#define __pyx_empty_unicode __pyx_mstate_global->__pyx_empty_unicode +#ifdef __Pyx_CyFunction_USED +#define __pyx_CyFunctionType __pyx_mstate_global->__pyx_CyFunctionType +#endif +#ifdef __Pyx_FusedFunction_USED +#define __pyx_FusedFunctionType __pyx_mstate_global->__pyx_FusedFunctionType +#endif +#ifdef __Pyx_Generator_USED +#define __pyx_GeneratorType __pyx_mstate_global->__pyx_GeneratorType +#endif +#ifdef __Pyx_IterableCoroutine_USED +#define __pyx_IterableCoroutineType __pyx_mstate_global->__pyx_IterableCoroutineType +#endif +#ifdef __Pyx_Coroutine_USED +#define __pyx_CoroutineAwaitType __pyx_mstate_global->__pyx_CoroutineAwaitType +#endif +#ifdef __Pyx_Coroutine_USED +#define __pyx_CoroutineType __pyx_mstate_global->__pyx_CoroutineType +#endif +#if CYTHON_USE_MODULE_STATE +#endif +#if CYTHON_USE_MODULE_STATE +#endif +#if CYTHON_USE_MODULE_STATE +#endif +#if CYTHON_USE_MODULE_STATE +#endif +#if CYTHON_USE_MODULE_STATE +#endif +#if CYTHON_USE_MODULE_STATE +#endif +#if CYTHON_USE_MODULE_STATE +#endif +#if CYTHON_USE_MODULE_STATE +#endif +#if CYTHON_USE_MODULE_STATE +#endif +#if CYTHON_USE_MODULE_STATE +#endif +#define __pyx_ptype_4msgq_9visionipc_13visionipc_pyx_CLContext __pyx_mstate_global->__pyx_ptype_4msgq_9visionipc_13visionipc_pyx_CLContext +#define __pyx_ptype_4msgq_9visionipc_13visionipc_pyx_VisionBuf __pyx_mstate_global->__pyx_ptype_4msgq_9visionipc_13visionipc_pyx_VisionBuf +#if CYTHON_USE_MODULE_STATE +#endif +#define __pyx_ptype_9selfdrive_14classic_modeld_6models_15commonmodel_pyx_CLContext __pyx_mstate_global->__pyx_ptype_9selfdrive_14classic_modeld_6models_15commonmodel_pyx_CLContext +#define __pyx_ptype_9selfdrive_14classic_modeld_6models_15commonmodel_pyx_CLMem __pyx_mstate_global->__pyx_ptype_9selfdrive_14classic_modeld_6models_15commonmodel_pyx_CLMem +#if CYTHON_USE_MODULE_STATE +#endif +#if CYTHON_USE_MODULE_STATE +#endif +#define __pyx_ptype_9selfdrive_14classic_modeld_7runners_12runmodel_pyx_RunModel __pyx_mstate_global->__pyx_ptype_9selfdrive_14classic_modeld_7runners_12runmodel_pyx_RunModel +#if CYTHON_USE_MODULE_STATE +#define __pyx_type_9selfdrive_14classic_modeld_7runners_15thneedmodel_pyx_ThneedModel __pyx_mstate_global->__pyx_type_9selfdrive_14classic_modeld_7runners_15thneedmodel_pyx_ThneedModel +#define __pyx_type___pyx_array __pyx_mstate_global->__pyx_type___pyx_array +#define __pyx_type___pyx_MemviewEnum __pyx_mstate_global->__pyx_type___pyx_MemviewEnum +#define __pyx_type___pyx_memoryview __pyx_mstate_global->__pyx_type___pyx_memoryview +#define __pyx_type___pyx_memoryviewslice __pyx_mstate_global->__pyx_type___pyx_memoryviewslice +#endif +#define __pyx_ptype_9selfdrive_14classic_modeld_7runners_15thneedmodel_pyx_ThneedModel __pyx_mstate_global->__pyx_ptype_9selfdrive_14classic_modeld_7runners_15thneedmodel_pyx_ThneedModel +#define __pyx_array_type __pyx_mstate_global->__pyx_array_type +#define __pyx_MemviewEnum_type __pyx_mstate_global->__pyx_MemviewEnum_type +#define __pyx_memoryview_type __pyx_mstate_global->__pyx_memoryview_type +#define __pyx_memoryviewslice_type __pyx_mstate_global->__pyx_memoryviewslice_type +#define __pyx_kp_u_ __pyx_mstate_global->__pyx_kp_u_ +#define __pyx_n_s_ASCII __pyx_mstate_global->__pyx_n_s_ASCII +#define __pyx_kp_s_All_dimensions_preceding_dimensi __pyx_mstate_global->__pyx_kp_s_All_dimensions_preceding_dimensi +#define __pyx_n_s_AssertionError __pyx_mstate_global->__pyx_n_s_AssertionError +#define __pyx_kp_s_Buffer_view_does_not_expose_stri __pyx_mstate_global->__pyx_kp_s_Buffer_view_does_not_expose_stri +#define __pyx_kp_s_Can_only_create_a_buffer_that_is __pyx_mstate_global->__pyx_kp_s_Can_only_create_a_buffer_that_is +#define __pyx_kp_s_Cannot_assign_to_read_only_memor __pyx_mstate_global->__pyx_kp_s_Cannot_assign_to_read_only_memor +#define __pyx_kp_s_Cannot_create_writable_memory_vi __pyx_mstate_global->__pyx_kp_s_Cannot_create_writable_memory_vi +#define __pyx_kp_u_Cannot_index_with_type __pyx_mstate_global->__pyx_kp_u_Cannot_index_with_type +#define __pyx_kp_s_Cannot_transpose_memoryview_with __pyx_mstate_global->__pyx_kp_s_Cannot_transpose_memoryview_with +#define __pyx_kp_s_Dimension_d_is_not_direct __pyx_mstate_global->__pyx_kp_s_Dimension_d_is_not_direct +#define __pyx_n_s_Ellipsis __pyx_mstate_global->__pyx_n_s_Ellipsis +#define __pyx_kp_s_Empty_shape_tuple_for_cython_arr __pyx_mstate_global->__pyx_kp_s_Empty_shape_tuple_for_cython_arr +#define __pyx_kp_s_Incompatible_checksums_0x_x_vs_0 __pyx_mstate_global->__pyx_kp_s_Incompatible_checksums_0x_x_vs_0 +#define __pyx_n_s_IndexError __pyx_mstate_global->__pyx_n_s_IndexError +#define __pyx_kp_s_Index_out_of_bounds_axis_d __pyx_mstate_global->__pyx_kp_s_Index_out_of_bounds_axis_d +#define __pyx_kp_s_Indirect_dimensions_not_supporte __pyx_mstate_global->__pyx_kp_s_Indirect_dimensions_not_supporte +#define __pyx_kp_u_Invalid_mode_expected_c_or_fortr __pyx_mstate_global->__pyx_kp_u_Invalid_mode_expected_c_or_fortr +#define __pyx_kp_u_Invalid_shape_in_axis __pyx_mstate_global->__pyx_kp_u_Invalid_shape_in_axis +#define __pyx_n_s_MemoryError __pyx_mstate_global->__pyx_n_s_MemoryError +#define __pyx_kp_s_MemoryView_of_r_at_0x_x __pyx_mstate_global->__pyx_kp_s_MemoryView_of_r_at_0x_x +#define __pyx_kp_s_MemoryView_of_r_object __pyx_mstate_global->__pyx_kp_s_MemoryView_of_r_object +#define __pyx_n_b_O __pyx_mstate_global->__pyx_n_b_O +#define __pyx_kp_u_Out_of_bounds_on_buffer_access_a __pyx_mstate_global->__pyx_kp_u_Out_of_bounds_on_buffer_access_a +#define __pyx_n_s_PickleError __pyx_mstate_global->__pyx_n_s_PickleError +#define __pyx_n_s_Sequence __pyx_mstate_global->__pyx_n_s_Sequence +#define __pyx_kp_s_Step_may_not_be_zero_axis_d __pyx_mstate_global->__pyx_kp_s_Step_may_not_be_zero_axis_d +#define __pyx_n_s_ThneedModel __pyx_mstate_global->__pyx_n_s_ThneedModel +#define __pyx_n_s_ThneedModel___reduce_cython __pyx_mstate_global->__pyx_n_s_ThneedModel___reduce_cython +#define __pyx_n_s_ThneedModel___setstate_cython __pyx_mstate_global->__pyx_n_s_ThneedModel___setstate_cython +#define __pyx_n_s_TypeError __pyx_mstate_global->__pyx_n_s_TypeError +#define __pyx_kp_s_Unable_to_convert_item_to_object __pyx_mstate_global->__pyx_kp_s_Unable_to_convert_item_to_object +#define __pyx_n_s_ValueError __pyx_mstate_global->__pyx_n_s_ValueError +#define __pyx_n_s_View_MemoryView __pyx_mstate_global->__pyx_n_s_View_MemoryView +#define __pyx_kp_u__2 __pyx_mstate_global->__pyx_kp_u__2 +#define __pyx_n_s__24 __pyx_mstate_global->__pyx_n_s__24 +#define __pyx_n_s__3 __pyx_mstate_global->__pyx_n_s__3 +#define __pyx_kp_u__6 __pyx_mstate_global->__pyx_kp_u__6 +#define __pyx_kp_u__7 __pyx_mstate_global->__pyx_kp_u__7 +#define __pyx_n_s_abc __pyx_mstate_global->__pyx_n_s_abc +#define __pyx_n_s_allocate_buffer __pyx_mstate_global->__pyx_n_s_allocate_buffer +#define __pyx_kp_u_and __pyx_mstate_global->__pyx_kp_u_and +#define __pyx_n_s_asyncio_coroutines __pyx_mstate_global->__pyx_n_s_asyncio_coroutines +#define __pyx_n_s_base __pyx_mstate_global->__pyx_n_s_base +#define __pyx_n_s_c __pyx_mstate_global->__pyx_n_s_c +#define __pyx_n_u_c __pyx_mstate_global->__pyx_n_u_c +#define __pyx_n_s_class __pyx_mstate_global->__pyx_n_s_class +#define __pyx_n_s_class_getitem __pyx_mstate_global->__pyx_n_s_class_getitem +#define __pyx_n_s_cline_in_traceback __pyx_mstate_global->__pyx_n_s_cline_in_traceback +#define __pyx_n_s_collections __pyx_mstate_global->__pyx_n_s_collections +#define __pyx_kp_s_collections_abc __pyx_mstate_global->__pyx_kp_s_collections_abc +#define __pyx_n_s_context __pyx_mstate_global->__pyx_n_s_context +#define __pyx_kp_s_contiguous_and_direct __pyx_mstate_global->__pyx_kp_s_contiguous_and_direct +#define __pyx_kp_s_contiguous_and_indirect __pyx_mstate_global->__pyx_kp_s_contiguous_and_indirect +#define __pyx_n_s_count __pyx_mstate_global->__pyx_n_s_count +#define __pyx_n_s_dict __pyx_mstate_global->__pyx_n_s_dict +#define __pyx_kp_u_disable __pyx_mstate_global->__pyx_kp_u_disable +#define __pyx_n_s_dtype_is_object __pyx_mstate_global->__pyx_n_s_dtype_is_object +#define __pyx_kp_u_enable __pyx_mstate_global->__pyx_kp_u_enable +#define __pyx_n_s_encode __pyx_mstate_global->__pyx_n_s_encode +#define __pyx_n_s_enumerate __pyx_mstate_global->__pyx_n_s_enumerate +#define __pyx_n_s_error __pyx_mstate_global->__pyx_n_s_error +#define __pyx_n_s_flags __pyx_mstate_global->__pyx_n_s_flags +#define __pyx_n_s_format __pyx_mstate_global->__pyx_n_s_format +#define __pyx_n_s_fortran __pyx_mstate_global->__pyx_n_s_fortran +#define __pyx_n_u_fortran __pyx_mstate_global->__pyx_n_u_fortran +#define __pyx_kp_u_gc __pyx_mstate_global->__pyx_kp_u_gc +#define __pyx_n_s_getstate __pyx_mstate_global->__pyx_n_s_getstate +#define __pyx_kp_u_got __pyx_mstate_global->__pyx_kp_u_got +#define __pyx_kp_u_got_differing_extents_in_dimensi __pyx_mstate_global->__pyx_kp_u_got_differing_extents_in_dimensi +#define __pyx_n_s_id __pyx_mstate_global->__pyx_n_s_id +#define __pyx_n_s_import __pyx_mstate_global->__pyx_n_s_import +#define __pyx_n_s_index __pyx_mstate_global->__pyx_n_s_index +#define __pyx_n_s_initializing __pyx_mstate_global->__pyx_n_s_initializing +#define __pyx_n_s_is_coroutine __pyx_mstate_global->__pyx_n_s_is_coroutine +#define __pyx_kp_u_isenabled __pyx_mstate_global->__pyx_kp_u_isenabled +#define __pyx_n_s_itemsize __pyx_mstate_global->__pyx_n_s_itemsize +#define __pyx_kp_s_itemsize_0_for_cython_array __pyx_mstate_global->__pyx_kp_s_itemsize_0_for_cython_array +#define __pyx_n_s_main __pyx_mstate_global->__pyx_n_s_main +#define __pyx_n_s_memview __pyx_mstate_global->__pyx_n_s_memview +#define __pyx_n_s_mode __pyx_mstate_global->__pyx_n_s_mode +#define __pyx_n_s_name __pyx_mstate_global->__pyx_n_s_name +#define __pyx_n_s_name_2 __pyx_mstate_global->__pyx_n_s_name_2 +#define __pyx_n_s_ndim __pyx_mstate_global->__pyx_n_s_ndim +#define __pyx_n_s_new __pyx_mstate_global->__pyx_n_s_new +#define __pyx_kp_s_no_default___reduce___due_to_non __pyx_mstate_global->__pyx_kp_s_no_default___reduce___due_to_non +#define __pyx_n_s_obj __pyx_mstate_global->__pyx_n_s_obj +#define __pyx_n_s_output __pyx_mstate_global->__pyx_n_s_output +#define __pyx_n_s_pack __pyx_mstate_global->__pyx_n_s_pack +#define __pyx_n_s_path __pyx_mstate_global->__pyx_n_s_path +#define __pyx_n_s_pickle __pyx_mstate_global->__pyx_n_s_pickle +#define __pyx_n_s_pyx_PickleError __pyx_mstate_global->__pyx_n_s_pyx_PickleError +#define __pyx_n_s_pyx_checksum __pyx_mstate_global->__pyx_n_s_pyx_checksum +#define __pyx_n_s_pyx_result __pyx_mstate_global->__pyx_n_s_pyx_result +#define __pyx_n_s_pyx_state __pyx_mstate_global->__pyx_n_s_pyx_state +#define __pyx_n_s_pyx_type __pyx_mstate_global->__pyx_n_s_pyx_type +#define __pyx_n_s_pyx_unpickle_Enum __pyx_mstate_global->__pyx_n_s_pyx_unpickle_Enum +#define __pyx_n_s_pyx_vtable __pyx_mstate_global->__pyx_n_s_pyx_vtable +#define __pyx_n_s_range __pyx_mstate_global->__pyx_n_s_range +#define __pyx_n_s_reduce __pyx_mstate_global->__pyx_n_s_reduce +#define __pyx_n_s_reduce_cython __pyx_mstate_global->__pyx_n_s_reduce_cython +#define __pyx_n_s_reduce_ex __pyx_mstate_global->__pyx_n_s_reduce_ex +#define __pyx_n_s_register __pyx_mstate_global->__pyx_n_s_register +#define __pyx_n_s_runtime __pyx_mstate_global->__pyx_n_s_runtime +#define __pyx_n_s_self __pyx_mstate_global->__pyx_n_s_self +#define __pyx_n_s_selfdrive_classic_modeld_runners __pyx_mstate_global->__pyx_n_s_selfdrive_classic_modeld_runners +#define __pyx_n_s_setstate __pyx_mstate_global->__pyx_n_s_setstate +#define __pyx_n_s_setstate_cython __pyx_mstate_global->__pyx_n_s_setstate_cython +#define __pyx_n_s_shape __pyx_mstate_global->__pyx_n_s_shape +#define __pyx_n_s_size __pyx_mstate_global->__pyx_n_s_size +#define __pyx_n_s_spec __pyx_mstate_global->__pyx_n_s_spec +#define __pyx_n_s_start __pyx_mstate_global->__pyx_n_s_start +#define __pyx_n_s_step __pyx_mstate_global->__pyx_n_s_step +#define __pyx_n_s_stop __pyx_mstate_global->__pyx_n_s_stop +#define __pyx_kp_s_strided_and_direct __pyx_mstate_global->__pyx_kp_s_strided_and_direct +#define __pyx_kp_s_strided_and_direct_or_indirect __pyx_mstate_global->__pyx_kp_s_strided_and_direct_or_indirect +#define __pyx_kp_s_strided_and_indirect __pyx_mstate_global->__pyx_kp_s_strided_and_indirect +#define __pyx_kp_s_stringsource __pyx_mstate_global->__pyx_kp_s_stringsource +#define __pyx_n_s_struct __pyx_mstate_global->__pyx_n_s_struct +#define __pyx_n_s_sys __pyx_mstate_global->__pyx_n_s_sys +#define __pyx_n_s_test __pyx_mstate_global->__pyx_n_s_test +#define __pyx_kp_s_unable_to_allocate_array_data __pyx_mstate_global->__pyx_kp_s_unable_to_allocate_array_data +#define __pyx_kp_s_unable_to_allocate_shape_and_str __pyx_mstate_global->__pyx_kp_s_unable_to_allocate_shape_and_str +#define __pyx_n_s_unpack __pyx_mstate_global->__pyx_n_s_unpack +#define __pyx_n_s_update __pyx_mstate_global->__pyx_n_s_update +#define __pyx_n_s_use_tf8 __pyx_mstate_global->__pyx_n_s_use_tf8 +#define __pyx_n_s_version_info __pyx_mstate_global->__pyx_n_s_version_info +#define __pyx_int_0 __pyx_mstate_global->__pyx_int_0 +#define __pyx_int_1 __pyx_mstate_global->__pyx_int_1 +#define __pyx_int_3 __pyx_mstate_global->__pyx_int_3 +#define __pyx_int_112105877 __pyx_mstate_global->__pyx_int_112105877 +#define __pyx_int_136983863 __pyx_mstate_global->__pyx_int_136983863 +#define __pyx_int_184977713 __pyx_mstate_global->__pyx_int_184977713 +#define __pyx_int_neg_1 __pyx_mstate_global->__pyx_int_neg_1 +#define __pyx_slice__5 __pyx_mstate_global->__pyx_slice__5 +#define __pyx_tuple__4 __pyx_mstate_global->__pyx_tuple__4 +#define __pyx_tuple__8 __pyx_mstate_global->__pyx_tuple__8 +#define __pyx_tuple__9 __pyx_mstate_global->__pyx_tuple__9 +#define __pyx_tuple__10 __pyx_mstate_global->__pyx_tuple__10 +#define __pyx_tuple__11 __pyx_mstate_global->__pyx_tuple__11 +#define __pyx_tuple__12 __pyx_mstate_global->__pyx_tuple__12 +#define __pyx_tuple__13 __pyx_mstate_global->__pyx_tuple__13 +#define __pyx_tuple__14 __pyx_mstate_global->__pyx_tuple__14 +#define __pyx_tuple__15 __pyx_mstate_global->__pyx_tuple__15 +#define __pyx_tuple__16 __pyx_mstate_global->__pyx_tuple__16 +#define __pyx_tuple__17 __pyx_mstate_global->__pyx_tuple__17 +#define __pyx_tuple__18 __pyx_mstate_global->__pyx_tuple__18 +#define __pyx_tuple__20 __pyx_mstate_global->__pyx_tuple__20 +#define __pyx_tuple__22 __pyx_mstate_global->__pyx_tuple__22 +#define __pyx_codeobj__19 __pyx_mstate_global->__pyx_codeobj__19 +#define __pyx_codeobj__21 __pyx_mstate_global->__pyx_codeobj__21 +#define __pyx_codeobj__23 __pyx_mstate_global->__pyx_codeobj__23 +/* #### Code section: module_code ### */ + +/* "string.from_py":13 + * + * @cname("__pyx_convert_string_from_py_std__in_string") + * cdef string __pyx_convert_string_from_py_std__in_string(object o) except *: # <<<<<<<<<<<<<< + * cdef Py_ssize_t length = 0 + * cdef const char* data = __Pyx_PyObject_AsStringAndSize(o, &length) + */ + +static std::string __pyx_convert_string_from_py_std__in_string(PyObject *__pyx_v_o) { + Py_ssize_t __pyx_v_length; + char const *__pyx_v_data; + std::string __pyx_r; + char const *__pyx_t_1; + std::string __pyx_t_2; + int __pyx_lineno = 0; + const char *__pyx_filename = NULL; + int __pyx_clineno = 0; + + /* "string.from_py":14 + * @cname("__pyx_convert_string_from_py_std__in_string") + * cdef string __pyx_convert_string_from_py_std__in_string(object o) except *: + * cdef Py_ssize_t length = 0 # <<<<<<<<<<<<<< + * cdef const char* data = __Pyx_PyObject_AsStringAndSize(o, &length) + * return string(data, length) + */ + __pyx_v_length = 0; + + /* "string.from_py":15 + * cdef string __pyx_convert_string_from_py_std__in_string(object o) except *: + * cdef Py_ssize_t length = 0 + * cdef const char* data = __Pyx_PyObject_AsStringAndSize(o, &length) # <<<<<<<<<<<<<< + * return string(data, length) + * + */ + __pyx_t_1 = __Pyx_PyObject_AsStringAndSize(__pyx_v_o, (&__pyx_v_length)); if (unlikely(__pyx_t_1 == ((char const *)NULL))) __PYX_ERR(0, 15, __pyx_L1_error) + __pyx_v_data = __pyx_t_1; + + /* "string.from_py":16 + * cdef Py_ssize_t length = 0 + * cdef const char* data = __Pyx_PyObject_AsStringAndSize(o, &length) + * return string(data, length) # <<<<<<<<<<<<<< + * + * + */ + try { + __pyx_t_2 = std::string(__pyx_v_data, __pyx_v_length); + } catch(...) { + __Pyx_CppExn2PyErr(); + 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have_start: # <<<<<<<<<<<<<< + * if start < 0: + * start += shape + */ + goto __pyx_L8; + } + + /* "View.MemoryView":841 + * start = shape + * else: + * if negative_step: # <<<<<<<<<<<<<< + * start = shape - 1 + * else: + */ + /*else*/ { + if (__pyx_v_negative_step) { + + /* "View.MemoryView":842 + * else: + * if negative_step: + * start = shape - 1 # <<<<<<<<<<<<<< + * else: + * start = 0 + */ + __pyx_v_start = (__pyx_v_shape - 1); + + /* "View.MemoryView":841 + * start = shape + * else: + * if negative_step: # <<<<<<<<<<<<<< + * start = shape - 1 + * else: + */ + goto __pyx_L12; + } + + /* "View.MemoryView":844 + * start = shape - 1 + * else: + * start = 0 # <<<<<<<<<<<<<< + * + * if have_stop: + */ + /*else*/ { + __pyx_v_start = 0; + } + __pyx_L12:; + } + __pyx_L8:; + + /* "View.MemoryView":846 + * start = 0 + * + * if have_stop: # <<<<<<<<<<<<<< + * if stop < 0: + * stop += shape + */ + __pyx_t_2 = (__pyx_v_have_stop != 0); + if (__pyx_t_2) { + + /* "View.MemoryView":847 + * + * if 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access order for a given slice. + */ + +static char __pyx_get_best_slice_order(__Pyx_memviewslice *__pyx_v_mslice, int __pyx_v_ndim) { + int __pyx_v_i; + Py_ssize_t __pyx_v_c_stride; + Py_ssize_t __pyx_v_f_stride; + char __pyx_r; + int __pyx_t_1; + int __pyx_t_2; + int __pyx_t_3; + int __pyx_t_4; + + /* "View.MemoryView":1118 + * """ + * cdef int i + * cdef Py_ssize_t c_stride = 0 # <<<<<<<<<<<<<< + * cdef Py_ssize_t f_stride = 0 + * + */ + __pyx_v_c_stride = 0; + + /* "View.MemoryView":1119 + * cdef int i + * cdef Py_ssize_t c_stride = 0 + * cdef Py_ssize_t f_stride = 0 # <<<<<<<<<<<<<< + * + * for i in range(ndim - 1, -1, -1): + */ + __pyx_v_f_stride = 0; + + /* "View.MemoryView":1121 + * cdef Py_ssize_t f_stride = 0 + * + * for i in range(ndim - 1, -1, -1): # <<<<<<<<<<<<<< + * if mslice.shape[i] > 1: + * c_stride = mslice.strides[i] + */ + for (__pyx_t_1 = (__pyx_v_ndim - 1); __pyx_t_1 > -1; __pyx_t_1-=1) { + __pyx_v_i = __pyx_t_1; + + /* "View.MemoryView":1122 + * + * for i in range(ndim - 1, -1, -1): + * if mslice.shape[i] > 1: # <<<<<<<<<<<<<< + * c_stride = mslice.strides[i] + * break + */ + __pyx_t_2 = ((__pyx_v_mslice->shape[__pyx_v_i]) > 1); + if (__pyx_t_2) { + + /* "View.MemoryView":1123 + * for i in range(ndim - 1, -1, -1): + * if mslice.shape[i] > 1: + * c_stride = mslice.strides[i] # <<<<<<<<<<<<<< + * break + * + */ + __pyx_v_c_stride = (__pyx_v_mslice->strides[__pyx_v_i]); + + /* "View.MemoryView":1124 + * if mslice.shape[i] > 1: + * c_stride = mslice.strides[i] + * break # <<<<<<<<<<<<<< + * + * for i in range(ndim): + */ + goto __pyx_L4_break; + + /* "View.MemoryView":1122 + * + * for i in range(ndim - 1, -1, -1): + * if mslice.shape[i] > 1: # <<<<<<<<<<<<<< + * c_stride = mslice.strides[i] + * break + */ + } + } + __pyx_L4_break:; + + /* "View.MemoryView":1126 + * break + * + * for i in range(ndim): # <<<<<<<<<<<<<< + * if mslice.shape[i] > 1: + * f_stride = mslice.strides[i] + */ + __pyx_t_1 = __pyx_v_ndim; + __pyx_t_3 = __pyx_t_1; + for (__pyx_t_4 = 0; __pyx_t_4 < __pyx_t_3; __pyx_t_4+=1) { + __pyx_v_i = __pyx_t_4; + + /* "View.MemoryView":1127 + * + * for i in range(ndim): + * if mslice.shape[i] > 1: # <<<<<<<<<<<<<< + * f_stride = mslice.strides[i] + * break + */ + __pyx_t_2 = ((__pyx_v_mslice->shape[__pyx_v_i]) > 1); + if (__pyx_t_2) { + + /* "View.MemoryView":1128 + * for i in range(ndim): + * if mslice.shape[i] > 1: + * f_stride = mslice.strides[i] # <<<<<<<<<<<<<< + * break + * + */ + __pyx_v_f_stride = (__pyx_v_mslice->strides[__pyx_v_i]); + + /* "View.MemoryView":1129 + * if mslice.shape[i] > 1: + * f_stride = mslice.strides[i] + * break # <<<<<<<<<<<<<< + * + * if abs_py_ssize_t(c_stride) <= abs_py_ssize_t(f_stride): + */ + goto __pyx_L7_break; + + /* "View.MemoryView":1127 + * + * for i in range(ndim): + * if mslice.shape[i] > 1: # <<<<<<<<<<<<<< + * f_stride = mslice.strides[i] + * break + */ + } + } + __pyx_L7_break:; + + /* "View.MemoryView":1131 + * break + * + * if abs_py_ssize_t(c_stride) <= abs_py_ssize_t(f_stride): # <<<<<<<<<<<<<< + * return 'C' + * else: + */ + __pyx_t_2 = (abs_py_ssize_t(__pyx_v_c_stride) <= abs_py_ssize_t(__pyx_v_f_stride)); + if (__pyx_t_2) { + + /* "View.MemoryView":1132 + * + * if abs_py_ssize_t(c_stride) <= abs_py_ssize_t(f_stride): + * return 'C' # <<<<<<<<<<<<<< + * else: + * return 'F' + */ + __pyx_r = 'C'; + goto __pyx_L0; + + /* "View.MemoryView":1131 + * break + * + * if abs_py_ssize_t(c_stride) <= abs_py_ssize_t(f_stride): # <<<<<<<<<<<<<< + * return 'C' + * else: + */ + } + + /* "View.MemoryView":1134 + * return 'C' + * else: + * return 'F' # <<<<<<<<<<<<<< + * + * @cython.cdivision(True) + */ + /*else*/ { + __pyx_r = 'F'; + goto __pyx_L0; + } + + /* "View.MemoryView":1113 + * + * @cname('__pyx_get_best_slice_order') + * cdef char get_best_order(__Pyx_memviewslice *mslice, int ndim) noexcept nogil: # <<<<<<<<<<<<<< + * """ + * Figure out the best memory access order for a given slice. + */ + + /* function exit code */ + __pyx_L0:; + return __pyx_r; +} + +/* "View.MemoryView":1137 + * + * @cython.cdivision(True) + * cdef void _copy_strided_to_strided(char *src_data, Py_ssize_t *src_strides, # <<<<<<<<<<<<<< + * char *dst_data, Py_ssize_t *dst_strides, + * Py_ssize_t *src_shape, Py_ssize_t *dst_shape, + */ + +static void _copy_strided_to_strided(char *__pyx_v_src_data, Py_ssize_t *__pyx_v_src_strides, char *__pyx_v_dst_data, Py_ssize_t *__pyx_v_dst_strides, Py_ssize_t *__pyx_v_src_shape, Py_ssize_t *__pyx_v_dst_shape, int __pyx_v_ndim, size_t __pyx_v_itemsize) { + CYTHON_UNUSED Py_ssize_t __pyx_v_i; + CYTHON_UNUSED Py_ssize_t __pyx_v_src_extent; + Py_ssize_t __pyx_v_dst_extent; + Py_ssize_t __pyx_v_src_stride; + Py_ssize_t __pyx_v_dst_stride; + int __pyx_t_1; + int __pyx_t_2; + Py_ssize_t __pyx_t_3; + Py_ssize_t __pyx_t_4; + Py_ssize_t __pyx_t_5; + + /* "View.MemoryView":1144 + * + * cdef Py_ssize_t i + * cdef Py_ssize_t src_extent = src_shape[0] # <<<<<<<<<<<<<< + * cdef Py_ssize_t dst_extent = dst_shape[0] + * cdef Py_ssize_t src_stride = src_strides[0] + */ + __pyx_v_src_extent = (__pyx_v_src_shape[0]); + + /* "View.MemoryView":1145 + * cdef Py_ssize_t i + * cdef Py_ssize_t src_extent = src_shape[0] + * cdef Py_ssize_t dst_extent = dst_shape[0] # <<<<<<<<<<<<<< + * cdef Py_ssize_t src_stride = src_strides[0] + * cdef Py_ssize_t dst_stride = dst_strides[0] + */ + __pyx_v_dst_extent = (__pyx_v_dst_shape[0]); + + /* "View.MemoryView":1146 + * cdef Py_ssize_t src_extent = src_shape[0] + * cdef Py_ssize_t dst_extent = dst_shape[0] + * cdef Py_ssize_t src_stride = src_strides[0] # <<<<<<<<<<<<<< + * cdef Py_ssize_t dst_stride = dst_strides[0] + * + */ + __pyx_v_src_stride = (__pyx_v_src_strides[0]); + + /* "View.MemoryView":1147 + * cdef Py_ssize_t dst_extent = dst_shape[0] + * cdef Py_ssize_t src_stride = src_strides[0] + * cdef Py_ssize_t dst_stride = dst_strides[0] # <<<<<<<<<<<<<< + * + * if ndim == 1: + */ + __pyx_v_dst_stride = (__pyx_v_dst_strides[0]); + + /* "View.MemoryView":1149 + * cdef Py_ssize_t dst_stride = dst_strides[0] + * + * if ndim == 1: # <<<<<<<<<<<<<< + * if (src_stride > 0 and dst_stride > 0 and + * src_stride == itemsize == dst_stride): + */ + __pyx_t_1 = (__pyx_v_ndim == 1); + if (__pyx_t_1) { + + /* "View.MemoryView":1150 + * + * if ndim == 1: + * if (src_stride > 0 and dst_stride > 0 and # <<<<<<<<<<<<<< + * src_stride == itemsize == dst_stride): + * memcpy(dst_data, src_data, itemsize * dst_extent) + */ + __pyx_t_2 = (__pyx_v_src_stride > 0); + if (__pyx_t_2) { + } else { + __pyx_t_1 = __pyx_t_2; + goto __pyx_L5_bool_binop_done; + } + __pyx_t_2 = (__pyx_v_dst_stride > 0); + if (__pyx_t_2) { + } else { + __pyx_t_1 = __pyx_t_2; + goto __pyx_L5_bool_binop_done; + } + + /* "View.MemoryView":1151 + * if ndim == 1: + * if (src_stride > 0 and dst_stride > 0 and + * src_stride == itemsize == dst_stride): # <<<<<<<<<<<<<< + * memcpy(dst_data, src_data, itemsize * dst_extent) + * else: + */ + __pyx_t_2 = (((size_t)__pyx_v_src_stride) == __pyx_v_itemsize); + if (__pyx_t_2) { + __pyx_t_2 = (__pyx_v_itemsize == ((size_t)__pyx_v_dst_stride)); + } + __pyx_t_1 = __pyx_t_2; + __pyx_L5_bool_binop_done:; + + /* "View.MemoryView":1150 + * + * if ndim == 1: + * if (src_stride > 0 and dst_stride > 0 and # <<<<<<<<<<<<<< + * src_stride == itemsize == dst_stride): + * memcpy(dst_data, src_data, itemsize * dst_extent) + */ + if (__pyx_t_1) { + + /* "View.MemoryView":1152 + * if (src_stride > 0 and dst_stride > 0 and + * src_stride == itemsize == dst_stride): + * memcpy(dst_data, src_data, itemsize * dst_extent) # <<<<<<<<<<<<<< + * else: + * for i in range(dst_extent): + */ + (void)(memcpy(__pyx_v_dst_data, __pyx_v_src_data, (__pyx_v_itemsize * __pyx_v_dst_extent))); + + /* "View.MemoryView":1150 + * + * if ndim == 1: + * if (src_stride > 0 and dst_stride > 0 and # <<<<<<<<<<<<<< + * src_stride == itemsize == dst_stride): + * memcpy(dst_data, src_data, itemsize * dst_extent) + */ + goto __pyx_L4; + } + + /* "View.MemoryView":1154 + * memcpy(dst_data, src_data, itemsize * dst_extent) + * else: + * for i in range(dst_extent): # <<<<<<<<<<<<<< + * memcpy(dst_data, src_data, itemsize) + * src_data += src_stride + */ + /*else*/ { + __pyx_t_3 = __pyx_v_dst_extent; + __pyx_t_4 = __pyx_t_3; + for (__pyx_t_5 = 0; __pyx_t_5 < __pyx_t_4; __pyx_t_5+=1) { + __pyx_v_i = __pyx_t_5; + + /* "View.MemoryView":1155 + * else: + * for i in range(dst_extent): + * memcpy(dst_data, src_data, itemsize) # <<<<<<<<<<<<<< + * src_data += src_stride + * dst_data += dst_stride + */ + (void)(memcpy(__pyx_v_dst_data, __pyx_v_src_data, __pyx_v_itemsize)); + + /* "View.MemoryView":1156 + * for i in range(dst_extent): + * memcpy(dst_data, src_data, itemsize) + * src_data += src_stride # <<<<<<<<<<<<<< + * dst_data += dst_stride + * else: + */ + __pyx_v_src_data = (__pyx_v_src_data + __pyx_v_src_stride); + + /* "View.MemoryView":1157 + * memcpy(dst_data, src_data, itemsize) + * src_data += src_stride + * dst_data += dst_stride # <<<<<<<<<<<<<< + * else: + * for i in range(dst_extent): + */ + __pyx_v_dst_data = (__pyx_v_dst_data + __pyx_v_dst_stride); + } + } + __pyx_L4:; + + /* "View.MemoryView":1149 + * cdef Py_ssize_t dst_stride = dst_strides[0] + * + * if ndim == 1: # <<<<<<<<<<<<<< + * if (src_stride > 0 and dst_stride > 0 and + * src_stride == itemsize == dst_stride): + */ + goto __pyx_L3; + } + + /* "View.MemoryView":1159 + * dst_data += dst_stride + * else: + * for i in range(dst_extent): # <<<<<<<<<<<<<< + * _copy_strided_to_strided(src_data, src_strides + 1, + * dst_data, dst_strides + 1, + */ + /*else*/ { + __pyx_t_3 = __pyx_v_dst_extent; + __pyx_t_4 = __pyx_t_3; + for (__pyx_t_5 = 0; __pyx_t_5 < __pyx_t_4; __pyx_t_5+=1) { + __pyx_v_i = __pyx_t_5; + + /* "View.MemoryView":1160 + * else: + * for i in range(dst_extent): + * _copy_strided_to_strided(src_data, src_strides + 1, # <<<<<<<<<<<<<< + * dst_data, dst_strides + 1, + * src_shape + 1, dst_shape + 1, + */ + _copy_strided_to_strided(__pyx_v_src_data, (__pyx_v_src_strides + 1), __pyx_v_dst_data, (__pyx_v_dst_strides + 1), (__pyx_v_src_shape + 1), (__pyx_v_dst_shape + 1), (__pyx_v_ndim - 1), __pyx_v_itemsize); + + /* "View.MemoryView":1164 + * src_shape + 1, dst_shape + 1, + * ndim - 1, itemsize) + * src_data += src_stride # <<<<<<<<<<<<<< + * dst_data += dst_stride + * + */ + __pyx_v_src_data = (__pyx_v_src_data + __pyx_v_src_stride); + + /* "View.MemoryView":1165 + * ndim - 1, itemsize) + * src_data += src_stride + * dst_data += dst_stride # <<<<<<<<<<<<<< + * + * cdef void copy_strided_to_strided(__Pyx_memviewslice *src, + */ + __pyx_v_dst_data = (__pyx_v_dst_data + __pyx_v_dst_stride); + } + } + __pyx_L3:; + + /* "View.MemoryView":1137 + * + * @cython.cdivision(True) + * cdef void _copy_strided_to_strided(char *src_data, Py_ssize_t *src_strides, # <<<<<<<<<<<<<< + * char *dst_data, Py_ssize_t *dst_strides, + * Py_ssize_t *src_shape, Py_ssize_t *dst_shape, + */ + + /* function exit code */ +} + +/* "View.MemoryView":1167 + * dst_data += dst_stride + * + * cdef void copy_strided_to_strided(__Pyx_memviewslice *src, # <<<<<<<<<<<<<< + * __Pyx_memviewslice *dst, + * int ndim, size_t itemsize) noexcept nogil: + */ + +static void copy_strided_to_strided(__Pyx_memviewslice *__pyx_v_src, __Pyx_memviewslice *__pyx_v_dst, int __pyx_v_ndim, size_t __pyx_v_itemsize) { + + /* "View.MemoryView":1170 + * __Pyx_memviewslice *dst, + * int ndim, size_t itemsize) noexcept nogil: + * _copy_strided_to_strided(src.data, src.strides, dst.data, dst.strides, # <<<<<<<<<<<<<< + * src.shape, dst.shape, ndim, itemsize) + * + */ + _copy_strided_to_strided(__pyx_v_src->data, __pyx_v_src->strides, __pyx_v_dst->data, __pyx_v_dst->strides, __pyx_v_src->shape, __pyx_v_dst->shape, __pyx_v_ndim, __pyx_v_itemsize); + + /* "View.MemoryView":1167 + * dst_data += dst_stride + * + * cdef void copy_strided_to_strided(__Pyx_memviewslice *src, # <<<<<<<<<<<<<< + * __Pyx_memviewslice *dst, + * int ndim, size_t itemsize) noexcept nogil: + */ + + /* function exit code */ +} + +/* "View.MemoryView":1174 + * + * @cname('__pyx_memoryview_slice_get_size') + * cdef Py_ssize_t slice_get_size(__Pyx_memviewslice *src, int ndim) noexcept nogil: # <<<<<<<<<<<<<< + * "Return the size of the memory occupied by the slice in number of bytes" + * cdef Py_ssize_t shape, size = src.memview.view.itemsize + */ + +static Py_ssize_t __pyx_memoryview_slice_get_size(__Pyx_memviewslice *__pyx_v_src, int __pyx_v_ndim) { + Py_ssize_t __pyx_v_shape; + Py_ssize_t __pyx_v_size; + Py_ssize_t __pyx_r; + Py_ssize_t __pyx_t_1; + Py_ssize_t *__pyx_t_2; + Py_ssize_t *__pyx_t_3; + Py_ssize_t *__pyx_t_4; + + /* "View.MemoryView":1176 + * cdef Py_ssize_t slice_get_size(__Pyx_memviewslice *src, int ndim) noexcept nogil: + * "Return the size of the memory occupied by the slice in number of bytes" + * cdef Py_ssize_t shape, size = src.memview.view.itemsize # <<<<<<<<<<<<<< + * + * for shape in src.shape[:ndim]: + */ + __pyx_t_1 = __pyx_v_src->memview->view.itemsize; + __pyx_v_size = __pyx_t_1; + + /* "View.MemoryView":1178 + * cdef Py_ssize_t shape, size = src.memview.view.itemsize + * + * for shape in src.shape[:ndim]: # <<<<<<<<<<<<<< + * size *= shape + * + */ + __pyx_t_3 = (__pyx_v_src->shape + __pyx_v_ndim); + for (__pyx_t_4 = __pyx_v_src->shape; __pyx_t_4 < __pyx_t_3; __pyx_t_4++) { + __pyx_t_2 = __pyx_t_4; + __pyx_v_shape = (__pyx_t_2[0]); + + /* "View.MemoryView":1179 + * + * for shape in src.shape[:ndim]: + * size *= shape # <<<<<<<<<<<<<< + * + * return size + */ + __pyx_v_size = (__pyx_v_size * __pyx_v_shape); + } + + /* "View.MemoryView":1181 + * size *= shape + * + * return size # <<<<<<<<<<<<<< + * + * @cname('__pyx_fill_contig_strides_array') + */ + __pyx_r = __pyx_v_size; + goto __pyx_L0; + + /* "View.MemoryView":1174 + * + * @cname('__pyx_memoryview_slice_get_size') + * cdef Py_ssize_t slice_get_size(__Pyx_memviewslice *src, int ndim) noexcept nogil: # <<<<<<<<<<<<<< + * "Return the size of the memory occupied by the slice in number of bytes" + * cdef Py_ssize_t shape, size = src.memview.view.itemsize + */ + + /* function exit code */ + __pyx_L0:; + return __pyx_r; +} + +/* "View.MemoryView":1184 + * + * @cname('__pyx_fill_contig_strides_array') + * cdef Py_ssize_t fill_contig_strides_array( # <<<<<<<<<<<<<< + * Py_ssize_t *shape, Py_ssize_t *strides, Py_ssize_t stride, + * int ndim, char order) noexcept nogil: + */ + +static Py_ssize_t __pyx_fill_contig_strides_array(Py_ssize_t *__pyx_v_shape, Py_ssize_t *__pyx_v_strides, Py_ssize_t __pyx_v_stride, int __pyx_v_ndim, char __pyx_v_order) { + int __pyx_v_idx; + Py_ssize_t __pyx_r; + int __pyx_t_1; + int __pyx_t_2; + int __pyx_t_3; + int __pyx_t_4; + + /* "View.MemoryView":1193 + * cdef int idx + * + * if order == 'F': # <<<<<<<<<<<<<< + * for idx in range(ndim): + * strides[idx] = stride + */ + __pyx_t_1 = (__pyx_v_order == 'F'); + if (__pyx_t_1) { + + /* "View.MemoryView":1194 + * + * if order == 'F': + * for idx in range(ndim): # <<<<<<<<<<<<<< + * strides[idx] = stride + * stride *= shape[idx] + */ + __pyx_t_2 = __pyx_v_ndim; + __pyx_t_3 = __pyx_t_2; + for (__pyx_t_4 = 0; __pyx_t_4 < __pyx_t_3; __pyx_t_4+=1) { + __pyx_v_idx = __pyx_t_4; + + /* "View.MemoryView":1195 + * if order == 'F': + * for idx in range(ndim): + * strides[idx] = stride # <<<<<<<<<<<<<< + * stride *= shape[idx] + * else: + */ + (__pyx_v_strides[__pyx_v_idx]) = __pyx_v_stride; + + /* "View.MemoryView":1196 + * for idx in range(ndim): + * strides[idx] = stride + * stride *= shape[idx] # <<<<<<<<<<<<<< + * else: + * for idx in range(ndim - 1, -1, -1): + */ + __pyx_v_stride = (__pyx_v_stride * (__pyx_v_shape[__pyx_v_idx])); + } + + /* "View.MemoryView":1193 + * cdef int idx + * + * if order == 'F': # <<<<<<<<<<<<<< + * for idx in range(ndim): + * strides[idx] = stride + */ + goto __pyx_L3; + } + + /* "View.MemoryView":1198 + * stride *= shape[idx] + * else: + * for idx in range(ndim - 1, -1, -1): # <<<<<<<<<<<<<< + * strides[idx] = stride + * stride *= shape[idx] + */ + /*else*/ { + for (__pyx_t_2 = (__pyx_v_ndim - 1); __pyx_t_2 > -1; __pyx_t_2-=1) { + __pyx_v_idx = __pyx_t_2; + + /* "View.MemoryView":1199 + * else: + * for idx in range(ndim - 1, -1, -1): + * strides[idx] = stride # <<<<<<<<<<<<<< + * stride *= shape[idx] + * + */ + (__pyx_v_strides[__pyx_v_idx]) = __pyx_v_stride; + + /* "View.MemoryView":1200 + * for idx in range(ndim - 1, -1, -1): + * strides[idx] = stride + * stride *= shape[idx] # <<<<<<<<<<<<<< + * + * return stride + */ + __pyx_v_stride = (__pyx_v_stride * (__pyx_v_shape[__pyx_v_idx])); + } + } + __pyx_L3:; + + /* "View.MemoryView":1202 + * stride *= shape[idx] + * + * return stride # <<<<<<<<<<<<<< + * + * @cname('__pyx_memoryview_copy_data_to_temp') + */ + __pyx_r = __pyx_v_stride; + goto __pyx_L0; + + /* "View.MemoryView":1184 + * + * @cname('__pyx_fill_contig_strides_array') + * cdef Py_ssize_t fill_contig_strides_array( # <<<<<<<<<<<<<< + * Py_ssize_t *shape, Py_ssize_t *strides, Py_ssize_t stride, + * int ndim, char order) noexcept nogil: + */ + + /* function exit code */ + __pyx_L0:; + return __pyx_r; +} + +/* "View.MemoryView":1205 + * + * @cname('__pyx_memoryview_copy_data_to_temp') + * cdef void *copy_data_to_temp(__Pyx_memviewslice *src, # <<<<<<<<<<<<<< + * __Pyx_memviewslice *tmpslice, + * char order, + */ + +static void *__pyx_memoryview_copy_data_to_temp(__Pyx_memviewslice *__pyx_v_src, __Pyx_memviewslice *__pyx_v_tmpslice, char __pyx_v_order, int __pyx_v_ndim) { + int __pyx_v_i; + void *__pyx_v_result; + size_t __pyx_v_itemsize; + size_t __pyx_v_size; + void *__pyx_r; + Py_ssize_t __pyx_t_1; + int __pyx_t_2; + int __pyx_t_3; + struct __pyx_memoryview_obj *__pyx_t_4; + int __pyx_t_5; + int __pyx_t_6; + int __pyx_lineno = 0; + const char *__pyx_filename = NULL; + int __pyx_clineno = 0; + #ifdef WITH_THREAD + PyGILState_STATE __pyx_gilstate_save; + #endif + + /* "View.MemoryView":1216 + * cdef void *result + * + * cdef size_t itemsize = src.memview.view.itemsize # <<<<<<<<<<<<<< + * cdef size_t size = slice_get_size(src, 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<<<<<<<<<<<<<< + * __Pyx_memviewslice dst, + * int src_ndim, int dst_ndim, + */ + +static int __pyx_memoryview_copy_contents(__Pyx_memviewslice __pyx_v_src, __Pyx_memviewslice __pyx_v_dst, int __pyx_v_src_ndim, int __pyx_v_dst_ndim, int __pyx_v_dtype_is_object) { + void *__pyx_v_tmpdata; + size_t __pyx_v_itemsize; + int __pyx_v_i; + char __pyx_v_order; + int __pyx_v_broadcasting; + int __pyx_v_direct_copy; + __Pyx_memviewslice __pyx_v_tmp; + int __pyx_v_ndim; + int __pyx_r; + Py_ssize_t __pyx_t_1; + int __pyx_t_2; + int __pyx_t_3; + int __pyx_t_4; + int __pyx_t_5; + int __pyx_t_6; + void *__pyx_t_7; + int __pyx_lineno = 0; + const char *__pyx_filename = NULL; + int __pyx_clineno = 0; + #ifdef WITH_THREAD + PyGILState_STATE __pyx_gilstate_save; + #endif + + /* "View.MemoryView":1273 + * Check for overlapping memory and verify the shapes. + * """ + * cdef void *tmpdata = NULL # <<<<<<<<<<<<<< + * cdef size_t itemsize = src.memview.view.itemsize + * cdef int i + */ + __pyx_v_tmpdata = NULL; + + /* "View.MemoryView":1274 + * """ + * cdef void *tmpdata = NULL + * cdef size_t itemsize = src.memview.view.itemsize # <<<<<<<<<<<<<< + * cdef int i + * cdef char order = get_best_order(&src, src_ndim) + */ + __pyx_t_1 = __pyx_v_src.memview->view.itemsize; + __pyx_v_itemsize = __pyx_t_1; + + /* "View.MemoryView":1276 + * cdef size_t itemsize = src.memview.view.itemsize + * cdef int i + * cdef char order = get_best_order(&src, src_ndim) # <<<<<<<<<<<<<< + * cdef bint broadcasting = False + * cdef bint direct_copy = False + */ + __pyx_v_order = __pyx_get_best_slice_order((&__pyx_v_src), __pyx_v_src_ndim); + + /* "View.MemoryView":1277 + * cdef int i + * cdef char order = get_best_order(&src, src_ndim) + * cdef bint broadcasting = False # <<<<<<<<<<<<<< + * cdef bint direct_copy = False + * cdef __Pyx_memviewslice tmp + */ + __pyx_v_broadcasting = 0; + + /* "View.MemoryView":1278 + * cdef char order = get_best_order(&src, src_ndim) + * cdef bint broadcasting = False + * cdef bint direct_copy = False # <<<<<<<<<<<<<< + * cdef __Pyx_memviewslice tmp + * + */ + __pyx_v_direct_copy = 0; + + /* "View.MemoryView":1281 + * cdef __Pyx_memviewslice tmp + * + * if src_ndim < dst_ndim: # <<<<<<<<<<<<<< + * broadcast_leading(&src, src_ndim, dst_ndim) + * elif dst_ndim < src_ndim: + */ + __pyx_t_2 = (__pyx_v_src_ndim < __pyx_v_dst_ndim); + if (__pyx_t_2) { + + /* "View.MemoryView":1282 + * + * if src_ndim < dst_ndim: + * broadcast_leading(&src, src_ndim, dst_ndim) # <<<<<<<<<<<<<< + * elif dst_ndim < src_ndim: + * broadcast_leading(&dst, dst_ndim, src_ndim) + */ + __pyx_memoryview_broadcast_leading((&__pyx_v_src), __pyx_v_src_ndim, __pyx_v_dst_ndim); + + /* "View.MemoryView":1281 + * cdef __Pyx_memviewslice tmp + * + * if src_ndim < dst_ndim: # <<<<<<<<<<<<<< + * broadcast_leading(&src, src_ndim, dst_ndim) + * elif dst_ndim < src_ndim: + */ + goto __pyx_L3; + } + + /* "View.MemoryView":1283 + * if src_ndim < dst_ndim: + * broadcast_leading(&src, src_ndim, dst_ndim) + * elif dst_ndim < src_ndim: # <<<<<<<<<<<<<< + * broadcast_leading(&dst, dst_ndim, src_ndim) + * + */ + __pyx_t_2 = (__pyx_v_dst_ndim < __pyx_v_src_ndim); + if (__pyx_t_2) { + + /* "View.MemoryView":1284 + * broadcast_leading(&src, src_ndim, dst_ndim) + * elif dst_ndim < src_ndim: + * broadcast_leading(&dst, dst_ndim, src_ndim) # <<<<<<<<<<<<<< + * + * cdef int ndim = max(src_ndim, dst_ndim) + */ + __pyx_memoryview_broadcast_leading((&__pyx_v_dst), __pyx_v_dst_ndim, __pyx_v_src_ndim); + + /* "View.MemoryView":1283 + * if src_ndim < dst_ndim: + * broadcast_leading(&src, src_ndim, dst_ndim) + * elif dst_ndim < src_ndim: # <<<<<<<<<<<<<< + * broadcast_leading(&dst, dst_ndim, src_ndim) + * + */ + } + __pyx_L3:; + + /* "View.MemoryView":1286 + * broadcast_leading(&dst, dst_ndim, src_ndim) + * + * cdef int ndim = max(src_ndim, dst_ndim) # <<<<<<<<<<<<<< + * + * for i in range(ndim): + */ + __pyx_t_3 = __pyx_v_dst_ndim; + __pyx_t_4 = __pyx_v_src_ndim; + __pyx_t_2 = (__pyx_t_3 > __pyx_t_4); + if (__pyx_t_2) { + __pyx_t_5 = __pyx_t_3; + } else { + __pyx_t_5 = __pyx_t_4; + } + __pyx_v_ndim = __pyx_t_5; + + /* "View.MemoryView":1288 + * cdef int ndim = max(src_ndim, dst_ndim) + * + * for i in range(ndim): # <<<<<<<<<<<<<< + * if src.shape[i] != dst.shape[i]: + * if src.shape[i] == 1: + */ + __pyx_t_5 = __pyx_v_ndim; + __pyx_t_3 = __pyx_t_5; + for (__pyx_t_4 = 0; __pyx_t_4 < __pyx_t_3; __pyx_t_4+=1) { + __pyx_v_i = __pyx_t_4; + + /* "View.MemoryView":1289 + * + * for i in range(ndim): + * if src.shape[i] != dst.shape[i]: # <<<<<<<<<<<<<< + * if src.shape[i] == 1: + * broadcasting = True + */ + __pyx_t_2 = ((__pyx_v_src.shape[__pyx_v_i]) != (__pyx_v_dst.shape[__pyx_v_i])); + if (__pyx_t_2) { + + /* "View.MemoryView":1290 + * for i in range(ndim): + * if src.shape[i] != dst.shape[i]: + * if src.shape[i] == 1: # <<<<<<<<<<<<<< + * broadcasting = True + * src.strides[i] = 0 + */ + __pyx_t_2 = ((__pyx_v_src.shape[__pyx_v_i]) == 1); + if (__pyx_t_2) { + + /* "View.MemoryView":1291 + * if src.shape[i] != dst.shape[i]: + * if src.shape[i] == 1: + * broadcasting = True # <<<<<<<<<<<<<< + * src.strides[i] = 0 + * else: + */ + __pyx_v_broadcasting = 1; + + /* "View.MemoryView":1292 + * if src.shape[i] == 1: + * broadcasting = True + * src.strides[i] = 0 # <<<<<<<<<<<<<< + * else: + * _err_extents(i, dst.shape[i], src.shape[i]) + */ + (__pyx_v_src.strides[__pyx_v_i]) = 0; + + /* "View.MemoryView":1290 + * for i in range(ndim): + * if src.shape[i] != dst.shape[i]: + * if src.shape[i] == 1: # <<<<<<<<<<<<<< + * broadcasting = True + * src.strides[i] = 0 + */ + goto __pyx_L7; + } + + /* "View.MemoryView":1294 + * src.strides[i] = 0 + * else: + * _err_extents(i, dst.shape[i], src.shape[i]) # <<<<<<<<<<<<<< + * + * if src.suboffsets[i] >= 0: + */ + /*else*/ { + __pyx_t_6 = __pyx_memoryview_err_extents(__pyx_v_i, (__pyx_v_dst.shape[__pyx_v_i]), (__pyx_v_src.shape[__pyx_v_i])); if (unlikely(__pyx_t_6 == ((int)-1))) __PYX_ERR(0, 1294, __pyx_L1_error) + } + __pyx_L7:; + + /* "View.MemoryView":1289 + * + * for i in range(ndim): + * if src.shape[i] != dst.shape[i]: # <<<<<<<<<<<<<< + * if src.shape[i] == 1: + * broadcasting = True + */ + } + + /* "View.MemoryView":1296 + * _err_extents(i, dst.shape[i], src.shape[i]) + * + * if src.suboffsets[i] >= 0: # <<<<<<<<<<<<<< + * _err_dim(PyExc_ValueError, "Dimension %d is not direct", i) + * + */ + __pyx_t_2 = ((__pyx_v_src.suboffsets[__pyx_v_i]) >= 0); + if (__pyx_t_2) { + + /* "View.MemoryView":1297 + * + * if src.suboffsets[i] >= 0: + * _err_dim(PyExc_ValueError, "Dimension %d is not direct", i) # <<<<<<<<<<<<<< + * + * if slices_overlap(&src, &dst, ndim, itemsize): + */ + __pyx_t_6 = __pyx_memoryview_err_dim(PyExc_ValueError, __pyx_kp_s_Dimension_d_is_not_direct, __pyx_v_i); if (unlikely(__pyx_t_6 == ((int)-1))) __PYX_ERR(0, 1297, __pyx_L1_error) + + /* "View.MemoryView":1296 + * _err_extents(i, dst.shape[i], src.shape[i]) + * + * if src.suboffsets[i] >= 0: # <<<<<<<<<<<<<< + * _err_dim(PyExc_ValueError, "Dimension %d is not direct", i) + * + */ + } + } + + /* "View.MemoryView":1299 + * _err_dim(PyExc_ValueError, "Dimension %d is not direct", i) + * + * if slices_overlap(&src, &dst, ndim, itemsize): # <<<<<<<<<<<<<< + * + * if not slice_is_contig(src, order, ndim): + */ + __pyx_t_2 = __pyx_slices_overlap((&__pyx_v_src), (&__pyx_v_dst), __pyx_v_ndim, __pyx_v_itemsize); + if (__pyx_t_2) { + + /* "View.MemoryView":1301 + * if slices_overlap(&src, &dst, ndim, itemsize): + * + * if not slice_is_contig(src, order, ndim): # <<<<<<<<<<<<<< + * order = get_best_order(&dst, ndim) + * + */ + __pyx_t_2 = (!__pyx_memviewslice_is_contig(__pyx_v_src, __pyx_v_order, __pyx_v_ndim)); + if (__pyx_t_2) { + + /* "View.MemoryView":1302 + * + * if not slice_is_contig(src, order, ndim): + * order = get_best_order(&dst, ndim) # <<<<<<<<<<<<<< + * + * tmpdata = copy_data_to_temp(&src, &tmp, order, ndim) + */ + __pyx_v_order = __pyx_get_best_slice_order((&__pyx_v_dst), __pyx_v_ndim); + + /* "View.MemoryView":1301 + * if slices_overlap(&src, &dst, ndim, itemsize): + * + * if not slice_is_contig(src, order, ndim): # <<<<<<<<<<<<<< + * order = get_best_order(&dst, ndim) + * + */ + } + + /* "View.MemoryView":1304 + * order = get_best_order(&dst, ndim) + * + * tmpdata = copy_data_to_temp(&src, &tmp, order, ndim) # <<<<<<<<<<<<<< + * src = tmp + * + */ + __pyx_t_7 = __pyx_memoryview_copy_data_to_temp((&__pyx_v_src), (&__pyx_v_tmp), __pyx_v_order, __pyx_v_ndim); if (unlikely(__pyx_t_7 == ((void *)NULL))) __PYX_ERR(0, 1304, __pyx_L1_error) + __pyx_v_tmpdata = __pyx_t_7; + + /* "View.MemoryView":1305 + * + * tmpdata = copy_data_to_temp(&src, &tmp, order, ndim) + * src = tmp # <<<<<<<<<<<<<< + * + * if not broadcasting: + */ + __pyx_v_src = __pyx_v_tmp; + + /* "View.MemoryView":1299 + * _err_dim(PyExc_ValueError, "Dimension %d is not direct", i) + * + * if slices_overlap(&src, &dst, ndim, itemsize): # <<<<<<<<<<<<<< + * + * if not slice_is_contig(src, order, ndim): + */ + } + + /* "View.MemoryView":1307 + * src = tmp + * + * if not broadcasting: # <<<<<<<<<<<<<< + * + * + */ + __pyx_t_2 = (!__pyx_v_broadcasting); + if (__pyx_t_2) { + + /* "View.MemoryView":1310 + * + * + * if slice_is_contig(src, 'C', ndim): # <<<<<<<<<<<<<< + * direct_copy = slice_is_contig(dst, 'C', ndim) + * elif slice_is_contig(src, 'F', ndim): + */ + __pyx_t_2 = __pyx_memviewslice_is_contig(__pyx_v_src, 'C', __pyx_v_ndim); + if (__pyx_t_2) { + + /* "View.MemoryView":1311 + * + * if slice_is_contig(src, 'C', ndim): + * direct_copy = slice_is_contig(dst, 'C', ndim) # <<<<<<<<<<<<<< + * elif slice_is_contig(src, 'F', ndim): + * direct_copy = slice_is_contig(dst, 'F', ndim) + */ + __pyx_v_direct_copy = __pyx_memviewslice_is_contig(__pyx_v_dst, 'C', __pyx_v_ndim); + + /* "View.MemoryView":1310 + * + * + * if slice_is_contig(src, 'C', ndim): # <<<<<<<<<<<<<< + * direct_copy = slice_is_contig(dst, 'C', ndim) + * elif slice_is_contig(src, 'F', ndim): + */ + goto __pyx_L12; + } + + /* "View.MemoryView":1312 + * if slice_is_contig(src, 'C', ndim): + * direct_copy = slice_is_contig(dst, 'C', ndim) + * elif slice_is_contig(src, 'F', ndim): # <<<<<<<<<<<<<< + * direct_copy = slice_is_contig(dst, 'F', ndim) + * + */ + __pyx_t_2 = __pyx_memviewslice_is_contig(__pyx_v_src, 'F', __pyx_v_ndim); + if (__pyx_t_2) { + + /* "View.MemoryView":1313 + * direct_copy = slice_is_contig(dst, 'C', ndim) + * elif slice_is_contig(src, 'F', ndim): + * direct_copy = slice_is_contig(dst, 'F', ndim) # <<<<<<<<<<<<<< + * + * if direct_copy: + */ + __pyx_v_direct_copy = __pyx_memviewslice_is_contig(__pyx_v_dst, 'F', __pyx_v_ndim); + + /* "View.MemoryView":1312 + * if slice_is_contig(src, 'C', ndim): + * direct_copy = slice_is_contig(dst, 'C', ndim) + * elif slice_is_contig(src, 'F', ndim): # <<<<<<<<<<<<<< + * direct_copy = slice_is_contig(dst, 'F', ndim) + * + */ + } + __pyx_L12:; + + /* "View.MemoryView":1315 + * direct_copy = slice_is_contig(dst, 'F', ndim) + * + * if direct_copy: # <<<<<<<<<<<<<< + * + * refcount_copying(&dst, dtype_is_object, ndim, inc=False) + */ + if (__pyx_v_direct_copy) { + + /* "View.MemoryView":1317 + * if direct_copy: + * + * refcount_copying(&dst, dtype_is_object, ndim, inc=False) # <<<<<<<<<<<<<< + * memcpy(dst.data, src.data, slice_get_size(&src, ndim)) + * refcount_copying(&dst, dtype_is_object, ndim, inc=True) + */ + __pyx_memoryview_refcount_copying((&__pyx_v_dst), __pyx_v_dtype_is_object, __pyx_v_ndim, 0); + + /* "View.MemoryView":1318 + * + * refcount_copying(&dst, dtype_is_object, ndim, inc=False) + * memcpy(dst.data, src.data, slice_get_size(&src, ndim)) # <<<<<<<<<<<<<< + * refcount_copying(&dst, dtype_is_object, ndim, inc=True) + * free(tmpdata) + */ + (void)(memcpy(__pyx_v_dst.data, __pyx_v_src.data, __pyx_memoryview_slice_get_size((&__pyx_v_src), __pyx_v_ndim))); + + /* "View.MemoryView":1319 + * refcount_copying(&dst, dtype_is_object, ndim, inc=False) + * memcpy(dst.data, src.data, slice_get_size(&src, ndim)) + * refcount_copying(&dst, dtype_is_object, ndim, inc=True) # <<<<<<<<<<<<<< + * free(tmpdata) + * return 0 + */ + __pyx_memoryview_refcount_copying((&__pyx_v_dst), __pyx_v_dtype_is_object, __pyx_v_ndim, 1); + + /* "View.MemoryView":1320 + * memcpy(dst.data, src.data, slice_get_size(&src, ndim)) + * refcount_copying(&dst, dtype_is_object, ndim, inc=True) + * free(tmpdata) # <<<<<<<<<<<<<< + * return 0 + * + */ + free(__pyx_v_tmpdata); + + /* "View.MemoryView":1321 + * refcount_copying(&dst, dtype_is_object, ndim, inc=True) + * free(tmpdata) + * return 0 # <<<<<<<<<<<<<< + * + * if order == 'F' == get_best_order(&dst, ndim): + */ + __pyx_r = 0; + goto __pyx_L0; + + /* "View.MemoryView":1315 + * direct_copy = slice_is_contig(dst, 'F', ndim) + * + * if direct_copy: # <<<<<<<<<<<<<< + * + * refcount_copying(&dst, dtype_is_object, ndim, inc=False) + */ + } + + /* "View.MemoryView":1307 + * src = tmp + * + * if not broadcasting: # <<<<<<<<<<<<<< + * + * + */ + } + + /* "View.MemoryView":1323 + * return 0 + * + * if order == 'F' == get_best_order(&dst, ndim): # <<<<<<<<<<<<<< + * + * + */ + __pyx_t_2 = (__pyx_v_order == 'F'); + if (__pyx_t_2) { + __pyx_t_2 = ('F' == __pyx_get_best_slice_order((&__pyx_v_dst), __pyx_v_ndim)); + } + if (__pyx_t_2) { + + /* "View.MemoryView":1326 + * + * + * transpose_memslice(&src) # <<<<<<<<<<<<<< + * transpose_memslice(&dst) + * + */ + __pyx_t_5 = __pyx_memslice_transpose((&__pyx_v_src)); if (unlikely(__pyx_t_5 == ((int)-1))) __PYX_ERR(0, 1326, __pyx_L1_error) + + /* "View.MemoryView":1327 + * + * transpose_memslice(&src) + * transpose_memslice(&dst) # <<<<<<<<<<<<<< + * + * refcount_copying(&dst, dtype_is_object, ndim, inc=False) + */ + __pyx_t_5 = __pyx_memslice_transpose((&__pyx_v_dst)); if (unlikely(__pyx_t_5 == ((int)-1))) __PYX_ERR(0, 1327, __pyx_L1_error) + + /* "View.MemoryView":1323 + * return 0 + * + * if order == 'F' == get_best_order(&dst, ndim): # <<<<<<<<<<<<<< + * + * + */ + } + + /* "View.MemoryView":1329 + * transpose_memslice(&dst) + * + * refcount_copying(&dst, dtype_is_object, ndim, inc=False) # <<<<<<<<<<<<<< + * copy_strided_to_strided(&src, &dst, ndim, itemsize) + * refcount_copying(&dst, dtype_is_object, ndim, inc=True) + */ + __pyx_memoryview_refcount_copying((&__pyx_v_dst), __pyx_v_dtype_is_object, __pyx_v_ndim, 0); + + /* "View.MemoryView":1330 + * + * refcount_copying(&dst, dtype_is_object, ndim, inc=False) + * copy_strided_to_strided(&src, &dst, ndim, itemsize) # <<<<<<<<<<<<<< + * refcount_copying(&dst, dtype_is_object, ndim, inc=True) + * + */ + copy_strided_to_strided((&__pyx_v_src), (&__pyx_v_dst), __pyx_v_ndim, __pyx_v_itemsize); + + /* "View.MemoryView":1331 + * refcount_copying(&dst, dtype_is_object, ndim, inc=False) + * copy_strided_to_strided(&src, &dst, ndim, itemsize) + * refcount_copying(&dst, dtype_is_object, ndim, inc=True) # <<<<<<<<<<<<<< + * + * free(tmpdata) + */ + __pyx_memoryview_refcount_copying((&__pyx_v_dst), __pyx_v_dtype_is_object, __pyx_v_ndim, 1); + + /* "View.MemoryView":1333 + * refcount_copying(&dst, dtype_is_object, ndim, inc=True) + * + * free(tmpdata) # <<<<<<<<<<<<<< + * return 0 + * + */ + free(__pyx_v_tmpdata); + + /* "View.MemoryView":1334 + * + * free(tmpdata) + * return 0 # <<<<<<<<<<<<<< + * + * @cname('__pyx_memoryview_broadcast_leading') + */ + __pyx_r = 0; + goto __pyx_L0; + + /* "View.MemoryView":1265 + * + * @cname('__pyx_memoryview_copy_contents') + * cdef int memoryview_copy_contents(__Pyx_memviewslice src, # <<<<<<<<<<<<<< + * __Pyx_memviewslice dst, + * int src_ndim, int dst_ndim, + */ + + /* function exit code */ + __pyx_L1_error:; + #ifdef WITH_THREAD + __pyx_gilstate_save = __Pyx_PyGILState_Ensure(); + #endif + __Pyx_AddTraceback("View.MemoryView.memoryview_copy_contents", __pyx_clineno, __pyx_lineno, __pyx_filename); + __pyx_r = -1; + #ifdef WITH_THREAD + __Pyx_PyGILState_Release(__pyx_gilstate_save); + #endif + __pyx_L0:; + return __pyx_r; +} + +/* "View.MemoryView":1337 + * + * @cname('__pyx_memoryview_broadcast_leading') + * cdef void broadcast_leading(__Pyx_memviewslice *mslice, # <<<<<<<<<<<<<< + * int ndim, + * int ndim_other) noexcept nogil: + */ + +static void __pyx_memoryview_broadcast_leading(__Pyx_memviewslice *__pyx_v_mslice, int __pyx_v_ndim, int __pyx_v_ndim_other) { + int __pyx_v_i; + int __pyx_v_offset; + int __pyx_t_1; + int __pyx_t_2; + int __pyx_t_3; + + /* "View.MemoryView":1341 + * int ndim_other) noexcept nogil: + * cdef int i + * cdef int offset = ndim_other - ndim # <<<<<<<<<<<<<< + * + * for i in range(ndim - 1, -1, -1): + */ + __pyx_v_offset = (__pyx_v_ndim_other - __pyx_v_ndim); + + /* "View.MemoryView":1343 + * cdef int offset = ndim_other - ndim + * + * for i in range(ndim - 1, -1, -1): # <<<<<<<<<<<<<< + * mslice.shape[i + offset] = mslice.shape[i] + * mslice.strides[i + offset] = mslice.strides[i] + */ + for (__pyx_t_1 = (__pyx_v_ndim - 1); __pyx_t_1 > -1; __pyx_t_1-=1) { + __pyx_v_i = __pyx_t_1; + + /* "View.MemoryView":1344 + * + * for i in range(ndim - 1, -1, -1): + * mslice.shape[i + offset] = mslice.shape[i] # <<<<<<<<<<<<<< + * mslice.strides[i + offset] = mslice.strides[i] + * mslice.suboffsets[i + offset] = mslice.suboffsets[i] + */ + (__pyx_v_mslice->shape[(__pyx_v_i + __pyx_v_offset)]) = (__pyx_v_mslice->shape[__pyx_v_i]); + + /* "View.MemoryView":1345 + * for i in range(ndim - 1, -1, -1): + * mslice.shape[i + offset] = mslice.shape[i] + * mslice.strides[i + offset] = mslice.strides[i] # <<<<<<<<<<<<<< + * mslice.suboffsets[i + offset] = mslice.suboffsets[i] + * + */ + (__pyx_v_mslice->strides[(__pyx_v_i + __pyx_v_offset)]) = (__pyx_v_mslice->strides[__pyx_v_i]); + + /* "View.MemoryView":1346 + * mslice.shape[i + offset] = mslice.shape[i] + * mslice.strides[i + offset] = mslice.strides[i] + * mslice.suboffsets[i + offset] = mslice.suboffsets[i] # <<<<<<<<<<<<<< + * + * for i in range(offset): + */ + (__pyx_v_mslice->suboffsets[(__pyx_v_i + __pyx_v_offset)]) = (__pyx_v_mslice->suboffsets[__pyx_v_i]); + } + + /* "View.MemoryView":1348 + * mslice.suboffsets[i + offset] = mslice.suboffsets[i] + * + * for i in range(offset): # <<<<<<<<<<<<<< + * mslice.shape[i] = 1 + * mslice.strides[i] = mslice.strides[0] + */ + __pyx_t_1 = __pyx_v_offset; + __pyx_t_2 = __pyx_t_1; + for (__pyx_t_3 = 0; __pyx_t_3 < __pyx_t_2; __pyx_t_3+=1) { + __pyx_v_i = __pyx_t_3; + + /* "View.MemoryView":1349 + * + * for i in range(offset): + * mslice.shape[i] = 1 # <<<<<<<<<<<<<< + * mslice.strides[i] = mslice.strides[0] + * mslice.suboffsets[i] = -1 + */ + (__pyx_v_mslice->shape[__pyx_v_i]) = 1; + + /* "View.MemoryView":1350 + * for i in range(offset): + * mslice.shape[i] = 1 + * mslice.strides[i] = mslice.strides[0] # <<<<<<<<<<<<<< + * mslice.suboffsets[i] = -1 + * + */ + (__pyx_v_mslice->strides[__pyx_v_i]) = (__pyx_v_mslice->strides[0]); + + /* "View.MemoryView":1351 + * mslice.shape[i] = 1 + * mslice.strides[i] = mslice.strides[0] + * mslice.suboffsets[i] = -1 # <<<<<<<<<<<<<< + * + * + */ + (__pyx_v_mslice->suboffsets[__pyx_v_i]) = -1L; + } + + /* "View.MemoryView":1337 + * + * @cname('__pyx_memoryview_broadcast_leading') + * cdef void broadcast_leading(__Pyx_memviewslice *mslice, # <<<<<<<<<<<<<< + * int ndim, + * int ndim_other) noexcept nogil: + */ + + /* function exit code */ +} + +/* "View.MemoryView":1359 + * + * @cname('__pyx_memoryview_refcount_copying') + * cdef void refcount_copying(__Pyx_memviewslice *dst, bint dtype_is_object, int ndim, bint inc) noexcept nogil: # <<<<<<<<<<<<<< + * + * if dtype_is_object: + */ + +static void __pyx_memoryview_refcount_copying(__Pyx_memviewslice *__pyx_v_dst, int __pyx_v_dtype_is_object, int __pyx_v_ndim, int __pyx_v_inc) { + + /* "View.MemoryView":1361 + * cdef void refcount_copying(__Pyx_memviewslice *dst, bint dtype_is_object, int ndim, bint inc) noexcept nogil: + * + * if dtype_is_object: # <<<<<<<<<<<<<< + * refcount_objects_in_slice_with_gil(dst.data, dst.shape, dst.strides, ndim, inc) + * + */ + if (__pyx_v_dtype_is_object) { + + /* "View.MemoryView":1362 + * + * if dtype_is_object: + * refcount_objects_in_slice_with_gil(dst.data, dst.shape, dst.strides, ndim, inc) # <<<<<<<<<<<<<< + * + * @cname('__pyx_memoryview_refcount_objects_in_slice_with_gil') + */ + __pyx_memoryview_refcount_objects_in_slice_with_gil(__pyx_v_dst->data, __pyx_v_dst->shape, __pyx_v_dst->strides, __pyx_v_ndim, __pyx_v_inc); + + /* "View.MemoryView":1361 + * cdef void refcount_copying(__Pyx_memviewslice *dst, bint dtype_is_object, int ndim, bint inc) noexcept nogil: + * + * if dtype_is_object: # <<<<<<<<<<<<<< + * refcount_objects_in_slice_with_gil(dst.data, dst.shape, dst.strides, ndim, inc) + * + */ + } + + /* "View.MemoryView":1359 + * + * @cname('__pyx_memoryview_refcount_copying') + * cdef void refcount_copying(__Pyx_memviewslice *dst, bint dtype_is_object, int ndim, bint inc) noexcept nogil: # <<<<<<<<<<<<<< + * + * if dtype_is_object: + */ + + /* function exit code */ +} + +/* "View.MemoryView":1365 + * + * @cname('__pyx_memoryview_refcount_objects_in_slice_with_gil') + * cdef void refcount_objects_in_slice_with_gil(char *data, Py_ssize_t *shape, # <<<<<<<<<<<<<< + * Py_ssize_t *strides, int ndim, + * bint inc) noexcept with gil: + */ + +static void __pyx_memoryview_refcount_objects_in_slice_with_gil(char *__pyx_v_data, Py_ssize_t *__pyx_v_shape, Py_ssize_t *__pyx_v_strides, int __pyx_v_ndim, int __pyx_v_inc) { + #ifdef WITH_THREAD + PyGILState_STATE __pyx_gilstate_save = __Pyx_PyGILState_Ensure(); + #endif + + /* "View.MemoryView":1368 + * Py_ssize_t *strides, int ndim, + * bint inc) noexcept with gil: + * refcount_objects_in_slice(data, shape, strides, ndim, inc) # <<<<<<<<<<<<<< + * + * @cname('__pyx_memoryview_refcount_objects_in_slice') + */ + __pyx_memoryview_refcount_objects_in_slice(__pyx_v_data, __pyx_v_shape, __pyx_v_strides, __pyx_v_ndim, __pyx_v_inc); + + /* "View.MemoryView":1365 + * + * @cname('__pyx_memoryview_refcount_objects_in_slice_with_gil') + * cdef void refcount_objects_in_slice_with_gil(char *data, Py_ssize_t *shape, # <<<<<<<<<<<<<< + * Py_ssize_t *strides, int ndim, + * bint inc) noexcept with gil: + */ + + /* function exit code */ + #ifdef WITH_THREAD + __Pyx_PyGILState_Release(__pyx_gilstate_save); + #endif +} + +/* "View.MemoryView":1371 + * + * @cname('__pyx_memoryview_refcount_objects_in_slice') + * cdef void refcount_objects_in_slice(char *data, Py_ssize_t *shape, # <<<<<<<<<<<<<< + * Py_ssize_t *strides, int ndim, bint inc) noexcept: + * cdef Py_ssize_t i + */ + +static void __pyx_memoryview_refcount_objects_in_slice(char *__pyx_v_data, Py_ssize_t *__pyx_v_shape, Py_ssize_t *__pyx_v_strides, int __pyx_v_ndim, int __pyx_v_inc) { + CYTHON_UNUSED Py_ssize_t __pyx_v_i; + Py_ssize_t __pyx_v_stride; + Py_ssize_t __pyx_t_1; + Py_ssize_t __pyx_t_2; + Py_ssize_t __pyx_t_3; + int __pyx_t_4; + + /* "View.MemoryView":1374 + * Py_ssize_t *strides, int ndim, bint inc) noexcept: + * cdef Py_ssize_t i + * cdef Py_ssize_t stride = strides[0] # <<<<<<<<<<<<<< + * + * for i in range(shape[0]): + */ + __pyx_v_stride = (__pyx_v_strides[0]); + + /* "View.MemoryView":1376 + * cdef Py_ssize_t stride = strides[0] + * + * for i in range(shape[0]): # <<<<<<<<<<<<<< + * if ndim == 1: + * if inc: + */ + __pyx_t_1 = (__pyx_v_shape[0]); + __pyx_t_2 = __pyx_t_1; + for (__pyx_t_3 = 0; __pyx_t_3 < __pyx_t_2; __pyx_t_3+=1) { + __pyx_v_i = __pyx_t_3; + + /* "View.MemoryView":1377 + * + * for i in range(shape[0]): + * if ndim == 1: # <<<<<<<<<<<<<< + * if inc: + * Py_INCREF(( data)[0]) + */ + __pyx_t_4 = (__pyx_v_ndim == 1); + if (__pyx_t_4) { + + /* "View.MemoryView":1378 + * for i in range(shape[0]): + * if ndim == 1: + * if inc: # <<<<<<<<<<<<<< + * Py_INCREF(( data)[0]) + * else: + */ + if (__pyx_v_inc) { + + /* "View.MemoryView":1379 + * if ndim == 1: + * if inc: + * Py_INCREF(( data)[0]) # <<<<<<<<<<<<<< + * else: + * Py_DECREF(( data)[0]) + */ + Py_INCREF((((PyObject **)__pyx_v_data)[0])); + + /* "View.MemoryView":1378 + * for i in range(shape[0]): + * if ndim == 1: + * if inc: # <<<<<<<<<<<<<< + * Py_INCREF(( data)[0]) + * else: + */ + goto __pyx_L6; + } + + /* "View.MemoryView":1381 + * Py_INCREF(( data)[0]) + * else: + * Py_DECREF(( data)[0]) # <<<<<<<<<<<<<< + * else: + * refcount_objects_in_slice(data, shape + 1, strides + 1, ndim - 1, inc) + */ + /*else*/ { + Py_DECREF((((PyObject **)__pyx_v_data)[0])); + } + __pyx_L6:; + + /* "View.MemoryView":1377 + * + * for i in range(shape[0]): + * if ndim == 1: # <<<<<<<<<<<<<< + * if inc: + * Py_INCREF(( data)[0]) + */ + goto __pyx_L5; + } + + /* "View.MemoryView":1383 + * Py_DECREF(( data)[0]) + * else: + * refcount_objects_in_slice(data, shape + 1, strides + 1, ndim - 1, inc) # <<<<<<<<<<<<<< + * + * data += stride + */ + /*else*/ { + __pyx_memoryview_refcount_objects_in_slice(__pyx_v_data, (__pyx_v_shape + 1), (__pyx_v_strides + 1), (__pyx_v_ndim - 1), __pyx_v_inc); + } + __pyx_L5:; + + /* "View.MemoryView":1385 + * refcount_objects_in_slice(data, shape + 1, strides + 1, ndim - 1, inc) + * + * data += stride # <<<<<<<<<<<<<< + * + * + */ + __pyx_v_data = (__pyx_v_data + __pyx_v_stride); + } + + /* "View.MemoryView":1371 + * + * @cname('__pyx_memoryview_refcount_objects_in_slice') + * cdef void refcount_objects_in_slice(char *data, Py_ssize_t *shape, # <<<<<<<<<<<<<< + * Py_ssize_t *strides, int ndim, bint inc) noexcept: + * cdef Py_ssize_t i + */ + + /* function exit code */ +} + +/* "View.MemoryView":1391 + * + * @cname('__pyx_memoryview_slice_assign_scalar') + * cdef void slice_assign_scalar(__Pyx_memviewslice *dst, int ndim, # <<<<<<<<<<<<<< + * size_t itemsize, void *item, + * bint dtype_is_object) noexcept nogil: + */ + +static void __pyx_memoryview_slice_assign_scalar(__Pyx_memviewslice *__pyx_v_dst, int __pyx_v_ndim, size_t __pyx_v_itemsize, void *__pyx_v_item, int __pyx_v_dtype_is_object) { + + /* "View.MemoryView":1394 + * size_t itemsize, void *item, + * bint dtype_is_object) noexcept nogil: + * refcount_copying(dst, dtype_is_object, ndim, inc=False) # <<<<<<<<<<<<<< + * _slice_assign_scalar(dst.data, dst.shape, dst.strides, ndim, itemsize, item) + * refcount_copying(dst, dtype_is_object, ndim, inc=True) + */ + __pyx_memoryview_refcount_copying(__pyx_v_dst, __pyx_v_dtype_is_object, __pyx_v_ndim, 0); + + /* "View.MemoryView":1395 + * bint dtype_is_object) noexcept nogil: + * refcount_copying(dst, dtype_is_object, ndim, inc=False) + * _slice_assign_scalar(dst.data, dst.shape, dst.strides, ndim, itemsize, item) # <<<<<<<<<<<<<< + * refcount_copying(dst, dtype_is_object, ndim, inc=True) + * + */ + __pyx_memoryview__slice_assign_scalar(__pyx_v_dst->data, __pyx_v_dst->shape, __pyx_v_dst->strides, __pyx_v_ndim, __pyx_v_itemsize, __pyx_v_item); + + /* "View.MemoryView":1396 + * refcount_copying(dst, dtype_is_object, ndim, inc=False) + * _slice_assign_scalar(dst.data, dst.shape, dst.strides, ndim, itemsize, item) + * refcount_copying(dst, dtype_is_object, ndim, inc=True) # <<<<<<<<<<<<<< + * + * + */ + __pyx_memoryview_refcount_copying(__pyx_v_dst, __pyx_v_dtype_is_object, __pyx_v_ndim, 1); + + /* "View.MemoryView":1391 + * + * @cname('__pyx_memoryview_slice_assign_scalar') + * cdef void slice_assign_scalar(__Pyx_memviewslice *dst, int ndim, # <<<<<<<<<<<<<< + * size_t itemsize, void *item, + * bint dtype_is_object) noexcept nogil: + */ + + /* function exit code */ +} + +/* "View.MemoryView":1400 + * + * @cname('__pyx_memoryview__slice_assign_scalar') + * cdef void _slice_assign_scalar(char *data, Py_ssize_t *shape, # <<<<<<<<<<<<<< + * Py_ssize_t *strides, int ndim, + * size_t itemsize, void *item) noexcept nogil: + */ + +static void __pyx_memoryview__slice_assign_scalar(char *__pyx_v_data, Py_ssize_t *__pyx_v_shape, Py_ssize_t *__pyx_v_strides, int __pyx_v_ndim, size_t __pyx_v_itemsize, void *__pyx_v_item) { + CYTHON_UNUSED Py_ssize_t __pyx_v_i; + Py_ssize_t __pyx_v_stride; + Py_ssize_t __pyx_v_extent; + int __pyx_t_1; + Py_ssize_t __pyx_t_2; + Py_ssize_t __pyx_t_3; + Py_ssize_t __pyx_t_4; + + /* "View.MemoryView":1404 + * size_t itemsize, void *item) noexcept nogil: + * cdef Py_ssize_t i + * cdef Py_ssize_t stride = strides[0] # <<<<<<<<<<<<<< + * cdef Py_ssize_t extent = shape[0] + * + */ + __pyx_v_stride = (__pyx_v_strides[0]); + + /* "View.MemoryView":1405 + * cdef Py_ssize_t i + * cdef Py_ssize_t stride = strides[0] + * cdef Py_ssize_t extent = shape[0] # <<<<<<<<<<<<<< + * + * if ndim == 1: + */ + __pyx_v_extent = (__pyx_v_shape[0]); + + /* "View.MemoryView":1407 + * cdef Py_ssize_t extent = shape[0] + * + * if ndim == 1: # <<<<<<<<<<<<<< + * for i in range(extent): + * memcpy(data, item, itemsize) + */ + __pyx_t_1 = (__pyx_v_ndim == 1); + if (__pyx_t_1) { + + /* "View.MemoryView":1408 + * + * if ndim == 1: + * for i in range(extent): # <<<<<<<<<<<<<< + * memcpy(data, item, itemsize) + * data += stride + */ + __pyx_t_2 = __pyx_v_extent; + __pyx_t_3 = __pyx_t_2; + for (__pyx_t_4 = 0; __pyx_t_4 < __pyx_t_3; __pyx_t_4+=1) { + __pyx_v_i = __pyx_t_4; + + /* "View.MemoryView":1409 + * if ndim == 1: + * for i in range(extent): + * memcpy(data, item, itemsize) # <<<<<<<<<<<<<< + * data += stride + * else: + */ + (void)(memcpy(__pyx_v_data, __pyx_v_item, __pyx_v_itemsize)); + + /* "View.MemoryView":1410 + * for i in range(extent): + * memcpy(data, item, itemsize) + * data += stride # <<<<<<<<<<<<<< + * else: + * for i in range(extent): + */ + __pyx_v_data = (__pyx_v_data + __pyx_v_stride); + } + + /* "View.MemoryView":1407 + * cdef Py_ssize_t extent = shape[0] + * + * if ndim == 1: # <<<<<<<<<<<<<< + * for i in range(extent): + * memcpy(data, item, itemsize) + */ + goto __pyx_L3; + } + + /* "View.MemoryView":1412 + * data += stride + * else: + * for i in range(extent): # <<<<<<<<<<<<<< + * _slice_assign_scalar(data, shape + 1, strides + 1, ndim - 1, itemsize, item) + * data += stride + */ + /*else*/ { + __pyx_t_2 = __pyx_v_extent; + __pyx_t_3 = __pyx_t_2; + for (__pyx_t_4 = 0; __pyx_t_4 < __pyx_t_3; __pyx_t_4+=1) { + __pyx_v_i = __pyx_t_4; + + /* "View.MemoryView":1413 + * else: + * for i in range(extent): + * _slice_assign_scalar(data, shape + 1, strides + 1, ndim - 1, itemsize, item) # <<<<<<<<<<<<<< + * data += stride + * + */ + __pyx_memoryview__slice_assign_scalar(__pyx_v_data, (__pyx_v_shape + 1), (__pyx_v_strides + 1), (__pyx_v_ndim - 1), __pyx_v_itemsize, __pyx_v_item); + + /* "View.MemoryView":1414 + * for i in range(extent): + * _slice_assign_scalar(data, shape + 1, strides + 1, ndim - 1, itemsize, item) + * data += stride # <<<<<<<<<<<<<< + * + * + */ + __pyx_v_data = (__pyx_v_data + __pyx_v_stride); + } + } + __pyx_L3:; + + /* "View.MemoryView":1400 + * + * @cname('__pyx_memoryview__slice_assign_scalar') + * cdef void _slice_assign_scalar(char *data, Py_ssize_t *shape, # <<<<<<<<<<<<<< + * Py_ssize_t *strides, int ndim, + * size_t itemsize, void *item) noexcept nogil: + */ + + /* function exit code */ +} + +/* "(tree fragment)":1 + * def __pyx_unpickle_Enum(__pyx_type, long __pyx_checksum, __pyx_state): # <<<<<<<<<<<<<< + * cdef object __pyx_PickleError + * cdef object __pyx_result + */ + +/* Python wrapper */ +static PyObject *__pyx_pw_15View_dot_MemoryView_1__pyx_unpickle_Enum(PyObject *__pyx_self, +#if CYTHON_METH_FASTCALL +PyObject *const *__pyx_args, Py_ssize_t __pyx_nargs, PyObject *__pyx_kwds +#else +PyObject *__pyx_args, PyObject *__pyx_kwds +#endif +); /*proto*/ +static PyMethodDef __pyx_mdef_15View_dot_MemoryView_1__pyx_unpickle_Enum = {"__pyx_unpickle_Enum", (PyCFunction)(void*)(__Pyx_PyCFunction_FastCallWithKeywords)__pyx_pw_15View_dot_MemoryView_1__pyx_unpickle_Enum, __Pyx_METH_FASTCALL|METH_KEYWORDS, 0}; +static PyObject *__pyx_pw_15View_dot_MemoryView_1__pyx_unpickle_Enum(PyObject *__pyx_self, +#if CYTHON_METH_FASTCALL +PyObject *const *__pyx_args, Py_ssize_t __pyx_nargs, PyObject *__pyx_kwds +#else +PyObject *__pyx_args, PyObject *__pyx_kwds +#endif +) { + PyObject *__pyx_v___pyx_type = 0; + long __pyx_v___pyx_checksum; + PyObject *__pyx_v___pyx_state = 0; + #if 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__pyx_L5_argtuple_error; + } + if (unlikely(kw_args > 0)) { + const Py_ssize_t kwd_pos_args = __pyx_nargs; + if (unlikely(__Pyx_ParseOptionalKeywords(__pyx_kwds, __pyx_kwvalues, __pyx_pyargnames, 0, values + 0, kwd_pos_args, "__setstate_cython__") < 0)) __PYX_ERR(0, 3, __pyx_L3_error) + } + } else if (unlikely(__pyx_nargs != 1)) { + goto __pyx_L5_argtuple_error; + } else { + values[0] = __Pyx_Arg_FASTCALL(__pyx_args, 0); + } + __pyx_v___pyx_state = values[0]; + } + goto __pyx_L6_skip; + __pyx_L5_argtuple_error:; + __Pyx_RaiseArgtupleInvalid("__setstate_cython__", 1, 1, 1, __pyx_nargs); __PYX_ERR(0, 3, __pyx_L3_error) + __pyx_L6_skip:; + goto __pyx_L4_argument_unpacking_done; + __pyx_L3_error:; + { + Py_ssize_t __pyx_temp; + for (__pyx_temp=0; __pyx_temp < (Py_ssize_t)(sizeof(values)/sizeof(values[0])); ++__pyx_temp) { + __Pyx_Arg_XDECREF_FASTCALL(values[__pyx_temp]); + } + } + __Pyx_AddTraceback("selfdrive.classic_modeld.runners.thneedmodel_pyx.ThneedModel.__setstate_cython__", __pyx_clineno, __pyx_lineno, __pyx_filename); + __Pyx_RefNannyFinishContext(); + return NULL; + __pyx_L4_argument_unpacking_done:; + __pyx_r = __pyx_pf_9selfdrive_14classic_modeld_7runners_15thneedmodel_pyx_11ThneedModel_4__setstate_cython__(((struct __pyx_obj_9selfdrive_14classic_modeld_7runners_15thneedmodel_pyx_ThneedModel *)__pyx_v_self), __pyx_v___pyx_state); + + /* function exit code */ + { + Py_ssize_t __pyx_temp; + for (__pyx_temp=0; __pyx_temp < (Py_ssize_t)(sizeof(values)/sizeof(values[0])); ++__pyx_temp) { + __Pyx_Arg_XDECREF_FASTCALL(values[__pyx_temp]); + } + } + __Pyx_RefNannyFinishContext(); + return __pyx_r; +} + +static PyObject *__pyx_pf_9selfdrive_14classic_modeld_7runners_15thneedmodel_pyx_11ThneedModel_4__setstate_cython__(CYTHON_UNUSED struct __pyx_obj_9selfdrive_14classic_modeld_7runners_15thneedmodel_pyx_ThneedModel *__pyx_v_self, CYTHON_UNUSED PyObject *__pyx_v___pyx_state) { + PyObject *__pyx_r = NULL; + __Pyx_RefNannyDeclarations + int __pyx_lineno = 0; + 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__Pyx_XGIVEREF(__pyx_r); + __Pyx_RefNannyFinishContext(); + return __pyx_r; +} + +static PyObject *__pyx_tp_new_9selfdrive_14classic_modeld_7runners_15thneedmodel_pyx_ThneedModel(PyTypeObject *t, PyObject *a, PyObject *k) { + PyObject *o = __Pyx_PyType_GetSlot(__pyx_ptype_9selfdrive_14classic_modeld_7runners_12runmodel_pyx_RunModel, tp_new, newfunc)(t, a, k); + if (unlikely(!o)) return 0; + if (unlikely(__pyx_pw_9selfdrive_14classic_modeld_7runners_15thneedmodel_pyx_11ThneedModel_1__cinit__(o, a, k) < 0)) goto bad; + return o; + bad: + Py_DECREF(o); o = 0; + return NULL; +} + +static PyMethodDef __pyx_methods_9selfdrive_14classic_modeld_7runners_15thneedmodel_pyx_ThneedModel[] = { + {"__reduce_cython__", (PyCFunction)(void*)(__Pyx_PyCFunction_FastCallWithKeywords)__pyx_pw_9selfdrive_14classic_modeld_7runners_15thneedmodel_pyx_11ThneedModel_3__reduce_cython__, __Pyx_METH_FASTCALL|METH_KEYWORDS, 0}, + {"__setstate_cython__", (PyCFunction)(void*)(__Pyx_PyCFunction_FastCallWithKeywords)__pyx_pw_9selfdrive_14classic_modeld_7runners_15thneedmodel_pyx_11ThneedModel_5__setstate_cython__, __Pyx_METH_FASTCALL|METH_KEYWORDS, 0}, + {0, 0, 0, 0} +}; +#if CYTHON_USE_TYPE_SPECS +static PyType_Slot __pyx_type_9selfdrive_14classic_modeld_7runners_15thneedmodel_pyx_ThneedModel_slots[] = { + {Py_tp_methods, (void *)__pyx_methods_9selfdrive_14classic_modeld_7runners_15thneedmodel_pyx_ThneedModel}, + {Py_tp_new, (void *)__pyx_tp_new_9selfdrive_14classic_modeld_7runners_15thneedmodel_pyx_ThneedModel}, + {0, 0}, +}; +static PyType_Spec __pyx_type_9selfdrive_14classic_modeld_7runners_15thneedmodel_pyx_ThneedModel_spec = { + "selfdrive.classic_modeld.runners.thneedmodel_pyx.ThneedModel", + sizeof(struct __pyx_obj_9selfdrive_14classic_modeld_7runners_15thneedmodel_pyx_ThneedModel), + 0, + Py_TPFLAGS_DEFAULT|Py_TPFLAGS_HAVE_VERSION_TAG|Py_TPFLAGS_CHECKTYPES|Py_TPFLAGS_HAVE_NEWBUFFER|Py_TPFLAGS_BASETYPE|Py_TPFLAGS_HAVE_FINALIZE, + __pyx_type_9selfdrive_14classic_modeld_7runners_15thneedmodel_pyx_ThneedModel_slots, +}; +#else + +static PyTypeObject __pyx_type_9selfdrive_14classic_modeld_7runners_15thneedmodel_pyx_ThneedModel = { + PyVarObject_HEAD_INIT(0, 0) + "selfdrive.classic_modeld.runners.thneedmodel_pyx.""ThneedModel", /*tp_name*/ + sizeof(struct __pyx_obj_9selfdrive_14classic_modeld_7runners_15thneedmodel_pyx_ThneedModel), /*tp_basicsize*/ + 0, /*tp_itemsize*/ + 0, /*tp_dealloc*/ + #if PY_VERSION_HEX < 0x030800b4 + 0, /*tp_print*/ + #endif + #if PY_VERSION_HEX >= 0x030800b4 + 0, /*tp_vectorcall_offset*/ + #endif + 0, /*tp_getattr*/ + 0, /*tp_setattr*/ + #if PY_MAJOR_VERSION < 3 + 0, /*tp_compare*/ + #endif + #if PY_MAJOR_VERSION >= 3 + 0, /*tp_as_async*/ + #endif + 0, /*tp_repr*/ + 0, /*tp_as_number*/ + 0, /*tp_as_sequence*/ + 0, /*tp_as_mapping*/ + 0, /*tp_hash*/ + 0, /*tp_call*/ + 0, /*tp_str*/ + 0, /*tp_getattro*/ + 0, /*tp_setattro*/ + 0, /*tp_as_buffer*/ + Py_TPFLAGS_DEFAULT|Py_TPFLAGS_HAVE_VERSION_TAG|Py_TPFLAGS_CHECKTYPES|Py_TPFLAGS_HAVE_NEWBUFFER|Py_TPFLAGS_BASETYPE|Py_TPFLAGS_HAVE_FINALIZE, /*tp_flags*/ + 0, /*tp_doc*/ + 0, /*tp_traverse*/ + 0, /*tp_clear*/ + 0, /*tp_richcompare*/ + 0, /*tp_weaklistoffset*/ + 0, /*tp_iter*/ + 0, /*tp_iternext*/ + __pyx_methods_9selfdrive_14classic_modeld_7runners_15thneedmodel_pyx_ThneedModel, /*tp_methods*/ + 0, /*tp_members*/ + 0, /*tp_getset*/ + 0, /*tp_base*/ + 0, /*tp_dict*/ + 0, /*tp_descr_get*/ + 0, /*tp_descr_set*/ + #if !CYTHON_USE_TYPE_SPECS + 0, /*tp_dictoffset*/ + #endif + 0, /*tp_init*/ + 0, /*tp_alloc*/ + __pyx_tp_new_9selfdrive_14classic_modeld_7runners_15thneedmodel_pyx_ThneedModel, /*tp_new*/ + 0, /*tp_free*/ + 0, /*tp_is_gc*/ + 0, /*tp_bases*/ + 0, /*tp_mro*/ + 0, /*tp_cache*/ + 0, /*tp_subclasses*/ + 0, /*tp_weaklist*/ + 0, /*tp_del*/ + 0, /*tp_version_tag*/ + #if PY_VERSION_HEX >= 0x030400a1 + #if CYTHON_USE_TP_FINALIZE + 0, /*tp_finalize*/ + #else + NULL, /*tp_finalize*/ + #endif + #endif + #if PY_VERSION_HEX >= 0x030800b1 && (!CYTHON_COMPILING_IN_PYPY || PYPY_VERSION_NUM >= 0x07030800) + 0, /*tp_vectorcall*/ + #endif + #if __PYX_NEED_TP_PRINT_SLOT == 1 + 0, /*tp_print*/ + #endif + #if PY_VERSION_HEX >= 0x030C0000 + 0, /*tp_watched*/ + #endif + #if CYTHON_COMPILING_IN_PYPY && PY_VERSION_HEX >= 0x03090000 && PY_VERSION_HEX < 0x030a0000 + 0, /*tp_pypy_flags*/ + #endif +}; +#endif +static struct __pyx_vtabstruct_array __pyx_vtable_array; + +static PyObject *__pyx_tp_new_array(PyTypeObject *t, PyObject *a, PyObject *k) { + struct __pyx_array_obj *p; + PyObject *o; + #if CYTHON_COMPILING_IN_LIMITED_API + allocfunc alloc_func = (allocfunc)PyType_GetSlot(t, Py_tp_alloc); + o = alloc_func(t, 0); + #else + if (likely(!__Pyx_PyType_HasFeature(t, Py_TPFLAGS_IS_ABSTRACT))) { + o = (*t->tp_alloc)(t, 0); + } else { + o = (PyObject *) PyBaseObject_Type.tp_new(t, __pyx_empty_tuple, 0); + } + if (unlikely(!o)) return 0; + #endif + p = ((struct __pyx_array_obj *)o); + 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PyObject *v = __Pyx_PyObject_GenericGetAttr(o, n); + if (!v && PyErr_ExceptionMatches(PyExc_AttributeError)) { + PyErr_Clear(); + v = __pyx_array___getattr__(o, n); + } + return v; +} + +static PyObject *__pyx_getprop___pyx_array_memview(PyObject *o, CYTHON_UNUSED void *x) { + return __pyx_pw_15View_dot_MemoryView_5array_7memview_1__get__(o); +} + +static PyMethodDef __pyx_methods_array[] = { + {"__getattr__", (PyCFunction)__pyx_array___getattr__, METH_O|METH_COEXIST, 0}, + {"__reduce_cython__", (PyCFunction)(void*)(__Pyx_PyCFunction_FastCallWithKeywords)__pyx_pw___pyx_array_1__reduce_cython__, __Pyx_METH_FASTCALL|METH_KEYWORDS, 0}, + {"__setstate_cython__", (PyCFunction)(void*)(__Pyx_PyCFunction_FastCallWithKeywords)__pyx_pw___pyx_array_3__setstate_cython__, __Pyx_METH_FASTCALL|METH_KEYWORDS, 0}, + {0, 0, 0, 0} +}; + +static struct PyGetSetDef __pyx_getsets_array[] = { + {(char *)"memview", __pyx_getprop___pyx_array_memview, 0, (char *)0, 0}, + {0, 0, 0, 0, 0} +}; +#if CYTHON_USE_TYPE_SPECS +#if !CYTHON_COMPILING_IN_LIMITED_API + +static PyBufferProcs __pyx_tp_as_buffer_array = { + #if PY_MAJOR_VERSION < 3 + 0, /*bf_getreadbuffer*/ + #endif + #if PY_MAJOR_VERSION < 3 + 0, /*bf_getwritebuffer*/ + #endif + #if PY_MAJOR_VERSION < 3 + 0, /*bf_getsegcount*/ + #endif + #if PY_MAJOR_VERSION < 3 + 0, /*bf_getcharbuffer*/ + #endif + __pyx_array_getbuffer, /*bf_getbuffer*/ + 0, /*bf_releasebuffer*/ +}; +#endif +static PyType_Slot __pyx_type___pyx_array_slots[] = { + {Py_tp_dealloc, (void *)__pyx_tp_dealloc_array}, + {Py_sq_length, (void *)__pyx_array___len__}, + {Py_sq_item, (void *)__pyx_sq_item_array}, + {Py_mp_length, (void *)__pyx_array___len__}, + {Py_mp_subscript, (void *)__pyx_array___getitem__}, + {Py_mp_ass_subscript, (void *)__pyx_mp_ass_subscript_array}, + {Py_tp_getattro, (void *)__pyx_tp_getattro_array}, + #if defined(Py_bf_getbuffer) + {Py_bf_getbuffer, (void *)__pyx_array_getbuffer}, + #endif + {Py_tp_methods, (void *)__pyx_methods_array}, + 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CYTHON_USE_TP_FINALIZE + 0, /*tp_finalize*/ + #else + NULL, /*tp_finalize*/ + #endif + #endif + #if PY_VERSION_HEX >= 0x030800b1 && (!CYTHON_COMPILING_IN_PYPY || PYPY_VERSION_NUM >= 0x07030800) + 0, /*tp_vectorcall*/ + #endif + #if __PYX_NEED_TP_PRINT_SLOT == 1 + 0, /*tp_print*/ + #endif + #if PY_VERSION_HEX >= 0x030C0000 + 0, /*tp_watched*/ + #endif + #if CYTHON_COMPILING_IN_PYPY && PY_VERSION_HEX >= 0x03090000 && PY_VERSION_HEX < 0x030a0000 + 0, /*tp_pypy_flags*/ + #endif +}; +#endif + +static PyObject *__pyx_tp_new_Enum(PyTypeObject *t, CYTHON_UNUSED PyObject *a, CYTHON_UNUSED PyObject *k) { + struct __pyx_MemviewEnum_obj *p; + PyObject *o; + #if CYTHON_COMPILING_IN_LIMITED_API + allocfunc alloc_func = (allocfunc)PyType_GetSlot(t, Py_tp_alloc); + o = alloc_func(t, 0); + #else + if (likely(!__Pyx_PyType_HasFeature(t, Py_TPFLAGS_IS_ABSTRACT))) { + o = (*t->tp_alloc)(t, 0); + } else { + o = (PyObject *) PyBaseObject_Type.tp_new(t, __pyx_empty_tuple, 0); + } + if (unlikely(!o)) return 0; + #endif + p = ((struct __pyx_MemviewEnum_obj *)o); + p->name = Py_None; Py_INCREF(Py_None); + return o; +} + +static void __pyx_tp_dealloc_Enum(PyObject *o) { + struct __pyx_MemviewEnum_obj *p = (struct __pyx_MemviewEnum_obj *)o; + #if CYTHON_USE_TP_FINALIZE + if (unlikely((PY_VERSION_HEX >= 0x03080000 || __Pyx_PyType_HasFeature(Py_TYPE(o), Py_TPFLAGS_HAVE_FINALIZE)) && __Pyx_PyObject_GetSlot(o, tp_finalize, destructor)) && !__Pyx_PyObject_GC_IsFinalized(o)) { + if (__Pyx_PyObject_GetSlot(o, tp_dealloc, destructor) == __pyx_tp_dealloc_Enum) { + if (PyObject_CallFinalizerFromDealloc(o)) return; + } + } + #endif + PyObject_GC_UnTrack(o); + Py_CLEAR(p->name); + #if CYTHON_USE_TYPE_SLOTS || CYTHON_COMPILING_IN_PYPY + (*Py_TYPE(o)->tp_free)(o); + #else + { + freefunc tp_free = (freefunc)PyType_GetSlot(Py_TYPE(o), Py_tp_free); + if (tp_free) tp_free(o); + } + #endif +} + +static int __pyx_tp_traverse_Enum(PyObject *o, visitproc v, void *a) { + int e; + struct __pyx_MemviewEnum_obj *p = (struct __pyx_MemviewEnum_obj *)o; + if (p->name) { + e = (*v)(p->name, a); if (e) return e; + } + return 0; +} + +static int __pyx_tp_clear_Enum(PyObject *o) { + PyObject* tmp; + struct __pyx_MemviewEnum_obj *p = (struct __pyx_MemviewEnum_obj *)o; + tmp = ((PyObject*)p->name); + p->name = Py_None; Py_INCREF(Py_None); + Py_XDECREF(tmp); + return 0; +} + +static PyObject *__pyx_specialmethod___pyx_MemviewEnum___repr__(PyObject *self, CYTHON_UNUSED PyObject *arg) { + return __pyx_MemviewEnum___repr__(self); +} + +static PyMethodDef __pyx_methods_Enum[] = { + {"__repr__", (PyCFunction)__pyx_specialmethod___pyx_MemviewEnum___repr__, METH_NOARGS|METH_COEXIST, 0}, + {"__reduce_cython__", (PyCFunction)(void*)(__Pyx_PyCFunction_FastCallWithKeywords)__pyx_pw___pyx_MemviewEnum_1__reduce_cython__, __Pyx_METH_FASTCALL|METH_KEYWORDS, 0}, + {"__setstate_cython__", (PyCFunction)(void*)(__Pyx_PyCFunction_FastCallWithKeywords)__pyx_pw___pyx_MemviewEnum_3__setstate_cython__, __Pyx_METH_FASTCALL|METH_KEYWORDS, 0}, + {0, 0, 0, 0} +}; +#if CYTHON_USE_TYPE_SPECS +static PyType_Slot __pyx_type___pyx_MemviewEnum_slots[] = { + {Py_tp_dealloc, (void *)__pyx_tp_dealloc_Enum}, + {Py_tp_repr, (void *)__pyx_MemviewEnum___repr__}, + {Py_tp_traverse, (void *)__pyx_tp_traverse_Enum}, + {Py_tp_clear, (void *)__pyx_tp_clear_Enum}, + {Py_tp_methods, (void *)__pyx_methods_Enum}, + {Py_tp_init, (void *)__pyx_MemviewEnum___init__}, + {Py_tp_new, (void *)__pyx_tp_new_Enum}, + {0, 0}, +}; +static PyType_Spec __pyx_type___pyx_MemviewEnum_spec = { + "selfdrive.classic_modeld.runners.thneedmodel_pyx.Enum", + sizeof(struct __pyx_MemviewEnum_obj), + 0, + Py_TPFLAGS_DEFAULT|Py_TPFLAGS_HAVE_VERSION_TAG|Py_TPFLAGS_CHECKTYPES|Py_TPFLAGS_HAVE_NEWBUFFER|Py_TPFLAGS_BASETYPE|Py_TPFLAGS_HAVE_GC, + __pyx_type___pyx_MemviewEnum_slots, +}; +#else + +static PyTypeObject __pyx_type___pyx_MemviewEnum = { + PyVarObject_HEAD_INIT(0, 0) + "selfdrive.classic_modeld.runners.thneedmodel_pyx.""Enum", /*tp_name*/ + sizeof(struct __pyx_MemviewEnum_obj), /*tp_basicsize*/ + 0, /*tp_itemsize*/ + __pyx_tp_dealloc_Enum, /*tp_dealloc*/ + #if PY_VERSION_HEX < 0x030800b4 + 0, /*tp_print*/ + #endif + #if PY_VERSION_HEX >= 0x030800b4 + 0, /*tp_vectorcall_offset*/ + #endif + 0, /*tp_getattr*/ + 0, /*tp_setattr*/ + #if PY_MAJOR_VERSION < 3 + 0, /*tp_compare*/ + #endif + #if PY_MAJOR_VERSION >= 3 + 0, /*tp_as_async*/ + #endif + __pyx_MemviewEnum___repr__, /*tp_repr*/ + 0, /*tp_as_number*/ + 0, /*tp_as_sequence*/ + 0, /*tp_as_mapping*/ + 0, /*tp_hash*/ + 0, /*tp_call*/ + 0, /*tp_str*/ + 0, /*tp_getattro*/ + 0, /*tp_setattro*/ + 0, /*tp_as_buffer*/ + Py_TPFLAGS_DEFAULT|Py_TPFLAGS_HAVE_VERSION_TAG|Py_TPFLAGS_CHECKTYPES|Py_TPFLAGS_HAVE_NEWBUFFER|Py_TPFLAGS_BASETYPE|Py_TPFLAGS_HAVE_GC, /*tp_flags*/ + 0, /*tp_doc*/ + __pyx_tp_traverse_Enum, /*tp_traverse*/ + __pyx_tp_clear_Enum, /*tp_clear*/ + 0, /*tp_richcompare*/ + 0, /*tp_weaklistoffset*/ + 0, /*tp_iter*/ + 0, /*tp_iternext*/ + __pyx_methods_Enum, /*tp_methods*/ + 0, /*tp_members*/ + 0, /*tp_getset*/ + 0, /*tp_base*/ + 0, /*tp_dict*/ + 0, /*tp_descr_get*/ + 0, /*tp_descr_set*/ + #if !CYTHON_USE_TYPE_SPECS + 0, /*tp_dictoffset*/ + #endif + __pyx_MemviewEnum___init__, /*tp_init*/ + 0, /*tp_alloc*/ + __pyx_tp_new_Enum, /*tp_new*/ + 0, /*tp_free*/ + 0, /*tp_is_gc*/ + 0, /*tp_bases*/ + 0, /*tp_mro*/ + 0, /*tp_cache*/ + 0, /*tp_subclasses*/ + 0, /*tp_weaklist*/ + 0, /*tp_del*/ + 0, /*tp_version_tag*/ + #if PY_VERSION_HEX >= 0x030400a1 + #if CYTHON_USE_TP_FINALIZE + 0, /*tp_finalize*/ + #else + NULL, /*tp_finalize*/ + #endif + #endif + #if PY_VERSION_HEX >= 0x030800b1 && (!CYTHON_COMPILING_IN_PYPY || PYPY_VERSION_NUM >= 0x07030800) + 0, /*tp_vectorcall*/ + #endif + #if __PYX_NEED_TP_PRINT_SLOT == 1 + 0, /*tp_print*/ + #endif + #if PY_VERSION_HEX >= 0x030C0000 + 0, /*tp_watched*/ + #endif + #if CYTHON_COMPILING_IN_PYPY && PY_VERSION_HEX >= 0x03090000 && PY_VERSION_HEX < 0x030a0000 + 0, /*tp_pypy_flags*/ + #endif +}; +#endif +static struct __pyx_vtabstruct_memoryview __pyx_vtable_memoryview; + +static PyObject *__pyx_tp_new_memoryview(PyTypeObject *t, PyObject *a, PyObject *k) { + struct __pyx_memoryview_obj *p; + PyObject *o; + #if CYTHON_COMPILING_IN_LIMITED_API + allocfunc alloc_func = (allocfunc)PyType_GetSlot(t, Py_tp_alloc); + o = alloc_func(t, 0); + #else + if (likely(!__Pyx_PyType_HasFeature(t, Py_TPFLAGS_IS_ABSTRACT))) { + o = (*t->tp_alloc)(t, 0); + } else { + o = (PyObject *) PyBaseObject_Type.tp_new(t, __pyx_empty_tuple, 0); + } + if (unlikely(!o)) return 0; + #endif + p = ((struct __pyx_memoryview_obj *)o); + p->__pyx_vtab = __pyx_vtabptr_memoryview; + p->obj = Py_None; Py_INCREF(Py_None); + p->_size = Py_None; Py_INCREF(Py_None); + p->_array_interface = Py_None; Py_INCREF(Py_None); + p->view.obj = NULL; + if (unlikely(__pyx_memoryview___cinit__(o, a, k) < 0)) goto bad; + return o; + bad: + Py_DECREF(o); o = 0; + return NULL; +} + +static void __pyx_tp_dealloc_memoryview(PyObject *o) { + struct __pyx_memoryview_obj *p = (struct __pyx_memoryview_obj *)o; + #if CYTHON_USE_TP_FINALIZE + if (unlikely((PY_VERSION_HEX >= 0x03080000 || __Pyx_PyType_HasFeature(Py_TYPE(o), Py_TPFLAGS_HAVE_FINALIZE)) && __Pyx_PyObject_GetSlot(o, tp_finalize, destructor)) && !__Pyx_PyObject_GC_IsFinalized(o)) { + if (__Pyx_PyObject_GetSlot(o, tp_dealloc, destructor) == __pyx_tp_dealloc_memoryview) { + if (PyObject_CallFinalizerFromDealloc(o)) return; + } + } + #endif + PyObject_GC_UnTrack(o); + { + PyObject *etype, *eval, *etb; + PyErr_Fetch(&etype, &eval, &etb); + __Pyx_SET_REFCNT(o, Py_REFCNT(o) + 1); + __pyx_memoryview___dealloc__(o); + __Pyx_SET_REFCNT(o, Py_REFCNT(o) - 1); + PyErr_Restore(etype, eval, etb); + } + Py_CLEAR(p->obj); + Py_CLEAR(p->_size); + Py_CLEAR(p->_array_interface); + #if CYTHON_USE_TYPE_SLOTS || CYTHON_COMPILING_IN_PYPY + (*Py_TYPE(o)->tp_free)(o); + #else + { + freefunc tp_free = (freefunc)PyType_GetSlot(Py_TYPE(o), Py_tp_free); + if (tp_free) tp_free(o); + } + #endif +} + +static int __pyx_tp_traverse_memoryview(PyObject *o, visitproc v, void *a) { + int e; + struct __pyx_memoryview_obj *p = (struct __pyx_memoryview_obj *)o; + if (p->obj) { + e = (*v)(p->obj, a); if (e) return e; + } + if (p->_size) { + e = (*v)(p->_size, a); if (e) return e; + } + if (p->_array_interface) { + e = (*v)(p->_array_interface, a); if (e) return e; + } + if (p->view.obj) { + e = (*v)(p->view.obj, a); if (e) return e; + } + return 0; +} + +static int __pyx_tp_clear_memoryview(PyObject *o) { + PyObject* tmp; + struct __pyx_memoryview_obj *p = (struct __pyx_memoryview_obj *)o; + tmp = ((PyObject*)p->obj); + p->obj = Py_None; Py_INCREF(Py_None); + Py_XDECREF(tmp); + tmp = ((PyObject*)p->_size); + p->_size = Py_None; Py_INCREF(Py_None); + Py_XDECREF(tmp); + tmp = ((PyObject*)p->_array_interface); + p->_array_interface = Py_None; Py_INCREF(Py_None); + Py_XDECREF(tmp); + Py_CLEAR(p->view.obj); + return 0; +} +static PyObject *__pyx_sq_item_memoryview(PyObject *o, Py_ssize_t i) { + PyObject *r; + PyObject *x = PyInt_FromSsize_t(i); if(!x) return 0; + r = Py_TYPE(o)->tp_as_mapping->mp_subscript(o, x); + Py_DECREF(x); + return r; +} + +static int __pyx_mp_ass_subscript_memoryview(PyObject *o, PyObject *i, PyObject *v) { + if (v) { + return __pyx_memoryview___setitem__(o, i, v); + } + else { + __Pyx_TypeName o_type_name; + o_type_name = __Pyx_PyType_GetName(Py_TYPE(o)); + PyErr_Format(PyExc_NotImplementedError, + "Subscript deletion not supported by " __Pyx_FMT_TYPENAME, o_type_name); + __Pyx_DECREF_TypeName(o_type_name); + return -1; + } +} + +static PyObject *__pyx_getprop___pyx_memoryview_T(PyObject *o, CYTHON_UNUSED void *x) { + return __pyx_pw_15View_dot_MemoryView_10memoryview_1T_1__get__(o); +} + +static PyObject *__pyx_getprop___pyx_memoryview_base(PyObject *o, CYTHON_UNUSED void *x) { + return __pyx_pw_15View_dot_MemoryView_10memoryview_4base_1__get__(o); +} + +static PyObject *__pyx_getprop___pyx_memoryview_shape(PyObject *o, CYTHON_UNUSED void *x) { + return __pyx_pw_15View_dot_MemoryView_10memoryview_5shape_1__get__(o); +} + +static PyObject *__pyx_getprop___pyx_memoryview_strides(PyObject *o, CYTHON_UNUSED void *x) { + return __pyx_pw_15View_dot_MemoryView_10memoryview_7strides_1__get__(o); +} + +static PyObject *__pyx_getprop___pyx_memoryview_suboffsets(PyObject *o, CYTHON_UNUSED void *x) { + return __pyx_pw_15View_dot_MemoryView_10memoryview_10suboffsets_1__get__(o); +} + +static PyObject *__pyx_getprop___pyx_memoryview_ndim(PyObject *o, CYTHON_UNUSED void *x) { + return __pyx_pw_15View_dot_MemoryView_10memoryview_4ndim_1__get__(o); +} + +static PyObject *__pyx_getprop___pyx_memoryview_itemsize(PyObject *o, CYTHON_UNUSED void *x) { + return __pyx_pw_15View_dot_MemoryView_10memoryview_8itemsize_1__get__(o); +} + +static PyObject *__pyx_getprop___pyx_memoryview_nbytes(PyObject *o, CYTHON_UNUSED void *x) { + return __pyx_pw_15View_dot_MemoryView_10memoryview_6nbytes_1__get__(o); +} + +static PyObject *__pyx_getprop___pyx_memoryview_size(PyObject *o, CYTHON_UNUSED void *x) { + return __pyx_pw_15View_dot_MemoryView_10memoryview_4size_1__get__(o); +} + +static PyObject *__pyx_specialmethod___pyx_memoryview___repr__(PyObject *self, CYTHON_UNUSED PyObject *arg) { + return __pyx_memoryview___repr__(self); +} + +static PyMethodDef __pyx_methods_memoryview[] = { + {"__repr__", (PyCFunction)__pyx_specialmethod___pyx_memoryview___repr__, METH_NOARGS|METH_COEXIST, 0}, + {"is_c_contig", (PyCFunction)(void*)(__Pyx_PyCFunction_FastCallWithKeywords)__pyx_memoryview_is_c_contig, __Pyx_METH_FASTCALL|METH_KEYWORDS, 0}, + {"is_f_contig", (PyCFunction)(void*)(__Pyx_PyCFunction_FastCallWithKeywords)__pyx_memoryview_is_f_contig, __Pyx_METH_FASTCALL|METH_KEYWORDS, 0}, + {"copy", (PyCFunction)(void*)(__Pyx_PyCFunction_FastCallWithKeywords)__pyx_memoryview_copy, __Pyx_METH_FASTCALL|METH_KEYWORDS, 0}, + {"copy_fortran", (PyCFunction)(void*)(__Pyx_PyCFunction_FastCallWithKeywords)__pyx_memoryview_copy_fortran, __Pyx_METH_FASTCALL|METH_KEYWORDS, 0}, + {"__reduce_cython__", (PyCFunction)(void*)(__Pyx_PyCFunction_FastCallWithKeywords)__pyx_pw___pyx_memoryview_1__reduce_cython__, __Pyx_METH_FASTCALL|METH_KEYWORDS, 0}, + {"__setstate_cython__", (PyCFunction)(void*)(__Pyx_PyCFunction_FastCallWithKeywords)__pyx_pw___pyx_memoryview_3__setstate_cython__, __Pyx_METH_FASTCALL|METH_KEYWORDS, 0}, + {0, 0, 0, 0} +}; + +static struct PyGetSetDef __pyx_getsets_memoryview[] = { + {(char *)"T", __pyx_getprop___pyx_memoryview_T, 0, (char *)0, 0}, + {(char *)"base", __pyx_getprop___pyx_memoryview_base, 0, (char *)0, 0}, + {(char *)"shape", __pyx_getprop___pyx_memoryview_shape, 0, (char *)0, 0}, + {(char *)"strides", __pyx_getprop___pyx_memoryview_strides, 0, (char *)0, 0}, + {(char *)"suboffsets", __pyx_getprop___pyx_memoryview_suboffsets, 0, (char *)0, 0}, + {(char *)"ndim", __pyx_getprop___pyx_memoryview_ndim, 0, (char *)0, 0}, + {(char *)"itemsize", __pyx_getprop___pyx_memoryview_itemsize, 0, (char *)0, 0}, + {(char *)"nbytes", __pyx_getprop___pyx_memoryview_nbytes, 0, (char *)0, 0}, + {(char *)"size", __pyx_getprop___pyx_memoryview_size, 0, (char *)0, 0}, + {0, 0, 0, 0, 0} +}; +#if CYTHON_USE_TYPE_SPECS +#if !CYTHON_COMPILING_IN_LIMITED_API + +static PyBufferProcs __pyx_tp_as_buffer_memoryview = { + #if PY_MAJOR_VERSION < 3 + 0, /*bf_getreadbuffer*/ + #endif + #if PY_MAJOR_VERSION < 3 + 0, /*bf_getwritebuffer*/ + #endif + #if PY_MAJOR_VERSION < 3 + 0, /*bf_getsegcount*/ + #endif + #if PY_MAJOR_VERSION < 3 + 0, /*bf_getcharbuffer*/ + #endif + __pyx_memoryview_getbuffer, /*bf_getbuffer*/ + 0, /*bf_releasebuffer*/ +}; +#endif +static PyType_Slot __pyx_type___pyx_memoryview_slots[] = { + {Py_tp_dealloc, (void *)__pyx_tp_dealloc_memoryview}, + {Py_tp_repr, (void *)__pyx_memoryview___repr__}, + {Py_sq_length, (void *)__pyx_memoryview___len__}, + {Py_sq_item, (void *)__pyx_sq_item_memoryview}, + {Py_mp_length, (void *)__pyx_memoryview___len__}, + {Py_mp_subscript, (void *)__pyx_memoryview___getitem__}, + {Py_mp_ass_subscript, (void *)__pyx_mp_ass_subscript_memoryview}, + {Py_tp_str, (void *)__pyx_memoryview___str__}, + #if defined(Py_bf_getbuffer) + {Py_bf_getbuffer, (void *)__pyx_memoryview_getbuffer}, + #endif + {Py_tp_traverse, (void *)__pyx_tp_traverse_memoryview}, + {Py_tp_clear, (void *)__pyx_tp_clear_memoryview}, + {Py_tp_methods, (void *)__pyx_methods_memoryview}, + {Py_tp_getset, (void *)__pyx_getsets_memoryview}, + {Py_tp_new, (void *)__pyx_tp_new_memoryview}, + {0, 0}, +}; +static PyType_Spec __pyx_type___pyx_memoryview_spec = { + "selfdrive.classic_modeld.runners.thneedmodel_pyx.memoryview", + sizeof(struct __pyx_memoryview_obj), + 0, + Py_TPFLAGS_DEFAULT|Py_TPFLAGS_HAVE_VERSION_TAG|Py_TPFLAGS_CHECKTYPES|Py_TPFLAGS_HAVE_NEWBUFFER|Py_TPFLAGS_BASETYPE|Py_TPFLAGS_HAVE_GC, + __pyx_type___pyx_memoryview_slots, +}; +#else + +static PySequenceMethods __pyx_tp_as_sequence_memoryview = { + __pyx_memoryview___len__, /*sq_length*/ + 0, /*sq_concat*/ + 0, /*sq_repeat*/ + __pyx_sq_item_memoryview, /*sq_item*/ + 0, /*sq_slice*/ + 0, /*sq_ass_item*/ + 0, /*sq_ass_slice*/ + 0, /*sq_contains*/ + 0, /*sq_inplace_concat*/ + 0, /*sq_inplace_repeat*/ +}; + +static PyMappingMethods __pyx_tp_as_mapping_memoryview = { + __pyx_memoryview___len__, /*mp_length*/ + __pyx_memoryview___getitem__, /*mp_subscript*/ + __pyx_mp_ass_subscript_memoryview, /*mp_ass_subscript*/ +}; + +static PyBufferProcs __pyx_tp_as_buffer_memoryview = { + #if PY_MAJOR_VERSION < 3 + 0, /*bf_getreadbuffer*/ + #endif + #if PY_MAJOR_VERSION < 3 + 0, /*bf_getwritebuffer*/ + #endif + #if PY_MAJOR_VERSION < 3 + 0, /*bf_getsegcount*/ + #endif + #if PY_MAJOR_VERSION < 3 + 0, /*bf_getcharbuffer*/ + #endif + __pyx_memoryview_getbuffer, /*bf_getbuffer*/ + 0, /*bf_releasebuffer*/ +}; + +static PyTypeObject __pyx_type___pyx_memoryview = { + PyVarObject_HEAD_INIT(0, 0) + "selfdrive.classic_modeld.runners.thneedmodel_pyx.""memoryview", /*tp_name*/ + sizeof(struct __pyx_memoryview_obj), /*tp_basicsize*/ + 0, /*tp_itemsize*/ + __pyx_tp_dealloc_memoryview, /*tp_dealloc*/ + #if PY_VERSION_HEX < 0x030800b4 + 0, /*tp_print*/ + #endif + #if PY_VERSION_HEX >= 0x030800b4 + 0, /*tp_vectorcall_offset*/ + #endif + 0, /*tp_getattr*/ + 0, /*tp_setattr*/ + #if PY_MAJOR_VERSION < 3 + 0, /*tp_compare*/ + #endif + #if PY_MAJOR_VERSION >= 3 + 0, /*tp_as_async*/ + #endif + __pyx_memoryview___repr__, /*tp_repr*/ + 0, /*tp_as_number*/ + &__pyx_tp_as_sequence_memoryview, /*tp_as_sequence*/ + &__pyx_tp_as_mapping_memoryview, /*tp_as_mapping*/ + 0, /*tp_hash*/ + 0, /*tp_call*/ + __pyx_memoryview___str__, /*tp_str*/ + 0, /*tp_getattro*/ + 0, /*tp_setattro*/ + &__pyx_tp_as_buffer_memoryview, /*tp_as_buffer*/ + Py_TPFLAGS_DEFAULT|Py_TPFLAGS_HAVE_VERSION_TAG|Py_TPFLAGS_CHECKTYPES|Py_TPFLAGS_HAVE_NEWBUFFER|Py_TPFLAGS_BASETYPE|Py_TPFLAGS_HAVE_GC, /*tp_flags*/ + 0, /*tp_doc*/ + __pyx_tp_traverse_memoryview, /*tp_traverse*/ + __pyx_tp_clear_memoryview, /*tp_clear*/ + 0, /*tp_richcompare*/ + 0, /*tp_weaklistoffset*/ + 0, /*tp_iter*/ + 0, /*tp_iternext*/ + __pyx_methods_memoryview, /*tp_methods*/ + 0, /*tp_members*/ + __pyx_getsets_memoryview, /*tp_getset*/ + 0, /*tp_base*/ + 0, /*tp_dict*/ + 0, /*tp_descr_get*/ + 0, /*tp_descr_set*/ + #if !CYTHON_USE_TYPE_SPECS + 0, /*tp_dictoffset*/ + #endif + 0, /*tp_init*/ + 0, /*tp_alloc*/ + __pyx_tp_new_memoryview, /*tp_new*/ + 0, /*tp_free*/ + 0, /*tp_is_gc*/ + 0, /*tp_bases*/ + 0, /*tp_mro*/ + 0, /*tp_cache*/ + 0, /*tp_subclasses*/ + 0, /*tp_weaklist*/ + 0, /*tp_del*/ + 0, /*tp_version_tag*/ + #if PY_VERSION_HEX >= 0x030400a1 + #if CYTHON_USE_TP_FINALIZE + 0, /*tp_finalize*/ + #else + NULL, /*tp_finalize*/ + #endif + #endif + #if PY_VERSION_HEX >= 0x030800b1 && (!CYTHON_COMPILING_IN_PYPY || PYPY_VERSION_NUM >= 0x07030800) + 0, /*tp_vectorcall*/ + #endif + #if __PYX_NEED_TP_PRINT_SLOT == 1 + 0, /*tp_print*/ + #endif + #if PY_VERSION_HEX >= 0x030C0000 + 0, /*tp_watched*/ + #endif + #if CYTHON_COMPILING_IN_PYPY && PY_VERSION_HEX >= 0x03090000 && PY_VERSION_HEX < 0x030a0000 + 0, /*tp_pypy_flags*/ + #endif +}; +#endif +static struct __pyx_vtabstruct__memoryviewslice __pyx_vtable__memoryviewslice; + +static PyObject *__pyx_tp_new__memoryviewslice(PyTypeObject *t, PyObject *a, PyObject *k) { + struct __pyx_memoryviewslice_obj *p; + PyObject *o = __pyx_tp_new_memoryview(t, a, k); + if (unlikely(!o)) return 0; + p = ((struct __pyx_memoryviewslice_obj *)o); + p->__pyx_base.__pyx_vtab = (struct __pyx_vtabstruct_memoryview*)__pyx_vtabptr__memoryviewslice; + new((void*)&(p->from_slice)) __Pyx_memviewslice(); + p->from_object = Py_None; Py_INCREF(Py_None); + p->from_slice.memview = NULL; + return o; +} + +static void __pyx_tp_dealloc__memoryviewslice(PyObject *o) { + struct __pyx_memoryviewslice_obj *p = (struct __pyx_memoryviewslice_obj *)o; + #if CYTHON_USE_TP_FINALIZE + if (unlikely((PY_VERSION_HEX >= 0x03080000 || __Pyx_PyType_HasFeature(Py_TYPE(o), Py_TPFLAGS_HAVE_FINALIZE)) && __Pyx_PyObject_GetSlot(o, tp_finalize, destructor)) && !__Pyx_PyObject_GC_IsFinalized(o)) { + if (__Pyx_PyObject_GetSlot(o, tp_dealloc, destructor) == __pyx_tp_dealloc__memoryviewslice) { + if (PyObject_CallFinalizerFromDealloc(o)) return; + } + } + #endif + PyObject_GC_UnTrack(o); + { + PyObject *etype, *eval, *etb; + PyErr_Fetch(&etype, &eval, &etb); + __Pyx_SET_REFCNT(o, Py_REFCNT(o) + 1); + __pyx_memoryviewslice___dealloc__(o); + __Pyx_SET_REFCNT(o, Py_REFCNT(o) - 1); + PyErr_Restore(etype, eval, etb); + } + __Pyx_call_destructor(p->from_slice); + Py_CLEAR(p->from_object); + PyObject_GC_Track(o); + __pyx_tp_dealloc_memoryview(o); +} + +static int __pyx_tp_traverse__memoryviewslice(PyObject *o, visitproc v, void *a) { + int e; + struct __pyx_memoryviewslice_obj *p = (struct __pyx_memoryviewslice_obj *)o; + e = __pyx_tp_traverse_memoryview(o, v, a); if (e) return e; + if (p->from_object) { + e = (*v)(p->from_object, a); if (e) return e; + } + return 0; +} + +static int __pyx_tp_clear__memoryviewslice(PyObject *o) { + PyObject* tmp; + struct __pyx_memoryviewslice_obj *p = (struct __pyx_memoryviewslice_obj *)o; + __pyx_tp_clear_memoryview(o); + tmp = ((PyObject*)p->from_object); + p->from_object = Py_None; Py_INCREF(Py_None); + Py_XDECREF(tmp); + __PYX_XCLEAR_MEMVIEW(&p->from_slice, 1); + return 0; +} + +static PyMethodDef __pyx_methods__memoryviewslice[] = { + {"__reduce_cython__", (PyCFunction)(void*)(__Pyx_PyCFunction_FastCallWithKeywords)__pyx_pw___pyx_memoryviewslice_1__reduce_cython__, __Pyx_METH_FASTCALL|METH_KEYWORDS, 0}, + {"__setstate_cython__", (PyCFunction)(void*)(__Pyx_PyCFunction_FastCallWithKeywords)__pyx_pw___pyx_memoryviewslice_3__setstate_cython__, __Pyx_METH_FASTCALL|METH_KEYWORDS, 0}, + {0, 0, 0, 0} +}; +#if CYTHON_USE_TYPE_SPECS +static PyType_Slot __pyx_type___pyx_memoryviewslice_slots[] = { + {Py_tp_dealloc, (void *)__pyx_tp_dealloc__memoryviewslice}, + {Py_tp_doc, (void 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__pyx_tp_dealloc__memoryviewslice, /*tp_dealloc*/ + #if PY_VERSION_HEX < 0x030800b4 + 0, /*tp_print*/ + #endif + #if PY_VERSION_HEX >= 0x030800b4 + 0, /*tp_vectorcall_offset*/ + #endif + 0, /*tp_getattr*/ + 0, /*tp_setattr*/ + #if PY_MAJOR_VERSION < 3 + 0, /*tp_compare*/ + #endif + #if PY_MAJOR_VERSION >= 3 + 0, /*tp_as_async*/ + #endif + #if CYTHON_COMPILING_IN_PYPY || 0 + __pyx_memoryview___repr__, /*tp_repr*/ + #else + 0, /*tp_repr*/ + #endif + 0, /*tp_as_number*/ + 0, /*tp_as_sequence*/ + 0, /*tp_as_mapping*/ + 0, /*tp_hash*/ + 0, /*tp_call*/ + #if CYTHON_COMPILING_IN_PYPY || 0 + __pyx_memoryview___str__, /*tp_str*/ + #else + 0, /*tp_str*/ + #endif + 0, /*tp_getattro*/ + 0, /*tp_setattro*/ + 0, /*tp_as_buffer*/ + Py_TPFLAGS_DEFAULT|Py_TPFLAGS_HAVE_VERSION_TAG|Py_TPFLAGS_CHECKTYPES|Py_TPFLAGS_HAVE_NEWBUFFER|Py_TPFLAGS_BASETYPE|Py_TPFLAGS_HAVE_GC|Py_TPFLAGS_SEQUENCE, /*tp_flags*/ + PyDoc_STR("Internal class for passing memoryview slices to Python"), /*tp_doc*/ + 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+ } + #if CYTHON_AVOID_BORROWED_REFS + Py_DECREF(exc_type); + #endif + return result; +} +#endif + +/* PyErrFetchRestore */ +#if CYTHON_FAST_THREAD_STATE +static CYTHON_INLINE void __Pyx_ErrRestoreInState(PyThreadState *tstate, PyObject *type, PyObject *value, PyObject *tb) { +#if PY_VERSION_HEX >= 0x030C00A6 + PyObject *tmp_value; + assert(type == NULL || (value != NULL && type == (PyObject*) Py_TYPE(value))); + if (value) { + #if CYTHON_COMPILING_IN_CPYTHON + if (unlikely(((PyBaseExceptionObject*) value)->traceback != tb)) + #endif + PyException_SetTraceback(value, tb); + } + tmp_value = tstate->current_exception; + tstate->current_exception = value; + Py_XDECREF(tmp_value); + Py_XDECREF(type); + Py_XDECREF(tb); +#else + PyObject *tmp_type, *tmp_value, *tmp_tb; + tmp_type = tstate->curexc_type; + tmp_value = tstate->curexc_value; + tmp_tb = tstate->curexc_traceback; + tstate->curexc_type = type; + tstate->curexc_value = value; + tstate->curexc_traceback = tb; + Py_XDECREF(tmp_type); + Py_XDECREF(tmp_value); + Py_XDECREF(tmp_tb); +#endif +} +static CYTHON_INLINE void __Pyx_ErrFetchInState(PyThreadState *tstate, PyObject **type, PyObject **value, PyObject **tb) { +#if PY_VERSION_HEX >= 0x030C00A6 + PyObject* exc_value; + exc_value = tstate->current_exception; + tstate->current_exception = 0; + *value = exc_value; + *type = NULL; + *tb = NULL; + if (exc_value) { + *type = (PyObject*) Py_TYPE(exc_value); + Py_INCREF(*type); + #if CYTHON_COMPILING_IN_CPYTHON + *tb = ((PyBaseExceptionObject*) exc_value)->traceback; + Py_XINCREF(*tb); + #else + *tb = PyException_GetTraceback(exc_value); + #endif + } +#else + *type = tstate->curexc_type; + *value = tstate->curexc_value; + *tb = tstate->curexc_traceback; + tstate->curexc_type = 0; + tstate->curexc_value = 0; + tstate->curexc_traceback = 0; +#endif +} +#endif + +/* PyObjectGetAttrStr */ +#if CYTHON_USE_TYPE_SLOTS +static CYTHON_INLINE PyObject* __Pyx_PyObject_GetAttrStr(PyObject* obj, PyObject* attr_name) { + PyTypeObject* tp = Py_TYPE(obj); + if (likely(tp->tp_getattro)) + return tp->tp_getattro(obj, attr_name); +#if PY_MAJOR_VERSION < 3 + if (likely(tp->tp_getattr)) + return tp->tp_getattr(obj, PyString_AS_STRING(attr_name)); +#endif + return PyObject_GetAttr(obj, attr_name); +} +#endif + +/* PyObjectGetAttrStrNoError */ +#if __PYX_LIMITED_VERSION_HEX < 0x030d00A1 +static void __Pyx_PyObject_GetAttrStr_ClearAttributeError(void) { + __Pyx_PyThreadState_declare + __Pyx_PyThreadState_assign + if (likely(__Pyx_PyErr_ExceptionMatches(PyExc_AttributeError))) + __Pyx_PyErr_Clear(); +} +#endif +static CYTHON_INLINE PyObject* __Pyx_PyObject_GetAttrStrNoError(PyObject* obj, PyObject* attr_name) { + PyObject *result; +#if __PYX_LIMITED_VERSION_HEX >= 0x030d00A1 + (void) PyObject_GetOptionalAttr(obj, attr_name, &result); + return result; +#else +#if CYTHON_COMPILING_IN_CPYTHON && CYTHON_USE_TYPE_SLOTS && PY_VERSION_HEX >= 0x030700B1 + PyTypeObject* tp = Py_TYPE(obj); + if (likely(tp->tp_getattro == PyObject_GenericGetAttr)) { + return _PyObject_GenericGetAttrWithDict(obj, attr_name, NULL, 1); + } +#endif + result = __Pyx_PyObject_GetAttrStr(obj, attr_name); + if (unlikely(!result)) { + __Pyx_PyObject_GetAttrStr_ClearAttributeError(); + } + return result; +#endif +} + +/* GetBuiltinName */ +static PyObject *__Pyx_GetBuiltinName(PyObject *name) { + PyObject* result = __Pyx_PyObject_GetAttrStrNoError(__pyx_b, name); + if (unlikely(!result) && !PyErr_Occurred()) { + PyErr_Format(PyExc_NameError, +#if PY_MAJOR_VERSION >= 3 + "name '%U' is not defined", name); +#else + "name '%.200s' is not defined", PyString_AS_STRING(name)); +#endif + } + return result; +} + +/* TupleAndListFromArray */ +#if CYTHON_COMPILING_IN_CPYTHON +static CYTHON_INLINE void __Pyx_copy_object_array(PyObject *const *CYTHON_RESTRICT src, PyObject** CYTHON_RESTRICT dest, Py_ssize_t length) { + PyObject *v; + Py_ssize_t i; + for (i = 0; i < length; i++) { + v = dest[i] = src[i]; + Py_INCREF(v); + } +} +static CYTHON_INLINE PyObject * +__Pyx_PyTuple_FromArray(PyObject *const *src, Py_ssize_t n) +{ + PyObject *res; + if (n <= 0) { + Py_INCREF(__pyx_empty_tuple); + return __pyx_empty_tuple; + } + res = PyTuple_New(n); + if (unlikely(res == NULL)) return NULL; + __Pyx_copy_object_array(src, ((PyTupleObject*)res)->ob_item, n); + return res; +} +static CYTHON_INLINE PyObject * +__Pyx_PyList_FromArray(PyObject *const *src, Py_ssize_t n) +{ + PyObject *res; + if (n <= 0) { + return PyList_New(0); + } + res = PyList_New(n); + if (unlikely(res == NULL)) return NULL; + __Pyx_copy_object_array(src, ((PyListObject*)res)->ob_item, n); + return res; +} +#endif + +/* BytesEquals */ +static CYTHON_INLINE int __Pyx_PyBytes_Equals(PyObject* s1, PyObject* s2, int equals) { +#if CYTHON_COMPILING_IN_PYPY || CYTHON_COMPILING_IN_LIMITED_API + return PyObject_RichCompareBool(s1, s2, equals); +#else + if (s1 == s2) { + return (equals == Py_EQ); + } else if (PyBytes_CheckExact(s1) & PyBytes_CheckExact(s2)) { + const char *ps1, *ps2; + Py_ssize_t length = PyBytes_GET_SIZE(s1); + if (length != PyBytes_GET_SIZE(s2)) + return (equals == Py_NE); + ps1 = PyBytes_AS_STRING(s1); + ps2 = PyBytes_AS_STRING(s2); + if (ps1[0] != ps2[0]) { + return (equals == Py_NE); + } else if (length == 1) { + return (equals == Py_EQ); + } else { + int result; +#if CYTHON_USE_UNICODE_INTERNALS && (PY_VERSION_HEX < 0x030B0000) + Py_hash_t hash1, hash2; + hash1 = ((PyBytesObject*)s1)->ob_shash; + hash2 = ((PyBytesObject*)s2)->ob_shash; + if (hash1 != hash2 && hash1 != -1 && hash2 != -1) { + return (equals == Py_NE); + } +#endif + result = memcmp(ps1, ps2, (size_t)length); + return (equals == Py_EQ) ? (result == 0) : (result != 0); + } + } else if ((s1 == Py_None) & PyBytes_CheckExact(s2)) { + return (equals == Py_NE); + } else if ((s2 == Py_None) & PyBytes_CheckExact(s1)) { + return (equals == Py_NE); + } else { + int result; + PyObject* py_result = PyObject_RichCompare(s1, s2, equals); + if (!py_result) + return -1; + result = __Pyx_PyObject_IsTrue(py_result); + Py_DECREF(py_result); + return result; + } +#endif +} + +/* UnicodeEquals */ +static CYTHON_INLINE int __Pyx_PyUnicode_Equals(PyObject* s1, PyObject* s2, int equals) { +#if CYTHON_COMPILING_IN_PYPY || CYTHON_COMPILING_IN_LIMITED_API + return PyObject_RichCompareBool(s1, s2, equals); +#else +#if PY_MAJOR_VERSION < 3 + PyObject* owned_ref = NULL; +#endif + int s1_is_unicode, s2_is_unicode; + if (s1 == s2) { + goto return_eq; + } + s1_is_unicode = PyUnicode_CheckExact(s1); + s2_is_unicode = PyUnicode_CheckExact(s2); +#if PY_MAJOR_VERSION < 3 + if ((s1_is_unicode & (!s2_is_unicode)) && PyString_CheckExact(s2)) { + owned_ref = PyUnicode_FromObject(s2); + if (unlikely(!owned_ref)) + return -1; + s2 = owned_ref; + s2_is_unicode = 1; + } else if ((s2_is_unicode & (!s1_is_unicode)) && PyString_CheckExact(s1)) { + owned_ref = PyUnicode_FromObject(s1); + if (unlikely(!owned_ref)) + return -1; + s1 = owned_ref; + s1_is_unicode = 1; + } else if (((!s2_is_unicode) & (!s1_is_unicode))) { + return __Pyx_PyBytes_Equals(s1, s2, equals); + } +#endif + if (s1_is_unicode & s2_is_unicode) { + Py_ssize_t length; + int kind; + void *data1, *data2; + if (unlikely(__Pyx_PyUnicode_READY(s1) < 0) || unlikely(__Pyx_PyUnicode_READY(s2) < 0)) + return -1; + length = __Pyx_PyUnicode_GET_LENGTH(s1); + if (length != __Pyx_PyUnicode_GET_LENGTH(s2)) { + goto return_ne; + } +#if CYTHON_USE_UNICODE_INTERNALS + { + Py_hash_t hash1, hash2; + #if CYTHON_PEP393_ENABLED + hash1 = ((PyASCIIObject*)s1)->hash; + hash2 = ((PyASCIIObject*)s2)->hash; + #else + hash1 = ((PyUnicodeObject*)s1)->hash; + hash2 = ((PyUnicodeObject*)s2)->hash; + #endif + if (hash1 != hash2 && hash1 != -1 && hash2 != -1) { + goto return_ne; + } + } +#endif + kind = __Pyx_PyUnicode_KIND(s1); + if (kind != __Pyx_PyUnicode_KIND(s2)) { + goto return_ne; + } + data1 = __Pyx_PyUnicode_DATA(s1); + data2 = __Pyx_PyUnicode_DATA(s2); + if (__Pyx_PyUnicode_READ(kind, data1, 0) != __Pyx_PyUnicode_READ(kind, data2, 0)) { + goto return_ne; + } else if (length == 1) { + goto return_eq; + } else { + int result = memcmp(data1, data2, (size_t)(length * kind)); + #if PY_MAJOR_VERSION < 3 + Py_XDECREF(owned_ref); + #endif + return (equals == Py_EQ) ? (result == 0) : (result != 0); + } + } else if ((s1 == Py_None) & s2_is_unicode) { + goto return_ne; + } else if ((s2 == Py_None) & s1_is_unicode) { + goto return_ne; + } else { + int result; + PyObject* py_result = PyObject_RichCompare(s1, s2, equals); + #if PY_MAJOR_VERSION < 3 + Py_XDECREF(owned_ref); + #endif + if (!py_result) + return -1; + result = __Pyx_PyObject_IsTrue(py_result); + Py_DECREF(py_result); + return result; + } +return_eq: + #if PY_MAJOR_VERSION < 3 + Py_XDECREF(owned_ref); + #endif + return (equals == Py_EQ); +return_ne: + #if PY_MAJOR_VERSION < 3 + Py_XDECREF(owned_ref); + #endif + return (equals == Py_NE); +#endif +} + +/* fastcall */ +#if CYTHON_METH_FASTCALL +static CYTHON_INLINE PyObject * __Pyx_GetKwValue_FASTCALL(PyObject *kwnames, PyObject *const *kwvalues, PyObject *s) +{ + Py_ssize_t i, n = PyTuple_GET_SIZE(kwnames); + for (i = 0; i < n; i++) + { + if (s == PyTuple_GET_ITEM(kwnames, i)) return kwvalues[i]; + } + for (i = 0; i < n; i++) + { + int eq = __Pyx_PyUnicode_Equals(s, PyTuple_GET_ITEM(kwnames, i), Py_EQ); + if (unlikely(eq != 0)) { + if (unlikely(eq < 0)) return NULL; + return kwvalues[i]; + } + } + return NULL; +} +#if CYTHON_COMPILING_IN_CPYTHON && PY_VERSION_HEX >= 0x030d0000 +CYTHON_UNUSED static PyObject *__Pyx_KwargsAsDict_FASTCALL(PyObject *kwnames, PyObject *const *kwvalues) { + Py_ssize_t i, nkwargs = PyTuple_GET_SIZE(kwnames); + PyObject *dict; + dict = PyDict_New(); + if (unlikely(!dict)) + return NULL; + for (i=0; i= 3 + "%s() got multiple values for keyword argument '%U'", func_name, kw_name); + #else + "%s() got multiple values for keyword argument '%s'", func_name, + PyString_AsString(kw_name)); + #endif +} + +/* ParseKeywords */ +static int __Pyx_ParseOptionalKeywords( + PyObject *kwds, + PyObject *const *kwvalues, + PyObject **argnames[], + PyObject *kwds2, + PyObject *values[], + Py_ssize_t num_pos_args, + const char* function_name) +{ + PyObject *key = 0, *value = 0; + Py_ssize_t pos = 0; + PyObject*** name; + PyObject*** first_kw_arg = argnames + num_pos_args; + int kwds_is_tuple = CYTHON_METH_FASTCALL && likely(PyTuple_Check(kwds)); + while (1) { + Py_XDECREF(key); key = NULL; + Py_XDECREF(value); value = NULL; + if (kwds_is_tuple) { + Py_ssize_t size; +#if CYTHON_ASSUME_SAFE_MACROS + size = PyTuple_GET_SIZE(kwds); +#else + size = PyTuple_Size(kwds); + if (size < 0) goto bad; +#endif + if (pos >= size) break; +#if CYTHON_AVOID_BORROWED_REFS + key = __Pyx_PySequence_ITEM(kwds, pos); + if (!key) goto bad; +#elif CYTHON_ASSUME_SAFE_MACROS + key = PyTuple_GET_ITEM(kwds, pos); +#else + key = PyTuple_GetItem(kwds, pos); + if (!key) goto bad; +#endif + value = kwvalues[pos]; + pos++; + } + else + { + if (!PyDict_Next(kwds, &pos, &key, &value)) break; +#if CYTHON_AVOID_BORROWED_REFS + Py_INCREF(key); +#endif + } + name = first_kw_arg; + while (*name && (**name != key)) name++; + if (*name) { + values[name-argnames] = value; +#if CYTHON_AVOID_BORROWED_REFS + Py_INCREF(value); + Py_DECREF(key); +#endif + key = NULL; + value = NULL; + continue; + } +#if !CYTHON_AVOID_BORROWED_REFS + Py_INCREF(key); +#endif + Py_INCREF(value); + name = first_kw_arg; + #if PY_MAJOR_VERSION < 3 + if (likely(PyString_Check(key))) { + while (*name) { + if ((CYTHON_COMPILING_IN_PYPY || PyString_GET_SIZE(**name) == PyString_GET_SIZE(key)) + && _PyString_Eq(**name, key)) { + values[name-argnames] = value; +#if CYTHON_AVOID_BORROWED_REFS + value = NULL; +#endif + break; + } + name++; + } + if (*name) continue; + else { + PyObject*** argname = argnames; + while (argname != first_kw_arg) { + if ((**argname == key) || ( + (CYTHON_COMPILING_IN_PYPY || PyString_GET_SIZE(**argname) == PyString_GET_SIZE(key)) + && _PyString_Eq(**argname, key))) { + goto arg_passed_twice; + } + argname++; + } + } + } else + #endif + if (likely(PyUnicode_Check(key))) { + while (*name) { + int cmp = ( + #if !CYTHON_COMPILING_IN_PYPY && PY_MAJOR_VERSION >= 3 + (__Pyx_PyUnicode_GET_LENGTH(**name) != __Pyx_PyUnicode_GET_LENGTH(key)) ? 1 : + #endif + PyUnicode_Compare(**name, key) + ); + if (cmp < 0 && unlikely(PyErr_Occurred())) goto bad; + if (cmp == 0) { + values[name-argnames] = value; +#if CYTHON_AVOID_BORROWED_REFS + value = NULL; +#endif + break; + } + name++; + } + if (*name) continue; + else { + PyObject*** argname = argnames; + while (argname != first_kw_arg) { + int cmp = (**argname == key) ? 0 : + #if !CYTHON_COMPILING_IN_PYPY && PY_MAJOR_VERSION >= 3 + (__Pyx_PyUnicode_GET_LENGTH(**argname) != __Pyx_PyUnicode_GET_LENGTH(key)) ? 1 : + #endif + PyUnicode_Compare(**argname, key); + if (cmp < 0 && unlikely(PyErr_Occurred())) goto bad; + if (cmp == 0) goto arg_passed_twice; + argname++; + } + } + } else + goto invalid_keyword_type; + if (kwds2) { + if (unlikely(PyDict_SetItem(kwds2, key, value))) goto bad; + } else { + goto invalid_keyword; + } + } + Py_XDECREF(key); + Py_XDECREF(value); + return 0; +arg_passed_twice: + __Pyx_RaiseDoubleKeywordsError(function_name, key); + goto bad; +invalid_keyword_type: + PyErr_Format(PyExc_TypeError, + "%.200s() keywords must be strings", function_name); + goto bad; +invalid_keyword: + #if PY_MAJOR_VERSION < 3 + PyErr_Format(PyExc_TypeError, + "%.200s() got an unexpected keyword argument '%.200s'", + function_name, PyString_AsString(key)); + #else + PyErr_Format(PyExc_TypeError, + "%s() got an unexpected keyword argument '%U'", + function_name, key); + #endif +bad: + Py_XDECREF(key); + Py_XDECREF(value); + return -1; +} + +/* ArgTypeTest */ +static int __Pyx__ArgTypeTest(PyObject *obj, PyTypeObject *type, const char *name, int exact) +{ + __Pyx_TypeName type_name; + __Pyx_TypeName obj_type_name; + if (unlikely(!type)) { + PyErr_SetString(PyExc_SystemError, "Missing type object"); + return 0; + } + else if (exact) { + #if PY_MAJOR_VERSION == 2 + if ((type == &PyBaseString_Type) && likely(__Pyx_PyBaseString_CheckExact(obj))) return 1; + #endif + } + else { + if (likely(__Pyx_TypeCheck(obj, type))) return 1; + } + type_name = __Pyx_PyType_GetName(type); + obj_type_name = __Pyx_PyType_GetName(Py_TYPE(obj)); + PyErr_Format(PyExc_TypeError, + "Argument '%.200s' has incorrect type (expected " __Pyx_FMT_TYPENAME + ", got " __Pyx_FMT_TYPENAME ")", name, type_name, obj_type_name); + __Pyx_DECREF_TypeName(type_name); + __Pyx_DECREF_TypeName(obj_type_name); + return 0; +} + +/* RaiseException */ +#if PY_MAJOR_VERSION < 3 +static void __Pyx_Raise(PyObject *type, PyObject *value, PyObject *tb, PyObject *cause) { + __Pyx_PyThreadState_declare + CYTHON_UNUSED_VAR(cause); + Py_XINCREF(type); + if (!value || value == Py_None) + value = NULL; + else + Py_INCREF(value); + if (!tb || tb == Py_None) + tb = NULL; + else { + Py_INCREF(tb); + if (!PyTraceBack_Check(tb)) { + PyErr_SetString(PyExc_TypeError, + "raise: arg 3 must be a traceback or None"); + goto raise_error; + } + } + if (PyType_Check(type)) { +#if CYTHON_COMPILING_IN_PYPY + if (!value) { + Py_INCREF(Py_None); + value = Py_None; + } +#endif + PyErr_NormalizeException(&type, &value, &tb); + } else { + if (value) { + PyErr_SetString(PyExc_TypeError, + "instance exception may not have a separate value"); + goto raise_error; + } + value = type; + type = (PyObject*) Py_TYPE(type); + Py_INCREF(type); + if (!PyType_IsSubtype((PyTypeObject *)type, (PyTypeObject *)PyExc_BaseException)) { + PyErr_SetString(PyExc_TypeError, + "raise: exception class must be a subclass of BaseException"); + goto raise_error; + } + } + __Pyx_PyThreadState_assign + __Pyx_ErrRestore(type, value, tb); + return; +raise_error: + Py_XDECREF(value); + Py_XDECREF(type); + Py_XDECREF(tb); + return; +} +#else +static void __Pyx_Raise(PyObject *type, PyObject *value, PyObject *tb, PyObject *cause) { + PyObject* owned_instance = NULL; + if (tb == Py_None) { + tb = 0; + } else if (tb && !PyTraceBack_Check(tb)) { + PyErr_SetString(PyExc_TypeError, + "raise: arg 3 must be a traceback or None"); + goto bad; + } + if (value == Py_None) + value = 0; + if (PyExceptionInstance_Check(type)) { + if (value) { + PyErr_SetString(PyExc_TypeError, + "instance exception may not have a separate value"); + goto bad; + } + value = type; + type = (PyObject*) Py_TYPE(value); + } else if (PyExceptionClass_Check(type)) { + PyObject *instance_class = NULL; + if (value && PyExceptionInstance_Check(value)) { + instance_class = (PyObject*) Py_TYPE(value); + if (instance_class != type) { + int is_subclass = PyObject_IsSubclass(instance_class, type); + if (!is_subclass) { + instance_class = NULL; + } else if (unlikely(is_subclass == -1)) { + goto bad; + } else { + type = instance_class; + } + } + } + if (!instance_class) { + PyObject *args; + if (!value) + args = PyTuple_New(0); + else if (PyTuple_Check(value)) { + Py_INCREF(value); + args = value; + } else + args = PyTuple_Pack(1, value); + if (!args) + goto bad; + owned_instance = PyObject_Call(type, args, NULL); + Py_DECREF(args); + if (!owned_instance) + goto bad; + value = owned_instance; + if (!PyExceptionInstance_Check(value)) { + PyErr_Format(PyExc_TypeError, + "calling %R should have returned an instance of " + "BaseException, not %R", + type, Py_TYPE(value)); + goto bad; + } + } + } else { + PyErr_SetString(PyExc_TypeError, + "raise: exception class must be a subclass of BaseException"); + goto bad; + } + if (cause) { + PyObject *fixed_cause; + if (cause == Py_None) { + fixed_cause = NULL; + } else if (PyExceptionClass_Check(cause)) { + fixed_cause = PyObject_CallObject(cause, NULL); + if (fixed_cause == NULL) + goto bad; + } else if (PyExceptionInstance_Check(cause)) { + fixed_cause = cause; + Py_INCREF(fixed_cause); + } else { + PyErr_SetString(PyExc_TypeError, + "exception causes must derive from " + "BaseException"); + goto bad; + } + PyException_SetCause(value, fixed_cause); + } + PyErr_SetObject(type, value); + if (tb) { + #if PY_VERSION_HEX >= 0x030C00A6 + PyException_SetTraceback(value, tb); + #elif CYTHON_FAST_THREAD_STATE + PyThreadState *tstate = __Pyx_PyThreadState_Current; + PyObject* tmp_tb = tstate->curexc_traceback; + if (tb != tmp_tb) { + Py_INCREF(tb); + tstate->curexc_traceback = tb; + Py_XDECREF(tmp_tb); + } +#else + PyObject *tmp_type, *tmp_value, *tmp_tb; + PyErr_Fetch(&tmp_type, &tmp_value, &tmp_tb); + Py_INCREF(tb); + PyErr_Restore(tmp_type, tmp_value, tb); + Py_XDECREF(tmp_tb); +#endif + } +bad: + Py_XDECREF(owned_instance); + return; +} +#endif + +/* PyFunctionFastCall */ +#if CYTHON_FAST_PYCALL && !CYTHON_VECTORCALL +static PyObject* __Pyx_PyFunction_FastCallNoKw(PyCodeObject *co, PyObject **args, Py_ssize_t na, + PyObject *globals) { + PyFrameObject *f; + PyThreadState *tstate = __Pyx_PyThreadState_Current; + PyObject **fastlocals; + Py_ssize_t i; + PyObject *result; + assert(globals != NULL); + /* XXX Perhaps we should create a specialized + PyFrame_New() that doesn't take locals, but does + take builtins without sanity checking them. + */ + assert(tstate != NULL); + f = PyFrame_New(tstate, co, globals, NULL); + if (f == NULL) { + return NULL; + } + fastlocals = __Pyx_PyFrame_GetLocalsplus(f); + for (i = 0; i < na; i++) { + Py_INCREF(*args); + fastlocals[i] = *args++; + } + result = PyEval_EvalFrameEx(f,0); + ++tstate->recursion_depth; + Py_DECREF(f); + --tstate->recursion_depth; + return result; +} +static PyObject *__Pyx_PyFunction_FastCallDict(PyObject *func, PyObject **args, Py_ssize_t nargs, PyObject *kwargs) { + PyCodeObject *co = (PyCodeObject *)PyFunction_GET_CODE(func); + PyObject *globals = PyFunction_GET_GLOBALS(func); + PyObject *argdefs = PyFunction_GET_DEFAULTS(func); + PyObject *closure; +#if PY_MAJOR_VERSION >= 3 + PyObject *kwdefs; +#endif + PyObject *kwtuple, **k; + PyObject **d; + Py_ssize_t nd; + Py_ssize_t nk; + PyObject *result; + assert(kwargs == NULL || PyDict_Check(kwargs)); + nk = kwargs ? PyDict_Size(kwargs) : 0; + #if PY_MAJOR_VERSION < 3 + if (unlikely(Py_EnterRecursiveCall((char*)" while calling a Python object"))) { + return NULL; + } + #else + if (unlikely(Py_EnterRecursiveCall(" while calling a Python object"))) { + return NULL; + } + #endif + if ( +#if PY_MAJOR_VERSION >= 3 + co->co_kwonlyargcount == 0 && +#endif + likely(kwargs == NULL || nk == 0) && + co->co_flags == (CO_OPTIMIZED | CO_NEWLOCALS | CO_NOFREE)) { + if (argdefs == NULL && co->co_argcount == nargs) { + result = __Pyx_PyFunction_FastCallNoKw(co, args, nargs, globals); + goto done; + } + else if (nargs == 0 && argdefs != NULL + && co->co_argcount == Py_SIZE(argdefs)) { + /* function called with no arguments, but all parameters have + a default value: use default values as arguments .*/ + args = &PyTuple_GET_ITEM(argdefs, 0); + result =__Pyx_PyFunction_FastCallNoKw(co, args, Py_SIZE(argdefs), globals); + goto done; + } + } + if (kwargs != NULL) { + Py_ssize_t pos, i; + kwtuple = PyTuple_New(2 * nk); + if (kwtuple == NULL) { + result = NULL; + goto done; + } + k = &PyTuple_GET_ITEM(kwtuple, 0); + pos = i = 0; + while (PyDict_Next(kwargs, &pos, &k[i], &k[i+1])) { + Py_INCREF(k[i]); + Py_INCREF(k[i+1]); + i += 2; + } + nk = i / 2; + } + else { + kwtuple = NULL; + k = NULL; + } + closure = PyFunction_GET_CLOSURE(func); +#if PY_MAJOR_VERSION >= 3 + kwdefs = PyFunction_GET_KW_DEFAULTS(func); +#endif + if (argdefs != NULL) { + d = &PyTuple_GET_ITEM(argdefs, 0); + nd = Py_SIZE(argdefs); + } + else { + d = NULL; + nd = 0; + } +#if PY_MAJOR_VERSION >= 3 + result = PyEval_EvalCodeEx((PyObject*)co, globals, (PyObject *)NULL, + args, (int)nargs, + k, (int)nk, + d, (int)nd, kwdefs, closure); +#else + result = PyEval_EvalCodeEx(co, globals, (PyObject *)NULL, + args, (int)nargs, + k, (int)nk, + d, (int)nd, closure); +#endif + Py_XDECREF(kwtuple); +done: + Py_LeaveRecursiveCall(); + return result; +} +#endif + +/* PyObjectCall */ +#if CYTHON_COMPILING_IN_CPYTHON +static CYTHON_INLINE PyObject* __Pyx_PyObject_Call(PyObject *func, PyObject *arg, PyObject *kw) { + PyObject *result; + ternaryfunc call = Py_TYPE(func)->tp_call; + if (unlikely(!call)) + return PyObject_Call(func, arg, kw); + #if PY_MAJOR_VERSION < 3 + if (unlikely(Py_EnterRecursiveCall((char*)" while calling a Python object"))) + return NULL; + #else + if (unlikely(Py_EnterRecursiveCall(" while calling a Python object"))) + return NULL; + #endif + result = (*call)(func, arg, kw); + Py_LeaveRecursiveCall(); + if (unlikely(!result) && unlikely(!PyErr_Occurred())) { + PyErr_SetString( + PyExc_SystemError, + "NULL result without error in PyObject_Call"); + } + return result; +} +#endif + +/* PyObjectCallMethO */ +#if CYTHON_COMPILING_IN_CPYTHON +static CYTHON_INLINE PyObject* __Pyx_PyObject_CallMethO(PyObject *func, PyObject *arg) { + PyObject *self, *result; + PyCFunction cfunc; + cfunc = __Pyx_CyOrPyCFunction_GET_FUNCTION(func); + self = __Pyx_CyOrPyCFunction_GET_SELF(func); + #if PY_MAJOR_VERSION < 3 + if (unlikely(Py_EnterRecursiveCall((char*)" while calling a Python object"))) + return NULL; + #else + if (unlikely(Py_EnterRecursiveCall(" while calling a Python object"))) + return NULL; + #endif + result = cfunc(self, arg); + Py_LeaveRecursiveCall(); + if (unlikely(!result) && unlikely(!PyErr_Occurred())) { + PyErr_SetString( + PyExc_SystemError, + "NULL result without error in PyObject_Call"); + } + return result; +} +#endif + +/* PyObjectFastCall */ +#if PY_VERSION_HEX < 0x03090000 || CYTHON_COMPILING_IN_LIMITED_API +static PyObject* __Pyx_PyObject_FastCall_fallback(PyObject *func, PyObject **args, size_t nargs, PyObject *kwargs) { + PyObject *argstuple; + PyObject *result = 0; + size_t i; + argstuple = PyTuple_New((Py_ssize_t)nargs); + if (unlikely(!argstuple)) return NULL; + for (i = 0; i < nargs; i++) { + Py_INCREF(args[i]); + if (__Pyx_PyTuple_SET_ITEM(argstuple, (Py_ssize_t)i, args[i]) < 0) goto bad; + } + result = __Pyx_PyObject_Call(func, argstuple, kwargs); + bad: + Py_DECREF(argstuple); + return result; +} +#endif +static CYTHON_INLINE PyObject* __Pyx_PyObject_FastCallDict(PyObject *func, PyObject **args, size_t _nargs, PyObject *kwargs) { + Py_ssize_t nargs = __Pyx_PyVectorcall_NARGS(_nargs); +#if CYTHON_COMPILING_IN_CPYTHON + if (nargs == 0 && kwargs == NULL) { + if (__Pyx_CyOrPyCFunction_Check(func) && likely( __Pyx_CyOrPyCFunction_GET_FLAGS(func) & METH_NOARGS)) + return __Pyx_PyObject_CallMethO(func, NULL); + } + else if (nargs == 1 && kwargs == NULL) { + if (__Pyx_CyOrPyCFunction_Check(func) && likely( __Pyx_CyOrPyCFunction_GET_FLAGS(func) & METH_O)) + return __Pyx_PyObject_CallMethO(func, args[0]); + } +#endif + #if PY_VERSION_HEX < 0x030800B1 + #if CYTHON_FAST_PYCCALL + if (PyCFunction_Check(func)) { + if (kwargs) { + return _PyCFunction_FastCallDict(func, args, nargs, kwargs); + } else { + return _PyCFunction_FastCallKeywords(func, args, nargs, NULL); + } + } + #if PY_VERSION_HEX >= 0x030700A1 + if (!kwargs && __Pyx_IS_TYPE(func, &PyMethodDescr_Type)) { + return _PyMethodDescr_FastCallKeywords(func, args, nargs, NULL); + } + #endif + #endif + #if CYTHON_FAST_PYCALL + if (PyFunction_Check(func)) { + return __Pyx_PyFunction_FastCallDict(func, args, nargs, kwargs); + } + #endif + #endif + if (kwargs == NULL) { + #if CYTHON_VECTORCALL + #if PY_VERSION_HEX < 0x03090000 + vectorcallfunc f = _PyVectorcall_Function(func); + #else + vectorcallfunc f = PyVectorcall_Function(func); + #endif + if (f) { + return f(func, args, (size_t)nargs, NULL); + } + #elif defined(__Pyx_CyFunction_USED) && CYTHON_BACKPORT_VECTORCALL + if (__Pyx_CyFunction_CheckExact(func)) { + __pyx_vectorcallfunc f = __Pyx_CyFunction_func_vectorcall(func); + if (f) return f(func, args, (size_t)nargs, NULL); + } + #endif + } + if (nargs == 0) { + return __Pyx_PyObject_Call(func, __pyx_empty_tuple, kwargs); + } + #if PY_VERSION_HEX >= 0x03090000 && !CYTHON_COMPILING_IN_LIMITED_API + return PyObject_VectorcallDict(func, args, (size_t)nargs, kwargs); + #else + return __Pyx_PyObject_FastCall_fallback(func, args, (size_t)nargs, kwargs); + #endif +} + +/* RaiseUnexpectedTypeError */ +static int +__Pyx_RaiseUnexpectedTypeError(const char *expected, PyObject *obj) +{ + __Pyx_TypeName obj_type_name = __Pyx_PyType_GetName(Py_TYPE(obj)); + PyErr_Format(PyExc_TypeError, "Expected %s, got " __Pyx_FMT_TYPENAME, + expected, obj_type_name); + __Pyx_DECREF_TypeName(obj_type_name); + return 0; +} + +/* CIntToDigits */ +static const char DIGIT_PAIRS_10[2*10*10+1] = { + "00010203040506070809" + "10111213141516171819" + "20212223242526272829" + "30313233343536373839" + "40414243444546474849" + "50515253545556575859" + "60616263646566676869" + "70717273747576777879" + "80818283848586878889" + "90919293949596979899" +}; +static const char DIGIT_PAIRS_8[2*8*8+1] = { + "0001020304050607" + "1011121314151617" + "2021222324252627" + "3031323334353637" + "4041424344454647" + "5051525354555657" + "6061626364656667" + "7071727374757677" +}; +static const char DIGITS_HEX[2*16+1] = { + "0123456789abcdef" + "0123456789ABCDEF" +}; + +/* BuildPyUnicode */ +static PyObject* __Pyx_PyUnicode_BuildFromAscii(Py_ssize_t ulength, char* chars, int clength, + int prepend_sign, char padding_char) { + PyObject *uval; + Py_ssize_t uoffset = ulength - clength; +#if CYTHON_USE_UNICODE_INTERNALS + Py_ssize_t i; +#if CYTHON_PEP393_ENABLED + void *udata; + uval = PyUnicode_New(ulength, 127); + if (unlikely(!uval)) return NULL; + udata = PyUnicode_DATA(uval); +#else + Py_UNICODE *udata; + uval = PyUnicode_FromUnicode(NULL, ulength); + if (unlikely(!uval)) return NULL; + udata = PyUnicode_AS_UNICODE(uval); +#endif + if (uoffset > 0) { + i = 0; + if (prepend_sign) { + __Pyx_PyUnicode_WRITE(PyUnicode_1BYTE_KIND, udata, 0, '-'); + i++; + } + for (; i < uoffset; i++) { + __Pyx_PyUnicode_WRITE(PyUnicode_1BYTE_KIND, udata, i, padding_char); + } + } + for (i=0; i < clength; i++) { + __Pyx_PyUnicode_WRITE(PyUnicode_1BYTE_KIND, udata, uoffset+i, chars[i]); + } +#else + { + PyObject *sign = NULL, *padding = NULL; + uval = NULL; + if (uoffset > 0) { + prepend_sign = !!prepend_sign; + if (uoffset > prepend_sign) { + padding = PyUnicode_FromOrdinal(padding_char); + if (likely(padding) && uoffset > prepend_sign + 1) { + PyObject *tmp; + PyObject *repeat = PyInt_FromSsize_t(uoffset - prepend_sign); + if (unlikely(!repeat)) goto done_or_error; + tmp = PyNumber_Multiply(padding, repeat); + Py_DECREF(repeat); + Py_DECREF(padding); + padding = tmp; + } + if (unlikely(!padding)) goto done_or_error; + } + if (prepend_sign) { + sign = PyUnicode_FromOrdinal('-'); + if (unlikely(!sign)) goto done_or_error; + } + } + uval = PyUnicode_DecodeASCII(chars, clength, NULL); + if (likely(uval) && padding) { + PyObject *tmp = PyNumber_Add(padding, uval); + Py_DECREF(uval); + uval = tmp; + } + if (likely(uval) && sign) { + PyObject *tmp = PyNumber_Add(sign, uval); + Py_DECREF(uval); + uval = tmp; + } +done_or_error: + Py_XDECREF(padding); + Py_XDECREF(sign); + } +#endif + return uval; +} + +/* CIntToPyUnicode */ +static CYTHON_INLINE PyObject* __Pyx_PyUnicode_From_int(int value, Py_ssize_t width, char padding_char, char format_char) { + char digits[sizeof(int)*3+2]; + char *dpos, *end = digits + sizeof(int)*3+2; + const char *hex_digits = DIGITS_HEX; + Py_ssize_t length, ulength; + int prepend_sign, last_one_off; + int remaining; +#ifdef __Pyx_HAS_GCC_DIAGNOSTIC +#pragma GCC diagnostic push +#pragma GCC diagnostic ignored "-Wconversion" +#endif + const int neg_one = (int) -1, const_zero = (int) 0; +#ifdef __Pyx_HAS_GCC_DIAGNOSTIC +#pragma GCC diagnostic pop +#endif + const int is_unsigned = neg_one > const_zero; + if (format_char == 'X') { + hex_digits += 16; + format_char = 'x'; + } + remaining = value; + last_one_off = 0; + dpos = end; + do { + int digit_pos; + switch (format_char) { + case 'o': + digit_pos = abs((int)(remaining % (8*8))); + remaining = (int) (remaining / (8*8)); + dpos -= 2; + memcpy(dpos, DIGIT_PAIRS_8 + digit_pos * 2, 2); + last_one_off = (digit_pos < 8); + break; + case 'd': + digit_pos = abs((int)(remaining % (10*10))); + remaining = (int) (remaining / (10*10)); + dpos -= 2; + memcpy(dpos, DIGIT_PAIRS_10 + digit_pos * 2, 2); + last_one_off = (digit_pos < 10); + break; + case 'x': + *(--dpos) = hex_digits[abs((int)(remaining % 16))]; + remaining = (int) (remaining / 16); + break; + default: + assert(0); + break; + } + } while (unlikely(remaining != 0)); + assert(!last_one_off || *dpos == '0'); + dpos += last_one_off; + length = end - dpos; + ulength = length; + prepend_sign = 0; + if (!is_unsigned && value <= neg_one) { + if (padding_char == ' ' || width <= length + 1) { + *(--dpos) = '-'; + ++length; + } else { + prepend_sign = 1; + } + ++ulength; + } + if (width > ulength) { + ulength = width; + } + if (ulength == 1) { + return PyUnicode_FromOrdinal(*dpos); + } + return __Pyx_PyUnicode_BuildFromAscii(ulength, dpos, (int) length, prepend_sign, padding_char); +} + +/* CIntToPyUnicode */ +static CYTHON_INLINE PyObject* __Pyx_PyUnicode_From_Py_ssize_t(Py_ssize_t value, Py_ssize_t width, char padding_char, char format_char) { + char digits[sizeof(Py_ssize_t)*3+2]; + char *dpos, *end = digits + sizeof(Py_ssize_t)*3+2; + const char *hex_digits = DIGITS_HEX; + Py_ssize_t length, ulength; + int prepend_sign, last_one_off; + Py_ssize_t remaining; +#ifdef __Pyx_HAS_GCC_DIAGNOSTIC +#pragma GCC diagnostic push +#pragma GCC diagnostic ignored "-Wconversion" +#endif + const Py_ssize_t neg_one = (Py_ssize_t) -1, const_zero = (Py_ssize_t) 0; +#ifdef __Pyx_HAS_GCC_DIAGNOSTIC +#pragma GCC diagnostic pop +#endif + const int is_unsigned = neg_one > const_zero; + if (format_char == 'X') { + hex_digits += 16; + format_char = 'x'; + } + remaining = value; + last_one_off = 0; + dpos = end; + do { + int digit_pos; + switch (format_char) { + case 'o': + digit_pos = abs((int)(remaining % (8*8))); + remaining = (Py_ssize_t) (remaining / (8*8)); + dpos -= 2; + memcpy(dpos, DIGIT_PAIRS_8 + digit_pos * 2, 2); + last_one_off = (digit_pos < 8); + break; + case 'd': + digit_pos = abs((int)(remaining % (10*10))); + remaining = (Py_ssize_t) (remaining / (10*10)); + dpos -= 2; + memcpy(dpos, DIGIT_PAIRS_10 + digit_pos * 2, 2); + last_one_off = (digit_pos < 10); + break; + case 'x': + *(--dpos) = hex_digits[abs((int)(remaining % 16))]; + remaining = (Py_ssize_t) (remaining / 16); + break; + default: + assert(0); + break; + } + } while (unlikely(remaining != 0)); + assert(!last_one_off || *dpos == '0'); + dpos += last_one_off; + length = end - dpos; + ulength = length; + prepend_sign = 0; + if (!is_unsigned && value <= neg_one) { + if (padding_char == ' ' || width <= length + 1) { + *(--dpos) = '-'; + ++length; + } else { + prepend_sign = 1; + } + ++ulength; + } + if (width > ulength) { + ulength = width; + } + if (ulength == 1) { + return PyUnicode_FromOrdinal(*dpos); + } + return __Pyx_PyUnicode_BuildFromAscii(ulength, dpos, (int) length, prepend_sign, padding_char); +} + +/* JoinPyUnicode */ +static PyObject* __Pyx_PyUnicode_Join(PyObject* value_tuple, Py_ssize_t value_count, Py_ssize_t result_ulength, + Py_UCS4 max_char) { +#if CYTHON_USE_UNICODE_INTERNALS && CYTHON_ASSUME_SAFE_MACROS && !CYTHON_AVOID_BORROWED_REFS + PyObject *result_uval; + int result_ukind, kind_shift; + Py_ssize_t i, char_pos; + void *result_udata; + CYTHON_MAYBE_UNUSED_VAR(max_char); +#if CYTHON_PEP393_ENABLED + result_uval = PyUnicode_New(result_ulength, max_char); + if (unlikely(!result_uval)) return NULL; + result_ukind = (max_char <= 255) ? PyUnicode_1BYTE_KIND : (max_char <= 65535) ? PyUnicode_2BYTE_KIND : PyUnicode_4BYTE_KIND; + kind_shift = (result_ukind == PyUnicode_4BYTE_KIND) ? 2 : result_ukind - 1; + result_udata = PyUnicode_DATA(result_uval); +#else + result_uval = PyUnicode_FromUnicode(NULL, result_ulength); + if (unlikely(!result_uval)) return NULL; + result_ukind = sizeof(Py_UNICODE); + kind_shift = (result_ukind == 4) ? 2 : result_ukind - 1; + result_udata = PyUnicode_AS_UNICODE(result_uval); +#endif + assert(kind_shift == 2 || kind_shift == 1 || kind_shift == 0); + char_pos = 0; + for (i=0; i < value_count; i++) { + int ukind; + Py_ssize_t ulength; + void *udata; + PyObject *uval = PyTuple_GET_ITEM(value_tuple, i); + if (unlikely(__Pyx_PyUnicode_READY(uval))) + goto bad; + ulength = __Pyx_PyUnicode_GET_LENGTH(uval); + if (unlikely(!ulength)) + continue; + if (unlikely((PY_SSIZE_T_MAX >> kind_shift) - ulength < char_pos)) + goto overflow; + ukind = __Pyx_PyUnicode_KIND(uval); + udata = __Pyx_PyUnicode_DATA(uval); + if (!CYTHON_PEP393_ENABLED || ukind == result_ukind) { + memcpy((char *)result_udata + (char_pos << kind_shift), udata, (size_t) (ulength << kind_shift)); + } else { + #if PY_VERSION_HEX >= 0x030d0000 + if (unlikely(PyUnicode_CopyCharacters(result_uval, char_pos, uval, 0, ulength) < 0)) goto bad; + #elif CYTHON_COMPILING_IN_CPYTHON && PY_VERSION_HEX >= 0x030300F0 || defined(_PyUnicode_FastCopyCharacters) + _PyUnicode_FastCopyCharacters(result_uval, char_pos, uval, 0, ulength); + #else + Py_ssize_t j; + for (j=0; j < ulength; j++) { + Py_UCS4 uchar = __Pyx_PyUnicode_READ(ukind, udata, j); + __Pyx_PyUnicode_WRITE(result_ukind, result_udata, char_pos+j, uchar); + } + #endif + } + char_pos += ulength; + } + return result_uval; +overflow: + PyErr_SetString(PyExc_OverflowError, "join() result is too long for a Python string"); +bad: + Py_DECREF(result_uval); + return NULL; +#else + CYTHON_UNUSED_VAR(max_char); + CYTHON_UNUSED_VAR(result_ulength); + CYTHON_UNUSED_VAR(value_count); + return PyUnicode_Join(__pyx_empty_unicode, value_tuple); +#endif +} + +/* GetAttr */ +static CYTHON_INLINE PyObject *__Pyx_GetAttr(PyObject *o, PyObject *n) { +#if CYTHON_USE_TYPE_SLOTS +#if PY_MAJOR_VERSION >= 3 + if (likely(PyUnicode_Check(n))) +#else + if (likely(PyString_Check(n))) +#endif + return __Pyx_PyObject_GetAttrStr(o, n); +#endif + return PyObject_GetAttr(o, n); +} + +/* GetItemInt */ +static PyObject *__Pyx_GetItemInt_Generic(PyObject *o, PyObject* j) { + PyObject *r; + if (unlikely(!j)) return NULL; + r = PyObject_GetItem(o, j); + Py_DECREF(j); + return r; +} +static CYTHON_INLINE PyObject *__Pyx_GetItemInt_List_Fast(PyObject *o, Py_ssize_t i, + CYTHON_NCP_UNUSED int wraparound, + CYTHON_NCP_UNUSED int boundscheck) { +#if CYTHON_ASSUME_SAFE_MACROS && !CYTHON_AVOID_BORROWED_REFS + Py_ssize_t wrapped_i = i; + if (wraparound & unlikely(i < 0)) { + wrapped_i += PyList_GET_SIZE(o); + } + if ((!boundscheck) || likely(__Pyx_is_valid_index(wrapped_i, PyList_GET_SIZE(o)))) { + PyObject *r = PyList_GET_ITEM(o, wrapped_i); + Py_INCREF(r); + return r; + } + return __Pyx_GetItemInt_Generic(o, PyInt_FromSsize_t(i)); +#else + return PySequence_GetItem(o, i); +#endif +} +static CYTHON_INLINE PyObject *__Pyx_GetItemInt_Tuple_Fast(PyObject *o, Py_ssize_t i, + CYTHON_NCP_UNUSED int wraparound, + CYTHON_NCP_UNUSED int boundscheck) { +#if CYTHON_ASSUME_SAFE_MACROS && !CYTHON_AVOID_BORROWED_REFS + Py_ssize_t wrapped_i = i; + if (wraparound & unlikely(i < 0)) { + wrapped_i += PyTuple_GET_SIZE(o); + } + if ((!boundscheck) || likely(__Pyx_is_valid_index(wrapped_i, PyTuple_GET_SIZE(o)))) { + PyObject *r = PyTuple_GET_ITEM(o, wrapped_i); + Py_INCREF(r); + return r; + } + return __Pyx_GetItemInt_Generic(o, PyInt_FromSsize_t(i)); +#else + return PySequence_GetItem(o, i); +#endif +} +static CYTHON_INLINE PyObject *__Pyx_GetItemInt_Fast(PyObject *o, Py_ssize_t i, int is_list, + CYTHON_NCP_UNUSED int wraparound, + CYTHON_NCP_UNUSED int boundscheck) { +#if CYTHON_ASSUME_SAFE_MACROS && !CYTHON_AVOID_BORROWED_REFS && CYTHON_USE_TYPE_SLOTS + if (is_list || PyList_CheckExact(o)) { + Py_ssize_t n = ((!wraparound) | likely(i >= 0)) ? i : i + PyList_GET_SIZE(o); + if ((!boundscheck) || (likely(__Pyx_is_valid_index(n, PyList_GET_SIZE(o))))) { + PyObject *r = PyList_GET_ITEM(o, n); + Py_INCREF(r); + return r; + } + } + else if (PyTuple_CheckExact(o)) { + Py_ssize_t n = ((!wraparound) | likely(i >= 0)) ? i : i + PyTuple_GET_SIZE(o); + if ((!boundscheck) || likely(__Pyx_is_valid_index(n, PyTuple_GET_SIZE(o)))) { + PyObject *r = PyTuple_GET_ITEM(o, n); + Py_INCREF(r); + return r; + } + } else { + PyMappingMethods *mm = Py_TYPE(o)->tp_as_mapping; + PySequenceMethods *sm = Py_TYPE(o)->tp_as_sequence; + if (mm && mm->mp_subscript) { + PyObject *r, *key = PyInt_FromSsize_t(i); + if (unlikely(!key)) return NULL; + r = mm->mp_subscript(o, key); + Py_DECREF(key); + return r; + } + if (likely(sm && sm->sq_item)) { + if (wraparound && unlikely(i < 0) && likely(sm->sq_length)) { + Py_ssize_t l = sm->sq_length(o); + if (likely(l >= 0)) { + i += l; + } else { + if (!PyErr_ExceptionMatches(PyExc_OverflowError)) + return NULL; + PyErr_Clear(); + } + } + return sm->sq_item(o, i); + } + } +#else + if (is_list || !PyMapping_Check(o)) { + return PySequence_GetItem(o, i); + } +#endif + return __Pyx_GetItemInt_Generic(o, PyInt_FromSsize_t(i)); +} + +/* PyObjectCallOneArg */ +static CYTHON_INLINE PyObject* __Pyx_PyObject_CallOneArg(PyObject *func, PyObject *arg) { + PyObject *args[2] = {NULL, arg}; + return __Pyx_PyObject_FastCall(func, args+1, 1 | __Pyx_PY_VECTORCALL_ARGUMENTS_OFFSET); +} + +/* ObjectGetItem */ +#if CYTHON_USE_TYPE_SLOTS +static PyObject *__Pyx_PyObject_GetIndex(PyObject *obj, PyObject *index) { + PyObject *runerr = NULL; + Py_ssize_t key_value; + key_value = __Pyx_PyIndex_AsSsize_t(index); + if (likely(key_value != -1 || !(runerr = PyErr_Occurred()))) { + return __Pyx_GetItemInt_Fast(obj, key_value, 0, 1, 1); + } + if (PyErr_GivenExceptionMatches(runerr, PyExc_OverflowError)) { + __Pyx_TypeName index_type_name = __Pyx_PyType_GetName(Py_TYPE(index)); + PyErr_Clear(); + PyErr_Format(PyExc_IndexError, + "cannot fit '" __Pyx_FMT_TYPENAME "' into an index-sized integer", index_type_name); + __Pyx_DECREF_TypeName(index_type_name); + } + return NULL; +} +static PyObject *__Pyx_PyObject_GetItem_Slow(PyObject *obj, PyObject *key) { + __Pyx_TypeName obj_type_name; + if (likely(PyType_Check(obj))) { + PyObject *meth = __Pyx_PyObject_GetAttrStrNoError(obj, __pyx_n_s_class_getitem); + if (!meth) { + PyErr_Clear(); + } else { + PyObject *result = __Pyx_PyObject_CallOneArg(meth, key); + Py_DECREF(meth); + return result; + } + } + obj_type_name = __Pyx_PyType_GetName(Py_TYPE(obj)); + PyErr_Format(PyExc_TypeError, + "'" __Pyx_FMT_TYPENAME "' object is not subscriptable", obj_type_name); + __Pyx_DECREF_TypeName(obj_type_name); + return NULL; +} +static PyObject *__Pyx_PyObject_GetItem(PyObject *obj, PyObject *key) { + PyTypeObject *tp = Py_TYPE(obj); + PyMappingMethods *mm = tp->tp_as_mapping; + PySequenceMethods *sm = tp->tp_as_sequence; + if (likely(mm && mm->mp_subscript)) { + return mm->mp_subscript(obj, key); + } + if (likely(sm && sm->sq_item)) { + return __Pyx_PyObject_GetIndex(obj, key); + } + return __Pyx_PyObject_GetItem_Slow(obj, key); +} +#endif + +/* KeywordStringCheck */ +static int __Pyx_CheckKeywordStrings( + PyObject *kw, + const char* function_name, + int kw_allowed) +{ + PyObject* key = 0; + Py_ssize_t pos = 0; +#if CYTHON_COMPILING_IN_PYPY + if (!kw_allowed && PyDict_Next(kw, &pos, &key, 0)) + goto invalid_keyword; + return 1; +#else + if (CYTHON_METH_FASTCALL && likely(PyTuple_Check(kw))) { + Py_ssize_t kwsize; +#if CYTHON_ASSUME_SAFE_MACROS + kwsize = PyTuple_GET_SIZE(kw); +#else + kwsize = PyTuple_Size(kw); + if (kwsize < 0) return 0; +#endif + if (unlikely(kwsize == 0)) + return 1; + if (!kw_allowed) { +#if CYTHON_ASSUME_SAFE_MACROS + key = PyTuple_GET_ITEM(kw, 0); +#else + key = PyTuple_GetItem(kw, pos); + if (!key) return 0; +#endif + goto invalid_keyword; + } +#if PY_VERSION_HEX < 0x03090000 + for (pos = 0; pos < kwsize; pos++) { +#if CYTHON_ASSUME_SAFE_MACROS + key = PyTuple_GET_ITEM(kw, pos); +#else + key = PyTuple_GetItem(kw, pos); + if (!key) return 0; +#endif + if (unlikely(!PyUnicode_Check(key))) + goto invalid_keyword_type; + } +#endif + return 1; + } + while (PyDict_Next(kw, &pos, &key, 0)) { + #if PY_MAJOR_VERSION < 3 + if (unlikely(!PyString_Check(key))) + #endif + if (unlikely(!PyUnicode_Check(key))) + goto invalid_keyword_type; + } + if (!kw_allowed && unlikely(key)) + goto invalid_keyword; + return 1; +invalid_keyword_type: + PyErr_Format(PyExc_TypeError, + "%.200s() keywords must be strings", function_name); + return 0; +#endif +invalid_keyword: + #if PY_MAJOR_VERSION < 3 + PyErr_Format(PyExc_TypeError, + "%.200s() got an unexpected keyword argument '%.200s'", + function_name, PyString_AsString(key)); + #else + PyErr_Format(PyExc_TypeError, + "%s() got an unexpected keyword argument '%U'", + function_name, key); + #endif + return 0; +} + +/* DivInt[Py_ssize_t] */ +static CYTHON_INLINE Py_ssize_t __Pyx_div_Py_ssize_t(Py_ssize_t a, Py_ssize_t b) { + Py_ssize_t q = a / b; + Py_ssize_t r = a - q*b; + q -= ((r != 0) & ((r ^ b) < 0)); + return q; +} + +/* GetAttr3 */ +#if __PYX_LIMITED_VERSION_HEX < 0x030d00A1 +static PyObject *__Pyx_GetAttr3Default(PyObject *d) { + __Pyx_PyThreadState_declare + __Pyx_PyThreadState_assign + if (unlikely(!__Pyx_PyErr_ExceptionMatches(PyExc_AttributeError))) + return NULL; + __Pyx_PyErr_Clear(); + Py_INCREF(d); + return d; +} +#endif +static CYTHON_INLINE PyObject *__Pyx_GetAttr3(PyObject *o, PyObject *n, PyObject *d) { + PyObject *r; +#if __PYX_LIMITED_VERSION_HEX >= 0x030d00A1 + int res = PyObject_GetOptionalAttr(o, n, &r); + return (res != 0) ? r : __Pyx_NewRef(d); +#else + #if CYTHON_USE_TYPE_SLOTS + if (likely(PyString_Check(n))) { + r = __Pyx_PyObject_GetAttrStrNoError(o, n); + if (unlikely(!r) && likely(!PyErr_Occurred())) { + r = __Pyx_NewRef(d); + } + return r; + } + #endif + r = PyObject_GetAttr(o, n); + return (likely(r)) ? r : __Pyx_GetAttr3Default(d); +#endif +} + +/* PyDictVersioning */ +#if CYTHON_USE_DICT_VERSIONS && CYTHON_USE_TYPE_SLOTS +static CYTHON_INLINE PY_UINT64_T __Pyx_get_tp_dict_version(PyObject *obj) { + PyObject *dict = Py_TYPE(obj)->tp_dict; + return likely(dict) ? __PYX_GET_DICT_VERSION(dict) : 0; +} +static CYTHON_INLINE PY_UINT64_T __Pyx_get_object_dict_version(PyObject *obj) { + PyObject **dictptr = NULL; + Py_ssize_t offset = Py_TYPE(obj)->tp_dictoffset; + if (offset) { +#if CYTHON_COMPILING_IN_CPYTHON + dictptr = (likely(offset > 0)) ? (PyObject **) ((char *)obj + offset) : _PyObject_GetDictPtr(obj); +#else + dictptr = _PyObject_GetDictPtr(obj); +#endif + } + return (dictptr && *dictptr) ? __PYX_GET_DICT_VERSION(*dictptr) : 0; +} +static CYTHON_INLINE int __Pyx_object_dict_version_matches(PyObject* obj, PY_UINT64_T tp_dict_version, PY_UINT64_T obj_dict_version) { + PyObject *dict = Py_TYPE(obj)->tp_dict; + if (unlikely(!dict) || unlikely(tp_dict_version != __PYX_GET_DICT_VERSION(dict))) + return 0; + return obj_dict_version == __Pyx_get_object_dict_version(obj); +} +#endif + +/* GetModuleGlobalName */ +#if CYTHON_USE_DICT_VERSIONS +static PyObject *__Pyx__GetModuleGlobalName(PyObject *name, PY_UINT64_T *dict_version, PyObject **dict_cached_value) +#else +static CYTHON_INLINE PyObject *__Pyx__GetModuleGlobalName(PyObject *name) +#endif +{ + PyObject *result; +#if !CYTHON_AVOID_BORROWED_REFS +#if CYTHON_COMPILING_IN_CPYTHON && PY_VERSION_HEX >= 0x030500A1 && PY_VERSION_HEX < 0x030d0000 + result = _PyDict_GetItem_KnownHash(__pyx_d, name, ((PyASCIIObject *) name)->hash); + __PYX_UPDATE_DICT_CACHE(__pyx_d, result, *dict_cached_value, *dict_version) + if (likely(result)) { + return __Pyx_NewRef(result); + } else if (unlikely(PyErr_Occurred())) { + return NULL; + } +#elif CYTHON_COMPILING_IN_LIMITED_API + if (unlikely(!__pyx_m)) { + return NULL; + } + result = PyObject_GetAttr(__pyx_m, name); + if (likely(result)) { + return result; + } +#else + result = PyDict_GetItem(__pyx_d, name); + __PYX_UPDATE_DICT_CACHE(__pyx_d, result, *dict_cached_value, *dict_version) + if (likely(result)) { + return __Pyx_NewRef(result); + } +#endif +#else + result = PyObject_GetItem(__pyx_d, name); + __PYX_UPDATE_DICT_CACHE(__pyx_d, result, *dict_cached_value, *dict_version) + if (likely(result)) { + return __Pyx_NewRef(result); + } + PyErr_Clear(); +#endif + return __Pyx_GetBuiltinName(name); +} + +/* RaiseTooManyValuesToUnpack */ +static CYTHON_INLINE void __Pyx_RaiseTooManyValuesError(Py_ssize_t expected) { + PyErr_Format(PyExc_ValueError, + "too many values to unpack (expected %" CYTHON_FORMAT_SSIZE_T "d)", expected); +} + +/* RaiseNeedMoreValuesToUnpack */ +static CYTHON_INLINE void __Pyx_RaiseNeedMoreValuesError(Py_ssize_t index) { + PyErr_Format(PyExc_ValueError, + "need more than %" CYTHON_FORMAT_SSIZE_T "d value%.1s to unpack", + index, (index == 1) ? "" : "s"); +} + +/* RaiseNoneIterError */ +static CYTHON_INLINE void __Pyx_RaiseNoneNotIterableError(void) { + PyErr_SetString(PyExc_TypeError, "'NoneType' object is not iterable"); +} + +/* ExtTypeTest */ +static CYTHON_INLINE int __Pyx_TypeTest(PyObject *obj, PyTypeObject *type) { + __Pyx_TypeName obj_type_name; + __Pyx_TypeName type_name; + if (unlikely(!type)) { + PyErr_SetString(PyExc_SystemError, "Missing type object"); + return 0; + } + if (likely(__Pyx_TypeCheck(obj, type))) + return 1; + obj_type_name = __Pyx_PyType_GetName(Py_TYPE(obj)); + type_name = __Pyx_PyType_GetName(type); + PyErr_Format(PyExc_TypeError, + "Cannot convert " __Pyx_FMT_TYPENAME " to " __Pyx_FMT_TYPENAME, + obj_type_name, type_name); + __Pyx_DECREF_TypeName(obj_type_name); + __Pyx_DECREF_TypeName(type_name); + return 0; +} + +/* GetTopmostException */ +#if CYTHON_USE_EXC_INFO_STACK && CYTHON_FAST_THREAD_STATE +static _PyErr_StackItem * +__Pyx_PyErr_GetTopmostException(PyThreadState *tstate) +{ + _PyErr_StackItem *exc_info = tstate->exc_info; + while ((exc_info->exc_value == NULL || exc_info->exc_value == Py_None) && + exc_info->previous_item != NULL) + { + exc_info = exc_info->previous_item; + } + return exc_info; +} +#endif + +/* SaveResetException */ +#if CYTHON_FAST_THREAD_STATE +static CYTHON_INLINE void __Pyx__ExceptionSave(PyThreadState *tstate, PyObject **type, PyObject **value, PyObject **tb) { + #if CYTHON_USE_EXC_INFO_STACK && PY_VERSION_HEX >= 0x030B00a4 + _PyErr_StackItem *exc_info = __Pyx_PyErr_GetTopmostException(tstate); + PyObject *exc_value = exc_info->exc_value; + if (exc_value == NULL || exc_value == Py_None) { + *value = NULL; + *type = NULL; + *tb = NULL; + } else { + *value = exc_value; + Py_INCREF(*value); + *type = (PyObject*) Py_TYPE(exc_value); + Py_INCREF(*type); + *tb = PyException_GetTraceback(exc_value); + } + #elif CYTHON_USE_EXC_INFO_STACK + _PyErr_StackItem *exc_info = __Pyx_PyErr_GetTopmostException(tstate); + *type = exc_info->exc_type; + *value = exc_info->exc_value; + *tb = exc_info->exc_traceback; + Py_XINCREF(*type); + Py_XINCREF(*value); + Py_XINCREF(*tb); + #else + *type = tstate->exc_type; + *value = tstate->exc_value; + *tb = tstate->exc_traceback; + Py_XINCREF(*type); + Py_XINCREF(*value); + Py_XINCREF(*tb); + #endif +} +static CYTHON_INLINE void __Pyx__ExceptionReset(PyThreadState *tstate, PyObject *type, PyObject *value, PyObject *tb) { + #if CYTHON_USE_EXC_INFO_STACK && PY_VERSION_HEX >= 0x030B00a4 + _PyErr_StackItem *exc_info = tstate->exc_info; + PyObject *tmp_value = exc_info->exc_value; + exc_info->exc_value = value; + Py_XDECREF(tmp_value); + Py_XDECREF(type); + Py_XDECREF(tb); + #else + PyObject *tmp_type, *tmp_value, *tmp_tb; + #if CYTHON_USE_EXC_INFO_STACK + _PyErr_StackItem *exc_info = tstate->exc_info; + tmp_type = exc_info->exc_type; + tmp_value = exc_info->exc_value; + tmp_tb = exc_info->exc_traceback; + exc_info->exc_type = type; + exc_info->exc_value = value; + exc_info->exc_traceback = tb; + #else + tmp_type = tstate->exc_type; + tmp_value = tstate->exc_value; + tmp_tb = tstate->exc_traceback; + tstate->exc_type = type; + tstate->exc_value = value; + tstate->exc_traceback = tb; + #endif + Py_XDECREF(tmp_type); + Py_XDECREF(tmp_value); + Py_XDECREF(tmp_tb); + #endif +} +#endif + +/* GetException */ +#if CYTHON_FAST_THREAD_STATE +static int __Pyx__GetException(PyThreadState *tstate, PyObject **type, PyObject **value, PyObject **tb) +#else +static int __Pyx_GetException(PyObject **type, PyObject **value, PyObject **tb) +#endif +{ + PyObject *local_type = NULL, *local_value, *local_tb = NULL; +#if CYTHON_FAST_THREAD_STATE + PyObject *tmp_type, *tmp_value, *tmp_tb; + #if PY_VERSION_HEX >= 0x030C00A6 + local_value = tstate->current_exception; + tstate->current_exception = 0; + if (likely(local_value)) { + local_type = (PyObject*) Py_TYPE(local_value); + Py_INCREF(local_type); + local_tb = PyException_GetTraceback(local_value); + } + #else + local_type = tstate->curexc_type; + local_value = tstate->curexc_value; + local_tb = tstate->curexc_traceback; + tstate->curexc_type = 0; + tstate->curexc_value = 0; + tstate->curexc_traceback = 0; + #endif +#else + PyErr_Fetch(&local_type, &local_value, &local_tb); +#endif + PyErr_NormalizeException(&local_type, &local_value, &local_tb); +#if CYTHON_FAST_THREAD_STATE && PY_VERSION_HEX >= 0x030C00A6 + if (unlikely(tstate->current_exception)) +#elif CYTHON_FAST_THREAD_STATE + if (unlikely(tstate->curexc_type)) +#else + if (unlikely(PyErr_Occurred())) +#endif + goto bad; + #if PY_MAJOR_VERSION >= 3 + if (local_tb) { + if (unlikely(PyException_SetTraceback(local_value, local_tb) < 0)) + goto bad; + } + #endif + Py_XINCREF(local_tb); + Py_XINCREF(local_type); + Py_XINCREF(local_value); + *type = local_type; + *value = local_value; + *tb = local_tb; +#if CYTHON_FAST_THREAD_STATE + #if CYTHON_USE_EXC_INFO_STACK + { + _PyErr_StackItem *exc_info = tstate->exc_info; + #if PY_VERSION_HEX >= 0x030B00a4 + tmp_value = exc_info->exc_value; + exc_info->exc_value = local_value; + tmp_type = NULL; + tmp_tb = NULL; + Py_XDECREF(local_type); + Py_XDECREF(local_tb); + #else + tmp_type = exc_info->exc_type; + tmp_value = exc_info->exc_value; + tmp_tb = exc_info->exc_traceback; + exc_info->exc_type = local_type; + exc_info->exc_value = local_value; + exc_info->exc_traceback = local_tb; + #endif + } + #else + tmp_type = tstate->exc_type; + tmp_value = tstate->exc_value; + tmp_tb = tstate->exc_traceback; + tstate->exc_type = local_type; + tstate->exc_value = local_value; + tstate->exc_traceback = local_tb; + #endif + Py_XDECREF(tmp_type); + Py_XDECREF(tmp_value); + Py_XDECREF(tmp_tb); +#else + PyErr_SetExcInfo(local_type, local_value, local_tb); +#endif + return 0; +bad: + *type = 0; + *value = 0; + *tb = 0; + Py_XDECREF(local_type); + Py_XDECREF(local_value); + Py_XDECREF(local_tb); + return -1; +} + +/* SwapException */ +#if CYTHON_FAST_THREAD_STATE +static CYTHON_INLINE void __Pyx__ExceptionSwap(PyThreadState *tstate, PyObject **type, PyObject **value, PyObject **tb) { + PyObject *tmp_type, *tmp_value, *tmp_tb; + #if CYTHON_USE_EXC_INFO_STACK && PY_VERSION_HEX >= 0x030B00a4 + _PyErr_StackItem *exc_info = tstate->exc_info; + tmp_value = exc_info->exc_value; + exc_info->exc_value = *value; + if (tmp_value == NULL || tmp_value == Py_None) { + Py_XDECREF(tmp_value); + tmp_value = NULL; + tmp_type = NULL; + tmp_tb = NULL; + } else { + tmp_type = (PyObject*) Py_TYPE(tmp_value); + Py_INCREF(tmp_type); + #if CYTHON_COMPILING_IN_CPYTHON + tmp_tb = ((PyBaseExceptionObject*) tmp_value)->traceback; + Py_XINCREF(tmp_tb); + #else + tmp_tb = PyException_GetTraceback(tmp_value); + #endif + } + #elif CYTHON_USE_EXC_INFO_STACK + _PyErr_StackItem *exc_info = tstate->exc_info; + tmp_type = exc_info->exc_type; + tmp_value = exc_info->exc_value; + tmp_tb = exc_info->exc_traceback; + exc_info->exc_type = *type; + exc_info->exc_value = *value; + exc_info->exc_traceback = *tb; + #else + tmp_type = tstate->exc_type; + tmp_value = tstate->exc_value; + tmp_tb = tstate->exc_traceback; + tstate->exc_type = *type; + tstate->exc_value = *value; + tstate->exc_traceback = *tb; + #endif + *type = tmp_type; + *value = tmp_value; + *tb = tmp_tb; +} +#else +static CYTHON_INLINE void __Pyx_ExceptionSwap(PyObject **type, PyObject **value, PyObject **tb) { + PyObject *tmp_type, *tmp_value, *tmp_tb; + PyErr_GetExcInfo(&tmp_type, &tmp_value, &tmp_tb); + PyErr_SetExcInfo(*type, *value, *tb); + *type = tmp_type; + *value = tmp_value; + *tb = tmp_tb; +} +#endif + +/* Import */ +static PyObject *__Pyx_Import(PyObject *name, PyObject *from_list, int level) { + PyObject *module = 0; + PyObject *empty_dict = 0; + PyObject *empty_list = 0; + #if PY_MAJOR_VERSION < 3 + PyObject *py_import; + py_import = __Pyx_PyObject_GetAttrStr(__pyx_b, __pyx_n_s_import); + if (unlikely(!py_import)) + goto bad; + if (!from_list) { + empty_list = PyList_New(0); + if (unlikely(!empty_list)) + goto bad; + from_list = empty_list; + } + #endif + empty_dict = PyDict_New(); + if (unlikely(!empty_dict)) + goto bad; + { + #if PY_MAJOR_VERSION >= 3 + if (level == -1) { + if (strchr(__Pyx_MODULE_NAME, '.') != NULL) { + module = PyImport_ImportModuleLevelObject( + name, __pyx_d, empty_dict, from_list, 1); + if (unlikely(!module)) { + if (unlikely(!PyErr_ExceptionMatches(PyExc_ImportError))) + goto bad; + PyErr_Clear(); + } + } + level = 0; + } + #endif + if (!module) { + #if PY_MAJOR_VERSION < 3 + PyObject *py_level = PyInt_FromLong(level); + if (unlikely(!py_level)) + goto bad; + module = PyObject_CallFunctionObjArgs(py_import, + name, __pyx_d, empty_dict, from_list, py_level, (PyObject *)NULL); + Py_DECREF(py_level); + #else + module = PyImport_ImportModuleLevelObject( + name, __pyx_d, empty_dict, from_list, level); + #endif + } + } +bad: + Py_XDECREF(empty_dict); + Py_XDECREF(empty_list); + #if PY_MAJOR_VERSION < 3 + Py_XDECREF(py_import); + #endif + return module; +} + +/* ImportDottedModule */ +#if PY_MAJOR_VERSION >= 3 +static PyObject *__Pyx__ImportDottedModule_Error(PyObject *name, PyObject *parts_tuple, Py_ssize_t count) { + PyObject *partial_name = NULL, *slice = NULL, *sep = NULL; + if (unlikely(PyErr_Occurred())) { + PyErr_Clear(); + } + if (likely(PyTuple_GET_SIZE(parts_tuple) == count)) { + partial_name = name; + } else { + slice = PySequence_GetSlice(parts_tuple, 0, count); + if (unlikely(!slice)) + goto bad; + sep = PyUnicode_FromStringAndSize(".", 1); + if (unlikely(!sep)) + goto bad; + partial_name = PyUnicode_Join(sep, slice); + } + PyErr_Format( +#if PY_MAJOR_VERSION < 3 + PyExc_ImportError, + "No module named '%s'", PyString_AS_STRING(partial_name)); +#else +#if PY_VERSION_HEX >= 0x030600B1 + PyExc_ModuleNotFoundError, +#else + PyExc_ImportError, +#endif + "No module named '%U'", partial_name); +#endif +bad: + Py_XDECREF(sep); + Py_XDECREF(slice); + Py_XDECREF(partial_name); + return NULL; +} +#endif +#if PY_MAJOR_VERSION >= 3 +static PyObject *__Pyx__ImportDottedModule_Lookup(PyObject *name) { + PyObject *imported_module; +#if PY_VERSION_HEX < 0x030700A1 || (CYTHON_COMPILING_IN_PYPY && PYPY_VERSION_NUM < 0x07030400) + PyObject *modules = PyImport_GetModuleDict(); + if (unlikely(!modules)) + return NULL; + imported_module = __Pyx_PyDict_GetItemStr(modules, name); + Py_XINCREF(imported_module); +#else + imported_module = PyImport_GetModule(name); +#endif + return imported_module; +} +#endif +#if PY_MAJOR_VERSION >= 3 +static PyObject *__Pyx_ImportDottedModule_WalkParts(PyObject *module, PyObject *name, PyObject *parts_tuple) { + Py_ssize_t i, nparts; + nparts = PyTuple_GET_SIZE(parts_tuple); + for (i=1; i < nparts && module; i++) { + PyObject *part, *submodule; +#if CYTHON_ASSUME_SAFE_MACROS && !CYTHON_AVOID_BORROWED_REFS + part = PyTuple_GET_ITEM(parts_tuple, i); +#else + part = PySequence_ITEM(parts_tuple, i); +#endif + submodule = __Pyx_PyObject_GetAttrStrNoError(module, part); +#if !(CYTHON_ASSUME_SAFE_MACROS && !CYTHON_AVOID_BORROWED_REFS) + Py_DECREF(part); +#endif + Py_DECREF(module); + module = submodule; + } + if (unlikely(!module)) { + return __Pyx__ImportDottedModule_Error(name, parts_tuple, i); + } + return module; +} +#endif +static PyObject *__Pyx__ImportDottedModule(PyObject *name, PyObject *parts_tuple) { +#if PY_MAJOR_VERSION < 3 + PyObject *module, *from_list, *star = __pyx_n_s__3; + CYTHON_UNUSED_VAR(parts_tuple); + from_list = PyList_New(1); + if (unlikely(!from_list)) + return NULL; + Py_INCREF(star); + PyList_SET_ITEM(from_list, 0, star); + module = __Pyx_Import(name, from_list, 0); + Py_DECREF(from_list); + return module; +#else + PyObject *imported_module; + PyObject *module = __Pyx_Import(name, NULL, 0); + if (!parts_tuple || unlikely(!module)) + return module; + imported_module = __Pyx__ImportDottedModule_Lookup(name); + if (likely(imported_module)) { + Py_DECREF(module); + return imported_module; + } + PyErr_Clear(); + return __Pyx_ImportDottedModule_WalkParts(module, name, parts_tuple); +#endif +} +static PyObject *__Pyx_ImportDottedModule(PyObject *name, PyObject *parts_tuple) { +#if CYTHON_COMPILING_IN_CPYTHON && PY_VERSION_HEX >= 0x030400B1 + PyObject *module = __Pyx__ImportDottedModule_Lookup(name); + if (likely(module)) { + PyObject *spec = __Pyx_PyObject_GetAttrStrNoError(module, __pyx_n_s_spec); + if (likely(spec)) { + PyObject *unsafe = __Pyx_PyObject_GetAttrStrNoError(spec, __pyx_n_s_initializing); + if (likely(!unsafe || !__Pyx_PyObject_IsTrue(unsafe))) { + Py_DECREF(spec); + spec = NULL; + } + Py_XDECREF(unsafe); + } + if (likely(!spec)) { + PyErr_Clear(); + return module; + } + Py_DECREF(spec); + Py_DECREF(module); + } else if (PyErr_Occurred()) { + PyErr_Clear(); + } +#endif + return __Pyx__ImportDottedModule(name, parts_tuple); +} + +/* FastTypeChecks */ +#if CYTHON_COMPILING_IN_CPYTHON +static int __Pyx_InBases(PyTypeObject *a, PyTypeObject *b) { + while (a) { + a = __Pyx_PyType_GetSlot(a, tp_base, PyTypeObject*); + if (a == b) + return 1; + } + return b == &PyBaseObject_Type; +} +static CYTHON_INLINE int __Pyx_IsSubtype(PyTypeObject *a, PyTypeObject *b) { + PyObject *mro; + if (a == b) return 1; + mro = a->tp_mro; + if (likely(mro)) { + Py_ssize_t i, n; + n = PyTuple_GET_SIZE(mro); + for (i = 0; i < n; i++) { + if (PyTuple_GET_ITEM(mro, i) == (PyObject *)b) + return 1; + } + return 0; + } + return __Pyx_InBases(a, b); +} +static CYTHON_INLINE int __Pyx_IsAnySubtype2(PyTypeObject *cls, PyTypeObject *a, PyTypeObject *b) { + PyObject *mro; + if (cls == a || cls == b) return 1; + mro = cls->tp_mro; + if (likely(mro)) { + Py_ssize_t i, n; + n = PyTuple_GET_SIZE(mro); + for (i = 0; i < n; i++) { + PyObject *base = PyTuple_GET_ITEM(mro, i); + if (base == (PyObject *)a || base == (PyObject *)b) + return 1; + } + return 0; + } + return __Pyx_InBases(cls, a) || __Pyx_InBases(cls, b); +} +#if PY_MAJOR_VERSION == 2 +static int __Pyx_inner_PyErr_GivenExceptionMatches2(PyObject *err, PyObject* exc_type1, PyObject* exc_type2) { + PyObject *exception, *value, *tb; + int res; + __Pyx_PyThreadState_declare + __Pyx_PyThreadState_assign + __Pyx_ErrFetch(&exception, &value, &tb); + res = exc_type1 ? PyObject_IsSubclass(err, exc_type1) : 0; + if (unlikely(res == -1)) { + PyErr_WriteUnraisable(err); + res = 0; + } + if (!res) { + res = PyObject_IsSubclass(err, exc_type2); + if (unlikely(res == -1)) { + PyErr_WriteUnraisable(err); + res = 0; + } + } + __Pyx_ErrRestore(exception, value, tb); + return res; +} +#else +static CYTHON_INLINE int __Pyx_inner_PyErr_GivenExceptionMatches2(PyObject *err, PyObject* exc_type1, PyObject *exc_type2) { + if (exc_type1) { + return __Pyx_IsAnySubtype2((PyTypeObject*)err, (PyTypeObject*)exc_type1, (PyTypeObject*)exc_type2); + } else { + return __Pyx_IsSubtype((PyTypeObject*)err, (PyTypeObject*)exc_type2); + } +} +#endif +static int __Pyx_PyErr_GivenExceptionMatchesTuple(PyObject *exc_type, PyObject *tuple) { + Py_ssize_t i, n; + assert(PyExceptionClass_Check(exc_type)); + n = PyTuple_GET_SIZE(tuple); +#if PY_MAJOR_VERSION >= 3 + for (i=0; itp_as_sequence && type->tp_as_sequence->sq_repeat)) { + return type->tp_as_sequence->sq_repeat(seq, mul); + } else +#endif + { + return __Pyx_PySequence_Multiply_Generic(seq, mul); + } +} + +/* SetItemInt */ +static int __Pyx_SetItemInt_Generic(PyObject *o, PyObject *j, PyObject *v) { + int r; + if (unlikely(!j)) return -1; + r = PyObject_SetItem(o, j, v); + Py_DECREF(j); + return r; +} +static CYTHON_INLINE int __Pyx_SetItemInt_Fast(PyObject *o, Py_ssize_t i, PyObject *v, int is_list, + CYTHON_NCP_UNUSED int wraparound, CYTHON_NCP_UNUSED int boundscheck) { +#if CYTHON_ASSUME_SAFE_MACROS && !CYTHON_AVOID_BORROWED_REFS && CYTHON_USE_TYPE_SLOTS + if (is_list || PyList_CheckExact(o)) { + Py_ssize_t n = (!wraparound) ? i : ((likely(i >= 0)) ? i : i + PyList_GET_SIZE(o)); + if ((!boundscheck) || likely(__Pyx_is_valid_index(n, PyList_GET_SIZE(o)))) { + PyObject* old = PyList_GET_ITEM(o, n); + Py_INCREF(v); + PyList_SET_ITEM(o, n, v); + Py_DECREF(old); + return 1; + } + } else { + PyMappingMethods *mm = Py_TYPE(o)->tp_as_mapping; + PySequenceMethods *sm = Py_TYPE(o)->tp_as_sequence; + if (mm && mm->mp_ass_subscript) { + int r; + PyObject *key = PyInt_FromSsize_t(i); + if (unlikely(!key)) return -1; + r = mm->mp_ass_subscript(o, key, v); + Py_DECREF(key); + return r; + } + if (likely(sm && sm->sq_ass_item)) { + if (wraparound && unlikely(i < 0) && likely(sm->sq_length)) { + Py_ssize_t l = sm->sq_length(o); + if (likely(l >= 0)) { + i += l; + } else { + if (!PyErr_ExceptionMatches(PyExc_OverflowError)) + return -1; + PyErr_Clear(); + } + } + return sm->sq_ass_item(o, i, v); + } + } +#else + if (is_list || !PyMapping_Check(o)) + { + return PySequence_SetItem(o, i, v); + } +#endif + return __Pyx_SetItemInt_Generic(o, PyInt_FromSsize_t(i), v); +} + +/* RaiseUnboundLocalError */ +static CYTHON_INLINE void __Pyx_RaiseUnboundLocalError(const char *varname) { + PyErr_Format(PyExc_UnboundLocalError, "local variable '%s' referenced before assignment", varname); +} + +/* DivInt[long] */ +static CYTHON_INLINE long __Pyx_div_long(long a, long b) { + long q = a / b; + long r = a - q*b; + q -= ((r != 0) & ((r ^ b) < 0)); + return q; +} + +/* ImportFrom */ +static PyObject* __Pyx_ImportFrom(PyObject* module, PyObject* name) { + PyObject* value = __Pyx_PyObject_GetAttrStr(module, name); + if (unlikely(!value) && PyErr_ExceptionMatches(PyExc_AttributeError)) { + const char* module_name_str = 0; + PyObject* module_name = 0; + PyObject* module_dot = 0; + PyObject* full_name = 0; + PyErr_Clear(); + module_name_str = PyModule_GetName(module); + if (unlikely(!module_name_str)) { goto modbad; } + module_name = PyUnicode_FromString(module_name_str); + if (unlikely(!module_name)) { goto modbad; } + module_dot = PyUnicode_Concat(module_name, __pyx_kp_u__2); + if (unlikely(!module_dot)) { goto modbad; } + full_name = PyUnicode_Concat(module_dot, name); + if (unlikely(!full_name)) { goto modbad; } + #if PY_VERSION_HEX < 0x030700A1 || (CYTHON_COMPILING_IN_PYPY && PYPY_VERSION_NUM < 0x07030400) + { + PyObject *modules = PyImport_GetModuleDict(); + if (unlikely(!modules)) + goto modbad; + value = PyObject_GetItem(modules, full_name); + } + #else + value = PyImport_GetModule(full_name); + #endif + modbad: + Py_XDECREF(full_name); + Py_XDECREF(module_dot); + Py_XDECREF(module_name); + } + if (unlikely(!value)) { + PyErr_Format(PyExc_ImportError, + #if PY_MAJOR_VERSION < 3 + "cannot import name %.230s", PyString_AS_STRING(name)); + #else + "cannot import name %S", name); + #endif + } + return value; +} + +/* HasAttr */ +#if __PYX_LIMITED_VERSION_HEX < 0x030d00A1 +static CYTHON_INLINE int __Pyx_HasAttr(PyObject *o, PyObject *n) { + PyObject *r; + if (unlikely(!__Pyx_PyBaseString_Check(n))) { + PyErr_SetString(PyExc_TypeError, + "hasattr(): attribute name must be string"); + return -1; + } + r = __Pyx_GetAttr(o, n); + if (!r) { + PyErr_Clear(); + return 0; + } else { + Py_DECREF(r); + return 1; + } +} +#endif + +/* BufferIndexError */ +static void __Pyx_RaiseBufferIndexError(int axis) { + PyErr_Format(PyExc_IndexError, + "Out of bounds on buffer access (axis %d)", axis); +} + +/* PyObject_GenericGetAttrNoDict */ +#if CYTHON_USE_TYPE_SLOTS && CYTHON_USE_PYTYPE_LOOKUP && PY_VERSION_HEX < 0x03070000 +static PyObject *__Pyx_RaiseGenericGetAttributeError(PyTypeObject *tp, PyObject *attr_name) { + __Pyx_TypeName type_name = __Pyx_PyType_GetName(tp); + PyErr_Format(PyExc_AttributeError, +#if PY_MAJOR_VERSION >= 3 + "'" __Pyx_FMT_TYPENAME "' object has no attribute '%U'", + type_name, attr_name); +#else + "'" __Pyx_FMT_TYPENAME "' object has no attribute '%.400s'", + type_name, PyString_AS_STRING(attr_name)); +#endif + __Pyx_DECREF_TypeName(type_name); + return NULL; +} +static CYTHON_INLINE PyObject* __Pyx_PyObject_GenericGetAttrNoDict(PyObject* obj, PyObject* attr_name) { + PyObject *descr; + PyTypeObject *tp = Py_TYPE(obj); + if (unlikely(!PyString_Check(attr_name))) { + return PyObject_GenericGetAttr(obj, attr_name); + } + assert(!tp->tp_dictoffset); + descr = _PyType_Lookup(tp, attr_name); + if (unlikely(!descr)) { + return __Pyx_RaiseGenericGetAttributeError(tp, attr_name); + } + Py_INCREF(descr); + #if PY_MAJOR_VERSION < 3 + if (likely(PyType_HasFeature(Py_TYPE(descr), Py_TPFLAGS_HAVE_CLASS))) + #endif + { + descrgetfunc f = Py_TYPE(descr)->tp_descr_get; + if (unlikely(f)) { + PyObject *res = f(descr, obj, (PyObject *)tp); + Py_DECREF(descr); + return res; + } + } + return descr; +} +#endif + +/* PyObject_GenericGetAttr */ +#if CYTHON_USE_TYPE_SLOTS && CYTHON_USE_PYTYPE_LOOKUP && PY_VERSION_HEX < 0x03070000 +static PyObject* __Pyx_PyObject_GenericGetAttr(PyObject* obj, PyObject* attr_name) { + if (unlikely(Py_TYPE(obj)->tp_dictoffset)) { + return PyObject_GenericGetAttr(obj, attr_name); + } + return __Pyx_PyObject_GenericGetAttrNoDict(obj, attr_name); +} +#endif + +/* TypeImport */ +#ifndef __PYX_HAVE_RT_ImportType_3_0_8 +#define __PYX_HAVE_RT_ImportType_3_0_8 +static PyTypeObject *__Pyx_ImportType_3_0_8(PyObject *module, const char *module_name, const char *class_name, + size_t size, size_t alignment, enum __Pyx_ImportType_CheckSize_3_0_8 check_size) +{ + PyObject *result = 0; + char warning[200]; + Py_ssize_t basicsize; + Py_ssize_t itemsize; +#if CYTHON_COMPILING_IN_LIMITED_API + PyObject *py_basicsize; + PyObject *py_itemsize; +#endif + result = PyObject_GetAttrString(module, class_name); + if (!result) + goto bad; + if (!PyType_Check(result)) { + PyErr_Format(PyExc_TypeError, + "%.200s.%.200s is not a type object", + module_name, class_name); + goto bad; + } +#if !CYTHON_COMPILING_IN_LIMITED_API + basicsize = ((PyTypeObject *)result)->tp_basicsize; + itemsize = ((PyTypeObject *)result)->tp_itemsize; +#else + py_basicsize = PyObject_GetAttrString(result, "__basicsize__"); + if (!py_basicsize) + goto bad; + basicsize = PyLong_AsSsize_t(py_basicsize); + Py_DECREF(py_basicsize); + py_basicsize = 0; + if (basicsize == (Py_ssize_t)-1 && PyErr_Occurred()) + goto bad; + py_itemsize = PyObject_GetAttrString(result, "__itemsize__"); + if (!py_itemsize) + goto bad; + itemsize = PyLong_AsSsize_t(py_itemsize); + Py_DECREF(py_itemsize); + py_itemsize = 0; + if (itemsize == (Py_ssize_t)-1 && PyErr_Occurred()) + goto bad; +#endif + if (itemsize) { + if (size % alignment) { + alignment = size % alignment; + } + if (itemsize < (Py_ssize_t)alignment) + itemsize = (Py_ssize_t)alignment; + } + if ((size_t)(basicsize + itemsize) < size) { + PyErr_Format(PyExc_ValueError, + "%.200s.%.200s size changed, may indicate binary incompatibility. " + "Expected %zd from C header, got %zd from PyObject", + module_name, class_name, size, basicsize+itemsize); + goto bad; + } + if (check_size == __Pyx_ImportType_CheckSize_Error_3_0_8 && + ((size_t)basicsize > size || (size_t)(basicsize + itemsize) < size)) { + PyErr_Format(PyExc_ValueError, + "%.200s.%.200s size changed, may indicate binary incompatibility. " + "Expected %zd from C header, got %zd-%zd from PyObject", + module_name, class_name, size, basicsize, basicsize+itemsize); + goto bad; + } + else if (check_size == __Pyx_ImportType_CheckSize_Warn_3_0_8 && (size_t)basicsize > size) { + PyOS_snprintf(warning, sizeof(warning), + "%s.%s size changed, may indicate binary incompatibility. " + "Expected %zd from C header, got %zd from PyObject", + module_name, class_name, size, basicsize); + if (PyErr_WarnEx(NULL, warning, 0) < 0) goto bad; + } + return (PyTypeObject *)result; +bad: + Py_XDECREF(result); + return NULL; +} +#endif + +/* FixUpExtensionType */ +#if CYTHON_USE_TYPE_SPECS +static int __Pyx_fix_up_extension_type_from_spec(PyType_Spec *spec, PyTypeObject *type) { +#if PY_VERSION_HEX > 0x030900B1 || CYTHON_COMPILING_IN_LIMITED_API + CYTHON_UNUSED_VAR(spec); + CYTHON_UNUSED_VAR(type); +#else + const PyType_Slot *slot = spec->slots; + while (slot && slot->slot && slot->slot != Py_tp_members) + slot++; + if (slot && slot->slot == Py_tp_members) { + int changed = 0; +#if !(PY_VERSION_HEX <= 0x030900b1 && CYTHON_COMPILING_IN_CPYTHON) + const +#endif + PyMemberDef *memb = (PyMemberDef*) slot->pfunc; + while (memb && memb->name) { + if (memb->name[0] == '_' && memb->name[1] == '_') { +#if PY_VERSION_HEX < 0x030900b1 + if (strcmp(memb->name, "__weaklistoffset__") == 0) { + assert(memb->type == T_PYSSIZET); + assert(memb->flags == READONLY); + type->tp_weaklistoffset = memb->offset; + changed = 1; + } + else if (strcmp(memb->name, "__dictoffset__") == 0) { + assert(memb->type == T_PYSSIZET); + assert(memb->flags == READONLY); + type->tp_dictoffset = memb->offset; + changed = 1; + } +#if CYTHON_METH_FASTCALL + else if (strcmp(memb->name, "__vectorcalloffset__") == 0) { + assert(memb->type == T_PYSSIZET); + assert(memb->flags == READONLY); +#if PY_VERSION_HEX >= 0x030800b4 + type->tp_vectorcall_offset = memb->offset; +#else + type->tp_print = (printfunc) memb->offset; +#endif + changed = 1; + } +#endif +#else + if ((0)); +#endif +#if PY_VERSION_HEX <= 0x030900b1 && CYTHON_COMPILING_IN_CPYTHON + else if (strcmp(memb->name, "__module__") == 0) { + PyObject *descr; + assert(memb->type == T_OBJECT); + assert(memb->flags == 0 || memb->flags == READONLY); + descr = PyDescr_NewMember(type, memb); + if (unlikely(!descr)) + return -1; + if (unlikely(PyDict_SetItem(type->tp_dict, PyDescr_NAME(descr), descr) < 0)) { + Py_DECREF(descr); + return -1; + } + Py_DECREF(descr); + changed = 1; + } +#endif + } + memb++; + } + if (changed) + PyType_Modified(type); + } +#endif + return 0; +} +#endif + +/* PyObjectCallNoArg */ +static CYTHON_INLINE PyObject* __Pyx_PyObject_CallNoArg(PyObject *func) { + PyObject *arg[2] = {NULL, NULL}; + return __Pyx_PyObject_FastCall(func, arg + 1, 0 | __Pyx_PY_VECTORCALL_ARGUMENTS_OFFSET); +} + +/* PyObjectGetMethod */ +static int __Pyx_PyObject_GetMethod(PyObject *obj, PyObject *name, PyObject **method) { + PyObject *attr; +#if CYTHON_UNPACK_METHODS && CYTHON_COMPILING_IN_CPYTHON && CYTHON_USE_PYTYPE_LOOKUP + __Pyx_TypeName type_name; + PyTypeObject *tp = Py_TYPE(obj); + PyObject *descr; + descrgetfunc f = NULL; + PyObject **dictptr, *dict; + int meth_found = 0; + assert (*method == NULL); + if (unlikely(tp->tp_getattro != PyObject_GenericGetAttr)) { + attr = __Pyx_PyObject_GetAttrStr(obj, name); + goto try_unpack; + } + if (unlikely(tp->tp_dict == NULL) && unlikely(PyType_Ready(tp) < 0)) { + return 0; + } + descr = _PyType_Lookup(tp, name); + if (likely(descr != NULL)) { + Py_INCREF(descr); +#if defined(Py_TPFLAGS_METHOD_DESCRIPTOR) && Py_TPFLAGS_METHOD_DESCRIPTOR + if (__Pyx_PyType_HasFeature(Py_TYPE(descr), Py_TPFLAGS_METHOD_DESCRIPTOR)) +#elif PY_MAJOR_VERSION >= 3 + #ifdef __Pyx_CyFunction_USED + if (likely(PyFunction_Check(descr) || __Pyx_IS_TYPE(descr, &PyMethodDescr_Type) || __Pyx_CyFunction_Check(descr))) + #else + if (likely(PyFunction_Check(descr) || __Pyx_IS_TYPE(descr, &PyMethodDescr_Type))) + #endif +#else + #ifdef __Pyx_CyFunction_USED + if (likely(PyFunction_Check(descr) || __Pyx_CyFunction_Check(descr))) + #else + if (likely(PyFunction_Check(descr))) + #endif +#endif + { + meth_found = 1; + } else { + f = Py_TYPE(descr)->tp_descr_get; + if (f != NULL && PyDescr_IsData(descr)) { + attr = f(descr, obj, (PyObject *)Py_TYPE(obj)); + Py_DECREF(descr); + goto try_unpack; + } + } + } + dictptr = _PyObject_GetDictPtr(obj); + if (dictptr != NULL && (dict = *dictptr) != NULL) { + Py_INCREF(dict); + attr = __Pyx_PyDict_GetItemStr(dict, name); + if (attr != NULL) { + Py_INCREF(attr); + Py_DECREF(dict); + Py_XDECREF(descr); + goto try_unpack; + } + Py_DECREF(dict); + } + if (meth_found) { + *method = descr; + return 1; + } + if (f != NULL) { + attr = f(descr, obj, (PyObject *)Py_TYPE(obj)); + Py_DECREF(descr); + goto try_unpack; + } + if (likely(descr != NULL)) { + *method = descr; + return 0; + } + type_name = __Pyx_PyType_GetName(tp); + PyErr_Format(PyExc_AttributeError, +#if PY_MAJOR_VERSION >= 3 + "'" __Pyx_FMT_TYPENAME "' object has no attribute '%U'", + type_name, name); +#else + "'" __Pyx_FMT_TYPENAME "' object has no attribute '%.400s'", + type_name, PyString_AS_STRING(name)); +#endif + __Pyx_DECREF_TypeName(type_name); + return 0; +#else + attr = __Pyx_PyObject_GetAttrStr(obj, name); + goto try_unpack; +#endif +try_unpack: +#if CYTHON_UNPACK_METHODS + if (likely(attr) && PyMethod_Check(attr) && likely(PyMethod_GET_SELF(attr) == obj)) { + PyObject *function = PyMethod_GET_FUNCTION(attr); + Py_INCREF(function); + Py_DECREF(attr); + *method = function; + return 1; + } +#endif + *method = attr; + return 0; +} + +/* PyObjectCallMethod0 */ +static PyObject* __Pyx_PyObject_CallMethod0(PyObject* obj, PyObject* method_name) { + PyObject *method = NULL, *result = NULL; + int is_method = __Pyx_PyObject_GetMethod(obj, method_name, &method); + if (likely(is_method)) { + result = __Pyx_PyObject_CallOneArg(method, obj); + Py_DECREF(method); + return result; + } + if (unlikely(!method)) goto bad; + result = __Pyx_PyObject_CallNoArg(method); + Py_DECREF(method); +bad: + return result; +} + +/* ValidateBasesTuple */ +#if CYTHON_COMPILING_IN_CPYTHON || CYTHON_COMPILING_IN_LIMITED_API || CYTHON_USE_TYPE_SPECS +static int __Pyx_validate_bases_tuple(const char *type_name, Py_ssize_t dictoffset, PyObject *bases) { + Py_ssize_t i, n; +#if CYTHON_ASSUME_SAFE_MACROS + n = PyTuple_GET_SIZE(bases); +#else + n = PyTuple_Size(bases); + if (n < 0) return -1; +#endif + for (i = 1; i < n; i++) + { +#if CYTHON_AVOID_BORROWED_REFS + PyObject *b0 = PySequence_GetItem(bases, i); + if (!b0) return -1; +#elif CYTHON_ASSUME_SAFE_MACROS + PyObject *b0 = PyTuple_GET_ITEM(bases, i); +#else + PyObject *b0 = PyTuple_GetItem(bases, i); + if (!b0) return -1; +#endif + PyTypeObject *b; +#if PY_MAJOR_VERSION < 3 + if (PyClass_Check(b0)) + { + PyErr_Format(PyExc_TypeError, "base class '%.200s' is an old-style class", + PyString_AS_STRING(((PyClassObject*)b0)->cl_name)); +#if CYTHON_AVOID_BORROWED_REFS + Py_DECREF(b0); +#endif + return -1; + } +#endif + b = (PyTypeObject*) b0; + if (!__Pyx_PyType_HasFeature(b, Py_TPFLAGS_HEAPTYPE)) + { + __Pyx_TypeName b_name = __Pyx_PyType_GetName(b); + PyErr_Format(PyExc_TypeError, + "base class '" __Pyx_FMT_TYPENAME "' is not a heap type", b_name); + __Pyx_DECREF_TypeName(b_name); +#if CYTHON_AVOID_BORROWED_REFS + Py_DECREF(b0); +#endif + return -1; + } + if (dictoffset == 0) + { + Py_ssize_t b_dictoffset = 0; +#if CYTHON_USE_TYPE_SLOTS || CYTHON_COMPILING_IN_PYPY + b_dictoffset = b->tp_dictoffset; +#else + PyObject *py_b_dictoffset = PyObject_GetAttrString((PyObject*)b, "__dictoffset__"); + if (!py_b_dictoffset) goto dictoffset_return; + b_dictoffset = PyLong_AsSsize_t(py_b_dictoffset); + Py_DECREF(py_b_dictoffset); + if (b_dictoffset == -1 && PyErr_Occurred()) goto dictoffset_return; +#endif + if (b_dictoffset) { + { + __Pyx_TypeName b_name = __Pyx_PyType_GetName(b); + PyErr_Format(PyExc_TypeError, + "extension type '%.200s' has no __dict__ slot, " + "but base type '" __Pyx_FMT_TYPENAME "' has: " + "either add 'cdef dict __dict__' to the extension type " + "or add '__slots__ = [...]' to the base type", + type_name, b_name); + __Pyx_DECREF_TypeName(b_name); + } +#if !(CYTHON_USE_TYPE_SLOTS || CYTHON_COMPILING_IN_PYPY) + dictoffset_return: +#endif +#if CYTHON_AVOID_BORROWED_REFS + Py_DECREF(b0); +#endif + return -1; + } + } +#if CYTHON_AVOID_BORROWED_REFS + Py_DECREF(b0); +#endif + } + return 0; +} +#endif + +/* PyType_Ready */ +static int __Pyx_PyType_Ready(PyTypeObject *t) { +#if CYTHON_USE_TYPE_SPECS || !(CYTHON_COMPILING_IN_CPYTHON || CYTHON_COMPILING_IN_LIMITED_API) || defined(PYSTON_MAJOR_VERSION) + (void)__Pyx_PyObject_CallMethod0; +#if CYTHON_USE_TYPE_SPECS + (void)__Pyx_validate_bases_tuple; +#endif + return PyType_Ready(t); +#else + int r; + PyObject *bases = __Pyx_PyType_GetSlot(t, tp_bases, PyObject*); + if (bases && unlikely(__Pyx_validate_bases_tuple(t->tp_name, t->tp_dictoffset, bases) == -1)) + return -1; +#if PY_VERSION_HEX >= 0x03050000 && !defined(PYSTON_MAJOR_VERSION) + { + int gc_was_enabled; + #if PY_VERSION_HEX >= 0x030A00b1 + gc_was_enabled = PyGC_Disable(); + (void)__Pyx_PyObject_CallMethod0; + #else + PyObject *ret, *py_status; + PyObject *gc = NULL; + #if PY_VERSION_HEX >= 0x030700a1 && (!CYTHON_COMPILING_IN_PYPY || PYPY_VERSION_NUM+0 >= 0x07030400) + gc = PyImport_GetModule(__pyx_kp_u_gc); + #endif + if (unlikely(!gc)) gc = PyImport_Import(__pyx_kp_u_gc); + if (unlikely(!gc)) return -1; + py_status = __Pyx_PyObject_CallMethod0(gc, __pyx_kp_u_isenabled); + if (unlikely(!py_status)) { + Py_DECREF(gc); + return -1; + } + gc_was_enabled = __Pyx_PyObject_IsTrue(py_status); + Py_DECREF(py_status); + if (gc_was_enabled > 0) { + ret = __Pyx_PyObject_CallMethod0(gc, __pyx_kp_u_disable); + if (unlikely(!ret)) { + Py_DECREF(gc); + return -1; + } + Py_DECREF(ret); + } else if (unlikely(gc_was_enabled == -1)) { + Py_DECREF(gc); + return -1; + } + #endif + t->tp_flags |= Py_TPFLAGS_HEAPTYPE; +#if PY_VERSION_HEX >= 0x030A0000 + t->tp_flags |= Py_TPFLAGS_IMMUTABLETYPE; +#endif +#else + (void)__Pyx_PyObject_CallMethod0; +#endif + r = PyType_Ready(t); +#if PY_VERSION_HEX >= 0x03050000 && !defined(PYSTON_MAJOR_VERSION) + t->tp_flags &= ~Py_TPFLAGS_HEAPTYPE; + #if PY_VERSION_HEX >= 0x030A00b1 + if (gc_was_enabled) + PyGC_Enable(); + #else + if (gc_was_enabled) { + PyObject *tp, *v, *tb; + PyErr_Fetch(&tp, &v, &tb); + ret = __Pyx_PyObject_CallMethod0(gc, __pyx_kp_u_enable); + if (likely(ret || r == -1)) { + Py_XDECREF(ret); + PyErr_Restore(tp, v, tb); + } else { + Py_XDECREF(tp); + Py_XDECREF(v); + Py_XDECREF(tb); + r = -1; + } + } + Py_DECREF(gc); + #endif + } +#endif + return r; +#endif +} + +/* SetupReduce */ +#if !CYTHON_COMPILING_IN_LIMITED_API +static int __Pyx_setup_reduce_is_named(PyObject* meth, PyObject* name) { + int ret; + PyObject *name_attr; + name_attr = __Pyx_PyObject_GetAttrStrNoError(meth, __pyx_n_s_name_2); + if (likely(name_attr)) { + ret = PyObject_RichCompareBool(name_attr, name, Py_EQ); + } else { + ret = -1; + } + if (unlikely(ret < 0)) { + PyErr_Clear(); + ret = 0; + } + Py_XDECREF(name_attr); + return ret; +} +static int __Pyx_setup_reduce(PyObject* type_obj) { + int ret = 0; + PyObject *object_reduce = NULL; + PyObject *object_getstate = NULL; + PyObject *object_reduce_ex = NULL; + PyObject *reduce = NULL; + PyObject *reduce_ex = NULL; + PyObject *reduce_cython = NULL; + PyObject *setstate = NULL; + PyObject *setstate_cython = NULL; + PyObject *getstate = NULL; +#if CYTHON_USE_PYTYPE_LOOKUP + getstate = _PyType_Lookup((PyTypeObject*)type_obj, __pyx_n_s_getstate); +#else + getstate = __Pyx_PyObject_GetAttrStrNoError(type_obj, __pyx_n_s_getstate); + if (!getstate && PyErr_Occurred()) { + goto __PYX_BAD; + } +#endif + if (getstate) { +#if CYTHON_USE_PYTYPE_LOOKUP + object_getstate = _PyType_Lookup(&PyBaseObject_Type, __pyx_n_s_getstate); +#else + object_getstate = __Pyx_PyObject_GetAttrStrNoError((PyObject*)&PyBaseObject_Type, __pyx_n_s_getstate); + if (!object_getstate && PyErr_Occurred()) { + goto __PYX_BAD; + } +#endif + if (object_getstate != getstate) { + goto __PYX_GOOD; + } + } +#if CYTHON_USE_PYTYPE_LOOKUP + object_reduce_ex = _PyType_Lookup(&PyBaseObject_Type, __pyx_n_s_reduce_ex); if (!object_reduce_ex) goto __PYX_BAD; +#else + object_reduce_ex = __Pyx_PyObject_GetAttrStr((PyObject*)&PyBaseObject_Type, __pyx_n_s_reduce_ex); if (!object_reduce_ex) goto __PYX_BAD; +#endif + reduce_ex = __Pyx_PyObject_GetAttrStr(type_obj, __pyx_n_s_reduce_ex); if (unlikely(!reduce_ex)) goto __PYX_BAD; + if (reduce_ex == object_reduce_ex) { +#if CYTHON_USE_PYTYPE_LOOKUP + object_reduce = _PyType_Lookup(&PyBaseObject_Type, __pyx_n_s_reduce); if (!object_reduce) goto __PYX_BAD; +#else + object_reduce = __Pyx_PyObject_GetAttrStr((PyObject*)&PyBaseObject_Type, __pyx_n_s_reduce); if (!object_reduce) goto __PYX_BAD; +#endif + reduce = __Pyx_PyObject_GetAttrStr(type_obj, __pyx_n_s_reduce); if (unlikely(!reduce)) goto __PYX_BAD; + if (reduce == object_reduce || __Pyx_setup_reduce_is_named(reduce, __pyx_n_s_reduce_cython)) { + reduce_cython = __Pyx_PyObject_GetAttrStrNoError(type_obj, __pyx_n_s_reduce_cython); + if (likely(reduce_cython)) { + ret = PyDict_SetItem(((PyTypeObject*)type_obj)->tp_dict, __pyx_n_s_reduce, reduce_cython); if (unlikely(ret < 0)) goto __PYX_BAD; + ret = PyDict_DelItem(((PyTypeObject*)type_obj)->tp_dict, __pyx_n_s_reduce_cython); if (unlikely(ret < 0)) goto __PYX_BAD; + } else if (reduce == object_reduce || PyErr_Occurred()) { + goto __PYX_BAD; + } + setstate = __Pyx_PyObject_GetAttrStrNoError(type_obj, __pyx_n_s_setstate); + if (!setstate) PyErr_Clear(); + if (!setstate || __Pyx_setup_reduce_is_named(setstate, __pyx_n_s_setstate_cython)) { + setstate_cython = __Pyx_PyObject_GetAttrStrNoError(type_obj, __pyx_n_s_setstate_cython); + if (likely(setstate_cython)) { + ret = PyDict_SetItem(((PyTypeObject*)type_obj)->tp_dict, __pyx_n_s_setstate, setstate_cython); if (unlikely(ret < 0)) goto __PYX_BAD; + ret = PyDict_DelItem(((PyTypeObject*)type_obj)->tp_dict, __pyx_n_s_setstate_cython); if (unlikely(ret < 0)) goto __PYX_BAD; + } else if (!setstate || PyErr_Occurred()) { + goto __PYX_BAD; + } + } + PyType_Modified((PyTypeObject*)type_obj); + } + } + goto __PYX_GOOD; +__PYX_BAD: + if (!PyErr_Occurred()) { + __Pyx_TypeName type_obj_name = + __Pyx_PyType_GetName((PyTypeObject*)type_obj); + PyErr_Format(PyExc_RuntimeError, + "Unable to initialize pickling for " __Pyx_FMT_TYPENAME, type_obj_name); + __Pyx_DECREF_TypeName(type_obj_name); + } + ret = -1; +__PYX_GOOD: +#if !CYTHON_USE_PYTYPE_LOOKUP + Py_XDECREF(object_reduce); + Py_XDECREF(object_reduce_ex); + Py_XDECREF(object_getstate); + Py_XDECREF(getstate); +#endif + Py_XDECREF(reduce); + Py_XDECREF(reduce_ex); + Py_XDECREF(reduce_cython); + Py_XDECREF(setstate); + Py_XDECREF(setstate_cython); + return ret; +} +#endif + +/* SetVTable */ +static int __Pyx_SetVtable(PyTypeObject *type, void *vtable) { + PyObject *ob = PyCapsule_New(vtable, 0, 0); + if (unlikely(!ob)) + goto bad; +#if CYTHON_COMPILING_IN_LIMITED_API + if (unlikely(PyObject_SetAttr((PyObject *) type, __pyx_n_s_pyx_vtable, ob) < 0)) +#else + if (unlikely(PyDict_SetItem(type->tp_dict, __pyx_n_s_pyx_vtable, ob) < 0)) +#endif + goto bad; + Py_DECREF(ob); + return 0; +bad: + Py_XDECREF(ob); + return -1; +} + +/* GetVTable */ +static void* __Pyx_GetVtable(PyTypeObject *type) { + void* ptr; +#if CYTHON_COMPILING_IN_LIMITED_API + PyObject *ob = PyObject_GetAttr((PyObject *)type, __pyx_n_s_pyx_vtable); +#else + PyObject *ob = PyObject_GetItem(type->tp_dict, __pyx_n_s_pyx_vtable); +#endif + if (!ob) + goto bad; + ptr = PyCapsule_GetPointer(ob, 0); + if (!ptr && !PyErr_Occurred()) + PyErr_SetString(PyExc_RuntimeError, "invalid vtable found for imported type"); + Py_DECREF(ob); + return ptr; +bad: + Py_XDECREF(ob); + return NULL; +} + +/* MergeVTables */ +#if !CYTHON_COMPILING_IN_LIMITED_API +static int __Pyx_MergeVtables(PyTypeObject *type) { + int i; + void** base_vtables; + __Pyx_TypeName tp_base_name; + __Pyx_TypeName base_name; + void* unknown = (void*)-1; + PyObject* bases = type->tp_bases; + int base_depth = 0; + { + PyTypeObject* base = type->tp_base; + while (base) { + base_depth += 1; + base = base->tp_base; + } + } + base_vtables = (void**) malloc(sizeof(void*) * (size_t)(base_depth + 1)); + base_vtables[0] = unknown; + for (i = 1; i < PyTuple_GET_SIZE(bases); i++) { + void* base_vtable = __Pyx_GetVtable(((PyTypeObject*)PyTuple_GET_ITEM(bases, i))); + if (base_vtable != NULL) { + int j; + PyTypeObject* base = type->tp_base; + for (j = 0; j < base_depth; j++) { + if (base_vtables[j] == unknown) { + base_vtables[j] = __Pyx_GetVtable(base); + base_vtables[j + 1] = unknown; + } + if (base_vtables[j] == base_vtable) { + break; + } else if (base_vtables[j] == NULL) { + goto bad; + } + base = base->tp_base; + } + } + } + PyErr_Clear(); + free(base_vtables); + return 0; +bad: + tp_base_name = __Pyx_PyType_GetName(type->tp_base); + base_name = __Pyx_PyType_GetName((PyTypeObject*)PyTuple_GET_ITEM(bases, i)); + PyErr_Format(PyExc_TypeError, + "multiple bases have vtable conflict: '" __Pyx_FMT_TYPENAME "' and '" __Pyx_FMT_TYPENAME "'", tp_base_name, base_name); + __Pyx_DECREF_TypeName(tp_base_name); + __Pyx_DECREF_TypeName(base_name); + free(base_vtables); + return -1; +} +#endif + +/* FetchSharedCythonModule */ +static PyObject *__Pyx_FetchSharedCythonABIModule(void) { + return __Pyx_PyImport_AddModuleRef((char*) __PYX_ABI_MODULE_NAME); +} + +/* FetchCommonType */ +static int __Pyx_VerifyCachedType(PyObject *cached_type, + const char *name, + Py_ssize_t basicsize, + Py_ssize_t expected_basicsize) { + if (!PyType_Check(cached_type)) { + PyErr_Format(PyExc_TypeError, + "Shared Cython type %.200s is not a type object", name); + return -1; + } + if (basicsize != expected_basicsize) { + PyErr_Format(PyExc_TypeError, + "Shared Cython type %.200s has the wrong size, try recompiling", + name); + return -1; + } + return 0; +} +#if !CYTHON_USE_TYPE_SPECS +static PyTypeObject* __Pyx_FetchCommonType(PyTypeObject* type) { + PyObject* abi_module; + const char* object_name; + PyTypeObject *cached_type = NULL; + abi_module = __Pyx_FetchSharedCythonABIModule(); + if (!abi_module) return NULL; + object_name = strrchr(type->tp_name, '.'); + object_name = object_name ? object_name+1 : type->tp_name; + cached_type = (PyTypeObject*) PyObject_GetAttrString(abi_module, object_name); + if (cached_type) { + if (__Pyx_VerifyCachedType( + (PyObject *)cached_type, + object_name, + cached_type->tp_basicsize, + type->tp_basicsize) < 0) { + goto bad; + } + goto done; + } + if (!PyErr_ExceptionMatches(PyExc_AttributeError)) goto bad; + PyErr_Clear(); + if (PyType_Ready(type) < 0) goto bad; + if (PyObject_SetAttrString(abi_module, object_name, (PyObject *)type) < 0) + goto bad; + Py_INCREF(type); + cached_type = type; +done: + Py_DECREF(abi_module); + return cached_type; +bad: + Py_XDECREF(cached_type); + cached_type = NULL; + goto done; +} +#else +static PyTypeObject *__Pyx_FetchCommonTypeFromSpec(PyObject *module, PyType_Spec *spec, PyObject *bases) { + PyObject *abi_module, *cached_type = NULL; + const char* object_name = strrchr(spec->name, '.'); + object_name = object_name ? object_name+1 : spec->name; + abi_module = __Pyx_FetchSharedCythonABIModule(); + if (!abi_module) return NULL; + cached_type = PyObject_GetAttrString(abi_module, object_name); + if (cached_type) { + Py_ssize_t basicsize; +#if CYTHON_COMPILING_IN_LIMITED_API + PyObject *py_basicsize; + py_basicsize = PyObject_GetAttrString(cached_type, "__basicsize__"); + if (unlikely(!py_basicsize)) goto bad; + basicsize = PyLong_AsSsize_t(py_basicsize); + Py_DECREF(py_basicsize); + py_basicsize = 0; + if (unlikely(basicsize == (Py_ssize_t)-1) && PyErr_Occurred()) goto bad; +#else + basicsize = likely(PyType_Check(cached_type)) ? ((PyTypeObject*) cached_type)->tp_basicsize : -1; +#endif + if (__Pyx_VerifyCachedType( + cached_type, + object_name, + basicsize, + spec->basicsize) < 0) { + goto bad; + } + goto done; + } + if (!PyErr_ExceptionMatches(PyExc_AttributeError)) goto bad; + PyErr_Clear(); + CYTHON_UNUSED_VAR(module); + cached_type = __Pyx_PyType_FromModuleAndSpec(abi_module, spec, bases); + if (unlikely(!cached_type)) goto bad; + if (unlikely(__Pyx_fix_up_extension_type_from_spec(spec, (PyTypeObject *) cached_type) < 0)) goto bad; + if (PyObject_SetAttrString(abi_module, object_name, cached_type) < 0) goto bad; +done: + Py_DECREF(abi_module); + assert(cached_type == NULL || PyType_Check(cached_type)); + return (PyTypeObject *) cached_type; +bad: + Py_XDECREF(cached_type); + cached_type = NULL; + goto done; +} +#endif + +/* PyVectorcallFastCallDict */ +#if CYTHON_METH_FASTCALL +static PyObject *__Pyx_PyVectorcall_FastCallDict_kw(PyObject *func, __pyx_vectorcallfunc vc, PyObject *const *args, size_t nargs, PyObject *kw) +{ + PyObject *res = NULL; + PyObject *kwnames; + PyObject **newargs; + PyObject **kwvalues; + Py_ssize_t i, pos; + size_t j; + PyObject *key, *value; + unsigned long keys_are_strings; + Py_ssize_t nkw = PyDict_GET_SIZE(kw); + newargs = (PyObject **)PyMem_Malloc((nargs + (size_t)nkw) * sizeof(args[0])); + if (unlikely(newargs == NULL)) { + PyErr_NoMemory(); + return NULL; + } + for (j = 0; j < nargs; j++) newargs[j] = args[j]; + kwnames = PyTuple_New(nkw); + if (unlikely(kwnames == NULL)) { + PyMem_Free(newargs); + return NULL; + } + kwvalues = newargs + nargs; + pos = i = 0; + keys_are_strings = Py_TPFLAGS_UNICODE_SUBCLASS; + while (PyDict_Next(kw, &pos, &key, &value)) { + keys_are_strings &= Py_TYPE(key)->tp_flags; + Py_INCREF(key); + Py_INCREF(value); + PyTuple_SET_ITEM(kwnames, i, key); + kwvalues[i] = value; + i++; + } + if (unlikely(!keys_are_strings)) { + PyErr_SetString(PyExc_TypeError, "keywords must be strings"); + goto cleanup; + } + res = vc(func, newargs, nargs, kwnames); +cleanup: + Py_DECREF(kwnames); + for (i = 0; i < nkw; i++) + Py_DECREF(kwvalues[i]); + PyMem_Free(newargs); + return res; +} +static CYTHON_INLINE PyObject *__Pyx_PyVectorcall_FastCallDict(PyObject *func, __pyx_vectorcallfunc vc, PyObject *const *args, size_t nargs, PyObject *kw) +{ + if (likely(kw == NULL) || PyDict_GET_SIZE(kw) == 0) { + return vc(func, args, nargs, NULL); + } + return __Pyx_PyVectorcall_FastCallDict_kw(func, vc, args, nargs, kw); +} +#endif + +/* CythonFunctionShared */ +#if CYTHON_COMPILING_IN_LIMITED_API +static CYTHON_INLINE int __Pyx__IsSameCyOrCFunction(PyObject *func, void *cfunc) { + if (__Pyx_CyFunction_Check(func)) { + return PyCFunction_GetFunction(((__pyx_CyFunctionObject*)func)->func) == (PyCFunction) cfunc; + } else if (PyCFunction_Check(func)) { + return PyCFunction_GetFunction(func) == (PyCFunction) cfunc; + } + return 0; +} +#else +static CYTHON_INLINE int __Pyx__IsSameCyOrCFunction(PyObject *func, void *cfunc) { + return __Pyx_CyOrPyCFunction_Check(func) && __Pyx_CyOrPyCFunction_GET_FUNCTION(func) == (PyCFunction) cfunc; +} +#endif +static CYTHON_INLINE void __Pyx__CyFunction_SetClassObj(__pyx_CyFunctionObject* f, PyObject* classobj) { +#if PY_VERSION_HEX < 0x030900B1 || CYTHON_COMPILING_IN_LIMITED_API + __Pyx_Py_XDECREF_SET( + __Pyx_CyFunction_GetClassObj(f), + ((classobj) ? __Pyx_NewRef(classobj) : NULL)); +#else + __Pyx_Py_XDECREF_SET( + ((PyCMethodObject *) (f))->mm_class, + (PyTypeObject*)((classobj) ? __Pyx_NewRef(classobj) : NULL)); +#endif +} +static PyObject * +__Pyx_CyFunction_get_doc(__pyx_CyFunctionObject *op, void *closure) +{ + CYTHON_UNUSED_VAR(closure); + if (unlikely(op->func_doc == NULL)) { +#if CYTHON_COMPILING_IN_LIMITED_API + op->func_doc = PyObject_GetAttrString(op->func, "__doc__"); + if (unlikely(!op->func_doc)) return NULL; +#else + if (((PyCFunctionObject*)op)->m_ml->ml_doc) { +#if PY_MAJOR_VERSION >= 3 + op->func_doc = PyUnicode_FromString(((PyCFunctionObject*)op)->m_ml->ml_doc); +#else + op->func_doc = PyString_FromString(((PyCFunctionObject*)op)->m_ml->ml_doc); +#endif + if (unlikely(op->func_doc == NULL)) + return NULL; + } else { + Py_INCREF(Py_None); + return Py_None; + } +#endif + } + Py_INCREF(op->func_doc); + return op->func_doc; +} +static int +__Pyx_CyFunction_set_doc(__pyx_CyFunctionObject *op, PyObject *value, void *context) +{ + CYTHON_UNUSED_VAR(context); + if (value == NULL) { + value = Py_None; + } + Py_INCREF(value); + __Pyx_Py_XDECREF_SET(op->func_doc, value); + return 0; +} +static PyObject * +__Pyx_CyFunction_get_name(__pyx_CyFunctionObject *op, void *context) +{ + CYTHON_UNUSED_VAR(context); + if (unlikely(op->func_name == NULL)) { +#if CYTHON_COMPILING_IN_LIMITED_API + op->func_name = PyObject_GetAttrString(op->func, "__name__"); +#elif PY_MAJOR_VERSION >= 3 + op->func_name = PyUnicode_InternFromString(((PyCFunctionObject*)op)->m_ml->ml_name); +#else + op->func_name = PyString_InternFromString(((PyCFunctionObject*)op)->m_ml->ml_name); +#endif + if (unlikely(op->func_name == NULL)) + return NULL; + } + Py_INCREF(op->func_name); + return op->func_name; +} +static int +__Pyx_CyFunction_set_name(__pyx_CyFunctionObject *op, PyObject *value, void *context) +{ + CYTHON_UNUSED_VAR(context); +#if PY_MAJOR_VERSION >= 3 + if (unlikely(value == NULL || !PyUnicode_Check(value))) +#else + if (unlikely(value == NULL || !PyString_Check(value))) +#endif + { + PyErr_SetString(PyExc_TypeError, + "__name__ must be set to a string object"); + return -1; + } + Py_INCREF(value); + __Pyx_Py_XDECREF_SET(op->func_name, value); + return 0; +} +static PyObject * +__Pyx_CyFunction_get_qualname(__pyx_CyFunctionObject *op, void *context) +{ + CYTHON_UNUSED_VAR(context); + Py_INCREF(op->func_qualname); + return op->func_qualname; +} +static int +__Pyx_CyFunction_set_qualname(__pyx_CyFunctionObject *op, PyObject *value, void *context) +{ + CYTHON_UNUSED_VAR(context); +#if PY_MAJOR_VERSION >= 3 + if (unlikely(value == NULL || !PyUnicode_Check(value))) +#else + if (unlikely(value == NULL || !PyString_Check(value))) +#endif + { + PyErr_SetString(PyExc_TypeError, + "__qualname__ must be set to a string object"); + return -1; + } + Py_INCREF(value); + __Pyx_Py_XDECREF_SET(op->func_qualname, value); + return 0; +} +static PyObject * +__Pyx_CyFunction_get_dict(__pyx_CyFunctionObject *op, void *context) +{ + CYTHON_UNUSED_VAR(context); + if (unlikely(op->func_dict == NULL)) { + op->func_dict = PyDict_New(); + if (unlikely(op->func_dict == NULL)) + return NULL; + } + Py_INCREF(op->func_dict); + return op->func_dict; +} +static int +__Pyx_CyFunction_set_dict(__pyx_CyFunctionObject *op, PyObject *value, void *context) +{ + CYTHON_UNUSED_VAR(context); + if (unlikely(value == NULL)) { + PyErr_SetString(PyExc_TypeError, + "function's dictionary may not be deleted"); + return -1; + } + if (unlikely(!PyDict_Check(value))) { + PyErr_SetString(PyExc_TypeError, + "setting function's dictionary to a non-dict"); + return -1; + } + Py_INCREF(value); + __Pyx_Py_XDECREF_SET(op->func_dict, value); + return 0; +} +static PyObject * +__Pyx_CyFunction_get_globals(__pyx_CyFunctionObject *op, void *context) +{ + CYTHON_UNUSED_VAR(context); + Py_INCREF(op->func_globals); + return op->func_globals; +} +static PyObject * +__Pyx_CyFunction_get_closure(__pyx_CyFunctionObject *op, void *context) +{ + CYTHON_UNUSED_VAR(op); + CYTHON_UNUSED_VAR(context); + Py_INCREF(Py_None); + return Py_None; +} +static PyObject * +__Pyx_CyFunction_get_code(__pyx_CyFunctionObject *op, void *context) +{ + PyObject* result = (op->func_code) ? op->func_code : Py_None; + CYTHON_UNUSED_VAR(context); + Py_INCREF(result); + return result; +} +static int +__Pyx_CyFunction_init_defaults(__pyx_CyFunctionObject *op) { + int result = 0; + PyObject *res = op->defaults_getter((PyObject *) op); + if (unlikely(!res)) + return -1; + #if CYTHON_ASSUME_SAFE_MACROS && !CYTHON_AVOID_BORROWED_REFS + op->defaults_tuple = PyTuple_GET_ITEM(res, 0); + Py_INCREF(op->defaults_tuple); + op->defaults_kwdict = PyTuple_GET_ITEM(res, 1); + Py_INCREF(op->defaults_kwdict); + #else + op->defaults_tuple = __Pyx_PySequence_ITEM(res, 0); + if (unlikely(!op->defaults_tuple)) result = -1; + else { + op->defaults_kwdict = __Pyx_PySequence_ITEM(res, 1); + if (unlikely(!op->defaults_kwdict)) result = -1; + } + #endif + Py_DECREF(res); + return result; +} +static int +__Pyx_CyFunction_set_defaults(__pyx_CyFunctionObject *op, PyObject* value, void *context) { + CYTHON_UNUSED_VAR(context); + if (!value) { + value = Py_None; + } else if (unlikely(value != Py_None && !PyTuple_Check(value))) { + PyErr_SetString(PyExc_TypeError, + "__defaults__ must be set to a tuple object"); + return -1; + } + PyErr_WarnEx(PyExc_RuntimeWarning, "changes to cyfunction.__defaults__ will not " + "currently affect the values used in function calls", 1); + Py_INCREF(value); + __Pyx_Py_XDECREF_SET(op->defaults_tuple, value); + return 0; +} +static PyObject * +__Pyx_CyFunction_get_defaults(__pyx_CyFunctionObject *op, void *context) { + PyObject* result = op->defaults_tuple; + CYTHON_UNUSED_VAR(context); + if (unlikely(!result)) { + if (op->defaults_getter) { + if (unlikely(__Pyx_CyFunction_init_defaults(op) < 0)) return NULL; + result = op->defaults_tuple; + } else { + result = Py_None; + } + } + Py_INCREF(result); + return result; +} +static int +__Pyx_CyFunction_set_kwdefaults(__pyx_CyFunctionObject *op, PyObject* value, void *context) { + CYTHON_UNUSED_VAR(context); + if (!value) { + value = Py_None; + } else if (unlikely(value != Py_None && !PyDict_Check(value))) { + PyErr_SetString(PyExc_TypeError, + "__kwdefaults__ must be set to a dict object"); + return -1; + } + PyErr_WarnEx(PyExc_RuntimeWarning, "changes to cyfunction.__kwdefaults__ will not " + "currently affect the values used in function calls", 1); + Py_INCREF(value); + __Pyx_Py_XDECREF_SET(op->defaults_kwdict, value); + return 0; +} +static PyObject * +__Pyx_CyFunction_get_kwdefaults(__pyx_CyFunctionObject *op, void *context) { + PyObject* result = op->defaults_kwdict; + CYTHON_UNUSED_VAR(context); + if (unlikely(!result)) { + if (op->defaults_getter) { + if (unlikely(__Pyx_CyFunction_init_defaults(op) < 0)) return NULL; + result = op->defaults_kwdict; + } else { + result = Py_None; + } + } + Py_INCREF(result); + return result; +} +static int +__Pyx_CyFunction_set_annotations(__pyx_CyFunctionObject *op, PyObject* value, void *context) { + CYTHON_UNUSED_VAR(context); + if (!value || value == Py_None) { + value = NULL; + } else if (unlikely(!PyDict_Check(value))) { + PyErr_SetString(PyExc_TypeError, + "__annotations__ must be set to a dict object"); + return -1; + } + Py_XINCREF(value); + __Pyx_Py_XDECREF_SET(op->func_annotations, value); + return 0; +} +static PyObject * +__Pyx_CyFunction_get_annotations(__pyx_CyFunctionObject *op, void *context) { + PyObject* result = op->func_annotations; + CYTHON_UNUSED_VAR(context); + if (unlikely(!result)) { + result = PyDict_New(); + if (unlikely(!result)) return NULL; + op->func_annotations = result; + } + Py_INCREF(result); + return result; +} +static PyObject * +__Pyx_CyFunction_get_is_coroutine(__pyx_CyFunctionObject *op, void *context) { + int is_coroutine; + CYTHON_UNUSED_VAR(context); + if (op->func_is_coroutine) { + return __Pyx_NewRef(op->func_is_coroutine); + } + is_coroutine = op->flags & __Pyx_CYFUNCTION_COROUTINE; +#if PY_VERSION_HEX >= 0x03050000 + if (is_coroutine) { + PyObject *module, *fromlist, *marker = __pyx_n_s_is_coroutine; + fromlist = PyList_New(1); + if (unlikely(!fromlist)) return NULL; + Py_INCREF(marker); +#if CYTHON_ASSUME_SAFE_MACROS + PyList_SET_ITEM(fromlist, 0, marker); +#else + if (unlikely(PyList_SetItem(fromlist, 0, marker) < 0)) { + Py_DECREF(marker); + Py_DECREF(fromlist); + return NULL; + } +#endif + module = PyImport_ImportModuleLevelObject(__pyx_n_s_asyncio_coroutines, NULL, NULL, fromlist, 0); + Py_DECREF(fromlist); + if (unlikely(!module)) goto ignore; + op->func_is_coroutine = __Pyx_PyObject_GetAttrStr(module, marker); + Py_DECREF(module); + if (likely(op->func_is_coroutine)) { + return __Pyx_NewRef(op->func_is_coroutine); + } +ignore: + PyErr_Clear(); + } +#endif + op->func_is_coroutine = __Pyx_PyBool_FromLong(is_coroutine); + return __Pyx_NewRef(op->func_is_coroutine); +} +#if CYTHON_COMPILING_IN_LIMITED_API +static PyObject * +__Pyx_CyFunction_get_module(__pyx_CyFunctionObject *op, void *context) { + CYTHON_UNUSED_VAR(context); + return PyObject_GetAttrString(op->func, "__module__"); +} +static int +__Pyx_CyFunction_set_module(__pyx_CyFunctionObject *op, PyObject* value, void *context) { + CYTHON_UNUSED_VAR(context); + return PyObject_SetAttrString(op->func, "__module__", value); +} +#endif +static PyGetSetDef __pyx_CyFunction_getsets[] = { + {(char *) "func_doc", (getter)__Pyx_CyFunction_get_doc, (setter)__Pyx_CyFunction_set_doc, 0, 0}, + {(char *) "__doc__", (getter)__Pyx_CyFunction_get_doc, (setter)__Pyx_CyFunction_set_doc, 0, 0}, + {(char *) "func_name", (getter)__Pyx_CyFunction_get_name, (setter)__Pyx_CyFunction_set_name, 0, 0}, + {(char *) "__name__", (getter)__Pyx_CyFunction_get_name, (setter)__Pyx_CyFunction_set_name, 0, 0}, + {(char *) "__qualname__", (getter)__Pyx_CyFunction_get_qualname, (setter)__Pyx_CyFunction_set_qualname, 0, 0}, + {(char *) "func_dict", (getter)__Pyx_CyFunction_get_dict, (setter)__Pyx_CyFunction_set_dict, 0, 0}, + {(char *) "__dict__", (getter)__Pyx_CyFunction_get_dict, (setter)__Pyx_CyFunction_set_dict, 0, 0}, + {(char *) "func_globals", (getter)__Pyx_CyFunction_get_globals, 0, 0, 0}, + {(char *) "__globals__", (getter)__Pyx_CyFunction_get_globals, 0, 0, 0}, + {(char *) "func_closure", (getter)__Pyx_CyFunction_get_closure, 0, 0, 0}, + {(char *) "__closure__", (getter)__Pyx_CyFunction_get_closure, 0, 0, 0}, + {(char *) "func_code", (getter)__Pyx_CyFunction_get_code, 0, 0, 0}, + {(char *) "__code__", (getter)__Pyx_CyFunction_get_code, 0, 0, 0}, + {(char *) "func_defaults", (getter)__Pyx_CyFunction_get_defaults, (setter)__Pyx_CyFunction_set_defaults, 0, 0}, + {(char *) "__defaults__", (getter)__Pyx_CyFunction_get_defaults, (setter)__Pyx_CyFunction_set_defaults, 0, 0}, + {(char *) "__kwdefaults__", (getter)__Pyx_CyFunction_get_kwdefaults, (setter)__Pyx_CyFunction_set_kwdefaults, 0, 0}, + {(char *) "__annotations__", (getter)__Pyx_CyFunction_get_annotations, (setter)__Pyx_CyFunction_set_annotations, 0, 0}, + {(char *) "_is_coroutine", (getter)__Pyx_CyFunction_get_is_coroutine, 0, 0, 0}, +#if CYTHON_COMPILING_IN_LIMITED_API + {"__module__", (getter)__Pyx_CyFunction_get_module, (setter)__Pyx_CyFunction_set_module, 0, 0}, +#endif + {0, 0, 0, 0, 0} +}; +static PyMemberDef __pyx_CyFunction_members[] = { +#if !CYTHON_COMPILING_IN_LIMITED_API + {(char *) "__module__", T_OBJECT, offsetof(PyCFunctionObject, m_module), 0, 0}, +#endif +#if CYTHON_USE_TYPE_SPECS + {(char *) "__dictoffset__", T_PYSSIZET, offsetof(__pyx_CyFunctionObject, func_dict), READONLY, 0}, +#if CYTHON_METH_FASTCALL +#if CYTHON_BACKPORT_VECTORCALL + {(char *) "__vectorcalloffset__", T_PYSSIZET, offsetof(__pyx_CyFunctionObject, func_vectorcall), READONLY, 0}, +#else +#if !CYTHON_COMPILING_IN_LIMITED_API + {(char *) "__vectorcalloffset__", T_PYSSIZET, offsetof(PyCFunctionObject, vectorcall), READONLY, 0}, +#endif +#endif +#endif +#if PY_VERSION_HEX < 0x030500A0 || CYTHON_COMPILING_IN_LIMITED_API + {(char *) "__weaklistoffset__", T_PYSSIZET, offsetof(__pyx_CyFunctionObject, func_weakreflist), READONLY, 0}, +#else + {(char *) "__weaklistoffset__", T_PYSSIZET, offsetof(PyCFunctionObject, m_weakreflist), READONLY, 0}, +#endif +#endif + {0, 0, 0, 0, 0} +}; +static PyObject * +__Pyx_CyFunction_reduce(__pyx_CyFunctionObject *m, PyObject *args) +{ + CYTHON_UNUSED_VAR(args); +#if PY_MAJOR_VERSION >= 3 + Py_INCREF(m->func_qualname); + return m->func_qualname; +#else + return PyString_FromString(((PyCFunctionObject*)m)->m_ml->ml_name); +#endif +} +static PyMethodDef __pyx_CyFunction_methods[] = { + {"__reduce__", (PyCFunction)__Pyx_CyFunction_reduce, METH_VARARGS, 0}, + {0, 0, 0, 0} +}; +#if PY_VERSION_HEX < 0x030500A0 || CYTHON_COMPILING_IN_LIMITED_API +#define __Pyx_CyFunction_weakreflist(cyfunc) ((cyfunc)->func_weakreflist) +#else +#define __Pyx_CyFunction_weakreflist(cyfunc) (((PyCFunctionObject*)cyfunc)->m_weakreflist) +#endif +static PyObject *__Pyx_CyFunction_Init(__pyx_CyFunctionObject *op, PyMethodDef *ml, int flags, PyObject* qualname, + PyObject *closure, PyObject *module, PyObject* globals, PyObject* code) { +#if !CYTHON_COMPILING_IN_LIMITED_API + PyCFunctionObject *cf = (PyCFunctionObject*) op; +#endif + if (unlikely(op == NULL)) + return NULL; +#if CYTHON_COMPILING_IN_LIMITED_API + op->func = PyCFunction_NewEx(ml, (PyObject*)op, module); + if (unlikely(!op->func)) return NULL; +#endif + op->flags = flags; + __Pyx_CyFunction_weakreflist(op) = NULL; +#if !CYTHON_COMPILING_IN_LIMITED_API + cf->m_ml = ml; + cf->m_self = (PyObject *) op; +#endif + Py_XINCREF(closure); + op->func_closure = closure; +#if !CYTHON_COMPILING_IN_LIMITED_API + Py_XINCREF(module); + cf->m_module = module; +#endif + op->func_dict = NULL; + op->func_name = NULL; + Py_INCREF(qualname); + op->func_qualname = qualname; + op->func_doc = NULL; +#if PY_VERSION_HEX < 0x030900B1 || CYTHON_COMPILING_IN_LIMITED_API + op->func_classobj = NULL; +#else + ((PyCMethodObject*)op)->mm_class = NULL; +#endif + op->func_globals = globals; + Py_INCREF(op->func_globals); + Py_XINCREF(code); + op->func_code = code; + op->defaults_pyobjects = 0; + op->defaults_size = 0; + op->defaults = NULL; + op->defaults_tuple = NULL; + op->defaults_kwdict = NULL; + op->defaults_getter = NULL; + op->func_annotations = NULL; + op->func_is_coroutine = NULL; +#if CYTHON_METH_FASTCALL + switch (ml->ml_flags & (METH_VARARGS | METH_FASTCALL | METH_NOARGS | METH_O | METH_KEYWORDS | METH_METHOD)) { + case METH_NOARGS: + __Pyx_CyFunction_func_vectorcall(op) = __Pyx_CyFunction_Vectorcall_NOARGS; + break; + case METH_O: + __Pyx_CyFunction_func_vectorcall(op) = __Pyx_CyFunction_Vectorcall_O; + break; + case METH_METHOD | METH_FASTCALL | METH_KEYWORDS: + __Pyx_CyFunction_func_vectorcall(op) = __Pyx_CyFunction_Vectorcall_FASTCALL_KEYWORDS_METHOD; + break; + case METH_FASTCALL | METH_KEYWORDS: + __Pyx_CyFunction_func_vectorcall(op) = __Pyx_CyFunction_Vectorcall_FASTCALL_KEYWORDS; + break; + case METH_VARARGS | METH_KEYWORDS: + __Pyx_CyFunction_func_vectorcall(op) = NULL; + break; + default: + PyErr_SetString(PyExc_SystemError, "Bad call flags for CyFunction"); + Py_DECREF(op); + return NULL; + } +#endif + return (PyObject *) op; +} +static int +__Pyx_CyFunction_clear(__pyx_CyFunctionObject *m) +{ + Py_CLEAR(m->func_closure); +#if CYTHON_COMPILING_IN_LIMITED_API + Py_CLEAR(m->func); +#else + Py_CLEAR(((PyCFunctionObject*)m)->m_module); +#endif + Py_CLEAR(m->func_dict); + Py_CLEAR(m->func_name); + Py_CLEAR(m->func_qualname); + Py_CLEAR(m->func_doc); + Py_CLEAR(m->func_globals); + Py_CLEAR(m->func_code); +#if !CYTHON_COMPILING_IN_LIMITED_API +#if PY_VERSION_HEX < 0x030900B1 + Py_CLEAR(__Pyx_CyFunction_GetClassObj(m)); +#else + { + PyObject *cls = (PyObject*) ((PyCMethodObject *) (m))->mm_class; + ((PyCMethodObject *) (m))->mm_class = NULL; + Py_XDECREF(cls); + } +#endif +#endif + Py_CLEAR(m->defaults_tuple); + Py_CLEAR(m->defaults_kwdict); + Py_CLEAR(m->func_annotations); + Py_CLEAR(m->func_is_coroutine); + if (m->defaults) { + PyObject **pydefaults = __Pyx_CyFunction_Defaults(PyObject *, m); + int i; + for (i = 0; i < m->defaults_pyobjects; i++) + Py_XDECREF(pydefaults[i]); + PyObject_Free(m->defaults); + m->defaults = NULL; + } + return 0; +} +static void __Pyx__CyFunction_dealloc(__pyx_CyFunctionObject *m) +{ + if (__Pyx_CyFunction_weakreflist(m) != NULL) + PyObject_ClearWeakRefs((PyObject *) m); + __Pyx_CyFunction_clear(m); + __Pyx_PyHeapTypeObject_GC_Del(m); +} +static void __Pyx_CyFunction_dealloc(__pyx_CyFunctionObject *m) +{ + PyObject_GC_UnTrack(m); + __Pyx__CyFunction_dealloc(m); +} +static int __Pyx_CyFunction_traverse(__pyx_CyFunctionObject *m, visitproc visit, void *arg) +{ + Py_VISIT(m->func_closure); +#if CYTHON_COMPILING_IN_LIMITED_API + Py_VISIT(m->func); +#else + Py_VISIT(((PyCFunctionObject*)m)->m_module); +#endif + Py_VISIT(m->func_dict); + Py_VISIT(m->func_name); + Py_VISIT(m->func_qualname); + Py_VISIT(m->func_doc); + Py_VISIT(m->func_globals); + Py_VISIT(m->func_code); +#if !CYTHON_COMPILING_IN_LIMITED_API + Py_VISIT(__Pyx_CyFunction_GetClassObj(m)); +#endif + Py_VISIT(m->defaults_tuple); + Py_VISIT(m->defaults_kwdict); + Py_VISIT(m->func_is_coroutine); + if (m->defaults) { + PyObject **pydefaults = __Pyx_CyFunction_Defaults(PyObject *, m); + int i; + for (i = 0; i < m->defaults_pyobjects; i++) + Py_VISIT(pydefaults[i]); + } + return 0; +} +static PyObject* +__Pyx_CyFunction_repr(__pyx_CyFunctionObject *op) +{ +#if PY_MAJOR_VERSION >= 3 + return PyUnicode_FromFormat("", + op->func_qualname, (void *)op); +#else + return PyString_FromFormat("", + PyString_AsString(op->func_qualname), (void *)op); +#endif +} +static PyObject * __Pyx_CyFunction_CallMethod(PyObject *func, PyObject *self, PyObject *arg, PyObject *kw) { +#if CYTHON_COMPILING_IN_LIMITED_API + PyObject *f = ((__pyx_CyFunctionObject*)func)->func; + PyObject *py_name = NULL; + PyCFunction meth; + int flags; + meth = PyCFunction_GetFunction(f); + if (unlikely(!meth)) return NULL; + flags = PyCFunction_GetFlags(f); + if (unlikely(flags < 0)) return NULL; +#else + PyCFunctionObject* f = (PyCFunctionObject*)func; + PyCFunction meth = f->m_ml->ml_meth; + int flags = f->m_ml->ml_flags; +#endif + Py_ssize_t size; + switch (flags & (METH_VARARGS | METH_KEYWORDS | METH_NOARGS | METH_O)) { + case METH_VARARGS: + if (likely(kw == NULL || PyDict_Size(kw) == 0)) + return (*meth)(self, arg); + break; + case METH_VARARGS | METH_KEYWORDS: + return (*(PyCFunctionWithKeywords)(void*)meth)(self, arg, kw); + case METH_NOARGS: + if (likely(kw == NULL || PyDict_Size(kw) == 0)) { +#if CYTHON_ASSUME_SAFE_MACROS + size = PyTuple_GET_SIZE(arg); +#else + size = PyTuple_Size(arg); + if (unlikely(size < 0)) return NULL; +#endif + if (likely(size == 0)) + return (*meth)(self, NULL); +#if CYTHON_COMPILING_IN_LIMITED_API + py_name = __Pyx_CyFunction_get_name((__pyx_CyFunctionObject*)func, NULL); + if (!py_name) return NULL; + PyErr_Format(PyExc_TypeError, + "%.200S() takes no arguments (%" CYTHON_FORMAT_SSIZE_T "d given)", + py_name, size); + Py_DECREF(py_name); +#else + PyErr_Format(PyExc_TypeError, + "%.200s() takes no arguments (%" CYTHON_FORMAT_SSIZE_T "d given)", + f->m_ml->ml_name, size); +#endif + return NULL; + } + break; + case METH_O: + if (likely(kw == NULL || PyDict_Size(kw) == 0)) { +#if CYTHON_ASSUME_SAFE_MACROS + size = PyTuple_GET_SIZE(arg); +#else + size = PyTuple_Size(arg); + if (unlikely(size < 0)) return NULL; +#endif + if (likely(size == 1)) { + PyObject *result, *arg0; + #if CYTHON_ASSUME_SAFE_MACROS && !CYTHON_AVOID_BORROWED_REFS + arg0 = PyTuple_GET_ITEM(arg, 0); + #else + arg0 = __Pyx_PySequence_ITEM(arg, 0); if (unlikely(!arg0)) return NULL; + #endif + result = (*meth)(self, arg0); + #if !(CYTHON_ASSUME_SAFE_MACROS && !CYTHON_AVOID_BORROWED_REFS) + Py_DECREF(arg0); + #endif + return result; + } +#if CYTHON_COMPILING_IN_LIMITED_API + py_name = __Pyx_CyFunction_get_name((__pyx_CyFunctionObject*)func, NULL); + if (!py_name) return NULL; + PyErr_Format(PyExc_TypeError, + "%.200S() takes exactly one argument (%" CYTHON_FORMAT_SSIZE_T "d given)", + py_name, size); + Py_DECREF(py_name); +#else + PyErr_Format(PyExc_TypeError, + "%.200s() takes exactly one argument (%" CYTHON_FORMAT_SSIZE_T "d given)", + f->m_ml->ml_name, size); +#endif + return NULL; + } + break; + default: + PyErr_SetString(PyExc_SystemError, "Bad call flags for CyFunction"); + return NULL; + } +#if CYTHON_COMPILING_IN_LIMITED_API + py_name = __Pyx_CyFunction_get_name((__pyx_CyFunctionObject*)func, NULL); + if (!py_name) return NULL; + PyErr_Format(PyExc_TypeError, "%.200S() takes no keyword arguments", + py_name); + Py_DECREF(py_name); +#else + PyErr_Format(PyExc_TypeError, "%.200s() takes no keyword arguments", + f->m_ml->ml_name); +#endif + return NULL; +} +static CYTHON_INLINE PyObject *__Pyx_CyFunction_Call(PyObject *func, PyObject *arg, PyObject *kw) { + PyObject *self, *result; +#if CYTHON_COMPILING_IN_LIMITED_API + self = PyCFunction_GetSelf(((__pyx_CyFunctionObject*)func)->func); + if (unlikely(!self) && PyErr_Occurred()) return NULL; +#else + self = ((PyCFunctionObject*)func)->m_self; +#endif + result = __Pyx_CyFunction_CallMethod(func, self, arg, kw); + return result; +} +static PyObject *__Pyx_CyFunction_CallAsMethod(PyObject *func, PyObject *args, PyObject *kw) { + PyObject *result; + __pyx_CyFunctionObject *cyfunc = (__pyx_CyFunctionObject *) func; +#if CYTHON_METH_FASTCALL + __pyx_vectorcallfunc vc = __Pyx_CyFunction_func_vectorcall(cyfunc); + if (vc) { +#if CYTHON_ASSUME_SAFE_MACROS + return __Pyx_PyVectorcall_FastCallDict(func, vc, &PyTuple_GET_ITEM(args, 0), (size_t)PyTuple_GET_SIZE(args), kw); +#else + (void) &__Pyx_PyVectorcall_FastCallDict; + return PyVectorcall_Call(func, args, kw); +#endif + } +#endif + if ((cyfunc->flags & __Pyx_CYFUNCTION_CCLASS) && !(cyfunc->flags & __Pyx_CYFUNCTION_STATICMETHOD)) { + Py_ssize_t argc; + PyObject *new_args; + PyObject *self; +#if CYTHON_ASSUME_SAFE_MACROS + argc = PyTuple_GET_SIZE(args); +#else + argc = PyTuple_Size(args); + if (unlikely(!argc) < 0) return NULL; +#endif + new_args = PyTuple_GetSlice(args, 1, argc); + if (unlikely(!new_args)) + return NULL; + self = PyTuple_GetItem(args, 0); + if (unlikely(!self)) { + Py_DECREF(new_args); +#if PY_MAJOR_VERSION > 2 + PyErr_Format(PyExc_TypeError, + "unbound method %.200S() needs an argument", + cyfunc->func_qualname); +#else + PyErr_SetString(PyExc_TypeError, + "unbound method needs an argument"); +#endif + return NULL; + } + result = __Pyx_CyFunction_CallMethod(func, self, new_args, kw); + Py_DECREF(new_args); + } else { + result = __Pyx_CyFunction_Call(func, args, kw); + } + return result; +} +#if CYTHON_METH_FASTCALL +static CYTHON_INLINE int __Pyx_CyFunction_Vectorcall_CheckArgs(__pyx_CyFunctionObject *cyfunc, Py_ssize_t nargs, PyObject *kwnames) +{ + int ret = 0; + if ((cyfunc->flags & __Pyx_CYFUNCTION_CCLASS) && !(cyfunc->flags & __Pyx_CYFUNCTION_STATICMETHOD)) { + if (unlikely(nargs < 1)) { + PyErr_Format(PyExc_TypeError, "%.200s() needs an argument", + ((PyCFunctionObject*)cyfunc)->m_ml->ml_name); + return -1; + } + ret = 1; + } + if (unlikely(kwnames) && unlikely(PyTuple_GET_SIZE(kwnames))) { + PyErr_Format(PyExc_TypeError, + "%.200s() takes no keyword arguments", ((PyCFunctionObject*)cyfunc)->m_ml->ml_name); + return -1; + } + return ret; +} +static PyObject * __Pyx_CyFunction_Vectorcall_NOARGS(PyObject *func, PyObject *const *args, size_t nargsf, PyObject *kwnames) +{ + __pyx_CyFunctionObject *cyfunc = (__pyx_CyFunctionObject *)func; + PyMethodDef* def = ((PyCFunctionObject*)cyfunc)->m_ml; +#if CYTHON_BACKPORT_VECTORCALL + Py_ssize_t nargs = (Py_ssize_t)nargsf; +#else + Py_ssize_t nargs = PyVectorcall_NARGS(nargsf); +#endif + PyObject *self; + switch (__Pyx_CyFunction_Vectorcall_CheckArgs(cyfunc, nargs, kwnames)) { + case 1: + self = args[0]; + args += 1; + nargs -= 1; + break; + case 0: + self = ((PyCFunctionObject*)cyfunc)->m_self; + break; + default: + return NULL; + } + if (unlikely(nargs != 0)) { + PyErr_Format(PyExc_TypeError, + "%.200s() takes no arguments (%" CYTHON_FORMAT_SSIZE_T "d given)", + def->ml_name, nargs); + return NULL; + } + return def->ml_meth(self, NULL); +} +static PyObject * __Pyx_CyFunction_Vectorcall_O(PyObject *func, PyObject *const *args, size_t nargsf, PyObject *kwnames) +{ + __pyx_CyFunctionObject *cyfunc = (__pyx_CyFunctionObject *)func; + PyMethodDef* def = ((PyCFunctionObject*)cyfunc)->m_ml; +#if CYTHON_BACKPORT_VECTORCALL + Py_ssize_t nargs = (Py_ssize_t)nargsf; +#else + Py_ssize_t nargs = PyVectorcall_NARGS(nargsf); +#endif + PyObject *self; + switch (__Pyx_CyFunction_Vectorcall_CheckArgs(cyfunc, nargs, kwnames)) { + case 1: + self = args[0]; + args += 1; + nargs -= 1; + break; + case 0: + self = ((PyCFunctionObject*)cyfunc)->m_self; + break; + default: + return NULL; + } + if (unlikely(nargs != 1)) { + PyErr_Format(PyExc_TypeError, + "%.200s() takes exactly one argument (%" CYTHON_FORMAT_SSIZE_T "d given)", + def->ml_name, nargs); + return NULL; + } + return def->ml_meth(self, args[0]); +} +static PyObject * __Pyx_CyFunction_Vectorcall_FASTCALL_KEYWORDS(PyObject *func, PyObject *const *args, size_t nargsf, PyObject *kwnames) +{ + __pyx_CyFunctionObject *cyfunc = (__pyx_CyFunctionObject *)func; + PyMethodDef* def = ((PyCFunctionObject*)cyfunc)->m_ml; +#if CYTHON_BACKPORT_VECTORCALL + Py_ssize_t nargs = (Py_ssize_t)nargsf; +#else + Py_ssize_t nargs = PyVectorcall_NARGS(nargsf); +#endif + PyObject *self; + switch (__Pyx_CyFunction_Vectorcall_CheckArgs(cyfunc, nargs, NULL)) { + case 1: + self = args[0]; + args += 1; + nargs -= 1; + break; + case 0: + self = ((PyCFunctionObject*)cyfunc)->m_self; + break; + default: + return NULL; + } + return ((_PyCFunctionFastWithKeywords)(void(*)(void))def->ml_meth)(self, args, nargs, kwnames); +} +static PyObject * __Pyx_CyFunction_Vectorcall_FASTCALL_KEYWORDS_METHOD(PyObject *func, PyObject *const *args, size_t nargsf, PyObject *kwnames) +{ + __pyx_CyFunctionObject *cyfunc = (__pyx_CyFunctionObject *)func; + PyMethodDef* def = ((PyCFunctionObject*)cyfunc)->m_ml; + PyTypeObject *cls = (PyTypeObject *) __Pyx_CyFunction_GetClassObj(cyfunc); +#if CYTHON_BACKPORT_VECTORCALL + Py_ssize_t nargs = (Py_ssize_t)nargsf; +#else + Py_ssize_t nargs = PyVectorcall_NARGS(nargsf); +#endif + PyObject *self; + switch (__Pyx_CyFunction_Vectorcall_CheckArgs(cyfunc, nargs, NULL)) { + case 1: + self = args[0]; + args += 1; + nargs -= 1; + break; + case 0: + self = ((PyCFunctionObject*)cyfunc)->m_self; + break; + default: + return NULL; + } + return ((__Pyx_PyCMethod)(void(*)(void))def->ml_meth)(self, cls, args, (size_t)nargs, kwnames); +} +#endif +#if CYTHON_USE_TYPE_SPECS +static PyType_Slot __pyx_CyFunctionType_slots[] = { + {Py_tp_dealloc, (void *)__Pyx_CyFunction_dealloc}, + {Py_tp_repr, (void *)__Pyx_CyFunction_repr}, + {Py_tp_call, (void *)__Pyx_CyFunction_CallAsMethod}, + {Py_tp_traverse, (void *)__Pyx_CyFunction_traverse}, + {Py_tp_clear, (void *)__Pyx_CyFunction_clear}, + {Py_tp_methods, (void *)__pyx_CyFunction_methods}, + {Py_tp_members, (void *)__pyx_CyFunction_members}, + {Py_tp_getset, (void *)__pyx_CyFunction_getsets}, + {Py_tp_descr_get, (void *)__Pyx_PyMethod_New}, + {0, 0}, +}; +static PyType_Spec __pyx_CyFunctionType_spec = { + __PYX_TYPE_MODULE_PREFIX "cython_function_or_method", + sizeof(__pyx_CyFunctionObject), + 0, +#ifdef Py_TPFLAGS_METHOD_DESCRIPTOR + Py_TPFLAGS_METHOD_DESCRIPTOR | +#endif +#if (defined(_Py_TPFLAGS_HAVE_VECTORCALL) && CYTHON_METH_FASTCALL) + _Py_TPFLAGS_HAVE_VECTORCALL | +#endif + Py_TPFLAGS_DEFAULT | Py_TPFLAGS_HAVE_GC | Py_TPFLAGS_BASETYPE, + __pyx_CyFunctionType_slots +}; +#else +static PyTypeObject __pyx_CyFunctionType_type = { + PyVarObject_HEAD_INIT(0, 0) + __PYX_TYPE_MODULE_PREFIX "cython_function_or_method", + sizeof(__pyx_CyFunctionObject), + 0, + (destructor) __Pyx_CyFunction_dealloc, +#if !CYTHON_METH_FASTCALL + 0, +#elif CYTHON_BACKPORT_VECTORCALL + (printfunc)offsetof(__pyx_CyFunctionObject, func_vectorcall), +#else + offsetof(PyCFunctionObject, vectorcall), +#endif + 0, + 0, +#if PY_MAJOR_VERSION < 3 + 0, +#else + 0, +#endif + (reprfunc) __Pyx_CyFunction_repr, + 0, + 0, + 0, + 0, + __Pyx_CyFunction_CallAsMethod, + 0, + 0, + 0, + 0, +#ifdef Py_TPFLAGS_METHOD_DESCRIPTOR + Py_TPFLAGS_METHOD_DESCRIPTOR | +#endif +#if defined(_Py_TPFLAGS_HAVE_VECTORCALL) && CYTHON_METH_FASTCALL + _Py_TPFLAGS_HAVE_VECTORCALL | +#endif + Py_TPFLAGS_DEFAULT | Py_TPFLAGS_HAVE_GC | Py_TPFLAGS_BASETYPE, + 0, + (traverseproc) __Pyx_CyFunction_traverse, + (inquiry) __Pyx_CyFunction_clear, + 0, +#if PY_VERSION_HEX < 0x030500A0 + offsetof(__pyx_CyFunctionObject, func_weakreflist), +#else + offsetof(PyCFunctionObject, m_weakreflist), +#endif + 0, + 0, + __pyx_CyFunction_methods, + __pyx_CyFunction_members, + __pyx_CyFunction_getsets, + 0, + 0, + __Pyx_PyMethod_New, + 0, + offsetof(__pyx_CyFunctionObject, func_dict), + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, +#if PY_VERSION_HEX >= 0x030400a1 + 0, +#endif +#if PY_VERSION_HEX >= 0x030800b1 && (!CYTHON_COMPILING_IN_PYPY || PYPY_VERSION_NUM >= 0x07030800) + 0, +#endif +#if __PYX_NEED_TP_PRINT_SLOT + 0, +#endif +#if PY_VERSION_HEX >= 0x030C0000 + 0, +#endif +#if CYTHON_COMPILING_IN_PYPY && PY_VERSION_HEX >= 0x03090000 && PY_VERSION_HEX < 0x030a0000 + 0, +#endif +}; +#endif +static int __pyx_CyFunction_init(PyObject *module) { +#if CYTHON_USE_TYPE_SPECS + __pyx_CyFunctionType = __Pyx_FetchCommonTypeFromSpec(module, &__pyx_CyFunctionType_spec, NULL); +#else + CYTHON_UNUSED_VAR(module); + __pyx_CyFunctionType = __Pyx_FetchCommonType(&__pyx_CyFunctionType_type); +#endif + if (unlikely(__pyx_CyFunctionType == NULL)) { + return -1; + } + return 0; +} +static CYTHON_INLINE void *__Pyx_CyFunction_InitDefaults(PyObject *func, size_t size, int pyobjects) { + __pyx_CyFunctionObject *m = (__pyx_CyFunctionObject *) func; + m->defaults = PyObject_Malloc(size); + if (unlikely(!m->defaults)) + return PyErr_NoMemory(); + memset(m->defaults, 0, size); + m->defaults_pyobjects = pyobjects; + m->defaults_size = size; + return m->defaults; +} +static CYTHON_INLINE void __Pyx_CyFunction_SetDefaultsTuple(PyObject *func, PyObject *tuple) { + __pyx_CyFunctionObject *m = (__pyx_CyFunctionObject *) func; + m->defaults_tuple = tuple; + Py_INCREF(tuple); +} +static CYTHON_INLINE void __Pyx_CyFunction_SetDefaultsKwDict(PyObject *func, PyObject *dict) { + __pyx_CyFunctionObject *m = (__pyx_CyFunctionObject *) func; + m->defaults_kwdict = dict; + Py_INCREF(dict); +} +static CYTHON_INLINE void __Pyx_CyFunction_SetAnnotationsDict(PyObject *func, PyObject *dict) { + __pyx_CyFunctionObject *m = (__pyx_CyFunctionObject *) func; + m->func_annotations = dict; + Py_INCREF(dict); +} + +/* CythonFunction */ +static PyObject *__Pyx_CyFunction_New(PyMethodDef *ml, int flags, PyObject* qualname, + PyObject *closure, PyObject *module, PyObject* globals, PyObject* code) { + PyObject *op = __Pyx_CyFunction_Init( + PyObject_GC_New(__pyx_CyFunctionObject, __pyx_CyFunctionType), + ml, flags, qualname, closure, module, globals, code + ); + if (likely(op)) { + PyObject_GC_Track(op); + } + return op; +} + +/* CLineInTraceback */ +#ifndef CYTHON_CLINE_IN_TRACEBACK +static int __Pyx_CLineForTraceback(PyThreadState *tstate, int c_line) { + PyObject *use_cline; + PyObject *ptype, *pvalue, *ptraceback; +#if CYTHON_COMPILING_IN_CPYTHON + PyObject **cython_runtime_dict; +#endif + CYTHON_MAYBE_UNUSED_VAR(tstate); + if (unlikely(!__pyx_cython_runtime)) { + return c_line; + } + __Pyx_ErrFetchInState(tstate, &ptype, &pvalue, &ptraceback); +#if CYTHON_COMPILING_IN_CPYTHON + cython_runtime_dict = _PyObject_GetDictPtr(__pyx_cython_runtime); + if (likely(cython_runtime_dict)) { + __PYX_PY_DICT_LOOKUP_IF_MODIFIED( + use_cline, *cython_runtime_dict, + __Pyx_PyDict_GetItemStr(*cython_runtime_dict, __pyx_n_s_cline_in_traceback)) + } else +#endif + { + PyObject *use_cline_obj = __Pyx_PyObject_GetAttrStrNoError(__pyx_cython_runtime, __pyx_n_s_cline_in_traceback); + if (use_cline_obj) { + use_cline = PyObject_Not(use_cline_obj) ? Py_False : Py_True; + Py_DECREF(use_cline_obj); + } else { + PyErr_Clear(); + use_cline = NULL; + } + } + if (!use_cline) { + c_line = 0; + (void) PyObject_SetAttr(__pyx_cython_runtime, __pyx_n_s_cline_in_traceback, Py_False); + } + else if (use_cline == Py_False || (use_cline != Py_True && PyObject_Not(use_cline) != 0)) { + c_line = 0; + } + __Pyx_ErrRestoreInState(tstate, ptype, pvalue, ptraceback); + return c_line; +} +#endif + +/* CodeObjectCache */ +#if !CYTHON_COMPILING_IN_LIMITED_API +static int __pyx_bisect_code_objects(__Pyx_CodeObjectCacheEntry* entries, int count, int code_line) { + int start = 0, mid = 0, end = count - 1; + if (end >= 0 && code_line > entries[end].code_line) { + return count; + } + while (start < end) { + mid = start + (end - start) / 2; + if (code_line < entries[mid].code_line) { + end = mid; + } else if (code_line > entries[mid].code_line) { + start = mid + 1; + } else { + return mid; + } + } + if (code_line <= entries[mid].code_line) { + return mid; + } else { + return mid + 1; + } +} +static PyCodeObject *__pyx_find_code_object(int code_line) { + PyCodeObject* code_object; + int pos; + if (unlikely(!code_line) || unlikely(!__pyx_code_cache.entries)) { + return NULL; + } + pos = __pyx_bisect_code_objects(__pyx_code_cache.entries, __pyx_code_cache.count, code_line); + if (unlikely(pos >= __pyx_code_cache.count) || unlikely(__pyx_code_cache.entries[pos].code_line != code_line)) { + return NULL; + } + code_object = __pyx_code_cache.entries[pos].code_object; + Py_INCREF(code_object); + return code_object; +} +static void __pyx_insert_code_object(int code_line, PyCodeObject* code_object) { + int pos, i; + __Pyx_CodeObjectCacheEntry* entries = __pyx_code_cache.entries; + if (unlikely(!code_line)) { + return; + } + if (unlikely(!entries)) { + entries = (__Pyx_CodeObjectCacheEntry*)PyMem_Malloc(64*sizeof(__Pyx_CodeObjectCacheEntry)); + if (likely(entries)) { + __pyx_code_cache.entries = entries; + __pyx_code_cache.max_count = 64; + __pyx_code_cache.count = 1; + entries[0].code_line = code_line; + entries[0].code_object = code_object; + Py_INCREF(code_object); + } + return; + } + pos = __pyx_bisect_code_objects(__pyx_code_cache.entries, __pyx_code_cache.count, code_line); + if ((pos < __pyx_code_cache.count) && unlikely(__pyx_code_cache.entries[pos].code_line == code_line)) { + PyCodeObject* tmp = entries[pos].code_object; + entries[pos].code_object = code_object; + Py_DECREF(tmp); + return; + } + if (__pyx_code_cache.count == __pyx_code_cache.max_count) { + int new_max = __pyx_code_cache.max_count + 64; + entries = (__Pyx_CodeObjectCacheEntry*)PyMem_Realloc( + __pyx_code_cache.entries, ((size_t)new_max) * sizeof(__Pyx_CodeObjectCacheEntry)); + if (unlikely(!entries)) { + return; + } + __pyx_code_cache.entries = entries; + __pyx_code_cache.max_count = new_max; + } + for (i=__pyx_code_cache.count; i>pos; i--) { + entries[i] = entries[i-1]; + } + entries[pos].code_line = code_line; + entries[pos].code_object = code_object; + __pyx_code_cache.count++; + Py_INCREF(code_object); +} +#endif + +/* AddTraceback */ +#include "compile.h" +#include "frameobject.h" +#include "traceback.h" +#if PY_VERSION_HEX >= 0x030b00a6 && !CYTHON_COMPILING_IN_LIMITED_API + #ifndef Py_BUILD_CORE + #define Py_BUILD_CORE 1 + #endif + #include "internal/pycore_frame.h" +#endif +#if CYTHON_COMPILING_IN_LIMITED_API +static PyObject *__Pyx_PyCode_Replace_For_AddTraceback(PyObject *code, PyObject *scratch_dict, + PyObject *firstlineno, PyObject *name) { + PyObject *replace = NULL; + if (unlikely(PyDict_SetItemString(scratch_dict, "co_firstlineno", firstlineno))) return NULL; + if (unlikely(PyDict_SetItemString(scratch_dict, "co_name", name))) return NULL; + replace = PyObject_GetAttrString(code, "replace"); + if (likely(replace)) { + PyObject *result; + result = PyObject_Call(replace, __pyx_empty_tuple, scratch_dict); + Py_DECREF(replace); + return result; + } + PyErr_Clear(); + #if __PYX_LIMITED_VERSION_HEX < 0x030780000 + { + PyObject *compiled = NULL, *result = NULL; + if (unlikely(PyDict_SetItemString(scratch_dict, "code", code))) return NULL; + if (unlikely(PyDict_SetItemString(scratch_dict, "type", (PyObject*)(&PyType_Type)))) return NULL; + compiled = Py_CompileString( + "out = type(code)(\n" + " code.co_argcount, code.co_kwonlyargcount, code.co_nlocals, code.co_stacksize,\n" + " code.co_flags, code.co_code, code.co_consts, code.co_names,\n" + " code.co_varnames, code.co_filename, co_name, co_firstlineno,\n" + " code.co_lnotab)\n", "", Py_file_input); + if (!compiled) return NULL; + result = PyEval_EvalCode(compiled, scratch_dict, scratch_dict); + Py_DECREF(compiled); + if (!result) PyErr_Print(); + Py_DECREF(result); + result = PyDict_GetItemString(scratch_dict, "out"); + if (result) Py_INCREF(result); + return result; + } + #else + return NULL; + #endif +} +static void __Pyx_AddTraceback(const char *funcname, int c_line, + int py_line, const char *filename) { + PyObject *code_object = NULL, *py_py_line = NULL, *py_funcname = NULL, *dict = NULL; + PyObject *replace = NULL, *getframe = NULL, *frame = NULL; + PyObject *exc_type, *exc_value, *exc_traceback; + int success = 0; + if (c_line) { + (void) __pyx_cfilenm; + (void) __Pyx_CLineForTraceback(__Pyx_PyThreadState_Current, c_line); + } + PyErr_Fetch(&exc_type, &exc_value, &exc_traceback); + code_object = Py_CompileString("_getframe()", filename, Py_eval_input); + if (unlikely(!code_object)) goto bad; + py_py_line = PyLong_FromLong(py_line); + if (unlikely(!py_py_line)) goto bad; + py_funcname = PyUnicode_FromString(funcname); + if (unlikely(!py_funcname)) goto bad; + dict = PyDict_New(); + if (unlikely(!dict)) goto bad; + { + PyObject *old_code_object = code_object; + code_object = __Pyx_PyCode_Replace_For_AddTraceback(code_object, dict, py_py_line, py_funcname); + Py_DECREF(old_code_object); + } + if (unlikely(!code_object)) goto bad; + getframe = PySys_GetObject("_getframe"); + if (unlikely(!getframe)) goto bad; + if (unlikely(PyDict_SetItemString(dict, "_getframe", getframe))) goto bad; + frame = PyEval_EvalCode(code_object, dict, dict); + if (unlikely(!frame) || frame == Py_None) goto bad; + success = 1; + bad: + PyErr_Restore(exc_type, exc_value, exc_traceback); + Py_XDECREF(code_object); + Py_XDECREF(py_py_line); + Py_XDECREF(py_funcname); + Py_XDECREF(dict); + Py_XDECREF(replace); + if (success) { + PyTraceBack_Here( + (struct _frame*)frame); + } + Py_XDECREF(frame); +} +#else +static PyCodeObject* __Pyx_CreateCodeObjectForTraceback( + const char *funcname, int c_line, + int py_line, const char *filename) { + PyCodeObject *py_code = NULL; + PyObject *py_funcname = NULL; + #if PY_MAJOR_VERSION < 3 + PyObject *py_srcfile = NULL; + py_srcfile = PyString_FromString(filename); + if (!py_srcfile) goto bad; + #endif + if (c_line) { + #if PY_MAJOR_VERSION < 3 + py_funcname = PyString_FromFormat( "%s (%s:%d)", funcname, __pyx_cfilenm, c_line); + if (!py_funcname) goto bad; + #else + py_funcname = PyUnicode_FromFormat( "%s (%s:%d)", funcname, __pyx_cfilenm, c_line); + if (!py_funcname) goto bad; + funcname = PyUnicode_AsUTF8(py_funcname); + if (!funcname) goto bad; + #endif + } + else { + #if PY_MAJOR_VERSION < 3 + py_funcname = PyString_FromString(funcname); + if (!py_funcname) goto bad; + #endif + } + #if PY_MAJOR_VERSION < 3 + py_code = __Pyx_PyCode_New( + 0, + 0, + 0, + 0, + 0, + 0, + __pyx_empty_bytes, /*PyObject *code,*/ + __pyx_empty_tuple, /*PyObject *consts,*/ + __pyx_empty_tuple, /*PyObject *names,*/ + __pyx_empty_tuple, /*PyObject *varnames,*/ + __pyx_empty_tuple, /*PyObject *freevars,*/ + __pyx_empty_tuple, /*PyObject *cellvars,*/ + py_srcfile, /*PyObject *filename,*/ + py_funcname, /*PyObject *name,*/ + py_line, + __pyx_empty_bytes /*PyObject *lnotab*/ + ); + Py_DECREF(py_srcfile); + #else + py_code = PyCode_NewEmpty(filename, funcname, py_line); + #endif + Py_XDECREF(py_funcname); + return py_code; +bad: + Py_XDECREF(py_funcname); + #if PY_MAJOR_VERSION < 3 + Py_XDECREF(py_srcfile); + #endif + return NULL; +} +static void __Pyx_AddTraceback(const char *funcname, int c_line, + int py_line, const char *filename) { + PyCodeObject *py_code = 0; + PyFrameObject *py_frame = 0; + PyThreadState *tstate = __Pyx_PyThreadState_Current; + PyObject *ptype, *pvalue, *ptraceback; + if (c_line) { + c_line = __Pyx_CLineForTraceback(tstate, c_line); + } + py_code = __pyx_find_code_object(c_line ? -c_line : py_line); + if (!py_code) { + __Pyx_ErrFetchInState(tstate, &ptype, &pvalue, &ptraceback); + py_code = __Pyx_CreateCodeObjectForTraceback( + funcname, c_line, py_line, filename); + if (!py_code) { + /* If the code object creation fails, then we should clear the + fetched exception references and propagate the new exception */ + Py_XDECREF(ptype); + Py_XDECREF(pvalue); + Py_XDECREF(ptraceback); + goto bad; + } + __Pyx_ErrRestoreInState(tstate, ptype, pvalue, ptraceback); + __pyx_insert_code_object(c_line ? -c_line : py_line, py_code); + } + py_frame = PyFrame_New( + tstate, /*PyThreadState *tstate,*/ + py_code, /*PyCodeObject *code,*/ + __pyx_d, /*PyObject *globals,*/ + 0 /*PyObject *locals*/ + ); + if (!py_frame) goto bad; + __Pyx_PyFrame_SetLineNumber(py_frame, py_line); + PyTraceBack_Here(py_frame); +bad: + Py_XDECREF(py_code); + Py_XDECREF(py_frame); +} +#endif + +#if PY_MAJOR_VERSION < 3 +static int __Pyx_GetBuffer(PyObject *obj, Py_buffer *view, int flags) { + __Pyx_TypeName obj_type_name; + if (PyObject_CheckBuffer(obj)) return PyObject_GetBuffer(obj, view, flags); + if (__Pyx_TypeCheck(obj, __pyx_array_type)) return __pyx_array_getbuffer(obj, view, flags); + if (__Pyx_TypeCheck(obj, __pyx_memoryview_type)) return __pyx_memoryview_getbuffer(obj, view, flags); + obj_type_name = __Pyx_PyType_GetName(Py_TYPE(obj)); + PyErr_Format(PyExc_TypeError, + "'" __Pyx_FMT_TYPENAME "' does not have the buffer interface", + obj_type_name); + __Pyx_DECREF_TypeName(obj_type_name); + return -1; +} +static void __Pyx_ReleaseBuffer(Py_buffer *view) { + PyObject *obj = view->obj; + if (!obj) return; + if (PyObject_CheckBuffer(obj)) { + PyBuffer_Release(view); + return; + } + if ((0)) {} + view->obj = NULL; + Py_DECREF(obj); +} +#endif + + +/* MemviewSliceIsContig */ +static int +__pyx_memviewslice_is_contig(const __Pyx_memviewslice mvs, char order, int ndim) +{ + int i, index, step, start; + Py_ssize_t itemsize = mvs.memview->view.itemsize; + if (order == 'F') { + step = 1; + start = 0; + } else { + step = -1; + start = ndim - 1; + } + for (i = 0; i < ndim; i++) { + index = start + step * i; + if (mvs.suboffsets[index] >= 0 || mvs.strides[index] != itemsize) + return 0; + itemsize *= mvs.shape[index]; + } + return 1; +} + +/* OverlappingSlices */ +static void +__pyx_get_array_memory_extents(__Pyx_memviewslice *slice, + void **out_start, void **out_end, + int ndim, size_t itemsize) +{ + char *start, *end; + int i; + start = end = slice->data; + for (i = 0; i < ndim; i++) { + Py_ssize_t stride = slice->strides[i]; + Py_ssize_t extent = slice->shape[i]; + if (extent == 0) { + *out_start = *out_end = start; + return; + } else { + if (stride > 0) + end += stride * (extent - 1); + else + start += stride * (extent - 1); + } + } + *out_start = start; + *out_end = end + itemsize; +} +static int +__pyx_slices_overlap(__Pyx_memviewslice *slice1, + __Pyx_memviewslice *slice2, + int ndim, size_t itemsize) +{ + void *start1, *end1, *start2, *end2; + __pyx_get_array_memory_extents(slice1, &start1, &end1, ndim, itemsize); + __pyx_get_array_memory_extents(slice2, &start2, &end2, ndim, itemsize); + return (start1 < end2) && (start2 < end1); +} + +/* IsLittleEndian */ +static CYTHON_INLINE int __Pyx_Is_Little_Endian(void) +{ + union { + uint32_t u32; + uint8_t u8[4]; + } S; + S.u32 = 0x01020304; + return S.u8[0] == 4; +} + +/* BufferFormatCheck */ +static void __Pyx_BufFmt_Init(__Pyx_BufFmt_Context* ctx, + __Pyx_BufFmt_StackElem* stack, + __Pyx_TypeInfo* type) { + stack[0].field = &ctx->root; + stack[0].parent_offset = 0; + ctx->root.type = type; + ctx->root.name = "buffer dtype"; + ctx->root.offset = 0; + ctx->head = stack; + ctx->head->field = &ctx->root; + ctx->fmt_offset = 0; + ctx->head->parent_offset = 0; + ctx->new_packmode = '@'; + ctx->enc_packmode = '@'; + ctx->new_count = 1; + ctx->enc_count = 0; + ctx->enc_type = 0; + ctx->is_complex = 0; + ctx->is_valid_array = 0; + ctx->struct_alignment = 0; + while (type->typegroup == 'S') { + ++ctx->head; + ctx->head->field = type->fields; + ctx->head->parent_offset = 0; + type = type->fields->type; + } +} +static int __Pyx_BufFmt_ParseNumber(const char** ts) { + int count; + const char* t = *ts; + if (*t < '0' || *t > '9') { + return -1; + } else { + count = *t++ - '0'; + while (*t >= '0' && *t <= '9') { + count *= 10; + count += *t++ - '0'; + } + } + *ts = t; + return count; +} +static int __Pyx_BufFmt_ExpectNumber(const char **ts) { + int number = __Pyx_BufFmt_ParseNumber(ts); + if (number == -1) + PyErr_Format(PyExc_ValueError,\ + "Does not understand character buffer dtype format string ('%c')", **ts); + return number; +} +static void __Pyx_BufFmt_RaiseUnexpectedChar(char ch) { + PyErr_Format(PyExc_ValueError, + "Unexpected format string character: '%c'", ch); +} +static const char* __Pyx_BufFmt_DescribeTypeChar(char ch, int is_complex) { + switch (ch) { + case '?': return "'bool'"; + case 'c': return "'char'"; + case 'b': return "'signed char'"; + case 'B': return "'unsigned char'"; + case 'h': return "'short'"; + case 'H': return "'unsigned short'"; + case 'i': return "'int'"; + case 'I': return "'unsigned int'"; + case 'l': return "'long'"; + case 'L': return "'unsigned long'"; + case 'q': return "'long long'"; + case 'Q': return "'unsigned long long'"; + case 'f': return (is_complex ? "'complex float'" : "'float'"); + case 'd': return (is_complex ? "'complex double'" : "'double'"); + case 'g': return (is_complex ? "'complex long double'" : "'long double'"); + case 'T': return "a struct"; + case 'O': return "Python object"; + case 'P': return "a pointer"; + case 's': case 'p': return "a string"; + case 0: return "end"; + default: return "unparsable format string"; + } +} +static size_t __Pyx_BufFmt_TypeCharToStandardSize(char ch, int is_complex) { + switch (ch) { + case '?': case 'c': case 'b': case 'B': case 's': case 'p': return 1; + case 'h': case 'H': return 2; + case 'i': case 'I': case 'l': case 'L': return 4; + case 'q': case 'Q': return 8; + case 'f': return (is_complex ? 8 : 4); + case 'd': return (is_complex ? 16 : 8); + case 'g': { + PyErr_SetString(PyExc_ValueError, "Python does not define a standard format string size for long double ('g').."); + return 0; + } + case 'O': case 'P': return sizeof(void*); + default: + __Pyx_BufFmt_RaiseUnexpectedChar(ch); + return 0; + } +} +static size_t __Pyx_BufFmt_TypeCharToNativeSize(char ch, int is_complex) { + switch (ch) { + case '?': case 'c': case 'b': case 'B': case 's': case 'p': return 1; + case 'h': case 'H': return sizeof(short); + case 'i': case 'I': return sizeof(int); + case 'l': case 'L': return sizeof(long); + #ifdef HAVE_LONG_LONG + case 'q': case 'Q': return sizeof(PY_LONG_LONG); + #endif + case 'f': return sizeof(float) * (is_complex ? 2 : 1); + case 'd': return sizeof(double) * (is_complex ? 2 : 1); + case 'g': return sizeof(long double) * (is_complex ? 2 : 1); + case 'O': case 'P': return sizeof(void*); + default: { + __Pyx_BufFmt_RaiseUnexpectedChar(ch); + return 0; + } + } +} +typedef struct { char c; short x; } __Pyx_st_short; +typedef struct { char c; int x; } __Pyx_st_int; +typedef struct { char c; long x; } __Pyx_st_long; +typedef struct { char c; float x; } __Pyx_st_float; +typedef struct { char c; double x; } __Pyx_st_double; +typedef struct { char c; long double x; } __Pyx_st_longdouble; +typedef struct { char c; void *x; } __Pyx_st_void_p; +#ifdef HAVE_LONG_LONG +typedef struct { char c; PY_LONG_LONG x; } __Pyx_st_longlong; +#endif +static size_t __Pyx_BufFmt_TypeCharToAlignment(char ch, int is_complex) { + CYTHON_UNUSED_VAR(is_complex); + switch (ch) { + case '?': case 'c': case 'b': case 'B': case 's': case 'p': return 1; + case 'h': case 'H': return sizeof(__Pyx_st_short) - sizeof(short); + case 'i': case 'I': return sizeof(__Pyx_st_int) - sizeof(int); + case 'l': case 'L': return sizeof(__Pyx_st_long) - sizeof(long); +#ifdef HAVE_LONG_LONG + case 'q': case 'Q': return sizeof(__Pyx_st_longlong) - sizeof(PY_LONG_LONG); +#endif + case 'f': return sizeof(__Pyx_st_float) - sizeof(float); + case 'd': return sizeof(__Pyx_st_double) - sizeof(double); + case 'g': return sizeof(__Pyx_st_longdouble) - sizeof(long double); + case 'P': case 'O': return sizeof(__Pyx_st_void_p) - sizeof(void*); + default: + __Pyx_BufFmt_RaiseUnexpectedChar(ch); + return 0; + } +} +/* These are for computing the padding at the end of the struct to align + on the first member of the struct. This will probably the same as above, + but we don't have any guarantees. + */ +typedef struct { short x; char c; } __Pyx_pad_short; +typedef struct { int x; char c; } __Pyx_pad_int; +typedef struct { long x; char c; } __Pyx_pad_long; +typedef struct { float x; char c; } __Pyx_pad_float; +typedef struct { double x; char c; } __Pyx_pad_double; +typedef struct { long double x; char c; } __Pyx_pad_longdouble; +typedef struct { void *x; char c; } __Pyx_pad_void_p; +#ifdef HAVE_LONG_LONG +typedef struct { PY_LONG_LONG x; char c; } __Pyx_pad_longlong; +#endif +static size_t __Pyx_BufFmt_TypeCharToPadding(char ch, int is_complex) { + CYTHON_UNUSED_VAR(is_complex); + switch (ch) { + case '?': case 'c': case 'b': case 'B': case 's': case 'p': return 1; + case 'h': case 'H': return sizeof(__Pyx_pad_short) - sizeof(short); + case 'i': case 'I': return sizeof(__Pyx_pad_int) - sizeof(int); + case 'l': case 'L': return sizeof(__Pyx_pad_long) - sizeof(long); +#ifdef HAVE_LONG_LONG + case 'q': case 'Q': return sizeof(__Pyx_pad_longlong) - sizeof(PY_LONG_LONG); +#endif + case 'f': return sizeof(__Pyx_pad_float) - sizeof(float); + case 'd': return sizeof(__Pyx_pad_double) - sizeof(double); + case 'g': return sizeof(__Pyx_pad_longdouble) - sizeof(long double); + case 'P': case 'O': return sizeof(__Pyx_pad_void_p) - sizeof(void*); + default: + __Pyx_BufFmt_RaiseUnexpectedChar(ch); + return 0; + } +} +static char __Pyx_BufFmt_TypeCharToGroup(char ch, int is_complex) { + switch (ch) { + case 'c': + return 'H'; + case 'b': case 'h': case 'i': + case 'l': case 'q': case 's': case 'p': + return 'I'; + case '?': case 'B': case 'H': case 'I': case 'L': case 'Q': + return 'U'; + case 'f': case 'd': case 'g': + return (is_complex ? 'C' : 'R'); + case 'O': + return 'O'; + case 'P': + return 'P'; + default: { + __Pyx_BufFmt_RaiseUnexpectedChar(ch); + return 0; + } + } +} +static void __Pyx_BufFmt_RaiseExpected(__Pyx_BufFmt_Context* ctx) { + if (ctx->head == NULL || ctx->head->field == &ctx->root) { + const char* expected; + const char* quote; + if (ctx->head == NULL) { + expected = "end"; + quote = ""; + } else { + expected = ctx->head->field->type->name; + quote = "'"; + } + PyErr_Format(PyExc_ValueError, + "Buffer dtype mismatch, expected %s%s%s but got %s", + quote, expected, quote, + __Pyx_BufFmt_DescribeTypeChar(ctx->enc_type, ctx->is_complex)); + } else { + __Pyx_StructField* field = ctx->head->field; + __Pyx_StructField* parent = (ctx->head - 1)->field; + PyErr_Format(PyExc_ValueError, + "Buffer dtype mismatch, expected '%s' but got %s in '%s.%s'", + field->type->name, __Pyx_BufFmt_DescribeTypeChar(ctx->enc_type, ctx->is_complex), + parent->type->name, field->name); + } +} +static int __Pyx_BufFmt_ProcessTypeChunk(__Pyx_BufFmt_Context* ctx) { + char group; + size_t size, offset, arraysize = 1; + if (ctx->enc_type == 0) return 0; + if (ctx->head->field->type->arraysize[0]) { + int i, ndim = 0; + if (ctx->enc_type == 's' || ctx->enc_type == 'p') { + ctx->is_valid_array = ctx->head->field->type->ndim == 1; + ndim = 1; + if (ctx->enc_count != ctx->head->field->type->arraysize[0]) { + PyErr_Format(PyExc_ValueError, + "Expected a dimension of size %zu, got %zu", + ctx->head->field->type->arraysize[0], ctx->enc_count); + return -1; + } + } + if (!ctx->is_valid_array) { + PyErr_Format(PyExc_ValueError, "Expected %d dimensions, got %d", + ctx->head->field->type->ndim, ndim); + return -1; + } + for (i = 0; i < ctx->head->field->type->ndim; i++) { + arraysize *= ctx->head->field->type->arraysize[i]; + } + ctx->is_valid_array = 0; + ctx->enc_count = 1; + } + group = __Pyx_BufFmt_TypeCharToGroup(ctx->enc_type, ctx->is_complex); + do { + __Pyx_StructField* field = ctx->head->field; + __Pyx_TypeInfo* type = field->type; + if (ctx->enc_packmode == '@' || ctx->enc_packmode == '^') { + size = __Pyx_BufFmt_TypeCharToNativeSize(ctx->enc_type, ctx->is_complex); + } else { + size = __Pyx_BufFmt_TypeCharToStandardSize(ctx->enc_type, ctx->is_complex); + } + if (ctx->enc_packmode == '@') { + size_t align_at = __Pyx_BufFmt_TypeCharToAlignment(ctx->enc_type, ctx->is_complex); + size_t align_mod_offset; + if (align_at == 0) return -1; + align_mod_offset = ctx->fmt_offset % align_at; + if (align_mod_offset > 0) ctx->fmt_offset += align_at - align_mod_offset; + if (ctx->struct_alignment == 0) + ctx->struct_alignment = __Pyx_BufFmt_TypeCharToPadding(ctx->enc_type, + ctx->is_complex); + } + if (type->size != size || type->typegroup != group) { + if (type->typegroup == 'C' && type->fields != NULL) { + size_t parent_offset = ctx->head->parent_offset + field->offset; + ++ctx->head; + ctx->head->field = type->fields; + ctx->head->parent_offset = parent_offset; + continue; + } + if ((type->typegroup == 'H' || group == 'H') && type->size == size) { + } else { + __Pyx_BufFmt_RaiseExpected(ctx); + return -1; + } + } + offset = ctx->head->parent_offset + field->offset; + if (ctx->fmt_offset != offset) { + PyErr_Format(PyExc_ValueError, + "Buffer dtype mismatch; next field is at offset %" CYTHON_FORMAT_SSIZE_T "d but %" CYTHON_FORMAT_SSIZE_T "d expected", + (Py_ssize_t)ctx->fmt_offset, (Py_ssize_t)offset); + return -1; + } + ctx->fmt_offset += size; + if (arraysize) + ctx->fmt_offset += (arraysize - 1) * size; + --ctx->enc_count; + while (1) { + if (field == &ctx->root) { + ctx->head = NULL; + if (ctx->enc_count != 0) { + __Pyx_BufFmt_RaiseExpected(ctx); + return -1; + } + break; + } + ctx->head->field = ++field; + if (field->type == NULL) { + --ctx->head; + field = ctx->head->field; + continue; + } else if (field->type->typegroup == 'S') { + size_t parent_offset = ctx->head->parent_offset + field->offset; + if (field->type->fields->type == NULL) continue; + field = field->type->fields; + ++ctx->head; + ctx->head->field = field; + ctx->head->parent_offset = parent_offset; + break; + } else { + break; + } + } + } while (ctx->enc_count); + ctx->enc_type = 0; + ctx->is_complex = 0; + return 0; +} +static int +__pyx_buffmt_parse_array(__Pyx_BufFmt_Context* ctx, const char** tsp) +{ + const char *ts = *tsp; + int i = 0, number, ndim; + ++ts; + if (ctx->new_count != 1) { + PyErr_SetString(PyExc_ValueError, + "Cannot handle repeated arrays in format string"); + return -1; + } + if (__Pyx_BufFmt_ProcessTypeChunk(ctx) == -1) return -1; + ndim = ctx->head->field->type->ndim; + while (*ts && *ts != ')') { + switch (*ts) { + case ' ': case '\f': case '\r': case '\n': case '\t': case '\v': continue; + default: break; + } + number = __Pyx_BufFmt_ExpectNumber(&ts); + if (number == -1) return -1; + if (i < ndim && (size_t) number != ctx->head->field->type->arraysize[i]) { + PyErr_Format(PyExc_ValueError, + "Expected a dimension of size %zu, got %d", + ctx->head->field->type->arraysize[i], number); + return -1; + } + if (*ts != ',' && *ts != ')') { + PyErr_Format(PyExc_ValueError, + "Expected a comma in format string, got '%c'", *ts); + return -1; + } + if (*ts == ',') ts++; + i++; + } + if (i != ndim) { + PyErr_Format(PyExc_ValueError, "Expected %d dimension(s), got %d", + ctx->head->field->type->ndim, i); + return -1; + } + if (!*ts) { + PyErr_SetString(PyExc_ValueError, + "Unexpected end of format string, expected ')'"); + return -1; + } + ctx->is_valid_array = 1; + ctx->new_count = 1; + *tsp = ++ts; + return 0; +} +static const char* __Pyx_BufFmt_CheckString(__Pyx_BufFmt_Context* ctx, const char* ts) { + int got_Z = 0; + while (1) { + switch(*ts) { + case 0: + if (ctx->enc_type != 0 && ctx->head == NULL) { + __Pyx_BufFmt_RaiseExpected(ctx); + return NULL; + } + if (__Pyx_BufFmt_ProcessTypeChunk(ctx) == -1) return NULL; + if (ctx->head != NULL) { + __Pyx_BufFmt_RaiseExpected(ctx); + return NULL; + } + return ts; + case ' ': + case '\r': + case '\n': + ++ts; + break; + case '<': + if (!__Pyx_Is_Little_Endian()) { + PyErr_SetString(PyExc_ValueError, "Little-endian buffer not supported on big-endian compiler"); + return NULL; + } + ctx->new_packmode = '='; + ++ts; + break; + case '>': + case '!': + if (__Pyx_Is_Little_Endian()) { + PyErr_SetString(PyExc_ValueError, "Big-endian buffer not supported on little-endian compiler"); + return NULL; + } + ctx->new_packmode = '='; + ++ts; + break; + case '=': + case '@': + case '^': + ctx->new_packmode = *ts++; + break; + case 'T': + { + const char* ts_after_sub; + size_t i, struct_count = ctx->new_count; + size_t struct_alignment = ctx->struct_alignment; + ctx->new_count = 1; + ++ts; + if (*ts != '{') { + PyErr_SetString(PyExc_ValueError, "Buffer acquisition: Expected '{' after 'T'"); + return NULL; + } + if (__Pyx_BufFmt_ProcessTypeChunk(ctx) == -1) return NULL; + ctx->enc_type = 0; + ctx->enc_count = 0; + ctx->struct_alignment = 0; + ++ts; + ts_after_sub = ts; + for (i = 0; i != struct_count; ++i) { + ts_after_sub = __Pyx_BufFmt_CheckString(ctx, ts); + if (!ts_after_sub) return NULL; + } + ts = ts_after_sub; + if (struct_alignment) ctx->struct_alignment = struct_alignment; + } + break; + case '}': + { + size_t alignment = ctx->struct_alignment; + ++ts; + if (__Pyx_BufFmt_ProcessTypeChunk(ctx) == -1) return NULL; + ctx->enc_type = 0; + if (alignment && ctx->fmt_offset % alignment) { + ctx->fmt_offset += alignment - (ctx->fmt_offset % alignment); + } + } + return ts; + case 'x': + if (__Pyx_BufFmt_ProcessTypeChunk(ctx) == -1) return NULL; + ctx->fmt_offset += ctx->new_count; + ctx->new_count = 1; + ctx->enc_count = 0; + ctx->enc_type = 0; + ctx->enc_packmode = ctx->new_packmode; + ++ts; + break; + case 'Z': + got_Z = 1; + ++ts; + if (*ts != 'f' && *ts != 'd' && *ts != 'g') { + __Pyx_BufFmt_RaiseUnexpectedChar('Z'); + return NULL; + } + CYTHON_FALLTHROUGH; + case '?': case 'c': case 'b': case 'B': case 'h': case 'H': case 'i': case 'I': + case 'l': case 'L': case 'q': case 'Q': + case 'f': case 'd': case 'g': + case 'O': case 'p': + if ((ctx->enc_type == *ts) && (got_Z == ctx->is_complex) && + (ctx->enc_packmode == ctx->new_packmode) && (!ctx->is_valid_array)) { + ctx->enc_count += ctx->new_count; + ctx->new_count = 1; + got_Z = 0; + ++ts; + break; + } + CYTHON_FALLTHROUGH; + case 's': + if (__Pyx_BufFmt_ProcessTypeChunk(ctx) == -1) return NULL; + ctx->enc_count = ctx->new_count; + ctx->enc_packmode = ctx->new_packmode; + ctx->enc_type = *ts; + ctx->is_complex = got_Z; + ++ts; + ctx->new_count = 1; + got_Z = 0; + break; + case ':': + ++ts; + while(*ts != ':') ++ts; + ++ts; + break; + case '(': + if (__pyx_buffmt_parse_array(ctx, &ts) < 0) return NULL; + break; + default: + { + int number = __Pyx_BufFmt_ExpectNumber(&ts); + if (number == -1) return NULL; + ctx->new_count = (size_t)number; + } + } + } +} + +/* TypeInfoCompare */ + static int +__pyx_typeinfo_cmp(__Pyx_TypeInfo *a, __Pyx_TypeInfo *b) +{ + int i; + if (!a || !b) + return 0; + if (a == b) + return 1; + if (a->size != b->size || a->typegroup != b->typegroup || + a->is_unsigned != b->is_unsigned || a->ndim != b->ndim) { + if (a->typegroup == 'H' || b->typegroup == 'H') { + return a->size == b->size; + } else { + return 0; + } + } + if (a->ndim) { + for (i = 0; i < a->ndim; i++) + if (a->arraysize[i] != b->arraysize[i]) + return 0; + } + if (a->typegroup == 'S') { + if (a->flags != b->flags) + return 0; + if (a->fields || b->fields) { + if (!(a->fields && b->fields)) + return 0; + for (i = 0; a->fields[i].type && b->fields[i].type; i++) { + __Pyx_StructField *field_a = a->fields + i; + __Pyx_StructField *field_b = b->fields + i; + if (field_a->offset != field_b->offset || + !__pyx_typeinfo_cmp(field_a->type, field_b->type)) + return 0; + } + return !a->fields[i].type && !b->fields[i].type; + } + } + return 1; +} + +/* MemviewSliceValidateAndInit */ + static int +__pyx_check_strides(Py_buffer *buf, int dim, int ndim, int spec) +{ + if (buf->shape[dim] <= 1) + return 1; + if (buf->strides) { + if (spec & __Pyx_MEMVIEW_CONTIG) { + if (spec & (__Pyx_MEMVIEW_PTR|__Pyx_MEMVIEW_FULL)) { + if (unlikely(buf->strides[dim] != sizeof(void *))) { + PyErr_Format(PyExc_ValueError, + "Buffer is not indirectly contiguous " + "in dimension %d.", dim); + goto fail; + } + } else if (unlikely(buf->strides[dim] != buf->itemsize)) { + PyErr_SetString(PyExc_ValueError, + "Buffer and memoryview are not contiguous " + "in the same dimension."); + goto fail; + } + } + if (spec & __Pyx_MEMVIEW_FOLLOW) { + Py_ssize_t stride = buf->strides[dim]; + if (stride < 0) + stride = -stride; + if (unlikely(stride < buf->itemsize)) { + PyErr_SetString(PyExc_ValueError, + "Buffer and memoryview are not contiguous " + "in the same dimension."); + goto fail; + } + } + } else { + if (unlikely(spec & __Pyx_MEMVIEW_CONTIG && dim != ndim - 1)) { + PyErr_Format(PyExc_ValueError, + "C-contiguous buffer is not contiguous in " + "dimension %d", dim); + goto fail; + } else if (unlikely(spec & (__Pyx_MEMVIEW_PTR))) { + PyErr_Format(PyExc_ValueError, + "C-contiguous buffer is not indirect in " + "dimension %d", dim); + goto fail; + } else if (unlikely(buf->suboffsets)) { + PyErr_SetString(PyExc_ValueError, + "Buffer exposes suboffsets but no strides"); + goto fail; + } + } + return 1; +fail: + return 0; +} +static int +__pyx_check_suboffsets(Py_buffer *buf, int dim, int ndim, int spec) +{ + CYTHON_UNUSED_VAR(ndim); + if (spec & __Pyx_MEMVIEW_DIRECT) { + if (unlikely(buf->suboffsets && buf->suboffsets[dim] >= 0)) { + PyErr_Format(PyExc_ValueError, + "Buffer not compatible with direct access " + "in dimension %d.", dim); + goto fail; + } + } + if (spec & __Pyx_MEMVIEW_PTR) { + if (unlikely(!buf->suboffsets || (buf->suboffsets[dim] < 0))) { + PyErr_Format(PyExc_ValueError, + "Buffer is not indirectly accessible " + "in dimension %d.", dim); + goto fail; + } + } + return 1; +fail: + return 0; +} +static int +__pyx_verify_contig(Py_buffer *buf, int ndim, int c_or_f_flag) +{ + int i; + if (c_or_f_flag & __Pyx_IS_F_CONTIG) { + Py_ssize_t stride = 1; + for (i = 0; i < ndim; i++) { + if (unlikely(stride * buf->itemsize != buf->strides[i] && buf->shape[i] > 1)) { + PyErr_SetString(PyExc_ValueError, + "Buffer not fortran contiguous."); + goto fail; + } + stride = stride * buf->shape[i]; + } + } else if (c_or_f_flag & __Pyx_IS_C_CONTIG) { + Py_ssize_t stride = 1; + for (i = ndim - 1; i >- 1; i--) { + if (unlikely(stride * buf->itemsize != buf->strides[i] && buf->shape[i] > 1)) { + PyErr_SetString(PyExc_ValueError, + "Buffer not C contiguous."); + goto fail; + } + stride = stride * buf->shape[i]; + } + } + return 1; +fail: + return 0; +} +static int __Pyx_ValidateAndInit_memviewslice( + int *axes_specs, + int c_or_f_flag, + int buf_flags, + int ndim, + __Pyx_TypeInfo *dtype, + __Pyx_BufFmt_StackElem stack[], + __Pyx_memviewslice *memviewslice, + PyObject *original_obj) +{ + struct __pyx_memoryview_obj *memview, *new_memview; + __Pyx_RefNannyDeclarations + Py_buffer *buf; + int i, spec = 0, retval = -1; + __Pyx_BufFmt_Context ctx; + int from_memoryview = __pyx_memoryview_check(original_obj); + __Pyx_RefNannySetupContext("ValidateAndInit_memviewslice", 0); + if (from_memoryview && __pyx_typeinfo_cmp(dtype, ((struct __pyx_memoryview_obj *) + original_obj)->typeinfo)) { + memview = (struct __pyx_memoryview_obj *) original_obj; + new_memview = NULL; + } else { + memview = (struct __pyx_memoryview_obj *) __pyx_memoryview_new( + original_obj, buf_flags, 0, dtype); + new_memview = memview; + if (unlikely(!memview)) + goto fail; + } + buf = &memview->view; + if (unlikely(buf->ndim != ndim)) { + PyErr_Format(PyExc_ValueError, + "Buffer has wrong number of dimensions (expected %d, got %d)", + ndim, buf->ndim); + goto fail; + } + if (new_memview) { + __Pyx_BufFmt_Init(&ctx, stack, dtype); + if (unlikely(!__Pyx_BufFmt_CheckString(&ctx, buf->format))) goto fail; + } + if (unlikely((unsigned) buf->itemsize != dtype->size)) { + PyErr_Format(PyExc_ValueError, + "Item size of buffer (%" CYTHON_FORMAT_SSIZE_T "u byte%s) " + "does not match size of '%s' (%" CYTHON_FORMAT_SSIZE_T "u byte%s)", + buf->itemsize, + (buf->itemsize > 1) ? "s" : "", + dtype->name, + dtype->size, + (dtype->size > 1) ? "s" : ""); + goto fail; + } + if (buf->len > 0) { + for (i = 0; i < ndim; i++) { + spec = axes_specs[i]; + if (unlikely(!__pyx_check_strides(buf, i, ndim, spec))) + goto fail; + if (unlikely(!__pyx_check_suboffsets(buf, i, ndim, spec))) + goto fail; + } + if (unlikely(buf->strides && !__pyx_verify_contig(buf, ndim, c_or_f_flag))) + goto fail; + } + if (unlikely(__Pyx_init_memviewslice(memview, ndim, memviewslice, + new_memview != NULL) == -1)) { + goto fail; + } + retval = 0; + goto no_fail; +fail: + Py_XDECREF(new_memview); + retval = -1; +no_fail: + __Pyx_RefNannyFinishContext(); + return retval; +} + +/* ObjectToMemviewSlice */ + static CYTHON_INLINE __Pyx_memviewslice __Pyx_PyObject_to_MemoryviewSlice_ds_float(PyObject *obj, int writable_flag) { + __Pyx_memviewslice result = { 0, 0, { 0 }, { 0 }, { 0 } }; + __Pyx_BufFmt_StackElem stack[1]; + int axes_specs[] = { (__Pyx_MEMVIEW_DIRECT | __Pyx_MEMVIEW_STRIDED) }; + int retcode; + if (obj == Py_None) { + result.memview = (struct __pyx_memoryview_obj *) Py_None; + return result; + } + retcode = __Pyx_ValidateAndInit_memviewslice(axes_specs, 0, + PyBUF_RECORDS_RO | writable_flag, 1, + &__Pyx_TypeInfo_float, stack, + &result, obj); + if (unlikely(retcode == -1)) + goto __pyx_fail; + return result; +__pyx_fail: + result.memview = NULL; + result.data = NULL; + return result; +} + +/* CIntFromPyVerify */ + #define __PYX_VERIFY_RETURN_INT(target_type, func_type, func_value)\ + __PYX__VERIFY_RETURN_INT(target_type, func_type, func_value, 0) +#define __PYX_VERIFY_RETURN_INT_EXC(target_type, func_type, func_value)\ + __PYX__VERIFY_RETURN_INT(target_type, func_type, func_value, 1) +#define __PYX__VERIFY_RETURN_INT(target_type, func_type, func_value, exc)\ + {\ + func_type value = func_value;\ + if (sizeof(target_type) < sizeof(func_type)) {\ + if (unlikely(value != (func_type) (target_type) value)) {\ + func_type zero = 0;\ + if (exc && unlikely(value == (func_type)-1 && PyErr_Occurred()))\ + return (target_type) -1;\ + if (is_unsigned && unlikely(value < zero))\ + goto raise_neg_overflow;\ + else\ + goto raise_overflow;\ + }\ + }\ + return (target_type) value;\ + } + +/* MemviewDtypeToObject */ + static CYTHON_INLINE PyObject *__pyx_memview_get_float(const char *itemp) { + return (PyObject *) PyFloat_FromDouble(*(float *) itemp); +} +static CYTHON_INLINE int __pyx_memview_set_float(const char *itemp, PyObject *obj) { + float value = __pyx_PyFloat_AsFloat(obj); + if (unlikely((value == (float)-1) && PyErr_Occurred())) + return 0; + *(float *) itemp = value; + return 1; +} + +/* MemviewSliceCopyTemplate */ + static __Pyx_memviewslice +__pyx_memoryview_copy_new_contig(const __Pyx_memviewslice *from_mvs, + const char *mode, int ndim, + size_t sizeof_dtype, int contig_flag, + int dtype_is_object) +{ + __Pyx_RefNannyDeclarations + int i; + __Pyx_memviewslice new_mvs = { 0, 0, { 0 }, { 0 }, { 0 } }; + struct __pyx_memoryview_obj *from_memview = from_mvs->memview; + Py_buffer *buf = &from_memview->view; + PyObject *shape_tuple = NULL; + PyObject *temp_int = NULL; + struct __pyx_array_obj *array_obj = NULL; + struct __pyx_memoryview_obj *memview_obj = NULL; + __Pyx_RefNannySetupContext("__pyx_memoryview_copy_new_contig", 0); + for (i = 0; i < ndim; i++) { + if (unlikely(from_mvs->suboffsets[i] >= 0)) { + PyErr_Format(PyExc_ValueError, "Cannot copy memoryview slice with " + "indirect dimensions (axis %d)", i); + goto fail; + } + } + shape_tuple = PyTuple_New(ndim); + if (unlikely(!shape_tuple)) { + goto fail; + } + __Pyx_GOTREF(shape_tuple); + for(i = 0; i < ndim; i++) { + temp_int = PyInt_FromSsize_t(from_mvs->shape[i]); + if(unlikely(!temp_int)) { + goto fail; + } else { + PyTuple_SET_ITEM(shape_tuple, i, temp_int); + temp_int = NULL; + } + } + array_obj = __pyx_array_new(shape_tuple, sizeof_dtype, buf->format, (char *) mode, NULL); + if (unlikely(!array_obj)) { + goto fail; + } + __Pyx_GOTREF(array_obj); + memview_obj = (struct __pyx_memoryview_obj *) __pyx_memoryview_new( + (PyObject *) array_obj, contig_flag, + dtype_is_object, + from_mvs->memview->typeinfo); + if (unlikely(!memview_obj)) + goto fail; + if (unlikely(__Pyx_init_memviewslice(memview_obj, ndim, &new_mvs, 1) < 0)) + goto fail; + if (unlikely(__pyx_memoryview_copy_contents(*from_mvs, new_mvs, ndim, ndim, + dtype_is_object) < 0)) + goto fail; + goto no_fail; +fail: + __Pyx_XDECREF(new_mvs.memview); + new_mvs.memview = NULL; + new_mvs.data = NULL; +no_fail: + __Pyx_XDECREF(shape_tuple); + __Pyx_XDECREF(temp_int); + __Pyx_XDECREF(array_obj); + __Pyx_RefNannyFinishContext(); + return new_mvs; +} + +/* MemviewSliceInit */ + static int +__Pyx_init_memviewslice(struct __pyx_memoryview_obj *memview, + int ndim, + __Pyx_memviewslice *memviewslice, + int memview_is_new_reference) +{ + __Pyx_RefNannyDeclarations + int i, retval=-1; + Py_buffer *buf = &memview->view; + __Pyx_RefNannySetupContext("init_memviewslice", 0); + if (unlikely(memviewslice->memview || memviewslice->data)) { + PyErr_SetString(PyExc_ValueError, + "memviewslice is already initialized!"); + goto fail; + } + if (buf->strides) { + for (i = 0; i < ndim; i++) { + memviewslice->strides[i] = buf->strides[i]; + } + } else { + Py_ssize_t stride = buf->itemsize; + for (i = ndim - 1; i >= 0; i--) { + memviewslice->strides[i] = stride; + stride *= buf->shape[i]; + } + } + for (i = 0; i < ndim; i++) { + memviewslice->shape[i] = buf->shape[i]; + if (buf->suboffsets) { + memviewslice->suboffsets[i] = buf->suboffsets[i]; + } else { + memviewslice->suboffsets[i] = -1; + } + } + memviewslice->memview = memview; + memviewslice->data = (char *)buf->buf; + if (__pyx_add_acquisition_count(memview) == 0 && !memview_is_new_reference) { + Py_INCREF(memview); + } + retval = 0; + goto no_fail; +fail: + memviewslice->memview = 0; + memviewslice->data = 0; + retval = -1; +no_fail: + __Pyx_RefNannyFinishContext(); + return retval; +} +#ifndef Py_NO_RETURN +#define Py_NO_RETURN +#endif +static void __pyx_fatalerror(const char *fmt, ...) Py_NO_RETURN { + va_list vargs; + char msg[200]; +#if PY_VERSION_HEX >= 0x030A0000 || defined(HAVE_STDARG_PROTOTYPES) + va_start(vargs, fmt); +#else + va_start(vargs); +#endif + vsnprintf(msg, 200, fmt, vargs); + va_end(vargs); + Py_FatalError(msg); +} +static CYTHON_INLINE int +__pyx_add_acquisition_count_locked(__pyx_atomic_int_type *acquisition_count, + PyThread_type_lock lock) +{ + int result; + PyThread_acquire_lock(lock, 1); + result = (*acquisition_count)++; + PyThread_release_lock(lock); + return result; +} +static CYTHON_INLINE int +__pyx_sub_acquisition_count_locked(__pyx_atomic_int_type *acquisition_count, + PyThread_type_lock lock) +{ + int result; + PyThread_acquire_lock(lock, 1); + result = (*acquisition_count)--; + PyThread_release_lock(lock); + return result; +} +static CYTHON_INLINE void +__Pyx_INC_MEMVIEW(__Pyx_memviewslice *memslice, int have_gil, int lineno) +{ + __pyx_nonatomic_int_type old_acquisition_count; + struct __pyx_memoryview_obj *memview = memslice->memview; + if (unlikely(!memview || (PyObject *) memview == Py_None)) { + return; + } + old_acquisition_count = __pyx_add_acquisition_count(memview); + if (unlikely(old_acquisition_count <= 0)) { + if (likely(old_acquisition_count == 0)) { + if (have_gil) { + Py_INCREF((PyObject *) memview); + } else { + PyGILState_STATE _gilstate = PyGILState_Ensure(); + Py_INCREF((PyObject *) memview); + PyGILState_Release(_gilstate); + } + } else { + __pyx_fatalerror("Acquisition count is %d (line %d)", + old_acquisition_count+1, lineno); + } + } +} +static CYTHON_INLINE void __Pyx_XCLEAR_MEMVIEW(__Pyx_memviewslice *memslice, + int have_gil, int lineno) { + __pyx_nonatomic_int_type old_acquisition_count; + struct __pyx_memoryview_obj *memview = memslice->memview; + if (unlikely(!memview || (PyObject *) memview == Py_None)) { + memslice->memview = NULL; + return; + } + old_acquisition_count = __pyx_sub_acquisition_count(memview); + memslice->data = NULL; + if (likely(old_acquisition_count > 1)) { + memslice->memview = NULL; + } else if (likely(old_acquisition_count == 1)) { + if (have_gil) { + Py_CLEAR(memslice->memview); + } else { + PyGILState_STATE _gilstate = PyGILState_Ensure(); + Py_CLEAR(memslice->memview); + PyGILState_Release(_gilstate); + } + } else { + __pyx_fatalerror("Acquisition count is %d (line %d)", + old_acquisition_count-1, lineno); + } +} + +/* CIntFromPy */ + static CYTHON_INLINE int __Pyx_PyInt_As_int(PyObject *x) { +#ifdef __Pyx_HAS_GCC_DIAGNOSTIC +#pragma GCC diagnostic push +#pragma GCC diagnostic ignored "-Wconversion" +#endif + const int neg_one = (int) -1, const_zero = (int) 0; +#ifdef __Pyx_HAS_GCC_DIAGNOSTIC +#pragma GCC diagnostic pop +#endif + const int is_unsigned = neg_one > const_zero; +#if PY_MAJOR_VERSION < 3 + if (likely(PyInt_Check(x))) { + if ((sizeof(int) < sizeof(long))) { + __PYX_VERIFY_RETURN_INT(int, long, PyInt_AS_LONG(x)) + } else { + long val = PyInt_AS_LONG(x); + if (is_unsigned && unlikely(val < 0)) { + goto raise_neg_overflow; + } + return (int) val; + } + } else +#endif + if (likely(PyLong_Check(x))) { + if (is_unsigned) { +#if CYTHON_USE_PYLONG_INTERNALS + if (unlikely(__Pyx_PyLong_IsNeg(x))) { + goto raise_neg_overflow; + } else if (__Pyx_PyLong_IsCompact(x)) { + __PYX_VERIFY_RETURN_INT(int, __Pyx_compact_upylong, __Pyx_PyLong_CompactValueUnsigned(x)) + } else { + const digit* digits = __Pyx_PyLong_Digits(x); + assert(__Pyx_PyLong_DigitCount(x) > 1); + switch (__Pyx_PyLong_DigitCount(x)) { + case 2: + if ((8 * sizeof(int) > 1 * PyLong_SHIFT)) { + if ((8 * sizeof(unsigned long) > 2 * PyLong_SHIFT)) { + __PYX_VERIFY_RETURN_INT(int, unsigned long, (((((unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if ((8 * sizeof(int) >= 2 * PyLong_SHIFT)) { + return (int) (((((int)digits[1]) << PyLong_SHIFT) | (int)digits[0])); + } + } + break; + case 3: + if ((8 * sizeof(int) > 2 * PyLong_SHIFT)) { + if ((8 * sizeof(unsigned long) > 3 * PyLong_SHIFT)) { + __PYX_VERIFY_RETURN_INT(int, unsigned long, (((((((unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if ((8 * sizeof(int) >= 3 * PyLong_SHIFT)) { + return (int) (((((((int)digits[2]) << PyLong_SHIFT) | (int)digits[1]) << PyLong_SHIFT) | (int)digits[0])); + } + } + break; + case 4: + if ((8 * sizeof(int) > 3 * PyLong_SHIFT)) { + if ((8 * sizeof(unsigned long) > 4 * PyLong_SHIFT)) { + __PYX_VERIFY_RETURN_INT(int, unsigned long, (((((((((unsigned long)digits[3]) << PyLong_SHIFT) | (unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if ((8 * sizeof(int) >= 4 * PyLong_SHIFT)) { + return (int) (((((((((int)digits[3]) << PyLong_SHIFT) | (int)digits[2]) << PyLong_SHIFT) | (int)digits[1]) << PyLong_SHIFT) | (int)digits[0])); + } + } + break; + } + } +#endif +#if CYTHON_COMPILING_IN_CPYTHON && PY_VERSION_HEX < 0x030C00A7 + if (unlikely(Py_SIZE(x) < 0)) { + goto raise_neg_overflow; + } +#else + { + int result = PyObject_RichCompareBool(x, Py_False, Py_LT); + if (unlikely(result < 0)) + return (int) -1; + if (unlikely(result == 1)) + goto raise_neg_overflow; + } +#endif + if ((sizeof(int) <= sizeof(unsigned long))) { + __PYX_VERIFY_RETURN_INT_EXC(int, unsigned long, PyLong_AsUnsignedLong(x)) +#ifdef HAVE_LONG_LONG + } else if ((sizeof(int) <= sizeof(unsigned PY_LONG_LONG))) { + __PYX_VERIFY_RETURN_INT_EXC(int, unsigned PY_LONG_LONG, PyLong_AsUnsignedLongLong(x)) +#endif + } + } else { +#if CYTHON_USE_PYLONG_INTERNALS + if (__Pyx_PyLong_IsCompact(x)) { + __PYX_VERIFY_RETURN_INT(int, __Pyx_compact_pylong, __Pyx_PyLong_CompactValue(x)) + } else { + const digit* digits = __Pyx_PyLong_Digits(x); + assert(__Pyx_PyLong_DigitCount(x) > 1); + switch (__Pyx_PyLong_SignedDigitCount(x)) { + case -2: + if ((8 * sizeof(int) - 1 > 1 * PyLong_SHIFT)) { + if ((8 * sizeof(unsigned long) > 2 * PyLong_SHIFT)) { + __PYX_VERIFY_RETURN_INT(int, long, -(long) (((((unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if ((8 * sizeof(int) - 1 > 2 * PyLong_SHIFT)) { + return (int) (((int)-1)*(((((int)digits[1]) << PyLong_SHIFT) | (int)digits[0]))); + } + } + break; + case 2: + if ((8 * sizeof(int) > 1 * PyLong_SHIFT)) { + if ((8 * sizeof(unsigned long) > 2 * PyLong_SHIFT)) { + __PYX_VERIFY_RETURN_INT(int, unsigned long, (((((unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if ((8 * sizeof(int) - 1 > 2 * PyLong_SHIFT)) { + return (int) ((((((int)digits[1]) << PyLong_SHIFT) | (int)digits[0]))); + } + } + break; + case -3: + if ((8 * sizeof(int) - 1 > 2 * PyLong_SHIFT)) { + if ((8 * sizeof(unsigned long) > 3 * PyLong_SHIFT)) { + __PYX_VERIFY_RETURN_INT(int, long, -(long) (((((((unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if ((8 * sizeof(int) - 1 > 3 * PyLong_SHIFT)) { + return (int) (((int)-1)*(((((((int)digits[2]) << PyLong_SHIFT) | (int)digits[1]) << PyLong_SHIFT) | (int)digits[0]))); + } + } + break; + case 3: + if ((8 * sizeof(int) > 2 * PyLong_SHIFT)) { + if ((8 * sizeof(unsigned long) > 3 * PyLong_SHIFT)) { + __PYX_VERIFY_RETURN_INT(int, unsigned long, (((((((unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if ((8 * sizeof(int) - 1 > 3 * PyLong_SHIFT)) { + return (int) ((((((((int)digits[2]) << PyLong_SHIFT) | (int)digits[1]) << PyLong_SHIFT) | (int)digits[0]))); + } + } + break; + case -4: + if ((8 * sizeof(int) - 1 > 3 * PyLong_SHIFT)) { + if ((8 * sizeof(unsigned long) > 4 * PyLong_SHIFT)) { + __PYX_VERIFY_RETURN_INT(int, long, -(long) (((((((((unsigned long)digits[3]) << PyLong_SHIFT) | (unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if ((8 * sizeof(int) - 1 > 4 * PyLong_SHIFT)) { + return (int) (((int)-1)*(((((((((int)digits[3]) << PyLong_SHIFT) | (int)digits[2]) << PyLong_SHIFT) | (int)digits[1]) << PyLong_SHIFT) | (int)digits[0]))); + } + } + break; + case 4: + if ((8 * sizeof(int) > 3 * PyLong_SHIFT)) { + if ((8 * sizeof(unsigned long) > 4 * PyLong_SHIFT)) { + __PYX_VERIFY_RETURN_INT(int, unsigned long, (((((((((unsigned long)digits[3]) << PyLong_SHIFT) | (unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if ((8 * sizeof(int) - 1 > 4 * PyLong_SHIFT)) { + return (int) ((((((((((int)digits[3]) << PyLong_SHIFT) | (int)digits[2]) << PyLong_SHIFT) | (int)digits[1]) << PyLong_SHIFT) | (int)digits[0]))); + } + } + break; + } + } +#endif + if ((sizeof(int) <= sizeof(long))) { + __PYX_VERIFY_RETURN_INT_EXC(int, long, PyLong_AsLong(x)) +#ifdef HAVE_LONG_LONG + } else if ((sizeof(int) <= sizeof(PY_LONG_LONG))) { + __PYX_VERIFY_RETURN_INT_EXC(int, PY_LONG_LONG, PyLong_AsLongLong(x)) +#endif + } + } + { + int val; + PyObject *v = __Pyx_PyNumber_IntOrLong(x); +#if PY_MAJOR_VERSION < 3 + if (likely(v) && !PyLong_Check(v)) { + PyObject *tmp = v; + v = PyNumber_Long(tmp); + Py_DECREF(tmp); + } +#endif + if (likely(v)) { + int ret = -1; +#if PY_VERSION_HEX < 0x030d0000 && !(CYTHON_COMPILING_IN_PYPY || CYTHON_COMPILING_IN_LIMITED_API) || defined(_PyLong_AsByteArray) + int one = 1; int is_little = (int)*(unsigned char *)&one; + unsigned char *bytes = (unsigned char *)&val; + ret = _PyLong_AsByteArray((PyLongObject *)v, + bytes, sizeof(val), + is_little, !is_unsigned); +#else + PyObject *stepval = NULL, *mask = NULL, *shift = NULL; + int bits, remaining_bits, is_negative = 0; + long idigit; + int chunk_size = (sizeof(long) < 8) ? 30 : 62; + if (unlikely(!PyLong_CheckExact(v))) { + PyObject *tmp = v; + v = PyNumber_Long(v); + assert(PyLong_CheckExact(v)); + Py_DECREF(tmp); + if (unlikely(!v)) return (int) -1; + } +#if CYTHON_COMPILING_IN_LIMITED_API && PY_VERSION_HEX < 0x030B0000 + if (Py_SIZE(x) == 0) + return (int) 0; + is_negative = Py_SIZE(x) < 0; +#else + { + int result = PyObject_RichCompareBool(x, Py_False, Py_LT); + if (unlikely(result < 0)) + return (int) -1; + is_negative = result == 1; + } +#endif + if (is_unsigned && unlikely(is_negative)) { + goto raise_neg_overflow; + } else if (is_negative) { + stepval = PyNumber_Invert(v); + if (unlikely(!stepval)) + return (int) -1; + } else { + stepval = __Pyx_NewRef(v); + } + val = (int) 0; + mask = PyLong_FromLong((1L << chunk_size) - 1); if (unlikely(!mask)) goto done; + shift = PyLong_FromLong(chunk_size); if (unlikely(!shift)) goto done; + for (bits = 0; bits < (int) sizeof(int) * 8 - chunk_size; bits += chunk_size) { + PyObject *tmp, *digit; + digit = PyNumber_And(stepval, mask); + if (unlikely(!digit)) goto done; + idigit = PyLong_AsLong(digit); + Py_DECREF(digit); + if (unlikely(idigit < 0)) goto done; + tmp = PyNumber_Rshift(stepval, shift); + if (unlikely(!tmp)) goto done; + Py_DECREF(stepval); stepval = tmp; + val |= ((int) idigit) << bits; + #if CYTHON_COMPILING_IN_LIMITED_API && PY_VERSION_HEX < 0x030B0000 + if (Py_SIZE(stepval) == 0) + goto unpacking_done; + #endif + } + idigit = PyLong_AsLong(stepval); + if (unlikely(idigit < 0)) goto done; + remaining_bits = ((int) sizeof(int) * 8) - bits - (is_unsigned ? 0 : 1); + if (unlikely(idigit >= (1L << remaining_bits))) + goto raise_overflow; + val |= ((int) idigit) << bits; + #if CYTHON_COMPILING_IN_LIMITED_API && PY_VERSION_HEX < 0x030B0000 + unpacking_done: + #endif + if (!is_unsigned) { + if (unlikely(val & (((int) 1) << (sizeof(int) * 8 - 1)))) + goto raise_overflow; + if (is_negative) + val = ~val; + } + ret = 0; + done: + Py_XDECREF(shift); + Py_XDECREF(mask); + Py_XDECREF(stepval); +#endif + Py_DECREF(v); + if (likely(!ret)) + return val; + } + return (int) -1; + } + } else { + int val; + PyObject *tmp = __Pyx_PyNumber_IntOrLong(x); + if (!tmp) return (int) -1; + val = __Pyx_PyInt_As_int(tmp); + Py_DECREF(tmp); + return val; + } +raise_overflow: + PyErr_SetString(PyExc_OverflowError, + "value too large to convert to int"); + return (int) -1; +raise_neg_overflow: + PyErr_SetString(PyExc_OverflowError, + "can't convert negative value to int"); + return (int) -1; +} + +/* CIntFromPy */ + static CYTHON_INLINE long __Pyx_PyInt_As_long(PyObject *x) { +#ifdef __Pyx_HAS_GCC_DIAGNOSTIC +#pragma GCC diagnostic push +#pragma GCC diagnostic ignored "-Wconversion" +#endif + const long neg_one = (long) -1, const_zero = (long) 0; +#ifdef __Pyx_HAS_GCC_DIAGNOSTIC +#pragma GCC diagnostic pop +#endif + const int is_unsigned = neg_one > const_zero; +#if PY_MAJOR_VERSION < 3 + if (likely(PyInt_Check(x))) { + if ((sizeof(long) < sizeof(long))) { + __PYX_VERIFY_RETURN_INT(long, long, PyInt_AS_LONG(x)) + } else { + long val = PyInt_AS_LONG(x); + if (is_unsigned && unlikely(val < 0)) { + goto raise_neg_overflow; + } + return (long) val; + } + } else +#endif + if (likely(PyLong_Check(x))) { + if (is_unsigned) { +#if CYTHON_USE_PYLONG_INTERNALS + if (unlikely(__Pyx_PyLong_IsNeg(x))) { + goto raise_neg_overflow; + } else if (__Pyx_PyLong_IsCompact(x)) { + __PYX_VERIFY_RETURN_INT(long, __Pyx_compact_upylong, __Pyx_PyLong_CompactValueUnsigned(x)) + } else { + const digit* digits = __Pyx_PyLong_Digits(x); + assert(__Pyx_PyLong_DigitCount(x) > 1); + switch (__Pyx_PyLong_DigitCount(x)) { + case 2: + if ((8 * sizeof(long) > 1 * PyLong_SHIFT)) { + if ((8 * sizeof(unsigned long) > 2 * PyLong_SHIFT)) { + __PYX_VERIFY_RETURN_INT(long, unsigned long, (((((unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if ((8 * sizeof(long) >= 2 * PyLong_SHIFT)) { + return (long) (((((long)digits[1]) << PyLong_SHIFT) | (long)digits[0])); + } + } + break; + case 3: + if ((8 * sizeof(long) > 2 * PyLong_SHIFT)) { + if ((8 * sizeof(unsigned long) > 3 * PyLong_SHIFT)) { + __PYX_VERIFY_RETURN_INT(long, unsigned long, (((((((unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if ((8 * sizeof(long) >= 3 * PyLong_SHIFT)) { + return (long) (((((((long)digits[2]) << PyLong_SHIFT) | (long)digits[1]) << PyLong_SHIFT) | (long)digits[0])); + } + } + break; + case 4: + if ((8 * sizeof(long) > 3 * PyLong_SHIFT)) { + if ((8 * sizeof(unsigned long) > 4 * PyLong_SHIFT)) { + __PYX_VERIFY_RETURN_INT(long, unsigned long, (((((((((unsigned long)digits[3]) << PyLong_SHIFT) | (unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if ((8 * sizeof(long) >= 4 * PyLong_SHIFT)) { + return (long) (((((((((long)digits[3]) << PyLong_SHIFT) | (long)digits[2]) << PyLong_SHIFT) | (long)digits[1]) << PyLong_SHIFT) | (long)digits[0])); + } + } + break; + } + } +#endif +#if CYTHON_COMPILING_IN_CPYTHON && PY_VERSION_HEX < 0x030C00A7 + if (unlikely(Py_SIZE(x) < 0)) { + goto raise_neg_overflow; + } +#else + { + int result = PyObject_RichCompareBool(x, Py_False, Py_LT); + if (unlikely(result < 0)) + return (long) -1; + if (unlikely(result == 1)) + goto raise_neg_overflow; + } +#endif + if ((sizeof(long) <= sizeof(unsigned long))) { + __PYX_VERIFY_RETURN_INT_EXC(long, unsigned long, PyLong_AsUnsignedLong(x)) +#ifdef HAVE_LONG_LONG + } else if ((sizeof(long) <= sizeof(unsigned PY_LONG_LONG))) { + __PYX_VERIFY_RETURN_INT_EXC(long, unsigned PY_LONG_LONG, PyLong_AsUnsignedLongLong(x)) +#endif + } + } else { +#if CYTHON_USE_PYLONG_INTERNALS + if (__Pyx_PyLong_IsCompact(x)) { + __PYX_VERIFY_RETURN_INT(long, __Pyx_compact_pylong, __Pyx_PyLong_CompactValue(x)) + } else { + const digit* digits = __Pyx_PyLong_Digits(x); + assert(__Pyx_PyLong_DigitCount(x) > 1); + switch (__Pyx_PyLong_SignedDigitCount(x)) { + case -2: + if ((8 * sizeof(long) - 1 > 1 * PyLong_SHIFT)) { + if ((8 * sizeof(unsigned long) > 2 * PyLong_SHIFT)) { + __PYX_VERIFY_RETURN_INT(long, long, -(long) (((((unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if ((8 * sizeof(long) - 1 > 2 * PyLong_SHIFT)) { + return (long) (((long)-1)*(((((long)digits[1]) << PyLong_SHIFT) | (long)digits[0]))); + } + } + break; + case 2: + if ((8 * sizeof(long) > 1 * PyLong_SHIFT)) { + if ((8 * sizeof(unsigned long) > 2 * PyLong_SHIFT)) { + __PYX_VERIFY_RETURN_INT(long, unsigned long, (((((unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if ((8 * sizeof(long) - 1 > 2 * PyLong_SHIFT)) { + return (long) ((((((long)digits[1]) << PyLong_SHIFT) | (long)digits[0]))); + } + } + break; + case -3: + if ((8 * sizeof(long) - 1 > 2 * PyLong_SHIFT)) { + if ((8 * sizeof(unsigned long) > 3 * PyLong_SHIFT)) { + __PYX_VERIFY_RETURN_INT(long, long, -(long) (((((((unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if ((8 * sizeof(long) - 1 > 3 * PyLong_SHIFT)) { + return (long) (((long)-1)*(((((((long)digits[2]) << PyLong_SHIFT) | (long)digits[1]) << PyLong_SHIFT) | (long)digits[0]))); + } + } + break; + case 3: + if ((8 * sizeof(long) > 2 * PyLong_SHIFT)) { + if ((8 * sizeof(unsigned long) > 3 * PyLong_SHIFT)) { + __PYX_VERIFY_RETURN_INT(long, unsigned long, (((((((unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if ((8 * sizeof(long) - 1 > 3 * PyLong_SHIFT)) { + return (long) ((((((((long)digits[2]) << PyLong_SHIFT) | (long)digits[1]) << PyLong_SHIFT) | (long)digits[0]))); + } + } + break; + case -4: + if ((8 * sizeof(long) - 1 > 3 * PyLong_SHIFT)) { + if ((8 * sizeof(unsigned long) > 4 * PyLong_SHIFT)) { + __PYX_VERIFY_RETURN_INT(long, long, -(long) (((((((((unsigned long)digits[3]) << PyLong_SHIFT) | (unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if ((8 * sizeof(long) - 1 > 4 * PyLong_SHIFT)) { + return (long) (((long)-1)*(((((((((long)digits[3]) << PyLong_SHIFT) | (long)digits[2]) << PyLong_SHIFT) | (long)digits[1]) << PyLong_SHIFT) | (long)digits[0]))); + } + } + break; + case 4: + if ((8 * sizeof(long) > 3 * PyLong_SHIFT)) { + if ((8 * sizeof(unsigned long) > 4 * PyLong_SHIFT)) { + __PYX_VERIFY_RETURN_INT(long, unsigned long, (((((((((unsigned long)digits[3]) << PyLong_SHIFT) | (unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if ((8 * sizeof(long) - 1 > 4 * PyLong_SHIFT)) { + return (long) ((((((((((long)digits[3]) << PyLong_SHIFT) | (long)digits[2]) << PyLong_SHIFT) | (long)digits[1]) << PyLong_SHIFT) | (long)digits[0]))); + } + } + break; + } + } +#endif + if ((sizeof(long) <= sizeof(long))) { + __PYX_VERIFY_RETURN_INT_EXC(long, long, PyLong_AsLong(x)) +#ifdef HAVE_LONG_LONG + } else if ((sizeof(long) <= sizeof(PY_LONG_LONG))) { + __PYX_VERIFY_RETURN_INT_EXC(long, PY_LONG_LONG, PyLong_AsLongLong(x)) +#endif + } + } + { + long val; + PyObject *v = __Pyx_PyNumber_IntOrLong(x); +#if PY_MAJOR_VERSION < 3 + if (likely(v) && !PyLong_Check(v)) { + PyObject *tmp = v; + v = PyNumber_Long(tmp); + Py_DECREF(tmp); + } +#endif + if (likely(v)) { + int ret = -1; +#if PY_VERSION_HEX < 0x030d0000 && !(CYTHON_COMPILING_IN_PYPY || CYTHON_COMPILING_IN_LIMITED_API) || defined(_PyLong_AsByteArray) + int one = 1; int is_little = (int)*(unsigned char *)&one; + unsigned char *bytes = (unsigned char *)&val; + ret = _PyLong_AsByteArray((PyLongObject *)v, + bytes, sizeof(val), + is_little, !is_unsigned); +#else + PyObject *stepval = NULL, *mask = NULL, *shift = NULL; + int bits, remaining_bits, is_negative = 0; + long idigit; + int chunk_size = (sizeof(long) < 8) ? 30 : 62; + if (unlikely(!PyLong_CheckExact(v))) { + PyObject *tmp = v; + v = PyNumber_Long(v); + assert(PyLong_CheckExact(v)); + Py_DECREF(tmp); + if (unlikely(!v)) return (long) -1; + } +#if CYTHON_COMPILING_IN_LIMITED_API && PY_VERSION_HEX < 0x030B0000 + if (Py_SIZE(x) == 0) + return (long) 0; + is_negative = Py_SIZE(x) < 0; +#else + { + int result = PyObject_RichCompareBool(x, Py_False, Py_LT); + if (unlikely(result < 0)) + return (long) -1; + is_negative = result == 1; + } +#endif + if (is_unsigned && unlikely(is_negative)) { + goto raise_neg_overflow; + } else if (is_negative) { + stepval = PyNumber_Invert(v); + if (unlikely(!stepval)) + return (long) -1; + } else { + stepval = __Pyx_NewRef(v); + } + val = (long) 0; + mask = PyLong_FromLong((1L << chunk_size) - 1); if (unlikely(!mask)) goto done; + shift = PyLong_FromLong(chunk_size); if (unlikely(!shift)) goto done; + for (bits = 0; bits < (int) sizeof(long) * 8 - chunk_size; bits += chunk_size) { + PyObject *tmp, *digit; + digit = PyNumber_And(stepval, mask); + if (unlikely(!digit)) goto done; + idigit = PyLong_AsLong(digit); + Py_DECREF(digit); + if (unlikely(idigit < 0)) goto done; + tmp = PyNumber_Rshift(stepval, shift); + if (unlikely(!tmp)) goto done; + Py_DECREF(stepval); stepval = tmp; + val |= ((long) idigit) << bits; + #if CYTHON_COMPILING_IN_LIMITED_API && PY_VERSION_HEX < 0x030B0000 + if (Py_SIZE(stepval) == 0) + goto unpacking_done; + #endif + } + idigit = PyLong_AsLong(stepval); + if (unlikely(idigit < 0)) goto done; + remaining_bits = ((int) sizeof(long) * 8) - bits - (is_unsigned ? 0 : 1); + if (unlikely(idigit >= (1L << remaining_bits))) + goto raise_overflow; + val |= ((long) idigit) << bits; + #if CYTHON_COMPILING_IN_LIMITED_API && PY_VERSION_HEX < 0x030B0000 + unpacking_done: + #endif + if (!is_unsigned) { + if (unlikely(val & (((long) 1) << (sizeof(long) * 8 - 1)))) + goto raise_overflow; + if (is_negative) + val = ~val; + } + ret = 0; + done: + Py_XDECREF(shift); + Py_XDECREF(mask); + Py_XDECREF(stepval); +#endif + Py_DECREF(v); + if (likely(!ret)) + return val; + } + return (long) -1; + } + } else { + long val; + PyObject *tmp = __Pyx_PyNumber_IntOrLong(x); + if (!tmp) return (long) -1; + val = __Pyx_PyInt_As_long(tmp); + Py_DECREF(tmp); + return val; + } +raise_overflow: + PyErr_SetString(PyExc_OverflowError, + "value too large to convert to long"); + return (long) -1; +raise_neg_overflow: + PyErr_SetString(PyExc_OverflowError, + "can't convert negative value to long"); + return (long) -1; +} + +/* CIntToPy */ + static CYTHON_INLINE PyObject* __Pyx_PyInt_From_int(int value) { +#ifdef __Pyx_HAS_GCC_DIAGNOSTIC +#pragma GCC diagnostic push +#pragma GCC diagnostic ignored "-Wconversion" +#endif + const int neg_one = (int) -1, const_zero = (int) 0; +#ifdef __Pyx_HAS_GCC_DIAGNOSTIC +#pragma GCC diagnostic pop +#endif + const int is_unsigned = neg_one > const_zero; + if (is_unsigned) { + if (sizeof(int) < sizeof(long)) { + return PyInt_FromLong((long) value); + } else if (sizeof(int) <= sizeof(unsigned long)) { + return PyLong_FromUnsignedLong((unsigned long) value); +#ifdef HAVE_LONG_LONG + } else if (sizeof(int) <= sizeof(unsigned PY_LONG_LONG)) { + return PyLong_FromUnsignedLongLong((unsigned PY_LONG_LONG) value); +#endif + } + } else { + if (sizeof(int) <= sizeof(long)) { + return PyInt_FromLong((long) value); +#ifdef HAVE_LONG_LONG + } else if (sizeof(int) <= sizeof(PY_LONG_LONG)) { + return PyLong_FromLongLong((PY_LONG_LONG) value); +#endif + } + } + { + int one = 1; int little = (int)*(unsigned char *)&one; + unsigned char *bytes = (unsigned char *)&value; +#if !CYTHON_COMPILING_IN_LIMITED_API && PY_VERSION_HEX < 0x030d0000 + return _PyLong_FromByteArray(bytes, sizeof(int), + little, !is_unsigned); +#else + PyObject *from_bytes, *result = NULL; + PyObject *py_bytes = NULL, *arg_tuple = NULL, *kwds = NULL, *order_str = NULL; + from_bytes = PyObject_GetAttrString((PyObject*)&PyLong_Type, "from_bytes"); + if (!from_bytes) return NULL; + py_bytes = PyBytes_FromStringAndSize((char*)bytes, sizeof(int)); + if (!py_bytes) goto limited_bad; + order_str = PyUnicode_FromString(little ? "little" : "big"); + if (!order_str) goto limited_bad; + arg_tuple = PyTuple_Pack(2, py_bytes, order_str); + if (!arg_tuple) goto limited_bad; + if (!is_unsigned) { + kwds = PyDict_New(); + if (!kwds) goto limited_bad; + if (PyDict_SetItemString(kwds, "signed", __Pyx_NewRef(Py_True))) goto limited_bad; + } + result = PyObject_Call(from_bytes, arg_tuple, kwds); + limited_bad: + Py_XDECREF(kwds); + Py_XDECREF(arg_tuple); + Py_XDECREF(order_str); + Py_XDECREF(py_bytes); + Py_XDECREF(from_bytes); + return result; +#endif + } +} + +/* CIntToPy */ + static CYTHON_INLINE PyObject* __Pyx_PyInt_From_long(long value) { +#ifdef __Pyx_HAS_GCC_DIAGNOSTIC +#pragma GCC diagnostic push +#pragma GCC diagnostic ignored "-Wconversion" +#endif + const long neg_one = (long) -1, const_zero = (long) 0; +#ifdef __Pyx_HAS_GCC_DIAGNOSTIC +#pragma GCC diagnostic pop +#endif + const int is_unsigned = neg_one > const_zero; + if (is_unsigned) { + if (sizeof(long) < sizeof(long)) { + return PyInt_FromLong((long) value); + } else if (sizeof(long) <= sizeof(unsigned long)) { + return PyLong_FromUnsignedLong((unsigned long) value); +#ifdef HAVE_LONG_LONG + } else if (sizeof(long) <= sizeof(unsigned PY_LONG_LONG)) { + return PyLong_FromUnsignedLongLong((unsigned PY_LONG_LONG) value); +#endif + } + } else { + if (sizeof(long) <= sizeof(long)) { + return PyInt_FromLong((long) value); +#ifdef HAVE_LONG_LONG + } else if (sizeof(long) <= sizeof(PY_LONG_LONG)) { + return PyLong_FromLongLong((PY_LONG_LONG) value); +#endif + } + } + { + int one = 1; int little = (int)*(unsigned char *)&one; + unsigned char *bytes = (unsigned char *)&value; +#if !CYTHON_COMPILING_IN_LIMITED_API && PY_VERSION_HEX < 0x030d0000 + return _PyLong_FromByteArray(bytes, sizeof(long), + little, !is_unsigned); +#else + PyObject *from_bytes, *result = NULL; + PyObject *py_bytes = NULL, *arg_tuple = NULL, *kwds = NULL, *order_str = NULL; + from_bytes = PyObject_GetAttrString((PyObject*)&PyLong_Type, "from_bytes"); + if (!from_bytes) return NULL; + py_bytes = PyBytes_FromStringAndSize((char*)bytes, sizeof(long)); + if (!py_bytes) goto limited_bad; + order_str = PyUnicode_FromString(little ? "little" : "big"); + if (!order_str) goto limited_bad; + arg_tuple = PyTuple_Pack(2, py_bytes, order_str); + if (!arg_tuple) goto limited_bad; + if (!is_unsigned) { + kwds = PyDict_New(); + if (!kwds) goto limited_bad; + if (PyDict_SetItemString(kwds, "signed", __Pyx_NewRef(Py_True))) goto limited_bad; + } + result = PyObject_Call(from_bytes, arg_tuple, kwds); + limited_bad: + Py_XDECREF(kwds); + Py_XDECREF(arg_tuple); + Py_XDECREF(order_str); + Py_XDECREF(py_bytes); + Py_XDECREF(from_bytes); + return result; +#endif + } +} + +/* CIntFromPy */ + static CYTHON_INLINE char __Pyx_PyInt_As_char(PyObject *x) { +#ifdef __Pyx_HAS_GCC_DIAGNOSTIC +#pragma GCC diagnostic push +#pragma GCC diagnostic ignored "-Wconversion" +#endif + const char neg_one = (char) -1, const_zero = (char) 0; +#ifdef __Pyx_HAS_GCC_DIAGNOSTIC +#pragma GCC diagnostic pop +#endif + const int is_unsigned = neg_one > const_zero; +#if PY_MAJOR_VERSION < 3 + if (likely(PyInt_Check(x))) { + if ((sizeof(char) < sizeof(long))) { + __PYX_VERIFY_RETURN_INT(char, long, PyInt_AS_LONG(x)) + } else { + long val = PyInt_AS_LONG(x); + if (is_unsigned && unlikely(val < 0)) { + goto raise_neg_overflow; + } + return (char) val; + } + } else +#endif + if (likely(PyLong_Check(x))) { + if (is_unsigned) { +#if CYTHON_USE_PYLONG_INTERNALS + if (unlikely(__Pyx_PyLong_IsNeg(x))) { + goto raise_neg_overflow; + } else if (__Pyx_PyLong_IsCompact(x)) { + __PYX_VERIFY_RETURN_INT(char, __Pyx_compact_upylong, __Pyx_PyLong_CompactValueUnsigned(x)) + } else { + const digit* digits = __Pyx_PyLong_Digits(x); + assert(__Pyx_PyLong_DigitCount(x) > 1); + switch (__Pyx_PyLong_DigitCount(x)) { + case 2: + if ((8 * sizeof(char) > 1 * PyLong_SHIFT)) { + if ((8 * sizeof(unsigned long) > 2 * PyLong_SHIFT)) { + __PYX_VERIFY_RETURN_INT(char, unsigned long, (((((unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if ((8 * sizeof(char) >= 2 * PyLong_SHIFT)) { + return (char) (((((char)digits[1]) << PyLong_SHIFT) | (char)digits[0])); + } + } + break; + case 3: + if ((8 * sizeof(char) > 2 * PyLong_SHIFT)) { + if ((8 * sizeof(unsigned long) > 3 * PyLong_SHIFT)) { + __PYX_VERIFY_RETURN_INT(char, unsigned long, (((((((unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if ((8 * sizeof(char) >= 3 * PyLong_SHIFT)) { + return (char) (((((((char)digits[2]) << PyLong_SHIFT) | (char)digits[1]) << PyLong_SHIFT) | (char)digits[0])); + } + } + break; + case 4: + if ((8 * sizeof(char) > 3 * PyLong_SHIFT)) { + if ((8 * sizeof(unsigned long) > 4 * PyLong_SHIFT)) { + __PYX_VERIFY_RETURN_INT(char, unsigned long, (((((((((unsigned long)digits[3]) << PyLong_SHIFT) | (unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if ((8 * sizeof(char) >= 4 * PyLong_SHIFT)) { + return (char) (((((((((char)digits[3]) << PyLong_SHIFT) | (char)digits[2]) << PyLong_SHIFT) | (char)digits[1]) << PyLong_SHIFT) | (char)digits[0])); + } + } + break; + } + } +#endif +#if CYTHON_COMPILING_IN_CPYTHON && PY_VERSION_HEX < 0x030C00A7 + if (unlikely(Py_SIZE(x) < 0)) { + goto raise_neg_overflow; + } +#else + { + int result = PyObject_RichCompareBool(x, Py_False, Py_LT); + if (unlikely(result < 0)) + return (char) -1; + if (unlikely(result == 1)) + goto raise_neg_overflow; + } +#endif + if ((sizeof(char) <= sizeof(unsigned long))) { + __PYX_VERIFY_RETURN_INT_EXC(char, unsigned long, PyLong_AsUnsignedLong(x)) +#ifdef HAVE_LONG_LONG + } else if ((sizeof(char) <= sizeof(unsigned PY_LONG_LONG))) { + __PYX_VERIFY_RETURN_INT_EXC(char, unsigned PY_LONG_LONG, PyLong_AsUnsignedLongLong(x)) +#endif + } + } else { +#if CYTHON_USE_PYLONG_INTERNALS + if (__Pyx_PyLong_IsCompact(x)) { + __PYX_VERIFY_RETURN_INT(char, __Pyx_compact_pylong, __Pyx_PyLong_CompactValue(x)) + } else { + const digit* digits = __Pyx_PyLong_Digits(x); + assert(__Pyx_PyLong_DigitCount(x) > 1); + switch (__Pyx_PyLong_SignedDigitCount(x)) { + case -2: + if ((8 * sizeof(char) - 1 > 1 * PyLong_SHIFT)) { + if ((8 * sizeof(unsigned long) > 2 * PyLong_SHIFT)) { + __PYX_VERIFY_RETURN_INT(char, long, -(long) (((((unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if ((8 * sizeof(char) - 1 > 2 * PyLong_SHIFT)) { + return (char) (((char)-1)*(((((char)digits[1]) << PyLong_SHIFT) | (char)digits[0]))); + } + } + break; + case 2: + if ((8 * sizeof(char) > 1 * PyLong_SHIFT)) { + if ((8 * sizeof(unsigned long) > 2 * PyLong_SHIFT)) { + __PYX_VERIFY_RETURN_INT(char, unsigned long, (((((unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if ((8 * sizeof(char) - 1 > 2 * PyLong_SHIFT)) { + return (char) ((((((char)digits[1]) << PyLong_SHIFT) | (char)digits[0]))); + } + } + break; + case -3: + if ((8 * sizeof(char) - 1 > 2 * PyLong_SHIFT)) { + if ((8 * sizeof(unsigned long) > 3 * PyLong_SHIFT)) { + __PYX_VERIFY_RETURN_INT(char, long, -(long) (((((((unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if ((8 * sizeof(char) - 1 > 3 * PyLong_SHIFT)) { + return (char) (((char)-1)*(((((((char)digits[2]) << PyLong_SHIFT) | (char)digits[1]) << PyLong_SHIFT) | (char)digits[0]))); + } + } + break; + case 3: + if ((8 * sizeof(char) > 2 * PyLong_SHIFT)) { + if ((8 * sizeof(unsigned long) > 3 * PyLong_SHIFT)) { + __PYX_VERIFY_RETURN_INT(char, unsigned long, (((((((unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if ((8 * sizeof(char) - 1 > 3 * PyLong_SHIFT)) { + return (char) ((((((((char)digits[2]) << PyLong_SHIFT) | (char)digits[1]) << PyLong_SHIFT) | (char)digits[0]))); + } + } + break; + case -4: + if ((8 * sizeof(char) - 1 > 3 * PyLong_SHIFT)) { + if ((8 * sizeof(unsigned long) > 4 * PyLong_SHIFT)) { + __PYX_VERIFY_RETURN_INT(char, long, -(long) (((((((((unsigned long)digits[3]) << PyLong_SHIFT) | (unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if ((8 * sizeof(char) - 1 > 4 * PyLong_SHIFT)) { + return (char) (((char)-1)*(((((((((char)digits[3]) << PyLong_SHIFT) | (char)digits[2]) << PyLong_SHIFT) | (char)digits[1]) << PyLong_SHIFT) | (char)digits[0]))); + } + } + break; + case 4: + if ((8 * sizeof(char) > 3 * PyLong_SHIFT)) { + if ((8 * sizeof(unsigned long) > 4 * PyLong_SHIFT)) { + __PYX_VERIFY_RETURN_INT(char, unsigned long, (((((((((unsigned long)digits[3]) << PyLong_SHIFT) | (unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if ((8 * sizeof(char) - 1 > 4 * PyLong_SHIFT)) { + return (char) ((((((((((char)digits[3]) << PyLong_SHIFT) | (char)digits[2]) << PyLong_SHIFT) | (char)digits[1]) << PyLong_SHIFT) | (char)digits[0]))); + } + } + break; + } + } +#endif + if ((sizeof(char) <= sizeof(long))) { + __PYX_VERIFY_RETURN_INT_EXC(char, long, PyLong_AsLong(x)) +#ifdef HAVE_LONG_LONG + } else if ((sizeof(char) <= sizeof(PY_LONG_LONG))) { + __PYX_VERIFY_RETURN_INT_EXC(char, PY_LONG_LONG, PyLong_AsLongLong(x)) +#endif + } + } + { + char val; + PyObject *v = __Pyx_PyNumber_IntOrLong(x); +#if PY_MAJOR_VERSION < 3 + if (likely(v) && !PyLong_Check(v)) { + PyObject *tmp = v; + v = PyNumber_Long(tmp); + Py_DECREF(tmp); + } +#endif + if (likely(v)) { + int ret = -1; +#if PY_VERSION_HEX < 0x030d0000 && !(CYTHON_COMPILING_IN_PYPY || CYTHON_COMPILING_IN_LIMITED_API) || defined(_PyLong_AsByteArray) + int one = 1; int is_little = (int)*(unsigned char *)&one; + unsigned char *bytes = (unsigned char *)&val; + ret = _PyLong_AsByteArray((PyLongObject *)v, + bytes, sizeof(val), + is_little, !is_unsigned); +#else + PyObject *stepval = NULL, *mask = NULL, *shift = NULL; + int bits, remaining_bits, is_negative = 0; + long idigit; + int chunk_size = (sizeof(long) < 8) ? 30 : 62; + if (unlikely(!PyLong_CheckExact(v))) { + PyObject *tmp = v; + v = PyNumber_Long(v); + assert(PyLong_CheckExact(v)); + Py_DECREF(tmp); + if (unlikely(!v)) return (char) -1; + } +#if CYTHON_COMPILING_IN_LIMITED_API && PY_VERSION_HEX < 0x030B0000 + if (Py_SIZE(x) == 0) + return (char) 0; + is_negative = Py_SIZE(x) < 0; +#else + { + int result = PyObject_RichCompareBool(x, Py_False, Py_LT); + if (unlikely(result < 0)) + return (char) -1; + is_negative = result == 1; + } +#endif + if (is_unsigned && unlikely(is_negative)) { + goto raise_neg_overflow; + } else if (is_negative) { + stepval = PyNumber_Invert(v); + if (unlikely(!stepval)) + return (char) -1; + } else { + stepval = __Pyx_NewRef(v); + } + val = (char) 0; + mask = PyLong_FromLong((1L << chunk_size) - 1); if (unlikely(!mask)) goto done; + shift = PyLong_FromLong(chunk_size); if (unlikely(!shift)) goto done; + for (bits = 0; bits < (int) sizeof(char) * 8 - chunk_size; bits += chunk_size) { + PyObject *tmp, *digit; + digit = PyNumber_And(stepval, mask); + if (unlikely(!digit)) goto done; + idigit = PyLong_AsLong(digit); + Py_DECREF(digit); + if (unlikely(idigit < 0)) goto done; + tmp = PyNumber_Rshift(stepval, shift); + if (unlikely(!tmp)) goto done; + Py_DECREF(stepval); stepval = tmp; + val |= ((char) idigit) << bits; + #if CYTHON_COMPILING_IN_LIMITED_API && PY_VERSION_HEX < 0x030B0000 + if (Py_SIZE(stepval) == 0) + goto unpacking_done; + #endif + } + idigit = PyLong_AsLong(stepval); + if (unlikely(idigit < 0)) goto done; + remaining_bits = ((int) sizeof(char) * 8) - bits - (is_unsigned ? 0 : 1); + if (unlikely(idigit >= (1L << remaining_bits))) + goto raise_overflow; + val |= ((char) idigit) << bits; + #if CYTHON_COMPILING_IN_LIMITED_API && PY_VERSION_HEX < 0x030B0000 + unpacking_done: + #endif + if (!is_unsigned) { + if (unlikely(val & (((char) 1) << (sizeof(char) * 8 - 1)))) + goto raise_overflow; + if (is_negative) + val = ~val; + } + ret = 0; + done: + Py_XDECREF(shift); + Py_XDECREF(mask); + Py_XDECREF(stepval); +#endif + Py_DECREF(v); + if (likely(!ret)) + return val; + } + return (char) -1; + } + } else { + char val; + PyObject *tmp = __Pyx_PyNumber_IntOrLong(x); + if (!tmp) return (char) -1; + val = __Pyx_PyInt_As_char(tmp); + Py_DECREF(tmp); + return val; + } +raise_overflow: + PyErr_SetString(PyExc_OverflowError, + "value too large to convert to char"); + return (char) -1; +raise_neg_overflow: + PyErr_SetString(PyExc_OverflowError, + "can't convert negative value to char"); + return (char) -1; +} + +/* FormatTypeName */ + #if CYTHON_COMPILING_IN_LIMITED_API +static __Pyx_TypeName +__Pyx_PyType_GetName(PyTypeObject* tp) +{ + PyObject *name = __Pyx_PyObject_GetAttrStr((PyObject *)tp, + __pyx_n_s_name_2); + if (unlikely(name == NULL) || unlikely(!PyUnicode_Check(name))) { + PyErr_Clear(); + Py_XDECREF(name); + name = __Pyx_NewRef(__pyx_n_s__24); + } + return name; +} +#endif + +/* CheckBinaryVersion */ + static unsigned long __Pyx_get_runtime_version(void) { +#if __PYX_LIMITED_VERSION_HEX >= 0x030B00A4 + return Py_Version & ~0xFFUL; +#else + const char* rt_version = Py_GetVersion(); + unsigned long version = 0; + unsigned long factor = 0x01000000UL; + unsigned int digit = 0; + int i = 0; + while (factor) { + while ('0' <= rt_version[i] && rt_version[i] <= '9') { + digit = digit * 10 + (unsigned int) (rt_version[i] - '0'); + ++i; + } + version += factor * digit; + if (rt_version[i] != '.') + break; + digit = 0; + factor >>= 8; + ++i; + } + return version; +#endif +} +static int __Pyx_check_binary_version(unsigned long ct_version, unsigned long rt_version, int allow_newer) { + const unsigned long MAJOR_MINOR = 0xFFFF0000UL; + if ((rt_version & MAJOR_MINOR) == (ct_version & MAJOR_MINOR)) + return 0; + if (likely(allow_newer && (rt_version & MAJOR_MINOR) > (ct_version & MAJOR_MINOR))) + return 1; + { + char message[200]; + PyOS_snprintf(message, sizeof(message), + "compile time Python version %d.%d " + "of module '%.100s' " + "%s " + "runtime version %d.%d", + (int) (ct_version >> 24), (int) ((ct_version >> 16) & 0xFF), + __Pyx_MODULE_NAME, + (allow_newer) ? "was newer than" : "does not match", + (int) (rt_version >> 24), (int) ((rt_version >> 16) & 0xFF) + ); + return PyErr_WarnEx(NULL, message, 1); + } +} + +/* InitStrings */ + #if PY_MAJOR_VERSION >= 3 +static int __Pyx_InitString(__Pyx_StringTabEntry t, PyObject **str) { + if (t.is_unicode | t.is_str) { + if (t.intern) { + *str = PyUnicode_InternFromString(t.s); + } else if (t.encoding) { + *str = PyUnicode_Decode(t.s, t.n - 1, t.encoding, NULL); + } else { + *str = PyUnicode_FromStringAndSize(t.s, t.n - 1); + } + } else { + *str = PyBytes_FromStringAndSize(t.s, t.n - 1); + } + if (!*str) + return -1; + if (PyObject_Hash(*str) == -1) + return -1; + return 0; +} +#endif +static int __Pyx_InitStrings(__Pyx_StringTabEntry *t) { + while (t->p) { + #if PY_MAJOR_VERSION >= 3 + __Pyx_InitString(*t, t->p); + #else + if (t->is_unicode) { + *t->p = PyUnicode_DecodeUTF8(t->s, t->n - 1, NULL); + } else if (t->intern) { + *t->p = PyString_InternFromString(t->s); + } else { + *t->p = PyString_FromStringAndSize(t->s, t->n - 1); + } + if (!*t->p) + return -1; + if (PyObject_Hash(*t->p) == -1) + return -1; + #endif + ++t; + } + return 0; +} + +#include +static CYTHON_INLINE Py_ssize_t __Pyx_ssize_strlen(const char *s) { + size_t len = strlen(s); + if (unlikely(len > (size_t) PY_SSIZE_T_MAX)) { + PyErr_SetString(PyExc_OverflowError, "byte string is too long"); + return -1; + } + return (Py_ssize_t) len; +} +static CYTHON_INLINE PyObject* __Pyx_PyUnicode_FromString(const char* c_str) { + Py_ssize_t len = __Pyx_ssize_strlen(c_str); + if (unlikely(len < 0)) return NULL; + return __Pyx_PyUnicode_FromStringAndSize(c_str, len); +} +static CYTHON_INLINE PyObject* __Pyx_PyByteArray_FromString(const char* c_str) { + Py_ssize_t len = __Pyx_ssize_strlen(c_str); + if (unlikely(len < 0)) return NULL; + return PyByteArray_FromStringAndSize(c_str, len); +} +static CYTHON_INLINE const char* __Pyx_PyObject_AsString(PyObject* o) { + Py_ssize_t ignore; + return __Pyx_PyObject_AsStringAndSize(o, &ignore); +} +#if __PYX_DEFAULT_STRING_ENCODING_IS_ASCII || __PYX_DEFAULT_STRING_ENCODING_IS_DEFAULT +#if !CYTHON_PEP393_ENABLED +static const char* __Pyx_PyUnicode_AsStringAndSize(PyObject* o, Py_ssize_t *length) { + char* defenc_c; + PyObject* defenc = _PyUnicode_AsDefaultEncodedString(o, NULL); + if (!defenc) return NULL; + defenc_c = PyBytes_AS_STRING(defenc); +#if __PYX_DEFAULT_STRING_ENCODING_IS_ASCII + { + char* end = defenc_c + PyBytes_GET_SIZE(defenc); + char* c; + for (c = defenc_c; c < end; c++) { + if ((unsigned char) (*c) >= 128) { + PyUnicode_AsASCIIString(o); + return NULL; + } + } + } +#endif + *length = PyBytes_GET_SIZE(defenc); + return defenc_c; +} +#else +static CYTHON_INLINE const char* __Pyx_PyUnicode_AsStringAndSize(PyObject* o, Py_ssize_t *length) { + if (unlikely(__Pyx_PyUnicode_READY(o) == -1)) return NULL; +#if __PYX_DEFAULT_STRING_ENCODING_IS_ASCII + if (likely(PyUnicode_IS_ASCII(o))) { + *length = PyUnicode_GET_LENGTH(o); + return PyUnicode_AsUTF8(o); + } else { + PyUnicode_AsASCIIString(o); + return NULL; + } +#else + return PyUnicode_AsUTF8AndSize(o, length); +#endif +} +#endif +#endif +static CYTHON_INLINE const char* __Pyx_PyObject_AsStringAndSize(PyObject* o, Py_ssize_t *length) { +#if __PYX_DEFAULT_STRING_ENCODING_IS_ASCII || __PYX_DEFAULT_STRING_ENCODING_IS_DEFAULT + if ( +#if PY_MAJOR_VERSION < 3 && __PYX_DEFAULT_STRING_ENCODING_IS_ASCII + __Pyx_sys_getdefaultencoding_not_ascii && +#endif + PyUnicode_Check(o)) { + return __Pyx_PyUnicode_AsStringAndSize(o, length); + } else +#endif +#if (!CYTHON_COMPILING_IN_PYPY && !CYTHON_COMPILING_IN_LIMITED_API) || (defined(PyByteArray_AS_STRING) && defined(PyByteArray_GET_SIZE)) + if (PyByteArray_Check(o)) { + *length = PyByteArray_GET_SIZE(o); + return PyByteArray_AS_STRING(o); + } else +#endif + { + char* result; + int r = PyBytes_AsStringAndSize(o, &result, length); + if (unlikely(r < 0)) { + return NULL; + } else { + return result; + } + } +} +static CYTHON_INLINE int __Pyx_PyObject_IsTrue(PyObject* x) { + int is_true = x == Py_True; + if (is_true | (x == Py_False) | (x == Py_None)) return is_true; + else return PyObject_IsTrue(x); +} +static CYTHON_INLINE int __Pyx_PyObject_IsTrueAndDecref(PyObject* x) { + int retval; + if (unlikely(!x)) return -1; + retval = __Pyx_PyObject_IsTrue(x); + Py_DECREF(x); + return retval; +} +static PyObject* __Pyx_PyNumber_IntOrLongWrongResultType(PyObject* result, const char* type_name) { + __Pyx_TypeName result_type_name = __Pyx_PyType_GetName(Py_TYPE(result)); +#if PY_MAJOR_VERSION >= 3 + if (PyLong_Check(result)) { + if (PyErr_WarnFormat(PyExc_DeprecationWarning, 1, + "__int__ returned non-int (type " __Pyx_FMT_TYPENAME "). " + "The ability to return an instance of a strict subclass of int is deprecated, " + "and may be removed in a future version of Python.", + result_type_name)) { + __Pyx_DECREF_TypeName(result_type_name); + Py_DECREF(result); + return NULL; + } + __Pyx_DECREF_TypeName(result_type_name); + return result; + } +#endif + PyErr_Format(PyExc_TypeError, + "__%.4s__ returned non-%.4s (type " __Pyx_FMT_TYPENAME ")", + type_name, type_name, result_type_name); + __Pyx_DECREF_TypeName(result_type_name); + Py_DECREF(result); + return NULL; +} +static CYTHON_INLINE PyObject* __Pyx_PyNumber_IntOrLong(PyObject* x) { +#if CYTHON_USE_TYPE_SLOTS + PyNumberMethods *m; +#endif + const char *name = NULL; + PyObject *res = NULL; +#if PY_MAJOR_VERSION < 3 + if (likely(PyInt_Check(x) || PyLong_Check(x))) +#else + if (likely(PyLong_Check(x))) +#endif + return __Pyx_NewRef(x); +#if CYTHON_USE_TYPE_SLOTS + m = Py_TYPE(x)->tp_as_number; + #if PY_MAJOR_VERSION < 3 + if (m && m->nb_int) { + name = "int"; + res = m->nb_int(x); + } + else if (m && m->nb_long) { + name = "long"; + res = m->nb_long(x); + } + #else + if (likely(m && m->nb_int)) { + name = "int"; + res = m->nb_int(x); + } + #endif +#else + if (!PyBytes_CheckExact(x) && !PyUnicode_CheckExact(x)) { + res = PyNumber_Int(x); + } +#endif + if (likely(res)) { +#if PY_MAJOR_VERSION < 3 + if (unlikely(!PyInt_Check(res) && !PyLong_Check(res))) { +#else + if (unlikely(!PyLong_CheckExact(res))) { +#endif + return __Pyx_PyNumber_IntOrLongWrongResultType(res, name); + } + } + else if (!PyErr_Occurred()) { + PyErr_SetString(PyExc_TypeError, + "an integer is required"); + } + return res; +} +static CYTHON_INLINE Py_ssize_t __Pyx_PyIndex_AsSsize_t(PyObject* b) { + Py_ssize_t ival; + PyObject *x; +#if PY_MAJOR_VERSION < 3 + if (likely(PyInt_CheckExact(b))) { + if (sizeof(Py_ssize_t) >= sizeof(long)) + return PyInt_AS_LONG(b); + else + return PyInt_AsSsize_t(b); + } +#endif + if (likely(PyLong_CheckExact(b))) { + #if CYTHON_USE_PYLONG_INTERNALS + if (likely(__Pyx_PyLong_IsCompact(b))) { + return __Pyx_PyLong_CompactValue(b); + } else { + const digit* digits = __Pyx_PyLong_Digits(b); + const Py_ssize_t size = __Pyx_PyLong_SignedDigitCount(b); + switch (size) { + case 2: + if (8 * sizeof(Py_ssize_t) > 2 * PyLong_SHIFT) { + return (Py_ssize_t) (((((size_t)digits[1]) << PyLong_SHIFT) | (size_t)digits[0])); + } + break; + case -2: + if (8 * sizeof(Py_ssize_t) > 2 * PyLong_SHIFT) { + return -(Py_ssize_t) (((((size_t)digits[1]) << PyLong_SHIFT) | (size_t)digits[0])); + } + break; + case 3: + if (8 * sizeof(Py_ssize_t) > 3 * PyLong_SHIFT) { + return (Py_ssize_t) (((((((size_t)digits[2]) << PyLong_SHIFT) | (size_t)digits[1]) << PyLong_SHIFT) | (size_t)digits[0])); + } + break; + case -3: + if (8 * sizeof(Py_ssize_t) > 3 * PyLong_SHIFT) { + return -(Py_ssize_t) (((((((size_t)digits[2]) << PyLong_SHIFT) | (size_t)digits[1]) << PyLong_SHIFT) | (size_t)digits[0])); + } + break; + case 4: + if (8 * sizeof(Py_ssize_t) > 4 * PyLong_SHIFT) { + return (Py_ssize_t) (((((((((size_t)digits[3]) << PyLong_SHIFT) | (size_t)digits[2]) << PyLong_SHIFT) | (size_t)digits[1]) << PyLong_SHIFT) | (size_t)digits[0])); + } + break; + case -4: + if (8 * sizeof(Py_ssize_t) > 4 * PyLong_SHIFT) { + return -(Py_ssize_t) (((((((((size_t)digits[3]) << PyLong_SHIFT) | (size_t)digits[2]) << PyLong_SHIFT) | (size_t)digits[1]) << PyLong_SHIFT) | (size_t)digits[0])); + } + break; + } + } + #endif + return PyLong_AsSsize_t(b); + } + x = PyNumber_Index(b); + if (!x) return -1; + ival = PyInt_AsSsize_t(x); + Py_DECREF(x); + return ival; +} +static CYTHON_INLINE Py_hash_t __Pyx_PyIndex_AsHash_t(PyObject* o) { + if (sizeof(Py_hash_t) == sizeof(Py_ssize_t)) { + return (Py_hash_t) __Pyx_PyIndex_AsSsize_t(o); +#if PY_MAJOR_VERSION < 3 + } else if (likely(PyInt_CheckExact(o))) { + return PyInt_AS_LONG(o); +#endif + } else { + Py_ssize_t ival; + PyObject *x; + x = PyNumber_Index(o); + if (!x) return -1; + ival = PyInt_AsLong(x); + Py_DECREF(x); + return ival; + } +} +static CYTHON_INLINE PyObject * __Pyx_PyBool_FromLong(long b) { + return b ? __Pyx_NewRef(Py_True) : __Pyx_NewRef(Py_False); +} +static CYTHON_INLINE PyObject * __Pyx_PyInt_FromSize_t(size_t ival) { + return PyInt_FromSize_t(ival); +} + + +/* #### Code section: utility_code_pragmas_end ### */ +#ifdef _MSC_VER +#pragma warning( pop ) +#endif + + + +/* #### Code section: end ### */ +#endif /* Py_PYTHON_H */ diff --git a/selfdrive/classic_modeld/runners/thneedmodel_pyx.pyx b/selfdrive/classic_modeld/runners/thneedmodel_pyx.pyx new file mode 100644 index 00000000000000..c044bfc2e3368b --- /dev/null +++ b/selfdrive/classic_modeld/runners/thneedmodel_pyx.pyx @@ -0,0 +1,14 @@ +# distutils: language = c++ +# cython: c_string_encoding=ascii + +from libcpp cimport bool +from libcpp.string cimport string + +from .thneedmodel cimport ThneedModel as cppThneedModel +from selfdrive.classic_modeld.models.commonmodel_pyx cimport CLContext +from selfdrive.classic_modeld.runners.runmodel_pyx cimport RunModel +from selfdrive.classic_modeld.runners.runmodel cimport RunModel as cppRunModel + +cdef class ThneedModel(RunModel): + def __cinit__(self, string path, float[:] output, int runtime, bool use_tf8, CLContext context): + self.model = new cppThneedModel(path, &output[0], len(output), runtime, use_tf8, context.context) diff --git a/selfdrive/classic_modeld/runners/thneedmodel_pyx.so b/selfdrive/classic_modeld/runners/thneedmodel_pyx.so new file mode 100644 index 00000000000000..2188117a4a9b6a Binary files /dev/null and b/selfdrive/classic_modeld/runners/thneedmodel_pyx.so differ diff --git a/selfdrive/classic_modeld/thneed/__init__.py b/selfdrive/classic_modeld/thneed/__init__.py new file mode 100644 index 00000000000000..e69de29bb2d1d6 diff --git a/selfdrive/classic_modeld/transforms/loadyuv.cl b/selfdrive/classic_modeld/transforms/loadyuv.cl new file mode 100644 index 00000000000000..7dd3d973a3ef69 --- /dev/null +++ b/selfdrive/classic_modeld/transforms/loadyuv.cl @@ -0,0 +1,47 @@ +#define UV_SIZE ((TRANSFORMED_WIDTH/2)*(TRANSFORMED_HEIGHT/2)) + +__kernel void loadys(__global uchar8 const * const Y, + __global float * out, + int out_offset) +{ + const int gid = get_global_id(0); + const int ois = gid * 8; + const int oy = ois / TRANSFORMED_WIDTH; + const int ox = ois % TRANSFORMED_WIDTH; + + const uchar8 ys = Y[gid]; + const float8 ysf = convert_float8(ys); + + // 02 + // 13 + + __global float* outy0; + __global float* outy1; + if ((oy & 1) == 0) { + outy0 = out + out_offset; //y0 + outy1 = out + out_offset + UV_SIZE*2; //y2 + } else { + outy0 = out + out_offset + UV_SIZE; //y1 + outy1 = out + out_offset + UV_SIZE*3; //y3 + } + + vstore4(ysf.s0246, 0, outy0 + (oy/2) * (TRANSFORMED_WIDTH/2) + ox/2); + vstore4(ysf.s1357, 0, outy1 + (oy/2) * (TRANSFORMED_WIDTH/2) + ox/2); +} + +__kernel void loaduv(__global uchar8 const * const in, + __global float8 * out, + int out_offset) +{ + const int gid = get_global_id(0); + const uchar8 inv = in[gid]; + const float8 outv = convert_float8(inv); + out[gid + out_offset / 8] = outv; +} + +__kernel void copy(__global float8 * inout, + int in_offset) +{ + const int gid = get_global_id(0); + inout[gid] = inout[gid + in_offset / 8]; +} diff --git a/selfdrive/classic_modeld/transforms/transform.cc b/selfdrive/classic_modeld/transforms/transform.cc new file mode 100644 index 00000000000000..8d1a18fc2199a1 --- /dev/null +++ b/selfdrive/classic_modeld/transforms/transform.cc @@ -0,0 +1,97 @@ +#include "selfdrive/classic_modeld/transforms/transform.h" + +#include +#include + +#include "common/clutil.h" + +void transform_init(Transform* s, cl_context ctx, cl_device_id device_id) { + memset(s, 0, sizeof(*s)); + + cl_program prg = cl_program_from_file(ctx, device_id, TRANSFORM_PATH, ""); + s->krnl = CL_CHECK_ERR(clCreateKernel(prg, "warpPerspective", &err)); + // done with this + CL_CHECK(clReleaseProgram(prg)); + + s->m_y_cl = CL_CHECK_ERR(clCreateBuffer(ctx, CL_MEM_READ_WRITE, 3*3*sizeof(float), NULL, &err)); + s->m_uv_cl = CL_CHECK_ERR(clCreateBuffer(ctx, CL_MEM_READ_WRITE, 3*3*sizeof(float), NULL, &err)); +} + +void transform_destroy(Transform* s) { + CL_CHECK(clReleaseMemObject(s->m_y_cl)); + CL_CHECK(clReleaseMemObject(s->m_uv_cl)); + CL_CHECK(clReleaseKernel(s->krnl)); +} + +void transform_queue(Transform* s, + cl_command_queue q, + cl_mem in_yuv, int in_width, int in_height, int in_stride, int in_uv_offset, + cl_mem out_y, cl_mem out_u, cl_mem out_v, + int out_width, int out_height, + const mat3& projection) { + const int zero = 0; + + // sampled using pixel center origin + // (because that's how fastcv and opencv does it) + + mat3 projection_y = projection; + + // in and out uv is half the size of y. + mat3 projection_uv = transform_scale_buffer(projection, 0.5); + + CL_CHECK(clEnqueueWriteBuffer(q, s->m_y_cl, CL_TRUE, 0, 3*3*sizeof(float), (void*)projection_y.v, 0, NULL, NULL)); + CL_CHECK(clEnqueueWriteBuffer(q, s->m_uv_cl, CL_TRUE, 0, 3*3*sizeof(float), (void*)projection_uv.v, 0, NULL, NULL)); + + const int in_y_width = in_width; + const int in_y_height = in_height; + const int in_y_px_stride = 1; + const int in_uv_width = in_width/2; + const int in_uv_height = in_height/2; + const int in_uv_px_stride = 2; + const int in_u_offset = in_uv_offset; + const int in_v_offset = in_uv_offset + 1; + + const int out_y_width = out_width; + const int out_y_height = out_height; + const int out_uv_width = out_width/2; + const int out_uv_height = out_height/2; + + CL_CHECK(clSetKernelArg(s->krnl, 0, sizeof(cl_mem), &in_yuv)); // src + CL_CHECK(clSetKernelArg(s->krnl, 1, sizeof(cl_int), &in_stride)); // src_row_stride + CL_CHECK(clSetKernelArg(s->krnl, 2, sizeof(cl_int), &in_y_px_stride)); // src_px_stride + CL_CHECK(clSetKernelArg(s->krnl, 3, sizeof(cl_int), &zero)); // src_offset + CL_CHECK(clSetKernelArg(s->krnl, 4, sizeof(cl_int), &in_y_height)); // src_rows + CL_CHECK(clSetKernelArg(s->krnl, 5, sizeof(cl_int), &in_y_width)); // src_cols + CL_CHECK(clSetKernelArg(s->krnl, 6, sizeof(cl_mem), &out_y)); // dst + CL_CHECK(clSetKernelArg(s->krnl, 7, sizeof(cl_int), &out_y_width)); // dst_row_stride + CL_CHECK(clSetKernelArg(s->krnl, 8, sizeof(cl_int), &zero)); // dst_offset + CL_CHECK(clSetKernelArg(s->krnl, 9, sizeof(cl_int), &out_y_height)); // dst_rows + CL_CHECK(clSetKernelArg(s->krnl, 10, sizeof(cl_int), &out_y_width)); // dst_cols + CL_CHECK(clSetKernelArg(s->krnl, 11, sizeof(cl_mem), &s->m_y_cl)); // M + + const size_t work_size_y[2] = {(size_t)out_y_width, (size_t)out_y_height}; + + CL_CHECK(clEnqueueNDRangeKernel(q, s->krnl, 2, NULL, + (const size_t*)&work_size_y, NULL, 0, 0, NULL)); + + const size_t work_size_uv[2] = {(size_t)out_uv_width, (size_t)out_uv_height}; + + CL_CHECK(clSetKernelArg(s->krnl, 2, sizeof(cl_int), &in_uv_px_stride)); // src_px_stride + CL_CHECK(clSetKernelArg(s->krnl, 3, sizeof(cl_int), &in_u_offset)); // src_offset + CL_CHECK(clSetKernelArg(s->krnl, 4, sizeof(cl_int), &in_uv_height)); // src_rows + CL_CHECK(clSetKernelArg(s->krnl, 5, sizeof(cl_int), &in_uv_width)); // src_cols + CL_CHECK(clSetKernelArg(s->krnl, 6, sizeof(cl_mem), &out_u)); // dst + CL_CHECK(clSetKernelArg(s->krnl, 7, sizeof(cl_int), &out_uv_width)); // dst_row_stride + CL_CHECK(clSetKernelArg(s->krnl, 8, sizeof(cl_int), &zero)); // dst_offset + CL_CHECK(clSetKernelArg(s->krnl, 9, sizeof(cl_int), &out_uv_height)); // dst_rows + CL_CHECK(clSetKernelArg(s->krnl, 10, sizeof(cl_int), &out_uv_width)); // dst_cols + CL_CHECK(clSetKernelArg(s->krnl, 11, sizeof(cl_mem), &s->m_uv_cl)); // M + + CL_CHECK(clEnqueueNDRangeKernel(q, s->krnl, 2, NULL, + (const size_t*)&work_size_uv, NULL, 0, 0, NULL)); + CL_CHECK(clSetKernelArg(s->krnl, 3, sizeof(cl_int), &in_v_offset)); // src_ofset + CL_CHECK(clSetKernelArg(s->krnl, 6, sizeof(cl_mem), &out_v)); // dst + + CL_CHECK(clEnqueueNDRangeKernel(q, s->krnl, 2, NULL, + (const size_t*)&work_size_uv, NULL, 0, 0, NULL)); +} diff --git a/selfdrive/classic_modeld/transforms/transform.cl b/selfdrive/classic_modeld/transforms/transform.cl new file mode 100644 index 00000000000000..2ca25920cd19be --- /dev/null +++ b/selfdrive/classic_modeld/transforms/transform.cl @@ -0,0 +1,54 @@ +#define INTER_BITS 5 +#define INTER_TAB_SIZE (1 << INTER_BITS) +#define INTER_SCALE 1.f / INTER_TAB_SIZE + +#define INTER_REMAP_COEF_BITS 15 +#define INTER_REMAP_COEF_SCALE (1 << INTER_REMAP_COEF_BITS) + +__kernel void warpPerspective(__global const uchar * src, + int src_row_stride, int src_px_stride, int src_offset, int src_rows, int src_cols, + __global uchar * dst, + int dst_row_stride, int dst_offset, int dst_rows, int dst_cols, + __constant float * M) +{ + int dx = get_global_id(0); + int dy = get_global_id(1); + + if (dx < dst_cols && dy < dst_rows) + { + float X0 = M[0] * dx + M[1] * dy + M[2]; + float Y0 = M[3] * dx + M[4] * dy + M[5]; + float W = M[6] * dx + M[7] * dy + M[8]; + W = W != 0.0f ? INTER_TAB_SIZE / W : 0.0f; + int X = rint(X0 * W), Y = rint(Y0 * W); + + int sx = convert_short_sat(X >> INTER_BITS); + int sy = convert_short_sat(Y >> INTER_BITS); + + short sx_clamp = clamp(sx, 0, src_cols - 1); + short sx_p1_clamp = clamp(sx + 1, 0, src_cols - 1); + short sy_clamp = clamp(sy, 0, src_rows - 1); + short sy_p1_clamp = clamp(sy + 1, 0, src_rows - 1); + int v0 = convert_int(src[mad24(sy_clamp, src_row_stride, src_offset + sx_clamp*src_px_stride)]); + int v1 = convert_int(src[mad24(sy_clamp, src_row_stride, src_offset + sx_p1_clamp*src_px_stride)]); + int v2 = convert_int(src[mad24(sy_p1_clamp, src_row_stride, src_offset + sx_clamp*src_px_stride)]); + int v3 = convert_int(src[mad24(sy_p1_clamp, src_row_stride, src_offset + sx_p1_clamp*src_px_stride)]); + + short ay = (short)(Y & (INTER_TAB_SIZE - 1)); + short ax = (short)(X & (INTER_TAB_SIZE - 1)); + float taby = 1.f/INTER_TAB_SIZE*ay; + float tabx = 1.f/INTER_TAB_SIZE*ax; + + int dst_index = mad24(dy, dst_row_stride, dst_offset + dx); + + int itab0 = convert_short_sat_rte( (1.0f-taby)*(1.0f-tabx) * INTER_REMAP_COEF_SCALE ); + int itab1 = convert_short_sat_rte( (1.0f-taby)*tabx * INTER_REMAP_COEF_SCALE ); + int itab2 = convert_short_sat_rte( taby*(1.0f-tabx) * INTER_REMAP_COEF_SCALE ); + int itab3 = convert_short_sat_rte( taby*tabx * INTER_REMAP_COEF_SCALE ); + + int val = v0 * itab0 + v1 * itab1 + v2 * itab2 + v3 * itab3; + + uchar pix = convert_uchar_sat((val + (1 << (INTER_REMAP_COEF_BITS-1))) >> INTER_REMAP_COEF_BITS); + dst[dst_index] = pix; + } +} diff --git a/selfdrive/controls/controlsd.py b/selfdrive/controls/controlsd.py index e7ff0fcf05c42b..4ce4dfcb43359b 100644 --- a/selfdrive/controls/controlsd.py +++ b/selfdrive/controls/controlsd.py @@ -31,7 +31,8 @@ from openpilot.system.hardware import HARDWARE -from openpilot.selfdrive.frogpilot.controls.lib.frogpilot_variables import FrogPilotVariables +from openpilot.selfdrive.frogpilot.controls.lib.frogpilot_acceleration import get_max_allowed_accel +from openpilot.selfdrive.frogpilot.frogpilot_variables import NON_DRIVING_GEARS, FrogPilotVariables SOFT_DISABLE_TIME = 3 # seconds LDW_MIN_SPEED = 31 * CV.MPH_TO_MS @@ -163,7 +164,7 @@ def __init__(self, CI=None): self.can_log_mono_time = 0 - self.startup_event = get_startup_event(car_recognized, not self.CP.passive, len(self.CP.carFw) > 0, self.block_user) + self.startup_event = get_startup_event(car_recognized, not self.CP.passive, len(self.CP.carFw) > 0, self.block_user, FrogPilotVariables.toggles) if not sounds_available: self.events.add(EventName.soundsUnavailable, static=True) @@ -186,9 +187,11 @@ def __init__(self, CI=None): self.params_memory = Params("/dev/shm/params") self.always_on_lateral_active = False + self.always_on_lateral_active_previously = False self.fcw_event_triggered = False self.no_entry_alert_triggered = False self.onroad_distance_pressed = False + self.radarless_model = self.frogpilot_toggles.radarless_model self.resume_pressed = False self.resume_previously_pressed = False self.steer_saturated_event_triggered = False @@ -339,7 +342,7 @@ def update_events(self, CS): self.events.add(EventName.cameraFrameRate) if not REPLAY and self.rk.lagging: self.events.add(EventName.controlsdLagging) - if not self.frogpilot_toggles.radarless_model: + if not self.radarless_model: if len(self.sm['radarState'].radarErrors) or ((not self.rk.lagging or REPLAY) and not self.sm.all_checks(['radarState'])): self.events.add(EventName.radarFault) if not self.sm.valid['pandaStates']: @@ -426,6 +429,9 @@ def update_events(self, CS): # Add FrogPilot events self.events.add_from_msg(self.sm['frogpilotPlan'].frogpilotEvents) + if self.block_user: + return EventName.blockUser + def data_sample(self): """Receive data from sockets""" @@ -555,8 +561,8 @@ def state_transition(self, CS): # Check if openpilot is engaged and actuators are enabled self.enabled = self.state in ENABLED_STATES - self.active = self.state in ACTIVE_STATES or self.always_on_lateral_active - if self.active: + self.active = self.state in ACTIVE_STATES + if self.active or self.always_on_lateral_active: self.current_alert_types.append(ET.WARNING) def state_control(self, CS): @@ -571,9 +577,11 @@ def state_control(self, CS): # Update Torque Params if self.CP.lateralTuning.which() == 'torque': torque_params = self.sm['liveTorqueParameters'] - if self.sm.all_checks(['liveTorqueParameters']) and (torque_params.useParams or self.frogpilot_toggles.force_auto_tune): - self.LaC.update_live_torque_params(torque_params.latAccelFactorFiltered, torque_params.latAccelOffsetFiltered, - torque_params.frictionCoefficientFiltered) + friction = self.frogpilot_toggles.steer_friction if self.frogpilot_toggles.use_custom_steer_friction else torque_params.frictionCoefficientFiltered + lat_accel_factor = self.frogpilot_toggles.steer_lat_accel_factor if self.frogpilot_toggles.use_custom_lat_accel_factor else torque_params.latAccelFactorFiltered + if self.sm.all_checks(['liveTorqueParameters']) and (torque_params.useParams or self.frogpilot_toggles.force_auto_tune) and not self.frogpilot_toggles.force_auto_tune_off: + self.LaC.update_live_torque_params(lat_accel_factor, torque_params.latAccelOffsetFiltered, + friction) long_plan = self.sm['longitudinalPlan'] model_v2 = self.sm['modelV2'] @@ -583,7 +591,7 @@ def state_control(self, CS): # Check which actuators can be enabled standstill = CS.vEgo <= max(self.CP.minSteerSpeed, MIN_LATERAL_CONTROL_SPEED) or CS.standstill - CC.latActive = self.active and not CS.steerFaultTemporary and not CS.steerFaultPermanent and \ + CC.latActive = (self.active or self.always_on_lateral_active) and not CS.steerFaultTemporary and not CS.steerFaultPermanent and \ (not standstill or self.joystick_mode) and self.sm['frogpilotPlan'].lateralCheck CC.longActive = self.enabled and not self.events.contains(ET.OVERRIDE_LONGITUDINAL) and self.CP.openpilotLongitudinalControl @@ -611,6 +619,9 @@ def state_control(self, CS): if not self.joystick_mode: # accel PID loop pid_accel_limits = self.CI.get_pid_accel_limits(self.CP, CS.vEgo, self.v_cruise_helper.v_cruise_kph * CV.KPH_TO_MS, self.frogpilot_toggles) + if self.frogpilot_toggles.sport_plus: + pid_accel_limits = (pid_accel_limits[0], get_max_allowed_accel(CS.vEgo)) + if self.use_old_long: t_since_plan = (self.sm.frame - self.sm.recv_frame['longitudinalPlan']) * DT_CTRL actuators.accel = self.LoC.update_old_long(CC.longActive, CS, long_plan, pid_accel_limits, t_since_plan) @@ -626,7 +637,7 @@ def state_control(self, CS): actuators.steer, actuators.steeringAngleDeg, lac_log = self.LaC.update(CC.latActive, CS, self.VM, lp, self.steer_limited, self.desired_curvature, self.sm['liveLocationKalman'], - model_data=self.sm['modelV2']) + model_data=self.sm['modelV2'], frogpilot_toggles=self.frogpilot_toggles) else: lac_log = log.ControlsState.LateralDebugState.new_message() if self.sm.recv_frame['testJoystick'] > 0: @@ -710,8 +721,16 @@ def state_control(self, CS): return CC, lac_log, FPCC def update_frogpilot_variables(self, CS): - self.always_on_lateral_active = self.sm['frogpilotPlan'].alwaysOnLateralActive and self.sm.all_checks(['frogpilotPlan']) - if self.frogpilot_toggles.conditional_experimental_mode: + self.always_on_lateral_active |= self.frogpilot_toggles.always_on_lateral_main or CS.cruiseState.enabled + self.always_on_lateral_active &= self.frogpilot_toggles.always_on_lateral and CS.cruiseState.available + self.always_on_lateral_active &= CS.gearShifter not in NON_DRIVING_GEARS + self.always_on_lateral_active &= self.sm['frogpilotPlan'].lateralCheck + self.always_on_lateral_active &= self.sm['liveCalibration'].calPerc >= 1 + self.always_on_lateral_active &= not (self.frogpilot_toggles.always_on_lateral_lkas and self.sm['frogpilotCarState'].alwaysOnLateralDisabled) + self.always_on_lateral_active &= not (CS.brakePressed and CS.vEgo < self.frogpilot_toggles.always_on_lateral_pause_speed) or CS.standstill + self.always_on_lateral_active = bool(self.always_on_lateral_active) + + if self.frogpilot_toggles.conditional_experimental_mode or self.frogpilot_toggles.slc_fallback_experimental: self.experimental_mode = self.sm['frogpilotPlan'].experimentalMode if any(be.pressed and be.type == FrogPilotButtonType.lkas for be in CS.buttonEvents): diff --git a/selfdrive/controls/lib/drive_helpers.py b/selfdrive/controls/lib/drive_helpers.py index ce764fb09301e4..7fcf99a16e01b1 100644 --- a/selfdrive/controls/lib/drive_helpers.py +++ b/selfdrive/controls/lib/drive_helpers.py @@ -62,6 +62,9 @@ def update_v_cruise(self, CS, enabled, is_metric, speed_limit_changed, frogpilot else: self.v_cruise_kph = CS.cruiseState.speed * CV.MS_TO_KPH self.v_cruise_cluster_kph = CS.cruiseState.speedCluster * CV.MS_TO_KPH + if CS.cruiseState.speed == 0: + self.v_cruise_kph = V_CRUISE_UNSET + self.v_cruise_cluster_kph = V_CRUISE_UNSET else: self.v_cruise_kph = V_CRUISE_UNSET self.v_cruise_cluster_kph = V_CRUISE_UNSET diff --git a/selfdrive/controls/lib/events.py b/selfdrive/controls/lib/events.py index d6f5bd495e0223..b0ccd98c1535e2 100755 --- a/selfdrive/controls/lib/events.py +++ b/selfdrive/controls/lib/events.py @@ -226,13 +226,11 @@ def func(CP: car.CarParams, CS: car.CarState, sm: messaging.SubMaster, metric: b return func def startup_master_alert(CP: car.CarParams, CS: car.CarState, sm: messaging.SubMaster, metric: bool, soft_disable_time: int) -> Alert: - params = Params() - branch = get_short_branch() # Ensure get_short_branch is cached to avoid lags on startup if "REPLAY" in os.environ: branch = "replay" - return StartupAlert(params.get("StartupMessageTop", encoding='utf-8'), params.get("StartupMessageBottom", encoding='utf-8'), alert_status=AlertStatus.frogpilot) + return StartupAlert("WARNING: This branch is not tested", branch, alert_status=AlertStatus.userPrompt) def below_engage_speed_alert(CP: car.CarParams, CS: car.CarState, sm: messaging.SubMaster, metric: bool, soft_disable_time: int) -> Alert: return NoEntryAlert(f"Drive above {get_display_speed(CP.minEnableSpeed, metric)} to engage") @@ -345,6 +343,10 @@ def joystick_alert(CP: car.CarParams, CS: car.CarState, sm: messaging.SubMaster, # FrogPilot Alerts +def custom_startup_alert(CP: car.CarParams, CS: car.CarState, sm: messaging.SubMaster, metric: bool, soft_disable_time: int) -> Alert: + params = Params() + return StartupAlert(params.get("StartupMessageTop", encoding='utf-8') or "", params.get("StartupMessageBottom", encoding='utf-8') or "", alert_status=AlertStatus.frogpilot) + def holiday_alert(CP: car.CarParams, CS: car.CarState, sm: messaging.SubMaster, metric: bool, soft_disable_time: int) -> Alert: holiday_messages = { "new_years": ("Happy New Year! 🎉", "newYearsDayAlert"), @@ -1006,7 +1008,15 @@ def no_lane_available_alert(CP: car.CarParams, CS: car.CarState, sm: messaging.S # FrogPilot Events EventName.blockUser: { - ET.NO_ENTRY: NoEntryAlert("Please don't use the 'Development' branch!"), + ET.NO_ENTRY: Alert( + "Please don't use the 'Development' branch!", + "Forcing you into 'Dashcam Mode' for your safety", + AlertStatus.userPrompt, AlertSize.mid, + Priority.HIGHEST, VisualAlert.none, AudibleAlert.none, 1.), + }, + + EventName.customStartupAlert: { + ET.PERMANENT: custom_startup_alert, }, EventName.forcingStop: { @@ -1189,6 +1199,14 @@ def no_lane_available_alert(CP: car.CarParams, CS: car.CarState, sm: messaging.S AlertStatus.frogpilot, AlertSize.mid, Priority.MID, VisualAlert.none, AudibleAlert.angry, 5.), }, + + EventName.youveGotMail: { + ET.PERMANENT: Alert( + "You've got mail! 📧", + "", + AlertStatus.frogpilot, AlertSize.small, + Priority.LOW, VisualAlert.none, AudibleAlert.mail, 3.), + }, } diff --git a/selfdrive/controls/lib/latcontrol.py b/selfdrive/controls/lib/latcontrol.py index 1e7c5aaf310cd8..2229e4a8abed76 100644 --- a/selfdrive/controls/lib/latcontrol.py +++ b/selfdrive/controls/lib/latcontrol.py @@ -17,7 +17,7 @@ def __init__(self, CP, CI): self.steer_max = 1.0 @abstractmethod - def update(self, active, CS, VM, params, steer_limited, desired_curvature, llk, model_data=None): + def update(self, active, CS, VM, params, steer_limited, desired_curvature, llk, model_data=None, frogpilot_toggles=None): pass def reset(self): diff --git a/selfdrive/controls/lib/latcontrol_angle.py b/selfdrive/controls/lib/latcontrol_angle.py index c532124385c0c5..ce1fa411268423 100644 --- a/selfdrive/controls/lib/latcontrol_angle.py +++ b/selfdrive/controls/lib/latcontrol_angle.py @@ -11,7 +11,7 @@ def __init__(self, CP, CI): super().__init__(CP, CI) self.sat_check_min_speed = 5. - def update(self, active, CS, VM, params, steer_limited, desired_curvature, llk, model_data=None): + def update(self, active, CS, VM, params, steer_limited, desired_curvature, llk, model_data=None, frogpilot_toggles=None): angle_log = log.ControlsState.LateralAngleState.new_message() if not active: diff --git a/selfdrive/controls/lib/latcontrol_pid.py b/selfdrive/controls/lib/latcontrol_pid.py index eb63588f0d6ce7..56035e979c34bc 100644 --- a/selfdrive/controls/lib/latcontrol_pid.py +++ b/selfdrive/controls/lib/latcontrol_pid.py @@ -17,7 +17,7 @@ def reset(self): super().reset() self.pid.reset() - def update(self, active, CS, VM, params, steer_limited, desired_curvature, llk, model_data=None): + def update(self, active, CS, VM, params, steer_limited, desired_curvature, llk, model_data=None, frogpilot_toggles=None): pid_log = log.ControlsState.LateralPIDState.new_message() pid_log.steeringAngleDeg = float(CS.steeringAngleDeg) pid_log.steeringRateDeg = float(CS.steeringRateDeg) diff --git a/selfdrive/controls/lib/latcontrol_torque.py b/selfdrive/controls/lib/latcontrol_torque.py index bf4cc5d2386463..315dc2bf7cc4d9 100644 --- a/selfdrive/controls/lib/latcontrol_torque.py +++ b/selfdrive/controls/lib/latcontrol_torque.py @@ -124,7 +124,7 @@ def update_live_torque_params(self, latAccelFactor, latAccelOffset, friction): self.torque_params.latAccelOffset = latAccelOffset self.torque_params.friction = friction - def update(self, active, CS, VM, params, steer_limited, desired_curvature, llk, model_data=None): + def update(self, active, CS, VM, params, steer_limited, desired_curvature, llk, model_data=None, frogpilot_toggles=None): pid_log = log.ControlsState.LateralTorqueState.new_message() nn_log = None @@ -245,7 +245,7 @@ def update(self, active, CS, VM, params, steer_limited, desired_curvature, llk, output_torque = self.pid.update(pid_log.error, feedforward=ff, speed=CS.vEgo, - freeze_integrator=freeze_integrator) + freeze_integrator=freeze_integrator, frogpilot_toggles=frogpilot_toggles) pid_log.active = True pid_log.p = self.pid.p diff --git a/selfdrive/controls/lib/longcontrol.py b/selfdrive/controls/lib/longcontrol.py index 160dbc3937116f..7e4a780263c449 100644 --- a/selfdrive/controls/lib/longcontrol.py +++ b/selfdrive/controls/lib/longcontrol.py @@ -47,7 +47,7 @@ def long_control_state_trans(CP, active, long_control_state, v_ego, return long_control_state def long_control_state_trans_old_long(CP, active, long_control_state, v_ego, v_target, - v_target_1sec, brake_pressed, cruise_standstill): + v_target_1sec, brake_pressed, cruise_standstill): accelerating = v_target_1sec > v_target planned_stop = (v_target < CP.vEgoStopping and v_target_1sec < CP.vEgoStopping and @@ -85,10 +85,11 @@ def long_control_state_trans_old_long(CP, active, long_control_state, v_ego, v_t return long_control_state + class LongControl: def __init__(self, CP): self.CP = CP - self.long_control_state = LongCtrlState.off + self.long_control_state = LongCtrlState.off # initialized to off self.pid = PIDController((CP.longitudinalTuning.kpBP, CP.longitudinalTuning.kpV), (CP.longitudinalTuning.kiBP, CP.longitudinalTuning.kiV), k_f=CP.longitudinalTuning.kf, rate=1 / DT_CTRL) @@ -115,9 +116,6 @@ def update(self, active, CS, a_target, should_stop, accel_limits): if output_accel > self.CP.stopAccel: output_accel = min(output_accel, 0.0) output_accel -= self.CP.stoppingDecelRate * DT_CTRL - elif output_accel < self.CP.stopAccel: - output_accel = min(output_accel, 0.0) - output_accel += self.CP.stoppingDecelRate * DT_CTRL self.reset() elif self.long_control_state == LongCtrlState.starting: @@ -160,8 +158,8 @@ def update_old_long(self, active, CS, long_plan, accel_limits, t_since_plan): output_accel = self.last_output_accel self.long_control_state = long_control_state_trans_old_long(self.CP, active, self.long_control_state, CS.vEgo, - v_target, v_target_1sec, CS.brakePressed, - CS.cruiseState.standstill) + v_target, v_target_1sec, CS.brakePressed, + CS.cruiseState.standstill) if self.long_control_state == LongCtrlState.off: self.reset_old_long(CS.vEgo) diff --git a/selfdrive/controls/lib/longitudinal_mpc_lib/long_mpc.py b/selfdrive/controls/lib/longitudinal_mpc_lib/long_mpc.py index f4c8763b3bae88..b9cd1907433e9b 100644 --- a/selfdrive/controls/lib/longitudinal_mpc_lib/long_mpc.py +++ b/selfdrive/controls/lib/longitudinal_mpc_lib/long_mpc.py @@ -15,8 +15,6 @@ else: from openpilot.selfdrive.controls.lib.longitudinal_mpc_lib.c_generated_code.acados_ocp_solver_pyx import AcadosOcpSolverCython - from openpilot.selfdrive.frogpilot.controls.lib.frogpilot_variables import CITY_SPEED_LIMIT - from casadi import SX, vertcat MODEL_NAME = 'long' @@ -328,10 +326,10 @@ def extrapolate_lead(x_lead, v_lead, a_lead, a_lead_tau): lead_xv = np.column_stack((x_lead_traj, v_lead_traj)) return lead_xv - def process_lead(self, lead, increased_stopping_distance=0): + def process_lead(self, lead, increased_distance=0): v_ego = self.x0[1] if lead is not None and lead.status: - x_lead = lead.dRel - increased_stopping_distance + x_lead = lead.dRel - increased_distance v_lead = lead.vLead a_lead = lead.aLeadK a_lead_tau = lead.aLeadTau @@ -357,10 +355,10 @@ def set_accel_limits(self, min_a, max_a): self.cruise_min_a = min_a self.max_a = max_a - def update(self, lead_one, lead_two, v_cruise, x, v, a, j, t_follow, trafficModeActive, frogpilot_toggles, personality=log.LongitudinalPersonality.standard): + def update(self, lead_one, lead_two, v_cruise, x, v, a, j, radarless_model, t_follow, trafficModeActive, frogpilot_toggles, personality=log.LongitudinalPersonality.standard): v_ego = self.x0[1] self.status = lead_one.status or lead_two.status - increased_distance = max(frogpilot_toggles.increased_stopping_distance + min(CITY_SPEED_LIMIT - v_ego, 0), 0) if not trafficModeActive else 0 + increased_distance = max(frogpilot_toggles.increase_stopped_distance + min(10 - v_ego, 0), 0) if not trafficModeActive else 0 lead_xv_0 = self.process_lead(lead_one, increased_distance) lead_xv_1 = self.process_lead(lead_two) @@ -422,7 +420,7 @@ def update(self, lead_one, lead_two, v_cruise, x, v, a, j, t_follow, trafficMode self.params[:,4] = t_follow self.run() - lead_probability = lead_one.prob if frogpilot_toggles.radarless_model else lead_one.modelProb + lead_probability = lead_one.prob if radarless_model else lead_one.modelProb if (np.any(lead_xv_0[FCW_IDXS,0] - self.x_sol[FCW_IDXS,0] < CRASH_DISTANCE) and lead_probability > 0.9): self.crash_cnt += 1 else: diff --git a/selfdrive/controls/lib/longitudinal_planner.py b/selfdrive/controls/lib/longitudinal_planner.py old mode 100755 new mode 100644 index 1bbaebb51efbc4..c087005bb9fa24 --- a/selfdrive/controls/lib/longitudinal_planner.py +++ b/selfdrive/controls/lib/longitudinal_planner.py @@ -13,7 +13,7 @@ from openpilot.selfdrive.controls.lib.longcontrol import LongCtrlState from openpilot.selfdrive.controls.lib.longitudinal_mpc_lib.long_mpc import LongitudinalMpc from openpilot.selfdrive.controls.lib.longitudinal_mpc_lib.long_mpc import T_IDXS as T_IDXS_MPC, LEAD_ACCEL_TAU -from openpilot.selfdrive.controls.lib.drive_helpers import V_CRUISE_MAX, CONTROL_N, get_speed_error +from openpilot.selfdrive.controls.lib.drive_helpers import V_CRUISE_MAX, V_CRUISE_UNSET, CONTROL_N, get_speed_error from openpilot.common.swaglog import cloudlog LON_MPC_STEP = 0.2 # first step is 0.2s @@ -21,6 +21,8 @@ A_CRUISE_MAX_VALS = [1.6, 1.2, 0.8, 0.6] A_CRUISE_MAX_BP = [0., 10.0, 25., 40.] CONTROL_N_T_IDX = ModelConstants.T_IDXS[:CONTROL_N] +ALLOW_THROTTLE_THRESHOLD = 0.5 +ACCEL_LIMIT_MARGIN = 0.05 # Lookup table for turns _A_TOTAL_MAX_V = [1.7, 3.2] @@ -32,6 +34,9 @@ def get_max_accel(v_ego): return interp(v_ego, A_CRUISE_MAX_BP, A_CRUISE_MAX_VALS) +def get_coast_accel(pitch): + return np.sin(pitch) * -5.65 - 0.3 # fitted from data using xx/projects/allow_throttle/compute_coast_accel.py + def limit_accel_in_turns(v_ego, angle_steers, a_target, CP): """ @@ -48,22 +53,21 @@ def limit_accel_in_turns(v_ego, angle_steers, a_target, CP): def get_accel_from_plan(CP, speeds, accels): - if len(speeds) == CONTROL_N: - v_target_now = interp(DT_MDL, CONTROL_N_T_IDX, speeds) - a_target_now = interp(DT_MDL, CONTROL_N_T_IDX, accels) + if len(speeds) == CONTROL_N: + v_target_now = interp(DT_MDL, CONTROL_N_T_IDX, speeds) + a_target_now = interp(DT_MDL, CONTROL_N_T_IDX, accels) - v_target = interp(CP.longitudinalActuatorDelay + DT_MDL, CONTROL_N_T_IDX, speeds) - a_target = 2 * (v_target - v_target_now) / CP.longitudinalActuatorDelay - a_target_now + v_target = interp(CP.longitudinalActuatorDelay + DT_MDL, CONTROL_N_T_IDX, speeds) + a_target = 2 * (v_target - v_target_now) / CP.longitudinalActuatorDelay - a_target_now - v_target_1sec = interp(CP.longitudinalActuatorDelay + DT_MDL + 1.0, CONTROL_N_T_IDX, speeds) - else: - v_target = 0.0 - v_target_now = 0.0 - v_target_1sec = 0.0 - a_target = 0.0 - should_stop = (v_target < CP.vEgoStopping and - v_target_1sec < CP.vEgoStopping) - return a_target, should_stop + v_target_1sec = interp(CP.longitudinalActuatorDelay + DT_MDL + 1.0, CONTROL_N_T_IDX, speeds) + else: + v_target = 0.0 + v_target_1sec = 0.0 + a_target = 0.0 + should_stop = (v_target < CP.vEgoStopping and + v_target_1sec < CP.vEgoStopping) + return a_target, should_stop def lead_kf(v_lead: float, dt: float = 0.05): @@ -138,6 +142,7 @@ def __init__(self, CP, init_v=0.0, init_a=0.0, dt=DT_MDL): self.mpc = LongitudinalMpc(dt=dt) self.fcw = False self.dt = dt + self.allow_throttle = True self.a_desired = init_a self.v_desired_filter = FirstOrderFilter(init_v, 2.0, self.dt) @@ -172,20 +177,32 @@ def parse_model(model_msg, model_error, v_ego, taco_tune): max_v = np.sqrt(max_lat_accel / (np.abs(curvatures) + 1e-3)) - 2.0 v = np.minimum(max_v, v) - return x, v, a, j + if len(model_msg.meta.disengagePredictions.gasPressProbs) > 1: + throttle_prob = model_msg.meta.disengagePredictions.gasPressProbs[1] + else: + throttle_prob = 1.0 + return x, v, a, j, throttle_prob - def update(self, clairvoyant_model, e2e_longitudinal_model, sm, frogpilot_toggles): - self.mpc.mode = 'blended' if sm['controlsState'].experimentalMode and not clairvoyant_model else 'acc' + def update(self, radarless_model, secretgoodopenpilot_model, sm, frogpilot_toggles): + self.mpc.mode = 'blended' if sm['controlsState'].experimentalMode else 'acc' + + if len(sm['carControl'].orientationNED) == 3: + accel_coast = get_coast_accel(sm['carControl'].orientationNED[1]) + else: + accel_coast = ACCEL_MAX v_ego = sm['carState'].vEgo v_cruise_kph = min(sm['controlsState'].vCruise, V_CRUISE_MAX) v_cruise = v_cruise_kph * CV.KPH_TO_MS + v_cruise_initialized = sm['controlsState'].vCruise != V_CRUISE_UNSET long_control_off = sm['controlsState'].longControlState == LongCtrlState.off force_slow_decel = sm['controlsState'].forceDecel # Reset current state when not engaged, or user is controlling the speed reset_state = long_control_off if self.CP.openpilotLongitudinalControl else not sm['controlsState'].enabled + # PCM cruise speed may be updated a few cycles later, check if initialized + reset_state = reset_state or not v_cruise_initialized # No change cost when user is controlling the speed, or when standstill prev_accel_constraint = not (reset_state or sm['carState'].standstill) @@ -204,7 +221,14 @@ def update(self, clairvoyant_model, e2e_longitudinal_model, sm, frogpilot_toggle # Prevent divergence, smooth in current v_ego self.v_desired_filter.x = max(0.0, self.v_desired_filter.update(v_ego)) # Compute model v_ego error - self.v_model_error = 0.0 if e2e_longitudinal_model else get_speed_error(sm['modelV2'], v_ego) + self.v_model_error = get_speed_error(sm['modelV2'], v_ego) + x, v, a, j, throttle_prob = self.parse_model(sm['modelV2'], self.v_model_error, v_ego, frogpilot_toggles.taco_tune) + self.allow_throttle = throttle_prob > ALLOW_THROTTLE_THRESHOLD + + if not self.allow_throttle and v_ego > 5.0 and secretgoodopenpilot_model: # Don't clip at low speeds since throttle_prob doesn't account for creep + # MPC breaks when accel limits would cause negative velocity within the MPC horizon, so we clip the max accel limit at vEgo/T_MAX plus a bit of margin + clipped_accel_coast = max(accel_coast, accel_limits_turns[0], -v_ego / T_IDXS_MPC[-1] + ACCEL_LIMIT_MARGIN) + accel_limits_turns[1] = min(accel_limits_turns[1], clipped_accel_coast) if force_slow_decel: v_cruise = 0.0 @@ -212,7 +236,7 @@ def update(self, clairvoyant_model, e2e_longitudinal_model, sm, frogpilot_toggle accel_limits_turns[0] = min(accel_limits_turns[0], self.a_desired + 0.05) accel_limits_turns[1] = max(accel_limits_turns[1], self.a_desired - 0.05) - if frogpilot_toggles.radarless_model: + if radarless_model: model_leads = list(sm['modelV2'].leadsV3) # TODO lead state should be invalidated if its different point than the previous one lead_states = [self.lead_one, self.lead_two] @@ -229,8 +253,7 @@ def update(self, clairvoyant_model, e2e_longitudinal_model, sm, frogpilot_toggle self.mpc.set_weights(sm['frogpilotPlan'].accelerationJerk, sm['frogpilotPlan'].dangerJerk, sm['frogpilotPlan'].speedJerk, prev_accel_constraint, personality=sm['controlsState'].personality) self.mpc.set_accel_limits(accel_limits_turns[0], accel_limits_turns[1]) self.mpc.set_cur_state(self.v_desired_filter.x, self.a_desired) - x, v, a, j = self.parse_model(sm['modelV2'], self.v_model_error, v_ego, frogpilot_toggles.taco_tune) - self.mpc.update(self.lead_one, self.lead_two, sm['frogpilotPlan'].vCruise, x, v, a, j, sm['frogpilotPlan'].tFollow, + self.mpc.update(self.lead_one, self.lead_two, sm['frogpilotPlan'].vCruise, x, v, a, j, radarless_model, sm['frogpilotPlan'].tFollow, sm['frogpilotCarState'].trafficModeActive, frogpilot_toggles, personality=sm['controlsState'].personality) self.a_desired_trajectory_full = np.interp(CONTROL_N_T_IDX, T_IDXS_MPC, self.mpc.a_solution) @@ -248,20 +271,16 @@ def update(self, clairvoyant_model, e2e_longitudinal_model, sm, frogpilot_toggle self.a_desired = float(interp(self.dt, CONTROL_N_T_IDX, self.a_desired_trajectory)) self.v_desired_filter.x = self.v_desired_filter.x + self.dt * (self.a_desired + a_prev) / 2.0 - def publish(self, e2e_longitudinal_model, sm, pm): + def publish(self, sm, pm): plan_send = messaging.new_message('longitudinalPlan') plan_send.valid = sm.all_checks(service_list=['carState', 'controlsState']) - longitudinalPlan = plan_send.longitudinalPlan longitudinalPlan.modelMonoTime = sm.logMonoTime['modelV2'] longitudinalPlan.processingDelay = (plan_send.logMonoTime / 1e9) - sm.logMonoTime['modelV2'] longitudinalPlan.solverExecutionTime = self.mpc.solve_time - longitudinalPlan.allowBrake = True - longitudinalPlan.allowThrottle = True - longitudinalPlan.speeds = self.v_desired_trajectory.tolist() longitudinalPlan.accels = self.a_desired_trajectory.tolist() longitudinalPlan.jerks = self.j_desired_trajectory.tolist() @@ -270,22 +289,10 @@ def publish(self, e2e_longitudinal_model, sm, pm): longitudinalPlan.longitudinalPlanSource = self.mpc.source longitudinalPlan.fcw = self.fcw - a_target_mpc, should_stop_mpc = get_accel_from_plan(self.CP, longitudinalPlan.speeds, longitudinalPlan.accels) - - if e2e_longitudinal_model and sm['controlsState'].experimentalMode: - model_speeds = np.interp(CONTROL_N_T_IDX, ModelConstants.T_IDXS, sm['modelV2'].velocity.x) - model_accels = np.interp(CONTROL_N_T_IDX, ModelConstants.T_IDXS, sm['modelV2'].acceleration.x) - a_target_model, should_stop_model = get_accel_from_plan(self.CP, model_speeds, model_accels) - a_target = min(a_target_mpc, a_target_model) - should_stop = should_stop_mpc or should_stop_model - else: - a_target = a_target_mpc - should_stop = should_stop_mpc - - longitudinalPlan.aTarget = float(a_target) - longitudinalPlan.shouldStop = bool(should_stop) - + a_target, should_stop = get_accel_from_plan(self.CP, longitudinalPlan.speeds, longitudinalPlan.accels) + longitudinalPlan.aTarget = a_target + longitudinalPlan.shouldStop = should_stop longitudinalPlan.allowBrake = True - longitudinalPlan.allowThrottle = True + longitudinalPlan.allowThrottle = self.allow_throttle pm.send('longitudinalPlan', plan_send) diff --git a/selfdrive/controls/lib/pid.py b/selfdrive/controls/lib/pid.py index 29c4d8bd469c07..cfe4b2ab31340e 100644 --- a/selfdrive/controls/lib/pid.py +++ b/selfdrive/controls/lib/pid.py @@ -49,10 +49,10 @@ def reset(self): self.f = 0.0 self.control = 0 - def update(self, error, error_rate=0.0, speed=0.0, override=False, feedforward=0., freeze_integrator=False): + def update(self, error, error_rate=0.0, speed=0.0, override=False, feedforward=0., freeze_integrator=False, frogpilot_toggles=None): self.speed = speed - self.p = float(error) * self.k_p + self.p = float(error) * (frogpilot_toggles.steer_kp if frogpilot_toggles and frogpilot_toggles.use_custom_kp else self.k_p) self.f = feedforward * self.k_f self.d = error_rate * self.k_d diff --git a/selfdrive/controls/plannerd.py b/selfdrive/controls/plannerd.py old mode 100755 new mode 100644 index 208da6c8186d85..3bae4ca0a12229 --- a/selfdrive/controls/plannerd.py +++ b/selfdrive/controls/plannerd.py @@ -6,7 +6,7 @@ from openpilot.selfdrive.controls.lib.longitudinal_planner import LongitudinalPlanner import cereal.messaging as messaging -from openpilot.selfdrive.frogpilot.controls.lib.frogpilot_variables import FrogPilotVariables +from openpilot.selfdrive.frogpilot.frogpilot_variables import FrogPilotVariables def publish_ui_plan(sm, pm, longitudinal_planner): ui_send = messaging.new_message('uiPlan') @@ -37,16 +37,16 @@ def plannerd_thread(): frogpilot_toggles = FrogPilotVariables.toggles FrogPilotVariables.update_frogpilot_params() - clairvoyant_model = frogpilot_toggles.clairvoyant_model - e2e_longitudinal_model = clairvoyant_model or frogpilot_toggles.secretgoodopenpilot_model + radarless_model = frogpilot_toggles.radarless_model + secretgoodopenpilot_model = frogpilot_toggles.secretgoodopenpilot_model update_toggles = False while True: sm.update() if sm.updated['modelV2']: - longitudinal_planner.update(clairvoyant_model, e2e_longitudinal_model, sm, frogpilot_toggles) - longitudinal_planner.publish(e2e_longitudinal_model, sm, pm) + longitudinal_planner.update(radarless_model, secretgoodopenpilot_model, sm, frogpilot_toggles) + longitudinal_planner.publish(sm, pm) publish_ui_plan(sm, pm, longitudinal_planner) # Update FrogPilot parameters diff --git a/selfdrive/controls/radard.py b/selfdrive/controls/radard.py old mode 100755 new mode 100644 index 691d34fda1e77a..2f44a8d6a032ca --- a/selfdrive/controls/radard.py +++ b/selfdrive/controls/radard.py @@ -13,7 +13,7 @@ from openpilot.common.simple_kalman import KF1D -from openpilot.selfdrive.frogpilot.controls.lib.frogpilot_variables import FrogPilotVariables +from openpilot.selfdrive.frogpilot.frogpilot_variables import FrogPilotVariables # Default lead acceleration decay set to 50% at 1s _LEAD_ACCEL_TAU = 1.5 @@ -216,7 +216,8 @@ def __init__(self, radar_ts: float, delay: int = 0): self.frogpilot_toggles = FrogPilotVariables.toggles FrogPilotVariables.update_frogpilot_params() - self.e2e_longitudinal_model = self.frogpilot_toggles.clairvoyant_model or self.frogpilot_toggles.secretgoodopenpilot_model + self.velocity_model = self.frogpilot_toggles.velocity_model + self.update_toggles = False def update(self, sm: messaging.SubMaster, rr): @@ -262,7 +263,9 @@ def update(self, sm: messaging.SubMaster, rr): self.radar_state.radarErrors = list(radar_errors) self.radar_state.carStateMonoTime = sm.logMonoTime['carState'] - if len(sm['modelV2'].temporalPose.trans) and not self.e2e_longitudinal_model: + if self.velocity_model and len(sm['modelV2'].velocity.x): + model_v_ego = sm['modelV2'].velocity.x[0] + elif len(sm['modelV2'].temporalPose.trans): model_v_ego = sm['modelV2'].temporalPose.trans[0] else: model_v_ego = self.v_ego diff --git a/selfdrive/frogpilot/controls/lib/download_functions.py b/selfdrive/frogpilot/assets/download_functions.py similarity index 69% rename from selfdrive/frogpilot/controls/lib/download_functions.py rename to selfdrive/frogpilot/assets/download_functions.py index 7aa23ef44b816f..9057c2dbce593d 100644 --- a/selfdrive/frogpilot/controls/lib/download_functions.py +++ b/selfdrive/frogpilot/assets/download_functions.py @@ -1,7 +1,7 @@ import os import requests -from openpilot.selfdrive.frogpilot.controls.lib.frogpilot_functions import delete_file, is_url_pingable +from openpilot.selfdrive.frogpilot.frogpilot_functions import delete_file, is_url_pingable GITHUB_URL = "https://raw.githubusercontent.com/FrogAi/FrogPilot-Resources/" GITLAB_URL = "https://gitlab.com/FrogAi/FrogPilot-Resources/-/raw/" @@ -43,34 +43,30 @@ def handle_error(destination, error_message, error, download_param, progress_par params_memory.put(progress_param, error_message) def handle_request_error(error, destination, download_param, progress_param, params_memory): - if isinstance(error, requests.HTTPError): - if error.response.status_code == 404: - return - error_message = f"Server error ({error.response.status_code})" if error.response else "Server error." - elif isinstance(error, requests.ConnectionError): - error_message = "Connection dropped." - elif isinstance(error, requests.Timeout): - error_message = "Download timed out." - elif isinstance(error, requests.RequestException): - error_message = "Network request error. Check connection." - else: - error_message = "Unexpected error." + error_map = { + requests.HTTPError: lambda e: f"Server error ({e.response.status_code})" if e.response else "Server error.", + requests.ConnectionError: "Connection dropped.", + requests.Timeout: "Download timed out.", + requests.RequestException: "Network request error. Check connection." + } + + error_message = error_map.get(type(error), "Unexpected error.") + if isinstance(error, requests.HTTPError) and error.response and error.response.status_code == 404: + return handle_error(destination, f"Failed: {error_message}", error, download_param, progress_param, params_memory) def get_remote_file_size(url): try: response = requests.head(url, headers={'Accept-Encoding': 'identity'}, timeout=5) + if response.status_code == 404: + print(f"URL not found: {url}") + return None response.raise_for_status() return int(response.headers.get('Content-Length', 0)) - except requests.HTTPError as e: - if e.response.status_code == 404: - return 0 - else: - handle_request_error(e, None, None, None, None) except Exception as e: handle_request_error(e, None, None, None, None) - return 0 + return None def get_repository_url(): if is_url_pingable("https://github.com"): @@ -84,17 +80,30 @@ def link_valid(url): response = requests.head(url, allow_redirects=True, timeout=5) response.raise_for_status() return True + except requests.HTTPError as e: + if e.response.status_code != 404: + handle_request_error(e, None, None, None, None) + return False except Exception as e: handle_request_error(e, None, None, None, None) return False -def verify_download(file_path, url): - if not os.path.exists(file_path): +def verify_download(file_path, url, initial_download=True): + remote_file_size = get_remote_file_size(url) + if remote_file_size is None: + print(f"Error fetching remote size for {file_path}") + return False if initial_download else True + + if not os.path.isfile(file_path): print(f"File not found: {file_path}") return False - remote_file_size = get_remote_file_size(url) - if remote_file_size is None: + try: + if remote_file_size != os.path.getsize(file_path): + print(f"File size mismatch for {file_path}") + return False + except Exception as e: + print(f"An unexpected error occurred while trying to verify the {file_path} download: {e}") return False - return remote_file_size == os.path.getsize(file_path) + return True diff --git a/selfdrive/frogpilot/assets/holiday_themes/christmas/icons/button_flag.png b/selfdrive/frogpilot/assets/holiday_themes/christmas_week/icons/button_flag.png similarity index 100% rename from selfdrive/frogpilot/assets/holiday_themes/christmas/icons/button_flag.png rename to selfdrive/frogpilot/assets/holiday_themes/christmas_week/icons/button_flag.png diff --git a/selfdrive/frogpilot/assets/holiday_themes/christmas/icons/button_home.png b/selfdrive/frogpilot/assets/holiday_themes/christmas_week/icons/button_home.png similarity index 100% rename from selfdrive/frogpilot/assets/holiday_themes/christmas/icons/button_home.png rename to selfdrive/frogpilot/assets/holiday_themes/christmas_week/icons/button_home.png diff --git a/selfdrive/frogpilot/assets/holiday_themes/christmas/icons/button_settings.png b/selfdrive/frogpilot/assets/holiday_themes/christmas_week/icons/button_settings.png similarity index 100% rename from selfdrive/frogpilot/assets/holiday_themes/christmas/icons/button_settings.png rename to selfdrive/frogpilot/assets/holiday_themes/christmas_week/icons/button_settings.png diff --git a/selfdrive/frogpilot/assets/holiday_themes/christmas/sounds/disengage.wav b/selfdrive/frogpilot/assets/holiday_themes/christmas_week/sounds/disengage.wav similarity index 100% rename from selfdrive/frogpilot/assets/holiday_themes/christmas/sounds/disengage.wav rename to selfdrive/frogpilot/assets/holiday_themes/christmas_week/sounds/disengage.wav diff --git a/selfdrive/frogpilot/assets/holiday_themes/christmas/sounds/engage.wav b/selfdrive/frogpilot/assets/holiday_themes/christmas_week/sounds/engage.wav similarity index 100% rename from selfdrive/frogpilot/assets/holiday_themes/christmas/sounds/engage.wav rename to selfdrive/frogpilot/assets/holiday_themes/christmas_week/sounds/engage.wav diff --git a/selfdrive/frogpilot/assets/holiday_themes/easter/icons/button_flag.png b/selfdrive/frogpilot/assets/holiday_themes/easter_week/icons/button_flag.png similarity index 100% rename from selfdrive/frogpilot/assets/holiday_themes/easter/icons/button_flag.png rename to selfdrive/frogpilot/assets/holiday_themes/easter_week/icons/button_flag.png diff --git a/selfdrive/frogpilot/assets/holiday_themes/easter/icons/button_home.png b/selfdrive/frogpilot/assets/holiday_themes/easter_week/icons/button_home.png similarity index 100% rename from selfdrive/frogpilot/assets/holiday_themes/easter/icons/button_home.png rename to selfdrive/frogpilot/assets/holiday_themes/easter_week/icons/button_home.png diff --git a/selfdrive/frogpilot/assets/holiday_themes/easter/icons/button_settings.png b/selfdrive/frogpilot/assets/holiday_themes/easter_week/icons/button_settings.png similarity index 100% rename from selfdrive/frogpilot/assets/holiday_themes/easter/icons/button_settings.png rename to selfdrive/frogpilot/assets/holiday_themes/easter_week/icons/button_settings.png diff --git a/selfdrive/frogpilot/assets/holiday_themes/easter/signals/turn_signal_1.png b/selfdrive/frogpilot/assets/holiday_themes/easter_week/signals/turn_signal_1.png similarity index 100% rename from selfdrive/frogpilot/assets/holiday_themes/easter/signals/turn_signal_1.png rename to selfdrive/frogpilot/assets/holiday_themes/easter_week/signals/turn_signal_1.png diff --git a/selfdrive/frogpilot/assets/holiday_themes/easter/signals/turn_signal_1_red.png b/selfdrive/frogpilot/assets/holiday_themes/easter_week/signals/turn_signal_1_red.png similarity index 100% rename from selfdrive/frogpilot/assets/holiday_themes/easter/signals/turn_signal_1_red.png rename to selfdrive/frogpilot/assets/holiday_themes/easter_week/signals/turn_signal_1_red.png diff --git a/selfdrive/frogpilot/assets/holiday_themes/easter/signals/turn_signal_2.png b/selfdrive/frogpilot/assets/holiday_themes/easter_week/signals/turn_signal_2.png similarity index 100% rename from selfdrive/frogpilot/assets/holiday_themes/easter/signals/turn_signal_2.png rename to selfdrive/frogpilot/assets/holiday_themes/easter_week/signals/turn_signal_2.png diff --git a/selfdrive/frogpilot/assets/holiday_themes/easter/signals/turn_signal_3.png b/selfdrive/frogpilot/assets/holiday_themes/easter_week/signals/turn_signal_3.png similarity index 100% rename from selfdrive/frogpilot/assets/holiday_themes/easter/signals/turn_signal_3.png rename to selfdrive/frogpilot/assets/holiday_themes/easter_week/signals/turn_signal_3.png diff --git a/selfdrive/frogpilot/assets/holiday_themes/easter/signals/turn_signal_4.png b/selfdrive/frogpilot/assets/holiday_themes/easter_week/signals/turn_signal_4.png similarity index 100% rename from selfdrive/frogpilot/assets/holiday_themes/easter/signals/turn_signal_4.png rename to selfdrive/frogpilot/assets/holiday_themes/easter_week/signals/turn_signal_4.png diff --git a/selfdrive/frogpilot/assets/holiday_themes/easter/sounds/disengage.wav b/selfdrive/frogpilot/assets/holiday_themes/easter_week/sounds/disengage.wav similarity index 100% rename from selfdrive/frogpilot/assets/holiday_themes/easter/sounds/disengage.wav rename to selfdrive/frogpilot/assets/holiday_themes/easter_week/sounds/disengage.wav diff --git a/selfdrive/frogpilot/assets/holiday_themes/easter/sounds/engage.wav b/selfdrive/frogpilot/assets/holiday_themes/easter_week/sounds/engage.wav similarity index 100% rename from selfdrive/frogpilot/assets/holiday_themes/easter/sounds/engage.wav rename to selfdrive/frogpilot/assets/holiday_themes/easter_week/sounds/engage.wav diff --git a/selfdrive/frogpilot/assets/holiday_themes/halloween_week/colors/colors.json b/selfdrive/frogpilot/assets/holiday_themes/halloween_week/colors/colors.json new file mode 100644 index 00000000000000..9fca352351cac6 --- /dev/null +++ b/selfdrive/frogpilot/assets/holiday_themes/halloween_week/colors/colors.json @@ -0,0 +1,50 @@ +{ + "LaneLines": { + "red": 242, + "green": 117, + "blue": 3, + "alpha": 255 + }, + "LeadMarker": { + "red": 242, + "green": 117, + "blue": 3, + "alpha": 255 + }, + "Path": { + "red": 134, + "green": 47, + "blue": 224, + "alpha": 255 + }, + "PathEdge": { + "red": 161, + "green": 56, + "blue": 255, + "alpha": 255 + }, + "RoadEdges": { + "red": 242, + "green": 117, + "blue": 3, + "alpha": 255 + }, + "Sidebar1": { + "red": 134, + "green": 47, + "blue": 224, + "alpha": 255 + }, + "Sidebar2": { + "red": 242, + "green": 117, + "blue": 3, + "alpha": 255 + }, + "Sidebar3": { + "red": 80, + "green": 184, + "blue": 72, + "alpha": 255 + } +} diff --git a/selfdrive/frogpilot/assets/holiday_themes/halloween_week/distance_icons/aggressive.gif b/selfdrive/frogpilot/assets/holiday_themes/halloween_week/distance_icons/aggressive.gif new file mode 100644 index 00000000000000..05cd8d01c4e7ec Binary files /dev/null and b/selfdrive/frogpilot/assets/holiday_themes/halloween_week/distance_icons/aggressive.gif differ diff --git 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a/selfdrive/frogpilot/assets/holiday_themes/st_patricks_day/sounds/engage.wav b/selfdrive/frogpilot/assets/holiday_themes/st_patricks/sounds/engage.wav similarity index 100% rename from selfdrive/frogpilot/assets/holiday_themes/st_patricks_day/sounds/engage.wav rename to selfdrive/frogpilot/assets/holiday_themes/st_patricks/sounds/engage.wav diff --git a/selfdrive/frogpilot/assets/holiday_themes/new_years_day/icons/button_flag.png b/selfdrive/frogpilot/assets/holiday_themes/thanksgiving_week/icons/button_flag.png similarity index 100% rename from selfdrive/frogpilot/assets/holiday_themes/new_years_day/icons/button_flag.png rename to selfdrive/frogpilot/assets/holiday_themes/thanksgiving_week/icons/button_flag.png diff --git a/selfdrive/frogpilot/assets/holiday_themes/new_years_day/icons/button_home.png b/selfdrive/frogpilot/assets/holiday_themes/thanksgiving_week/icons/button_home.png similarity index 100% rename from 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a/selfdrive/frogpilot/assets/holiday_themes/new_years_day/sounds/engage.wav b/selfdrive/frogpilot/assets/holiday_themes/thanksgiving_week/sounds/engage.wav similarity index 100% rename from selfdrive/frogpilot/assets/holiday_themes/new_years_day/sounds/engage.wav rename to selfdrive/frogpilot/assets/holiday_themes/thanksgiving_week/sounds/engage.wav diff --git a/selfdrive/frogpilot/assets/holiday_themes/thanksgiving/sounds/prompt.wav b/selfdrive/frogpilot/assets/holiday_themes/thanksgiving_week/sounds/prompt.wav similarity index 100% rename from selfdrive/frogpilot/assets/holiday_themes/thanksgiving/sounds/prompt.wav rename to selfdrive/frogpilot/assets/holiday_themes/thanksgiving_week/sounds/prompt.wav diff --git a/selfdrive/frogpilot/assets/holiday_themes/thanksgiving/sounds/prompt_distracted.wav b/selfdrive/frogpilot/assets/holiday_themes/thanksgiving_week/sounds/prompt_distracted.wav similarity index 100% rename from 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a/selfdrive/frogpilot/assets/holiday_themes/thanksgiving/sounds/warning_soft.wav b/selfdrive/frogpilot/assets/holiday_themes/thanksgiving_week/sounds/warning_soft.wav similarity index 100% rename from selfdrive/frogpilot/assets/holiday_themes/thanksgiving/sounds/warning_soft.wav rename to selfdrive/frogpilot/assets/holiday_themes/thanksgiving_week/sounds/warning_soft.wav diff --git a/selfdrive/frogpilot/assets/holiday_themes/thanksgiving/icons/button_flag.png b/selfdrive/frogpilot/assets/holiday_themes/valentines/icons/button_flag.png similarity index 100% rename from selfdrive/frogpilot/assets/holiday_themes/thanksgiving/icons/button_flag.png rename to selfdrive/frogpilot/assets/holiday_themes/valentines/icons/button_flag.png diff --git a/selfdrive/frogpilot/assets/holiday_themes/thanksgiving/icons/button_home.png b/selfdrive/frogpilot/assets/holiday_themes/valentines/icons/button_home.png similarity index 100% rename from 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b/selfdrive/frogpilot/assets/holiday_themes/valentines/sounds/engage.wav similarity index 100% rename from selfdrive/frogpilot/assets/holiday_themes/thanksgiving/sounds/engage.wav rename to selfdrive/frogpilot/assets/holiday_themes/valentines/sounds/engage.wav diff --git a/selfdrive/frogpilot/assets/holiday_themes/valentines_day/icons/button_flag.png b/selfdrive/frogpilot/assets/holiday_themes/valentines_day/icons/button_flag.png deleted file mode 100644 index 627af8aff329cd..00000000000000 Binary files a/selfdrive/frogpilot/assets/holiday_themes/valentines_day/icons/button_flag.png and /dev/null differ diff --git a/selfdrive/frogpilot/assets/holiday_themes/valentines_day/icons/button_home.png b/selfdrive/frogpilot/assets/holiday_themes/valentines_day/icons/button_home.png deleted file mode 100644 index 627af8aff329cd..00000000000000 Binary files a/selfdrive/frogpilot/assets/holiday_themes/valentines_day/icons/button_home.png and /dev/null differ diff --git a/selfdrive/frogpilot/assets/holiday_themes/valentines_day/sounds/disengage.wav b/selfdrive/frogpilot/assets/holiday_themes/valentines_day/sounds/disengage.wav deleted file mode 100644 index ba583c41f362d3..00000000000000 Binary files a/selfdrive/frogpilot/assets/holiday_themes/valentines_day/sounds/disengage.wav and /dev/null differ diff --git a/selfdrive/frogpilot/assets/holiday_themes/valentines_day/sounds/engage.wav b/selfdrive/frogpilot/assets/holiday_themes/valentines_day/sounds/engage.wav deleted file mode 100644 index 41e9b2d588d4aa..00000000000000 Binary files a/selfdrive/frogpilot/assets/holiday_themes/valentines_day/sounds/engage.wav and /dev/null differ diff --git a/selfdrive/frogpilot/controls/lib/model_manager.py b/selfdrive/frogpilot/assets/model_manager.py similarity index 67% rename from selfdrive/frogpilot/controls/lib/model_manager.py rename to selfdrive/frogpilot/assets/model_manager.py index f3d7f68285f6cc..b4913ac61d347b 100644 --- a/selfdrive/frogpilot/controls/lib/model_manager.py +++ b/selfdrive/frogpilot/assets/model_manager.py @@ -1,7 +1,6 @@ import json import os import re -import requests import shutil import time import urllib.request @@ -9,13 +8,13 @@ from openpilot.common.basedir import BASEDIR from openpilot.common.params import Params, UnknownKeyName -from openpilot.selfdrive.frogpilot.controls.lib.download_functions import GITHUB_URL, GITLAB_URL, download_file, get_repository_url, handle_error, handle_request_error, verify_download -from openpilot.selfdrive.frogpilot.controls.lib.frogpilot_functions import MODELS_PATH, delete_file +from openpilot.selfdrive.frogpilot.assets.download_functions import GITHUB_URL, GITLAB_URL, download_file, get_remote_file_size, get_repository_url, handle_error, handle_request_error, verify_download +from openpilot.selfdrive.frogpilot.frogpilot_functions import MODELS_PATH, delete_file -VERSION = "v5" +VERSION = "v9" -DEFAULT_MODEL = "north-dakota-v2" -DEFAULT_MODEL_NAME = "North Dakota V2 (Default)" +DEFAULT_MODEL = "north-dakota" +DEFAULT_MODEL_NAME = "North Dakota (Default)" def process_model_name(model_name): cleaned_name = re.sub(r'[🗺️👀📡]', '', model_name) @@ -46,16 +45,16 @@ def handle_verification_failure(self, model, model_path): def download_model(self, model_to_download): model_path = os.path.join(MODELS_PATH, f"{model_to_download}.thneed") - if os.path.exists(model_path): + if os.path.isfile(model_path): handle_error(model_path, "Model already exists...", "Model already exists...", self.download_param, self.download_progress_param, self.params_memory) return - self.repo_url = get_repository_url() - if not self.repo_url: + repo_url = get_repository_url() + if not repo_url: handle_error(model_path, "GitHub and GitLab are offline...", "Repository unavailable", self.download_param, self.download_progress_param, self.params_memory) return - model_url = f"{self.repo_url}Models/{model_to_download}.thneed" + model_url = f"{repo_url}Models/{model_to_download}.thneed" print(f"Downloading model: {model_to_download}") download_file(self.cancel_download_param, model_path, self.download_progress_param, model_url, self.download_param, self.params_memory) @@ -74,15 +73,21 @@ def fetch_models(self, url): handle_request_error(error, None, None, None, None) return [] - def update_model_params(self, model_info): - available_models, available_model_names, experimental_models, navigation_models, radarless_models = [], [], [], [], [] + def update_model_params(self, model_info, repo_url): + available_models, available_model_names, experimental_models, navigation_models, radarless_models, velocity_models = [], [], [], [], [], [] for model in model_info: available_models.append(model['id']) available_model_names.append(model['name']) + if model.get("e2e_longitudinal", False): + e2e_longitudinal_models.append(model['id']) if model.get("experimental", False): experimental_models.append(model['id']) + if model.get("gas_brake", False): + gas_brake_models.append(model['id']) + if model.get("velocity", False): + velocity_models.append(model['id']) if "🗺️" in model['name']: navigation_models.append(model['id']) if "📡" not in model['name']: @@ -93,45 +98,42 @@ def update_model_params(self, model_info): self.params.put_nonblocking("ExperimentalModels", ','.join(experimental_models)) self.params.put_nonblocking("NavigationModels", ','.join(navigation_models)) self.params.put_nonblocking("RadarlessModels", ','.join(radarless_models)) + self.params.put_nonblocking("VelocityModels", ','.join(velocity_models)) print("Models list updated successfully.") if available_models: - models_downloaded = self.are_all_models_downloaded(available_models, available_model_names) + models_downloaded = self.are_all_models_downloaded(available_models, available_model_names, repo_url) self.params.put_bool_nonblocking("ModelsDownloaded", models_downloaded) - def are_all_models_downloaded(self, available_models, available_model_names): + def are_all_models_downloaded(self, available_models, available_model_names, repo_url): automatically_update_models = self.params.get_bool("AutomaticallyUpdateModels") all_models_downloaded = True + download_queue = [] for model in available_models: model_path = os.path.join(MODELS_PATH, f"{model}.thneed") - model_url = f"{self.repo_url}Models/{model}.thneed" + model_url = f"{repo_url}Models/{model}.thneed" - if os.path.exists(model_path): + if os.path.isfile(model_path): if automatically_update_models: - if not verify_download(model_path, model_url): + verify_result = verify_download(model_path, model_url, False) + if verify_result is None: + all_models_downloaded = False + elif not verify_result: print(f"Model {model} is outdated. Re-downloading...") delete_file(model_path) - self.remove_model_params(available_model_names, available_models, model) - self.queue_model_download(model) + download_queue.append(model) all_models_downloaded = False else: if automatically_update_models: print(f"Model {model} isn't downloaded. Downloading...") - self.remove_model_params(available_model_names, available_models, model) - self.queue_model_download(model) + download_queue.append(model) all_models_downloaded = False - return all_models_downloaded + for model in download_queue: + self.queue_model_download(model) - def remove_model_params(self, available_model_names, available_models, model): - part_model_param = process_model_name(available_model_names[available_models.index(model)]) - try: - self.params.check_key(part_model_param + "CalibrationParams") - except UnknownKeyName: - return - self.params.remove(part_model_param + "CalibrationParams") - self.params.remove(part_model_param + "LiveTorqueParameters") + return all_models_downloaded def queue_model_download(self, model, model_name=None): while self.params_memory.get(self.download_param, encoding='utf-8'): @@ -152,52 +154,63 @@ def validate_models(self): if not available_models: return + current_model_path = os.path.join(MODELS_PATH, f"{current_model}.thneed") + if not os.path.isfile(current_model_path): + print(f"Model {current_model} is not downloaded. Downloading...") + self.download_model(current_model) + for model_file in os.listdir(MODELS_PATH): - if model_file.replace(".thneed", "") not in available_models.split(','): - if model_file == current_model: + model_name = model_file.replace(".thneed", "") + if model_name not in available_models.split(','): + reason = "Model is not in the list of available models" + if model_name == current_model: self.params.put_nonblocking("Model", DEFAULT_MODEL) self.params.put_nonblocking("ModelName", DEFAULT_MODEL_NAME) delete_file(os.path.join(MODELS_PATH, model_file)) - print(f"Deleted model file: {model_file}") + print(f"Deleted model file: {model_file} - Reason: {reason}") def copy_default_model(self): default_model_path = os.path.join(MODELS_PATH, f"{DEFAULT_MODEL}.thneed") + source_path = os.path.join(BASEDIR, "selfdrive", "classic_modeld", "models", "supercombo.thneed") - if not os.path.exists(default_model_path): - source_path = os.path.join(BASEDIR, "selfdrive", "modeld", "models", "supercombo.thneed") + if os.path.isfile(source_path) and not os.path.isfile(default_model_path): + shutil.copyfile(source_path, default_model_path) + print(f"Copied default model from {source_path} to {default_model_path}") + else: + print(f"Source default model not found at {source_path}. Exiting...") - if os.path.exists(source_path): - shutil.copyfile(source_path, default_model_path) - print(f"Copied default model from {source_path} to {default_model_path}") - else: - print(f"Source default model not found at {source_path}. Exiting...") + sgo_model_path = os.path.join(MODELS_PATH, "secret-good-openpilot.thneed") + source_path = os.path.join(BASEDIR, "selfdrive", "modeld", "models", "supercombo.thneed") - def update_models(self, boot_run=True): - self.repo_url = get_repository_url() + if os.path.isfile(source_path) and not os.path.isfile(sgo_model_path): + shutil.copyfile(source_path, sgo_model_path) + print(f"Copied 'secret-good-openpilot' model from {source_path} to {sgo_model_path}") + else: + print(f"Source 'secret-good-openpilot' model not found at {source_path}. Exiting...") + + def update_models(self, boot_run=False): if boot_run: self.copy_default_model() - boot_checks = 0 - while self.repo_url is None and boot_checks < 60: - boot_checks += 1 - if boot_checks > 60: - break - time.sleep(1) - self.validate_models() - elif self.repo_url is None: + + repo_url = get_repository_url() + if repo_url is None: print("GitHub and GitLab are offline...") return - model_info = self.fetch_models(f"{self.repo_url}Versions/model_names_{VERSION}.json") - if model_info: - self.update_model_params(model_info) + if boot_run: + self.validate_models() + else: + model_info = self.fetch_models(f"{repo_url}Versions/model_names_{VERSION}.json") + if model_info: + self.update_model_params(model_info, repo_url) def download_all_models(self): - self.repo_url = get_repository_url() - if not self.repo_url: + repo_url = get_repository_url() + if not repo_url: handle_error(None, "GitHub and GitLab are offline...", "Repository unavailable", self.download_param, self.download_progress_param, self.params_memory) return - model_info = self.fetch_models(f"{self.repo_url}Versions/model_names_{VERSION}.json") + model_info = self.fetch_models(f"{repo_url}Versions/model_names_{VERSION}.json") if not model_info: handle_error(None, "Unable to update model list...", "Model list unavailable", self.download_param, self.download_progress_param, self.params_memory) return @@ -214,7 +227,7 @@ def download_all_models(self): if self.params_memory.get_bool(self.cancel_download_param): return - if not os.path.exists(os.path.join(MODELS_PATH, f"{model}.thneed")): + if not os.path.isfile(os.path.join(MODELS_PATH, f"{model}.thneed")): model_index = available_models.index(model) model_name = available_model_names[model_index] @@ -226,7 +239,7 @@ def download_all_models(self): while self.params_memory.get(self.download_param, encoding='utf-8'): time.sleep(1) - while not all(os.path.exists(os.path.join(MODELS_PATH, f"{model}.thneed")) for model in available_models): + while not all(os.path.isfile(os.path.join(MODELS_PATH, f"{model}.thneed")) for model in available_models): time.sleep(1) self.params_memory.put(self.download_progress_param, "All models downloaded!") diff --git a/selfdrive/frogpilot/assets/other_images/frogpilot_boot_logo.jpg b/selfdrive/frogpilot/assets/other_images/frogpilot_boot_logo.jpg deleted file mode 100644 index 2505b8cb5a3cd9..00000000000000 Binary files a/selfdrive/frogpilot/assets/other_images/frogpilot_boot_logo.jpg and /dev/null differ diff --git a/selfdrive/frogpilot/assets/other_images/img_recorder.png b/selfdrive/frogpilot/assets/other_images/img_recorder.png deleted file mode 100644 index 72d6884907c545..00000000000000 Binary files a/selfdrive/frogpilot/assets/other_images/img_recorder.png and /dev/null differ diff --git a/selfdrive/frogpilot/assets/other_images/img_recording.png b/selfdrive/frogpilot/assets/other_images/img_recording.png deleted file mode 100644 index 23312957c04f5e..00000000000000 Binary files a/selfdrive/frogpilot/assets/other_images/img_recording.png and /dev/null differ diff --git a/selfdrive/frogpilot/assets/random_events/sounds/mail.wav b/selfdrive/frogpilot/assets/random_events/sounds/mail.wav new file mode 100644 index 00000000000000..76dd75816fb380 Binary files /dev/null and b/selfdrive/frogpilot/assets/random_events/sounds/mail.wav differ diff --git a/selfdrive/frogpilot/controls/lib/theme_manager.py b/selfdrive/frogpilot/assets/theme_manager.py similarity index 60% rename from selfdrive/frogpilot/controls/lib/theme_manager.py rename to selfdrive/frogpilot/assets/theme_manager.py index 7a1e31045dc95b..dabf060885eb6d 100644 --- a/selfdrive/frogpilot/controls/lib/theme_manager.py +++ b/selfdrive/frogpilot/assets/theme_manager.py @@ -1,33 +1,39 @@ -import datetime import glob import os import re import requests import shutil -import time import zipfile +from datetime import date, timedelta +from dateutil import easter + from openpilot.common.basedir import BASEDIR from openpilot.common.params import Params -from openpilot.selfdrive.frogpilot.controls.lib.download_functions import GITHUB_URL, GITLAB_URL, download_file, get_repository_url, handle_error, handle_request_error, link_valid, verify_download -from openpilot.selfdrive.frogpilot.controls.lib.frogpilot_functions import ACTIVE_THEME_PATH, THEME_SAVE_PATH, delete_file, update_frogpilot_toggles +from openpilot.selfdrive.frogpilot.assets.download_functions import GITHUB_URL, GITLAB_URL, download_file, get_repository_url, handle_error, handle_request_error, link_valid, verify_download +from openpilot.selfdrive.frogpilot.frogpilot_functions import ACTIVE_THEME_PATH, THEME_SAVE_PATH, update_frogpilot_toggles + +CANCEL_DOWNLOAD_PARAM = "CancelThemeDownload" +DOWNLOAD_PROGRESS_PARAM = "ThemeDownloadProgress" -def copy_theme_asset(asset_type, theme, holiday_theme, params): +def update_theme_asset(asset_type, theme, holiday_theme, params): save_location = os.path.join(ACTIVE_THEME_PATH, asset_type) if holiday_theme: - source_location = os.path.join(BASEDIR, "selfdrive", "frogpilot", "assets", "holiday_themes", holiday_theme, asset_type) + asset_location = os.path.join(BASEDIR, "selfdrive", "frogpilot", "assets", "holiday_themes", holiday_theme, asset_type) + elif asset_type == "distance_icons": + asset_location = os.path.join(THEME_SAVE_PATH, "distance_icons", theme) else: - source_location = os.path.join(THEME_SAVE_PATH, "theme_packs", theme, asset_type) + asset_location = os.path.join(THEME_SAVE_PATH, "theme_packs", theme, asset_type) - if not os.path.exists(source_location): + if not os.path.exists(asset_location): if asset_type == "colors": params.put_bool("UseStockColors", True) print("Using the stock color scheme instead") return - elif asset_type == "icons": - source_location = os.path.join(BASEDIR, "selfdrive", "frogpilot", "assets", "stock_theme", "icons") + elif asset_type in ("distance_icons", "icons"): + asset_location = os.path.join(BASEDIR, "selfdrive", "frogpilot", "assets", "stock_theme", asset_type) print("Using the stock icon pack instead") else: if os.path.exists(save_location): @@ -40,56 +46,28 @@ def copy_theme_asset(asset_type, theme, holiday_theme, params): if os.path.exists(save_location): shutil.rmtree(save_location) - shutil.copytree(source_location, save_location) - print(f"Copied {source_location} to {save_location}") - -def update_distance_icons(pack, holiday_theme): - if holiday_theme: - distance_icons_location = os.path.join(BASEDIR, "selfdrive", "frogpilot", "assets", "holiday_themes", holiday_theme, "distance_icons") - else: - distance_icons_location = os.path.join(THEME_SAVE_PATH, "distance_icons", pack) - - if not os.path.exists(distance_icons_location): - distance_icons_location = os.path.join(BASEDIR, "selfdrive", "frogpilot", "assets", "stock_theme", "distance_icons") - - distance_icon_save_location = os.path.join(ACTIVE_THEME_PATH, "distance_icons") - - if os.path.exists(distance_icon_save_location): - shutil.rmtree(distance_icon_save_location) - - os.makedirs(distance_icon_save_location, exist_ok=True) - - for item in os.listdir(distance_icons_location): - source = os.path.join(distance_icons_location, item) - destination = os.path.join(distance_icon_save_location, item) - if os.path.isdir(source): - shutil.copytree(source, destination) - else: - shutil.copy2(source, destination) - - print(f"Copied contents of {distance_icons_location} to {distance_icon_save_location}") + shutil.copytree(asset_location, save_location) + print(f"Copied {asset_location} to {save_location}") def update_wheel_image(image, holiday_theme=None, random_event=True): - if image == "stock": - wheel_location = os.path.join(BASEDIR, "selfdrive", "frogpilot", "assets", "stock_theme", "steering_wheel") + wheel_save_location = os.path.join(ACTIVE_THEME_PATH, "steering_wheel") + + if holiday_theme: + wheel_location = os.path.join(BASEDIR, "selfdrive", "frogpilot", "assets", "holiday_themes", holiday_theme, "steering_wheel") elif random_event: wheel_location = os.path.join(BASEDIR, "selfdrive", "frogpilot", "assets", "random_events", "icons") - elif holiday_theme: - wheel_location = os.path.join(BASEDIR, "selfdrive", "frogpilot", "assets", "holiday_themes", holiday_theme, "icons") + elif image == "stock": + wheel_location = os.path.join(BASEDIR, "selfdrive", "frogpilot", "assets", "stock_theme", "steering_wheel") else: wheel_location = os.path.join(THEME_SAVE_PATH, "steering_wheels") - if not os.path.exists(wheel_location): - return - - wheel_save_location = os.path.join(ACTIVE_THEME_PATH, "steering_wheel") - for filename in os.listdir(wheel_save_location): - if filename.startswith("wheel"): - delete_file(os.path.join(wheel_save_location, filename)) + if os.path.exists(wheel_save_location): + shutil.rmtree(wheel_save_location) + os.makedirs(wheel_save_location, exist_ok=True) image_name = image.replace(" ", "_").lower() for filename in os.listdir(wheel_location): - if os.path.splitext(filename)[0].lower() == image_name: + if os.path.splitext(filename)[0].lower() in (image_name, "wheel"): source_file = os.path.join(wheel_location, filename) destination_file = os.path.join(wheel_save_location, f"wheel{os.path.splitext(filename)[1]}") shutil.copy2(source_file, destination_file) @@ -101,102 +79,89 @@ def __init__(self): self.params = Params() self.params_memory = Params("/dev/shm/params") - self.cancel_download_param = "CancelThemeDownload" - self.download_progress_param = "ThemeDownloadProgress" - self.previous_assets = {} - @staticmethod - def calculate_easter(year): - a = year % 19 - b = year // 100 - c = year % 100 - d = b // 4 - e = b % 4 - f = (b + 8) // 25 - g = (b - f + 1) // 3 - h = (19 * a + b - d - g + 15) % 30 - i = c // 4 - k = c % 4 - l = (32 + 2 * e + 2 * i - h - k) % 7 - m = (a + 11 * h + 22 * l) // 451 - month = (h + l - 7 * m + 114) // 31 - day = ((h + l - 7 * m + 114) % 31) + 1 - return datetime.datetime(year, month, day) - @staticmethod def calculate_thanksgiving(year): - november_first = datetime.datetime(year, 11, 1) + november_first = date(year, 11, 1) day_of_week = november_first.weekday() - return november_first + datetime.timedelta(days=(3 - day_of_week + 21) % 7 + 21) + return november_first + timedelta(days=(3 - day_of_week + 21) % 7 + 21) @staticmethod - def is_within_week_of(target_date, current_date): - start_of_week = target_date - datetime.timedelta(days=target_date.weekday()) - end_of_week = start_of_week + datetime.timedelta(days=6) - return start_of_week <= current_date <= end_of_week + def is_within_week_of(target_date, now): + start_of_week = target_date - timedelta(days=target_date.weekday()) + end_of_week = start_of_week + timedelta(days=6) + return start_of_week <= now <= end_of_week def update_holiday(self): - current_date = datetime.datetime.now() - year = current_date.year + now = date.today() + year = now.year holidays = { - "new_years": datetime.datetime(year, 1, 1), - "valentines": datetime.datetime(year, 2, 14), - "st_patricks": datetime.datetime(year, 3, 17), - "world_frog_day": datetime.datetime(year, 3, 20), - "april_fools": datetime.datetime(year, 4, 1), - "easter_week": self.calculate_easter(year), - "cinco_de_mayo": datetime.datetime(year, 5, 5), - "fourth_of_july": datetime.datetime(year, 7, 4), - "halloween_week": datetime.datetime(year, 10, 31), + "new_years": date(year, 1, 1), + "valentines": date(year, 2, 14), + "st_patricks": date(year, 3, 17), + "world_frog_day": date(year, 3, 20), + "april_fools": date(year, 4, 1), + "easter_week": easter.easter(year), + "may_the_fourth": date(year, 5, 4), + "cinco_de_mayo": date(year, 5, 5), + "fourth_of_july": date(year, 7, 4), + "halloween_week": date(year, 10, 31), "thanksgiving_week": self.calculate_thanksgiving(year), - "christmas_week": datetime.datetime(year, 12, 25) + "christmas_week": date(year, 12, 25) } - for holiday, date in holidays.items(): - if (holiday.endswith("_week") and self.is_within_week_of(date, current_date)) or (current_date.date() == date.date()): + for holiday, holiday_date in holidays.items(): + if (holiday.endswith("_week") and self.is_within_week_of(holiday_date, now)) or (now == holiday_date): if holiday != self.previous_assets.get("holiday_theme"): self.params.put("CurrentHolidayTheme", holiday) - self.update_active_theme() - self.previous_assets["holiday_theme"] = holiday + self.params_memory.put_bool("UpdateTheme", True) return if "holiday_theme" in self.previous_assets: self.params.remove("CurrentHolidayTheme") - self.update_active_theme() - self.previous_assets.pop("holiday_theme", None) + self.params_memory.put_bool("UpdateTheme", True) + self.previous_assets.pop("holiday_theme") def update_active_theme(self): if not os.path.exists(THEME_SAVE_PATH): return - bonus_content = self.params.get_bool("BonusContent") - holiday_themes = bonus_content and self.params.get_bool("HolidayThemes") - current_holiday_theme = self.previous_assets.get("holiday_theme") if holiday_themes else None - personalize_openpilot = bonus_content and self.params.get_bool("PersonalizeOpenpilot") + holiday_themes = self.params.get_bool("HolidayThemes") + current_holiday_theme = self.params.get("CurrentHolidayTheme", encoding='utf-8') if holiday_themes else None + + if not current_holiday_theme and self.params.get_bool("PersonalizeOpenpilot"): + asset_mappings = { + "color_scheme": ("colors", self.params.get("CustomColors", encoding='utf-8')), + "distance_icons": ("distance_icons", self.params.get("CustomDistanceIcons", encoding='utf-8')), + "icon_pack": ("icons", self.params.get("CustomIcons", encoding='utf-8')), + "sound_pack": ("sounds", self.params.get("CustomSounds", encoding='utf-8')), + "turn_signal_pack": ("signals", self.params.get("CustomSignals", encoding='utf-8')), + "wheel_image": ("wheel_image", self.params.get("WheelIcon", encoding='utf-8')) + } + else: + asset_mappings = { + "color_scheme": ("colors", "stock"), + "distance_icons": ("distance_icons", "stock"), + "icon_pack": ("icons", "stock"), + "sound_pack": ("sounds", "stock"), + "turn_signal_pack": ("signals", "stock"), + "wheel_image": ("wheel_image", "stock") + } - default_value = "stock" - asset_mappings = { - "color_scheme": ("colors", self.params.get("CustomColors", encoding='utf-8') if personalize_openpilot else default_value), - "distance_icons": ("distance_icons", self.params.get("CustomDistanceIcons", encoding='utf-8') if personalize_openpilot else default_value), - "icon_pack": ("icons", self.params.get("CustomIcons", encoding='utf-8') if personalize_openpilot else default_value), - "sound_pack": ("sounds", self.params.get("CustomSounds", encoding='utf-8') if personalize_openpilot else default_value), - "turn_signal_pack": ("signals", self.params.get("CustomSignals", encoding='utf-8') if personalize_openpilot else default_value), - "wheel_image": ("wheel_image", self.params.get("WheelIcon", encoding='utf-8') if personalize_openpilot else default_value) - } + for asset, (asset_type, current_value) in asset_mappings.items(): + if current_value != self.previous_assets.get(asset) or current_holiday_theme != self.previous_assets.get("holiday_theme"): + print(f"Updating {asset}: {asset_type} with value {current_holiday_theme if current_holiday_theme else current_value}") - for toggle, (asset_type, current_value) in asset_mappings.items(): - if current_value != self.previous_assets.get(toggle): - if asset_type == "distance_icons": - update_distance_icons(current_value, current_holiday_theme) - elif asset_type == "wheel_image": + if asset_type == "wheel_image": update_wheel_image(current_value, current_holiday_theme, random_event=False) else: - copy_theme_asset(asset_type, current_value, current_holiday_theme, self.params) - self.previous_assets[toggle] = current_value - self.params_memory.remove("UpdateTheme") + update_theme_asset(asset_type, current_value, current_holiday_theme, self.params) + self.previous_assets[asset] = current_value + + self.previous_assets["holiday_theme"] = current_holiday_theme update_frogpilot_toggles() def extract_zip(self, zip_file, extract_path): @@ -208,7 +173,7 @@ def extract_zip(self, zip_file, extract_path): def handle_existing_theme(self, theme_name, theme_param): print(f"Theme {theme_name} already exists, skipping download...") - self.params_memory.put(self.download_progress_param, "Theme already exists...") + self.params_memory.put(DOWNLOAD_PROGRESS_PARAM, "Theme already exists...") self.params_memory.remove(theme_param) def handle_verification_failure(self, extentions, theme_component, theme_name, theme_param, download_path): @@ -223,24 +188,24 @@ def handle_verification_failure(self, extentions, theme_component, theme_name, t theme_path = download_path + ext theme_url = download_link + ext print(f"Downloading theme from GitLab: {theme_name}") - download_file(self.cancel_download_param, theme_path, self.download_progress_param, theme_url, theme_param, self.params_memory) + download_file(CANCEL_DOWNLOAD_PARAM, theme_path, DOWNLOAD_PROGRESS_PARAM, theme_url, theme_param, self.params_memory) if verify_download(theme_path, theme_url): print(f"Theme {theme_name} downloaded and verified successfully from GitLab!") if ext == ".zip": - self.params_memory.put(self.download_progress_param, "Unpacking theme...") + self.params_memory.put(DOWNLOAD_PROGRESS_PARAM, "Unpacking theme...") self.extract_zip(theme_path, os.path.join(THEME_SAVE_PATH, theme_name)) - self.params_memory.put(self.download_progress_param, "Downloaded!") + self.params_memory.put(DOWNLOAD_PROGRESS_PARAM, "Downloaded!") self.params_memory.remove(theme_param) return True - handle_error(download_path, "GitLab verification failed", "Verification failed", theme_param, self.download_progress_param, self.params_memory) + handle_error(download_path, "GitLab verification failed", "Verification failed", theme_param, DOWNLOAD_PROGRESS_PARAM, self.params_memory) return False def download_theme(self, theme_component, theme_name, theme_param): repo_url = get_repository_url() if not repo_url: - handle_error(None, "GitHub and GitLab are offline...", "Repository unavailable", theme_param, self.download_progress_param, self.params_memory) + handle_error(None, "GitHub and GitLab are offline...", "Repository unavailable", theme_param, DOWNLOAD_PROGRESS_PARAM, self.params_memory) return if theme_component == "distance_icons": @@ -258,20 +223,20 @@ def download_theme(self, theme_component, theme_name, theme_param): for ext in extentions: theme_path = download_path + ext - if os.path.exists(theme_path): - handle_error(theme_path, "Theme already exists...", "Theme already exists...", theme_param, self.download_progress_param, self.params_memory) + if os.path.isfile(theme_path): + handle_error(theme_path, "Theme already exists...", "Theme already exists...", theme_param, DOWNLOAD_PROGRESS_PARAM, self.params_memory) return theme_url = download_link + ext print(f"Downloading theme from GitHub: {theme_name}") - download_file(self.cancel_download_param, theme_path, self.download_progress_param, theme_url, theme_param, self.params_memory) + download_file(CANCEL_DOWNLOAD_PARAM, theme_path, DOWNLOAD_PROGRESS_PARAM, theme_url, theme_param, self.params_memory) if verify_download(theme_path, theme_url): print(f"Theme {theme_name} downloaded and verified successfully from GitHub!") if ext == ".zip": - self.params_memory.put(self.download_progress_param, "Unpacking theme...") + self.params_memory.put(DOWNLOAD_PROGRESS_PARAM, "Unpacking theme...") self.extract_zip(theme_path, download_path) - self.params_memory.put(self.download_progress_param, "Downloaded!") + self.params_memory.put(DOWNLOAD_PROGRESS_PARAM, "Downloaded!") self.params_memory.remove(theme_param) return @@ -366,23 +331,18 @@ def validate_themes(self): self.previous_assets = {} self.update_active_theme() - def update_themes(self, boot_run=True): + def update_themes(self, boot_run=False): if not os.path.exists(THEME_SAVE_PATH): return repo_url = get_repository_url() - if boot_run: - boot_checks = 0 - while repo_url is None and boot_checks < 60: - boot_checks += 1 - if boot_checks > 60: - break - time.sleep(1) - self.validate_themes() - elif repo_url is None: + if repo_url is None: print("GitHub and GitLab are offline...") return + if boot_run: + self.validate_themes() + if repo_url == GITHUB_URL: base_url = "https://github.com/FrogAi/FrogPilot-Resources/blob/Themes/" distance_icons_files = self.fetch_files("https://github.com/FrogAi/FrogPilot-Resources/blob/Distance-Icons") diff --git a/selfdrive/frogpilot/assets/toggle_icons/advanced_quality_of_life.png b/selfdrive/frogpilot/assets/toggle_icons/advanced_quality_of_life.png new file mode 100644 index 00000000000000..e84f90ac0e939c Binary files /dev/null and b/selfdrive/frogpilot/assets/toggle_icons/advanced_quality_of_life.png differ diff --git a/selfdrive/frogpilot/assets/toggle_icons/icon_advanced.png b/selfdrive/frogpilot/assets/toggle_icons/icon_advanced.png new file mode 100644 index 00000000000000..1b3c52390d8c6a Binary files /dev/null and b/selfdrive/frogpilot/assets/toggle_icons/icon_advanced.png differ diff --git a/selfdrive/frogpilot/assets/toggle_icons/icon_advanced_calibration.png b/selfdrive/frogpilot/assets/toggle_icons/icon_advanced_calibration.png new file mode 100644 index 00000000000000..25e9f247c6e5e0 Binary files /dev/null and b/selfdrive/frogpilot/assets/toggle_icons/icon_advanced_calibration.png differ diff --git a/selfdrive/frogpilot/assets/toggle_icons/icon_advanced_device.png b/selfdrive/frogpilot/assets/toggle_icons/icon_advanced_device.png new file mode 100644 index 00000000000000..6d577060820f17 Binary files /dev/null and b/selfdrive/frogpilot/assets/toggle_icons/icon_advanced_device.png differ diff --git a/selfdrive/frogpilot/assets/toggle_icons/icon_advanced_lateral_tune.png b/selfdrive/frogpilot/assets/toggle_icons/icon_advanced_lateral_tune.png new file mode 100644 index 00000000000000..33e2d552fc4418 Binary files /dev/null and b/selfdrive/frogpilot/assets/toggle_icons/icon_advanced_lateral_tune.png differ diff --git a/selfdrive/frogpilot/assets/toggle_icons/icon_advanced_longitudinal_tune.png b/selfdrive/frogpilot/assets/toggle_icons/icon_advanced_longitudinal_tune.png new file mode 100644 index 00000000000000..72a7e4057ac14e Binary files /dev/null and b/selfdrive/frogpilot/assets/toggle_icons/icon_advanced_longitudinal_tune.png differ diff --git a/selfdrive/frogpilot/assets/toggle_icons/icon_advanced_model.png b/selfdrive/frogpilot/assets/toggle_icons/icon_advanced_model.png new file mode 100644 index 00000000000000..c299a1e793e24f Binary files /dev/null and b/selfdrive/frogpilot/assets/toggle_icons/icon_advanced_model.png differ diff --git a/selfdrive/frogpilot/assets/toggle_icons/icon_advanced_personality.png b/selfdrive/frogpilot/assets/toggle_icons/icon_advanced_personality.png new file mode 100644 index 00000000000000..2ce09a567a1c7b Binary files /dev/null and b/selfdrive/frogpilot/assets/toggle_icons/icon_advanced_personality.png differ diff --git a/selfdrive/frogpilot/assets/toggle_icons/icon_advanced_road.png b/selfdrive/frogpilot/assets/toggle_icons/icon_advanced_road.png new file mode 100644 index 00000000000000..76513344845127 Binary files /dev/null and b/selfdrive/frogpilot/assets/toggle_icons/icon_advanced_road.png differ diff --git a/selfdrive/frogpilot/assets/toggle_icons/icon_calendar.png b/selfdrive/frogpilot/assets/toggle_icons/icon_calendar.png new file mode 100644 index 00000000000000..fb354a3e55f0da Binary files /dev/null and b/selfdrive/frogpilot/assets/toggle_icons/icon_calendar.png differ diff --git a/selfdrive/frogpilot/assets/toggle_icons/icon_display.png b/selfdrive/frogpilot/assets/toggle_icons/icon_display.png new file mode 100644 index 00000000000000..a01bc8c60f15da Binary files /dev/null and b/selfdrive/frogpilot/assets/toggle_icons/icon_display.png differ diff --git a/selfdrive/frogpilot/assets/toggle_icons/icon_map.png b/selfdrive/frogpilot/assets/toggle_icons/icon_map.png new file mode 100644 index 00000000000000..4228899d02bb8b Binary files /dev/null and b/selfdrive/frogpilot/assets/toggle_icons/icon_map.png differ diff --git a/selfdrive/frogpilot/assets/toggle_icons/icon_message.png b/selfdrive/frogpilot/assets/toggle_icons/icon_message.png new file mode 100644 index 00000000000000..c1729618e7afbc Binary files /dev/null and b/selfdrive/frogpilot/assets/toggle_icons/icon_message.png differ diff --git a/selfdrive/frogpilot/assets/toggle_icons/icon_model.png b/selfdrive/frogpilot/assets/toggle_icons/icon_model.png new file mode 100644 index 00000000000000..77dc01a5ed3224 Binary files /dev/null and b/selfdrive/frogpilot/assets/toggle_icons/icon_model.png differ diff --git a/selfdrive/frogpilot/assets/toggle_icons/icon_personality.png b/selfdrive/frogpilot/assets/toggle_icons/icon_personality.png deleted file mode 100644 index 97c1d7fe5f5229..00000000000000 Binary files a/selfdrive/frogpilot/assets/toggle_icons/icon_personality.png and /dev/null differ diff --git a/selfdrive/frogpilot/assets/toggle_icons/icon_random.png b/selfdrive/frogpilot/assets/toggle_icons/icon_random.png new file mode 100644 index 00000000000000..132f3bbaa56510 Binary files /dev/null and b/selfdrive/frogpilot/assets/toggle_icons/icon_random.png differ diff --git a/selfdrive/frogpilot/assets/toggle_icons/icon_sound.png b/selfdrive/frogpilot/assets/toggle_icons/icon_sound.png new file mode 100644 index 00000000000000..25a7e89786f0cf Binary files /dev/null and b/selfdrive/frogpilot/assets/toggle_icons/icon_sound.png differ diff --git a/selfdrive/frogpilot/assets/toggle_icons/icon_steering.png b/selfdrive/frogpilot/assets/toggle_icons/icon_steering.png new file mode 100644 index 00000000000000..df235582f6a3e5 Binary files /dev/null and b/selfdrive/frogpilot/assets/toggle_icons/icon_steering.png differ diff --git a/selfdrive/frogpilot/assets/toggle_icons/icon_system.png b/selfdrive/frogpilot/assets/toggle_icons/icon_system.png new file mode 100644 index 00000000000000..38206c4a4ee366 Binary files /dev/null and b/selfdrive/frogpilot/assets/toggle_icons/icon_system.png differ diff --git a/selfdrive/frogpilot/assets/toggle_icons/icon_vehicle.png b/selfdrive/frogpilot/assets/toggle_icons/icon_vehicle.png new file mode 100644 index 00000000000000..835fd90f1923a4 Binary files /dev/null and b/selfdrive/frogpilot/assets/toggle_icons/icon_vehicle.png differ diff --git a/selfdrive/frogpilot/assets/toggle_icons/quality_of_life.png b/selfdrive/frogpilot/assets/toggle_icons/quality_of_life.png index 5130f152755be6..a01d18686fb176 100644 Binary files a/selfdrive/frogpilot/assets/toggle_icons/quality_of_life.png and b/selfdrive/frogpilot/assets/toggle_icons/quality_of_life.png differ diff --git a/selfdrive/frogpilot/controls/frogpilot_planner.py b/selfdrive/frogpilot/controls/frogpilot_planner.py index 69dcd6519c2d8c..53789076f6756b 100644 --- a/selfdrive/frogpilot/controls/frogpilot_planner.py +++ b/selfdrive/frogpilot/controls/frogpilot_planner.py @@ -1,7 +1,5 @@ import cereal.messaging as messaging -from cereal import car - from openpilot.common.conversions import Conversions as CV from openpilot.common.params import Params @@ -13,11 +11,9 @@ from openpilot.selfdrive.frogpilot.controls.lib.frogpilot_acceleration import FrogPilotAcceleration from openpilot.selfdrive.frogpilot.controls.lib.frogpilot_events import FrogPilotEvents from openpilot.selfdrive.frogpilot.controls.lib.frogpilot_following import FrogPilotFollowing -from openpilot.selfdrive.frogpilot.controls.lib.frogpilot_functions import WeightedMovingAverageCalculator, calculate_lane_width, calculate_road_curvature, update_frogpilot_toggles -from openpilot.selfdrive.frogpilot.controls.lib.frogpilot_variables import CITY_SPEED_LIMIT, CRUISING_SPEED, MODEL_LENGTH, PLANNER_TIME, THRESHOLD from openpilot.selfdrive.frogpilot.controls.lib.frogpilot_vcruise import FrogPilotVCruise - -GearShifter = car.CarState.GearShifter +from openpilot.selfdrive.frogpilot.frogpilot_functions import MovingAverageCalculator, calculate_lane_width, calculate_road_curvature, update_frogpilot_toggles +from openpilot.selfdrive.frogpilot.frogpilot_variables import CRUISING_SPEED, MODEL_LENGTH, NON_DRIVING_GEARS, PLANNER_TIME, THRESHOLD class FrogPilotPlanner: def __init__(self): @@ -30,7 +26,8 @@ def __init__(self): self.frogpilot_vcruise = FrogPilotVCruise(self) self.lead_one = Lead() - self.always_on_lateral_active = False + self.tracking_lead_mac = MovingAverageCalculator() + self.lateral_check = False self.lead_departing = False self.model_stopped = False @@ -43,10 +40,8 @@ def __init__(self): self.tracking_lead_distance = 0 self.v_cruise = 0 - self.tracking_lead_mac = WeightedMovingAverageCalculator(window_size=4) - - def update(self, carState, controlsState, frogpilotCarControl, frogpilotCarState, frogpilotNavigation, modelData, radarState, frogpilot_toggles): - if frogpilot_toggles.radarless_model: + def update(self, carState, controlsState, frogpilotCarControl, frogpilotCarState, frogpilotNavigation, modelData, radarless_model, radarState, frogpilot_toggles): + if radarless_model: model_leads = list(modelData.leadsV3) if len(model_leads) > 0: model_lead = model_leads[0] @@ -60,33 +55,24 @@ def update(self, carState, controlsState, frogpilotCarControl, frogpilotCarState v_ego = max(carState.vEgo, 0) v_lead = self.lead_one.vLead - driving_gear = carState.gearShifter not in (GearShifter.neutral, GearShifter.park, GearShifter.reverse, GearShifter.unknown) + driving_gear = carState.gearShifter not in NON_DRIVING_GEARS - distance_offset = max(frogpilot_toggles.increased_stopping_distance + min(CITY_SPEED_LIMIT - v_ego, 0), 0) if not frogpilotCarState.trafficModeActive else 0 + distance_offset = max(frogpilot_toggles.increase_stopped_distance + min(10 - v_ego, 0), 0) if not frogpilotCarState.trafficModeActive else 0 lead_distance = self.lead_one.dRel - distance_offset stopping_distance = STOP_DISTANCE + distance_offset - if frogpilot_toggles.openpilot_longitudinal: - self.frogpilot_acceleration.update(controlsState, frogpilotCarState, v_cruise, v_ego, frogpilot_toggles) - - self.always_on_lateral_active |= frogpilot_toggles.always_on_lateral_main or carState.cruiseState.enabled - self.always_on_lateral_active &= frogpilot_toggles.always_on_lateral and carState.cruiseState.available - self.always_on_lateral_active &= driving_gear - self.always_on_lateral_active &= self.lateral_check - self.always_on_lateral_active &= not (frogpilot_toggles.always_on_lateral_lkas and frogpilotCarState.alwaysOnLateralDisabled) - self.always_on_lateral_active &= not (carState.brakePressed and v_ego < frogpilot_toggles.always_on_lateral_pause_speed) or carState.standstill + self.frogpilot_acceleration.update(controlsState, frogpilotCarState, v_cruise, v_ego, frogpilot_toggles) run_cem = frogpilot_toggles.conditional_experimental_mode or frogpilot_toggles.force_stops or frogpilot_toggles.green_light_alert or frogpilot_toggles.show_stopping_point - if run_cem and (controlsState.enabled or self.always_on_lateral_active) and driving_gear: + if run_cem and (controlsState.enabled or frogpilotCarControl.alwaysOnLateralActive) and driving_gear: self.cem.update(carState, frogpilotNavigation, modelData, v_ego, v_lead, frogpilot_toggles) else: self.cem.stop_light_detected = False self.frogpilot_events.update(carState, controlsState, frogpilotCarControl, frogpilotCarState, modelData, frogpilot_toggles) - if frogpilot_toggles.openpilot_longitudinal: - self.frogpilot_following.update(controlsState, frogpilotCarState, lead_distance, stopping_distance, v_ego, v_lead, frogpilot_toggles) + self.frogpilot_following.update(carState.aEgo, controlsState, frogpilotCarState, lead_distance, stopping_distance, v_ego, v_lead, frogpilot_toggles) - check_lane_width = frogpilot_toggles.adjacent_lanes or frogpilot_toggles.blind_spot_path or frogpilot_toggles.lane_detection + check_lane_width = frogpilot_toggles.adjacent_lanes or frogpilot_toggles.adjacent_path_metrics or frogpilot_toggles.blind_spot_path or frogpilot_toggles.lane_detection if check_lane_width and v_ego >= frogpilot_toggles.minimum_lane_change_speed: self.lane_width_left = calculate_lane_width(modelData.laneLines[0], modelData.laneLines[1], modelData.roadEdges[0]) self.lane_width_right = calculate_lane_width(modelData.laneLines[3], modelData.laneLines[2], modelData.roadEdges[1]) @@ -115,26 +101,23 @@ def update(self, carState, controlsState, frogpilotCarControl, frogpilotCarState self.road_curvature = calculate_road_curvature(modelData, v_ego) if not carState.standstill else 1 if frogpilot_toggles.random_events and v_ego > CRUISING_SPEED and driving_gear: - self.taking_curve_quickly = v_ego > (1 / self.road_curvature)**0.5 * 2 > CRUISING_SPEED * 2 and abs(carState.steeringAngleDeg) > 30 + self.taking_curve_quickly = v_ego > (1 / self.road_curvature)**0.75 * 2 > CRUISING_SPEED * 2 and abs(carState.steeringAngleDeg) > 30 else: self.taking_curve_quickly = False self.tracking_lead = self.set_lead_status(lead_distance, stopping_distance, v_ego) - if frogpilot_toggles.openpilot_longitudinal: - self.v_cruise = self.frogpilot_vcruise.update(carState, controlsState, frogpilotCarControl, frogpilotCarState, frogpilotNavigation, modelData, v_cruise, v_ego, frogpilot_toggles) - else: - self.frogpilot_vcruise.mtsc_target = v_cruise - self.frogpilot_vcruise.vtsc_target = v_cruise + self.v_cruise = self.frogpilot_vcruise.update(carState, controlsState, frogpilotCarControl, frogpilotCarState, frogpilotNavigation, modelData, v_cruise, v_ego, frogpilot_toggles) if self.frogpilot_events.frame == 1: # Force update to check the current state of "Always On Lateral" and holiday theme update_frogpilot_toggles() def set_lead_status(self, lead_distance, stopping_distance, v_ego): - following_lead = self.lead_one.status and 1 < lead_distance < self.model_length + stopping_distance + following_lead = self.lead_one.status + following_lead &= 1 < lead_distance < self.model_length + stopping_distance following_lead &= v_ego > CRUISING_SPEED or self.tracking_lead self.tracking_lead_mac.add_data(following_lead) - return self.tracking_lead_mac.get_weighted_average() >= THRESHOLD + return self.tracking_lead_mac.get_moving_average() >= THRESHOLD def publish(self, sm, pm, frogpilot_toggles): frogpilot_plan_send = messaging.new_message('frogpilotPlan') @@ -151,8 +134,6 @@ def publish(self, sm, pm, frogpilot_toggles): frogpilotPlan.adjustedCruise = float(min(self.frogpilot_vcruise.mtsc_target, self.frogpilot_vcruise.vtsc_target) * (CV.MS_TO_KPH if frogpilot_toggles.is_metric else CV.MS_TO_MPH)) frogpilotPlan.vtscControllingCurve = bool(self.frogpilot_vcruise.mtsc_target > self.frogpilot_vcruise.vtsc_target) - frogpilotPlan.alwaysOnLateralActive = self.always_on_lateral_active - frogpilotPlan.desiredFollowDistance = self.frogpilot_following.safe_obstacle_distance - self.frogpilot_following.stopped_equivalence_factor frogpilotPlan.safeObstacleDistance = self.frogpilot_following.safe_obstacle_distance frogpilotPlan.safeObstacleDistanceStock = self.frogpilot_following.safe_obstacle_distance_stock diff --git a/selfdrive/frogpilot/controls/lib/conditional_experimental_mode.py b/selfdrive/frogpilot/controls/lib/conditional_experimental_mode.py index a15dad77f96dab..4930774b3b66dc 100644 --- a/selfdrive/frogpilot/controls/lib/conditional_experimental_mode.py +++ b/selfdrive/frogpilot/controls/lib/conditional_experimental_mode.py @@ -1,15 +1,16 @@ -from openpilot.selfdrive.frogpilot.controls.lib.frogpilot_functions import WeightedMovingAverageCalculator -from openpilot.selfdrive.frogpilot.controls.lib.frogpilot_variables import CITY_SPEED_LIMIT, THRESHOLD +from openpilot.common.params import Params + +from openpilot.selfdrive.frogpilot.frogpilot_functions import MovingAverageCalculator +from openpilot.selfdrive.frogpilot.frogpilot_variables import CITY_SPEED_LIMIT, CRUISING_SPEED, THRESHOLD class ConditionalExperimentalMode: def __init__(self, FrogPilotPlanner): self.frogpilot_planner = FrogPilotPlanner - self.params_memory = self.frogpilot_planner.params_memory + self.params_memory = Params("/dev/shm/params") - self.curvature_wmac = WeightedMovingAverageCalculator(window_size=5) - self.slow_lead_wmac = WeightedMovingAverageCalculator(window_size=3) - self.stop_light_wmac = WeightedMovingAverageCalculator(window_size=5) + self.curvature_mac = MovingAverageCalculator() + self.stop_light_mac = MovingAverageCalculator() self.curve_detected = False self.experimental_mode = False @@ -23,29 +24,31 @@ def update(self, carState, frogpilotNavigation, modelData, v_ego, v_lead, frogpi if self.status_value not in {1, 2, 3, 4, 5, 6} and not carState.standstill: self.update_conditions(self.frogpilot_planner.tracking_lead, v_ego, v_lead, frogpilot_toggles) - self.experimental_mode = self.check_conditions(carState, frogpilotNavigation, modelData, self.frogpilot_planner.tracking_lead, v_ego, v_lead, frogpilot_toggles) + self.experimental_mode = self.check_conditions(carState, frogpilotNavigation, modelData, self.frogpilot_planner.frogpilot_following.following_lead, v_ego, v_lead, frogpilot_toggles) self.params_memory.put_int("CEStatus", self.status_value if self.experimental_mode else 0) else: self.experimental_mode = self.status_value in {2, 4, 6} or carState.standstill and self.experimental_mode - self.stop_light_detected = False + self.stop_light_detected &= self.status_value not in {1, 2, 3, 4, 5, 6} - def check_conditions(self, carState, frogpilotNavigation, modelData, tracking_lead, v_ego, v_lead, frogpilot_toggles): - below_speed = frogpilot_toggles.conditional_limit > v_ego >= 1 and not tracking_lead - below_speed_with_lead = frogpilot_toggles.conditional_limit_lead > v_ego >= 1 and tracking_lead + def check_conditions(self, carState, frogpilotNavigation, modelData, following_lead, v_ego, v_lead, frogpilot_toggles): + below_speed = frogpilot_toggles.conditional_limit > v_ego >= 1 and not following_lead + below_speed_with_lead = frogpilot_toggles.conditional_limit_lead > v_ego >= 1 and following_lead if below_speed or below_speed_with_lead: - self.status_value = 7 if tracking_lead else 8 + self.status_value = 7 if following_lead else 8 return True - if frogpilot_toggles.conditional_signal and v_ego < CITY_SPEED_LIMIT and (carState.leftBlinker or carState.rightBlinker): + desired_lane = self.frogpilot_planner.lane_width_left if carState.leftBlinker else self.frogpilot_planner.lane_width_right + lane_available = desired_lane >= frogpilot_toggles.lane_detection_width or not frogpilot_toggles.conditional_signal_lane_detection or not frogpilot_toggles.lane_detection + if v_ego < frogpilot_toggles.conditional_signal and (carState.leftBlinker or carState.rightBlinker) and not lane_available: self.status_value = 9 return True approaching_maneuver = modelData.navEnabled and (frogpilotNavigation.approachingIntersection or frogpilotNavigation.approachingTurn) - if frogpilot_toggles.conditional_navigation and approaching_maneuver and (frogpilot_toggles.conditional_navigation_lead or not tracking_lead): + if frogpilot_toggles.conditional_navigation and approaching_maneuver and (frogpilot_toggles.conditional_navigation_lead or not following_lead): self.status_value = 10 if frogpilotNavigation.approachingIntersection else 11 return True - if frogpilot_toggles.conditional_curves and self.curve_detected and (frogpilot_toggles.conditional_curves_lead or not tracking_lead): + if frogpilot_toggles.conditional_curves and self.curve_detected and (frogpilot_toggles.conditional_curves_lead or not following_lead): self.status_value = 12 return True @@ -61,39 +64,35 @@ def check_conditions(self, carState, frogpilotNavigation, modelData, tracking_le self.status_value = 17 return True + return False + def update_conditions(self, tracking_lead, v_ego, v_lead, frogpilot_toggles): self.curve_detection(tracking_lead, v_ego, frogpilot_toggles) self.slow_lead(tracking_lead, v_lead, frogpilot_toggles) self.stop_sign_and_light(tracking_lead, v_ego, frogpilot_toggles) def curve_detection(self, tracking_lead, v_ego, frogpilot_toggles): - if frogpilot_toggles.conditional_curves_lead or not tracking_lead: - curve_detected = (1 / self.frogpilot_planner.road_curvature)**0.5 < v_ego - curve_active = (0.9 / self.frogpilot_planner.road_curvature)**0.5 < v_ego and self.curve_detected + curve_detected = (1 / self.frogpilot_planner.road_curvature)**0.5 < v_ego + curve_active = (0.9 / self.frogpilot_planner.road_curvature)**0.5 < v_ego and self.curve_detected - self.curvature_wmac.add_data(curve_detected or curve_active) - self.curve_detected = self.curvature_wmac.get_weighted_average() >= THRESHOLD - else: - self.curvature_wmac.reset_data() - self.curve_detected = False + self.curvature_mac.add_data(curve_detected or curve_active) + self.curve_detected = self.curvature_mac.get_moving_average() >= THRESHOLD def slow_lead(self, tracking_lead, v_lead, frogpilot_toggles): if tracking_lead: slower_lead = self.frogpilot_planner.frogpilot_following.slower_lead and frogpilot_toggles.conditional_slower_lead stopped_lead = frogpilot_toggles.conditional_stopped_lead and v_lead < 1 - self.slow_lead_wmac.add_data(slower_lead or stopped_lead) - self.slow_lead_detected = self.slow_lead_wmac.get_weighted_average() >= THRESHOLD + self.slow_lead_detected = slower_lead or stopped_lead else: - self.slow_lead_wmac.reset_data() self.slow_lead_detected = False def stop_sign_and_light(self, tracking_lead, v_ego, frogpilot_toggles): if not (self.curve_detected or tracking_lead): model_stopping = self.frogpilot_planner.model_length < v_ego * frogpilot_toggles.conditional_model_stop_time - self.stop_light_wmac.add_data(self.frogpilot_planner.model_stopped or model_stopping) - self.stop_light_detected = self.stop_light_wmac.get_weighted_average() >= THRESHOLD + self.stop_light_mac.add_data(self.frogpilot_planner.model_stopped or model_stopping) + self.stop_light_detected = self.stop_light_mac.get_moving_average() >= THRESHOLD else: - self.stop_light_wmac.reset_data() + self.stop_light_mac.reset_data() self.stop_light_detected = False diff --git a/selfdrive/frogpilot/controls/lib/frogpilot_acceleration.py b/selfdrive/frogpilot/controls/lib/frogpilot_acceleration.py index ae77c0514b0924..e3d7c70b5d0e74 100644 --- a/selfdrive/frogpilot/controls/lib/frogpilot_acceleration.py +++ b/selfdrive/frogpilot/controls/lib/frogpilot_acceleration.py @@ -3,14 +3,14 @@ from openpilot.selfdrive.car.interfaces import ACCEL_MIN, ACCEL_MAX from openpilot.selfdrive.controls.lib.longitudinal_planner import A_CRUISE_MIN, get_max_accel -from openpilot.selfdrive.frogpilot.controls.lib.frogpilot_variables import CITY_SPEED_LIMIT, CRUISING_SPEED, get_max_allowed_accel +from openpilot.selfdrive.frogpilot.frogpilot_variables import CITY_SPEED_LIMIT, CRUISING_SPEED A_CRUISE_MIN_ECO = A_CRUISE_MIN / 4 A_CRUISE_MIN_SPORT = A_CRUISE_MIN / 2 # MPH = [ 0., 11, 22, 34, 45, 56, 89] A_CRUISE_MAX_BP_CUSTOM = [ 0., 5., 10., 15., 20., 25., 40.] -A_CRUISE_MAX_VALS_ECO = [1.4, 1.3, 1.2, 1.1, 1.0, 0.8, 0.6] +A_CRUISE_MAX_VALS_ECO = [2.0, 1.5, 1.0, 0.8, 0.6, 0.4, 0.2] A_CRUISE_MAX_VALS_SPORT = [3.0, 2.5, 2.0, 1.5, 1.0, 0.8, 0.6] A_CRUISE_MAX_VALS_SPORT_PLUS = [4.0, 3.5, 3.0, 2.0, 1.0, 0.8, 0.6] @@ -24,7 +24,13 @@ def get_max_accel_sport_plus(v_ego): return interp(v_ego, A_CRUISE_MAX_BP_CUSTOM, A_CRUISE_MAX_VALS_SPORT_PLUS) def get_max_accel_ramp_off(max_accel, v_cruise, v_ego): - return interp(v_ego, [0., v_cruise * 0.75, v_cruise * 0.9, v_cruise], [max_accel, max_accel, max_accel / 2, max_accel / 4]) + return interp(v_ego, [0., v_cruise * 0.5, v_cruise * 0.75, v_cruise], [max_accel, max_accel, max_accel / 2, max_accel / 4]) + +def get_max_accel_ramp_off_highway(max_accel, v_cruise, v_ego): + return interp(v_ego, [0., v_cruise * 0.75, v_cruise], [max_accel, max_accel, max_accel / 2]) + +def get_max_allowed_accel(v_ego): + return interp(v_ego, [0., 5., 20.], [4.0, 4.0, 2.0]) # ISO 15622:2018 class FrogPilotAcceleration: def __init__(self, FrogPilotPlanner): @@ -69,9 +75,14 @@ def update(self, controlsState, frogpilotCarState, v_cruise, v_ego, frogpilot_to self.max_accel = get_max_accel(v_ego) if frogpilot_toggles.human_acceleration: - if self.frogpilot_planner.tracking_lead and self.frogpilot_planner.lead_one.dRel < CITY_SPEED_LIMIT * 2 and not frogpilotCarState.trafficModeActive: + if self.frogpilot_planner.frogpilot_following.following_lead and not frogpilotCarState.trafficModeActive: self.max_accel = clip(self.frogpilot_planner.lead_one.aLeadK, get_max_accel_sport_plus(v_ego), get_max_allowed_accel(v_ego)) - self.max_accel = get_max_accel_ramp_off(self.max_accel, self.frogpilot_planner.v_cruise, v_ego) + if self.frogpilot_planner.v_cruise < CITY_SPEED_LIMIT: + self.max_accel = get_max_accel_ramp_off(self.max_accel, self.frogpilot_planner.v_cruise, v_ego) + else: + self.max_accel = get_max_accel_ramp_off_highway(self.max_accel, self.frogpilot_planner.v_cruise, v_ego) + + self.max_accel = min(self.max_accel, frogpilot_toggles.max_desired_accel) if controlsState.experimentalMode: self.min_accel = ACCEL_MIN diff --git a/selfdrive/frogpilot/controls/lib/frogpilot_events.py b/selfdrive/frogpilot/controls/lib/frogpilot_events.py index 25b23638cec278..3793ed7c6bd0dc 100644 --- a/selfdrive/frogpilot/controls/lib/frogpilot_events.py +++ b/selfdrive/frogpilot/controls/lib/frogpilot_events.py @@ -9,7 +9,8 @@ from openpilot.selfdrive.controls.controlsd import Desire from openpilot.selfdrive.controls.lib.events import EventName, Events -from openpilot.selfdrive.frogpilot.controls.lib.theme_manager import update_wheel_image +from openpilot.selfdrive.frogpilot.assets.theme_manager import update_wheel_image +from openpilot.selfdrive.frogpilot.frogpilot_variables import CRUISING_SPEED class FrogPilotEvents: def __init__(self, FrogPilotPlanner): @@ -33,6 +34,7 @@ def __init__(self, FrogPilotPlanner): self.random_event_played = False self.stopped_for_light = False self.vCruise69_played = False + self.youveGotMail_played = False self.frame = 0 self.max_acceleration = 0 @@ -46,7 +48,7 @@ def update(self, carState, controlsState, frogpilotCarControl, frogpilotCarState if self.random_event_played: self.random_event_timer += DT_MDL if self.random_event_timer >= 4: - update_wheel_image(frogpilot_toggles.wheel_image, None, False) + update_wheel_image(frogpilot_toggles.wheel_image, frogpilot_toggles.current_holiday_theme, False) self.params_memory.put_bool("UpdateWheelImage", True) self.random_event_played = False self.random_event_timer = 0 @@ -124,7 +126,7 @@ def update(self, carState, controlsState, frogpilotCarControl, frogpilotCarState if not self.goat_played: event_choices.append("goatSteerSaturated") - if event_choices and self.frame % (100 // len(event_choices)) == 0: + if self.frame % 100 == 0 and event_choices: event_choice = random.choice(event_choices) if event_choice == "firefoxSteerSaturated": self.events.add(EventName.firefoxSteerSaturated) @@ -148,6 +150,13 @@ def update(self, carState, controlsState, frogpilotCarControl, frogpilotCarState self.fcw_played = True self.random_event_played = True + if not self.youveGotMail_played and frogpilotCarControl.alwaysOnLateralActive and not self.always_on_lateral_active_previously: + if random.random() < 0.01 and carState.vEgo > CRUISING_SPEED: + self.events.add(EventName.youveGotMail) + self.youveGotMail_played = True + self.random_event_played = True + self.always_on_lateral_active_previously = frogpilotCarControl.alwaysOnLateralActive + if frogpilot_toggles.speed_limit_alert and self.frogpilot_planner.frogpilot_vcruise.speed_limit_changed: self.events.add(EventName.speedLimitChanged) diff --git a/selfdrive/frogpilot/controls/lib/frogpilot_following.py b/selfdrive/frogpilot/controls/lib/frogpilot_following.py index bc51e20d4709a5..2be1a0b9056522 100644 --- a/selfdrive/frogpilot/controls/lib/frogpilot_following.py +++ b/selfdrive/frogpilot/controls/lib/frogpilot_following.py @@ -2,7 +2,7 @@ from openpilot.selfdrive.controls.lib.longitudinal_mpc_lib.long_mpc import COMFORT_BRAKE, get_jerk_factor, get_safe_obstacle_distance, get_stopped_equivalence_factor, get_T_FOLLOW -from openpilot.selfdrive.frogpilot.controls.lib.frogpilot_variables import CITY_SPEED_LIMIT, CRUISING_SPEED +from openpilot.selfdrive.frogpilot.frogpilot_variables import CITY_SPEED_LIMIT, CRUISING_SPEED TRAFFIC_MODE_BP = [0., CITY_SPEED_LIMIT] @@ -10,6 +10,7 @@ class FrogPilotFollowing: def __init__(self, FrogPilotPlanner): self.frogpilot_planner = FrogPilotPlanner + self.following_lead = False self.slower_lead = False self.acceleration_jerk = 0 @@ -22,19 +23,34 @@ def __init__(self, FrogPilotPlanner): self.stopped_equivalence_factor = 0 self.t_follow = 0 - def update(self, controlsState, frogpilotCarState, lead_distance, stopping_distance, v_ego, v_lead, frogpilot_toggles): + def update(self, aEgo, controlsState, frogpilotCarState, lead_distance, stopping_distance, v_ego, v_lead, frogpilot_toggles): if frogpilotCarState.trafficModeActive: - self.base_acceleration_jerk = interp(v_ego, TRAFFIC_MODE_BP, frogpilot_toggles.traffic_mode_jerk_acceleration) + if aEgo >= 0: + self.base_acceleration_jerk = interp(v_ego, TRAFFIC_MODE_BP, frogpilot_toggles.traffic_mode_jerk_acceleration) + self.base_speed_jerk = interp(v_ego, TRAFFIC_MODE_BP, frogpilot_toggles.traffic_mode_jerk_speed) + else: + self.base_acceleration_jerk = interp(v_ego, TRAFFIC_MODE_BP, frogpilot_toggles.traffic_mode_jerk_deceleration) + self.base_speed_jerk = interp(v_ego, TRAFFIC_MODE_BP, frogpilot_toggles.traffic_mode_jerk_speed_decrease) + self.base_danger_jerk = interp(v_ego, TRAFFIC_MODE_BP, frogpilot_toggles.traffic_mode_jerk_danger) - self.base_speed_jerk = interp(v_ego, TRAFFIC_MODE_BP, frogpilot_toggles.traffic_mode_jerk_speed) self.t_follow = interp(v_ego, TRAFFIC_MODE_BP, frogpilot_toggles.traffic_mode_t_follow) + else: - self.base_acceleration_jerk, self.base_danger_jerk, self.base_speed_jerk = get_jerk_factor( - frogpilot_toggles.aggressive_jerk_acceleration, frogpilot_toggles.aggressive_jerk_danger, frogpilot_toggles.aggressive_jerk_speed, - frogpilot_toggles.standard_jerk_acceleration, frogpilot_toggles.standard_jerk_danger, frogpilot_toggles.standard_jerk_speed, - frogpilot_toggles.relaxed_jerk_acceleration, frogpilot_toggles.relaxed_jerk_danger, frogpilot_toggles.relaxed_jerk_speed, - frogpilot_toggles.custom_personalities, controlsState.personality - ) + if aEgo >= 0: + self.base_acceleration_jerk, self.base_danger_jerk, self.base_speed_jerk = get_jerk_factor( + frogpilot_toggles.aggressive_jerk_acceleration, frogpilot_toggles.aggressive_jerk_danger, frogpilot_toggles.aggressive_jerk_speed, + frogpilot_toggles.standard_jerk_acceleration, frogpilot_toggles.standard_jerk_danger, frogpilot_toggles.standard_jerk_speed, + frogpilot_toggles.relaxed_jerk_acceleration, frogpilot_toggles.relaxed_jerk_danger, frogpilot_toggles.relaxed_jerk_speed, + frogpilot_toggles.custom_personalities, controlsState.personality + ) + else: + self.base_acceleration_jerk, self.base_danger_jerk, self.base_speed_jerk = get_jerk_factor( + frogpilot_toggles.aggressive_jerk_deceleration, frogpilot_toggles.aggressive_jerk_danger, frogpilot_toggles.aggressive_jerk_speed_decrease, + frogpilot_toggles.standard_jerk_deceleration, frogpilot_toggles.standard_jerk_danger, frogpilot_toggles.standard_jerk_speed_decrease, + frogpilot_toggles.relaxed_jerk_deceleration, frogpilot_toggles.relaxed_jerk_danger, frogpilot_toggles.relaxed_jerk_speed_decrease, + frogpilot_toggles.custom_personalities, controlsState.personality + ) + self.t_follow = get_T_FOLLOW( frogpilot_toggles.aggressive_follow, frogpilot_toggles.standard_follow, @@ -42,6 +58,12 @@ def update(self, controlsState, frogpilotCarState, lead_distance, stopping_dista frogpilot_toggles.custom_personalities, controlsState.personality ) + self.acceleration_jerk = self.base_acceleration_jerk + self.danger_jerk = self.base_danger_jerk + self.speed_jerk = self.base_speed_jerk + + self.following_lead = self.frogpilot_planner.tracking_lead and lead_distance < (self.t_follow + 1) * v_ego + if self.frogpilot_planner.tracking_lead: self.safe_obstacle_distance = int(get_safe_obstacle_distance(v_ego, self.t_follow)) self.safe_obstacle_distance_stock = self.safe_obstacle_distance @@ -51,9 +73,6 @@ def update(self, controlsState, frogpilotCarState, lead_distance, stopping_dista self.safe_obstacle_distance = 0 self.safe_obstacle_distance_stock = 0 self.stopped_equivalence_factor = 0 - self.acceleration_jerk = self.base_acceleration_jerk - self.danger_jerk = self.base_danger_jerk - self.speed_jerk = self.base_speed_jerk def update_follow_values(self, lead_distance, stopping_distance, v_ego, v_lead, frogpilot_toggles): # Offset by FrogAi for FrogPilot for a more natural approach to a faster lead @@ -61,8 +80,8 @@ def update_follow_values(self, lead_distance, stopping_distance, v_ego, v_lead, distance_factor = max(lead_distance - (v_ego * self.t_follow), 1) standstill_offset = max(stopping_distance - v_ego, 0) * max(v_lead - v_ego, 1) acceleration_offset = clip((v_lead - v_ego) + standstill_offset - COMFORT_BRAKE, 1, distance_factor) - self.acceleration_jerk = self.base_acceleration_jerk / acceleration_offset - self.speed_jerk = self.base_speed_jerk / acceleration_offset + self.acceleration_jerk /= acceleration_offset + self.speed_jerk /= acceleration_offset self.t_follow /= acceleration_offset # Offset by FrogAi for FrogPilot for a more natural approach to a slower lead @@ -71,17 +90,7 @@ def update_follow_values(self, lead_distance, stopping_distance, v_ego, v_lead, far_lead_offset = max(lead_distance - (v_ego * self.t_follow) - stopping_distance + (v_lead - CITY_SPEED_LIMIT), 0) braking_offset = clip((v_ego - v_lead) + far_lead_offset - COMFORT_BRAKE, 1, distance_factor) if frogpilot_toggles.human_following: - self.acceleration_jerk = self.base_acceleration_jerk * braking_offset - self.speed_jerk = self.base_speed_jerk * braking_offset + self.acceleration_jerk *= braking_offset + self.speed_jerk *= braking_offset self.t_follow /= braking_offset self.slower_lead = braking_offset - far_lead_offset > 1 - - if frogpilot_toggles.human_following and v_ego < CRUISING_SPEED: - if v_ego > v_lead: - self.acceleration_jerk *= CRUISING_SPEED - self.danger_jerk = self.base_danger_jerk * CRUISING_SPEED - self.speed_jerk *= CRUISING_SPEED - else: - self.acceleration_jerk /= CRUISING_SPEED - self.danger_jerk = self.base_danger_jerk / CRUISING_SPEED - self.speed_jerk /= CRUISING_SPEED diff --git a/selfdrive/frogpilot/controls/lib/frogpilot_vcruise.py b/selfdrive/frogpilot/controls/lib/frogpilot_vcruise.py index 8b84f8247bdf5d..cc1b4a56169030 100644 --- a/selfdrive/frogpilot/controls/lib/frogpilot_vcruise.py +++ b/selfdrive/frogpilot/controls/lib/frogpilot_vcruise.py @@ -5,9 +5,9 @@ from openpilot.selfdrive.controls.controlsd import ButtonType from openpilot.selfdrive.controls.lib.drive_helpers import V_CRUISE_UNSET -from openpilot.selfdrive.frogpilot.controls.lib.frogpilot_variables import CRUISING_SPEED, PLANNER_TIME from openpilot.selfdrive.frogpilot.controls.lib.map_turn_speed_controller import MapTurnSpeedController from openpilot.selfdrive.frogpilot.controls.lib.speed_limit_controller import SpeedLimitController +from openpilot.selfdrive.frogpilot.frogpilot_variables import CRUISING_SPEED, PLANNER_TIME TARGET_LAT_A = 1.9 @@ -25,9 +25,10 @@ def __init__(self, FrogPilotPlanner): self.override_slc = False self.speed_limit_changed = False - self.model_length = 0 + self.force_stop_timer = 0 self.mtsc_target = 0 self.overridden_speed = 0 + self.override_force_stop_timer = 0 self.previous_speed_limit = 0 self.slc_target = 0 self.speed_limit_timer = 0 @@ -35,9 +36,21 @@ def __init__(self, FrogPilotPlanner): self.vtsc_target = 0 def update(self, carState, controlsState, frogpilotCarControl, frogpilotCarState, frogpilotNavigation, modelData, v_cruise, v_ego, frogpilot_toggles): + force_stop_enabled = frogpilot_toggles.force_stops and self.frogpilot_planner.cem.stop_light_detected and controlsState.enabled + force_stop_enabled &= self.frogpilot_planner.model_length < 100 + force_stop_enabled &= self.override_force_stop_timer <= 0 + + self.force_stop_timer = self.force_stop_timer + DT_MDL if force_stop_enabled else 0 + + self.override_force_stop |= not frogpilot_toggles.force_standstill and carState.standstill and self.frogpilot_planner.tracking_lead self.override_force_stop |= carState.gasPressed - self.override_force_stop |= frogpilot_toggles.force_stops and carState.standstill and self.frogpilot_planner.tracking_lead self.override_force_stop |= frogpilotCarControl.resumePressed + self.override_force_stop &= self.force_stop_timer >= 1 + + if self.override_force_stop: + self.override_force_stop_timer = 10 + elif self.override_force_stop_timer > 0: + self.override_force_stop_timer -= DT_MDL v_cruise_cluster = max(controlsState.vCruiseCluster, v_cruise) * CV.KPH_TO_MS v_cruise_diff = v_cruise_cluster - v_cruise @@ -48,10 +61,14 @@ def update(self, carState, controlsState, frogpilotCarControl, frogpilotCarState # Pfeiferj's Map Turn Speed Controller if frogpilot_toggles.map_turn_speed_controller and v_ego > CRUISING_SPEED and controlsState.enabled: mtsc_active = self.mtsc_target < v_cruise - self.mtsc_target = clip(self.mtsc.target_speed(v_ego, carState.aEgo), CRUISING_SPEED, v_cruise) + self.mtsc_target = clip(self.mtsc.target_speed(v_ego, carState.aEgo, frogpilot_toggles), CRUISING_SPEED, v_cruise) - if frogpilot_toggles.mtsc_curvature_check and self.frogpilot_planner.road_curvature < 1.0 and not mtsc_active: + curve_detected = (1 / self.frogpilot_planner.road_curvature)**0.5 < v_ego + if curve_detected and mtsc_active: + self.mtsc_target = self.frogpilot_planner.v_cruise + elif not curve_detected and frogpilot_toggles.mtsc_curvature_check: self.mtsc_target = v_cruise + if self.mtsc_target == CRUISING_SPEED: self.mtsc_target = v_cruise else: @@ -62,7 +79,7 @@ def update(self, carState, controlsState, frogpilotCarControl, frogpilotCarState self.slc.update(frogpilotCarState.dashboardSpeedLimit, controlsState.enabled, frogpilotNavigation.navigationSpeedLimit, v_cruise, v_ego, frogpilot_toggles) unconfirmed_slc_target = self.slc.desired_speed_limit - if frogpilot_toggles.speed_limit_confirmation and self.slc_target != 0: + if (frogpilot_toggles.speed_limit_alert or frogpilot_toggles.speed_limit_confirmation_lower or frogpilot_toggles.speed_limit_confirmation_higher) and self.slc_target != 0: self.speed_limit_changed = unconfirmed_slc_target != self.previous_speed_limit and abs(self.slc_target - unconfirmed_slc_target) > 1 speed_limit_decreased = self.speed_limit_changed and self.slc_target > unconfirmed_slc_target @@ -93,6 +110,7 @@ def update(self, carState, controlsState, frogpilotCarControl, frogpilotCarState if speed_limit_confirmed: self.slc_target = unconfirmed_slc_target + elif self.slc_target == unconfirmed_slc_target: self.speed_limit_changed = False else: self.slc_target = unconfirmed_slc_target @@ -115,10 +133,7 @@ def update(self, carState, controlsState, frogpilotCarControl, frogpilotCarState # Pfeiferj's Vision Turn Controller if frogpilot_toggles.vision_turn_controller and v_ego > CRUISING_SPEED and controlsState.enabled: - adjusted_road_curvature = self.frogpilot_planner.road_curvature * frogpilot_toggles.curve_sensitivity - adjusted_target_lat_a = TARGET_LAT_A * frogpilot_toggles.turn_aggressiveness - - self.vtsc_target = (adjusted_target_lat_a / adjusted_road_curvature)**0.5 + self.vtsc_target = (TARGET_LAT_A * frogpilot_toggles.turn_aggressiveness / self.frogpilot_planner.road_curvature * frogpilot_toggles.curve_sensitivity)**0.5 self.vtsc_target = clip(self.vtsc_target, CRUISING_SPEED, v_cruise) else: self.vtsc_target = v_cruise if v_cruise != V_CRUISE_UNSET else 0 @@ -127,9 +142,9 @@ def update(self, carState, controlsState, frogpilotCarControl, frogpilotCarState self.forcing_stop = True v_cruise = -1 - elif frogpilot_toggles.force_stops and self.frogpilot_planner.cem.stop_light_detected and not self.override_force_stop and controlsState.enabled: + elif self.force_stop_timer >= 1 and not self.override_force_stop: if self.tracked_model_length == 0: - self.tracked_model_length = self.model_length + self.tracked_model_length = self.frogpilot_planner.model_length self.forcing_stop = True self.tracked_model_length -= v_ego * DT_MDL @@ -140,6 +155,7 @@ def update(self, carState, controlsState, frogpilotCarControl, frogpilotCarState self.override_force_stop = False self.forcing_stop = False + self.tracked_model_length = 0 targets = [self.mtsc_target, max(self.overridden_speed, self.slc_target) - v_ego_diff, self.vtsc_target] diff --git a/selfdrive/frogpilot/controls/lib/map_turn_speed_controller.py b/selfdrive/frogpilot/controls/lib/map_turn_speed_controller.py index 19fe7399583b7e..a29e9108047730 100644 --- a/selfdrive/frogpilot/controls/lib/map_turn_speed_controller.py +++ b/selfdrive/frogpilot/controls/lib/map_turn_speed_controller.py @@ -1,4 +1,4 @@ -# PFEIFER - MTSC +# PFEIFER - MTSC - Modified by FrogAi for FrogPilot import json import math @@ -19,9 +19,6 @@ # time than specified depending on how much of a speed diffrential there is between v_ego and the # target velocity. -def calculate_accel(t, target_jerk, a_ego): - return a_ego + target_jerk * t - def calculate_velocity(t, target_jerk, a_ego, v_ego): return v_ego + a_ego * t + target_jerk/2 * (t ** 2) @@ -43,7 +40,7 @@ def __init__(self): self.target_lon = 0.0 self.target_v = 0.0 - def target_speed(self, v_ego, a_ego) -> float: + def target_speed(self, v_ego, a_ego, frogpilot_toggles) -> float: lat = 0.0 lon = 0.0 try: @@ -89,7 +86,7 @@ def target_speed(self, v_ego, a_ego) -> float: a_diff = (a_ego - TARGET_ACCEL) accel_t = abs(a_diff / TARGET_JERK) - min_accel_v = calculate_velocity(accel_t, TARGET_JERK, a_ego, v_ego) + min_accel_v = calculate_velocity(accel_t, TARGET_JERK, a_ego, v_ego) / frogpilot_toggles.turn_aggressiveness max_d = 0 if tv > min_accel_v: @@ -116,7 +113,7 @@ def target_speed(self, v_ego, a_ego) -> float: t = abs((min_accel_v - tv) / TARGET_ACCEL) max_d += calculate_distance(t, 0, TARGET_ACCEL, min_accel_v) - if d < max_d + tv * TARGET_OFFSET: + if d < (max_d + tv * TARGET_OFFSET) * frogpilot_toggles.curve_sensitivity: valid_velocities.append((float(tv), tlat, tlon)) # Find the smallest velocity we need to adjust for diff --git a/selfdrive/frogpilot/controls/lib/speed_limit_controller.py b/selfdrive/frogpilot/controls/lib/speed_limit_controller.py index 50f7a810c0aef8..1e9dab502ea31c 100644 --- a/selfdrive/frogpilot/controls/lib/speed_limit_controller.py +++ b/selfdrive/frogpilot/controls/lib/speed_limit_controller.py @@ -5,7 +5,7 @@ from openpilot.common.conversions import Conversions as CV from openpilot.common.params import Params -from openpilot.selfdrive.frogpilot.controls.lib.frogpilot_variables import FrogPilotVariables +from openpilot.selfdrive.frogpilot.frogpilot_variables import FrogPilotVariables R = 6373000.0 # approximate radius of earth in meters TO_RADIANS = math.pi / 180 @@ -76,7 +76,7 @@ def write_map_state(self, v_ego): @property def experimental_mode(self): - return self.speed_limit == 0 and self.frogpilot_toggles.use_experimental_mode + return self.speed_limit == 0 and self.frogpilot_toggles.slc_fallback_experimental @property def desired_speed_limit(self): @@ -119,7 +119,7 @@ def speed_limit(self): if speed_limits.get(priority, 0) in filtered_limits: return speed_limits[priority] - if self.frogpilot_toggles.use_previous_limit: + if self.frogpilot_toggles.slc_fallback_previous: return self.prv_speed_limit if self.frogpilot_toggles.use_set_speed: diff --git a/selfdrive/frogpilot/fleetmanager/fleet_manager.py b/selfdrive/frogpilot/fleetmanager/fleet_manager.py index 4c196e78822b90..34aff472bed086 100644 --- a/selfdrive/frogpilot/fleetmanager/fleet_manager.py +++ b/selfdrive/frogpilot/fleetmanager/fleet_manager.py @@ -35,7 +35,7 @@ from openpilot.common.swaglog import cloudlog from openpilot.system.hardware.hw import Paths -from openpilot.selfdrive.frogpilot.controls.lib.frogpilot_variables import FrogPilotVariables +from openpilot.selfdrive.frogpilot.frogpilot_variables import FrogPilotVariables app = Flask(__name__) diff --git a/selfdrive/frogpilot/fleetmanager/helpers.py b/selfdrive/frogpilot/fleetmanager/helpers.py index c53f8872b9d958..b0bfd7c6d3c637 100644 --- a/selfdrive/frogpilot/fleetmanager/helpers.py +++ b/selfdrive/frogpilot/fleetmanager/helpers.py @@ -59,10 +59,10 @@ # path to openpilot screen recordings and error logs if PC: - SCREENRECORD_PATH = os.path.join(str(Path.home()), ".comma", "media", "0", "videos", "") + SCREENRECORD_PATH = os.path.join(str(Path.home()), ".comma", "media", "screen_recordings", "") ERROR_LOGS_PATH = os.path.join(str(Path.home()), ".comma", "community", "crashes", "") else: - SCREENRECORD_PATH = "/data/media/0/videos/" + SCREENRECORD_PATH = "/data/media/screen_recordings/" ERROR_LOGS_PATH = sentry.CRASHES_DIR diff --git a/selfdrive/frogpilot/controls/lib/frogpilot_functions.py b/selfdrive/frogpilot/frogpilot_functions.py similarity index 50% rename from selfdrive/frogpilot/controls/lib/frogpilot_functions.py rename to selfdrive/frogpilot/frogpilot_functions.py index bba42100b6a608..ed917cabd85f3d 100644 --- a/selfdrive/frogpilot/controls/lib/frogpilot_functions.py +++ b/selfdrive/frogpilot/frogpilot_functions.py @@ -2,29 +2,26 @@ import errno import filecmp import glob -import http.client import numpy as np import os import shutil -import socket import subprocess import sys import tarfile import threading import time -import urllib.error import urllib.request from openpilot.common.basedir import BASEDIR -from openpilot.common.numpy_fast import clip, interp, mean +from openpilot.common.numpy_fast import interp, mean from openpilot.common.params_pyx import Params, ParamKeyType, UnknownKeyName from openpilot.common.time import system_time_valid from openpilot.system.hardware import HARDWARE ACTIVE_THEME_PATH = os.path.join(BASEDIR, "selfdrive", "frogpilot", "assets", "active_theme") -MODELS_PATH = "/data/models" +MODELS_PATH = os.path.join("/data", "models") RANDOM_EVENTS_PATH = os.path.join(BASEDIR, "selfdrive", "frogpilot", "assets", "random_events") -THEME_SAVE_PATH = "/data/themes" +THEME_SAVE_PATH = os.path.join("/data", "themes") def update_frogpilot_toggles(): def update_params(): @@ -37,6 +34,10 @@ def update_params(): def cleanup_backups(directory, limit, minimum_backup_size=0, compressed=False): backups = sorted(glob.glob(os.path.join(directory, "*_auto*")), key=os.path.getmtime, reverse=True) + for backup in backups: + if backup.endswith("_in_progress"): + run_cmd(["sudo", "rm", "-rf", backup], f"Deleted in-progress backup: {os.path.basename(backup)}", f"Failed to delete in-progress backup: {os.path.basename(backup)}") + if compressed: for backup in backups: if os.path.getsize(backup) < minimum_backup_size: @@ -50,24 +51,24 @@ def backup_directory(backup, destination, success_message, fail_message, minimum in_progress_compressed_backup = f"{compressed_backup}_in_progress" in_progress_destination = f"{destination}_in_progress" + os.makedirs(in_progress_destination, exist_ok=False) + try: if not compressed: - os.makedirs(in_progress_destination, exist_ok=False) - run_cmd(["sudo", "rsync", "-avq", os.path.join(backup, "."), in_progress_destination], success_message, fail_message) - if os.path.exists(destination): - shutil.rmtree(destination) + print("Backup already exists. Aborting.") + return + run_cmd(["sudo", "rsync", "-avq", os.path.join(backup, "."), in_progress_destination], success_message, fail_message) os.rename(in_progress_destination, destination) print(f"Backup successfully created at {destination}.") + else: - if os.path.exists(compressed_backup) or os.path.exists(in_progress_compressed_backup): + if os.path.exists(compressed_backup): print("Backup already exists. Aborting.") return - os.makedirs(in_progress_destination, exist_ok=True) run_cmd(["sudo", "rsync", "-avq", os.path.join(backup, "."), in_progress_destination], success_message, fail_message) - with tarfile.open(in_progress_compressed_backup, "w:gz") as tar: tar.add(in_progress_destination, arcname=os.path.basename(destination)) @@ -76,40 +77,50 @@ def backup_directory(backup, destination, success_message, fail_message, minimum print(f"Backup successfully compressed to {compressed_backup}.") compressed_backup_size = os.path.getsize(compressed_backup) - if compressed_backup_size < minimum_backup_size or minimum_backup_size == 0: + if minimum_backup_size == 0 or compressed_backup_size < minimum_backup_size: params.put_int_nonblocking("MinimumBackupSize", compressed_backup_size) - except FileExistsError: - print(f"Destination '{destination}' already exists. Backup aborted.") - except subprocess.CalledProcessError: - print(fail_message) - cleanup_backup(in_progress_destination, in_progress_compressed_backup) - except OSError as e: - if e.errno == errno.ENOSPC: - print("Not enough space to perform the backup.") - else: - print(f"Failed to backup due to unexpected error: {e}") - cleanup_backup(in_progress_destination, in_progress_compressed_backup) - finally: - cleanup_backup(in_progress_destination, in_progress_compressed_backup) + backups = sorted(glob.glob(os.path.join(os.path.dirname(destination), "*_auto*")), key=os.path.getmtime, reverse=True) + if len(backups) > 1: + latest_backup = backups[1] + if compressed: + if filecmp.cmp(compressed_backup, latest_backup, shallow=False): + run_cmd(["sudo", "rm", "-rf", compressed_backup], f"Deleted identical backup: {os.path.basename(compressed_backup)}", f"Failed to delete identical backup: {os.path.basename(compressed_backup)}") + else: + if filecmp.dircmp(destination, latest_backup).left_only == []: + run_cmd(["sudo", "rm", "-rf", destination], f"Deleted identical backup: {os.path.basename(destination)}", f"Failed to delete identical backup: {os.path.basename(destination)}") -def cleanup_backup(in_progress_destination, in_progress_compressed_backup): - if os.path.exists(in_progress_destination): - shutil.rmtree(in_progress_destination) - if os.path.exists(in_progress_compressed_backup): - os.remove(in_progress_compressed_backup) + except Exception as e: + print(f"An unexpected error occurred while trying to create the {backup} backup: {e}") + + if os.path.exists(in_progress_destination): + try: + shutil.rmtree(in_progress_destination) + except Exception as e: + print(f"An unexpected error occurred while trying to delete the incomplete {backup} backup: {e}") + + if os.path.exists(in_progress_compressed_backup): + try: + os.remove(in_progress_compressed_backup) + except Exception as e: + print(f"An unexpected error occurred while trying to delete the incomplete {backup} backup: {e}") def backup_frogpilot(build_metadata, params): + maximum_backups = 5 minimum_backup_size = params.get_int("MinimumBackupSize") - backup_path = "/data/backups" - cleanup_backups(backup_path, 4, minimum_backup_size, True) + backup_path = os.path.join("/data", "backups") + os.makedirs(backup_path, exist_ok=True) + cleanup_backups(backup_path, maximum_backups - 1, minimum_backup_size, True) - branch = build_metadata.channel - commit = build_metadata.openpilot.git_commit_date[12:-16] + total, used, free = shutil.disk_usage(backup_path) + required_free_space = minimum_backup_size * maximum_backups - backup_dir = os.path.join(backup_path, f"{branch}_{commit}_auto") - backup_directory(BASEDIR, backup_dir, f"Successfully backed up FrogPilot to {backup_dir}.", f"Failed to backup FrogPilot to {backup_dir}.", minimum_backup_size, params, True) + if free > required_free_space: + branch = build_metadata.channel + commit = build_metadata.openpilot.git_commit_date[12:-16] + backup_dir = os.path.join(backup_path, f"{branch}_{commit}_auto") + backup_directory(BASEDIR, backup_dir, f"Successfully backed up FrogPilot to {backup_dir}.", f"Failed to backup FrogPilot to {backup_dir}.", minimum_backup_size, params, True) def backup_toggles(params, params_storage): for key in params.all_keys(): @@ -118,11 +129,14 @@ def backup_toggles(params, params_storage): if value is not None: params_storage.put(key, value) - backup_path = "/data/toggle_backups" - cleanup_backups(backup_path, 9) + maximum_backups = 10 + + backup_path = os.path.join("/data", "toggle_backups") + os.makedirs(backup_path, exist_ok=True) + cleanup_backups(backup_path, maximum_backups - 1) backup_dir = os.path.join(backup_path, datetime.datetime.now().strftime('%Y-%m-%d_%I-%M%p').lower() + "_auto") - backup_directory("/data/params/d", backup_dir, f"Successfully backed up toggles to {backup_dir}.", f"Failed to backup toggles to {backup_dir}.") + backup_directory(os.path.join("/data", "params", "d"), backup_dir, f"Successfully backed up toggles to {backup_dir}.", f"Failed to backup toggles to {backup_dir}.") def calculate_lane_width(lane, current_lane, road_edge): current_x = np.array(current_lane.x) @@ -141,7 +155,7 @@ def calculate_road_curvature(modelData, v_ego): orientation_rate = np.abs(modelData.orientationRate.z) velocity = modelData.velocity.x max_pred_lat_acc = np.amax(orientation_rate * velocity) - return abs(float(max(max_pred_lat_acc / v_ego**2, sys.float_info.min))) + return max_pred_lat_acc / v_ego**2 def convert_params(params, params_storage): print("Starting to convert params") @@ -165,22 +179,63 @@ def remove_param(key): except (UnknownKeyName, ValueError): pass + except Exception as e: + print(f"An error occurred when converting params: {e}") for key in ["CustomColors", "CustomDistanceIcons", "CustomIcons", "CustomSignals", "CustomSounds", "WheelIcon"]: remove_param(key) + def decrease_param(key): + try: + value = params_storage.get_float(key) + + if value > 10: + value /= 10 + params.put_float(key, value) + params_storage.put_float(key, value) + + except (UnknownKeyName, ValueError): + pass + except Exception as e: + print(f"An error occurred when converting params: {e}") + + for key in ["LaneDetectionWidth", "PathWidth"]: + decrease_param(key) + print("Param conversion completed") +def copy_if_exists(source, destination, single_file_name=None): + if not os.path.exists(source): + print(f"Source directory {source} does not exist. Skipping copy.") + return + + if single_file_name: + os.makedirs(destination, exist_ok=True) + for item in os.listdir(source): + shutil.copy2(os.path.join(source, item), os.path.join(destination, single_file_name)) + print(f"Successfully copied {item} to {single_file_name}.") + else: + shutil.copytree(source, destination, dirs_exist_ok=True) + print(f"Successfully copied {source} to {destination}.") + def delete_file(file): try: - os.remove(file) - print(f"Deleted file: {file}") - except FileNotFoundError: - print(f"File not found: {file}") + if os.path.isfile(file): + os.remove(file) + print(f"Deleted file: {file}") + else: + print(f"File not found: {file}") except Exception as e: - print(f"An error occurred: {e}") + print(f"An error occurred when deleting {file}: {e}") def frogpilot_boot_functions(build_metadata, params, params_storage): + old_screenrecordings = os.path.join("/data", "media", "0", "videos") + new_screenrecordings = os.path.join("/data", "media", "screen_recordings") + + if os.path.exists(old_screenrecordings): + shutil.copytree(old_screenrecordings, new_screenrecordings, dirs_exist_ok=True) + shutil.rmtree(old_screenrecordings) + while not system_time_valid(): print("Waiting for system time to become valid...") time.sleep(1) @@ -188,86 +243,87 @@ def frogpilot_boot_functions(build_metadata, params, params_storage): try: backup_frogpilot(build_metadata, params) backup_toggles(params, params_storage) - except subprocess.CalledProcessError as e: - print(f"Backup failed: {e}") + except Exception as e: + print(f"An error occurred when creating boot backups: {e}") def is_url_pingable(url, timeout=5): try: urllib.request.urlopen(url, timeout=timeout) return True - except (http.client.IncompleteRead, http.client.RemoteDisconnected, socket.gaierror, socket.timeout, urllib.error.HTTPError, urllib.error.URLError): - return False - -def run_cmd(cmd, success_message, fail_message): - try: - subprocess.check_call(cmd) - print(success_message) - except subprocess.CalledProcessError as e: - print(f"{fail_message}: {e}") except Exception as e: - print(f"Unexpected error occurred: {e}") + return False -def setup_frogpilot(build_metadata): +def run_cmd(cmd, success_message, fail_message, retries=5, delay=1): + attempt = 0 + while attempt < retries: + try: + subprocess.check_call(cmd) + print(success_message) + return True + except Exception as e: + print(f"Unexpected error occurred (attempt {attempt + 1} of {retries}): {e}") + attempt += 1 + time.sleep(delay) + return False + +def setup_frogpilot(build_metadata, params): remount_persist = ["sudo", "mount", "-o", "remount,rw", "/persist"] - run_cmd(remount_persist, "Successfully remounted /persist as read-write.", "Failed to remount /persist.") + if not run_cmd(remount_persist, "Successfully remounted /persist as read-write.", "Failed to remount /persist."): + HARDWARE.reboot() os.makedirs("/persist/params", exist_ok=True) os.makedirs(MODELS_PATH, exist_ok=True) os.makedirs(THEME_SAVE_PATH, exist_ok=True) - def copy_if_exists(source, destination): - if os.path.exists(source): - shutil.copytree(source, destination, dirs_exist_ok=True) - print(f"Successfully copied {source} to {destination}.") - else: - print(f"Source directory {source} does not exist. Skipping copy.") + if not params.get_bool("ResetFrogTheme"): + animated_frog_theme_path = os.path.join(THEME_SAVE_PATH, "theme_packs/frog-animated") + if os.path.exists(animated_frog_theme_path): + shutil.rmtree(animated_frog_theme_path) + frog_distance_theme_path = os.path.join(THEME_SAVE_PATH, "distance_icons/frog-animated") + if os.path.exists(frog_distance_theme_path): + shutil.rmtree(frog_distance_theme_path) + frog_theme_path = os.path.join(THEME_SAVE_PATH, "theme_packs/frog") + if os.path.exists(frog_theme_path): + shutil.rmtree(frog_theme_path) + params.put_bool("ResetFrogTheme", not (os.path.exists(animated_frog_theme_path) or os.path.exists(frog_distance_theme_path) or os.path.exists(frog_theme_path))) frog_color_source = os.path.join(ACTIVE_THEME_PATH, "colors") frog_color_destination = os.path.join(THEME_SAVE_PATH, "theme_packs/frog/colors") - copy_if_exists(frog_color_source, frog_color_destination) + if not os.path.exists(frog_color_destination): + copy_if_exists(frog_color_source, frog_color_destination) frog_distance_icon_source = os.path.join(ACTIVE_THEME_PATH, "distance_icons") frog_distance_icon_destination = os.path.join(THEME_SAVE_PATH, "distance_icons/frog-animated") - copy_if_exists(frog_distance_icon_source, frog_distance_icon_destination) + if not os.path.exists(frog_distance_icon_destination): + copy_if_exists(frog_distance_icon_source, frog_distance_icon_destination) frog_icon_source = os.path.join(ACTIVE_THEME_PATH, "icons") frog_icon_destination = os.path.join(THEME_SAVE_PATH, "theme_packs/frog-animated/icons") - copy_if_exists(frog_icon_source, frog_icon_destination) + if not os.path.exists(frog_icon_destination): + copy_if_exists(frog_icon_source, frog_icon_destination) frog_signal_source = os.path.join(ACTIVE_THEME_PATH, "signals") frog_signal_destination = os.path.join(THEME_SAVE_PATH, "theme_packs/frog/signals") - copy_if_exists(frog_signal_source, frog_signal_destination) + if not os.path.exists(frog_signal_destination): + copy_if_exists(frog_signal_source, frog_signal_destination) frog_sound_source = os.path.join(ACTIVE_THEME_PATH, "sounds") frog_sound_destination = os.path.join(THEME_SAVE_PATH, "theme_packs/frog/sounds") - copy_if_exists(frog_sound_source, frog_sound_destination) + if not os.path.exists(frog_sound_destination): + copy_if_exists(frog_sound_source, frog_sound_destination) - steering_wheel_source = os.path.join(ACTIVE_THEME_PATH, "steering_wheel") - steering_wheel_destination = os.path.join(THEME_SAVE_PATH, "steering_wheels") - - if not os.path.exists(steering_wheel_destination): - os.makedirs(steering_wheel_destination) - for item in os.listdir(steering_wheel_source): - source_item = os.path.join(steering_wheel_source, item) - destination_item = os.path.join(steering_wheel_destination, "frog.png") - shutil.copy2(source_item, destination_item) - print(f"Successfully copied {source_item} to {destination_item}.") + frog_steering_wheel_source = os.path.join(ACTIVE_THEME_PATH, "steering_wheel") + frog_steering_wheel_destination = os.path.join(THEME_SAVE_PATH, "steering_wheels") + if not os.path.exists(frog_steering_wheel_destination): + copy_if_exists(frog_steering_wheel_source, frog_steering_wheel_destination, single_file_name="frog.png") remount_root = ["sudo", "mount", "-o", "remount,rw", "/"] - run_cmd(remount_root, "File system remounted as read-write.", "Failed to remount file system.") - - frogpilot_boot_logo = os.path.join(BASEDIR, "selfdrive", "frogpilot", "assets", "other_images", "frogpilot_boot_logo.png") - frogpilot_boot_logo_jpg = os.path.join(BASEDIR, "selfdrive", "frogpilot", "assets", "other_images", "frogpilot_boot_logo.jpg") + if not run_cmd(remount_root, "File system remounted as read-write.", "Failed to remount file system."): + HARDWARE.reboot() boot_logo_location = "/usr/comma/bg.jpg" boot_logo_save_location = os.path.join(BASEDIR, "selfdrive", "frogpilot", "assets", "other_images", "original_bg.jpg") - - if not os.path.exists(boot_logo_save_location): - shutil.copy(boot_logo_location, boot_logo_save_location) - print("Successfully saved original_bg.jpg.") - - if filecmp.cmp(boot_logo_save_location, frogpilot_boot_logo_jpg, shallow=False): - delete_file(boot_logo_save_location) + frogpilot_boot_logo = os.path.join(BASEDIR, "selfdrive", "frogpilot", "assets", "other_images", "frogpilot_boot_logo.png") if not filecmp.cmp(frogpilot_boot_logo, boot_logo_location, shallow=False): run_cmd(["sudo", "cp", frogpilot_boot_logo, boot_logo_location], "Successfully replaced bg.jpg with frogpilot_boot_logo.png.", "Failed to replace boot logo.") @@ -280,27 +336,26 @@ def uninstall_frogpilot(): boot_logo_restore_location = os.path.join(BASEDIR, "selfdrive", "frogpilot", "assets", "other_images", "original_bg.jpg") copy_cmd = ["sudo", "cp", boot_logo_restore_location, boot_logo_location] - run_cmd(copy_cmd, "Successfully restored the original boot logo.", "Failed to restore the original boot logo.") + if not run_cmd(copy_cmd, "Successfully restored the original boot logo.", "Failed to restore the original boot logo."): + HARDWARE.reboot() HARDWARE.uninstall() -class WeightedMovingAverageCalculator: - def __init__(self, window_size): - self.window_size = window_size - self.data = [] - self.weights = np.linspace(1, 2, window_size) +class MovingAverageCalculator: + def __init__(self): + self.reset_data() def add_data(self, value): - if len(self.data) == self.window_size: - self.data.pop(0) + if len(self.data) == 5: + self.total -= self.data.pop(0) self.data.append(value) + self.total += value - def get_weighted_average(self): + def get_moving_average(self): if len(self.data) == 0: return None - weighted_sum = np.dot(self.data, self.weights[-len(self.data):]) - weight_total = np.sum(self.weights[-len(self.data):]) - return weighted_sum / weight_total + return self.total / len(self.data) def reset_data(self): self.data = [] + self.total = 0 diff --git a/selfdrive/frogpilot/frogpilot_process.py b/selfdrive/frogpilot/frogpilot_process.py index 0e3c4ce388d9c0..b63fc6ae625b7c 100644 --- a/selfdrive/frogpilot/frogpilot_process.py +++ b/selfdrive/frogpilot/frogpilot_process.py @@ -1,21 +1,20 @@ import datetime import os import threading +import time -from cereal import log, messaging +from cereal import messaging from openpilot.common.params import Params from openpilot.common.realtime import Priority, config_realtime_process from openpilot.common.time import system_time_valid from openpilot.system.hardware import HARDWARE +from openpilot.selfdrive.frogpilot.assets.model_manager import DEFAULT_MODEL, DEFAULT_MODEL_NAME, ModelManager +from openpilot.selfdrive.frogpilot.assets.theme_manager import ThemeManager from openpilot.selfdrive.frogpilot.controls.frogpilot_planner import FrogPilotPlanner -from openpilot.selfdrive.frogpilot.controls.lib.frogpilot_functions import backup_toggles, is_url_pingable from openpilot.selfdrive.frogpilot.controls.lib.frogpilot_tracking import FrogPilotTracking -from openpilot.selfdrive.frogpilot.controls.lib.frogpilot_variables import FrogPilotVariables -from openpilot.selfdrive.frogpilot.controls.lib.model_manager import DEFAULT_MODEL, DEFAULT_MODEL_NAME, ModelManager -from openpilot.selfdrive.frogpilot.controls.lib.theme_manager import ThemeManager - -WIFI = log.DeviceState.NetworkType.wifi +from openpilot.selfdrive.frogpilot.frogpilot_functions import backup_toggles, is_url_pingable +from openpilot.selfdrive.frogpilot.frogpilot_variables import FrogPilotVariables locks = { "backup_toggles": threading.Lock(), @@ -44,19 +43,28 @@ def automatic_update_check(started, params): update_state_idle = params.get("UpdaterState", encoding='utf8') == "idle" if update_ready and not started: + os.system("pkill -SIGUSR1 -f system.updated.updated") + time.sleep(30) + os.system("pkill -SIGHUP -f system.updated.updated") + time.sleep(300) HARDWARE.reboot() elif update_available: + os.system("pkill -SIGUSR1 -f system.updated.updated") + time.sleep(30) os.system("pkill -SIGHUP -f system.updated.updated") elif update_state_idle: os.system("pkill -SIGUSR1 -f system.updated.updated") -def download_assets(model_manager, theme_manager, params, params_memory): +def check_assets(model_manager, theme_manager, params, params_memory): + if params_memory.get_bool("DownloadAllModels"): + run_thread_with_lock("download_all_models", model_manager.download_all_models) + model_to_download = params_memory.get("ModelToDownload", encoding='utf-8') if model_to_download: run_thread_with_lock("download_model", model_manager.download_model, (model_to_download,)) - if params_memory.get_bool("DownloadAllModels"): - run_thread_with_lock("download_all_models", model_manager.download_all_models) + if params_memory.get_bool("UpdateTheme"): + run_thread_with_lock("update_active_theme", theme_manager.update_active_theme) assets = [ ("ColorToDownload", "colors"), @@ -72,33 +80,26 @@ def download_assets(model_manager, theme_manager, params, params_memory): if asset_to_download: run_thread_with_lock("download_theme", theme_manager.download_theme, (asset_type, asset_to_download, param)) -def time_checks(automatic_updates, deviceState, model_manager, now, started, theme_manager, params, params_memory): - if deviceState.networkType != WIFI: - return - +def time_checks(automatic_updates, deviceState, model_manager, now, screen_off, started, theme_manager, time_validated, params, params_memory): if not is_url_pingable("https://github.com"): return - screen_off = deviceState.screenBrightnessPercent == 0 if automatic_updates and screen_off: automatic_update_check(started, params) - update_maps(now, params, params_memory) + if time_validated: + update_maps(now, params, params_memory) with locks["update_models"]: - model_manager.update_models(boot_run=False) + model_manager.update_models() with locks["update_themes"]: - theme_manager.update_themes(boot_run=False) + theme_manager.update_themes() def toggle_updates(frogpilot_toggles, started, time_validated, params, params_storage): - FrogPilotVariables.update_frogpilot_params(started, True) + FrogPilotVariables.update_frogpilot_params(started) - if not frogpilot_toggles.model_manager: - params.put_nonblocking("Model", DEFAULT_MODEL) - params.put_nonblocking("ModelName", DEFAULT_MODEL_NAME) - - if time_validated and not started: + if time_validated: run_thread_with_lock("backup_toggles", backup_toggles, (params, params_storage)) def update_maps(now, params, params_memory): @@ -122,7 +123,7 @@ def update_maps(now, params, params_memory): return if params.get("OSMDownloadProgress", encoding='utf-8') is None: - params_memory.put_nonblocking("OSMDownloadLocations", maps_selected) + params_memory.put("OSMDownloadLocations", maps_selected) params.put_nonblocking("LastMapsUpdate", todays_date) def frogpilot_thread(): @@ -147,6 +148,10 @@ def frogpilot_thread(): time_validated = False update_toggles = False + frogs_go_moo = params.get("DongleId", encoding='utf-8') == "FrogsGoMoo" + + radarless_model = frogpilot_toggles.radarless_model + pm = messaging.PubMaster(['frogpilotPlan']) sm = messaging.SubMaster(['carState', 'controlsState', 'deviceState', 'frogpilotCarControl', 'frogpilotCarState', 'frogpilotNavigation', 'modelV2', 'radarState'], @@ -157,6 +162,7 @@ def frogpilot_thread(): now = datetime.datetime.now() deviceState = sm['deviceState'] + screen_off = deviceState.screenBrightnessPercent == 0 started = deviceState.started if not started and started_previously: @@ -164,38 +170,39 @@ def frogpilot_thread(): frogpilot_tracking = FrogPilotTracking() if started and sm.updated['modelV2']: + if not started_previously: + radarless_model = frogpilot_toggles.radarless_model + frogpilot_planner.update(sm['carState'], sm['controlsState'], sm['frogpilotCarControl'], sm['frogpilotCarState'], - sm['frogpilotNavigation'], sm['modelV2'], sm['radarState'], frogpilot_toggles) + sm['frogpilotNavigation'], sm['modelV2'], radarless_model, sm['radarState'], frogpilot_toggles) frogpilot_planner.publish(sm, pm, frogpilot_toggles) frogpilot_tracking.update(sm['carState']) - if params_memory.get_bool("UpdateTheme"): - run_thread_with_lock("update_active_theme", theme_manager.update_active_theme) - if FrogPilotVariables.toggles_updated: update_toggles = True elif update_toggles: run_thread_with_lock("toggle_updates", toggle_updates, (frogpilot_toggles, started, time_validated, params, params_storage)) - update_toggles = False started_previously = started - download_assets(model_manager, theme_manager, params, params_memory) + check_assets(model_manager, theme_manager, params, params_memory) - if now.second == 0: - run_time_checks = True + if params_memory.get_bool("ManualUpdateInitiated"): + run_thread_with_lock("time_checks", time_checks, (False, deviceState, model_manager, now, screen_off, started, theme_manager, time_validated, params, params_memory)) + elif now.second == 0: + run_time_checks = not screen_off and not started or now.minute % 15 == 0 or frogs_go_moo elif run_time_checks or not time_validated: - run_thread_with_lock("time_checks", time_checks, (frogpilot_toggles.automatic_updates, deviceState, model_manager, now, started, theme_manager, params, params_memory)) + run_thread_with_lock("time_checks", time_checks, (frogpilot_toggles.automatic_updates, deviceState, model_manager, now, screen_off, started, theme_manager, time_validated, params, params_memory)) run_time_checks = False if not time_validated: time_validated = system_time_valid() if not time_validated: continue - run_thread_with_lock("update_models", model_manager.update_models) - run_thread_with_lock("update_themes", theme_manager.update_themes) + run_thread_with_lock("update_models", model_manager.update_models, (True,)) + run_thread_with_lock("update_themes", theme_manager.update_themes, (True,)) theme_manager.update_holiday() diff --git a/selfdrive/frogpilot/controls/lib/frogpilot_variables.py b/selfdrive/frogpilot/frogpilot_variables.py similarity index 67% rename from selfdrive/frogpilot/controls/lib/frogpilot_variables.py rename to selfdrive/frogpilot/frogpilot_variables.py index d567d83b1f5617..4c7fe27f99ea4d 100644 --- a/selfdrive/frogpilot/controls/lib/frogpilot_variables.py +++ b/selfdrive/frogpilot/frogpilot_variables.py @@ -10,9 +10,13 @@ from openpilot.selfdrive.controls.lib.desire_helper import LANE_CHANGE_SPEED_MIN from openpilot.selfdrive.modeld.constants import ModelConstants from openpilot.system.hardware.power_monitoring import VBATT_PAUSE_CHARGING +from panda import ALTERNATIVE_EXPERIENCE -from openpilot.selfdrive.frogpilot.controls.lib.frogpilot_functions import MODELS_PATH -from openpilot.selfdrive.frogpilot.controls.lib.model_manager import DEFAULT_MODEL, DEFAULT_MODEL_NAME, process_model_name +from openpilot.selfdrive.frogpilot.assets.model_manager import DEFAULT_MODEL, DEFAULT_MODEL_NAME, process_model_name +from openpilot.selfdrive.frogpilot.frogpilot_functions import MODELS_PATH + +GearShifter = car.CarState.GearShifter +NON_DRIVING_GEARS = [GearShifter.neutral, GearShifter.park, GearShifter.reverse, GearShifter.unknown] CITY_SPEED_LIMIT = 25 # 55mph is typically the minimum speed for highways CRUISING_SPEED = 5 # Roughly the speed cars go when not touching the gas while in drive @@ -20,9 +24,6 @@ PLANNER_TIME = ModelConstants.T_IDXS[MODEL_LENGTH - 1] # Length of time the model projects out for THRESHOLD = 0.6 # 60% chance of condition being true -def get_max_allowed_accel(v_ego): - return interp(v_ego, [0., 5., 20.], [4.0, 4.0, 2.0]) # ISO 15622:2018 - class FrogPilotVariables: def __init__(self): self.frogpilot_toggles = SimpleNamespace() @@ -42,7 +43,7 @@ def toggles(self): def toggles_updated(self): return self.params_memory.get_bool("FrogPilotTogglesUpdated") - def update_frogpilot_params(self, started=True, frogpilot_process=False): + def update_frogpilot_params(self, started=True): toggle = self.frogpilot_toggles openpilot_installed = self.params.get_bool("HasAcceptedTerms") @@ -52,13 +53,21 @@ def update_frogpilot_params(self, started=True, frogpilot_process=False): if msg_bytes: with car.CarParams.from_bytes(msg_bytes) as CP: + always_on_lateral_set = key == "CarParams" and CP.alternativeExperience & ALTERNATIVE_EXPERIENCE.ALWAYS_ON_LATERAL car_make = CP.carName car_model = CP.carFingerprint + has_auto_tune = (car_model == "hyundai" or car_model == "toyota") and CP.lateralTuning.which == "torque" + is_pid_car = CP.lateralTuning.which == "pid" + max_acceleration_allowed = key == "CarParams" and CP.alternativeExperience & ALTERNATIVE_EXPERIENCE.RAISE_LONGITUDINAL_LIMITS_TO_ISO_MAX toggle.openpilot_longitudinal = CP.openpilotLongitudinalControl pcm_cruise = CP.pcmCruise else: + always_on_lateral_set = False car_make = "mock" car_model = "mock" + has_auto_tune = False + is_pid_car = False + max_acceleration_allowed = False toggle.openpilot_longitudinal = False pcm_cruise = False @@ -66,6 +75,36 @@ def update_frogpilot_params(self, started=True, frogpilot_process=False): distance_conversion = 1. if toggle.is_metric else CV.FOOT_TO_METER speed_conversion = CV.KPH_TO_MS if toggle.is_metric else CV.MPH_TO_MS + advanced_custom_onroad_ui = self.params.get_bool("AdvancedCustomUI") + toggle.show_stopping_point = advanced_custom_onroad_ui and self.params.get_bool("ShowStoppingPoint") + + advanced_lateral_tune = self.params.get_bool("AdvancedLateralTune") + stock_steer_friction = self.params.get_float("SteerFrictionStock") + toggle.steer_friction = self.params.get_float("SteerFriction") if advanced_lateral_tune else stock_steer_friction + toggle.use_custom_steer_friction = toggle.steer_friction != stock_steer_friction and not is_pid_car + stock_steer_lat_accel_factor = self.params.get_float("SteerLatAccelStock") + toggle.steer_lat_accel_factor = self.params.get_float("SteerLatAccel") if advanced_lateral_tune else stock_steer_lat_accel_factor + toggle.use_custom_lat_accel_factor = toggle.steer_lat_accel_factor != stock_steer_lat_accel_factor and not is_pid_car + stock_steer_kp = self.params.get_float("SteerKPStock") + toggle.steer_kp = self.params.get_float("SteerKP") if advanced_lateral_tune else stock_steer_kp + toggle.use_custom_kp = toggle.steer_kp != stock_steer_kp and not is_pid_car + stock_steer_ratio = self.params.get_float("SteerRatioStock") + toggle.steer_ratio = self.params.get_float("SteerRatio") if advanced_lateral_tune else stock_steer_ratio + toggle.use_custom_steer_ratio = toggle.steer_ratio != stock_steer_ratio + toggle.force_auto_tune = advanced_lateral_tune and not has_auto_tune and self.params.get_bool("ForceAutoTune") + toggle.force_auto_tune_off = advanced_lateral_tune and has_auto_tune and self.params.get_bool("ForceAutoTuneOff") + toggle.taco_tune = advanced_lateral_tune and self.params.get_bool("TacoTune") + toggle.turn_desires = advanced_lateral_tune and self.params.get_bool("TurnDesires") + + advanced_longitudinal_tune = toggle.openpilot_longitudinal and self.params.get_bool("LongitudinalTune") + toggle.lead_detection_threshold = self.params.get_int("LeadDetectionThreshold") / 100. if advanced_longitudinal_tune else 0.5 + toggle.max_desired_accel = self.params.get_float("MaxDesiredAcceleration") if advanced_longitudinal_tune else 4.0 + + advanced_quality_of_life_driving = self.params.get_bool("AdvancedQOLDriving") + toggle.force_standstill = advanced_quality_of_life_driving and self.params.get_bool("ForceStandstill") + toggle.force_stops = advanced_quality_of_life_driving and self.params.get_bool("ForceStops") + toggle.set_speed_offset = self.params.get_int("SetSpeedOffset") * (1. if toggle.is_metric else CV.MPH_TO_KPH) if advanced_quality_of_life_driving and not pcm_cruise else 0 + toggle.alert_volume_control = self.params.get_bool("AlertVolumeControl") toggle.disengage_volume = self.params.get_int("DisengageVolume") if toggle.alert_volume_control else 100 toggle.engage_volume = self.params.get_int("EngageVolume") if toggle.alert_volume_control else 100 @@ -75,169 +114,169 @@ def update_frogpilot_params(self, started=True, frogpilot_process=False): toggle.warningSoft_volume = self.params.get_int("WarningSoftVolume") if toggle.alert_volume_control else 100 toggle.warningImmediate_volume = max(self.params.get_int("WarningImmediateVolume"), 25) if toggle.alert_volume_control else 100 - toggle.always_on_lateral = self.params.get_bool("AlwaysOnLateral") and self.params.get_bool("AlwaysOnLateralSet") - toggle.always_on_lateral_lkas = toggle.always_on_lateral and self.params.get_bool("AlwaysOnLateralLKAS") + toggle.always_on_lateral = always_on_lateral_set and self.params.get_bool("AlwaysOnLateral") + toggle.always_on_lateral_lkas = toggle.always_on_lateral and car_make != "subaru" and self.params.get_bool("AlwaysOnLateralLKAS") toggle.always_on_lateral_main = toggle.always_on_lateral and self.params.get_bool("AlwaysOnLateralMain") toggle.always_on_lateral_pause_speed = self.params.get_int("PauseAOLOnBrake") if toggle.always_on_lateral else 0 toggle.automatic_updates = self.params.get_bool("AutomaticUpdates") - bonus_content = self.params.get_bool("BonusContent") - toggle.goat_scream = bonus_content and self.params.get_bool("GoatScream") - holiday_themes = bonus_content and self.params.get_bool("HolidayThemes") - toggle.current_holiday_theme = self.params.get("CurrentHolidayTheme", encoding='utf-8') if holiday_themes else None - personalize_openpilot = bonus_content and self.params.get_bool("PersonalizeOpenpilot") - toggle.sound_pack = self.params.get("CustomSignals", encoding='utf-8') if personalize_openpilot else "stock" - toggle.wheel_image = self.params.get("WheelIcon", encoding='utf-8') if personalize_openpilot else "stock" - toggle.random_events = bonus_content and self.params.get_bool("RandomEvents") - toggle.cluster_offset = self.params.get_float("ClusterOffset") if car_make == "toyota" else 1 toggle.conditional_experimental_mode = toggle.openpilot_longitudinal and self.params.get_bool("ConditionalExperimental") + toggle.conditional_limit = self.params.get_int("CESpeed") * speed_conversion if toggle.conditional_experimental_mode else 0 + toggle.conditional_limit_lead = self.params.get_int("CESpeedLead") * speed_conversion if toggle.conditional_experimental_mode else 0 toggle.conditional_curves = toggle.conditional_experimental_mode and self.params.get_bool("CECurves") toggle.conditional_curves_lead = toggle.conditional_curves and self.params.get_bool("CECurvesLead") toggle.conditional_lead = toggle.conditional_experimental_mode and self.params.get_bool("CELead") toggle.conditional_slower_lead = toggle.conditional_lead and self.params.get_bool("CESlowerLead") toggle.conditional_stopped_lead = toggle.conditional_lead and self.params.get_bool("CEStoppedLead") - toggle.conditional_limit = self.params.get_int("CESpeed") * speed_conversion if toggle.conditional_experimental_mode else 0 - toggle.conditional_limit_lead = self.params.get_int("CESpeedLead") * speed_conversion if toggle.conditional_experimental_mode else 0 - toggle.conditional_model_stop_time = self.params.get_int("CEModelStopTime") if toggle.conditional_experimental_mode else 0 toggle.conditional_navigation = toggle.conditional_experimental_mode and self.params.get_bool("CENavigation") toggle.conditional_navigation_intersections = toggle.conditional_navigation and self.params.get_bool("CENavigationIntersections") toggle.conditional_navigation_lead = toggle.conditional_navigation and self.params.get_bool("CENavigationLead") toggle.conditional_navigation_turns = toggle.conditional_navigation and self.params.get_bool("CENavigationTurns") - toggle.conditional_signal = toggle.conditional_experimental_mode and self.params.get_bool("CESignal") + toggle.conditional_model_stop_time = self.params.get_int("CEModelStopTime") if toggle.conditional_experimental_mode else 0 + toggle.conditional_signal = self.params.get_int("CESignalSpeed") if toggle.conditional_experimental_mode else 0 + toggle.conditional_signal_lane_detection = toggle.conditional_signal and self.params.get_bool("CESignalLaneDetection") if toggle.conditional_experimental_mode: self.params.put_bool("ExperimentalMode", True) + toggle.current_holiday_theme = self.params.get("CurrentHolidayTheme", encoding='utf-8') if self.params.get_bool("HolidayThemes") else None + + curve_speed_controller = toggle.openpilot_longitudinal and self.params.get_bool("CurveSpeedControl") + toggle.map_turn_speed_controller = curve_speed_controller and self.params.get_bool("MTSCEnabled") + toggle.mtsc_curvature_check = toggle.map_turn_speed_controller and self.params.get_bool("MTSCCurvatureCheck") + toggle.vision_turn_controller = curve_speed_controller and self.params.get_bool("VisionTurnControl") + toggle.curve_sensitivity = self.params.get_int("CurveSensitivity") / 100. if curve_speed_controller else 1 + toggle.turn_aggressiveness = self.params.get_int("TurnAggressiveness") / 100. if curve_speed_controller else 1 + custom_alerts = self.params.get_bool("CustomAlerts") + toggle.goat_scream = toggle.current_holiday_theme is None and custom_alerts and self.params.get_bool("GoatScream") toggle.green_light_alert = custom_alerts and self.params.get_bool("GreenLightAlert") toggle.lead_departing_alert = custom_alerts and self.params.get_bool("LeadDepartingAlert") toggle.loud_blindspot_alert = custom_alerts and self.params.get_bool("LoudBlindspotAlert") - custom_ui = self.params.get_bool("CustomUI") - custom_paths = custom_ui and self.params.get_bool("CustomPaths") - toggle.adjacent_lanes = custom_paths and self.params.get_bool("AdjacentPath") - toggle.blind_spot_path = custom_paths and self.params.get_bool("BlindSpotPath") - toggle.show_stopping_point = custom_ui and self.params.get_bool("ShowStoppingPoint") - - toggle.device_management = self.params.get_bool("DeviceManagement") - device_shutdown_setting = self.params.get_int("DeviceShutdown") if toggle.device_management else 33 - toggle.device_shutdown_time = (device_shutdown_setting - 3) * 3600 if device_shutdown_setting >= 4 else device_shutdown_setting * (60 * 15) - toggle.increase_thermal_limits = toggle.device_management and self.params.get_bool("IncreaseThermalLimits") - toggle.low_voltage_shutdown = self.params.get_float("LowVoltageShutdown") if toggle.device_management else VBATT_PAUSE_CHARGING - toggle.offline_mode = toggle.device_management and self.params.get_bool("OfflineMode") - - driving_personalities = toggle.openpilot_longitudinal and self.params.get_bool("DrivingPersonalities") - toggle.custom_personalities = driving_personalities and self.params.get_bool("CustomPersonalities") + toggle.custom_personalities = toggle.openpilot_longitudinal and self.params.get_bool("CustomPersonalities") aggressive_profile = toggle.custom_personalities and self.params.get_bool("AggressivePersonalityProfile") toggle.aggressive_jerk_acceleration = self.params.get_int("AggressiveJerkAcceleration") / 100. if aggressive_profile else 0.5 - toggle.aggressive_jerk_speed = self.params.get_int("AggressiveJerkSpeed") / 100. if aggressive_profile else 0.5 + toggle.aggressive_jerk_deceleration = self.params.get_int("AggressiveJerkDeceleration") / 100. if aggressive_profile else 0.5 toggle.aggressive_jerk_danger = self.params.get_int("AggressiveJerkDanger") / 100. if aggressive_profile else 0.5 + toggle.aggressive_jerk_speed = self.params.get_int("AggressiveJerkSpeed") / 100. if aggressive_profile else 0.5 + toggle.aggressive_jerk_speed_decrease = self.params.get_int("AggressiveJerkSpeedDecrease") / 100. if aggressive_profile else 0.5 toggle.aggressive_follow = self.params.get_float("AggressiveFollow") if aggressive_profile else 1.25 standard_profile = toggle.custom_personalities and self.params.get_bool("StandardPersonalityProfile") toggle.standard_jerk_acceleration = self.params.get_int("StandardJerkAcceleration") / 100. if standard_profile else 1.0 + toggle.standard_jerk_deceleration = self.params.get_int("StandardJerkDeceleration") / 100. if standard_profile else 1.0 toggle.standard_jerk_danger = self.params.get_int("StandardJerkDanger") / 100. if standard_profile else 0.5 toggle.standard_jerk_speed = self.params.get_int("StandardJerkSpeed") / 100. if standard_profile else 1.0 + toggle.standard_jerk_speed_decrease = self.params.get_int("StandardJerkSpeedDecrease") / 100. if standard_profile else 1.0 toggle.standard_follow = self.params.get_float("StandardFollow") if standard_profile else 1.45 relaxed_profile = toggle.custom_personalities and self.params.get_bool("RelaxedPersonalityProfile") toggle.relaxed_jerk_acceleration = self.params.get_int("RelaxedJerkAcceleration") / 100. if relaxed_profile else 1.0 + toggle.relaxed_jerk_deceleration = self.params.get_int("RelaxedJerkDeceleration") / 100. if relaxed_profile else 1.0 toggle.relaxed_jerk_danger = self.params.get_int("RelaxedJerkDanger") / 100. if relaxed_profile else 0.5 toggle.relaxed_jerk_speed = self.params.get_int("RelaxedJerkSpeed") / 100. if relaxed_profile else 1.0 + toggle.relaxed_jerk_speed_decrease = self.params.get_int("RelaxedJerkSpeedDecrease") / 100. if relaxed_profile else 1.0 toggle.relaxed_follow = self.params.get_float("RelaxedFollow") if relaxed_profile else 1.75 traffic_profile = toggle.custom_personalities and self.params.get_bool("TrafficPersonalityProfile") toggle.traffic_mode_jerk_acceleration = [self.params.get_int("TrafficJerkAcceleration") / 100., toggle.aggressive_jerk_acceleration] if traffic_profile else [0.5, 0.5] + toggle.traffic_mode_jerk_deceleration = [self.params.get_int("TrafficJerkDeceleration") / 100., toggle.aggressive_jerk_deceleration] if traffic_profile else [0.5, 0.5] toggle.traffic_mode_jerk_danger = [self.params.get_int("TrafficJerkDanger") / 100., toggle.aggressive_jerk_danger] if traffic_profile else [1.0, 1.0] toggle.traffic_mode_jerk_speed = [self.params.get_int("TrafficJerkSpeed") / 100., toggle.aggressive_jerk_speed] if traffic_profile else [0.5, 0.5] + toggle.traffic_mode_jerk_speed_decrease = [self.params.get_int("TrafficJerkSpeedDecrease") / 100., toggle.aggressive_jerk_speed_decrease] if traffic_profile else [0.5, 0.5] toggle.traffic_mode_t_follow = [self.params.get_float("TrafficFollow"), toggle.aggressive_follow] if traffic_profile else [0.5, 1.0] - onroad_distance_button = toggle.custom_personalities and self.params.get_bool("OnroadDistanceButton") - toggle.distance_icons = self.params.get("CustomDistanceIcons", encoding='utf-8') if onroad_distance_button else "stock" + + custom_ui = self.params.get_bool("CustomUI") + custom_paths = custom_ui and self.params.get_bool("CustomPaths") + toggle.adjacent_lanes = custom_paths and self.params.get_bool("AdjacentPath") + toggle.blind_spot_path = custom_paths and self.params.get_bool("BlindSpotPath") + + developer_ui = self.params.get_bool("DeveloperUI") + show_lateral = developer_ui and self.params.get_bool("LateralMetrics") + toggle.adjacent_path_metrics = show_lateral and self.params.get_bool("AdjacentPathMetrics") + + toggle.device_management = self.params.get_bool("DeviceManagement") + device_shutdown_setting = self.params.get_int("DeviceShutdown") if toggle.device_management else 33 + toggle.device_shutdown_time = (device_shutdown_setting - 3) * 3600 if device_shutdown_setting >= 4 else device_shutdown_setting * (60 * 15) + toggle.increase_thermal_limits = toggle.device_management and self.params.get_bool("IncreaseThermalLimits") + toggle.low_voltage_shutdown = self.params.get_float("LowVoltageShutdown") if toggle.device_management else VBATT_PAUSE_CHARGING + toggle.offline_mode = toggle.device_management and self.params.get_bool("OfflineMode") toggle.experimental_mode_via_press = toggle.openpilot_longitudinal and self.params.get_bool("ExperimentalModeActivation") toggle.experimental_mode_via_distance = toggle.experimental_mode_via_press and self.params.get_bool("ExperimentalModeViaDistance") - toggle.experimental_mode_via_lkas = not toggle.always_on_lateral_lkas and toggle.experimental_mode_via_press and self.params.get_bool("ExperimentalModeViaLKAS") + toggle.experimental_mode_via_lkas = not toggle.always_on_lateral_lkas and toggle.experimental_mode_via_press and car_make != "subaru" and self.params.get_bool("ExperimentalModeViaLKAS") lane_change_customizations = self.params.get_bool("LaneChangeCustomizations") toggle.lane_change_delay = self.params.get_int("LaneChangeTime") if lane_change_customizations else 0 - toggle.lane_detection_width = self.params.get_int("LaneDetectionWidth") * distance_conversion / 10. if lane_change_customizations else 0 + toggle.lane_detection_width = self.params.get_int("LaneDetectionWidth") * distance_conversion if lane_change_customizations else 0 toggle.lane_detection = toggle.lane_detection_width != 0 toggle.minimum_lane_change_speed = self.params.get_int("MinimumLaneChangeSpeed") * speed_conversion if lane_change_customizations else LANE_CHANGE_SPEED_MIN toggle.nudgeless = lane_change_customizations and self.params.get_bool("NudgelessLaneChange") toggle.one_lane_change = lane_change_customizations and self.params.get_bool("OneLaneChange") - lateral_tune = self.params.get_bool("LateralTune") - toggle.force_auto_tune = lateral_tune and self.params.get_bool("ForceAutoTune") - stock_steer_ratio = self.params.get_float("SteerRatioStock") - toggle.steer_ratio = self.params.get_float("SteerRatio") if lateral_tune else stock_steer_ratio - toggle.use_custom_steer_ratio = toggle.steer_ratio != stock_steer_ratio - toggle.taco_tune = lateral_tune and self.params.get_bool("TacoTune") - toggle.turn_desires = lateral_tune and self.params.get_bool("TurnDesires") - toggle.long_pitch = toggle.openpilot_longitudinal and car_make == "gm" and self.params.get_bool("LongPitch") toggle.volt_sng = car_model == "CHEVROLET_VOLT" and self.params.get_bool("VoltSNG") longitudinal_tune = toggle.openpilot_longitudinal and self.params.get_bool("LongitudinalTune") toggle.acceleration_profile = self.params.get_int("AccelerationProfile") if longitudinal_tune else 0 + toggle.sport_plus = max_acceleration_allowed and toggle.acceleration_profile == 3 toggle.deceleration_profile = self.params.get_int("DecelerationProfile") if longitudinal_tune else 0 toggle.human_acceleration = longitudinal_tune and self.params.get_bool("HumanAcceleration") toggle.human_following = longitudinal_tune and self.params.get_bool("HumanFollowing") - toggle.increased_stopping_distance = self.params.get_int("StoppingDistance") * distance_conversion if longitudinal_tune else 0 - toggle.lead_detection_threshold = self.params.get_int("LeadDetectionThreshold") / 100. if longitudinal_tune else 0.5 - toggle.sport_plus = longitudinal_tune and toggle.acceleration_profile == 3 - toggle.traffic_mode = longitudinal_tune and self.params.get_bool("TrafficMode") - - toggle.map_turn_speed_controller = toggle.openpilot_longitudinal and self.params.get_bool("MTSCEnabled") - toggle.mtsc_curvature_check = toggle.map_turn_speed_controller and self.params.get_bool("MTSCCurvatureCheck") - self.params_memory.put_float("MapTargetLatA", 2 * (self.params.get_int("MTSCAggressiveness") / 100.)) + toggle.increase_stopped_distance = self.params.get_int("IncreasedStoppedDistance") * distance_conversion if longitudinal_tune else 0 toggle.model_manager = self.params.get_bool("ModelManagement", block=openpilot_installed) - available_models = self.params.get("AvailableModels", block=toggle.model_manager, encoding='utf-8') or '' - available_model_names = self.params.get("AvailableModelsNames", block=toggle.model_manager, encoding='utf-8') or '' - current_model = self.params_memory.get("CurrentModel", encoding='utf-8') - current_model_name = self.params_memory.get("CurrentModelName", encoding='utf-8') - if toggle.model_manager and available_models and (current_model is None or not started): + available_models = self.params.get("AvailableModels", block=toggle.model_manager, encoding='utf-8') or "" + available_model_names = self.params.get("AvailableModelsNames", block=toggle.model_manager, encoding='utf-8') or "" + if toggle.model_manager and available_models: toggle.model_randomizer = self.params.get_bool("ModelRandomizer") if toggle.model_randomizer: - blacklisted_models = (self.params.get("BlacklistedModels", encoding='utf-8') or '').split(',') + blacklisted_models = (self.params.get("BlacklistedModels", encoding='utf-8') or "").split(',') existing_models = [model for model in available_models.split(',') if model not in blacklisted_models and os.path.exists(os.path.join(MODELS_PATH, f"{model}.thneed"))] toggle.model = random.choice(existing_models) if existing_models else DEFAULT_MODEL else: toggle.model = self.params.get("Model", block=True, encoding='utf-8') else: - toggle.model = current_model + toggle.model = DEFAULT_MODEL if toggle.model in available_models.split(',') and os.path.exists(os.path.join(MODELS_PATH, f"{toggle.model}.thneed")): current_model_name = available_model_names.split(',')[available_models.split(',').index(toggle.model)] + self.params_memory.put("CurrentModelName", current_model_name) toggle.part_model_param = process_model_name(current_model_name) try: self.params.check_key(toggle.part_model_param + "CalibrationParams") except UnknownKeyName: toggle.part_model_param = "" + elif toggle.model == "secret-good-openpilot": + toggle.part_model_param = "SecretGoodOpenpilot" else: toggle.model = DEFAULT_MODEL - current_model_name = DEFAULT_MODEL_NAME toggle.part_model_param = "" - navigation_models = self.params.get("NavigationModels", encoding='utf-8') or '' + navigation_models = self.params.get("NavigationModels", encoding='utf-8') or "" toggle.navigationless_model = navigation_models and toggle.model not in navigation_models.split(',') - radarless_models = self.params.get("RadarlessModels", encoding='utf-8') or '' + radarless_models = self.params.get("RadarlessModels", encoding='utf-8') or "" toggle.radarless_model = radarless_models and toggle.model in radarless_models.split(',') - toggle.clairvoyant_model = toggle.model == "clairvoyant-driver" toggle.secretgoodopenpilot_model = toggle.model == "secret-good-openpilot" - if frogpilot_process: - self.params_memory.put("CurrentModel", toggle.model) - self.params_memory.put("CurrentModelName", current_model_name) + velocity_models = self.params.get("VelocityModels", encoding='utf-8') or "" + toggle.velocity_model = velocity_models and toggle.model in velocity_models.split(',') + + toggle.personalize_openpilot = self.params.get_bool("PersonalizeOpenpilot") + toggle.sound_pack = self.params.get("CustomSignals", encoding='utf-8') if toggle.personalize_openpilot else "stock" + toggle.wheel_image = self.params.get("WheelIcon", encoding='utf-8') if toggle.personalize_openpilot else "stock" - quality_of_life_controls = self.params.get_bool("QOLControls") - toggle.custom_cruise_increase = self.params.get_int("CustomCruise") if quality_of_life_controls and not pcm_cruise else 1 - toggle.custom_cruise_increase_long = self.params.get_int("CustomCruiseLong") if quality_of_life_controls and not pcm_cruise else 5 - toggle.force_standstill = quality_of_life_controls and self.params.get_bool("ForceStandstill") - toggle.force_stops = toggle.force_standstill and self.params.get_bool("ForceStops") - map_gears = quality_of_life_controls and self.params.get_bool("MapGears") + quality_of_life_lateral = self.params.get_bool("QOLLateral") + toggle.pause_lateral_below_speed = self.params.get_int("PauseLateralSpeed") * speed_conversion if quality_of_life_lateral else 0 + + quality_of_life_longitudinal = self.params.get_bool("QOLLongitudinal") + toggle.custom_cruise_increase = self.params.get_int("CustomCruise") if quality_of_life_longitudinal and not pcm_cruise else 1 + toggle.custom_cruise_increase_long = self.params.get_int("CustomCruiseLong") if quality_of_life_longitudinal and not pcm_cruise else 5 + toggle.distance_icons = self.params.get("CustomDistanceIcons", encoding='utf-8') if quality_of_life_longitudinal and self.params.get_bool("OnroadDistanceButton") else "stock" + map_gears = quality_of_life_longitudinal and self.params.get_bool("MapGears") toggle.map_acceleration = map_gears and self.params.get_bool("MapAcceleration") toggle.map_deceleration = map_gears and self.params.get_bool("MapDeceleration") - toggle.pause_lateral_below_speed = self.params.get_int("PauseLateralSpeed") * speed_conversion if quality_of_life_controls else 0 toggle.pause_lateral_below_signal = toggle.pause_lateral_below_speed != 0 and self.params.get_bool("PauseLateralOnSignal") - toggle.reverse_cruise_increase = quality_of_life_controls and pcm_cruise and self.params.get_bool("ReverseCruise") - toggle.set_speed_offset = self.params.get_int("SetSpeedOffset") * (1. if toggle.is_metric else CV.MPH_TO_KPH) if quality_of_life_controls and not pcm_cruise else 0 + toggle.reverse_cruise_increase = quality_of_life_longitudinal and pcm_cruise and self.params.get_bool("ReverseCruise") + + toggle.random_events = self.params.get_bool("RandomEvents") toggle.sng_hack = toggle.openpilot_longitudinal and car_make == "toyota" and self.params.get_bool("SNGHack") @@ -251,15 +290,14 @@ def update_frogpilot_params(self, started=True, frogpilot_process=False): toggle.offset4 = self.params.get_int("Offset4") * speed_conversion if toggle.speed_limit_controller else 0 toggle.set_speed_limit = toggle.speed_limit_controller and self.params.get_bool("SetSpeedLimit") toggle.speed_limit_alert = toggle.speed_limit_controller and self.params.get_bool("SpeedLimitChangedAlert") - toggle.speed_limit_confirmation = toggle.speed_limit_controller and self.params.get_bool("SLCConfirmation") - toggle.speed_limit_confirmation_higher = toggle.speed_limit_confirmation and self.params.get_bool("SLCConfirmationHigher") - toggle.speed_limit_confirmation_lower = toggle.speed_limit_confirmation and self.params.get_bool("SLCConfirmationLower") + toggle.speed_limit_confirmation_higher = toggle.speed_limit_controller and self.params.get_bool("SLCConfirmationHigher") + toggle.speed_limit_confirmation_lower = toggle.speed_limit_controller and self.params.get_bool("SLCConfirmationLower") speed_limit_controller_override = self.params.get_int("SLCOverride") if toggle.speed_limit_controller else 0 toggle.speed_limit_controller_override_manual = speed_limit_controller_override == 1 toggle.speed_limit_controller_override_set_speed = speed_limit_controller_override == 2 toggle.use_set_speed = toggle.speed_limit_controller and self.params.get_int("SLCFallback") == 0 - toggle.use_experimental_mode = toggle.speed_limit_controller and self.params.get_int("SLCFallback") == 1 - toggle.use_previous_limit = toggle.speed_limit_controller and self.params.get_int("SLCFallback") == 2 + toggle.slc_fallback_experimental = toggle.speed_limit_controller and self.params.get_int("SLCFallback") == 1 + toggle.slc_fallback_previous = toggle.speed_limit_controller and self.params.get_int("SLCFallback") == 2 toggle.speed_limit_priority1 = self.params.get("SLCPriority1", encoding='utf-8') if toggle.speed_limit_controller else None toggle.speed_limit_priority2 = self.params.get("SLCPriority2", encoding='utf-8') if toggle.speed_limit_controller else None toggle.speed_limit_priority3 = self.params.get("SLCPriority3", encoding='utf-8') if toggle.speed_limit_controller else None @@ -270,8 +308,4 @@ def update_frogpilot_params(self, started=True, frogpilot_process=False): toggle.lock_doors = toyota_doors and self.params.get_bool("LockDoors") toggle.unlock_doors = toyota_doors and self.params.get_bool("UnlockDoors") - toggle.vision_turn_controller = toggle.openpilot_longitudinal and self.params.get_bool("VisionTurnControl") - toggle.curve_sensitivity = self.params.get_int("CurveSensitivity") / 100. if toggle.vision_turn_controller else 1 - toggle.turn_aggressiveness = self.params.get_int("TurnAggressiveness") / 100. if toggle.vision_turn_controller else 1 - FrogPilotVariables = FrogPilotVariables() diff --git a/selfdrive/frogpilot/navigation/mapd.py b/selfdrive/frogpilot/navigation/mapd.py index 2b763e149c5d23..9fbd6f825c4bd4 100644 --- a/selfdrive/frogpilot/navigation/mapd.py +++ b/selfdrive/frogpilot/navigation/mapd.py @@ -5,13 +5,10 @@ import subprocess import time import urllib.request -import http.client -import socket -import openpilot.system.sentry as sentry from openpilot.common.realtime import Ratekeeper -from openpilot.selfdrive.frogpilot.controls.lib.frogpilot_functions import is_url_pingable +from openpilot.selfdrive.frogpilot.frogpilot_functions import is_url_pingable VERSION = 'v1' @@ -26,9 +23,8 @@ def get_latest_version(): try: with urllib.request.urlopen(url, timeout=5) as response: return json.loads(response.read().decode('utf-8'))['version'] - except (http.client.IncompleteRead, http.client.RemoteDisconnected, socket.gaierror, socket.timeout, urllib.error.HTTPError, urllib.error.URLError) as e: - sentry.capture_exception(e) - print(f"Failed to get latest version from {url}. Error: {e}") + except Exception as e: + print(f"Error fetching version from {url}: {e}") print("Failed to get the latest version from both sources.") return None @@ -45,29 +41,28 @@ def download(current_version): with urllib.request.urlopen(url, timeout=5) as f: with open(MAPD_PATH, 'wb') as output: output.write(f.read()) - os.fsync(output) - os.chmod(MAPD_PATH, os.stat(MAPD_PATH).st_mode | stat.S_IEXEC) + os.chmod(MAPD_PATH, os.stat(MAPD_PATH).st_mode | stat.S_IEXEC) with open(VERSION_PATH, 'w') as version_file: version_file.write(current_version) - os.fsync(version_file) print(f"Successfully downloaded mapd from {url}") return True - except (http.client.IncompleteRead, http.client.RemoteDisconnected, socket.gaierror, socket.timeout, urllib.error.HTTPError, urllib.error.URLError) as e: - sentry.capture_exception(e) - print(f"Failed to download from {url}. Error: {e}") + except Exception as e: + print(f"Failed to download from {url}: {e}") print(f"Failed to download mapd for version {current_version} from both sources.") return False def ensure_mapd_is_running(): while True: - try: - subprocess.run([MAPD_PATH], check=True) - except Exception as e: - sentry.capture_exception(e) - print(f"Error running mapd process: {e}") + if os.path.exists(MAPD_PATH): + try: + subprocess.run([MAPD_PATH], check=True) + except Exception as e: + print(f"Error running mapd process: {e}") + else: + print(f"Error: {MAPD_PATH} does not exist.") time.sleep(1) def mapd_thread(sm=None, pm=None): @@ -78,18 +73,11 @@ def mapd_thread(sm=None, pm=None): if is_url_pingable("https://github.com"): current_version = get_latest_version() if current_version: - if not os.path.exists(MAPD_PATH): - if download(current_version): - continue - if not os.path.exists(VERSION_PATH): - if download(current_version): - continue - if open(VERSION_PATH).read() != current_version: + if not os.path.exists(MAPD_PATH) or not os.path.exists(VERSION_PATH) or open(VERSION_PATH).read() != current_version: if download(current_version): continue ensure_mapd_is_running() except Exception as e: - sentry.capture_exception(e) print(f"Exception in mapd_thread: {e}") time.sleep(1) @@ -99,7 +87,6 @@ def main(sm=None, pm=None): try: mapd_thread(sm, pm) except Exception as e: - sentry.capture_exception(e) print(f"Unhandled exception in main: {e}") if __name__ == "__main__": diff --git a/selfdrive/frogpilot/navigation/ui/maps_settings.cc b/selfdrive/frogpilot/navigation/ui/maps_settings.cc new file mode 100644 index 00000000000000..c25150c04c4d38 --- /dev/null +++ b/selfdrive/frogpilot/navigation/ui/maps_settings.cc @@ -0,0 +1,347 @@ +#include +#include + +#include +#include + +#include "selfdrive/frogpilot/navigation/ui/maps_settings.h" + +FrogPilotMapsPanel::FrogPilotMapsPanel(FrogPilotSettingsWindow *parent) : FrogPilotListWidget(parent) { + std::vector scheduleOptions{tr("Manually"), tr("Weekly"), tr("Monthly")}; + preferredSchedule = new ButtonParamControl("PreferredSchedule", tr("Maps Scheduler"), + tr("Choose the frequency for updating maps with the latest OpenStreetMap (OSM) changes. " + "Weekly updates begin at midnight every Sunday, while monthly updates start at midnight on the 1st of each month."), + "", + scheduleOptions); + addItem(preferredSchedule); + + selectMapsButton = new FrogPilotButtonsControl(tr("Select Offline Maps"), tr("Select your maps to use with 'Curve Speed Control' and 'Speed Limit Controller'."), {tr("COUNTRIES"), tr("STATES")}); + QObject::connect(selectMapsButton, &FrogPilotButtonsControl::buttonClicked, [this](int id) { + if (id == 0) { + countriesOpen = true; + } + displayMapButtons(); + openMapSelection(); + }); + addItem(selectMapsButton); + + downloadMapsButton = new ButtonControl(tr("Download Maps"), tr("DOWNLOAD"), tr("Download your selected maps to use with 'Curve Speed Control' and 'Speed Limit Controller'.")); + QObject::connect(downloadMapsButton, &ButtonControl::clicked, [this] { + if (downloadMapsButton->text() == tr("CANCEL")) { + cancelDownload(); + } else { + downloadMaps(); + } + }); + addItem(downloadMapsButton); + + addItem(mapsSize = new LabelControl(tr("Downloaded Maps Size"), calculateDirectorySize(mapsFolderPath))); + addItem(downloadStatus = new LabelControl(tr("Download Progress"))); + addItem(downloadETA = new LabelControl(tr("Download Completion ETA"))); + addItem(downloadTimeElapsed = new LabelControl(tr("Download Time Elapsed"))); + addItem(lastMapsDownload = new LabelControl(tr("Maps Last Updated"), params.get("LastMapsUpdate").empty() ? "Never" : QString::fromStdString(params.get("LastMapsUpdate")))); + + downloadETA->setVisible(false); + downloadStatus->setVisible(false); + downloadTimeElapsed->setVisible(false); + + removeMapsButton = new ButtonControl(tr("Remove Maps"), tr("REMOVE"), tr("Remove your downloaded maps to clear up storage space.")); + QObject::connect(removeMapsButton, &ButtonControl::clicked, [this] { + if (FrogPilotConfirmationDialog::yesorno(tr("Are you sure you want to delete all of your downloaded maps?"), this)) { + std::thread([this] { + lastMapsDownload->setText("Never"); + mapsSize->setText("0 MB"); + + std::system("rm -rf /data/media/0/osm/offline"); + + params.remove("LastMapsUpdate"); + }).detach(); + } + }); + addItem(removeMapsButton); + removeMapsButton->setVisible(QDir(mapsFolderPath).exists()); + + addItem(midwestLabel = new LabelControl(tr("United States - Midwest"), "")); + addItem(midwestMaps = new MapSelectionControl(midwestMap)); + + addItem(northeastLabel = new LabelControl(tr("United States - Northeast"), "")); + addItem(northeastMaps = new MapSelectionControl(northeastMap)); + + addItem(southLabel = new LabelControl(tr("United States - South"), "")); + addItem(southMaps = new MapSelectionControl(southMap)); + + addItem(westLabel = new LabelControl(tr("United States - West"), "")); + addItem(westMaps = new MapSelectionControl(westMap)); + + addItem(territoriesLabel = new LabelControl(tr("United States - Territories"), "")); + addItem(territoriesMaps = new MapSelectionControl(territoriesMap)); + + addItem(africaLabel = new LabelControl(tr("Africa"), "")); + addItem(africaMaps = new MapSelectionControl(africaMap, true)); + + addItem(antarcticaLabel = new LabelControl(tr("Antarctica"), "")); + addItem(antarcticaMaps = new MapSelectionControl(antarcticaMap, true)); + + addItem(asiaLabel = new LabelControl(tr("Asia"), "")); + addItem(asiaMaps = new MapSelectionControl(asiaMap, true)); + + addItem(europeLabel = new LabelControl(tr("Europe"), "")); + addItem(europeMaps = new MapSelectionControl(europeMap, true)); + + addItem(northAmericaLabel = new LabelControl(tr("North America"), "")); + addItem(northAmericaMaps = new MapSelectionControl(northAmericaMap, true)); + + addItem(oceaniaLabel = new LabelControl(tr("Oceania"), "")); + addItem(oceaniaMaps = new MapSelectionControl(oceaniaMap, true)); + + addItem(southAmericaLabel = new LabelControl(tr("South America"), "")); + addItem(southAmericaMaps = new MapSelectionControl(southAmericaMap, true)); + + QObject::connect(parent, &FrogPilotSettingsWindow::closeMapSelection, [this]() { + displayMapButtons(false); + countriesOpen = false; + mapsSelected = QString::fromStdString(params.get("MapsSelected")); + }); + QObject::connect(uiState(), &UIState::uiUpdate, this, &FrogPilotMapsPanel::updateState); + + displayMapButtons(false); +} + +void FrogPilotMapsPanel::showEvent(QShowEvent *event) { + mapsSelected = QString::fromStdString(params.get("MapsSelected")); +} + +void FrogPilotMapsPanel::hideEvent(QHideEvent *event) { + displayMapButtons(false); + countriesOpen = false; +} + +void FrogPilotMapsPanel::updateState(const UIState &s) { + if (!isVisible()) { + return; + } + + if (downloadActive) { + updateDownloadStatusLabels(); + } + + downloadMapsButton->setEnabled(!mapsSelected.isEmpty() && s.scene.online); +} + +void FrogPilotMapsPanel::cancelDownload() { + if (FrogPilotConfirmationDialog::yesorno(tr("Are you sure you want to cancel the download?"), this)) { + std::system("pkill mapd"); + resetDownloadState(); + } +} + +void FrogPilotMapsPanel::downloadMaps() { + device()->resetInteractiveTimeout(300); + + params.remove("OSMDownloadProgress"); + + resetDownloadLabels(); + + downloadETA->setVisible(true); + downloadStatus->setVisible(true); + downloadTimeElapsed->setVisible(true); + + lastMapsDownload->setVisible(false); + removeMapsButton->setVisible(false); + + update(); + + int retryCount = 0; + while (!isMapdRunning() && retryCount < 3) { + retryCount++; + std::this_thread::sleep_for(std::chrono::seconds(1)); + } + + if (retryCount >= 3) { + handleDownloadError(); + return; + } + + paramsMemory.put("OSMDownloadLocations", params.get("MapsSelected")); + + downloadActive = true; + + startTime = QDateTime::currentMSecsSinceEpoch(); +} + +void FrogPilotMapsPanel::updateDownloadStatusLabels() { + static const std::regex fileStatuses(R"("total_files":(\d+),.*"downloaded_files":(\d+))"); + static int previousDownloadedFiles = 0; + static qint64 lastUpdatedTime = QDateTime::currentMSecsSinceEpoch(); + static qint64 lastRemainingTime = 0; + + std::string osmDownloadProgress = params.get("OSMDownloadProgress"); + std::smatch match; + + if (!std::regex_search(osmDownloadProgress, match, fileStatuses)) { + resetDownloadLabels(); + return; + } + + int totalFiles = std::stoi(match[1].str()); + int downloadedFiles = std::stoi(match[2].str()); + + qint64 elapsedMilliseconds = QDateTime::currentMSecsSinceEpoch() - startTime; + qint64 timePerFile = (downloadedFiles > 0) ? (elapsedMilliseconds / downloadedFiles) : 0; + qint64 remainingFiles = totalFiles - downloadedFiles; + qint64 remainingTime = timePerFile * remainingFiles; + + if (downloadedFiles >= totalFiles) { + finalizeDownload(); + return; + } + + if (downloadedFiles != previousDownloadedFiles) { + previousDownloadedFiles = downloadedFiles; + lastUpdatedTime = QDateTime::currentMSecsSinceEpoch(); + lastRemainingTime = remainingTime; + + QtConcurrent::run([this]() { + QString sizeText = calculateDirectorySize(mapsFolderPath); + QMetaObject::invokeMethod(mapsSize, [this, sizeText]() { + mapsSize->setText(sizeText); + }, Qt::QueuedConnection); + }); + } else { + qint64 currentTime = QDateTime::currentMSecsSinceEpoch(); + qint64 timeSinceLastUpdate = (currentTime - lastUpdatedTime) / 1000; + remainingTime = std::max(qint64(0), lastRemainingTime - timeSinceLastUpdate * 1000); + } + + updateDownloadLabels(downloadedFiles, totalFiles, remainingTime, elapsedMilliseconds); +} + +void FrogPilotMapsPanel::resetDownloadState() { + downloadMapsButton->setText(tr("DOWNLOAD")); + + downloadETA->setVisible(false); + downloadStatus->setVisible(false); + downloadTimeElapsed->setVisible(false); + + lastMapsDownload->setVisible(true); + removeMapsButton->setVisible(QDir(mapsFolderPath).exists()); + + downloadActive = false; + + update(); +} + +void FrogPilotMapsPanel::handleDownloadError() { + std::system("pkill mapd"); + + downloadMapsButton->setText(tr("DOWNLOAD")); + downloadStatus->setText("Download error... Please try again!"); + + downloadETA->setVisible(false); + downloadTimeElapsed->setVisible(false); + + downloadMapsButton->setEnabled(false); + + downloadActive = false; + + update(); + + std::this_thread::sleep_for(std::chrono::seconds(3)); + + downloadStatus->setText(""); + + downloadStatus->setVisible(false); + + downloadMapsButton->setEnabled(true); + + update(); +} + +void FrogPilotMapsPanel::finalizeDownload() { + QString formattedDate = formatCurrentDate(); + + params.putNonBlocking("LastMapsUpdate", formattedDate.toStdString()); + params.remove("OSMDownloadProgress"); + + resetDownloadLabels(); + + downloadMapsButton->setText(tr("DOWNLOAD")); + lastMapsDownload->setText(formattedDate); + + downloadETA->setVisible(false); + downloadStatus->setVisible(false); + downloadTimeElapsed->setVisible(false); + + lastMapsDownload->setVisible(true); + removeMapsButton->setVisible(true); + + downloadActive = false; + + update(); +} + +void FrogPilotMapsPanel::resetDownloadLabels() { + downloadETA->setText("Calculating..."); + downloadMapsButton->setText(tr("CANCEL")); + downloadStatus->setText("Calculating..."); + downloadTimeElapsed->setText("Calculating..."); +} + +void FrogPilotMapsPanel::updateDownloadLabels(int downloadedFiles, int totalFiles, qint64 remainingTime, qint64 elapsedMilliseconds) { + int percentage = (totalFiles > 0) ? (downloadedFiles * 100 / totalFiles) : 0; + downloadStatus->setText(QString("%1 / %2 (%3%)").arg(downloadedFiles).arg(totalFiles).arg(percentage)); + + QDateTime currentDateTime = QDateTime::currentDateTime(); + QDateTime completionTime = currentDateTime.addMSecs(remainingTime); + + QString completionTimeFormatted = completionTime.toString("h:mm AP"); + QString remainingTimeFormatted = QString("%1 (%2)").arg(formatElapsedTime(remainingTime)).arg(completionTimeFormatted); + downloadETA->setText(remainingTimeFormatted); + + downloadTimeElapsed->setText(formatElapsedTime(elapsedMilliseconds)); +} + +void FrogPilotMapsPanel::displayMapButtons(bool visible) { + setUpdatesEnabled(false); + + downloadETA->setVisible(!visible && downloadActive); + downloadMapsButton->setVisible(!visible); + downloadStatus->setVisible(!visible && downloadActive); + downloadTimeElapsed->setVisible(!visible && downloadActive); + lastMapsDownload->setVisible(!visible && !downloadActive); + mapsSize->setVisible(!visible); + preferredSchedule->setVisible(!visible); + removeMapsButton->setVisible(!visible && QDir(mapsFolderPath).exists()); + selectMapsButton->setVisible(!visible); + + africaMaps->setVisible(visible && countriesOpen); + antarcticaMaps->setVisible(visible && countriesOpen); + asiaMaps->setVisible(visible && countriesOpen); + europeMaps->setVisible(visible && countriesOpen); + northAmericaMaps->setVisible(visible && countriesOpen); + oceaniaMaps->setVisible(visible && countriesOpen); + southAmericaMaps->setVisible(visible && countriesOpen); + + africaLabel->setVisible(visible && countriesOpen); + antarcticaLabel->setVisible(visible && countriesOpen); + asiaLabel->setVisible(visible && countriesOpen); + europeLabel->setVisible(visible && countriesOpen); + northAmericaLabel->setVisible(visible && countriesOpen); + oceaniaLabel->setVisible(visible && countriesOpen); + southAmericaLabel->setVisible(visible && countriesOpen); + + midwestMaps->setVisible(visible && !countriesOpen); + northeastMaps->setVisible(visible && !countriesOpen); + southMaps->setVisible(visible && !countriesOpen); + territoriesMaps->setVisible(visible && !countriesOpen); + westMaps->setVisible(visible && !countriesOpen); + + midwestLabel->setVisible(visible && !countriesOpen); + northeastLabel->setVisible(visible && !countriesOpen); + southLabel->setVisible(visible && !countriesOpen); + territoriesLabel->setVisible(visible && !countriesOpen); + westLabel->setVisible(visible && !countriesOpen); + + setUpdatesEnabled(true); + update(); +} diff --git a/selfdrive/frogpilot/navigation/ui/maps_settings.h b/selfdrive/frogpilot/navigation/ui/maps_settings.h new file mode 100644 index 00000000000000..2373c1ed198fcc --- /dev/null +++ b/selfdrive/frogpilot/navigation/ui/maps_settings.h @@ -0,0 +1,77 @@ +#pragma once + +#include "selfdrive/frogpilot/navigation/ui/navigation_functions.h" +#include "selfdrive/frogpilot/ui/qt/offroad/frogpilot_settings.h" + +class FrogPilotMapsPanel : public FrogPilotListWidget { + Q_OBJECT + +public: + explicit FrogPilotMapsPanel(FrogPilotSettingsWindow *parent); + +signals: + void openMapSelection(); + +private: + void cancelDownload(); + void displayMapButtons(bool visible = true); + void downloadMaps(); + void finalizeDownload(); + void handleDownloadError(); + void hideEvent(QHideEvent *event) override; + void resetDownloadLabels(); + void resetDownloadState(); + void showEvent(QShowEvent *event); + void updateDownloadLabels(int downloadedFiles, int totalFiles, qint64 remainingTime, qint64 elapsedMilliseconds); + void updateDownloadStatusLabels(); + void updateState(const UIState &s); + + ButtonControl *downloadMapsButton; + ButtonControl *removeMapsButton; + + ButtonParamControl *preferredSchedule; + + FrogPilotButtonsControl *selectMapsButton; + + LabelControl *africaLabel; + LabelControl *antarcticaLabel; + LabelControl *asiaLabel; + LabelControl *downloadETA; + LabelControl *downloadStatus; + LabelControl *downloadTimeElapsed; + LabelControl *europeLabel; + LabelControl *lastMapsDownload; + LabelControl *mapsSize; + LabelControl *midwestLabel; + LabelControl *northAmericaLabel; + LabelControl *northeastLabel; + LabelControl *oceaniaLabel; + LabelControl *southAmericaLabel; + LabelControl *southLabel; + LabelControl *territoriesLabel; + LabelControl *westLabel; + + MapSelectionControl *africaMaps; + MapSelectionControl *antarcticaMaps; + MapSelectionControl *asiaMaps; + MapSelectionControl *europeMaps; + MapSelectionControl *midwestMaps; + MapSelectionControl *northAmericaMaps; + MapSelectionControl *northeastMaps; + MapSelectionControl *oceaniaMaps; + MapSelectionControl *southAmericaMaps; + MapSelectionControl *southMaps; + MapSelectionControl *territoriesMaps; + MapSelectionControl *westMaps; + + Params params; + Params paramsMemory{"/dev/shm/params"}; + + bool countriesOpen; + bool downloadActive; + + qint64 startTime; + + QString mapsFolderPath = "/data/media/0/osm/offline"; + QString mapsSelected; +}; diff --git a/selfdrive/frogpilot/navigation/ui/navigation_functions.cc b/selfdrive/frogpilot/navigation/ui/navigation_functions.cc new file mode 100644 index 00000000000000..9d2802ff00f52b --- /dev/null +++ b/selfdrive/frogpilot/navigation/ui/navigation_functions.cc @@ -0,0 +1,86 @@ +#include +#include +#include + +#include "selfdrive/frogpilot/navigation/ui/navigation_functions.h" + +MapSelectionControl::MapSelectionControl(const QMap &map, bool isCountry, QWidget *parent) + : QWidget(parent), buttonGroup(new QButtonGroup(this)), gridLayout(new QGridLayout(this)), mapData(map), isCountry(isCountry) { + + buttonGroup->setExclusive(false); + + const QList keys = mapData.keys(); + for (int i = 0; i < keys.size(); ++i) { + QPushButton *button = new QPushButton(mapData[keys[i]], this); + button->setCheckable(true); + button->setStyleSheet(buttonStyle); + button->setMinimumWidth(225); + gridLayout->addWidget(button, i / 3, i % 3); + buttonGroup->addButton(button, i); + connect(button, &QPushButton::toggled, this, &MapSelectionControl::updateSelectedMaps); + } + + loadSelectedMaps(); +} + +void MapSelectionControl::loadSelectedMaps() { + QJsonDocument doc = QJsonDocument::fromJson(QByteArray::fromStdString(params.get("MapsSelected"))); + if (!doc.isObject()) { + return; + } + + QJsonArray selectedArray = doc.object().value(isCountry ? "nations" : "states").toArray(); + QList buttons = buttonGroup->buttons(); + + for (int i = 0; i < selectedArray.size(); ++i) { + QString buttonLabel = mapData.value(selectedArray[i].toString()); + if (!buttonLabel.isEmpty()) { + for (int j = 0; j < buttons.size(); ++j) { + if (buttons[j]->text() == buttonLabel) { + buttons[j]->setChecked(true); + break; + } + } + } + } +} + +void MapSelectionControl::updateSelectedMaps() { + QJsonDocument doc = QJsonDocument::fromJson(QByteArray::fromStdString(params.get("MapsSelected"))); + QJsonObject selectionJson = doc.isObject() ? doc.object() : QJsonObject(); + + QString selectionType = isCountry ? "nations" : "states"; + QJsonArray existingSelections = selectionJson.value(selectionType).toArray(); + + QList buttons = buttonGroup->buttons(); + for (int i = 0; i < buttons.size(); ++i) { + QAbstractButton *button = buttons[i]; + QString code = mapData.key(button->text()); + + if (code.isEmpty()) { + continue; + } + + bool alreadySelected = false; + for (int j = 0; j < existingSelections.size(); ++j) { + if (existingSelections[j].toString() == code) { + alreadySelected = true; + break; + } + } + + if (button->isChecked() && !alreadySelected) { + existingSelections.append(code); + } else if (!button->isChecked() && alreadySelected) { + for (int j = 0; j < existingSelections.size(); ++j) { + if (existingSelections[j].toString() == code) { + existingSelections.removeAt(j); + break; + } + } + } + } + + selectionJson[selectionType] = existingSelections; + params.put("MapsSelected", QString::fromUtf8(QJsonDocument(selectionJson).toJson(QJsonDocument::Compact)).toStdString()); +} diff --git a/selfdrive/frogpilot/navigation/ui/navigation_functions.h b/selfdrive/frogpilot/navigation/ui/navigation_functions.h index b4db3bc26093f8..29ef0dc0ac1625 100644 --- a/selfdrive/frogpilot/navigation/ui/navigation_functions.h +++ b/selfdrive/frogpilot/navigation/ui/navigation_functions.h @@ -1,311 +1,215 @@ #pragma once -#include #include -#include -#include -#include -#include -#include -#include - -#include "selfdrive/ui/qt/offroad/settings.h" -#include "selfdrive/ui/qt/widgets/controls.h" -#include "selfdrive/ui/ui.h" - -QMap northeastMap = { - {"CT", "Connecticut"}, {"DE", "Delaware"}, {"MA", "Massachusetts"}, - {"MD", "Maryland"}, {"ME", "Maine"}, {"NH", "New Hampshire"}, - {"NJ", "New Jersey"}, {"NY", "New York"}, {"PA", "Pennsylvania"}, - {"RI", "Rhode Island"}, {"VT", "Vermont"} +#include + +#include + +#include "selfdrive/frogpilot/ui/qt/widgets/frogpilot_controls.h" + +inline QMap northeastMap = { + {"CT", "Connecticut"}, {"ME", "Maine"}, {"MA", "Massachusetts"}, + {"NH", "New Hampshire"}, {"NJ", "New Jersey"}, {"NY", "New York"}, + {"PA", "Pennsylvania"}, {"RI", "Rhode Island"}, {"VT", "Vermont"} }; -QMap midwestMap = { - {"IA", "Iowa"}, {"IL", "Illinois"}, {"IN", "Indiana"}, +inline QMap midwestMap = { + {"IL", "Illinois"}, {"IN", "Indiana"}, {"IA", "Iowa"}, {"KS", "Kansas"}, {"MI", "Michigan"}, {"MN", "Minnesota"}, - {"MO", "Missouri"}, {"ND", "North Dakota"}, {"NE", "Nebraska"}, + {"MO", "Missouri"}, {"NE", "Nebraska"}, {"ND", "North Dakota"}, {"OH", "Ohio"}, {"SD", "South Dakota"}, {"WI", "Wisconsin"} }; -QMap southMap = { - {"AL", "Alabama"}, {"AR", "Arkansas"}, {"FL", "Florida"}, - {"GA", "Georgia"}, {"KY", "Kentucky"}, {"LA", "Louisiana"}, +inline QMap southMap = { + {"AL", "Alabama"}, {"AR", "Arkansas"}, {"DE", "Delaware"}, + {"DC", "District of Columbia"}, {"FL", "Florida"}, {"GA", "Georgia"}, + {"KY", "Kentucky"}, {"LA", "Louisiana"}, {"MD", "Maryland"}, {"MS", "Mississippi"}, {"NC", "North Carolina"}, {"OK", "Oklahoma"}, {"SC", "South Carolina"}, {"TN", "Tennessee"}, {"TX", "Texas"}, {"VA", "Virginia"}, {"WV", "West Virginia"} }; -QMap westMap = { +inline QMap westMap = { {"AK", "Alaska"}, {"AZ", "Arizona"}, {"CA", "California"}, {"CO", "Colorado"}, {"HI", "Hawaii"}, {"ID", "Idaho"}, - {"MT", "Montana"}, {"NM", "New Mexico"}, {"NV", "Nevada"}, + {"MT", "Montana"}, {"NV", "Nevada"}, {"NM", "New Mexico"}, {"OR", "Oregon"}, {"UT", "Utah"}, {"WA", "Washington"}, {"WY", "Wyoming"} }; -QMap territoriesMap = { - {"AS", "American Samoa"}, {"DC", "District of Columbia"}, - {"GM", "Guam"}, {"MP", "North Mariana Islands"}, +inline QMap territoriesMap = { + {"AS", "American Samoa"}, {"GU", "Guam"}, {"MP", "Northern Mariana Islands"}, {"PR", "Puerto Rico"}, {"VI", "Virgin Islands"} }; -QMap africaMap = { - {"DZ", "Algeria"}, {"AO", "Angola"}, {"BJ", "Benin"}, {"BW", "Botswana"}, - {"BF", "Burkina Faso"}, {"BI", "Burundi"}, {"CM", "Cameroon"}, {"CV", "Cape Verde"}, - {"CF", "Central African Republic"}, {"TD", "Chad"}, {"KM", "Comoros"}, {"CG", "Congo (Brazzaville)"}, - {"CD", "Congo (Kinshasa)"}, {"CI", "Ivory Coast"}, {"DJ", "Djibouti"}, {"EG", "Egypt"}, - {"GQ", "Equatorial Guinea"}, {"ER", "Eritrea"}, {"SZ", "Eswatini"}, {"ET", "Ethiopia"}, - {"GA", "Gabon"}, {"GM", "Gambia"}, {"GH", "Ghana"}, {"GN", "Guinea"}, - {"GW", "Guinea-Bissau"}, {"KE", "Kenya"}, {"LS", "Lesotho"}, {"LR", "Liberia"}, - {"LY", "Libya"}, {"MG", "Madagascar"}, {"MW", "Malawi"}, {"ML", "Mali"}, - {"MR", "Mauritania"}, {"MU", "Mauritius"}, {"MA", "Morocco"}, {"MZ", "Mozambique"}, - {"NA", "Namibia"}, {"NE", "Niger"}, {"NG", "Nigeria"}, {"RW", "Rwanda"}, - {"ST", "Sao Tome and Principe"}, {"SN", "Senegal"}, {"SC", "Seychelles"}, {"SL", "Sierra Leone"}, - {"SO", "Somalia"}, {"ZA", "South Africa"}, {"SS", "South Sudan"}, {"SD", "Sudan"}, - {"TZ", "Tanzania"}, {"TG", "Togo"}, {"TN", "Tunisia"}, {"UG", "Uganda"}, - {"EH", "Western Sahara"}, {"ZM", "Zambia"}, {"ZW", "Zimbabwe"} +inline QMap africaMap = { + {"DZ", "Algeria"}, {"AO", "Angola"}, {"BJ", "Benin"}, + {"BW", "Botswana"}, {"BF", "Burkina Faso"}, {"BI", "Burundi"}, + {"CM", "Cameroon"}, {"CF", "Central African Republic"}, {"TD", "Chad"}, + {"KM", "Comoros"}, {"CG", "Congo (Brazzaville)"}, {"CD", "Congo (Kinshasa)"}, + {"DJ", "Djibouti"}, {"EG", "Egypt"}, {"GQ", "Equatorial Guinea"}, + {"ER", "Eritrea"}, {"ET", "Ethiopia"}, {"GA", "Gabon"}, + {"GM", "Gambia"}, {"GH", "Ghana"}, {"GN", "Guinea"}, + {"GW", "Guinea-Bissau"}, {"CI", "Ivory Coast"}, {"KE", "Kenya"}, + {"LS", "Lesotho"}, {"LR", "Liberia"}, {"LY", "Libya"}, + {"MG", "Madagascar"}, {"MW", "Malawi"}, {"ML", "Mali"}, + {"MR", "Mauritania"}, {"MA", "Morocco"}, {"MZ", "Mozambique"}, + {"NA", "Namibia"}, {"NE", "Niger"}, {"NG", "Nigeria"}, + {"RW", "Rwanda"}, {"SN", "Senegal"}, {"SL", "Sierra Leone"}, + {"SO", "Somalia"}, {"ZA", "South Africa"}, {"SS", "South Sudan"}, + {"SD", "Sudan"}, {"SZ", "Swaziland"}, {"TZ", "Tanzania"}, + {"TG", "Togo"}, {"TN", "Tunisia"}, {"UG", "Uganda"}, + {"ZM", "Zambia"}, {"ZW", "Zimbabwe"} }; -QMap antarcticaMap = { +inline QMap antarcticaMap = { {"AQ", "Antarctica"} }; -QMap asiaMap = { - {"AF", "Afghanistan"}, {"AM", "Armenia"}, {"AZ", "Azerbaijan"}, {"BH", "Bahrain"}, - {"BD", "Bangladesh"}, {"BT", "Bhutan"}, {"BN", "Brunei"}, {"KH", "Cambodia"}, - {"CN", "China"}, {"CY", "Cyprus"}, {"GE", "Georgia"}, {"IN", "India"}, - {"ID", "Indonesia"}, {"IR", "Iran"}, {"IQ", "Iraq"}, {"IL", "Israel"}, - {"JP", "Japan"}, {"JO", "Jordan"}, {"KZ", "Kazakhstan"}, {"KP", "North Korea"}, - {"KR", "South Korea"}, {"KW", "Kuwait"}, {"KG", "Kyrgyzstan"}, {"LA", "Laos"}, - {"LB", "Lebanon"}, {"MY", "Malaysia"}, {"MV", "Maldives"}, {"MN", "Mongolia"}, - {"MM", "Myanmar"}, {"NP", "Nepal"}, {"OM", "Oman"}, {"PK", "Pakistan"}, - {"PS", "Palestine"}, {"PH", "Philippines"}, {"QA", "Qatar"}, {"SA", "Saudi Arabia"}, - {"SG", "Singapore"}, {"LK", "Sri Lanka"}, {"SY", "Syria"}, {"TW", "Taiwan"}, - {"TJ", "Tajikistan"}, {"TH", "Thailand"}, {"TL", "Timor-Leste"}, {"TR", "Turkey"}, - {"TM", "Turkmenistan"}, {"AE", "United Arab Emirates"}, {"UZ", "Uzbekistan"}, {"VN", "Vietnam"}, - {"YE", "Yemen"} +inline QMap asiaMap = { + {"AF", "Afghanistan"}, {"AM", "Armenia"}, {"AZ", "Azerbaijan"}, + {"BH", "Bahrain"}, {"BD", "Bangladesh"}, {"BT", "Bhutan"}, + {"BN", "Brunei"}, {"KH", "Cambodia"}, {"CN", "China"}, + {"CY", "Cyprus"}, {"TL", "East Timor"}, {"HK", "Hong Kong"}, + {"IN", "India"}, {"ID", "Indonesia"}, {"IR", "Iran"}, + {"IQ", "Iraq"}, {"IL", "Israel"}, {"JP", "Japan"}, + {"JO", "Jordan"}, {"KZ", "Kazakhstan"}, {"KW", "Kuwait"}, + {"KG", "Kyrgyzstan"}, {"LA", "Laos"}, {"LB", "Lebanon"}, + {"MY", "Malaysia"}, {"MV", "Maldives"}, {"MO", "Macao"}, + {"MN", "Mongolia"}, {"MM", "Myanmar"}, {"NP", "Nepal"}, + {"KP", "North Korea"}, {"OM", "Oman"}, {"PK", "Pakistan"}, + {"PS", "Palestine"}, {"PH", "Philippines"}, {"QA", "Qatar"}, + {"RU", "Russia"}, {"SA", "Saudi Arabia"}, {"SG", "Singapore"}, + {"KR", "South Korea"}, {"LK", "Sri Lanka"}, {"SY", "Syria"}, + {"TW", "Taiwan"}, {"TJ", "Tajikistan"}, {"TH", "Thailand"}, + {"TR", "Turkey"}, {"TM", "Turkmenistan"}, {"AE", "United Arab Emirates"}, + {"UZ", "Uzbekistan"}, {"VN", "Vietnam"}, {"YE", "Yemen"} }; -QMap europeMap = { - {"AL", "Albania"}, {"AD", "Andorra"}, {"AT", "Austria"}, {"BY", "Belarus"}, - {"BE", "Belgium"}, {"BA", "Bosnia and Herzegovina"}, {"BG", "Bulgaria"}, {"HR", "Croatia"}, - {"CY", "Cyprus"}, {"CZ", "Czech Republic"}, {"DK", "Denmark"}, {"EE", "Estonia"}, - {"FI", "Finland"}, {"FR", "France"}, {"DE", "Germany"}, {"GR", "Greece"}, - {"HU", "Hungary"}, {"IS", "Iceland"}, {"IE", "Ireland"}, {"IT", "Italy"}, - {"LV", "Latvia"}, {"LI", "Liechtenstein"}, {"LT", "Lithuania"}, {"LU", "Luxembourg"}, - {"MT", "Malta"}, {"MD", "Moldova"}, {"MC", "Monaco"}, {"ME", "Montenegro"}, - {"NL", "Netherlands"}, {"MK", "North Macedonia"}, {"NO", "Norway"}, {"PL", "Poland"}, - {"PT", "Portugal"}, {"RO", "Romania"}, {"RU", "Russia"}, {"SM", "San Marino"}, - {"RS", "Serbia"}, {"SK", "Slovakia"}, {"SI", "Slovenia"}, {"ES", "Spain"}, - {"SE", "Sweden"}, {"CH", "Switzerland"}, {"TR", "Turkey"}, {"UA", "Ukraine"}, - {"GB", "United Kingdom"}, {"VA", "Vatican City"} +inline QMap europeMap = { + {"AL", "Albania"}, {"AT", "Austria"}, {"BY", "Belarus"}, + {"BE", "Belgium"}, {"BA", "Bosnia and Herzegovina"}, {"BG", "Bulgaria"}, + {"HR", "Croatia"}, {"CZ", "Czech Republic"}, {"DK", "Denmark"}, + {"EE", "Estonia"}, {"FI", "Finland"}, {"FR", "France"}, + {"GE", "Georgia"}, {"DE", "Germany"}, {"GR", "Greece"}, + {"HU", "Hungary"}, {"IS", "Iceland"}, {"IE", "Ireland"}, + {"IT", "Italy"}, {"KZ", "Kazakhstan"}, {"LV", "Latvia"}, + {"LT", "Lithuania"}, {"LU", "Luxembourg"}, {"MK", "Macedonia"}, + {"MD", "Moldova"}, {"ME", "Montenegro"}, {"NL", "Netherlands"}, + {"NO", "Norway"}, {"PL", "Poland"}, {"PT", "Portugal"}, + {"RO", "Romania"}, {"RS", "Serbia"}, {"SK", "Slovakia"}, + {"SI", "Slovenia"}, {"ES", "Spain"}, {"SE", "Sweden"}, + {"CH", "Switzerland"}, {"TR", "Turkey"}, {"UA", "Ukraine"}, + {"GB", "United Kingdom"} }; -QMap northAmericaMap = { - {"AG", "Antigua and Barbuda"}, {"BS", "Bahamas"}, {"BB", "Barbados"}, {"BZ", "Belize"}, - {"CA", "Canada"}, {"CR", "Costa Rica"}, {"CU", "Cuba"}, {"DM", "Dominica"}, - {"DO", "Dominican Republic"}, {"SV", "El Salvador"}, {"GD", "Grenada"}, {"GT", "Guatemala"}, - {"HT", "Haiti"}, {"HN", "Honduras"}, {"JM", "Jamaica"}, {"MX", "Mexico"}, - {"NI", "Nicaragua"}, {"PA", "Panama"}, {"KN", "Saint Kitts and Nevis"}, {"LC", "Saint Lucia"}, - {"VC", "Saint Vincent and the Grenadines"}, {"TT", "Trinidad and Tobago"}, {"US", "United States"} +inline QMap northAmericaMap = { + {"BS", "Bahamas"}, {"BZ", "Belize"}, {"CA", "Canada"}, + {"CR", "Costa Rica"}, {"CU", "Cuba"}, {"DO", "Dominican Republic"}, + {"SV", "El Salvador"}, {"GL", "Greenland"}, {"GD", "Grenada"}, + {"GT", "Guatemala"}, {"HT", "Haiti"}, {"HN", "Honduras"}, + {"JM", "Jamaica"}, {"MX", "Mexico"}, {"NI", "Nicaragua"}, + {"PA", "Panama"}, {"TT", "Trinidad and Tobago"}, {"US", "United States"} }; -QMap oceaniaMap = { - {"AU", "Australia"}, {"FJ", "Fiji"}, {"KI", "Kiribati"}, {"MH", "Marshall Islands"}, - {"FM", "Micronesia"}, {"NR", "Nauru"}, {"NZ", "New Zealand"}, {"PW", "Palau"}, - {"PG", "Papua New Guinea"}, {"WS", "Samoa"}, {"SB", "Solomon Islands"}, {"TO", "Tonga"}, - {"TV", "Tuvalu"}, {"VU", "Vanuatu"} +inline QMap oceaniaMap = { + {"AU", "Australia"}, {"FJ", "Fiji"}, {"TF", "French Southern Territories"}, + {"NC", "New Caledonia"}, {"NZ", "New Zealand"}, {"PG", "Papua New Guinea"}, + {"SB", "Solomon Islands"}, {"VU", "Vanuatu"} }; -QMap southAmericaMap = { - {"AR", "Argentina"}, {"BO", "Bolivia"}, {"BR", "Brazil"}, {"CL", "Chile"}, - {"CO", "Colombia"}, {"EC", "Ecuador"}, {"GY", "Guyana"}, {"PY", "Paraguay"}, - {"PE", "Peru"}, {"SR", "Suriname"}, {"TT", "Trinidad and Tobago"}, {"UY", "Uruguay"}, +inline QMap southAmericaMap = { + {"AR", "Argentina"}, {"BO", "Bolivia"}, {"BR", "Brazil"}, + {"CL", "Chile"}, {"CO", "Colombia"}, {"EC", "Ecuador"}, + {"FK", "Falkland Islands"}, {"GY", "Guyana"}, {"PY", "Paraguay"}, + {"PE", "Peru"}, {"SR", "Suriname"}, {"UY", "Uruguay"}, {"VE", "Venezuela"} }; -class ButtonSelectionControl : public QWidget { -public: - static QString selectedStates; - static QString selectedCountries; - - explicit ButtonSelectionControl(const QString &id, const QString &title, const QString &description, - const QMap &map, bool isCountry, QWidget *parent = nullptr) - : QWidget(parent), country(isCountry) { - QVBoxLayout *layout = new QVBoxLayout(this); - layout->setAlignment(Qt::AlignTop); - layout->setSpacing(10); - - QHBoxLayout *buttonsLayout = new QHBoxLayout(); - buttonsLayout->setSpacing(10); - layout->addLayout(buttonsLayout); +namespace fs = std::filesystem; - int count = 0; - int max = country ? 3 : 4; - - QJsonObject mapsSelected = QJsonDocument::fromJson(QString::fromStdString(Params().get("MapsSelected")).toUtf8()).object(); - - for (const QString &stateCode : map.keys()) { - if (count % max == 0 && count != 0) { - buttonsLayout = new QHBoxLayout(); - buttonsLayout->setSpacing(10); - layout->addLayout(buttonsLayout); - } - - QPushButton *button = createButton(buttonsLayout, map[stateCode], stateCode); +inline bool isMapdRunning() { + return std::system("pgrep mapd > /dev/null 2>&1") == 0; +} - QString key = country ? "nations" : "states"; - if (mapsSelected.contains(key)) { - QJsonArray selectedItems = mapsSelected.value(key).toArray(); - button->setChecked(selectedItems.contains(stateCode)); - } +inline QString calculateDirectorySize(const QString &directoryPath) { + constexpr uintmax_t oneGB = 1024 * 1024 * 1024; + constexpr uintmax_t oneMB = 1024 * 1024; - count++; - } + uintmax_t totalSize = 0; + fs::path path(directoryPath.toStdString()); - adjustButtonWidths(buttonsLayout); + if (!fs::exists(path) || !fs::is_directory(path)) { + return "0 MB"; } -private: - bool country; - - const QString buttonStyle = R"( - QPushButton { - border-radius: 50px; font-size: 40px; font-weight: 500; - height: 100px; padding: 0 25 0 25; color: #E4E4E4; - background-color: #393939; - } - QPushButton:pressed, QPushButton:checked { - background-color: #4a4a4a; - } - QPushButton:checked:enabled { - background-color: #33Ab4C; + for (fs::recursive_directory_iterator iter(path, fs::directory_options::skip_permission_denied), end; iter != end; ++iter) { + const fs::directory_entry &entry = *iter; + if (entry.is_regular_file()) { + totalSize += entry.file_size(); } - QPushButton:disabled { - color: #33E4E4E4; - } - )"; - - QPushButton *createButton(QHBoxLayout *layout, const QString &label, const QString &stateCode) { - QPushButton *button = new QPushButton(label, this); - button->setCheckable(true); - button->setStyleSheet(buttonStyle); - connect(button, &QPushButton::clicked, this, [this, button, stateCode] { updateState(stateCode, button); }); - layout->addWidget(button); - return button; } - void adjustButtonWidths(QHBoxLayout *layout) { - if (!layout || layout->count() == (country ? 3 : 4)) return; + if (totalSize >= oneGB) { + return QString::number(static_cast(totalSize) / oneGB, 'f', 2) + " GB"; + } else { + return QString::number(static_cast(totalSize) / oneMB, 'f', 2) + " MB"; + } +} - for (int i = 0; i < layout->count(); ++i) { - QWidget *widget = layout->itemAt(i)->widget(); - QPushButton *button = qobject_cast(widget); - if (button) { - button->setMinimumWidth(button->sizeHint().width()); - } - } +inline QString formatCurrentDate() { + QDate currentDate = QDate::currentDate(); + QString suffix; + int day = currentDate.day(); + + if (day % 10 == 1 && day != 11) { + suffix = "st"; + } else if (day % 10 == 2 && day != 12) { + suffix = "nd"; + } else if (day % 10 == 3 && day != 13) { + suffix = "rd"; + } else { + suffix = "th"; } - void updateState(const QString &newState, QPushButton *button) { - QString &selectedList = country ? selectedCountries : selectedStates; - QStringList tempList = selectedList.split(','); + return currentDate.toString("MMMM d'") + suffix + QString(", %1").arg(currentDate.year()); +} - if (button->isChecked()) { - if (!selectedList.isEmpty()) selectedList += ","; - selectedList += newState; - } else { - tempList.removeAll(newState); - selectedList = tempList.join(','); - } +inline QString formatElapsedTime(qint64 elapsedMilliseconds) { + qint64 totalSeconds = elapsedMilliseconds / 1000; + qint64 hours = totalSeconds / 3600; + qint64 minutes = (totalSeconds % 3600) / 60; + qint64 seconds = totalSeconds % 60; - Params("/dev/shm/params").remove("OSMDownloadLocations"); + QString formattedTime; + if (hours > 0) { + formattedTime += QString::number(hours) + (hours == 1 ? " hour " : " hours "); } -}; - -QString ButtonSelectionControl::selectedStates = ""; -QString ButtonSelectionControl::selectedCountries = ""; - -namespace { - template - T extractFromJson(const std::string &jsonData, const std::string &key, T defaultValue = 0) { - std::string::size_type pos = jsonData.find(key); - return pos != std::string::npos ? std::stol(jsonData.substr(pos + key.length())) : defaultValue; + if (minutes > 0) { + formattedTime += QString::number(minutes) + (minutes == 1 ? " minute " : " minutes "); } -} + formattedTime += QString::number(seconds) + (seconds == 1 ? " second" : " seconds"); -QString formatTime(long timeInSeconds) { - long minutes = timeInSeconds / 60; - long seconds = timeInSeconds % 60; - QString formattedTime = (minutes > 0) ? QString::number(minutes) + "m " : ""; - formattedTime += QString::number(seconds) + "s"; return formattedTime; } -QString formatDateTime(const std::chrono::time_point &timePoint) { - return QDateTime::fromTime_t(std::chrono::system_clock::to_time_t(timePoint)).toString("h:mm ap"); -} - -QString calculateElapsedTime(int totalFiles, int downloadedFiles, const std::chrono::steady_clock::time_point &startTime) { - using namespace std::chrono; - if (totalFiles <= 0 || downloadedFiles >= totalFiles) return "Calculating..."; - - long elapsed = duration_cast(steady_clock::now() - startTime).count(); - return formatTime(elapsed); -} - -QString calculateETA(int totalFiles, int downloadedFiles, const std::chrono::steady_clock::time_point &startTime) { - using namespace std::chrono; - if (totalFiles <= 0 || downloadedFiles >= totalFiles) return "Calculating..."; - - long elapsed = duration_cast(steady_clock::now() - startTime).count(); - - if (downloadedFiles == 0 || elapsed <= 0) { - return "Calculating..."; - } - - double averageTimePerFile = static_cast(elapsed) / downloadedFiles; - int remainingFiles = totalFiles - downloadedFiles; - long estimatedTimeRemaining = static_cast(averageTimePerFile * remainingFiles); +class MapSelectionControl : public QWidget { + Q_OBJECT - std::chrono::time_point estimatedCompletionTime = system_clock::now() + seconds(estimatedTimeRemaining); - QString estimatedTimeStr = formatDateTime(estimatedCompletionTime); - - return formatTime(estimatedTimeRemaining) + " (" + estimatedTimeStr + ")"; +public: + MapSelectionControl(const QMap &map, bool isCountry = false, QWidget *parent = nullptr); -} +private: + void loadSelectedMaps(); + void updateSelectedMaps(); -QString formatDownloadStatus(int totalFiles, int downloadedFiles) { - if (totalFiles <= 0) return "Calculating..."; - if (downloadedFiles >= totalFiles) return "Downloaded"; + Params params; - int percentage = static_cast(100 * downloadedFiles / totalFiles); - return QString::asprintf("Downloading: %d/%d (%d%%)", downloadedFiles, totalFiles, percentage); -} + QButtonGroup *buttonGroup; -quint64 calculateDirectorySize(const QString &path) { - quint64 totalSize = 0; - QDirIterator it(path, QDir::Files, QDirIterator::Subdirectories); - while (it.hasNext()) { - it.next(); - QFileInfo fileInfo(it.filePath()); - if (fileInfo.isFile()) { - totalSize += fileInfo.size(); - } - } - return totalSize; -} + QGridLayout *gridLayout; -QString formatSize(qint64 size) { - const qint64 kb = 1024; - const qint64 mb = 1024 * kb; - const qint64 gb = 1024 * mb; + QMap mapData; - if (size < gb) { - double sizeMB = size / static_cast(mb); - return QString::number(sizeMB, 'f', 2) + " MB"; - } else { - double sizeGB = size / static_cast(gb); - return QString::number(sizeGB, 'f', 2) + " GB"; - } -} + bool isCountry; +}; diff --git a/selfdrive/frogpilot/navigation/ui/navigation_settings.cc b/selfdrive/frogpilot/navigation/ui/navigation_settings.cc deleted file mode 100644 index c80929751ab0a6..00000000000000 --- a/selfdrive/frogpilot/navigation/ui/navigation_settings.cc +++ /dev/null @@ -1,530 +0,0 @@ -#include - -#include "selfdrive/frogpilot/navigation/ui/navigation_functions.h" -#include "selfdrive/frogpilot/navigation/ui/navigation_settings.h" - -FrogPilotNavigationPanel::FrogPilotNavigationPanel(QWidget *parent) : QFrame(parent), scene(uiState()->scene) { - mainLayout = new QStackedLayout(this); - - navigationWidget = new QWidget(); - QVBoxLayout *navigationLayout = new QVBoxLayout(navigationWidget); - navigationLayout->setMargin(40); - - FrogPilotListWidget *list = new FrogPilotListWidget(navigationWidget); - - Primeless *primelessPanel = new Primeless(this); - mainLayout->addWidget(primelessPanel); - - ButtonControl *manageNOOButton = new ButtonControl(tr("Manage Primeless Navigation Settings"), tr("MANAGE"), tr("Manage primeless navigate on openpilot settings.")); - QObject::connect(manageNOOButton, &ButtonControl::clicked, [=]() { mainLayout->setCurrentWidget(primelessPanel); }); - QObject::connect(primelessPanel, &Primeless::backPress, [=]() { mainLayout->setCurrentWidget(navigationWidget); }); - list->addItem(manageNOOButton); - manageNOOButton->setVisible(!uiState()->hasPrime()); - - std::vector scheduleOptions{tr("Manually"), tr("Weekly"), tr("Monthly")}; - ButtonParamControl *preferredSchedule = new ButtonParamControl("PreferredSchedule", tr("Maps Scheduler"), - tr("Choose the frequency for updating maps with the latest OpenStreetMap (OSM) changes. " - "Weekly updates begin at midnight every Sunday, while monthly updates start at midnight on the 1st of each month. " - "If your device is off or not connected to WiFi during a scheduled update, the download will be conducted the next " - "time you're offroad with a WiFi connection."), - "", - scheduleOptions); - list->addItem(preferredSchedule); - - list->addItem(offlineMapsSize = new LabelControl(tr("Offline Maps Size"), formatSize(calculateDirectorySize(offlineFolderPath)))); - offlineMapsSize->setVisible(true); - list->addItem(lastMapsDownload = new LabelControl(tr("Last Download"), "")); - lastMapsDownload->setVisible(!params.get("LastMapsUpdate").empty()); - lastMapsDownload->setText(QString::fromStdString(params.get("LastMapsUpdate"))); - list->addItem(offlineMapsStatus = new LabelControl(tr("Offline Maps Status"), "")); - offlineMapsStatus->setVisible(false); - list->addItem(offlineMapsETA = new LabelControl(tr("Offline Maps ETA"), "")); - offlineMapsETA->setVisible(false); - list->addItem(offlineMapsElapsed = new LabelControl(tr("Time Elapsed"), "")); - offlineMapsElapsed->setVisible(false); - - cancelDownloadButton = new ButtonControl(tr("Cancel Download"), tr("CANCEL"), tr("Cancel your current download.")); - QObject::connect(cancelDownloadButton, &ButtonControl::clicked, [this] { cancelDownload(this); }); - list->addItem(cancelDownloadButton); - cancelDownloadButton->setVisible(false); - - downloadOfflineMapsButton = new ButtonControl(tr("Download Offline Maps"), tr("DOWNLOAD"), tr("Download your selected offline maps to use with openpilot.")); - QObject::connect(downloadOfflineMapsButton, &ButtonControl::clicked, [this] { downloadMaps(); }); - list->addItem(downloadOfflineMapsButton); - downloadOfflineMapsButton->setVisible(!params.get("MapsSelected").empty()); - - SelectMaps *mapsPanel = new SelectMaps(this); - mainLayout->addWidget(mapsPanel); - - QObject::connect(mapsPanel, &SelectMaps::setMaps, [=]() { setMaps(); }); - - ButtonControl *selectMapsButton = new ButtonControl(tr("Select Offline Maps"), tr("SELECT"), tr("Select your maps to use with OSM.")); - QObject::connect(selectMapsButton, &ButtonControl::clicked, [=]() { mainLayout->setCurrentWidget(mapsPanel); }); - QObject::connect(mapsPanel, &SelectMaps::backPress, [=]() { mainLayout->setCurrentWidget(navigationWidget); }); - list->addItem(selectMapsButton); - - removeOfflineMapsButton = new ButtonControl(tr("Remove Offline Maps"), tr("REMOVE"), tr("Remove your downloaded offline maps to clear up storage space.")); - QObject::connect(removeOfflineMapsButton, &ButtonControl::clicked, [this] { removeMaps(this); }); - list->addItem(removeOfflineMapsButton); - removeOfflineMapsButton->setVisible(QDir(offlineFolderPath).exists()); - - navigationLayout->addWidget(new ScrollView(list, navigationWidget)); - navigationWidget->setLayout(navigationLayout); - mainLayout->addWidget(navigationWidget); - mainLayout->setCurrentWidget(navigationWidget); - - QObject::connect(uiState(), &UIState::uiUpdate, this, &FrogPilotNavigationPanel::updateState); -} - -void FrogPilotNavigationPanel::hideEvent(QHideEvent *event) { - QWidget::hideEvent(event); - mainLayout->setCurrentWidget(navigationWidget); -} - -void FrogPilotNavigationPanel::showEvent(QShowEvent *event) { - downloadActive = !paramsMemory.get("OSMDownloadLocations").empty(); - lastMapsDownload->setText(QString::fromStdString(params.get("LastMapsUpdate"))); - qint64 fileSize = calculateDirectorySize(offlineFolderPath); - offlineMapsSize->setText(formatSize(fileSize)); - removeOfflineMapsButton->setVisible(QDir(offlineFolderPath).exists() && !downloadActive); -} - -void FrogPilotNavigationPanel::updateState() { - if (!isVisible() && downloadActive) updateVisibility(downloadActive); - if (downloadActive) updateStatuses(); -} - -void FrogPilotNavigationPanel::updateStatuses() { - static std::chrono::steady_clock::time_point startTime = std::chrono::steady_clock::now(); - osmDownloadProgress = params.get("OSMDownloadProgress"); - - const int totalFiles = extractFromJson(osmDownloadProgress, "\"total_files\":"); - const int downloadedFiles = extractFromJson(osmDownloadProgress, "\"downloaded_files\":"); - - if (paramsMemory.get("OSMDownloadLocations").empty()) { - downloadActive = false; - updateDownloadedLabel(); - qint64 fileSize = calculateDirectorySize(offlineFolderPath); - offlineMapsSize->setText(formatSize(fileSize)); - previousOSMDownloadProgress = osmDownloadProgress; - } - - if (osmDownloadProgress != previousOSMDownloadProgress && isVisible()) { - qint64 fileSize = calculateDirectorySize(offlineFolderPath); - offlineMapsSize->setText(formatSize(fileSize)); - previousOSMDownloadProgress = osmDownloadProgress; - } - - elapsedTime = calculateElapsedTime(totalFiles, downloadedFiles, startTime); - - offlineMapsElapsed->setText(elapsedTime); - offlineMapsETA->setText(calculateETA(totalFiles, downloadedFiles, startTime)); - offlineMapsStatus->setText(formatDownloadStatus(totalFiles, downloadedFiles)); - - if (downloadActive != previousDownloadActive) { - startTime = !downloadActive ? std::chrono::steady_clock::now() : startTime; - updateVisibility(downloadActive); - previousDownloadActive = downloadActive; - } -} - -void FrogPilotNavigationPanel::updateVisibility(bool visibility) { - cancelDownloadButton->setVisible(visibility); - offlineMapsElapsed->setVisible(visibility); - offlineMapsETA->setVisible(visibility); - offlineMapsStatus->setVisible(visibility); - downloadOfflineMapsButton->setVisible(!visibility); - lastMapsDownload->setVisible(QDir(offlineFolderPath).exists() && !downloadActive); - removeOfflineMapsButton->setVisible(QDir(offlineFolderPath).exists() && !downloadActive); - update(); -} - -void FrogPilotNavigationPanel::updateDownloadedLabel() { - std::time_t t = std::time(nullptr); - std::tm now = *std::localtime(&t); - char dateBuffer[11]; - std::strftime(dateBuffer, sizeof(dateBuffer), "%Y-%m-%d", &now); - QDate date = QDate::fromString(dateBuffer, "yyyy-MM-dd"); - - int day = date.day(); - std::string suffix = (day == 1 || day == 21 || day == 31) ? "st" : - (day == 2 || day == 22) ? "nd" : - (day == 3 || day == 23) ? "rd" : "th"; - std::string lastMapsUpdate = date.toString("MMMM d").toStdString() + suffix + date.toString(", yyyy").toStdString(); - lastMapsDownload->setText(QString::fromStdString(lastMapsUpdate)); - params.putNonBlocking("LastMapsUpdate", lastMapsUpdate); -} - -void FrogPilotNavigationPanel::cancelDownload(QWidget *parent) { - if (FrogPilotConfirmationDialog::yesorno(tr("Are you sure you want to cancel the download?"), parent)) { - std::thread([&] { - std::system("pkill mapd"); - }).detach(); - if (FrogPilotConfirmationDialog::toggle(tr("Reboot required to re-enable map downloads"), tr("Reboot Now"), parent)) { - Hardware::reboot(); - } - downloadActive = false; - updateVisibility(downloadActive); - downloadOfflineMapsButton->setVisible(downloadActive); - } -} - -void FrogPilotNavigationPanel::downloadMaps() { - params.remove("OSMDownloadProgress"); - paramsMemory.put("OSMDownloadLocations", params.get("MapsSelected")); - removeOfflineMapsButton->setVisible(true); - downloadActive = true; -} - -void FrogPilotNavigationPanel::removeMaps(QWidget *parent) { - if (FrogPilotConfirmationDialog::yesorno(tr("Are you sure you want to delete all of your downloaded maps?"), parent)) { - std::thread([&] { - lastMapsDownload->setVisible(false); - removeOfflineMapsButton->setVisible(false); - offlineMapsSize->setText(formatSize(0)); - params.remove("LastMapsUpdate"); - std::system("rm -rf /data/media/0/osm/offline"); - }).detach(); - } -} - -void FrogPilotNavigationPanel::setMaps() { - std::thread([&] { - QStringList states = ButtonSelectionControl::selectedStates.split(',', QString::SkipEmptyParts); - QStringList countries = ButtonSelectionControl::selectedCountries.split(',', QString::SkipEmptyParts); - - QJsonObject json; - json.insert("states", QJsonArray::fromStringList(states)); - json.insert("nations", QJsonArray::fromStringList(countries)); - - params.putNonBlocking("MapsSelected", QJsonDocument(json).toJson(QJsonDocument::Compact).toStdString()); - - if (!states.isEmpty() || !countries.isEmpty()) { - downloadOfflineMapsButton->setVisible(true); - update(); - } else { - params.remove("MapsSelected"); - } - }).detach(); -} - -SelectMaps::SelectMaps(QWidget *parent) : QWidget(parent) { - QVBoxLayout *mainLayout = new QVBoxLayout(this); - - QHBoxLayout *buttonsLayout = new QHBoxLayout(); - buttonsLayout->setContentsMargins(20, 40, 20, 0); - - backButton = new QPushButton(tr("Back"), this); - statesButton = new QPushButton(tr("States"), this); - countriesButton = new QPushButton(tr("Countries"), this); - - backButton->setFixedSize(400, 100); - statesButton->setFixedSize(400, 100); - countriesButton->setFixedSize(400, 100); - - buttonsLayout->addWidget(backButton); - buttonsLayout->addStretch(); - buttonsLayout->addWidget(statesButton); - buttonsLayout->addStretch(); - buttonsLayout->addWidget(countriesButton); - mainLayout->addLayout(buttonsLayout); - - mainLayout->addWidget(horizontalLine()); - mainLayout->setSpacing(20); - - mapsLayout = new QStackedLayout(); - mapsLayout->setMargin(40); - mapsLayout->setSpacing(20); - mainLayout->addLayout(mapsLayout); - - QObject::connect(backButton, &QPushButton::clicked, this, [this]() { emit backPress(), emit setMaps(); }); - - FrogPilotListWidget *statesList = new FrogPilotListWidget(); - - LabelControl *northeastLabel = new LabelControl(tr("United States - Northeast"), ""); - statesList->addItem(northeastLabel); - - ButtonSelectionControl *northeastControl = new ButtonSelectionControl("", tr(""), tr(""), northeastMap, false); - statesList->addItem(northeastControl); - - LabelControl *midwestLabel = new LabelControl(tr("United States - Midwest"), ""); - statesList->addItem(midwestLabel); - - ButtonSelectionControl *midwestControl = new ButtonSelectionControl("", tr(""), tr(""), midwestMap, false); - statesList->addItem(midwestControl); - - LabelControl *southLabel = new LabelControl(tr("United States - South"), ""); - statesList->addItem(southLabel); - - ButtonSelectionControl *southControl = new ButtonSelectionControl("", tr(""), tr(""), southMap, false); - statesList->addItem(southControl); - - LabelControl *westLabel = new LabelControl(tr("United States - West"), ""); - statesList->addItem(westLabel); - - ButtonSelectionControl *westControl = new ButtonSelectionControl("", tr(""), tr(""), westMap, false); - statesList->addItem(westControl); - - LabelControl *territoriesLabel = new LabelControl(tr("United States - Territories"), ""); - statesList->addItem(territoriesLabel); - - ButtonSelectionControl *territoriesControl = new ButtonSelectionControl("", tr(""), tr(""), territoriesMap, false); - statesList->addItem(territoriesControl); - - statesScrollView = new ScrollView(statesList); - mapsLayout->addWidget(statesScrollView); - - QObject::connect(statesButton, &QPushButton::clicked, this, [this]() { - mapsLayout->setCurrentWidget(statesScrollView); - statesButton->setStyleSheet(activeButtonStyle); - countriesButton->setStyleSheet(normalButtonStyle); - }); - - FrogPilotListWidget *countriesList = new FrogPilotListWidget(); - - LabelControl *africaLabel = new LabelControl(tr("Africa"), ""); - countriesList->addItem(africaLabel); - - ButtonSelectionControl *africaControl = new ButtonSelectionControl("", tr(""), tr(""), africaMap, true); - countriesList->addItem(africaControl); - - LabelControl *antarcticaLabel = new LabelControl(tr("Antarctica"), ""); - countriesList->addItem(antarcticaLabel); - - ButtonSelectionControl *antarcticaControl = new ButtonSelectionControl("", tr(""), tr(""), antarcticaMap, true); - countriesList->addItem(antarcticaControl); - - LabelControl *asiaLabel = new LabelControl(tr("Asia"), ""); - countriesList->addItem(asiaLabel); - - ButtonSelectionControl *asiaControl = new ButtonSelectionControl("", tr(""), tr(""), asiaMap, true); - countriesList->addItem(asiaControl); - - LabelControl *europeLabel = new LabelControl(tr("Europe"), ""); - countriesList->addItem(europeLabel); - - ButtonSelectionControl *europeControl = new ButtonSelectionControl("", tr(""), tr(""), europeMap, true); - countriesList->addItem(europeControl); - - LabelControl *northAmericaLabel = new LabelControl(tr("North America"), ""); - countriesList->addItem(northAmericaLabel); - - ButtonSelectionControl *northAmericaControl = new ButtonSelectionControl("", tr(""), tr(""), northAmericaMap, true); - countriesList->addItem(northAmericaControl); - - LabelControl *oceaniaLabel = new LabelControl(tr("Oceania"), ""); - countriesList->addItem(oceaniaLabel); - - ButtonSelectionControl *oceaniaControl = new ButtonSelectionControl("", tr(""), tr(""), oceaniaMap, true); - countriesList->addItem(oceaniaControl); - - LabelControl *southAmericaLabel = new LabelControl(tr("South America"), ""); - countriesList->addItem(southAmericaLabel); - - ButtonSelectionControl *southAmericaControl = new ButtonSelectionControl("", tr(""), tr(""), southAmericaMap, true); - countriesList->addItem(southAmericaControl); - - countriesScrollView = new ScrollView(countriesList); - mapsLayout->addWidget(countriesScrollView); - - QObject::connect(countriesButton, &QPushButton::clicked, this, [this]() { - mapsLayout->setCurrentWidget(countriesScrollView); - statesButton->setStyleSheet(normalButtonStyle); - countriesButton->setStyleSheet(activeButtonStyle); - }); - - mapsLayout->setCurrentWidget(statesScrollView); - statesButton->setStyleSheet(activeButtonStyle); - - setStyleSheet(R"( - QPushButton { - font-size: 50px; - margin: 0px; - padding: 15px; - border-width: 0; - border-radius: 30px; - color: #dddddd; - background-color: #393939; - } - QPushButton:pressed { - background-color: #4a4a4a; - } - )"); -} - -QString SelectMaps::activeButtonStyle = R"( - font-size: 50px; - margin: 0px; - padding: 15px; - border-width: 0; - border-radius: 30px; - color: #dddddd; - background-color: #33Ab4C; -)"; - -QString SelectMaps::normalButtonStyle = R"( - font-size: 50px; - margin: 0px; - padding: 15px; - border-width: 0; - border-radius: 30px; - color: #dddddd; - background-color: #393939; -)"; - -QFrame *SelectMaps::horizontalLine(QWidget *parent) const { - QFrame *line = new QFrame(parent); - - line->setFrameShape(QFrame::StyledPanel); - line->setStyleSheet(R"( - border-width: 2px; - border-bottom-style: solid; - border-color: gray; - )"); - line->setFixedHeight(2); - - return line; -} - -void SelectMaps::hideEvent(QHideEvent *event) { - QWidget::hideEvent(event); - emit setMaps(); -} - -Primeless::Primeless(QWidget *parent) : QWidget(parent) { - QStackedLayout *primelessLayout = new QStackedLayout(this); - - QWidget *mainWidget = new QWidget(); - mainLayout = new QVBoxLayout(mainWidget); - mainLayout->setMargin(40); - - backButton = new QPushButton(tr("Back"), this); - backButton->setObjectName("backButton"); - backButton->setFixedSize(400, 100); - QObject::connect(backButton, &QPushButton::clicked, this, [this]() { emit backPress(); }); - mainLayout->addWidget(backButton, 0, Qt::AlignLeft); - - list = new FrogPilotListWidget(mainWidget); - - wifi = new WifiManager(this); - ipLabel = new LabelControl(tr("Manage Your Settings At"), QString("%1:8082").arg(wifi->getIp4Address())); - list->addItem(ipLabel); - - std::vector searchOptions{tr("MapBox"), tr("Amap"), tr("Google")}; - ButtonParamControl *searchInput = new ButtonParamControl("SearchInput", tr("Destination Search Provider"), - tr("Select a search provider for destination queries in Navigate on Openpilot. Options include MapBox (recommended), Amap, and Google Maps."), - "", searchOptions); - list->addItem(searchInput); - - createMapboxKeyControl(publicMapboxKeyControl, tr("Public Mapbox Key"), "MapboxPublicKey", "pk."); - createMapboxKeyControl(secretMapboxKeyControl, tr("Secret Mapbox Key"), "MapboxSecretKey", "sk."); - - mapboxPublicKeySet = !params.get("MapboxPublicKey").empty(); - mapboxSecretKeySet = !params.get("MapboxSecretKey").empty(); - setupCompleted = mapboxPublicKeySet && mapboxSecretKeySet; - - QHBoxLayout *setupLayout = new QHBoxLayout(); - setupLayout->setMargin(0); - - imageLabel = new QLabel(this); - pixmap.load(currentStep); - imageLabel->setPixmap(pixmap.scaledToWidth(1500, Qt::SmoothTransformation)); - setupLayout->addWidget(imageLabel, 0, Qt::AlignCenter); - imageLabel->hide(); - - ButtonControl *setupButton = new ButtonControl(tr("Setup Instructions"), tr("VIEW"), tr("View the instructions to set up MapBox for Primeless Navigation."), this); - QObject::connect(setupButton, &ButtonControl::clicked, this, [this]() { - updateStep(); - backButton->hide(); - list->setVisible(false); - imageLabel->show(); - }); - list->addItem(setupButton); - - QObject::connect(uiState(), &UIState::uiUpdate, this, &Primeless::updateState); - - mainLayout->addLayout(setupLayout); - mainLayout->addWidget(new ScrollView(list, mainWidget)); - mainWidget->setLayout(mainLayout); - primelessLayout->addWidget(mainWidget); - - setLayout(primelessLayout); - - setStyleSheet(R"( - QPushButton { - font-size: 50px; - margin: 0px; - padding: 15px; - border-width: 0; - border-radius: 30px; - color: #dddddd; - background-color: #393939; - } - QPushButton:pressed { - background-color: #4a4a4a; - } - )"); -} - -void Primeless::hideEvent(QHideEvent *event) { - QWidget::hideEvent(event); - backButton->show(); - list->setVisible(true); - imageLabel->hide(); -} - -void Primeless::mousePressEvent(QMouseEvent *event) { - backButton->show(); - list->setVisible(true); - imageLabel->hide(); -} - -void Primeless::updateState() { - if (!isVisible()) return; - - QString ipAddress = wifi->getIp4Address(); - ipLabel->setText(ipAddress.isEmpty() ? tr("Device Offline") : QString("%1:8082").arg(ipAddress)); - - mapboxPublicKeySet = !params.get("MapboxPublicKey").empty(); - mapboxSecretKeySet = !params.get("MapboxSecretKey").empty(); - setupCompleted = mapboxPublicKeySet && mapboxSecretKeySet && setupCompleted; - - publicMapboxKeyControl->setText(mapboxPublicKeySet ? tr("REMOVE") : tr("ADD")); - secretMapboxKeyControl->setText(mapboxSecretKeySet ? tr("REMOVE") : tr("ADD")); - - if (imageLabel->isVisible()) { - updateStep(); - } -} - -void Primeless::createMapboxKeyControl(ButtonControl *&control, const QString &label, const std::string ¶mKey, const QString &prefix) { - control = new ButtonControl(label, "", tr("Manage your %1.").arg(label), this); - QObject::connect(control, &ButtonControl::clicked, this, [this, control, label, paramKey, prefix] { - if (control->text() == tr("ADD")) { - QString key = InputDialog::getText(tr("Enter your %1").arg(label), this); - if (!key.startsWith(prefix)) { - key = prefix + key; - } - if (key.length() >= 80) { - params.putNonBlocking(paramKey, key.toStdString()); - } else { - FrogPilotConfirmationDialog::toggleAlert(tr("Inputted key is too short to be valid!"), tr("Okay"), this); - } - } else { - if (FrogPilotConfirmationDialog::yesorno(tr("Are you sure you want to remove your %1?").arg(label), this)) { - params.remove(paramKey); - } - } - }); - list->addItem(control); - control->setText(params.get(paramKey).empty() ? tr("ADD") : tr("REMOVE")); -} - -void Primeless::updateStep() { - currentStep = setupCompleted ? "../frogpilot/navigation/navigation_training/setup_completed.png" : - (mapboxPublicKeySet && mapboxSecretKeySet) ? "../frogpilot/navigation/navigation_training/both_keys_set.png" : - mapboxPublicKeySet ? "../frogpilot/navigation/navigation_training/public_key_set.png" : "../frogpilot/navigation/navigation_training/no_keys_set.png"; - - pixmap.load(currentStep); - imageLabel->setPixmap(pixmap.scaledToWidth(1500, Qt::SmoothTransformation)); -} diff --git a/selfdrive/frogpilot/navigation/ui/navigation_settings.h b/selfdrive/frogpilot/navigation/ui/navigation_settings.h deleted file mode 100644 index f80fc3e6872da0..00000000000000 --- a/selfdrive/frogpilot/navigation/ui/navigation_settings.h +++ /dev/null @@ -1,117 +0,0 @@ -#pragma once - -#include "selfdrive/frogpilot/ui/qt/widgets/frogpilot_controls.h" -#include "selfdrive/ui/qt/network/wifi_manager.h" -#include "selfdrive/ui/qt/offroad/settings.h" -#include "selfdrive/ui/qt/widgets/scrollview.h" -#include "selfdrive/ui/ui.h" - -class Primeless : public QWidget { - Q_OBJECT - -public: - explicit Primeless(QWidget *parent = nullptr); - -protected: - void mousePressEvent(QMouseEvent *event) override; - void hideEvent(QHideEvent *event) override; - -private: - void createMapboxKeyControl(ButtonControl *&control, const QString &label, const std::string ¶mKey, const QString &prefix); - void updateState(); - void updateStep(); - - QVBoxLayout *mainLayout; - FrogPilotListWidget *list; - - QPushButton *backButton; - QLabel *imageLabel; - - ButtonControl *publicMapboxKeyControl; - ButtonControl *secretMapboxKeyControl; - LabelControl *ipLabel; - - WifiManager *wifi; - - bool mapboxPublicKeySet; - bool mapboxSecretKeySet; - bool setupCompleted; - QPixmap pixmap; - QString currentStep = "../assets/images/setup_completed.png"; - - Params params; - -signals: - void backPress(); -}; - -class SelectMaps : public QWidget { - Q_OBJECT - -public: - explicit SelectMaps(QWidget *parent = nullptr); - - QFrame *horizontalLine(QWidget *parent = nullptr) const; - -private: - void hideEvent(QHideEvent *event); - - ScrollView *countriesScrollView; - ScrollView *statesScrollView; - QStackedLayout *mapsLayout; - - QPushButton *backButton; - QPushButton *statesButton; - QPushButton *countriesButton; - - static QString activeButtonStyle; - static QString normalButtonStyle; - -signals: - void backPress(); - void setMaps(); -}; - -class FrogPilotNavigationPanel : public QFrame { - Q_OBJECT - -public: - explicit FrogPilotNavigationPanel(QWidget *parent = 0); - -private: - void cancelDownload(QWidget *parent); - void downloadMaps(); - void hideEvent(QHideEvent *event); - void removeMaps(QWidget *parent); - void setMaps(); - void showEvent(QShowEvent *event); - void updateDownloadedLabel(); - void updateState(); - void updateStatuses(); - void updateVisibility(bool visibility); - - QStackedLayout *mainLayout; - QWidget *navigationWidget; - - ButtonControl *cancelDownloadButton; - ButtonControl *downloadOfflineMapsButton; - ButtonControl *redownloadOfflineMapsButton; - ButtonControl *removeOfflineMapsButton; - - LabelControl *lastMapsDownload; - LabelControl *offlineMapsSize; - LabelControl *offlineMapsStatus; - LabelControl *offlineMapsETA; - LabelControl *offlineMapsElapsed; - - bool downloadActive; - bool previousDownloadActive; - QString elapsedTime; - QString offlineFolderPath = "/data/media/0/osm/offline"; - std::string osmDownloadProgress; - std::string previousOSMDownloadProgress; - - Params params; - Params paramsMemory{"/dev/shm/params"}; - UIScene &scene; -}; diff --git a/selfdrive/frogpilot/navigation/ui/primeless_settings.cc b/selfdrive/frogpilot/navigation/ui/primeless_settings.cc new file mode 100644 index 00000000000000..f181ab04ca70de --- /dev/null +++ b/selfdrive/frogpilot/navigation/ui/primeless_settings.cc @@ -0,0 +1,129 @@ +#include "selfdrive/frogpilot/navigation/ui/primeless_settings.h" + +FrogPilotPrimelessPanel::FrogPilotPrimelessPanel(FrogPilotSettingsWindow *parent) : FrogPilotListWidget(parent) { + addItem(ipLabel = new LabelControl(tr("Manage Your Settings At"), tr("Device Offline"))); + + std::vector searchOptions{tr("MapBox"), tr("Amap"), tr("Google")}; + searchInput = new ButtonParamControl("SearchInput", tr("Destination Search Provider"), + tr("Select a search provider for destination queries in Navigate on Openpilot. Options include MapBox (recommended), Amap, and Google Maps."), + "", searchOptions); + addItem(searchInput); + + createMapboxKeyControl(publicMapboxKeyControl, tr("Public Mapbox Key"), "MapboxPublicKey", "pk."); + createMapboxKeyControl(secretMapboxKeyControl, tr("Secret Mapbox Key"), "MapboxSecretKey", "sk."); + + setupButton = new ButtonControl(tr("Mapbox Setup Instructions"), tr("VIEW"), tr("View the instructions to set up MapBox for 'Primeless Navigation'."), this); + QObject::connect(setupButton, &ButtonControl::clicked, [this]() { + displayMapboxInstructions(true); + openMapBoxInstructions(); + updateStep(); + }); + addItem(setupButton); + + imageLabel = new QLabel(this); + addItem(imageLabel); + + QObject::connect(parent, &FrogPilotSettingsWindow::closeMapBoxInstructions, [this]() {displayMapboxInstructions(false);}); + QObject::connect(uiState(), &UIState::uiUpdate, this, &FrogPilotPrimelessPanel::updateState); + + displayMapboxInstructions(false); +} + +void FrogPilotPrimelessPanel::showEvent(QShowEvent *event) { + WifiManager *wifi = new WifiManager(this); + QString ipAddress = wifi->getIp4Address(); + ipLabel->setText(ipAddress.isEmpty() ? tr("Device Offline") : QString("%1:8082").arg(ipAddress)); + + mapboxPublicKeySet = !params.get("MapboxPublicKey").empty(); + mapboxSecretKeySet = !params.get("MapboxSecretKey").empty(); + setupCompleted = mapboxPublicKeySet && mapboxSecretKeySet; + + publicMapboxKeyControl->setText(mapboxPublicKeySet ? tr("REMOVE") : tr("ADD")); + secretMapboxKeyControl->setText(mapboxSecretKeySet ? tr("REMOVE") : tr("ADD")); +} + +void FrogPilotPrimelessPanel::updateState() { + if (!isVisible()) { + return; + } + + if (imageLabel->isVisible()) { + mapboxPublicKeySet = !params.get("MapboxPublicKey").empty(); + mapboxSecretKeySet = !params.get("MapboxSecretKey").empty(); + + updateStep(); + } +} + +void FrogPilotPrimelessPanel::createMapboxKeyControl(ButtonControl *&control, const QString &label, const std::string ¶mKey, const QString &prefix) { + control = new ButtonControl(label, "", tr("Manage your %1.").arg(label)); + + QObject::connect(control, &ButtonControl::clicked, [=] { + if (control->text() == tr("ADD")) { + QString key = InputDialog::getText(tr("Enter your %1").arg(label), this); + + if (!key.startsWith(prefix)) { + key = prefix + key; + } + if (key.length() >= 80) { + params.putNonBlocking(paramKey, key.toStdString()); + } else { + FrogPilotConfirmationDialog::toggleAlert(tr("Inputted key is invalid or too short!"), tr("Okay"), this); + } + } else { + if (FrogPilotConfirmationDialog::yesorno(tr("Are you sure you want to remove your %1?").arg(label), this)) { + control->setText(tr("ADD")); + + params.remove(paramKey); + paramsStorage.remove(paramKey); + + setupCompleted = false; + } + } + }); + + control->setText(params.get(paramKey).empty() ? tr("ADD") : tr("REMOVE")); + addItem(control); +} + +void FrogPilotPrimelessPanel::hideEvent(QHideEvent *event) { + displayMapboxInstructions(false); +} + +void FrogPilotPrimelessPanel::mousePressEvent(QMouseEvent *event) { + displayMapboxInstructions(false); +} + +void FrogPilotPrimelessPanel::displayMapboxInstructions(bool visible) { + setUpdatesEnabled(false); + + imageLabel->setVisible(visible); + ipLabel->setVisible(!visible); + publicMapboxKeyControl->setVisible(!visible); + searchInput->setVisible(!visible); + secretMapboxKeyControl->setVisible(!visible); + setupButton->setVisible(!visible); + + setUpdatesEnabled(true); + update(); +} + +void FrogPilotPrimelessPanel::updateStep() { + QString currentStep; + + if (setupCompleted) { + currentStep = "../frogpilot/navigation/navigation_training/setup_completed.png"; + } else if (mapboxPublicKeySet && mapboxSecretKeySet) { + currentStep = "../frogpilot/navigation/navigation_training/both_keys_set.png"; + } else if (mapboxPublicKeySet) { + currentStep = "../frogpilot/navigation/navigation_training/public_key_set.png"; + } else { + currentStep = "../frogpilot/navigation/navigation_training/no_keys_set.png"; + } + + QPixmap pixmap; + pixmap.load(currentStep); + + imageLabel->setPixmap(pixmap.scaledToWidth(1500, Qt::SmoothTransformation)); + update(); +} diff --git a/selfdrive/frogpilot/navigation/ui/primeless_settings.h b/selfdrive/frogpilot/navigation/ui/primeless_settings.h new file mode 100644 index 00000000000000..690f0842baa6c1 --- /dev/null +++ b/selfdrive/frogpilot/navigation/ui/primeless_settings.h @@ -0,0 +1,39 @@ +#pragma once + +#include "selfdrive/frogpilot/ui/qt/offroad/frogpilot_settings.h" + +class FrogPilotPrimelessPanel : public FrogPilotListWidget { + Q_OBJECT + +public: + explicit FrogPilotPrimelessPanel(FrogPilotSettingsWindow *parent); + +signals: + void openMapBoxInstructions(); + +private: + void createMapboxKeyControl(ButtonControl *&control, const QString &label, const std::string ¶mKey, const QString &prefix); + void displayMapboxInstructions(bool visible); + void hideEvent(QHideEvent *event); + void mousePressEvent(QMouseEvent *event); + void showEvent(QShowEvent *event); + void updateState(); + void updateStep(); + + ButtonControl *publicMapboxKeyControl; + ButtonControl *secretMapboxKeyControl; + ButtonControl *setupButton; + + ButtonParamControl *searchInput; + + LabelControl *ipLabel; + + Params params; + Params paramsStorage{"/persist/params"}; + + bool mapboxPublicKeySet; + bool mapboxSecretKeySet; + bool setupCompleted; + + QLabel *imageLabel; +}; diff --git a/selfdrive/frogpilot/screenrecorder/omx_encoder.cc b/selfdrive/frogpilot/screenrecorder/omx_encoder.cc index e96cf01a1f764d..0700cd7cf0defb 100644 --- a/selfdrive/frogpilot/screenrecorder/omx_encoder.cc +++ b/selfdrive/frogpilot/screenrecorder/omx_encoder.cc @@ -19,6 +19,7 @@ #include "common/swaglog.h" #include "common/util.h" +ExitHandler do_exit; using namespace libyuv; @@ -33,143 +34,43 @@ int ABGRToNV12(const uint8_t* src_abgr, int height) { int y; int halfwidth = (width + 1) >> 1; + void (*ABGRToUVRow)(const uint8_t* src_abgr0, int src_stride_abgr, - uint8_t* dst_u, uint8_t* dst_v, int width) = - ABGRToUVRow_C; - void (*ABGRToYRow)(const uint8_t* src_abgr, uint8_t* dst_y, int width) = - ABGRToYRow_C; + uint8_t* dst_u, uint8_t* dst_v, int width) = ABGRToUVRow_NEON; + void (*ABGRToYRow)(const uint8_t* src_abgr, uint8_t* dst_y, int width) = ABGRToYRow_NEON; void (*MergeUVRow_)(const uint8_t* src_u, const uint8_t* src_v, - uint8_t* dst_uv, int width) = MergeUVRow_C; + uint8_t* dst_uv, int width) = MergeUVRow_NEON; + if (!src_abgr || !dst_y || !dst_uv || width <= 0 || height == 0) { return -1; } - // Negative height means invert the image. + if (height < 0) { height = -height; src_abgr = src_abgr + (height - 1) * src_stride_abgr; src_stride_abgr = -src_stride_abgr; } -#if defined(HAS_ABGRTOYROW_SSSE3) && defined(HAS_ABGRTOUVROW_SSSE3) - if (TestCpuFlag(kCpuHasSSSE3)) { - ABGRToUVRow = ABGRToUVRow_Any_SSSE3; - ABGRToYRow = ABGRToYRow_Any_SSSE3; - if (IS_ALIGNED(width, 16)) { - ABGRToUVRow = ABGRToUVRow_SSSE3; - ABGRToYRow = ABGRToYRow_SSSE3; - } - } -#endif -#if defined(HAS_ABGRTOYROW_AVX2) && defined(HAS_ABGRTOUVROW_AVX2) - if (TestCpuFlag(kCpuHasAVX2)) { - ABGRToUVRow = ABGRToUVRow_Any_AVX2; - ABGRToYRow = ABGRToYRow_Any_AVX2; - if (IS_ALIGNED(width, 32)) { - ABGRToUVRow = ABGRToUVRow_AVX2; - ABGRToYRow = ABGRToYRow_AVX2; - } - } -#endif -#if defined(HAS_ABGRTOYROW_NEON) - if (TestCpuFlag(kCpuHasNEON)) { - ABGRToYRow = ABGRToYRow_Any_NEON; - if (IS_ALIGNED(width, 8)) { - ABGRToYRow = ABGRToYRow_NEON; - } - } -#endif -#if defined(HAS_ABGRTOUVROW_NEON) - if (TestCpuFlag(kCpuHasNEON)) { - ABGRToUVRow = ABGRToUVRow_Any_NEON; - if (IS_ALIGNED(width, 16)) { - ABGRToUVRow = ABGRToUVRow_NEON; - } - } -#endif -#if defined(HAS_ABGRTOYROW_MMI) && defined(HAS_ABGRTOUVROW_MMI) - if (TestCpuFlag(kCpuHasMMI)) { - ABGRToYRow = ABGRToYRow_Any_MMI; - ABGRToUVRow = ABGRToUVRow_Any_MMI; - if (IS_ALIGNED(width, 8)) { - ABGRToYRow = ABGRToYRow_MMI; - } - if (IS_ALIGNED(width, 16)) { - ABGRToUVRow = ABGRToUVRow_MMI; - } - } -#endif -#if defined(HAS_ABGRTOYROW_MSA) && defined(HAS_ABGRTOUVROW_MSA) - if (TestCpuFlag(kCpuHasMSA)) { - ABGRToYRow = ABGRToYRow_Any_MSA; - ABGRToUVRow = ABGRToUVRow_Any_MSA; - if (IS_ALIGNED(width, 16)) { - ABGRToYRow = ABGRToYRow_MSA; - } - if (IS_ALIGNED(width, 32)) { - ABGRToUVRow = ABGRToUVRow_MSA; - } - } -#endif -#if defined(HAS_MERGEUVROW_SSE2) - if (TestCpuFlag(kCpuHasSSE2)) { - MergeUVRow_ = MergeUVRow_Any_SSE2; - if (IS_ALIGNED(halfwidth, 16)) { - MergeUVRow_ = MergeUVRow_SSE2; - } - } -#endif -#if defined(HAS_MERGEUVROW_AVX2) - if (TestCpuFlag(kCpuHasAVX2)) { - MergeUVRow_ = MergeUVRow_Any_AVX2; - if (IS_ALIGNED(halfwidth, 32)) { - MergeUVRow_ = MergeUVRow_AVX2; - } - } -#endif -#if defined(HAS_MERGEUVROW_NEON) - if (TestCpuFlag(kCpuHasNEON)) { - MergeUVRow_ = MergeUVRow_Any_NEON; - if (IS_ALIGNED(halfwidth, 16)) { - MergeUVRow_ = MergeUVRow_NEON; - } - } -#endif -#if defined(HAS_MERGEUVROW_MMI) - if (TestCpuFlag(kCpuHasMMI)) { - MergeUVRow_ = MergeUVRow_Any_MMI; - if (IS_ALIGNED(halfwidth, 8)) { - MergeUVRow_ = MergeUVRow_MMI; - } - } -#endif -#if defined(HAS_MERGEUVROW_MSA) - if (TestCpuFlag(kCpuHasMSA)) { - MergeUVRow_ = MergeUVRow_Any_MSA; - if (IS_ALIGNED(halfwidth, 16)) { - MergeUVRow_ = MergeUVRow_MSA; - } + + align_buffer_64(row_u, ((halfwidth + 31) & ~31) * 2); + uint8_t* row_v = row_u + ((halfwidth + 31) & ~31); + + for (y = 0; y < height - 1; y += 2) { + ABGRToUVRow(src_abgr, src_stride_abgr, row_u, row_v, width); + MergeUVRow_(row_u, row_v, dst_uv, halfwidth); + ABGRToYRow(src_abgr, dst_y, width); + ABGRToYRow(src_abgr + src_stride_abgr, dst_y + dst_stride_y, width); + src_abgr += src_stride_abgr * 2; + dst_y += dst_stride_y * 2; + dst_uv += dst_stride_uv; } -#endif - { - // Allocate a rows of uv. - align_buffer_64(row_u, ((halfwidth + 31) & ~31) * 2); - uint8_t* row_v = row_u + ((halfwidth + 31) & ~31); - - for (y = 0; y < height - 1; y += 2) { - ABGRToUVRow(src_abgr, src_stride_abgr, row_u, row_v, width); - MergeUVRow_(row_u, row_v, dst_uv, halfwidth); - ABGRToYRow(src_abgr, dst_y, width); - ABGRToYRow(src_abgr + src_stride_abgr, dst_y + dst_stride_y, width); - src_abgr += src_stride_abgr * 2; - dst_y += dst_stride_y * 2; - dst_uv += dst_stride_uv; - } - if (height & 1) { - ABGRToUVRow(src_abgr, 0, row_u, row_v, width); - MergeUVRow_(row_u, row_v, dst_uv, halfwidth); - ABGRToYRow(src_abgr, dst_y, width); - } - free_aligned_buffer_64(row_u); + + if (height & 1) { + ABGRToUVRow(src_abgr, 0, row_u, row_v, width); + MergeUVRow_(row_u, row_v, dst_uv, halfwidth); + ABGRToYRow(src_abgr, dst_y, width); } + + free_aligned_buffer_64(row_u); return 0; } @@ -179,14 +80,12 @@ int ABGRToNV12(const uint8_t* src_abgr, assert(OMX_ErrorNone == (_expr)); \ } while (0) -extern ExitHandler do_exit; - // ***** OMX callback functions ***** void OmxEncoder::wait_for_state(OMX_STATETYPE state_) { - std::unique_lock lk(this->state_lock); - while (this->state != state_) { - this->state_cv.wait(lk); + std::unique_lock lk(state_lock); + while (state != state_) { + state_cv.wait(lk); } } @@ -304,204 +203,188 @@ static const char* omx_color_fomat_name(uint32_t format) { // ***** encoder functions ***** -OmxEncoder::OmxEncoder(const char* path, int width, int height, int fps, int bitrate, bool h265, bool downscale) { +OmxEncoder::OmxEncoder(const char* path, int width, int height, int fps, int bitrate) { this->path = path; this->width = width; this->height = height; this->fps = fps; - this->remuxing = !h265; - this->downscale = downscale; - if (this->downscale) { - this->y_ptr2 = (uint8_t *)malloc(this->width*this->height); - this->u_ptr2 = (uint8_t *)malloc(this->width*this->height/4); - this->v_ptr2 = (uint8_t *)malloc(this->width*this->height/4); - } - - auto component = (OMX_STRING)(h265 ? "OMX.qcom.video.encoder.hevc" : "OMX.qcom.video.encoder.avc"); - int err = OMX_GetHandle(&this->handle, component, this, &omx_callbacks); + OMX_STRING component = (OMX_STRING)("OMX.qcom.video.encoder.avc"); + int err = OMX_GetHandle(&handle, component, this, &omx_callbacks); if (err != OMX_ErrorNone) { LOGE("error getting codec: %x", err); } // setup input port - OMX_PARAM_PORTDEFINITIONTYPE in_port = {0}; in_port.nSize = sizeof(in_port); in_port.nPortIndex = (OMX_U32) PORT_INDEX_IN; - OMX_CHECK(OMX_GetParameter(this->handle, OMX_IndexParamPortDefinition, (OMX_PTR) &in_port)); - - in_port.format.video.nFrameWidth = this->width; - in_port.format.video.nFrameHeight = this->height; - in_port.format.video.nStride = VENUS_Y_STRIDE(COLOR_FMT_NV12, this->width); - in_port.format.video.nSliceHeight = this->height; - in_port.nBufferSize = VENUS_BUFFER_SIZE(COLOR_FMT_NV12, this->width, this->height); - in_port.format.video.xFramerate = (this->fps * 65536); + OMX_CHECK(OMX_GetParameter(handle, OMX_IndexParamPortDefinition, (OMX_PTR) &in_port)); + + in_port.format.video.nFrameWidth = width; + in_port.format.video.nFrameHeight = height; + in_port.format.video.nStride = VENUS_Y_STRIDE(COLOR_FMT_NV12, width); + in_port.format.video.nSliceHeight = height; + in_port.nBufferSize = VENUS_BUFFER_SIZE(COLOR_FMT_NV12, width, height); + in_port.format.video.xFramerate = (fps * 65536); in_port.format.video.eCompressionFormat = OMX_VIDEO_CodingUnused; in_port.format.video.eColorFormat = (OMX_COLOR_FORMATTYPE)QOMX_COLOR_FORMATYUV420PackedSemiPlanar32m; - OMX_CHECK(OMX_SetParameter(this->handle, OMX_IndexParamPortDefinition, (OMX_PTR) &in_port)); - OMX_CHECK(OMX_GetParameter(this->handle, OMX_IndexParamPortDefinition, (OMX_PTR) &in_port)); - this->in_buf_headers.resize(in_port.nBufferCountActual); + OMX_CHECK(OMX_SetParameter(handle, OMX_IndexParamPortDefinition, (OMX_PTR) &in_port)); + OMX_CHECK(OMX_GetParameter(handle, OMX_IndexParamPortDefinition, (OMX_PTR) &in_port)); + in_buf_headers.resize(in_port.nBufferCountActual); // setup output port - - OMX_PARAM_PORTDEFINITIONTYPE out_port = {0}; + OMX_PARAM_PORTDEFINITIONTYPE out_port; + memset(&out_port, 0, sizeof(OMX_PARAM_PORTDEFINITIONTYPE)); out_port.nSize = sizeof(out_port); + out_port.nVersion.s.nVersionMajor = 1; + out_port.nVersion.s.nVersionMinor = 0; + out_port.nVersion.s.nRevision = 0; + out_port.nVersion.s.nStep = 0; out_port.nPortIndex = (OMX_U32) PORT_INDEX_OUT; - OMX_CHECK(OMX_GetParameter(this->handle, OMX_IndexParamPortDefinition, (OMX_PTR)&out_port)); - out_port.format.video.nFrameWidth = this->width; - out_port.format.video.nFrameHeight = this->height; + + OMX_ERRORTYPE error = OMX_GetParameter(handle, OMX_IndexParamPortDefinition, (OMX_PTR)&out_port); + if (error != OMX_ErrorNone) { + LOGE("Error getting output port parameters: 0x%08x", error); + return; + } + + out_port.format.video.nFrameWidth = width; + out_port.format.video.nFrameHeight = height; out_port.format.video.xFramerate = 0; out_port.format.video.nBitrate = bitrate; - if (h265) { - out_port.format.video.eCompressionFormat = OMX_VIDEO_CodingHEVC; - } else { - out_port.format.video.eCompressionFormat = OMX_VIDEO_CodingAVC; - } + out_port.format.video.eCompressionFormat = OMX_VIDEO_CodingAVC; out_port.format.video.eColorFormat = OMX_COLOR_FormatUnused; - OMX_CHECK(OMX_SetParameter(this->handle, OMX_IndexParamPortDefinition, (OMX_PTR) &out_port)); + error = OMX_SetParameter(handle, OMX_IndexParamPortDefinition, (OMX_PTR) &out_port); + if (error != OMX_ErrorNone) { + LOGE("Error setting output port parameters: 0x%08x", error); + return; + } + + error = OMX_GetParameter(handle, OMX_IndexParamPortDefinition, (OMX_PTR) &out_port); + if (error != OMX_ErrorNone) { + LOGE("Error getting updated output port parameters: 0x%08x", error); + return; + } - OMX_CHECK(OMX_GetParameter(this->handle, OMX_IndexParamPortDefinition, (OMX_PTR) &out_port)); - this->out_buf_headers.resize(out_port.nBufferCountActual); + out_buf_headers.resize(out_port.nBufferCountActual); OMX_VIDEO_PARAM_BITRATETYPE bitrate_type = {0}; bitrate_type.nSize = sizeof(bitrate_type); bitrate_type.nPortIndex = (OMX_U32) PORT_INDEX_OUT; - OMX_CHECK(OMX_GetParameter(this->handle, OMX_IndexParamVideoBitrate, (OMX_PTR) &bitrate_type)); + OMX_CHECK(OMX_GetParameter(handle, OMX_IndexParamVideoBitrate, (OMX_PTR) &bitrate_type)); bitrate_type.eControlRate = OMX_Video_ControlRateVariable; bitrate_type.nTargetBitrate = bitrate; - OMX_CHECK(OMX_SetParameter(this->handle, OMX_IndexParamVideoBitrate, (OMX_PTR) &bitrate_type)); - - if (h265) { - // setup HEVC - #ifndef QCOM2 - OMX_VIDEO_PARAM_HEVCTYPE hevc_type = {0}; - OMX_INDEXTYPE index_type = (OMX_INDEXTYPE) OMX_IndexParamVideoHevc; - #else - OMX_VIDEO_PARAM_PROFILELEVELTYPE hevc_type = {0}; - OMX_INDEXTYPE index_type = OMX_IndexParamVideoProfileLevelCurrent; - #endif - hevc_type.nSize = sizeof(hevc_type); - hevc_type.nPortIndex = (OMX_U32) PORT_INDEX_OUT; - OMX_CHECK(OMX_GetParameter(this->handle, index_type, (OMX_PTR) &hevc_type)); - - hevc_type.eProfile = OMX_VIDEO_HEVCProfileMain; - hevc_type.eLevel = OMX_VIDEO_HEVCHighTierLevel5; - - OMX_CHECK(OMX_SetParameter(this->handle, index_type, (OMX_PTR) &hevc_type)); - } else { - // setup h264 - OMX_VIDEO_PARAM_AVCTYPE avc = { 0 }; - avc.nSize = sizeof(avc); - avc.nPortIndex = (OMX_U32) PORT_INDEX_OUT; - OMX_CHECK(OMX_GetParameter(this->handle, OMX_IndexParamVideoAvc, &avc)); + OMX_CHECK(OMX_SetParameter(handle, OMX_IndexParamVideoBitrate, (OMX_PTR) &bitrate_type)); - avc.nBFrames = 0; - avc.nPFrames = 15; + // setup h264 + OMX_VIDEO_PARAM_AVCTYPE avc = {0}; + avc.nSize = sizeof(avc); + avc.nPortIndex = (OMX_U32) PORT_INDEX_OUT; + OMX_CHECK(OMX_GetParameter(handle, OMX_IndexParamVideoAvc, &avc)); - avc.eProfile = OMX_VIDEO_AVCProfileHigh; - avc.eLevel = OMX_VIDEO_AVCLevel31; + avc.nBFrames = 0; + avc.nPFrames = 15; - avc.nAllowedPictureTypes |= OMX_VIDEO_PictureTypeB; - avc.eLoopFilterMode = OMX_VIDEO_AVCLoopFilterEnable; + avc.eProfile = OMX_VIDEO_AVCProfileHigh; + avc.eLevel = OMX_VIDEO_AVCLevel31; - avc.nRefFrames = 1; - avc.bUseHadamard = OMX_TRUE; - avc.bEntropyCodingCABAC = OMX_TRUE; - avc.bWeightedPPrediction = OMX_TRUE; - avc.bconstIpred = OMX_TRUE; + avc.nAllowedPictureTypes |= OMX_VIDEO_PictureTypeB; + avc.eLoopFilterMode = OMX_VIDEO_AVCLoopFilterEnable; - OMX_CHECK(OMX_SetParameter(this->handle, OMX_IndexParamVideoAvc, &avc)); - } + avc.nRefFrames = 1; + avc.bUseHadamard = OMX_TRUE; + avc.bEntropyCodingCABAC = OMX_TRUE; + avc.bWeightedPPrediction = OMX_TRUE; + avc.bconstIpred = OMX_TRUE; - OMX_CHECK(OMX_SendCommand(this->handle, OMX_CommandStateSet, OMX_StateIdle, NULL)); + OMX_CHECK(OMX_SetParameter(handle, OMX_IndexParamVideoAvc, &avc)); + OMX_CHECK(OMX_SendCommand(handle, OMX_CommandStateSet, OMX_StateIdle, NULL)); - for (auto &buf : this->in_buf_headers) { - OMX_CHECK(OMX_AllocateBuffer(this->handle, &buf, PORT_INDEX_IN, this, - in_port.nBufferSize)); + for (OMX_BUFFERHEADERTYPE* &buf : in_buf_headers) { + OMX_CHECK(OMX_AllocateBuffer(handle, &buf, PORT_INDEX_IN, this, in_port.nBufferSize)); } - for (auto &buf : this->out_buf_headers) { - OMX_CHECK(OMX_AllocateBuffer(this->handle, &buf, PORT_INDEX_OUT, this, - out_port.nBufferSize)); + for (OMX_BUFFERHEADERTYPE* &buf : out_buf_headers) { + OMX_CHECK(OMX_AllocateBuffer(handle, &buf, PORT_INDEX_OUT, this, out_port.nBufferSize)); } wait_for_state(OMX_StateIdle); - OMX_CHECK(OMX_SendCommand(this->handle, OMX_CommandStateSet, OMX_StateExecuting, NULL)); + OMX_CHECK(OMX_SendCommand(handle, OMX_CommandStateSet, OMX_StateExecuting, NULL)); wait_for_state(OMX_StateExecuting); // give omx all the output buffers - for (auto &buf : this->out_buf_headers) { - OMX_CHECK(OMX_FillThisBuffer(this->handle, buf)); + for (OMX_BUFFERHEADERTYPE* &buf : out_buf_headers) { + OMX_CHECK(OMX_FillThisBuffer(handle, buf)); } // fill the input free queue - for (auto &buf : this->in_buf_headers) { - this->free_in.push(buf); + for (OMX_BUFFERHEADERTYPE* &buf : in_buf_headers) { + free_in.push(buf); } } -void OmxEncoder::handle_out_buf(OmxEncoder *e, OMX_BUFFERHEADERTYPE *out_buf) { +void OmxEncoder::handle_out_buf(OmxEncoder *encoder, OMX_BUFFERHEADERTYPE *out_buf) { int err; uint8_t *buf_data = out_buf->pBuffer + out_buf->nOffset; if (out_buf->nFlags & OMX_BUFFERFLAG_CODECCONFIG) { - if (e->codec_config_len < out_buf->nFilledLen) { - e->codec_config = (uint8_t *)realloc(e->codec_config, out_buf->nFilledLen); + if (encoder->codec_config_len < out_buf->nFilledLen) { + encoder->codec_config = (uint8_t *)realloc(encoder->codec_config, out_buf->nFilledLen); } - e->codec_config_len = out_buf->nFilledLen; - memcpy(e->codec_config, buf_data, out_buf->nFilledLen); + encoder->codec_config_len = out_buf->nFilledLen; + memcpy(encoder->codec_config, buf_data, out_buf->nFilledLen); #ifdef QCOM2 out_buf->nTimeStamp = 0; #endif } - if (e->of) { - fwrite(buf_data, out_buf->nFilledLen, 1, e->of); + if (encoder->of) { + fwrite(buf_data, out_buf->nFilledLen, 1, encoder->of); } - if (e->remuxing) { - if (!e->wrote_codec_config && e->codec_config_len > 0) { - // extradata will be freed by av_free() in avcodec_free_context() - e->codec_ctx->extradata = (uint8_t*)av_mallocz(e->codec_config_len + AV_INPUT_BUFFER_PADDING_SIZE); - e->codec_ctx->extradata_size = e->codec_config_len; - memcpy(e->codec_ctx->extradata, e->codec_config, e->codec_config_len); - - err = avcodec_parameters_from_context(e->out_stream->codecpar, e->codec_ctx); - assert(err >= 0); - err = avformat_write_header(e->ofmt_ctx, NULL); - assert(err >= 0); + if (!encoder->wrote_codec_config && encoder->codec_config_len > 0) { + // extradata will be freed by av_free() in avcodec_free_context() + encoder->codec_ctx->extradata = (uint8_t*)av_mallocz(encoder->codec_config_len + AV_INPUT_BUFFER_PADDING_SIZE); + encoder->codec_ctx->extradata_size = encoder->codec_config_len; + memcpy(encoder->codec_ctx->extradata, encoder->codec_config, encoder->codec_config_len); - e->wrote_codec_config = true; - } + err = avcodec_parameters_from_context(encoder->out_stream->codecpar, encoder->codec_ctx); + assert(err >= 0); + err = avformat_write_header(encoder->ofmt_ctx, NULL); + assert(err >= 0); - if (out_buf->nTimeStamp > 0) { - // input timestamps are in microseconds - AVRational in_timebase = {1, 1000000}; + encoder->wrote_codec_config = true; + } - AVPacket pkt; - av_init_packet(&pkt); - pkt.data = buf_data; - pkt.size = out_buf->nFilledLen; + if (out_buf->nTimeStamp > 0) { + // input timestamps are in microseconds + AVRational in_timebase = {1, 1000000}; - enum AVRounding rnd = static_cast(AV_ROUND_NEAR_INF|AV_ROUND_PASS_MINMAX); - pkt.pts = pkt.dts = av_rescale_q_rnd(out_buf->nTimeStamp, in_timebase, e->ofmt_ctx->streams[0]->time_base, rnd); - pkt.duration = av_rescale_q(50*1000, in_timebase, e->ofmt_ctx->streams[0]->time_base); + AVPacket pkt; + av_init_packet(&pkt); + pkt.data = buf_data; + pkt.size = out_buf->nFilledLen; - if (out_buf->nFlags & OMX_BUFFERFLAG_SYNCFRAME) { - pkt.flags |= AV_PKT_FLAG_KEY; - } + enum AVRounding rnd = static_cast(AV_ROUND_NEAR_INF|AV_ROUND_PASS_MINMAX); + pkt.pts = pkt.dts = av_rescale_q_rnd(out_buf->nTimeStamp, in_timebase, encoder->ofmt_ctx->streams[0]->time_base, rnd); + pkt.duration = av_rescale_q(50 * 1000, in_timebase, encoder->ofmt_ctx->streams[0]->time_base); - err = av_write_frame(e->ofmt_ctx, &pkt); - if (err < 0) { LOGW("ts encoder write issue"); } + if (out_buf->nFlags & OMX_BUFFERFLAG_SYNCFRAME) { + pkt.flags |= AV_PKT_FLAG_KEY; + } - av_free_packet(&pkt); + err = av_write_frame(encoder->ofmt_ctx, &pkt); + if (err < 0) { + LOGW("ts encoder write issue"); } + + av_free_packet(&pkt); } // give omx back the buffer @@ -510,134 +393,116 @@ void OmxEncoder::handle_out_buf(OmxEncoder *e, OMX_BUFFERHEADERTYPE *out_buf) { out_buf->nTimeStamp = 0; } #endif - OMX_CHECK(OMX_FillThisBuffer(e->handle, out_buf)); + OMX_CHECK(OMX_FillThisBuffer(encoder->handle, out_buf)); } int OmxEncoder::encode_frame_rgba(const uint8_t *ptr, int in_width, int in_height, uint64_t ts) { - int err; - if (!this->is_open) { + if (!is_open) { return -1; } // this sometimes freezes... put it outside the encoder lock so we can still trigger rotates... // THIS IS A REALLY BAD IDEA, but apparently the race has to happen 30 times to trigger this OMX_BUFFERHEADERTYPE* in_buf = nullptr; - while (!this->free_in.try_pop(in_buf, 20)) { + while (!free_in.try_pop(in_buf, 20)) { if (do_exit) { return -1; } } - int ret = this->counter; + int ret = counter; uint8_t *in_buf_ptr = in_buf->pBuffer; uint8_t *in_y_ptr = in_buf_ptr; - int in_y_stride = VENUS_Y_STRIDE(COLOR_FMT_NV12, this->width); - int in_uv_stride = VENUS_UV_STRIDE(COLOR_FMT_NV12, this->width); - uint8_t *in_uv_ptr = in_buf_ptr + (in_y_stride * VENUS_Y_SCANLINES(COLOR_FMT_NV12, this->height)); - - err = ABGRToNV12(ptr, this->width*4, - in_y_ptr, in_y_stride, - in_uv_ptr, in_uv_stride, - this->width, this->height); + int in_y_stride = VENUS_Y_STRIDE(COLOR_FMT_NV12, width); + int in_uv_stride = VENUS_UV_STRIDE(COLOR_FMT_NV12, width); + uint8_t *in_uv_ptr = in_buf_ptr + (in_y_stride * VENUS_Y_SCANLINES(COLOR_FMT_NV12, height)); + + int err = ABGRToNV12(ptr, width * 4, in_y_ptr, in_y_stride, in_uv_ptr, in_uv_stride, width, height); assert(err == 0); - in_buf->nFilledLen = VENUS_BUFFER_SIZE(COLOR_FMT_NV12, this->width, this->height); + in_buf->nFilledLen = VENUS_BUFFER_SIZE(COLOR_FMT_NV12, width, height); in_buf->nFlags = OMX_BUFFERFLAG_ENDOFFRAME; in_buf->nOffset = 0; - in_buf->nTimeStamp = ts/1000LL; // OMX_TICKS, in microseconds - this->last_t = in_buf->nTimeStamp; + in_buf->nTimeStamp = ts / 1000LL; // OMX_TICKS, in microseconds + last_t = in_buf->nTimeStamp; - OMX_CHECK(OMX_EmptyThisBuffer(this->handle, in_buf)); + OMX_CHECK(OMX_EmptyThisBuffer(handle, in_buf)); // pump output while (true) { OMX_BUFFERHEADERTYPE *out_buf; - if (!this->done_out.try_pop(out_buf)) { + if (!done_out.try_pop(out_buf)) { break; } handle_out_buf(this, out_buf); } - this->dirty = true; + dirty = true; - this->counter++; + counter++; return ret; } void OmxEncoder::encoder_open(const char* filename) { - int err; - struct stat st = {0}; - if (stat(this->path.c_str(), &st) == -1) { - mkdir(this->path.c_str(), 0755); + if (stat(path.c_str(), &st) == -1) { + mkdir(path.c_str(), 0755); } - snprintf(this->vid_path, sizeof(this->vid_path), "%s/%s", this->path.c_str(), filename); - printf("encoder_open %s remuxing:%d\n", this->vid_path, this->remuxing); + snprintf(vid_path, sizeof(vid_path), "%s/%s", path.c_str(), filename); - if (this->remuxing) { - avformat_alloc_output_context2(&this->ofmt_ctx, NULL, NULL, this->vid_path); - assert(this->ofmt_ctx); + avformat_alloc_output_context2(&ofmt_ctx, NULL, NULL, vid_path); + assert(ofmt_ctx); - this->out_stream = avformat_new_stream(this->ofmt_ctx, NULL); - assert(this->out_stream); + out_stream = avformat_new_stream(ofmt_ctx, NULL); + assert(out_stream); - // set codec correctly - av_register_all(); + // set codec correctly + av_register_all(); - AVCodec *codec = NULL; - codec = avcodec_find_encoder(AV_CODEC_ID_H264); - assert(codec); + AVCodec *codec = avcodec_find_encoder(AV_CODEC_ID_H264); + assert(codec); - this->codec_ctx = avcodec_alloc_context3(codec); - assert(this->codec_ctx); - this->codec_ctx->width = this->width; - this->codec_ctx->height = this->height; - this->codec_ctx->pix_fmt = AV_PIX_FMT_YUV420P; - this->codec_ctx->time_base = (AVRational){ 1, this->fps }; + codec_ctx = avcodec_alloc_context3(codec); + assert(codec_ctx); + codec_ctx->width = width; + codec_ctx->height = height; + codec_ctx->pix_fmt = AV_PIX_FMT_YUV420P; + codec_ctx->time_base = {1, fps}; - err = avio_open(&this->ofmt_ctx->pb, this->vid_path, AVIO_FLAG_WRITE); - assert(err >= 0); + int err = avio_open(&ofmt_ctx->pb, vid_path, AVIO_FLAG_WRITE); + assert(err >= 0); - this->wrote_codec_config = false; - } else { - this->of = fopen(this->vid_path, "wb"); - assert(this->of); -#ifndef QCOM2 - if (this->codec_config_len > 0) { - fwrite(this->codec_config, this->codec_config_len, 1, this->of); - } -#endif - } + wrote_codec_config = false; // create camera lock file - snprintf(this->lock_path, sizeof(this->lock_path), "%s/%s.lock", this->path.c_str(), filename); - int lock_fd = HANDLE_EINTR(open(this->lock_path, O_RDWR | O_CREAT, 0664)); + snprintf(lock_path, sizeof(lock_path), "%s/%s.lock", path.c_str(), filename); + int lock_fd = HANDLE_EINTR(open(lock_path, O_RDWR | O_CREAT, 0664)); assert(lock_fd >= 0); close(lock_fd); - this->is_open = true; - this->counter = 0; + is_open = true; + counter = 0; } void OmxEncoder::encoder_close() { - if (this->is_open) { - if (this->dirty) { + if (is_open) { + if (dirty) { // drain output only if there could be frames in the encoder - OMX_BUFFERHEADERTYPE* in_buf = this->free_in.pop(); + OMX_BUFFERHEADERTYPE* in_buf = free_in.pop(); in_buf->nFilledLen = 0; in_buf->nOffset = 0; in_buf->nFlags = OMX_BUFFERFLAG_EOS; - in_buf->nTimeStamp = this->last_t + 1000000LL/this->fps; + in_buf->nTimeStamp = last_t + 1000000LL / fps; - OMX_CHECK(OMX_EmptyThisBuffer(this->handle, in_buf)); + OMX_CHECK(OMX_EmptyThisBuffer(handle, in_buf)); while (true) { - OMX_BUFFERHEADERTYPE *out_buf = this->done_out.pop(); + OMX_BUFFERHEADERTYPE *out_buf = done_out.pop(); handle_out_buf(this, out_buf); @@ -645,55 +510,44 @@ void OmxEncoder::encoder_close() { break; } } - this->dirty = false; + dirty = false; } - if (this->remuxing) { - av_write_trailer(this->ofmt_ctx); - avcodec_free_context(&this->codec_ctx); - avio_closep(&this->ofmt_ctx->pb); - avformat_free_context(this->ofmt_ctx); - } else { - fclose(this->of); - this->of = nullptr; - } - unlink(this->lock_path); + av_write_trailer(ofmt_ctx); + avcodec_free_context(&codec_ctx); + avio_closep(&ofmt_ctx->pb); + avformat_free_context(ofmt_ctx); + unlink(lock_path); } - this->is_open = false; + is_open = false; } OmxEncoder::~OmxEncoder() { - assert(!this->is_open); + assert(!is_open); - OMX_CHECK(OMX_SendCommand(this->handle, OMX_CommandStateSet, OMX_StateIdle, NULL)); + OMX_CHECK(OMX_SendCommand(handle, OMX_CommandStateSet, OMX_StateIdle, NULL)); wait_for_state(OMX_StateIdle); - OMX_CHECK(OMX_SendCommand(this->handle, OMX_CommandStateSet, OMX_StateLoaded, NULL)); + OMX_CHECK(OMX_SendCommand(handle, OMX_CommandStateSet, OMX_StateLoaded, NULL)); - for (auto &buf : this->in_buf_headers) { - OMX_CHECK(OMX_FreeBuffer(this->handle, PORT_INDEX_IN, buf)); + for (OMX_BUFFERHEADERTYPE* buf : in_buf_headers) { + OMX_CHECK(OMX_FreeBuffer(handle, PORT_INDEX_IN, buf)); } - for (auto &buf : this->out_buf_headers) { - OMX_CHECK(OMX_FreeBuffer(this->handle, PORT_INDEX_OUT, buf)); + for (OMX_BUFFERHEADERTYPE* buf : out_buf_headers) { + OMX_CHECK(OMX_FreeBuffer(handle, PORT_INDEX_OUT, buf)); } wait_for_state(OMX_StateLoaded); - OMX_CHECK(OMX_FreeHandle(this->handle)); + OMX_CHECK(OMX_FreeHandle(handle)); OMX_BUFFERHEADERTYPE *out_buf; - while (this->free_in.try_pop(out_buf)); - while (this->done_out.try_pop(out_buf)); - - if (this->codec_config) { - free(this->codec_config); - } + while (free_in.try_pop(out_buf)); + while (done_out.try_pop(out_buf)); - if (this->downscale) { - free(this->y_ptr2); - free(this->u_ptr2); - free(this->v_ptr2); + if (codec_config) { + free(codec_config); } } diff --git a/selfdrive/frogpilot/screenrecorder/omx_encoder.h b/selfdrive/frogpilot/screenrecorder/omx_encoder.h index 5cb630c8e412fa..72db396f392830 100644 --- a/selfdrive/frogpilot/screenrecorder/omx_encoder.h +++ b/selfdrive/frogpilot/screenrecorder/omx_encoder.h @@ -15,7 +15,7 @@ extern "C" { // OmxEncoder, lossey codec using hardware hevc class OmxEncoder { public: - OmxEncoder(const char* path, int width, int height, int fps, int bitrate, bool h265, bool downscale); + OmxEncoder(const char* path, int width, int height, int fps, int bitrate); ~OmxEncoder(); int encode_frame_rgba(const uint8_t *ptr, int in_width, int in_height, uint64_t ts); @@ -65,8 +65,4 @@ class OmxEncoder { AVFormatContext *ofmt_ctx; AVCodecContext *codec_ctx; AVStream *out_stream; - bool remuxing; - - bool downscale; - uint8_t *y_ptr2, *u_ptr2, *v_ptr2; }; diff --git a/selfdrive/frogpilot/screenrecorder/screenrecorder.cc b/selfdrive/frogpilot/screenrecorder/screenrecorder.cc index dcbfeef9c6642b..a0d59b091f7590 100644 --- a/selfdrive/frogpilot/screenrecorder/screenrecorder.cc +++ b/selfdrive/frogpilot/screenrecorder/screenrecorder.cc @@ -1,25 +1,22 @@ #include "libyuv.h" -#include "selfdrive/frogpilot/screenrecorder/screenrecorder.h" #include "selfdrive/ui/qt/util.h" +#include "selfdrive/frogpilot/screenrecorder/screenrecorder.h" + namespace { inline long long milliseconds() { return std::chrono::duration_cast(std::chrono::system_clock::now().time_since_epoch()).count(); } } -ScreenRecorder::ScreenRecorder(QWidget *parent) : QPushButton(parent), recording(false), frame(0), started(0) { - screenHeight = 1080; - screenWidth = 2160; +ScreenRecorder::ScreenRecorder(QWidget *parent) : QPushButton(parent), recording(false) { + setFixedSize(btn_size, btn_size); - recorderIcon = loadPixmap("../frogpilot/assets/other_images/img_recorder.png", {img_size, img_size}); - recordingIcon = loadPixmap("../frogpilot/assets/other_images/img_recording.png", {img_size, img_size}); - encoder = std::make_unique("/data/media/0/videos", screenWidth, screenHeight, 60, 8 * 1024 * 1024, false, false); + encoder = std::make_unique("/data/media/screen_recordings", screenWidth, screenHeight, UI_FREQ, 8 * 1024 * 1024); rgbScaleBuffer = std::make_unique(screenWidth * screenHeight * 4); - setFixedSize(btn_size, btn_size); - connect(this, &QPushButton::clicked, this, &ScreenRecorder::toggleRecording); + QObject::connect(this, &QPushButton::clicked, this, &ScreenRecorder::toggleRecording); } ScreenRecorder::~ScreenRecorder() { @@ -36,28 +33,22 @@ void ScreenRecorder::start() { } recording = true; - frame = 0; - rootWidget = this; - char filename[64]; - QDateTime currentTime = QDateTime::currentDateTime(); - QString formattedTime = currentTime.toString("MMMM_dd_yyyy-hh:mmAP"); - snprintf(filename, sizeof(filename), "%s.mp4", formattedTime.toUtf8().constData()); - - while (rootWidget->parentWidget() != nullptr) { + rootWidget = this; + while (rootWidget->parentWidget()) { rootWidget = rootWidget->parentWidget(); } + QString filename = QDateTime::currentDateTime().toString("MMMM_dd_yyyy-hh:mmAP") + ".mp4"; try { - openEncoder(filename); + openEncoder(filename.toStdString()); encodingThread = std::thread(&ScreenRecorder::encodingThreadFunction, this); } catch (const std::exception &e) { std::cerr << "Error starting encoder: " << e.what() << std::endl; recording = false; } - update(); - started = milliseconds(); + started_time = milliseconds(); } void ScreenRecorder::stop() { @@ -66,7 +57,6 @@ void ScreenRecorder::stop() { } recording = false; - update(); if (encodingThread.joinable()) { encodingThread.join(); @@ -79,10 +69,13 @@ void ScreenRecorder::stop() { } imageQueue.clear(); + rgbScaleBuffer.reset(new uint8_t[screenWidth * screenHeight * 4]); } void ScreenRecorder::openEncoder(const std::string &filename) { - encoder->encoder_open(filename.c_str()); + if (encoder) { + encoder->encoder_open(filename.c_str()); + } } void ScreenRecorder::closeEncoder() { @@ -92,50 +85,70 @@ void ScreenRecorder::closeEncoder() { } void ScreenRecorder::encodingThreadFunction() { - const uint64_t start_time = nanos_since_boot(); + uint64_t start_time = nanos_since_boot(); + + while (recording) { + if (!encoder) { + break; + } - while (recording && encoder) { QImage popImage; if (imageQueue.pop_wait_for(popImage, std::chrono::milliseconds(10))) { - const QImage image = popImage.convertToFormat(QImage::Format_RGBA8888); - libyuv::ARGBScale(image.bits(), image.width() * 4, - image.width(), image.height(), - rgbScaleBuffer.get(), screenWidth * 4, - screenWidth, screenHeight, + QImage image = popImage.convertToFormat(QImage::Format_RGBA8888); + libyuv::ARGBScale(image.bits(), image.width() * 4, image.width(), image.height(), + rgbScaleBuffer.get(), screenWidth * 4, screenWidth, screenHeight, libyuv::kFilterBilinear); - encoder->encode_frame_rgba(rgbScaleBuffer.get(), screenWidth, screenHeight, - nanos_since_boot() - start_time); + encoder->encode_frame_rgba(rgbScaleBuffer.get(), screenWidth, screenHeight, nanos_since_boot() - start_time); } } } -void ScreenRecorder::updateScreen() { - if (!uiState()->scene.started) { - if (recording) { - stop(); - } +void ScreenRecorder::updateScreen(double fps, bool started) { + if (!recording) { return; } - if (!recording) { + if (!started) { + stop(); return; } - if (milliseconds() - started > 1000 * 60 * 3) { + if (milliseconds() - started_time > 1000 * 60 * 3) { stop(); start(); return; } + static bool previousFrameSkipped = false; + if (fps < UI_FREQ && !previousFrameSkipped) { + previousFrameSkipped = true; + return; + } else { + previousFrameSkipped = false; + } + if (rootWidget) { imageQueue.push(rootWidget->grab().toImage()); } - frame++; } void ScreenRecorder::paintEvent(QPaintEvent *event) { - bool flicker = ((milliseconds() - started) / 1000) % 2 == 0; + QPainter painter(this); + painter.setRenderHint(QPainter::Antialiasing); + + int centeringOffset = 10; + + QRect buttonRect(centeringOffset, btn_size / 3, btn_size - centeringOffset * 2, btn_size / 3); + painter.setPen(QPen(Qt::red, 6)); + painter.drawRoundedRect(buttonRect, 15, 15); - QPainter p(this); - drawIcon(p, QPoint(btn_size / 2, btn_size / 2), recording && flicker ? recordingIcon : recorderIcon, QColor(0, 0, 0, 0), isDown() ? 0.6 : 1.0); + QRect textRect = buttonRect.adjusted(centeringOffset, 0, -centeringOffset, 0); + painter.setFont(InterFont(25, QFont::Bold)); + painter.drawText(textRect, Qt::AlignLeft | Qt::AlignVCenter, tr("RECORD")); + + if (recording && ((milliseconds() - started_time) / 1000) % 2 == 0) { + painter.setBrush(QColor(255, 0, 0)); + painter.setPen(Qt::NoPen); + painter.drawEllipse(QPoint(buttonRect.right() - btn_size / 10 - centeringOffset, buttonRect.center().y()), btn_size / 10, btn_size / 10); + } } diff --git a/selfdrive/frogpilot/screenrecorder/screenrecorder.h b/selfdrive/frogpilot/screenrecorder/screenrecorder.h index 1a12329fb61cff..5c5a7850c7e827 100644 --- a/selfdrive/frogpilot/screenrecorder/screenrecorder.h +++ b/selfdrive/frogpilot/screenrecorder/screenrecorder.h @@ -12,7 +12,7 @@ class ScreenRecorder : public QPushButton { explicit ScreenRecorder(QWidget *parent = 0); ~ScreenRecorder() override; - void updateScreen(); + void updateScreen(double fps, bool started); private: void closeEncoder(); @@ -23,23 +23,21 @@ class ScreenRecorder : public QPushButton { void stop(); void toggleRecording(); - bool recording; + BlockingQueue imageQueue{UI_FREQ}; + BlockingQueue encodeQueue{UI_FREQ}; - int frame; - int screenHeight; - int screenWidth; + QWidget *rootWidget; - long long started; + bool recording; - std::unique_ptr encoder; - std::unique_ptr rgbScaleBuffer; + int screenHeight = 1080; + int screenWidth = 2160; - std::thread encodingThread; + long long started_time; - BlockingQueue imageQueue{30}; + std::thread encodingThread; - QWidget *rootWidget; + std::unique_ptr encoder; - QPixmap recorderIcon; - QPixmap recordingIcon; + std::unique_ptr rgbScaleBuffer; }; diff --git a/selfdrive/frogpilot/ui/qt/offroad/advanced_driving_settings.cc b/selfdrive/frogpilot/ui/qt/offroad/advanced_driving_settings.cc new file mode 100644 index 00000000000000..9bff861e86f156 --- /dev/null +++ b/selfdrive/frogpilot/ui/qt/offroad/advanced_driving_settings.cc @@ -0,0 +1,935 @@ +#include "selfdrive/frogpilot/ui/qt/offroad/advanced_driving_settings.h" + +FrogPilotAdvancedDrivingPanel::FrogPilotAdvancedDrivingPanel(FrogPilotSettingsWindow *parent) : FrogPilotListWidget(parent), parent(parent) { + const std::vector> advancedToggles { + {"AdvancedLateralTune", tr("Advanced Lateral Tuning"), tr("Advanced settings that control how openpilot manages steering."), "../frogpilot/assets/toggle_icons/icon_advanced_lateral_tune.png"}, + {"SteerFriction", steerFrictionStock != 0 ? QString(tr("Friction (Default: %1)")).arg(QString::number(steerFrictionStock, 'f', 2)) : tr("Friction"), tr("The resistance in steering. Higher values provide more stable steering but can make it feel heavy, while lower values allow lighter steering but may feel too sensitive."), ""}, + {"SteerKP", steerKPStock != 0 ? QString(tr("Kp Factor (Default: %1)")).arg(QString::number(steerKPStock, 'f', 2)) : tr("Kp Factor"), tr("How aggressively the car corrects its steering. Higher values offer quicker corrections but may feel jerky, while lower values make steering smoother but slower to respond."), ""}, + {"SteerLatAccel", steerLatAccelStock != 0 ? QString(tr("Lateral Accel (Default: %1)")).arg(QString::number(steerLatAccelStock, 'f', 2)) : tr("Lateral Accel"), tr("Adjust how fast the car can steer from side to side. Higher values allow quicker lane changes but can feel unstable, while lower values provide smoother steering but may feel sluggish."), ""}, + {"SteerRatio", steerRatioStock != 0 ? QString(tr("Steer Ratio (Default: %1)")).arg(QString::number(steerRatioStock, 'f', 2)) : tr("Steer Ratio"), tr("Adjust how much openpilot needs to turn the wheel to steer. Higher values feel like driving a truck, more stable at high speeds, but harder to steer quickly at low speeds, while lower values feel like a go-kart, easier to steer in tight spots but more sensitive and less stable at high speeds."), ""}, + {"TacoTune", tr("comma's 2022 Taco Bell Turn Hack"), tr("Use comma's hack they used to help handle left and right turns more precisely during their 2022 'Taco Bell' drive."), ""}, + {"ForceAutoTune", tr("Force Auto Tune On"), tr("Forces comma's auto lateral tuning for unsupported vehicles."), ""}, + {"ForceAutoTuneOff", tr("Force Auto Tune Off"), tr("Forces comma's auto lateral tuning off for supported vehicles."), ""}, + {"TurnDesires", tr("Force Turn Desires Below Lane Change Speed"), tr("Force the model to use turn desires when driving below the minimum lane change speed to help make left and right turns more precisely."), ""}, + + {"AdvancedLongitudinalTune", tr("Advanced Longitudinal Tuning"), tr("Advanced settings that control how openpilot manages speed and acceleration."), "../frogpilot/assets/toggle_icons/icon_advanced_longitudinal_tune.png"}, + {"LeadDetectionThreshold", tr("Lead Detection Confidence"), tr("How sensitive openpilot is to detecting vehicles ahead. A lower value can help detect vehicles sooner and from farther away, but may occasionally mistake other objects for vehicles."), ""}, + {"MaxDesiredAcceleration", tr("Maximum Acceleration Rate"), tr("Set a cap on how fast openpilot can accelerate to prevent high acceleration at low speeds."), ""}, + + {"AdvancedQOLDriving", tr("Advanced Quality of Life"), tr("Miscellaneous advanced features to improve your overall openpilot experience."), "../frogpilot/assets/toggle_icons/advanced_quality_of_life.png"}, + {"ForceStandstill", tr("Force Keep openpilot in the Standstill State"), tr("Keep openpilot in the 'standstill' state until the gas pedal or 'resume' button is pressed."), ""}, + {"ForceStops", tr("Force Stop for 'Detected' Stop Lights/Signs"), tr("Whenever openpilot 'detects' a potential stop light/stop sign, force a stop where it originally detected it to prevent running the potential red light/stop sign."), ""}, + {"SetSpeedOffset", tr("Set Speed Offset"), tr("How much higher or lower the set speed should be compared to your current set speed. For example, if you prefer to drive 5 mph above the speed limit, this setting will automatically add that difference when you adjust your set speed."), ""}, + + {"CustomPersonalities", tr("Customize Driving Personalities"), tr("Customize the personality profiles to suit your preferences."), "../frogpilot/assets/toggle_icons/icon_advanced_personality.png"}, + {"TrafficPersonalityProfile", tr("Traffic Personality"), tr("Customize the 'Traffic' personality profile, tailored for navigating through traffic."), "../frogpilot/assets/stock_theme/distance_icons/traffic.png"}, + {"TrafficFollow", tr("Following Distance"), tr("The minimum following distance in 'Traffic Mode.' openpilot will adjust dynamically between this value and the 'Aggressive' profile distance based on your speed."), ""}, + {"TrafficJerkAcceleration", tr("Acceleration Sensitivity"), tr("How sensitive openpilot is to changes in acceleration in 'Traffic Mode.' Higher values result in smoother, more gradual acceleration and deceleration, while lower values allow for faster changes that may feel more abrupt."), ""}, + {"TrafficJerkDeceleration", tr("Deceleration Sensitivity"), tr("Controls how sensitive openpilot is to changes in deceleration in 'Traffic Mode.' Higher values result in smoother, more gradual braking, while lower values allow for quicker, more responsive braking that may feel abrupt."), ""}, + {"TrafficJerkDanger", tr("Safety Distance Sensitivity"), tr("Adjusts how cautious openpilot is around other vehicles or obstacles in 'Traffic Mode.' Higher values increase following distances and prioritize safety, leading to more cautious driving, while lower values allow for closer following but may reduce reaction time."), ""}, + {"TrafficJerkSpeed", tr("Speed Increase Responsiveness"), tr("Controls how quickly openpilot adjusts speed in 'Traffic Mode.' Higher values ensure smoother, more gradual speed changes, while lower values enable quicker adjustments that might feel sharper or less smooth."), ""}, + {"TrafficJerkSpeedDecrease", tr("Speed Decrease Responsiveness"), tr("Sets how quickly openpilot adjusts to decreasing speeds in 'Traffic Mode.' Higher values ensure smoother transitions when slowing down, while lower values allow for quicker, more responsive speed reductions that might feel sharper."), ""}, + {"ResetTrafficPersonality", tr("Reset Settings"), tr("Restore the 'Traffic Mode' settings to their default values."), ""}, + + {"AggressivePersonalityProfile", tr("Aggressive Personality"), tr("Customize the 'Aggressive' personality profile, designed for a more assertive driving style."), "../frogpilot/assets/stock_theme/distance_icons/aggressive.png"}, + {"AggressiveFollow", tr("Following Distance"), tr("Set the following distance for 'Aggressive' mode. This determines roughly how many seconds you'll follow behind the car ahead.\n\nDefault: 1.25 seconds."), ""}, + {"AggressiveJerkAcceleration", tr("Acceleration Sensitivity"), tr("Controls how sensitive openpilot is to acceleration changes in 'Aggressive' mode. Higher values make acceleration and deceleration smoother but slower, while lower values allow quicker changes that may feel jerky.\n\nDefault: 0.5."), ""}, + {"AggressiveJerkDeceleration", tr("Deceleration Sensitivity"), tr("Controls how sensitive openpilot is to deceleration in 'Aggressive' mode. Higher values result in smoother braking, while lower values allow for more immediate braking that may feel abrupt.\n\nDefault: 0.5."), ""}, + {"AggressiveJerkDanger", tr("Safety Distance Sensitivity"), tr("Adjusts how cautious openpilot is around vehicles or obstacles in 'Aggressive' mode. Higher values make it more cautious, while lower values allow for closer following, increasing the risk of sudden braking.\n\nDefault: 1.0."), ""}, + {"AggressiveJerkSpeed", tr("Speed Increase Responsiveness"), tr("Controls how quickly openpilot adjusts speed in 'Aggressive' mode. Higher values result in smoother but slower speed changes, while lower values make speed adjustments quicker but potentially more abrupt.\n\nDefault: 0.5."), ""}, + {"AggressiveJerkSpeedDecrease", tr("Speed Decrease Responsiveness"), tr("Sets how quickly openpilot adjusts to speed reductions in 'Aggressive' mode. Higher values ensure smoother transitions when slowing down, while lower values allow for quicker, more responsive speed decreases that may feel sharp.\n\nDefault: 0.5."), ""}, + {"ResetAggressivePersonality", tr("Reset Settings"), tr("Restore the 'Aggressive' settings to their default values."), ""}, + + {"StandardPersonalityProfile", tr("Standard Personality"), tr("Customize the 'Standard' personality profile, optimized for balanced driving."), "../frogpilot/assets/stock_theme/distance_icons/standard.png"}, + {"StandardFollow", tr("Following Distance"), tr("Set the following distance for 'Standard' mode. This determines roughly how many seconds you'll follow behind the car ahead.\n\nDefault: 1.45 seconds."), ""}, + {"StandardJerkAcceleration", tr("Acceleration Sensitivity"), tr("Controls how sensitive openpilot is to acceleration changes in 'Standard' mode. Higher values make acceleration and deceleration smoother but slower, while lower values allow quicker changes that may feel jerky.\n\nDefault: 1.0."), ""}, + {"StandardJerkDeceleration", tr("Deceleration Sensitivity"), tr("Controls how sensitive openpilot is to deceleration in 'Standard' mode. Higher values result in smoother braking, while lower values allow for quicker, more immediate braking that may feel abrupt.\n\nDefault: 1.0."), ""}, + {"StandardJerkDanger", tr("Safety Distance Sensitivity"), tr("Adjusts how cautious openpilot is around vehicles or obstacles in 'Standard' mode. Higher values make it more cautious, while lower values allow for closer following, increasing the risk of sudden braking.\n\nDefault: 1.0."), ""}, + {"StandardJerkSpeed", tr("Speed Increase Responsiveness"), tr("Controls how quickly openpilot adjusts speed in 'Standard' mode. Higher values result in smoother but slower speed changes, while lower values make speed adjustments quicker but potentially more abrupt.\n\nDefault: 1.0."), ""}, + {"StandardJerkSpeedDecrease", tr("Speed Decrease Responsiveness"), tr("Sets how quickly openpilot adjusts to speed reductions in 'Standard' mode. Higher values ensure smoother transitions when slowing down, while lower values allow for quicker, more responsive speed decreases that may feel sharp.\n\nDefault: 1.0."), ""}, + {"ResetStandardPersonality", tr("Reset Settings"), tr("Restore the 'Standard' settings to their default values."), ""}, + + {"RelaxedPersonalityProfile", tr("Relaxed Personality"), tr("Customize the 'Relaxed' personality profile, ideal for a more laid-back driving style."), "../frogpilot/assets/stock_theme/distance_icons/relaxed.png"}, + {"RelaxedFollow", tr("Following Distance"), tr("Set the following distance for 'Relaxed' mode. This determines roughly how many seconds you'll follow behind the car ahead.\n\nDefault: 1.75 seconds."), ""}, + {"RelaxedJerkAcceleration", tr("Acceleration Sensitivity"), tr("Controls how sensitive openpilot is to acceleration changes in 'Relaxed' mode. Higher values make acceleration and deceleration smoother but slower, while lower values allow quicker changes that may feel jerky.\n\nDefault: 1.0."), ""}, + {"RelaxedJerkDeceleration", tr("Deceleration Sensitivity"), tr("Controls how sensitive openpilot is to deceleration in 'Relaxed' mode. Higher values result in smoother braking, while lower values allow for quicker, more immediate braking that may feel abrupt.\n\nDefault: 1.0."), ""}, + {"RelaxedJerkDanger", tr("Safety Distance Sensitivity"), tr("Adjusts how cautious openpilot is around vehicles or obstacles in 'Relaxed' mode. Higher values make it more cautious, while lower values allow for closer following, increasing the risk of sudden braking.\n\nDefault: 1.0."), ""}, + {"RelaxedJerkSpeed", tr("Speed Increase Responsiveness"), tr("Controls how quickly openpilot adjusts speed in 'Relaxed' mode. Higher values result in smoother but slower speed changes, while lower values make speed adjustments quicker but potentially more abrupt.\n\nDefault: 1.0."), ""}, + {"RelaxedJerkSpeedDecrease", tr("Speed Decrease Responsiveness"), tr("Sets how quickly openpilot adjusts to speed reductions in 'Relaxed' mode. Higher values ensure smoother transitions when slowing down, while lower values allow for quicker, more responsive speed decreases that may feel sharp.\n\nDefault: 1.0."), ""}, + {"ResetRelaxedPersonality", tr("Reset Settings"), tr("Restore the 'Relaxed' settings to their default values."), ""}, + + {"ModelManagement", tr("Model Management"), tr("Manage the driving models used by openpilot."), "../frogpilot/assets/toggle_icons/icon_advanced_model.png"}, + {"AutomaticallyUpdateModels", tr("Automatically Update and Download Models"), tr("Automatically download new or updated driving models."), ""}, + {"ModelRandomizer", tr("Model Randomizer"), tr("A random model is selected and can be reviewed at the end of each drive if it's longer than 15 minutes to help find your preferred model."), ""}, + {"ManageBlacklistedModels", tr("Manage Model Blacklist"), tr("Control which models are blacklisted and won't be used for future drives."), ""}, + {"ResetScores", tr("Reset Model Scores"), tr("Clear the ratings you've given to the driving models."), ""}, + {"ReviewScores", tr("Review Model Scores"), tr("View the ratings you've assigned to the driving models."), ""}, + {"DeleteModel", tr("Delete Model"), tr("Remove the selected driving model from your device."), ""}, + {"DownloadModel", tr("Download Model"), tr("Download undownloaded driving models."), ""}, + {"DownloadAllModels", tr("Download All Models"), tr("Download all undownloaded driving models."), ""}, + {"SelectModel", tr("Select Model"), tr("Select which model openpilot uses to drive."), ""}, + {"ResetCalibrations", tr("Reset Model Calibrations"), tr("Reset calibration settings for the driving models."), ""}, + }; + + for (const auto &[param, title, desc, icon] : advancedToggles) { + AbstractControl *advancedDrivingToggle; + + if (param == "AdvancedLateralTune") { + FrogPilotParamManageControl *advancedLateralTuneToggle = new FrogPilotParamManageControl(param, title, desc, icon); + QObject::connect(advancedLateralTuneToggle, &FrogPilotParamManageControl::manageButtonClicked, [this]() { + std::set modifiedLateralTuneKeys = lateralTuneKeys; + + bool usingNNFF = hasNNFFLog && params.getBool("LateralTune") && params.getBool("NNFF"); + if (usingNNFF) { + modifiedLateralTuneKeys.erase("ForceAutoTune"); + modifiedLateralTuneKeys.erase("ForceAutoTuneOff"); + } else { + if (hasAutoTune) { + modifiedLateralTuneKeys.erase("ForceAutoTune"); + } else if (isPIDCar) { + modifiedLateralTuneKeys.erase("ForceAutoTuneOff"); + modifiedLateralTuneKeys.erase("SteerFriction"); + modifiedLateralTuneKeys.erase("SteerKP"); + modifiedLateralTuneKeys.erase("SteerLatAccel"); + } else { + modifiedLateralTuneKeys.erase("ForceAutoTuneOff"); + } + } + + if (!liveValid || usingNNFF) { + modifiedLateralTuneKeys.erase("SteerFriction"); + modifiedLateralTuneKeys.erase("SteerLatAccel"); + } + + showToggles(modifiedLateralTuneKeys); + }); + advancedDrivingToggle = advancedLateralTuneToggle; + } else if (param == "SteerFriction") { + std::vector steerFrictionToggleNames{"Reset"}; + advancedDrivingToggle = new FrogPilotParamValueButtonControl(param, title, desc, icon, 0.01, 0.25, QString(), std::map(), 0.01, {}, steerFrictionToggleNames, false); + } else if (param == "SteerKP") { + std::vector steerKPToggleNames{"Reset"}; + advancedDrivingToggle = new FrogPilotParamValueButtonControl(param, title, desc, icon, steerKPStock * 0.50, steerKPStock * 1.50, QString(), std::map(), 0.01, {}, steerKPToggleNames, false); + } else if (param == "SteerLatAccel") { + std::vector steerLatAccelToggleNames{"Reset"}; + advancedDrivingToggle = new FrogPilotParamValueButtonControl(param, title, desc, icon, steerLatAccelStock * 0.25, steerLatAccelStock * 1.25, QString(), std::map(), 0.01, {}, steerLatAccelToggleNames, false); + } else if (param == "SteerRatio") { + std::vector steerRatioToggleNames{"Reset"}; + advancedDrivingToggle = new FrogPilotParamValueButtonControl(param, title, desc, icon, steerRatioStock * 0.75, steerRatioStock * 1.25, QString(), std::map(), 0.01, {}, steerRatioToggleNames, false); + + } else if (param == "AdvancedLongitudinalTune") { + FrogPilotParamManageControl *advancedLongitudinalTuneToggle = new FrogPilotParamManageControl(param, title, desc, icon); + QObject::connect(advancedLongitudinalTuneToggle, &FrogPilotParamManageControl::manageButtonClicked, [this]() { + std::set modifiedLongitudinalTuneKeys = longitudinalTuneKeys; + + bool radarlessModel = QString::fromStdString(params.get("RadarlessModels")).split(",").contains(QString::fromStdString(params.get("Model"))); + if (radarlessModel) { + modifiedLongitudinalTuneKeys.erase("LeadDetectionThreshold"); + } + + showToggles(modifiedLongitudinalTuneKeys); + }); + advancedDrivingToggle = advancedLongitudinalTuneToggle; + } else if (param == "LeadDetectionThreshold") { + advancedDrivingToggle = new FrogPilotParamValueControl(param, title, desc, icon, 1, 99, "%"); + } else if (param == "MaxDesiredAcceleration") { + advancedDrivingToggle = new FrogPilotParamValueControl(param, title, desc, icon, 0.1, 4.0, "m/s", std::map(), 0.1); + + } else if (param == "AdvancedQOLDriving") { + FrogPilotParamManageControl *advancedQOLToggle = new FrogPilotParamManageControl(param, title, desc, icon); + QObject::connect(advancedQOLToggle, &FrogPilotParamManageControl::manageButtonClicked, [this]() { + std::set modifiedQolKeys = qolKeys; + + if (hasPCMCruise) { + modifiedQolKeys.erase("SetSpeedOffset"); + } + + showToggles(modifiedQolKeys); + }); + advancedDrivingToggle = advancedQOLToggle; + } else if (param == "SetSpeedOffset") { + advancedDrivingToggle = new FrogPilotParamValueControl(param, title, desc, icon, 0, 99, tr("mph")); + + } else if (param == "CustomPersonalities") { + FrogPilotParamManageControl *customPersonalitiesToggle = new FrogPilotParamManageControl(param, title, desc, icon); + QObject::connect(customPersonalitiesToggle, &FrogPilotParamManageControl::manageButtonClicked, [this]() { + showToggles(customDrivingPersonalityKeys); + }); + advancedDrivingToggle = customPersonalitiesToggle; + } else if (param == "ResetTrafficPersonality" || param == "ResetAggressivePersonality" || param == "ResetStandardPersonality" || param == "ResetRelaxedPersonality") { + FrogPilotButtonsControl *profileBtn = new FrogPilotButtonsControl(title, desc, {tr("Reset")}); + advancedDrivingToggle = profileBtn; + } else if (param == "TrafficPersonalityProfile") { + FrogPilotParamManageControl *trafficPersonalityToggle = new FrogPilotParamManageControl(param, title, desc, icon); + QObject::connect(trafficPersonalityToggle, &FrogPilotParamManageControl::manageButtonClicked, [this]() { + customPersonalityOpen = true; + openSubParentToggle(); + showToggles(trafficPersonalityKeys); + }); + advancedDrivingToggle = trafficPersonalityToggle; + } else if (param == "AggressivePersonalityProfile") { + FrogPilotParamManageControl *aggressivePersonalityToggle = new FrogPilotParamManageControl(param, title, desc, icon); + QObject::connect(aggressivePersonalityToggle, &FrogPilotParamManageControl::manageButtonClicked, [this]() { + customPersonalityOpen = true; + openSubParentToggle(); + showToggles(aggressivePersonalityKeys); + }); + advancedDrivingToggle = aggressivePersonalityToggle; + } else if (param == "StandardPersonalityProfile") { + FrogPilotParamManageControl *standardPersonalityToggle = new FrogPilotParamManageControl(param, title, desc, icon); + QObject::connect(standardPersonalityToggle, &FrogPilotParamManageControl::manageButtonClicked, [this]() { + customPersonalityOpen = true; + openSubParentToggle(); + showToggles(standardPersonalityKeys); + }); + advancedDrivingToggle = standardPersonalityToggle; + } else if (param == "RelaxedPersonalityProfile") { + FrogPilotParamManageControl *relaxedPersonalityToggle = new FrogPilotParamManageControl(param, title, desc, icon); + QObject::connect(relaxedPersonalityToggle, &FrogPilotParamManageControl::manageButtonClicked, [this]() { + customPersonalityOpen = true; + openSubParentToggle(); + showToggles(relaxedPersonalityKeys); + }); + advancedDrivingToggle = relaxedPersonalityToggle; + } else if (trafficPersonalityKeys.find(param) != trafficPersonalityKeys.end() || + aggressivePersonalityKeys.find(param) != aggressivePersonalityKeys.end() || + standardPersonalityKeys.find(param) != standardPersonalityKeys.end() || + relaxedPersonalityKeys.find(param) != relaxedPersonalityKeys.end()) { + if (param == "TrafficFollow" || param == "AggressiveFollow" || param == "StandardFollow" || param == "RelaxedFollow") { + if (param == "TrafficFollow") { + advancedDrivingToggle = new FrogPilotParamValueControl(param, title, desc, icon, 0.5, 5, tr(" seconds"), std::map(), 0.01); + } else { + advancedDrivingToggle = new FrogPilotParamValueControl(param, title, desc, icon, 1, 5, tr(" seconds"), std::map(), 0.01); + } + } else { + advancedDrivingToggle = new FrogPilotParamValueControl(param, title, desc, icon, 1, 500, "%"); + } + + } else if (param == "ModelManagement") { + FrogPilotParamManageControl *modelManagementToggle = new FrogPilotParamManageControl(param, title, desc, icon); + QObject::connect(modelManagementToggle, &FrogPilotParamManageControl::manageButtonClicked, [this]() { + availableModelNames = QString::fromStdString(params.get("AvailableModelsNames")).split(","); + availableModels = QString::fromStdString(params.get("AvailableModels")).split(","); + experimentalModels = QString::fromStdString(params.get("ExperimentalModels")).split(","); + + modelManagementOpen = true; + + QString currentModel = QString::fromStdString(params.get("Model")) + ".thneed"; + QStringList modelFiles = modelDir.entryList({"*.thneed"}, QDir::Files); + modelFiles.removeAll(currentModel); + haveModelsDownloaded = modelFiles.size() > 1; + modelsDownloaded = params.getBool("ModelsDownloaded"); + + showToggles(modelManagementKeys); + }); + advancedDrivingToggle = modelManagementToggle; + } else if (param == "ModelRandomizer") { + FrogPilotParamManageControl *modelRandomizerToggle = new FrogPilotParamManageControl(param, title, desc, icon); + QObject::connect(modelRandomizerToggle, &FrogPilotParamManageControl::manageButtonClicked, [this]() { + openSubParentToggle(); + showToggles(modelRandomizerKeys); + updateModelLabels(); + }); + advancedDrivingToggle = modelRandomizerToggle; + } else if (param == "ManageBlacklistedModels") { + FrogPilotButtonsControl *blacklistBtn = new FrogPilotButtonsControl(title, desc, {tr("ADD"), tr("REMOVE")}); + QObject::connect(blacklistBtn, &FrogPilotButtonsControl::buttonClicked, [this](int id) { + QStringList blacklistedModels = QString::fromStdString(params.get("BlacklistedModels")).split(",", QString::SkipEmptyParts); + QStringList selectableModels = availableModelNames; + + for (QString &model : blacklistedModels) { + selectableModels.removeAll(model); + if (model.contains("(Default)")) { + blacklistedModels.move(blacklistedModels.indexOf(model), 0); + } + } + + if (id == 0) { + if (selectableModels.size() == 1) { + FrogPilotConfirmationDialog::toggleAlert(tr("There's no more models to blacklist! The only available model is \"%1\"!").arg(selectableModels.first()), tr("OK"), this); + } else { + QString selectedModel = MultiOptionDialog::getSelection(tr("Select a model to add to the blacklist"), selectableModels, "", this); + if (!selectedModel.isEmpty()) { + if (ConfirmationDialog::confirm(tr("Are you sure you want to add the '%1' model to the blacklist?").arg(selectedModel), tr("Add"), this)) { + if (!blacklistedModels.contains(selectedModel)) { + blacklistedModels.append(selectedModel); + params.putNonBlocking("BlacklistedModels", blacklistedModels.join(",").toStdString()); + paramsStorage.putNonBlocking("BlacklistedModels", blacklistedModels.join(",").toStdString()); + } + } + } + } + } else if (id == 1) { + QString selectedModel = MultiOptionDialog::getSelection(tr("Select a model to remove from the blacklist"), blacklistedModels, "", this); + if (!selectedModel.isEmpty()) { + if (ConfirmationDialog::confirm(tr("Are you sure you want to remove the '%1' model from the blacklist?").arg(selectedModel), tr("Remove"), this)) { + if (blacklistedModels.contains(selectedModel)) { + blacklistedModels.removeAll(selectedModel); + params.putNonBlocking("BlacklistedModels", blacklistedModels.join(",").toStdString()); + paramsStorage.putNonBlocking("BlacklistedModels", blacklistedModels.join(",").toStdString()); + } + } + } + } + }); + advancedDrivingToggle = blacklistBtn; + } else if (param == "ResetScores") { + ButtonControl *resetCalibrationsBtn = new ButtonControl(title, tr("RESET"), desc); + QObject::connect(resetCalibrationsBtn, &ButtonControl::clicked, [this]() { + if (FrogPilotConfirmationDialog::yesorno(tr("Reset all model scores?"), this)) { + for (const QString &model : availableModelNames) { + QString cleanedModel = processModelName(model); + params.remove(QString("%1Drives").arg(cleanedModel).toStdString()); + paramsStorage.remove(QString("%1Drives").arg(cleanedModel).toStdString()); + params.remove(QString("%1Score").arg(cleanedModel).toStdString()); + paramsStorage.remove(QString("%1Score").arg(cleanedModel).toStdString()); + } + updateModelLabels(); + } + }); + advancedDrivingToggle = reinterpret_cast(resetCalibrationsBtn); + } else if (param == "ReviewScores") { + ButtonControl *reviewScoresBtn = new ButtonControl(title, tr("VIEW"), desc); + QObject::connect(reviewScoresBtn, &ButtonControl::clicked, [this]() { + openSubSubParentToggle(); + + for (LabelControl *label : labelControls) { + label->setVisible(true); + } + + for (auto &[key, toggle] : toggles) { + toggle->setVisible(false); + } + }); + advancedDrivingToggle = reinterpret_cast(reviewScoresBtn); + } else if (param == "DeleteModel") { + deleteModelBtn = new ButtonControl(title, tr("DELETE"), desc); + QObject::connect(deleteModelBtn, &ButtonControl::clicked, [this]() { + QStringList deletableModels, existingModels = modelDir.entryList({"*.thneed"}, QDir::Files); + QMap labelToFileMap; + QString currentModel = QString::fromStdString(params.get("Model")) + ".thneed"; + + for (int i = 0; i < availableModels.size(); ++i) { + QString modelFile = availableModels[i] + ".thneed"; + if (existingModels.contains(modelFile) && modelFile != currentModel && !availableModelNames[i].contains("(Default)")) { + deletableModels.append(availableModelNames[i]); + labelToFileMap[availableModelNames[i]] = modelFile; + } + } + + QString selectedModel = MultiOptionDialog::getSelection(tr("Select a model to delete"), deletableModels, "", this); + if (!selectedModel.isEmpty()) { + if (ConfirmationDialog::confirm(tr("Are you sure you want to delete the '%1' model?").arg(selectedModel), tr("Delete"), this)) { + std::thread([=]() { + modelDeleting = true; + modelsDownloaded = false; + update(); + + params.putBoolNonBlocking("ModelsDownloaded", false); + deleteModelBtn->setValue(tr("Deleting...")); + + QFile::remove(modelDir.absoluteFilePath(labelToFileMap[selectedModel])); + deleteModelBtn->setValue(tr("Deleted!")); + + util::sleep_for(1000); + deleteModelBtn->setValue(""); + modelDeleting = false; + + QStringList modelFiles = modelDir.entryList({"*.thneed"}, QDir::Files); + modelFiles.removeAll(currentModel); + + haveModelsDownloaded = modelFiles.size() > 1; + update(); + }).detach(); + } + } + }); + advancedDrivingToggle = reinterpret_cast(deleteModelBtn); + } else if (param == "DownloadModel") { + downloadModelBtn = new ButtonControl(title, tr("DOWNLOAD"), desc); + QObject::connect(downloadModelBtn, &ButtonControl::clicked, [this]() { + if (downloadModelBtn->text() == tr("CANCEL")) { + paramsMemory.remove("ModelToDownload"); + paramsMemory.putBool("CancelModelDownload", true); + cancellingDownload = true; + + device()->resetInteractiveTimeout(30); + } else { + QMap labelToModelMap; + QStringList existingModels = modelDir.entryList({"*.thneed"}, QDir::Files); + QStringList downloadableModels; + + for (int i = 0; i < availableModels.size(); ++i) { + QString modelFile = availableModels[i] + ".thneed"; + if (!existingModels.contains(modelFile) && !availableModelNames[i].contains("(Default)")) { + downloadableModels.append(availableModelNames[i]); + labelToModelMap.insert(availableModelNames[i], availableModels[i]); + } + } + + QString modelToDownload = MultiOptionDialog::getSelection(tr("Select a driving model to download"), downloadableModels, "", this); + if (!modelToDownload.isEmpty()) { + device()->resetInteractiveTimeout(300); + + modelDownloading = true; + paramsMemory.put("ModelToDownload", labelToModelMap.value(modelToDownload).toStdString()); + paramsMemory.put("ModelDownloadProgress", "0%"); + + downloadModelBtn->setValue(tr("Downloading %1...").arg(modelToDownload.remove(QRegularExpression("[🗺️👀📡]")).trimmed())); + + QTimer *progressTimer = new QTimer(this); + progressTimer->setInterval(100); + + QObject::connect(progressTimer, &QTimer::timeout, this, [=]() { + QString progress = QString::fromStdString(paramsMemory.get("ModelDownloadProgress")); + bool downloadComplete = progress.contains(QRegularExpression("downloaded", QRegularExpression::CaseInsensitiveOption)); + bool downloadFailed = progress.contains(QRegularExpression("cancelled|exists|failed|offline", QRegularExpression::CaseInsensitiveOption)); + + if (!progress.isEmpty() && progress != "0%") { + downloadModelBtn->setValue(progress); + } + + if (downloadComplete || downloadFailed) { + bool lastModelDownloaded = downloadComplete; + + if (downloadComplete) { + haveModelsDownloaded = true; + update(); + } + + if (downloadComplete) { + for (const QString &model : availableModels) { + if (!QFile::exists(modelDir.filePath(model + ".thneed"))) { + lastModelDownloaded = false; + break; + } + } + } + + downloadModelBtn->setValue(progress); + + paramsMemory.remove("CancelModelDownload"); + paramsMemory.remove("ModelDownloadProgress"); + + progressTimer->stop(); + progressTimer->deleteLater(); + + QTimer::singleShot(2000, this, [=]() { + cancellingDownload = false; + modelDownloading = false; + + downloadModelBtn->setValue(""); + + if (lastModelDownloaded) { + modelsDownloaded = true; + update(); + + params.putBoolNonBlocking("ModelsDownloaded", modelsDownloaded); + } + + device()->resetInteractiveTimeout(30); + }); + } + }); + progressTimer->start(); + } + } + }); + advancedDrivingToggle = reinterpret_cast(downloadModelBtn); + } else if (param == "DownloadAllModels") { + downloadAllModelsBtn = new ButtonControl(title, tr("DOWNLOAD"), desc); + QObject::connect(downloadAllModelsBtn, &ButtonControl::clicked, [this]() { + if (downloadAllModelsBtn->text() == tr("CANCEL")) { + paramsMemory.remove("DownloadAllModels"); + paramsMemory.putBool("CancelModelDownload", true); + cancellingDownload = true; + + device()->resetInteractiveTimeout(30); + } else { + device()->resetInteractiveTimeout(300); + + startDownloadAllModels(); + } + }); + advancedDrivingToggle = reinterpret_cast(downloadAllModelsBtn); + } else if (param == "SelectModel") { + selectModelBtn = new ButtonControl(title, tr("SELECT"), desc); + QObject::connect(selectModelBtn, &ButtonControl::clicked, [this]() { + QSet modelFilesBaseNames = QSet::fromList(modelDir.entryList({"*.thneed"}, QDir::Files).replaceInStrings(QRegExp("\\.thneed$"), "")); + QStringList selectableModels; + + for (int i = 0; i < availableModels.size(); ++i) { + if (modelFilesBaseNames.contains(availableModels[i]) || availableModelNames[i].contains("(Default)")) { + selectableModels.append(availableModelNames[i]); + } + } + + QString modelToSelect = MultiOptionDialog::getSelection(tr("Select a model - 🗺️ = Navigation | 📡 = Radar | 👀 = VOACC"), selectableModels, "", this); + if (!modelToSelect.isEmpty()) { + selectModelBtn->setValue(modelToSelect); + int modelIndex = availableModelNames.indexOf(modelToSelect); + + params.putNonBlocking("Model", availableModels.at(modelIndex).toStdString()); + params.putNonBlocking("ModelName", modelToSelect.toStdString()); + + if (experimentalModels.contains(availableModels.at(modelIndex))) { + FrogPilotConfirmationDialog::toggleAlert(tr("WARNING: This is a very experimental model and may drive dangerously!"), tr("I understand the risks."), this); + } + + QString model = availableModelNames.at(modelIndex); + QString part_model_param = processModelName(model); + + if (!params.checkKey(part_model_param.toStdString() + "CalibrationParams") || !params.checkKey(part_model_param.toStdString() + "LiveTorqueParameters")) { + if (FrogPilotConfirmationDialog::yesorno(tr("Start with a fresh calibration for the newly selected model?"), this)) { + params.remove("CalibrationParams"); + params.remove("LiveTorqueParameters"); + } + } + + if (started) { + if (FrogPilotConfirmationDialog::toggle(tr("Reboot required to take effect."), tr("Reboot Now"), this)) { + Hardware::reboot(); + } + } + } + }); + selectModelBtn->setValue(QString::fromStdString(params.get("ModelName"))); + advancedDrivingToggle = reinterpret_cast(selectModelBtn); + } else if (param == "ResetCalibrations") { + FrogPilotButtonsControl *resetCalibrationsBtn = new FrogPilotButtonsControl(title, desc, {tr("RESET ALL"), tr("RESET ONE")}); + QObject::connect(resetCalibrationsBtn, &FrogPilotButtonsControl::showDescriptionEvent, this, &FrogPilotAdvancedDrivingPanel::updateCalibrationDescription); + QObject::connect(resetCalibrationsBtn, &FrogPilotButtonsControl::buttonClicked, [=](int id) { + if (id == 0) { + if (FrogPilotConfirmationDialog::yesorno(tr("Are you sure you want to completely reset all of your model calibrations?"), this)) { + for (const QString &model : availableModelNames) { + QString cleanedModel = processModelName(model); + params.remove(QString("%1CalibrationParams").arg(cleanedModel).toStdString()); + paramsStorage.remove(QString("%1CalibrationParams").arg(cleanedModel).toStdString()); + params.remove(QString("%1LiveTorqueParameters").arg(cleanedModel).toStdString()); + paramsStorage.remove(QString("%1LiveTorqueParameters").arg(cleanedModel).toStdString()); + } + } + } else if (id == 1) { + QStringList selectableModelLabels; + for (int i = 0; i < availableModels.size(); ++i) { + selectableModelLabels.append(availableModelNames[i]); + } + + QString modelToReset = MultiOptionDialog::getSelection(tr("Select a model to reset"), selectableModelLabels, "", this); + if (!modelToReset.isEmpty()) { + if (FrogPilotConfirmationDialog::yesorno(tr("Are you sure you want to completely reset this model's calibrations?"), this)) { + QString cleanedModel = processModelName(modelToReset); + params.remove(QString("%1CalibrationParams").arg(cleanedModel).toStdString()); + paramsStorage.remove(QString("%1CalibrationParams").arg(cleanedModel).toStdString()); + params.remove(QString("%1LiveTorqueParameters").arg(cleanedModel).toStdString()); + paramsStorage.remove(QString("%1LiveTorqueParameters").arg(cleanedModel).toStdString()); + } + } + } + }); + advancedDrivingToggle = resetCalibrationsBtn; + + } else { + advancedDrivingToggle = new ParamControl(param, title, desc, icon); + } + + addItem(advancedDrivingToggle); + toggles[param] = advancedDrivingToggle; + + makeConnections(advancedDrivingToggle); + + if (FrogPilotParamManageControl *frogPilotManageToggle = qobject_cast(advancedDrivingToggle)) { + QObject::connect(frogPilotManageToggle, &FrogPilotParamManageControl::manageButtonClicked, this, &FrogPilotAdvancedDrivingPanel::openParentToggle); + } + + QObject::connect(advancedDrivingToggle, &AbstractControl::showDescriptionEvent, [this]() { + update(); + }); + } + + QObject::connect(static_cast(toggles["ModelManagement"]), &ToggleControl::toggleFlipped, [this](bool state) { + modelManagement = state; + }); + + QObject::connect(static_cast(toggles["ModelRandomizer"]), &ToggleControl::toggleFlipped, [this](bool state) { + modelRandomizer = state; + if (state && !modelsDownloaded) { + if (FrogPilotConfirmationDialog::yesorno(tr("The 'Model Randomizer' only works with downloaded models. Do you want to download all the driving models?"), this)) { + startDownloadAllModels(); + } + } + }); + + steerFrictionToggle = static_cast(toggles["SteerFriction"]); + QObject::connect(steerFrictionToggle, &FrogPilotParamValueButtonControl::buttonClicked, [this]() { + params.putFloat("SteerFriction", steerFrictionStock); + steerFrictionToggle->refresh(); + updateFrogPilotToggles(); + }); + + steerKPToggle = static_cast(toggles["SteerKP"]); + QObject::connect(steerKPToggle, &FrogPilotParamValueButtonControl::buttonClicked, [this]() { + params.putFloat("SteerKP", steerKPStock); + steerKPToggle->refresh(); + updateFrogPilotToggles(); + }); + + steerLatAccelToggle = static_cast(toggles["SteerLatAccel"]); + QObject::connect(steerLatAccelToggle, &FrogPilotParamValueButtonControl::buttonClicked, [this]() { + params.putFloat("SteerLatAccel", steerLatAccelStock); + steerLatAccelToggle->refresh(); + updateFrogPilotToggles(); + }); + + steerRatioToggle = static_cast(toggles["SteerRatio"]); + QObject::connect(steerRatioToggle, &FrogPilotParamValueButtonControl::buttonClicked, [this]() { + params.putFloat("SteerRatio", steerRatioStock); + steerRatioToggle->refresh(); + updateFrogPilotToggles(); + }); + + FrogPilotParamValueControl *trafficFollowToggle = static_cast(toggles["TrafficFollow"]); + FrogPilotParamValueControl *trafficAccelerationToggle = static_cast(toggles["TrafficJerkAcceleration"]); + FrogPilotParamValueControl *trafficDecelerationToggle = static_cast(toggles["TrafficJerkDeceleration"]); + FrogPilotParamValueControl *trafficDangerToggle = static_cast(toggles["TrafficJerkDanger"]); + FrogPilotParamValueControl *trafficSpeedToggle = static_cast(toggles["TrafficJerkSpeed"]); + FrogPilotParamValueControl *trafficSpeedDecreaseToggle = static_cast(toggles["TrafficJerkSpeedDecrease"]); + FrogPilotButtonsControl *trafficResetButton = static_cast(toggles["ResetTrafficPersonality"]); + QObject::connect(trafficResetButton, &FrogPilotButtonsControl::buttonClicked, this, [=]() { + if (FrogPilotConfirmationDialog::yesorno(tr("Are you sure you want to completely reset your settings for the 'Traffic Mode' personality?"), this)) { + params.putFloat("TrafficFollow", 0.5); + params.putFloat("TrafficJerkAcceleration", 50); + params.putFloat("TrafficJerkDeceleration", 50); + params.putFloat("TrafficJerkDanger", 100); + params.putFloat("TrafficJerkSpeed", 50); + params.putFloat("TrafficJerkSpeedDecrease", 50); + trafficFollowToggle->refresh(); + trafficAccelerationToggle->refresh(); + trafficDecelerationToggle->refresh(); + trafficDangerToggle->refresh(); + trafficSpeedToggle->refresh(); + trafficSpeedDecreaseToggle->refresh(); + updateFrogPilotToggles(); + } + }); + + FrogPilotParamValueControl *aggressiveFollowToggle = static_cast(toggles["AggressiveFollow"]); + FrogPilotParamValueControl *aggressiveAccelerationToggle = static_cast(toggles["AggressiveJerkAcceleration"]); + FrogPilotParamValueControl *aggressiveDecelerationToggle = static_cast(toggles["AggressiveJerkDeceleration"]); + FrogPilotParamValueControl *aggressiveDangerToggle = static_cast(toggles["AggressiveJerkDanger"]); + FrogPilotParamValueControl *aggressiveSpeedToggle = static_cast(toggles["AggressiveJerkSpeed"]); + FrogPilotParamValueControl *aggressiveSpeedDecreaseToggle = static_cast(toggles["AggressiveJerkSpeedDecrease"]); + FrogPilotButtonsControl *aggressiveResetButton = static_cast(toggles["ResetAggressivePersonality"]); + QObject::connect(aggressiveResetButton, &FrogPilotButtonsControl::buttonClicked, this, [=]() { + if (FrogPilotConfirmationDialog::yesorno(tr("Are you sure you want to completely reset your settings for the 'Aggressive' personality?"), this)) { + params.putFloat("AggressiveFollow", 1.25); + params.putFloat("AggressiveJerkAcceleration", 50); + params.putFloat("AggressiveJerkDeceleration", 50); + params.putFloat("AggressiveJerkDanger", 100); + params.putFloat("AggressiveJerkSpeed", 50); + params.putFloat("AggressiveJerkSpeedDecrease", 50); + aggressiveFollowToggle->refresh(); + aggressiveAccelerationToggle->refresh(); + aggressiveDecelerationToggle->refresh(); + aggressiveDangerToggle->refresh(); + aggressiveSpeedToggle->refresh(); + aggressiveSpeedDecreaseToggle->refresh(); + updateFrogPilotToggles(); + } + }); + + FrogPilotParamValueControl *standardFollowToggle = static_cast(toggles["StandardFollow"]); + FrogPilotParamValueControl *standardAccelerationToggle = static_cast(toggles["StandardJerkAcceleration"]); + FrogPilotParamValueControl *standardDecelerationToggle = static_cast(toggles["StandardJerkDeceleration"]); + FrogPilotParamValueControl *standardDangerToggle = static_cast(toggles["StandardJerkDanger"]); + FrogPilotParamValueControl *standardSpeedToggle = static_cast(toggles["StandardJerkSpeed"]); + FrogPilotParamValueControl *standardSpeedDecreaseToggle = static_cast(toggles["StandardJerkSpeedDecrease"]); + FrogPilotButtonsControl *standardResetButton = static_cast(toggles["ResetStandardPersonality"]); + QObject::connect(standardResetButton, &FrogPilotButtonsControl::buttonClicked, this, [=]() { + if (FrogPilotConfirmationDialog::yesorno(tr("Are you sure you want to completely reset your settings for the 'Standard' personality?"), this)) { + params.putFloat("StandardFollow", 1.45); + params.putFloat("StandardJerkAcceleration", 100); + params.putFloat("StandardJerkDeceleration", 100); + params.putFloat("StandardJerkDanger", 100); + params.putFloat("StandardJerkSpeed", 100); + params.putFloat("StandardJerkSpeedDecrease", 100); + standardFollowToggle->refresh(); + standardAccelerationToggle->refresh(); + standardDecelerationToggle->refresh(); + standardDangerToggle->refresh(); + standardSpeedToggle->refresh(); + standardSpeedDecreaseToggle->refresh(); + updateFrogPilotToggles(); + } + }); + + FrogPilotParamValueControl *relaxedFollowToggle = static_cast(toggles["RelaxedFollow"]); + FrogPilotParamValueControl *relaxedAccelerationToggle = static_cast(toggles["RelaxedJerkAcceleration"]); + FrogPilotParamValueControl *relaxedDecelerationToggle = static_cast(toggles["RelaxedJerkDeceleration"]); + FrogPilotParamValueControl *relaxedDangerToggle = static_cast(toggles["RelaxedJerkDanger"]); + FrogPilotParamValueControl *relaxedSpeedToggle = static_cast(toggles["RelaxedJerkSpeed"]); + FrogPilotParamValueControl *relaxedSpeedDecreaseToggle = static_cast(toggles["RelaxedJerkSpeedDecrease"]); + FrogPilotButtonsControl *relaxedResetButton = static_cast(toggles["ResetRelaxedPersonality"]); + QObject::connect(relaxedResetButton, &FrogPilotButtonsControl::buttonClicked, this, [=]() { + if (FrogPilotConfirmationDialog::yesorno(tr("Are you sure you want to completely reset your settings for the 'Relaxed' personality?"), this)) { + params.putFloat("RelaxedFollow", 1.75); + params.putFloat("RelaxedJerkAcceleration", 100); + params.putFloat("RelaxedJerkDeceleration", 100); + params.putFloat("RelaxedJerkDanger", 100); + params.putFloat("RelaxedJerkSpeed", 100); + params.putFloat("RelaxedJerkSpeedDecrease", 100); + relaxedFollowToggle->refresh(); + relaxedAccelerationToggle->refresh(); + relaxedDecelerationToggle->refresh(); + relaxedDangerToggle->refresh(); + relaxedSpeedToggle->refresh(); + relaxedSpeedDecreaseToggle->refresh(); + updateFrogPilotToggles(); + } + }); + + QObject::connect(parent, &FrogPilotSettingsWindow::closeParentToggle, this, &FrogPilotAdvancedDrivingPanel::hideToggles); + QObject::connect(parent, &FrogPilotSettingsWindow::closeSubParentToggle, this, &FrogPilotAdvancedDrivingPanel::hideSubToggles); + QObject::connect(parent, &FrogPilotSettingsWindow::closeSubSubParentToggle, this, &FrogPilotAdvancedDrivingPanel::hideSubSubToggles); + QObject::connect(parent, &FrogPilotSettingsWindow::updateCarToggles, this, &FrogPilotAdvancedDrivingPanel::updateCarToggles); + QObject::connect(parent, &FrogPilotSettingsWindow::updateMetric, this, &FrogPilotAdvancedDrivingPanel::updateMetric); + QObject::connect(uiState(), &UIState::uiUpdate, this, &FrogPilotAdvancedDrivingPanel::updateState); + + updateMetric(); +} + +void FrogPilotAdvancedDrivingPanel::updateMetric() { + bool previousIsMetric = isMetric; + isMetric = params.getBool("IsMetric"); + + if (isMetric != previousIsMetric) { + double speedConversion = isMetric ? MILE_TO_KM : KM_TO_MILE; + + params.putFloatNonBlocking("SetSpeedOffset", params.getFloat("SetSpeedOffset") * speedConversion); + } + + FrogPilotParamValueControl *setSpeedOffsetToggle = static_cast(toggles["SetSpeedOffset"]); + + if (isMetric) { + setSpeedOffsetToggle->updateControl(0, 150, tr("kph")); + } else { + setSpeedOffsetToggle->updateControl(0, 99, tr("mph")); + } +} + +void FrogPilotAdvancedDrivingPanel::showEvent(QShowEvent *event) { + modelManagement = params.getBool("ModelManagement"); + modelRandomizer = params.getBool("ModelRandomizer"); +} + +void FrogPilotAdvancedDrivingPanel::updateCarToggles() { + disableOpenpilotLongitudinal = parent->disableOpenpilotLongitudinal; + hasAutoTune = parent->hasAutoTune; + hasNNFFLog = parent->hasNNFFLog; + hasOpenpilotLongitudinal = parent->hasOpenpilotLongitudinal; + hasPCMCruise = parent->hasPCMCruise; + isPIDCar = parent->isPIDCar; + liveValid = parent->liveValid; + steerFrictionStock = parent->steerFrictionStock; + steerKPStock = parent->steerKPStock; + steerLatAccelStock = parent->steerLatAccelStock; + steerRatioStock = parent->steerRatioStock; + + steerFrictionToggle->setTitle(QString(tr("Friction (Default: %1)")).arg(QString::number(steerFrictionStock, 'f', 2))); + steerKPToggle->setTitle(QString(tr("Kp Factor (Default: %1)")).arg(QString::number(steerKPStock, 'f', 2))); + steerKPToggle->updateControl(steerKPStock * 0.50, steerKPStock * 1.50); + steerLatAccelToggle->setTitle(QString(tr("Lateral Accel (Default: %1)")).arg(QString::number(steerLatAccelStock, 'f', 2))); + steerLatAccelToggle->updateControl(steerLatAccelStock * 0.75, steerLatAccelStock * 1.25); + steerRatioToggle->setTitle(QString(tr("Steer Ratio (Default: %1)")).arg(QString::number(steerRatioStock, 'f', 2))); + steerRatioToggle->updateControl(steerRatioStock * 0.75, steerRatioStock * 1.25); + + hideToggles(); +} + +void FrogPilotAdvancedDrivingPanel::updateState(const UIState &s) { + if (!isVisible()) return; + + if (modelManagementOpen) { + downloadAllModelsBtn->setText(modelDownloading && allModelsDownloading ? tr("CANCEL") : tr("DOWNLOAD")); + downloadModelBtn->setText(modelDownloading && !allModelsDownloading ? tr("CANCEL") : tr("DOWNLOAD")); + + deleteModelBtn->setEnabled(!modelDeleting && !modelDownloading); + downloadAllModelsBtn->setEnabled(s.scene.online && !cancellingDownload && !modelDeleting && (!modelDownloading || allModelsDownloading) && !modelsDownloaded); + downloadModelBtn->setEnabled(s.scene.online && !cancellingDownload && !modelDeleting && !allModelsDownloading && !modelsDownloaded); + selectModelBtn->setEnabled(!modelDeleting && !modelDownloading && !modelRandomizer); + } + + started = s.scene.started; +} + +void FrogPilotAdvancedDrivingPanel::startDownloadAllModels() { + allModelsDownloading = true; + modelDownloading = true; + + paramsMemory.putBool("DownloadAllModels", true); + + downloadAllModelsBtn->setValue(tr("Downloading models...")); + + QTimer *progressTimer = new QTimer(this); + progressTimer->setInterval(100); + + QObject::connect(progressTimer, &QTimer::timeout, this, [=]() { + QString progress = QString::fromStdString(paramsMemory.get("ModelDownloadProgress")); + bool downloadComplete = progress.contains(QRegularExpression("All models downloaded!", QRegularExpression::CaseInsensitiveOption)); + bool downloadFailed = progress.contains(QRegularExpression("cancelled|exists|failed|offline", QRegularExpression::CaseInsensitiveOption)); + + if (!progress.isEmpty() && progress != "0%") { + downloadAllModelsBtn->setValue(progress); + } + + if (downloadComplete || downloadFailed) { + if (downloadComplete) { + haveModelsDownloaded = true; + update(); + } + + downloadAllModelsBtn->setValue(progress); + + paramsMemory.remove("CancelModelDownload"); + paramsMemory.remove("ModelDownloadProgress"); + + progressTimer->stop(); + progressTimer->deleteLater(); + + QTimer::singleShot(2000, this, [=]() { + cancellingDownload = false; + modelDownloading = false; + + paramsMemory.remove("DownloadAllModels"); + + downloadAllModelsBtn->setValue(""); + + device()->resetInteractiveTimeout(30); + }); + } + }); + progressTimer->start(); +} + +void FrogPilotAdvancedDrivingPanel::updateCalibrationDescription() { + QString model = QString::fromStdString(params.get("ModelName")); + QString part_model_param = processModelName(model); + + QString desc = + tr("openpilot requires the device to be mounted within 4° left or right and " + "within 5° up or 9° down. openpilot is continuously calibrating, resetting is rarely required."); + std::string calib_bytes = params.get(part_model_param.toStdString() + "CalibrationParams"); + if (!calib_bytes.empty()) { + try { + AlignedBuffer aligned_buf; + capnp::FlatArrayMessageReader cmsg(aligned_buf.align(calib_bytes.data(), calib_bytes.size())); + auto calib = cmsg.getRoot().getLiveCalibration(); + if (calib.getCalStatus() != cereal::LiveCalibrationData::Status::UNCALIBRATED) { + double pitch = calib.getRpyCalib()[1] * (180 / M_PI); + double yaw = calib.getRpyCalib()[2] * (180 / M_PI); + desc += tr(" Your device is pointed %1° %2 and %3° %4.") + .arg(QString::number(std::abs(pitch), 'g', 1), pitch > 0 ? tr("down") : tr("up"), + QString::number(std::abs(yaw), 'g', 1), yaw > 0 ? tr("left") : tr("right")); + } + } catch (kj::Exception) { + qInfo() << "invalid CalibrationParams"; + } + } + qobject_cast(sender())->setDescription(desc); +} + +void FrogPilotAdvancedDrivingPanel::updateModelLabels() { + QVector> modelScores; + for (QString &model : availableModelNames) { + QString cleanedModel = processModelName(model); + int score = params.getInt((cleanedModel + "Score").toStdString()); + + if (model.contains("(Default)")) { + modelScores.prepend(qMakePair(model, score)); + } else { + modelScores.append(qMakePair(model, score)); + } + } + + labelControls.clear(); + + for (QPair &pair : modelScores) { + QString scoreDisplay = pair.second == 0 ? "N/A" : QString::number(pair.second) + "%"; + LabelControl *labelControl = new LabelControl(pair.first, scoreDisplay, ""); + labelControls.append(labelControl); + addItem(labelControl); + } + + for (LabelControl *label : labelControls) { + label->setVisible(false); + } +} + +void FrogPilotAdvancedDrivingPanel::showToggles(const std::set &keys) { + setUpdatesEnabled(false); + + for (auto &[key, toggle] : toggles) { + toggle->setVisible(keys.find(key) != keys.end()); + } + + setUpdatesEnabled(true); + update(); +} + +void FrogPilotAdvancedDrivingPanel::hideToggles() { + setUpdatesEnabled(false); + + customPersonalityOpen = false; + modelManagementOpen = false; + + for (LabelControl *label : labelControls) { + label->setVisible(false); + } + + std::set longitudinalKeys = {"AdvancedLongitudinalTune", "CustomPersonalities"}; + for (auto &[key, toggle] : toggles) { + bool subToggles = aggressivePersonalityKeys.find(key) != aggressivePersonalityKeys.end() || + customDrivingPersonalityKeys.find(key) != customDrivingPersonalityKeys.end() || + lateralTuneKeys.find(key) != lateralTuneKeys.end() || + longitudinalTuneKeys.find(key) != longitudinalTuneKeys.end() || + modelManagementKeys.find(key) != modelManagementKeys.end() || + modelRandomizerKeys.find(key) != modelRandomizerKeys.end() || + qolKeys.find(key) != qolKeys.end() || + relaxedPersonalityKeys.find(key) != relaxedPersonalityKeys.end() || + standardPersonalityKeys.find(key) != standardPersonalityKeys.end() || + trafficPersonalityKeys.find(key) != trafficPersonalityKeys.end(); + + if (disableOpenpilotLongitudinal || !hasOpenpilotLongitudinal) { + if (longitudinalKeys.find(key) != longitudinalKeys.end()) { + toggle->setVisible(false); + continue; + } + } + + toggle->setVisible(!subToggles); + } + + setUpdatesEnabled(true); + update(); +} + +void FrogPilotAdvancedDrivingPanel::hideSubToggles() { + if (customPersonalityOpen) { + customPersonalityOpen = false; + showToggles(customDrivingPersonalityKeys); + } else if (modelManagementOpen) { + for (LabelControl *label : labelControls) { + label->setVisible(false); + } + showToggles(modelManagementKeys); + } +} + +void FrogPilotAdvancedDrivingPanel::hideSubSubToggles() { + if (modelManagementOpen) { + for (LabelControl *label : labelControls) { + label->setVisible(false); + } + showToggles(modelRandomizerKeys); + } +} diff --git a/selfdrive/frogpilot/ui/qt/offroad/advanced_driving_settings.h b/selfdrive/frogpilot/ui/qt/offroad/advanced_driving_settings.h new file mode 100644 index 00000000000000..2e89c0a9629a93 --- /dev/null +++ b/selfdrive/frogpilot/ui/qt/offroad/advanced_driving_settings.h @@ -0,0 +1,137 @@ +#pragma once + +#include + +#include "selfdrive/frogpilot/ui/qt/offroad/frogpilot_settings.h" + +class FrogPilotAdvancedDrivingPanel : public FrogPilotListWidget { + Q_OBJECT + +public: + explicit FrogPilotAdvancedDrivingPanel(FrogPilotSettingsWindow *parent); + +signals: + void openParentToggle(); + void openSubParentToggle(); + void openSubSubParentToggle(); + +protected: + void showEvent(QShowEvent *event) override; + +private: + void hideSubToggles(); + void hideSubSubToggles(); + void hideToggles(); + void showToggles(const std::set &keys); + + void startDownloadAllModels(); + void updateCalibrationDescription(); + void updateCarToggles(); + void updateMetric(); + void updateModelLabels(); + void updateState(const UIState &s); + + std::set aggressivePersonalityKeys = { + "AggressiveFollow", "AggressiveJerkAcceleration", "AggressiveJerkDeceleration", + "AggressiveJerkDanger", "AggressiveJerkSpeed", "AggressiveJerkSpeedDecrease", + "ResetAggressivePersonality" + }; + + std::set customDrivingPersonalityKeys = { + "AggressivePersonalityProfile", "RelaxedPersonalityProfile", "StandardPersonalityProfile", + "TrafficPersonalityProfile" + }; + + std::set lateralTuneKeys = { + "ForceAutoTune", "ForceAutoTuneOff", "SteerFriction", + "SteerLatAccel", "SteerKP", "SteerRatio", "TacoTune", + "TurnDesires" + }; + + std::set longitudinalTuneKeys = { + "LeadDetectionThreshold", "MaxDesiredAcceleration" + }; + + std::set modelManagementKeys = { + "AutomaticallyUpdateModels", "DeleteModel", "DownloadModel", + "DownloadAllModels", "ModelRandomizer", "ResetCalibrations", + "SelectModel" + }; + + std::set modelRandomizerKeys = { + "ManageBlacklistedModels", "ResetScores", "ReviewScores" + }; + + std::set qolKeys = { + "ForceStandstill", "ForceStops", "SetSpeedOffset" + }; + + std::set relaxedPersonalityKeys = { + "RelaxedFollow", "RelaxedJerkAcceleration", "RelaxedJerkDeceleration", + "RelaxedJerkDanger", "RelaxedJerkSpeed", "RelaxedJerkSpeedDecrease", + "ResetRelaxedPersonality" + }; + + std::set standardPersonalityKeys = { + "StandardFollow", "StandardJerkAcceleration", "StandardJerkDeceleration", + "StandardJerkDanger", "StandardJerkSpeed", "StandardJerkSpeedDecrease", + "ResetStandardPersonality" + }; + + std::set trafficPersonalityKeys = { + "TrafficFollow", "TrafficJerkAcceleration", "TrafficJerkDeceleration", + "TrafficJerkDanger", "TrafficJerkSpeed", "TrafficJerkSpeedDecrease", + "ResetTrafficPersonality" + }; + + ButtonControl *deleteModelBtn; + ButtonControl *downloadAllModelsBtn; + ButtonControl *downloadModelBtn; + ButtonControl *selectModelBtn; + + FrogPilotParamValueButtonControl *steerFrictionToggle; + FrogPilotParamValueButtonControl *steerLatAccelToggle; + FrogPilotParamValueButtonControl *steerKPToggle; + FrogPilotParamValueButtonControl *steerRatioToggle; + + FrogPilotSettingsWindow *parent; + + Params params; + Params paramsMemory{"/dev/shm/params"}; + Params paramsStorage{"/persist/params"}; + + QDir modelDir{"/data/models/"}; + + QList labelControls; + + QStringList availableModelNames; + QStringList availableModels; + QStringList experimentalModels; + + bool allModelsDownloading; + bool cancellingDownload; + bool customPersonalityOpen; + bool disableOpenpilotLongitudinal; + bool hasAutoTune; + bool hasNNFFLog; + bool hasOpenpilotLongitudinal; + bool hasPCMCruise; + bool haveModelsDownloaded; + bool isMetric = params.getBool("IsMetric"); + bool isPIDCar; + bool liveValid; + bool modelDeleting; + bool modelDownloading; + bool modelManagement; + bool modelManagementOpen; + bool modelRandomizer; + bool modelsDownloaded; + bool started; + + float steerFrictionStock; + float steerLatAccelStock; + float steerKPStock; + float steerRatioStock; + + std::map toggles; +}; diff --git a/selfdrive/frogpilot/ui/qt/offroad/advanced_visual_settings.cc b/selfdrive/frogpilot/ui/qt/offroad/advanced_visual_settings.cc new file mode 100644 index 00000000000000..c66d0c6e274210 --- /dev/null +++ b/selfdrive/frogpilot/ui/qt/offroad/advanced_visual_settings.cc @@ -0,0 +1,226 @@ +#include "selfdrive/frogpilot/ui/qt/offroad/advanced_visual_settings.h" + +FrogPilotAdvancedVisualsPanel::FrogPilotAdvancedVisualsPanel(FrogPilotSettingsWindow *parent) : FrogPilotListWidget(parent), parent(parent) { + const std::vector> advancedToggles { + {"AdvancedCustomUI", tr("Advanced Onroad UI Widgets"), tr("Advanced user customizations for the Onroad UI."), "../frogpilot/assets/toggle_icons/icon_advanced_road.png"}, + {"CameraView", tr("Camera View"), tr("Camera view for the onroad UI. This is purely a visual change and doesn't impact how openpilot drives."), ""}, + {"ShowStoppingPoint", tr("Display Stopping Points"), tr("Display an image on the screen where openpilot is detecting a potential red light/stop sign."), ""}, + {"HideLeadMarker", tr("Hide Lead Marker"), tr("Hide the marker for the vehicle ahead on the screen."), ""}, + {"HideSpeed", tr("Hide Speed"), tr("Hide the speed indicator in the onroad UI. Additional toggle allows it to be hidden/shown via tapping the speed itself."), ""}, + {"HideUIElements", tr("Hide UI Elements"), tr("Hide the selected UI elements from the onroad screen."), ""}, + {"WheelSpeed", tr("Use Wheel Speed"), tr("Use the wheel speed instead of the cluster speed in the onroad UI."), ""}, + + {"DeveloperUI", tr("Developer UI"), tr("Show detailed information about openpilot's internal operations."), "../frogpilot/assets/toggle_icons/icon_advanced_device.png"}, + {"BorderMetrics", tr("Border Metrics"), tr("Display performance metrics around the edge of the screen while driving."), ""}, + {"FPSCounter", tr("FPS Display"), tr("Display the 'Frames Per Second' (FPS) at the bottom of the screen while driving."), ""}, + {"LateralMetrics", tr("Lateral Metrics"), tr("Display metrics related to steering control at the top of the screen while driving."), ""}, + {"LongitudinalMetrics", tr("Longitudinal Metrics"), tr("Display metrics related to acceleration, speed, and desired following distance at the top of the screen while driving."), ""}, + {"NumericalTemp", tr("Numerical Temperature Gauge"), tr("Show exact temperature readings instead of general status labels like 'GOOD', 'OK', or 'HIGH' in the sidebar."), ""}, + {"SidebarMetrics", tr("Sidebar"), tr("Display system information like CPU, GPU, RAM usage, IP address, and storage space in the sidebar."), ""}, + {"UseSI", tr("Use International System of Units"), tr("Display measurements using the 'International System of Units' (SI)."), ""}, + + {"ModelUI", tr("Model UI"), tr("Customize the model visualizations on the screen."), "../frogpilot/assets/toggle_icons/icon_advanced_calibration.png"}, + {"LaneLinesWidth", tr("Lane Lines Width"), tr("How thick the lane lines appear on the display.\n\nDefault matches the MUTCD standard of 4 inches."), ""}, + {"PathEdgeWidth", tr("Path Edges Width"), tr("The width of the edges of the driving path to represent different modes and statuses.\n\nDefault is 20% of the total path width.\n\nColor Guide:\n- Blue: Navigation\n- Light Blue: 'Always On Lateral'\n- Green: Default\n- Orange: 'Experimental Mode'\n- Red: 'Traffic Mode'\n- Yellow: 'Conditional Experimental Mode' Overridden"), ""}, + {"PathWidth", tr("Path Width"), tr("How wide the driving path appears on your screen.\n\nDefault (6.1 feet / 1.9 meters) matches the width of a 2019 Lexus ES 350."), ""}, + {"RoadEdgesWidth", tr("Road Edges Width"), tr("How thick the road edges appear on the display.\n\nDefault matches half of the MUTCD standard lane line width of 4 inches."), ""}, + {"UnlimitedLength", tr("'Unlimited' Road UI"), tr("Extend the display of the path, lane lines, and road edges as far as the model can see."), ""}, + }; + + for (const auto &[param, title, desc, icon] : advancedToggles) { + AbstractControl *advancedVisualToggle; + + if (param == "AdvancedCustomUI") { + FrogPilotParamManageControl *advancedCustomUIToggle = new FrogPilotParamManageControl(param, title, desc, icon); + QObject::connect(advancedCustomUIToggle, &FrogPilotParamManageControl::manageButtonClicked, [this]() { + showToggles(advancedCustomOnroadUIKeys); + }); + advancedVisualToggle = advancedCustomUIToggle; + } else if (param == "CameraView") { + std::vector cameraOptions{tr("Auto"), tr("Driver"), tr("Standard"), tr("Wide")}; + ButtonParamControl *preferredCamera = new ButtonParamControl(param, title, desc, icon, cameraOptions); + advancedVisualToggle = preferredCamera; + } else if (param == "HideSpeed") { + std::vector hideSpeedToggles{"HideSpeedUI"}; + std::vector hideSpeedToggleNames{tr("Control Via UI")}; + advancedVisualToggle = new FrogPilotButtonToggleControl(param, title, desc, hideSpeedToggles, hideSpeedToggleNames); + } else if (param == "HideUIElements") { + std::vector uiElementsToggles{"HideAlerts", "HideMapIcon", "HideMaxSpeed"}; + std::vector uiElementsToggleNames{tr("Alerts"), tr("Map Icon"), tr("Max Speed")}; + advancedVisualToggle = new FrogPilotButtonToggleControl(param, title, desc, uiElementsToggles, uiElementsToggleNames); + } else if (param == "ShowStoppingPoint") { + std::vector stoppingPointToggles{"ShowStoppingPointMetrics"}; + std::vector stoppingPointToggleNames{tr("Show Distance")}; + advancedVisualToggle = new FrogPilotButtonToggleControl(param, title, desc, stoppingPointToggles, stoppingPointToggleNames); + + } else if (param == "DeveloperUI") { + FrogPilotParamManageControl *developerUIToggle = new FrogPilotParamManageControl(param, title, desc, icon); + QObject::connect(developerUIToggle, &FrogPilotParamManageControl::manageButtonClicked, [this]() { + borderMetricsBtn->setVisibleButton(0, hasBSM); + lateralMetricsBtn->setVisibleButton(1, hasAutoTune); + + std::set modifiedDeveloperUIKeys = developerUIKeys; + + if (disableOpenpilotLongitudinal || !hasOpenpilotLongitudinal) { + modifiedDeveloperUIKeys.erase("LongitudinalMetrics"); + } + + showToggles(modifiedDeveloperUIKeys); + }); + advancedVisualToggle = developerUIToggle; + } else if (param == "BorderMetrics") { + std::vector borderToggles{"BlindSpotMetrics", "ShowSteering", "SignalMetrics"}; + std::vector borderToggleNames{tr("Blind Spot"), tr("Steering Torque"), tr("Turn Signal")}; + borderMetricsBtn = new FrogPilotButtonToggleControl(param, title, desc, borderToggles, borderToggleNames); + advancedVisualToggle = borderMetricsBtn; + } else if (param == "LateralMetrics") { + std::vector lateralToggles{"AdjacentPathMetrics", "TuningInfo"}; + std::vector lateralToggleNames{tr("Adjacent Path Metrics"), tr("Auto Tune")}; + lateralMetricsBtn = new FrogPilotButtonToggleControl(param, title, desc, lateralToggles, lateralToggleNames); + advancedVisualToggle = lateralMetricsBtn; + } else if (param == "LongitudinalMetrics") { + std::vector longitudinalToggles{"LeadInfo", "JerkInfo"}; + std::vector longitudinalToggleNames{tr("Lead Info"), tr("Jerk Values")}; + longitudinalMetricsBtn = new FrogPilotButtonToggleControl(param, title, desc, longitudinalToggles, longitudinalToggleNames); + advancedVisualToggle = longitudinalMetricsBtn; + } else if (param == "NumericalTemp") { + std::vector temperatureToggles{"Fahrenheit"}; + std::vector temperatureToggleNames{tr("Fahrenheit")}; + advancedVisualToggle = new FrogPilotButtonToggleControl(param, title, desc, temperatureToggles, temperatureToggleNames); + } else if (param == "SidebarMetrics") { + std::vector sidebarMetricsToggles{"ShowCPU", "ShowGPU", "ShowIP", "ShowMemoryUsage", "ShowStorageLeft", "ShowStorageUsed"}; + std::vector sidebarMetricsToggleNames{tr("CPU"), tr("GPU"), tr("IP"), tr("RAM"), tr("SSD Left"), tr("SSD Used")}; + FrogPilotButtonToggleControl *sidebarMetricsToggle = new FrogPilotButtonToggleControl(param, title, desc, sidebarMetricsToggles, sidebarMetricsToggleNames, false, 150); + QObject::connect(sidebarMetricsToggle, &FrogPilotButtonToggleControl::buttonClicked, [this](int index) { + if (index == 0) { + params.putBool("ShowGPU", false); + } else if (index == 1) { + params.putBool("ShowCPU", false); + } else if (index == 3) { + params.putBool("ShowStorageLeft", false); + params.putBool("ShowStorageUsed", false); + } else if (index == 4) { + params.putBool("ShowMemoryUsage", false); + params.putBool("ShowStorageUsed", false); + } else if (index == 5) { + params.putBool("ShowMemoryUsage", false); + params.putBool("ShowStorageLeft", false); + } + }); + advancedVisualToggle = sidebarMetricsToggle; + + } else if (param == "ModelUI") { + FrogPilotParamManageControl *modelUIToggle = new FrogPilotParamManageControl(param, title, desc, icon); + QObject::connect(modelUIToggle, &FrogPilotParamManageControl::manageButtonClicked, [this]() { + std::set modifiedModelUIKeysKeys = modelUIKeys; + + if (disableOpenpilotLongitudinal || !hasOpenpilotLongitudinal) { + modifiedModelUIKeysKeys.erase("HideLeadMarker"); + } + + showToggles(modifiedModelUIKeysKeys); + }); + advancedVisualToggle = modelUIToggle; + } else if (param == "LaneLinesWidth" || param == "RoadEdgesWidth") { + advancedVisualToggle = new FrogPilotParamValueControl(param, title, desc, icon, 0, 24, tr(" inches")); + } else if (param == "PathEdgeWidth") { + advancedVisualToggle = new FrogPilotParamValueControl(param, title, desc, icon, 0, 100, tr("%")); + } else if (param == "PathWidth") { + advancedVisualToggle = new FrogPilotParamValueControl(param, title, desc, icon, 0, 10, tr(" feet"), std::map(), 0.1); + + } else { + advancedVisualToggle = new ParamControl(param, title, desc, icon); + } + + addItem(advancedVisualToggle); + toggles[param] = advancedVisualToggle; + + makeConnections(advancedVisualToggle); + + if (FrogPilotParamManageControl *frogPilotManageToggle = qobject_cast(advancedVisualToggle)) { + QObject::connect(frogPilotManageToggle, &FrogPilotParamManageControl::manageButtonClicked, this, &FrogPilotAdvancedVisualsPanel::openParentToggle); + } + + QObject::connect(advancedVisualToggle, &AbstractControl::showDescriptionEvent, [this]() { + update(); + }); + } + + QObject::connect(parent, &FrogPilotSettingsWindow::closeParentToggle, this, &FrogPilotAdvancedVisualsPanel::hideToggles); + QObject::connect(parent, &FrogPilotSettingsWindow::updateCarToggles, this, &FrogPilotAdvancedVisualsPanel::updateCarToggles); + QObject::connect(parent, &FrogPilotSettingsWindow::updateMetric, this, &FrogPilotAdvancedVisualsPanel::updateMetric); + + updateMetric(); +} + +void FrogPilotAdvancedVisualsPanel::updateCarToggles() { + disableOpenpilotLongitudinal = parent->disableOpenpilotLongitudinal; + hasAutoTune = parent->hasAutoTune; + hasBSM = parent->hasBSM; + hasOpenpilotLongitudinal = parent->hasOpenpilotLongitudinal; + + hideToggles(); +} + +void FrogPilotAdvancedVisualsPanel::updateMetric() { + bool previousIsMetric = isMetric; + isMetric = params.getBool("IsMetric"); + + if (isMetric != previousIsMetric) { + double smallDistanceConversion = isMetric ? INCH_TO_CM : CM_TO_INCH; + double distanceConversion = isMetric ? FOOT_TO_METER : METER_TO_FOOT; + + params.putFloatNonBlocking("LaneLinesWidth", params.getFloat("LaneLinesWidth") * smallDistanceConversion); + params.putFloatNonBlocking("RoadEdgesWidth", params.getFloat("RoadEdgesWidth") * smallDistanceConversion); + + params.putFloatNonBlocking("PathWidth", params.getFloat("PathWidth") * distanceConversion); + } + + FrogPilotParamValueControl *laneLinesWidthToggle = static_cast(toggles["LaneLinesWidth"]); + FrogPilotParamValueControl *pathWidthToggle = static_cast(toggles["PathWidth"]); + FrogPilotParamValueControl *roadEdgesWidthToggle = static_cast(toggles["RoadEdgesWidth"]); + + if (isMetric) { + laneLinesWidthToggle->setDescription(tr("Adjust how thick the lane lines appear on the display.\n\nDefault matches the Vienna standard of 10 centimeters.")); + roadEdgesWidthToggle->setDescription(tr("Adjust how thick the road edges appear on the display.\n\nDefault matches half of the Vienna standard of 10 centimeters.")); + + laneLinesWidthToggle->updateControl(0, 60, tr(" centimeters")); + roadEdgesWidthToggle->updateControl(0, 60, tr(" centimeters")); + + pathWidthToggle->updateControl(0, 3, tr(" meters")); + } else { + laneLinesWidthToggle->setDescription(tr("Adjust how thick the lane lines appear on the display.\n\nDefault matches the MUTCD standard of 4 inches.")); + roadEdgesWidthToggle->setDescription(tr("Adjust how thick the road edges appear on the display.\n\nDefault matches half of the MUTCD standard of 4 inches.")); + + laneLinesWidthToggle->updateControl(0, 24, tr(" inches")); + roadEdgesWidthToggle->updateControl(0, 24, tr(" inches")); + + pathWidthToggle->updateControl(0, 10, tr(" feet")); + } +} + +void FrogPilotAdvancedVisualsPanel::showToggles(const std::set &keys) { + setUpdatesEnabled(false); + + for (auto &[key, toggle] : toggles) { + toggle->setVisible(keys.find(key) != keys.end()); + } + + setUpdatesEnabled(true); + update(); +} + +void FrogPilotAdvancedVisualsPanel::hideToggles() { + setUpdatesEnabled(false); + + for (auto &[key, toggle] : toggles) { + bool subToggles = advancedCustomOnroadUIKeys.find(key) != advancedCustomOnroadUIKeys.end() || + developerUIKeys.find(key) != developerUIKeys.end() || + modelUIKeys.find(key) != modelUIKeys.end(); + + toggle->setVisible(!subToggles); + } + + setUpdatesEnabled(true); + update(); +} diff --git a/selfdrive/frogpilot/ui/qt/offroad/advanced_visual_settings.h b/selfdrive/frogpilot/ui/qt/offroad/advanced_visual_settings.h new file mode 100644 index 00000000000000..20ad990119e05a --- /dev/null +++ b/selfdrive/frogpilot/ui/qt/offroad/advanced_visual_settings.h @@ -0,0 +1,53 @@ +#pragma once + +#include + +#include "selfdrive/frogpilot/ui/qt/offroad/frogpilot_settings.h" + +class FrogPilotAdvancedVisualsPanel : public FrogPilotListWidget { + Q_OBJECT + +public: + explicit FrogPilotAdvancedVisualsPanel(FrogPilotSettingsWindow *parent); + +signals: + void openParentToggle(); + +private: + void hideToggles(); + void showToggles(const std::set &keys); + void updateCarToggles(); + void updateMetric(); + + std::set advancedCustomOnroadUIKeys = { + "CameraView", "HideLeadMarker", "HideSpeed", + "HideUIElements", "ShowStoppingPoint", "WheelSpeed" + }; + + std::set developerUIKeys = { + "BorderMetrics", "FPSCounter", "LateralMetrics", + "LongitudinalMetrics", "NumericalTemp", + "SidebarMetrics", "UseSI" + }; + + std::set modelUIKeys = { + "LaneLinesWidth", "PathEdgeWidth", "PathWidth", + "RoadEdgesWidth", "UnlimitedLength" + }; + + FrogPilotButtonToggleControl *borderMetricsBtn; + FrogPilotButtonToggleControl *lateralMetricsBtn; + FrogPilotButtonToggleControl *longitudinalMetricsBtn; + + FrogPilotSettingsWindow *parent; + + Params params; + + bool disableOpenpilotLongitudinal; + bool hasAutoTune; + bool hasBSM; + bool hasOpenpilotLongitudinal; + bool isMetric = params.getBool("IsMetric"); + + std::map toggles; +}; diff --git a/selfdrive/frogpilot/ui/qt/offroad/control_settings.cc b/selfdrive/frogpilot/ui/qt/offroad/control_settings.cc deleted file mode 100644 index 27d5ddb98eec4e..00000000000000 --- a/selfdrive/frogpilot/ui/qt/offroad/control_settings.cc +++ /dev/null @@ -1,1678 +0,0 @@ -#include -#include - -#include "selfdrive/frogpilot/ui/qt/offroad/control_settings.h" - -bool checkCommaNNFFSupport(const std::string &carFingerprint) { - std::ifstream file("../car/torque_data/neural_ff_weights.json"); - for (std::string line; std::getline(file, line);) { - if (line.find(carFingerprint) != std::string::npos) { - std::cout << "comma's NNFF supports fingerprint: " << carFingerprint << std::endl; - return true; - } - } - return false; -} - -bool checkNNFFLogFileExists(const std::string &carFingerprint) { - for (const auto &entry : std::filesystem::directory_iterator("../car/torque_data/lat_models")) { - if (entry.path().filename().string().find(carFingerprint) == 0) { - std::cout << "NNFF supports fingerprint: " << entry.path().filename() << std::endl; - return true; - } - } - return false; -} - -FrogPilotControlsPanel::FrogPilotControlsPanel(SettingsWindow *parent) : FrogPilotListWidget(parent) { - std::string branch = params.get("GitBranch"); - isRelease = branch == "FrogPilot"; - - const std::vector> controlToggles { - {"AlwaysOnLateral", tr("Always on Lateral"), tr("Maintain openpilot lateral control when the brake or gas pedals are used.\n\nDeactivation occurs only through the 'Cruise Control' button."), "../frogpilot/assets/toggle_icons/icon_always_on_lateral.png"}, - {"AlwaysOnLateralLKAS", tr("Control Via LKAS Button"), tr("Enable or disable 'Always On Lateral' by clicking your 'LKAS' button."), ""}, - {"AlwaysOnLateralMain", tr("Enable On Cruise Main"), tr("Enable 'Always On Lateral' by clicking your 'Cruise Control' button without requiring openpilot to be enabled first."), ""}, - {"PauseAOLOnBrake", tr("Pause On Brake Below"), tr("Pause 'Always On Lateral' when the brake pedal is being pressed below the set speed."), ""}, - {"HideAOLStatusBar", tr("Hide the Status Bar"), tr("Don't use the status bar for 'Always On Lateral'."), ""}, - - {"ConditionalExperimental", tr("Conditional Experimental Mode"), tr("Automatically switches to 'Experimental Mode' under predefined conditions."), "../frogpilot/assets/toggle_icons/icon_conditional.png"}, - {"CESpeed", tr("Below"), tr("Switch to 'Experimental Mode' below this speed when not following a lead vehicle."), ""}, - {"CECurves", tr("Curve Detected Ahead"), tr("Switch to 'Experimental Mode' when a curve is detected."), ""}, - {"CELead", tr("Lead Detected Ahead"), tr("Switch to 'Experimental Mode' when a slower or stopped lead vehicle is detected ahead."), ""}, - {"CEModelStopTime", tr("Model Wants To Stop In The Next"), tr("Switch to 'Experimental Mode' when the model wants to stop like when it detects a stop light or stop sign."), ""}, - {"CENavigation", tr("Navigation Based"), tr("Switch to 'Experimental Mode' based on navigation data. (i.e. Intersections, stop signs, upcoming turns, etc.)"), ""}, - {"CESignal", tr("Turn Signal When Below Highway Speeds"), tr("Switch to 'Experimental Mode' when using turn signals below highway speeds to help assist with turns."), ""}, - {"HideCEMStatusBar", tr("Hide the Status Bar"), tr("Don't use the status bar for 'Conditional Experimental Mode'."), ""}, - - {"DeviceManagement", tr("Device Management"), tr("Tweak your device's behaviors to your personal preferences."), "../frogpilot/assets/toggle_icons/icon_device.png"}, - {"DeviceShutdown", tr("Device Shutdown Timer"), tr("Configure how quickly the device shuts down after going offroad."), ""}, - {"NoLogging", tr("Disable Logging"), tr("Turn off all data tracking to enhance privacy or reduce thermal load."), ""}, - {"NoUploads", tr("Disable Uploads"), tr("Turn off all data uploads to comma's servers."), ""}, - {"IncreaseThermalLimits", tr("Increase Thermal Safety Limit"), tr("Allow the device to run at a temperature above comma's recommended thermal limits."), ""}, - {"LowVoltageShutdown", tr("Low Voltage Shutdown Threshold"), tr("Automatically shut the device down when your battery reaches a specific voltage level to prevent killing your battery."), ""}, - {"OfflineMode", tr("Offline Mode"), tr("Allow the device to be offline indefinitely."), ""}, - - {"DrivingPersonalities", tr("Driving Personalities"), tr("Manage the driving behaviors of comma's 'Personality Profiles'."), "../frogpilot/assets/toggle_icons/icon_personality.png"}, - {"CustomPersonalities", tr("Customize Personalities"), tr("Customize the driving personality profiles to your driving style."), ""}, - {"PersonalityInfo", tr("What Do All These Do?"), tr("Learn what all the values in 'Custom Personality Profiles' do on openpilot's driving behaviors."), ""}, - {"TrafficPersonalityProfile", tr("Traffic Personality"), tr("Customize the 'Traffic' personality profile."), "../frogpilot/assets/stock_theme/distance_icons/traffic.png"}, - {"TrafficFollow", tr("Following Distance"), tr("Set the minimum following distance when using 'Traffic Mode'. Your following distance will dynamically adjust between this distance and the following distance from the 'Aggressive' profile."), ""}, - {"TrafficJerkAcceleration", tr("Acceleration Jerk"), tr("Customize the acceleration jerk when using 'Traffic Mode'."), ""}, - {"TrafficJerkDanger", tr("Danger Zone Jerk"), tr("Customize the danger zone jerk when using the 'Traffic' personality."), ""}, - {"TrafficJerkSpeed", tr("Speed Control Jerk"), tr("Customize the speed control jerk when using 'Traffic Mode'."), ""}, - {"ResetTrafficPersonality", tr("Reset Settings"), tr("Reset the values for the 'Traffic Mode' personality back to stock."), ""}, - {"AggressivePersonalityProfile", tr("Aggressive Personality"), tr("Customize the 'Aggressive' personality profile."), "../frogpilot/assets/stock_theme/distance_icons/aggressive.png"}, - {"AggressiveFollow", tr("Following Distance"), tr("Set the 'Aggressive' personality following distance. Represents seconds to follow behind the lead vehicle.\n\nStock: 1.25 seconds."), ""}, - {"AggressiveJerkAcceleration", tr("Acceleration Jerk"), tr("Customize the acceleration jerk when using the 'Aggressive' personality."), ""}, - {"AggressiveJerkDanger", tr("Danger Zone Jerk"), tr("Customize the danger zone jerk when using the 'Aggressive' personality."), ""}, - {"AggressiveJerkSpeed", tr("Speed Control Jerk"), tr("Customize the speed control jerk when using the 'Aggressive' personality."), ""}, - {"ResetAggressivePersonality", tr("Reset Settings"), tr("Reset the values for the 'Aggressive' personality back to stock."), ""}, - {"StandardPersonalityProfile", tr("Standard Personality"), tr("Customize the 'Standard' personality profile."), "../frogpilot/assets/stock_theme/distance_icons/standard.png"}, - {"StandardFollow", tr("Following Distance"), tr("Set the 'Standard' personality following distance. Represents seconds to follow behind the lead vehicle.\n\nStock: 1.45 seconds."), ""}, - {"StandardJerkAcceleration", tr("Acceleration Jerk"), tr("Customize the acceleration jerk when using the 'Standard' personality."), ""}, - {"StandardJerkDanger", tr("Danger Zone Jerk"), tr("Customize the danger zone jerk when using the 'Standard' personality."), ""}, - {"StandardJerkSpeed", tr("Speed Control Jerk"), tr("Customize the speed control jerk when using the 'Standard' personality."), ""}, - {"ResetStandardPersonality", tr("Reset Settings"), tr("Reset the values for the 'Standard' personality back to stock."), ""}, - {"RelaxedPersonalityProfile", tr("Relaxed Personality"), tr("Customize the 'Relaxed' personality profile."), "../frogpilot/assets/stock_theme/distance_icons/relaxed.png"}, - {"RelaxedFollow", tr("Following Distance"), tr("Set the 'Relaxed' personality following distance. Represents seconds to follow behind the lead vehicle.\n\nStock: 1.75 seconds."), ""}, - {"RelaxedJerkAcceleration", tr("Acceleration Jerk"), tr("Customize the acceleration jerk when using the 'Relaxed' personality."), ""}, - {"RelaxedJerkDanger", tr("Danger Zone Jerk"), tr("Customize the danger zone jerk when using the 'Relaxed' personality."), ""}, - {"RelaxedJerkSpeed", tr("Speed Control Jerk"), tr("Customize the speed control jerk when using the 'Relaxed' personality."), ""}, - {"ResetRelaxedPersonality", tr("Reset Settings"), tr("Reset the values for the 'Relaxed' personality back to stock."), ""}, - {"OnroadDistanceButton", tr("Onroad Distance Button"), tr("Simulate a distance button via the onroad UI to control personalities, 'Experimental Mode', and 'Traffic Mode'."), ""}, - {"OnroadDistanceButtonButtons", "Icon Pack", "", ""}, - {"DownloadStatusLabel", tr("Download Status"), "", ""}, - - {"ExperimentalModeActivation", tr("Experimental Mode Activation"), tr("Toggle Experimental Mode with either buttons on the steering wheel or the screen. \n\nOverrides 'Conditional Experimental Mode'."), "../assets/img_experimental_white.svg"}, - {"ExperimentalModeViaLKAS", tr("Click LKAS Button"), tr("Enable/disable 'Experimental Mode' by clicking the 'LKAS' button on your steering wheel."), ""}, - {"ExperimentalModeViaTap", tr("Double Tap the UI"), tr("Enable/disable 'Experimental Mode' by double tapping the onroad UI within a 0.5 second time frame."), ""}, - {"ExperimentalModeViaDistance", tr("Long Press Distance"), tr("Enable/disable 'Experimental Mode' by holding down the 'distance' button on your steering wheel for 0.5 seconds."), ""}, - - {"LaneChangeCustomizations", tr("Lane Change Customizations"), tr("Customize the lane change behaviors in openpilot."), "../frogpilot/assets/toggle_icons/icon_lane.png"}, - {"LaneChangeTime", tr("Lane Change Timer"), tr("Set a delay before executing a lane change."), ""}, - {"LaneDetectionWidth", tr("Lane Detection Threshold"), tr("Set the required lane width to be qualified as a lane."), ""}, - {"MinimumLaneChangeSpeed", tr("Minimum Lane Change Speed"), tr("Customize the minimum driving speed to allow openpilot to change lanes."), ""}, - {"NudgelessLaneChange", tr("Nudgeless Lane Change"), tr("Enable lane changes without requiring manual steering input."), ""}, - {"OneLaneChange", tr("One Lane Change Per Signal"), tr("Only allow one lane change per turn signal activation."), ""}, - - {"LateralTune", tr("Lateral Tuning"), tr("Modify openpilot's steering behavior."), "../frogpilot/assets/toggle_icons/icon_lateral_tune.png"}, - {"ForceAutoTune", tr("Force Auto Tune"), tr("Forces comma's auto lateral tuning for unsupported vehicles."), ""}, - {"NNFF", tr("NNFF"), tr("Use Twilsonco's Neural Network Feedforward for enhanced precision in lateral control."), ""}, - {"NNFFLite", tr("NNFF-Lite"), tr("Use Twilsonco's Neural Network Feedforward for enhanced precision in lateral control for cars without available NNFF logs."), ""}, - {"SteerRatio", steerRatioStock != 0 ? QString(tr("Steer Ratio (Default: %1)")).arg(QString::number(steerRatioStock, 'f', 2)) : tr("Steer Ratio"), tr("Use a custom steer ratio as opposed to comma's auto tune value."), ""}, - {"TacoTune", tr("Taco Tune"), tr("Use comma's 'Taco Tune' designed for handling left and right turns."), ""}, - {"TurnDesires", tr("Use Turn Desires"), tr("Use turn desires for greater precision in turns below the minimum lane change speed."), ""}, - - {"LongitudinalTune", tr("Longitudinal Tuning"), tr("Modify openpilot's acceleration and braking behavior."), "../frogpilot/assets/toggle_icons/icon_longitudinal_tune.png"}, - {"AccelerationProfile", tr("Acceleration Profile"), tr("Change the acceleration rate to be either sporty or eco-friendly."), ""}, - {"DecelerationProfile", tr("Deceleration Profile"), tr("Change the deceleration rate to be either sporty or eco-friendly."), ""}, - {"HumanAcceleration", tr("Human-Like Acceleration"), tr("Tweaks the acceleration behavior to be more 'human-like'."), ""}, - {"HumanFollowing", tr("Human-Like Following Distance"), tr("Tweaks the following distance dynamically to be more 'human-like' when coming up behind slower/stopped leads or following faster leads."), ""}, - {"StoppingDistance", tr("Increase Stop Distance Behind Lead"), tr("Increase the stopping distance for a more comfortable stop from lead vehicles."), ""}, - {"LeadDetectionThreshold", tr("Lead Detection Threshold"), tr("Increase or decrease the lead detection threshold to either detect leads sooner, or increase model confidence."), ""}, - {"TrafficMode", tr("Traffic Mode"), tr("Enable the ability to activate 'Traffic Mode' by holding down the 'distance' button for 2.5 seconds. When 'Traffic Mode' is active the onroad UI will turn red and openpilot will drive catered towards stop and go traffic."), ""}, - - {"MTSCEnabled", tr("Map Turn Speed Control"), tr("Slow down for anticipated curves detected by the downloaded maps."), "../frogpilot/assets/toggle_icons/icon_speed_map.png"}, - {"DisableMTSCSmoothing", tr("Disable MTSC UI Smoothing"), tr("Disables the smoothing for the requested speed in the onroad UI to show exactly what speed MTSC is currently requesting."), ""}, - {"MTSCCurvatureCheck", tr("Model Curvature Detection Failsafe"), tr("Only trigger MTSC when the model detects a curve in the road. Purely used as a failsafe to prevent false positives. Leave this off if you never experience false positives."), ""}, - {"MTSCAggressiveness", tr("Turn Speed Aggressiveness"), tr("Set turn speed aggressiveness. Higher values result in faster turns, lower values yield gentler turns. \n\nA change of +- 1% results in the speed being raised or lowered by about 1 mph."), ""}, - - {"ModelManagement", tr("Model Management"), tr("Manage openpilot's driving models."), "../assets/offroad/icon_calibration.png"}, - {"AutomaticallyUpdateModels", tr("Automatically Update and Download Models"), tr("Automatically download models as they're updated or added to the model list."), ""}, - {"ModelRandomizer", tr("Model Randomizer"), tr("Have a random model be selected each drive that can be reviewed at the end of each drive to find your preferred model."), ""}, - {"ManageBlacklistedModels", tr("Manage Model Blacklist"), "Manage the models on your blacklist.", ""}, - {"ResetScores", tr("Reset Model Scores"), tr("Reset the scores you have rated the openpilot models."), ""}, - {"ReviewScores", tr("Review Model Scores"), tr("View the scores FrogPilot and yourself have rated the openpilot models."), ""}, - {"DeleteModel", tr("Delete Model"), "", ""}, - {"DownloadModel", tr("Download Model"), "", ""}, - {"DownloadAllModels", tr("Download All Models"), "", ""}, - {"SelectModel", tr("Select Model"), "", ""}, - {"ResetCalibrations", tr("Reset Model Calibrations"), tr("Reset the driving model calibrations."), ""}, - - {"QOLControls", tr("Quality of Life"), tr("Miscellaneous quality of life changes to improve your overall openpilot experience."), "../frogpilot/assets/toggle_icons/quality_of_life.png"}, - {"CustomCruise", tr("Cruise Increase Interval"), tr("Set a custom interval to increase the max set speed by."), ""}, - {"CustomCruiseLong", tr("Cruise Increase Interval (Long Press)"), tr("Set a custom interval to increase the max set speed by when holding down the cruise increase button."), ""}, - {"ForceStandstill", tr("Force Standstill State"), tr("Keeps openpilot in the 'standstill' state until the gas pedal is pressed."), ""}, - {"MapGears", tr("Map Accel/Decel To Gears"), tr("Map your acceleration/deceleration profile to your 'Eco' and/or 'Sport' gears."), ""}, - {"PauseLateralSpeed", tr("Pause Lateral Below"), tr("Pause lateral control on all speeds below the set speed."), ""}, - {"ReverseCruise", tr("Reverse Cruise Increase"), tr("Reverses the 'long press' functionality logic to increase the max set speed by 5 instead of 1. Useful to increase the max speed quickly."), ""}, - {"SetSpeedOffset", tr("Set Speed Offset"), tr("Set an offset for your desired set speed."), ""}, - - {"SpeedLimitController", tr("Speed Limit Controller"), tr("Automatically adjust the max speed to match the current speed limit using 'Open Street Maps', 'Navigate On openpilot', or your car's dashboard (Toyotas/Lexus/HKG only)."), "../assets/offroad/icon_speed_limit.png"}, - {"SLCControls", tr("Controls Settings"), tr("Manage toggles related to 'Speed Limit Controller's controls."), ""}, - {"Offset1", tr("Speed Limit Offset (0-34 mph)"), tr("Speed limit offset for speed limits between 0-34 mph."), ""}, - {"Offset2", tr("Speed Limit Offset (35-54 mph)"), tr("Speed limit offset for speed limits between 35-54 mph."), ""}, - {"Offset3", tr("Speed Limit Offset (55-64 mph)"), tr("Speed limit offset for speed limits between 55-64 mph."), ""}, - {"Offset4", tr("Speed Limit Offset (65-99 mph)"), tr("Speed limit offset for speed limits between 65-99 mph."), ""}, - {"SLCFallback", tr("Fallback Method"), tr("Choose your fallback method when there is no speed limit available."), ""}, - {"SLCOverride", tr("Override Method"), tr("Choose your preferred method to override the current speed limit."), ""}, - {"SLCPriority", tr("Priority Order"), tr("Configure the speed limit priority order."), ""}, - {"SLCQOL", tr("Quality of Life"), tr("Manage toggles related to 'Speed Limit Controller's quality of life features."), ""}, - {"SLCConfirmation", tr("Confirm New Speed Limits"), tr("Don't automatically start using the new speed limit until it's been manually confirmed."), ""}, - {"ForceMPHDashboard", tr("Force MPH From Dashboard Readings"), tr("Force MPH readings from the dashboard. Only use this if you live in an area where the speed limits from your dashboard are in KPH, but you use MPH."), ""}, - {"SLCLookaheadHigher", tr("Prepare For Higher Speed Limits"), tr("Set a 'lookahead' value to prepare for upcoming speed limits higher than your current speed limit using the data stored in 'Open Street Maps'."), ""}, - {"SLCLookaheadLower", tr("Prepare For Lower Speed Limits"), tr("Set a 'lookahead' value to prepare for upcoming speed limits lower than your current speed limit using the data stored in 'Open Street Maps'."), ""}, - {"SetSpeedLimit", tr("Use Current Speed Limit As Set Speed"), tr("Sets your max speed to the current speed limit if one is populated when you initially enable openpilot."), ""}, - {"SLCVisuals", tr("Visuals Settings"), tr("Manage toggles related to 'Speed Limit Controller's visuals."), ""}, - {"ShowSLCOffset", tr("Show Speed Limit Offset"), tr("Show the speed limit offset separated from the speed limit in the onroad UI when using 'Speed Limit Controller'."), ""}, - {"SpeedLimitChangedAlert", tr("Speed Limit Changed Alert"), tr("Trigger an alert whenever the speed limit changes."), ""}, - {"UseVienna", tr("Use Vienna Speed Limit Signs"), tr("Use the Vienna (EU) speed limit style signs as opposed to MUTCD (US)."), ""}, - - {"VisionTurnControl", tr("Vision Turn Speed Controller"), tr("Slow down for detected curves in the road."), "../frogpilot/assets/toggle_icons/icon_vtc.png"}, - {"DisableVTSCSmoothing", tr("Disable VTSC UI Smoothing"), tr("Disables the smoothing for the requested speed in the onroad UI."), ""}, - {"CurveSensitivity", tr("Curve Detection Sensitivity"), tr("Set curve detection sensitivity. Higher values prompt earlier responses, lower values lead to smoother but later reactions."), ""}, - {"TurnAggressiveness", tr("Turn Speed Aggressiveness"), tr("Set turn speed aggressiveness. Higher values result in faster turns, lower values yield gentler turns."), ""}, - }; - - for (const auto &[param, title, desc, icon] : controlToggles) { - AbstractControl *controlToggle; - - if (param == "AlwaysOnLateral") { - FrogPilotParamManageControl *aolToggle = new FrogPilotParamManageControl(param, title, desc, icon, this); - QObject::connect(aolToggle, &FrogPilotParamManageControl::manageButtonClicked, this, [this]() { - openParentToggle(); - - for (auto &[key, toggle] : toggles) { - toggle->setVisible(aolKeys.find(key.c_str()) != aolKeys.end()); - } - }); - controlToggle = aolToggle; - } else if (param == "PauseAOLOnBrake") { - controlToggle = new FrogPilotParamValueControl(param, title, desc, icon, 0, 99, std::map(), this, false, tr("mph")); - - } else if (param == "ConditionalExperimental") { - FrogPilotParamManageControl *conditionalExperimentalToggle = new FrogPilotParamManageControl(param, title, desc, icon, this); - QObject::connect(conditionalExperimentalToggle, &FrogPilotParamManageControl::manageButtonClicked, this, [this]() { - openParentToggle(); - - for (auto &[key, toggle] : toggles) { - toggle->setVisible(conditionalExperimentalKeys.find(key.c_str()) != conditionalExperimentalKeys.end()); - } - }); - controlToggle = conditionalExperimentalToggle; - } else if (param == "CESpeed") { - FrogPilotParamValueControl *CESpeed = new FrogPilotParamValueControl(param, title, desc, icon, 0, 99, std::map(), this, false, tr("mph")); - FrogPilotParamValueControl *CESpeedLead = new FrogPilotParamValueControl("CESpeedLead", tr(" With Lead"), tr("Switch to 'Experimental Mode' below this speed when following a lead vehicle."), icon, 0, 99, std::map(), this, false, tr("mph")); - FrogPilotDualParamControl *conditionalSpeeds = new FrogPilotDualParamControl(CESpeed, CESpeedLead, this); - controlToggle = reinterpret_cast(conditionalSpeeds); - } else if (param == "CECurves") { - std::vector curveToggles{"CECurvesLead"}; - std::vector curveToggleNames{tr("With Lead")}; - controlToggle = new FrogPilotParamToggleControl(param, title, desc, icon, curveToggles, curveToggleNames); - } else if (param == "CELead") { - std::vector leadToggles{"CESlowerLead", "CEStoppedLead"}; - std::vector leadToggleNames{tr("Slower Lead"), tr("Stopped Lead")}; - controlToggle = new FrogPilotParamToggleControl(param, title, desc, icon, leadToggles, leadToggleNames); - } else if (param == "CENavigation") { - std::vector navigationToggles{"CENavigationIntersections", "CENavigationTurns", "CENavigationLead"}; - std::vector navigationToggleNames{tr("Intersections"), tr("Turns"), tr("With Lead")}; - controlToggle = new FrogPilotParamToggleControl(param, title, desc, icon, navigationToggles, navigationToggleNames); - } else if (param == "CEModelStopTime") { - controlToggle = new FrogPilotParamValueControl(param, title, desc, icon, 0, 10, std::map(), this, false, tr(" seconds")); - - } else if (param == "DeviceManagement") { - FrogPilotParamManageControl *deviceManagementToggle = new FrogPilotParamManageControl(param, title, desc, icon, this); - QObject::connect(deviceManagementToggle, &FrogPilotParamManageControl::manageButtonClicked, this, [this]() { - openParentToggle(); - - for (auto &[key, toggle] : toggles) { - toggle->setVisible(deviceManagementKeys.find(key.c_str()) != deviceManagementKeys.end()); - } - }); - controlToggle = deviceManagementToggle; - } else if (param == "DeviceShutdown") { - std::map shutdownLabels; - for (int i = 0; i <= 33; i++) { - shutdownLabels[i] = i == 0 ? tr("5 mins") : i <= 3 ? QString::number(i * 15) + tr(" mins") : QString::number(i - 3) + (i == 4 ? tr(" hour") : tr(" hours")); - } - controlToggle = new FrogPilotParamValueControl(param, title, desc, icon, 0, 33, shutdownLabels, this, false); - } else if (param == "NoUploads") { - std::vector uploadsToggles{"DisableOnroadUploads"}; - std::vector uploadsToggleNames{tr("Only Onroad")}; - controlToggle = new FrogPilotParamToggleControl(param, title, desc, icon, uploadsToggles, uploadsToggleNames); - } else if (param == "LowVoltageShutdown") { - controlToggle = new FrogPilotParamValueControl(param, title, desc, icon, 11.8, 12.5, std::map(), this, false, tr(" volts"), 1, 0.01); - - } else if (param == "DrivingPersonalities") { - FrogPilotParamManageControl *drivingPersonalitiesToggle = new FrogPilotParamManageControl(param, title, desc, icon, this); - QObject::connect(drivingPersonalitiesToggle, &FrogPilotParamManageControl::manageButtonClicked, this, [this]() { - openParentToggle(); - - drivingPersonalitiesOpen = true; - - for (auto &[key, toggle] : toggles) { - toggle->setVisible(drivingPersonalityKeys.find(key.c_str()) != drivingPersonalityKeys.end()); - } - - downloadStatusLabel->setVisible(onroadDistanceButton); - manageDistanceIconsBtn->setVisible(onroadDistanceButton); - }); - controlToggle = drivingPersonalitiesToggle; - } else if (param == "CustomPersonalities") { - FrogPilotParamManageControl *customPersonalitiesToggle = new FrogPilotParamManageControl(param, title, desc, icon, this); - QObject::connect(customPersonalitiesToggle, &FrogPilotParamManageControl::manageButtonClicked, this, [this]() { - openSubParentToggle(); - - customPersonalitiesOpen = true; - - for (auto &[key, toggle] : toggles) { - toggle->setVisible(customdrivingPersonalityKeys.find(key.c_str()) != customdrivingPersonalityKeys.end()); - } - }); - controlToggle = customPersonalitiesToggle; - } else if (param == "PersonalityInfo") { - ButtonControl *personalitiesInfoBtn = new ButtonControl(title, tr("VIEW"), desc); - QObject::connect(personalitiesInfoBtn, &ButtonControl::clicked, [=]() { - const std::string txt = util::read_file("../frogpilot/ui/qt/offroad/personalities_info.txt"); - ConfirmationDialog::rich(QString::fromStdString(txt), this); - }); - controlToggle = reinterpret_cast(personalitiesInfoBtn); - } else if (param == "ResetTrafficPersonality" || param == "ResetAggressivePersonality" || param == "ResetStandardPersonality" || param == "ResetRelaxedPersonality") { - std::vector personalityOptions{tr("Reset")}; - FrogPilotButtonsControl *profileBtn = new FrogPilotButtonsControl(title, desc, icon, personalityOptions); - controlToggle = profileBtn; - } else if (param == "TrafficPersonalityProfile") { - FrogPilotParamManageControl *trafficPersonalityToggle = new FrogPilotParamManageControl(param, title, desc, icon, this); - QObject::connect(trafficPersonalityToggle, &FrogPilotParamManageControl::manageButtonClicked, this, [this]() { - openSubSubParentToggle(); - - for (auto &[key, toggle] : toggles) { - toggle->setVisible(trafficPersonalityKeys.find(key.c_str()) != trafficPersonalityKeys.end()); - } - }); - controlToggle = trafficPersonalityToggle; - } else if (param == "AggressivePersonalityProfile") { - FrogPilotParamManageControl *aggressivePersonalityToggle = new FrogPilotParamManageControl(param, title, desc, icon, this); - QObject::connect(aggressivePersonalityToggle, &FrogPilotParamManageControl::manageButtonClicked, this, [this]() { - openSubSubParentToggle(); - - for (auto &[key, toggle] : toggles) { - toggle->setVisible(aggressivePersonalityKeys.find(key.c_str()) != aggressivePersonalityKeys.end()); - } - }); - controlToggle = aggressivePersonalityToggle; - } else if (param == "StandardPersonalityProfile") { - FrogPilotParamManageControl *standardPersonalityToggle = new FrogPilotParamManageControl(param, title, desc, icon, this); - QObject::connect(standardPersonalityToggle, &FrogPilotParamManageControl::manageButtonClicked, this, [this]() { - openSubSubParentToggle(); - - for (auto &[key, toggle] : toggles) { - toggle->setVisible(standardPersonalityKeys.find(key.c_str()) != standardPersonalityKeys.end()); - } - }); - controlToggle = standardPersonalityToggle; - } else if (param == "RelaxedPersonalityProfile") { - FrogPilotParamManageControl *relaxedPersonalityToggle = new FrogPilotParamManageControl(param, title, desc, icon, this); - QObject::connect(relaxedPersonalityToggle, &FrogPilotParamManageControl::manageButtonClicked, this, [this]() { - openSubSubParentToggle(); - - for (auto &[key, toggle] : toggles) { - toggle->setVisible(relaxedPersonalityKeys.find(key.c_str()) != relaxedPersonalityKeys.end()); - } - }); - controlToggle = relaxedPersonalityToggle; - } else if (trafficPersonalityKeys.find(param) != trafficPersonalityKeys.end() || - aggressivePersonalityKeys.find(param) != aggressivePersonalityKeys.end() || - standardPersonalityKeys.find(param) != standardPersonalityKeys.end() || - relaxedPersonalityKeys.find(param) != relaxedPersonalityKeys.end()) { - if (param == "TrafficFollow" || param == "AggressiveFollow" || param == "StandardFollow" || param == "RelaxedFollow") { - if (param == "TrafficFollow") { - controlToggle = new FrogPilotParamValueControl(param, title, desc, icon, 0.5, 5, std::map(), this, false, tr(" seconds"), 1, 0.01); - } else { - controlToggle = new FrogPilotParamValueControl(param, title, desc, icon, 1, 5, std::map(), this, false, tr(" seconds"), 1, 0.01); - } - } else { - controlToggle = new FrogPilotParamValueControl(param, title, desc, icon, 1, 500, std::map(), this, false, "%"); - } - - } else if (param == "OnroadDistanceButtonButtons") { - std::vector CustomDistanceIconsOptions{tr("DELETE"), tr("DOWNLOAD"), tr("SELECT")}; - manageDistanceIconsBtn = new FrogPilotButtonsControl(title, desc, icon, CustomDistanceIconsOptions); - - std::function formatIconName = [](QString name) -> QString { - QChar separator = name.contains('_') ? '_' : '-'; - QStringList parts = name.replace(separator, ' ').split(' '); - - for (int i = 0; i < parts.size(); ++i) { - parts[i][0] = parts[i][0].toUpper(); - } - - if (separator == '-' && parts.size() > 1) { - return parts.first() + " (" + parts.last() + ")"; - } - - return parts.join(' '); - }; - - std::function formatIconNameForStorage = [](QString name) -> QString { - name = name.toLower(); - name = name.replace(" (", "-"); - name = name.replace(' ', '_'); - name.remove('(').remove(')'); - return name; - }; - - QObject::connect(manageDistanceIconsBtn, &FrogPilotButtonsControl::buttonClicked, [=](int id) { - QDir themesDir{"/data/themes/distance_icons"}; - QFileInfoList dirList = themesDir.entryInfoList(QDir::Dirs | QDir::NoDotAndDotDot); - - QString currentDistanceIcon = QString::fromStdString(params.get("CustomDistanceIcons")).replace('_', ' ').replace('-', " (").toLower(); - currentDistanceIcon[0] = currentDistanceIcon[0].toUpper(); - for (int i = 1; i < currentDistanceIcon.length(); i++) { - if (currentDistanceIcon[i - 1] == ' ' || currentDistanceIcon[i - 1] == '(') { - currentDistanceIcon[i] = currentDistanceIcon[i].toUpper(); - } - } - if (currentDistanceIcon.contains(" (")) { - currentDistanceIcon.append(')'); - } - - QStringList availableIcons; - for (const QFileInfo &dirInfo : dirList) { - QString iconPackDir = dirInfo.absoluteFilePath(); - - availableIcons << formatIconName(dirInfo.fileName()); - } - availableIcons.append("Stock"); - std::sort(availableIcons.begin(), availableIcons.end()); - - if (id == 0) { - QStringList iconPackList = availableIcons; - iconPackList.removeAll("Stock"); - iconPackList.removeAll(currentDistanceIcon); - - QString iconPackToDelete = MultiOptionDialog::getSelection(tr("Select an icon pack to delete"), iconPackList, "", this); - if (!iconPackToDelete.isEmpty() && ConfirmationDialog::confirm(tr("Are you sure you want to delete the '%1' icon pack?").arg(iconPackToDelete), tr("Delete"), this)) { - themeDeleting = true; - iconsDownloaded = false; - - QString selectedIconPack = formatIconNameForStorage(iconPackToDelete); - for (const QFileInfo &dirInfo : dirList) { - if (dirInfo.fileName() == selectedIconPack) { - QDir iconPackDir(dirInfo.absoluteFilePath() + "/distance_icons"); - if (iconPackDir.exists()) { - iconPackDir.removeRecursively(); - } - } - } - - QStringList downloadableIcons = QString::fromStdString(params.get("DownloadableDistanceIcons")).split(","); - downloadableIcons << iconPackToDelete; - downloadableIcons.removeDuplicates(); - downloadableIcons.removeAll(""); - std::sort(downloadableIcons.begin(), downloadableIcons.end()); - - params.put("DownloadableDistanceIcons", downloadableIcons.join(",").toStdString()); - themeDeleting = false; - } - } else if (id == 1) { - if (manageDistanceIconsBtn->getButton(id)->text() == tr("CANCEL")) { - paramsMemory.putBool("CancelThemeDownload", true); - cancellingDownload = true; - - QTimer::singleShot(2000, [=]() { - paramsMemory.putBool("CancelThemeDownload", false); - cancellingDownload = false; - iconsDownloading = false; - themeDownloading = false; - }); - } else { - QStringList downloadableIcons = QString::fromStdString(params.get("DownloadableDistanceIcons")).split(","); - QString iconPackToDownload = MultiOptionDialog::getSelection(tr("Select an icon pack to download"), downloadableIcons, "", this); - - if (!iconPackToDownload.isEmpty()) { - QString convertedIconPack = formatIconNameForStorage(iconPackToDownload); - paramsMemory.put("DistanceIconToDownload", convertedIconPack.toStdString()); - downloadStatusLabel->setText("Downloading..."); - paramsMemory.put("ThemeDownloadProgress", "Downloading..."); - iconsDownloading = true; - themeDownloading = true; - - downloadableIcons.removeAll(iconPackToDownload); - params.put("DownloadableDistanceIcons", downloadableIcons.join(",").toStdString()); - } - } - } else if (id == 2) { - QString iconPackToSelect = MultiOptionDialog::getSelection(tr("Select an icon pack"), availableIcons, currentDistanceIcon, this); - if (!iconPackToSelect.isEmpty()) { - params.put("CustomDistanceIcons", formatIconNameForStorage(iconPackToSelect).toStdString()); - manageDistanceIconsBtn->setValue(iconPackToSelect); - paramsMemory.putBool("UpdateTheme", true); - } - } - }); - - QString currentDistanceIcon = QString::fromStdString(params.get("CustomDistanceIcons")).replace('_', ' ').replace('-', " (").toLower(); - currentDistanceIcon[0] = currentDistanceIcon[0].toUpper(); - for (int i = 1; i < currentDistanceIcon.length(); i++) { - if (currentDistanceIcon[i - 1] == ' ' || currentDistanceIcon[i - 1] == '(') { - currentDistanceIcon[i] = currentDistanceIcon[i].toUpper(); - } - } - if (currentDistanceIcon.contains(" (")) { - currentDistanceIcon.append(')'); - } - manageDistanceIconsBtn->setValue(currentDistanceIcon); - controlToggle = reinterpret_cast(manageDistanceIconsBtn); - } else if (param == "DownloadStatusLabel") { - downloadStatusLabel = new LabelControl(title, "Idle"); - controlToggle = reinterpret_cast(downloadStatusLabel); - - } else if (param == "ExperimentalModeActivation") { - FrogPilotParamManageControl *experimentalModeActivationToggle = new FrogPilotParamManageControl(param, title, desc, icon, this); - QObject::connect(experimentalModeActivationToggle, &FrogPilotParamManageControl::manageButtonClicked, this, [this]() { - openParentToggle(); - - for (auto &[key, toggle] : toggles) { - std::set modifiedExperimentalModeActivationKeys = experimentalModeActivationKeys; - - if (params.getBool("AlwaysOnLateralLKAS")) { - modifiedExperimentalModeActivationKeys.erase("ExperimentalModeViaLKAS"); - } - - toggle->setVisible(modifiedExperimentalModeActivationKeys.find(key.c_str()) != modifiedExperimentalModeActivationKeys.end()); - } - }); - controlToggle = experimentalModeActivationToggle; - - } else if (param == "LateralTune") { - FrogPilotParamManageControl *lateralTuneToggle = new FrogPilotParamManageControl(param, title, desc, icon, this); - QObject::connect(lateralTuneToggle, &FrogPilotParamManageControl::manageButtonClicked, this, [this]() { - openParentToggle(); - - for (auto &[key, toggle] : toggles) { - std::set modifiedLateralTuneKeys = lateralTuneKeys; - - if (hasAutoTune || params.getBool("LateralTune") && params.getBool("NNFF")) { - modifiedLateralTuneKeys.erase("ForceAutoTune"); - } - - if (hasCommaNNFFSupport || !hasNNFFLog) { - modifiedLateralTuneKeys.erase("NNFF"); - } else { - modifiedLateralTuneKeys.erase("NNFFLite"); - } - - toggle->setVisible(modifiedLateralTuneKeys.find(key.c_str()) != modifiedLateralTuneKeys.end()); - } - }); - controlToggle = lateralTuneToggle; - } else if (param == "SteerRatio") { - std::vector steerRatioToggles{"ResetSteerRatio"}; - std::vector steerRatioToggleNames{"Reset"}; - controlToggle = new FrogPilotParamValueToggleControl(param, title, desc, icon, steerRatioStock * 0.75, steerRatioStock * 1.25, std::map(), this, false, "", 1, 0.01, steerRatioToggles, steerRatioToggleNames); - - } else if (param == "LongitudinalTune") { - FrogPilotParamManageControl *longitudinalTuneToggle = new FrogPilotParamManageControl(param, title, desc, icon, this); - QObject::connect(longitudinalTuneToggle, &FrogPilotParamManageControl::manageButtonClicked, this, [this]() { - openParentToggle(); - - bool radarlessModel = QString::fromStdString(params.get("RadarlessModels")).split(",").contains(QString::fromStdString(params.get("Model"))); - - for (auto &[key, toggle] : toggles) { - std::set modifiedLongitudinalTuneKeys = longitudinalTuneKeys; - - if (radarlessModel) { - modifiedLongitudinalTuneKeys.erase("LeadDetectionThreshold"); - } - - toggle->setVisible(modifiedLongitudinalTuneKeys.find(key.c_str()) != modifiedLongitudinalTuneKeys.end()); - } - - }); - controlToggle = longitudinalTuneToggle; - } else if (param == "AccelerationProfile") { - std::vector profileOptions{tr("Standard"), tr("Eco"), tr("Sport"), tr("Sport+")}; - FrogPilotButtonParamControl *profileSelection = new FrogPilotButtonParamControl(param, title, desc, icon, profileOptions); - controlToggle = profileSelection; - } else if (param == "DecelerationProfile") { - std::vector profileOptions{tr("Standard"), tr("Eco"), tr("Sport")}; - FrogPilotButtonParamControl *profileSelection = new FrogPilotButtonParamControl(param, title, desc, icon, profileOptions); - controlToggle = profileSelection; - } else if (param == "StoppingDistance") { - controlToggle = new FrogPilotParamValueControl(param, title, desc, icon, 0, 10, std::map(), this, false, tr(" feet")); - } else if (param == "LeadDetectionThreshold") { - controlToggle = new FrogPilotParamValueControl(param, title, desc, icon, 1, 99, std::map(), this, false, "%"); - - } else if (param == "MTSCEnabled") { - FrogPilotParamManageControl *mtscToggle = new FrogPilotParamManageControl(param, title, desc, icon, this); - QObject::connect(mtscToggle, &FrogPilotParamManageControl::manageButtonClicked, this, [this]() { - openParentToggle(); - - for (auto &[key, toggle] : toggles) { - toggle->setVisible(mtscKeys.find(key.c_str()) != mtscKeys.end()); - } - - }); - controlToggle = mtscToggle; - } else if (param == "MTSCAggressiveness") { - controlToggle = new FrogPilotParamValueControl(param, title, desc, icon, 1, 200, std::map(), this, false, "%"); - - } else if (param == "ModelManagement") { - FrogPilotParamManageControl *modelManagementToggle = new FrogPilotParamManageControl(param, title, desc, icon, this); - QObject::connect(modelManagementToggle, &FrogPilotParamManageControl::manageButtonClicked, this, [this]() { - openParentToggle(); - - availableModelNames = QString::fromStdString(params.get("AvailableModelsNames")).split(","); - availableModels = QString::fromStdString(params.get("AvailableModels")).split(","); - experimentalModels = QString::fromStdString(params.get("ExperimentalModels")).split(","); - - modelManagementOpen = true; - - for (auto &[key, toggle] : toggles) { - toggle->setVisible(modelManagementKeys.find(key.c_str()) != modelManagementKeys.end()); - } - - QString currentModel = QString::fromStdString(params.get("Model")) + ".thneed"; - QStringList modelFiles = modelDir.entryList({"*.thneed"}, QDir::Files); - modelFiles.removeAll(currentModel); - haveModelsDownloaded = modelFiles.size() > 1; - modelsDownloaded = params.getBool("ModelsDownloaded"); - - }); - controlToggle = modelManagementToggle; - } else if (param == "ModelRandomizer") { - FrogPilotParamManageControl *modelRandomizerToggle = new FrogPilotParamManageControl(param, title, desc, icon, this); - QObject::connect(modelRandomizerToggle, &FrogPilotParamManageControl::manageButtonClicked, this, [this]() { - openSubParentToggle(); - - for (auto &[key, toggle] : toggles) { - toggle->setVisible(modelRandomizerKeys.find(key.c_str()) != modelRandomizerKeys.end()); - } - }); - controlToggle = modelRandomizerToggle; - } else if (param == "ManageBlacklistedModels") { - FrogPilotButtonsControl *blacklistBtn = new FrogPilotButtonsControl(title, desc, icon, {tr("ADD"), tr("REMOVE")}); - QObject::connect(blacklistBtn, &FrogPilotButtonsControl::buttonClicked, [=](int id) { - QStringList blacklistedModels = QString::fromStdString(params.get("BlacklistedModels")).split(",", QString::SkipEmptyParts); - QMap labelToModelMap; - QStringList selectableModels, deletableModels; - - for (int i = 0; i < availableModels.size(); i++) { - QString model = availableModels[i]; - if (blacklistedModels.contains(model)) { - deletableModels.append(availableModelNames[i]); - } else { - selectableModels.append(availableModelNames[i]); - } - labelToModelMap[availableModelNames[i]] = model; - } - - if (id == 0) { - if (selectableModels.size() == 1) { - FrogPilotConfirmationDialog::toggleAlert(tr("There's no more models to blacklist! The only available model is \"%1\"!").arg(selectableModels.first()), tr("OK"), this); - } else { - QString selectedModel = MultiOptionDialog::getSelection(tr("Select a model to add to the blacklist"), selectableModels, "", this); - if (!selectedModel.isEmpty()) { - if (ConfirmationDialog::confirm(tr("Are you sure you want to add the '%1' model to the blacklist?").arg(selectedModel), tr("Add"), this)) { - QString modelToAdd = labelToModelMap[selectedModel]; - if (!blacklistedModels.contains(modelToAdd)) { - blacklistedModels.append(modelToAdd); - params.putNonBlocking("BlacklistedModels", blacklistedModels.join(",").toStdString()); - } - } - } - } - } else if (id == 1) { - QString selectedModel = MultiOptionDialog::getSelection(tr("Select a model to remove from the blacklist"), deletableModels, "", this); - if (!selectedModel.isEmpty()) { - if (ConfirmationDialog::confirm(tr("Are you sure you want to remove the '%1' model from the blacklist?").arg(selectedModel), tr("Remove"), this)) { - QString modelToRemove = labelToModelMap[selectedModel]; - if (blacklistedModels.contains(modelToRemove)) { - blacklistedModels.removeAll(modelToRemove); - params.putNonBlocking("BlacklistedModels", blacklistedModels.join(",").toStdString()); - paramsStorage.put("BlacklistedModels", blacklistedModels.join(",").toStdString()); - } - } - } - } - }); - controlToggle = reinterpret_cast(blacklistBtn); - } else if (param == "ResetScores") { - ButtonControl *resetCalibrationsBtn = new ButtonControl(title, tr("RESET"), desc); - QObject::connect(resetCalibrationsBtn, &ButtonControl::clicked, [=]() { - if (FrogPilotConfirmationDialog::yesorno(tr("Reset all model scores?"), this)) { - for (const QString &model : availableModelNames) { - QString cleanedModel = processModelName(model); - params.remove(QString("%1Drives").arg(cleanedModel).toStdString()); - paramsStorage.remove(QString("%1Drives").arg(cleanedModel).toStdString()); - params.remove(QString("%1Score").arg(cleanedModel).toStdString()); - paramsStorage.remove(QString("%1Score").arg(cleanedModel).toStdString()); - } - updateModelLabels(); - } - }); - controlToggle = reinterpret_cast(resetCalibrationsBtn); - } else if (param == "ReviewScores") { - ButtonControl *reviewScoresBtn = new ButtonControl(title, tr("VIEW"), desc); - QObject::connect(reviewScoresBtn, &ButtonControl::clicked, [=]() { - openSubSubParentToggle(); - - for (LabelControl *label : labelControls) { - label->setVisible(true); - } - - for (auto &[key, toggle] : toggles) { - toggle->setVisible(false); - } - }); - controlToggle = reinterpret_cast(reviewScoresBtn); - } else if (param == "DeleteModel") { - deleteModelBtn = new ButtonControl(title, tr("DELETE"), desc); - QObject::connect(deleteModelBtn, &ButtonControl::clicked, [=]() { - QStringList deletableModels, existingModels = modelDir.entryList({"*.thneed"}, QDir::Files); - QMap labelToFileMap; - QString currentModel = QString::fromStdString(params.get("Model")) + ".thneed"; - - for (int i = 0; i < availableModels.size(); i++) { - QString modelFile = availableModels[i] + ".thneed"; - if (existingModels.contains(modelFile) && modelFile != currentModel && !availableModelNames[i].contains("(Default)")) { - deletableModels.append(availableModelNames[i]); - labelToFileMap[availableModelNames[i]] = modelFile; - } - } - - QString selectedModel = MultiOptionDialog::getSelection(tr("Select a model to delete"), deletableModels, "", this); - if (!selectedModel.isEmpty()) { - if (ConfirmationDialog::confirm(tr("Are you sure you want to delete the '%1' model?").arg(selectedModel), tr("Delete"), this)) { - std::thread([=]() { - modelDeleting = true; - modelsDownloaded = false; - update(); - - params.putBoolNonBlocking("ModelsDownloaded", false); - deleteModelBtn->setValue(tr("Deleting...")); - - QFile::remove(modelDir.absoluteFilePath(labelToFileMap[selectedModel])); - deleteModelBtn->setValue(tr("Deleted!")); - - util::sleep_for(1000); - deleteModelBtn->setValue(""); - modelDeleting = false; - - QStringList modelFiles = modelDir.entryList({"*.thneed"}, QDir::Files); - modelFiles.removeAll(currentModel); - - haveModelsDownloaded = modelFiles.size() > 1; - update(); - }).detach(); - } - } - }); - controlToggle = reinterpret_cast(deleteModelBtn); - } else if (param == "DownloadModel") { - downloadModelBtn = new ButtonControl(title, tr("DOWNLOAD"), desc); - QObject::connect(downloadModelBtn, &ButtonControl::clicked, [=]() { - if (downloadModelBtn->text() == tr("CANCEL")) { - paramsMemory.remove("ModelToDownload"); - paramsMemory.putBool("CancelModelDownload", true); - cancellingDownload = true; - } else { - QMap labelToModelMap; - QStringList existingModels = modelDir.entryList({"*.thneed"}, QDir::Files); - QStringList downloadableModels; - - for (int i = 0; i < availableModels.size(); i++) { - QString modelFile = availableModels[i] + ".thneed"; - if (!existingModels.contains(modelFile) && !availableModelNames[i].contains("(Default)")) { - downloadableModels.append(availableModelNames[i]); - labelToModelMap.insert(availableModelNames[i], availableModels[i]); - } - } - - QString modelToDownload = MultiOptionDialog::getSelection(tr("Select a driving model to download"), downloadableModels, "", this); - if (!modelToDownload.isEmpty()) { - modelDownloading = true; - paramsMemory.put("ModelToDownload", labelToModelMap.value(modelToDownload).toStdString()); - paramsMemory.put("ModelDownloadProgress", "0%"); - - downloadModelBtn->setValue(tr("Downloading %1...").arg(modelToDownload.remove(QRegularExpression("[🗺️👀📡]")).trimmed())); - - QTimer *progressTimer = new QTimer(this); - progressTimer->setInterval(100); - - QObject::connect(progressTimer, &QTimer::timeout, this, [=]() { - QString progress = QString::fromStdString(paramsMemory.get("ModelDownloadProgress")); - bool downloadComplete = progress.contains(QRegularExpression("downloaded", QRegularExpression::CaseInsensitiveOption)); - bool downloadFailed = progress.contains(QRegularExpression("cancelled|exists|failed|offline", QRegularExpression::CaseInsensitiveOption)); - - if (!progress.isEmpty() && progress != "0%") { - downloadModelBtn->setValue(progress); - } - - if (downloadComplete || downloadFailed) { - bool lastModelDownloaded = downloadComplete; - - if (downloadComplete) { - haveModelsDownloaded = true; - update(); - } - - if (downloadComplete) { - for (const QString &model : availableModels) { - if (!QFile::exists(modelDir.filePath(model + ".thneed"))) { - lastModelDownloaded = false; - break; - } - } - } - - downloadModelBtn->setValue(progress); - - paramsMemory.remove("CancelModelDownload"); - paramsMemory.remove("ModelDownloadProgress"); - - progressTimer->stop(); - progressTimer->deleteLater(); - - QTimer::singleShot(2000, this, [=]() { - cancellingDownload = false; - modelDownloading = false; - - downloadModelBtn->setValue(""); - - if (lastModelDownloaded) { - modelsDownloaded = true; - update(); - - params.putBoolNonBlocking("ModelsDownloaded", modelsDownloaded); - } - }); - } - }); - progressTimer->start(); - } - } - }); - controlToggle = reinterpret_cast(downloadModelBtn); - } else if (param == "DownloadAllModels") { - downloadAllModelsBtn = new ButtonControl(title, tr("DOWNLOAD"), desc); - QObject::connect(downloadAllModelsBtn, &ButtonControl::clicked, [=]() { - if (downloadAllModelsBtn->text() == tr("CANCEL")) { - paramsMemory.remove("DownloadAllModels"); - paramsMemory.putBool("CancelModelDownload", true); - cancellingDownload = true; - } else { - startDownloadAllModels(); - } - }); - controlToggle = reinterpret_cast(downloadAllModelsBtn); - } else if (param == "SelectModel") { - selectModelBtn = new ButtonControl(title, tr("SELECT"), desc); - QObject::connect(selectModelBtn, &ButtonControl::clicked, [=]() { - QSet modelFilesBaseNames = QSet::fromList(modelDir.entryList({"*.thneed"}, QDir::Files).replaceInStrings(QRegExp("\\.thneed$"), "")); - QStringList selectableModels; - - for (int i = 0; i < availableModels.size(); i++) { - if (modelFilesBaseNames.contains(availableModels[i]) || availableModelNames[i].contains("(Default)")) { - selectableModels.append(availableModelNames[i]); - } - } - - QString modelToSelect = MultiOptionDialog::getSelection(tr("Select a model - 🗺️ = Navigation | 📡 = Radar | 👀 = VOACC"), selectableModels, "", this); - if (!modelToSelect.isEmpty()) { - selectModelBtn->setValue(modelToSelect); - int modelIndex = availableModelNames.indexOf(modelToSelect); - - params.putNonBlocking("Model", availableModels.at(modelIndex).toStdString()); - params.putNonBlocking("ModelName", modelToSelect.toStdString()); - - if (experimentalModels.contains(availableModels.at(modelIndex))) { - FrogPilotConfirmationDialog::toggleAlert(tr("WARNING: This is a very experimental model and may drive dangerously!"), tr("I understand the risks."), this); - } - - QString model = availableModelNames.at(modelIndex); - QString part_model_param = processModelName(model); - - if (!params.checkKey(part_model_param.toStdString() + "CalibrationParams") || !params.checkKey(part_model_param.toStdString() + "LiveTorqueParameters")) { - if (FrogPilotConfirmationDialog::yesorno(tr("Start with a fresh calibration for the newly selected model?"), this)) { - params.remove("CalibrationParams"); - params.remove("LiveTorqueParameters"); - } - } - - if (started) { - if (FrogPilotConfirmationDialog::toggle(tr("Reboot required to take effect."), tr("Reboot Now"), this)) { - Hardware::reboot(); - } - } - } - }); - selectModelBtn->setValue(QString::fromStdString(params.get("ModelName"))); - controlToggle = reinterpret_cast(selectModelBtn); - } else if (param == "ResetCalibrations") { - FrogPilotButtonsControl *resetCalibrationsBtn = new FrogPilotButtonsControl(title, desc, icon, {tr("RESET ALL"), tr("RESET ONE")}); - QObject::connect(resetCalibrationsBtn, &FrogPilotButtonsControl::showDescriptionEvent, this, &FrogPilotControlsPanel::updateCalibrationDescription); - QObject::connect(resetCalibrationsBtn, &FrogPilotButtonsControl::buttonClicked, [=](int id) { - if (id == 0) { - if (FrogPilotConfirmationDialog::yesorno(tr("Are you sure you want to completely reset all of your model calibrations?"), this)) { - for (const QString &model : availableModelNames) { - QString cleanedModel = processModelName(model); - params.remove(QString("%1CalibrationParams").arg(cleanedModel).toStdString()); - paramsStorage.remove(QString("%1CalibrationParams").arg(cleanedModel).toStdString()); - params.remove(QString("%1LiveTorqueParameters").arg(cleanedModel).toStdString()); - paramsStorage.remove(QString("%1LiveTorqueParameters").arg(cleanedModel).toStdString()); - } - } - } else if (id == 1) { - QStringList selectableModelLabels; - for (int i = 0; i < availableModels.size(); i++) { - selectableModelLabels.append(availableModelNames[i]); - } - - QString modelToReset = MultiOptionDialog::getSelection(tr("Select a model to reset"), selectableModelLabels, "", this); - if (!modelToReset.isEmpty()) { - if (FrogPilotConfirmationDialog::yesorno(tr("Are you sure you want to completely reset this model's calibrations?"), this)) { - QString cleanedModel = processModelName(modelToReset); - params.remove(QString("%1CalibrationParams").arg(cleanedModel).toStdString()); - paramsStorage.remove(QString("%1CalibrationParams").arg(cleanedModel).toStdString()); - params.remove(QString("%1LiveTorqueParameters").arg(cleanedModel).toStdString()); - paramsStorage.remove(QString("%1LiveTorqueParameters").arg(cleanedModel).toStdString()); - } - } - } - }); - controlToggle = reinterpret_cast(resetCalibrationsBtn); - - } else if (param == "QOLControls") { - FrogPilotParamManageControl *qolToggle = new FrogPilotParamManageControl(param, title, desc, icon, this); - QObject::connect(qolToggle, &FrogPilotParamManageControl::manageButtonClicked, this, [this]() { - openParentToggle(); - - for (auto &[key, toggle] : toggles) { - std::set modifiedQolKeys = qolKeys; - - if (!hasPCMCruise) { - modifiedQolKeys.erase("ReverseCruise"); - } else { - modifiedQolKeys.erase("CustomCruise"); - modifiedQolKeys.erase("CustomCruiseLong"); - modifiedQolKeys.erase("SetSpeedOffset"); - } - - if (!isToyota && !isGM && !isHKGCanFd) { - modifiedQolKeys.erase("MapGears"); - } - - toggle->setVisible(modifiedQolKeys.find(key.c_str()) != modifiedQolKeys.end()); - } - - }); - controlToggle = qolToggle; - } else if (param == "CustomCruise") { - controlToggle = new FrogPilotParamValueControl(param, title, desc, icon, 1, 99, std::map(), this, false, tr("mph")); - } else if (param == "CustomCruiseLong") { - controlToggle = new FrogPilotParamValueControl(param, title, desc, icon, 1, 99, std::map(), this, false, tr("mph")); - } else if (param == "ForceStandstill") { - std::vector forceStopToggles{"ForceStops"}; - std::vector forceStopToggleNames{tr("Only For Stop Lights/Stop Signs")}; - controlToggle = new FrogPilotParamToggleControl(param, title, desc, icon, forceStopToggles, forceStopToggleNames); - } else if (param == "MapGears") { - std::vector mapGearsToggles{"MapAcceleration", "MapDeceleration"}; - std::vector mapGearsToggleNames{tr("Acceleration"), tr("Deceleration")}; - controlToggle = new FrogPilotParamToggleControl(param, title, desc, icon, mapGearsToggles, mapGearsToggleNames); - } else if (param == "PauseLateralSpeed") { - std::vector pauseLateralToggles{"PauseLateralOnSignal"}; - std::vector pauseLateralToggleNames{"Turn Signal Only"}; - controlToggle = new FrogPilotParamValueToggleControl(param, title, desc, icon, 0, 99, std::map(), this, false, tr("mph"), 1, 1, pauseLateralToggles, pauseLateralToggleNames); - } else if (param == "PauseLateralOnSignal") { - controlToggle = new FrogPilotParamValueControl(param, title, desc, icon, 0, 99, std::map(), this, false, tr("mph")); - } else if (param == "ReverseCruise") { - std::vector reverseCruiseToggles{"ReverseCruiseUI"}; - std::vector reverseCruiseNames{tr("Control Via UI")}; - controlToggle = new FrogPilotParamToggleControl(param, title, desc, icon, reverseCruiseToggles, reverseCruiseNames); - } else if (param == "SetSpeedOffset") { - controlToggle = new FrogPilotParamValueControl(param, title, desc, icon, 0, 99, std::map(), this, false, tr("mph")); - - } else if (param == "LaneChangeCustomizations") { - FrogPilotParamManageControl *laneChangeToggle = new FrogPilotParamManageControl(param, title, desc, icon, this); - QObject::connect(laneChangeToggle, &FrogPilotParamManageControl::manageButtonClicked, this, [this]() { - openParentToggle(); - - for (auto &[key, toggle] : toggles) { - toggle->setVisible(laneChangeKeys.find(key.c_str()) != laneChangeKeys.end()); - } - - }); - controlToggle = laneChangeToggle; - } else if (param == "LaneChangeTime") { - std::map laneChangeTimeLabels; - for (int i = 0; i <= 10; i++) { - laneChangeTimeLabels[i] = i == 0 ? "Instant" : QString::number(i / 2.0) + " seconds"; - } - controlToggle = new FrogPilotParamValueControl(param, title, desc, icon, 0, 10, laneChangeTimeLabels, this, false); - } else if (param == "LaneDetectionWidth") { - controlToggle = new FrogPilotParamValueControl(param, title, desc, icon, 0, 100, std::map(), this, false, " feet", 10); - } else if (param == "MinimumLaneChangeSpeed") { - controlToggle = new FrogPilotParamValueControl(param, title, desc, icon, 0, 99, std::map(), this, false, tr("mph")); - - } else if (param == "SpeedLimitController") { - FrogPilotParamManageControl *speedLimitControllerToggle = new FrogPilotParamManageControl(param, title, desc, icon, this); - QObject::connect(speedLimitControllerToggle, &FrogPilotParamManageControl::manageButtonClicked, this, [this]() { - openParentToggle(); - - slcOpen = true; - for (auto &[key, toggle] : toggles) { - toggle->setVisible(speedLimitControllerKeys.find(key.c_str()) != speedLimitControllerKeys.end()); - } - - }); - controlToggle = speedLimitControllerToggle; - } else if (param == "SLCControls") { - FrogPilotParamManageControl *manageSLCControlsToggle = new FrogPilotParamManageControl(param, title, desc, icon, this, true); - QObject::connect(manageSLCControlsToggle, &FrogPilotParamManageControl::manageButtonClicked, this, [this]() { - openSubParentToggle(); - - for (auto &[key, toggle] : toggles) { - toggle->setVisible(speedLimitControllerControlsKeys.find(key.c_str()) != speedLimitControllerControlsKeys.end()); - } - }); - controlToggle = manageSLCControlsToggle; - } else if (param == "SLCQOL") { - FrogPilotParamManageControl *manageSLCQOLToggle = new FrogPilotParamManageControl(param, title, desc, icon, this, true); - QObject::connect(manageSLCQOLToggle, &FrogPilotParamManageControl::manageButtonClicked, this, [this]() { - openSubParentToggle(); - - for (auto &[key, toggle] : toggles) { - std::set modifiedSpeedLimitControllerQOLKeys = speedLimitControllerQOLKeys; - - if (hasPCMCruise) { - modifiedSpeedLimitControllerQOLKeys.erase("SetSpeedLimit"); - } - - if (!isToyota) { - modifiedSpeedLimitControllerQOLKeys.erase("ForceMPHDashboard"); - } - - toggle->setVisible(modifiedSpeedLimitControllerQOLKeys.find(key.c_str()) != modifiedSpeedLimitControllerQOLKeys.end()); - } - - }); - controlToggle = manageSLCQOLToggle; - } else if (param == "SLCConfirmation") { - std::vector slcConfirmationToggles{"SLCConfirmationLower", "SLCConfirmationHigher"}; - std::vector slcConfirmationNames{tr("Lower Limits"), tr("Higher Limits")}; - controlToggle = new FrogPilotParamToggleControl(param, title, desc, icon, slcConfirmationToggles, slcConfirmationNames); - } else if (param == "SLCLookaheadHigher" || param == "SLCLookaheadLower") { - controlToggle = new FrogPilotParamValueControl(param, title, desc, icon, 0, 60, std::map(), this, false, " seconds"); - } else if (param == "SLCVisuals") { - FrogPilotParamManageControl *manageSLCVisualsToggle = new FrogPilotParamManageControl(param, title, desc, icon, this, true); - QObject::connect(manageSLCVisualsToggle, &FrogPilotParamManageControl::manageButtonClicked, this, [this]() { - openSubParentToggle(); - - for (auto &[key, toggle] : toggles) { - toggle->setVisible(speedLimitControllerVisualsKeys.find(key.c_str()) != speedLimitControllerVisualsKeys.end()); - } - }); - controlToggle = manageSLCVisualsToggle; - } else if (param == "Offset1" || param == "Offset2" || param == "Offset3" || param == "Offset4") { - controlToggle = new FrogPilotParamValueControl(param, title, desc, icon, -99, 99, std::map(), this, false, tr("mph")); - } else if (param == "ShowSLCOffset") { - std::vector slcOffsetToggles{"ShowSLCOffsetUI"}; - std::vector slcOffsetToggleNames{tr("Control Via UI")}; - controlToggle = new FrogPilotParamToggleControl(param, title, desc, icon, slcOffsetToggles, slcOffsetToggleNames); - } else if (param == "SLCFallback") { - std::vector fallbackOptions{tr("Set Speed"), tr("Experimental Mode"), tr("Previous Limit")}; - FrogPilotButtonParamControl *fallbackSelection = new FrogPilotButtonParamControl(param, title, desc, icon, fallbackOptions); - controlToggle = fallbackSelection; - } else if (param == "SLCOverride") { - std::vector overrideOptions{tr("None"), tr("Manual Set Speed"), tr("Set Speed")}; - FrogPilotButtonParamControl *overrideSelection = new FrogPilotButtonParamControl(param, title, desc, icon, overrideOptions); - controlToggle = overrideSelection; - } else if (param == "SLCPriority") { - ButtonControl *slcPriorityButton = new ButtonControl(title, tr("SELECT"), desc); - QStringList primaryPriorities = {tr("None"), tr("Dashboard"), tr("Navigation"), tr("Offline Maps"), tr("Highest"), tr("Lowest")}; - QStringList secondaryTertiaryPriorities = {tr("None"), tr("Dashboard"), tr("Navigation"), tr("Offline Maps")}; - QStringList priorityPrompts = {tr("Select your primary priority"), tr("Select your secondary priority"), tr("Select your tertiary priority")}; - - QObject::connect(slcPriorityButton, &ButtonControl::clicked, [=]() { - QStringList selectedPriorities; - - for (int i = 1; i <= 3; i++) { - QStringList currentPriorities = (i == 1) ? primaryPriorities : secondaryTertiaryPriorities; - QStringList prioritiesToDisplay = currentPriorities; - for (const auto &selectedPriority : qAsConst(selectedPriorities)) { - prioritiesToDisplay.removeAll(selectedPriority); - } - - if (!hasDashSpeedLimits) { - prioritiesToDisplay.removeAll(tr("Dashboard")); - } - - if (prioritiesToDisplay.size() == 1 && prioritiesToDisplay.contains(tr("None"))) { - break; - } - - QString priorityKey = QString("SLCPriority%1").arg(i); - QString selection = MultiOptionDialog::getSelection(priorityPrompts[i - 1], prioritiesToDisplay, "", this); - - if (selection.isEmpty()) break; - - params.putNonBlocking(priorityKey.toStdString(), selection.toStdString()); - selectedPriorities.append(selection); - - if (selection == tr("Lowest") || selection == tr("Highest") || selection == tr("None")) break; - - updateFrogPilotToggles(); - } - - selectedPriorities.removeAll(tr("None")); - slcPriorityButton->setValue(selectedPriorities.join(", ")); - }); - - QStringList initialPriorities; - for (int i = 1; i <= 3; i++) { - QString priorityKey = QString("SLCPriority%1").arg(i); - QString priority = QString::fromStdString(params.get(priorityKey.toStdString())); - - if (!priority.isEmpty() && primaryPriorities.contains(priority) && priority != tr("None")) { - initialPriorities.append(priority); - } - } - slcPriorityButton->setValue(initialPriorities.join(", ")); - controlToggle = slcPriorityButton; - - } else if (param == "VisionTurnControl") { - FrogPilotParamManageControl *visionTurnControlToggle = new FrogPilotParamManageControl(param, title, desc, icon, this); - QObject::connect(visionTurnControlToggle, &FrogPilotParamManageControl::manageButtonClicked, this, [this]() { - openParentToggle(); - - for (auto &[key, toggle] : toggles) { - toggle->setVisible(visionTurnControlKeys.find(key.c_str()) != visionTurnControlKeys.end()); - } - - }); - controlToggle = visionTurnControlToggle; - } else if (param == "CurveSensitivity" || param == "TurnAggressiveness") { - controlToggle = new FrogPilotParamValueControl(param, title, desc, icon, 1, 200, std::map(), this, false, "%"); - - } else { - controlToggle = new ParamControl(param, title, desc, icon, this); - } - - addItem(controlToggle); - toggles[param.toStdString()] = controlToggle; - - QObject::connect(static_cast(controlToggle), &ToggleControl::toggleFlipped, &updateFrogPilotToggles); - QObject::connect(static_cast(controlToggle), &FrogPilotParamToggleControl::buttonTypeClicked, &updateFrogPilotToggles); - QObject::connect(static_cast(controlToggle), &FrogPilotParamValueControl::valueChanged, &updateFrogPilotToggles); - - QObject::connect(controlToggle, &AbstractControl::showDescriptionEvent, [this]() { - update(); - }); - - QObject::connect(static_cast(controlToggle), &FrogPilotParamManageControl::manageButtonClicked, this, [this]() { - update(); - }); - } - - QObject::connect(static_cast(toggles["IncreaseThermalLimits"]), &ToggleControl::toggleFlipped, [this](bool state) { - if (state) { - FrogPilotConfirmationDialog::toggleAlert( - tr("WARNING: This can cause premature wear or damage by running the device over comma's recommended temperature limits!"), - tr("I understand the risks."), this); - } - }); - - QObject::connect(static_cast(toggles["NoLogging"]), &ToggleControl::toggleFlipped, [this](bool state) { - if (state) { - FrogPilotConfirmationDialog::toggleAlert( - tr("WARNING: This will prevent your drives from being recorded and the data will be unobtainable!"), - tr("I understand the risks."), this); - } - }); - - QObject::connect(static_cast(toggles["NoUploads"]), &ToggleControl::toggleFlipped, [this](bool state) { - if (state) { - FrogPilotConfirmationDialog::toggleAlert( - tr("WARNING: This will prevent your drives from appearing on comma connect which may impact debugging and support!"), - tr("I understand the risks."), this); - } - }); - - QObject::connect(static_cast(toggles["TrafficMode"]), &ToggleControl::toggleFlipped, [this](bool state) { - if (state) { - FrogPilotConfirmationDialog::toggleAlert( - tr("To activate 'Traffic Mode' you hold down the 'distance' button on your steering wheel for 2.5 seconds."), - tr("Sounds good!"), this); - } - }); - - std::set rebootKeys = {"AlwaysOnLateral", "NNFF", "NNFFLite"}; - for (const QString &key : rebootKeys) { - QObject::connect(static_cast(toggles[key.toStdString().c_str()]), &ToggleControl::toggleFlipped, [this, key](bool state) { - if (started) { - if (key == "AlwaysOnLateral" && state) { - if (FrogPilotConfirmationDialog::toggle(tr("Reboot required to take effect."), tr("Reboot Now"), this)) { - Hardware::reboot(); - } - } else if (key != "AlwaysOnLateral") { - if (FrogPilotConfirmationDialog::toggle(tr("Reboot required to take effect."), tr("Reboot Now"), this)) { - Hardware::reboot(); - } - } - } - }); - } - - QObject::connect(static_cast(toggles["ModelRandomizer"]), &ToggleControl::toggleFlipped, [this](bool state) { - modelRandomizer = state; - if (state && !modelsDownloaded) { - if (FrogPilotConfirmationDialog::yesorno(tr("The 'Model Randomizer' only works with downloaded models. Do you want to download all the driving models?"), this)) { - startDownloadAllModels(); - } - } - }); - - QObject::connect(static_cast(toggles["OnroadDistanceButton"]), &ToggleControl::toggleFlipped, [this](bool state) { - downloadStatusLabel->setVisible(state); - manageDistanceIconsBtn->setVisible(state); - onroadDistanceButton = state; - update(); - }); - - FrogPilotParamValueControl *trafficFollowToggle = static_cast(toggles["TrafficFollow"]); - FrogPilotParamValueControl *trafficAccelerationToggle = static_cast(toggles["TrafficJerkAcceleration"]); - FrogPilotParamValueControl *trafficDangerToggle = static_cast(toggles["TrafficJerkDanger"]); - FrogPilotParamValueControl *trafficSpeedToggle = static_cast(toggles["TrafficJerkSpeed"]); - FrogPilotButtonsControl *trafficResetButton = static_cast(toggles["ResetTrafficPersonality"]); - - QObject::connect(trafficResetButton, &FrogPilotButtonsControl::buttonClicked, this, [=]() { - if (FrogPilotConfirmationDialog::yesorno(tr("Are you sure you want to completely reset your settings for the 'Traffic Mode' personality?"), this)) { - params.putFloat("TrafficFollow", 0.5); - params.putFloat("TrafficJerkAcceleration", 50); - params.putFloat("TrafficJerkDanger", 100); - params.putFloat("TrafficJerkSpeed", 50); - trafficFollowToggle->refresh(); - trafficAccelerationToggle->refresh(); - trafficDangerToggle->refresh(); - trafficSpeedToggle->refresh(); - updateFrogPilotToggles(); - } - }); - - FrogPilotParamValueControl *aggressiveFollowToggle = static_cast(toggles["AggressiveFollow"]); - FrogPilotParamValueControl *aggressiveAccelerationToggle = static_cast(toggles["AggressiveJerkAcceleration"]); - FrogPilotParamValueControl *aggressiveDangerToggle = static_cast(toggles["AggressiveJerkDanger"]); - FrogPilotParamValueControl *aggressiveSpeedToggle = static_cast(toggles["AggressiveJerkSpeed"]); - FrogPilotButtonsControl *aggressiveResetButton = static_cast(toggles["ResetAggressivePersonality"]); - - QObject::connect(aggressiveResetButton, &FrogPilotButtonsControl::buttonClicked, this, [=]() { - if (FrogPilotConfirmationDialog::yesorno(tr("Are you sure you want to completely reset your settings for the 'Aggressive' personality?"), this)) { - params.putFloat("AggressiveFollow", 1.25); - params.putFloat("AggressiveJerkAcceleration", 50); - params.putFloat("AggressiveJerkDanger", 100); - params.putFloat("AggressiveJerkSpeed", 50); - aggressiveFollowToggle->refresh(); - aggressiveAccelerationToggle->refresh(); - aggressiveDangerToggle->refresh(); - aggressiveSpeedToggle->refresh(); - updateFrogPilotToggles(); - } - }); - - FrogPilotParamValueControl *standardFollowToggle = static_cast(toggles["StandardFollow"]); - FrogPilotParamValueControl *standardAccelerationToggle = static_cast(toggles["StandardJerkAcceleration"]); - FrogPilotParamValueControl *standardDangerToggle = static_cast(toggles["StandardJerkDanger"]); - FrogPilotParamValueControl *standardSpeedToggle = static_cast(toggles["StandardJerkSpeed"]); - FrogPilotButtonsControl *standardResetButton = static_cast(toggles["ResetStandardPersonality"]); - - QObject::connect(standardResetButton, &FrogPilotButtonsControl::buttonClicked, this, [=]() { - if (FrogPilotConfirmationDialog::yesorno(tr("Are you sure you want to completely reset your settings for the 'Standard' personality?"), this)) { - params.putFloat("StandardFollow", 1.45); - params.putFloat("StandardJerkAcceleration", 100); - params.putFloat("StandardJerkDanger", 100); - params.putFloat("StandardJerkSpeed", 100); - standardFollowToggle->refresh(); - standardAccelerationToggle->refresh(); - standardDangerToggle->refresh(); - standardSpeedToggle->refresh(); - updateFrogPilotToggles(); - } - }); - - FrogPilotParamValueControl *relaxedFollowToggle = static_cast(toggles["RelaxedFollow"]); - FrogPilotParamValueControl *relaxedAccelerationToggle = static_cast(toggles["RelaxedJerkAcceleration"]); - FrogPilotParamValueControl *relaxedDangerToggle = static_cast(toggles["RelaxedJerkDanger"]); - FrogPilotParamValueControl *relaxedSpeedToggle = static_cast(toggles["RelaxedJerkSpeed"]); - FrogPilotButtonsControl *relaxedResetButton = static_cast(toggles["ResetRelaxedPersonality"]); - - QObject::connect(relaxedResetButton, &FrogPilotButtonsControl::buttonClicked, this, [=]() { - if (FrogPilotConfirmationDialog::yesorno(tr("Are you sure you want to completely reset your settings for the 'Relaxed' personality?"), this)) { - params.putFloat("RelaxedFollow", 1.75); - params.putFloat("RelaxedJerkAcceleration", 100); - params.putFloat("RelaxedJerkDanger", 100); - params.putFloat("RelaxedJerkSpeed", 100); - relaxedFollowToggle->refresh(); - relaxedAccelerationToggle->refresh(); - relaxedDangerToggle->refresh(); - relaxedSpeedToggle->refresh(); - updateFrogPilotToggles(); - } - }); - - steerRatioToggle = static_cast(toggles["SteerRatio"]); - - QObject::connect(steerRatioToggle, &FrogPilotParamValueToggleControl::buttonClicked, this, [this]() { - params.putFloat("SteerRatio", steerRatioStock); - steerRatioToggle->refresh(); - updateFrogPilotToggles(); - }); - - QObject::connect(parent, &SettingsWindow::closeParentToggle, this, &FrogPilotControlsPanel::hideToggles); - QObject::connect(parent, &SettingsWindow::closeSubParentToggle, this, &FrogPilotControlsPanel::hideSubToggles); - QObject::connect(parent, &SettingsWindow::closeSubSubParentToggle, this, &FrogPilotControlsPanel::hideSubSubToggles); - QObject::connect(parent, &SettingsWindow::updateMetric, this, &FrogPilotControlsPanel::updateMetric); - QObject::connect(uiState(), &UIState::driveRated, this, &FrogPilotControlsPanel::updateModelLabels); - QObject::connect(uiState(), &UIState::offroadTransition, this, &FrogPilotControlsPanel::updateCarToggles); - QObject::connect(uiState(), &UIState::uiUpdate, this, &FrogPilotControlsPanel::updateState); - - updateMetric(); - updateModelLabels(); -} - -void FrogPilotControlsPanel::showEvent(QShowEvent *event) { - disableOpenpilotLongitudinal = params.getBool("DisableOpenpilotLongitudinal"); - iconsDownloaded = params.get("DownloadableDistanceIcons").empty(); - modelRandomizer = params.getBool("ModelRandomizer"); - onroadDistanceButton = params.getBool("OnroadDistanceButton"); -} - -void FrogPilotControlsPanel::updateState(const UIState &s) { - if (!isVisible()) return; - - if (drivingPersonalitiesOpen && onroadDistanceButton) { - if (themeDownloading) { - QString progress = QString::fromStdString(paramsMemory.get("ThemeDownloadProgress")); - bool downloadFailed = progress.contains(QRegularExpression("cancelled|exists|Failed|offline", QRegularExpression::CaseInsensitiveOption)); - - if (progress != "Downloading...") { - downloadStatusLabel->setText(progress); - } - - if (progress == "Downloaded!" || downloadFailed) { - QTimer::singleShot(2000, [=]() { - if (!themeDownloading) { - downloadStatusLabel->setText("Idle"); - } - }); - paramsMemory.remove("ThemeDownloadProgress"); - iconsDownloading = false; - themeDownloading = false; - - iconsDownloaded = params.get("DownloadableDistanceIcons").empty(); - } - } - - manageDistanceIconsBtn->setText(1, iconsDownloading ? tr("CANCEL") : tr("DOWNLOAD")); - manageDistanceIconsBtn->setButtonEnabled(0, !themeDeleting && !themeDownloading); - manageDistanceIconsBtn->setButtonEnabled(1, s.scene.online && (!themeDownloading || iconsDownloading) && !cancellingDownload && !themeDeleting && !iconsDownloaded); - manageDistanceIconsBtn->setButtonEnabled(2, !themeDeleting && !themeDownloading); - } else if (modelManagementOpen) { - downloadAllModelsBtn->setText(modelDownloading && allModelsDownloading ? tr("CANCEL") : tr("DOWNLOAD")); - downloadModelBtn->setText(modelDownloading && !allModelsDownloading ? tr("CANCEL") : tr("DOWNLOAD")); - - deleteModelBtn->setEnabled(!modelDeleting && !modelDownloading); - downloadAllModelsBtn->setEnabled(s.scene.online && !cancellingDownload && !modelDeleting && (!modelDownloading || allModelsDownloading) && !modelsDownloaded); - downloadModelBtn->setEnabled(s.scene.online && !cancellingDownload && !modelDeleting && !allModelsDownloading && !modelsDownloaded); - selectModelBtn->setEnabled(!modelDeleting && !modelDownloading && !modelRandomizer); - } - - started = s.scene.started; -} - -void FrogPilotControlsPanel::updateCarToggles() { - auto carParams = params.get("CarParamsPersistent"); - if (!carParams.empty()) { - AlignedBuffer aligned_buf; - capnp::FlatArrayMessageReader cmsg(aligned_buf.align(carParams.data(), carParams.size())); - cereal::CarParams::Reader CP = cmsg.getRoot(); - auto carFingerprint = CP.getCarFingerprint(); - auto carName = CP.getCarName(); - auto safetyConfigs = CP.getSafetyConfigs(); - auto safetyModel = safetyConfigs[0].getSafetyModel(); - - hasAutoTune = (carName == "hyundai" || carName == "toyota") && CP.getLateralTuning().which() == cereal::CarParams::LateralTuning::TORQUE; - bool forcingAutoTune = params.getBool("LateralTune") && params.getBool("ForceAutoTune"); - uiState()->scene.has_auto_tune = hasAutoTune || forcingAutoTune; - hasCommaNNFFSupport = checkCommaNNFFSupport(carFingerprint); - hasDashSpeedLimits = carName == "hyundai" || carName == "toyota"; - hasNNFFLog = checkNNFFLogFileExists(carFingerprint); - hasOpenpilotLongitudinal = hasLongitudinalControl(CP); - hasPCMCruise = CP.getPcmCruise(); - isGM = carName == "gm"; - isHKGCanFd = carName == "hyundai" && safetyModel == cereal::CarParams::SafetyModel::HYUNDAI_CANFD; - isToyota = carName == "toyota"; - steerRatioStock = CP.getSteerRatio(); - - steerRatioToggle->setTitle(QString(tr("Steer Ratio (Default: %1)")).arg(QString::number(steerRatioStock, 'f', 2))); - steerRatioToggle->updateControl(steerRatioStock * 0.75, steerRatioStock * 1.25, "", 0.01); - steerRatioToggle->refresh(); - } else { - hasAutoTune = false; - hasCommaNNFFSupport = false; - hasDashSpeedLimits = true; - hasNNFFLog = true; - hasOpenpilotLongitudinal = true; - hasPCMCruise = true; - isGM = true; - isHKGCanFd = true; - isToyota = true; - } - - hideToggles(); -} - -void FrogPilotControlsPanel::updateMetric() { - bool previousIsMetric = isMetric; - isMetric = params.getBool("IsMetric"); - - if (isMetric != previousIsMetric) { - double distanceConversion = isMetric ? FOOT_TO_METER : METER_TO_FOOT; - double speedConversion = isMetric ? MILE_TO_KM : KM_TO_MILE; - - params.putIntNonBlocking("LaneDetectionWidth", std::nearbyint(params.getInt("LaneDetectionWidth") * distanceConversion)); - params.putIntNonBlocking("StoppingDistance", std::nearbyint(params.getInt("StoppingDistance") * distanceConversion)); - - params.putIntNonBlocking("CESpeed", std::nearbyint(params.getInt("CESpeed") * speedConversion)); - params.putIntNonBlocking("CESpeedLead", std::nearbyint(params.getInt("CESpeedLead") * speedConversion)); - params.putIntNonBlocking("CustomCruise", std::nearbyint(params.getInt("CustomCruise") * speedConversion)); - params.putIntNonBlocking("CustomCruiseLong", std::nearbyint(params.getInt("CustomCruiseLong") * speedConversion)); - params.putIntNonBlocking("MinimumLaneChangeSpeed", std::nearbyint(params.getInt("MinimumLaneChangeSpeed") * speedConversion)); - params.putIntNonBlocking("Offset1", std::nearbyint(params.getInt("Offset1") * speedConversion)); - params.putIntNonBlocking("Offset2", std::nearbyint(params.getInt("Offset2") * speedConversion)); - params.putIntNonBlocking("Offset3", std::nearbyint(params.getInt("Offset3") * speedConversion)); - params.putIntNonBlocking("Offset4", std::nearbyint(params.getInt("Offset4") * speedConversion)); - params.putIntNonBlocking("PauseAOLOnBrake", std::nearbyint(params.getInt("PauseAOLOnBrake") * speedConversion)); - params.putIntNonBlocking("PauseLateralOnSignal", std::nearbyint(params.getInt("PauseLateralOnSignal") * speedConversion)); - params.putIntNonBlocking("PauseLateralSpeed", std::nearbyint(params.getInt("PauseLateralSpeed") * speedConversion)); - params.putIntNonBlocking("SetSpeedOffset", std::nearbyint(params.getInt("SetSpeedOffset") * speedConversion)); - } - - FrogPilotDualParamControl *ceSpeedToggle = reinterpret_cast(toggles["CESpeed"]); - FrogPilotParamValueControl *customCruiseToggle = static_cast(toggles["CustomCruise"]); - FrogPilotParamValueControl *customCruiseLongToggle = static_cast(toggles["CustomCruiseLong"]); - FrogPilotParamValueControl *laneWidthToggle = static_cast(toggles["LaneDetectionWidth"]); - FrogPilotParamValueControl *minimumLaneChangeSpeedToggle = static_cast(toggles["MinimumLaneChangeSpeed"]); - FrogPilotParamValueControl *offset1Toggle = static_cast(toggles["Offset1"]); - FrogPilotParamValueControl *offset2Toggle = static_cast(toggles["Offset2"]); - FrogPilotParamValueControl *offset3Toggle = static_cast(toggles["Offset3"]); - FrogPilotParamValueControl *offset4Toggle = static_cast(toggles["Offset4"]); - FrogPilotParamValueControl *pauseAOLOnBrakeToggle = static_cast(toggles["PauseAOLOnBrake"]); - FrogPilotParamValueControl *pauseLateralToggle = static_cast(toggles["PauseLateralSpeed"]); - FrogPilotParamValueControl *setSpeedOffsetToggle = static_cast(toggles["SetSpeedOffset"]); - FrogPilotParamValueControl *stoppingDistanceToggle = static_cast(toggles["StoppingDistance"]); - - if (isMetric) { - offset1Toggle->setTitle(tr("Speed Limit Offset (0-34 kph)")); - offset2Toggle->setTitle(tr("Speed Limit Offset (35-54 kph)")); - offset3Toggle->setTitle(tr("Speed Limit Offset (55-64 kph)")); - offset4Toggle->setTitle(tr("Speed Limit Offset (65-99 kph)")); - - offset1Toggle->setDescription(tr("Set speed limit offset for limits between 0-34 kph.")); - offset2Toggle->setDescription(tr("Set speed limit offset for limits between 35-54 kph.")); - offset3Toggle->setDescription(tr("Set speed limit offset for limits between 55-64 kph.")); - offset4Toggle->setDescription(tr("Set speed limit offset for limits between 65-99 kph.")); - - ceSpeedToggle->updateControl(0, 150, tr("kph")); - customCruiseToggle->updateControl(1, 150, tr("kph")); - customCruiseLongToggle->updateControl(1, 150, tr("kph")); - minimumLaneChangeSpeedToggle->updateControl(0, 150, tr("kph")); - offset1Toggle->updateControl(-99, 99, tr("kph")); - offset2Toggle->updateControl(-99, 99, tr("kph")); - offset3Toggle->updateControl(-99, 99, tr("kph")); - offset4Toggle->updateControl(-99, 99, tr("kph")); - pauseAOLOnBrakeToggle->updateControl(0, 99, tr("kph")); - pauseLateralToggle->updateControl(0, 99, tr("kph")); - setSpeedOffsetToggle->updateControl(0, 150, tr("kph")); - - laneWidthToggle->updateControl(0, 30, tr(" meters"), 10); - stoppingDistanceToggle->updateControl(0, 5, tr(" meters")); - } else { - offset1Toggle->setTitle(tr("Speed Limit Offset (0-34 mph)")); - offset2Toggle->setTitle(tr("Speed Limit Offset (35-54 mph)")); - offset3Toggle->setTitle(tr("Speed Limit Offset (55-64 mph)")); - offset4Toggle->setTitle(tr("Speed Limit Offset (65-99 mph)")); - - offset1Toggle->setDescription(tr("Set speed limit offset for limits between 0-34 mph.")); - offset2Toggle->setDescription(tr("Set speed limit offset for limits between 35-54 mph.")); - offset3Toggle->setDescription(tr("Set speed limit offset for limits between 55-64 mph.")); - offset4Toggle->setDescription(tr("Set speed limit offset for limits between 65-99 mph.")); - - ceSpeedToggle->updateControl(0, 99, tr("mph")); - customCruiseToggle->updateControl(1, 99, tr("mph")); - customCruiseLongToggle->updateControl(1, 99, tr("mph")); - minimumLaneChangeSpeedToggle->updateControl(0, 99, tr("mph")); - offset1Toggle->updateControl(-99, 99, tr("mph")); - offset2Toggle->updateControl(-99, 99, tr("mph")); - offset3Toggle->updateControl(-99, 99, tr("mph")); - offset4Toggle->updateControl(-99, 99, tr("mph")); - pauseAOLOnBrakeToggle->updateControl(0, 99, tr("mph")); - pauseLateralToggle->updateControl(0, 99, tr("mph")); - setSpeedOffsetToggle->updateControl(0, 99, tr("mph")); - - laneWidthToggle->updateControl(0, 100, tr(" feet"), 10); - stoppingDistanceToggle->updateControl(0, 10, tr(" feet")); - } - - ceSpeedToggle->refresh(); - customCruiseToggle->refresh(); - customCruiseLongToggle->refresh(); - laneWidthToggle->refresh(); - minimumLaneChangeSpeedToggle->refresh(); - offset1Toggle->refresh(); - offset2Toggle->refresh(); - offset3Toggle->refresh(); - offset4Toggle->refresh(); - pauseAOLOnBrakeToggle->refresh(); - pauseLateralToggle->refresh(); - setSpeedOffsetToggle->refresh(); - stoppingDistanceToggle->refresh(); -} - -void FrogPilotControlsPanel::startDownloadAllModels() { - allModelsDownloading = true; - modelDownloading = true; - - paramsMemory.putBool("DownloadAllModels", true); - - downloadAllModelsBtn->setValue(tr("Downloading models...")); - - QTimer *progressTimer = new QTimer(this); - progressTimer->setInterval(100); - - QObject::connect(progressTimer, &QTimer::timeout, this, [=]() { - QString progress = QString::fromStdString(paramsMemory.get("ModelDownloadProgress")); - bool downloadComplete = progress.contains(QRegularExpression("All models downloaded!", QRegularExpression::CaseInsensitiveOption)); - bool downloadFailed = progress.contains(QRegularExpression("cancelled|exists|failed|offline", QRegularExpression::CaseInsensitiveOption)); - - if (!progress.isEmpty() && progress != "0%") { - downloadAllModelsBtn->setValue(progress); - } - - if (downloadComplete || downloadFailed) { - if (downloadComplete) { - haveModelsDownloaded = true; - update(); - } - - downloadAllModelsBtn->setValue(progress); - - paramsMemory.remove("CancelModelDownload"); - paramsMemory.remove("ModelDownloadProgress"); - - progressTimer->stop(); - progressTimer->deleteLater(); - - QTimer::singleShot(2000, this, [=]() { - cancellingDownload = false; - modelDownloading = false; - - paramsMemory.remove("DownloadAllModels"); - - downloadAllModelsBtn->setValue(""); - }); - } - }); - progressTimer->start(); -} - -QString FrogPilotControlsPanel::processModelName(const QString &modelName) { - QString modelCleaned = modelName; - modelCleaned = modelCleaned.remove(QRegularExpression("[🗺️👀📡]")).simplified(); - QString scoreParam = modelCleaned.remove(QRegularExpression("[^a-zA-Z0-9()-]")).replace(" ", "").simplified(); - scoreParam = scoreParam.replace("(Default)", "").replace("-", ""); - return scoreParam; -} - -void FrogPilotControlsPanel::updateCalibrationDescription() { - QString model = QString::fromStdString(params.get("ModelName")); - QString part_model_param = processModelName(model); - - QString desc = - tr("openpilot requires the device to be mounted within 4° left or right and " - "within 5° up or 9° down. openpilot is continuously calibrating, resetting is rarely required."); - std::string calib_bytes = params.get(part_model_param.toStdString() + "CalibrationParams"); - if (!calib_bytes.empty()) { - try { - AlignedBuffer aligned_buf; - capnp::FlatArrayMessageReader cmsg(aligned_buf.align(calib_bytes.data(), calib_bytes.size())); - auto calib = cmsg.getRoot().getLiveCalibration(); - if (calib.getCalStatus() != cereal::LiveCalibrationData::Status::UNCALIBRATED) { - double pitch = calib.getRpyCalib()[1] * (180 / M_PI); - double yaw = calib.getRpyCalib()[2] * (180 / M_PI); - desc += tr(" Your device is pointed %1° %2 and %3° %4.") - .arg(QString::number(std::abs(pitch), 'g', 1), pitch > 0 ? tr("down") : tr("up"), - QString::number(std::abs(yaw), 'g', 1), yaw > 0 ? tr("left") : tr("right")); - } - } catch (kj::Exception) { - qInfo() << "invalid CalibrationParams"; - } - } - qobject_cast(sender())->setDescription(desc); -} - -void FrogPilotControlsPanel::updateModelLabels() { - QVector> modelScores; - availableModelNames = QString::fromStdString(params.get("AvailableModelsNames")).split(","); - - for (const QString &model : availableModelNames) { - QString cleanedModel = processModelName(model); - int score = params.getInt((cleanedModel + "Score").toStdString()); - - if (model.contains("(Default)")) { - modelScores.prepend(qMakePair(model, score)); - } else { - modelScores.append(qMakePair(model, score)); - } - } - - labelControls.clear(); - - for (const auto &pair : modelScores) { - QString scoreDisplay = pair.second == 0 ? "N/A" : QString::number(pair.second) + "%"; - LabelControl *labelControl = new LabelControl(pair.first, scoreDisplay, "", this); - addItem(labelControl); - labelControls.append(labelControl); - } - - for (LabelControl *label : labelControls) { - label->setVisible(false); - } -} - -void FrogPilotControlsPanel::hideToggles() { - customPersonalitiesOpen = false; - drivingPersonalitiesOpen = false; - modelManagementOpen = false; - slcOpen = false; - - for (LabelControl *label : labelControls) { - label->setVisible(false); - } - - std::set longitudinalKeys = {"ConditionalExperimental", "DrivingPersonalities", "ExperimentalModeActivation", - "LongitudinalTune", "MTSCEnabled", "SpeedLimitController", "VisionTurnControl"}; - - for (auto &[key, toggle] : toggles) { - toggle->setVisible(false); - - if ((!hasOpenpilotLongitudinal || disableOpenpilotLongitudinal) && longitudinalKeys.find(key.c_str()) != longitudinalKeys.end()) { - continue; - } - - bool subToggles = aggressivePersonalityKeys.find(key.c_str()) != aggressivePersonalityKeys.end() || - aolKeys.find(key.c_str()) != aolKeys.end() || - conditionalExperimentalKeys.find(key.c_str()) != conditionalExperimentalKeys.end() || - customdrivingPersonalityKeys.find(key.c_str()) != customdrivingPersonalityKeys.end() || - deviceManagementKeys.find(key.c_str()) != deviceManagementKeys.end() || - drivingPersonalityKeys.find(key.c_str()) != drivingPersonalityKeys.end() || - experimentalModeActivationKeys.find(key.c_str()) != experimentalModeActivationKeys.end() || - laneChangeKeys.find(key.c_str()) != laneChangeKeys.end() || - lateralTuneKeys.find(key.c_str()) != lateralTuneKeys.end() || - longitudinalTuneKeys.find(key.c_str()) != longitudinalTuneKeys.end() || - modelManagementKeys.find(key.c_str()) != modelManagementKeys.end() || - modelRandomizerKeys.find(key.c_str()) != modelRandomizerKeys.end() || - mtscKeys.find(key.c_str()) != mtscKeys.end() || - qolKeys.find(key.c_str()) != qolKeys.end() || - relaxedPersonalityKeys.find(key.c_str()) != relaxedPersonalityKeys.end() || - speedLimitControllerKeys.find(key.c_str()) != speedLimitControllerKeys.end() || - speedLimitControllerControlsKeys.find(key.c_str()) != speedLimitControllerControlsKeys.end() || - speedLimitControllerQOLKeys.find(key.c_str()) != speedLimitControllerQOLKeys.end() || - speedLimitControllerVisualsKeys.find(key.c_str()) != speedLimitControllerVisualsKeys.end() || - standardPersonalityKeys.find(key.c_str()) != standardPersonalityKeys.end() || - trafficPersonalityKeys.find(key.c_str()) != trafficPersonalityKeys.end() || - visionTurnControlKeys.find(key.c_str()) != visionTurnControlKeys.end(); - toggle->setVisible(!subToggles); - } - - update(); -} - -void FrogPilotControlsPanel::hideSubToggles() { - if (customPersonalitiesOpen) { - for (auto &[key, toggle] : toggles) { - bool isVisible = drivingPersonalityKeys.find(key.c_str()) != drivingPersonalityKeys.end(); - toggle->setVisible(isVisible); - } - - downloadStatusLabel->setVisible(onroadDistanceButton); - manageDistanceIconsBtn->setVisible(onroadDistanceButton); - } else if (slcOpen) { - for (auto &[key, toggle] : toggles) { - bool isVisible = speedLimitControllerKeys.find(key.c_str()) != speedLimitControllerKeys.end(); - toggle->setVisible(isVisible); - } - } else if (modelManagementOpen) { - for (LabelControl *label : labelControls) { - label->setVisible(false); - } - - for (auto &[key, toggle] : toggles) { - bool isVisible = modelManagementKeys.find(key.c_str()) != modelManagementKeys.end(); - toggle->setVisible(isVisible); - } - } - - update(); -} - -void FrogPilotControlsPanel::hideSubSubToggles() { - if (customPersonalitiesOpen) { - for (auto &[key, toggle] : toggles) { - bool isVisible = customdrivingPersonalityKeys.find(key.c_str()) != customdrivingPersonalityKeys.end(); - toggle->setVisible(isVisible); - } - } else if (modelManagementOpen) { - for (LabelControl *label : labelControls) { - label->setVisible(false); - } - - for (auto &[key, toggle] : toggles) { - bool isVisible = modelRandomizerKeys.find(key.c_str()) != modelRandomizerKeys.end(); - toggle->setVisible(isVisible); - } - } - - update(); -} diff --git a/selfdrive/frogpilot/ui/qt/offroad/control_settings.h b/selfdrive/frogpilot/ui/qt/offroad/control_settings.h deleted file mode 100644 index 65dadcc4ee06dd..00000000000000 --- a/selfdrive/frogpilot/ui/qt/offroad/control_settings.h +++ /dev/null @@ -1,112 +0,0 @@ -#pragma once - -#include - -#include "selfdrive/ui/qt/offroad/settings.h" -#include "selfdrive/ui/ui.h" - -class FrogPilotControlsPanel : public FrogPilotListWidget { - Q_OBJECT - -public: - explicit FrogPilotControlsPanel(SettingsWindow *parent); - -signals: - void openParentToggle(); - void openSubParentToggle(); - void openSubSubParentToggle(); - -private: - QString processModelName(const QString &modelName); - - void hideSubToggles(); - void hideSubSubToggles(); - void hideToggles(); - void showEvent(QShowEvent *event) override; - void startDownloadAllModels(); - void updateCalibrationDescription(); - void updateCarToggles(); - void updateMetric(); - void updateModelLabels(); - void updateState(const UIState &s); - - ButtonControl *deleteModelBtn; - ButtonControl *downloadAllModelsBtn; - ButtonControl *downloadModelBtn; - ButtonControl *selectModelBtn; - - FrogPilotButtonsControl *manageDistanceIconsBtn; - - FrogPilotParamValueToggleControl *steerRatioToggle; - - LabelControl *downloadStatusLabel; - - std::set aggressivePersonalityKeys = {"PersonalityInfo", "AggressiveFollow", "AggressiveJerkAcceleration", "AggressiveJerkDanger", "AggressiveJerkSpeed", "ResetAggressivePersonality"}; - std::set aolKeys = {"AlwaysOnLateralLKAS", "AlwaysOnLateralMain", "HideAOLStatusBar", "PauseAOLOnBrake"}; - std::set conditionalExperimentalKeys = {"CESpeed", "CESpeedLead", "CECurves", "CELead", "CEModelStopTime", "CENavigation", "CESignal", "HideCEMStatusBar"}; - std::set customdrivingPersonalityKeys = {"AggressivePersonalityProfile", "RelaxedPersonalityProfile", "StandardPersonalityProfile", "TrafficPersonalityProfile"}; - std::set deviceManagementKeys = {"DeviceShutdown", "IncreaseThermalLimits", "LowVoltageShutdown", "NoLogging", "NoUploads", "OfflineMode"}; - std::set drivingPersonalityKeys = {"CustomPersonalities", "OnroadDistanceButton", "OnroadDistanceButtonButtons", "DownloadStatusLabel"}; - std::set experimentalModeActivationKeys = {"ExperimentalModeViaDistance", "ExperimentalModeViaLKAS", "ExperimentalModeViaTap"}; - std::set laneChangeKeys = {"LaneChangeTime", "LaneDetectionWidth", "MinimumLaneChangeSpeed", "NudgelessLaneChange", "OneLaneChange"}; - std::set lateralTuneKeys = {"ForceAutoTune", "NNFF", "NNFFLite", "SteerRatio", "TacoTune", "TurnDesires"}; - std::set longitudinalTuneKeys = {"AccelerationProfile", "DecelerationProfile", "HumanAcceleration", "HumanFollowing", "LeadDetectionThreshold", "StoppingDistance", "TrafficMode"}; - std::set modelManagementKeys = {"AutomaticallyUpdateModels", "ModelRandomizer", "DeleteModel", "DownloadModel", "DownloadAllModels", "SelectModel", "ResetCalibrations"}; - std::set modelRandomizerKeys = {"ManageBlacklistedModels", "ResetScores", "ReviewScores"}; - std::set mtscKeys = {"DisableMTSCSmoothing", "MTSCAggressiveness", "MTSCCurvatureCheck"}; - std::set qolKeys = {"CustomCruise", "CustomCruiseLong", "ForceStandstill", "MapGears", "PauseLateralSpeed", "ReverseCruise", "SetSpeedOffset"}; - std::set relaxedPersonalityKeys = {"PersonalityInfo", "RelaxedFollow", "RelaxedJerkAcceleration", "RelaxedJerkDanger", "RelaxedJerkSpeed", "ResetRelaxedPersonality"}; - std::set speedLimitControllerKeys = {"SLCControls", "SLCQOL", "SLCVisuals"}; - std::set speedLimitControllerControlsKeys = {"Offset1", "Offset2", "Offset3", "Offset4", "SLCFallback", "SLCOverride", "SLCPriority"}; - std::set speedLimitControllerQOLKeys = {"ForceMPHDashboard", "SetSpeedLimit", "SLCConfirmation", "SLCLookaheadHigher", "SLCLookaheadLower"}; - std::set speedLimitControllerVisualsKeys = {"ShowSLCOffset", "SpeedLimitChangedAlert", "UseVienna"}; - std::set standardPersonalityKeys = {"PersonalityInfo", "StandardFollow", "StandardJerkAcceleration", "StandardJerkDanger", "StandardJerkSpeed", "ResetStandardPersonality"}; - std::set trafficPersonalityKeys = {"PersonalityInfo", "TrafficFollow", "TrafficJerkAcceleration", "TrafficJerkDanger", "TrafficJerkSpeed", "ResetTrafficPersonality"}; - std::set visionTurnControlKeys = {"CurveSensitivity", "DisableVTSCSmoothing", "TurnAggressiveness"}; - - std::map toggles; - - QList labelControls; - - QDir modelDir{"/data/models/"}; - - Params params; - Params paramsMemory{"/dev/shm/params"}; - Params paramsStorage{"/persist/params"}; - - bool allModelsDownloading; - bool cancellingDownload; - bool customPersonalitiesOpen; - bool disableOpenpilotLongitudinal; - bool drivingPersonalitiesOpen; - bool hasAutoTune; - bool hasCommaNNFFSupport; - bool hasNNFFLog; - bool hasOpenpilotLongitudinal; - bool hasPCMCruise; - bool hasDashSpeedLimits; - bool haveModelsDownloaded; - bool iconsDownloading; - bool iconsDownloaded; - bool isGM; - bool isHKGCanFd; - bool isMetric = params.getBool("IsMetric"); - bool isRelease; - bool isToyota; - bool modelDeleting; - bool modelDownloading; - bool modelManagementOpen; - bool modelRandomizer; - bool modelsDownloaded; - bool onroadDistanceButton; - bool slcOpen; - bool started; - bool themeDeleting; - bool themeDownloading; - - float steerRatioStock; - - QStringList availableModelNames; - QStringList availableModels; - QStringList experimentalModels; -}; diff --git a/selfdrive/frogpilot/ui/qt/offroad/data_settings.cc b/selfdrive/frogpilot/ui/qt/offroad/data_settings.cc new file mode 100644 index 00000000000000..930e82c9d9d455 --- /dev/null +++ b/selfdrive/frogpilot/ui/qt/offroad/data_settings.cc @@ -0,0 +1,308 @@ +#include + +#include "selfdrive/frogpilot/ui/qt/offroad/data_settings.h" + +FrogPilotDataPanel::FrogPilotDataPanel(FrogPilotSettingsWindow *parent) : FrogPilotListWidget(parent) { + ButtonControl *deleteDrivingDataBtn = new ButtonControl(tr("Delete Driving Footage and Data"), tr("DELETE"), tr("This button provides a swift and secure way to permanently delete all stored driving footage and data from your device. Ideal for maintaining privacy or freeing up space.")); + QObject::connect(deleteDrivingDataBtn, &ButtonControl::clicked, [=]() { + if (ConfirmationDialog::confirm(tr("Are you sure you want to permanently delete all of your driving footage and data?"), tr("Delete"), this)) { + std::thread([=] { + deleteDrivingDataBtn->setEnabled(false); + deleteDrivingDataBtn->setValue(tr("Deleting...")); + + std::system("rm -rf /data/media/0/realdata"); + + deleteDrivingDataBtn->setValue(tr("Deleted!")); + + util::sleep_for(2000); + deleteDrivingDataBtn->setValue(""); + deleteDrivingDataBtn->setEnabled(true); + }).detach(); + } + }); + addItem(deleteDrivingDataBtn); + + FrogPilotButtonsControl *screenRecordingsBtn = new FrogPilotButtonsControl(tr("Screen Recordings"), tr("Manage your screen recordings."), {tr("DELETE"), tr("RENAME")}); + QObject::connect(screenRecordingsBtn, &FrogPilotButtonsControl::buttonClicked, [=](int id) { + QDir recordingsDir("/data/media/screen_recordings"); + QStringList recordingsNames = recordingsDir.entryList(QDir::Files | QDir::NoDotAndDotDot); + + if (id == 0) { + QString selection = MultiOptionDialog::getSelection(tr("Select a recording to delete"), recordingsNames, "", this); + if (!selection.isEmpty()) { + if (ConfirmationDialog::confirm(tr("Are you sure you want to delete this recording?"), tr("Delete"), this)) { + std::thread([=]() { + screenRecordingsBtn->setEnabled(false); + screenRecordingsBtn->setValue(tr("Deleting...")); + + QFile fileToDelete(recordingsDir.absoluteFilePath(selection)); + if (fileToDelete.remove()) { + screenRecordingsBtn->setValue(tr("Deleted!")); + } else { + screenRecordingsBtn->setValue(tr("Failed...")); + } + + util::sleep_for(2000); + screenRecordingsBtn->setValue(""); + screenRecordingsBtn->setEnabled(true); + }).detach(); + } + } + + } else if (id == 1) { + QString selection = MultiOptionDialog::getSelection(tr("Select a recording to rename"), recordingsNames, "", this); + if (!selection.isEmpty()) { + QString newName = InputDialog::getText(tr("Enter a new name"), this, tr("Rename Recording")); + if (!newName.isEmpty()) { + std::thread([=]() { + screenRecordingsBtn->setEnabled(false); + screenRecordingsBtn->setValue(tr("Renaming...")); + + QString oldPath = recordingsDir.absoluteFilePath(selection); + QString newPath = recordingsDir.absoluteFilePath(newName); + if (QFile::rename(oldPath, newPath)) { + screenRecordingsBtn->setValue(tr("Renamed!")); + } else { + screenRecordingsBtn->setValue(tr("Failed...")); + } + + util::sleep_for(2000); + screenRecordingsBtn->setValue(""); + screenRecordingsBtn->setEnabled(true); + }).detach(); + } + } + } + }); + addItem(screenRecordingsBtn); + + FrogPilotButtonsControl *frogpilotBackupBtn = new FrogPilotButtonsControl(tr("FrogPilot Backups"), tr("Manage your FrogPilot backups."), {tr("BACKUP"), tr("DELETE"), tr("RESTORE")}); + QObject::connect(frogpilotBackupBtn, &FrogPilotButtonsControl::buttonClicked, [=](int id) { + QDir backupDir("/data/backups"); + QStringList backupNames = backupDir.entryList(QDir::Dirs | QDir::Files | QDir::NoDotAndDotDot, QDir::Name).filter(QRegularExpression("^(?!.*_in_progress$).*$")); + + if (id == 0) { + QString nameSelection = InputDialog::getText(tr("Name your backup"), this, "", false, 1); + if (!nameSelection.isEmpty()) { + bool compressed = FrogPilotConfirmationDialog::yesorno(tr("Do you want to compress this backup? The end file size will be 2.25x smaller, but can take 10+ minutes."), this); + std::thread([=]() { + device()->resetInteractiveTimeout(300); + + frogpilotBackupBtn->setEnabled(false); + frogpilotBackupBtn->setValue(tr("Backing...")); + + std::string fullBackupPath = backupDir.absolutePath().toStdString() + "/" + nameSelection.toStdString(); + std::string inProgressBackupPath = fullBackupPath + "_in_progress"; + int result = std::system(("mkdir -p " + inProgressBackupPath + " && rsync -av /data/openpilot/ " + inProgressBackupPath + "/").c_str()); + + if (result == 0 && compressed) { + frogpilotBackupBtn->setValue(tr("Compressing...")); + result = std::system(("tar -czf " + fullBackupPath + "_in_progress.tar.gz -C " + inProgressBackupPath + " . && rm -rf " + inProgressBackupPath).c_str()); + if (result == 0) { + result = std::system(("mv " + fullBackupPath + "_in_progress.tar.gz " + fullBackupPath + ".tar.gz").c_str()); + } + } else if (result == 0) { + result = std::system(("mv " + inProgressBackupPath + " " + fullBackupPath).c_str()); + } + + if (result == 0) { + frogpilotBackupBtn->setValue(tr("Success!")); + } else { + frogpilotBackupBtn->setValue(tr("Failed...")); + std::system(("rm -rf " + inProgressBackupPath).c_str()); + } + + util::sleep_for(2000); + frogpilotBackupBtn->setValue(""); + frogpilotBackupBtn->setEnabled(true); + + device()->resetInteractiveTimeout(30); + }).detach(); + } + + } else if (id == 1) { + QString selection = MultiOptionDialog::getSelection(tr("Select a backup to delete"), backupNames, "", this); + if (!selection.isEmpty()) { + if (ConfirmationDialog::confirm(tr("Are you sure you want to delete this backup?"), tr("Delete"), this)) { + std::thread([=]() { + frogpilotBackupBtn->setEnabled(false); + frogpilotBackupBtn->setValue(tr("Deleting...")); + + QDir dirToDelete(backupDir.absoluteFilePath(selection)); + if (selection.endsWith(".tar.gz")) { + if (QFile::remove(dirToDelete.absolutePath())) { + frogpilotBackupBtn->setValue(tr("Deleted!")); + } else { + frogpilotBackupBtn->setValue(tr("Failed...")); + } + } else { + if (dirToDelete.removeRecursively()) { + frogpilotBackupBtn->setValue(tr("Deleted!")); + } else { + frogpilotBackupBtn->setValue(tr("Failed...")); + } + } + + util::sleep_for(2000); + frogpilotBackupBtn->setValue(""); + frogpilotBackupBtn->setEnabled(true); + }).detach(); + } + } + + } else if (id == 2) { + QString selection = MultiOptionDialog::getSelection(tr("Select a restore point"), backupNames, "", this); + if (!selection.isEmpty()) { + if (ConfirmationDialog::confirm(tr("Are you sure you want to restore this version of FrogPilot?"), tr("Restore"), this)) { + std::thread([=]() { + device()->resetInteractiveTimeout(300); + + frogpilotBackupBtn->setEnabled(false); + frogpilotBackupBtn->setValue(tr("Restoring...")); + + std::string sourcePath = backupDir.absolutePath().toStdString() + "/" + selection.toStdString(); + std::string targetPath = "/data/safe_staging/finalized"; + std::string extractDirectory = "/data/restore_temp"; + + if (selection.endsWith(".tar.gz")) { + frogpilotBackupBtn->setValue(tr("Extracting...")); + + if (std::system(("mkdir -p " + extractDirectory).c_str()) != 0 || std::system(("tar --strip-components=1 -xzf " + sourcePath + " -C " + extractDirectory).c_str()) != 0) { + frogpilotBackupBtn->setValue(tr("Failed...")); + util::sleep_for(2000); + frogpilotBackupBtn->setValue(""); + frogpilotBackupBtn->setEnabled(true); + return; + } + + sourcePath = extractDirectory; + frogpilotBackupBtn->setValue(tr("Restoring...")); + } + + if (std::system(("rsync -av --delete -l --exclude='.overlay_consistent' " + sourcePath + "/ " + targetPath + "/").c_str()) == 0) { + std::ofstream consistentFile(targetPath + "/.overlay_consistent"); + if (consistentFile) { + frogpilotBackupBtn->setValue(tr("Restored!")); + params.putBool("AutomaticUpdates", false); + util::sleep_for(2000); + + frogpilotBackupBtn->setValue(tr("Rebooting...")); + consistentFile.close(); + std::filesystem::remove_all(extractDirectory); + + util::sleep_for(2000); + Hardware::reboot(); + } else { + frogpilotBackupBtn->setValue(tr("Failed...")); + util::sleep_for(2000); + frogpilotBackupBtn->setValue(""); + frogpilotBackupBtn->setEnabled(true); + + device()->resetInteractiveTimeout(30); + } + } else { + frogpilotBackupBtn->setValue(tr("Failed...")); + util::sleep_for(2000); + frogpilotBackupBtn->setValue(""); + frogpilotBackupBtn->setEnabled(true); + + device()->resetInteractiveTimeout(30); + } + }).detach(); + } + } + } + }); + addItem(frogpilotBackupBtn); + + FrogPilotButtonsControl *toggleBackupBtn = new FrogPilotButtonsControl(tr("Toggle Backups"), tr("Manage your toggle backups."), {tr("BACKUP"), tr("DELETE"), tr("RESTORE")}); + QObject::connect(toggleBackupBtn, &FrogPilotButtonsControl::buttonClicked, [=](int id) { + QDir backupDir("/data/toggle_backups"); + QStringList backupNames = backupDir.entryList(QDir::Dirs | QDir::Files | QDir::NoDotAndDotDot, QDir::Name).filter(QRegularExpression("^(?!.*_in_progress$).*$")); + + if (id == 0) { + QString nameSelection = InputDialog::getText(tr("Name your backup"), this, "", false, 1); + if (!nameSelection.isEmpty()) { + std::thread([=]() { + toggleBackupBtn->setEnabled(false); + toggleBackupBtn->setValue(tr("Backing...")); + + std::string command = "mkdir -p " + backupDir.absolutePath().toStdString() + "/" + nameSelection.toStdString() + " && rsync -av /data/params/d/ " + backupDir.absolutePath().toStdString() + "/" + nameSelection.toStdString(); + int result = std::system(command.c_str()); + + if (result == 0) { + toggleBackupBtn->setValue(tr("Success!")); + } else { + toggleBackupBtn->setValue(tr("Failed...")); + } + + util::sleep_for(2000); + toggleBackupBtn->setValue(""); + toggleBackupBtn->setEnabled(true); + }).detach(); + } + + } else if (id == 1) { + QString selection = MultiOptionDialog::getSelection(tr("Select a backup to delete"), backupNames, "", this); + if (!selection.isEmpty()) { + if (ConfirmationDialog::confirm(tr("Are you sure you want to delete this backup?"), tr("Delete"), this)) { + std::thread([=]() { + toggleBackupBtn->setEnabled(false); + toggleBackupBtn->setValue(tr("Deleting...")); + + QDir dirToDelete(backupDir.absoluteFilePath(selection)); + if (dirToDelete.removeRecursively()) { + toggleBackupBtn->setValue(tr("Deleted!")); + } else { + toggleBackupBtn->setValue(tr("Failed...")); + } + + util::sleep_for(2000); + toggleBackupBtn->setValue(""); + toggleBackupBtn->setEnabled(true); + }).detach(); + } + } + + } else if (id == 2) { + QString selection = MultiOptionDialog::getSelection(tr("Select a restore point"), backupNames, "", this); + if (!selection.isEmpty()) { + if (ConfirmationDialog::confirm(tr("Are you sure you want to restore this toggle backup?"), tr("Restore"), this)) { + std::thread([=]() { + toggleBackupBtn->setEnabled(false); + toggleBackupBtn->setValue(tr("Restoring...")); + + std::string targetPath = "/data/params/d/"; + std::string tempBackupPath = "/data/params/d_backup/"; + + int backupResult = std::system(("rsync -av --delete -l " + targetPath + " " + tempBackupPath).c_str()); + + if (backupResult == 0) { + toggleBackupBtn->setValue(tr("Restoring...")); + + std::string restoreCommand = "rsync -av --delete -l " + backupDir.absolutePath().toStdString() + "/" + selection.toStdString() + "/ " + targetPath; + int restoreResult = std::system(restoreCommand.c_str()); + + if (restoreResult == 0) { + toggleBackupBtn->setValue(tr("Success!")); + } else { + toggleBackupBtn->setValue(tr("Failed...")); + + std::system(("rsync -av --delete -l " + tempBackupPath + " " + targetPath).c_str()); + } + + std::system(("rm -rf " + tempBackupPath).c_str()); + } else { + toggleBackupBtn->setValue(tr("Failed...")); + } + + util::sleep_for(2000); + toggleBackupBtn->setValue(""); + toggleBackupBtn->setEnabled(true); + }).detach(); + } + } + } + }); + addItem(toggleBackupBtn); +} diff --git a/selfdrive/frogpilot/ui/qt/offroad/data_settings.h b/selfdrive/frogpilot/ui/qt/offroad/data_settings.h new file mode 100644 index 00000000000000..76e64a11723126 --- /dev/null +++ b/selfdrive/frogpilot/ui/qt/offroad/data_settings.h @@ -0,0 +1,13 @@ +#pragma once + +#include "selfdrive/frogpilot/ui/qt/offroad/frogpilot_settings.h" + +class FrogPilotDataPanel : public FrogPilotListWidget { + Q_OBJECT + +public: + explicit FrogPilotDataPanel(FrogPilotSettingsWindow *parent); + +private: + Params params; +}; diff --git a/selfdrive/frogpilot/ui/qt/offroad/device_settings.cc b/selfdrive/frogpilot/ui/qt/offroad/device_settings.cc new file mode 100644 index 00000000000000..f74da2bf45166a --- /dev/null +++ b/selfdrive/frogpilot/ui/qt/offroad/device_settings.cc @@ -0,0 +1,147 @@ +#include "selfdrive/frogpilot/ui/qt/offroad/device_settings.h" + +FrogPilotDevicePanel::FrogPilotDevicePanel(FrogPilotSettingsWindow *parent) : FrogPilotListWidget(parent) { + const std::vector> deviceToggles { + {"DeviceManagement", tr("Device Settings"), tr("Device behavior settings."), "../frogpilot/assets/toggle_icons/icon_device.png"}, + {"DeviceShutdown", tr("Device Shutdown Timer"), tr("How long the device stays on after you stop driving."), ""}, + {"OfflineMode", tr("Disable Internet Requirement"), tr("The device can work without an internet connection for as long as you need."), ""}, + {"IncreaseThermalLimits", tr("Increase Thermal Safety Limit"), tr("The device can run at higher temperatures than recommended."), ""}, + {"LowVoltageShutdown", tr("Low Battery Shutdown Threshold"), tr("Shut down the device when the car's battery gets too low to prevent damage to the 12V battery."), ""}, + {"NoLogging", tr("Turn Off Data Tracking"), tr("Disable all tracking to improve privacy."), ""}, + {"NoUploads", tr("Turn Off Data Uploads"), tr("Stop the device from sending any data to the servers."), ""}, + + {"ScreenManagement", tr("Screen Settings"), tr("Screen behavior settings."), "../frogpilot/assets/toggle_icons/icon_light.png"}, + {"ScreenBrightness", tr("Screen Brightness (Offroad)"), tr("The screen brightness when you're not driving."), ""}, + {"ScreenBrightnessOnroad", tr("Screen Brightness (Onroad)"), tr("The screen brightness while you're driving."), ""}, + {"ScreenRecorder", tr("Screen Recorder"), tr("Display a button in the onroad UI to record the screen."), ""}, + {"ScreenTimeout", tr("Screen Timeout (Offroad)"), tr("How long it takes for the screen to turn off when you're not driving."), ""}, + {"ScreenTimeoutOnroad", tr("Screen Timeout (Onroad)"), tr("How long it takes for the screen to turn off while you're driving."), ""} + }; + + for (const auto &[param, title, desc, icon] : deviceToggles) { + AbstractControl *deviceToggle; + + if (param == "DeviceManagement") { + FrogPilotParamManageControl *deviceManagementToggle = new FrogPilotParamManageControl(param, title, desc, icon); + QObject::connect(deviceManagementToggle, &FrogPilotParamManageControl::manageButtonClicked, [this]() { + showToggles(deviceManagementKeys); + }); + deviceToggle = deviceManagementToggle; + } else if (param == "DeviceShutdown") { + std::map shutdownLabels; + for (int i = 0; i <= 33; ++i) { + shutdownLabels[i] = i == 0 ? tr("5 mins") : i <= 3 ? QString::number(i * 15) + tr(" mins") : QString::number(i - 3) + (i == 4 ? tr(" hour") : tr(" hours")); + } + deviceToggle = new FrogPilotParamValueControl(param, title, desc, icon, 0, 33, QString(), shutdownLabels); + } else if (param == "NoUploads") { + std::vector uploadsToggles{"DisableOnroadUploads"}; + std::vector uploadsToggleNames{tr("Only Onroad")}; + deviceToggle = new FrogPilotButtonToggleControl(param, title, desc, uploadsToggles, uploadsToggleNames); + } else if (param == "LowVoltageShutdown") { + deviceToggle = new FrogPilotParamValueControl(param, title, desc, icon, 11.8, 12.5, tr(" volts"), std::map(), 0.01); + + } else if (param == "ScreenManagement") { + FrogPilotParamManageControl *screenToggle = new FrogPilotParamManageControl(param, title, desc, icon); + QObject::connect(screenToggle, &FrogPilotParamManageControl::manageButtonClicked, [this]() { + showToggles(screenKeys); + }); + deviceToggle = screenToggle; + } else if (param == "ScreenBrightness" || param == "ScreenBrightnessOnroad") { + std::map brightnessLabels; + int minBrightness = (param == "ScreenBrightnessOnroad") ? 0 : 1; + for (int i = 1; i <= 101; ++i) { + brightnessLabels[i] = (i == 101) ? tr("Auto") : QString::number(i) + "%"; + } + deviceToggle = new FrogPilotParamValueControl(param, title, desc, icon, minBrightness, 101, QString(), brightnessLabels, 1, false, true); + } else if (param == "ScreenTimeout" || param == "ScreenTimeoutOnroad") { + deviceToggle = new FrogPilotParamValueControl(param, title, desc, icon, 5, 60, tr(" seconds")); + + } else { + deviceToggle = new ParamControl(param, title, desc, icon); + } + + addItem(deviceToggle); + toggles[param] = deviceToggle; + + makeConnections(deviceToggle); + + if (FrogPilotParamManageControl *frogPilotManageToggle = qobject_cast(deviceToggle)) { + QObject::connect(frogPilotManageToggle, &FrogPilotParamManageControl::manageButtonClicked, this, &FrogPilotDevicePanel::openParentToggle); + } + + QObject::connect(deviceToggle, &AbstractControl::showDescriptionEvent, [this]() { + update(); + }); + } + + QObject::connect(static_cast(toggles["IncreaseThermalLimits"]), &ToggleControl::toggleFlipped, [this](bool state) { + if (state) { + FrogPilotConfirmationDialog::toggleAlert( + tr("WARNING: This can cause premature wear or damage by running the device over comma's recommended temperature limits!"), + tr("I understand the risks."), this); + } + }); + + QObject::connect(static_cast(toggles["NoLogging"]), &ToggleControl::toggleFlipped, [this](bool state) { + if (state) { + FrogPilotConfirmationDialog::toggleAlert( + tr("WARNING: This will prevent your drives from being recorded and the data will be unobtainable!"), + tr("I understand the risks."), this); + } + }); + + QObject::connect(static_cast(toggles["NoUploads"]), &ToggleControl::toggleFlipped, [this](bool state) { + if (state) { + FrogPilotConfirmationDialog::toggleAlert( + tr("WARNING: This will prevent your drives from appearing on comma connect which may impact debugging and support!"), + tr("I understand the risks."), this); + } + }); + + FrogPilotParamValueControl *screenBrightnessToggle = static_cast(toggles["ScreenBrightness"]); + QObject::connect(screenBrightnessToggle, &FrogPilotParamValueControl::valueChanged, [this](float value) { + if (!started) { + uiState()->scene.screen_brightness = value; + } + }); + + FrogPilotParamValueControl *screenBrightnessOnroadToggle = static_cast(toggles["ScreenBrightnessOnroad"]); + QObject::connect(screenBrightnessOnroadToggle, &FrogPilotParamValueControl::valueChanged, [this](float value) { + if (started) { + uiState()->scene.screen_brightness_onroad = value; + } + }); + + QObject::connect(parent, &FrogPilotSettingsWindow::closeParentToggle, this, &FrogPilotDevicePanel::hideToggles); + QObject::connect(uiState(), &UIState::uiUpdate, this, &FrogPilotDevicePanel::updateState); + + hideToggles(); +} + +void FrogPilotDevicePanel::updateState(const UIState &s) { + started = s.scene.started; +} + +void FrogPilotDevicePanel::showToggles(const std::set &keys) { + setUpdatesEnabled(false); + + for (auto &[key, toggle] : toggles) { + toggle->setVisible(keys.find(key) != keys.end()); + } + + setUpdatesEnabled(true); + update(); +} + +void FrogPilotDevicePanel::hideToggles() { + setUpdatesEnabled(false); + + for (auto &[key, toggle] : toggles) { + bool subToggles = deviceManagementKeys.find(key) != deviceManagementKeys.end() || + screenKeys.find(key) != screenKeys.end(); + toggle->setVisible(!subToggles); + } + + setUpdatesEnabled(true); + update(); +} diff --git a/selfdrive/frogpilot/ui/qt/offroad/device_settings.h b/selfdrive/frogpilot/ui/qt/offroad/device_settings.h new file mode 100644 index 00000000000000..d8d552b3322402 --- /dev/null +++ b/selfdrive/frogpilot/ui/qt/offroad/device_settings.h @@ -0,0 +1,36 @@ +#pragma once + +#include + +#include "selfdrive/frogpilot/ui/qt/offroad/frogpilot_settings.h" + +class FrogPilotDevicePanel : public FrogPilotListWidget { + Q_OBJECT + +public: + explicit FrogPilotDevicePanel(FrogPilotSettingsWindow *parent); + +signals: + void openParentToggle(); + +private: + void hideToggles(); + void showToggles(const std::set &keys); + void updateState(const UIState &s); + + std::set deviceManagementKeys = { + "DeviceShutdown", "IncreaseThermalLimits", "LowVoltageShutdown", + "NoLogging", "NoUploads", "OfflineMode" + }; + + std::set screenKeys = { + "ScreenBrightness", "ScreenBrightnessOnroad", "ScreenRecorder", + "ScreenTimeout", "ScreenTimeoutOnroad" + }; + + Params params; + + bool started; + + std::map toggles; +}; diff --git a/selfdrive/frogpilot/ui/qt/offroad/frogpilot_settings.cc b/selfdrive/frogpilot/ui/qt/offroad/frogpilot_settings.cc new file mode 100644 index 00000000000000..213a763c10fe58 --- /dev/null +++ b/selfdrive/frogpilot/ui/qt/offroad/frogpilot_settings.cc @@ -0,0 +1,312 @@ +#include +#include + +#include "selfdrive/ui/qt/widgets/scrollview.h" + +#include "selfdrive/frogpilot/navigation/ui/maps_settings.h" +#include "selfdrive/frogpilot/navigation/ui/primeless_settings.h" +#include "selfdrive/frogpilot/ui/qt/offroad/advanced_driving_settings.h" +#include "selfdrive/frogpilot/ui/qt/offroad/advanced_visual_settings.h" +#include "selfdrive/frogpilot/ui/qt/offroad/data_settings.h" +#include "selfdrive/frogpilot/ui/qt/offroad/device_settings.h" +#include "selfdrive/frogpilot/ui/qt/offroad/frogpilot_settings.h" +#include "selfdrive/frogpilot/ui/qt/offroad/lateral_settings.h" +#include "selfdrive/frogpilot/ui/qt/offroad/longitudinal_settings.h" +#include "selfdrive/frogpilot/ui/qt/offroad/sounds_settings.h" +#include "selfdrive/frogpilot/ui/qt/offroad/theme_settings.h" +#include "selfdrive/frogpilot/ui/qt/offroad/utilities.h" +#include "selfdrive/frogpilot/ui/qt/offroad/vehicle_settings.h" +#include "selfdrive/frogpilot/ui/qt/offroad/visual_settings.h" + +bool checkNNFFLogFileExists(const std::string &carFingerprint) { + const std::filesystem::path latModelsPath("../car/torque_data/lat_models"); + + if (!std::filesystem::exists(latModelsPath)) { + std::cerr << "Lat models directory does not exist." << std::endl; + return false; + } + + for (const std::filesystem::directory_entry &entry : std::filesystem::directory_iterator(latModelsPath)) { + if (entry.path().filename().string().rfind(carFingerprint, 0) == 0) { + std::cout << "NNFF supports fingerprint: " << entry.path().filename() << std::endl; + return true; + } + } + + return false; +} + +FrogPilotSettingsWindow::FrogPilotSettingsWindow(SettingsWindow *parent) : QFrame(parent) { + mainLayout = new QStackedLayout(this); + + frogpilotSettingsWidget = new QWidget(this); + QVBoxLayout *frogpilotSettingsLayout = new QVBoxLayout(frogpilotSettingsWidget); + frogpilotSettingsLayout->setContentsMargins(50, 25, 50, 25); + + FrogPilotListWidget *list = new FrogPilotListWidget(frogpilotSettingsWidget); + + FrogPilotAdvancedDrivingPanel *frogpilotAdvancedDrivingPanel = new FrogPilotAdvancedDrivingPanel(this); + QObject::connect(frogpilotAdvancedDrivingPanel, &FrogPilotAdvancedDrivingPanel::openParentToggle, this, &FrogPilotSettingsWindow::openParentToggle); + QObject::connect(frogpilotAdvancedDrivingPanel, &FrogPilotAdvancedDrivingPanel::openSubParentToggle, this, &FrogPilotSettingsWindow::openSubParentToggle); + QObject::connect(frogpilotAdvancedDrivingPanel, &FrogPilotAdvancedDrivingPanel::openSubSubParentToggle, this, &FrogPilotSettingsWindow::openSubSubParentToggle); + + FrogPilotAdvancedVisualsPanel *frogpilotAdvancedVisualsPanel = new FrogPilotAdvancedVisualsPanel(this); + QObject::connect(frogpilotAdvancedVisualsPanel, &FrogPilotAdvancedVisualsPanel::openParentToggle, this, &FrogPilotSettingsWindow::openParentToggle); + + FrogPilotDevicePanel *frogpilotDevicePanel = new FrogPilotDevicePanel(this); + QObject::connect(frogpilotDevicePanel, &FrogPilotDevicePanel::openParentToggle, this, &FrogPilotSettingsWindow::openParentToggle); + + FrogPilotLateralPanel *frogpilotLateralPanel = new FrogPilotLateralPanel(this); + QObject::connect(frogpilotLateralPanel, &FrogPilotLateralPanel::openParentToggle, this, &FrogPilotSettingsWindow::openParentToggle); + + FrogPilotLongitudinalPanel *frogpilotLongitudinalPanel = new FrogPilotLongitudinalPanel(this); + QObject::connect(frogpilotLongitudinalPanel, &FrogPilotLongitudinalPanel::openParentToggle, this, &FrogPilotSettingsWindow::openParentToggle); + QObject::connect(frogpilotLongitudinalPanel, &FrogPilotLongitudinalPanel::openSubParentToggle, this, &FrogPilotSettingsWindow::openSubParentToggle); + + FrogPilotMapsPanel *frogpilotMapsPanel = new FrogPilotMapsPanel(this); + QObject::connect(frogpilotMapsPanel, &FrogPilotMapsPanel::openMapSelection, this, &FrogPilotSettingsWindow::openMapSelection); + + FrogPilotPrimelessPanel *frogpilotPrimelessPanel = new FrogPilotPrimelessPanel(this); + QObject::connect(frogpilotPrimelessPanel, &FrogPilotPrimelessPanel::openMapBoxInstructions, this, &FrogPilotSettingsWindow::openMapBoxInstructions); + + FrogPilotSoundsPanel *frogpilotSoundsPanel = new FrogPilotSoundsPanel(this); + QObject::connect(frogpilotSoundsPanel, &FrogPilotSoundsPanel::openParentToggle, this, &FrogPilotSettingsWindow::openParentToggle); + + FrogPilotThemesPanel *frogpilotThemesPanel = new FrogPilotThemesPanel(this); + QObject::connect(frogpilotThemesPanel, &FrogPilotThemesPanel::openParentToggle, this, &FrogPilotSettingsWindow::openParentToggle); + + FrogPilotVisualsPanel *frogpilotVisualsPanel = new FrogPilotVisualsPanel(this); + QObject::connect(frogpilotVisualsPanel, &FrogPilotVisualsPanel::openParentToggle, this, &FrogPilotSettingsWindow::openParentToggle); + + std::vector>> panels = { + {tr("Advanced Settings"), {frogpilotAdvancedDrivingPanel, frogpilotAdvancedVisualsPanel}}, + {tr("Alerts and Sounds"), {frogpilotSoundsPanel}}, + {tr("Driving Controls"), {frogpilotLongitudinalPanel, frogpilotLateralPanel}}, + {tr("Navigation"), {frogpilotMapsPanel, frogpilotPrimelessPanel}}, + {tr("System Management"), {new FrogPilotDataPanel(this), frogpilotDevicePanel, new UtilitiesPanel(this)}}, + {tr("Theme and Appearance"), {frogpilotVisualsPanel, frogpilotThemesPanel}}, + {tr("Vehicle Controls"), {new FrogPilotVehiclesPanel(this)}} + }; + + std::vector icons = { + "../frogpilot/assets/toggle_icons/icon_advanced.png", + "../frogpilot/assets/toggle_icons/icon_sound.png", + "../frogpilot/assets/toggle_icons/icon_steering.png", + "../frogpilot/assets/toggle_icons/icon_map.png", + "../frogpilot/assets/toggle_icons/icon_system.png", + "../frogpilot/assets/toggle_icons/icon_display.png", + "../frogpilot/assets/toggle_icons/icon_vehicle.png", + }; + + std::vector descriptions = { + tr("Advanced FrogPilot features for more experienced users."), + tr("Options to customize FrogPilot's sound alerts and notifications."), + tr("FrogPilot features that impact acceleration, braking, and steering."), + tr("Offline maps downloader and 'Navigate On openpilot (NOO)' settings."), + tr("Tools and system utilities used to maintain and troubleshoot FrogPilot."), + tr("Options for customizing FrogPilot's themes, UI appearance, and onroad widgets."), + tr("Vehicle-specific settings and configurations for supported makes and models.") + }; + + std::vector> buttonLabels = { + {tr("DRIVING"), tr("VISUALS")}, + {tr("MANAGE")}, + {tr("GAS / BRAKE"), tr("STEERING")}, + {tr("OFFLINE MAPS"), tr("PRIMELESS NAVIGATION")}, + {tr("DATA"), tr("DEVICE"), tr("UTILITIES")}, + {tr("APPEARANCE"), tr("THEME")}, + {tr("MANAGE")} + }; + + for (size_t i = 0; i < panels.size(); ++i) { + addPanelControl(list, panels[i].first, descriptions[i], buttonLabels[i], icons[i], panels[i].second, panels[i].first == tr("Driving Controls"), panels[i].first == tr("Navigation")); + } + + frogpilotSettingsLayout->addWidget(new ScrollView(list, frogpilotSettingsWidget)); + frogpilotSettingsLayout->addStretch(1); + + mainLayout->addWidget(frogpilotSettingsWidget); + mainLayout->setCurrentWidget(frogpilotSettingsWidget); + + QObject::connect(parent, &SettingsWindow::closeMapBoxInstructions, this, &FrogPilotSettingsWindow::closeMapBoxInstructions); + QObject::connect(parent, &SettingsWindow::closeMapSelection, this, &FrogPilotSettingsWindow::closeMapSelection); + QObject::connect(parent, &SettingsWindow::closePanel, this, &FrogPilotSettingsWindow::closePanel); + QObject::connect(parent, &SettingsWindow::closeParentToggle, this, &FrogPilotSettingsWindow::closeParentToggle); + QObject::connect(parent, &SettingsWindow::closeSubParentToggle, this, &FrogPilotSettingsWindow::closeSubParentToggle); + QObject::connect(parent, &SettingsWindow::closeSubSubParentToggle, this, &FrogPilotSettingsWindow::closeSubSubParentToggle); + QObject::connect(parent, &SettingsWindow::updateMetric, this, &FrogPilotSettingsWindow::updateMetric); + QObject::connect(uiState(), &UIState::offroadTransition, this, &FrogPilotSettingsWindow::updateCarVariables); + + updateCarVariables(); +} + +void FrogPilotSettingsWindow::showEvent(QShowEvent *event) { + updatePanelVisibility(); +} + +void FrogPilotSettingsWindow::closePanel() { + QWidget *currentWidget = mainLayout->currentWidget(); + if (currentWidget != frogpilotSettingsWidget) { + mainLayout->removeWidget(currentWidget); + } +} + +void FrogPilotSettingsWindow::updatePanelVisibility() { + disableOpenpilotLongitudinal = params.getBool("DisableOpenpilotLongitudinal"); + + drivingButton->setVisibleButton(0, hasOpenpilotLongitudinal && !disableOpenpilotLongitudinal); + navigationButton->setVisibleButton(1, !uiState()->hasPrime()); + + mainLayout->setCurrentWidget(frogpilotSettingsWidget); +} + +void FrogPilotSettingsWindow::updateCarVariables() { + float currentFrictionStock = params.getFloat("SteerFrictionStock"); + float currentKPStock = params.getFloat("SteerKPStock"); + float currentLatAccelStock = params.getFloat("SteerLatAccelStock"); + float currentRatioStock = params.getFloat("SteerRatioStock"); + + std::string carParams = params.get("CarParamsPersistent"); + if (!carParams.empty()) { + AlignedBuffer aligned_buf; + capnp::FlatArrayMessageReader cmsg(aligned_buf.align(carParams.data(), carParams.size())); + cereal::CarParams::Reader CP = cmsg.getRoot(); + cereal::CarParams::SafetyModel safetyModel = CP.getSafetyConfigs()[0].getSafetyModel(); + + std::string carFingerprint = CP.getCarFingerprint(); + std::string carModel = CP.getCarName(); + + hasAutoTune = (carModel == "hyundai" || carModel == "toyota") && CP.getLateralTuning().which() == cereal::CarParams::LateralTuning::TORQUE; + hasBSM = CP.getEnableBsm(); + hasDashSpeedLimits = carModel == "hyundai" || carModel == "toyota"; + hasExperimentalOpenpilotLongitudinal = CP.getExperimentalLongitudinalAvailable(); + hasNNFFLog = checkNNFFLogFileExists(carFingerprint); + hasOpenpilotLongitudinal = hasLongitudinalControl(CP); + hasPCMCruise = CP.getPcmCruise(); + hasSNG = CP.getMinEnableSpeed() <= 0; + isGM = carModel == "gm"; + isGMPCMCruise = CP.getCarName() == "gm" && CP.getPcmCruise(); + isHKGCanFd = carModel == "hyundai" && safetyModel == cereal::CarParams::SafetyModel::HYUNDAI_CANFD; + isImpreza = carFingerprint == "SUBARU_IMPREZA"; + isPIDCar = CP.getLateralTuning().which() == cereal::CarParams::LateralTuning::PID; + isSubaru = carModel == "subaru"; + isToyota = carModel == "toyota"; + isToyotaTuneSupported = carFingerprint == "LEXUS_ES_TSS2"; + isVolt = carFingerprint == "CHEVROLET_VOLT"; + forcingAutoTune = params.getBool("AdvancedLateralTune") && params.getBool("ForceAutoTune"); + steerFrictionStock = CP.getLateralTuning().getTorque().getFriction(); + steerKPStock = CP.getLateralTuning().getTorque().getKp(); + steerLatAccelStock = CP.getLateralTuning().getTorque().getLatAccelFactor(); + steerRatioStock = CP.getSteerRatio(); + + if (currentFrictionStock != steerFrictionStock && steerFrictionStock != 0) { + if (params.getFloat("SteerFriction") == currentFrictionStock) { + params.putFloatNonBlocking("SteerFriction", steerFrictionStock); + } + params.putFloatNonBlocking("SteerFrictionStock", steerFrictionStock); + } + + if (currentKPStock != steerKPStock && currentKPStock != 0) { + if (params.getFloat("SteerKP") == currentKPStock) { + params.putFloatNonBlocking("SteerKP", steerKPStock); + } + params.putFloatNonBlocking("SteerKPStock", steerKPStock); + } + + if (currentLatAccelStock != steerLatAccelStock && steerLatAccelStock != 0) { + if (params.getFloat("SteerLatAccel") == steerLatAccelStock) { + params.putFloatNonBlocking("SteerLatAccel", steerLatAccelStock); + } + params.putFloatNonBlocking("SteerLatAccelStock", steerLatAccelStock); + } + + if (currentRatioStock != steerRatioStock && steerRatioStock != 0) { + if (params.getFloat("SteerRatio") == steerRatioStock) { + params.putFloatNonBlocking("SteerRatio", steerRatioStock); + } + params.putFloatNonBlocking("SteerRatioStock", steerRatioStock); + } + + uiState()->scene.has_auto_tune = hasAutoTune || forcingAutoTune; + } else { + hasAutoTune = true; + hasBSM = true; + hasDashSpeedLimits = true; + hasExperimentalOpenpilotLongitudinal = false; + hasNNFFLog = true; + hasOpenpilotLongitudinal = true; + hasPCMCruise = true; + hasSNG = false; + isGMPCMCruise = false; + isHKGCanFd = true; + isImpreza = true; + isSubaru = false; + isToyota = true; + isVolt = true; + } + + std::string liveTorqueParamsKey; + if (params.getBool("ModelManagement")) { + QString model = QString::fromStdString(params.get("ModelName")); + QString part_model_param = processModelName(model); + liveTorqueParamsKey = part_model_param.toStdString() + "LiveTorqueParameters"; + } else { + liveTorqueParamsKey = "LiveTorqueParameters"; + } + + if (params.checkKey(liveTorqueParamsKey)) { + auto torqueParams = params.get(liveTorqueParamsKey); + if (!torqueParams.empty()) { + AlignedBuffer aligned_buf; + capnp::FlatArrayMessageReader cmsg(aligned_buf.align(torqueParams.data(), torqueParams.size())); + cereal::Event::Reader LTP = cmsg.getRoot(); + + auto liveTorqueParams = LTP.getLiveTorqueParameters(); + + liveValid = liveTorqueParams.getLiveValid(); + } else { + liveValid = false; + } + } else { + liveValid = false; + } + + emit updateCarToggles(); +} + +void FrogPilotSettingsWindow::addPanelControl(FrogPilotListWidget *list, QString &title, QString &desc, std::vector &button_labels, QString &icon, std::vector &panels, bool isDrivingPanel, bool isNavigationPanel) { + std::vector panelContainers; + panelContainers.reserve(panels.size()); + + for (QWidget *panel : panels) { + QWidget *panelContainer = new QWidget(this); + QVBoxLayout *panelLayout = new QVBoxLayout(panelContainer); + panelLayout->setContentsMargins(50, 25, 50, 25); + panelLayout->addWidget(panel); + panelContainers.push_back(panelContainer); + } + + FrogPilotButtonsControl *button; + if (isDrivingPanel) { + drivingButton = new FrogPilotButtonsControl(title, desc, button_labels, false, true, icon); + button = drivingButton; + } else if (isNavigationPanel) { + navigationButton = new FrogPilotButtonsControl(title, desc, button_labels, false, true, icon); + button = navigationButton; + } else { + button = new FrogPilotButtonsControl(title, desc, button_labels, false, true, icon); + } + + QObject::connect(button, &FrogPilotButtonsControl::buttonClicked, [this, panelContainers](int buttonId) { + if (buttonId < panelContainers.size()) { + QWidget *selectedPanel = panelContainers[buttonId]; + if (mainLayout->indexOf(selectedPanel) == -1) { + mainLayout->addWidget(selectedPanel); + } + mainLayout->setCurrentWidget(selectedPanel); + } + openPanel(); + }); + + list->addItem(button); +} diff --git a/selfdrive/frogpilot/ui/qt/offroad/frogpilot_settings.h b/selfdrive/frogpilot/ui/qt/offroad/frogpilot_settings.h new file mode 100644 index 00000000000000..be87b1547f8f3b --- /dev/null +++ b/selfdrive/frogpilot/ui/qt/offroad/frogpilot_settings.h @@ -0,0 +1,67 @@ +#pragma once + +#include "selfdrive/ui/qt/offroad/settings.h" + +class FrogPilotSettingsWindow : public QFrame { + Q_OBJECT + +public: + explicit FrogPilotSettingsWindow(SettingsWindow *parent); + + bool disableOpenpilotLongitudinal; + bool hasAutoTune; + bool hasBSM; + bool hasDashSpeedLimits; + bool hasExperimentalOpenpilotLongitudinal; + bool hasNNFFLog; + bool hasOpenpilotLongitudinal; + bool hasPCMCruise; + bool hasSNG; + bool isGM; + bool isGMPCMCruise; + bool isHKGCanFd; + bool isImpreza; + bool isPIDCar; + bool isSubaru; + bool isToyota; + bool isToyotaTuneSupported; + bool isVolt; + bool forcingAutoTune; + bool liveValid; + + float steerFrictionStock; + float steerKPStock; + float steerLatAccelStock; + float steerRatioStock; + +signals: + void closeMapBoxInstructions(); + void closeMapSelection(); + void closeParentToggle(); + void closeSubParentToggle(); + void closeSubSubParentToggle(); + void openMapBoxInstructions(); + void openMapSelection(); + void openPanel(); + void openParentToggle(); + void openSubParentToggle(); + void openSubSubParentToggle(); + void updateCarToggles(); + void updateMetric(); + +private: + void addPanelControl(FrogPilotListWidget *list, QString &title, QString &desc, std::vector &button_labels, QString &icon, std::vector &panels, bool isDrivingPanel, bool isNavigationPanel); + void closePanel(); + void showEvent(QShowEvent *event) override; + void updateCarVariables(); + void updatePanelVisibility(); + + FrogPilotButtonsControl *drivingButton; + FrogPilotButtonsControl *navigationButton; + + Params params; + + QStackedLayout *mainLayout; + + QWidget *frogpilotSettingsWidget; +}; diff --git a/selfdrive/frogpilot/ui/qt/offroad/lateral_settings.cc b/selfdrive/frogpilot/ui/qt/offroad/lateral_settings.cc new file mode 100644 index 00000000000000..c6040a9119dc33 --- /dev/null +++ b/selfdrive/frogpilot/ui/qt/offroad/lateral_settings.cc @@ -0,0 +1,227 @@ +#include "selfdrive/frogpilot/ui/qt/offroad/lateral_settings.h" + +FrogPilotLateralPanel::FrogPilotLateralPanel(FrogPilotSettingsWindow *parent) : FrogPilotListWidget(parent), parent(parent) { + const std::vector> lateralToggles { + {"AlwaysOnLateral", tr("Always on Lateral"), tr("openpilot's steering control stays active even when the brake or gas pedals are pressed.\n\nDeactivate only occurs with the 'Cruise Control' button."), "../frogpilot/assets/toggle_icons/icon_always_on_lateral.png"}, + {"AlwaysOnLateralLKAS", tr("Control with LKAS Button"), tr("'Always on Lateral' gets turned on or off using the 'LKAS' button."), ""}, + {"AlwaysOnLateralMain", tr("Enable with Cruise Control"), tr("'Always on Lateral' gets turned on by pressing the 'Cruise Control' button bypassing the requirement to enable openpilot first."), ""}, + {"PauseAOLOnBrake", tr("Pause on Brake Below"), tr("'Always on Lateral' pauses when the brake pedal is pressed below the set speed."), ""}, + {"HideAOLStatusBar", tr("Hide the Status Bar"), tr("The status bar for 'Always on Lateral' is hidden."), ""}, + + {"LaneChangeCustomizations", tr("Lane Change Settings"), tr("How openpilot handles lane changes."), "../frogpilot/assets/toggle_icons/icon_lane.png"}, + {"NudgelessLaneChange", tr("Hands-Free Lane Change"), tr("Lane changes are conducted without needing to touch the steering wheel upon turn signal activation."), ""}, + {"LaneChangeTime", tr("Lane Change Delay"), tr("How long openpilot waits before changing lanes."), ""}, + {"LaneDetectionWidth", tr("Lane Width Requirement"), tr("The minimum lane width for openpilot to detect a lane as a lane."), ""}, + {"MinimumLaneChangeSpeed", tr("Minimum Speed for Lane Change"), tr("The minimum speed required for openpilot to perform a lane change."), ""}, + {"OneLaneChange", tr("Single Lane Change Per Signal"), tr("Lane changes are limited to one per turn signal activation."), ""}, + + {"LateralTune", tr("Lateral Tuning"), tr("Settings that control how openpilot manages steering."), "../frogpilot/assets/toggle_icons/icon_lateral_tune.png"}, + {"NNFF", tr("Neural Network Feedforward (NNFF)"), tr("Twilsonco's 'Neural Network FeedForward' for more precise steering control."), ""}, + {"NNFFLite", tr("Smooth Curve Handling"), tr("Smoother steering when entering and exiting curves with Twilsonco's torque adjustments."), ""}, + + {"QOLLateral", tr("Quality of Life Improvements"), tr("Miscellaneous lateral focused features to improve your overall openpilot experience."), "../frogpilot/assets/toggle_icons/quality_of_life.png"}, + {"PauseLateralSpeed", tr("Pause Steering Below"), tr("Pauses steering control when driving below the set speed."), ""} + }; + + for (const auto &[param, title, desc, icon] : lateralToggles) { + AbstractControl *lateralToggle; + + if (param == "AlwaysOnLateral") { + FrogPilotParamManageControl *aolToggle = new FrogPilotParamManageControl(param, title, desc, icon); + QObject::connect(aolToggle, &FrogPilotParamManageControl::manageButtonClicked, [this]() { + std::set modifiedAOLKeys = aolKeys; + + if (isSubaru || (params.getBool("ExperimentalModeActivation") && params.getBool("ExperimentalModeViaLKAS"))) { + modifiedAOLKeys.erase("AlwaysOnLateralLKAS"); + } + + showToggles(modifiedAOLKeys); + }); + lateralToggle = aolToggle; + } else if (param == "PauseAOLOnBrake") { + lateralToggle = new FrogPilotParamValueControl(param, title, desc, icon, 0, 99, tr("mph")); + + } else if (param == "LateralTune") { + FrogPilotParamManageControl *lateralTuneToggle = new FrogPilotParamManageControl(param, title, desc, icon); + QObject::connect(lateralTuneToggle, &FrogPilotParamManageControl::manageButtonClicked, [this]() { + std::set modifiedLateralTuneKeys = lateralTuneKeys; + + bool usingNNFF = hasNNFFLog && params.getBool("LateralTune") && params.getBool("NNFF"); + if (!hasNNFFLog) { + modifiedLateralTuneKeys.erase("NNFF"); + } else if (usingNNFF) { + modifiedLateralTuneKeys.erase("NNFFLite"); + } + + showToggles(modifiedLateralTuneKeys); + }); + lateralToggle = lateralTuneToggle; + + } else if (param == "QOLLateral") { + FrogPilotParamManageControl *qolLateralToggle = new FrogPilotParamManageControl(param, title, desc, icon); + QObject::connect(qolLateralToggle, &FrogPilotParamManageControl::manageButtonClicked, [this]() { + showToggles(qolKeys); + }); + lateralToggle = qolLateralToggle; + } else if (param == "PauseLateralSpeed") { + std::vector pauseLateralToggles{"PauseLateralOnSignal"}; + std::vector pauseLateralToggleNames{"Turn Signal Only"}; + lateralToggle = new FrogPilotParamValueButtonControl(param, title, desc, icon, 0, 99, tr("mph"), std::map(), 1, pauseLateralToggles, pauseLateralToggleNames); + } else if (param == "PauseLateralOnSignal") { + lateralToggle = new FrogPilotParamValueControl(param, title, desc, icon, 0, 99, tr("mph")); + + } else if (param == "LaneChangeCustomizations") { + FrogPilotParamManageControl *laneChangeToggle = new FrogPilotParamManageControl(param, title, desc, icon); + QObject::connect(laneChangeToggle, &FrogPilotParamManageControl::manageButtonClicked, [this]() { + showToggles(laneChangeKeys); + }); + lateralToggle = laneChangeToggle; + } else if (param == "LaneChangeTime") { + std::map laneChangeTimeLabels; + for (int i = 0; i <= 10; ++i) { + laneChangeTimeLabels[i] = i == 0 ? "Instant" : QString::number(i / 2.0) + " seconds"; + } + lateralToggle = new FrogPilotParamValueControl(param, title, desc, icon, 0, 10, QString(), laneChangeTimeLabels); + } else if (param == "LaneDetectionWidth") { + lateralToggle = new FrogPilotParamValueControl(param, title, desc, icon, 0, 15, tr(" feet"), std::map(), 0.1); + } else if (param == "MinimumLaneChangeSpeed") { + lateralToggle = new FrogPilotParamValueControl(param, title, desc, icon, 0, 99, tr("mph")); + + } else { + lateralToggle = new ParamControl(param, title, desc, icon); + } + + addItem(lateralToggle); + toggles[param] = lateralToggle; + + makeConnections(lateralToggle); + + if (FrogPilotParamManageControl *frogPilotManageToggle = qobject_cast(lateralToggle)) { + QObject::connect(frogPilotManageToggle, &FrogPilotParamManageControl::manageButtonClicked, this, &FrogPilotLateralPanel::openParentToggle); + } + + QObject::connect(lateralToggle, &AbstractControl::showDescriptionEvent, [this]() { + update(); + }); + } + + QObject::connect(static_cast(toggles["AlwaysOnLateralLKAS"]), &ToggleControl::toggleFlipped, [this](bool state) { + if (state && params.getBool("ExperimentalModeViaLKAS")) { + params.putBoolNonBlocking("ExperimentalModeViaLKAS", false); + } + }); + + QObject::connect(static_cast(toggles["NNFF"]), &ToggleControl::toggleFlipped, [this](bool state) { + std::set modifiedLateralTuneKeys = lateralTuneKeys; + + bool usingNNFF = hasNNFFLog && state; + if (!hasNNFFLog) { + modifiedLateralTuneKeys.erase("NNFF"); + } else if (usingNNFF) { + modifiedLateralTuneKeys.erase("NNFFLite"); + } + + showToggles(modifiedLateralTuneKeys); + }); + + std::set rebootKeys = {"AlwaysOnLateral", "NNFF", "NNFFLite"}; + for (const QString &key : rebootKeys) { + QObject::connect(static_cast(toggles[key.toStdString().c_str()]), &ToggleControl::toggleFlipped, [this, key](bool state) { + if (started) { + if (key == "AlwaysOnLateral" && state) { + if (FrogPilotConfirmationDialog::toggle(tr("Reboot required to take effect."), tr("Reboot Now"), this)) { + Hardware::reboot(); + } + } else if (key != "AlwaysOnLateral") { + if (FrogPilotConfirmationDialog::toggle(tr("Reboot required to take effect."), tr("Reboot Now"), this)) { + Hardware::reboot(); + } + } + } + }); + } + + QObject::connect(parent, &FrogPilotSettingsWindow::closeParentToggle, this, &FrogPilotLateralPanel::hideToggles); + QObject::connect(parent, &FrogPilotSettingsWindow::updateCarToggles, this, &FrogPilotLateralPanel::updateCarToggles); + QObject::connect(parent, &FrogPilotSettingsWindow::updateMetric, this, &FrogPilotLateralPanel::updateMetric); + QObject::connect(uiState(), &UIState::uiUpdate, this, &FrogPilotLateralPanel::updateState); + + updateMetric(); +} + +void FrogPilotLateralPanel::updateCarToggles() { + hasAutoTune = parent->hasAutoTune; + hasNNFFLog = parent->hasNNFFLog; + isSubaru = parent->isSubaru; + + hideToggles(); +} + +void FrogPilotLateralPanel::updateState(const UIState &s) { + if (!isVisible()) return; + + started = s.scene.started; +} + +void FrogPilotLateralPanel::updateMetric() { + bool previousIsMetric = isMetric; + isMetric = params.getBool("IsMetric"); + + if (isMetric != previousIsMetric) { + double distanceConversion = isMetric ? FOOT_TO_METER : METER_TO_FOOT; + double speedConversion = isMetric ? MILE_TO_KM : KM_TO_MILE; + + params.putFloatNonBlocking("LaneDetectionWidth", params.getFloat("LaneDetectionWidth") * distanceConversion); + + params.putFloatNonBlocking("MinimumLaneChangeSpeed", params.getFloat("MinimumLaneChangeSpeed") * speedConversion); + params.putFloatNonBlocking("PauseAOLOnBrake", params.getFloat("PauseAOLOnBrake") * speedConversion); + params.putFloatNonBlocking("PauseLateralOnSignal", params.getFloat("PauseLateralOnSignal") * speedConversion); + params.putFloatNonBlocking("PauseLateralSpeed", params.getFloat("PauseLateralSpeed") * speedConversion); + } + + FrogPilotParamValueControl *laneWidthToggle = static_cast(toggles["LaneDetectionWidth"]); + FrogPilotParamValueControl *minimumLaneChangeSpeedToggle = static_cast(toggles["MinimumLaneChangeSpeed"]); + FrogPilotParamValueControl *pauseAOLOnBrakeToggle = static_cast(toggles["PauseAOLOnBrake"]); + FrogPilotParamValueControl *pauseLateralToggle = static_cast(toggles["PauseLateralSpeed"]); + + if (isMetric) { + minimumLaneChangeSpeedToggle->updateControl(0, 150, tr("kph")); + pauseAOLOnBrakeToggle->updateControl(0, 99, tr("kph")); + pauseLateralToggle->updateControl(0, 99, tr("kph")); + + laneWidthToggle->updateControl(0, 5, tr(" meters")); + } else { + minimumLaneChangeSpeedToggle->updateControl(0, 99, tr("mph")); + pauseAOLOnBrakeToggle->updateControl(0, 99, tr("mph")); + pauseLateralToggle->updateControl(0, 99, tr("mph")); + + laneWidthToggle->updateControl(0, 15, tr(" feet")); + } +} + +void FrogPilotLateralPanel::showToggles(const std::set &keys) { + setUpdatesEnabled(false); + + for (auto &[key, toggle] : toggles) { + toggle->setVisible(keys.find(key) != keys.end()); + } + + setUpdatesEnabled(true); + update(); +} + +void FrogPilotLateralPanel::hideToggles() { + setUpdatesEnabled(false); + + for (auto &[key, toggle] : toggles) { + bool subToggles = aolKeys.find(key) != aolKeys.end() || + laneChangeKeys.find(key) != laneChangeKeys.end() || + lateralTuneKeys.find(key) != lateralTuneKeys.end() || + qolKeys.find(key) != qolKeys.end(); + + toggle->setVisible(!subToggles); + } + + setUpdatesEnabled(true); + update(); +} diff --git a/selfdrive/frogpilot/ui/qt/offroad/lateral_settings.h b/selfdrive/frogpilot/ui/qt/offroad/lateral_settings.h new file mode 100644 index 00000000000000..82d39415b2e3cc --- /dev/null +++ b/selfdrive/frogpilot/ui/qt/offroad/lateral_settings.h @@ -0,0 +1,53 @@ +#pragma once + +#include + +#include "selfdrive/frogpilot/ui/qt/offroad/frogpilot_settings.h" + +class FrogPilotLateralPanel : public FrogPilotListWidget { + Q_OBJECT + +public: + explicit FrogPilotLateralPanel(FrogPilotSettingsWindow *parent); + +signals: + void openParentToggle(); + +private: + void hideToggles(); + void showToggles(const std::set &keys); + void updateMetric(); + void updateCarToggles(); + void updateState(const UIState &s); + + std::set aolKeys = { + "AlwaysOnLateralLKAS", "AlwaysOnLateralMain", + "HideAOLStatusBar", "PauseAOLOnBrake" + }; + + std::set laneChangeKeys = { + "LaneChangeTime", "LaneDetectionWidth", + "MinimumLaneChangeSpeed", "NudgelessLaneChange", + "OneLaneChange" + }; + + std::set lateralTuneKeys = { + "NNFF", "NNFFLite" + }; + + std::set qolKeys = { + "PauseLateralSpeed" + }; + + FrogPilotSettingsWindow *parent; + + Params params; + + bool hasAutoTune; + bool hasNNFFLog; + bool isMetric = params.getBool("IsMetric"); + bool isSubaru; + bool started; + + std::map toggles; +}; diff --git a/selfdrive/frogpilot/ui/qt/offroad/longitudinal_settings.cc b/selfdrive/frogpilot/ui/qt/offroad/longitudinal_settings.cc new file mode 100644 index 00000000000000..2f85dd0d2d67df --- /dev/null +++ b/selfdrive/frogpilot/ui/qt/offroad/longitudinal_settings.cc @@ -0,0 +1,509 @@ +#include "selfdrive/frogpilot/ui/qt/offroad/longitudinal_settings.h" + +FrogPilotLongitudinalPanel::FrogPilotLongitudinalPanel(FrogPilotSettingsWindow *parent) : FrogPilotListWidget(parent), parent(parent) { + const std::vector> longitudinalToggles { + {"ConditionalExperimental", tr("Conditional Experimental Mode"), tr("Automatically switches to 'Experimental Mode' when specific conditions are met."), "../frogpilot/assets/toggle_icons/icon_conditional.png"}, + {"CESpeed", tr("Below"), tr("'Experimental Mode' is active when driving below the set speed without a lead vehicle."), ""}, + {"CECurves", tr("Curve Detected Ahead"), tr("'Experimental Mode' is active when a curve is detected in the road ahead."), ""}, + {"CELead", tr("Lead Detected Ahead"), tr("'Experimental Mode' is active when a slower or stopped vehicle is detected ahead."), ""}, + {"CENavigation", tr("Navigation Data"), tr("'Experimental Mode' is active based on navigation data, such as upcoming intersections or turns."), ""}, + {"CEModelStopTime", tr("openpilot Wants to Stop In"), tr("'Experimental Mode' is active when openpilot wants to stop such as for a stop sign or red light."), ""}, + {"CESignalSpeed", tr("Turn Signal Below"), tr("'Experimental Mode' is active when using turn signals below the set speed."), ""}, + {"HideCEMStatusBar", tr("Hide the Status Bar"), tr("The status bar for 'Conditional Experimental Mode' is hidden."), ""}, + + {"CurveSpeedControl", tr("Curve Speed Control"), tr("Automatically slow down for curves detected ahead or through the downloaded maps."), "../frogpilot/assets/toggle_icons/icon_speed_map.png"}, + {"CurveDetectionMethod", tr("Curve Detection Method"), tr("The method used to detect curves."), ""}, + {"MTSCCurvatureCheck", tr("Curve Detection Failsafe"), tr("Curve control is triggered only when a curve is detected ahead. Use this as a failsafe to prevent false positives when using the 'Map Based' method."), ""}, + {"CurveSensitivity", tr("Curve Sensitivity"), tr("How sensitive openpilot is to detecting curves. Higher values trigger earlier responses at the risk of triggering too often, while lower values increase confidence at the risk of triggering too infrequently."), ""}, + {"TurnAggressiveness", tr("Turn Speed Aggressiveness"), tr("How aggressive openpilot takes turns. Higher values result in quicker turns, while lower values provide gentler turns."), ""}, + {"DisableCurveSpeedSmoothing", tr("Disable Speed Value Smoothing In the UI"), tr("Speed value smoothing is disabled in the UI to instead display the exact speed requested by the curve control."), ""}, + + {"ExperimentalModeActivation", tr("Experimental Mode Activation"), tr("'Experimental Mode' is toggled off/on using the steering wheel buttons or the on-screen controls.\n\nThis overrides 'Conditional Experimental Mode'."), "../assets/img_experimental_white.svg"}, + {"ExperimentalModeViaLKAS", tr("Click the LKAS Button"), tr("'Experimental Mode' is toggled by pressing the 'LKAS' button on the steering wheel."), ""}, + {"ExperimentalModeViaTap", tr("Double-Tap the Screen"), tr("'Experimental Mode' is toggled by double-tapping the onroad UI within 0.5 seconds."), ""}, + {"ExperimentalModeViaDistance", tr("Long Press the Distance Button"), tr("'Experimental Mode' is toggled by holding the 'distance' button on the steering wheel for 0.5+ seconds."), ""}, + + {"LongitudinalTune", tr("Longitudinal Tuning"), tr("Settings that control how openpilot manages speed and acceleration."), "../frogpilot/assets/toggle_icons/icon_longitudinal_tune.png"}, + {"AccelerationProfile", tr("Acceleration Profile"), tr("Choose between a sporty or eco-friendly acceleration rate."), ""}, + {"DecelerationProfile", tr("Deceleration Profile"), tr("Choose between a sporty or eco-friendly deceleration rate."), ""}, + {"HumanAcceleration", tr("Human-Like Acceleration"), tr("Uses the lead's acceleration rate when at a takeoff and ramps off the acceleration rate when approaching the maximum set speed for a smoother max speed approach."), ""}, + {"HumanFollowing", tr("Human-Like Following Distance"), tr("Dynamically adjusts the following distance to feel more natural when approaching slower or stopped vehicles."), ""}, + {"IncreasedStoppedDistance", tr("Increase Stopped Distance"), tr("Increases the distance to stop behind vehicles."), ""}, + + {"QOLLongitudinal", tr("Quality of Life Improvements"), tr("Miscellaneous longitudinal focused features to improve your overall openpilot experience."), "../frogpilot/assets/toggle_icons/quality_of_life.png"}, + {"CustomCruise", tr("Cruise Increase Interval"), tr("Interval used when increasing the cruise control speed."), ""}, + {"CustomCruiseLong", tr("Custom Cruise Interval (Long Press)"), tr("Interval used when increasing the cruise control speed when holding down the button for 0.5+ seconds."), ""}, + {"MapGears", tr("Map Accel/Decel to Gears"), tr("Map the acceleration and deceleration profiles to the 'Eco' or 'Sport' gear modes."), ""}, + {"OnroadDistanceButton", tr("Onroad Personality Button"), tr("The current driving personality is displayed on the screen. Tap to switch personalities, or long press for 2.5 seconds to activate 'Traffic Mode'."), ""}, + {"ReverseCruise", tr("Reverse Cruise Increase"), tr("The long press feature is reversed in order to increase speed by 5 mph instead of 1."), ""}, + + {"SpeedLimitController", tr("Speed Limit Controller"), tr("Automatically adjust your max speed to match the speed limit using 'Open Street Maps', 'Navigate on openpilot', or your car's dashboard (Toyota/Lexus/HKG only)."), "../assets/offroad/icon_speed_limit.png"}, + {"SLCConfirmation", tr("Confirm New Speed Limits"), tr("Require manual confirmation before using a new speed limit."), ""}, + {"SLCFallback", tr("Fallback Method"), tr("Choose what happens when no speed limit data is available."), ""}, + {"SLCOverride", tr("Override Method"), tr("Choose how you want to override the current speed limit.\n\n"), ""}, + {"SLCPriority", tr("Speed Limit Source Priority"), tr("Set the order of priority for speed limit data sources."), ""}, + {"SLCOffsets", tr("Speed Limit Offsets"), tr("Manage toggles related to 'Speed Limit Controller's controls."), ""}, + {"Offset1", tr("Speed Limit Offset (0-34 mph)"), tr("Set the speed limit offset for speeds between 0 and 34 mph."), ""}, + {"Offset2", tr("Speed Limit Offset (35-54 mph)"), tr("Set the speed limit offset for speeds between 35 and 54 mph."), ""}, + {"Offset3", tr("Speed Limit Offset (55-64 mph)"), tr("Set the speed limit offset for speeds between 55 and 64 mph."), ""}, + {"Offset4", tr("Speed Limit Offset (65-99 mph)"), tr("Set the speed limit offset for speeds between 65 and 99 mph."), ""}, + {"SLCQOL", tr("Quality of Life Improvements"), tr("Miscellaneous 'Speed Limit Controller' focused features to improve your overall openpilot experience."), ""}, + {"ForceMPHDashboard", tr("Force MPH Readings from Dashboard"), tr("Force speed limit readings in MPH from the dashboard if it normally displays in KPH."), ""}, + {"SLCLookaheadHigher", tr("Prepare for Higher Speed Limits"), tr("Set a lookahead value to prepare for upcoming higher speed limits based on map data."), ""}, + {"SLCLookaheadLower", tr("Prepare for Lower Speed Limits"), tr("Set a lookahead value to prepare for upcoming lower speed limits based on map data."), ""}, + {"SetSpeedLimit", tr("Set Speed to Current Limit"), tr("Set your max speed to match the current speed limit when enabling openpilot."), ""}, + {"SLCVisuals", tr("Visual Settings"), tr("Manage visual settings for the 'Speed Limit Controller'."), ""}, + {"UseVienna", tr("Use Vienna-Style Speed Signs"), tr("Switch to Vienna-style (EU) speed limit signs instead of MUTCD (US)."), ""}, + {"ShowSLCOffset", tr("Show Speed Limit Offset"), tr("Display the speed limit offset separately in the onroad UI when using the Speed Limit Controller."), ""}, + }; + + for (const auto &[param, title, desc, icon] : longitudinalToggles) { + AbstractControl *longitudinalToggle; + + if (param == "ConditionalExperimental") { + FrogPilotParamManageControl *conditionalExperimentalToggle = new FrogPilotParamManageControl(param, title, desc, icon); + QObject::connect(conditionalExperimentalToggle, &FrogPilotParamManageControl::manageButtonClicked, [this]() { + showToggles(conditionalExperimentalKeys); + }); + longitudinalToggle = conditionalExperimentalToggle; + } else if (param == "CESpeed") { + FrogPilotParamValueControl *CESpeed = new FrogPilotParamValueControl(param, title, desc, icon, 0, 99, tr("mph"), std::map(), 1.0, true); + FrogPilotParamValueControl *CESpeedLead = new FrogPilotParamValueControl("CESpeedLead", tr(" With Lead"), tr("Switches to 'Experimental Mode' when driving below the set speed with a lead vehicle."), icon, 0, 99, tr("mph"), std::map(), 1.0, true); + FrogPilotDualParamControl *conditionalSpeeds = new FrogPilotDualParamControl(CESpeed, CESpeedLead); + longitudinalToggle = reinterpret_cast(conditionalSpeeds); + } else if (param == "CECurves") { + std::vector curveToggles{"CECurvesLead"}; + std::vector curveToggleNames{tr("With Lead")}; + longitudinalToggle = new FrogPilotButtonToggleControl(param, title, desc, curveToggles, curveToggleNames); + } else if (param == "CELead") { + std::vector leadToggles{"CESlowerLead", "CEStoppedLead"}; + std::vector leadToggleNames{tr("Slower Lead"), tr("Stopped Lead")}; + longitudinalToggle = new FrogPilotButtonToggleControl(param, title, desc, leadToggles, leadToggleNames); + } else if (param == "CENavigation") { + std::vector navigationToggles{"CENavigationIntersections", "CENavigationTurns", "CENavigationLead"}; + std::vector navigationToggleNames{tr("Intersections"), tr("Turns"), tr("With Lead")}; + longitudinalToggle = new FrogPilotButtonToggleControl(param, title, desc, navigationToggles, navigationToggleNames); + } else if (param == "CEModelStopTime") { + std::map modelStopTimeLabels; + for (int i = 0; i <= 10; ++i) { + modelStopTimeLabels[i] = (i == 0) ? tr("Off") : QString::number(i) + " seconds"; + } + longitudinalToggle = new FrogPilotParamValueControl(param, title, desc, icon, 0, 10, QString(), modelStopTimeLabels); + } else if (param == "CESignalSpeed") { + std::vector ceSignalToggles{"CESignalLaneDetection"}; + std::vector ceSignalToggleNames{"Lane Detection"}; + longitudinalToggle = new FrogPilotParamValueButtonControl(param, title, desc, icon, 0, 99, tr("mph"), std::map(), 1.0, ceSignalToggles, ceSignalToggleNames); + + } else if (param == "CurveSpeedControl") { + FrogPilotParamManageControl *curveControlToggle = new FrogPilotParamManageControl(param, title, desc, icon); + QObject::connect(curveControlToggle, &FrogPilotParamManageControl::manageButtonClicked, [this]() { + curveDetectionBtn->setEnabledButtons(0, QDir("/data/media/0/osm/offline").exists()); + curveDetectionBtn->setCheckedButton(0, params.getBool("MTSCEnabled")); + curveDetectionBtn->setCheckedButton(1, params.getBool("VisionTurnControl")); + + std::set modifiedCurveSpeedKeys = curveSpeedKeys; + + if (!params.getBool("MTSCEnabled")) { + modifiedCurveSpeedKeys.erase("MTSCCurvatureCheck"); + } + + showToggles(modifiedCurveSpeedKeys); + }); + longitudinalToggle = curveControlToggle; + } else if (param == "CurveDetectionMethod") { + curveDetectionBtn = new FrogPilotButtonsControl(title, desc, {tr("Map Based"), tr("Vision")}, true, false); + QObject::connect(curveDetectionBtn, &FrogPilotButtonsControl::buttonClicked, [=](int id) { + bool mtscEnabled = params.getBool("MTSCEnabled"); + bool vtscEnabled = params.getBool("VisionTurnControl"); + + if (id == 0) { + if (mtscEnabled && !vtscEnabled) { + curveDetectionBtn->setCheckedButton(0, true); + return; + } + + params.putBool("MTSCEnabled", !mtscEnabled); + curveDetectionBtn->setCheckedButton(0, !mtscEnabled); + + std::set modifiedCurveSpeedKeys = curveSpeedKeys; + + if (mtscEnabled) { + modifiedCurveSpeedKeys.erase("MTSCCurvatureCheck"); + } + + showToggles(modifiedCurveSpeedKeys); + } else if (id == 1) { + if (vtscEnabled && !mtscEnabled) { + curveDetectionBtn->setCheckedButton(1, true); + return; + } + + params.putBool("VisionTurnControl", !vtscEnabled); + curveDetectionBtn->setCheckedButton(1, !vtscEnabled); + } + }); + longitudinalToggle = curveDetectionBtn; + } else if (param == "CurveSensitivity" || param == "TurnAggressiveness") { + longitudinalToggle = new FrogPilotParamValueControl(param, title, desc, icon, 1, 200, "%"); + + } else if (param == "ExperimentalModeActivation") { + FrogPilotParamManageControl *experimentalModeActivationToggle = new FrogPilotParamManageControl(param, title, desc, icon); + QObject::connect(experimentalModeActivationToggle, &FrogPilotParamManageControl::manageButtonClicked, [this]() { + std::set modifiedExperimentalModeActivationKeys = experimentalModeActivationKeys; + + if (isSubaru || (params.getBool("AlwaysOnLateral") && params.getBool("AlwaysOnLateralLKAS"))) { + modifiedExperimentalModeActivationKeys.erase("ExperimentalModeViaLKAS"); + } + + showToggles(modifiedExperimentalModeActivationKeys); + }); + longitudinalToggle = experimentalModeActivationToggle; + + } else if (param == "LongitudinalTune") { + FrogPilotParamManageControl *longitudinalTuneToggle = new FrogPilotParamManageControl(param, title, desc, icon); + QObject::connect(longitudinalTuneToggle, &FrogPilotParamManageControl::manageButtonClicked, [this]() { + showToggles(longitudinalTuneKeys); + }); + longitudinalToggle = longitudinalTuneToggle; + } else if (param == "AccelerationProfile") { + std::vector profileOptions{tr("Standard"), tr("Eco"), tr("Sport"), tr("Sport+")}; + ButtonParamControl *profileSelection = new ButtonParamControl(param, title, desc, icon, profileOptions); + longitudinalToggle = profileSelection; + } else if (param == "DecelerationProfile") { + std::vector profileOptions{tr("Standard"), tr("Eco"), tr("Sport")}; + ButtonParamControl *profileSelection = new ButtonParamControl(param, title, desc, icon, profileOptions); + longitudinalToggle = profileSelection; + } else if (param == "IncreasedStoppedDistance") { + longitudinalToggle = new FrogPilotParamValueControl(param, title, desc, icon, 0, 15, tr(" feet")); + + } else if (param == "QOLLongitudinal") { + FrogPilotParamManageControl *qolLongitudinalToggle = new FrogPilotParamManageControl(param, title, desc, icon); + QObject::connect(qolLongitudinalToggle, &FrogPilotParamManageControl::manageButtonClicked, [this]() { + std::set modifiedQolKeys = qolKeys; + + if (!hasPCMCruise) { + modifiedQolKeys.erase("ReverseCruise"); + } else { + modifiedQolKeys.erase("CustomCruise"); + modifiedQolKeys.erase("CustomCruiseLong"); + } + + if (!isToyota && !isGM && !isHKGCanFd) { + modifiedQolKeys.erase("MapGears"); + } + + showToggles(modifiedQolKeys); + }); + longitudinalToggle = qolLongitudinalToggle; + } else if (param == "CustomCruise") { + longitudinalToggle = new FrogPilotParamValueControl(param, title, desc, icon, 1, 99, tr("mph")); + } else if (param == "CustomCruiseLong") { + longitudinalToggle = new FrogPilotParamValueControl(param, title, desc, icon, 1, 99, tr("mph")); + } else if (param == "MapGears") { + std::vector mapGearsToggles{"MapAcceleration", "MapDeceleration"}; + std::vector mapGearsToggleNames{tr("Acceleration"), tr("Deceleration")}; + longitudinalToggle = new FrogPilotButtonToggleControl(param, title, desc, mapGearsToggles, mapGearsToggleNames); + + } else if (param == "SpeedLimitController") { + FrogPilotParamManageControl *speedLimitControllerToggle = new FrogPilotParamManageControl(param, title, desc, icon); + QObject::connect(speedLimitControllerToggle, &FrogPilotParamManageControl::manageButtonClicked, [this]() { + bool slcLower = params.getBool("SLCConfirmationLower"); + bool slcHigher = params.getBool("SLCConfirmationHigher"); + + slcConfirmationBtn->setCheckedButton(0, slcLower); + slcConfirmationBtn->setCheckedButton(1, slcHigher); + slcConfirmationBtn->setCheckedButton(2, !(slcLower || slcHigher)); + + slcOpen = true; + showToggles(speedLimitControllerKeys); + }); + longitudinalToggle = speedLimitControllerToggle; + } else if (param == "SLCConfirmation") { + slcConfirmationBtn = new FrogPilotButtonsControl(title, desc, {tr("Lower Limits"), tr("Higher Limits"), tr("None")}, true, false); + QObject::connect(slcConfirmationBtn, &FrogPilotButtonsControl::buttonClicked, [=](int id) { + bool lowerEnabled = params.getBool("SLCConfirmationLower"); + bool higherEnabled = params.getBool("SLCConfirmationHigher"); + + if (id == 0) { + params.putBool("SLCConfirmationLower", !lowerEnabled); + slcConfirmationBtn->setCheckedButton(0, !lowerEnabled); + slcConfirmationBtn->setCheckedButton(2, false); + + if (lowerEnabled & !higherEnabled) { + slcConfirmationBtn->setCheckedButton(2, true); + } + } else if (id == 1) { + params.putBool("SLCConfirmationHigher", !higherEnabled); + slcConfirmationBtn->setCheckedButton(1, !higherEnabled); + slcConfirmationBtn->setCheckedButton(2, false); + + if (higherEnabled & !lowerEnabled) { + slcConfirmationBtn->setCheckedButton(2, true); + } + } else { + params.putBool("SLCConfirmationLower", false); + params.putBool("SLCConfirmationHigher", false); + slcConfirmationBtn->setCheckedButton(0, false); + slcConfirmationBtn->setCheckedButton(1, false); + slcConfirmationBtn->setCheckedButton(2, true); + } + }); + longitudinalToggle = slcConfirmationBtn; + } else if (param == "SLCFallback") { + std::vector fallbackOptions{tr("Set Speed"), tr("Experimental Mode"), tr("Previous Limit")}; + ButtonParamControl *fallbackSelection = new ButtonParamControl(param, title, desc, icon, fallbackOptions); + longitudinalToggle = fallbackSelection; + } else if (param == "SLCOverride") { + std::vector overrideOptions{tr("None"), tr("Gas Pedal Press"), tr("Cruise Set Speed")}; + ButtonParamControl *overrideSelection = new ButtonParamControl(param, title, desc, icon, overrideOptions); + longitudinalToggle = overrideSelection; + } else if (param == "SLCPriority") { + ButtonControl *slcPriorityButton = new ButtonControl(title, tr("SELECT"), desc); + QStringList primaryPriorities = {tr("None"), tr("Dashboard"), tr("Navigation"), tr("Offline Maps"), tr("Highest"), tr("Lowest")}; + QStringList secondaryTertiaryPriorities = {tr("None"), tr("Dashboard"), tr("Navigation"), tr("Offline Maps")}; + QStringList priorityPrompts = {tr("Select your primary priority"), tr("Select your secondary priority"), tr("Select your tertiary priority")}; + + QObject::connect(slcPriorityButton, &ButtonControl::clicked, [=]() { + QStringList selectedPriorities; + + for (int i = 1; i <= 3; ++i) { + QStringList currentPriorities = (i == 1) ? primaryPriorities : secondaryTertiaryPriorities; + QStringList prioritiesToDisplay = currentPriorities; + for (const auto &selectedPriority : qAsConst(selectedPriorities)) { + prioritiesToDisplay.removeAll(selectedPriority); + } + + if (!hasDashSpeedLimits) { + prioritiesToDisplay.removeAll(tr("Dashboard")); + } + + if (prioritiesToDisplay.size() == 1 && prioritiesToDisplay.contains(tr("None"))) { + break; + } + + QString priorityKey = QString("SLCPriority%1").arg(i); + QString selection = MultiOptionDialog::getSelection(priorityPrompts[i - 1], prioritiesToDisplay, "", this); + + if (selection.isEmpty()) break; + + params.putNonBlocking(priorityKey.toStdString(), selection.toStdString()); + selectedPriorities.append(selection); + + if (selection == tr("Lowest") || selection == tr("Highest") || selection == tr("None")) break; + + updateFrogPilotToggles(); + } + + selectedPriorities.removeAll(tr("None")); + slcPriorityButton->setValue(selectedPriorities.join(", ")); + }); + + QStringList initialPriorities; + for (int i = 1; i <= 3; ++i) { + QString priorityKey = QString("SLCPriority%1").arg(i); + QString priority = QString::fromStdString(params.get(priorityKey.toStdString())); + + if (!priority.isEmpty() && primaryPriorities.contains(priority) && priority != tr("None")) { + initialPriorities.append(priority); + } + } + slcPriorityButton->setValue(initialPriorities.join(", ")); + longitudinalToggle = slcPriorityButton; + } else if (param == "SLCOffsets") { + ButtonControl *manageSLCOffsetsBtn = new ButtonControl(title, tr("MANAGE"), desc); + QObject::connect(manageSLCOffsetsBtn, &ButtonControl::clicked, [this]() { + openSubParentToggle(); + showToggles(speedLimitControllerOffsetsKeys); + }); + longitudinalToggle = reinterpret_cast(manageSLCOffsetsBtn); + } else if (param == "SLCQOL") { + ButtonControl *manageSLCQOLBtn = new ButtonControl(title, tr("MANAGE"), desc); + QObject::connect(manageSLCQOLBtn, &ButtonControl::clicked, [this]() { + openSubParentToggle(); + std::set modifiedSpeedLimitControllerQOLKeys = speedLimitControllerQOLKeys; + + if (hasPCMCruise) { + modifiedSpeedLimitControllerQOLKeys.erase("SetSpeedLimit"); + } + + if (!isToyota) { + modifiedSpeedLimitControllerQOLKeys.erase("ForceMPHDashboard"); + } + + showToggles(modifiedSpeedLimitControllerQOLKeys); + }); + longitudinalToggle = reinterpret_cast(manageSLCQOLBtn); + } else if (param == "SLCLookaheadHigher" || param == "SLCLookaheadLower") { + longitudinalToggle = new FrogPilotParamValueControl(param, title, desc, icon, 0, 60, tr(" seconds")); + } else if (param == "SLCVisuals") { + ButtonControl *manageSLCVisualsBtn = new ButtonControl(title, tr("MANAGE"), desc); + QObject::connect(manageSLCVisualsBtn, &ButtonControl::clicked, [this]() { + openSubParentToggle(); + showToggles(speedLimitControllerVisualsKeys); + }); + longitudinalToggle = reinterpret_cast(manageSLCVisualsBtn); + } else if (param == "Offset1" || param == "Offset2" || param == "Offset3" || param == "Offset4") { + longitudinalToggle = new FrogPilotParamValueControl(param, title, desc, icon, -99, 99, tr("mph")); + } else if (param == "ShowSLCOffset") { + std::vector slcOffsetToggles{"ShowSLCOffsetUI"}; + std::vector slcOffsetToggleNames{tr("Control Via UI")}; + longitudinalToggle = new FrogPilotButtonToggleControl(param, title, desc, slcOffsetToggles, slcOffsetToggleNames); + + } else { + longitudinalToggle = new ParamControl(param, title, desc, icon); + } + + addItem(longitudinalToggle); + toggles[param] = longitudinalToggle; + + makeConnections(longitudinalToggle); + + if (FrogPilotParamManageControl *frogPilotManageToggle = qobject_cast(longitudinalToggle)) { + QObject::connect(frogPilotManageToggle, &FrogPilotParamManageControl::manageButtonClicked, this, &FrogPilotLongitudinalPanel::openParentToggle); + } + + QObject::connect(longitudinalToggle, &AbstractControl::showDescriptionEvent, [this]() { + update(); + }); + } + + QObject::connect(static_cast(toggles["ExperimentalModeViaLKAS"]), &ToggleControl::toggleFlipped, [this](bool state) { + if (state && params.getBool("AlwaysOnLateralLKAS")) { + params.putBoolNonBlocking("AlwaysOnLateralLKAS", false); + } + }); + + QObject::connect(parent, &FrogPilotSettingsWindow::closeParentToggle, this, &FrogPilotLongitudinalPanel::hideToggles); + QObject::connect(parent, &FrogPilotSettingsWindow::closeSubParentToggle, this, &FrogPilotLongitudinalPanel::hideSubToggles); + QObject::connect(parent, &FrogPilotSettingsWindow::updateCarToggles, this, &FrogPilotLongitudinalPanel::updateCarToggles); + QObject::connect(parent, &FrogPilotSettingsWindow::updateMetric, this, &FrogPilotLongitudinalPanel::updateMetric); + + updateMetric(); +} + +void FrogPilotLongitudinalPanel::updateCarToggles() { + hasDashSpeedLimits = parent->hasDashSpeedLimits; + hasPCMCruise = parent->hasPCMCruise; + isGM = parent->isGM; + isHKGCanFd = parent->isHKGCanFd; + isSubaru = parent->isSubaru; + isToyota = parent->isToyota; + + hideToggles(); +} + +void FrogPilotLongitudinalPanel::updateMetric() { + bool previousIsMetric = isMetric; + isMetric = params.getBool("IsMetric"); + + if (isMetric != previousIsMetric) { + double distanceConversion = isMetric ? FOOT_TO_METER : METER_TO_FOOT; + double speedConversion = isMetric ? MILE_TO_KM : KM_TO_MILE; + + params.putFloatNonBlocking("IncreasedStoppedDistance", params.getFloat("IncreasedStoppedDistance") * distanceConversion); + + params.putFloatNonBlocking("CESignalSpeed", params.getFloat("CESignalSpeed") * speedConversion); + params.putFloatNonBlocking("CESpeed", params.getFloat("CESpeed") * speedConversion); + params.putFloatNonBlocking("CESpeedLead", params.getFloat("CESpeedLead") * speedConversion); + params.putFloatNonBlocking("CustomCruise", params.getFloat("CustomCruise") * speedConversion); + params.putFloatNonBlocking("CustomCruiseLong", params.getFloat("CustomCruiseLong") * speedConversion); + params.putFloatNonBlocking("Offset1", params.getFloat("Offset1") * speedConversion); + params.putFloatNonBlocking("Offset2", params.getFloat("Offset2") * speedConversion); + params.putFloatNonBlocking("Offset3", params.getFloat("Offset3") * speedConversion); + params.putFloatNonBlocking("Offset4", params.getFloat("Offset4") * speedConversion); + } + + FrogPilotDualParamControl *ceSpeedToggle = reinterpret_cast(toggles["CESpeed"]); + FrogPilotParamValueButtonControl *ceSignal = reinterpret_cast(toggles["CESignalSpeed"]); + FrogPilotParamValueControl *customCruiseToggle = static_cast(toggles["CustomCruise"]); + FrogPilotParamValueControl *customCruiseLongToggle = static_cast(toggles["CustomCruiseLong"]); + FrogPilotParamValueControl *offset1Toggle = static_cast(toggles["Offset1"]); + FrogPilotParamValueControl *offset2Toggle = static_cast(toggles["Offset2"]); + FrogPilotParamValueControl *offset3Toggle = static_cast(toggles["Offset3"]); + FrogPilotParamValueControl *offset4Toggle = static_cast(toggles["Offset4"]); + FrogPilotParamValueControl *increasedStoppedDistanceToggle = static_cast(toggles["IncreasedStoppedDistance"]); + + if (isMetric) { + offset1Toggle->setTitle(tr("Speed Limit Offset (0-34 kph)")); + offset2Toggle->setTitle(tr("Speed Limit Offset (35-54 kph)")); + offset3Toggle->setTitle(tr("Speed Limit Offset (55-64 kph)")); + offset4Toggle->setTitle(tr("Speed Limit Offset (65-99 kph)")); + + offset1Toggle->setDescription(tr("Set speed limit offset for limits between 0-34 kph.")); + offset2Toggle->setDescription(tr("Set speed limit offset for limits between 35-54 kph.")); + offset3Toggle->setDescription(tr("Set speed limit offset for limits between 55-64 kph.")); + offset4Toggle->setDescription(tr("Set speed limit offset for limits between 65-99 kph.")); + + ceSignal->updateControl(0, 150, tr("kph")); + ceSpeedToggle->updateControl(0, 150, tr("kph")); + customCruiseToggle->updateControl(1, 150, tr("kph")); + customCruiseLongToggle->updateControl(1, 150, tr("kph")); + offset1Toggle->updateControl(-99, 99, tr("kph")); + offset2Toggle->updateControl(-99, 99, tr("kph")); + offset3Toggle->updateControl(-99, 99, tr("kph")); + offset4Toggle->updateControl(-99, 99, tr("kph")); + + increasedStoppedDistanceToggle->updateControl(0, 5, tr(" meters")); + } else { + offset1Toggle->setTitle(tr("Speed Limit Offset (0-34 mph)")); + offset2Toggle->setTitle(tr("Speed Limit Offset (35-54 mph)")); + offset3Toggle->setTitle(tr("Speed Limit Offset (55-64 mph)")); + offset4Toggle->setTitle(tr("Speed Limit Offset (65-99 mph)")); + + offset1Toggle->setDescription(tr("Set speed limit offset for limits between 0-34 mph.")); + offset2Toggle->setDescription(tr("Set speed limit offset for limits between 35-54 mph.")); + offset3Toggle->setDescription(tr("Set speed limit offset for limits between 55-64 mph.")); + offset4Toggle->setDescription(tr("Set speed limit offset for limits between 65-99 mph.")); + + ceSignal->updateControl(0, 99, tr("mph")); + ceSpeedToggle->updateControl(0, 99, tr("mph")); + customCruiseToggle->updateControl(1, 99, tr("mph")); + customCruiseLongToggle->updateControl(1, 99, tr("mph")); + offset1Toggle->updateControl(-99, 99, tr("mph")); + offset2Toggle->updateControl(-99, 99, tr("mph")); + offset3Toggle->updateControl(-99, 99, tr("mph")); + offset4Toggle->updateControl(-99, 99, tr("mph")); + + increasedStoppedDistanceToggle->updateControl(0, 15, tr(" feet")); + } +} + +void FrogPilotLongitudinalPanel::showToggles(const std::set &keys) { + setUpdatesEnabled(false); + + for (auto &[key, toggle] : toggles) { + toggle->setVisible(keys.find(key) != keys.end()); + } + + setUpdatesEnabled(true); + update(); +} + +void FrogPilotLongitudinalPanel::hideToggles() { + setUpdatesEnabled(false); + + slcOpen = false; + + for (auto &[key, toggle] : toggles) { + bool subToggles = conditionalExperimentalKeys.find(key) != conditionalExperimentalKeys.end() || + curveSpeedKeys.find(key) != curveSpeedKeys.end() || + experimentalModeActivationKeys.find(key) != experimentalModeActivationKeys.end() || + longitudinalTuneKeys.find(key) != longitudinalTuneKeys.end() || + qolKeys.find(key) != qolKeys.end() || + speedLimitControllerKeys.find(key) != speedLimitControllerKeys.end() || + speedLimitControllerOffsetsKeys.find(key) != speedLimitControllerOffsetsKeys.end() || + speedLimitControllerQOLKeys.find(key) != speedLimitControllerQOLKeys.end() || + speedLimitControllerVisualsKeys.find(key) != speedLimitControllerVisualsKeys.end(); + + toggle->setVisible(!subToggles); + } + + setUpdatesEnabled(true); + update(); +} + +void FrogPilotLongitudinalPanel::hideSubToggles() { + if (slcOpen) { + showToggles(speedLimitControllerKeys); + } +} diff --git a/selfdrive/frogpilot/ui/qt/offroad/longitudinal_settings.h b/selfdrive/frogpilot/ui/qt/offroad/longitudinal_settings.h new file mode 100644 index 00000000000000..306abfc44ed79d --- /dev/null +++ b/selfdrive/frogpilot/ui/qt/offroad/longitudinal_settings.h @@ -0,0 +1,86 @@ +#pragma once + +#include + +#include "selfdrive/frogpilot/ui/qt/offroad/frogpilot_settings.h" + +class FrogPilotLongitudinalPanel : public FrogPilotListWidget { + Q_OBJECT + +public: + explicit FrogPilotLongitudinalPanel(FrogPilotSettingsWindow *parent); + +signals: + void openParentToggle(); + void openSubParentToggle(); + +private: + void hideSubToggles(); + void hideToggles(); + void showToggles(const std::set &keys); + void updateCarToggles(); + void updateMetric(); + + std::set conditionalExperimentalKeys = { + "CESpeed", "CESpeedLead", "CECurves", "CELead", + "CEModelStopTime", "CENavigation", "CESignalSpeed", + "HideCEMStatusBar" + }; + + std::set curveSpeedKeys = { + "CurveDetectionMethod", "CurveSensitivity", + "DisableCurveSpeedSmoothing", "MTSCCurvatureCheck", + "TurnAggressiveness" + }; + + std::set experimentalModeActivationKeys = { + "ExperimentalModeViaDistance", "ExperimentalModeViaLKAS", + "ExperimentalModeViaTap" + }; + + std::set longitudinalTuneKeys = { + "AccelerationProfile", "DecelerationProfile", + "HumanAcceleration", "HumanFollowing", "IncreasedStoppedDistance" + }; + + std::set qolKeys = { + "CustomCruise", "CustomCruiseLong", "MapGears", + "OnroadDistanceButton", "ReverseCruise" + }; + + std::set speedLimitControllerKeys = { + "SLCConfirmation", "SLCOffsets", "SLCFallback", "SLCOverride", + "SLCPriority", "SLCQOL", "SLCVisuals" + }; + + std::set speedLimitControllerOffsetsKeys = { + "Offset1", "Offset2", "Offset3", "Offset4" + }; + + std::set speedLimitControllerQOLKeys = { + "ForceMPHDashboard", "SetSpeedLimit", "SLCLookaheadHigher", + "SLCLookaheadLower" + }; + + std::set speedLimitControllerVisualsKeys = { + "ShowSLCOffset", "UseVienna" + }; + + FrogPilotSettingsWindow *parent; + + FrogPilotButtonsControl *curveDetectionBtn; + FrogPilotButtonsControl *slcConfirmationBtn; + + Params params; + + bool hasPCMCruise; + bool hasDashSpeedLimits; + bool isGM; + bool isHKGCanFd; + bool isMetric = params.getBool("IsMetric"); + bool isSubaru; + bool isToyota; + bool slcOpen; + + std::map toggles; +}; diff --git a/selfdrive/frogpilot/ui/qt/offroad/personalities_info.txt b/selfdrive/frogpilot/ui/qt/offroad/personalities_info.txt deleted file mode 100644 index 9d12b8eb094026..00000000000000 --- a/selfdrive/frogpilot/ui/qt/offroad/personalities_info.txt +++ /dev/null @@ -1,26 +0,0 @@ -Following Distance: -Represents the desired time-based distance from the lead vehicle in seconds. This value adjusts how closely openpilot follows the car in front. It is not an exact value but a more representative value. - -Real-World Example: If this value is set to 1.5 seconds, and you’re driving at 50 mph (80 kph), openpilot aims to keep a distance of about 110 feet (33.5 meters) from the car in front. It means if the car in front suddenly stops, you have 1.5 seconds to react and stop safely. - -Acceleration Jerk: -Controls how quickly the car speeds up or slows down. - -Real-World Example: If you like your rides to be smooth and gentle, you can set this value higher. So, if the car in front speeds up or slows down suddenly, openpilot will change its speed more slowly to avoid jerky movements. - -Danger Zone Jerk: -How careful the car is when it gets close to other cars or obstacles. - -Real-World Example: If there’s a much slower car ahead of you, setting a higher danger zone will make openpilot more cautious. It will brake sooner and harder if the speed difference is big or the distance is small, making sure you don’t get too close too quickly. - -Speed Control Jerk: -How smoothly the car changes its speed overall. - -Real-World Example: If you set this value higher, openpilot will change the car's speed more gradually to adjust to higher/lower speed limits and other speed change conditions where there's no lead. So, when you need to speed up to match the set cruise speed or slow down because of traffic, openpilot will do it gently, making the ride smoother. - -In Summary: - -Following Distance: Sets how far to stay behind the car in front, based on time. -Acceleration Jerk: Controls how smoothly the car changes speed. -Danger Zone Jerk: Adjusts how cautious the car is when getting close to other cars or obstacles. -Speed Control Jerk: Controls the overall smoothness of speed changes when there's no lead in front. \ No newline at end of file diff --git a/selfdrive/frogpilot/ui/qt/offroad/sounds_settings.cc b/selfdrive/frogpilot/ui/qt/offroad/sounds_settings.cc new file mode 100644 index 00000000000000..4aaf032cd40de2 --- /dev/null +++ b/selfdrive/frogpilot/ui/qt/offroad/sounds_settings.cc @@ -0,0 +1,106 @@ +#include "selfdrive/frogpilot/ui/qt/offroad/sounds_settings.h" + +FrogPilotSoundsPanel::FrogPilotSoundsPanel(FrogPilotSettingsWindow *parent) : FrogPilotListWidget(parent), parent(parent) { + const std::vector> soundsToggles { + {"AlertVolumeControl", tr("Alert Volume Controller"), tr("Control the volume level for each individual sound in openpilot."), "../frogpilot/assets/toggle_icons/icon_mute.png"}, + {"DisengageVolume", tr("Disengage Volume"), tr("Related alerts:\n\nAdaptive Cruise Disabled\nParking Brake Engaged\nBrake Pedal Pressed\nSpeed too Low"), ""}, + {"EngageVolume", tr("Engage Volume"), tr("Related alerts:\n\nNNFF Torque Controller loaded\nopenpilot engaged"), ""}, + {"PromptVolume", tr("Prompt Volume"), tr("Related alerts:\n\nCar Detected in Blindspot\nSpeed too Low\nSteer Unavailable Below 'X'\nTake Control, Turn Exceeds Steering Limit"), ""}, + {"PromptDistractedVolume", tr("Prompt Distracted Volume"), tr("Related alerts:\n\nPay Attention, Driver Distracted\nTouch Steering Wheel, Driver Unresponsive"), ""}, + {"RefuseVolume", tr("Refuse Volume"), tr("Related alerts:\n\nopenpilot Unavailable"), ""}, + {"WarningSoftVolume", tr("Warning Soft Volume"), tr("Related alerts:\n\nBRAKE!, Risk of Collision\nTAKE CONTROL IMMEDIATELY"), ""}, + {"WarningImmediateVolume", tr("Warning Immediate Volume"), tr("Related alerts:\n\nDISENGAGE IMMEDIATELY, Driver Distracted\nDISENGAGE IMMEDIATELY, Driver Unresponsive"), ""}, + + {"CustomAlerts", tr("Custom Alerts"), tr("Enable custom alerts for openpilot events."), "../frogpilot/assets/toggle_icons/icon_green_light.png"}, + {"GoatScream", tr("Goat Scream Steering Saturated Alert"), tr("Enable the famed 'Goat Scream' that has brought both joy and anger to FrogPilot users all around the world!"), ""}, + {"GreenLightAlert", tr("Green Light Alert"), tr("Get an alert when a traffic light changes from red to green."), ""}, + {"LeadDepartingAlert", tr("Lead Departing Alert"), tr("Get an alert when the lead vehicle starts departing when at a standstill."), ""}, + {"LoudBlindspotAlert", tr("Loud Blindspot Alert"), tr("Enable a louder alert for when a vehicle is detected in the blindspot when attempting to change lanes."), ""}, + {"SpeedLimitChangedAlert", tr("Speed Limit Change Alert"), tr("Trigger an alert when the speed limit changes."), ""}, + }; + + for (const auto &[param, title, desc, icon] : soundsToggles) { + AbstractControl *soundsToggle; + + if (param == "AlertVolumeControl") { + FrogPilotParamManageControl *alertVolumeControlToggle = new FrogPilotParamManageControl(param, title, desc, icon); + QObject::connect(alertVolumeControlToggle, &FrogPilotParamManageControl::manageButtonClicked, [this]() { + showToggles(alertVolumeControlKeys); + }); + soundsToggle = alertVolumeControlToggle; + } else if (alertVolumeControlKeys.find(param) != alertVolumeControlKeys.end()) { + if (param == "WarningImmediateVolume") { + soundsToggle = new FrogPilotParamValueControl(param, title, desc, icon, 25, 100, "%"); + } else { + soundsToggle = new FrogPilotParamValueControl(param, title, desc, icon, 0, 100, "%"); + } + + } else if (param == "CustomAlerts") { + FrogPilotParamManageControl *customAlertsToggle = new FrogPilotParamManageControl(param, title, desc, icon); + QObject::connect(customAlertsToggle, &FrogPilotParamManageControl::manageButtonClicked, [this]() { + std::set modifiedCustomAlertsKeys = customAlertsKeys; + + if (!hasBSM) { + modifiedCustomAlertsKeys.erase("LoudBlindspotAlert"); + } + + if (!(hasOpenpilotLongitudinal && params.getBool("SpeedLimitController"))) { + modifiedCustomAlertsKeys.erase("SpeedLimitChangedAlert"); + } + + showToggles(modifiedCustomAlertsKeys); + }); + soundsToggle = customAlertsToggle; + + } else { + soundsToggle = new ParamControl(param, title, desc, icon); + } + + addItem(soundsToggle); + toggles[param] = soundsToggle; + + makeConnections(soundsToggle); + + if (FrogPilotParamManageControl *frogPilotManageToggle = qobject_cast(soundsToggle)) { + QObject::connect(frogPilotManageToggle, &FrogPilotParamManageControl::manageButtonClicked, this, &FrogPilotSoundsPanel::openParentToggle); + } + + QObject::connect(soundsToggle, &AbstractControl::showDescriptionEvent, [this]() { + update(); + }); + } + + QObject::connect(parent, &FrogPilotSettingsWindow::closeParentToggle, this, &FrogPilotSoundsPanel::hideToggles); + QObject::connect(parent, &FrogPilotSettingsWindow::updateCarToggles, this, &FrogPilotSoundsPanel::updateCarToggles); +} + +void FrogPilotSoundsPanel::updateCarToggles() { + hasBSM = parent->hasBSM; + hasOpenpilotLongitudinal = parent->hasOpenpilotLongitudinal; + + hideToggles(); +} + +void FrogPilotSoundsPanel::showToggles(const std::set &keys) { + setUpdatesEnabled(false); + + for (auto &[key, toggle] : toggles) { + toggle->setVisible(keys.find(key) != keys.end()); + } + + setUpdatesEnabled(true); + update(); +} + +void FrogPilotSoundsPanel::hideToggles() { + setUpdatesEnabled(false); + + for (auto &[key, toggle] : toggles) { + bool subToggles = alertVolumeControlKeys.find(key) != alertVolumeControlKeys.end() || + customAlertsKeys.find(key) != customAlertsKeys.end(); + toggle->setVisible(!subToggles); + } + + setUpdatesEnabled(true); + update(); +} diff --git a/selfdrive/frogpilot/ui/qt/offroad/sounds_settings.h b/selfdrive/frogpilot/ui/qt/offroad/sounds_settings.h new file mode 100644 index 00000000000000..7414eeed24d7d1 --- /dev/null +++ b/selfdrive/frogpilot/ui/qt/offroad/sounds_settings.h @@ -0,0 +1,40 @@ +#pragma once + +#include + +#include "selfdrive/frogpilot/ui/qt/offroad/frogpilot_settings.h" + +class FrogPilotSoundsPanel : public FrogPilotListWidget { + Q_OBJECT + +public: + explicit FrogPilotSoundsPanel(FrogPilotSettingsWindow *parent); + +signals: + void openParentToggle(); + +private: + void hideToggles(); + void showToggles(const std::set &keys); + void updateCarToggles(); + + std::set alertVolumeControlKeys = { + "DisengageVolume", "EngageVolume", "PromptDistractedVolume", + "PromptVolume", "RefuseVolume", "WarningImmediateVolume", + "WarningSoftVolume" + }; + + std::set customAlertsKeys = { + "GoatScream", "GreenLightAlert", "LeadDepartingAlert", + "LoudBlindspotAlert", "SpeedLimitChangedAlert" + }; + + FrogPilotSettingsWindow *parent; + + Params params; + + bool hasBSM; + bool hasOpenpilotLongitudinal; + + std::map toggles; +}; diff --git a/selfdrive/frogpilot/ui/qt/offroad/theme_settings.cc b/selfdrive/frogpilot/ui/qt/offroad/theme_settings.cc new file mode 100644 index 00000000000000..88fb36a9fb9e7e --- /dev/null +++ b/selfdrive/frogpilot/ui/qt/offroad/theme_settings.cc @@ -0,0 +1,1004 @@ +#include "selfdrive/frogpilot/ui/qt/offroad/theme_settings.h" + +FrogPilotThemesPanel::FrogPilotThemesPanel(FrogPilotSettingsWindow *parent) : FrogPilotListWidget(parent), parent(parent) { + const std::vector> themeToggles { + {"PersonalizeOpenpilot", tr("Custom Theme"), tr("Custom openpilot themes."), "../frogpilot/assets/toggle_icons/frog.png"}, + {"CustomColors", tr("Color Scheme"), tr("Themed color schemes.\n\nWant to submit your own color scheme? Share it in the 'feature-request' channel on the FrogPilot Discord!"), ""}, + {"CustomDistanceIcon", "Distance Button", "Themed distance button icons.\n\nWant to submit your own icon pack? Share it in the 'feature-request' channel on the FrogPilot Discord!", ""}, + {"CustomIcons", tr("Icon Pack"), tr("Themed icon packs.\n\nWant to submit your own icons? Share them in the 'feature-request' channel on the FrogPilot Discord!"), ""}, + {"CustomSounds", tr("Sound Pack"), tr("Themed sound effects.\n\nWant to submit your own sounds? Share them in the 'feature-request' channel on the FrogPilot Discord!"), ""}, + {"WheelIcon", tr("Steering Wheel"), tr("Custom steering wheel icons."), ""}, + {"CustomSignals", tr("Turn Signal Animation"), tr("Themed turn signal animations.\n\nWant to submit your own animations? Share them in the 'feature-request' channel on the FrogPilot Discord!"), ""}, + {"DownloadStatusLabel", tr("Download Status"), "", ""}, + + {"HolidayThemes", tr("Holiday Themes"), tr("Change the openpilot theme based on the current holiday. Minor holidays last one day, while major holidays (Easter, Christmas, Halloween, etc.) last a week."), "../frogpilot/assets/toggle_icons/icon_calendar.png"}, + + {"RandomEvents", tr("Random Events"), tr("Random cosmetic events that happen during certain driving conditions. These events are purely for fun and don't affect driving controls!"), "../frogpilot/assets/toggle_icons/icon_random.png"}, + + {"StartupAlert", tr("Startup Alert"), tr("Custom 'Startup' alert message that appears when you start driving."), "../frogpilot/assets/toggle_icons/icon_message.png"} + }; + + for (const auto &[param, title, desc, icon] : themeToggles) { + AbstractControl *themeToggle; + + if (param == "PersonalizeOpenpilot") { + FrogPilotParamManageControl *personalizeOpenpilotToggle = new FrogPilotParamManageControl(param, title, desc, icon); + QObject::connect(personalizeOpenpilotToggle, &FrogPilotParamManageControl::manageButtonClicked, [this]() { + personalizeOpenpilotOpen = true; + showToggles(customThemeKeys); + }); + themeToggle = personalizeOpenpilotToggle; + } else if (param == "CustomColors") { + manageCustomColorsBtn = new FrogPilotButtonsControl(title, desc, {tr("DELETE"), tr("DOWNLOAD"), tr("SELECT")}); + + std::function formatColorName = [](QString name) -> QString { + QChar separator = name.contains('_') ? '_' : '-'; + QStringList parts = name.replace(separator, ' ').split(' '); + + for (int i = 0; i < parts.size(); ++i) { + parts[i][0] = parts[i][0].toUpper(); + } + + if (separator == '-' && parts.size() > 1) { + return parts.first() + " (" + parts.last() + ")"; + } + + return parts.join(' '); + }; + + std::function formatColorNameForStorage = [](QString name) -> QString { + name = name.toLower(); + name = name.replace(" (", "-"); + name = name.replace(' ', '_'); + name.remove('(').remove(')'); + return name; + }; + + QObject::connect(manageCustomColorsBtn, &FrogPilotButtonsControl::buttonClicked, [=](int id) { + QDir themesDir{"/data/themes/theme_packs"}; + QFileInfoList dirList = themesDir.entryInfoList(QDir::Dirs | QDir::NoDotAndDotDot); + + QString currentColor = QString::fromStdString(params.get("CustomColors")).replace('_', ' ').replace('-', " (").toLower(); + currentColor[0] = currentColor[0].toUpper(); + for (int i = 1; i < currentColor.length(); ++i) { + if (currentColor[i - 1] == ' ' || currentColor[i - 1] == '(') { + currentColor[i] = currentColor[i].toUpper(); + } + } + if (currentColor.contains(" (")) { + currentColor.append(')'); + } + + QStringList availableColors; + for (const QFileInfo &dirInfo : dirList) { + QString colorSchemeDir = dirInfo.absoluteFilePath(); + + if (QDir(colorSchemeDir + "/colors").exists()) { + availableColors << formatColorName(dirInfo.fileName()); + } + } + availableColors.append("Stock"); + std::sort(availableColors.begin(), availableColors.end()); + + if (id == 0) { + QStringList colorSchemesList = availableColors; + colorSchemesList.removeAll("Stock"); + colorSchemesList.removeAll(currentColor); + + QString colorSchemeToDelete = MultiOptionDialog::getSelection(tr("Select a color scheme to delete"), colorSchemesList, "", this); + if (!colorSchemeToDelete.isEmpty() && ConfirmationDialog::confirm(tr("Are you sure you want to delete the '%1' color scheme?").arg(colorSchemeToDelete), tr("Delete"), this)) { + themeDeleting = true; + colorsDownloaded = false; + + QString selectedColor = formatColorNameForStorage(colorSchemeToDelete); + for (const QFileInfo &dirInfo : dirList) { + if (dirInfo.fileName() == selectedColor) { + QDir colorDir(dirInfo.absoluteFilePath() + "/colors"); + if (colorDir.exists()) { + colorDir.removeRecursively(); + } + } + } + + QStringList downloadableColors = QString::fromStdString(params.get("DownloadableColors")).split(","); + downloadableColors << colorSchemeToDelete; + downloadableColors.removeDuplicates(); + downloadableColors.removeAll(""); + std::sort(downloadableColors.begin(), downloadableColors.end()); + + params.put("DownloadableColors", downloadableColors.join(",").toStdString()); + themeDeleting = false; + } + } else if (id == 1) { + if (colorDownloading) { + paramsMemory.putBool("CancelThemeDownload", true); + cancellingDownload = true; + + QTimer::singleShot(2000, [=]() { + paramsMemory.putBool("CancelThemeDownload", false); + cancellingDownload = false; + colorDownloading = false; + themeDownloading = false; + + device()->resetInteractiveTimeout(30); + }); + } else { + QStringList downloadableColors = QString::fromStdString(params.get("DownloadableColors")).split(","); + QString colorSchemeToDownload = MultiOptionDialog::getSelection(tr("Select a color scheme to download"), downloadableColors, "", this); + + if (!colorSchemeToDownload.isEmpty()) { + device()->resetInteractiveTimeout(300); + + QString convertedColorScheme = formatColorNameForStorage(colorSchemeToDownload); + paramsMemory.put("ColorToDownload", convertedColorScheme.toStdString()); + downloadStatusLabel->setText("Downloading..."); + paramsMemory.put("ThemeDownloadProgress", "Downloading..."); + colorDownloading = true; + themeDownloading = true; + + downloadableColors.removeAll(colorSchemeToDownload); + params.put("DownloadableColors", downloadableColors.join(",").toStdString()); + } + } + } else if (id == 2) { + QString colorSchemeToSelect = MultiOptionDialog::getSelection(tr("Select a color scheme"), availableColors, currentColor, this); + if (!colorSchemeToSelect.isEmpty()) { + params.put("CustomColors", formatColorNameForStorage(colorSchemeToSelect).toStdString()); + manageCustomColorsBtn->setValue(colorSchemeToSelect); + paramsMemory.putBool("UpdateTheme", true); + } + } + }); + + QString currentColor = QString::fromStdString(params.get("CustomColors")).replace('_', ' ').replace('-', " (").toLower(); + currentColor[0] = currentColor[0].toUpper(); + for (int i = 1; i < currentColor.length(); ++i) { + if (currentColor[i - 1] == ' ' || currentColor[i - 1] == '(') { + currentColor[i] = currentColor[i].toUpper(); + } + } + if (currentColor.contains(" (")) { + currentColor.append(')'); + } + manageCustomColorsBtn->setValue(currentColor); + themeToggle = manageCustomColorsBtn; + } else if (param == "CustomDistanceIcon") { + manageDistanceIconsBtn = new FrogPilotButtonsControl(title, desc, {tr("DELETE"), tr("DOWNLOAD"), tr("SELECT")}); + + std::function formatIconName = [](QString name) -> QString { + QChar separator = name.contains('_') ? '_' : '-'; + QStringList parts = name.replace(separator, ' ').split(' '); + + for (int i = 0; i < parts.size(); ++i) { + parts[i][0] = parts[i][0].toUpper(); + } + + if (separator == '-' && parts.size() > 1) { + return parts.first() + " (" + parts.last() + ")"; + } + + return parts.join(' '); + }; + + std::function formatIconNameForStorage = [](QString name) -> QString { + name = name.toLower(); + name = name.replace(" (", "-"); + name = name.replace(' ', '_'); + name.remove('(').remove(')'); + return name; + }; + + QObject::connect(manageDistanceIconsBtn, &FrogPilotButtonsControl::buttonClicked, [=](int id) { + QDir themesDir{"/data/themes/distance_icons"}; + QFileInfoList dirList = themesDir.entryInfoList(QDir::Dirs | QDir::NoDotAndDotDot); + + QString currentDistanceIcon = QString::fromStdString(params.get("CustomDistanceIcons")).replace('_', ' ').replace('-', " (").toLower(); + currentDistanceIcon[0] = currentDistanceIcon[0].toUpper(); + for (int i = 1; i < currentDistanceIcon.length(); ++i) { + if (currentDistanceIcon[i - 1] == ' ' || currentDistanceIcon[i - 1] == '(') { + currentDistanceIcon[i] = currentDistanceIcon[i].toUpper(); + } + } + if (currentDistanceIcon.contains(" (")) { + currentDistanceIcon.append(')'); + } + + QStringList availableIcons; + for (const QFileInfo &dirInfo : dirList) { + QString iconPackDir = dirInfo.absoluteFilePath(); + + availableIcons << formatIconName(dirInfo.fileName()); + } + availableIcons.append("Stock"); + std::sort(availableIcons.begin(), availableIcons.end()); + + if (id == 0) { + QStringList iconPackList = availableIcons; + iconPackList.removeAll("Stock"); + iconPackList.removeAll(currentDistanceIcon); + + QString iconPackToDelete = MultiOptionDialog::getSelection(tr("Select an icon pack to delete"), iconPackList, "", this); + if (!iconPackToDelete.isEmpty() && ConfirmationDialog::confirm(tr("Are you sure you want to delete the '%1' icon pack?").arg(iconPackToDelete), tr("Delete"), this)) { + themeDeleting = true; + distanceIconsDownloaded = false; + + QString selectedIconPack = formatIconNameForStorage(iconPackToDelete); + for (const QFileInfo &dirInfo : dirList) { + if (dirInfo.fileName() == selectedIconPack) { + QDir iconPackDir(dirInfo.absoluteFilePath() + "/distance_icons"); + if (iconPackDir.exists()) { + iconPackDir.removeRecursively(); + } + } + } + + QStringList downloadableIcons = QString::fromStdString(params.get("DownloadableDistanceIcons")).split(","); + downloadableIcons << iconPackToDelete; + downloadableIcons.removeDuplicates(); + downloadableIcons.removeAll(""); + std::sort(downloadableIcons.begin(), downloadableIcons.end()); + + params.put("DownloadableDistanceIcons", downloadableIcons.join(",").toStdString()); + themeDeleting = false; + } + } else if (id == 1) { + if (distanceIconDownloading) { + paramsMemory.putBool("CancelThemeDownload", true); + cancellingDownload = true; + + QTimer::singleShot(2000, [=]() { + paramsMemory.putBool("CancelThemeDownload", false); + cancellingDownload = false; + distanceIconDownloading = false; + themeDownloading = false; + }); + } else { + QStringList downloadableIcons = QString::fromStdString(params.get("DownloadableDistanceIcons")).split(","); + QString iconPackToDownload = MultiOptionDialog::getSelection(tr("Select an icon pack to download"), downloadableIcons, "", this); + + if (!iconPackToDownload.isEmpty()) { + QString convertedIconPack = formatIconNameForStorage(iconPackToDownload); + paramsMemory.put("DistanceIconToDownload", convertedIconPack.toStdString()); + downloadStatusLabel->setText("Downloading..."); + paramsMemory.put("ThemeDownloadProgress", "Downloading..."); + distanceIconDownloading = true; + themeDownloading = true; + + downloadableIcons.removeAll(iconPackToDownload); + params.put("DownloadableDistanceIcons", downloadableIcons.join(",").toStdString()); + } + } + } else if (id == 2) { + QString iconPackToSelect = MultiOptionDialog::getSelection(tr("Select an icon pack"), availableIcons, currentDistanceIcon, this); + if (!iconPackToSelect.isEmpty()) { + params.put("CustomDistanceIcons", formatIconNameForStorage(iconPackToSelect).toStdString()); + manageDistanceIconsBtn->setValue(iconPackToSelect); + paramsMemory.putBool("UpdateTheme", true); + } + } + }); + + QString currentDistanceIcon = QString::fromStdString(params.get("CustomDistanceIcons")).replace('_', ' ').replace('-', " (").toLower(); + currentDistanceIcon[0] = currentDistanceIcon[0].toUpper(); + for (int i = 1; i < currentDistanceIcon.length(); ++i) { + if (currentDistanceIcon[i - 1] == ' ' || currentDistanceIcon[i - 1] == '(') { + currentDistanceIcon[i] = currentDistanceIcon[i].toUpper(); + } + } + if (currentDistanceIcon.contains(" (")) { + currentDistanceIcon.append(')'); + } + manageDistanceIconsBtn->setValue(currentDistanceIcon); + themeToggle = reinterpret_cast(manageDistanceIconsBtn); + } else if (param == "CustomIcons") { + manageCustomIconsBtn = new FrogPilotButtonsControl(title, desc, {tr("DELETE"), tr("DOWNLOAD"), tr("SELECT")}); + + std::function formatIconName = [](QString name) -> QString { + QChar separator = name.contains('_') ? '_' : '-'; + QStringList parts = name.replace(separator, ' ').split(' '); + + for (int i = 0; i < parts.size(); ++i) { + parts[i][0] = parts[i][0].toUpper(); + } + + if (separator == '-' && parts.size() > 1) { + return parts.first() + " (" + parts.last() + ")"; + } + + return parts.join(' '); + }; + + std::function formatIconNameForStorage = [](QString name) -> QString { + name = name.toLower(); + name = name.replace(" (", "-"); + name = name.replace(' ', '_'); + name.remove('(').remove(')'); + return name; + }; + + QObject::connect(manageCustomIconsBtn, &FrogPilotButtonsControl::buttonClicked, [=](int id) { + QDir themesDir{"/data/themes/theme_packs"}; + QFileInfoList dirList = themesDir.entryInfoList(QDir::Dirs | QDir::NoDotAndDotDot); + + QString currentIcon = QString::fromStdString(params.get("CustomIcons")).replace('_', ' ').replace('-', " (").toLower(); + currentIcon[0] = currentIcon[0].toUpper(); + for (int i = 1; i < currentIcon.length(); ++i) { + if (currentIcon[i - 1] == ' ' || currentIcon[i - 1] == '(') { + currentIcon[i] = currentIcon[i].toUpper(); + } + } + if (currentIcon.contains(" (")) { + currentIcon.append(')'); + } + + QStringList availableIcons; + for (const QFileInfo &dirInfo : dirList) { + QString iconDir = dirInfo.absoluteFilePath(); + if (QDir(iconDir + "/icons").exists()) { + availableIcons << formatIconName(dirInfo.fileName()); + } + } + availableIcons.append("Stock"); + std::sort(availableIcons.begin(), availableIcons.end()); + + if (id == 0) { + QStringList customIconsList = availableIcons; + customIconsList.removeAll("Stock"); + customIconsList.removeAll(currentIcon); + + QString iconPackToDelete = MultiOptionDialog::getSelection(tr("Select an icon pack to delete"), customIconsList, "", this); + if (!iconPackToDelete.isEmpty() && ConfirmationDialog::confirm(tr("Are you sure you want to delete the '%1' icon pack?").arg(iconPackToDelete), tr("Delete"), this)) { + themeDeleting = true; + iconsDownloaded = false; + + QString selectedIcon = formatIconNameForStorage(iconPackToDelete); + for (const QFileInfo &dirInfo : dirList) { + if (dirInfo.fileName() == selectedIcon) { + QDir iconDir(dirInfo.absoluteFilePath() + "/icons"); + if (iconDir.exists()) { + iconDir.removeRecursively(); + } + } + } + + QStringList downloadableIcons = QString::fromStdString(params.get("DownloadableIcons")).split(","); + downloadableIcons << iconPackToDelete; + downloadableIcons.removeDuplicates(); + downloadableIcons.removeAll(""); + std::sort(downloadableIcons.begin(), downloadableIcons.end()); + + params.put("DownloadableIcons", downloadableIcons.join(",").toStdString()); + themeDeleting = false; + } + } else if (id == 1) { + if (iconDownloading) { + paramsMemory.putBool("CancelThemeDownload", true); + cancellingDownload = true; + + QTimer::singleShot(2000, [=]() { + paramsMemory.putBool("CancelThemeDownload", false); + cancellingDownload = false; + iconDownloading = false; + themeDownloading = false; + + device()->resetInteractiveTimeout(30); + }); + } else { + QStringList downloadableIcons = QString::fromStdString(params.get("DownloadableIcons")).split(","); + QString iconPackToDownload = MultiOptionDialog::getSelection(tr("Select an icon pack to download"), downloadableIcons, "", this); + + if (!iconPackToDownload.isEmpty()) { + device()->resetInteractiveTimeout(300); + + QString convertedIconPack = formatIconNameForStorage(iconPackToDownload); + paramsMemory.put("IconToDownload", convertedIconPack.toStdString()); + downloadStatusLabel->setText("Downloading..."); + paramsMemory.put("ThemeDownloadProgress", "Downloading..."); + iconDownloading = true; + themeDownloading = true; + + downloadableIcons.removeAll(iconPackToDownload); + params.put("DownloadableIcons", downloadableIcons.join(",").toStdString()); + } + } + } else if (id == 2) { + QString iconPackToSelect = MultiOptionDialog::getSelection(tr("Select an icon pack"), availableIcons, currentIcon, this); + if (!iconPackToSelect.isEmpty()) { + params.put("CustomIcons", formatIconNameForStorage(iconPackToSelect).toStdString()); + manageCustomIconsBtn->setValue(iconPackToSelect); + paramsMemory.putBool("UpdateTheme", true); + } + } + }); + + QString currentIcon = QString::fromStdString(params.get("CustomIcons")).replace('_', ' ').replace('-', " (").toLower(); + currentIcon[0] = currentIcon[0].toUpper(); + for (int i = 1; i < currentIcon.length(); ++i) { + if (currentIcon[i - 1] == ' ' || currentIcon[i - 1] == '(') { + currentIcon[i] = currentIcon[i].toUpper(); + } + } + if (currentIcon.contains(" (")) { + currentIcon.append(')'); + } + manageCustomIconsBtn->setValue(currentIcon); + themeToggle = manageCustomIconsBtn; + } else if (param == "CustomSignals") { + manageCustomSignalsBtn = new FrogPilotButtonsControl(title, desc, {tr("DELETE"), tr("DOWNLOAD"), tr("SELECT")}); + + std::function formatSignalName = [](QString name) -> QString { + QChar separator = name.contains('_') ? '_' : '-'; + QStringList parts = name.replace(separator, ' ').split(' '); + + for (int i = 0; i < parts.size(); ++i) { + parts[i][0] = parts[i][0].toUpper(); + } + + if (separator == '-' && parts.size() > 1) { + return parts.first() + " (" + parts.last() + ")"; + } + + return parts.join(' '); + }; + + std::function formatSignalNameForStorage = [](QString name) -> QString { + name = name.toLower(); + name = name.replace(" (", "-"); + name = name.replace(' ', '_'); + name.remove('(').remove(')'); + return name; + }; + + QObject::connect(manageCustomSignalsBtn, &FrogPilotButtonsControl::buttonClicked, [=](int id) { + QDir themesDir{"/data/themes/theme_packs"}; + QFileInfoList dirList = themesDir.entryInfoList(QDir::Dirs | QDir::NoDotAndDotDot); + + QString currentSignal = QString::fromStdString(params.get("CustomSignals")).replace('_', ' ').replace('-', " (").toLower(); + currentSignal[0] = currentSignal[0].toUpper(); + for (int i = 1; i < currentSignal.length(); ++i) { + if (currentSignal[i - 1] == ' ' || currentSignal[i - 1] == '(') { + currentSignal[i] = currentSignal[i].toUpper(); + } + } + if (currentSignal.contains(" (")) { + currentSignal.append(')'); + } + + QStringList availableSignals; + for (const QFileInfo &dirInfo : dirList) { + QString signalDir = dirInfo.absoluteFilePath(); + if (QDir(signalDir + "/signals").exists()) { + availableSignals << formatSignalName(dirInfo.fileName()); + } + } + availableSignals.append("Stock"); + std::sort(availableSignals.begin(), availableSignals.end()); + + if (id == 0) { + QStringList customSignalsList = availableSignals; + customSignalsList.removeAll("Stock"); + customSignalsList.removeAll(currentSignal); + + QString signalPackToDelete = MultiOptionDialog::getSelection(tr("Select a signal pack to delete"), customSignalsList, "", this); + if (!signalPackToDelete.isEmpty() && ConfirmationDialog::confirm(tr("Are you sure you want to delete the '%1' signal pack?").arg(signalPackToDelete), tr("Delete"), this)) { + themeDeleting = true; + signalsDownloaded = false; + + QString selectedSignal = formatSignalNameForStorage(signalPackToDelete); + for (const QFileInfo &dirInfo : dirList) { + if (dirInfo.fileName() == selectedSignal) { + QDir signalDir(dirInfo.absoluteFilePath() + "/signals"); + if (signalDir.exists()) { + signalDir.removeRecursively(); + } + } + } + + QStringList downloadableSignals = QString::fromStdString(params.get("DownloadableSignals")).split(","); + downloadableSignals << signalPackToDelete; + downloadableSignals.removeDuplicates(); + downloadableSignals.removeAll(""); + std::sort(downloadableSignals.begin(), downloadableSignals.end()); + + params.put("DownloadableSignals", downloadableSignals.join(",").toStdString()); + themeDeleting = false; + } + } else if (id == 1) { + if (signalDownloading) { + paramsMemory.putBool("CancelThemeDownload", true); + cancellingDownload = true; + + QTimer::singleShot(2000, [=]() { + paramsMemory.putBool("CancelThemeDownload", false); + cancellingDownload = false; + signalDownloading = false; + themeDownloading = false; + + device()->resetInteractiveTimeout(30); + }); + } else { + QStringList downloadableSignals = QString::fromStdString(params.get("DownloadableSignals")).split(","); + QString signalPackToDownload = MultiOptionDialog::getSelection(tr("Select a signal pack to download"), downloadableSignals, "", this); + + if (!signalPackToDownload.isEmpty()) { + device()->resetInteractiveTimeout(300); + + QString convertedSignalPack = formatSignalNameForStorage(signalPackToDownload); + paramsMemory.put("SignalToDownload", convertedSignalPack.toStdString()); + downloadStatusLabel->setText("Downloading..."); + paramsMemory.put("ThemeDownloadProgress", "Downloading..."); + signalDownloading = true; + themeDownloading = true; + + downloadableSignals.removeAll(signalPackToDownload); + params.put("DownloadableSignals", downloadableSignals.join(",").toStdString()); + } + } + } else if (id == 2) { + QString signalPackToSelect = MultiOptionDialog::getSelection(tr("Select a signal pack"), availableSignals, currentSignal, this); + if (!signalPackToSelect.isEmpty()) { + params.put("CustomSignals", formatSignalNameForStorage(signalPackToSelect).toStdString()); + manageCustomSignalsBtn->setValue(signalPackToSelect); + paramsMemory.putBool("UpdateTheme", true); + } + } + }); + + QString currentSignal = QString::fromStdString(params.get("CustomSignals")).replace('_', ' ').replace('-', " (").toLower(); + currentSignal[0] = currentSignal[0].toUpper(); + for (int i = 1; i < currentSignal.length(); ++i) { + if (currentSignal[i - 1] == ' ' || currentSignal[i - 1] == '(') { + currentSignal[i] = currentSignal[i].toUpper(); + } + } + if (currentSignal.contains(" (")) { + currentSignal.append(')'); + } + manageCustomSignalsBtn->setValue(currentSignal); + themeToggle = manageCustomSignalsBtn; + } else if (param == "CustomSounds") { + manageCustomSoundsBtn = new FrogPilotButtonsControl(title, desc, {tr("DELETE"), tr("DOWNLOAD"), tr("SELECT")}); + + std::function formatSoundName = [](QString name) -> QString { + QChar separator = name.contains('_') ? '_' : '-'; + QStringList parts = name.replace(separator, ' ').split(' '); + + for (int i = 0; i < parts.size(); ++i) { + parts[i][0] = parts[i][0].toUpper(); + } + + if (separator == '-' && parts.size() > 1) { + return parts.first() + " (" + parts.last() + ")"; + } + + return parts.join(' '); + }; + + std::function formatSoundNameForStorage = [](QString name) -> QString { + name = name.toLower(); + name = name.replace(" (", "-"); + name = name.replace(' ', '_'); + name.remove('(').remove(')'); + return name; + }; + + QObject::connect(manageCustomSoundsBtn, &FrogPilotButtonsControl::buttonClicked, [=](int id) { + QDir themesDir{"/data/themes/theme_packs"}; + QFileInfoList dirList = themesDir.entryInfoList(QDir::Dirs | QDir::NoDotAndDotDot); + + QString currentSound = QString::fromStdString(params.get("CustomSounds")).replace('_', ' ').replace('-', " (").toLower(); + currentSound[0] = currentSound[0].toUpper(); + for (int i = 1; i < currentSound.length(); ++i) { + if (currentSound[i - 1] == ' ' || currentSound[i - 1] == '(') { + currentSound[i] = currentSound[i].toUpper(); + } + } + if (currentSound.contains(" (")) { + currentSound.append(')'); + } + + QStringList availableSounds; + for (const QFileInfo &dirInfo : dirList) { + QString soundDir = dirInfo.absoluteFilePath(); + if (QDir(soundDir + "/sounds").exists()) { + availableSounds << formatSoundName(dirInfo.fileName()); + } + } + availableSounds.append("Stock"); + std::sort(availableSounds.begin(), availableSounds.end()); + + if (id == 0) { + QStringList customSoundsList = availableSounds; + customSoundsList.removeAll("Stock"); + customSoundsList.removeAll(currentSound); + + QString soundSchemeToDelete = MultiOptionDialog::getSelection(tr("Select a sound pack to delete"), customSoundsList, "", this); + if (!soundSchemeToDelete.isEmpty() && ConfirmationDialog::confirm(tr("Are you sure you want to delete the '%1' sound scheme?").arg(soundSchemeToDelete), tr("Delete"), this)) { + themeDeleting = true; + soundsDownloaded = false; + + QString selectedSound = formatSoundNameForStorage(soundSchemeToDelete); + for (const QFileInfo &dirInfo : dirList) { + if (dirInfo.fileName() == selectedSound) { + QDir soundDir(dirInfo.absoluteFilePath() + "/sounds"); + if (soundDir.exists()) { + soundDir.removeRecursively(); + } + } + } + + QStringList downloadableSounds = QString::fromStdString(params.get("DownloadableSounds")).split(","); + downloadableSounds << soundSchemeToDelete; + downloadableSounds.removeDuplicates(); + downloadableSounds.removeAll(""); + std::sort(downloadableSounds.begin(), downloadableSounds.end()); + + params.put("DownloadableSounds", downloadableSounds.join(",").toStdString()); + themeDeleting = false; + } + } else if (id == 1) { + if (soundDownloading) { + paramsMemory.putBool("CancelThemeDownload", true); + cancellingDownload = true; + + QTimer::singleShot(2000, [=]() { + paramsMemory.putBool("CancelThemeDownload", false); + cancellingDownload = false; + soundDownloading = false; + themeDownloading = false; + + device()->resetInteractiveTimeout(30); + }); + } else { + QStringList downloadableSounds = QString::fromStdString(params.get("DownloadableSounds")).split(","); + QString soundSchemeToDownload = MultiOptionDialog::getSelection(tr("Select a sound pack to download"), downloadableSounds, "", this); + + if (!soundSchemeToDownload.isEmpty()) { + device()->resetInteractiveTimeout(300); + + QString convertedSoundScheme = formatSoundNameForStorage(soundSchemeToDownload); + paramsMemory.put("SoundToDownload", convertedSoundScheme.toStdString()); + downloadStatusLabel->setText("Downloading..."); + paramsMemory.put("ThemeDownloadProgress", "Downloading..."); + soundDownloading = true; + themeDownloading = true; + + downloadableSounds.removeAll(soundSchemeToDownload); + params.put("DownloadableSounds", downloadableSounds.join(",").toStdString()); + } + } + } else if (id == 2) { + QString soundSchemeToSelect = MultiOptionDialog::getSelection(tr("Select a sound scheme"), availableSounds, currentSound, this); + if (!soundSchemeToSelect.isEmpty()) { + params.put("CustomSounds", formatSoundNameForStorage(soundSchemeToSelect).toStdString()); + manageCustomSoundsBtn->setValue(soundSchemeToSelect); + paramsMemory.putBool("UpdateTheme", true); + } + } + }); + + QString currentSound = QString::fromStdString(params.get("CustomSounds")).replace('_', ' ').replace('-', " (").toLower(); + currentSound[0] = currentSound[0].toUpper(); + for (int i = 1; i < currentSound.length(); ++i) { + if (currentSound[i - 1] == ' ' || currentSound[i - 1] == '(') { + currentSound[i] = currentSound[i].toUpper(); + } + } + if (currentSound.contains(" (")) { + currentSound.append(')'); + } + manageCustomSoundsBtn->setValue(currentSound); + themeToggle = manageCustomSoundsBtn; + } else if (param == "WheelIcon") { + manageWheelIconsBtn = new FrogPilotButtonsControl(title, desc, {tr("DELETE"), tr("DOWNLOAD"), tr("SELECT")}); + + std::function formatWheelName = [](QString name) -> QString { + QChar separator = name.contains('_') ? '_' : '-'; + QStringList parts = name.replace(separator, ' ').split(' '); + + for (int i = 0; i < parts.size(); ++i) { + parts[i][0] = parts[i][0].toUpper(); + } + + if (separator == '-' && parts.size() > 1) { + return parts.first() + " (" + parts.last() + ")"; + } + + return parts.join(' '); + }; + + std::function formatWheelNameForStorage = [](QString name) -> QString { + name = name.toLower(); + name = name.replace(" (", "-"); + name = name.replace(' ', '_'); + name.remove('(').remove(')'); + return name; + }; + + QObject::connect(manageWheelIconsBtn, &FrogPilotButtonsControl::buttonClicked, [=](int id) { + QDir wheelDir{"/data/themes/steering_wheels"}; + QFileInfoList fileList = wheelDir.entryInfoList(QDir::Files); + + QString currentWheel = QString::fromStdString(params.get("WheelIcon")).replace('_', ' ').replace('-', " (").toLower(); + currentWheel[0] = currentWheel[0].toUpper(); + for (int i = 1; i < currentWheel.length(); ++i) { + if (currentWheel[i - 1] == ' ' || currentWheel[i - 1] == '(') { + currentWheel[i] = currentWheel[i].toUpper(); + } + } + if (currentWheel.contains(" (")) { + currentWheel.append(')'); + } + + QStringList availableWheels; + for (const QFileInfo &fileInfo : fileList) { + QString baseName = fileInfo.completeBaseName(); + QString formattedName = formatWheelName(baseName); + if (formattedName != "Img Chffr Wheel") { + availableWheels << formattedName; + } + } + availableWheels.append("Stock"); + availableWheels.append("None"); + std::sort(availableWheels.begin(), availableWheels.end()); + + if (id == 0) { + QStringList steeringWheelList = availableWheels; + steeringWheelList.removeAll("None"); + steeringWheelList.removeAll("Stock"); + steeringWheelList.removeAll(currentWheel); + + QString imageToDelete = MultiOptionDialog::getSelection(tr("Select a steering wheel to delete"), steeringWheelList, "", this); + if (!imageToDelete.isEmpty() && ConfirmationDialog::confirm(tr("Are you sure you want to delete the '%1' steering wheel image?").arg(imageToDelete), tr("Delete"), this)) { + themeDeleting = true; + wheelsDownloaded = false; + + QString selectedImage = formatWheelNameForStorage(imageToDelete); + for (const QFileInfo &fileInfo : fileList) { + if (fileInfo.completeBaseName() == selectedImage) { + QFile::remove(fileInfo.filePath()); + } + } + + QStringList downloadableWheels = QString::fromStdString(params.get("DownloadableWheels")).split(","); + downloadableWheels << imageToDelete; + downloadableWheels.removeDuplicates(); + downloadableWheels.removeAll(""); + std::sort(downloadableWheels.begin(), downloadableWheels.end()); + + params.put("DownloadableWheels", downloadableWheels.join(",").toStdString()); + themeDeleting = false; + } + } else if (id == 1) { + if (wheelDownloading) { + paramsMemory.putBool("CancelThemeDownload", true); + cancellingDownload = true; + + QTimer::singleShot(2000, [=]() { + paramsMemory.putBool("CancelThemeDownload", false); + cancellingDownload = false; + wheelDownloading = false; + themeDownloading = false; + + device()->resetInteractiveTimeout(30); + }); + } else { + QStringList downloadableWheels = QString::fromStdString(params.get("DownloadableWheels")).split(","); + QString wheelToDownload = MultiOptionDialog::getSelection(tr("Select a steering wheel to download"), downloadableWheels, "", this); + + if (!wheelToDownload.isEmpty()) { + device()->resetInteractiveTimeout(300); + + QString convertedImage = formatWheelNameForStorage(wheelToDownload); + paramsMemory.put("WheelToDownload", convertedImage.toStdString()); + downloadStatusLabel->setText("Downloading..."); + paramsMemory.put("ThemeDownloadProgress", "Downloading..."); + themeDownloading = true; + wheelDownloading = true; + + downloadableWheels.removeAll(wheelToDownload); + params.put("DownloadableWheels", downloadableWheels.join(",").toStdString()); + } + } + } else if (id == 2) { + QString imageToSelect = MultiOptionDialog::getSelection(tr("Select a steering wheel"), availableWheels, currentWheel, this); + if (!imageToSelect.isEmpty()) { + params.put("WheelIcon", formatWheelNameForStorage(imageToSelect).toStdString()); + manageWheelIconsBtn->setValue(imageToSelect); + paramsMemory.putBool("UpdateTheme", true); + } + } + }); + + QString currentWheel = QString::fromStdString(params.get("WheelIcon")).replace('_', ' ').replace('-', " (").toLower(); + currentWheel[0] = currentWheel[0].toUpper(); + for (int i = 1; i < currentWheel.length(); ++i) { + if (currentWheel[i - 1] == ' ' || currentWheel[i - 1] == '(') { + currentWheel[i] = currentWheel[i].toUpper(); + } + } + if (currentWheel.contains(" (")) { + currentWheel.append(')'); + } + manageWheelIconsBtn->setValue(currentWheel); + themeToggle = manageWheelIconsBtn; + } else if (param == "DownloadStatusLabel") { + downloadStatusLabel = new LabelControl(title, "Idle"); + themeToggle = reinterpret_cast(downloadStatusLabel); + } else if (param == "StartupAlert") { + FrogPilotButtonsControl *startupAlertButton = new FrogPilotButtonsControl(title, desc, {tr("STOCK"), tr("FROGPILOT"), tr("CUSTOM"), tr("CLEAR")}, false, true, icon); + QObject::connect(startupAlertButton, &FrogPilotButtonsControl::buttonClicked, [=](int id) { + int maxLengthTop = 35; + int maxLengthBottom = 45; + + QString stockTop = "Be ready to take over at any time"; + QString stockBottom = "Always keep hands on wheel and eyes on road"; + + QString frogpilotTop = "Hippity hoppity this is my property"; + QString frogpilotBottom = "so I do what I want 🐸"; + + QString currentTop = QString::fromStdString(params.get("StartupMessageTop")); + QString currentBottom = QString::fromStdString(params.get("StartupMessageBottom")); + + if (id == 0) { + params.put("StartupMessageTop", stockTop.toStdString()); + params.put("StartupMessageBottom", stockBottom.toStdString()); + } else if (id == 1) { + params.put("StartupMessageTop", frogpilotTop.toStdString()); + params.put("StartupMessageBottom", frogpilotBottom.toStdString()); + } else if (id == 2) { + QString newTop = InputDialog::getText(tr("Enter your text for the top half"), this, tr("Characters: 0/%1").arg(maxLengthTop), false, -1, currentTop, maxLengthTop).trimmed(); + if (newTop.length() > 0) { + params.putNonBlocking("StartupMessageTop", newTop.toStdString()); + QString newBottom = InputDialog::getText(tr("Enter your text for the bottom half"), this, tr("Characters: 0/%1").arg(maxLengthBottom), false, -1, currentBottom, maxLengthBottom).trimmed(); + if (newBottom.length() > 0) { + params.putNonBlocking("StartupMessageBottom", newBottom.toStdString()); + } + } + } else if (id == 3) { + params.remove("StartupMessageTop"); + params.remove("StartupMessageBottom"); + } + }); + themeToggle = startupAlertButton; + + } else { + themeToggle = new ParamControl(param, title, desc, icon); + } + + addItem(themeToggle); + toggles[param] = themeToggle; + + makeConnections(themeToggle); + + if (FrogPilotParamManageControl *frogPilotManageToggle = qobject_cast(themeToggle)) { + QObject::connect(frogPilotManageToggle, &FrogPilotParamManageControl::manageButtonClicked, this, &FrogPilotThemesPanel::openParentToggle); + } + + QObject::connect(themeToggle, &AbstractControl::showDescriptionEvent, [this]() { + update(); + }); + } + + QObject::connect(static_cast(toggles["HolidayThemes"]), &ToggleControl::toggleFlipped, [this] { + paramsMemory.putBool("UpdateTheme", true); + }); + + QObject::connect(static_cast(toggles["PersonalizeOpenpilot"]), &ToggleControl::toggleFlipped, [this] { + paramsMemory.putBool("UpdateTheme", true); + }); + + QObject::connect(parent, &FrogPilotSettingsWindow::closeParentToggle, this, &FrogPilotThemesPanel::hideToggles); + QObject::connect(parent, &FrogPilotSettingsWindow::updateCarToggles, this, &FrogPilotThemesPanel::updateCarToggles); + QObject::connect(uiState(), &UIState::uiUpdate, this, &FrogPilotThemesPanel::updateState); +} + +void FrogPilotThemesPanel::showEvent(QShowEvent *event) { + colorsDownloaded = params.get("DownloadableColors").empty(); + distanceIconsDownloaded = params.get("DownloadableDistanceIcons").empty(); + iconsDownloaded = params.get("DownloadableIcons").empty(); + signalsDownloaded = params.get("DownloadableSignals").empty(); + soundsDownloaded = params.get("DownloadableSounds").empty(); + wheelsDownloaded = params.get("DownloadableWheels").empty(); +} + +void FrogPilotThemesPanel::updateCarToggles() { + disableOpenpilotLongitudinal = parent->disableOpenpilotLongitudinal; + hasOpenpilotLongitudinal = parent->hasOpenpilotLongitudinal; + + hideToggles(); +} + +void FrogPilotThemesPanel::updateState(const UIState &s) { + if (!isVisible()) return; + + if (personalizeOpenpilotOpen) { + if (themeDownloading) { + QString progress = QString::fromStdString(paramsMemory.get("ThemeDownloadProgress")); + bool downloadFailed = progress.contains(QRegularExpression("cancelled|exists|Failed|offline", QRegularExpression::CaseInsensitiveOption)); + + if (progress != "Downloading...") { + downloadStatusLabel->setText(progress); + } + + if (progress == "Downloaded!" || downloadFailed) { + QTimer::singleShot(2000, [=]() { + if (!themeDownloading) { + downloadStatusLabel->setText("Idle"); + } + + device()->resetInteractiveTimeout(30); + }); + paramsMemory.remove("ThemeDownloadProgress"); + colorDownloading = false; + iconDownloading = false; + signalDownloading = false; + soundDownloading = false; + themeDownloading = false; + wheelDownloading = false; + + colorsDownloaded = params.get("DownloadableColors").empty(); + iconsDownloaded = params.get("DownloadableIcons").empty(); + signalsDownloaded = params.get("DownloadableSignals").empty(); + soundsDownloaded = params.get("DownloadableSounds").empty(); + wheelsDownloaded = params.get("DownloadableWheels").empty(); + } + } + + manageCustomColorsBtn->setText(1, colorDownloading ? tr("CANCEL") : tr("DOWNLOAD")); + manageCustomColorsBtn->setEnabledButtons(0, !themeDeleting && !themeDownloading); + manageCustomColorsBtn->setEnabledButtons(1, s.scene.online && (!themeDownloading || colorDownloading) && !cancellingDownload && !themeDeleting && !colorsDownloaded); + manageCustomColorsBtn->setEnabledButtons(2, !themeDeleting && !themeDownloading); + + manageCustomIconsBtn->setText(1, iconDownloading ? tr("CANCEL") : tr("DOWNLOAD")); + manageCustomIconsBtn->setEnabledButtons(0, !themeDeleting && !themeDownloading); + manageCustomIconsBtn->setEnabledButtons(1, s.scene.online && (!themeDownloading || iconDownloading) && !cancellingDownload && !themeDeleting && !iconsDownloaded); + manageCustomIconsBtn->setEnabledButtons(2, !themeDeleting && !themeDownloading); + + manageCustomSignalsBtn->setText(1, signalDownloading ? tr("CANCEL") : tr("DOWNLOAD")); + manageCustomSignalsBtn->setEnabledButtons(0, !themeDeleting && !themeDownloading); + manageCustomSignalsBtn->setEnabledButtons(1, s.scene.online && (!themeDownloading || signalDownloading) && !cancellingDownload && !themeDeleting && !signalsDownloaded); + manageCustomSignalsBtn->setEnabledButtons(2, !themeDeleting && !themeDownloading); + + manageCustomSoundsBtn->setText(1, soundDownloading ? tr("CANCEL") : tr("DOWNLOAD")); + manageCustomSoundsBtn->setEnabledButtons(0, !themeDeleting && !themeDownloading); + manageCustomSoundsBtn->setEnabledButtons(1, s.scene.online && (!themeDownloading || soundDownloading) && !cancellingDownload && !themeDeleting && !soundsDownloaded); + manageCustomSoundsBtn->setEnabledButtons(2, !themeDeleting && !themeDownloading); + + manageDistanceIconsBtn->setText(1, distanceIconDownloading ? tr("CANCEL") : tr("DOWNLOAD")); + manageDistanceIconsBtn->setEnabledButtons(0, !themeDeleting && !themeDownloading); + manageDistanceIconsBtn->setEnabledButtons(1, s.scene.online && (!themeDownloading || distanceIconDownloading) && !cancellingDownload && !themeDeleting && !distanceIconsDownloaded); + manageDistanceIconsBtn->setEnabledButtons(2, !themeDeleting && !themeDownloading); + + manageWheelIconsBtn->setText(1, wheelDownloading ? tr("CANCEL") : tr("DOWNLOAD")); + manageWheelIconsBtn->setEnabledButtons(0, !themeDeleting && !themeDownloading); + manageWheelIconsBtn->setEnabledButtons(1, s.scene.online && (!themeDownloading || wheelDownloading) && !cancellingDownload && !themeDeleting && !wheelsDownloaded); + manageWheelIconsBtn->setEnabledButtons(2, !themeDeleting && !themeDownloading); + } +} + +void FrogPilotThemesPanel::showToggles(const std::set &keys) { + setUpdatesEnabled(false); + + for (auto &[key, toggle] : toggles) { + toggle->setVisible(keys.find(key) != keys.end()); + } + + setUpdatesEnabled(true); + update(); +} + +void FrogPilotThemesPanel::hideToggles() { + setUpdatesEnabled(false); + + personalizeOpenpilotOpen = false; + + for (auto &[key, toggle] : toggles) { + bool subToggles = customThemeKeys.find(key) != customThemeKeys.end(); + + toggle->setVisible(!subToggles); + } + + setUpdatesEnabled(true); + update(); +} diff --git a/selfdrive/frogpilot/ui/qt/offroad/theme_settings.h b/selfdrive/frogpilot/ui/qt/offroad/theme_settings.h new file mode 100644 index 00000000000000..ebfe25478c46d1 --- /dev/null +++ b/selfdrive/frogpilot/ui/qt/offroad/theme_settings.h @@ -0,0 +1,65 @@ +#pragma once + +#include + +#include "selfdrive/frogpilot/ui/qt/offroad/frogpilot_settings.h" + +class FrogPilotThemesPanel : public FrogPilotListWidget { + Q_OBJECT + +public: + explicit FrogPilotThemesPanel(FrogPilotSettingsWindow *parent); + +protected: + void showEvent(QShowEvent *event) override; + +signals: + void openParentToggle(); + +private: + void hideToggles(); + void showToggles(const std::set &keys); + void updateCarToggles(); + void updateState(const UIState &s); + + std::set customThemeKeys = { + "CustomColors", "CustomDistanceIcon", "CustomIcons", + "CustomSignals", "CustomSounds", "DownloadStatusLabel", + "WheelIcon" + }; + + FrogPilotButtonsControl *manageCustomColorsBtn; + FrogPilotButtonsControl *manageCustomIconsBtn; + FrogPilotButtonsControl *manageCustomSignalsBtn; + FrogPilotButtonsControl *manageCustomSoundsBtn; + FrogPilotButtonsControl *manageDistanceIconsBtn; + FrogPilotButtonsControl *manageWheelIconsBtn; + + FrogPilotSettingsWindow *parent; + + LabelControl *downloadStatusLabel; + + Params params; + Params paramsMemory{"/dev/shm/params"}; + + bool cancellingDownload; + bool colorDownloading; + bool colorsDownloaded; + bool disableOpenpilotLongitudinal; + bool distanceIconDownloading; + bool distanceIconsDownloaded; + bool hasOpenpilotLongitudinal; + bool iconDownloading; + bool iconsDownloaded; + bool personalizeOpenpilotOpen; + bool signalDownloading; + bool signalsDownloaded; + bool soundDownloading; + bool soundsDownloaded; + bool themeDeleting; + bool themeDownloading; + bool wheelDownloading; + bool wheelsDownloaded; + + std::map toggles; +}; diff --git a/selfdrive/frogpilot/ui/qt/offroad/utilities.cc b/selfdrive/frogpilot/ui/qt/offroad/utilities.cc new file mode 100644 index 00000000000000..5b8462fb8d6cfc --- /dev/null +++ b/selfdrive/frogpilot/ui/qt/offroad/utilities.cc @@ -0,0 +1,65 @@ +#include + +#include "selfdrive/frogpilot/ui/qt/offroad/utilities.h" + +UtilitiesPanel::UtilitiesPanel(FrogPilotSettingsWindow *parent) : FrogPilotListWidget(parent) { + ButtonControl *flashPandaBtn = new ButtonControl(tr("Flash Panda"), tr("FLASH"), tr("Use this button to flash the Panda device's firmware if you're running into issues.")); + QObject::connect(flashPandaBtn, &ButtonControl::clicked, [=]() { + if (ConfirmationDialog::confirm(tr("Are you sure you want to flash the Panda?"), tr("Flash"), this)) { + std::thread([=]() { + device()->resetInteractiveTimeout(300); + + flashPandaBtn->setEnabled(false); + flashPandaBtn->setValue(tr("Flashing...")); + + system("python3 /data/openpilot/panda/board/flash.py"); + system("python3 /data/openpilot/panda/board/recover.py"); + system("python3 /data/openpilot/panda/tests/reflash_internal_panda.py"); + + flashPandaBtn->setValue(tr("Flashed!")); + util::sleep_for(2000); + flashPandaBtn->setValue(tr("Rebooting...")); + util::sleep_for(2000); + Hardware::reboot(); + }).detach(); + } + }); + addItem(flashPandaBtn); + + forceStartedBtn = new FrogPilotButtonsControl(tr("Force Started State"), tr("Force openpilot either offroad or onroad."), {tr("OFFROAD"), tr("ONROAD"), tr("OFF")}, true); + QObject::connect(forceStartedBtn, &FrogPilotButtonsControl::buttonClicked, [=](int id) { + if (id == 0) { + paramsMemory.putBool("ForceOffroad", true); + paramsMemory.putBool("ForceOnroad", false); + } else if (id == 1) { + paramsMemory.putBool("ForceOffroad", false); + paramsMemory.putBool("ForceOnroad", true); + } else if (id == 2) { + paramsMemory.putBool("ForceOffroad", false); + paramsMemory.putBool("ForceOnroad", false); + } + forceStartedBtn->setCheckedButton(id); + }); + forceStartedBtn->setCheckedButton(2); + addItem(forceStartedBtn); + + ButtonControl *resetTogglesBtn = new ButtonControl(tr("Reset Toggles to Default"), tr("RESET"), tr("Reset your toggle settings back to their default settings.")); + QObject::connect(resetTogglesBtn, &ButtonControl::clicked, [=]() { + if (ConfirmationDialog::confirm(tr("Are you sure you want to completely reset all of your toggle settings?"), tr("Reset"), this)) { + std::thread([=] { + resetTogglesBtn->setEnabled(false); + resetTogglesBtn->setValue(tr("Resetting...")); + + std::system("rm -rf /persist/params"); + params.putBool("DoToggleReset", true); + + resetTogglesBtn->setValue(tr("Reset!")); + util::sleep_for(2000); + resetTogglesBtn->setValue(tr("Rebooting...")); + util::sleep_for(2000); + Hardware::reboot(); + }).detach(); + } + }); + addItem(resetTogglesBtn); +} diff --git a/selfdrive/frogpilot/ui/qt/offroad/utilities.h b/selfdrive/frogpilot/ui/qt/offroad/utilities.h new file mode 100644 index 00000000000000..93f5481c9b1e85 --- /dev/null +++ b/selfdrive/frogpilot/ui/qt/offroad/utilities.h @@ -0,0 +1,16 @@ +#pragma once + +#include "selfdrive/frogpilot/ui/qt/offroad/frogpilot_settings.h" + +class UtilitiesPanel : public FrogPilotListWidget { + Q_OBJECT + +public: + explicit UtilitiesPanel(FrogPilotSettingsWindow *parent); + +private: + FrogPilotButtonsControl *forceStartedBtn; + + Params params; + Params paramsMemory{"/dev/shm/params"}; +}; diff --git a/selfdrive/frogpilot/ui/qt/offroad/vehicle_settings.cc b/selfdrive/frogpilot/ui/qt/offroad/vehicle_settings.cc index 0345611715eb42..d9ed9c4eaebc84 100644 --- a/selfdrive/frogpilot/ui/qt/offroad/vehicle_settings.cc +++ b/selfdrive/frogpilot/ui/qt/offroad/vehicle_settings.cc @@ -5,52 +5,53 @@ #include "selfdrive/frogpilot/ui/qt/offroad/vehicle_settings.h" QStringList getCarNames(const QString &carMake, QMap &carModels) { - QMap makeMap; - makeMap["acura"] = "honda"; - makeMap["audi"] = "volkswagen"; - makeMap["buick"] = "gm"; - makeMap["cadillac"] = "gm"; - makeMap["chevrolet"] = "gm"; - makeMap["chrysler"] = "chrysler"; - makeMap["dodge"] = "chrysler"; - makeMap["ford"] = "ford"; - makeMap["genesis"] = "hyundai"; - makeMap["gmc"] = "gm"; - makeMap["holden"] = "gm"; - makeMap["honda"] = "honda"; - makeMap["hyundai"] = "hyundai"; - makeMap["jeep"] = "chrysler"; - makeMap["kia"] = "hyundai"; - makeMap["lexus"] = "toyota"; - makeMap["lincoln"] = "ford"; - makeMap["man"] = "volkswagen"; - makeMap["mazda"] = "mazda"; - makeMap["nissan"] = "nissan"; - makeMap["ram"] = "chrysler"; - makeMap["seat"] = "volkswagen"; - makeMap["škoda"] = "volkswagen"; - makeMap["subaru"] = "subaru"; - makeMap["tesla"] = "tesla"; - makeMap["toyota"] = "toyota"; - makeMap["volkswagen"] = "volkswagen"; - - QString targetFolder = makeMap.value(carMake, carMake); + static const QMap makeMap = { + {"acura", "honda"}, + {"audi", "volkswagen"}, + {"buick", "gm"}, + {"cadillac", "gm"}, + {"chevrolet", "gm"}, + {"chrysler", "chrysler"}, + {"dodge", "chrysler"}, + {"ford", "ford"}, + {"genesis", "hyundai"}, + {"gmc", "gm"}, + {"holden", "gm"}, + {"honda", "honda"}, + {"hyundai", "hyundai"}, + {"jeep", "chrysler"}, + {"kia", "hyundai"}, + {"lexus", "toyota"}, + {"lincoln", "ford"}, + {"man", "volkswagen"}, + {"mazda", "mazda"}, + {"nissan", "nissan"}, + {"ram", "chrysler"}, + {"seat", "volkswagen"}, + {"škoda", "volkswagen"}, + {"subaru", "subaru"}, + {"tesla", "tesla"}, + {"toyota", "toyota"}, + {"volkswagen", "volkswagen"} + }; + + QString targetFolder = makeMap.value(carMake.toLower(), carMake); QFile file(QString("../car/%1/values.py").arg(targetFolder)); QStringList names; QSet uniqueNames; - if (!file.open(QIODevice::ReadOnly | QIODevice::Text)) + if (!file.open(QIODevice::ReadOnly | QIODevice::Text)) { return names; + } - QTextStream in(&file); - QString fileContent = in.readAll(); + QString fileContent = QTextStream(&file).readAll(); file.close(); fileContent.remove(QRegularExpression("#[^\n]*")); fileContent.remove(QRegularExpression("footnotes=\\[[^\\]]*\\],\\s*")); - QRegularExpression carModelRegex(R"delimiter((\w+)\s*=\s*\w+\s*\(\s*\[([\s\S]*?)\]\s*,)delimiter"); - QRegularExpression carDocsRegex(R"delimiter(CarDocs\(\s*"([^"]+)"[^)]*\))delimiter"); + QRegularExpression carModelRegex(R"((\w+)\s*=\s*\w+\s*\(\s*\[([\s\S]*?)\]\s*,)"); + QRegularExpression carDocsRegex("CarDocs\\(\\s*\"([^\"]+)\"[^)]*\\)"); QRegularExpressionMatchIterator carModelIt = carModelRegex.globalMatch(fileContent); while (carModelIt.hasNext()) { @@ -60,17 +61,14 @@ QStringList getCarNames(const QString &carMake, QMap &carModel QRegularExpressionMatchIterator carDocsIt = carDocsRegex.globalMatch(platformSection); while (carDocsIt.hasNext()) { - QRegularExpressionMatch match = carDocsIt.next(); - QString carName = match.captured(1); + QString carName = carDocsIt.next().captured(1); if (carName.contains(QRegularExpression("^[A-Za-z0-9 Š.()-]+$")) && carName.count(" ") >= 1) { QStringList nameParts = carName.split(" "); - if (nameParts.contains(carMake, Qt::CaseInsensitive)) { - if (!uniqueNames.contains(carName)) { - names << carName; - carModels[carName] = platform; - uniqueNames.insert(carName); - } + if (nameParts.contains(carMake, Qt::CaseInsensitive) && !uniqueNames.contains(carName)) { + uniqueNames.insert(carName); + names << carName; + carModels[carName] = platform; } } } @@ -80,15 +78,14 @@ QStringList getCarNames(const QString &carMake, QMap &carModel return names; } -FrogPilotVehiclesPanel::FrogPilotVehiclesPanel(SettingsWindow *parent) : FrogPilotListWidget(parent) { +FrogPilotVehiclesPanel::FrogPilotVehiclesPanel(FrogPilotSettingsWindow *parent) : FrogPilotListWidget(parent), parent(parent) { + QStringList makes = { + "Acura", "Audi", "Buick", "Cadillac", "Chevrolet", "Chrysler", "Dodge", "Ford", "Genesis", + "GMC", "Holden", "Honda", "Hyundai", "Jeep", "Kia", "Lexus", "Lincoln", "MAN", "Mazda", + "Nissan", "Ram", "SEAT", "Škoda", "Subaru", "Tesla", "Toyota", "Volkswagen" + }; selectMakeButton = new ButtonControl(tr("Select Make"), tr("SELECT")); - QObject::connect(selectMakeButton, &ButtonControl::clicked, [this]() { - QStringList makes = { - "Acura", "Audi", "Buick", "Cadillac", "Chevrolet", "Chrysler", "Dodge", "Ford", "Genesis", - "GMC", "Holden", "Honda", "Hyundai", "Jeep", "Kia", "Lexus", "Lincoln", "MAN", "Mazda", - "Nissan", "Ram", "SEAT", "Škoda", "Subaru", "Tesla", "Toyota", "Volkswagen", - }; - + QObject::connect(selectMakeButton, &ButtonControl::clicked, [this, makes]() { QString newMakeSelection = MultiOptionDialog::getSelection(tr("Select a Make"), makes, "", this); if (!newMakeSelection.isEmpty()) { carMake = newMakeSelection; @@ -113,7 +110,7 @@ FrogPilotVehiclesPanel::FrogPilotVehiclesPanel(SettingsWindow *parent) : FrogPil addItem(selectModelButton); selectModelButton->setVisible(false); - ParamControl *forceFingerprint = new ParamControl("ForceFingerprint", tr("Disable Automatic Fingerprint Detection"), tr("Forces the selected fingerprint and prevents it from ever changing."), "", this); + ParamControl *forceFingerprint = new ParamControl("ForceFingerprint", tr("Disable Automatic Fingerprint Detection"), tr("Forces the selected fingerprint and prevents it from ever changing."), ""); addItem(forceFingerprint); bool disableOpenpilotLongState = params.getBool("DisableOpenpilotLongitudinal"); @@ -133,24 +130,24 @@ FrogPilotVehiclesPanel::FrogPilotVehiclesPanel(SettingsWindow *parent) : FrogPil } else { params.putBool("DisableOpenpilotLongitudinal", state); } - updateCarToggles(); }); addItem(disableOpenpilotLong); std::vector> vehicleToggles { - {"ExperimentalGMTune", tr("Experimental GM Tune"), tr("FrogsGoMoo's experimental GM tune that is based on nothing but guesswork. Use at your own risk."), ""}, - {"LongPitch", tr("Long Pitch Compensation"), tr("Smoothen out the gas and pedal controls."), ""}, - {"VoltSNG", tr("2017 Volt SNG"), tr("Enable the 'Stop and Go' hack for 2017 Chevy Volts."), ""}, - {"NewLongAPIGM", tr("Use comma's New Longitudinal API"), tr("Use comma's new longitudinal controls that have shown great improvement with acceleration and braking, but has a few issues on some GM vehicles."), ""}, + {"VoltSNG", tr("2017 Volt Stop and Go Hack"), tr("Force stop and go for the 2017 Chevy Volt."), ""}, + {"ExperimentalGMTune", tr("Experimental GM Tune"), tr("FrogsGoMoo's experimental GM tune that is based on nothing but guesswork. Use at your own risk!"), ""}, + {"LongPitch", tr("Uphill/Downhill Smoothing"), tr("Smoothen the car’s gas and brake response when driving on slopes."), ""}, + {"NewLongAPIGM", tr("Use comma's New Longitudinal API"), tr("Comma's new longitudinal control system that has shown great improvement with acceleration and braking, but has a few issues on some GM vehicles."), ""}, - {"NewLongAPI", tr("Use comma's New Longitudinal API"), tr("Use comma's new longitudinal controls that have shown great improvement with acceleration and braking, but has a few issues on Hyundai/Kia/Genesis."), ""}, + {"NewLongAPI", tr("Use comma's New Longitudinal API"), tr("Use comma's new longitudinal control system that has shown great improvement with acceleration and braking, but has a few issues on Hyundai/Kia/Genesis."), ""}, {"CrosstrekTorque", tr("Subaru Crosstrek Torque Increase"), tr("Increases the maximum allowed torque for the Subaru Crosstrek."), ""}, {"ToyotaDoors", tr("Automatically Lock/Unlock Doors"), tr("Automatically lock the doors when in drive and unlock when in park."), ""}, - {"ClusterOffset", tr("Cluster Offset"), tr("Set the cluster offset openpilot uses to try and match the speed displayed on the dash."), ""}, - {"SNGHack", tr("Stop and Go Hack"), tr("Enable the 'Stop and Go' hack for vehicles without stock stop and go functionality."), ""}, - {"ToyotaTune", tr("Toyota Tune"), tr("Use a custom Toyota longitudinal tune.\n\nCydia = More focused on TSS-P vehicles but works for all Toyotas\n\nFrogPilot = Takes the Cydia tune with some personal tweaks focused around FrogsGoMoo's 2019 Lexus ES 350"), ""}, + {"ClusterOffset", tr("Cluster Speed Offset"), tr("Set the cluster offset openpilot uses to try and match the speed displayed on the dash."), ""}, + {"NewToyotaTune", tr("comma's New Toyota/Lexus Tune"), tr("Activate comma's latest Toyota tuning, expertly crafted by Shane for enhanced vehicle performance."), ""}, + {"FrogsGoMoosTweak", tr("FrogsGoMoo's Personal Tweaks"), tr("Use FrogsGoMoo's personal tweaks to the Toyota tune focused around his 2019 Lexus ES 350 to take off a bit quicker and stop a bit smoother."), ""}, + {"SNGHack", tr("Stop and Go Hack"), tr("Force stop and go for vehicles without stock stop and go functionality."), ""}, }; for (const auto &[param, title, desc, icon] : vehicleToggles) { @@ -159,48 +156,36 @@ FrogPilotVehiclesPanel::FrogPilotVehiclesPanel(SettingsWindow *parent) : FrogPil if (param == "ToyotaDoors") { std::vector lockToggles{"LockDoors", "UnlockDoors"}; std::vector lockToggleNames{tr("Lock"), tr("Unlock")}; - vehicleToggle = new FrogPilotParamToggleControl(param, title, desc, icon, lockToggles, lockToggleNames); - + vehicleToggle = new FrogPilotButtonToggleControl(param, title, desc, lockToggles, lockToggleNames); } else if (param == "ClusterOffset") { - vehicleToggle = new FrogPilotParamValueControl(param, title, desc, icon, 1.000, 1.050, std::map(), this, false, "x", 1, 0.001); - - } else if (param == "ToyotaTune") { - std::vector> tuneOptions{ - {"StockTune", tr("Stock")}, - {"CydiaTune", tr("Cydia")}, - {"FrogsGoMooTune", tr("FrogPilot")}, - }; - - FrogPilotButtonsParamControl *toyotaTuneToggle = new FrogPilotButtonsParamControl(param, title, desc, icon, tuneOptions); - vehicleToggle = toyotaTuneToggle; - - QObject::connect(toyotaTuneToggle, &FrogPilotButtonsParamControl::buttonClicked, [this]() { - if (started) { - if (FrogPilotConfirmationDialog::toggle(tr("Reboot required to take effect."), tr("Reboot Now"), this)) { - Hardware::reboot(); - } - } - }); + std::vector clusterOffsetToggleNames{"Reset"}; + vehicleToggle = new FrogPilotParamValueButtonControl(param, title, desc, icon, 1.000, 1.050, "x", std::map(), 0.001, {}, clusterOffsetToggleNames, false); } else { - vehicleToggle = new ParamControl(param, title, desc, icon, this); + vehicleToggle = new ParamControl(param, title, desc, icon); } vehicleToggle->setVisible(false); addItem(vehicleToggle); - toggles[param.toStdString()] = vehicleToggle; + toggles[param] = vehicleToggle; - QObject::connect(static_cast(vehicleToggle), &ToggleControl::toggleFlipped, &updateFrogPilotToggles); - QObject::connect(static_cast(vehicleToggle), &FrogPilotParamToggleControl::buttonTypeClicked, &updateFrogPilotToggles); + makeConnections(vehicleToggle); QObject::connect(vehicleToggle, &AbstractControl::showDescriptionEvent, [this]() { update(); }); } - std::set rebootKeys = {"CrosstrekTorque"}; + FrogPilotParamValueButtonControl *clusterOffsetToggle = static_cast(toggles["ClusterOffset"]); + QObject::connect(clusterOffsetToggle, &FrogPilotParamValueButtonControl::buttonClicked, [=]() { + params.putFloat("ClusterOffset", 1.015); + clusterOffsetToggle->refresh(); + updateFrogPilotToggles(); + }); + + std::set rebootKeys = {"CrosstrekTorque", "ExperimentalGMTune", "FrogsGoMoosTweak", "NewLongAPI", "NewLongAPIGM", "NewToyotaTune"}; for (const QString &key : rebootKeys) { - QObject::connect(static_cast(toggles[key.toStdString().c_str()]), &ToggleControl::toggleFlipped, [this]() { + QObject::connect(static_cast(toggles[key]), &ToggleControl::toggleFlipped, [this]() { if (started) { if (FrogPilotConfirmationDialog::toggle(tr("Reboot required to take effect."), tr("Reboot Now"), this)) { Hardware::reboot(); @@ -217,18 +202,31 @@ FrogPilotVehiclesPanel::FrogPilotVehiclesPanel(SettingsWindow *parent) : FrogPil carModel = QString::fromStdString(params.get(params.get("CarModelName").empty() ? "CarModel" : "CarModelName")); } setModels(); - updateCarToggles(); }).detach(); }); - QObject::connect(uiState(), &UIState::uiUpdate, this, &FrogPilotVehiclesPanel::updateState); - carMake = QString::fromStdString(params.get("CarMake")); carModel = QString::fromStdString(params.get(params.get("CarModelName").empty() ? "CarModel" : "CarModelName")); if (!carMake.isEmpty()) { setModels(); } + + QObject::connect(parent, &FrogPilotSettingsWindow::updateCarToggles, this, &FrogPilotVehiclesPanel::updateCarToggles); + QObject::connect(uiState(), &UIState::uiUpdate, this, &FrogPilotVehiclesPanel::updateState); +} + +void FrogPilotVehiclesPanel::updateCarToggles() { + disableOpenpilotLongitudinal = parent->disableOpenpilotLongitudinal; + hasExperimentalOpenpilotLongitudinal = parent->hasExperimentalOpenpilotLongitudinal; + hasOpenpilotLongitudinal = parent->hasOpenpilotLongitudinal; + hasSNG = parent->hasSNG; + isGMPCMCruise = parent->isGMPCMCruise; + isImpreza = parent->isImpreza; + isToyotaTuneSupported = parent->isToyotaTuneSupported; + isVolt = parent->isVolt; + + updateToggles(); } void FrogPilotVehiclesPanel::updateState(const UIState &s) { @@ -237,39 +235,15 @@ void FrogPilotVehiclesPanel::updateState(const UIState &s) { started = s.scene.started; } -void FrogPilotVehiclesPanel::updateCarToggles() { - auto carParams = params.get("CarParamsPersistent"); - if (!carParams.empty()) { - AlignedBuffer aligned_buf; - capnp::FlatArrayMessageReader cmsg(aligned_buf.align(carParams.data(), carParams.size())); - cereal::CarParams::Reader CP = cmsg.getRoot(); - - auto carFingerprint = CP.getCarFingerprint(); - - hasExperimentalOpenpilotLongitudinal = CP.getExperimentalLongitudinalAvailable(); - hasOpenpilotLongitudinal = hasLongitudinalControl(CP); - hasSNG = CP.getMinEnableSpeed() <= 0; - isGMPCMCruise = CP.getCarName() == "gm" && CP.getPcmCruise(); - isImpreza = carFingerprint == "SUBARU_IMPREZA"; - isVolt = carFingerprint == "CHEVROLET_VOLT"; - } else { - hasExperimentalOpenpilotLongitudinal = false; - hasOpenpilotLongitudinal = true; - hasSNG = false; - isImpreza = true; - isVolt = true; - } - - hideToggles(); -} - void FrogPilotVehiclesPanel::setModels() { models = getCarNames(carMake.toLower(), carModels); - hideToggles(); + updateToggles(); } -void FrogPilotVehiclesPanel::hideToggles() { - disableOpenpilotLong->setVisible(hasOpenpilotLongitudinal && !hasExperimentalOpenpilotLongitudinal && !isGMPCMCruise || params.getBool("DisableOpenpilotLongitudinal")); +void FrogPilotVehiclesPanel::updateToggles() { + setUpdatesEnabled(false); + + disableOpenpilotLong->setVisible((hasOpenpilotLongitudinal && !hasExperimentalOpenpilotLongitudinal && !isGMPCMCruise) || disableOpenpilotLongitudinal); selectMakeButton->setValue(carMake); selectModelButton->setValue(carModel); @@ -280,42 +254,46 @@ void FrogPilotVehiclesPanel::hideToggles() { bool subaru = carMake == "Subaru"; bool toyota = carMake == "Lexus" || carMake == "Toyota"; - std::set imprezaKeys = {"CrosstrekTorque"}; - std::set longitudinalKeys = {"ToyotaTune", "LongPitch", "SNGHack"}; - std::set sngKeys = {"SNGHack"}; - std::set voltKeys = {"VoltSNG"}; - for (auto &[key, toggle] : toggles) { - if (toggle) { - toggle->setVisible(false); + bool setVisible = false; - if ((!hasOpenpilotLongitudinal || params.getBool("DisableOpenpilotLongitudinal")) && longitudinalKeys.find(key.c_str()) != longitudinalKeys.end()) { - continue; - } - - if (hasSNG && sngKeys.find(key.c_str()) != sngKeys.end()) { - continue; + if (gm && gmKeys.find(key) != gmKeys.end()) { + if (voltKeys.find(key) != voltKeys.end()) { + setVisible = isVolt && hasOpenpilotLongitudinal && !disableOpenpilotLongitudinal; + } else if (longitudinalKeys.find(key) != longitudinalKeys.end()) { + setVisible = hasOpenpilotLongitudinal && !disableOpenpilotLongitudinal; + } else { + setVisible = true; } - - if (!isImpreza && imprezaKeys.find(key.c_str()) != imprezaKeys.end()) { - continue; + } else if (hyundai && hyundaiKeys.find(key) != hyundaiKeys.end()) { + if (longitudinalKeys.find(key) != longitudinalKeys.end()) { + setVisible = hasOpenpilotLongitudinal && !disableOpenpilotLongitudinal; + } else { + setVisible = true; } - - if (!isVolt && voltKeys.find(key.c_str()) != voltKeys.end()) { - continue; + } else if (subaru && subaruKeys.find(key) != subaruKeys.end()) { + if (imprezaKeys.find(key) != imprezaKeys.end()) { + setVisible = isImpreza; + } else if (longitudinalKeys.find(key) != longitudinalKeys.end()) { + setVisible = hasOpenpilotLongitudinal && !disableOpenpilotLongitudinal; + } else { + setVisible = true; } - - if (hyundai) { - toggle->setVisible(hyundaiKeys.find(key.c_str()) != hyundaiKeys.end()); - } else if (gm) { - toggle->setVisible(gmKeys.find(key.c_str()) != gmKeys.end()); - } else if (subaru) { - toggle->setVisible(subaruKeys.find(key.c_str()) != subaruKeys.end()); - } else if (toyota) { - toggle->setVisible(toyotaKeys.find(key.c_str()) != toyotaKeys.end()); + } else if (toyota && toyotaKeys.find(key) != toyotaKeys.end()) { + if (sngKeys.find(key) != sngKeys.end()) { + setVisible = !hasSNG && hasOpenpilotLongitudinal && !disableOpenpilotLongitudinal; + } else if (toyotaTuneKeys.find(key) != toyotaTuneKeys.end()) { + setVisible = hasOpenpilotLongitudinal && !isToyotaTuneSupported; + } else if (longitudinalKeys.find(key) != longitudinalKeys.end()) { + setVisible = hasOpenpilotLongitudinal && !disableOpenpilotLongitudinal; + } else { + setVisible = true; } } + + toggle->setVisible(setVisible); } + setUpdatesEnabled(true); update(); } diff --git a/selfdrive/frogpilot/ui/qt/offroad/vehicle_settings.h b/selfdrive/frogpilot/ui/qt/offroad/vehicle_settings.h index 0f8374980862e0..568798a1fbc6a9 100644 --- a/selfdrive/frogpilot/ui/qt/offroad/vehicle_settings.h +++ b/selfdrive/frogpilot/ui/qt/offroad/vehicle_settings.h @@ -2,27 +2,62 @@ #include -#include - -#include "selfdrive/ui/qt/offroad/settings.h" -#include "selfdrive/ui/ui.h" +#include "selfdrive/frogpilot/ui/qt/offroad/frogpilot_settings.h" class FrogPilotVehiclesPanel : public FrogPilotListWidget { Q_OBJECT public: - explicit FrogPilotVehiclesPanel(SettingsWindow *parent); + explicit FrogPilotVehiclesPanel(FrogPilotSettingsWindow *parent); private: - void hideToggles(); void setModels(); void updateCarToggles(); void updateState(const UIState &s); + void updateToggles(); + + std::set gmKeys = { + "ExperimentalGMTune", "LongPitch", "NewLongAPIGM", "VoltSNG" + }; + + std::set hyundaiKeys = { + "NewLongAPI" + }; + + std::set imprezaKeys = { + "CrosstrekTorque" + }; + + std::set longitudinalKeys = { + "ExperimentalGMTune", "LongPitch", "NewLongAPI", "NewLongAPIGM", + "SNGHack", "VoltSNG" + }; + + std::set sngKeys = { + "SNGHack" + }; + + std::set subaruKeys = { + "CrosstrekTorque" + }; + + std::set toyotaKeys = { + "ClusterOffset", "FrogsGoMoosTweak", "NewToyotaTune", "SNGHack", + "ToyotaDoors" + }; + + std::set toyotaTuneKeys = { + "NewToyotaTune" + }; + + std::set voltKeys = { + "VoltSNG" + }; ButtonControl *selectMakeButton; ButtonControl *selectModelButton; - ToggleControl *disableOpenpilotLong; + FrogPilotSettingsWindow *parent; QString carMake; QString carModel; @@ -31,20 +66,19 @@ class FrogPilotVehiclesPanel : public FrogPilotListWidget { QMap carModels; - std::set gmKeys = {"ExperimentalGMTune", "LongPitch", "NewLongAPIGM", "VoltSNG"}; - std::set hyundaiKeys = {"NewLongAPI"}; - std::set subaruKeys = {"CrosstrekTorque"}; - std::set toyotaKeys = {"ClusterOffset", "SNGHack", "ToyotaDoors", "ToyotaTune"}; - - std::map toggles; - Params params; + ToggleControl *disableOpenpilotLong; + + bool disableOpenpilotLongitudinal; bool hasExperimentalOpenpilotLongitudinal; bool hasOpenpilotLongitudinal; bool hasSNG; bool isGMPCMCruise; bool isImpreza; + bool isToyotaTuneSupported; bool isVolt; bool started; + + std::map toggles; }; diff --git a/selfdrive/frogpilot/ui/qt/offroad/visual_settings.cc b/selfdrive/frogpilot/ui/qt/offroad/visual_settings.cc index dc75b000093edd..bfa9b392b1aa35 100644 --- a/selfdrive/frogpilot/ui/qt/offroad/visual_settings.cc +++ b/selfdrive/frogpilot/ui/qt/offroad/visual_settings.cc @@ -1,962 +1,64 @@ #include "selfdrive/frogpilot/ui/qt/offroad/visual_settings.h" -FrogPilotVisualsPanel::FrogPilotVisualsPanel(SettingsWindow *parent) : FrogPilotListWidget(parent) { - std::string branch = params.get("GitBranch"); - isRelease = branch == "FrogPilot"; - +FrogPilotVisualsPanel::FrogPilotVisualsPanel(FrogPilotSettingsWindow *parent) : FrogPilotListWidget(parent), parent(parent) { const std::vector> visualToggles { - {"AlertVolumeControl", tr("Alert Volume Controller"), tr("Control the volume level for each individual sound in openpilot."), "../frogpilot/assets/toggle_icons/icon_mute.png"}, - {"DisengageVolume", tr("Disengage Volume"), tr("Related alerts:\n\nAdaptive Cruise Disabled\nParking Brake Engaged\nBrake Pedal Pressed\nSpeed too Low"), ""}, - {"EngageVolume", tr("Engage Volume"), tr("Related alerts:\n\nNNFF Torque Controller loaded\nopenpilot engaged"), ""}, - {"PromptVolume", tr("Prompt Volume"), tr("Related alerts:\n\nCar Detected in Blindspot\nSpeed too Low\nSteer Unavailable Below 'X'\nTake Control, Turn Exceeds Steering Limit"), ""}, - {"PromptDistractedVolume", tr("Prompt Distracted Volume"), tr("Related alerts:\n\nPay Attention, Driver Distracted\nTouch Steering Wheel, Driver Unresponsive"), ""}, - {"RefuseVolume", tr("Refuse Volume"), tr("Related alerts:\n\nopenpilot Unavailable"), ""}, - {"WarningSoftVolume", tr("Warning Soft Volume"), tr("Related alerts:\n\nBRAKE!, Risk of Collision\nTAKE CONTROL IMMEDIATELY"), ""}, - {"WarningImmediateVolume", tr("Warning Immediate Volume"), tr("Related alerts:\n\nDISENGAGE IMMEDIATELY, Driver Distracted\nDISENGAGE IMMEDIATELY, Driver Unresponsive"), ""}, - - {"BonusContent", tr("Bonus Content"), tr("Bonus FrogPilot features to make openpilot a bit more fun!"), "../frogpilot/assets/toggle_icons/frog.png"}, - {"GoatScream", tr("Goat Scream"), tr("Enable the famed 'Goat Scream' that has brought both joy and anger to FrogPilot users all around the world!"), ""}, - {"HolidayThemes", tr("Holiday Themes"), tr("The openpilot theme changes according to the current/upcoming holiday. Minor holidays last a day, while major holidays (Easter, Christmas, Halloween, etc.) last a week."), ""}, - {"PersonalizeOpenpilot", tr("Personalize openpilot"), tr("Customize openpilot to your personal tastes!"), ""}, - {"CustomColors", tr("Color Theme"), tr("Switch out the standard openpilot color scheme with themed colors.\n\nWant to submit your own color scheme? Post it in the 'feature-request' channel in the FrogPilot Discord!"), ""}, - {"CustomIcons", tr("Icon Pack"), tr("Switch out the standard openpilot icons with a set of themed icons.\n\nWant to submit your own icon pack? Post it in the 'feature-request' channel in the FrogPilot Discord!"), ""}, - {"CustomSounds", tr("Sound Pack"), tr("Switch out the standard openpilot sounds with a set of themed sounds.\n\nWant to submit your own sound pack? Post it in the 'feature-request' channel in the FrogPilot Discord!"), ""}, - {"CustomSignals", tr("Turn Signals"), tr("Add themed animation for your turn signals.\n\nWant to submit your own turn signal animation? Post it in the 'feature-request' channel in the FrogPilot Discord!"), ""}, - {"WheelIcon", tr("Steering Wheel"), tr("Replace the default steering wheel icon with a custom icon."), ""}, - {"DownloadStatusLabel", tr("Download Status"), "", ""}, - {"StartupAlert", tr("Startup Alert"), tr("Customize the 'Startup' alert that is shown when you go onroad."), ""}, - {"RandomEvents", tr("Random Events"), tr("Enjoy a bit of unpredictability with random events that can occur during certain driving conditions. This is purely cosmetic and has no impact on driving controls!"), ""}, - - {"CustomAlerts", tr("Custom Alerts"), tr("Enable custom alerts for openpilot events."), "../frogpilot/assets/toggle_icons/icon_green_light.png"}, - {"GreenLightAlert", tr("Green Light Alert"), tr("Get an alert when a traffic light changes from red to green."), ""}, - {"LeadDepartingAlert", tr("Lead Departing Alert"), tr("Get an alert when the lead vehicle starts departing when at a standstill."), ""}, - {"LoudBlindspotAlert", tr("Loud Blindspot Alert"), tr("Enable a louder alert for when a vehicle is detected in the blindspot when attempting to change lanes."), ""}, - - {"CustomUI", tr("Custom Onroad UI"), tr("Customize the Onroad UI."), "../assets/offroad/icon_road.png"}, - {"Compass", tr("Compass"), tr("Add a compass to the onroad UI."), ""}, - {"CustomPaths", tr("Paths"), tr("Show your projected acceleration on the driving path, detected adjacent lanes, or when a vehicle is detected in your blindspot."), ""}, - {"PedalsOnUI", tr("Pedals Being Pressed"), tr("Display the brake and gas pedals on the onroad UI below the steering wheel icon."), ""}, - {"RoadNameUI", tr("Road Name"), tr("Display the current road's name at the bottom of the screen. Sourced from OpenStreetMap."), ""}, - {"RotatingWheel", tr("Rotating Steering Wheel"), tr("Rotate the steering wheel in the onroad UI alongside your physical steering wheel."), ""}, - {"ShowStoppingPoint", tr("Stopping Points"), tr("Display the point where openpilot wants to stop for red lights/stop signs."), ""}, - - {"DeveloperUI", tr("Developer UI"), tr("Get various detailed information of what openpilot is doing behind the scenes."), "../frogpilot/assets/toggle_icons/icon_device.png"}, - {"BorderMetrics", tr("Border Metrics"), tr("Display metrics in onroad UI border."), ""}, - {"FPSCounter", tr("FPS Counter"), tr("Display the 'Frames Per Second' (FPS) of your onroad UI for monitoring system performance."), ""}, - {"LateralMetrics", tr("Lateral Metrics"), tr("Display various metrics related to the lateral performance of openpilot."), ""}, - {"LongitudinalMetrics", tr("Longitudinal Metrics"), tr("Display various metrics related to the longitudinal performance of openpilot."), ""}, - {"NumericalTemp", tr("Numerical Temperature Gauge"), tr("Replace the 'GOOD', 'OK', and 'HIGH' temperature statuses with a numerical temperature gauge based on the highest temperature between the memory, CPU, and GPU."), ""}, - {"SidebarMetrics", tr("Sidebar"), tr("Display various custom metrics on the sidebar for the CPU, GPU, RAM, IP, and storage used/left."), ""}, - {"UseSI", tr("Use International System of Units"), tr("Display relevant metrics in the SI format."), ""}, - - {"ModelUI", tr("Model UI"), tr("Customize the model visualizations on the screen."), "../assets/offroad/icon_calibration.png"}, - {"DynamicPathWidth", tr("Dynamic Path Width"), tr("Have the path width dynamically adjust based on the current engagement state of openpilot."), ""}, - {"HideLeadMarker", tr("Hide Lead Marker"), tr("Hide the lead marker from the onroad UI."), ""}, - {"LaneLinesWidth", tr("Lane Lines"), tr("Adjust the visual thickness of lane lines on your display.\n\nDefault matches the MUTCD average of 4 inches."), ""}, - {"PathEdgeWidth", tr("Path Edges"), tr("Adjust the width of the path edges shown on your UI to represent different driving modes and statuses.\n\nDefault is 20% of the total path.\n\nBlue = Navigation\nLight Blue = 'Always On Lateral'\nGreen = Default\nOrange = 'Experimental Mode'\nRed = 'Traffic Mode'\nYellow = 'Conditional Experimental Mode' Overridden"), ""}, - {"PathWidth", tr("Path Width"), tr("Customize the width of the driving path shown on your UI.\n\nDefault matches the width of a 2019 Lexus ES 350."), ""}, - {"RoadEdgesWidth", tr("Road Edges"), tr("Adjust the visual thickness of road edges on your display.\n\nDefault is 1/2 of the MUTCD average lane line width of 4 inches."), ""}, - {"UnlimitedLength", tr("'Unlimited' Road UI Length"), tr("Extend the display of the path, lane lines, and road edges out as far as the model can see."), ""}, - - {"QOLVisuals", tr("Quality of Life"), tr("Miscellaneous quality of life changes to improve your overall openpilot experience."), "../frogpilot/assets/toggle_icons/quality_of_life.png"}, - {"BigMap", tr("Big Map"), tr("Increase the size of the map in the onroad UI."), ""}, - {"CameraView", tr("Camera View"), tr("Choose your preferred camera view for the onroad UI. This is purely a visual change and doesn't impact how openpilot drives."), ""}, - {"DriverCamera", tr("Driver Camera On Reverse"), tr("Show the driver camera feed when in reverse."), ""}, - {"HideSpeed", tr("Hide Speed"), tr("Hide the speed indicator in the onroad UI. Additional toggle allows it to be hidden/shown via tapping the speed itself."), ""}, - {"MapStyle", tr("Map Style"), tr("Select a map style to use with navigation."), ""}, - {"StoppedTimer", tr("Stopped Timer"), tr("Display a timer in the onroad UI that indicates how long you've been stopped for."), ""}, - {"WheelSpeed", tr("Use Wheel Speed"), tr("Use the wheel speed instead of the cluster speed in the onroad UI."), ""}, - - {"ScreenManagement", tr("Screen Management"), tr("Manage your screen's brightness, timeout settings, and hide onroad UI elements."), "../frogpilot/assets/toggle_icons/icon_light.png"}, - {"HideUIElements", tr("Hide UI Elements"), tr("Hide the selected UI elements from the onroad screen."), ""}, - {"ScreenBrightness", tr("Screen Brightness"), tr("Customize your screen brightness when offroad."), ""}, - {"ScreenBrightnessOnroad", tr("Screen Brightness (Onroad)"), tr("Customize your screen brightness when onroad."), ""}, - {"ScreenRecorder", tr("Screen Recorder"), tr("Enable the ability to record the screen while onroad."), ""}, - {"ScreenTimeout", tr("Screen Timeout"), tr("Customize how long it takes for your screen to turn off."), ""}, - {"ScreenTimeoutOnroad", tr("Screen Timeout (Onroad)"), tr("Customize how long it takes for your screen to turn off when onroad."), ""}, - {"StandbyMode", tr("Standby Mode"), tr("Turn the screen off after your screen times out when onroad, but wake it back up when engagement state changes or important alerts are triggered."), ""}, + {"CustomUI", tr("Onroad UI Widgets"), tr("Custom FrogPilot widgets used in the onroad user interface."), "../assets/offroad/icon_road.png"}, + {"Compass", tr("Compass"), tr("A compass in the onroad UI to show the current driving direction."), ""}, + {"DynamicPathWidth", tr("Dynamic Path Width"), tr("Automatically adjust the width of the driving path display based on the current engagement state:\n\nFully engaged = 100%\nAlways On Lateral Active = 75%\nFully disengaged = 50%"), ""}, + {"PedalsOnUI", tr("Gas/Brake Pedal Indicators"), tr("Pedal indicators in the onroad UI that change opacity based on the pressure applied."), ""}, + {"CustomPaths", tr("Paths"), tr("Projected acceleration path, detected lanes, and vehicles in the blind spot."), ""}, + {"RoadNameUI", tr("Road Name"), tr("The current road name is displayed at the bottom of the screen using data from 'OpenStreetMap'."), ""}, + {"RotatingWheel", tr("Rotating Steering Wheel"), tr("The steering wheel in the onroad UI rotates along with your steering wheel movements."), ""}, + + {"QOLVisuals", tr("Quality of Life Improvements"), tr("Miscellaneous visual focused features to improve your overall openpilot experience."), "../frogpilot/assets/toggle_icons/quality_of_life.png"}, + {"BigMap", tr("Larger Map Display"), tr("A larger size of the map in the onroad UI for easier navigation readings."), ""}, + {"MapStyle", tr("Map Style"), tr("Custom map styles for the map used during navigation."), ""}, + {"StandbyMode", tr("Screen Standby Mode"), tr("The screen is turned off after it times out when driving, but it automatically wakes up if engagement state changes or important alerts occur."), ""}, + {"DriverCamera", tr("Show Driver Camera When In Reverse"), tr("The driver camera feed is displayed when the vehicle is in reverse."), ""}, + {"StoppedTimer", tr("Stopped Timer"), tr("A timer on the onroad UI to indicate how long the vehicle has been stopped."), ""} }; for (const auto &[param, title, desc, icon] : visualToggles) { AbstractControl *visualToggle; - if (param == "AlertVolumeControl") { - FrogPilotParamManageControl *alertVolumeControlToggle = new FrogPilotParamManageControl(param, title, desc, icon, this); - QObject::connect(alertVolumeControlToggle, &FrogPilotParamManageControl::manageButtonClicked, this, [this]() { - openParentToggle(); - - for (auto &[key, toggle] : toggles) { - toggle->setVisible(alertVolumeControlKeys.find(key.c_str()) != alertVolumeControlKeys.end()); - } - }); - visualToggle = alertVolumeControlToggle; - } else if (alertVolumeControlKeys.find(param) != alertVolumeControlKeys.end()) { - if (param == "WarningImmediateVolume") { - visualToggle = new FrogPilotParamValueControl(param, title, desc, icon, 25, 100, std::map(), this, false, "%"); - } else { - visualToggle = new FrogPilotParamValueControl(param, title, desc, icon, 0, 100, std::map(), this, false, "%"); - } - - } else if (param == "BonusContent") { - FrogPilotParamManageControl *BonusContentToggle = new FrogPilotParamManageControl(param, title, desc, icon, this); - QObject::connect(BonusContentToggle, &FrogPilotParamManageControl::manageButtonClicked, this, [this]() { - openParentToggle(); - - for (auto &[key, toggle] : toggles) { - toggle->setVisible(bonusContentKeys.find(key.c_str()) != bonusContentKeys.end()); - } - }); - visualToggle = BonusContentToggle; - } else if (param == "PersonalizeOpenpilot") { - FrogPilotParamManageControl *personalizeOpenpilotToggle = new FrogPilotParamManageControl(param, title, desc, icon, this); - QObject::connect(personalizeOpenpilotToggle, &FrogPilotParamManageControl::manageButtonClicked, this, [this]() { - openSubParentToggle(); - - personalizeOpenpilotOpen = true; - for (auto &[key, toggle] : toggles) { - toggle->setVisible(personalizeOpenpilotKeys.find(key.c_str()) != personalizeOpenpilotKeys.end()); - } - }); - visualToggle = personalizeOpenpilotToggle; - } else if (param == "CustomColors") { - std::vector customColorsOptions{tr("DELETE"), tr("DOWNLOAD"), tr("SELECT")}; - manageCustomColorsBtn = new FrogPilotButtonsControl(title, desc, icon, customColorsOptions); - - std::function formatColorName = [](QString name) -> QString { - QChar separator = name.contains('_') ? '_' : '-'; - QStringList parts = name.replace(separator, ' ').split(' '); - - for (int i = 0; i < parts.size(); ++i) { - parts[i][0] = parts[i][0].toUpper(); - } - - if (separator == '-' && parts.size() > 1) { - return parts.first() + " (" + parts.last() + ")"; - } - - return parts.join(' '); - }; - - std::function formatColorNameForStorage = [](QString name) -> QString { - name = name.toLower(); - name = name.replace(" (", "-"); - name = name.replace(' ', '_'); - name.remove('(').remove(')'); - return name; - }; - - QObject::connect(manageCustomColorsBtn, &FrogPilotButtonsControl::buttonClicked, [=](int id) { - QDir themesDir{"/data/themes/theme_packs"}; - QFileInfoList dirList = themesDir.entryInfoList(QDir::Dirs | QDir::NoDotAndDotDot); - - QString currentColor = QString::fromStdString(params.get("CustomColors")).replace('_', ' ').replace('-', " (").toLower(); - currentColor[0] = currentColor[0].toUpper(); - for (int i = 1; i < currentColor.length(); i++) { - if (currentColor[i - 1] == ' ' || currentColor[i - 1] == '(') { - currentColor[i] = currentColor[i].toUpper(); - } - } - if (currentColor.contains(" (")) { - currentColor.append(')'); - } - - QStringList availableColors; - for (const QFileInfo &dirInfo : dirList) { - QString colorSchemeDir = dirInfo.absoluteFilePath(); - - if (QDir(colorSchemeDir + "/colors").exists()) { - availableColors << formatColorName(dirInfo.fileName()); - } - } - availableColors.append("Stock"); - std::sort(availableColors.begin(), availableColors.end()); - - if (id == 0) { - QStringList colorSchemesList = availableColors; - colorSchemesList.removeAll("Stock"); - colorSchemesList.removeAll(currentColor); - - QString colorSchemeToDelete = MultiOptionDialog::getSelection(tr("Select a color scheme to delete"), colorSchemesList, "", this); - if (!colorSchemeToDelete.isEmpty() && ConfirmationDialog::confirm(tr("Are you sure you want to delete the '%1' color scheme?").arg(colorSchemeToDelete), tr("Delete"), this)) { - themeDeleting = true; - colorsDownloaded = false; - - QString selectedColor = formatColorNameForStorage(colorSchemeToDelete); - for (const QFileInfo &dirInfo : dirList) { - if (dirInfo.fileName() == selectedColor) { - QDir colorDir(dirInfo.absoluteFilePath() + "/colors"); - if (colorDir.exists()) { - colorDir.removeRecursively(); - } - } - } - - QStringList downloadableColors = QString::fromStdString(params.get("DownloadableColors")).split(","); - downloadableColors << colorSchemeToDelete; - downloadableColors.removeDuplicates(); - downloadableColors.removeAll(""); - std::sort(downloadableColors.begin(), downloadableColors.end()); - - params.put("DownloadableColors", downloadableColors.join(",").toStdString()); - themeDeleting = false; - } - } else if (id == 1) { - if (manageCustomColorsBtn->getButton(id)->text() == tr("CANCEL")) { - paramsMemory.putBool("CancelThemeDownload", true); - cancellingDownload = true; - - QTimer::singleShot(2000, [=]() { - paramsMemory.putBool("CancelThemeDownload", false); - cancellingDownload = false; - colorDownloading = false; - themeDownloading = false; - }); - } else { - QStringList downloadableColors = QString::fromStdString(params.get("DownloadableColors")).split(","); - QString colorSchemeToDownload = MultiOptionDialog::getSelection(tr("Select a color scheme to download"), downloadableColors, "", this); - - if (!colorSchemeToDownload.isEmpty()) { - QString convertedColorScheme = formatColorNameForStorage(colorSchemeToDownload); - paramsMemory.put("ColorToDownload", convertedColorScheme.toStdString()); - downloadStatusLabel->setText("Downloading..."); - paramsMemory.put("ThemeDownloadProgress", "Downloading..."); - colorDownloading = true; - themeDownloading = true; - - downloadableColors.removeAll(colorSchemeToDownload); - params.put("DownloadableColors", downloadableColors.join(",").toStdString()); - } - } - } else if (id == 2) { - QString colorSchemeToSelect = MultiOptionDialog::getSelection(tr("Select a color scheme"), availableColors, currentColor, this); - if (!colorSchemeToSelect.isEmpty()) { - params.put("CustomColors", formatColorNameForStorage(colorSchemeToSelect).toStdString()); - manageCustomColorsBtn->setValue(colorSchemeToSelect); - paramsMemory.putBool("UpdateTheme", true); - } - } - }); - - QString currentColor = QString::fromStdString(params.get("CustomColors")).replace('_', ' ').replace('-', " (").toLower(); - currentColor[0] = currentColor[0].toUpper(); - for (int i = 1; i < currentColor.length(); i++) { - if (currentColor[i - 1] == ' ' || currentColor[i - 1] == '(') { - currentColor[i] = currentColor[i].toUpper(); - } - } - if (currentColor.contains(" (")) { - currentColor.append(')'); - } - manageCustomColorsBtn->setValue(currentColor); - visualToggle = reinterpret_cast(manageCustomColorsBtn); - } else if (param == "CustomIcons") { - std::vector customIconsOptions{tr("DELETE"), tr("DOWNLOAD"), tr("SELECT")}; - manageCustomIconsBtn = new FrogPilotButtonsControl(title, desc, icon, customIconsOptions); - - std::function formatIconName = [](QString name) -> QString { - QChar separator = name.contains('_') ? '_' : '-'; - QStringList parts = name.replace(separator, ' ').split(' '); - - for (int i = 0; i < parts.size(); ++i) { - parts[i][0] = parts[i][0].toUpper(); - } - - if (separator == '-' && parts.size() > 1) { - return parts.first() + " (" + parts.last() + ")"; - } - - return parts.join(' '); - }; - - std::function formatIconNameForStorage = [](QString name) -> QString { - name = name.toLower(); - name = name.replace(" (", "-"); - name = name.replace(' ', '_'); - name.remove('(').remove(')'); - return name; - }; - - QObject::connect(manageCustomIconsBtn, &FrogPilotButtonsControl::buttonClicked, [=](int id) { - QDir themesDir{"/data/themes/theme_packs"}; - QFileInfoList dirList = themesDir.entryInfoList(QDir::Dirs | QDir::NoDotAndDotDot); - - QString currentIcon = QString::fromStdString(params.get("CustomIcons")).replace('_', ' ').replace('-', " (").toLower(); - currentIcon[0] = currentIcon[0].toUpper(); - for (int i = 1; i < currentIcon.length(); i++) { - if (currentIcon[i - 1] == ' ' || currentIcon[i - 1] == '(') { - currentIcon[i] = currentIcon[i].toUpper(); - } - } - if (currentIcon.contains(" (")) { - currentIcon.append(')'); - } - - QStringList availableIcons; - for (const QFileInfo &dirInfo : dirList) { - QString iconDir = dirInfo.absoluteFilePath(); - if (QDir(iconDir + "/icons").exists()) { - availableIcons << formatIconName(dirInfo.fileName()); - } - } - availableIcons.append("Stock"); - std::sort(availableIcons.begin(), availableIcons.end()); - - if (id == 0) { - QStringList customIconsList = availableIcons; - customIconsList.removeAll("Stock"); - customIconsList.removeAll(currentIcon); - - QString iconPackToDelete = MultiOptionDialog::getSelection(tr("Select an icon pack to delete"), customIconsList, "", this); - if (!iconPackToDelete.isEmpty() && ConfirmationDialog::confirm(tr("Are you sure you want to delete the '%1' icon pack?").arg(iconPackToDelete), tr("Delete"), this)) { - themeDeleting = true; - iconsDownloaded = false; - - QString selectedIcon = formatIconNameForStorage(iconPackToDelete); - for (const QFileInfo &dirInfo : dirList) { - if (dirInfo.fileName() == selectedIcon) { - QDir iconDir(dirInfo.absoluteFilePath() + "/icons"); - if (iconDir.exists()) { - iconDir.removeRecursively(); - } - } - } - - QStringList downloadableIcons = QString::fromStdString(params.get("DownloadableIcons")).split(","); - downloadableIcons << iconPackToDelete; - downloadableIcons.removeDuplicates(); - downloadableIcons.removeAll(""); - std::sort(downloadableIcons.begin(), downloadableIcons.end()); - - params.put("DownloadableIcons", downloadableIcons.join(",").toStdString()); - themeDeleting = false; - } - } else if (id == 1) { - if (manageCustomIconsBtn->getButton(id)->text() == tr("CANCEL")) { - paramsMemory.putBool("CancelThemeDownload", true); - cancellingDownload = true; - - QTimer::singleShot(2000, [=]() { - paramsMemory.putBool("CancelThemeDownload", false); - cancellingDownload = false; - iconDownloading = false; - themeDownloading = false; - }); - } else { - QStringList downloadableIcons = QString::fromStdString(params.get("DownloadableIcons")).split(","); - QString iconPackToDownload = MultiOptionDialog::getSelection(tr("Select an icon pack to download"), downloadableIcons, "", this); - - if (!iconPackToDownload.isEmpty()) { - QString convertedIconPack = formatIconNameForStorage(iconPackToDownload); - paramsMemory.put("IconToDownload", convertedIconPack.toStdString()); - downloadStatusLabel->setText("Downloading..."); - paramsMemory.put("ThemeDownloadProgress", "Downloading..."); - iconDownloading = true; - themeDownloading = true; - - downloadableIcons.removeAll(iconPackToDownload); - params.put("DownloadableIcons", downloadableIcons.join(",").toStdString()); - } - } - } else if (id == 2) { - QString iconPackToSelect = MultiOptionDialog::getSelection(tr("Select an icon pack"), availableIcons, currentIcon, this); - if (!iconPackToSelect.isEmpty()) { - params.put("CustomIcons", formatIconNameForStorage(iconPackToSelect).toStdString()); - manageCustomIconsBtn->setValue(iconPackToSelect); - paramsMemory.putBool("UpdateTheme", true); - } - } - }); - - QString currentIcon = QString::fromStdString(params.get("CustomIcons")).replace('_', ' ').replace('-', " (").toLower(); - currentIcon[0] = currentIcon[0].toUpper(); - for (int i = 1; i < currentIcon.length(); i++) { - if (currentIcon[i - 1] == ' ' || currentIcon[i - 1] == '(') { - currentIcon[i] = currentIcon[i].toUpper(); - } - } - if (currentIcon.contains(" (")) { - currentIcon.append(')'); - } - manageCustomIconsBtn->setValue(currentIcon); - visualToggle = reinterpret_cast(manageCustomIconsBtn); - } else if (param == "CustomSignals") { - std::vector customSignalsOptions{tr("DELETE"), tr("DOWNLOAD"), tr("SELECT")}; - manageCustomSignalsBtn = new FrogPilotButtonsControl(title, desc, icon, customSignalsOptions); - - std::function formatSignalName = [](QString name) -> QString { - QChar separator = name.contains('_') ? '_' : '-'; - QStringList parts = name.replace(separator, ' ').split(' '); - - for (int i = 0; i < parts.size(); ++i) { - parts[i][0] = parts[i][0].toUpper(); - } - - if (separator == '-' && parts.size() > 1) { - return parts.first() + " (" + parts.last() + ")"; - } - - return parts.join(' '); - }; - - std::function formatSignalNameForStorage = [](QString name) -> QString { - name = name.toLower(); - name = name.replace(" (", "-"); - name = name.replace(' ', '_'); - name.remove('(').remove(')'); - return name; - }; - - QObject::connect(manageCustomSignalsBtn, &FrogPilotButtonsControl::buttonClicked, [=](int id) { - QDir themesDir{"/data/themes/theme_packs"}; - QFileInfoList dirList = themesDir.entryInfoList(QDir::Dirs | QDir::NoDotAndDotDot); - - QString currentSignal = QString::fromStdString(params.get("CustomSignals")).replace('_', ' ').replace('-', " (").toLower(); - currentSignal[0] = currentSignal[0].toUpper(); - for (int i = 1; i < currentSignal.length(); i++) { - if (currentSignal[i - 1] == ' ' || currentSignal[i - 1] == '(') { - currentSignal[i] = currentSignal[i].toUpper(); - } - } - if (currentSignal.contains(" (")) { - currentSignal.append(')'); - } - - QStringList availableSignals; - for (const QFileInfo &dirInfo : dirList) { - QString signalDir = dirInfo.absoluteFilePath(); - if (QDir(signalDir + "/signals").exists()) { - availableSignals << formatSignalName(dirInfo.fileName()); - } - } - availableSignals.append("Stock"); - std::sort(availableSignals.begin(), availableSignals.end()); - - if (id == 0) { - QStringList customSignalsList = availableSignals; - customSignalsList.removeAll("Stock"); - customSignalsList.removeAll(currentSignal); - - QString signalPackToDelete = MultiOptionDialog::getSelection(tr("Select a signal pack to delete"), customSignalsList, "", this); - if (!signalPackToDelete.isEmpty() && ConfirmationDialog::confirm(tr("Are you sure you want to delete the '%1' signal pack?").arg(signalPackToDelete), tr("Delete"), this)) { - themeDeleting = true; - signalsDownloaded = false; - - QString selectedSignal = formatSignalNameForStorage(signalPackToDelete); - for (const QFileInfo &dirInfo : dirList) { - if (dirInfo.fileName() == selectedSignal) { - QDir signalDir(dirInfo.absoluteFilePath() + "/signals"); - if (signalDir.exists()) { - signalDir.removeRecursively(); - } - } - } - - QStringList downloadableSignals = QString::fromStdString(params.get("DownloadableSignals")).split(","); - downloadableSignals << signalPackToDelete; - downloadableSignals.removeDuplicates(); - downloadableSignals.removeAll(""); - std::sort(downloadableSignals.begin(), downloadableSignals.end()); - - params.put("DownloadableSignals", downloadableSignals.join(",").toStdString()); - themeDeleting = false; - } - } else if (id == 1) { - if (manageCustomSignalsBtn->getButton(id)->text() == tr("CANCEL")) { - paramsMemory.putBool("CancelThemeDownload", true); - cancellingDownload = true; - - QTimer::singleShot(2000, [=]() { - paramsMemory.putBool("CancelThemeDownload", false); - cancellingDownload = false; - signalDownloading = false; - themeDownloading = false; - }); - } else { - QStringList downloadableSignals = QString::fromStdString(params.get("DownloadableSignals")).split(","); - QString signalPackToDownload = MultiOptionDialog::getSelection(tr("Select a signal pack to download"), downloadableSignals, "", this); - - if (!signalPackToDownload.isEmpty()) { - QString convertedSignalPack = formatSignalNameForStorage(signalPackToDownload); - paramsMemory.put("SignalToDownload", convertedSignalPack.toStdString()); - downloadStatusLabel->setText("Downloading..."); - paramsMemory.put("ThemeDownloadProgress", "Downloading..."); - signalDownloading = true; - themeDownloading = true; - - downloadableSignals.removeAll(signalPackToDownload); - params.put("DownloadableSignals", downloadableSignals.join(",").toStdString()); - } - } - } else if (id == 2) { - QString signalPackToSelect = MultiOptionDialog::getSelection(tr("Select a signal pack"), availableSignals, currentSignal, this); - if (!signalPackToSelect.isEmpty()) { - params.put("CustomSignals", formatSignalNameForStorage(signalPackToSelect).toStdString()); - manageCustomSignalsBtn->setValue(signalPackToSelect); - paramsMemory.putBool("UpdateTheme", true); - } - } - }); - - QString currentSignal = QString::fromStdString(params.get("CustomSignals")).replace('_', ' ').replace('-', " (").toLower(); - currentSignal[0] = currentSignal[0].toUpper(); - for (int i = 1; i < currentSignal.length(); i++) { - if (currentSignal[i - 1] == ' ' || currentSignal[i - 1] == '(') { - currentSignal[i] = currentSignal[i].toUpper(); - } - } - if (currentSignal.contains(" (")) { - currentSignal.append(')'); - } - manageCustomSignalsBtn->setValue(currentSignal); - visualToggle = reinterpret_cast(manageCustomSignalsBtn); - } else if (param == "CustomSounds") { - std::vector customSoundsOptions{tr("DELETE"), tr("DOWNLOAD"), tr("SELECT")}; - manageCustomSoundsBtn = new FrogPilotButtonsControl(title, desc, icon, customSoundsOptions); - - std::function formatSoundName = [](QString name) -> QString { - QChar separator = name.contains('_') ? '_' : '-'; - QStringList parts = name.replace(separator, ' ').split(' '); - - for (int i = 0; i < parts.size(); ++i) { - parts[i][0] = parts[i][0].toUpper(); - } - - if (separator == '-' && parts.size() > 1) { - return parts.first() + " (" + parts.last() + ")"; - } - - return parts.join(' '); - }; - - std::function formatSoundNameForStorage = [](QString name) -> QString { - name = name.toLower(); - name = name.replace(" (", "-"); - name = name.replace(' ', '_'); - name.remove('(').remove(')'); - return name; - }; - - QObject::connect(manageCustomSoundsBtn, &FrogPilotButtonsControl::buttonClicked, [=](int id) { - QDir themesDir{"/data/themes/theme_packs"}; - QFileInfoList dirList = themesDir.entryInfoList(QDir::Dirs | QDir::NoDotAndDotDot); - - QString currentSound = QString::fromStdString(params.get("CustomSounds")).replace('_', ' ').replace('-', " (").toLower(); - currentSound[0] = currentSound[0].toUpper(); - for (int i = 1; i < currentSound.length(); i++) { - if (currentSound[i - 1] == ' ' || currentSound[i - 1] == '(') { - currentSound[i] = currentSound[i].toUpper(); - } - } - if (currentSound.contains(" (")) { - currentSound.append(')'); - } - - QStringList availableSounds; - for (const QFileInfo &dirInfo : dirList) { - QString soundDir = dirInfo.absoluteFilePath(); - if (QDir(soundDir + "/sounds").exists()) { - availableSounds << formatSoundName(dirInfo.fileName()); - } - } - availableSounds.append("Stock"); - std::sort(availableSounds.begin(), availableSounds.end()); - - if (id == 0) { - QStringList customSoundsList = availableSounds; - customSoundsList.removeAll("Stock"); - customSoundsList.removeAll(currentSound); - - QString soundSchemeToDelete = MultiOptionDialog::getSelection(tr("Select a sound pack to delete"), customSoundsList, "", this); - if (!soundSchemeToDelete.isEmpty() && ConfirmationDialog::confirm(tr("Are you sure you want to delete the '%1' sound scheme?").arg(soundSchemeToDelete), tr("Delete"), this)) { - themeDeleting = true; - soundsDownloaded = false; - - QString selectedSound = formatSoundNameForStorage(soundSchemeToDelete); - for (const QFileInfo &dirInfo : dirList) { - if (dirInfo.fileName() == selectedSound) { - QDir soundDir(dirInfo.absoluteFilePath() + "/sounds"); - if (soundDir.exists()) { - soundDir.removeRecursively(); - } - } - } + if (param == "CustomUI") { + FrogPilotParamManageControl *customUIToggle = new FrogPilotParamManageControl(param, title, desc, icon); + QObject::connect(customUIToggle, &FrogPilotParamManageControl::manageButtonClicked, [this]() { + customPathsBtn->setVisibleButton(0, hasBSM); - QStringList downloadableSounds = QString::fromStdString(params.get("DownloadableSounds")).split(","); - downloadableSounds << soundSchemeToDelete; - downloadableSounds.removeDuplicates(); - downloadableSounds.removeAll(""); - std::sort(downloadableSounds.begin(), downloadableSounds.end()); + std::set modifiedCustomOnroadUIKeys = customOnroadUIKeys; - params.put("DownloadableSounds", downloadableSounds.join(",").toStdString()); - themeDeleting = false; - } - } else if (id == 1) { - if (manageCustomSoundsBtn->getButton(id)->text() == tr("CANCEL")) { - paramsMemory.putBool("CancelThemeDownload", true); - cancellingDownload = true; - - QTimer::singleShot(2000, [=]() { - paramsMemory.putBool("CancelThemeDownload", false); - cancellingDownload = false; - soundDownloading = false; - themeDownloading = false; - }); - } else { - QStringList downloadableSounds = QString::fromStdString(params.get("DownloadableSounds")).split(","); - QString soundSchemeToDownload = MultiOptionDialog::getSelection(tr("Select a sound pack to download"), downloadableSounds, "", this); - - if (!soundSchemeToDownload.isEmpty()) { - QString convertedSoundScheme = formatSoundNameForStorage(soundSchemeToDownload); - paramsMemory.put("SoundToDownload", convertedSoundScheme.toStdString()); - downloadStatusLabel->setText("Downloading..."); - paramsMemory.put("ThemeDownloadProgress", "Downloading..."); - soundDownloading = true; - themeDownloading = true; - - downloadableSounds.removeAll(soundSchemeToDownload); - params.put("DownloadableSounds", downloadableSounds.join(",").toStdString()); - } - } - } else if (id == 2) { - QString soundSchemeToSelect = MultiOptionDialog::getSelection(tr("Select a sound scheme"), availableSounds, currentSound, this); - if (!soundSchemeToSelect.isEmpty()) { - params.put("CustomSounds", formatSoundNameForStorage(soundSchemeToSelect).toStdString()); - manageCustomSoundsBtn->setValue(soundSchemeToSelect); - paramsMemory.putBool("UpdateTheme", true); - } - } - }); - - QString currentSound = QString::fromStdString(params.get("CustomSounds")).replace('_', ' ').replace('-', " (").toLower(); - currentSound[0] = currentSound[0].toUpper(); - for (int i = 1; i < currentSound.length(); i++) { - if (currentSound[i - 1] == ' ' || currentSound[i - 1] == '(') { - currentSound[i] = currentSound[i].toUpper(); - } - } - if (currentSound.contains(" (")) { - currentSound.append(')'); - } - manageCustomSoundsBtn->setValue(currentSound); - visualToggle = reinterpret_cast(manageCustomSoundsBtn); - } else if (param == "WheelIcon") { - std::vector wheelIconOptions{tr("DELETE"), tr("DOWNLOAD"), tr("SELECT")}; - manageWheelIconsBtn = new FrogPilotButtonsControl(title, desc, icon, wheelIconOptions); - - std::function formatWheelName = [](QString name) -> QString { - QChar separator = name.contains('_') ? '_' : '-'; - QStringList parts = name.replace(separator, ' ').split(' '); - - for (int i = 0; i < parts.size(); ++i) { - parts[i][0] = parts[i][0].toUpper(); - } - - if (separator == '-' && parts.size() > 1) { - return parts.first() + " (" + parts.last() + ")"; - } - - return parts.join(' '); - }; - - std::function formatWheelNameForStorage = [](QString name) -> QString { - name = name.toLower(); - name = name.replace(" (", "-"); - name = name.replace(' ', '_'); - name.remove('(').remove(')'); - return name; - }; - - QObject::connect(manageWheelIconsBtn, &FrogPilotButtonsControl::buttonClicked, [=](int id) { - QDir wheelDir{"/data/themes/steering_wheels"}; - QFileInfoList fileList = wheelDir.entryInfoList(QDir::Files); - - QString currentWheel = QString::fromStdString(params.get("WheelIcon")).replace('_', ' ').replace('-', " (").toLower(); - currentWheel[0] = currentWheel[0].toUpper(); - for (int i = 1; i < currentWheel.length(); i++) { - if (currentWheel[i - 1] == ' ' || currentWheel[i - 1] == '(') { - currentWheel[i] = currentWheel[i].toUpper(); - } - } - if (currentWheel.contains(" (")) { - currentWheel.append(')'); - } - - QStringList availableWheels; - for (const QFileInfo &fileInfo : fileList) { - QString baseName = fileInfo.completeBaseName(); - QString formattedName = formatWheelName(baseName); - if (formattedName != "Img Chffr Wheel") { - availableWheels << formattedName; - } - } - availableWheels.append("Stock"); - availableWheels.append("None"); - std::sort(availableWheels.begin(), availableWheels.end()); - - if (id == 0) { - QStringList steeringWheelList = availableWheels; - steeringWheelList.removeAll("None"); - steeringWheelList.removeAll("Stock"); - steeringWheelList.removeAll(currentWheel); - - QString imageToDelete = MultiOptionDialog::getSelection(tr("Select a steering wheel to delete"), steeringWheelList, "", this); - if (!imageToDelete.isEmpty() && ConfirmationDialog::confirm(tr("Are you sure you want to delete the '%1' steering wheel image?").arg(imageToDelete), tr("Delete"), this)) { - themeDeleting = true; - wheelsDownloaded = false; - - QString selectedImage = formatWheelNameForStorage(imageToDelete); - for (const QFileInfo &fileInfo : fileList) { - if (fileInfo.completeBaseName() == selectedImage) { - QFile::remove(fileInfo.filePath()); - } - } - - QStringList downloadableWheels = QString::fromStdString(params.get("DownloadableWheels")).split(","); - downloadableWheels << imageToDelete; - downloadableWheels.removeDuplicates(); - downloadableWheels.removeAll(""); - std::sort(downloadableWheels.begin(), downloadableWheels.end()); - - params.put("DownloadableWheels", downloadableWheels.join(",").toStdString()); - themeDeleting = false; - } - } else if (id == 1) { - if (manageWheelIconsBtn->getButton(id)->text() == tr("CANCEL")) { - paramsMemory.putBool("CancelThemeDownload", true); - cancellingDownload = true; - - QTimer::singleShot(2000, [=]() { - paramsMemory.putBool("CancelThemeDownload", false); - cancellingDownload = false; - themeDownloading = false; - wheelDownloading = false; - }); - } else { - QStringList downloadableWheels = QString::fromStdString(params.get("DownloadableWheels")).split(","); - QString wheelToDownload = MultiOptionDialog::getSelection(tr("Select a steering wheel to download"), downloadableWheels, "", this); - - if (!wheelToDownload.isEmpty()) { - QString convertedImage = formatWheelNameForStorage(wheelToDownload); - paramsMemory.put("WheelToDownload", convertedImage.toStdString()); - downloadStatusLabel->setText("Downloading..."); - paramsMemory.put("ThemeDownloadProgress", "Downloading..."); - themeDownloading = true; - wheelDownloading = true; - - downloadableWheels.removeAll(wheelToDownload); - params.put("DownloadableWheels", downloadableWheels.join(",").toStdString()); - } - } - } else if (id == 2) { - QString imageToSelect = MultiOptionDialog::getSelection(tr("Select a steering wheel"), availableWheels, currentWheel, this); - if (!imageToSelect.isEmpty()) { - params.put("WheelIcon", formatWheelNameForStorage(imageToSelect).toStdString()); - manageWheelIconsBtn->setValue(imageToSelect); - paramsMemory.putBool("UpdateTheme", true); - } - } - }); - - QString currentWheel = QString::fromStdString(params.get("WheelIcon")).replace('_', ' ').replace('-', " (").toLower(); - currentWheel[0] = currentWheel[0].toUpper(); - for (int i = 1; i < currentWheel.length(); i++) { - if (currentWheel[i - 1] == ' ' || currentWheel[i - 1] == '(') { - currentWheel[i] = currentWheel[i].toUpper(); - } - } - if (currentWheel.contains(" (")) { - currentWheel.append(')'); - } - manageWheelIconsBtn->setValue(currentWheel); - visualToggle = reinterpret_cast(manageWheelIconsBtn); - } else if (param == "DownloadStatusLabel") { - downloadStatusLabel = new LabelControl(title, "Idle"); - visualToggle = reinterpret_cast(downloadStatusLabel); - } else if (param == "StartupAlert") { - std::vector startupAlertOptions{tr("STOCK"), tr("FROGPILOT"), tr("CUSTOM"), tr("CLEAR")}; - FrogPilotButtonsControl *startupAlertButton = new FrogPilotButtonsControl(title, desc, icon, startupAlertOptions); - QObject::connect(startupAlertButton, &FrogPilotButtonsControl::buttonClicked, [=](int id) { - int maxLengthTop = 35; - int maxLengthBottom = 45; - - QString stockTop = "Be ready to take over at any time"; - QString stockBottom = "Always keep hands on wheel and eyes on road"; - - QString frogpilotTop = "Hippity hoppity this is my property"; - QString frogpilotBottom = "so I do what I want 🐸"; - - QString currentTop = QString::fromStdString(params.get("StartupMessageTop")); - QString currentBottom = QString::fromStdString(params.get("StartupMessageBottom")); - - if (id == 0) { - params.put("StartupMessageTop", stockTop.toStdString()); - params.put("StartupMessageBottom", stockBottom.toStdString()); - } else if (id == 1) { - params.put("StartupMessageTop", frogpilotTop.toStdString()); - params.put("StartupMessageBottom", frogpilotBottom.toStdString()); - } else if (id == 2) { - QString newTop = InputDialog::getText(tr("Enter your text for the top half"), this, tr("Characters: 0/%1").arg(maxLengthTop), false, -1, currentTop, maxLengthTop).trimmed(); - if (newTop.length() > 0) { - params.putNonBlocking("StartupMessageTop", newTop.toStdString()); - QString newBottom = InputDialog::getText(tr("Enter your text for the bottom half"), this, tr("Characters: 0/%1").arg(maxLengthBottom), false, -1, currentBottom, maxLengthBottom).trimmed(); - if (newBottom.length() > 0) { - params.putNonBlocking("StartupMessageBottom", newBottom.toStdString()); - } - } - } else if (id == 3) { - params.remove("StartupMessageTop"); - params.remove("StartupMessageBottom"); - } - }); - visualToggle = reinterpret_cast(startupAlertButton); - - } else if (param == "CustomAlerts") { - FrogPilotParamManageControl *customAlertsToggle = new FrogPilotParamManageControl(param, title, desc, icon, this); - QObject::connect(customAlertsToggle, &FrogPilotParamManageControl::manageButtonClicked, this, [this]() { - openParentToggle(); - - for (auto &[key, toggle] : toggles) { - std::set modifiedCustomAlertsKeys = customAlertsKeys; - - if (!hasBSM) { - modifiedCustomAlertsKeys.erase("LoudBlindspotAlert"); - } - - toggle->setVisible(modifiedCustomAlertsKeys.find(key.c_str()) != modifiedCustomAlertsKeys.end()); - } - }); - visualToggle = customAlertsToggle; - - } else if (param == "CustomUI") { - FrogPilotParamManageControl *customUIToggle = new FrogPilotParamManageControl(param, title, desc, icon, this); - QObject::connect(customUIToggle, &FrogPilotParamManageControl::manageButtonClicked, this, [this]() { - openParentToggle(); - - for (auto &[key, toggle] : toggles) { - toggle->setVisible(customOnroadUIKeys.find(key.c_str()) != customOnroadUIKeys.end()); - } + showToggles(modifiedCustomOnroadUIKeys); }); visualToggle = customUIToggle; } else if (param == "CustomPaths") { - std::vector pathToggles{"AccelerationPath", "AdjacentPath", "BlindSpotPath", "AdjacentPathMetrics"}; - std::vector pathToggleNames{tr("Acceleration"), tr("Adjacent"), tr("Blind Spot"), tr("Metrics")}; - visualToggle = new FrogPilotParamToggleControl(param, title, desc, icon, pathToggles, pathToggleNames); + std::vector pathToggles{"AccelerationPath", "AdjacentPath", "BlindSpotPath"}; + std::vector pathToggleNames{tr("Acceleration"), tr("Adjacent"), tr("Blind Spot")}; + customPathsBtn = new FrogPilotButtonToggleControl(param, title, desc, pathToggles, pathToggleNames); + visualToggle = customPathsBtn; } else if (param == "PedalsOnUI") { std::vector pedalsToggles{"DynamicPedalsOnUI", "StaticPedalsOnUI"}; std::vector pedalsToggleNames{tr("Dynamic"), tr("Static")}; - FrogPilotParamToggleControl *pedalsToggle = new FrogPilotParamToggleControl(param, title, desc, icon, pedalsToggles, pedalsToggleNames); - QObject::connect(pedalsToggle, &FrogPilotParamToggleControl::buttonTypeClicked, this, [this, pedalsToggle](int index) { + FrogPilotButtonToggleControl *pedalsToggle = new FrogPilotButtonToggleControl(param, title, desc, pedalsToggles, pedalsToggleNames, true); + QObject::connect(pedalsToggle, &FrogPilotButtonToggleControl::buttonClicked, [this](int index) { if (index == 0) { params.putBool("StaticPedalsOnUI", false); } else if (index == 1) { params.putBool("DynamicPedalsOnUI", false); } - - pedalsToggle->updateButtonStates(); }); visualToggle = pedalsToggle; - } else if (param == "ShowStoppingPoint") { - std::vector stoppingPointToggles{"ShowStoppingPointMetrics"}; - std::vector stoppingPointToggleNames{tr("Show Distance")}; - visualToggle = new FrogPilotParamToggleControl(param, title, desc, icon, stoppingPointToggles, stoppingPointToggleNames); - - } else if (param == "DeveloperUI") { - FrogPilotParamManageControl *developerUIToggle = new FrogPilotParamManageControl(param, title, desc, icon, this); - QObject::connect(developerUIToggle, &FrogPilotParamManageControl::manageButtonClicked, this, [this]() { - openParentToggle(); - - for (auto &[key, toggle] : toggles) { - std::set modifiedDeveloperUIKeys = developerUIKeys ; - - toggle->setVisible(modifiedDeveloperUIKeys.find(key.c_str()) != modifiedDeveloperUIKeys.end()); - } - }); - visualToggle = developerUIToggle; - } else if (param == "BorderMetrics") { - std::vector borderToggles{"BlindSpotMetrics", "ShowSteering", "SignalMetrics"}; - std::vector borderToggleNames{tr("Blind Spot"), tr("Steering Torque"), tr("Turn Signal")}; - visualToggle = new FrogPilotParamToggleControl(param, title, desc, icon, borderToggles, borderToggleNames); - } else if (param == "LateralMetrics") { - std::vector lateralToggles{"TuningInfo"}; - std::vector lateralToggleNames{tr("Auto Tune")}; - visualToggle = new FrogPilotParamToggleControl(param, title, desc, icon, lateralToggles, lateralToggleNames); - } else if (param == "LongitudinalMetrics") { - std::vector longitudinalToggles{"LeadInfo", "JerkInfo"}; - std::vector longitudinalToggleNames{tr("Lead Info"), tr("Longitudinal Jerk")}; - visualToggle = new FrogPilotParamToggleControl(param, title, desc, icon, longitudinalToggles, longitudinalToggleNames); - } else if (param == "NumericalTemp") { - std::vector temperatureToggles{"Fahrenheit"}; - std::vector temperatureToggleNames{tr("Fahrenheit")}; - visualToggle = new FrogPilotParamToggleControl(param, title, desc, icon, temperatureToggles, temperatureToggleNames); - } else if (param == "SidebarMetrics") { - std::vector sidebarMetricsToggles{"ShowCPU", "ShowGPU", "ShowIP", "ShowMemoryUsage", "ShowStorageLeft", "ShowStorageUsed"}; - std::vector sidebarMetricsToggleNames{tr("CPU"), tr("GPU"), tr("IP"), tr("RAM"), tr("SSD Left"), tr("SSD Used")}; - FrogPilotParamToggleControl *sidebarMetricsToggle = new FrogPilotParamToggleControl(param, title, desc, icon, sidebarMetricsToggles, sidebarMetricsToggleNames, this, 125); - QObject::connect(sidebarMetricsToggle, &FrogPilotParamToggleControl::buttonTypeClicked, this, [this, sidebarMetricsToggle](int index) { - if (index == 0) { - params.putBool("ShowGPU", false); - } else if (index == 1) { - params.putBool("ShowCPU", false); - } else if (index == 3) { - params.putBool("ShowStorageLeft", false); - params.putBool("ShowStorageUsed", false); - } else if (index == 4) { - params.putBool("ShowMemoryUsage", false); - params.putBool("ShowStorageUsed", false); - } else if (index == 5) { - params.putBool("ShowMemoryUsage", false); - params.putBool("ShowStorageLeft", false); - } - - sidebarMetricsToggle->updateButtonStates(); - }); - visualToggle = sidebarMetricsToggle; - - } else if (param == "ModelUI") { - FrogPilotParamManageControl *modelUIToggle = new FrogPilotParamManageControl(param, title, desc, icon, this); - QObject::connect(modelUIToggle, &FrogPilotParamManageControl::manageButtonClicked, this, [this]() { - openParentToggle(); - - for (auto &[key, toggle] : toggles) { - std::set modifiedModelUIKeysKeys = modelUIKeys; - - if (!hasOpenpilotLongitudinal || disableOpenpilotLongitudinal) { - modifiedModelUIKeysKeys.erase("HideLeadMarker"); - } - - toggle->setVisible(modifiedModelUIKeysKeys.find(key.c_str()) != modifiedModelUIKeysKeys.end()); - } - }); - visualToggle = modelUIToggle; - } else if (param == "LaneLinesWidth" || param == "RoadEdgesWidth") { - visualToggle = new FrogPilotParamValueControl(param, title, desc, icon, 0, 24, std::map(), this, false, tr(" inches")); - } else if (param == "PathEdgeWidth") { - visualToggle = new FrogPilotParamValueControl(param, title, desc, icon, 0, 100, std::map(), this, false, tr("%")); - } else if (param == "PathWidth") { - visualToggle = new FrogPilotParamValueControl(param, title, desc, icon, 0, 100, std::map(), this, false, tr(" feet"), 10); } else if (param == "QOLVisuals") { - FrogPilotParamManageControl *qolToggle = new FrogPilotParamManageControl(param, title, desc, icon, this); - QObject::connect(qolToggle, &FrogPilotParamManageControl::manageButtonClicked, this, [this]() { - openParentToggle(); - - for (auto &[key, toggle] : toggles) { - toggle->setVisible(qolKeys.find(key.c_str()) != qolKeys.end()); - } + FrogPilotParamManageControl *qolToggle = new FrogPilotParamManageControl(param, title, desc, icon); + QObject::connect(qolToggle, &FrogPilotParamManageControl::manageButtonClicked, [this]() { + showToggles(qolKeys); }); visualToggle = qolToggle; - } else if (param == "CameraView") { - std::vector cameraOptions{tr("Auto"), tr("Driver"), tr("Standard"), tr("Wide")}; - FrogPilotButtonParamControl *preferredCamera = new FrogPilotButtonParamControl(param, title, desc, icon, cameraOptions); - visualToggle = preferredCamera; } else if (param == "BigMap") { std::vector mapToggles{"FullMap"}; std::vector mapToggleNames{tr("Full Map")}; - visualToggle = new FrogPilotParamToggleControl(param, title, desc, icon, mapToggles, mapToggleNames); - } else if (param == "HideSpeed") { - std::vector hideSpeedToggles{"HideSpeedUI"}; - std::vector hideSpeedToggleNames{tr("Control Via UI")}; - visualToggle = new FrogPilotParamToggleControl(param, title, desc, icon, hideSpeedToggles, hideSpeedToggleNames); + visualToggle = new FrogPilotButtonToggleControl(param, title, desc, mapToggles, mapToggleNames); } else if (param == "MapStyle") { QMap styleMap = { {0, tr("Stock openpilot")}, @@ -990,232 +92,55 @@ FrogPilotVisualsPanel::FrogPilotVisualsPanel(SettingsWindow *parent) : FrogPilot visualToggle = mapStyleButton; - } else if (param == "ScreenManagement") { - FrogPilotParamManageControl *screenToggle = new FrogPilotParamManageControl(param, title, desc, icon, this); - QObject::connect(screenToggle, &FrogPilotParamManageControl::manageButtonClicked, this, [this]() { - openParentToggle(); - - for (auto &[key, toggle] : toggles) { - toggle->setVisible(screenKeys.find(key.c_str()) != screenKeys.end()); - } - }); - visualToggle = screenToggle; - } else if (param == "HideUIElements") { - std::vector uiElementsToggles{"HideAlerts", "HideMapIcon", "HideMaxSpeed"}; - std::vector uiElementsToggleNames{tr("Alerts"), tr("Map Icon"), tr("Max Speed")}; - visualToggle = new FrogPilotParamToggleControl(param, title, desc, icon, uiElementsToggles, uiElementsToggleNames); - } else if (param == "ScreenBrightness" || param == "ScreenBrightnessOnroad") { - std::map brightnessLabels; - if (param == "ScreenBrightnessOnroad") { - for (int i = 0; i <= 101; i++) { - brightnessLabels[i] = (i == 0) ? tr("Screen Off") : (i == 101) ? tr("Auto") : QString::number(i) + "%"; - } - visualToggle = new FrogPilotParamValueControl(param, title, desc, icon, 0, 101, brightnessLabels, this, false); - } else { - for (int i = 1; i <= 101; i++) { - brightnessLabels[i] = (i == 101) ? tr("Auto") : QString::number(i) + "%"; - } - visualToggle = new FrogPilotParamValueControl(param, title, desc, icon, 1, 101, brightnessLabels, this, false); - } - } else if (param == "ScreenTimeout" || param == "ScreenTimeoutOnroad") { - visualToggle = new FrogPilotParamValueControl(param, title, desc, icon, 5, 60, std::map(), this, false, tr(" seconds")); - } else { - visualToggle = new ParamControl(param, title, desc, icon, this); + visualToggle = new ParamControl(param, title, desc, icon); } addItem(visualToggle); - toggles[param.toStdString()] = visualToggle; + toggles[param] = visualToggle; - QObject::connect(static_cast(visualToggle), &ToggleControl::toggleFlipped, &updateFrogPilotToggles); - QObject::connect(static_cast(visualToggle), &FrogPilotParamToggleControl::buttonTypeClicked, &updateFrogPilotToggles); - QObject::connect(static_cast(visualToggle), &FrogPilotParamValueControl::valueChanged, [this]() { - bool screen_management = params.getBool("ScreenManagement"); - if (!started) { - uiState()->scene.screen_brightness = screen_management ? params.getInt("ScreenBrightness") : 101; - } else { - uiState()->scene.screen_brightness_onroad = screen_management ? params.getInt("ScreenBrightnessOnroad") : 101; - } - updateFrogPilotToggles(); - }); + makeConnections(visualToggle); - QObject::connect(visualToggle, &AbstractControl::showDescriptionEvent, [this]() { - update(); - }); + if (FrogPilotParamManageControl *frogPilotManageToggle = qobject_cast(visualToggle)) { + QObject::connect(frogPilotManageToggle, &FrogPilotParamManageControl::manageButtonClicked, this, &FrogPilotVisualsPanel::openParentToggle); + } - QObject::connect(static_cast(visualToggle), &FrogPilotParamManageControl::manageButtonClicked, [this]() { + QObject::connect(visualToggle, &AbstractControl::showDescriptionEvent, [this]() { update(); }); } - QObject::connect(parent, &SettingsWindow::closeParentToggle, this, &FrogPilotVisualsPanel::hideToggles); - QObject::connect(parent, &SettingsWindow::closeSubParentToggle, this, &FrogPilotVisualsPanel::hideSubToggles); - QObject::connect(parent, &SettingsWindow::updateMetric, this, &FrogPilotVisualsPanel::updateMetric); - QObject::connect(uiState(), &UIState::offroadTransition, this, &FrogPilotVisualsPanel::updateCarToggles); - QObject::connect(uiState(), &UIState::uiUpdate, this, &FrogPilotVisualsPanel::updateState); - - updateMetric(); -} - -void FrogPilotVisualsPanel::showEvent(QShowEvent *event) { - disableOpenpilotLongitudinal = params.getBool("DisableOpenpilotLongitudinal"); - - colorsDownloaded = params.get("DownloadableColors").empty(); - iconsDownloaded = params.get("DownloadableIcons").empty(); - signalsDownloaded = params.get("DownloadableSignals").empty(); - soundsDownloaded = params.get("DownloadableSounds").empty(); - wheelsDownloaded = params.get("DownloadableWheels").empty(); -} - -void FrogPilotVisualsPanel::updateState(const UIState &s) { - if (!isVisible()) return; - - if (personalizeOpenpilotOpen) { - if (themeDownloading) { - QString progress = QString::fromStdString(paramsMemory.get("ThemeDownloadProgress")); - bool downloadFailed = progress.contains(QRegularExpression("cancelled|exists|Failed|offline", QRegularExpression::CaseInsensitiveOption)); - - if (progress != "Downloading...") { - downloadStatusLabel->setText(progress); - } - - if (progress == "Downloaded!" || downloadFailed) { - QTimer::singleShot(2000, [=]() { - if (!themeDownloading) { - downloadStatusLabel->setText("Idle"); - } - }); - paramsMemory.remove("ThemeDownloadProgress"); - colorDownloading = false; - iconDownloading = false; - signalDownloading = false; - soundDownloading = false; - themeDownloading = false; - wheelDownloading = false; - - colorsDownloaded = params.get("DownloadableColors").empty(); - iconsDownloaded = params.get("DownloadableIcons").empty(); - signalsDownloaded = params.get("DownloadableSignals").empty(); - soundsDownloaded = params.get("DownloadableSounds").empty(); - wheelsDownloaded = params.get("DownloadableWheels").empty(); - } - } - - manageCustomColorsBtn->setText(1, colorDownloading ? tr("CANCEL") : tr("DOWNLOAD")); - manageCustomColorsBtn->setButtonEnabled(0, !themeDeleting && !themeDownloading); - manageCustomColorsBtn->setButtonEnabled(1, s.scene.online && (!themeDownloading || colorDownloading) && !cancellingDownload && !themeDeleting && !colorsDownloaded); - manageCustomColorsBtn->setButtonEnabled(2, !themeDeleting && !themeDownloading); - - manageCustomIconsBtn->setText(1, iconDownloading ? tr("CANCEL") : tr("DOWNLOAD")); - manageCustomIconsBtn->setButtonEnabled(0, !themeDeleting && !themeDownloading); - manageCustomIconsBtn->setButtonEnabled(1, s.scene.online && (!themeDownloading || iconDownloading) && !cancellingDownload && !themeDeleting && !iconsDownloaded); - manageCustomIconsBtn->setButtonEnabled(2, !themeDeleting && !themeDownloading); - - manageCustomSignalsBtn->setText(1, signalDownloading ? tr("CANCEL") : tr("DOWNLOAD")); - manageCustomSignalsBtn->setButtonEnabled(0, !themeDeleting && !themeDownloading); - manageCustomSignalsBtn->setButtonEnabled(1, s.scene.online && (!themeDownloading || signalDownloading) && !cancellingDownload && !themeDeleting && !signalsDownloaded); - manageCustomSignalsBtn->setButtonEnabled(2, !themeDeleting && !themeDownloading); - - manageCustomSoundsBtn->setText(1, soundDownloading ? tr("CANCEL") : tr("DOWNLOAD")); - manageCustomSoundsBtn->setButtonEnabled(0, !themeDeleting && !themeDownloading); - manageCustomSoundsBtn->setButtonEnabled(1, s.scene.online && (!themeDownloading || soundDownloading) && !cancellingDownload && !themeDeleting && !soundsDownloaded); - manageCustomSoundsBtn->setButtonEnabled(2, !themeDeleting && !themeDownloading); - - manageWheelIconsBtn->setText(1, wheelDownloading ? tr("CANCEL") : tr("DOWNLOAD")); - manageWheelIconsBtn->setButtonEnabled(0, !themeDeleting && !themeDownloading); - manageWheelIconsBtn->setButtonEnabled(1, s.scene.online && (!themeDownloading || wheelDownloading) && !cancellingDownload && !themeDeleting && !wheelsDownloaded); - manageWheelIconsBtn->setButtonEnabled(2, !themeDeleting && !themeDownloading); - } - - started = s.scene.started; + QObject::connect(parent, &FrogPilotSettingsWindow::closeParentToggle, this, &FrogPilotVisualsPanel::hideToggles); + QObject::connect(parent, &FrogPilotSettingsWindow::updateCarToggles, this, &FrogPilotVisualsPanel::updateCarToggles); } void FrogPilotVisualsPanel::updateCarToggles() { - auto carParams = params.get("CarParamsPersistent"); - if (!carParams.empty()) { - AlignedBuffer aligned_buf; - capnp::FlatArrayMessageReader cmsg(aligned_buf.align(carParams.data(), carParams.size())); - cereal::CarParams::Reader CP = cmsg.getRoot(); - auto carName = CP.getCarName(); - - hasAutoTune = (carName == "hyundai" || carName == "toyota") && CP.getLateralTuning().which() == cereal::CarParams::LateralTuning::TORQUE; - hasBSM = CP.getEnableBsm(); - hasOpenpilotLongitudinal = hasLongitudinalControl(CP); - } else { - hasAutoTune = true; - hasBSM = true; - hasOpenpilotLongitudinal = true; - } + hasBSM = parent->hasBSM; hideToggles(); } -void FrogPilotVisualsPanel::updateMetric() { - bool previousIsMetric = isMetric; - isMetric = params.getBool("IsMetric"); - - if (isMetric != previousIsMetric) { - double distanceConversion = isMetric ? INCH_TO_CM : CM_TO_INCH; - double speedConversion = isMetric ? FOOT_TO_METER : METER_TO_FOOT; - - params.putIntNonBlocking("LaneLinesWidth", std::nearbyint(params.getInt("LaneLinesWidth") * distanceConversion)); - params.putIntNonBlocking("RoadEdgesWidth", std::nearbyint(params.getInt("RoadEdgesWidth") * distanceConversion)); - - params.putIntNonBlocking("PathWidth", std::nearbyint(params.getInt("PathWidth") * speedConversion)); - } +void FrogPilotVisualsPanel::showToggles(const std::set &keys) { + setUpdatesEnabled(false); - FrogPilotParamValueControl *laneLinesWidthToggle = static_cast(toggles["LaneLinesWidth"]); - FrogPilotParamValueControl *roadEdgesWidthToggle = static_cast(toggles["RoadEdgesWidth"]); - FrogPilotParamValueControl *pathWidthToggle = static_cast(toggles["PathWidth"]); - - if (isMetric) { - laneLinesWidthToggle->setDescription(tr("Customize the lane line width.\n\nDefault matches the Vienna average of 10 centimeters.")); - roadEdgesWidthToggle->setDescription(tr("Customize the road edges width.\n\nDefault is 1/2 of the Vienna average lane line width of 10 centimeters.")); - - laneLinesWidthToggle->updateControl(0, 60, tr(" centimeters")); - roadEdgesWidthToggle->updateControl(0, 60, tr(" centimeters")); - - pathWidthToggle->updateControl(0, 30, tr(" meters"), 10); - } else { - laneLinesWidthToggle->setDescription(tr("Customize the lane line width.\n\nDefault matches the MUTCD average of 4 inches.")); - roadEdgesWidthToggle->setDescription(tr("Customize the road edges width.\n\nDefault is 1/2 of the MUTCD average lane line width of 4 inches.")); - - laneLinesWidthToggle->updateControl(0, 24, tr(" inches")); - roadEdgesWidthToggle->updateControl(0, 24, tr(" inches")); - - pathWidthToggle->updateControl(0, 100, tr(" feet"), 10); + for (auto &[key, toggle] : toggles) { + toggle->setVisible(keys.find(key) != keys.end()); } - laneLinesWidthToggle->refresh(); - roadEdgesWidthToggle->refresh(); + setUpdatesEnabled(true); + update(); } void FrogPilotVisualsPanel::hideToggles() { - personalizeOpenpilotOpen = false; + setUpdatesEnabled(false); for (auto &[key, toggle] : toggles) { - bool subToggles = alertVolumeControlKeys.find(key.c_str()) != alertVolumeControlKeys.end() || - bonusContentKeys.find(key.c_str()) != bonusContentKeys.end() || - customAlertsKeys.find(key.c_str()) != customAlertsKeys.end() || - customOnroadUIKeys.find(key.c_str()) != customOnroadUIKeys.end() || - personalizeOpenpilotKeys.find(key.c_str()) != personalizeOpenpilotKeys.end() || - developerUIKeys.find(key.c_str()) != developerUIKeys.end() || - modelUIKeys.find(key.c_str()) != modelUIKeys.end() || - qolKeys.find(key.c_str()) != qolKeys.end() || - screenKeys.find(key.c_str()) != screenKeys.end(); - toggle->setVisible(!subToggles); - } + bool subToggles = customOnroadUIKeys.find(key) != customOnroadUIKeys.end() || + qolKeys.find(key) != qolKeys.end(); - update(); -} - -void FrogPilotVisualsPanel::hideSubToggles() { - if (personalizeOpenpilotOpen) { - for (auto &[key, toggle] : toggles) { - bool isVisible = bonusContentKeys.find(key.c_str()) != bonusContentKeys.end(); - toggle->setVisible(isVisible); - } + toggle->setVisible(!subToggles); } + setUpdatesEnabled(true); update(); } diff --git a/selfdrive/frogpilot/ui/qt/offroad/visual_settings.h b/selfdrive/frogpilot/ui/qt/offroad/visual_settings.h index e6473917d952cf..0a4dd5a5025236 100644 --- a/selfdrive/frogpilot/ui/qt/offroad/visual_settings.h +++ b/selfdrive/frogpilot/ui/qt/offroad/visual_settings.h @@ -2,69 +2,39 @@ #include -#include "selfdrive/ui/qt/offroad/settings.h" -#include "selfdrive/ui/ui.h" +#include "selfdrive/frogpilot/ui/qt/offroad/frogpilot_settings.h" class FrogPilotVisualsPanel : public FrogPilotListWidget { Q_OBJECT public: - explicit FrogPilotVisualsPanel(SettingsWindow *parent); + explicit FrogPilotVisualsPanel(FrogPilotSettingsWindow *parent); signals: void openParentToggle(); - void openSubParentToggle(); private: - void hideSubToggles(); void hideToggles(); - void showEvent(QShowEvent *event) override; + void showToggles(const std::set &keys); void updateCarToggles(); - void updateMetric(); - void updateState(const UIState &s); - FrogPilotButtonsControl *manageCustomColorsBtn; - FrogPilotButtonsControl *manageCustomIconsBtn; - FrogPilotButtonsControl *manageCustomSignalsBtn; - FrogPilotButtonsControl *manageCustomSoundsBtn; - FrogPilotButtonsControl *manageWheelIconsBtn; + std::set customOnroadUIKeys = { + "Compass", "CustomPaths", "DynamicPathWidth", + "PedalsOnUI", "RoadNameUI", "RotatingWheel" + }; - LabelControl *downloadStatusLabel; + std::set qolKeys = { + "BigMap", "DriverCamera", "MapStyle", + "StandbyMode", "StoppedTimer" + }; - std::set alertVolumeControlKeys = {"DisengageVolume", "EngageVolume", "PromptDistractedVolume", "PromptVolume", "RefuseVolume", "WarningImmediateVolume", "WarningSoftVolume"}; - std::set bonusContentKeys = {"GoatScream", "HolidayThemes", "PersonalizeOpenpilot", "RandomEvents"}; - std::set customAlertsKeys = {"GreenLightAlert", "LeadDepartingAlert", "LoudBlindspotAlert"}; - std::set customOnroadUIKeys = {"Compass", "CustomPaths", "PedalsOnUI", "RoadNameUI", "RotatingWheel", "ShowStoppingPoint"}; - std::set developerUIKeys = {"BorderMetrics", "FPSCounter", "LateralMetrics", "LongitudinalMetrics", "NumericalTemp", "SidebarMetrics", "UseSI"}; - std::set modelUIKeys = {"DynamicPathWidth", "HideLeadMarker", "LaneLinesWidth", "PathEdgeWidth", "PathWidth", "RoadEdgesWidth", "UnlimitedLength"}; - std::set personalizeOpenpilotKeys = {"CustomColors", "CustomIcons", "CustomSignals", "CustomSounds", "DownloadStatusLabel", "StartupAlert", "WheelIcon"}; - std::set qolKeys = {"BigMap", "CameraView", "DriverCamera", "FullMap", "HideSpeed", "MapStyle", "StoppedTimer", "WheelSpeed"}; - std::set screenKeys = {"HideUIElements", "ScreenBrightness", "ScreenBrightnessOnroad", "ScreenRecorder", "ScreenTimeout", "ScreenTimeoutOnroad", "StandbyMode"}; + FrogPilotSettingsWindow *parent; - std::map toggles; + FrogPilotButtonToggleControl *customPathsBtn; Params params; - Params paramsMemory{"/dev/shm/params"}; - bool cancellingDownload; - bool colorDownloading; - bool colorsDownloaded; - bool disableOpenpilotLongitudinal; - bool hasAutoTune; bool hasBSM; - bool hasOpenpilotLongitudinal; - bool iconDownloading; - bool iconsDownloaded; - bool isMetric = params.getBool("IsMetric"); - bool isRelease; - bool personalizeOpenpilotOpen; - bool signalDownloading; - bool signalsDownloaded; - bool soundDownloading; - bool soundsDownloaded; - bool started; - bool themeDeleting; - bool themeDownloading; - bool wheelDownloading; - bool wheelsDownloaded; + + std::map toggles; }; diff --git a/selfdrive/frogpilot/ui/qt/widgets/drive_stats.cc b/selfdrive/frogpilot/ui/qt/widgets/drive_stats.cc index 6b6abee5f63cef..07586a88b8e357 100644 --- a/selfdrive/frogpilot/ui/qt/widgets/drive_stats.cc +++ b/selfdrive/frogpilot/ui/qt/widgets/drive_stats.cc @@ -15,33 +15,13 @@ DriveStats::DriveStats(QWidget *parent) : QFrame(parent) { QVBoxLayout *main_layout = new QVBoxLayout(this); main_layout->setContentsMargins(50, 25, 50, 20); - auto add_stats_layouts = [=](const QString &title, StatsLabels &labels, bool FrogPilot=false) { - QGridLayout *grid_layout = new QGridLayout; - grid_layout->setVerticalSpacing(10); - grid_layout->setContentsMargins(0, 10, 0, 10); + addStatsLayouts(tr("ALL TIME"), all); + addStatsLayouts(tr("PAST WEEK"), week); + addStatsLayouts(tr("FROGPILOT"), frogPilot, true); - int row = 0; - grid_layout->addWidget(newLabel(title, FrogPilot ? "frogpilot_title" : "title"), row++, 0, 1, 3); - grid_layout->addItem(new QSpacerItem(0, 10), row++, 0, 1, 1); - - grid_layout->addWidget(labels.routes = newLabel("0", "number"), row, 0, Qt::AlignLeft); - grid_layout->addWidget(labels.distance = newLabel("0", "number"), row, 1, Qt::AlignLeft); - grid_layout->addWidget(labels.hours = newLabel("0", "number"), row, 2, Qt::AlignLeft); - - grid_layout->addWidget(newLabel((tr("Drives")), "unit"), row + 1, 0, Qt::AlignLeft); - grid_layout->addWidget(labels.distance_unit = newLabel(getDistanceUnit(), "unit"), row + 1, 1, Qt::AlignLeft); - grid_layout->addWidget(newLabel(tr("Hours"), "unit"), row + 1, 2, Qt::AlignLeft); - - main_layout->addLayout(grid_layout); - main_layout->addStretch(1); - }; - - add_stats_layouts(tr("ALL TIME"), all); - add_stats_layouts(tr("PAST WEEK"), week); - add_stats_layouts(tr("FROGPILOT"), frogPilot, true); - - if (auto dongleId = getDongleId()) { - QString url = CommaApi::BASE_URL + "/v1.1/devices/" + *dongleId + "/stats"; + std::optional dongleId = getDongleId(); + if (dongleId.has_value()) { + QString url = CommaApi::BASE_URL + "/v1.1/devices/" + dongleId.value() + "/stats"; RequestRepeater *repeater = new RequestRepeater(this, url, "ApiCache_DriveStats", 30); QObject::connect(repeater, &RequestRepeater::requestDone, this, &DriveStats::parseResponse); } @@ -59,31 +39,54 @@ DriveStats::DriveStats(QWidget *parent) : QFrame(parent) { )"); } -void DriveStats::updateStats() { - QJsonObject json = stats.object(); +void DriveStats::addStatsLayouts(const QString &title, StatsLabels &labels, bool FrogPilot) { + QGridLayout *grid_layout = new QGridLayout; + grid_layout->setVerticalSpacing(10); + grid_layout->setContentsMargins(0, 10, 0, 10); + + int row = 0; + grid_layout->addWidget(newLabel(title, FrogPilot ? "frogpilot_title" : "title"), row++, 0, 1, 3); + grid_layout->addItem(new QSpacerItem(0, 10), row++, 0, 1, 1); + + grid_layout->addWidget(labels.routes = newLabel("0", "number"), row, 0, Qt::AlignLeft); + grid_layout->addWidget(labels.distance = newLabel("0", "number"), row, 1, Qt::AlignLeft); + grid_layout->addWidget(labels.hours = newLabel("0", "number"), row, 2, Qt::AlignLeft); - auto updateFrogPilot = [this](const QJsonObject &obj, StatsLabels &labels) { - labels.routes->setText(QString::number(paramsTracking.getInt("FrogPilotDrives"))); - labels.distance->setText(QString::number(int(paramsTracking.getFloat("FrogPilotKilometers") * (metric ? 1 : KM_TO_MILE)))); - labels.distance_unit->setText(getDistanceUnit()); - labels.hours->setText(QString::number(int(paramsTracking.getFloat("FrogPilotMinutes") / 60))); - }; + grid_layout->addWidget(newLabel(tr("Drives"), "unit"), row + 1, 0, Qt::AlignLeft); + grid_layout->addWidget(labels.distance_unit = newLabel(getDistanceUnit(), "unit"), row + 1, 1, Qt::AlignLeft); + grid_layout->addWidget(newLabel(tr("Hours"), "unit"), row + 1, 2, Qt::AlignLeft); - updateFrogPilot(json["frogpilot"].toObject(), frogPilot); + QVBoxLayout *main_layout = static_cast(layout()); + main_layout->addLayout(grid_layout); + main_layout->addStretch(1); +} - auto update = [=](const QJsonObject &obj, StatsLabels &labels) { - labels.routes->setText(QString::number((int)obj["routes"].toDouble())); - labels.distance->setText(QString::number(int(obj["distance"].toDouble() * (metric ? MILE_TO_KM : 1)))); - labels.distance_unit->setText(getDistanceUnit()); - labels.hours->setText(QString::number((int)(obj["minutes"].toDouble() / 60))); - }; +void DriveStats::updateFrogPilotStats(const QJsonObject &obj, StatsLabels &labels) { + labels.routes->setText(QString::number(paramsTracking.getInt("FrogPilotDrives"))); + labels.distance->setText(QString::number(int(paramsTracking.getFloat("FrogPilotKilometers") * (metric ? 1 : KM_TO_MILE)))); + labels.distance_unit->setText(getDistanceUnit()); + labels.hours->setText(QString::number(int(paramsTracking.getFloat("FrogPilotMinutes") / 60))); +} - update(json["all"].toObject(), all); - update(json["week"].toObject(), week); +void DriveStats::updateStatsForLabel(const QJsonObject &obj, StatsLabels &labels) { + labels.routes->setText(QString::number((int)obj["routes"].toDouble())); + labels.distance->setText(QString::number(int(obj["distance"].toDouble() * (metric ? MILE_TO_KM : 1)))); + labels.distance_unit->setText(getDistanceUnit()); + labels.hours->setText(QString::number((int)(obj["minutes"].toDouble() / 60))); +} + +void DriveStats::updateStats() { + QJsonObject json = stats.object(); + + updateFrogPilotStats(json["frogpilot"].toObject(), frogPilot); + updateStatsForLabel(json["all"].toObject(), all); + updateStatsForLabel(json["week"].toObject(), week); } void DriveStats::parseResponse(const QString &response, bool success) { - if (!success) return; + if (!success) { + return; + } QJsonDocument doc = QJsonDocument::fromJson(response.trimmed().toUtf8()); if (doc.isNull()) { diff --git a/selfdrive/frogpilot/ui/qt/widgets/drive_stats.h b/selfdrive/frogpilot/ui/qt/widgets/drive_stats.h index d5bae39826acbc..ee38f1a72865e5 100644 --- a/selfdrive/frogpilot/ui/qt/widgets/drive_stats.h +++ b/selfdrive/frogpilot/ui/qt/widgets/drive_stats.h @@ -11,8 +11,18 @@ class DriveStats : public QFrame { private: inline QString getDistanceUnit() const { return metric ? tr("KM") : tr("Miles"); } + struct StatsLabels { + QLabel *routes; + QLabel *distance; + QLabel *distance_unit; + QLabel *hours; + }; + + void addStatsLayouts(const QString &title, StatsLabels &labels, bool FrogPilot = false); void showEvent(QShowEvent *event) override; void updateStats(); + void updateStatsForLabel(const QJsonObject &obj, StatsLabels &labels); + void updateFrogPilotStats(const QJsonObject &obj, StatsLabels &labels); Params params; Params paramsTracking{"/persist/tracking"}; @@ -21,9 +31,7 @@ class DriveStats : public QFrame { QJsonDocument stats; - struct StatsLabels { - QLabel *routes, *distance, *distance_unit, *hours; - } all, week, frogPilot; + StatsLabels all, week, frogPilot; private slots: void parseResponse(const QString &response, bool success); diff --git a/selfdrive/frogpilot/ui/qt/widgets/frogpilot_controls.cc b/selfdrive/frogpilot/ui/qt/widgets/frogpilot_controls.cc index 5cc6a7b0d3cc96..c135a3937e3bd4 100644 --- a/selfdrive/frogpilot/ui/qt/widgets/frogpilot_controls.cc +++ b/selfdrive/frogpilot/ui/qt/widgets/frogpilot_controls.cc @@ -1,73 +1,78 @@ +#include +#include +#include + #include "selfdrive/ui/ui.h" -Params paramsMemory{"/dev/shm/params"}; +void updateFrogPilotToggles() { + static Params paramsMemory{"/dev/shm/params"}; + static std::atomic isUpdating(false); + static std::thread resetThread; + + bool expected = false; + if (!isUpdating.compare_exchange_strong(expected, true)) { + return; + } -std::atomic callCounter(0); + if (resetThread.joinable()) { + resetThread.join(); + } -void updateFrogPilotToggles() { - int currentCall = ++callCounter; - std::thread([currentCall]() { - paramsMemory.putBool("FrogPilotTogglesUpdated", true); + paramsMemory.putBool("FrogPilotTogglesUpdated", true); + + resetThread = std::thread([&]() { util::sleep_for(1000); - if (currentCall == callCounter) { - paramsMemory.putBool("FrogPilotTogglesUpdated", false); - } - }).detach(); + paramsMemory.putBool("FrogPilotTogglesUpdated", false); + + isUpdating.store(false); + }); } -QColor loadThemeColors(const QString &colorKey) { - QFile file("../frogpilot/assets/active_theme/colors/colors.json"); - if (!file.open(QIODevice::ReadOnly)) return QColor(); +QColor loadThemeColors(const QString &colorKey, bool clearCache) { + static QJsonObject cachedColorData; - QJsonParseError parseError; - QJsonDocument doc = QJsonDocument::fromJson(file.readAll(), &parseError); - file.close(); + if (clearCache) { + cachedColorData = QJsonObject(); + return QColor(); + } - if (parseError.error != QJsonParseError::NoError || !doc.isObject()) return QColor(); + if (cachedColorData.isEmpty()) { + QFile file("../frogpilot/assets/active_theme/colors/colors.json"); + if (file.exists() && file.open(QIODevice::ReadOnly)) { + QJsonParseError parseError; + QByteArray fileData = file.readAll(); + QJsonDocument doc = QJsonDocument::fromJson(fileData, &parseError); - QJsonObject colorObj = doc.object().value(colorKey).toObject(); - int red = colorObj["red"].toInt(); - int green = colorObj["green"].toInt(); - int blue = colorObj["blue"].toInt(); - int alpha = colorObj["alpha"].toInt(); + if (parseError.error == QJsonParseError::NoError && doc.isObject()) { + cachedColorData = doc.object(); + } + } + } + + if (!cachedColorData.contains(colorKey)) { + return QColor(); + } - return QColor(red, green, blue, alpha); + QJsonObject colorObj = cachedColorData.value(colorKey).toObject(); + return QColor( + colorObj.value("red").toInt(0), + colorObj.value("green").toInt(0), + colorObj.value("blue").toInt(0), + colorObj.value("alpha").toInt(255) + ); } bool FrogPilotConfirmationDialog::toggle(const QString &prompt_text, const QString &confirm_text, QWidget *parent) { - ConfirmationDialog d = ConfirmationDialog(prompt_text, confirm_text, tr("Reboot Later"), false, parent); + ConfirmationDialog d(prompt_text, confirm_text, tr("Reboot Later"), false, parent); return d.exec(); } bool FrogPilotConfirmationDialog::toggleAlert(const QString &prompt_text, const QString &button_text, QWidget *parent) { - ConfirmationDialog d = ConfirmationDialog(prompt_text, button_text, "", false, parent); + ConfirmationDialog d(prompt_text, button_text, "", false, parent); return d.exec(); } bool FrogPilotConfirmationDialog::yesorno(const QString &prompt_text, QWidget *parent) { - ConfirmationDialog d = ConfirmationDialog(prompt_text, tr("Yes"), tr("No"), false, parent); + ConfirmationDialog d(prompt_text, tr("Yes"), tr("No"), false, parent); return d.exec(); } - -FrogPilotButtonIconControl::FrogPilotButtonIconControl(const QString &title, const QString &text, const QString &desc, const QString &icon, QWidget *parent) : AbstractControl(title, desc, icon, parent) { - btn.setText(text); - btn.setStyleSheet(R"( - QPushButton { - padding: 0; - border-radius: 50px; - font-size: 35px; - font-weight: 500; - color: #E4E4E4; - background-color: #393939; - } - QPushButton:pressed { - background-color: #4a4a4a; - } - QPushButton:disabled { - color: #33E4E4E4; - } - )"); - btn.setFixedSize(250, 100); - QObject::connect(&btn, &QPushButton::clicked, this, &FrogPilotButtonIconControl::clicked); - hlayout->addWidget(&btn); -} diff --git a/selfdrive/frogpilot/ui/qt/widgets/frogpilot_controls.h b/selfdrive/frogpilot/ui/qt/widgets/frogpilot_controls.h index 87fb8db130e1fc..d456abbea55699 100644 --- a/selfdrive/frogpilot/ui/qt/widgets/frogpilot_controls.h +++ b/selfdrive/frogpilot/ui/qt/widgets/frogpilot_controls.h @@ -2,16 +2,43 @@ #include -#include -#include -#include +#include #include #include "selfdrive/ui/qt/widgets/controls.h" +QColor loadThemeColors(const QString &colorKey, const bool clearCache = false); + void updateFrogPilotToggles(); -QColor loadThemeColors(const QString &colorKey); +inline QString processModelName(const QString &modelName) { + QString modelCleaned = modelName; + modelCleaned = modelCleaned.remove(QRegularExpression("[🗺️👀📡]")).simplified(); + modelCleaned = modelCleaned.remove(QRegularExpression("[^a-zA-Z0-9()-]")); + modelCleaned = modelCleaned.replace(" ", "").replace("(Default)", "").replace("-", ""); + return modelCleaned; +} + +const QString buttonStyle = R"( + QPushButton { + padding: 0px 25px 0px 25px; + border-radius: 50px; + font-size: 35px; + font-weight: 500; + height: 100px; + color: #E4E4E4; + background-color: #393939; + } + QPushButton:pressed { + background-color: #4a4a4a; + } + QPushButton:checked:enabled { + background-color: #33Ab4C; + } + QPushButton:disabled { + color: #33E4E4E4; + } +)"; class FrogPilotConfirmationDialog : public ConfirmationDialog { Q_OBJECT @@ -26,620 +53,353 @@ class FrogPilotConfirmationDialog : public ConfirmationDialog { class FrogPilotListWidget : public QWidget { Q_OBJECT -public: - explicit FrogPilotListWidget(QWidget *parent = nullptr) : QWidget(parent), outer_layout(this) { + public: + explicit FrogPilotListWidget(QWidget *parent = 0) : QWidget(parent), outer_layout(this) { outer_layout.setMargin(0); outer_layout.setSpacing(0); outer_layout.addLayout(&inner_layout); inner_layout.setMargin(0); - inner_layout.setSpacing(25); // default spacing is 25 + inner_layout.setSpacing(25); // default spacing is 25 + outer_layout.addStretch(); } - inline void addItem(QWidget *w) { + w->setSizePolicy(QSizePolicy::Preferred, QSizePolicy::Fixed); inner_layout.addWidget(w); - adjustStretch(); - } - - inline void addItem(QLayout *layout) { - inner_layout.addLayout(layout); - adjustStretch(); - } - - inline void setSpacing(int spacing) { - inner_layout.setSpacing(spacing); - adjustStretch(); } + inline void addItem(QLayout *layout) { inner_layout.addLayout(layout); } + inline void setSpacing(int spacing) { inner_layout.setSpacing(spacing); } private: - void adjustStretch() { - if (inner_layout.stretch(inner_layout.count() - 1) > 0) { - inner_layout.setStretch(inner_layout.count() - 1, 0); - } - if (inner_layout.count() > 3) { - outer_layout.addStretch(); - } - } - - void paintEvent(QPaintEvent *event) override { + void paintEvent(QPaintEvent *) override { QPainter p(this); p.setPen(Qt::gray); - - int visibleWidgetCount = 0; - std::vector visibleRects; - - for (int i = 0; i < inner_layout.count(); ++i) { + for (int i = 0; i < inner_layout.count() - 1; ++i) { QWidget *widget = inner_layout.itemAt(i)->widget(); - if (widget && widget->isVisible()) { - visibleWidgetCount++; - visibleRects.push_back(inner_layout.itemAt(i)->geometry()); + + QWidget *nextWidget = nullptr; + for (int j = i + 1; j < inner_layout.count(); ++j) { + nextWidget = inner_layout.itemAt(j)->widget(); + if (nextWidget != nullptr && nextWidget->isVisible()) { + break; + } } - } - for (int i = 0; i < visibleWidgetCount - 1; ++i) { - int bottom = visibleRects[i].bottom() + inner_layout.spacing() / 2; - p.drawLine(visibleRects[i].left() + 40, bottom, visibleRects[i].right() - 40, bottom); + if ((widget == nullptr || widget->isVisible()) && nextWidget != nullptr && nextWidget->isVisible()) { + QRect r = inner_layout.itemAt(i)->geometry(); + int bottom = r.bottom() + inner_layout.spacing() / 2; + p.drawLine(r.left() + 40, bottom, r.right() - 40, bottom); + } } } - QVBoxLayout outer_layout; QVBoxLayout inner_layout; }; -class FrogPilotButtonControl : public AbstractControl { - Q_OBJECT - -public: - FrogPilotButtonControl(const QString &title, const QString &text, const QString &desc = "", QWidget *parent = nullptr); - inline void setText(const QString &text) { btn.setText(text); } - inline QString text() const { return btn.text(); } - -signals: - void clicked(); - -public slots: - void setEnabled(bool enabled) { btn.setEnabled(enabled); } - -private: - QPushButton btn; -}; - -class FrogPilotButtonIconControl : public AbstractControl { +class FrogPilotButtonsControl : public AbstractControl { Q_OBJECT public: - FrogPilotButtonIconControl(const QString &title, const QString &text, const QString &desc = "", const QString &icon = "", QWidget *parent = nullptr); - inline void setText(const QString &text) { btn.setText(text); } - inline QString text() const { return btn.text(); } - -signals: - void clicked(); - -public slots: - void setEnabled(bool enabled) { btn.setEnabled(enabled); } - -private: - QPushButton btn; -}; - -class FrogPilotButtonParamControl : public ParamControl { - Q_OBJECT -public: - FrogPilotButtonParamControl(const QString ¶m, const QString &title, const QString &desc, const QString &icon, - const std::vector &button_texts, const int minimum_button_width = 225) - : ParamControl(param, title, desc, icon) { - const QString style = R"( - QPushButton { - border-radius: 50px; - font-size: 40px; - font-weight: 500; - height:100px; - padding: 0 25 0 25; - color: #E4E4E4; - background-color: #393939; - } - QPushButton:pressed { - background-color: #4a4a4a; - } - QPushButton:checked:enabled { - background-color: #33Ab4C; - } - QPushButton:disabled { - color: #33E4E4E4; - } - )"; - - key = param.toStdString(); - int value = atoi(params.get(key).c_str()); - - button_group = new QButtonGroup(this); - button_group->setExclusive(true); - for (size_t i = 0; i < button_texts.size(); i++) { - QPushButton *button = new QPushButton(button_texts[i], this); - button->setCheckable(true); - button->setChecked(i == value); - button->setStyleSheet(style); - button->setMinimumWidth(minimum_button_width); + FrogPilotButtonsControl(const QString &title, const QString &desc, + const std::vector &buttonLabels, + const bool checkable = false, const bool exclusive = true, const QString &icon = "", + const int minimumButtonWidth = 225) + : AbstractControl(title, desc, icon), buttonGroup(new QButtonGroup(this)) { + buttonGroup->setExclusive(exclusive); + for (int i = 0; i < buttonLabels.size(); ++i) { + QPushButton *button = new QPushButton(buttonLabels[i], this); + button->setCheckable(checkable); + button->setStyleSheet(buttonStyle); + button->setMinimumWidth(minimumButtonWidth); hlayout->addWidget(button); - button_group->addButton(button, i); + buttonGroup->addButton(button, i); } - QObject::connect(button_group, QOverload::of(&QButtonGroup::buttonToggled), [=](int id, bool checked) { - if (checked) { - params.put(key, std::to_string(id)); - refresh(); - emit buttonClicked(id); - } + QObject::connect(buttonGroup, QOverload::of(&QButtonGroup::buttonClicked), [=](int id) { + emit buttonClicked(id); }); - - toggle.hide(); } void setEnabled(bool enable) { - for (auto btn : button_group->buttons()) { + for (QAbstractButton *btn : buttonGroup->buttons()) { btn->setEnabled(enable); } } -signals: - void buttonClicked(int id); - -private: - std::string key; - Params params; - QButtonGroup *button_group; -}; - -class FrogPilotButtonsControl : public ParamControl { - Q_OBJECT -public: - FrogPilotButtonsControl(const QString &title, const QString &desc, const QString &icon, - const std::vector &button_texts, const bool checkable = false, const int minimum_button_width = 225) - : ParamControl("", title, desc, icon) { - const QString style = R"( - QPushButton { - border-radius: 50px; - font-size: 40px; - font-weight: 500; - height: 100px; - padding: 0 25px 0 25px; - color: #E4E4E4; - background-color: #393939; - } - QPushButton:checked { - background-color: #33Ab4C; - } - QPushButton:pressed { - background-color: #33Ab4C; - } - QPushButton:disabled { - color: #33E4E4E4; - } - )"; - - button_group = new QButtonGroup(this); - - for (size_t i = 0; i < button_texts.size(); i++) { - QPushButton *button = new QPushButton(button_texts[i], this); - button->setStyleSheet(style); - button->setCheckable(checkable); - button->setMinimumWidth(minimum_button_width); - hlayout->addWidget(button); - button_group->addButton(button, static_cast(i)); - - connect(button, &QPushButton::clicked, this, [this, i]() { - emit buttonClicked(static_cast(i)); - }); + void setCheckedButton(int id, bool status = true) { + if (QAbstractButton *button = buttonGroup->button(id)) { + button->setChecked(status); } - - toggle.hide(); } - void updateButtonStyles(int id) { - for (auto button : button_group->buttons()) { - button->setChecked(button_group->id(button) == id); - } - } - - void setEnabled(bool enable) { - for (auto btn : button_group->buttons()) { - btn->setEnabled(enable); + void setEnabledButtons(int id, bool enable) { + if (QAbstractButton *button = buttonGroup->button(id)) { + button->setEnabled(enable); } } - void setButtonEnabled(int id, bool enable) { - if (QPushButton *button = qobject_cast(button_group->button(id))) { - button->setEnabled(enable); + void setVisibleButton(int id, bool visible) { + if (QAbstractButton *button = buttonGroup->button(id)) { + button->setVisible(visible); } } void setText(int id, const QString &text) { - if (QPushButton *button = qobject_cast(button_group->button(id))) { + if (QAbstractButton *button = buttonGroup->button(id)) { button->setText(text); } } - QPushButton *getButton(int id) const { - return qobject_cast(button_group->button(id)); - } - signals: void buttonClicked(int id); private: - QButtonGroup *button_group; + QButtonGroup *buttonGroup; }; -class FrogPilotButtonsParamControl : public ParamControl { +class FrogPilotButtonToggleControl : public ParamControl { Q_OBJECT -public: - FrogPilotButtonsParamControl(const QString ¶m, const QString &title, const QString &desc, const QString &icon, - const std::vector> &button_params) - : ParamControl(param, title, desc, icon) { - const QString style = R"( - QPushButton { - border-radius: 50px; - font-size: 40px; - font-weight: 500; - height:100px; - padding: 0 25 0 25; - color: #E4E4E4; - background-color: #393939; - } - QPushButton:pressed { - background-color: #4a4a4a; - } - QPushButton:checked:enabled { - background-color: #33Ab4C; - } - QPushButton:disabled { - color: #33E4E4E4; - } - )"; - button_group = new QButtonGroup(this); - button_group->setExclusive(true); +public: + FrogPilotButtonToggleControl(const QString ¶m, const QString &title, const QString &desc, + const std::vector &buttonParams, const std::vector &buttonLabels, + const bool exclusive = false, const int minimumButtonWidth = 225, QWidget *parent = nullptr) + : ParamControl(param, title, desc, "", parent), + key(param.toStdString()), buttonParams(buttonParams), buttonGroup(new QButtonGroup(this)) { + buttonGroup->setExclusive(exclusive); + + for (int i = 0; i < buttonLabels.size(); ++i) { + QPushButton *button = new QPushButton(buttonLabels[i], this); + button->setCheckable(true); + button->setStyleSheet(buttonStyle); + button->setMinimumWidth(minimumButtonWidth); + hlayout->addWidget(button); + buttonGroup->addButton(button, i); + } - for (const auto ¶m_pair : button_params) { - const QString ¶m_toggle = param_pair.first; - const QString &button_text = param_pair.second; + hlayout->addWidget(&toggle); - QPushButton *button = new QPushButton(button_text, this); - button->setCheckable(true); + QObject::connect(buttonGroup, QOverload::of(&QButtonGroup::buttonClicked), [=](int id) { + bool checked = buttonGroup->button(id)->isChecked(); + params.putBool(buttonParams[id].toStdString(), checked); + emit buttonClicked(id); + }); - bool value = params.getBool(param_toggle.toStdString()); - button->setChecked(value); - button->setStyleSheet(style); - button->setMinimumWidth(225); - hlayout->addWidget(button); + QObject::connect(this, &ToggleControl::toggleFlipped, this, &FrogPilotButtonToggleControl::refresh); + } - QObject::connect(button, &QPushButton::toggled, this, [=](bool checked) { - if (checked) { - for (const auto &inner_param_pair : button_params) { - const QString &inner_param = inner_param_pair.first; - params.putBool(inner_param.toStdString(), inner_param == param_toggle); - } - refresh(); - emit buttonClicked(); - } - }); + void refresh() { + bool state = params.getBool(key); + if (state != toggle.on) { + toggle.togglePosition(); + } - button_group->addButton(button); + const QList buttons = buttonGroup->buttons(); + for (int i = 0; i < buttons.size(); ++i) { + QAbstractButton *button = buttons[i]; + if (button) { + button->setVisible(state); + button->setChecked(params.getBool(buttonParams[i].toStdString())); + } } + } - toggle.hide(); + void setEnabledButtons(int id, bool enable) { + if (QAbstractButton *button = buttonGroup->button(id)) { + button->setEnabled(enable); + } } - void setEnabled(bool enable) { - for (auto btn : button_group->buttons()) { - btn->setEnabled(enable); + void setVisibleButton(int id, bool visible) { + if (QAbstractButton *button = buttonGroup->button(id)) { + button->setVisible(visible); } } signals: - void buttonClicked(); + void buttonClicked(int id); + +protected: + void showEvent(QShowEvent *event) override { + refresh(); + QObject::connect(this, &ToggleControl::toggleFlipped, this, &FrogPilotButtonToggleControl::refresh); + } private: Params params; - QButtonGroup *button_group; + + QButtonGroup *buttonGroup; + + std::string key; + std::vector buttonParams; }; class FrogPilotParamManageControl : public ParamControl { Q_OBJECT public: - FrogPilotParamManageControl(const QString ¶m, const QString &title, const QString &desc, const QString &icon, QWidget *parent = nullptr, bool hideToggle = false) + FrogPilotParamManageControl(const QString ¶m, const QString &title, const QString &desc, const QString &icon, QWidget *parent = nullptr) : ParamControl(param, title, desc, icon, parent), - hideToggle(hideToggle), key(param.toStdString()), - manageButton(new ButtonControl(tr(""), tr("MANAGE"), tr(""))) { + manageButton(new ButtonControl("", tr("MANAGE"))) { + hlayout->insertWidget(hlayout->indexOf(&toggle) - 1, manageButton); - connect(this, &ToggleControl::toggleFlipped, this, [this](bool state) { - refresh(); - }); + QObject::connect(manageButton, &ButtonControl::clicked, this, &FrogPilotParamManageControl::manageButtonClicked); + QObject::connect(this, &ToggleControl::toggleFlipped, this, &FrogPilotParamManageControl::refresh); + } - connect(manageButton, &ButtonControl::clicked, this, &FrogPilotParamManageControl::manageButtonClicked); + void setEnabled(bool enabled) { + manageButton->setEnabled(enabled && params.getBool(key)); - if (hideToggle) { - toggle.hide(); - } + toggle.setEnabled(enabled); + toggle.update(); } void refresh() { - ParamControl::refresh(); - manageButton->setVisible(params.getBool(key) || hideToggle); + manageButton->setEnabled(params.getBool(key)); } - void setEnabled(bool enabled) { - manageButton->setEnabled(enabled); - toggle.setEnabled(enabled); - toggle.update(); - } +signals: + void manageButtonClicked(); +protected: void showEvent(QShowEvent *event) override { ParamControl::showEvent(event); refresh(); } -signals: - void manageButtonClicked(); - private: - bool hideToggle; - std::string key; Params params; + ButtonControl *manageButton; + + std::string key; }; -class FrogPilotParamToggleControl : public ParamControl { +class FrogPilotParamValueControl : public AbstractControl { Q_OBJECT -public: - FrogPilotParamToggleControl(const QString ¶m, const QString &title, const QString &desc, - const QString &icon, const std::vector &button_params, - const std::vector &button_texts, QWidget *parent = nullptr, - const int minimum_button_width = 225) - : ParamControl(param, title, desc, icon, parent) { - - key = param.toStdString(); - connect(this, &ToggleControl::toggleFlipped, this, [this](bool state) { - refreshButtons(state); - }); - - const QString style = R"( - QPushButton { - border-radius: 50px; - font-size: 40px; - font-weight: 500; - height:100px; - padding: 0 25 0 25; - color: #E4E4E4; - background-color: #393939; - } - QPushButton:pressed { - background-color: #4a4a4a; - } - QPushButton:checked:enabled { - background-color: #33Ab4C; - } - QPushButton:disabled { - color: #33E4E4E4; - } - )"; - - button_group = new QButtonGroup(this); - button_group->setExclusive(false); - this->button_params = button_params; +public: + FrogPilotParamValueControl(const QString ¶m, const QString &title, const QString &desc, const QString &icon, + const float minValue, const float maxValue, const QString &label = "", const std::map &valueLabels = {}, + const float interval = 1.0f, const bool compactSize = false, const bool instantUpdate = false) + : AbstractControl(title, desc, icon), key(param.toStdString()), minValue(minValue), maxValue(maxValue), + labelText(label), interval(interval), valueLabels(valueLabels), + decimalPlaces(std::ceil(-std::log10(interval))), factor(std::pow(10.0f, decimalPlaces)), + instantUpdate(instantUpdate) { - for (int i = 0; i < button_texts.size(); ++i) { - QPushButton *button = new QPushButton(button_texts[i], this); - button->setCheckable(true); - button->setStyleSheet(style); - button->setMinimumWidth(minimum_button_width); - button_group->addButton(button, i); - - connect(button, &QPushButton::clicked, [this, i](bool checked) { - params.putBool(this->button_params[i].toStdString(), checked); - button_group->button(i)->setChecked(checked); - emit buttonClicked(checked); - emit buttonTypeClicked(i); - }); - - hlayout->insertWidget(hlayout->indexOf(&toggle) - 1, button); - } - } + setupButton(decrementButton, "-"); + setupButton(incrementButton, "+"); - void refresh() { - bool state = params.getBool(key); - if (state != toggle.on) { - toggle.togglePosition(); + valueLabel = new QLabel(this); + valueLabel->setAlignment(Qt::AlignRight | Qt::AlignVCenter); + valueLabel->setStyleSheet("QLabel { color: #E0E879; }"); + if (compactSize) { + valueLabel->setFixedSize(175, 100); + } else { + valueLabel->setFixedSize(350, 100); } - refreshButtons(state); - updateButtonStates(); - } + hlayout->addWidget(valueLabel); + hlayout->addWidget(&decrementButton); + hlayout->addWidget(&incrementButton); - void refreshButtons(bool state) { - for (QAbstractButton *button : button_group->buttons()) { - button->setVisible(state); - } + QObject::connect(&decrementButton, &QPushButton::pressed, this, &FrogPilotParamValueControl::onDecrementPressed); + QObject::connect(&incrementButton, &QPushButton::pressed, this, &FrogPilotParamValueControl::onIncrementPressed); + QObject::connect(&decrementButton, &QPushButton::released, this, &FrogPilotParamValueControl::onButtonReleased); + QObject::connect(&incrementButton, &QPushButton::released, this, &FrogPilotParamValueControl::onButtonReleased); } - void updateButtonStates() { - for (int i = 0; i < button_group->buttons().size(); ++i) { - bool checked = params.getBool(button_params[i].toStdString()); - QAbstractButton *button = button_group->button(i); - if (button) { - button->setChecked(checked); - } - } + void updateControl(float newMinValue, float newMaxValue, const QString &newLabel = "") { + minValue = newMinValue; + maxValue = newMaxValue; + labelText = newLabel; + refresh(); } - void showEvent(QShowEvent *event) override { - refresh(); - QWidget::showEvent(event); + void refresh() { + value = params.getFloat(key); + updateValueDisplay(); } signals: - void buttonClicked(const bool checked); - void buttonTypeClicked(int i); - -private: - std::string key; - Params params; - QButtonGroup *button_group; - std::vector button_params; -}; - -class FrogPilotParamValueControl : public ParamControl { - Q_OBJECT - -public: - FrogPilotParamValueControl(const QString ¶m, const QString &title, const QString &desc, const QString &icon, - const float &minValue, const float &maxValue, const std::map &valueLabels, - QWidget *parent = nullptr, const bool &loop = true, const QString &label = "", - const float &division = 1.0f, const float &interval = 1.0f) - : ParamControl(param, title, desc, icon, parent), - minValue(minValue), maxValue(maxValue), valueLabelMappings(valueLabels), loop(loop), labelText(label), - division(division), interval(interval), previousValue(0.0f), value(0.0f) { - key = param.toStdString(); - - valueLabel = new QLabel(this); - hlayout->addWidget(valueLabel); - - QPushButton *decrementButton = createButton("-", this); - QPushButton *incrementButton = createButton("+", this); - - hlayout->addWidget(decrementButton); - hlayout->addWidget(incrementButton); - - countdownTimer = new QTimer(this); - countdownTimer->setInterval(150); - countdownTimer->setSingleShot(true); - - connect(countdownTimer, &QTimer::timeout, this, &FrogPilotParamValueControl::handleTimeout); - - connect(decrementButton, &QPushButton::pressed, this, [=]() { updateValue(-interval); }); - connect(incrementButton, &QPushButton::pressed, this, [=]() { updateValue(interval); }); - - connect(decrementButton, &QPushButton::released, this, &FrogPilotParamValueControl::restartTimer); - connect(incrementButton, &QPushButton::released, this, &FrogPilotParamValueControl::restartTimer); + void valueChanged(float value); - toggle.hide(); +protected: + void showEvent(QShowEvent *event) override { + refresh(); } - void restartTimer() { - countdownTimer->stop(); - countdownTimer->start(); - - emit valueChanged(value); +private slots: + void onIncrementPressed() { + adjustValue(interval); } - void handleTimeout() { - previousValue = value; + void onDecrementPressed() { + adjustValue(-interval); } - void updateValue(float intervalChange) { - int previousValueAdjusted = round(previousValue * 100) / 100 / intervalChange; - int valueAdjusted = round(value * 100) / 100 / intervalChange; - - if (std::fabs(previousValueAdjusted - valueAdjusted) > 5 && std::fmod(valueAdjusted, 5) == 0) { - intervalChange *= 5; + void onButtonReleased() { + if (instantUpdate) { + params.putFloatNonBlocking(key, value); } - value += intervalChange; - - if (loop) { - if (value < minValue) { - value = maxValue; - } else if (value > maxValue) { - value = minValue; + float lastValue = value; + QTimer::singleShot(50, this, [this, lastValue]() { + if (lastValue != value) { + return; } - } else { - value = std::max(minValue, std::min(maxValue, value)); - } - params.putFloat(key, value); - refresh(); + previousDelta = false; + if (!instantUpdate) { + params.putFloat(key, value); + emit valueChanged(value); + } + }); } - void refresh() { - value = params.getFloat(key); - - QString text; - auto it = valueLabelMappings.find(value); - int decimals = interval < 1.0f ? static_cast(-std::log10(interval)) : 2; - - if (division > 1.0f) { - text = QString::number(value / division, 'g', division >= 10.0f ? 4 : 3); - } else { - if (it != valueLabelMappings.end()) { - text = it->second; - } else { - if (value >= 100.0f) { - text = QString::number(value, 'f', 0); - } else { - text = QString::number(value, interval < 1.0f ? 'f' : 'g', decimals); - } +private: + void adjustValue(float delta) { + float modResult = fmod(value, 5.0f * interval); + if (modResult < interval) { + if (previousDelta) { + delta *= 5; } + previousDelta = true; } - if (!labelText.isEmpty()) { - text += labelText; - } + value = qBound(minValue, value + delta, maxValue); + value = std::round(value * factor) / factor; - valueLabel->setText(text); - valueLabel->setStyleSheet("QLabel { color: #E0E879; }"); - } + updateValueDisplay(); - void updateControl(float newMinValue, float newMaxValue, const QString &newLabel, float newDivision = 1.0f) { - minValue = newMinValue; - maxValue = newMaxValue; - labelText = newLabel; - division = newDivision; + if (instantUpdate) { + emit valueChanged(value); + } } - void showEvent(QShowEvent *event) override { - refresh(); - previousValue = value; + void updateValueDisplay() { + int intValue = static_cast(value); + if (valueLabels.count(intValue)) { + valueLabel->setText(valueLabels.at(intValue)); + } else { + valueLabel->setText(QString::number(value, 'f', decimalPlaces) + labelText); + } } -signals: - void valueChanged(float value); - -private: - Params params; - - bool loop; - - float division; - float interval; - float maxValue; - float minValue; - float previousValue; - float value; - - QLabel *valueLabel; - QString labelText; - - std::map valueLabelMappings; - std::string key; - - QTimer *countdownTimer; - - QPushButton *createButton(const QString &text, QWidget *parent) { - QPushButton *button = new QPushButton(text, parent); - button->setFixedSize(150, 100); - button->setAutoRepeat(true); - button->setAutoRepeatInterval(150); - button->setAutoRepeatDelay(500); - button->setStyleSheet(R"( + void setupButton(QPushButton &button, const QString &text) { + button.setFixedSize(150, 100); + button.setText(text); + button.setAutoRepeat(true); + button.setAutoRepeatInterval(150); + button.setAutoRepeatDelay(500); + button.setStyleSheet(R"( QPushButton { border-radius: 50px; font-size: 50px; font-weight: 500; height: 100px; - padding: 0 25 0 25; + padding: 0 25px; color: #E4E4E4; background-color: #393939; } @@ -647,82 +407,100 @@ class FrogPilotParamValueControl : public ParamControl { background-color: #4a4a4a; } )"); - return button; } + + Params params; + + QLabel *valueLabel; + + QPushButton decrementButton; + QPushButton incrementButton; + + QString labelText; + + bool instantUpdate; + bool previousDelta; + + int decimalPlaces; + + float factor; + float interval; + float minValue; + float maxValue; + float value; + + std::map valueLabels; + + std::string key; }; -class FrogPilotParamValueToggleControl : public FrogPilotParamValueControl { +class FrogPilotParamValueButtonControl : public FrogPilotParamValueControl { Q_OBJECT public: - FrogPilotParamValueToggleControl(const QString ¶m, const QString &title, const QString &desc, const QString &icon, - const float &minValue, const float &maxValue, const std::map &valueLabels, - QWidget *parent = nullptr, const bool &loop = true, const QString &label = "", - const float &division = 1.0f, const float &interval = 1.0f, - const std::vector &button_params = std::vector(), const std::vector &button_texts = std::vector(), - const int minimum_button_width = 225) - : FrogPilotParamValueControl(param, title, desc, icon, minValue, maxValue, valueLabels, parent, loop, label, division, interval) { - - const QString style = R"( - QPushButton { - border-radius: 50px; - font-size: 40px; - font-weight: 500; - height: 100px; - padding: 0 25 0 25; - color: #E4E4E4; - background-color: #393939; - } - QPushButton:pressed { - background-color: #4a4a4a; - } - QPushButton:checked:enabled { - background-color: #33Ab4C; - } - QPushButton:disabled { - color: #33E4E4E4; - } - )"; - - button_group = new QButtonGroup(this); - button_group->setExclusive(false); + FrogPilotParamValueButtonControl(const QString ¶m, const QString &title, const QString &desc, const QString &icon, + const float minValue, const float maxValue, const QString &label = "", const std::map &valueLabels = {}, + const float interval = 1.0f, + const std::vector &buttonParams = {}, const std::vector &buttonLabels = {}, + const bool checkable = true, const int minimumButtonWidth = 225) + : FrogPilotParamValueControl(param, title, desc, icon, minValue, maxValue, label, valueLabels, interval, true), + buttonParams(buttonParams), + buttonGroup(new QButtonGroup(this)), + checkable(checkable) { + + buttonGroup->setExclusive(false); + + for (int i = 0; i < buttonLabels.size(); ++i) { + QPushButton *button = new QPushButton(buttonLabels[i], this); + button->setCheckable(checkable); + button->setStyleSheet(buttonStyle); + button->setMinimumWidth(minimumButtonWidth); - for (int i = 0; i < button_texts.size(); ++i) { - QPushButton *button = new QPushButton(button_texts[i], this); - button->setCheckable(true); - button->setChecked(params.getBool(button_params[i].toStdString())); - button->setStyleSheet(style); - button->setMinimumWidth(minimum_button_width); - button_group->addButton(button, i); - - connect(button, &QPushButton::clicked, [this, button_params, i](bool checked) { - params.putBool(button_params[i].toStdString(), checked); - emit buttonClicked(); - refresh(); - }); - - buttons[button_params[i]] = button; - hlayout->insertWidget(3, button); + hlayout->addWidget(button); + buttonGroup->addButton(button, i); } + + QObject::connect(buttonGroup, QOverload::of(&QButtonGroup::buttonClicked), [=](int id) { + if (checkable) { + bool checked = buttonGroup->button(id)->isChecked(); + params.putBool(buttonParams[id].toStdString(), checked); + } + emit buttonClicked(id); + }); + + QObject::connect(this, &FrogPilotParamValueControl::valueChanged, this, &FrogPilotParamValueButtonControl::refresh); } void refresh() { - FrogPilotParamValueControl::refresh(); - - auto keys = buttons.keys(); - for (const QString ¶m : keys) { - QPushButton *button = buttons.value(param); - button->setChecked(params.getBool(param.toStdString())); + if (checkable) { + const QList buttons = buttonGroup->buttons(); + for (int i = 0; i < buttons.size(); ++i) { + QAbstractButton *button = buttons[i]; + if (button) { + button->setChecked(params.getBool(buttonParams[i].toStdString())); + } + } } + FrogPilotParamValueControl::refresh(); } signals: - void buttonClicked(); + void buttonClicked(int id); + +protected: + void showEvent(QShowEvent *event) override { + FrogPilotParamValueControl::showEvent(event); + refresh(); + } private: Params params; - QButtonGroup *button_group; - QMap buttons; + + QButtonGroup *buttonGroup; + + bool checkable; + + std::vector buttonParams; }; class FrogPilotDualParamControl : public QFrame { @@ -730,15 +508,18 @@ class FrogPilotDualParamControl : public QFrame { public: FrogPilotDualParamControl(FrogPilotParamValueControl *control1, FrogPilotParamValueControl *control2, QWidget *parent = nullptr) - : QFrame(parent), control1(control1), control2(control2) { + : QFrame(parent), control1(control1), control2(control2) { QHBoxLayout *hlayout = new QHBoxLayout(this); hlayout->addWidget(control1); hlayout->addWidget(control2); + + control1->setObjectName("control1"); + control2->setObjectName("control2"); } - void updateControl(float newMinValue, float newMaxValue, const QString &newLabel, float newDivision = 1.0f) { - control1->updateControl(newMinValue, newMaxValue, newLabel, newDivision); - control2->updateControl(newMinValue, newMaxValue, newLabel, newDivision); + void updateControl(float newMinValue, float newMaxValue, const QString &newLabel = "") { + control1->updateControl(newMinValue, newMaxValue, newLabel); + control2->updateControl(newMinValue, newMaxValue, newLabel); } void refresh() { @@ -750,3 +531,82 @@ class FrogPilotDualParamControl : public QFrame { FrogPilotParamValueControl *control1; FrogPilotParamValueControl *control2; }; + +inline void makeConnections(QObject *controlToggle, std::function slot = updateFrogPilotToggles) { + if (!controlToggle) { + return; + } + + FrogPilotButtonsControl *frogpilotButtonsControl = qobject_cast(controlToggle); + if (frogpilotButtonsControl) { + QObject::connect(frogpilotButtonsControl, &FrogPilotButtonsControl::buttonClicked, [slot]() { + slot(); + }); + return; + } + + FrogPilotButtonToggleControl *frogpilotToggleButtonControl = qobject_cast(controlToggle); + if (frogpilotToggleButtonControl) { + QObject::connect(frogpilotToggleButtonControl, &FrogPilotButtonToggleControl::buttonClicked, [slot]() { + slot(); + }); + return; + } + + FrogPilotParamValueButtonControl *paramValueButtonControl = qobject_cast(controlToggle); + if (paramValueButtonControl) { + QObject::connect(paramValueButtonControl, &FrogPilotParamValueButtonControl::buttonClicked, [slot]() { + slot(); + }); + QObject::connect(paramValueButtonControl, &FrogPilotParamValueButtonControl::valueChanged, [slot]() { + slot(); + }); + return; + } + + FrogPilotParamValueControl *paramValueControl = qobject_cast(controlToggle); + if (paramValueControl) { + QObject::connect(paramValueControl, &FrogPilotParamValueControl::valueChanged, [slot]() { + slot(); + }); + return; + } + + FrogPilotDualParamControl *dualParamControl = qobject_cast(controlToggle); + if (dualParamControl) { + QObject *control1 = dualParamControl->findChild("control1"); + if (control1) { + makeConnections(control1, slot); + } + + QObject *control2 = dualParamControl->findChild("control2"); + if (control2) { + makeConnections(control2, slot); + } + + return; + } + + ButtonParamControl *buttonParamControl = qobject_cast(controlToggle); + if (buttonParamControl) { + QObject::connect(buttonParamControl, &ButtonParamControl::buttonClicked, [slot]() { + slot(); + }); + return; + } + + ParamControl *paramControl = qobject_cast(controlToggle); + if (paramControl) { + QObject::connect(paramControl, &ToggleControl::toggleFlipped, [slot]() { + slot(); + }); + return; + } + + ToggleControl *toggleControl = qobject_cast(controlToggle); + if (toggleControl) { + QObject::connect(toggleControl, &ToggleControl::toggleFlipped, [slot]() { + slot(); + }); + } +} diff --git a/selfdrive/frogpilot/ui/qt/widgets/model_reviewer.cc b/selfdrive/frogpilot/ui/qt/widgets/model_reviewer.cc index f788ad157fd62a..58df15b53cfddd 100644 --- a/selfdrive/frogpilot/ui/qt/widgets/model_reviewer.cc +++ b/selfdrive/frogpilot/ui/qt/widgets/model_reviewer.cc @@ -3,7 +3,7 @@ ModelReview::ModelReview(QWidget *parent) : QFrame(parent) { mainLayout = new QStackedLayout(this); - ratingLayout = new QVBoxLayout(); + QVBoxLayout *ratingLayout = new QVBoxLayout(); ratingLayout->setContentsMargins(50, 25, 50, 20); questionLabel = addLabel(ratingLayout, "What would you rate that drive?", "question"); @@ -14,30 +14,27 @@ ModelReview::ModelReview(QWidget *parent) : QFrame(parent) { for (int i = 0; i < emojis.size(); ++i) { QPushButton *ratingButton = createButton(emojis[i], "rating_button", scores[i], 150, 150); - connect(ratingButton, &QPushButton::clicked, this, &ModelReview::onRatingButtonClicked); - ratingButtons.append(ratingButton); ratingButtonsLayout->addWidget(ratingButton); + QObject::connect(ratingButton, &QPushButton::clicked, this, &ModelReview::onRatingButtonClicked); } ratingLayout->addLayout(ratingButtonsLayout); blacklistButton = createButton("Blacklist this model", "blacklist_button", 0, 600, 100); - connect(blacklistButton, &QPushButton::clicked, this, &ModelReview::onBlacklistButtonClicked); + QObject::connect(blacklistButton, &QPushButton::clicked, this, &ModelReview::onBlacklistButtonClicked); ratingLayout->addWidget(blacklistButton, 0, Qt::AlignCenter); QWidget *ratingWidget = new QWidget(this); ratingWidget->setLayout(ratingLayout); - mainLayout->addWidget(ratingWidget); - modelInfoLayout = new QVBoxLayout(); + QVBoxLayout *modelInfoLayout = new QVBoxLayout(); modelInfoLayout->setContentsMargins(50, 25, 50, 20); titleLabel = addLabel(modelInfoLayout, "The model used during that drive was:", "title"); modelLabel = addLabel(modelInfoLayout, "", "model"); - QSpacerItem *spacer = new QSpacerItem(20, 75, QSizePolicy::Minimum, QSizePolicy::Fixed); - modelInfoLayout->addItem(spacer); + modelInfoLayout->addItem(new QSpacerItem(20, 75, QSizePolicy::Minimum, QSizePolicy::Fixed)); QVBoxLayout *bottomLayout = new QVBoxLayout(); modelScoreLabel = addLabel(bottomLayout, "Current Model Score: 0", "score"); @@ -50,7 +47,6 @@ ModelReview::ModelReview(QWidget *parent) : QFrame(parent) { QWidget *modelInfoWidget = new QWidget(this); modelInfoWidget->setLayout(modelInfoLayout); - mainLayout->addWidget(modelInfoWidget); setStyleSheet(R"( @@ -117,11 +113,7 @@ void ModelReview::showEvent(QShowEvent *event) { currentModel = QString::fromStdString(paramsMemory.get("CurrentModelName")); currentModelFiltered = processModelName(currentModel); - if (modelRated) { - mainLayout->setCurrentIndex(1); - } else { - mainLayout->setCurrentIndex(0); - } + mainLayout->setCurrentIndex(modelRated ? 1 : 0); checkBlacklistButtonVisibility(); } @@ -135,15 +127,15 @@ void ModelReview::mousePressEvent(QMouseEvent *e) { } void ModelReview::updateLabel() { - modelLabel->setText(currentModel.remove(QRegularExpression("[🗺️👀📡]")).remove(QRegularExpression(" \\(Default\\)"))); - modelScoreLabel->setText(QString("Current Model Score: %1").arg(finalRating)); totalDrivesLabel->setText(QString("Total Model Drives: %1").arg(totalDrives)); + modelLabel->setText(currentModel.remove(QRegularExpression("[🗺️👀📡]")).remove(QRegularExpression(" \\(Default\\)"))); modelRankLabel->setText(QString("Current Model Rank: %1").arg(getModelRank())); + modelScoreLabel->setText(QString("Current Model Score: %1").arg(finalRating)); totalOverallDrivesLabel->setText(QString("Total Overall Drives: %1").arg(totalOverallDrives)); mainLayout->setCurrentIndex(1); - QTimer::singleShot(30000, this, [this]() { + QTimer::singleShot(30000, [this]() { paramsMemory.putBool("DriveRated", true); modelRated = false; }); @@ -152,30 +144,28 @@ void ModelReview::updateLabel() { void ModelReview::onRatingButtonClicked() { int newRating = qobject_cast(sender())->property("rating").toInt(); - QString drivesParam = QString("%1Drives").arg(currentModelFiltered); - std::string drivesParamStd = drivesParam.toStdString(); - totalDrives = params.getInt(drivesParamStd) + 1; - - QString ratingParam = QString("%1Score").arg(currentModelFiltered); - std::string ratingParamStd = ratingParam.toStdString(); - int currentRating = params.getInt(ratingParamStd); + totalDrives = params.getInt((QString("%1Drives").arg(currentModelFiltered)).toStdString()) + 1; + int currentRating = params.getInt((QString("%1Score").arg(currentModelFiltered)).toStdString()); finalRating = (currentRating * (totalDrives - 1) + newRating) / totalDrives; - params.putIntNonBlocking(drivesParamStd, totalDrives); - params.putIntNonBlocking(ratingParamStd, finalRating); + params.putInt((QString("%1Drives").arg(currentModelFiltered)).toStdString(), totalDrives); + params.putInt((QString("%1Score").arg(currentModelFiltered)).toStdString(), finalRating); modelRated = true; - updateLabel(); } void ModelReview::onBlacklistButtonClicked() { - params.putIntNonBlocking(QString("%1Score").arg(currentModelFiltered).toStdString(), 0); + params.putInt(QString("%1Score").arg(currentModelFiltered).toStdString(), 0); + + totalDrives = params.getInt((QString("%1Drives").arg(currentModelFiltered)).toStdString()) + 1; + + params.putInt((QString("%1Drives").arg(currentModelFiltered)).toStdString(), totalDrives); if (!blacklistedModels.contains(currentModel)) { blacklistedModels.append(currentModel); - params.putNonBlocking("BlacklistedModels", blacklistedModels.join(",").toStdString()); + params.put("BlacklistedModels", blacklistedModels.join(",").toStdString()); } blacklistMessageLabel->setText("Model successfully blacklisted!"); @@ -185,15 +175,8 @@ void ModelReview::onBlacklistButtonClicked() { void ModelReview::checkBlacklistButtonVisibility() { QStringList availableModels = QString::fromStdString(params.get("AvailableModels")).split(","); blacklistedModels = QString::fromStdString(params.get("BlacklistedModels")).split(",", QString::SkipEmptyParts); - QStringList selectableModels; - - for (const QString &model : availableModels) { - if (!blacklistedModels.contains(model)) { - selectableModels.append(model); - } - } - blacklistButton->setVisible(selectableModels.size() > 1); + blacklistButton->setVisible(availableModels.size() > blacklistedModels.size()); } int ModelReview::getModelRank() { @@ -201,35 +184,27 @@ int ModelReview::getModelRank() { QList> modelScores; totalOverallDrives = 0; - for (const QString &model : availableModels) { - QString scoreParam = QString("%1Score").arg(processModelName(model)); - int modelScore = params.getInt(scoreParam.toStdString()); + for (QString &model : availableModels) { + QString processedModel = processModelName(model); + int modelDrives = params.getInt((QString("%1Drives").arg(processedModel)).toStdString()); + int modelScore = params.getInt((QString("%1Score").arg(processedModel)).toStdString()); - QString drivesParam = QString("%1Drives").arg(processModelName(model)); - int modelDrives = params.getInt(drivesParam.toStdString()); totalOverallDrives += modelDrives; - modelScores.append(qMakePair(processModelName(model), modelScore)); + if (modelScore > 0) { + modelScores.append(qMakePair(processedModel, modelScore)); + } } - std::sort(modelScores.begin(), modelScores.end(), [](const QPair &a, const QPair &b) { + std::sort(modelScores.begin(), modelScores.end(), [](QPair &a, QPair &b) { return a.second > b.second; }); - QString processedCurrentModel = processModelName(currentModel); for (int i = 0; i < modelScores.size(); ++i) { - if (modelScores[i].first == processedCurrentModel) { + if (modelScores[i].first == currentModelFiltered) { return i + 1; } } - return -1; -} - -QString ModelReview::processModelName(const QString &modelName) { - QString modelCleaned = modelName; - modelCleaned = modelCleaned.remove(QRegularExpression("[🗺️👀📡]")).simplified(); - QString scoreParam = modelCleaned.remove(QRegularExpression("[^a-zA-Z0-9()-]")).replace(" ", "").simplified(); - scoreParam = scoreParam.replace("(Default)", "").replace("-", ""); - return scoreParam; + return 1; } diff --git a/selfdrive/frogpilot/ui/qt/widgets/model_reviewer.h b/selfdrive/frogpilot/ui/qt/widgets/model_reviewer.h index ba8bff3e223938..b143c64a91dfcc 100644 --- a/selfdrive/frogpilot/ui/qt/widgets/model_reviewer.h +++ b/selfdrive/frogpilot/ui/qt/widgets/model_reviewer.h @@ -1,7 +1,5 @@ #pragma once -#include - #include "selfdrive/ui/ui.h" class ModelReview : public QFrame { @@ -10,6 +8,10 @@ class ModelReview : public QFrame { public: explicit ModelReview(QWidget *parent = nullptr); +protected: + void mousePressEvent(QMouseEvent *e) override; + void showEvent(QShowEvent *event) override; + private slots: void onBlacklistButtonClicked(); void onRatingButtonClicked(); @@ -21,21 +23,11 @@ private slots: QPushButton *createButton(const QString &text, const QString &type, int rating, int width, int height); - QString processModelName(const QString &modelName); - void checkBlacklistButtonVisibility(); - void mousePressEvent(QMouseEvent *e) override; - void showEvent(QShowEvent *event) override; void updateLabel(); QStackedLayout *mainLayout; - QVBoxLayout *ratingLayout; - QVBoxLayout *modelInfoLayout; - - Params params; - Params paramsMemory{"/dev/shm/params"}; - QLabel *blacklistMessageLabel; QLabel *modelLabel; QLabel *modelRankLabel; @@ -45,15 +37,16 @@ private slots: QLabel *totalDrivesLabel; QLabel *totalOverallDrivesLabel; + QPushButton *blacklistButton; + + Params params; + Params paramsMemory{"/dev/shm/params"}; + QString currentModel; QString currentModelFiltered; QStringList blacklistedModels; - QPushButton *blacklistButton; - - QList ratingButtons; - bool modelRated; int finalRating; diff --git a/selfdrive/locationd/calibrationd.py b/selfdrive/locationd/calibrationd.py index a40f63737ec11c..363f1859c070c0 100755 --- a/selfdrive/locationd/calibrationd.py +++ b/selfdrive/locationd/calibrationd.py @@ -20,7 +20,7 @@ from openpilot.common.transformations.orientation import rot_from_euler, euler_from_rot from openpilot.common.swaglog import cloudlog -from openpilot.selfdrive.frogpilot.controls.lib.frogpilot_variables import FrogPilotVariables +from openpilot.selfdrive.frogpilot.frogpilot_variables import FrogPilotVariables MIN_SPEED_FILTER = 15 * CV.MPH_TO_MS MAX_VEL_ANGLE_STD = np.radians(0.25) diff --git a/selfdrive/locationd/paramsd.py b/selfdrive/locationd/paramsd.py index 1058c615ca1d77..d752df22555153 100755 --- a/selfdrive/locationd/paramsd.py +++ b/selfdrive/locationd/paramsd.py @@ -135,11 +135,6 @@ def main(): CP = msg cloudlog.info("paramsd got CarParams") - steer_ratio_stock = params_reader.get_float("SteerRatioStock") - if steer_ratio_stock != CP.steerRatio: - params_reader.put_float_nonblocking("SteerRatio", CP.steerRatio) - params_reader.put_float_nonblocking("SteerRatioStock", CP.steerRatio) - min_sr, max_sr = 0.5 * CP.steerRatio, 2.0 * CP.steerRatio params = params_reader.get("LiveParameters") diff --git a/selfdrive/locationd/torqued.py b/selfdrive/locationd/torqued.py index 7617716dc21309..e457096b1e5ea0 100755 --- a/selfdrive/locationd/torqued.py +++ b/selfdrive/locationd/torqued.py @@ -11,7 +11,7 @@ from openpilot.selfdrive.controls.lib.vehicle_model import ACCELERATION_DUE_TO_GRAVITY from openpilot.selfdrive.locationd.helpers import PointBuckets, ParameterEstimator -from openpilot.selfdrive.frogpilot.controls.lib.frogpilot_variables import FrogPilotVariables +from openpilot.selfdrive.frogpilot.frogpilot_variables import FrogPilotVariables HISTORY = 5 # secs POINTS_PER_BUCKET = 1500 diff --git a/selfdrive/modeld/constants.py b/selfdrive/modeld/constants.py index 7d2b314ac5d934..bf74c2d1a065ec 100644 --- a/selfdrive/modeld/constants.py +++ b/selfdrive/modeld/constants.py @@ -16,17 +16,12 @@ class ModelConstants: MODEL_FREQ = 20 FEATURE_LEN = 512 FULL_HISTORY_BUFFER_LEN = 99 - HISTORY_BUFFER_LEN = 99 - HISTORY_BUFFER_LEN_SECRET = 24 + HISTORY_BUFFER_LEN = 24 DESIRE_LEN = 8 TRAFFIC_CONVENTION_LEN = 2 - NAV_FEATURE_LEN = 256 - NAV_INSTRUCTION_LEN = 150 - DRIVING_STYLE_LEN = 12 LAT_PLANNER_STATE_LEN = 4 LATERAL_CONTROL_PARAMS_LEN = 2 PREV_DESIRED_CURV_LEN = 1 - RADAR_TRACKS_LEN = 64 # model outputs constants FCW_THRESHOLDS_5MS2 = np.array([.05, .05, .15, .15, .15], dtype=np.float32) @@ -45,7 +40,6 @@ class ModelConstants: DESIRE_PRED_WIDTH = 8 LAT_PLANNER_SOLUTION_WIDTH = 4 DESIRED_CURV_WIDTH = 1 - RADAR_TRACKS_WIDTH = 3 NUM_LANE_LINES = 4 NUM_ROAD_EDGES = 2 @@ -66,6 +60,8 @@ class ModelConstants: RYG_GREEN = 0.01165 RYG_YELLOW = 0.06157 + POLY_PATH_DEGREE = 4 + # model outputs slices class Plan: POSITION = slice(0, 3) @@ -77,13 +73,14 @@ class Plan: class Meta: ENGAGED = slice(0, 1) # next 2, 4, 6, 8, 10 seconds - GAS_DISENGAGE = slice(1, 36, 7) - BRAKE_DISENGAGE = slice(2, 36, 7) - STEER_OVERRIDE = slice(3, 36, 7) - HARD_BRAKE_3 = slice(4, 36, 7) - HARD_BRAKE_4 = slice(5, 36, 7) - HARD_BRAKE_5 = slice(6, 36, 7) - GAS_PRESS = slice(7, 36, 7) + GAS_DISENGAGE = slice(1, 31, 6) + BRAKE_DISENGAGE = slice(2, 31, 6) + STEER_OVERRIDE = slice(3, 31, 6) + HARD_BRAKE_3 = slice(4, 31, 6) + HARD_BRAKE_4 = slice(5, 31, 6) + HARD_BRAKE_5 = slice(6, 31, 6) # next 0, 2, 4, 6, 8, 10 seconds - LEFT_BLINKER = slice(36, 48, 2) - RIGHT_BLINKER = slice(37, 48, 2) + GAS_PRESS = slice(31, 55, 4) + BRAKE_PRESS = slice(32, 55, 4) + LEFT_BLINKER = slice(33, 55, 4) + RIGHT_BLINKER = slice(34, 55, 4) diff --git a/selfdrive/modeld/dmonitoringmodeld.py b/selfdrive/modeld/dmonitoringmodeld.py index a388bf089cb9b9..a799ee3f9f3c13 100755 --- a/selfdrive/modeld/dmonitoringmodeld.py +++ b/selfdrive/modeld/dmonitoringmodeld.py @@ -14,7 +14,7 @@ from openpilot.common.params import Params from openpilot.common.realtime import set_realtime_priority from openpilot.selfdrive.modeld.runners import ModelRunner, Runtime -from openpilot.selfdrive.modeld.models.commonmodel_pyx import sigmoid +from openpilot.selfdrive.modeld.parse_model_outputs import sigmoid CALIB_LEN = 3 REG_SCALE = 0.25 @@ -76,8 +76,8 @@ def run(self, buf:VisionBuf, calib:np.ndarray) -> tuple[np.ndarray, float]: input_data = self.inputs['input_img'].reshape(MODEL_HEIGHT, MODEL_WIDTH) input_data[:] = buf_data[v_offset:v_offset+MODEL_HEIGHT, h_offset:h_offset+MODEL_WIDTH] - t1 = time.perf_counter() self.model.setInputBuffer("input_img", self.inputs['input_img'].view(np.float32)) + t1 = time.perf_counter() self.model.execute() t2 = time.perf_counter() return self.output, t2 - t1 @@ -88,15 +88,15 @@ def fill_driver_state(msg, ds_result: DriverStateResult): msg.faceOrientationStd = [math.exp(x) for x in ds_result.face_orientation_std] msg.facePosition = [x * REG_SCALE for x in ds_result.face_position[:2]] msg.facePositionStd = [math.exp(x) for x in ds_result.face_position_std[:2]] - msg.faceProb = sigmoid(ds_result.face_prob) - msg.leftEyeProb = sigmoid(ds_result.left_eye_prob) - msg.rightEyeProb = sigmoid(ds_result.right_eye_prob) - msg.leftBlinkProb = sigmoid(ds_result.left_blink_prob) - msg.rightBlinkProb = sigmoid(ds_result.right_blink_prob) - msg.sunglassesProb = sigmoid(ds_result.sunglasses_prob) - msg.occludedProb = sigmoid(ds_result.occluded_prob) - msg.readyProb = [sigmoid(x) for x in ds_result.ready_prob] - msg.notReadyProb = [sigmoid(x) for x in ds_result.not_ready_prob] + msg.faceProb = float(sigmoid(ds_result.face_prob)) + msg.leftEyeProb = float(sigmoid(ds_result.left_eye_prob)) + msg.rightEyeProb = float(sigmoid(ds_result.right_eye_prob)) + msg.leftBlinkProb = float(sigmoid(ds_result.left_blink_prob)) + msg.rightBlinkProb = float(sigmoid(ds_result.right_blink_prob)) + msg.sunglassesProb = float(sigmoid(ds_result.sunglasses_prob)) + msg.occludedProb = float(sigmoid(ds_result.occluded_prob)) + msg.readyProb = [float(sigmoid(x)) for x in ds_result.ready_prob] + msg.notReadyProb = [float(sigmoid(x)) for x in ds_result.not_ready_prob] def get_driverstate_packet(model_output: np.ndarray, frame_id: int, location_ts: int, execution_time: float, dsp_execution_time: float): model_result = ctypes.cast(model_output.ctypes.data, ctypes.POINTER(DMonitoringModelResult)).contents @@ -105,8 +105,8 @@ def get_driverstate_packet(model_output: np.ndarray, frame_id: int, location_ts: ds.frameId = frame_id ds.modelExecutionTime = execution_time ds.dspExecutionTime = dsp_execution_time - ds.poorVisionProb = sigmoid(model_result.poor_vision_prob) - ds.wheelOnRightProb = sigmoid(model_result.wheel_on_right_prob) + ds.poorVisionProb = float(sigmoid(model_result.poor_vision_prob)) + ds.wheelOnRightProb = float(sigmoid(model_result.wheel_on_right_prob)) ds.rawPredictions = model_output.tobytes() if SEND_RAW_PRED else b'' fill_driver_state(ds.leftDriverData, model_result.driver_state_lhd) fill_driver_state(ds.rightDriverData, model_result.driver_state_rhd) diff --git a/selfdrive/modeld/fill_model_msg.py b/selfdrive/modeld/fill_model_msg.py index ba1dd7cb779013..9de03bef27092d 100644 --- a/selfdrive/modeld/fill_model_msg.py +++ b/selfdrive/modeld/fill_model_msg.py @@ -8,7 +8,6 @@ ConfidenceClass = log.ModelDataV2.ConfidenceClass - class PublishState: def __init__(self): self.disengage_buffer = np.zeros(ModelConstants.CONFIDENCE_BUFFER_LEN*ModelConstants.DISENGAGE_WIDTH, dtype=np.float32) @@ -42,22 +41,45 @@ def fill_xyvat(builder, t, x, y, v, a, x_std=None, y_std=None, v_std=None, a_std if a_std is not None: builder.aStd = a_std.tolist() -def fill_model_msg(msg: capnp._DynamicStructBuilder, net_output_data: dict[str, np.ndarray], publish_state: PublishState, +def fill_xyz_poly(builder, degree, x, y, z): + xyz = np.stack([x, y, z], axis=1) + coeffs = np.polynomial.polynomial.polyfit(ModelConstants.T_IDXS, xyz, deg=degree) + builder.xCoefficients = coeffs[:, 0].tolist() + builder.yCoefficients = coeffs[:, 1].tolist() + builder.zCoefficients = coeffs[:, 2].tolist() + +def fill_lane_line_meta(builder, lane_lines, lane_line_probs): + builder.leftY = lane_lines[1].y[0] + builder.leftProb = lane_line_probs[1] + builder.rightY = lane_lines[2].y[0] + builder.rightProb = lane_line_probs[2] + +def fill_model_msg(base_msg: capnp._DynamicStructBuilder, extended_msg: capnp._DynamicStructBuilder, + net_output_data: dict[str, np.ndarray], publish_state: PublishState, vipc_frame_id: int, vipc_frame_id_extra: int, frame_id: int, frame_drop: float, - timestamp_eof: int, timestamp_llk: int, model_execution_time: float, valid: bool, nav_enabled: bool, - clairvoyant_model: bool, secret_good_openpilot: bool) -> None: + timestamp_eof: int, model_execution_time: float, valid: bool) -> None: frame_age = frame_id - vipc_frame_id if frame_id > vipc_frame_id else 0 - msg.valid = valid + frame_drop_perc = frame_drop * 100 + extended_msg.valid = valid + base_msg.valid = valid + + driving_model_data = base_msg.drivingModelData + + driving_model_data.frameId = vipc_frame_id + driving_model_data.frameIdExtra = vipc_frame_id_extra + driving_model_data.frameDropPerc = frame_drop_perc + driving_model_data.modelExecutionTime = model_execution_time - modelV2 = msg.modelV2 + action = driving_model_data.action + action.desiredCurvature = float(net_output_data['desired_curvature'][0,0]) + + modelV2 = extended_msg.modelV2 modelV2.frameId = vipc_frame_id modelV2.frameIdExtra = vipc_frame_id_extra modelV2.frameAge = frame_age - modelV2.frameDropPerc = frame_drop * 100 + modelV2.frameDropPerc = frame_drop_perc modelV2.timestampEof = timestamp_eof - modelV2.locationMonoTime = timestamp_llk modelV2.modelExecutionTime = model_execution_time - modelV2.navEnabled = nav_enabled # plan position = modelV2.position @@ -71,6 +93,17 @@ def fill_model_msg(msg: capnp._DynamicStructBuilder, net_output_data: dict[str, orientation_rate = modelV2.orientationRate fill_xyzt(orientation_rate, ModelConstants.T_IDXS, *net_output_data['plan'][0,:,Plan.ORIENTATION_RATE].T) + # temporal pose + temporal_pose = modelV2.temporalPose + temporal_pose.trans = net_output_data['plan'][0,0,Plan.VELOCITY].tolist() + temporal_pose.transStd = net_output_data['plan_stds'][0,0,Plan.VELOCITY].tolist() + temporal_pose.rot = net_output_data['plan'][0,0,Plan.ORIENTATION_RATE].tolist() + temporal_pose.rotStd = net_output_data['plan_stds'][0,0,Plan.ORIENTATION_RATE].tolist() + + # poly path + poly_path = driving_model_data.path + fill_xyz_poly(poly_path, ModelConstants.POLY_PATH_DEGREE, *net_output_data['plan'][0,:,Plan.POSITION].T) + # lateral planning action = modelV2.action action.desiredCurvature = float(net_output_data['desired_curvature'][0,0]) @@ -123,6 +156,9 @@ def fill_model_msg(msg: capnp._DynamicStructBuilder, net_output_data: dict[str, modelV2.laneLineStds = net_output_data['lane_lines_stds'][0,:,0,0].tolist() modelV2.laneLineProbs = net_output_data['lane_lines_prob'][0,1::2].tolist() + lane_line_meta = driving_model_data.laneLineMeta + fill_lane_line_meta(lane_line_meta, modelV2.laneLines, modelV2.laneLineProbs) + # road edges modelV2.init('roadEdges', 2) for i in range(2): @@ -152,6 +188,8 @@ def fill_model_msg(msg: capnp._DynamicStructBuilder, net_output_data: dict[str, disengage_predictions.brake3MetersPerSecondSquaredProbs = net_output_data['meta'][0,Meta.HARD_BRAKE_3].tolist() disengage_predictions.brake4MetersPerSecondSquaredProbs = net_output_data['meta'][0,Meta.HARD_BRAKE_4].tolist() disengage_predictions.brake5MetersPerSecondSquaredProbs = net_output_data['meta'][0,Meta.HARD_BRAKE_5].tolist() + disengage_predictions.gasPressProbs = net_output_data['meta'][0,Meta.GAS_PRESS].tolist() + disengage_predictions.brakePressProbs = net_output_data['meta'][0,Meta.BRAKE_PRESS].tolist() publish_state.prev_brake_5ms2_probs[:-1] = publish_state.prev_brake_5ms2_probs[1:] publish_state.prev_brake_5ms2_probs[-1] = net_output_data['meta'][0,Meta.HARD_BRAKE_5][0] @@ -161,20 +199,6 @@ def fill_model_msg(msg: capnp._DynamicStructBuilder, net_output_data: dict[str, (publish_state.prev_brake_3ms2_probs > ModelConstants.FCW_THRESHOLDS_3MS2).all() meta.hardBrakePredicted = hard_brake_predicted.item() - # temporal pose - if not clairvoyant_model: - temporal_pose = modelV2.temporalPose - if secret_good_openpilot: - temporal_pose.trans = np.zeros((3,), dtype=np.float32).reshape(-1).tolist() - temporal_pose.transStd = np.zeros((3,), dtype=np.float32).reshape(-1).tolist() - temporal_pose.rot = np.zeros((3,), dtype=np.float32).reshape(-1).tolist() - temporal_pose.rotStd = np.zeros((3,), dtype=np.float32).reshape(-1).tolist() - else: - temporal_pose.trans = net_output_data['sim_pose'][0,:3].tolist() - temporal_pose.transStd = net_output_data['sim_pose_stds'][0,:3].tolist() - temporal_pose.rot = net_output_data['sim_pose'][0,3:].tolist() - temporal_pose.rotStd = net_output_data['sim_pose_stds'][0,3:].tolist() - # confidence if vipc_frame_id % (2*ModelConstants.MODEL_FREQ) == 0: # any disengage prob diff --git a/selfdrive/modeld/modeld.py b/selfdrive/modeld/modeld.py index fd45e761d7cac9..86cea2e013f2eb 100755 --- a/selfdrive/modeld/modeld.py +++ b/selfdrive/modeld/modeld.py @@ -7,6 +7,7 @@ from cereal import car, log from pathlib import Path from setproctitle import setproctitle +from types import SimpleNamespace from cereal.messaging import PubMaster, SubMaster from msgq.visionipc import VisionIpcClient, VisionStreamType, VisionBuf from openpilot.common.swaglog import cloudlog @@ -24,36 +25,18 @@ from openpilot.selfdrive.modeld.constants import ModelConstants from openpilot.selfdrive.modeld.models.commonmodel_pyx import ModelFrame, CLContext -from openpilot.selfdrive.frogpilot.controls.lib.frogpilot_variables import FrogPilotVariables -from openpilot.selfdrive.frogpilot.controls.lib.frogpilot_functions import MODELS_PATH -from openpilot.selfdrive.frogpilot.controls.lib.model_manager import DEFAULT_MODEL - -frogpilot_toggles = FrogPilotVariables.toggles +from openpilot.selfdrive.frogpilot.frogpilot_functions import MODELS_PATH +from openpilot.selfdrive.frogpilot.frogpilot_variables import FrogPilotVariables PROCESS_NAME = "selfdrive.modeld.modeld" SEND_RAW_PRED = os.getenv('SEND_RAW_PRED') -MODEL_NAME = frogpilot_toggles.model - -CLAIRVOYANT_MODEL = frogpilot_toggles.clairvoyant_model -DISABLE_NAV = frogpilot_toggles.navigationless_model -DISABLE_RADAR = frogpilot_toggles.radarless_model -SECRET_GOOD_OPENPILOT = frogpilot_toggles.secretgoodopenpilot_model - MODEL_PATHS = { - ModelRunner.THNEED: Path(__file__).parent / ('models/supercombo.thneed' if MODEL_NAME == DEFAULT_MODEL else f'{MODELS_PATH}/{MODEL_NAME}.thneed'), + ModelRunner.THNEED: Path(__file__).parent / 'models/supercombo.thneed', ModelRunner.ONNX: Path(__file__).parent / 'models/supercombo.onnx'} -metadata_file = ( - 'secret-good-openpilot_metadata.pkl' if SECRET_GOOD_OPENPILOT else - 'clairvoyant-driver_metadata.pkl' if CLAIRVOYANT_MODEL else - 'supercombo_metadata.pkl' -) -METADATA_PATH = Path(__file__).parent / f'models/{metadata_file}' +METADATA_PATH = Path(__file__).parent / 'models/supercombo_metadata.pkl' -MODEL_WIDTH = 512 -MODEL_HEIGHT = 256 -MODEL_FRAME_SIZE = MODEL_WIDTH * MODEL_HEIGHT * 3 // 2 class FrameMeta: frame_id: int = 0 @@ -72,28 +55,28 @@ class ModelState: prev_desire: np.ndarray # for tracking the rising edge of the pulse model: ModelRunner - def __init__(self, context: CLContext): + def __init__(self, context: CLContext, frogpilot_toggles: SimpleNamespace): + # FrogPilot variables + model_path = Path(__file__).parent / f'{MODELS_PATH}/{frogpilot_toggles.model}.thneed' + if model_path.exists(): + MODEL_PATHS[ModelRunner.THNEED] = model_path + self.frame = ModelFrame(context) self.wide_frame = ModelFrame(context) self.prev_desire = np.zeros(ModelConstants.DESIRE_LEN, dtype=np.float32) self.full_features_20Hz = np.zeros((ModelConstants.FULL_HISTORY_BUFFER_LEN, ModelConstants.FEATURE_LEN), dtype=np.float32) self.desire_20Hz = np.zeros((ModelConstants.FULL_HISTORY_BUFFER_LEN + 1, ModelConstants.DESIRE_LEN), dtype=np.float32) + self.prev_desired_curv_20hz = np.zeros((ModelConstants.FULL_HISTORY_BUFFER_LEN + 1, ModelConstants.PREV_DESIRED_CURV_LEN), dtype=np.float32) + + # img buffers are managed in openCL transform code self.inputs = { - 'desire': np.zeros(ModelConstants.DESIRE_LEN * (ModelConstants.HISTORY_BUFFER_LEN_SECRET+1 if SECRET_GOOD_OPENPILOT else ModelConstants.HISTORY_BUFFER_LEN+1), dtype=np.float32), + 'desire': np.zeros(ModelConstants.DESIRE_LEN * (ModelConstants.HISTORY_BUFFER_LEN+1), dtype=np.float32), 'traffic_convention': np.zeros(ModelConstants.TRAFFIC_CONVENTION_LEN, dtype=np.float32), 'lateral_control_params': np.zeros(ModelConstants.LATERAL_CONTROL_PARAMS_LEN, dtype=np.float32), 'prev_desired_curv': np.zeros(ModelConstants.PREV_DESIRED_CURV_LEN * (ModelConstants.HISTORY_BUFFER_LEN+1), dtype=np.float32), - **({'nav_features': np.zeros(ModelConstants.NAV_FEATURE_LEN, dtype=np.float32), - 'nav_instructions': np.zeros(ModelConstants.NAV_INSTRUCTION_LEN, dtype=np.float32)} if not DISABLE_NAV else {}), - 'features_buffer': np.zeros((ModelConstants.HISTORY_BUFFER_LEN_SECRET if SECRET_GOOD_OPENPILOT else ModelConstants.HISTORY_BUFFER_LEN) * ModelConstants.FEATURE_LEN, dtype=np.float32), - **({'radar_tracks': np.zeros(ModelConstants.RADAR_TRACKS_LEN * ModelConstants.RADAR_TRACKS_WIDTH, dtype=np.float32)} if DISABLE_RADAR else {}), + 'features_buffer': np.zeros(ModelConstants.HISTORY_BUFFER_LEN * ModelConstants.FEATURE_LEN, dtype=np.float32), } - self.input_imgs_20hz = np.zeros(MODEL_FRAME_SIZE*5, dtype=np.float32) - self.big_input_imgs_20hz = np.zeros(MODEL_FRAME_SIZE*5, dtype=np.float32) - self.input_imgs = np.zeros(MODEL_FRAME_SIZE*2, dtype=np.float32) - self.big_input_imgs = np.zeros(MODEL_FRAME_SIZE*2, dtype=np.float32) - with open(METADATA_PATH, 'rb') as f: model_metadata = pickle.load(f) @@ -118,69 +101,45 @@ def run(self, buf: VisionBuf, wbuf: VisionBuf, transform: np.ndarray, transform_ inputs: dict[str, np.ndarray], prepare_only: bool) -> dict[str, np.ndarray] | None: # Model decides when action is completed, so desire input is just a pulse triggered on rising edge inputs['desire'][0] = 0 - - if SECRET_GOOD_OPENPILOT: - new_desire = np.where(inputs['desire'] - self.prev_desire > .99, inputs['desire'], 0) - self.desire_20Hz[:-1] = self.desire_20Hz[1:] - self.desire_20Hz[-1] = new_desire - self.inputs['desire'][:] = self.desire_20Hz.reshape((25,4,-1)).max(axis=1).flatten() - else: - self.inputs['desire'][:-ModelConstants.DESIRE_LEN] = self.inputs['desire'][ModelConstants.DESIRE_LEN:] - self.inputs['desire'][-ModelConstants.DESIRE_LEN:] = np.where(inputs['desire'] - self.prev_desire > .99, inputs['desire'], 0) - + new_desire = np.where(inputs['desire'] - self.prev_desire > .99, inputs['desire'], 0) self.prev_desire[:] = inputs['desire'] + self.desire_20Hz[:-1] = self.desire_20Hz[1:] + self.desire_20Hz[-1] = new_desire + self.inputs['desire'][:] = self.desire_20Hz.reshape((25,4,-1)).max(axis=1).flatten() + self.inputs['traffic_convention'][:] = inputs['traffic_convention'] self.inputs['lateral_control_params'][:] = inputs['lateral_control_params'] - if not DISABLE_NAV: - self.inputs['nav_features'][:] = inputs['nav_features'] - self.inputs['nav_instructions'][:] = inputs['nav_instructions'] - - if DISABLE_RADAR: - self.inputs['radar_tracks'][:] = inputs['radar_tracks'] - - if SECRET_GOOD_OPENPILOT: - new_img = self.frame.prepareSecret(buf, transform.flatten(), self.model.getCLBuffer("input_imgs")) - self.input_imgs_20hz[:-MODEL_FRAME_SIZE] = self.input_imgs_20hz[MODEL_FRAME_SIZE:] - self.input_imgs_20hz[-MODEL_FRAME_SIZE:] = new_img - self.input_imgs[:MODEL_FRAME_SIZE] = self.input_imgs_20hz[:MODEL_FRAME_SIZE] - self.input_imgs[MODEL_FRAME_SIZE:] = self.input_imgs_20hz[-MODEL_FRAME_SIZE:] - self.model.setInputBuffer("input_imgs", self.input_imgs) - if wbuf is not None: - new_big_img = self.wide_frame.prepareSecret(wbuf, transform_wide.flatten(), self.model.getCLBuffer("big_input_imgs")) - self.big_input_imgs_20hz[:-MODEL_FRAME_SIZE] = self.big_input_imgs_20hz[MODEL_FRAME_SIZE:] - self.big_input_imgs_20hz[-MODEL_FRAME_SIZE:] = new_big_img - self.big_input_imgs[:MODEL_FRAME_SIZE] = self.big_input_imgs_20hz[:MODEL_FRAME_SIZE] - self.big_input_imgs[MODEL_FRAME_SIZE:] = self.big_input_imgs_20hz[-MODEL_FRAME_SIZE:] - self.model.setInputBuffer("big_input_imgs", self.big_input_imgs) - else: - # if getCLBuffer is not None, frame will be None - self.model.setInputBuffer("input_imgs", self.frame.prepare(buf, transform.flatten(), self.model.getCLBuffer("input_imgs"))) - if wbuf is not None: - self.model.setInputBuffer("big_input_imgs", self.wide_frame.prepare(wbuf, transform_wide.flatten(), self.model.getCLBuffer("big_input_imgs"))) + self.model.setInputBuffer("input_imgs", self.frame.prepare(buf, transform.flatten(), self.model.getCLBuffer("input_imgs"))) + self.model.setInputBuffer("big_input_imgs", self.wide_frame.prepare(wbuf, transform_wide.flatten(), self.model.getCLBuffer("big_input_imgs"))) if prepare_only: return None self.model.execute() - outputs = self.parser.parse_outputs(self.slice_outputs(self.output), CLAIRVOYANT_MODEL, SECRET_GOOD_OPENPILOT) + outputs = self.parser.parse_outputs(self.slice_outputs(self.output)) - if SECRET_GOOD_OPENPILOT: - self.full_features_20Hz[:-1] = self.full_features_20Hz[1:] - self.full_features_20Hz[-1] = outputs['hidden_state'][0, :] - idxs = np.arange(-4,-100,-4)[::-1] - self.inputs['features_buffer'][:] = self.full_features_20Hz[idxs].flatten() - else: - self.inputs['features_buffer'][:-ModelConstants.FEATURE_LEN] = self.inputs['features_buffer'][ModelConstants.FEATURE_LEN:] - self.inputs['features_buffer'][-ModelConstants.FEATURE_LEN:] = outputs['hidden_state'][0, :] + self.full_features_20Hz[:-1] = self.full_features_20Hz[1:] + self.full_features_20Hz[-1] = outputs['hidden_state'][0, :] - self.inputs['prev_desired_curv'][:-ModelConstants.PREV_DESIRED_CURV_LEN] = self.inputs['prev_desired_curv'][ModelConstants.PREV_DESIRED_CURV_LEN:] - self.inputs['prev_desired_curv'][-ModelConstants.PREV_DESIRED_CURV_LEN:] = outputs['desired_curvature'][0, :] + self.prev_desired_curv_20hz[:-1] = self.prev_desired_curv_20hz[1:] + self.prev_desired_curv_20hz[-1] = outputs['desired_curvature'][0, :] + + idxs = np.arange(-4,-100,-4)[::-1] + self.inputs['features_buffer'][:] = self.full_features_20Hz[idxs].flatten() + # TODO model only uses last value now, once that changes we need to input strided action history buffer + self.inputs['prev_desired_curv'][-ModelConstants.PREV_DESIRED_CURV_LEN:] = 0. * self.prev_desired_curv_20hz[-4, :] return outputs def main(demo=False): + # FrogPilot variables + frogpilot_toggles = FrogPilotVariables.toggles + FrogPilotVariables.update_frogpilot_params() + + update_toggles = False + cloudlog.warning("modeld init") sentry.set_tag("daemon", PROCESS_NAME) @@ -191,7 +150,7 @@ def main(demo=False): cloudlog.warning("setting up CL context") cl_context = CLContext() cloudlog.warning("CL context ready; loading model") - model = ModelState(cl_context) + model = ModelState(cl_context, frogpilot_toggles) cloudlog.warning("models loaded, modeld starting") # visionipc clients @@ -218,8 +177,8 @@ def main(demo=False): cloudlog.warning(f"connected extra cam with buffer size: {vipc_client_extra.buffer_len} ({vipc_client_extra.width} x {vipc_client_extra.height})") # messaging - pm = PubMaster(["modelV2", "cameraOdometry"]) - sm = SubMaster(["deviceState", "carState", "roadCameraState", "liveCalibration", "driverMonitoringState", "navModel", "navInstruction", "carControl", "liveTracks", "frogpilotPlan"]) + pm = PubMaster(["modelV2", "drivingModelData", "cameraOdometry"]) + sm = SubMaster(["deviceState", "carState", "roadCameraState", "liveCalibration", "driverMonitoringState", "carControl", "frogpilotPlan"]) publish_state = PublishState() params = Params() @@ -233,8 +192,6 @@ def main(demo=False): model_transform_main = np.zeros((3, 3), dtype=np.float32) model_transform_extra = np.zeros((3, 3), dtype=np.float32) live_calib_seen = False - nav_features = np.zeros(ModelConstants.NAV_FEATURE_LEN, dtype=np.float32) - nav_instructions = np.zeros(ModelConstants.NAV_INSTRUCTION_LEN, dtype=np.float32) buf_main, buf_extra = None, None meta_main = FrameMeta() meta_extra = FrameMeta() @@ -245,16 +202,13 @@ def main(demo=False): else: with car.CarParams.from_bytes(params.get("CarParams", block=True)) as msg: CP = msg - cloudlog.info("modeld got CarParams: %s", CP.carName) + cloudlog.info("classic_modeld got CarParams: %s", CP.carName) # TODO this needs more thought, use .2s extra for now to estimate other delays steer_delay = CP.steerActuatorDelay + .2 DH = DesireHelper() - # FrogPilot variables - update_toggles = False - while True: # Keep receiving frames until we are at least 1 frame ahead of previous extra frame while meta_main.timestamp_sof < meta_extra.timestamp_sof + 25000000: @@ -292,7 +246,8 @@ def main(demo=False): desire = DH.desire is_rhd = sm["driverMonitoringState"].isRHD frame_id = sm["roadCameraState"].frameId - lateral_control_params = np.array([sm["carState"].vEgo, steer_delay], dtype=np.float32) + v_ego = max(sm["carState"].vEgo, 0.) + lateral_control_params = np.array([v_ego, steer_delay], dtype=np.float32) if sm.updated["liveCalibration"] and sm.seen['roadCameraState'] and sm.seen['deviceState']: device_from_calib_euler = np.array(sm["liveCalibration"].rpyCalib, dtype=np.float32) dc = DEVICE_CAMERAS[(str(sm['deviceState'].deviceType), str(sm['roadCameraState'].sensor))] @@ -307,38 +262,6 @@ def main(demo=False): if desire >= 0 and desire < ModelConstants.DESIRE_LEN: vec_desire[desire] = 1 - # Enable/disable nav features - timestamp_llk = sm["navModel"].locationMonoTime - nav_valid = sm.valid["navModel"] # and (nanos_since_boot() - timestamp_llk < 1e9) - nav_enabled = nav_valid and not DISABLE_NAV - - if not nav_enabled: - nav_features[:] = 0 - nav_instructions[:] = 0 - - if nav_enabled and sm.updated["navModel"]: - nav_features = np.array(sm["navModel"].features) - - if nav_enabled and sm.updated["navInstruction"]: - nav_instructions[:] = 0 - for maneuver in sm["navInstruction"].allManeuvers: - distance_idx = 25 + int(maneuver.distance / 20) - direction_idx = 0 - if maneuver.modifier in ("left", "slight left", "sharp left"): - direction_idx = 1 - if maneuver.modifier in ("right", "slight right", "sharp right"): - direction_idx = 2 - if 0 <= distance_idx < 50: - nav_instructions[distance_idx*3 + direction_idx] = 1 - - radar_tracks = np.zeros(ModelConstants.RADAR_TRACKS_LEN * ModelConstants.RADAR_TRACKS_WIDTH, dtype=np.float32) - if sm.updated["liveTracks"]: - for i, track in enumerate(sm["liveTracks"]): - if i >= ModelConstants.RADAR_TRACKS_LEN: - break - vec_index = i * ModelConstants.RADAR_TRACKS_WIDTH - radar_tracks[vec_index:vec_index+ModelConstants.RADAR_TRACKS_WIDTH] = [track.dRel, track.yRel, track.vRel] - # tracked dropped frames vipc_dropped_frames = max(0, meta_main.frame_id - last_vipc_frame_id - 1) frames_dropped = frame_dropped_filter.update(min(vipc_dropped_frames, 10)) @@ -356,9 +279,7 @@ def main(demo=False): 'desire': vec_desire, 'traffic_convention': traffic_convention, 'lateral_control_params': lateral_control_params, - **({'nav_features': nav_features, 'nav_instructions': nav_instructions} if not DISABLE_NAV else {}), - **({'radar_tracks': radar_tracks,} if DISABLE_RADAR else {}), - } + } mt1 = time.perf_counter() model_output = model.run(buf_main, buf_extra, model_transform_main, model_transform_extra, inputs, prepare_only) @@ -367,10 +288,10 @@ def main(demo=False): if model_output is not None: modelv2_send = messaging.new_message('modelV2') + drivingdata_send = messaging.new_message('drivingModelData') posenet_send = messaging.new_message('cameraOdometry') - fill_model_msg(modelv2_send, model_output, publish_state, meta_main.frame_id, meta_extra.frame_id, frame_id, frame_drop_ratio, - meta_main.timestamp_eof, timestamp_llk, model_execution_time, live_calib_seen, nav_enabled, - CLAIRVOYANT_MODEL, SECRET_GOOD_OPENPILOT) + fill_model_msg(drivingdata_send, modelv2_send, model_output, publish_state, meta_main.frame_id, meta_extra.frame_id, frame_id, + frame_drop_ratio, meta_main.timestamp_eof, model_execution_time, live_calib_seen) desire_state = modelv2_send.modelV2.meta.desireState l_lane_change_prob = desire_state[log.Desire.laneChangeLeft] @@ -379,10 +300,12 @@ def main(demo=False): DH.update(sm['carState'], sm['carControl'].latActive, lane_change_prob, sm['frogpilotPlan'], frogpilot_toggles) modelv2_send.modelV2.meta.laneChangeState = DH.lane_change_state modelv2_send.modelV2.meta.laneChangeDirection = DH.lane_change_direction - modelv2_send.modelV2.meta.turnDirection = DH.turn_direction + drivingdata_send.drivingModelData.meta.laneChangeState = DH.lane_change_state + drivingdata_send.drivingModelData.meta.laneChangeDirection = DH.lane_change_direction fill_pose_msg(posenet_send, model_output, meta_main.frame_id, vipc_dropped_frames, meta_main.timestamp_eof, live_calib_seen) pm.send('modelV2', modelv2_send) + pm.send('drivingModelData', drivingdata_send) pm.send('cameraOdometry', posenet_send) last_vipc_frame_id = meta_main.frame_id diff --git a/selfdrive/modeld/models/clairvoyant-driver_metadata.pkl b/selfdrive/modeld/models/clairvoyant-driver_metadata.pkl deleted file mode 100644 index c7fd569848aab2..00000000000000 Binary files a/selfdrive/modeld/models/clairvoyant-driver_metadata.pkl and /dev/null differ diff --git a/selfdrive/modeld/models/commonmodel.cc b/selfdrive/modeld/models/commonmodel.cc index 552450f47bc3b2..e8a5a7ed52a55e 100644 --- a/selfdrive/modeld/models/commonmodel.cc +++ b/selfdrive/modeld/models/commonmodel.cc @@ -7,59 +7,52 @@ #include "common/clutil.h" ModelFrame::ModelFrame(cl_device_id device_id, cl_context context) { - frame = std::make_unique(MODEL_FRAME_SIZE); - input_frames = std::make_unique(buf_size); + input_frames = std::make_unique(buf_size); q = CL_CHECK_ERR(clCreateCommandQueue(context, device_id, 0, &err)); y_cl = CL_CHECK_ERR(clCreateBuffer(context, CL_MEM_READ_WRITE, MODEL_WIDTH * MODEL_HEIGHT, NULL, &err)); u_cl = CL_CHECK_ERR(clCreateBuffer(context, CL_MEM_READ_WRITE, (MODEL_WIDTH / 2) * (MODEL_HEIGHT / 2), NULL, &err)); v_cl = CL_CHECK_ERR(clCreateBuffer(context, CL_MEM_READ_WRITE, (MODEL_WIDTH / 2) * (MODEL_HEIGHT / 2), NULL, &err)); - net_input_cl = CL_CHECK_ERR(clCreateBuffer(context, CL_MEM_READ_WRITE, MODEL_FRAME_SIZE * sizeof(float), NULL, &err)); + img_buffer_20hz_cl = CL_CHECK_ERR(clCreateBuffer(context, CL_MEM_READ_WRITE, 5*frame_size_bytes, NULL, &err)); + region.origin = 4 * frame_size_bytes; + region.size = frame_size_bytes; + last_img_cl = CL_CHECK_ERR(clCreateSubBuffer(img_buffer_20hz_cl, CL_MEM_READ_WRITE, CL_BUFFER_CREATE_TYPE_REGION, ®ion, &err)); transform_init(&transform, context, device_id); loadyuv_init(&loadyuv, context, device_id, MODEL_WIDTH, MODEL_HEIGHT); } -float* ModelFrame::prepare(cl_mem yuv_cl, int frame_width, int frame_height, int frame_stride, int frame_uv_offset, const mat3 &projection, cl_mem *output) { +uint8_t* ModelFrame::prepare(cl_mem yuv_cl, int frame_width, int frame_height, int frame_stride, int frame_uv_offset, const mat3 &projection, cl_mem *output) { transform_queue(&this->transform, q, - yuv_cl, frame_width, frame_height, frame_stride, frame_uv_offset, - y_cl, u_cl, v_cl, MODEL_WIDTH, MODEL_HEIGHT, projection); + yuv_cl, frame_width, frame_height, frame_stride, frame_uv_offset, + y_cl, u_cl, v_cl, MODEL_WIDTH, MODEL_HEIGHT, projection); + for (int i = 0; i < 4; i++) { + CL_CHECK(clEnqueueCopyBuffer(q, img_buffer_20hz_cl, img_buffer_20hz_cl, (i+1)*frame_size_bytes, i*frame_size_bytes, frame_size_bytes, 0, nullptr, nullptr)); + } + loadyuv_queue(&loadyuv, q, y_cl, u_cl, v_cl, last_img_cl); if (output == NULL) { - loadyuv_queue(&loadyuv, q, y_cl, u_cl, v_cl, net_input_cl); - - std::memmove(&input_frames[0], &input_frames[MODEL_FRAME_SIZE], sizeof(float) * MODEL_FRAME_SIZE); - CL_CHECK(clEnqueueReadBuffer(q, net_input_cl, CL_TRUE, 0, MODEL_FRAME_SIZE * sizeof(float), &input_frames[MODEL_FRAME_SIZE], 0, nullptr, nullptr)); + CL_CHECK(clEnqueueReadBuffer(q, img_buffer_20hz_cl, CL_TRUE, 0, frame_size_bytes, &input_frames[0], 0, nullptr, nullptr)); + CL_CHECK(clEnqueueReadBuffer(q, last_img_cl, CL_TRUE, 0, frame_size_bytes, &input_frames[MODEL_FRAME_SIZE], 0, nullptr, nullptr)); clFinish(q); return &input_frames[0]; } else { - loadyuv_queue(&loadyuv, q, y_cl, u_cl, v_cl, *output, true); + copy_queue(&loadyuv, q, img_buffer_20hz_cl, *output, 0, 0, frame_size_bytes); + copy_queue(&loadyuv, q, last_img_cl, *output, 0, frame_size_bytes, frame_size_bytes); + // NOTE: Since thneed is using a different command queue, this clFinish is needed to ensure the image is ready. clFinish(q); return NULL; } } -float* ModelFrame::prepareSecret(cl_mem yuv_cl, int frame_width, int frame_height, int frame_stride, int frame_uv_offset, const mat3 &projection, cl_mem *output) { - transform_queue(&this->transform, q, - yuv_cl, frame_width, frame_height, frame_stride, frame_uv_offset, - y_cl, u_cl, v_cl, MODEL_WIDTH, MODEL_HEIGHT, projection); - loadyuv_queue(&loadyuv, q, y_cl, u_cl, v_cl, net_input_cl); - CL_CHECK(clEnqueueReadBuffer(q, net_input_cl, CL_TRUE, 0, MODEL_FRAME_SIZE * sizeof(float), &frame[0], 0, nullptr, nullptr)); - clFinish(q); - return &frame[0]; -} - ModelFrame::~ModelFrame() { transform_destroy(&transform); loadyuv_destroy(&loadyuv); - CL_CHECK(clReleaseMemObject(net_input_cl)); + CL_CHECK(clReleaseMemObject(img_buffer_20hz_cl)); + CL_CHECK(clReleaseMemObject(last_img_cl)); CL_CHECK(clReleaseMemObject(v_cl)); CL_CHECK(clReleaseMemObject(u_cl)); CL_CHECK(clReleaseMemObject(y_cl)); CL_CHECK(clReleaseCommandQueue(q)); -} - -float sigmoid(float input) { - return 1 / (1 + expf(-input)); -} +} \ No newline at end of file diff --git a/selfdrive/modeld/models/commonmodel.h b/selfdrive/modeld/models/commonmodel.h index 0eb7b85fb106b3..1c7360f1596b87 100644 --- a/selfdrive/modeld/models/commonmodel.h +++ b/selfdrive/modeld/models/commonmodel.h @@ -16,25 +16,23 @@ #include "selfdrive/modeld/transforms/loadyuv.h" #include "selfdrive/modeld/transforms/transform.h" -float sigmoid(float input); - class ModelFrame { public: ModelFrame(cl_device_id device_id, cl_context context); ~ModelFrame(); - float* prepare(cl_mem yuv_cl, int width, int height, int frame_stride, int frame_uv_offset, const mat3& transform, cl_mem *output); - float* prepareSecret(cl_mem yuv_cl, int width, int height, int frame_stride, int frame_uv_offset, const mat3& transform, cl_mem *output); + uint8_t* prepare(cl_mem yuv_cl, int width, int height, int frame_stride, int frame_uv_offset, const mat3& transform, cl_mem *output); const int MODEL_WIDTH = 512; const int MODEL_HEIGHT = 256; const int MODEL_FRAME_SIZE = MODEL_WIDTH * MODEL_HEIGHT * 3 / 2; const int buf_size = MODEL_FRAME_SIZE * 2; + const size_t frame_size_bytes = MODEL_FRAME_SIZE * sizeof(uint8_t); private: Transform transform; LoadYUVState loadyuv; cl_command_queue q; - cl_mem y_cl, u_cl, v_cl, net_input_cl; - std::unique_ptr frame; - std::unique_ptr input_frames; -}; + cl_mem y_cl, u_cl, v_cl, img_buffer_20hz_cl, last_img_cl; + cl_buffer_region region; + std::unique_ptr input_frames; +}; \ No newline at end of file diff --git a/selfdrive/modeld/models/commonmodel.pxd b/selfdrive/modeld/models/commonmodel.pxd index c51acfe8fd4ea0..3348af3f174665 100644 --- a/selfdrive/modeld/models/commonmodel.pxd +++ b/selfdrive/modeld/models/commonmodel.pxd @@ -12,11 +12,7 @@ cdef extern from "common/clutil.h": cl_context cl_create_context(cl_device_id) cdef extern from "selfdrive/modeld/models/commonmodel.h": - float sigmoid(float) - cppclass ModelFrame: int buf_size - int MODEL_FRAME_SIZE ModelFrame(cl_device_id, cl_context) - float * prepare(cl_mem, int, int, int, int, mat3, cl_mem*) - float * prepareSecret(cl_mem, int, int, int, int, mat3, cl_mem*) + unsigned char * prepare(cl_mem, int, int, int, int, mat3, cl_mem*) diff --git a/selfdrive/modeld/models/commonmodel_pyx.pyx b/selfdrive/modeld/models/commonmodel_pyx.pyx index ed935608089cf3..99f9c5dc173991 100644 --- a/selfdrive/modeld/models/commonmodel_pyx.pyx +++ b/selfdrive/modeld/models/commonmodel_pyx.pyx @@ -1,5 +1,5 @@ # distutils: language = c++ -# cython: c_string_encoding=ascii +# cython: c_string_encoding=ascii, language_level=3 import numpy as np cimport numpy as cnp @@ -8,10 +8,8 @@ from libc.string cimport memcpy from msgq.visionipc.visionipc cimport cl_mem from msgq.visionipc.visionipc_pyx cimport VisionBuf, CLContext as BaseCLContext from .commonmodel cimport CL_DEVICE_TYPE_DEFAULT, cl_get_device_id, cl_create_context -from .commonmodel cimport mat3, sigmoid as cppSigmoid, ModelFrame as cppModelFrame +from .commonmodel cimport mat3, ModelFrame as cppModelFrame -def sigmoid(x): - return cppSigmoid(x) cdef class CLContext(BaseCLContext): def __cinit__(self): @@ -37,23 +35,11 @@ cdef class ModelFrame: def prepare(self, VisionBuf buf, float[:] projection, CLMem output): cdef mat3 cprojection memcpy(cprojection.v, &projection[0], 9*sizeof(float)) - cdef float * data + cdef unsigned char * data if output is None: data = self.frame.prepare(buf.buf.buf_cl, buf.width, buf.height, buf.stride, buf.uv_offset, cprojection, NULL) else: data = self.frame.prepare(buf.buf.buf_cl, buf.width, buf.height, buf.stride, buf.uv_offset, cprojection, output.mem) if not data: return None - return np.asarray( data) - - def prepareSecret(self, VisionBuf buf, float[:] projection, CLMem output): - cdef mat3 cprojection - memcpy(cprojection.v, &projection[0], 9*sizeof(float)) - cdef float * data - if output is None: - data = self.frame.prepareSecret(buf.buf.buf_cl, buf.width, buf.height, buf.stride, buf.uv_offset, cprojection, NULL) - else: - data = self.frame.prepareSecret(buf.buf.buf_cl, buf.width, buf.height, buf.stride, buf.uv_offset, cprojection, output.mem) - if not data: - return None - return np.asarray( data) + return np.asarray( data) diff --git a/selfdrive/modeld/models/secret-good-openpilot_metadata.pkl b/selfdrive/modeld/models/secret-good-openpilot_metadata.pkl deleted file mode 100644 index 003280d46afc4f..00000000000000 Binary files a/selfdrive/modeld/models/secret-good-openpilot_metadata.pkl and /dev/null differ diff --git a/selfdrive/modeld/models/supercombo.onnx b/selfdrive/modeld/models/supercombo.onnx index d0117f8756f195..9237fb9b36577d 100644 Binary files a/selfdrive/modeld/models/supercombo.onnx and b/selfdrive/modeld/models/supercombo.onnx differ diff --git a/selfdrive/modeld/parse_model_outputs.py b/selfdrive/modeld/parse_model_outputs.py index 20c902450b03a6..4367e9db8a2bcd 100644 --- a/selfdrive/modeld/parse_model_outputs.py +++ b/selfdrive/modeld/parse_model_outputs.py @@ -1,15 +1,19 @@ import numpy as np from openpilot.selfdrive.modeld.constants import ModelConstants +def safe_exp(x, out=None): + # -11 is around 10**14, more causes float16 overflow + return np.exp(np.clip(x, -np.inf, 11), out=out) + def sigmoid(x): - return 1. / (1. + np.exp(-x)) + return 1. / (1. + safe_exp(-x)) def softmax(x, axis=-1): x -= np.max(x, axis=axis, keepdims=True) if x.dtype == np.float32 or x.dtype == np.float64: - np.exp(x, out=x) + safe_exp(x, out=x) else: - x = np.exp(x) + x = safe_exp(x) x /= np.sum(x, axis=axis, keepdims=True) return x @@ -42,10 +46,9 @@ def parse_mdn(self, name, outs, in_N=0, out_N=1, out_shape=None): raw = outs[name] raw = raw.reshape((raw.shape[0], max(in_N, 1), -1)) - pred_mu = raw[:,:,:(raw.shape[2] - out_N)//2] n_values = (raw.shape[2] - out_N)//2 pred_mu = raw[:,:,:n_values] - pred_std = np.exp(raw[:,:,n_values: 2*n_values]) + pred_std = safe_exp(raw[:,:,n_values: 2*n_values]) if in_N > 1: weights = np.zeros((raw.shape[0], in_N, out_N), dtype=raw.dtype) @@ -81,15 +84,13 @@ def parse_mdn(self, name, outs, in_N=0, out_N=1, out_shape=None): outs[name] = pred_mu_final.reshape(final_shape) outs[name + '_stds'] = pred_std_final.reshape(final_shape) - def parse_outputs(self, outs: dict[str, np.ndarray], clairvoyant_model, secret_good_openpilot) -> dict[str, np.ndarray]: + def parse_outputs(self, outs: dict[str, np.ndarray]) -> dict[str, np.ndarray]: self.parse_mdn('plan', outs, in_N=ModelConstants.PLAN_MHP_N, out_N=ModelConstants.PLAN_MHP_SELECTION, out_shape=(ModelConstants.IDX_N,ModelConstants.PLAN_WIDTH)) self.parse_mdn('lane_lines', outs, in_N=0, out_N=0, out_shape=(ModelConstants.NUM_LANE_LINES,ModelConstants.IDX_N,ModelConstants.LANE_LINES_WIDTH)) self.parse_mdn('road_edges', outs, in_N=0, out_N=0, out_shape=(ModelConstants.NUM_ROAD_EDGES,ModelConstants.IDX_N,ModelConstants.LANE_LINES_WIDTH)) self.parse_mdn('pose', outs, in_N=0, out_N=0, out_shape=(ModelConstants.POSE_WIDTH,)) self.parse_mdn('road_transform', outs, in_N=0, out_N=0, out_shape=(ModelConstants.POSE_WIDTH,)) - if not (clairvoyant_model or secret_good_openpilot): - self.parse_mdn('sim_pose', outs, in_N=0, out_N=0, out_shape=(ModelConstants.POSE_WIDTH,)) self.parse_mdn('wide_from_device_euler', outs, in_N=0, out_N=0, out_shape=(ModelConstants.WIDE_FROM_DEVICE_WIDTH,)) self.parse_mdn('lead', outs, in_N=ModelConstants.LEAD_MHP_N, out_N=ModelConstants.LEAD_MHP_SELECTION, out_shape=(ModelConstants.LEAD_TRAJ_LEN,ModelConstants.LEAD_WIDTH)) diff --git a/selfdrive/modeld/runners/onnxmodel.py b/selfdrive/modeld/runners/onnxmodel.py index 69b44a5a97116a..2b174227406521 100644 --- a/selfdrive/modeld/runners/onnxmodel.py +++ b/selfdrive/modeld/runners/onnxmodel.py @@ -14,8 +14,12 @@ def attributeproto_fp16_to_fp32(attr): attr.data_type = 1 attr.raw_data = float32_list.astype(np.float32).tobytes() -def convert_fp16_to_fp32(path): - model = onnx.load(path) +def convert_fp16_to_fp32(onnx_path_or_bytes): + if isinstance(onnx_path_or_bytes, bytes): + model = onnx.load_from_string(onnx_path_or_bytes) + elif isinstance(onnx_path_or_bytes, str): + model = onnx.load(onnx_path_or_bytes) + for i in model.graph.initializer: if i.data_type == 10: attributeproto_fp16_to_fp32(i) @@ -23,6 +27,8 @@ def convert_fp16_to_fp32(path): if i.type.tensor_type.elem_type == 10: i.type.tensor_type.elem_type = 1 for i in model.graph.node: + if i.op_type == 'Cast' and i.attribute[0].i == 10: + i.attribute[0].i = 1 for a in i.attribute: if hasattr(a, 't'): if a.t.data_type == 10: @@ -61,7 +67,6 @@ class ONNXModel(RunModel): def __init__(self, path, output, runtime, use_tf8, cl_context): self.inputs = {} self.output = output - self.use_tf8 = use_tf8 self.session = create_ort_session(path, fp16_to_fp32=True) self.input_names = [x.name for x in self.session.get_inputs()] @@ -85,7 +90,7 @@ def getCLBuffer(self, name): return None def execute(self): - inputs = {k: (v.view(np.uint8) / 255. if self.use_tf8 and k == 'input_img' else v) for k,v in self.inputs.items()} + inputs = {k: v.view(self.input_dtypes[k]) for k,v in self.inputs.items()} inputs = {k: v.reshape(self.input_shapes[k]).astype(self.input_dtypes[k]) for k,v in inputs.items()} outputs = self.session.run(None, inputs) assert len(outputs) == 1, "Only single model outputs are supported" diff --git a/selfdrive/modeld/runners/runmodel_pyx.pyx b/selfdrive/modeld/runners/runmodel_pyx.pyx index e1b201a6a92742..12b8ec10ff8fe9 100644 --- a/selfdrive/modeld/runners/runmodel_pyx.pyx +++ b/selfdrive/modeld/runners/runmodel_pyx.pyx @@ -1,5 +1,5 @@ # distutils: language = c++ -# cython: c_string_encoding=ascii +# cython: c_string_encoding=ascii, language_level=3 from libcpp.string cimport string diff --git a/selfdrive/modeld/runners/snpemodel_pyx.pyx b/selfdrive/modeld/runners/snpemodel_pyx.pyx index c3b2b7e9bd3db4..f83b7c8cff389a 100644 --- a/selfdrive/modeld/runners/snpemodel_pyx.pyx +++ b/selfdrive/modeld/runners/snpemodel_pyx.pyx @@ -1,5 +1,5 @@ # distutils: language = c++ -# cython: c_string_encoding=ascii +# cython: c_string_encoding=ascii, language_level=3 import os from libcpp cimport bool diff --git a/selfdrive/modeld/runners/thneedmodel_pyx.pyx b/selfdrive/modeld/runners/thneedmodel_pyx.pyx index 53487afa1bf582..6f8fdd255fa5bb 100644 --- a/selfdrive/modeld/runners/thneedmodel_pyx.pyx +++ b/selfdrive/modeld/runners/thneedmodel_pyx.pyx @@ -1,5 +1,5 @@ # distutils: language = c++ -# cython: c_string_encoding=ascii +# cython: c_string_encoding=ascii, language_level=3 from libcpp cimport bool from libcpp.string cimport string diff --git a/selfdrive/modeld/transforms/loadyuv.cc b/selfdrive/modeld/transforms/loadyuv.cc index c7ce7b0830aa4f..c93f5cd038183d 100644 --- a/selfdrive/modeld/transforms/loadyuv.cc +++ b/selfdrive/modeld/transforms/loadyuv.cc @@ -33,17 +33,8 @@ void loadyuv_destroy(LoadYUVState* s) { void loadyuv_queue(LoadYUVState* s, cl_command_queue q, cl_mem y_cl, cl_mem u_cl, cl_mem v_cl, - cl_mem out_cl, bool do_shift) { + cl_mem out_cl) { cl_int global_out_off = 0; - if (do_shift) { - // shift the image in slot 1 to slot 0, then place the new image in slot 1 - global_out_off += (s->width*s->height) + (s->width/2)*(s->height/2)*2; - CL_CHECK(clSetKernelArg(s->copy_krnl, 0, sizeof(cl_mem), &out_cl)); - CL_CHECK(clSetKernelArg(s->copy_krnl, 1, sizeof(cl_int), &global_out_off)); - const size_t copy_work_size = global_out_off/8; - CL_CHECK(clEnqueueNDRangeKernel(q, s->copy_krnl, 1, NULL, - ©_work_size, NULL, 0, 0, NULL)); - } CL_CHECK(clSetKernelArg(s->loadys_krnl, 0, sizeof(cl_mem), &y_cl)); CL_CHECK(clSetKernelArg(s->loadys_krnl, 1, sizeof(cl_mem), &out_cl)); @@ -72,3 +63,14 @@ void loadyuv_queue(LoadYUVState* s, cl_command_queue q, CL_CHECK(clEnqueueNDRangeKernel(q, s->loaduv_krnl, 1, NULL, &loaduv_work_size, NULL, 0, 0, NULL)); } + +void copy_queue(LoadYUVState* s, cl_command_queue q, cl_mem src, cl_mem dst, + size_t src_offset, size_t dst_offset, size_t size) { + CL_CHECK(clSetKernelArg(s->copy_krnl, 0, sizeof(cl_mem), &src)); + CL_CHECK(clSetKernelArg(s->copy_krnl, 1, sizeof(cl_mem), &dst)); + CL_CHECK(clSetKernelArg(s->copy_krnl, 2, sizeof(cl_int), &src_offset)); + CL_CHECK(clSetKernelArg(s->copy_krnl, 3, sizeof(cl_int), &dst_offset)); + const size_t copy_work_size = size/8; + CL_CHECK(clEnqueueNDRangeKernel(q, s->copy_krnl, 1, NULL, + ©_work_size, NULL, 0, 0, NULL)); +} \ No newline at end of file diff --git a/selfdrive/modeld/transforms/loadyuv.cl b/selfdrive/modeld/transforms/loadyuv.cl index 7dd3d973a3ef69..970187a6d70129 100644 --- a/selfdrive/modeld/transforms/loadyuv.cl +++ b/selfdrive/modeld/transforms/loadyuv.cl @@ -1,7 +1,7 @@ #define UV_SIZE ((TRANSFORMED_WIDTH/2)*(TRANSFORMED_HEIGHT/2)) __kernel void loadys(__global uchar8 const * const Y, - __global float * out, + __global uchar * out, int out_offset) { const int gid = get_global_id(0); @@ -10,13 +10,12 @@ __kernel void loadys(__global uchar8 const * const Y, const int ox = ois % TRANSFORMED_WIDTH; const uchar8 ys = Y[gid]; - const float8 ysf = convert_float8(ys); // 02 // 13 - __global float* outy0; - __global float* outy1; + __global uchar* outy0; + __global uchar* outy1; if ((oy & 1) == 0) { outy0 = out + out_offset; //y0 outy1 = out + out_offset + UV_SIZE*2; //y2 @@ -25,23 +24,24 @@ __kernel void loadys(__global uchar8 const * const Y, outy1 = out + out_offset + UV_SIZE*3; //y3 } - vstore4(ysf.s0246, 0, outy0 + (oy/2) * (TRANSFORMED_WIDTH/2) + ox/2); - vstore4(ysf.s1357, 0, outy1 + (oy/2) * (TRANSFORMED_WIDTH/2) + ox/2); + vstore4(ys.s0246, 0, outy0 + (oy/2) * (TRANSFORMED_WIDTH/2) + ox/2); + vstore4(ys.s1357, 0, outy1 + (oy/2) * (TRANSFORMED_WIDTH/2) + ox/2); } __kernel void loaduv(__global uchar8 const * const in, - __global float8 * out, + __global uchar8 * out, int out_offset) { const int gid = get_global_id(0); const uchar8 inv = in[gid]; - const float8 outv = convert_float8(inv); - out[gid + out_offset / 8] = outv; + out[gid + out_offset / 8] = inv; } -__kernel void copy(__global float8 * inout, - int in_offset) +__kernel void copy(__global uchar8 * in, + __global uchar8 * out, + int in_offset, + int out_offset) { const int gid = get_global_id(0); - inout[gid] = inout[gid + in_offset / 8]; + out[gid + out_offset / 8] = in[gid + in_offset / 8]; } diff --git a/selfdrive/modeld/transforms/loadyuv.h b/selfdrive/modeld/transforms/loadyuv.h index 7d27ef5d468dba..659059cd25e610 100644 --- a/selfdrive/modeld/transforms/loadyuv.h +++ b/selfdrive/modeld/transforms/loadyuv.h @@ -13,4 +13,8 @@ void loadyuv_destroy(LoadYUVState* s); void loadyuv_queue(LoadYUVState* s, cl_command_queue q, cl_mem y_cl, cl_mem u_cl, cl_mem v_cl, - cl_mem out_cl, bool do_shift = false); + cl_mem out_cl); + + +void copy_queue(LoadYUVState* s, cl_command_queue q, cl_mem src, cl_mem dst, + size_t src_offset, size_t dst_offset, size_t size); \ No newline at end of file diff --git a/selfdrive/navd/navd.py b/selfdrive/navd/navd.py index 6e9888e4c65de8..40f25b1aa2c95c 100755 --- a/selfdrive/navd/navd.py +++ b/selfdrive/navd/navd.py @@ -18,7 +18,7 @@ parse_banner_instructions) from openpilot.common.swaglog import cloudlog -from openpilot.selfdrive.frogpilot.controls.lib.frogpilot_variables import FrogPilotVariables +from openpilot.selfdrive.frogpilot.frogpilot_variables import FrogPilotVariables REROUTE_DISTANCE = 25 MANEUVER_TRANSITION_THRESHOLD = 10 diff --git a/selfdrive/test/longitudinal_maneuvers/maneuver.py b/selfdrive/test/longitudinal_maneuvers/maneuver.py index 6c8495cc3b5567..301f99dd568afe 100644 --- a/selfdrive/test/longitudinal_maneuvers/maneuver.py +++ b/selfdrive/test/longitudinal_maneuvers/maneuver.py @@ -12,11 +12,14 @@ def __init__(self, title, duration, **kwargs): self.breakpoints = kwargs.get("breakpoints", [0.0, duration]) self.speed_lead_values = kwargs.get("speed_lead_values", [0.0 for i in range(len(self.breakpoints))]) self.prob_lead_values = kwargs.get("prob_lead_values", [1.0 for i in range(len(self.breakpoints))]) + self.prob_throttle_values = kwargs.get("prob_throttle_values", [1.0 for i in range(len(self.breakpoints))]) self.cruise_values = kwargs.get("cruise_values", [50.0 for i in range(len(self.breakpoints))]) + self.pitch_values = kwargs.get("pitch_values", [0.0 for i in range(len(self.breakpoints))]) self.only_lead2 = kwargs.get("only_lead2", False) self.only_radar = kwargs.get("only_radar", False) self.ensure_start = kwargs.get("ensure_start", False) + self.ensure_slowdown = kwargs.get("ensure_slowdown", False) self.enabled = kwargs.get("enabled", True) self.e2e = kwargs.get("e2e", False) self.personality = kwargs.get("personality", 0) @@ -42,9 +45,11 @@ def evaluate(self): logs = [] while plant.current_time < self.duration: speed_lead = np.interp(plant.current_time, self.breakpoints, self.speed_lead_values) - prob = np.interp(plant.current_time, self.breakpoints, self.prob_lead_values) + prob_lead = np.interp(plant.current_time, self.breakpoints, self.prob_lead_values) cruise = np.interp(plant.current_time, self.breakpoints, self.cruise_values) - log = plant.step(speed_lead, prob, cruise) + pitch = np.interp(plant.current_time, self.breakpoints, self.pitch_values) + prob_throttle = np.interp(plant.current_time, self.breakpoints, self.prob_throttle_values) + log = plant.step(speed_lead, prob_lead, cruise, pitch, prob_throttle) d_rel = log['distance_lead'] - log['distance'] if self.lead_relevancy else 200. v_rel = speed_lead - log['speed'] if self.lead_relevancy else 0. @@ -57,13 +62,18 @@ def evaluate(self): speed_lead, log['acceleration']])) - if d_rel < .4 and (self.only_radar or prob > 0.5): + if d_rel < .4 and (self.only_radar or prob_lead > 0.5): print("Crashed!!!!") valid = False if self.ensure_start and log['v_rel'] > 0 and log['speeds'][-1] <= 0.1: print('LongitudinalPlanner not starting!') valid = False + + if self.ensure_slowdown and log['speed'] > 5.5: + print('LongitudinalPlanner not slowing down!') + valid = False + if self.force_decel and log['speed'] > 1e-1 and log['acceleration'] > -0.04: print('Not stopping with force decel') valid = False diff --git a/selfdrive/test/longitudinal_maneuvers/plant.py b/selfdrive/test/longitudinal_maneuvers/plant.py index daf7cec32b8e75..7596e194794592 100755 --- a/selfdrive/test/longitudinal_maneuvers/plant.py +++ b/selfdrive/test/longitudinal_maneuvers/plant.py @@ -56,12 +56,13 @@ def __init__(self, lead_relevancy=False, speed=0.0, distance_lead=2.0, def current_time(self): return float(self.rk.frame) / self.rate - def step(self, v_lead=0.0, prob=1.0, v_cruise=50.): + def step(self, v_lead=0.0, prob_lead=1.0, v_cruise=50., pitch=0.0, prob_throttle=1.0): # ******** publish a fake model going straight and fake calibration ******** # note that this is worst case for MPC, since model will delay long mpc by one time step radar = messaging.new_message('radarState') control = messaging.new_message('controlsState') car_state = messaging.new_message('carState') + car_control = messaging.new_message('carControl') model = messaging.new_message('modelV2') a_lead = (v_lead - self.v_lead_prev)/self.ts self.v_lead_prev = v_lead @@ -71,14 +72,14 @@ def step(self, v_lead=0.0, prob=1.0, v_cruise=50.): v_rel = v_lead - self.speed if self.only_radar: status = True - elif prob > .5: + elif prob_lead > .5: status = True else: status = False else: d_rel = 200. v_rel = 0. - prob = 0.0 + prob_lead = 0.0 status = False lead = log.RadarState.LeadData.new_message() @@ -92,7 +93,7 @@ def step(self, v_lead=0.0, prob=1.0, v_cruise=50.): # TODO use real radard logic for this lead.aLeadTau = float(_LEAD_ACCEL_TAU) lead.status = status - lead.modelProb = float(prob) + lead.modelProb = float(prob_lead) if not self.only_lead2: radar.radarState.leadOne = lead radar.radarState.leadTwo = lead @@ -109,6 +110,7 @@ def step(self, v_lead=0.0, prob=1.0, v_cruise=50.): acceleration = log.XYZTData.new_message() acceleration.x = [float(x) for x in np.zeros_like(ModelConstants.T_IDXS)] model.modelV2.acceleration = acceleration + model.modelV2.meta.disengagePredictions.gasPressProbs = [float(prob_throttle) for _ in range(6)] control.controlsState.longControlState = LongCtrlState.pid if self.enabled else LongCtrlState.off control.controlsState.vCruise = float(v_cruise * 3.6) @@ -117,10 +119,13 @@ def step(self, v_lead=0.0, prob=1.0, v_cruise=50.): control.controlsState.forceDecel = self.force_decel car_state.carState.vEgo = float(self.speed) car_state.carState.standstill = self.speed < 0.01 + car_state.carState.vCruise = float(v_cruise * 3.6) + car_control.carControl.orientationNED = [0., float(pitch), 0.] # ******** get controlsState messages for plotting *** sm = {'radarState': radar.radarState, 'carState': car_state.carState, + 'carControl': car_control.carControl, 'controlsState': control.controlsState, 'modelV2': model.modelV2} self.planner.update(sm) diff --git a/selfdrive/test/longitudinal_maneuvers/test_longitudinal.py b/selfdrive/test/longitudinal_maneuvers/test_longitudinal.py index 62a95babeb3c05..7eea44aae6279e 100644 --- a/selfdrive/test/longitudinal_maneuvers/test_longitudinal.py +++ b/selfdrive/test/longitudinal_maneuvers/test_longitudinal.py @@ -82,6 +82,44 @@ def create_maneuvers(kwargs): breakpoints=[0.0, 2., 2.01], **kwargs, ), + Maneuver( + "approach stopped car at 20m/s, with prob_throttle_values and pitch = -0.1", + duration=30., + initial_speed=20., + lead_relevancy=True, + initial_distance_lead=120., + speed_lead_values=[0.0, 0., 0.], + prob_throttle_values=[1., 0., 0.], + cruise_values=[20., 20., 20.], + pitch_values=[0., -0.1, -0.1], + breakpoints=[0.0, 2., 2.01], + **kwargs, + ), + Maneuver( + "approach stopped car at 20m/s, with prob_throttle_values and pitch = +0.1", + duration=30., + initial_speed=20., + lead_relevancy=True, + initial_distance_lead=120., + speed_lead_values=[0.0, 0., 0.], + prob_throttle_values=[1., 0., 0.], + cruise_values=[20., 20., 20.], + pitch_values=[0., 0.1, 0.1], + breakpoints=[0.0, 2., 2.01], + **kwargs, + ), + Maneuver( + "slow to 5m/s with allow_throttle = False and pitch = +0.1", + duration=25., + initial_speed=20., + lead_relevancy=False, + prob_throttle_values=[1., 0., 0.], + cruise_values=[20., 20., 20.], + pitch_values=[0., 0.1, 0.1], + breakpoints=[0.0, 2., 2.01], + ensure_slowdown=True, + **kwargs, + ), Maneuver( "approach slower cut-in car at 20m/s", duration=20., diff --git a/selfdrive/test/process_replay/model_replay.py b/selfdrive/test/process_replay/model_replay.py index cba2edfd58b5a8..dc089c5035c209 100755 --- a/selfdrive/test/process_replay/model_replay.py +++ b/selfdrive/test/process_replay/model_replay.py @@ -121,10 +121,10 @@ def do_GET(self): all_logs = list(LogReader(BASE_URL + log_fn)) cmp_log = [] - # logs are ordered based on type: modelV2, driverStateV2 + # logs are ordered based on type: modelV2, drivingModelData, driverStateV2 if not NO_MODEL: - model_start_index = next(i for i, m in enumerate(all_logs) if m.which() in ("modelV2", "cameraOdometry")) - cmp_log += all_logs[model_start_index:model_start_index + MAX_FRAMES*2] + model_start_index = next(i for i, m in enumerate(all_logs) if m.which() in ("modelV2", "drivingModelData", "cameraOdometry")) + cmp_log += all_logs[model_start_index:model_start_index + MAX_FRAMES*3] dmon_start_index = next(i for i, m in enumerate(all_logs) if m.which() == "driverStateV2") cmp_log += all_logs[dmon_start_index:dmon_start_index + MAX_FRAMES] diff --git a/selfdrive/test/process_replay/model_replay_ref_commit b/selfdrive/test/process_replay/model_replay_ref_commit index 87f1adfadad766..995e024de06aff 100644 --- a/selfdrive/test/process_replay/model_replay_ref_commit +++ b/selfdrive/test/process_replay/model_replay_ref_commit @@ -1 +1 @@ -73eb11111fb6407fa307c3f2bdd3331f2514c707 +b0d295609abb0f84c34ffb104c1b1a0bb855352f \ No newline at end of file diff --git a/selfdrive/test/process_replay/process_replay.py b/selfdrive/test/process_replay/process_replay.py index 739efcb985a75b..4266e340701bbc 100755 --- a/selfdrive/test/process_replay/process_replay.py +++ b/selfdrive/test/process_replay/process_replay.py @@ -565,7 +565,7 @@ def locationd_config_pubsub_callback(params, cfg, lr): ProcessConfig( proc_name="modeld", pubs=["deviceState", "roadCameraState", "wideRoadCameraState", "liveCalibration", "driverMonitoringState"], - subs=["modelV2", "cameraOdometry"], + subs=["modelV2", "drivingModelData", "cameraOdometry"], ignore=["logMonoTime", "modelV2.frameDropPerc", "modelV2.modelExecutionTime"], should_recv_callback=ModeldCameraSyncRcvCallback(), tolerance=NUMPY_TOLERANCE, diff --git a/selfdrive/test/test_onroad.py b/selfdrive/test/test_onroad.py index 75585e2f14ce50..009aa7669d267b 100644 --- a/selfdrive/test/test_onroad.py +++ b/selfdrive/test/test_onroad.py @@ -207,7 +207,7 @@ def test_log_sizes(self): if f.name == "qcamera.ts": assert 2.15 < sz < 2.35 elif f.name == "qlog": - assert 0.7 < sz < 1.0 + assert 0.6 < sz < 1.0 elif f.name == "rlog": assert 5 < sz < 50 elif f.name.endswith('.hevc'): diff --git a/selfdrive/ui/SConscript b/selfdrive/ui/SConscript index 556c12311be421..2d64a82953a914 100644 --- a/selfdrive/ui/SConscript +++ b/selfdrive/ui/SConscript @@ -22,11 +22,7 @@ widgets_src = ["ui.cc", "qt/widgets/input.cc", "qt/widgets/wifi.cc", "qt/widgets/ssh_keys.cc", "qt/widgets/toggle.cc", "qt/widgets/controls.cc", "qt/widgets/offroad_alerts.cc", "qt/widgets/prime.cc", "qt/widgets/keyboard.cc", "qt/widgets/scrollview.cc", "qt/widgets/cameraview.cc", "#third_party/qrcode/QrCode.cc", - "qt/request_repeater.cc", "qt/qt_window.cc", "qt/network/networking.cc", "qt/network/wifi_manager.cc", - "../frogpilot/ui/qt/widgets/drive_stats.cc", "../frogpilot/ui/qt/widgets/frogpilot_controls.cc", - "../frogpilot/ui/qt/widgets/model_reviewer.cc", "../frogpilot/navigation/ui/navigation_settings.cc", - "../frogpilot/ui/qt/offroad/control_settings.cc", "../frogpilot/ui/qt/offroad/vehicle_settings.cc", - "../frogpilot/ui/qt/offroad/visual_settings.cc"] + "qt/request_repeater.cc", "qt/qt_window.cc", "qt/network/networking.cc", "qt/network/wifi_manager.cc"] qt_env['CPPDEFINES'] = [] if maps: @@ -44,8 +40,20 @@ qt_src = ["main.cc", "qt/sidebar.cc", "qt/body.cc", "qt/offroad/software_settings.cc", "qt/offroad/onboarding.cc", "qt/offroad/driverview.cc", "qt/offroad/experimental_mode.cc", "qt/onroad/onroad_home.cc", "qt/onroad/annotated_camera.cc", - "qt/onroad/buttons.cc", "qt/onroad/alerts.cc", - "../frogpilot/screenrecorder/omx_encoder.cc", "../frogpilot/screenrecorder/screenrecorder.cc"] + "qt/onroad/buttons.cc", "qt/onroad/alerts.cc"] + +frogpilot_src = ["../frogpilot/navigation/ui/maps_settings.cc", "../frogpilot/navigation/ui/primeless_settings.cc", + "../frogpilot/screenrecorder/omx_encoder.cc", "../frogpilot/screenrecorder/screenrecorder.cc", + "../frogpilot/navigation/ui/navigation_functions.cc", "../frogpilot/ui/qt/widgets/drive_stats.cc", + "../frogpilot/ui/qt/widgets/frogpilot_controls.cc", "../frogpilot/ui/qt/widgets/model_reviewer.cc", + "../frogpilot/ui/qt/offroad/advanced_driving_settings.cc", "../frogpilot/ui/qt/offroad/advanced_visual_settings.cc", + "../frogpilot/ui/qt/offroad/data_settings.cc", "../frogpilot/ui/qt/offroad/device_settings.cc", + "../frogpilot/ui/qt/offroad/frogpilot_settings.cc", "../frogpilot/ui/qt/offroad/longitudinal_settings.cc", + "../frogpilot/ui/qt/offroad/lateral_settings.cc", "../frogpilot/ui/qt/offroad/sounds_settings.cc", + "../frogpilot/ui/qt/offroad/theme_settings.cc", "../frogpilot/ui/qt/offroad/utilities.cc", + "../frogpilot/ui/qt/offroad/vehicle_settings.cc", "../frogpilot/ui/qt/offroad/visual_settings.cc"] + +qt_src += frogpilot_src # build translation files with open(File("translations/languages.json").abspath) as f: diff --git a/selfdrive/ui/qt/network/networking.cc b/selfdrive/ui/qt/network/networking.cc index e2b3c2b661d6e2..7da71a53b5d92c 100644 --- a/selfdrive/ui/qt/network/networking.cc +++ b/selfdrive/ui/qt/network/networking.cc @@ -126,12 +126,21 @@ AdvancedNetworking::AdvancedNetworking(QWidget* parent, WifiManager* wifi): QWid ListWidget *list = new ListWidget(this); // Enable tethering layout - std::vector tetheringSelection{tr("Off"), tr("Only Onroad"), tr("Always")}; - tetheringToggle = new FrogPilotButtonParamControl("TetheringEnabled", "Enable Tethering", "", "", tetheringSelection); + std::vector tetheringSelection{tr("Off"), tr("Always"), tr("Only Onroad"), tr("Until Reboot")}; + tetheringToggle = new ButtonParamControl("TetheringEnabled", tr("Enable Tethering"), + tr("Allow tethering with your data SIM and keep it active either while driving or continuously."), + "", tetheringSelection); + if (params.getInt("TetheringEnabled") == 3) { + params.remove("TetheringEnabled"); + tetheringToggle->setCheckedButton(0); + } + QButtonGroup *buttonGroup = tetheringToggle->findChild(); + if (buttonGroup) { + QObject::connect(buttonGroup, QOverload::of(&QButtonGroup::buttonClicked), [this](int id) { + toggleTethering(id); + }); + } list->addItem(tetheringToggle); - QObject::connect(tetheringToggle, &FrogPilotButtonParamControl::buttonClicked, [this](int id) { - toggleTethering(id); - }); // Change tethering password ButtonControl *editPasswordButton = new ButtonControl(tr("Tethering Password"), tr("EDIT")); @@ -224,7 +233,7 @@ void AdvancedNetworking::refresh() { } void AdvancedNetworking::toggleTethering(int id) { - wifi->setTetheringEnabled(id == 2); + wifi->setTetheringEnabled(id == 1 || id == 3); tetheringToggle->setEnabled(false); updateFrogPilotToggles(); } diff --git a/selfdrive/ui/qt/network/networking.h b/selfdrive/ui/qt/network/networking.h index 3fcc307c0ba28f..75d259926933a9 100644 --- a/selfdrive/ui/qt/network/networking.h +++ b/selfdrive/ui/qt/network/networking.h @@ -65,7 +65,7 @@ class AdvancedNetworking : public QWidget { private: LabelControl* ipLabel; - FrogPilotButtonParamControl* tetheringToggle; + ButtonParamControl* tetheringToggle; ToggleControl* roamingToggle; ButtonControl* editApnButton; ButtonControl* hiddenNetworkButton; diff --git a/selfdrive/ui/qt/offroad/settings.cc b/selfdrive/ui/qt/offroad/settings.cc index 69430a753735c3..f0fd395a7dffcd 100644 --- a/selfdrive/ui/qt/offroad/settings.cc +++ b/selfdrive/ui/qt/offroad/settings.cc @@ -1,14 +1,10 @@ #include #include -#include -#include -#include #include #include #include #include -#include #include "common/watchdog.h" #include "common/util.h" @@ -19,10 +15,7 @@ #include "selfdrive/ui/qt/widgets/scrollview.h" #include "selfdrive/ui/qt/widgets/ssh_keys.h" -#include "selfdrive/frogpilot/navigation/ui/navigation_settings.h" -#include "selfdrive/frogpilot/ui/qt/offroad/control_settings.h" -#include "selfdrive/frogpilot/ui/qt/offroad/vehicle_settings.h" -#include "selfdrive/frogpilot/ui/qt/offroad/visual_settings.h" +#include "selfdrive/frogpilot/ui/qt/offroad/frogpilot_settings.h" TogglesPanel::TogglesPanel(SettingsWindow *parent) : ListWidget(parent) { // param, title, desc, icon @@ -286,412 +279,8 @@ DevicePanel::DevicePanel(SettingsWindow *parent) : ListWidget(parent) { btn->setEnabled(offroad); } } - for (FrogPilotButtonsControl *btn : findChildren()) { - if (btn != forceStartedBtn) { - btn->setEnabled(offroad); - } - } }); - // Delete driving footage - ButtonControl *deleteDrivingDataBtn = new ButtonControl(tr("Delete Driving Data"), tr("DELETE"), tr("This button provides a swift and secure way to permanently delete all " - "stored driving footage and data from your device. Ideal for maintaining privacy or freeing up space.") - ); - connect(deleteDrivingDataBtn, &ButtonControl::clicked, [=]() { - if (ConfirmationDialog::confirm(tr("Are you sure you want to permanently delete all of your driving footage and data?"), tr("Delete"), this)) { - std::thread([&] { - deleteDrivingDataBtn->setEnabled(false); - deleteDrivingDataBtn->setValue(tr("Deleting footage...")); - - std::system("rm -rf /data/media/0/realdata"); - - deleteDrivingDataBtn->setValue(tr("Deleted!")); - - util::sleep_for(2000); - deleteDrivingDataBtn->setValue(""); - deleteDrivingDataBtn->setEnabled(true); - }).detach(); - } - }); - addItem(deleteDrivingDataBtn); - - // Screen recordings - std::vector recordingsOptions{tr("DELETE"), tr("RENAME")}; - FrogPilotButtonsControl *screenRecordingsBtn = new FrogPilotButtonsControl(tr("Screen Recordings"), tr("Delete or rename your screen recordings."), "", recordingsOptions); - connect(screenRecordingsBtn, &FrogPilotButtonsControl::buttonClicked, [=](int id) { - QDir recordingsDir("/data/media/0/videos"); - QStringList recordingsNames = recordingsDir.entryList(QDir::Files | QDir::NoDotAndDotDot); - - if (id == 0) { - QString selection = MultiOptionDialog::getSelection(tr("Select a recording to delete"), recordingsNames, "", this); - if (!selection.isEmpty()) { - if (!ConfirmationDialog::confirm(tr("Are you sure you want to delete this recording?"), tr("Delete"), this)) return; - std::thread([=]() { - screenRecordingsBtn->setEnabled(false); - screenRecordingsBtn->setValue(tr("Deleting...")); - - QFile fileToDelete(recordingsDir.absoluteFilePath(selection)); - if (fileToDelete.remove()) { - screenRecordingsBtn->setValue(tr("Deleted!")); - } else { - screenRecordingsBtn->setValue(tr("Failed...")); - } - - util::sleep_for(2000); - screenRecordingsBtn->setValue(""); - screenRecordingsBtn->setEnabled(true); - }).detach(); - } - - } else if (id == 1) { - QString selection = MultiOptionDialog::getSelection(tr("Select a recording to rename"), recordingsNames, "", this); - if (!selection.isEmpty()) { - QString newName = InputDialog::getText(tr("Enter a new name"), this, tr("Rename Recording")); - if (!newName.isEmpty()) { - std::thread([=]() { - screenRecordingsBtn->setEnabled(false); - screenRecordingsBtn->setValue(tr("Renaming...")); - - QString oldPath = recordingsDir.absoluteFilePath(selection); - QString newPath = recordingsDir.absoluteFilePath(newName); - - if (QFile::rename(oldPath, newPath)) { - screenRecordingsBtn->setValue(tr("Renamed!")); - } else { - screenRecordingsBtn->setValue(tr("Failed...")); - } - - util::sleep_for(2000); - screenRecordingsBtn->setValue(""); - screenRecordingsBtn->setEnabled(true); - }).detach(); - } - } - } - }); - addItem(screenRecordingsBtn); - - // Backup FrogPilot - std::vector frogpilotBackupOptions{tr("BACKUP"), tr("DELETE"), tr("RESTORE")}; - FrogPilotButtonsControl *frogpilotBackupBtn = new FrogPilotButtonsControl(tr("FrogPilot Backups"), tr("Backup, delete, or restore your FrogPilot backups."), "", frogpilotBackupOptions); - connect(frogpilotBackupBtn, &FrogPilotButtonsControl::buttonClicked, [=](int id) { - QDir backupDir("/data/backups"); - QStringList backupNames = backupDir.entryList(QDir::Dirs | QDir::Files | QDir::NoDotAndDotDot, QDir::Name); - backupNames = backupNames.filter(QRegularExpression("^(?!.*_in_progress$).*$")); - - if (id == 0) { - QString nameSelection = InputDialog::getText(tr("Name your backup"), this, "", false, 1); - if (!nameSelection.isEmpty()) { - bool compressed = FrogPilotConfirmationDialog::yesorno(tr("Do you want to compress this backup? The end file size will be 2.25x smaller, but can take 10+ minutes."), this); - std::thread([=]() { - frogpilotBackupBtn->setEnabled(false); - frogpilotBackupBtn->setValue(tr("Backing up...")); - - std::string fullBackupPath = backupDir.absolutePath().toStdString() + "/" + nameSelection.toStdString(); - std::string inProgressBackupPath = fullBackupPath + "_in_progress"; - std::string command = "mkdir -p " + inProgressBackupPath + " && rsync -av /data/openpilot/ " + inProgressBackupPath + "/"; - - int result = std::system(command.c_str()); - - if (result == 0) { - if (compressed) { - frogpilotBackupBtn->setValue(tr("Compressing backup...")); - std::string tarFilePathInProgress = fullBackupPath + "_in_progress.tar.gz"; - command = "tar -czf " + tarFilePathInProgress + " -C " + inProgressBackupPath + " . && rm -rf " + inProgressBackupPath; - result = std::system(command.c_str()); - - if (result == 0) { - std::string tarFilePath = fullBackupPath + ".tar.gz"; - command = "mv " + tarFilePathInProgress + " " + tarFilePath; - result = std::system(command.c_str()); - - if (result == 0) { - frogpilotBackupBtn->setValue(tr("Success!")); - } else { - frogpilotBackupBtn->setValue(tr("Failed...")); - std::system(("rm -f " + tarFilePathInProgress).c_str()); - } - } else { - frogpilotBackupBtn->setValue(tr("Failed...")); - std::system(("rm -f " + tarFilePathInProgress).c_str()); - std::system(("rm -rf " + inProgressBackupPath).c_str()); - } - } else { - command = "mv " + inProgressBackupPath + " " + fullBackupPath; - result = std::system(command.c_str()); - - if (result == 0) { - frogpilotBackupBtn->setValue(tr("Success!")); - } else { - frogpilotBackupBtn->setValue(tr("Failed...")); - std::system(("rm -rf " + inProgressBackupPath).c_str()); - } - } - } else { - frogpilotBackupBtn->setValue(tr("Failed...")); - std::system(("rm -rf " + inProgressBackupPath).c_str()); - } - - util::sleep_for(2000); - frogpilotBackupBtn->setValue(""); - frogpilotBackupBtn->setEnabled(true); - }).detach(); - } - - } else if (id == 1) { - QString selection = MultiOptionDialog::getSelection(tr("Select a backup to delete"), backupNames, "", this); - if (!selection.isEmpty()) { - if (ConfirmationDialog::confirm(tr("Are you sure you want to delete this backup?"), tr("Delete"), this)) { - std::thread([=]() { - frogpilotBackupBtn->setEnabled(false); - frogpilotBackupBtn->setValue(tr("Deleting...")); - - QDir dirToDelete(backupDir.absoluteFilePath(selection)); - if (selection.endsWith(".tar.gz")) { - frogpilotBackupBtn->setValue(QFile::remove(dirToDelete.absolutePath()) ? tr("Deleted!") : tr("Failed...")); - } else { - frogpilotBackupBtn->setValue(dirToDelete.removeRecursively() ? tr("Deleted!") : tr("Failed...")); - } - - util::sleep_for(2000); - frogpilotBackupBtn->setValue(""); - frogpilotBackupBtn->setEnabled(true); - }).detach(); - } - } - - } else if (id == 2) { - QString selection = MultiOptionDialog::getSelection(tr("Select a restore point"), backupNames, "", this); - if (!selection.isEmpty()) { - if (ConfirmationDialog::confirm(tr("Are you sure you want to restore this version of FrogPilot?"), tr("Restore"), this)) { - std::thread([=]() { - frogpilotBackupBtn->setEnabled(false); - frogpilotBackupBtn->setValue(tr("Restoring...")); - - std::string sourcePath = backupDir.absolutePath().toStdString() + "/" + selection.toStdString(); - std::string targetPath = "/data/safe_staging/finalized"; - std::string consistentFilePath = targetPath + "/.overlay_consistent"; - std::string extractDirectory = "/data/restore_temp"; - - if (selection.endsWith(".tar.gz")) { - frogpilotBackupBtn->setValue(tr("Extracting...")); - - if (std::system(("mkdir -p " + extractDirectory).c_str()) != 0) { - frogpilotBackupBtn->setValue(tr("Failed...")); - util::sleep_for(2000); - frogpilotBackupBtn->setValue(""); - frogpilotBackupBtn->setEnabled(true); - return; - } - - if (std::system(("tar --strip-components=1 -xzf " + sourcePath + " -C " + extractDirectory).c_str()) != 0) { - frogpilotBackupBtn->setValue(tr("Failed...")); - util::sleep_for(2000); - frogpilotBackupBtn->setValue(""); - frogpilotBackupBtn->setEnabled(true); - return; - } - - sourcePath = extractDirectory; - frogpilotBackupBtn->setValue(tr("Restoring...")); - } - - if (std::system(("rsync -av --delete -l --exclude='.overlay_consistent' " + sourcePath + "/ " + targetPath + "/").c_str()) == 0) { - std::ofstream consistentFile(consistentFilePath); - if (consistentFile) { - frogpilotBackupBtn->setValue(tr("Restored!")); - params.putBool("AutomaticUpdates", false); - util::sleep_for(2000); - - frogpilotBackupBtn->setValue(tr("Rebooting...")); - consistentFile.close(); - std::filesystem::remove_all(extractDirectory); - util::sleep_for(2000); - - Hardware::reboot(); - } else { - frogpilotBackupBtn->setValue(tr("Failed...")); - util::sleep_for(2000); - frogpilotBackupBtn->setValue(""); - frogpilotBackupBtn->setEnabled(true); - } - } else { - frogpilotBackupBtn->setValue(tr("Failed...")); - util::sleep_for(2000); - frogpilotBackupBtn->setValue(""); - frogpilotBackupBtn->setEnabled(true); - } - }).detach(); - } - } - } - }); - addItem(frogpilotBackupBtn); - - // Backup toggles - std::vector toggleBackupOptions{tr("BACKUP"), tr("DELETE"), tr("RESTORE")}; - FrogPilotButtonsControl *toggleBackupBtn = new FrogPilotButtonsControl(tr("Toggle Backups"), tr("Backup, delete, or restore your toggle backups."), "", toggleBackupOptions); - connect(toggleBackupBtn, &FrogPilotButtonsControl::buttonClicked, [=](int id) { - QDir backupDir("/data/toggle_backups"); - QStringList backupNames = backupDir.entryList(QDir::Dirs | QDir::NoDotAndDotDot); - - if (id == 0) { - QString nameSelection = InputDialog::getText(tr("Name your backup"), this, "", false, 1); - if (!nameSelection.isEmpty()) { - std::thread([=]() { - toggleBackupBtn->setEnabled(false); - toggleBackupBtn->setValue(tr("Backing up...")); - - std::string fullBackupPath = backupDir.absolutePath().toStdString() + "/" + nameSelection.toStdString() + "/"; - std::string command = "mkdir -p " + fullBackupPath + " && rsync -av /data/params/d/ " + fullBackupPath; - - int result = std::system(command.c_str()); - toggleBackupBtn->setValue(result == 0 ? tr("Success!") : tr("Failed...")); - - util::sleep_for(2000); - toggleBackupBtn->setValue(""); - toggleBackupBtn->setEnabled(true); - }).detach(); - } - - } else if (id == 1) { - QString selection = MultiOptionDialog::getSelection(tr("Select a backup to delete"), backupNames, "", this); - if (!selection.isEmpty()) { - if (ConfirmationDialog::confirm(tr("Are you sure you want to delete this backup?"), tr("Delete"), this)) { - std::thread([=]() { - toggleBackupBtn->setEnabled(false); - toggleBackupBtn->setValue(tr("Deleting...")); - - QDir dirToDelete(backupDir.absoluteFilePath(selection)); - - toggleBackupBtn->setValue(dirToDelete.removeRecursively() ? tr("Deleted!") : tr("Failed...")); - - util::sleep_for(2000); - toggleBackupBtn->setValue(""); - toggleBackupBtn->setEnabled(true); - }).detach(); - } - } - - } else if (id == 2) { - QString selection = MultiOptionDialog::getSelection(tr("Select a restore point"), backupNames, "", this); - if (!selection.isEmpty()) { - if (ConfirmationDialog::confirm(tr("Are you sure you want to restore this toggle backup?"), tr("Restore"), this)) { - std::thread([=]() { - toggleBackupBtn->setEnabled(false); - - std::string targetPath = "/data/params/d/"; - std::string tempBackupPath = "/data/params/d_backup/"; - - std::string backupCommand = "rsync -av --delete -l " + targetPath + " " + tempBackupPath; - int backupResult = std::system(backupCommand.c_str()); - - if (backupResult == 0) { - toggleBackupBtn->setValue(tr("Restoring...")); - - std::string sourcePath = backupDir.absolutePath().toStdString() + "/" + selection.toStdString() + "/"; - std::string restoreCommand = "rsync -av --delete -l " + sourcePath + " " + targetPath; - - int restoreResult = std::system(restoreCommand.c_str()); - - if (restoreResult == 0) { - toggleBackupBtn->setValue(tr("Success!")); - updateFrogPilotToggles(); - std::system(("rm -rf " + tempBackupPath).c_str()); - } else { - toggleBackupBtn->setValue(tr("Failed...")); - std::system(("rsync -av --delete -l " + tempBackupPath + " " + targetPath).c_str()); - } - } else { - toggleBackupBtn->setValue(tr("Failed...")); - } - - util::sleep_for(2000); - toggleBackupBtn->setValue(""); - toggleBackupBtn->setEnabled(true); - }).detach(); - } - } - } - }); - addItem(toggleBackupBtn); - - // Panda flashing - ButtonControl *flashPandaBtn = new ButtonControl(tr("Flash Panda"), tr("FLASH"), tr("Use this button to troubleshoot and update the Panda device's firmware.")); - connect(flashPandaBtn, &ButtonControl::clicked, [=]() { - if (ConfirmationDialog::confirm(tr("Are you sure you want to flash the Panda?"), tr("Flash"), this)) { - std::thread([=]() { - flashPandaBtn->setEnabled(false); - flashPandaBtn->setValue(tr("Flashing...")); - - QProcess recoverProcess; - recoverProcess.setWorkingDirectory("/data/openpilot/panda/board"); - recoverProcess.start("/bin/sh", QStringList{"-c", "./recover.py"}); - if (!recoverProcess.waitForFinished()) { - flashPandaBtn->setValue(tr("Recovery Failed...")); - flashPandaBtn->setEnabled(true); - return; - } - - QProcess flashProcess; - flashProcess.setWorkingDirectory("/data/openpilot/panda/board"); - flashProcess.start("/bin/sh", QStringList{"-c", "./flash.py"}); - if (!flashProcess.waitForFinished()) { - flashPandaBtn->setValue(tr("Flash Failed...")); - flashPandaBtn->setEnabled(true); - return; - } - - flashPandaBtn->setValue(tr("Flashed!")); - util::sleep_for(2000); - flashPandaBtn->setValue(tr("Rebooting...")); - util::sleep_for(2000); - Hardware::reboot(); - }).detach(); - } - }); - addItem(flashPandaBtn); - - // Reset toggles to default - ButtonControl *resetTogglesBtn = new ButtonControl(tr("Reset Toggles To Default"), tr("RESET"), tr("Reset your toggle settings back to their default settings.")); - connect(resetTogglesBtn, &ButtonControl::clicked, [=]() { - if (ConfirmationDialog::confirm(tr("Are you sure you want to completely reset all of your toggle settings?"), tr("Reset"), this)) { - std::thread([&] { - resetTogglesBtn->setEnabled(false); - resetTogglesBtn->setValue(tr("Resetting toggles...")); - - std::system("rm -rf /persist/params"); - params.putBool("DoToggleReset", true); - - resetTogglesBtn->setValue(tr("Reset!")); - util::sleep_for(2000); - resetTogglesBtn->setValue(tr("Rebooting...")); - util::sleep_for(2000); - Hardware::reboot(); - }).detach(); - } - }); - addItem(resetTogglesBtn); - - // Force offroad/onroad - std::vector forceStartedOptions{tr("OFFROAD"), tr("ONROAD"), tr("OFF")}; - forceStartedBtn = new FrogPilotButtonsControl(tr("Force Started State"), tr("Force openpilot either offroad or onroad."), "", forceStartedOptions, true); - connect(forceStartedBtn, &FrogPilotButtonsControl::buttonClicked, [=](int id) { - if (id == 0) { - paramsMemory.putBool("ForceOffroad", true); - paramsMemory.putBool("ForceOnroad", false); - } else if (id == 1) { - paramsMemory.putBool("ForceOffroad", false); - paramsMemory.putBool("ForceOnroad", true); - } else if (id == 2) { - paramsMemory.putBool("ForceOffroad", false); - paramsMemory.putBool("ForceOnroad", false); - } - forceStartedBtn->updateButtonStyles(id); - }); - forceStartedBtn->updateButtonStyles(2); - addItem(forceStartedBtn); - // power buttons QHBoxLayout *power_layout = new QHBoxLayout(); power_layout->setSpacing(30); @@ -773,17 +362,22 @@ void DevicePanel::showEvent(QShowEvent *event) { pair_device->setVisible(uiState()->primeType() == PrimeType::UNPAIRED); ListWidget::showEvent(event); + // Frogpilot variables resetCalibBtn->setVisible(!params.getBool("ModelManagement")); } void SettingsWindow::hideEvent(QHideEvent *event) { + closeMapBoxInstructions(); + closeMapSelection(); + closePanel(); closeParentToggle(); + mapboxInstructionsOpen = false; + mapSelectionOpen = false; + panelOpen = false; parentToggleOpen = false; subParentToggleOpen = false; subSubParentToggleOpen = false; - - previousScrollPosition = 0; } void SettingsWindow::showEvent(QShowEvent *event) { @@ -822,7 +416,13 @@ SettingsWindow::SettingsWindow(QWidget *parent) : QFrame(parent) { sidebar_layout->addSpacing(10); sidebar_layout->addWidget(close_btn, 0, Qt::AlignRight); QObject::connect(close_btn, &QPushButton::clicked, [this]() { - if (subSubParentToggleOpen) { + if (mapboxInstructionsOpen) { + closeMapBoxInstructions(); + mapboxInstructionsOpen = false; + } else if (mapSelectionOpen) { + closeMapSelection(); + mapSelectionOpen = false; + } else if (subSubParentToggleOpen) { closeSubSubParentToggle(); subSubParentToggleOpen = false; } else if (subParentToggleOpen) { @@ -831,6 +431,9 @@ SettingsWindow::SettingsWindow(QWidget *parent) : QFrame(parent) { } else if (parentToggleOpen) { closeParentToggle(); parentToggleOpen = false; + } else if (panelOpen) { + closePanel(); + panelOpen = false; } else { closeSettings(); } @@ -843,26 +446,24 @@ SettingsWindow::SettingsWindow(QWidget *parent) : QFrame(parent) { TogglesPanel *toggles = new TogglesPanel(this); QObject::connect(this, &SettingsWindow::expandToggleDescription, toggles, &TogglesPanel::expandToggleDescription); - QObject::connect(toggles, &TogglesPanel::updateMetric, this, &SettingsWindow::updateMetric); - FrogPilotControlsPanel *frogpilotControls = new FrogPilotControlsPanel(this); - QObject::connect(frogpilotControls, &FrogPilotControlsPanel::openParentToggle, this, [this]() {parentToggleOpen=true;}); - QObject::connect(frogpilotControls, &FrogPilotControlsPanel::openSubParentToggle, this, [this]() {subParentToggleOpen=true;}); - QObject::connect(frogpilotControls, &FrogPilotControlsPanel::openSubSubParentToggle, this, [this]() {subSubParentToggleOpen=true;}); + // FrogPilot panels + QObject::connect(toggles, &TogglesPanel::updateMetric, this, &SettingsWindow::updateMetric); - FrogPilotVisualsPanel *frogpilotVisuals = new FrogPilotVisualsPanel(this); - QObject::connect(frogpilotVisuals, &FrogPilotVisualsPanel::openParentToggle, this, [this]() {parentToggleOpen=true;}); - QObject::connect(frogpilotVisuals, &FrogPilotVisualsPanel::openSubParentToggle, this, [this]() {subParentToggleOpen=true;}); + FrogPilotSettingsWindow *frogpilotSettingsWindow = new FrogPilotSettingsWindow(this); + QObject::connect(frogpilotSettingsWindow, &FrogPilotSettingsWindow::openMapBoxInstructions, [this]() {mapboxInstructionsOpen=true;}); + QObject::connect(frogpilotSettingsWindow, &FrogPilotSettingsWindow::openMapSelection, [this]() {mapSelectionOpen=true;}); + QObject::connect(frogpilotSettingsWindow, &FrogPilotSettingsWindow::openPanel, [this]() {panelOpen=true;}); + QObject::connect(frogpilotSettingsWindow, &FrogPilotSettingsWindow::openParentToggle, [this]() {parentToggleOpen=true;}); + QObject::connect(frogpilotSettingsWindow, &FrogPilotSettingsWindow::openSubParentToggle, [this]() {subParentToggleOpen=true;}); + QObject::connect(frogpilotSettingsWindow, &FrogPilotSettingsWindow::openSubSubParentToggle, [this]() {subSubParentToggleOpen=true;}); QList> panels = { {tr("Device"), device}, {tr("Network"), new Networking(this)}, {tr("Toggles"), toggles}, {tr("Software"), new SoftwarePanel(this)}, - {tr("Controls"), frogpilotControls}, - {tr("Navigation"), new FrogPilotNavigationPanel(this)}, - {tr("Vehicles"), new FrogPilotVehiclesPanel(this)}, - {tr("Visuals"), frogpilotVisuals}, + {tr("FrogPilot"), frogpilotSettingsWindow}, }; nav_btns = new QButtonGroup(this); @@ -895,25 +496,23 @@ SettingsWindow::SettingsWindow(QWidget *parent) : QFrame(parent) { ScrollView *panel_frame = new ScrollView(panel, this); panel_widget->addWidget(panel_frame); - if (name == tr("Controls") || name == tr("Visuals")) { - QScrollBar *scrollbar = panel_frame->verticalScrollBar(); - - QObject::connect(scrollbar, &QScrollBar::valueChanged, this, [this](int value) { - if (!parentToggleOpen) { - previousScrollPosition = value; - } - }); - - QObject::connect(scrollbar, &QScrollBar::rangeChanged, this, [this, panel_frame]() { - if (!parentToggleOpen) { - panel_frame->restorePosition(previousScrollPosition); - } - }); - } - QObject::connect(btn, &QPushButton::clicked, [=, w = panel_frame]() { - closeParentToggle(); - previousScrollPosition = 0; + if (mapboxInstructionsOpen) { + closeMapBoxInstructions(); + mapboxInstructionsOpen = false; + } + if (mapSelectionOpen) { + closeMapSelection(); + mapSelectionOpen = false; + } + if (panelOpen) { + closePanel(); + panelOpen = false; + } + if (parentToggleOpen) { + closeParentToggle(); + parentToggleOpen = false; + } btn->setChecked(true); panel_widget->setCurrentWidget(w); }); diff --git a/selfdrive/ui/qt/offroad/settings.h b/selfdrive/ui/qt/offroad/settings.h index 0b5b2a35cc3581..6a3ef27de30447 100644 --- a/selfdrive/ui/qt/offroad/settings.h +++ b/selfdrive/ui/qt/offroad/settings.h @@ -35,6 +35,9 @@ class SettingsWindow : public QFrame { void expandToggleDescription(const QString ¶m); // FrogPilot signals + void closeMapBoxInstructions(); + void closeMapSelection(); + void closePanel(); void closeParentToggle(); void closeSubParentToggle(); void closeSubSubParentToggle(); @@ -47,11 +50,12 @@ class SettingsWindow : public QFrame { QStackedWidget *panel_widget; // FrogPilot variables + bool mapboxInstructionsOpen; + bool mapSelectionOpen; + bool panelOpen; bool parentToggleOpen; bool subParentToggleOpen; bool subSubParentToggleOpen; - - int previousScrollPosition; }; class DevicePanel : public ListWidget { @@ -74,10 +78,7 @@ private slots: ButtonControl *pair_device; // FrogPilot variables - Params paramsMemory{"/dev/shm/params"}; - ButtonControl *resetCalibBtn; - FrogPilotButtonsControl *forceStartedBtn; }; class TogglesPanel : public ListWidget { @@ -127,4 +128,6 @@ class SoftwarePanel : public ListWidget { // FrogPilot variables Params paramsMemory{"/dev/shm/params"}; + + bool frogsGoMoo = getDongleId().value_or("") == "FrogsGoMoo"; }; diff --git a/selfdrive/ui/qt/offroad/software_settings.cc b/selfdrive/ui/qt/offroad/software_settings.cc index 6483e14fa88492..a9026859eb7b41 100644 --- a/selfdrive/ui/qt/offroad/software_settings.cc +++ b/selfdrive/ui/qt/offroad/software_settings.cc @@ -38,6 +38,8 @@ SoftwarePanel::SoftwarePanel(QWidget* parent) : ListWidget(parent) { // download update btn downloadBtn = new ButtonControl(tr("Download"), tr("CHECK")); connect(downloadBtn, &ButtonControl::clicked, [=]() { + device()->resetInteractiveTimeout(300); + downloadBtn->setEnabled(false); if (downloadBtn->text() == tr("CHECK")) { checkForUpdates(); @@ -61,7 +63,7 @@ SoftwarePanel::SoftwarePanel(QWidget* parent) : ListWidget(parent) { connect(targetBranchBtn, &ButtonControl::clicked, [=]() { auto current = params.get("GitBranch"); QStringList branches = QString::fromStdString(params.get("UpdaterAvailableBranches")).split(","); - if (getDongleId().value_or("") != "FrogsGoMoo") { + if (!frogsGoMoo) { branches.removeAll("FrogPilot-Development"); branches.removeAll("FrogPilot-New"); branches.removeAll("FrogPilot-Test"); @@ -89,6 +91,15 @@ SoftwarePanel::SoftwarePanel(QWidget* parent) : ListWidget(parent) { auto uninstallBtn = new ButtonControl(tr("Uninstall %1").arg(getBrand()), tr("UNINSTALL")); connect(uninstallBtn, &ButtonControl::clicked, [&]() { if (ConfirmationDialog::confirm(tr("Are you sure you want to uninstall?"), tr("Uninstall"), this)) { + if (FrogPilotConfirmationDialog::yesorno(tr("Do you want to permanently delete any additional FrogPilot assets? This is 100% unrecoverable and includes backups, downloaded models, themes, and long-term storage toggle settings for easy reinstalls."), this)) { + std::system("rm -rf /data/backups"); + std::system("rm -rf /data/crashes"); + std::system("rm -rf /data/media/screen_recordings"); + std::system("rm -rf /data/themes"); + std::system("rm -rf /data/toggle_backups"); + std::system("rm -rf /persist/params"); + std::system("rm -rf /persist/tracking"); + } params.putBool("DoUninstall", true); } }); @@ -139,8 +150,8 @@ void SoftwarePanel::updateLabels() { // updater only runs offroad or when parked bool parked = scene.parked; - onroadLbl->setVisible(is_onroad && !parked); - downloadBtn->setVisible(!is_onroad || parked); + onroadLbl->setVisible(is_onroad && !parked && !frogsGoMoo); + downloadBtn->setVisible(!is_onroad || parked || frogsGoMoo); // download update QString updater_state = QString::fromStdString(params.get("UpdaterState")); @@ -172,7 +183,12 @@ void SoftwarePanel::updateLabels() { versionLbl->setText(QString::fromStdString(params.get("UpdaterCurrentDescription"))); versionLbl->setDescription(QString::fromStdString(params.get("UpdaterCurrentReleaseNotes"))); - installBtn->setVisible((!is_onroad || parked) && params.getBool("UpdateAvailable")); + bool install_ready = (!is_onroad || parked) && params.getBool("UpdateAvailable"); + if (!installBtn->isVisible() && install_ready) { + device()->resetInteractiveTimeout(30); + } + + installBtn->setVisible(install_ready); installBtn->setValue(QString::fromStdString(params.get("UpdaterNewDescription"))); installBtn->setDescription(QString::fromStdString(params.get("UpdaterNewReleaseNotes"))); diff --git a/selfdrive/ui/qt/onroad/annotated_camera.cc b/selfdrive/ui/qt/onroad/annotated_camera.cc index daa3f202b51e26..fe965a760a2c36 100644 --- a/selfdrive/ui/qt/onroad/annotated_camera.cc +++ b/selfdrive/ui/qt/onroad/annotated_camera.cc @@ -20,8 +20,8 @@ AnnotatedCameraWidget::AnnotatedCameraWidget(VisionStreamType type, QWidget* par buttons_layout->setSpacing(0); // Neokii screen recorder - recorder = new ScreenRecorder(this); - buttons_layout->addWidget(recorder); + screenRecorder = new ScreenRecorder(this); + buttons_layout->addWidget(screenRecorder); experimental_btn = new ExperimentalButton(this); buttons_layout->addWidget(experimental_btn); @@ -80,7 +80,7 @@ void AnnotatedCameraWidget::updateState(int alert_height, const UIState &s) { has_eu_speed_limit = (nav_alive && speed_limit_sign == cereal::NavInstruction::SpeedLimitSign::VIENNA) && !(speedLimitController && !useViennaSLCSign) || (speedLimitController && useViennaSLCSign); is_metric = s.scene.is_metric; speedUnit = s.scene.is_metric ? tr("km/h") : tr("mph"); - hideBottomIcons = (cs.getAlertSize() != cereal::ControlsState::AlertSize::NONE || turnSignalAnimation && (turnSignalLeft || turnSignalRight) && signalStyle == "traditional" || bigMapOpen); + hideBottomIcons = (cs.getAlertSize() != cereal::ControlsState::AlertSize::NONE || turnSignalAnimation && (turnSignalLeft || turnSignalRight) && (signalStyle == "traditional" || signalStyle == "traditional_gif") || bigMapOpen); status = s.status; // update engageability/experimental mode button @@ -100,7 +100,7 @@ void AnnotatedCameraWidget::updateState(int alert_height, const UIState &s) { } // Update FrogPilot widgets - updateFrogPilotWidgets(alert_height, s.scene); + updateFrogPilotVariables(alert_height, s.scene); } void AnnotatedCameraWidget::drawHud(QPainter &p) { @@ -315,7 +315,7 @@ void AnnotatedCameraWidget::updateFrameMat() { .translate(-intrinsic_matrix.v[2], -intrinsic_matrix.v[5]); } -void AnnotatedCameraWidget::drawLaneLines(QPainter &painter, const UIState *s) { +void AnnotatedCameraWidget::drawLaneLines(QPainter &painter, const UIState *s, float v_ego) { painter.save(); const UIScene &scene = s->scene; @@ -352,7 +352,7 @@ void AnnotatedCameraWidget::drawLaneLines(QPainter &painter, const UIState *s) { // Copy of the acceleration vector std::vector acceleration; acceleration.reserve(acceleration_const.size()); - for (size_t i = 0; i < acceleration_const.size(); i++) { + for (size_t i = 0; i < acceleration_const.size(); ++i) { acceleration.push_back(acceleration_const[i]); } @@ -439,7 +439,7 @@ void AnnotatedCameraWidget::drawLaneLines(QPainter &painter, const UIState *s) { } // Paint adjacent lane paths - if (scene.adjacent_path && (laneWidthLeft != 0 || laneWidthRight != 0)) { + if ((scene.adjacent_path || scene.adjacent_path_metrics) && v_ego > scene.minimum_lane_change_speed) { const float minLaneWidth = laneDetectionWidth * 0.5f; const float maxLaneWidth = laneDetectionWidth * 1.5f; @@ -469,8 +469,8 @@ void AnnotatedCameraWidget::drawLaneLines(QPainter &painter, const UIState *s) { } }; - paintLane(scene.track_adjacent_vertices[4], laneWidthLeft, blindSpotLeft); - paintLane(scene.track_adjacent_vertices[5], laneWidthRight, blindSpotRight); + paintLane(scene.track_adjacent_vertices[4], scene.lane_width_left, blindSpotLeft); + paintLane(scene.track_adjacent_vertices[5], scene.lane_width_right, blindSpotRight); } // Paint path edges @@ -559,13 +559,13 @@ void AnnotatedCameraWidget::drawDriverState(QPainter &painter, const UIState *s) painter.restore(); } -void AnnotatedCameraWidget::drawLead(QPainter &painter, const cereal::ModelDataV2::LeadDataV3::Reader &lead_data, const QPointF &vd, const float v_ego, const QColor lead_marker_color) { +void AnnotatedCameraWidget::drawLead(QPainter &painter, const cereal::RadarState::LeadData::Reader &lead_data, const QPointF &vd, float v_ego, const QColor lead_marker_color) { painter.save(); const float speedBuff = useStockColors ? 10. : 25.; // Make the center of the chevron appear sooner if a theme is active const float leadBuff = useStockColors ? 40. : 100.; // Make the center of the chevron appear sooner if a theme is active - const float d_rel = lead_data.getX()[0]; - const float v_rel = lead_data.getV()[0] - v_ego; + const float d_rel = lead_data.getDRel(); + const float v_rel = lead_data.getVRel(); float fillAlpha = 0; if (d_rel < leadBuff) { @@ -684,18 +684,18 @@ void AnnotatedCameraWidget::paintEvent(QPaintEvent *event) { if (s->scene.world_objects_visible) { update_model(s, model, sm["uiPlan"].getUiPlan()); - drawLaneLines(painter, s); - - if (s->scene.longitudinal_control && sm.rcv_frame("modelV2") > s->scene.started_frame && !s->scene.hide_lead_marker) { - update_leads(s, model); - float prev_drel = -1; - for (int i = 0; i < model.getLeadsV3().size() && i < 2; i++) { - const auto &lead = model.getLeadsV3()[i]; - auto lead_drel = lead.getX()[0]; - if (s->scene.has_lead && (prev_drel < 0 || std::abs(lead_drel - prev_drel) > 3.0)) { - drawLead(painter, lead, s->scene.lead_vertices[i], (speed / (is_metric ? MS_TO_KPH : MS_TO_MPH)), s->scene.lead_marker_color); - } - prev_drel = lead_drel; + drawLaneLines(painter, s, v_ego); + + if (s->scene.longitudinal_control && sm.rcv_frame("radarState") > s->scene.started_frame && !s->scene.hide_lead_marker) { + auto radar_state = sm["radarState"].getRadarState(); + update_leads(s, radar_state, model.getPosition()); + auto lead_one = radar_state.getLeadOne(); + auto lead_two = radar_state.getLeadTwo(); + if (lead_one.getStatus()) { + drawLead(painter, lead_one, s->scene.lead_vertices[0], v_ego, s->scene.lead_marker_color); + } + if (lead_two.getStatus()) { + drawLead(painter, lead_two, s->scene.lead_vertices[1], v_ego, s->scene.lead_marker_color); } } } @@ -740,6 +740,65 @@ void AnnotatedCameraWidget::showEvent(QShowEvent *event) { } // FrogPilot widgets +void AnnotatedCameraWidget::updateSignals() { + blindspotImages.clear(); + signalImages.clear(); + + QDir directory("../frogpilot/assets/active_theme/signals/"); + QFileInfoList allFiles = directory.entryInfoList(QDir::Files | QDir::NoDotAndDotDot, QDir::Name); + + bool isGif = false; + for (QFileInfo &fileInfo : allFiles) { + if (fileInfo.fileName().endsWith(".gif", Qt::CaseInsensitive)) { + QMovie movie(fileInfo.absoluteFilePath()); + movie.start(); + + for (int frameIndex = 0; frameIndex < movie.frameCount(); ++frameIndex) { + movie.jumpToFrame(frameIndex); + QPixmap currentFrame = movie.currentPixmap(); + signalImages.push_back(currentFrame); + signalImages.push_back(currentFrame.transformed(QTransform().scale(-1, 1))); + } + + movie.stop(); + isGif = true; + + } else if (fileInfo.fileName().endsWith(".png", Qt::CaseInsensitive)) { + QVector *targetList = fileInfo.fileName().contains("blindspot") ? &blindspotImages : &signalImages; + QPixmap pixmap(fileInfo.absoluteFilePath()); + targetList->push_back(pixmap); + targetList->push_back(pixmap.transformed(QTransform().scale(-1, 1))); + + } else { + QStringList parts = fileInfo.fileName().split('_'); + if (parts.size() == 2) { + signalStyle = parts[0]; + signalAnimationLength = parts[1].toInt(); + } + } + } + + if (!signalImages.empty()) { + QPixmap &firstImage = signalImages.front(); + signalWidth = firstImage.width(); + signalHeight = firstImage.height(); + totalFrames = signalImages.size() / 2; + turnSignalAnimation = true; + + if (isGif && signalStyle == "traditional") { + signalMovement = (this->size().width() + (signalWidth * 2)) / totalFrames; + signalStyle = "traditional_gif"; + } else { + signalMovement = 0; + } + } else { + signalWidth = 0; + signalHeight = 0; + totalFrames = 0; + turnSignalAnimation = false; + } +} + void AnnotatedCameraWidget::initializeFrogPilotWidgets() { bottom_layout = new QHBoxLayout(); @@ -760,18 +819,12 @@ void AnnotatedCameraWidget::initializeFrogPilotWidgets() { stopSignImg = loadPixmap("../frogpilot/assets/other_images/stop_sign.png", QSize(img_size, img_size)); animationTimer = new QTimer(this); - QObject::connect(animationTimer, &QTimer::timeout, this, [this] { + QObject::connect(animationTimer, &QTimer::timeout, [this] { animationFrameIndex = (animationFrameIndex + 1) % totalFrames; }); - - QTimer *recordTimer = new QTimer(this); - QObject::connect(recordTimer, &QTimer::timeout, this, [this] { - recorder->updateScreen(); - }); - recordTimer->start(75); } -void AnnotatedCameraWidget::updateFrogPilotWidgets(int alert_height, const UIScene &scene) { +void AnnotatedCameraWidget::updateFrogPilotVariables(int alert_height, const UIScene &scene) { if (is_metric || useSI) { accelerationUnit = tr("m/s²"); leadDistanceUnit = tr(mapOpen ? "m" : "meters"); @@ -813,8 +866,7 @@ void AnnotatedCameraWidget::updateFrogPilotWidgets(int alert_height, const UISce conditionalStatus = scene.conditional_status; showConditionalExperimentalStatusBar = scene.show_cem_status_bar; - bool disableSmoothing = vtscControllingCurve ? scene.disable_smoothing_vtsc : scene.disable_smoothing_mtsc; - cruiseAdjustment = disableSmoothing || !is_cruise_set ? fmax(setSpeed - scene.adjusted_cruise, 0) : fmax(0.25 * (setSpeed - scene.adjusted_cruise) + 0.75 * cruiseAdjustment - 1, 0); + cruiseAdjustment = scene.disable_curve_speed_smoothing || !is_cruise_set ? fmax(setSpeed - scene.adjusted_cruise, 0) : fmax(0.25 * (setSpeed - scene.adjusted_cruise) + 0.75 * cruiseAdjustment - 1, 0); vtscControllingCurve = scene.vtsc_controlling_curve; currentAcceleration = scene.acceleration; @@ -829,8 +881,6 @@ void AnnotatedCameraWidget::updateFrogPilotWidgets(int alert_height, const UISce hideSpeed = scene.hide_speed; laneDetectionWidth = scene.lane_detection_width; - laneWidthLeft = scene.lane_width_left; - laneWidthRight = scene.lane_width_right; leadInfo = scene.lead_info; obstacleDistance = scene.obstacle_distance; @@ -860,12 +910,16 @@ void AnnotatedCameraWidget::updateFrogPilotWidgets(int alert_height, const UISce pedal_icons->updateState(scene); } - recorder->setVisible(scene.screen_recorder && !mapOpen); - reverseCruise = scene.reverse_cruise; roadNameUI = scene.road_name_ui; + bool enableScreenRecorder = scene.screen_recorder && !mapOpen; + screenRecorder->setVisible(enableScreenRecorder); + if (enableScreenRecorder) { + screenRecorder->updateScreen(scene.fps, scene.started); + } + speedLimitController = scene.speed_limit_controller; showSLCOffset = speedLimitController && scene.show_slc_offset; slcOverridden = speedLimitController && scene.speed_limit_overridden; @@ -874,7 +928,7 @@ void AnnotatedCameraWidget::updateFrogPilotWidgets(int alert_height, const UISce unconfirmedSpeedLimit = speedLimitController ? scene.unconfirmed_speed_limit : 0; useViennaSLCSign = scene.use_vienna_slc_sign; - bool stoppedTimer = scene.stopped_timer && scene.standstill && scene.started_timer / UI_FREQ >= 10; + bool stoppedTimer = scene.stopped_timer && scene.standstill && scene.started_timer / UI_FREQ >= 10 && !mapOpen; if (stoppedTimer) { if (!standstillTimer.isValid()) { standstillTimer.start(); @@ -895,68 +949,6 @@ void AnnotatedCameraWidget::updateFrogPilotWidgets(int alert_height, const UISce useStockColors = scene.use_stock_colors; } -void AnnotatedCameraWidget::updateSignals() { - blindspotImages.clear(); - regularImages.clear(); - - const QString signalFolderPath = "../frogpilot/assets/active_theme/signals/"; - QDir directory(signalFolderPath); - - QFileInfoList fileList = directory.entryInfoList({"turn_signal_*.png"}, QDir::Files); - - const QTransform flipTransform = QTransform().scale(-1, 1); - std::vector flippedImages; - - for (const QFileInfo &fileInfo : fileList) { - QPixmap pixmap(fileInfo.absoluteFilePath()); - - if (fileInfo.fileName().contains("blindspot")) { - blindspotImages.push_back(pixmap); - blindspotImages.push_back(pixmap.transformed(flipTransform)); - } else { - regularImages.push_back(pixmap); - flippedImages.push_back(pixmap.transformed(flipTransform)); - } - } - - regularImages.insert(regularImages.end(), flippedImages.begin(), flippedImages.end()); - - QFileInfoList nonPngFileList = directory.entryInfoList(QDir::Files | QDir::NoDotAndDotDot, QDir::Name); - - for (QFileInfoList::iterator it = nonPngFileList.begin(); it != nonPngFileList.end(); ) { - if ((*it).suffix() == "png") { - it = nonPngFileList.erase(it); - } else { - it++; - } - } - - if (!nonPngFileList.isEmpty()) { - const QFileInfo &fileInfo = nonPngFileList.first(); - const QStringList parts = fileInfo.fileName().split('_'); - - if (parts.size() == 2) { - signalStyle = parts[0]; - signalAnimationLength = parts[1].toInt(); - } - } - - if (!regularImages.empty()) { - const QPixmap &firstImage = regularImages.front(); - signalWidth = firstImage.width(); - signalHeight = firstImage.height(); - - totalFrames = regularImages.size() / 2; - turnSignalAnimation = true; - } else { - signalWidth = 0; - signalHeight = 0; - - totalFrames = 0; - turnSignalAnimation = false; - } -} - void AnnotatedCameraWidget::paintFrogPilotWidgets(QPainter &painter) { if ((showAlwaysOnLateralStatusBar || showConditionalExperimentalStatusBar || roadNameUI) && !bigMapOpen) { drawStatusBar(painter); @@ -1352,7 +1344,7 @@ void AnnotatedCameraWidget::drawTurnSignals(QPainter &p) { if (blindspotActive && !blindspotImages.empty()) { p.drawPixmap(signalXPosition, signalYPosition, signalWidth, signalHeight, blindspotImages[turnSignalLeft ? 0 : 1]); } else { - p.drawPixmap(signalXPosition, signalYPosition, signalWidth, signalHeight, regularImages[animationFrameIndex + (turnSignalLeft ? 0 : totalFrames)]); + p.drawPixmap(signalXPosition, signalYPosition, signalWidth, signalHeight, signalImages[2 * animationFrameIndex + (turnSignalLeft ? 0 : 1)]); } } else if (signalStyle == "traditional") { int signalXPosition = turnSignalLeft ? width() - ((animationFrameIndex + 1) * signalWidth) : animationFrameIndex * signalWidth; @@ -1363,7 +1355,18 @@ void AnnotatedCameraWidget::drawTurnSignals(QPainter &p) { if (blindspotActive && !blindspotImages.empty()) { p.drawPixmap(turnSignalLeft ? width() - signalWidth : 0, signalYPosition, signalWidth, signalHeight, blindspotImages[turnSignalLeft ? 0 : 1]); } else { - p.drawPixmap(signalXPosition, signalYPosition, signalWidth, signalHeight, regularImages[animationFrameIndex + (turnSignalLeft ? 0 : totalFrames)]); + p.drawPixmap(signalXPosition, signalYPosition, signalWidth, signalHeight, signalImages[2 * animationFrameIndex + (turnSignalLeft ? 0 : 1)]); + } + } else if (signalStyle == "traditional_gif") { + int signalXPosition = turnSignalLeft ? width() - (animationFrameIndex * signalMovement) + signalWidth : (animationFrameIndex * signalMovement) - signalWidth; + int signalYPosition = height() - signalHeight; + + signalYPosition -= fmax(alertHeight, statusBarHeight); + + if (blindspotActive && !blindspotImages.empty()) { + p.drawPixmap(turnSignalLeft ? width() - signalWidth : 0, signalYPosition, signalWidth, signalHeight, blindspotImages[turnSignalLeft ? 0 : 1]); + } else { + p.drawPixmap(signalXPosition, signalYPosition, signalWidth, signalHeight, signalImages[2 * animationFrameIndex + (turnSignalLeft ? 0 : 1)]); } } } diff --git a/selfdrive/ui/qt/onroad/annotated_camera.h b/selfdrive/ui/qt/onroad/annotated_camera.h index 1f86892dd03071..ed7abc88c4bbdf 100644 --- a/selfdrive/ui/qt/onroad/annotated_camera.h +++ b/selfdrive/ui/qt/onroad/annotated_camera.h @@ -92,7 +92,7 @@ class AnnotatedCameraWidget : public CameraWidget { // FrogPilot widgets void initializeFrogPilotWidgets(); void paintFrogPilotWidgets(QPainter &painter); - void updateFrogPilotWidgets(int alert_height, const UIScene &scene); + void updateFrogPilotVariables(int alert_height, const UIScene &scene); void updateSignals(); void drawLeadInfo(QPainter &p); @@ -106,7 +106,7 @@ class AnnotatedCameraWidget : public CameraWidget { Compass *compass_img; DistanceButton *distance_btn; PedalIcons *pedal_icons; - ScreenRecorder *recorder; + ScreenRecorder *screenRecorder; QHBoxLayout *bottom_layout; @@ -145,8 +145,6 @@ class AnnotatedCameraWidget : public CameraWidget { float cruiseAdjustment; float distanceConversion; float laneDetectionWidth; - float laneWidthLeft; - float laneWidthRight; float slcSpeedLimitOffset; float speedConversion; float unconfirmedSpeedLimit; @@ -163,6 +161,7 @@ class AnnotatedCameraWidget : public CameraWidget { int obstacleDistanceStock; int signalAnimationLength; int signalHeight; + int signalMovement; int signalWidth; int standstillDuration; int statusBarHeight; @@ -180,8 +179,8 @@ class AnnotatedCameraWidget : public CameraWidget { QTimer *animationTimer; - std::vector regularImages; - std::vector blindspotImages; + QVector blindspotImages; + QVector signalImages; inline QColor blueColor(int alpha = 255) { return QColor(0, 150, 255, alpha); } inline QColor greenColor(int alpha = 242) { return QColor(23, 134, 68, alpha); } @@ -191,8 +190,8 @@ class AnnotatedCameraWidget : public CameraWidget { void initializeGL() override; void showEvent(QShowEvent *event) override; void updateFrameMat() override; - void drawLaneLines(QPainter &painter, const UIState *s); - void drawLead(QPainter &painter, const cereal::ModelDataV2::LeadDataV3::Reader &lead_data, const QPointF &vd, const float v_ego, const QColor lead_marker_color); + void drawLaneLines(QPainter &painter, const UIState *s, float v_ego); + void drawLead(QPainter &painter, const cereal::RadarState::LeadData::Reader &lead_data, const QPointF &vd, float v_ego, const QColor lead_marker_color); void drawHud(QPainter &p); void drawDriverState(QPainter &painter, const UIState *s); void paintEvent(QPaintEvent *event) override; diff --git a/selfdrive/ui/qt/onroad/buttons.cc b/selfdrive/ui/qt/onroad/buttons.cc index b0f4c77e906017..73a95455387b1d 100644 --- a/selfdrive/ui/qt/onroad/buttons.cc +++ b/selfdrive/ui/qt/onroad/buttons.cc @@ -39,7 +39,6 @@ ExperimentalButton::~ExperimentalButton() { if (gif != nullptr) { gif->stop(); delete gif; - gif = nullptr; gif_label->hide(); } } @@ -127,7 +126,6 @@ void ExperimentalButton::updateIcon() { if (gif != nullptr) { gif->stop(); delete gif; - gif = nullptr; gif_label->hide(); } @@ -145,6 +143,7 @@ void ExperimentalButton::updateIcon() { image_empty = false; } else if (QFile::exists(wheel_png_path)) { img = loadPixmap(wheel_png_path, QSize(img_size, img_size)); + image_empty = false; use_gif = false; } else { @@ -161,6 +160,9 @@ void ExperimentalButton::paintEvent(QPaintEvent *event) { } QPainter p(this); + if (use_stock_wheel) { + img = experimental_mode ? experimental_img : engage_img; + } updateBackgroundColor(); drawIcon(p, QPoint(btn_size / 2, btn_size / 2 + y_offset), img, background_color, (isDown() || !engageable) ? 0.6 : 1.0, steering_angle_deg); } @@ -195,6 +197,7 @@ DistanceButton::DistanceButton(QWidget *parent) : QPushButton(parent) { DistanceButton::~DistanceButton() { qDeleteAll(profile_data_gif); + profile_data_gif.clear(); profile_data_png.clear(); } @@ -234,6 +237,7 @@ void DistanceButton::updateState(const UIScene &scene) { void DistanceButton::updateIcon() { qDeleteAll(profile_data_gif); + profile_data_gif.clear(); profile_data_png.clear(); @@ -248,15 +252,14 @@ void DistanceButton::updateIcon() { const QString &file_name = file_names[i]; QString gif_file = file_name + ".gif"; QString png_file = file_name + ".png"; - QString fallback_file = QString("../frogpilot/assets/other_images/%1.png").arg(QFileInfo(file_name).baseName().toLower()); + QString fallback_file = QString("../frogpilot/assets/stock_theme/distance_icons/%1.png").arg(QFileInfo(file_name).baseName().toLower()); if (QFile::exists(gif_file)) { QMovie *movie = new QMovie(gif_file); profile_data_gif.push_back(movie); profile_data_png.push_back(QPixmap()); } else { - int pixmap_size = btn_size * 1.25; - QPixmap pixmap = loadPixmap(QFile::exists(png_file) ? png_file : fallback_file, QSize(pixmap_size, pixmap_size)); + QPixmap pixmap = loadPixmap(QFile::exists(png_file) ? png_file : fallback_file, QSize(btn_size * 1.25, btn_size * 1.25)); profile_data_gif.push_back(nullptr); profile_data_png.push_back(pixmap); } diff --git a/selfdrive/ui/qt/onroad/buttons.h b/selfdrive/ui/qt/onroad/buttons.h index c0547f18d3481c..bfe143b65d7dee 100644 --- a/selfdrive/ui/qt/onroad/buttons.h +++ b/selfdrive/ui/qt/onroad/buttons.h @@ -14,10 +14,10 @@ class ExperimentalButton : public QPushButton { public: explicit ExperimentalButton(QWidget *parent = 0); - ~ExperimentalButton(); void updateState(const UIState &s, bool lead_info); // FrogPilot widgets + ~ExperimentalButton(); void updateIcon(); private: @@ -36,6 +36,17 @@ class ExperimentalButton : public QPushButton { // FrogPilot variables Params params_memory{"/dev/shm/params"}; + QColor background_color; + + QLabel *gif_label; + + QMovie *gif; + + QPixmap img; + + QString wheel_gif_path; + QString wheel_png_path; + bool always_on_lateral_active; bool big_map; bool conditional_experimental; @@ -50,17 +61,6 @@ class ExperimentalButton : public QPushButton { int conditional_status; int steering_angle_deg; int y_offset; - - QColor background_color; - - QLabel *gif_label; - - QMovie *gif; - - QPixmap img; - - QString wheel_gif_path; - QString wheel_png_path; }; @@ -93,14 +93,14 @@ class DistanceButton : public QPushButton { Params params_memory{"/dev/shm/params"}; - bool traffic_mode_active; - bool use_gif; - - int personality; - QLabel *gif_label; QPixmap profile_image; QVector profile_data_png; QVector profile_data_gif; + + bool traffic_mode_active; + bool use_gif; + + int personality; }; diff --git a/selfdrive/ui/qt/onroad/onroad_home.cc b/selfdrive/ui/qt/onroad/onroad_home.cc index c7fb1d347370f3..3634f99bcdfc7a 100644 --- a/selfdrive/ui/qt/onroad/onroad_home.cc +++ b/selfdrive/ui/qt/onroad/onroad_home.cc @@ -51,7 +51,7 @@ OnroadWindow::OnroadWindow(QWidget *parent) : QWidget(parent) { QObject::connect(uiState(), &UIState::primeChanged, this, &OnroadWindow::primeChanged); // FrogPilot variables - QObject::connect(&clickTimer, &QTimer::timeout, this, [this]() { + QObject::connect(&clickTimer, &QTimer::timeout, [this]() { clickTimer.stop(); QMouseEvent *event = new QMouseEvent(QEvent::MouseButtonPress, timeoutPoint, Qt::LeftButton, Qt::LeftButton, Qt::NoModifier); QApplication::postEvent(this, event); @@ -128,7 +128,6 @@ void OnroadWindow::mousePressEvent(QMouseEvent* e) { QRect rightRect(size.width() / 2, 0, size.width() / 2, size.height()); QRect hideSpeedRect(rect().center().x() - 175, 50, 350, 350); - QRect maxSpeedRect(7, 25, 225, 225); QRect speedLimitRect(7, 250, 225, 225); if (scene.speed_limit_changed && (leftRect.contains(pos) || rightRect.contains(pos))) { @@ -138,13 +137,6 @@ void OnroadWindow::mousePressEvent(QMouseEvent* e) { return; } - if (maxSpeedRect.contains(pos) && scene.reverse_cruise_ui) { - scene.reverse_cruise = !scene.reverse_cruise; - params.putBoolNonBlocking("ReverseCruise", scene.reverse_cruise); - updateFrogPilotToggles(); - return; - } - if (hideSpeedRect.contains(pos) && scene.hide_speed_ui) { scene.hide_speed = !scene.hide_speed; params.putBoolNonBlocking("HideSpeed", scene.hide_speed); diff --git a/selfdrive/ui/qt/sidebar.cc b/selfdrive/ui/qt/sidebar.cc index d5206b624f652e..abadeaca9af493 100644 --- a/selfdrive/ui/qt/sidebar.cc +++ b/selfdrive/ui/qt/sidebar.cc @@ -62,21 +62,26 @@ void Sidebar::updateIcon(QLabel *&label, QMovie *&gif, const QString &gifPath, c if (gif != nullptr) { gif->stop(); delete gif; - gif = nullptr; label->hide(); } if (QFile::exists(selectedGifPath)) { gif = new QMovie(selectedGifPath); - gif->setScaledSize(btnRect.size()); - label->setGeometry(btnRect); - label->setMovie(gif); - label->show(); + if (!gif->fileName().isEmpty()) { + gif->setScaledSize(btnRect.size()); - gif->start(); + label->setGeometry(btnRect); + label->setMovie(gif); + label->show(); - isGif = true; + gif->start(); + + isGif = true; + } else { + delete gif; + isGif = false; + } } else { if (btnRect == home_btn) { home_img = loadPixmap(homePngPath, btnRect.size()); diff --git a/selfdrive/ui/qt/widgets/cameraview.cc b/selfdrive/ui/qt/widgets/cameraview.cc index 914b04b6544445..1b8b1e94954baa 100644 --- a/selfdrive/ui/qt/widgets/cameraview.cc +++ b/selfdrive/ui/qt/widgets/cameraview.cc @@ -298,6 +298,12 @@ void CameraWidget::paintGL() { glViewport(0, 0, glWidth(), glHeight()); glBindVertexArray(frame_vao); glUseProgram(program->programId()); + + GLenum error = glGetError(); + if (error != GL_NO_ERROR) { + qDebug() << "OpenGL error after glUseProgram: " << error; + } + glPixelStorei(GL_UNPACK_ALIGNMENT, 1); #ifdef QCOM2 diff --git a/selfdrive/ui/qt/widgets/controls.h b/selfdrive/ui/qt/widgets/controls.h index 4a2c7f3fdcb038..1a5b2c38be70a7 100644 --- a/selfdrive/ui/qt/widgets/controls.h +++ b/selfdrive/ui/qt/widgets/controls.h @@ -229,6 +229,7 @@ class ButtonParamControl : public AbstractControl { QObject::connect(button_group, QOverload::of(&QButtonGroup::buttonClicked), [=](int id) { params.put(key, std::to_string(id)); + emit buttonClicked(); }); } @@ -251,6 +252,9 @@ class ButtonParamControl : public AbstractControl { refresh(); } +signals: + void buttonClicked(); + private: std::string key; Params params; diff --git a/selfdrive/ui/qt/widgets/scrollview.cc b/selfdrive/ui/qt/widgets/scrollview.cc index 28460078af7ae8..978bf83a63b170 100644 --- a/selfdrive/ui/qt/widgets/scrollview.cc +++ b/selfdrive/ui/qt/widgets/scrollview.cc @@ -44,10 +44,6 @@ ScrollView::ScrollView(QWidget *w, QWidget *parent) : QScrollArea(parent) { scroller->setScrollerProperties(sp); } -void ScrollView::restorePosition(int previousScrollPosition) { - verticalScrollBar()->setValue(previousScrollPosition); -} - void ScrollView::hideEvent(QHideEvent *e) { verticalScrollBar()->setValue(0); } diff --git a/selfdrive/ui/qt/widgets/scrollview.h b/selfdrive/ui/qt/widgets/scrollview.h index 51acc4c4320539..024331aa39dd2e 100644 --- a/selfdrive/ui/qt/widgets/scrollview.h +++ b/selfdrive/ui/qt/widgets/scrollview.h @@ -7,10 +7,6 @@ class ScrollView : public QScrollArea { public: explicit ScrollView(QWidget *w = nullptr, QWidget *parent = nullptr); - - // FrogPilot functions - void restorePosition(int previousScrollPosition); - protected: void hideEvent(QHideEvent *e) override; }; diff --git a/selfdrive/ui/qt/widgets/ssh_keys.cc b/selfdrive/ui/qt/widgets/ssh_keys.cc index 26743952de3854..cb452b4389f8b4 100644 --- a/selfdrive/ui/qt/widgets/ssh_keys.cc +++ b/selfdrive/ui/qt/widgets/ssh_keys.cc @@ -18,7 +18,9 @@ SshControl::SshControl() : } } else { params.remove("GithubUsername"); + paramsStorage.remove("GithubUsername"); params.remove("GithubSshKeys"); + paramsStorage.remove("GithubSshKeys"); refresh(); } }); diff --git a/selfdrive/ui/qt/widgets/ssh_keys.h b/selfdrive/ui/qt/widgets/ssh_keys.h index 920bd651e2dcd0..d4a5552bf5b454 100644 --- a/selfdrive/ui/qt/widgets/ssh_keys.h +++ b/selfdrive/ui/qt/widgets/ssh_keys.h @@ -29,4 +29,7 @@ class SshControl : public ButtonControl { void refresh(); void getUserKeys(const QString &username); + + // FrogPilot variables + Params paramsStorage{"/persist/params"}; }; diff --git a/selfdrive/ui/soundd.py b/selfdrive/ui/soundd.py index d7463b81e245b1..75e238373007ea 100644 --- a/selfdrive/ui/soundd.py +++ b/selfdrive/ui/soundd.py @@ -14,8 +14,8 @@ from openpilot.system import micd -from openpilot.selfdrive.frogpilot.controls.lib.frogpilot_functions import ACTIVE_THEME_PATH, RANDOM_EVENTS_PATH -from openpilot.selfdrive.frogpilot.controls.lib.frogpilot_variables import FrogPilotVariables +from openpilot.selfdrive.frogpilot.frogpilot_functions import ACTIVE_THEME_PATH, RANDOM_EVENTS_PATH +from openpilot.selfdrive.frogpilot.frogpilot_variables import FrogPilotVariables SAMPLE_RATE = 48000 SAMPLE_BUFFER = 4096 # (approx 100ms) @@ -43,19 +43,19 @@ AudibleAlert.warningSoft: ("warning_soft.wav", None, MAX_VOLUME), AudibleAlert.warningImmediate: ("warning_immediate.wav", None, MAX_VOLUME), - # Random Events + # FrogPilot sounds AudibleAlert.angry: ("angry.wav", 1, MAX_VOLUME), AudibleAlert.dejaVu: ("dejaVu.wav", 1, MAX_VOLUME), AudibleAlert.doc: ("doc.wav", 1, MAX_VOLUME), AudibleAlert.fart: ("fart.wav", 1, MAX_VOLUME), AudibleAlert.firefox: ("firefox.wav", 1, MAX_VOLUME), + AudibleAlert.goat: ("goat.wav", None, MAX_VOLUME), AudibleAlert.hal9000: ("hal9000.wav", 1, MAX_VOLUME), + AudibleAlert.mail: ("mail.wav", 1, MAX_VOLUME), AudibleAlert.nessie: ("nessie.wav", 1, MAX_VOLUME), AudibleAlert.noice: ("noice.wav", 1, MAX_VOLUME), + AudibleAlert.promptRepeat: ("prompt_repeat.wav", None, MAX_VOLUME), AudibleAlert.uwu: ("uwu.wav", 1, MAX_VOLUME), - - # Other - AudibleAlert.goat: ("goat.wav", None, MAX_VOLUME), } def check_controls_timeout_alert(sm): @@ -80,6 +80,7 @@ def __init__(self): # FrogPilot variables self.frogpilot_toggles = FrogPilotVariables.toggles + FrogPilotVariables.update_frogpilot_params() self.previous_sound_pack = None @@ -93,6 +94,7 @@ def __init__(self): AudibleAlert.firefox: MAX_VOLUME, AudibleAlert.goat: MAX_VOLUME, AudibleAlert.hal9000: MAX_VOLUME, + AudibleAlert.mail: MAX_VOLUME, AudibleAlert.nessie: MAX_VOLUME, AudibleAlert.noice: MAX_VOLUME, AudibleAlert.uwu: MAX_VOLUME, @@ -115,6 +117,8 @@ def load_sounds(self): try: wavefile = wave.open(self.sound_directory + filename, 'r') except FileNotFoundError: + if filename == "prompt_repeat.wav": + filename = "prompt.wav" wavefile = wave.open(BASEDIR + "/selfdrive/assets/sounds/" + filename, 'r') assert wavefile.getnchannels() == 1 @@ -214,12 +218,11 @@ def soundd_thread(self): if FrogPilotVariables.toggles_updated: self.update_toggles = True elif self.update_toggles: + FrogPilotVariables.update_frogpilot_params() self.update_frogpilot_sounds() self.update_toggles = False def update_frogpilot_sounds(self): - FrogPilotVariables.update_frogpilot_params() - self.volume_map = { AudibleAlert.engage: self.frogpilot_toggles.engage_volume, AudibleAlert.disengage: self.frogpilot_toggles.disengage_volume, diff --git a/selfdrive/ui/translations/main_ar.ts b/selfdrive/ui/translations/main_ar.ts index d8146723a4dc5c..2a863df36f4c15 100644 --- a/selfdrive/ui/translations/main_ar.ts +++ b/selfdrive/ui/translations/main_ar.ts @@ -15,6 +15,10 @@ Reboot and Update إعادة التشغيل والتحديث + + Disable Internet Check + + AdvancedNetworking @@ -86,6 +90,26 @@ for "%1" من أجل "%1" + + Off + + + + Always + + + + Only Onroad + + + + Until Reboot + + + + Allow tethering with your data SIM and keep it active either while driving or continuously. + + AnnotatedCameraWidget @@ -109,6 +133,156 @@ LIMIT LIMIT + + Vehicle in blind spot + + + + m/s² + + + + m/s + + + + kph + + + + ft/s² + + + + Accel: %1%2 + + + + - Max: %1%2 + + + + | Obstacle: + + + + | Obstacle Factor: + + + + - Stop: + + + + - Stop Factor: + + + + Follow: + + + + Follow Distance: + + + + Confirm speed limit + + + + + Ignore speed limit + + + + + Conditional Experimental Mode ready + + + + Conditional Experimental overridden + + + + Experimental Mode manually activated + + + + Experimental Mode activated for %1 + + + + low speed + + + + speed being less than %1 %2 + + + + Experimental Mode activated for turn + + + + / lane change + + + + Experimental Mode activated for intersection + + + + Experimental Mode activated for upcoming turn + + + + Experimental Mode activated for curve + + + + Experimental Mode activated for stopped lead + + + + Experimental Mode activated for slower lead + + + + Experimental Mode activated %1 + + + + to stop + + + + Experimental Mode forced on %1 + + + + Experimental Mode activated due to no speed limit + + + + Always On Lateral active + + + + . Press the "Cruise Control" button to disable + + + + . Long press the "distance" button to revert + + + + . Click the "LKAS" button to revert + + + + . Double tap the screen to revert + + ConfirmationDialog @@ -159,169 +333,3041 @@ العمل - No %1 location set - لم يتم ضبط %1 موقع + No %1 location set + لم يتم ضبط %1 موقع + + + + DevicePanel + + Dongle ID + معرف دونجل + + + N/A + غير متاح + + + Serial + الرقم التسلسلي + + + Driver Camera + كاميرة السائق + + + PREVIEW + معاينة + + + Preview the driver facing camera to ensure that driver monitoring has good visibility. (vehicle must be off) + قم بمعاينة الكاميرا المواجهة للسائق للتأكد من أن نظام مراقبة السائق يتمتع برؤية جيدة. (يجب أن تكون السيارة متوقفة) + + + Reset Calibration + إعادة ضبط المعايرة + + + RESET + إعادة الضبط + + + Are you sure you want to reset calibration? + هل أنت متأكد أنك تريد إعادة ضبط المعايرة؟ + + + Review Training Guide + مراجعة دليل التدريب + + + REVIEW + مراجعة + + + Review the rules, features, and limitations of openpilot + مراجعة الأدوار والميزات والقيود في openpilot + + + Are you sure you want to review the training guide? + هل أنت متأكد أنك تريد مراجعة دليل التدريب؟ + + + Regulatory + التنظيمية + + + VIEW + عرض + + + Change Language + تغيير اللغة + + + CHANGE + تغيير + + + Select a language + اختر لغة + + + Reboot + إعادة التشغيل + + + Power Off + إيقاف التشغيل + + + openpilot requires the device to be mounted within 4° left or right and within 5° up or 9° down. openpilot is continuously calibrating, resetting is rarely required. + يحتاج openpilot أن يتم ضبط الجهاز ضمن حدود 4 درجات يميناً أو يساراً و5 درجات نحو الأعلى أو 9 نحو الأسفل. يقوم openpilot بالمعايرة باستمرار، ونادراً ما يحتاج إلى عملية إعادة الضبط. + + + Your device is pointed %1° %2 and %3° %4. + يشير جهازك إلى %1 درجة %2، و%3 درجة %4. + + + down + نحو الأسفل + + + up + نحو الأعلى + + + left + نحو اليسار + + + right + نحو اليمين + + + Are you sure you want to reboot? + هل أنت متأكد أنك تريد إعادة التشغيل؟ + + + Disengage to Reboot + فك الارتباط من أجل إعادة التشغيل + + + Are you sure you want to power off? + هل أنت متأكد أنك تريد إيقاف التشغيل؟ + + + Disengage to Power Off + فك الارتباط من أجل إيقاف التشغيل + + + Reset + إعادة الضبط + + + Review + مراجعة + + + Pair your device with comma connect (connect.comma.ai) and claim your comma prime offer. + اقرن جهازك بجهاز (connect.comma.ai) واحصل على عرضك من comma prime. + + + Pair Device + إقران الجهاز + + + PAIR + إقران + + + + DriveStats + + ALL TIME + + + + PAST WEEK + + + + FROGPILOT + + + + Drives + + + + Hours + + + + KM + + + + Miles + + + + + DriverViewWindow + + camera starting + بدء تشغيل الكاميرا + + + + ExperimentalModeButton + + EXPERIMENTAL MODE ON + تشغيل الوضع التجريبي + + + CHILL MODE ON + تشغيل وضع الراحة + + + + FrogPilotAdvancedDrivingPanel + + Advanced Lateral Tuning + + + + Advanced settings that control how openpilot manages steering. + + + + Friction (Default: %1) + + + + Friction + + + + The resistance in steering. Higher values provide more stable steering but can make it feel heavy, while lower values allow lighter steering but may feel too sensitive. + + + + Kp Factor (Default: %1) + + + + Kp Factor + + + + How aggressively the car corrects its steering. Higher values offer quicker corrections but may feel jerky, while lower values make steering smoother but slower to respond. + + + + Lateral Accel (Default: %1) + + + + Lateral Accel + + + + Adjust how fast the car can steer from side to side. Higher values allow quicker lane changes but can feel unstable, while lower values provide smoother steering but may feel sluggish. + + + + Steer Ratio (Default: %1) + + + + Steer Ratio + + + + Adjust how much openpilot needs to turn the wheel to steer. Higher values feel like driving a truck, more stable at high speeds, but harder to steer quickly at low speeds, while lower values feel like a go-kart, easier to steer in tight spots but more sensitive and less stable at high speeds. + + + + comma's 2022 Taco Bell Turn Hack + + + + Use comma's hack they used to help handle left and right turns more precisely during their 2022 'Taco Bell' drive. + + + + Force Auto Tune On + + + + Forces comma's auto lateral tuning for unsupported vehicles. + + + + Force Auto Tune Off + + + + Forces comma's auto lateral tuning off for supported vehicles. + + + + Force Turn Desires Below Lane Change Speed + + + + Force the model to use turn desires when driving below the minimum lane change speed to help make left and right turns more precisely. + + + + Advanced Longitudinal Tuning + + + + Advanced settings that control how openpilot manages speed and acceleration. + + + + Lead Detection Confidence + + + + How sensitive openpilot is to detecting vehicles ahead. A lower value can help detect vehicles sooner and from farther away, but may occasionally mistake other objects for vehicles. + + + + Maximum Acceleration Rate + + + + Set a cap on how fast openpilot can accelerate to prevent high acceleration at low speeds. + + + + Advanced Quality of Life + + + + Miscellaneous advanced features to improve your overall openpilot experience. + + + + Force Keep openpilot in the Standstill State + + + + Keep openpilot in the 'standstill' state until the gas pedal or 'resume' button is pressed. + + + + Force Stop for 'Detected' Stop Lights/Signs + + + + Whenever openpilot 'detects' a potential stop light/stop sign, force a stop where it originally detected it to prevent running the potential red light/stop sign. + + + + Set Speed Offset + + + + How much higher or lower the set speed should be compared to your current set speed. For example, if you prefer to drive 5 mph above the speed limit, this setting will automatically add that difference when you adjust your set speed. + + + + Customize Driving Personalities + + + + Customize the personality profiles to suit your preferences. + + + + Traffic Personality + + + + Customize the 'Traffic' personality profile, tailored for navigating through traffic. + + + + Following Distance + + + + The minimum following distance in 'Traffic Mode.' openpilot will adjust dynamically between this value and the 'Aggressive' profile distance based on your speed. + + + + Acceleration Sensitivity + + + + How sensitive openpilot is to changes in acceleration in 'Traffic Mode.' Higher values result in smoother, more gradual acceleration and deceleration, while lower values allow for faster changes that may feel more abrupt. + + + + Deceleration Sensitivity + + + + Controls how sensitive openpilot is to changes in deceleration in 'Traffic Mode.' Higher values result in smoother, more gradual braking, while lower values allow for quicker, more responsive braking that may feel abrupt. + + + + Safety Distance Sensitivity + + + + Adjusts how cautious openpilot is around other vehicles or obstacles in 'Traffic Mode.' Higher values increase following distances and prioritize safety, leading to more cautious driving, while lower values allow for closer following but may reduce reaction time. + + + + Speed Increase Responsiveness + + + + Controls how quickly openpilot adjusts speed in 'Traffic Mode.' Higher values ensure smoother, more gradual speed changes, while lower values enable quicker adjustments that might feel sharper or less smooth. + + + + Speed Decrease Responsiveness + + + + Sets how quickly openpilot adjusts to decreasing speeds in 'Traffic Mode.' Higher values ensure smoother transitions when slowing down, while lower values allow for quicker, more responsive speed reductions that might feel sharper. + + + + Reset Settings + + + + Restore the 'Traffic Mode' settings to their default values. + + + + Aggressive Personality + + + + Customize the 'Aggressive' personality profile, designed for a more assertive driving style. + + + + Set the following distance for 'Aggressive' mode. This determines roughly how many seconds you'll follow behind the car ahead. + +Default: 1.25 seconds. + + + + Controls how sensitive openpilot is to acceleration changes in 'Aggressive' mode. Higher values make acceleration and deceleration smoother but slower, while lower values allow quicker changes that may feel jerky. + +Default: 0.5. + + + + Controls how sensitive openpilot is to deceleration in 'Aggressive' mode. Higher values result in smoother braking, while lower values allow for more immediate braking that may feel abrupt. + +Default: 0.5. + + + + Adjusts how cautious openpilot is around vehicles or obstacles in 'Aggressive' mode. Higher values make it more cautious, while lower values allow for closer following, increasing the risk of sudden braking. + +Default: 1.0. + + + + Controls how quickly openpilot adjusts speed in 'Aggressive' mode. Higher values result in smoother but slower speed changes, while lower values make speed adjustments quicker but potentially more abrupt. + +Default: 0.5. + + + + Sets how quickly openpilot adjusts to speed reductions in 'Aggressive' mode. Higher values ensure smoother transitions when slowing down, while lower values allow for quicker, more responsive speed decreases that may feel sharp. + +Default: 0.5. + + + + Restore the 'Aggressive' settings to their default values. + + + + Standard Personality + + + + Customize the 'Standard' personality profile, optimized for balanced driving. + + + + Set the following distance for 'Standard' mode. This determines roughly how many seconds you'll follow behind the car ahead. + +Default: 1.45 seconds. + + + + Controls how sensitive openpilot is to acceleration changes in 'Standard' mode. Higher values make acceleration and deceleration smoother but slower, while lower values allow quicker changes that may feel jerky. + +Default: 1.0. + + + + Controls how sensitive openpilot is to deceleration in 'Standard' mode. Higher values result in smoother braking, while lower values allow for quicker, more immediate braking that may feel abrupt. + +Default: 1.0. + + + + Adjusts how cautious openpilot is around vehicles or obstacles in 'Standard' mode. Higher values make it more cautious, while lower values allow for closer following, increasing the risk of sudden braking. + +Default: 1.0. + + + + Controls how quickly openpilot adjusts speed in 'Standard' mode. Higher values result in smoother but slower speed changes, while lower values make speed adjustments quicker but potentially more abrupt. + +Default: 1.0. + + + + Sets how quickly openpilot adjusts to speed reductions in 'Standard' mode. Higher values ensure smoother transitions when slowing down, while lower values allow for quicker, more responsive speed decreases that may feel sharp. + +Default: 1.0. + + + + Restore the 'Standard' settings to their default values. + + + + Relaxed Personality + + + + Customize the 'Relaxed' personality profile, ideal for a more laid-back driving style. + + + + Set the following distance for 'Relaxed' mode. This determines roughly how many seconds you'll follow behind the car ahead. + +Default: 1.75 seconds. + + + + Controls how sensitive openpilot is to acceleration changes in 'Relaxed' mode. Higher values make acceleration and deceleration smoother but slower, while lower values allow quicker changes that may feel jerky. + +Default: 1.0. + + + + Controls how sensitive openpilot is to deceleration in 'Relaxed' mode. Higher values result in smoother braking, while lower values allow for quicker, more immediate braking that may feel abrupt. + +Default: 1.0. + + + + Adjusts how cautious openpilot is around vehicles or obstacles in 'Relaxed' mode. Higher values make it more cautious, while lower values allow for closer following, increasing the risk of sudden braking. + +Default: 1.0. + + + + Controls how quickly openpilot adjusts speed in 'Relaxed' mode. Higher values result in smoother but slower speed changes, while lower values make speed adjustments quicker but potentially more abrupt. + +Default: 1.0. + + + + Sets how quickly openpilot adjusts to speed reductions in 'Relaxed' mode. Higher values ensure smoother transitions when slowing down, while lower values allow for quicker, more responsive speed decreases that may feel sharp. + +Default: 1.0. + + + + Restore the 'Relaxed' settings to their default values. + + + + Model Management + + + + Manage the driving models used by openpilot. + + + + Automatically Update and Download Models + + + + Automatically download new or updated driving models. + + + + Model Randomizer + + + + A random model is selected and can be reviewed at the end of each drive if it's longer than 15 minutes to help find your preferred model. + + + + Manage Model Blacklist + + + + Control which models are blacklisted and won't be used for future drives. + + + + Reset Model Scores + + + + Clear the ratings you've given to the driving models. + + + + Review Model Scores + + + + View the ratings you've assigned to the driving models. + + + + Delete Model + + + + Remove the selected driving model from your device. + + + + Download Model + + + + Download undownloaded driving models. + + + + Download All Models + + + + Download all undownloaded driving models. + + + + Select Model + + + + Select which model openpilot uses to drive. + + + + Reset Model Calibrations + + + + Reset calibration settings for the driving models. + + + + mph + ميل/س + + + Reset + إعادة الضبط + + + seconds + + + + ADD + إضافة + + + REMOVE + إزالة + + + There's no more models to blacklist! The only available model is "%1"! + + + + OK + موافق + + + Select a model to add to the blacklist + + + + Are you sure you want to add the '%1' model to the blacklist? + + + + Add + + + + Select a model to remove from the blacklist + + + + Are you sure you want to remove the '%1' model from the blacklist? + + + + Remove + + + + RESET + إعادة الضبط + + + Reset all model scores? + + + + VIEW + عرض + + + DELETE + + + + Select a model to delete + + + + Are you sure you want to delete the '%1' model? + + + + Delete + + + + Deleting... + + + + Deleted! + + + + DOWNLOAD + تنزيل + + + CANCEL + + + + Select a driving model to download + + + + Downloading %1... + + + + SELECT + اختيار + + + Select a model - 🗺️ = Navigation | 📡 = Radar | 👀 = VOACC + + + + WARNING: This is a very experimental model and may drive dangerously! + + + + I understand the risks. + + + + Start with a fresh calibration for the newly selected model? + + + + Reboot required to take effect. + + + + Reboot Now + + + + RESET ALL + + + + RESET ONE + + + + Are you sure you want to completely reset all of your model calibrations? + + + + Select a model to reset + + + + Are you sure you want to completely reset this model's calibrations? + + + + The 'Model Randomizer' only works with downloaded models. Do you want to download all the driving models? + + + + Are you sure you want to completely reset your settings for the 'Traffic Mode' personality? + + + + Are you sure you want to completely reset your settings for the 'Aggressive' personality? + + + + Are you sure you want to completely reset your settings for the 'Standard' personality? + + + + Are you sure you want to completely reset your settings for the 'Relaxed' personality? + + + + kph + + + + Downloading models... + + + + openpilot requires the device to be mounted within 4° left or right and within 5° up or 9° down. openpilot is continuously calibrating, resetting is rarely required. + يحتاج openpilot أن يتم ضبط الجهاز ضمن حدود 4 درجات يميناً أو يساراً و5 درجات نحو الأعلى أو 9 نحو الأسفل. يقوم openpilot بالمعايرة باستمرار، ونادراً ما يحتاج إلى عملية إعادة الضبط. + + + Your device is pointed %1° %2 and %3° %4. + يشير جهازك إلى %1 درجة %2، و%3 درجة %4. + + + down + نحو الأسفل + + + up + نحو الأعلى + + + left + نحو اليسار + + + right + نحو اليمين + + + + FrogPilotAdvancedVisualsPanel + + Advanced Onroad UI Widgets + + + + Advanced user customizations for the Onroad UI. + + + + Camera View + + + + Camera view for the onroad UI. This is purely a visual change and doesn't impact how openpilot drives. + + + + Display Stopping Points + + + + Display an image on the screen where openpilot is detecting a potential red light/stop sign. + + + + Hide Lead Marker + + + + Hide the marker for the vehicle ahead on the screen. + + + + Hide Speed + + + + Hide the speed indicator in the onroad UI. Additional toggle allows it to be hidden/shown via tapping the speed itself. + + + + Hide UI Elements + + + + Hide the selected UI elements from the onroad screen. + + + + Use Wheel Speed + + + + Use the wheel speed instead of the cluster speed in the onroad UI. + + + + Developer UI + + + + Show detailed information about openpilot's internal operations. + + + + Border Metrics + + + + Display performance metrics around the edge of the screen while driving. + + + + FPS Display + + + + Display the 'Frames Per Second' (FPS) at the bottom of the screen while driving. + + + + Lateral Metrics + + + + Display metrics related to steering control at the top of the screen while driving. + + + + Longitudinal Metrics + + + + Display metrics related to acceleration, speed, and desired following distance at the top of the screen while driving. + + + + Numerical Temperature Gauge + + + + Show exact temperature readings instead of general status labels like 'GOOD', 'OK', or 'HIGH' in the sidebar. + + + + Sidebar + + + + Display system information like CPU, GPU, RAM usage, IP address, and storage space in the sidebar. + + + + Use International System of Units + + + + Display measurements using the 'International System of Units' (SI). + + + + Model UI + + + + Customize the model visualizations on the screen. + + + + Lane Lines Width + + + + How thick the lane lines appear on the display. + +Default matches the MUTCD standard of 4 inches. + + + + Path Edges Width + + + + The width of the edges of the driving path to represent different modes and statuses. + +Default is 20% of the total path width. + +Color Guide: +- Blue: Navigation +- Light Blue: 'Always On Lateral' +- Green: Default +- Orange: 'Experimental Mode' +- Red: 'Traffic Mode' +- Yellow: 'Conditional Experimental Mode' Overridden + + + + Path Width + + + + How wide the driving path appears on your screen. + +Default (6.1 feet / 1.9 meters) matches the width of a 2019 Lexus ES 350. + + + + Road Edges Width + + + + How thick the road edges appear on the display. + +Default matches half of the MUTCD standard lane line width of 4 inches. + + + + 'Unlimited' Road UI + + + + Extend the display of the path, lane lines, and road edges as far as the model can see. + + + + Auto + + + + Driver + + + + Standard + القياسي + + + Wide + + + + Control Via UI + + + + Alerts + + + + Map Icon + + + + Max Speed + + + + Show Distance + + + + Blind Spot + + + + Steering Torque + + + + Turn Signal + + + + Adjacent Path Metrics + + + + Auto Tune + + + + Lead Info + + + + Longitudinal Jerk + + + + Fahrenheit + + + + CPU + + + + GPU + + + + IP + + + + RAM + + + + SSD Left + + + + SSD Used + + + + inches + + + + % + + + + feet + + + + Adjust how thick the lane lines appear on the display. + +Default matches the Vienna standard of 10 centimeters. + + + + Adjust how thick the road edges appear on the display. + +Default matches half of the Vienna standard of 10 centimeters. + + + + centimeters + + + + meters + + + + Adjust how thick the lane lines appear on the display. + +Default matches the MUTCD standard of 4 inches. + + + + Adjust how thick the road edges appear on the display. + +Default matches half of the MUTCD standard of 4 inches. + + + + + FrogPilotConfirmationDialog + + Reboot Later + + + + Yes + + + + No + + + + + FrogPilotDataPanel + + Delete Driving Footage and Data + + + + DELETE + + + + This button provides a swift and secure way to permanently delete all stored driving footage and data from your device. Ideal for maintaining privacy or freeing up space. + + + + Are you sure you want to permanently delete all of your driving footage and data? + + + + Delete + + + + Deleting... + + + + Deleted! + + + + Screen Recordings + + + + Manage your screen recordings. + + + + RENAME + + + + Select a recording to delete + + + + Are you sure you want to delete this recording? + + + + Failed... + + + + Select a recording to rename + + + + Enter a new name + + + + Rename Recording + + + + Renaming... + + + + Renamed! + + + + FrogPilot Backups + + + + Manage your FrogPilot backups. + + + + BACKUP + + + + RESTORE + + + + Name your backup + + + + Do you want to compress this backup? The end file size will be 2.25x smaller, but can take 10+ minutes. + + + + Backing... + + + + Compressing... + + + + Success! + + + + Select a backup to delete + + + + Are you sure you want to delete this backup? + + + + Select a restore point + + + + Are you sure you want to restore this version of FrogPilot? + + + + Restore + + + + Restoring... + + + + Extracting... + + + + Restored! + + + + Rebooting... + + + + Toggle Backups + + + + Manage your toggle backups. + + + + Are you sure you want to restore this toggle backup? + + + + + FrogPilotDevicePanel + + Device Settings + + + + Device behavior settings. + + + + Device Shutdown Timer + + + + How long the device stays on after you stop driving. + + + + Disable Internet Requirement + + + + The device can work without an internet connection for as long as you need. + + + + Increase Thermal Safety Limit + + + + The device can run at higher temperatures than recommended. + + + + Low Battery Shutdown Threshold + + + + Shut down the device when the car's battery gets too low to prevent damage to the 12V battery. + + + + Turn Off Data Tracking + + + + Disable all tracking to improve privacy. + + + + Turn Off Data Uploads + + + + Stop the device from sending any data to the servers. + + + + Screen Settings + + + + Screen behavior settings. + + + + Screen Brightness (Offroad) + + + + The screen brightness when you're not driving. + + + + Screen Brightness (Onroad) + + + + The screen brightness while you're driving. + + + + Screen Recorder + + + + Display a button in the onroad UI to record the screen. + + + + Screen Timeout (Offroad) + + + + How long it takes for the screen to turn off when you're not driving. + + + + Screen Timeout (Onroad) + + + + How long it takes for the screen to turn off while you're driving. + + + + 5 mins + + + + mins + + + + hour + + + + hours + + + + Only Onroad + + + + volts + + + + Auto + + + + seconds + + + + WARNING: This can cause premature wear or damage by running the device over comma's recommended temperature limits! + + + + I understand the risks. + + + + WARNING: This will prevent your drives from being recorded and the data will be unobtainable! + + + + WARNING: This will prevent your drives from appearing on comma connect which may impact debugging and support! + + + + + FrogPilotLateralPanel + + Always on Lateral + + + + openpilot's steering control stays active even when the brake or gas pedals are pressed. + +Deactivate only occurs with the 'Cruise Control' button. + + + + Control with LKAS Button + + + + 'Always on Lateral' gets turned on or off using the 'LKAS' button. + + + + Enable with Cruise Control + + + + 'Always on Lateral' gets turned on by pressing the 'Cruise Control' button bypassing the requirement to enable openpilot first. + + + + Pause on Brake Below + + + + 'Always on Lateral' pauses when the brake pedal is pressed below the set speed. + + + + Hide the Status Bar + + + + The status bar for 'Always on Lateral' is hidden. + + + + Lane Change Settings + + + + How openpilot handles lane changes. + + + + Hands-Free Lane Change + + + + Lane changes are conducted without needing to touch the steering wheel upon turn signal activation. + + + + Lane Change Delay + + + + How long openpilot waits before changing lanes. + + + + Lane Width Requirement + + + + The minimum lane width for openpilot to detect a lane as a lane. + + + + Minimum Speed for Lane Change + + + + The minimum speed required for openpilot to perform a lane change. + + + + Single Lane Change Per Signal + + + + Lane changes are limited to one per turn signal activation. + + + + Lateral Tuning + + + + Settings that control how openpilot manages steering. + + + + Neural Network Feedforward (NNFF) + + + + Twilsonco's 'Neural Network FeedForward' for more precise steering control. + + + + Smooth Curve Handling + + + + Smoother steering when entering and exiting curves with Twilsonco's torque adjustments. + + + + Quality of Life Improvements + + + + Miscellaneous lateral focused features to improve your overall openpilot experience. + + + + Pause Steering Below + + + + Pauses steering control when driving below the set speed. + + + + mph + ميل/س + + + feet + + + + Reboot required to take effect. + + + + Reboot Now + + + + kph + + + + meters + + + + + FrogPilotLongitudinalPanel + + Conditional Experimental Mode + + + + Automatically switches to 'Experimental Mode' when specific conditions are met. + + + + Below + + + + 'Experimental Mode' is active when driving below the set speed without a lead vehicle. + + + + Curve Detected Ahead + + + + 'Experimental Mode' is active when a curve is detected in the road ahead. + + + + Lead Detected Ahead + + + + 'Experimental Mode' is active when a slower or stopped vehicle is detected ahead. + + + + Navigation Data + + + + 'Experimental Mode' is active based on navigation data, such as upcoming intersections or turns. + + + + openpilot Wants to Stop In + + + + 'Experimental Mode' is active when openpilot wants to stop such as for a stop sign or red light. + + + + Turn Signal Below + + + + 'Experimental Mode' is active when using turn signals below the set speed. + + + + Hide the Status Bar + + + + The status bar for 'Conditional Experimental Mode' is hidden. + + + + Curve Speed Control + + + + Automatically slow down for curves detected ahead or through the downloaded maps. + + + + Curve Detection Method + + + + The method used to detect curves. + + + + Curve Detection Failsafe + + + + Curve control is triggered only when a curve is detected ahead. Use this as a failsafe to prevent false positives when using the 'Map Based' method. + + + + Curve Sensitivity + + + + How sensitive openpilot is to detecting curves. Higher values trigger earlier responses at the risk of triggering too often, while lower values increase confidence at the risk of triggering too infrequently. + + + + Turn Speed Aggressiveness + + + + How aggressive openpilot takes turns. Higher values result in quicker turns, while lower values provide gentler turns. + + + + Disable Speed Value Smoothing In the UI + + + + Speed value smoothing is disabled in the UI to instead display the exact speed requested by the curve control. + + + + Experimental Mode Activation + + + + 'Experimental Mode' is toggled off/on using the steering wheel buttons or the on-screen controls. + +This overrides 'Conditional Experimental Mode'. + + + + Click the LKAS Button + + + + 'Experimental Mode' is toggled by pressing the 'LKAS' button on the steering wheel. + + + + Double-Tap the Screen + + + + 'Experimental Mode' is toggled by double-tapping the onroad UI within 0.5 seconds. + + + + Long Press the Distance Button + + + + 'Experimental Mode' is toggled by holding the 'distance' button on the steering wheel for 0.5+ seconds. + + + + Longitudinal Tuning + + + + Settings that control how openpilot manages speed and acceleration. + + + + Acceleration Profile + + + + Choose between a sporty or eco-friendly acceleration rate. + + + + Deceleration Profile + + + + Choose between a sporty or eco-friendly deceleration rate. + + + + Human-Like Acceleration + + + + Uses the lead's acceleration rate when at a takeoff and ramps off the acceleration rate when approaching the maximum set speed for a smoother max speed approach. + + + + Human-Like Following Distance + + + + Dynamically adjusts the following distance to feel more natural when approaching slower or stopped vehicles. + + + + Increase Stopped Distance + + + + Increases the distance to stop behind vehicles. + + + + Quality of Life Improvements + + + + Miscellaneous longitudinal focused features to improve your overall openpilot experience. + + + + Cruise Increase Interval + + + + Interval used when increasing the cruise control speed. + + + + Custom Cruise Interval (Long Press) + + + + Interval used when increasing the cruise control speed when holding down the button for 0.5+ seconds. + + + + Map Accel/Decel to Gears + + + + Map the acceleration and deceleration profiles to the 'Eco' or 'Sport' gear modes. + + + + Onroad Personality Button + + + + The current driving personality is displayed on the screen. Tap to switch personalities, or long press for 2.5 seconds to activate 'Traffic Mode'. + + + + Reverse Cruise Increase + + + + The long press feature is reversed in order to increase speed by 5 mph instead of 1. + + + + Speed Limit Controller + + + + Automatically adjust your max speed to match the speed limit using 'Open Street Maps', 'Navigate on openpilot', or your car's dashboard (Toyota/Lexus/HKG only). + + + + Confirm New Speed Limits + + + + Require manual confirmation before using a new speed limit. + + + + Fallback Method + + + + Choose what happens when no speed limit data is available. + + + + Override Method + + + + Choose how you want to override the current speed limit. + + + + + + Speed Limit Source Priority + + + + Set the order of priority for speed limit data sources. + + + + Speed Limit Offsets + + + + Manage toggles related to 'Speed Limit Controller's controls. + + + + Speed Limit Offset (0-34 mph) + + + + Set the speed limit offset for speeds between 0 and 34 mph. + + + + Speed Limit Offset (35-54 mph) + + + + Set the speed limit offset for speeds between 35 and 54 mph. + + + + Speed Limit Offset (55-64 mph) + + + + Set the speed limit offset for speeds between 55 and 64 mph. + + + + Speed Limit Offset (65-99 mph) + + + + Set the speed limit offset for speeds between 65 and 99 mph. + + + + Miscellaneous 'Speed Limit Controller' focused features to improve your overall openpilot experience. + + + + Force MPH Readings from Dashboard + + + + Force speed limit readings in MPH from the dashboard if it normally displays in KPH. + + + + Prepare for Higher Speed Limits + + + + Set a lookahead value to prepare for upcoming higher speed limits based on map data. + + + + Prepare for Lower Speed Limits + + + + Set a lookahead value to prepare for upcoming lower speed limits based on map data. + + + + Set Speed to Current Limit + + + + Set your max speed to match the current speed limit when enabling openpilot. + + + + Visual Settings + + + + Manage visual settings for the 'Speed Limit Controller'. + + + + Use Vienna-Style Speed Signs + + + + Switch to Vienna-style (EU) speed limit signs instead of MUTCD (US). + + + + Show Speed Limit Offset + + + + Display the speed limit offset separately in the onroad UI when using the Speed Limit Controller. + + + + mph + ميل/س + + + With Lead + + + + Switches to 'Experimental Mode' when driving below the set speed with a lead vehicle. + + + + With Lead + + + + Slower Lead + + + + Stopped Lead + + + + Intersections + + + + Turns + + + + Off + + + + Map Based + + + + Vision + + + + Standard + القياسي + + + Eco + + + + Sport + + + + Sport+ + + + + feet + + + + Acceleration + + + + Deceleration + + + + Lower Limits + + + + Higher Limits + + + + None + + + + Set Speed + + + + Experimental Mode + الوضع التجريبي + + + Previous Limit + + + + Gas Pedal Press + + + + Cruise Set Speed + + + + SELECT + اختيار + + + Dashboard + + + + Navigation + + + + Offline Maps + + + + Highest + + + + Lowest + + + + Select your primary priority + + + + Select your secondary priority + + + + Select your tertiary priority + + + + MANAGE + + + + seconds + + + + Control Via UI + + + + Speed Limit Offset (0-34 kph) + + + + Speed Limit Offset (35-54 kph) + + + + Speed Limit Offset (55-64 kph) + + + + Speed Limit Offset (65-99 kph) + + + + Set speed limit offset for limits between 0-34 kph. + + + + Set speed limit offset for limits between 35-54 kph. + + + + Set speed limit offset for limits between 55-64 kph. + + + + Set speed limit offset for limits between 65-99 kph. + + + + kph + + + + meters + + + + Set speed limit offset for limits between 0-34 mph. + + + + Set speed limit offset for limits between 35-54 mph. + + + + Set speed limit offset for limits between 55-64 mph. + + + + Set speed limit offset for limits between 65-99 mph. + + + + + FrogPilotParamManageControl + + MANAGE + + + + + FrogPilotSettingsWindow + + Advanced Settings + + + + Alerts and Sounds + + + + Driving Controls + + + + Navigation + + + + System Management + + + + Theme and Appearance + + + + Vehicle Controls + + + + Advanced FrogPilot features for more experienced users. + + + + Options to customize FrogPilot's sound alerts and notifications. + + + + FrogPilot features than impact acceleration, braking, and steering. + + + + Offline maps downloader and 'Navigate On openpilot (NOO)' settings. + + + + Tools and system utilities used to maintain and troubleshoot FrogPilot. + + + + Options for customizing FrogPilot's themes, UI appearance, and onroad widgets. + + + + Vehicle-specific settings and configurations for supported makes and models. + + + + DRIVING + + + + VISUALS + + + + MANAGE + + + + GAS / BRAKE + + + + STEERING + + + + DATA + + + + DEVICE + + + + UTILITIES + + + + APPEARANCE + + + + THEME + + + + + FrogPilotSoundsPanel + + Alert Volume Controller + + + + Control the volume level for each individual sound in openpilot. + + + + Disengage Volume + + + + Related alerts: + +Adaptive Cruise Disabled +Parking Brake Engaged +Brake Pedal Pressed +Speed too Low + + + + Engage Volume + + + + Related alerts: + +NNFF Torque Controller loaded +openpilot engaged + + + + Prompt Volume + + + + Related alerts: + +Car Detected in Blindspot +Speed too Low +Steer Unavailable Below 'X' +Take Control, Turn Exceeds Steering Limit + + + + Prompt Distracted Volume + + + + Related alerts: + +Pay Attention, Driver Distracted +Touch Steering Wheel, Driver Unresponsive + + + + Refuse Volume + + + + Related alerts: + +openpilot Unavailable + + + + Warning Soft Volume + + + + Related alerts: + +BRAKE!, Risk of Collision +TAKE CONTROL IMMEDIATELY + + + + Warning Immediate Volume + + + + Related alerts: + +DISENGAGE IMMEDIATELY, Driver Distracted +DISENGAGE IMMEDIATELY, Driver Unresponsive + + + + Custom Alerts + + + + Enable custom alerts for openpilot events. + + + + Goat Scream Steering Saturated Alert + + + + Enable the famed 'Goat Scream' that has brought both joy and anger to FrogPilot users all around the world! + + + + Green Light Alert + + + + Get an alert when a traffic light changes from red to green. + + + + Lead Departing Alert + + + + Get an alert when the lead vehicle starts departing when at a standstill. + + + + Loud Blindspot Alert + + + + Enable a louder alert for when a vehicle is detected in the blindspot when attempting to change lanes. + + + + Speed Limit Change Alert + + + + Trigger an alert when the speed limit changes. + + + + + FrogPilotThemesPanel + + Custom Theme + + + + Custom openpilot themes. + + + + Color Scheme + + + + Themed color schemes. + +Want to submit your own color scheme? Share it in the 'feature-request' channel on the FrogPilot Discord! + + + + Icon Pack + + + + Themed icon packs. + +Want to submit your own icons? Share them in the 'feature-request' channel on the FrogPilot Discord! + + + + Sound Pack + + + + Themed sound effects. + +Want to submit your own sounds? Share them in the 'feature-request' channel on the FrogPilot Discord! + + + + Steering Wheel + + + + Custom steering wheel icons. + + + + Turn Signal Animation + + + + Themed turn signal animations. + +Want to submit your own animations? Share them in the 'feature-request' channel on the FrogPilot Discord! + + + + Download Status + + + + Holiday Themes + + + + Change the openpilot theme based on the current holiday. Minor holidays last one day, while major holidays (Easter, Christmas, Halloween, etc.) last a week. + + + + Random Events + + + + Random cosmetic events that happen during certain driving conditions. These events are purely for fun and don't affect driving controls! + + + + Startup Alert + + + + Custom 'Startup' alert message that appears when you start driving. + + + + DELETE + + + + DOWNLOAD + تنزيل + + + SELECT + اختيار + + + Select a color scheme to delete + + + + Are you sure you want to delete the '%1' color scheme? + + + + Delete + + + + Select a color scheme to download + + + + Select a color scheme + + + + Select an icon pack to delete + + + + Are you sure you want to delete the '%1' icon pack? + + + + Select an icon pack to download + + + + Select an icon pack + + + + Select a signal pack to delete + + + + Are you sure you want to delete the '%1' signal pack? + + + + Select a signal pack to download + + + + Select a signal pack + + + + Select a sound pack to delete + + + + Are you sure you want to delete the '%1' sound scheme? + + + + Select a sound pack to download + + + + Select a sound scheme + + + + Select a steering wheel to delete + + + + Are you sure you want to delete the '%1' steering wheel image? + + + + Select a steering wheel to download + + + + Select a steering wheel + + + + STOCK + + + + FROGPILOT + + + + CUSTOM + + + + CLEAR + + + + Enter your text for the top half + + + + Characters: 0/%1 + + + + Enter your text for the bottom half + + + + CANCEL + + + + + FrogPilotVehiclesPanel + + Select Make + + + + SELECT + اختيار + + + Select a Make + + + + Select Model + + + + Select a Model + + + + Disable Automatic Fingerprint Detection + + + + Forces the selected fingerprint and prevents it from ever changing. + + + + Disable openpilot Longitudinal Control + + + + Disable openpilot longitudinal control and use stock ACC instead. + + + + Are you sure you want to completely disable openpilot longitudinal control? + + + + Reboot required to take effect. + + + + Reboot Now + + + + 2017 Volt Stop and Go Hack + + + + Force stop and go for the 2017 Chevy Volt. + + + + Experimental GM Tune + + + + FrogsGoMoo's experimental GM tune that is based on nothing but guesswork. Use at your own risk! + + + + Uphill/Downhill Smoothing + + + + Smoothen the car’s gas and brake response when driving on slopes. + + + + Use comma's New Longitudinal API + + + + Comma's new longitudinal control system that has shown great improvement with acceleration and braking, but has a few issues on some GM vehicles. + + + + Use comma's new longitudinal control system that has shown great improvement with acceleration and braking, but has a few issues on Hyundai/Kia/Genesis. + + + + Subaru Crosstrek Torque Increase + + + + Increases the maximum allowed torque for the Subaru Crosstrek. + + + + Automatically Lock/Unlock Doors + + + + Automatically lock the doors when in drive and unlock when in park. + + + + Cluster Speed Offset + + + + Set the cluster offset openpilot uses to try and match the speed displayed on the dash. + + + + FrogsGoMoo's Personal Tweaks + + + + Use FrogsGoMoo's personal tweaks to the Toyota tune focused around his 2019 Lexus ES 350 to take off a bit quicker and stop a bit smoother. + + + + Stop and Go Hack + + + + Force stop and go for vehicles without stock stop and go functionality. + + + + Lock + + + + Unlock + + + + + FrogPilotVisualsPanel + + Onroad UI Widgets + + + + Custom FrogPilot widgets used in the onroad user interface. + + + + Compass + + + + A compass in the onroad UI to show the current driving direction. + + + + Dynamic Path Width + + + + Automatically adjust the width of the driving path display based on the current engagement state: + +Fully engaged = 100% +Always On Lateral Active = 75% +Fully disengaged = 50% + + + + Gas/Brake Pedal Indicators + - - - DevicePanel - Dongle ID - معرف دونجل + Pedal indicators in the onroad UI that change opacity based on the pressure applied. + - N/A - غير متاح + Paths + - Serial - الرقم التسلسلي + Projected acceleration path, detected lanes, and vehicles in the blind spot. + - Driver Camera - كاميرة السائق + Road Name + - PREVIEW - معاينة + The current road name is displayed at the bottom of the screen using data from 'OpenStreetMap'. + - Preview the driver facing camera to ensure that driver monitoring has good visibility. (vehicle must be off) - قم بمعاينة الكاميرا المواجهة للسائق للتأكد من أن نظام مراقبة السائق يتمتع برؤية جيدة. (يجب أن تكون السيارة متوقفة) + Rotating Steering Wheel + - Reset Calibration - إعادة ضبط المعايرة + The steering wheel in the onroad UI rotates along with your steering wheel movements. + - RESET - إعادة الضبط + Quality of Life Improvements + - Are you sure you want to reset calibration? - هل أنت متأكد أنك تريد إعادة ضبط المعايرة؟ + Miscellaneous visual focused features to improve your overall openpilot experience. + - Review Training Guide - مراجعة دليل التدريب + Larger Map Display + - REVIEW - مراجعة + A larger size of the map in the onroad UI for easier navigation readings. + - Review the rules, features, and limitations of openpilot - مراجعة الأدوار والميزات والقيود في openpilot + Map Style + - Are you sure you want to review the training guide? - هل أنت متأكد أنك تريد مراجعة دليل التدريب؟ + Custom map styles for the map used during navigation. + - Regulatory - التنظيمية + Screen Standby Mode + - VIEW - عرض + The screen is turned off after it times out when driving, but it automatically wakes up if engagement state changes or important alerts occur. + - Change Language - تغيير اللغة + Show Driver Camera When In Reverse + - CHANGE - تغيير + The driver camera feed is displayed when the vehicle is in reverse. + - Select a language - اختر لغة + Stopped Timer + - Reboot - إعادة التشغيل + A timer on the onroad UI to indicate how long the vehicle has been stopped. + - Power Off - إيقاف التشغيل + Acceleration + - openpilot requires the device to be mounted within 4° left or right and within 5° up or 9° down. openpilot is continuously calibrating, resetting is rarely required. - يحتاج openpilot أن يتم ضبط الجهاز ضمن حدود 4 درجات يميناً أو يساراً و5 درجات نحو الأعلى أو 9 نحو الأسفل. يقوم openpilot بالمعايرة باستمرار، ونادراً ما يحتاج إلى عملية إعادة الضبط. + Adjacent + - Your device is pointed %1° %2 and %3° %4. - يشير جهازك إلى %1 درجة %2، و%3 درجة %4. + Blind Spot + - down - نحو الأسفل + Dynamic + - up - نحو الأعلى + Static + - left - نحو اليسار + Full Map + - right - نحو اليمين + Stock openpilot + - Are you sure you want to reboot? - هل أنت متأكد أنك تريد إعادة التشغيل؟ + Mapbox Streets + - Disengage to Reboot - فك الارتباط من أجل إعادة التشغيل + Mapbox Outdoors + - Are you sure you want to power off? - هل أنت متأكد أنك تريد إيقاف التشغيل؟ + Mapbox Light + - Disengage to Power Off - فك الارتباط من أجل إيقاف التشغيل + Mapbox Dark + - Reset - إعادة الضبط + Mapbox Satellite + - Review - مراجعة + Mapbox Satellite Streets + - Pair your device with comma connect (connect.comma.ai) and claim your comma prime offer. - اقرن جهازك بجهاز (connect.comma.ai) واحصل على عرضك من comma prime. + Mapbox Navigation Day + - Pair Device - إقران الجهاز + Mapbox Navigation Night + - PAIR - إقران + Mapbox Traffic Night + - - - DriverViewWindow - camera starting - بدء تشغيل الكاميرا + mike854's (Satellite hybrid) + - - - ExperimentalModeButton - EXPERIMENTAL MODE ON - تشغيل الوضع التجريبي + SELECT + اختيار - CHILL MODE ON - تشغيل وضع الراحة + Select a map style + @@ -341,6 +3387,10 @@ تحتاج إلى %n حرف على الأقل! + + Characters: %1/%2 + + Installer @@ -374,6 +3424,10 @@ Manage at connect.comma.ai الإدارة في connect.comma.ai + + Manage at %1 + + MapWindow @@ -595,7 +3649,7 @@ openpilot - openpilot + openpilot %n minute(s) ago @@ -650,6 +3704,10 @@ now الآن + + FrogPilot + + Reset @@ -696,7 +3754,7 @@ This may take up to a minute. SettingsWindow × - × + × Device @@ -714,6 +3772,14 @@ This may take up to a minute. Software البرنامج + + ← Back + + + + FrogPilot + + Setup @@ -907,6 +3973,30 @@ This may take up to a minute. 5G 5G + + GPU + + + + CPU + + + + GB + + + + MEMORY + + + + LEFT + + + + USED + + SoftwarePanel @@ -928,7 +4018,7 @@ This may take up to a minute. Updates are only downloaded while the car is off. - يتم تحميل التحديثات فقط عندما تكون السيارة متوقفة. + يتم تحميل التحديثات فقط عندما تكون السيارة متوقفة. Current Version @@ -982,6 +4072,34 @@ This may take up to a minute. up to date, last checked %1 أحدث نسخة، آخر تحقق %1 + + Updates are only downloaded while the car is off or in park. + + + + Automatically Update FrogPilot + + + + FrogPilot will automatically update itself and it's assets when you're offroad and connected to Wi-Fi. + + + + Do you want to permanently delete any additional FrogPilot assets? This is 100% unrecoverable and includes backups, downloaded models, themes, and long-term storage toggle settings for easy reinstalls. + + + + Error Log + + + + VIEW + عرض + + + View the error log for openpilot crashes. + + SshControl @@ -1164,7 +4282,7 @@ This may take up to a minute. An alpha version of openpilot longitudinal control can be tested, along with Experimental mode, on non-release branches. - يمكن اختبار نسخة ألفا من التحكم الطولي من openpilot، مع الوضع التجريبي، لكن على الفروع غير المطلقة. + يمكن اختبار نسخة ألفا من التحكم الطولي من openpilot، مع الوضع التجريبي، لكن على الفروع غير المطلقة. Enable the openpilot longitudinal control (alpha) toggle to allow Experimental mode. @@ -1178,14 +4296,6 @@ This may take up to a minute. The driving visualization will transition to the road-facing wide-angle camera at low speeds to better show some turns. The Experimental mode logo will also be shown in the top right corner. - - Always-On Driver Monitoring - - - - Enable driver monitoring even when openpilot is not engaged. - - Updater @@ -1222,6 +4332,89 @@ This may take up to a minute. فشل التحديث + + UtilitiesPanel + + Flash Panda + + + + FLASH + + + + Use this button to flash the Panda device's firmware if you're running into issues. + + + + Are you sure you want to flash the Panda? + + + + Flash + + + + Flashing... + + + + Flashed! + + + + Rebooting... + + + + Force Started State + + + + Force openpilot either offroad or onroad. + + + + OFFROAD + + + + ONROAD + + + + OFF + + + + Reset Toggles to Default + + + + RESET + إعادة الضبط + + + Reset your toggle settings back to their default settings. + + + + Are you sure you want to completely reset all of your toggle settings? + + + + Reset + إعادة الضبط + + + Resetting... + + + + Reset! + + + WiFiPromptWidget @@ -1244,6 +4437,14 @@ This may take up to a minute. Training data will be pulled periodically while your device is on Wi-Fi سيتم سحب بيانات التدريب دورياً عندما يكون جهازك متصل بشبكة واي فاي + + Uploading disabled + + + + Toggle off the 'Disable Uploading' toggle to enable uploads. + + WifiUI diff --git a/selfdrive/ui/translations/main_de.ts b/selfdrive/ui/translations/main_de.ts index 010aa4d30485cd..f2d014812f1969 100644 --- a/selfdrive/ui/translations/main_de.ts +++ b/selfdrive/ui/translations/main_de.ts @@ -15,6 +15,10 @@ Reboot and Update Aktualisieren und neu starten + + Disable Internet Check + + AdvancedNetworking @@ -86,6 +90,26 @@ for "%1" für "%1" + + Off + + + + Always + + + + Only Onroad + + + + Until Reboot + + + + Allow tethering with your data SIM and keep it active either while driving or continuously. + + AnnotatedCameraWidget @@ -109,6 +133,156 @@ LIMIT LIMIT + + Vehicle in blind spot + + + + m/s² + + + + m/s + + + + kph + + + + ft/s² + + + + Accel: %1%2 + + + + - Max: %1%2 + + + + | Obstacle: + + + + | Obstacle Factor: + + + + - Stop: + + + + - Stop Factor: + + + + Follow: + + + + Follow Distance: + + + + Confirm speed limit + + + + + Ignore speed limit + + + + + Conditional Experimental Mode ready + + + + Conditional Experimental overridden + + + + Experimental Mode manually activated + + + + Experimental Mode activated for %1 + + + + low speed + + + + speed being less than %1 %2 + + + + Experimental Mode activated for turn + + + + / lane change + + + + Experimental Mode activated for intersection + + + + Experimental Mode activated for upcoming turn + + + + Experimental Mode activated for curve + + + + Experimental Mode activated for stopped lead + + + + Experimental Mode activated for slower lead + + + + Experimental Mode activated %1 + + + + to stop + + + + Experimental Mode forced on %1 + + + + Experimental Mode activated due to no speed limit + + + + Always On Lateral active + + + + . Press the "Cruise Control" button to disable + + + + . Long press the "distance" button to revert + + + + . Click the "LKAS" button to revert + + + + . Double tap the screen to revert + + ConfirmationDialog @@ -139,189 +313,3061 @@ DestinationWidget - Home + Home + + + + Work + + + + No destination set + + + + No %1 location set + + + + home + + + + work + + + + + DevicePanel + + Dongle ID + Dongle ID + + + N/A + Nicht verfügbar + + + Serial + Seriennummer + + + Driver Camera + Fahrerkamera + + + PREVIEW + VORSCHAU + + + Preview the driver facing camera to ensure that driver monitoring has good visibility. (vehicle must be off) + Vorschau der auf den Fahrer gerichteten Kamera, um sicherzustellen, dass die Fahrerüberwachung eine gute Sicht hat. (Fahrzeug muss aus sein) + + + Reset Calibration + Neu kalibrieren + + + RESET + RESET + + + Are you sure you want to reset calibration? + Bist du sicher, dass du die Kalibrierung zurücksetzen möchtest? + + + Review Training Guide + Trainingsanleitung wiederholen + + + REVIEW + TRAINING + + + Review the rules, features, and limitations of openpilot + Wiederhole die Regeln, Fähigkeiten und Limitierungen von Openpilot + + + Are you sure you want to review the training guide? + Bist du sicher, dass du die Trainingsanleitung wiederholen möchtest? + + + Regulatory + Rechtliche Hinweise + + + VIEW + ANSEHEN + + + Change Language + Sprache ändern + + + CHANGE + ÄNDERN + + + Select a language + Sprache wählen + + + Reboot + Neustart + + + Power Off + Ausschalten + + + openpilot requires the device to be mounted within 4° left or right and within 5° up or 9° down. openpilot is continuously calibrating, resetting is rarely required. + Damit Openpilot funktioniert, darf die Installationsposition nicht mehr als 4° nach rechts/links, 5° nach oben und 9° nach unten abweichen. Openpilot kalibriert sich durchgehend, ein Zurücksetzen ist selten notwendig. + + + Your device is pointed %1° %2 and %3° %4. + Deine Geräteausrichtung ist %1° %2 und %3° %4. + + + down + unten + + + up + oben + + + left + links + + + right + rechts + + + Are you sure you want to reboot? + Bist du sicher, dass du das Gerät neu starten möchtest? + + + Disengage to Reboot + Für Neustart deaktivieren + + + Are you sure you want to power off? + Bist du sicher, dass du das Gerät ausschalten möchtest? + + + Disengage to Power Off + Zum Ausschalten deaktivieren + + + Reset + Zurücksetzen + + + Review + Überprüfen + + + Pair your device with comma connect (connect.comma.ai) and claim your comma prime offer. + Koppele dein Gerät mit Comma Connect (connect.comma.ai) und sichere dir dein Comma Prime Angebot. + + + Pair Device + + + + PAIR + + + + + DriveStats + + ALL TIME + + + + PAST WEEK + + + + FROGPILOT + + + + Drives + + + + Hours + + + + KM + + + + Miles + + + + + DriverViewWindow + + camera starting + Kamera startet + + + + ExperimentalModeButton + + EXPERIMENTAL MODE ON + EXPERIMENTELLER MODUS AN + + + CHILL MODE ON + ENTSPANNTER MODUS AN + + + + FrogPilotAdvancedDrivingPanel + + Advanced Lateral Tuning + + + + Advanced settings that control how openpilot manages steering. + + + + Friction (Default: %1) + + + + Friction + + + + The resistance in steering. Higher values provide more stable steering but can make it feel heavy, while lower values allow lighter steering but may feel too sensitive. + + + + Kp Factor (Default: %1) + + + + Kp Factor + + + + How aggressively the car corrects its steering. Higher values offer quicker corrections but may feel jerky, while lower values make steering smoother but slower to respond. + + + + Lateral Accel (Default: %1) + + + + Lateral Accel + + + + Adjust how fast the car can steer from side to side. Higher values allow quicker lane changes but can feel unstable, while lower values provide smoother steering but may feel sluggish. + + + + Steer Ratio (Default: %1) + + + + Steer Ratio + + + + Adjust how much openpilot needs to turn the wheel to steer. Higher values feel like driving a truck, more stable at high speeds, but harder to steer quickly at low speeds, while lower values feel like a go-kart, easier to steer in tight spots but more sensitive and less stable at high speeds. + + + + comma's 2022 Taco Bell Turn Hack + + + + Use comma's hack they used to help handle left and right turns more precisely during their 2022 'Taco Bell' drive. + + + + Force Auto Tune On + + + + Forces comma's auto lateral tuning for unsupported vehicles. + + + + Force Auto Tune Off + + + + Forces comma's auto lateral tuning off for supported vehicles. + + + + Force Turn Desires Below Lane Change Speed + + + + Force the model to use turn desires when driving below the minimum lane change speed to help make left and right turns more precisely. + + + + Advanced Longitudinal Tuning + + + + Advanced settings that control how openpilot manages speed and acceleration. + + + + Lead Detection Confidence + + + + How sensitive openpilot is to detecting vehicles ahead. A lower value can help detect vehicles sooner and from farther away, but may occasionally mistake other objects for vehicles. + + + + Maximum Acceleration Rate + + + + Set a cap on how fast openpilot can accelerate to prevent high acceleration at low speeds. + + + + Advanced Quality of Life + + + + Miscellaneous advanced features to improve your overall openpilot experience. + + + + Force Keep openpilot in the Standstill State + + + + Keep openpilot in the 'standstill' state until the gas pedal or 'resume' button is pressed. + + + + Force Stop for 'Detected' Stop Lights/Signs + + + + Whenever openpilot 'detects' a potential stop light/stop sign, force a stop where it originally detected it to prevent running the potential red light/stop sign. + + + + Set Speed Offset + + + + How much higher or lower the set speed should be compared to your current set speed. For example, if you prefer to drive 5 mph above the speed limit, this setting will automatically add that difference when you adjust your set speed. + + + + Customize Driving Personalities + + + + Customize the personality profiles to suit your preferences. + + + + Traffic Personality + + + + Customize the 'Traffic' personality profile, tailored for navigating through traffic. + + + + Following Distance + + + + The minimum following distance in 'Traffic Mode.' openpilot will adjust dynamically between this value and the 'Aggressive' profile distance based on your speed. + + + + Acceleration Sensitivity + + + + How sensitive openpilot is to changes in acceleration in 'Traffic Mode.' Higher values result in smoother, more gradual acceleration and deceleration, while lower values allow for faster changes that may feel more abrupt. + + + + Deceleration Sensitivity + + + + Controls how sensitive openpilot is to changes in deceleration in 'Traffic Mode.' Higher values result in smoother, more gradual braking, while lower values allow for quicker, more responsive braking that may feel abrupt. + + + + Safety Distance Sensitivity + + + + Adjusts how cautious openpilot is around other vehicles or obstacles in 'Traffic Mode.' Higher values increase following distances and prioritize safety, leading to more cautious driving, while lower values allow for closer following but may reduce reaction time. + + + + Speed Increase Responsiveness + + + + Controls how quickly openpilot adjusts speed in 'Traffic Mode.' Higher values ensure smoother, more gradual speed changes, while lower values enable quicker adjustments that might feel sharper or less smooth. + + + + Speed Decrease Responsiveness + + + + Sets how quickly openpilot adjusts to decreasing speeds in 'Traffic Mode.' Higher values ensure smoother transitions when slowing down, while lower values allow for quicker, more responsive speed reductions that might feel sharper. + + + + Reset Settings + + + + Restore the 'Traffic Mode' settings to their default values. + + + + Aggressive Personality + + + + Customize the 'Aggressive' personality profile, designed for a more assertive driving style. + + + + Set the following distance for 'Aggressive' mode. This determines roughly how many seconds you'll follow behind the car ahead. + +Default: 1.25 seconds. + + + + Controls how sensitive openpilot is to acceleration changes in 'Aggressive' mode. Higher values make acceleration and deceleration smoother but slower, while lower values allow quicker changes that may feel jerky. + +Default: 0.5. + + + + Controls how sensitive openpilot is to deceleration in 'Aggressive' mode. Higher values result in smoother braking, while lower values allow for more immediate braking that may feel abrupt. + +Default: 0.5. + + + + Adjusts how cautious openpilot is around vehicles or obstacles in 'Aggressive' mode. Higher values make it more cautious, while lower values allow for closer following, increasing the risk of sudden braking. + +Default: 1.0. + + + + Controls how quickly openpilot adjusts speed in 'Aggressive' mode. Higher values result in smoother but slower speed changes, while lower values make speed adjustments quicker but potentially more abrupt. + +Default: 0.5. + + + + Sets how quickly openpilot adjusts to speed reductions in 'Aggressive' mode. Higher values ensure smoother transitions when slowing down, while lower values allow for quicker, more responsive speed decreases that may feel sharp. + +Default: 0.5. + + + + Restore the 'Aggressive' settings to their default values. + + + + Standard Personality + + + + Customize the 'Standard' personality profile, optimized for balanced driving. + + + + Set the following distance for 'Standard' mode. This determines roughly how many seconds you'll follow behind the car ahead. + +Default: 1.45 seconds. + + + + Controls how sensitive openpilot is to acceleration changes in 'Standard' mode. Higher values make acceleration and deceleration smoother but slower, while lower values allow quicker changes that may feel jerky. + +Default: 1.0. + + + + Controls how sensitive openpilot is to deceleration in 'Standard' mode. Higher values result in smoother braking, while lower values allow for quicker, more immediate braking that may feel abrupt. + +Default: 1.0. + + + + Adjusts how cautious openpilot is around vehicles or obstacles in 'Standard' mode. Higher values make it more cautious, while lower values allow for closer following, increasing the risk of sudden braking. + +Default: 1.0. + + + + Controls how quickly openpilot adjusts speed in 'Standard' mode. Higher values result in smoother but slower speed changes, while lower values make speed adjustments quicker but potentially more abrupt. + +Default: 1.0. + + + + Sets how quickly openpilot adjusts to speed reductions in 'Standard' mode. Higher values ensure smoother transitions when slowing down, while lower values allow for quicker, more responsive speed decreases that may feel sharp. + +Default: 1.0. + + + + Restore the 'Standard' settings to their default values. + + + + Relaxed Personality + + + + Customize the 'Relaxed' personality profile, ideal for a more laid-back driving style. + + + + Set the following distance for 'Relaxed' mode. This determines roughly how many seconds you'll follow behind the car ahead. + +Default: 1.75 seconds. + + + + Controls how sensitive openpilot is to acceleration changes in 'Relaxed' mode. Higher values make acceleration and deceleration smoother but slower, while lower values allow quicker changes that may feel jerky. + +Default: 1.0. + + + + Controls how sensitive openpilot is to deceleration in 'Relaxed' mode. Higher values result in smoother braking, while lower values allow for quicker, more immediate braking that may feel abrupt. + +Default: 1.0. + + + + Adjusts how cautious openpilot is around vehicles or obstacles in 'Relaxed' mode. Higher values make it more cautious, while lower values allow for closer following, increasing the risk of sudden braking. + +Default: 1.0. + + + + Controls how quickly openpilot adjusts speed in 'Relaxed' mode. Higher values result in smoother but slower speed changes, while lower values make speed adjustments quicker but potentially more abrupt. + +Default: 1.0. + + + + Sets how quickly openpilot adjusts to speed reductions in 'Relaxed' mode. Higher values ensure smoother transitions when slowing down, while lower values allow for quicker, more responsive speed decreases that may feel sharp. + +Default: 1.0. + + + + Restore the 'Relaxed' settings to their default values. + + + + Model Management + + + + Manage the driving models used by openpilot. + + + + Automatically Update and Download Models + + + + Automatically download new or updated driving models. + + + + Model Randomizer + + + + A random model is selected and can be reviewed at the end of each drive if it's longer than 15 minutes to help find your preferred model. + + + + Manage Model Blacklist + + + + Control which models are blacklisted and won't be used for future drives. + + + + Reset Model Scores + + + + Clear the ratings you've given to the driving models. + + + + Review Model Scores + + + + View the ratings you've assigned to the driving models. + + + + Delete Model + + + + Remove the selected driving model from your device. + + + + Download Model + + + + Download undownloaded driving models. + + + + Download All Models + + + + Download all undownloaded driving models. + + + + Select Model + + + + Select which model openpilot uses to drive. + + + + Reset Model Calibrations + + + + Reset calibration settings for the driving models. + + + + mph + mph + + + Reset + Zurücksetzen + + + seconds + + + + ADD + HINZUFÜGEN + + + REMOVE + LÖSCHEN + + + There's no more models to blacklist! The only available model is "%1"! + + + + OK + OK + + + Select a model to add to the blacklist + + + + Are you sure you want to add the '%1' model to the blacklist? + + + + Add + + + + Select a model to remove from the blacklist + + + + Are you sure you want to remove the '%1' model from the blacklist? + + + + Remove + + + + RESET + RESET + + + Reset all model scores? + + + + VIEW + ANSEHEN + + + DELETE + + + + Select a model to delete + + + + Are you sure you want to delete the '%1' model? + + + + Delete + + + + Deleting... + + + + Deleted! + + + + DOWNLOAD + + + + CANCEL + + + + Select a driving model to download + + + + Downloading %1... + + + + SELECT + AUSWÄHLEN + + + Select a model - 🗺️ = Navigation | 📡 = Radar | 👀 = VOACC + + + + WARNING: This is a very experimental model and may drive dangerously! + + + + I understand the risks. + + + + Start with a fresh calibration for the newly selected model? + + + + Reboot required to take effect. + + + + Reboot Now + + + + RESET ALL + + + + RESET ONE + + + + Are you sure you want to completely reset all of your model calibrations? + + + + Select a model to reset + + + + Are you sure you want to completely reset this model's calibrations? + + + + The 'Model Randomizer' only works with downloaded models. Do you want to download all the driving models? + + + + Are you sure you want to completely reset your settings for the 'Traffic Mode' personality? + + + + Are you sure you want to completely reset your settings for the 'Aggressive' personality? + + + + Are you sure you want to completely reset your settings for the 'Standard' personality? + + + + Are you sure you want to completely reset your settings for the 'Relaxed' personality? + + + + kph + + + + Downloading models... + + + + openpilot requires the device to be mounted within 4° left or right and within 5° up or 9° down. openpilot is continuously calibrating, resetting is rarely required. + Damit Openpilot funktioniert, darf die Installationsposition nicht mehr als 4° nach rechts/links, 5° nach oben und 9° nach unten abweichen. Openpilot kalibriert sich durchgehend, ein Zurücksetzen ist selten notwendig. + + + Your device is pointed %1° %2 and %3° %4. + Deine Geräteausrichtung ist %1° %2 und %3° %4. + + + down + unten + + + up + oben + + + left + links + + + right + rechts + + + + FrogPilotAdvancedVisualsPanel + + Advanced Onroad UI Widgets + + + + Advanced user customizations for the Onroad UI. + + + + Camera View + + + + Camera view for the onroad UI. This is purely a visual change and doesn't impact how openpilot drives. + + + + Display Stopping Points + + + + Display an image on the screen where openpilot is detecting a potential red light/stop sign. + + + + Hide Lead Marker + + + + Hide the marker for the vehicle ahead on the screen. + + + + Hide Speed + + + + Hide the speed indicator in the onroad UI. Additional toggle allows it to be hidden/shown via tapping the speed itself. + + + + Hide UI Elements + + + + Hide the selected UI elements from the onroad screen. + + + + Use Wheel Speed + + + + Use the wheel speed instead of the cluster speed in the onroad UI. + + + + Developer UI + + + + Show detailed information about openpilot's internal operations. + + + + Border Metrics + + + + Display performance metrics around the edge of the screen while driving. + + + + FPS Display + + + + Display the 'Frames Per Second' (FPS) at the bottom of the screen while driving. + + + + Lateral Metrics + + + + Display metrics related to steering control at the top of the screen while driving. + + + + Longitudinal Metrics + + + + Display metrics related to acceleration, speed, and desired following distance at the top of the screen while driving. + + + + Numerical Temperature Gauge + + + + Show exact temperature readings instead of general status labels like 'GOOD', 'OK', or 'HIGH' in the sidebar. + + + + Sidebar + + + + Display system information like CPU, GPU, RAM usage, IP address, and storage space in the sidebar. + + + + Use International System of Units + + + + Display measurements using the 'International System of Units' (SI). + + + + Model UI + + + + Customize the model visualizations on the screen. + + + + Lane Lines Width + + + + How thick the lane lines appear on the display. + +Default matches the MUTCD standard of 4 inches. + + + + Path Edges Width + + + + The width of the edges of the driving path to represent different modes and statuses. + +Default is 20% of the total path width. + +Color Guide: +- Blue: Navigation +- Light Blue: 'Always On Lateral' +- Green: Default +- Orange: 'Experimental Mode' +- Red: 'Traffic Mode' +- Yellow: 'Conditional Experimental Mode' Overridden + + + + Path Width + + + + How wide the driving path appears on your screen. + +Default (6.1 feet / 1.9 meters) matches the width of a 2019 Lexus ES 350. + + + + Road Edges Width + + + + How thick the road edges appear on the display. + +Default matches half of the MUTCD standard lane line width of 4 inches. + + + + 'Unlimited' Road UI + + + + Extend the display of the path, lane lines, and road edges as far as the model can see. + + + + Auto + + + + Driver + + + + Standard + + + + Wide + + + + Control Via UI + + + + Alerts + + + + Map Icon + + + + Max Speed + + + + Show Distance + + + + Blind Spot + + + + Steering Torque + + + + Turn Signal + + + + Adjacent Path Metrics + + + + Auto Tune + + + + Lead Info + + + + Longitudinal Jerk + + + + Fahrenheit + + + + CPU + + + + GPU + + + + IP + + + + RAM + + + + SSD Left + + + + SSD Used + + + + inches + + + + % + + + + feet + + + + Adjust how thick the lane lines appear on the display. + +Default matches the Vienna standard of 10 centimeters. + + + + Adjust how thick the road edges appear on the display. + +Default matches half of the Vienna standard of 10 centimeters. + + + + centimeters + + + + meters + + + + Adjust how thick the lane lines appear on the display. + +Default matches the MUTCD standard of 4 inches. + + + + Adjust how thick the road edges appear on the display. + +Default matches half of the MUTCD standard of 4 inches. + + + + + FrogPilotConfirmationDialog + + Reboot Later + + + + Yes + + + + No + + + + + FrogPilotDataPanel + + Delete Driving Footage and Data + + + + DELETE + + + + This button provides a swift and secure way to permanently delete all stored driving footage and data from your device. Ideal for maintaining privacy or freeing up space. + + + + Are you sure you want to permanently delete all of your driving footage and data? + + + + Delete + + + + Deleting... + + + + Deleted! + + + + Screen Recordings + + + + Manage your screen recordings. + + + + RENAME + + + + Select a recording to delete + + + + Are you sure you want to delete this recording? + + + + Failed... + + + + Select a recording to rename + + + + Enter a new name + + + + Rename Recording + + + + Renaming... + + + + Renamed! + + + + FrogPilot Backups + + + + Manage your FrogPilot backups. + + + + BACKUP + + + + RESTORE + + + + Name your backup + + + + Do you want to compress this backup? The end file size will be 2.25x smaller, but can take 10+ minutes. + + + + Backing... + + + + Compressing... + + + + Success! + + + + Select a backup to delete + + + + Are you sure you want to delete this backup? + + + + Select a restore point + + + + Are you sure you want to restore this version of FrogPilot? + + + + Restore + + + + Restoring... + + + + Extracting... + + + + Restored! + + + + Rebooting... + + + + Toggle Backups + + + + Manage your toggle backups. + + + + Are you sure you want to restore this toggle backup? + + + + + FrogPilotDevicePanel + + Device Settings + + + + Device behavior settings. + + + + Device Shutdown Timer + + + + How long the device stays on after you stop driving. + + + + Disable Internet Requirement + + + + The device can work without an internet connection for as long as you need. + + + + Increase Thermal Safety Limit + + + + The device can run at higher temperatures than recommended. + + + + Low Battery Shutdown Threshold + + + + Shut down the device when the car's battery gets too low to prevent damage to the 12V battery. + + + + Turn Off Data Tracking + + + + Disable all tracking to improve privacy. + + + + Turn Off Data Uploads + + + + Stop the device from sending any data to the servers. + + + + Screen Settings + + + + Screen behavior settings. + + + + Screen Brightness (Offroad) + + + + The screen brightness when you're not driving. + + + + Screen Brightness (Onroad) + + + + The screen brightness while you're driving. + + + + Screen Recorder + + + + Display a button in the onroad UI to record the screen. + + + + Screen Timeout (Offroad) + + + + How long it takes for the screen to turn off when you're not driving. + + + + Screen Timeout (Onroad) + + + + How long it takes for the screen to turn off while you're driving. + + + + 5 mins + + + + mins + + + + hour + + + + hours + + + + Only Onroad + + + + volts + + + + Auto + + + + seconds + + + + WARNING: This can cause premature wear or damage by running the device over comma's recommended temperature limits! + + + + I understand the risks. + + + + WARNING: This will prevent your drives from being recorded and the data will be unobtainable! + + + + WARNING: This will prevent your drives from appearing on comma connect which may impact debugging and support! + + + + + FrogPilotLateralPanel + + Always on Lateral + + + + openpilot's steering control stays active even when the brake or gas pedals are pressed. + +Deactivate only occurs with the 'Cruise Control' button. + + + + Control with LKAS Button + + + + 'Always on Lateral' gets turned on or off using the 'LKAS' button. + + + + Enable with Cruise Control + + + + 'Always on Lateral' gets turned on by pressing the 'Cruise Control' button bypassing the requirement to enable openpilot first. + + + + Pause on Brake Below + + + + 'Always on Lateral' pauses when the brake pedal is pressed below the set speed. + + + + Hide the Status Bar + + + + The status bar for 'Always on Lateral' is hidden. + + + + Lane Change Settings + + + + How openpilot handles lane changes. + + + + Hands-Free Lane Change + + + + Lane changes are conducted without needing to touch the steering wheel upon turn signal activation. + + + + Lane Change Delay + + + + How long openpilot waits before changing lanes. + + + + Lane Width Requirement + + + + The minimum lane width for openpilot to detect a lane as a lane. + + + + Minimum Speed for Lane Change + + + + The minimum speed required for openpilot to perform a lane change. + + + + Single Lane Change Per Signal + + + + Lane changes are limited to one per turn signal activation. + + + + Lateral Tuning + + + + Settings that control how openpilot manages steering. + + + + Neural Network Feedforward (NNFF) + + + + Twilsonco's 'Neural Network FeedForward' for more precise steering control. + + + + Smooth Curve Handling + + + + Smoother steering when entering and exiting curves with Twilsonco's torque adjustments. + + + + Quality of Life Improvements + + + + Miscellaneous lateral focused features to improve your overall openpilot experience. + + + + Pause Steering Below + + + + Pauses steering control when driving below the set speed. + + + + mph + mph + + + feet + + + + Reboot required to take effect. + + + + Reboot Now + + + + kph + + + + meters + + + + + FrogPilotLongitudinalPanel + + Conditional Experimental Mode + + + + Automatically switches to 'Experimental Mode' when specific conditions are met. + + + + Below + + + + 'Experimental Mode' is active when driving below the set speed without a lead vehicle. + + + + Curve Detected Ahead + + + + 'Experimental Mode' is active when a curve is detected in the road ahead. + + + + Lead Detected Ahead + + + + 'Experimental Mode' is active when a slower or stopped vehicle is detected ahead. + + + + Navigation Data + + + + 'Experimental Mode' is active based on navigation data, such as upcoming intersections or turns. + + + + openpilot Wants to Stop In + + + + 'Experimental Mode' is active when openpilot wants to stop such as for a stop sign or red light. + + + + Turn Signal Below + + + + 'Experimental Mode' is active when using turn signals below the set speed. + + + + Hide the Status Bar + + + + The status bar for 'Conditional Experimental Mode' is hidden. + + + + Curve Speed Control + + + + Automatically slow down for curves detected ahead or through the downloaded maps. + + + + Curve Detection Method + + + + The method used to detect curves. + + + + Curve Detection Failsafe + + + + Curve control is triggered only when a curve is detected ahead. Use this as a failsafe to prevent false positives when using the 'Map Based' method. + + + + Curve Sensitivity + + + + How sensitive openpilot is to detecting curves. Higher values trigger earlier responses at the risk of triggering too often, while lower values increase confidence at the risk of triggering too infrequently. + + + + Turn Speed Aggressiveness + + + + How aggressive openpilot takes turns. Higher values result in quicker turns, while lower values provide gentler turns. + + + + Disable Speed Value Smoothing In the UI + + + + Speed value smoothing is disabled in the UI to instead display the exact speed requested by the curve control. + + + + Experimental Mode Activation + + + + 'Experimental Mode' is toggled off/on using the steering wheel buttons or the on-screen controls. + +This overrides 'Conditional Experimental Mode'. + + + + Click the LKAS Button + + + + 'Experimental Mode' is toggled by pressing the 'LKAS' button on the steering wheel. + + + + Double-Tap the Screen + + + + 'Experimental Mode' is toggled by double-tapping the onroad UI within 0.5 seconds. + + + + Long Press the Distance Button + + + + 'Experimental Mode' is toggled by holding the 'distance' button on the steering wheel for 0.5+ seconds. + + + + Longitudinal Tuning + + + + Settings that control how openpilot manages speed and acceleration. + + + + Acceleration Profile + + + + Choose between a sporty or eco-friendly acceleration rate. + + + + Deceleration Profile + + + + Choose between a sporty or eco-friendly deceleration rate. + + + + Human-Like Acceleration + + + + Uses the lead's acceleration rate when at a takeoff and ramps off the acceleration rate when approaching the maximum set speed for a smoother max speed approach. + + + + Human-Like Following Distance + + + + Dynamically adjusts the following distance to feel more natural when approaching slower or stopped vehicles. + + + + Increase Stopped Distance + + + + Increases the distance to stop behind vehicles. + + + + Quality of Life Improvements + + + + Miscellaneous longitudinal focused features to improve your overall openpilot experience. + + + + Cruise Increase Interval + + + + Interval used when increasing the cruise control speed. + + + + Custom Cruise Interval (Long Press) + + + + Interval used when increasing the cruise control speed when holding down the button for 0.5+ seconds. + + + + Map Accel/Decel to Gears + + + + Map the acceleration and deceleration profiles to the 'Eco' or 'Sport' gear modes. + + + + Onroad Personality Button + + + + The current driving personality is displayed on the screen. Tap to switch personalities, or long press for 2.5 seconds to activate 'Traffic Mode'. + + + + Reverse Cruise Increase + + + + The long press feature is reversed in order to increase speed by 5 mph instead of 1. + + + + Speed Limit Controller + + + + Automatically adjust your max speed to match the speed limit using 'Open Street Maps', 'Navigate on openpilot', or your car's dashboard (Toyota/Lexus/HKG only). + + + + Confirm New Speed Limits + + + + Require manual confirmation before using a new speed limit. + + + + Fallback Method + + + + Choose what happens when no speed limit data is available. + + + + Override Method + + + + Choose how you want to override the current speed limit. + + + + + + Speed Limit Source Priority + + + + Set the order of priority for speed limit data sources. + + + + Speed Limit Offsets + + + + Manage toggles related to 'Speed Limit Controller's controls. + + + + Speed Limit Offset (0-34 mph) + + + + Set the speed limit offset for speeds between 0 and 34 mph. + + + + Speed Limit Offset (35-54 mph) + + + + Set the speed limit offset for speeds between 35 and 54 mph. + + + + Speed Limit Offset (55-64 mph) + + + + Set the speed limit offset for speeds between 55 and 64 mph. + + + + Speed Limit Offset (65-99 mph) + + + + Set the speed limit offset for speeds between 65 and 99 mph. + + + + Miscellaneous 'Speed Limit Controller' focused features to improve your overall openpilot experience. + + + + Force MPH Readings from Dashboard + + + + Force speed limit readings in MPH from the dashboard if it normally displays in KPH. + + + + Prepare for Higher Speed Limits + + + + Set a lookahead value to prepare for upcoming higher speed limits based on map data. + + + + Prepare for Lower Speed Limits + + + + Set a lookahead value to prepare for upcoming lower speed limits based on map data. + + + + Set Speed to Current Limit + + + + Set your max speed to match the current speed limit when enabling openpilot. + + + + Visual Settings + + + + Manage visual settings for the 'Speed Limit Controller'. + + + + Use Vienna-Style Speed Signs + + + + Switch to Vienna-style (EU) speed limit signs instead of MUTCD (US). + + + + Show Speed Limit Offset + + + + Display the speed limit offset separately in the onroad UI when using the Speed Limit Controller. + + + + mph + mph + + + With Lead + + + + Switches to 'Experimental Mode' when driving below the set speed with a lead vehicle. + + + + With Lead + + + + Slower Lead + + + + Stopped Lead + + + + Intersections + + + + Turns + + + + Off + + + + Map Based + + + + Vision + + + + Standard + + + + Eco + + + + Sport + + + + Sport+ + + + + feet + + + + Acceleration + + + + Deceleration + + + + Lower Limits + + + + Higher Limits + + + + None + + + + Set Speed + + + + Experimental Mode + Experimenteller Modus + + + Previous Limit + + + + Gas Pedal Press + + + + Cruise Set Speed + + + + SELECT + AUSWÄHLEN + + + Dashboard + + + + Navigation + + + + Offline Maps + + + + Highest + + + + Lowest + + + + Select your primary priority + + + + Select your secondary priority + + + + Select your tertiary priority + + + + MANAGE + + + + seconds + + + + Control Via UI + + + + Speed Limit Offset (0-34 kph) + + + + Speed Limit Offset (35-54 kph) + + + + Speed Limit Offset (55-64 kph) + + + + Speed Limit Offset (65-99 kph) + + + + Set speed limit offset for limits between 0-34 kph. + + + + Set speed limit offset for limits between 35-54 kph. + + + + Set speed limit offset for limits between 55-64 kph. + + + + Set speed limit offset for limits between 65-99 kph. + + + + kph + + + + meters + + + + Set speed limit offset for limits between 0-34 mph. + + + + Set speed limit offset for limits between 35-54 mph. + + + + Set speed limit offset for limits between 55-64 mph. + + + + Set speed limit offset for limits between 65-99 mph. + + + + + FrogPilotParamManageControl + + MANAGE + + + + + FrogPilotSettingsWindow + + Advanced Settings + + + + Alerts and Sounds + + + + Driving Controls + + + + Navigation + + + + System Management + + + + Theme and Appearance + + + + Vehicle Controls + + + + Advanced FrogPilot features for more experienced users. + + + + Options to customize FrogPilot's sound alerts and notifications. + + + + FrogPilot features than impact acceleration, braking, and steering. + + + + Offline maps downloader and 'Navigate On openpilot (NOO)' settings. + + + + Tools and system utilities used to maintain and troubleshoot FrogPilot. + + + + Options for customizing FrogPilot's themes, UI appearance, and onroad widgets. + + + + Vehicle-specific settings and configurations for supported makes and models. + + + + DRIVING + + + + VISUALS + + + + MANAGE + + + + GAS / BRAKE + + + + STEERING + + + + DATA + + + + DEVICE + + + + UTILITIES + + + + APPEARANCE + + + + THEME + + + + + FrogPilotSoundsPanel + + Alert Volume Controller + + + + Control the volume level for each individual sound in openpilot. + + + + Disengage Volume + + + + Related alerts: + +Adaptive Cruise Disabled +Parking Brake Engaged +Brake Pedal Pressed +Speed too Low + + + + Engage Volume + + + + Related alerts: + +NNFF Torque Controller loaded +openpilot engaged + + + + Prompt Volume + + + + Related alerts: + +Car Detected in Blindspot +Speed too Low +Steer Unavailable Below 'X' +Take Control, Turn Exceeds Steering Limit + + + + Prompt Distracted Volume + + + + Related alerts: + +Pay Attention, Driver Distracted +Touch Steering Wheel, Driver Unresponsive + + + + Refuse Volume + + + + Related alerts: + +openpilot Unavailable + + + + Warning Soft Volume + + + + Related alerts: + +BRAKE!, Risk of Collision +TAKE CONTROL IMMEDIATELY + + + + Warning Immediate Volume + + + + Related alerts: + +DISENGAGE IMMEDIATELY, Driver Distracted +DISENGAGE IMMEDIATELY, Driver Unresponsive + + + + Custom Alerts + + + + Enable custom alerts for openpilot events. + + + + Goat Scream Steering Saturated Alert + + + + Enable the famed 'Goat Scream' that has brought both joy and anger to FrogPilot users all around the world! + + + + Green Light Alert + + + + Get an alert when a traffic light changes from red to green. + + + + Lead Departing Alert + + + + Get an alert when the lead vehicle starts departing when at a standstill. + + + + Loud Blindspot Alert + + + + Enable a louder alert for when a vehicle is detected in the blindspot when attempting to change lanes. + + + + Speed Limit Change Alert + + + + Trigger an alert when the speed limit changes. + + + + + FrogPilotThemesPanel + + Custom Theme + + + + Custom openpilot themes. + + + + Color Scheme + + + + Themed color schemes. + +Want to submit your own color scheme? Share it in the 'feature-request' channel on the FrogPilot Discord! + + + + Icon Pack + + + + Themed icon packs. + +Want to submit your own icons? Share them in the 'feature-request' channel on the FrogPilot Discord! + + + + Sound Pack + + + + Themed sound effects. + +Want to submit your own sounds? Share them in the 'feature-request' channel on the FrogPilot Discord! + + + + Steering Wheel + + + + Custom steering wheel icons. + + + + Turn Signal Animation + + + + Themed turn signal animations. + +Want to submit your own animations? Share them in the 'feature-request' channel on the FrogPilot Discord! + + + + Download Status + + + + Holiday Themes + + + + Change the openpilot theme based on the current holiday. Minor holidays last one day, while major holidays (Easter, Christmas, Halloween, etc.) last a week. + + + + Random Events + + + + Random cosmetic events that happen during certain driving conditions. These events are purely for fun and don't affect driving controls! + + + + Startup Alert + + + + Custom 'Startup' alert message that appears when you start driving. + + + + DELETE + + + + DOWNLOAD + + + + SELECT + AUSWÄHLEN + + + Select a color scheme to delete + + + + Are you sure you want to delete the '%1' color scheme? + + + + Delete + + + + Select a color scheme to download + + + + Select a color scheme + + + + Select an icon pack to delete + + + + Are you sure you want to delete the '%1' icon pack? + + + + Select an icon pack to download + + + + Select an icon pack + + + + Select a signal pack to delete + + + + Are you sure you want to delete the '%1' signal pack? + + + + Select a signal pack to download + + + + Select a signal pack + + + + Select a sound pack to delete + + + + Are you sure you want to delete the '%1' sound scheme? + + + + Select a sound pack to download + + + + Select a sound scheme + + + + Select a steering wheel to delete + + + + Are you sure you want to delete the '%1' steering wheel image? + + + + Select a steering wheel to download + + + + Select a steering wheel + + + + STOCK + + + + FROGPILOT + + + + CUSTOM + + + + CLEAR + + + + Enter your text for the top half + + + + Characters: 0/%1 + + + + Enter your text for the bottom half + + + + CANCEL + + + + + FrogPilotVehiclesPanel + + Select Make + + + + SELECT + AUSWÄHLEN + + + Select a Make + + + + Select Model + + + + Select a Model + + + + Disable Automatic Fingerprint Detection + + + + Forces the selected fingerprint and prevents it from ever changing. + + + + Disable openpilot Longitudinal Control + + + + Disable openpilot longitudinal control and use stock ACC instead. + + + + Are you sure you want to completely disable openpilot longitudinal control? + + + + Reboot required to take effect. + + + + Reboot Now + + + + 2017 Volt Stop and Go Hack + + + + Force stop and go for the 2017 Chevy Volt. + + + + Experimental GM Tune + + + + FrogsGoMoo's experimental GM tune that is based on nothing but guesswork. Use at your own risk! + + + + Uphill/Downhill Smoothing + + + + Smoothen the car’s gas and brake response when driving on slopes. + + + + Use comma's New Longitudinal API + + + + Comma's new longitudinal control system that has shown great improvement with acceleration and braking, but has a few issues on some GM vehicles. + + + + Use comma's new longitudinal control system that has shown great improvement with acceleration and braking, but has a few issues on Hyundai/Kia/Genesis. + + + + Subaru Crosstrek Torque Increase + + + + Increases the maximum allowed torque for the Subaru Crosstrek. + + + + Automatically Lock/Unlock Doors + + + + Automatically lock the doors when in drive and unlock when in park. + + + + Cluster Speed Offset + + + + Set the cluster offset openpilot uses to try and match the speed displayed on the dash. + + + + FrogsGoMoo's Personal Tweaks + + + + Use FrogsGoMoo's personal tweaks to the Toyota tune focused around his 2019 Lexus ES 350 to take off a bit quicker and stop a bit smoother. + + + + Stop and Go Hack + + + + Force stop and go for vehicles without stock stop and go functionality. + + + + Lock + + + + Unlock + + + + + FrogPilotVisualsPanel + + Onroad UI Widgets + + + + Custom FrogPilot widgets used in the onroad user interface. - Work + Compass - No destination set + A compass in the onroad UI to show the current driving direction. - No %1 location set + Dynamic Path Width - home + Automatically adjust the width of the driving path display based on the current engagement state: + +Fully engaged = 100% +Always On Lateral Active = 75% +Fully disengaged = 50% - work + Gas/Brake Pedal Indicators - - - DevicePanel - Dongle ID - Dongle ID + Pedal indicators in the onroad UI that change opacity based on the pressure applied. + - N/A - Nicht verfügbar + Paths + - Serial - Seriennummer + Projected acceleration path, detected lanes, and vehicles in the blind spot. + - Driver Camera - Fahrerkamera + Road Name + - PREVIEW - VORSCHAU + The current road name is displayed at the bottom of the screen using data from 'OpenStreetMap'. + - Preview the driver facing camera to ensure that driver monitoring has good visibility. (vehicle must be off) - Vorschau der auf den Fahrer gerichteten Kamera, um sicherzustellen, dass die Fahrerüberwachung eine gute Sicht hat. (Fahrzeug muss aus sein) + Rotating Steering Wheel + - Reset Calibration - Neu kalibrieren + The steering wheel in the onroad UI rotates along with your steering wheel movements. + - RESET - RESET + Quality of Life Improvements + - Are you sure you want to reset calibration? - Bist du sicher, dass du die Kalibrierung zurücksetzen möchtest? + Miscellaneous visual focused features to improve your overall openpilot experience. + - Review Training Guide - Trainingsanleitung wiederholen + Larger Map Display + - REVIEW - TRAINING + A larger size of the map in the onroad UI for easier navigation readings. + - Review the rules, features, and limitations of openpilot - Wiederhole die Regeln, Fähigkeiten und Limitierungen von Openpilot + Map Style + - Are you sure you want to review the training guide? - Bist du sicher, dass du die Trainingsanleitung wiederholen möchtest? + Custom map styles for the map used during navigation. + - Regulatory - Rechtliche Hinweise + Screen Standby Mode + - VIEW - ANSEHEN + The screen is turned off after it times out when driving, but it automatically wakes up if engagement state changes or important alerts occur. + - Change Language - Sprache ändern + Show Driver Camera When In Reverse + - CHANGE - ÄNDERN + The driver camera feed is displayed when the vehicle is in reverse. + - Select a language - Sprache wählen + Stopped Timer + - Reboot - Neustart + A timer on the onroad UI to indicate how long the vehicle has been stopped. + - Power Off - Ausschalten + Acceleration + - openpilot requires the device to be mounted within 4° left or right and within 5° up or 9° down. openpilot is continuously calibrating, resetting is rarely required. - Damit Openpilot funktioniert, darf die Installationsposition nicht mehr als 4° nach rechts/links, 5° nach oben und 9° nach unten abweichen. Openpilot kalibriert sich durchgehend, ein Zurücksetzen ist selten notwendig. + Adjacent + - Your device is pointed %1° %2 and %3° %4. - Deine Geräteausrichtung ist %1° %2 und %3° %4. + Blind Spot + - down - unten + Dynamic + - up - oben + Static + - left - links + Full Map + - right - rechts + Stock openpilot + - Are you sure you want to reboot? - Bist du sicher, dass du das Gerät neu starten möchtest? + Mapbox Streets + - Disengage to Reboot - Für Neustart deaktivieren + Mapbox Outdoors + - Are you sure you want to power off? - Bist du sicher, dass du das Gerät ausschalten möchtest? + Mapbox Light + - Disengage to Power Off - Zum Ausschalten deaktivieren + Mapbox Dark + - Reset - Zurücksetzen + Mapbox Satellite + - Review - Überprüfen + Mapbox Satellite Streets + - Pair your device with comma connect (connect.comma.ai) and claim your comma prime offer. - Koppele dein Gerät mit Comma Connect (connect.comma.ai) und sichere dir dein Comma Prime Angebot. + Mapbox Navigation Day + - Pair Device + Mapbox Navigation Night - PAIR + Mapbox Traffic Night - - - DriverViewWindow - camera starting - Kamera startet + mike854's (Satellite hybrid) + - - - ExperimentalModeButton - EXPERIMENTAL MODE ON - EXPERIMENTELLER MODUS AN + SELECT + AUSWÄHLEN - CHILL MODE ON - ENTSPANNTER MODUS AN + Select a map style + @@ -337,6 +3383,10 @@ Mindestens %n Buchstaben benötigt! + + Characters: %1/%2 + + Installer @@ -370,6 +3420,10 @@ Manage at connect.comma.ai + + Manage at %1 + + MapWindow @@ -590,7 +3644,7 @@ openpilot - openpilot + openpilot %n minute(s) ago @@ -633,6 +3687,10 @@ now + + FrogPilot + + Reset @@ -678,7 +3736,7 @@ This may take up to a minute. SettingsWindow × - x + x Device @@ -696,6 +3754,14 @@ This may take up to a minute. Software Software + + ← Back + + + + FrogPilot + + Setup @@ -890,6 +3956,30 @@ This may take up to a minute. 5G 5G + + GPU + + + + CPU + + + + GB + + + + MEMORY + + + + LEFT + + + + USED + + SoftwarePanel @@ -912,7 +4002,7 @@ This may take up to a minute. Updates are only downloaded while the car is off. - Updates werden nur heruntergeladen, wenn das Auto aus ist. + Updates werden nur heruntergeladen, wenn das Auto aus ist. Current Version @@ -966,6 +4056,34 @@ This may take up to a minute. never + + Updates are only downloaded while the car is off or in park. + + + + Automatically Update FrogPilot + + + + FrogPilot will automatically update itself and it's assets when you're offroad and connected to Wi-Fi. + + + + Do you want to permanently delete any additional FrogPilot assets? This is 100% unrecoverable and includes backups, downloaded models, themes, and long-term storage toggle settings for easy reinstalls. + + + + Error Log + + + + VIEW + ANSEHEN + + + View the error log for openpilot crashes. + + SshControl @@ -1148,10 +4266,6 @@ This may take up to a minute. openpilot longitudinal control may come in a future update. - - An alpha version of openpilot longitudinal control can be tested, along with Experimental mode, on non-release branches. - - Enable the openpilot longitudinal control (alpha) toggle to allow Experimental mode. @@ -1164,14 +4278,6 @@ This may take up to a minute. The driving visualization will transition to the road-facing wide-angle camera at low speeds to better show some turns. The Experimental mode logo will also be shown in the top right corner. - - Always-On Driver Monitoring - - - - Enable driver monitoring even when openpilot is not engaged. - - Updater @@ -1208,6 +4314,89 @@ This may take up to a minute. Aktualisierung fehlgeschlagen + + UtilitiesPanel + + Flash Panda + + + + FLASH + + + + Use this button to flash the Panda device's firmware if you're running into issues. + + + + Are you sure you want to flash the Panda? + + + + Flash + + + + Flashing... + + + + Flashed! + + + + Rebooting... + + + + Force Started State + + + + Force openpilot either offroad or onroad. + + + + OFFROAD + + + + ONROAD + + + + OFF + + + + Reset Toggles to Default + + + + RESET + RESET + + + Reset your toggle settings back to their default settings. + + + + Are you sure you want to completely reset all of your toggle settings? + + + + Reset + Zurücksetzen + + + Resetting... + + + + Reset! + + + WiFiPromptWidget @@ -1230,6 +4419,14 @@ This may take up to a minute. Training data will be pulled periodically while your device is on Wi-Fi + + Uploading disabled + + + + Toggle off the 'Disable Uploading' toggle to enable uploads. + + WifiUI diff --git a/selfdrive/ui/translations/main_fr.ts b/selfdrive/ui/translations/main_fr.ts index dde6adadd3ca5a..938de149a4ecd8 100644 --- a/selfdrive/ui/translations/main_fr.ts +++ b/selfdrive/ui/translations/main_fr.ts @@ -15,6 +15,10 @@ Reboot and Update Redémarrer et mettre à jour + + Disable Internet Check + + AdvancedNetworking @@ -86,6 +90,26 @@ for "%1" pour "%1" + + Off + + + + Always + + + + Only Onroad + + + + Until Reboot + + + + Allow tethering with your data SIM and keep it active either while driving or continuously. + + AnnotatedCameraWidget @@ -109,6 +133,156 @@ LIMIT LIMITE + + Vehicle in blind spot + + + + m/s² + + + + m/s + + + + kph + + + + ft/s² + + + + Accel: %1%2 + + + + - Max: %1%2 + + + + | Obstacle: + + + + | Obstacle Factor: + + + + - Stop: + + + + - Stop Factor: + + + + Follow: + + + + Follow Distance: + + + + Confirm speed limit + + + + + Ignore speed limit + + + + + Conditional Experimental Mode ready + + + + Conditional Experimental overridden + + + + Experimental Mode manually activated + + + + Experimental Mode activated for %1 + + + + low speed + + + + speed being less than %1 %2 + + + + Experimental Mode activated for turn + + + + / lane change + + + + Experimental Mode activated for intersection + + + + Experimental Mode activated for upcoming turn + + + + Experimental Mode activated for curve + + + + Experimental Mode activated for stopped lead + + + + Experimental Mode activated for slower lead + + + + Experimental Mode activated %1 + + + + to stop + + + + Experimental Mode forced on %1 + + + + Experimental Mode activated due to no speed limit + + + + Always On Lateral active + + + + . Press the "Cruise Control" button to disable + + + + . Long press the "distance" button to revert + + + + . Click the "LKAS" button to revert + + + + . Double tap the screen to revert + + ConfirmationDialog @@ -151,177 +325,3049 @@ Aucune destination définie - home - domicile + home + domicile + + + work + travail + + + No %1 location set + Aucun lieu %1 défini + + + + DevicePanel + + Dongle ID + Dongle ID + + + N/A + N/A + + + Serial + N° de série + + + Driver Camera + Caméra conducteur + + + PREVIEW + APERÇU + + + Preview the driver facing camera to ensure that driver monitoring has good visibility. (vehicle must be off) + Aperçu de la caméra orientée vers le conducteur pour assurer une bonne visibilité de la surveillance du conducteur. (véhicule doit être éteint) + + + Reset Calibration + Réinitialiser la calibration + + + RESET + RÉINITIALISER + + + Are you sure you want to reset calibration? + Êtes-vous sûr de vouloir réinitialiser la calibration ? + + + Reset + Réinitialiser + + + Review Training Guide + Revoir le guide de formation + + + REVIEW + REVOIR + + + Review the rules, features, and limitations of openpilot + Revoir les règles, fonctionnalités et limitations d'openpilot + + + Are you sure you want to review the training guide? + Êtes-vous sûr de vouloir revoir le guide de formation ? + + + Review + Revoir + + + Regulatory + Réglementaire + + + VIEW + VOIR + + + Change Language + Changer de langue + + + CHANGE + CHANGER + + + Select a language + Choisir une langue + + + Reboot + Redémarrer + + + Power Off + Éteindre + + + openpilot requires the device to be mounted within 4° left or right and within 5° up or 9° down. openpilot is continuously calibrating, resetting is rarely required. + openpilot nécessite que l'appareil soit monté à 4° à gauche ou à droite et à 5° vers le haut ou 9° vers le bas. openpilot se calibre en continu, la réinitialisation est rarement nécessaire. + + + Your device is pointed %1° %2 and %3° %4. + Votre appareil est orienté %1° %2 et %3° %4. + + + down + bas + + + up + haut + + + left + gauche + + + right + droite + + + Are you sure you want to reboot? + Êtes-vous sûr de vouloir redémarrer ? + + + Disengage to Reboot + Désengager pour redémarrer + + + Are you sure you want to power off? + Êtes-vous sûr de vouloir éteindre ? + + + Disengage to Power Off + Désengager pour éteindre + + + Pair your device with comma connect (connect.comma.ai) and claim your comma prime offer. + Associez votre appareil avec comma connect (connect.comma.ai) et profitez de l'offre comma prime. + + + Pair Device + + + + PAIR + + + + + DriveStats + + ALL TIME + + + + PAST WEEK + + + + FROGPILOT + + + + Drives + + + + Hours + + + + KM + + + + Miles + + + + + DriverViewWindow + + camera starting + démarrage de la caméra + + + + ExperimentalModeButton + + EXPERIMENTAL MODE ON + MODE EXPÉRIMENTAL ACTIVÉ + + + CHILL MODE ON + MODE DÉTENTE ACTIVÉ + + + + FrogPilotAdvancedDrivingPanel + + Advanced Lateral Tuning + + + + Advanced settings that control how openpilot manages steering. + + + + Friction (Default: %1) + + + + Friction + + + + The resistance in steering. Higher values provide more stable steering but can make it feel heavy, while lower values allow lighter steering but may feel too sensitive. + + + + Kp Factor (Default: %1) + + + + Kp Factor + + + + How aggressively the car corrects its steering. Higher values offer quicker corrections but may feel jerky, while lower values make steering smoother but slower to respond. + + + + Lateral Accel (Default: %1) + + + + Lateral Accel + + + + Adjust how fast the car can steer from side to side. Higher values allow quicker lane changes but can feel unstable, while lower values provide smoother steering but may feel sluggish. + + + + Steer Ratio (Default: %1) + + + + Steer Ratio + + + + Adjust how much openpilot needs to turn the wheel to steer. Higher values feel like driving a truck, more stable at high speeds, but harder to steer quickly at low speeds, while lower values feel like a go-kart, easier to steer in tight spots but more sensitive and less stable at high speeds. + + + + comma's 2022 Taco Bell Turn Hack + + + + Use comma's hack they used to help handle left and right turns more precisely during their 2022 'Taco Bell' drive. + + + + Force Auto Tune On + + + + Forces comma's auto lateral tuning for unsupported vehicles. + + + + Force Auto Tune Off + + + + Forces comma's auto lateral tuning off for supported vehicles. + + + + Force Turn Desires Below Lane Change Speed + + + + Force the model to use turn desires when driving below the minimum lane change speed to help make left and right turns more precisely. + + + + Advanced Longitudinal Tuning + + + + Advanced settings that control how openpilot manages speed and acceleration. + + + + Lead Detection Confidence + + + + How sensitive openpilot is to detecting vehicles ahead. A lower value can help detect vehicles sooner and from farther away, but may occasionally mistake other objects for vehicles. + + + + Maximum Acceleration Rate + + + + Set a cap on how fast openpilot can accelerate to prevent high acceleration at low speeds. + + + + Advanced Quality of Life + + + + Miscellaneous advanced features to improve your overall openpilot experience. + + + + Force Keep openpilot in the Standstill State + + + + Keep openpilot in the 'standstill' state until the gas pedal or 'resume' button is pressed. + + + + Force Stop for 'Detected' Stop Lights/Signs + + + + Whenever openpilot 'detects' a potential stop light/stop sign, force a stop where it originally detected it to prevent running the potential red light/stop sign. + + + + Set Speed Offset + + + + How much higher or lower the set speed should be compared to your current set speed. For example, if you prefer to drive 5 mph above the speed limit, this setting will automatically add that difference when you adjust your set speed. + + + + Customize Driving Personalities + + + + Customize the personality profiles to suit your preferences. + + + + Traffic Personality + + + + Customize the 'Traffic' personality profile, tailored for navigating through traffic. + + + + Following Distance + + + + The minimum following distance in 'Traffic Mode.' openpilot will adjust dynamically between this value and the 'Aggressive' profile distance based on your speed. + + + + Acceleration Sensitivity + + + + How sensitive openpilot is to changes in acceleration in 'Traffic Mode.' Higher values result in smoother, more gradual acceleration and deceleration, while lower values allow for faster changes that may feel more abrupt. + + + + Deceleration Sensitivity + + + + Controls how sensitive openpilot is to changes in deceleration in 'Traffic Mode.' Higher values result in smoother, more gradual braking, while lower values allow for quicker, more responsive braking that may feel abrupt. + + + + Safety Distance Sensitivity + + + + Adjusts how cautious openpilot is around other vehicles or obstacles in 'Traffic Mode.' Higher values increase following distances and prioritize safety, leading to more cautious driving, while lower values allow for closer following but may reduce reaction time. + + + + Speed Increase Responsiveness + + + + Controls how quickly openpilot adjusts speed in 'Traffic Mode.' Higher values ensure smoother, more gradual speed changes, while lower values enable quicker adjustments that might feel sharper or less smooth. + + + + Speed Decrease Responsiveness + + + + Sets how quickly openpilot adjusts to decreasing speeds in 'Traffic Mode.' Higher values ensure smoother transitions when slowing down, while lower values allow for quicker, more responsive speed reductions that might feel sharper. + + + + Reset Settings + + + + Restore the 'Traffic Mode' settings to their default values. + + + + Aggressive Personality + + + + Customize the 'Aggressive' personality profile, designed for a more assertive driving style. + + + + Set the following distance for 'Aggressive' mode. This determines roughly how many seconds you'll follow behind the car ahead. + +Default: 1.25 seconds. + + + + Controls how sensitive openpilot is to acceleration changes in 'Aggressive' mode. Higher values make acceleration and deceleration smoother but slower, while lower values allow quicker changes that may feel jerky. + +Default: 0.5. + + + + Controls how sensitive openpilot is to deceleration in 'Aggressive' mode. Higher values result in smoother braking, while lower values allow for more immediate braking that may feel abrupt. + +Default: 0.5. + + + + Adjusts how cautious openpilot is around vehicles or obstacles in 'Aggressive' mode. Higher values make it more cautious, while lower values allow for closer following, increasing the risk of sudden braking. + +Default: 1.0. + + + + Controls how quickly openpilot adjusts speed in 'Aggressive' mode. Higher values result in smoother but slower speed changes, while lower values make speed adjustments quicker but potentially more abrupt. + +Default: 0.5. + + + + Sets how quickly openpilot adjusts to speed reductions in 'Aggressive' mode. Higher values ensure smoother transitions when slowing down, while lower values allow for quicker, more responsive speed decreases that may feel sharp. + +Default: 0.5. + + + + Restore the 'Aggressive' settings to their default values. + + + + Standard Personality + + + + Customize the 'Standard' personality profile, optimized for balanced driving. + + + + Set the following distance for 'Standard' mode. This determines roughly how many seconds you'll follow behind the car ahead. + +Default: 1.45 seconds. + + + + Controls how sensitive openpilot is to acceleration changes in 'Standard' mode. Higher values make acceleration and deceleration smoother but slower, while lower values allow quicker changes that may feel jerky. + +Default: 1.0. + + + + Controls how sensitive openpilot is to deceleration in 'Standard' mode. Higher values result in smoother braking, while lower values allow for quicker, more immediate braking that may feel abrupt. + +Default: 1.0. + + + + Adjusts how cautious openpilot is around vehicles or obstacles in 'Standard' mode. Higher values make it more cautious, while lower values allow for closer following, increasing the risk of sudden braking. + +Default: 1.0. + + + + Controls how quickly openpilot adjusts speed in 'Standard' mode. Higher values result in smoother but slower speed changes, while lower values make speed adjustments quicker but potentially more abrupt. + +Default: 1.0. + + + + Sets how quickly openpilot adjusts to speed reductions in 'Standard' mode. Higher values ensure smoother transitions when slowing down, while lower values allow for quicker, more responsive speed decreases that may feel sharp. + +Default: 1.0. + + + + Restore the 'Standard' settings to their default values. + + + + Relaxed Personality + + + + Customize the 'Relaxed' personality profile, ideal for a more laid-back driving style. + + + + Set the following distance for 'Relaxed' mode. This determines roughly how many seconds you'll follow behind the car ahead. + +Default: 1.75 seconds. + + + + Controls how sensitive openpilot is to acceleration changes in 'Relaxed' mode. Higher values make acceleration and deceleration smoother but slower, while lower values allow quicker changes that may feel jerky. + +Default: 1.0. + + + + Controls how sensitive openpilot is to deceleration in 'Relaxed' mode. Higher values result in smoother braking, while lower values allow for quicker, more immediate braking that may feel abrupt. + +Default: 1.0. + + + + Adjusts how cautious openpilot is around vehicles or obstacles in 'Relaxed' mode. Higher values make it more cautious, while lower values allow for closer following, increasing the risk of sudden braking. + +Default: 1.0. + + + + Controls how quickly openpilot adjusts speed in 'Relaxed' mode. Higher values result in smoother but slower speed changes, while lower values make speed adjustments quicker but potentially more abrupt. + +Default: 1.0. + + + + Sets how quickly openpilot adjusts to speed reductions in 'Relaxed' mode. Higher values ensure smoother transitions when slowing down, while lower values allow for quicker, more responsive speed decreases that may feel sharp. + +Default: 1.0. + + + + Restore the 'Relaxed' settings to their default values. + + + + Model Management + + + + Manage the driving models used by openpilot. + + + + Automatically Update and Download Models + + + + Automatically download new or updated driving models. + + + + Model Randomizer + + + + A random model is selected and can be reviewed at the end of each drive if it's longer than 15 minutes to help find your preferred model. + + + + Manage Model Blacklist + + + + Control which models are blacklisted and won't be used for future drives. + + + + Reset Model Scores + + + + Clear the ratings you've given to the driving models. + + + + Review Model Scores + + + + View the ratings you've assigned to the driving models. + + + + Delete Model + + + + Remove the selected driving model from your device. + + + + Download Model + + + + Download undownloaded driving models. + + + + Download All Models + + + + Download all undownloaded driving models. + + + + Select Model + + + + Select which model openpilot uses to drive. + + + + Reset Model Calibrations + + + + Reset calibration settings for the driving models. + + + + mph + mi/h + + + Reset + Réinitialiser + + + seconds + + + + ADD + AJOUTER + + + REMOVE + SUPPRIMER + + + There's no more models to blacklist! The only available model is "%1"! + + + + OK + OK + + + Select a model to add to the blacklist + + + + Are you sure you want to add the '%1' model to the blacklist? + + + + Add + + + + Select a model to remove from the blacklist + + + + Are you sure you want to remove the '%1' model from the blacklist? + + + + Remove + + + + RESET + RÉINITIALISER + + + Reset all model scores? + + + + VIEW + VOIR + + + DELETE + + + + Select a model to delete + + + + Are you sure you want to delete the '%1' model? + + + + Delete + + + + Deleting... + + + + Deleted! + + + + DOWNLOAD + TÉLÉCHARGER + + + CANCEL + + + + Select a driving model to download + + + + Downloading %1... + + + + SELECT + SÉLECTIONNER + + + Select a model - 🗺️ = Navigation | 📡 = Radar | 👀 = VOACC + + + + WARNING: This is a very experimental model and may drive dangerously! + + + + I understand the risks. + + + + Start with a fresh calibration for the newly selected model? + + + + Reboot required to take effect. + + + + Reboot Now + + + + RESET ALL + + + + RESET ONE + + + + Are you sure you want to completely reset all of your model calibrations? + + + + Select a model to reset + + + + Are you sure you want to completely reset this model's calibrations? + + + + The 'Model Randomizer' only works with downloaded models. Do you want to download all the driving models? + + + + Are you sure you want to completely reset your settings for the 'Traffic Mode' personality? + + + + Are you sure you want to completely reset your settings for the 'Aggressive' personality? + + + + Are you sure you want to completely reset your settings for the 'Standard' personality? + + + + Are you sure you want to completely reset your settings for the 'Relaxed' personality? + + + + kph + + + + Downloading models... + + + + openpilot requires the device to be mounted within 4° left or right and within 5° up or 9° down. openpilot is continuously calibrating, resetting is rarely required. + openpilot nécessite que l'appareil soit monté à 4° à gauche ou à droite et à 5° vers le haut ou 9° vers le bas. openpilot se calibre en continu, la réinitialisation est rarement nécessaire. + + + Your device is pointed %1° %2 and %3° %4. + Votre appareil est orienté %1° %2 et %3° %4. + + + down + bas + + + up + haut + + + left + gauche + + + right + droite + + + + FrogPilotAdvancedVisualsPanel + + Advanced Onroad UI Widgets + + + + Advanced user customizations for the Onroad UI. + + + + Camera View + + + + Camera view for the onroad UI. This is purely a visual change and doesn't impact how openpilot drives. + + + + Display Stopping Points + + + + Display an image on the screen where openpilot is detecting a potential red light/stop sign. + + + + Hide Lead Marker + + + + Hide the marker for the vehicle ahead on the screen. + + + + Hide Speed + + + + Hide the speed indicator in the onroad UI. Additional toggle allows it to be hidden/shown via tapping the speed itself. + + + + Hide UI Elements + + + + Hide the selected UI elements from the onroad screen. + + + + Use Wheel Speed + + + + Use the wheel speed instead of the cluster speed in the onroad UI. + + + + Developer UI + + + + Show detailed information about openpilot's internal operations. + + + + Border Metrics + + + + Display performance metrics around the edge of the screen while driving. + + + + FPS Display + + + + Display the 'Frames Per Second' (FPS) at the bottom of the screen while driving. + + + + Lateral Metrics + + + + Display metrics related to steering control at the top of the screen while driving. + + + + Longitudinal Metrics + + + + Display metrics related to acceleration, speed, and desired following distance at the top of the screen while driving. + + + + Numerical Temperature Gauge + + + + Show exact temperature readings instead of general status labels like 'GOOD', 'OK', or 'HIGH' in the sidebar. + + + + Sidebar + + + + Display system information like CPU, GPU, RAM usage, IP address, and storage space in the sidebar. + + + + Use International System of Units + + + + Display measurements using the 'International System of Units' (SI). + + + + Model UI + + + + Customize the model visualizations on the screen. + + + + Lane Lines Width + + + + How thick the lane lines appear on the display. + +Default matches the MUTCD standard of 4 inches. + + + + Path Edges Width + + + + The width of the edges of the driving path to represent different modes and statuses. + +Default is 20% of the total path width. + +Color Guide: +- Blue: Navigation +- Light Blue: 'Always On Lateral' +- Green: Default +- Orange: 'Experimental Mode' +- Red: 'Traffic Mode' +- Yellow: 'Conditional Experimental Mode' Overridden + + + + Path Width + + + + How wide the driving path appears on your screen. + +Default (6.1 feet / 1.9 meters) matches the width of a 2019 Lexus ES 350. + + + + Road Edges Width + + + + How thick the road edges appear on the display. + +Default matches half of the MUTCD standard lane line width of 4 inches. + + + + 'Unlimited' Road UI + + + + Extend the display of the path, lane lines, and road edges as far as the model can see. + + + + Auto + + + + Driver + + + + Standard + Standard + + + Wide + + + + Control Via UI + + + + Alerts + + + + Map Icon + + + + Max Speed + + + + Show Distance + + + + Blind Spot + + + + Steering Torque + + + + Turn Signal + + + + Adjacent Path Metrics + + + + Auto Tune + + + + Lead Info + + + + Longitudinal Jerk + + + + Fahrenheit + + + + CPU + + + + GPU + + + + IP + + + + RAM + + + + SSD Left + + + + SSD Used + + + + inches + + + + % + + + + feet + + + + Adjust how thick the lane lines appear on the display. + +Default matches the Vienna standard of 10 centimeters. + + + + Adjust how thick the road edges appear on the display. + +Default matches half of the Vienna standard of 10 centimeters. + + + + centimeters + + + + meters + + + + Adjust how thick the lane lines appear on the display. + +Default matches the MUTCD standard of 4 inches. + + + + Adjust how thick the road edges appear on the display. + +Default matches half of the MUTCD standard of 4 inches. + + + + + FrogPilotConfirmationDialog + + Reboot Later + + + + Yes + + + + No + + + + + FrogPilotDataPanel + + Delete Driving Footage and Data + + + + DELETE + + + + This button provides a swift and secure way to permanently delete all stored driving footage and data from your device. Ideal for maintaining privacy or freeing up space. + + + + Are you sure you want to permanently delete all of your driving footage and data? + + + + Delete + + + + Deleting... + + + + Deleted! + + + + Screen Recordings + + + + Manage your screen recordings. + + + + RENAME + + + + Select a recording to delete + + + + Are you sure you want to delete this recording? + + + + Failed... + + + + Select a recording to rename + + + + Enter a new name + + + + Rename Recording + + + + Renaming... + + + + Renamed! + + + + FrogPilot Backups + + + + Manage your FrogPilot backups. + + + + BACKUP + + + + RESTORE + + + + Name your backup + + + + Do you want to compress this backup? The end file size will be 2.25x smaller, but can take 10+ minutes. + + + + Backing... + + + + Compressing... + + + + Success! + + + + Select a backup to delete + + + + Are you sure you want to delete this backup? + + + + Select a restore point + + + + Are you sure you want to restore this version of FrogPilot? + + + + Restore + + + + Restoring... + + + + Extracting... + + + + Restored! + + + + Rebooting... + + + + Toggle Backups + + + + Manage your toggle backups. + + + + Are you sure you want to restore this toggle backup? + + + + + FrogPilotDevicePanel + + Device Settings + + + + Device behavior settings. + + + + Device Shutdown Timer + + + + How long the device stays on after you stop driving. + + + + Disable Internet Requirement + + + + The device can work without an internet connection for as long as you need. + + + + Increase Thermal Safety Limit + + + + The device can run at higher temperatures than recommended. + + + + Low Battery Shutdown Threshold + + + + Shut down the device when the car's battery gets too low to prevent damage to the 12V battery. + + + + Turn Off Data Tracking + + + + Disable all tracking to improve privacy. + + + + Turn Off Data Uploads + + + + Stop the device from sending any data to the servers. + + + + Screen Settings + + + + Screen behavior settings. + + + + Screen Brightness (Offroad) + + + + The screen brightness when you're not driving. + + + + Screen Brightness (Onroad) + + + + The screen brightness while you're driving. + + + + Screen Recorder + + + + Display a button in the onroad UI to record the screen. + + + + Screen Timeout (Offroad) + + + + How long it takes for the screen to turn off when you're not driving. + + + + Screen Timeout (Onroad) + + + + How long it takes for the screen to turn off while you're driving. + + + + 5 mins + + + + mins + + + + hour + + + + hours + + + + Only Onroad + + + + volts + + + + Auto + + + + seconds + + + + WARNING: This can cause premature wear or damage by running the device over comma's recommended temperature limits! + + + + I understand the risks. + + + + WARNING: This will prevent your drives from being recorded and the data will be unobtainable! + + + + WARNING: This will prevent your drives from appearing on comma connect which may impact debugging and support! + + + + + FrogPilotLateralPanel + + Always on Lateral + + + + openpilot's steering control stays active even when the brake or gas pedals are pressed. + +Deactivate only occurs with the 'Cruise Control' button. + + + + Control with LKAS Button + + + + 'Always on Lateral' gets turned on or off using the 'LKAS' button. + + + + Enable with Cruise Control + + + + 'Always on Lateral' gets turned on by pressing the 'Cruise Control' button bypassing the requirement to enable openpilot first. + + + + Pause on Brake Below + + + + 'Always on Lateral' pauses when the brake pedal is pressed below the set speed. + + + + Hide the Status Bar + + + + The status bar for 'Always on Lateral' is hidden. + + + + Lane Change Settings + + + + How openpilot handles lane changes. + + + + Hands-Free Lane Change + + + + Lane changes are conducted without needing to touch the steering wheel upon turn signal activation. + + + + Lane Change Delay + + + + How long openpilot waits before changing lanes. + + + + Lane Width Requirement + + + + The minimum lane width for openpilot to detect a lane as a lane. + + + + Minimum Speed for Lane Change + + + + The minimum speed required for openpilot to perform a lane change. + + + + Single Lane Change Per Signal + + + + Lane changes are limited to one per turn signal activation. + + + + Lateral Tuning + + + + Settings that control how openpilot manages steering. + + + + Neural Network Feedforward (NNFF) + + + + Twilsonco's 'Neural Network FeedForward' for more precise steering control. + + + + Smooth Curve Handling + + + + Smoother steering when entering and exiting curves with Twilsonco's torque adjustments. + + + + Quality of Life Improvements + + + + Miscellaneous lateral focused features to improve your overall openpilot experience. + + + + Pause Steering Below + + + + Pauses steering control when driving below the set speed. + + + + mph + mi/h + + + feet + + + + Reboot required to take effect. + + + + Reboot Now + + + + kph + + + + meters + + + + + FrogPilotLongitudinalPanel + + Conditional Experimental Mode + + + + Automatically switches to 'Experimental Mode' when specific conditions are met. + + + + Below + + + + 'Experimental Mode' is active when driving below the set speed without a lead vehicle. + + + + Curve Detected Ahead + + + + 'Experimental Mode' is active when a curve is detected in the road ahead. + + + + Lead Detected Ahead + + + + 'Experimental Mode' is active when a slower or stopped vehicle is detected ahead. + + + + Navigation Data + + + + 'Experimental Mode' is active based on navigation data, such as upcoming intersections or turns. + + + + openpilot Wants to Stop In + + + + 'Experimental Mode' is active when openpilot wants to stop such as for a stop sign or red light. + + + + Turn Signal Below + + + + 'Experimental Mode' is active when using turn signals below the set speed. + + + + Hide the Status Bar + + + + The status bar for 'Conditional Experimental Mode' is hidden. + + + + Curve Speed Control + + + + Automatically slow down for curves detected ahead or through the downloaded maps. + + + + Curve Detection Method + + + + The method used to detect curves. + + + + Curve Detection Failsafe + + + + Curve control is triggered only when a curve is detected ahead. Use this as a failsafe to prevent false positives when using the 'Map Based' method. + + + + Curve Sensitivity + + + + How sensitive openpilot is to detecting curves. Higher values trigger earlier responses at the risk of triggering too often, while lower values increase confidence at the risk of triggering too infrequently. + + + + Turn Speed Aggressiveness + + + + How aggressive openpilot takes turns. Higher values result in quicker turns, while lower values provide gentler turns. + + + + Disable Speed Value Smoothing In the UI + + + + Speed value smoothing is disabled in the UI to instead display the exact speed requested by the curve control. + + + + Experimental Mode Activation + + + + 'Experimental Mode' is toggled off/on using the steering wheel buttons or the on-screen controls. + +This overrides 'Conditional Experimental Mode'. + + + + Click the LKAS Button + + + + 'Experimental Mode' is toggled by pressing the 'LKAS' button on the steering wheel. + + + + Double-Tap the Screen + + + + 'Experimental Mode' is toggled by double-tapping the onroad UI within 0.5 seconds. + + + + Long Press the Distance Button + + + + 'Experimental Mode' is toggled by holding the 'distance' button on the steering wheel for 0.5+ seconds. + + + + Longitudinal Tuning + + + + Settings that control how openpilot manages speed and acceleration. + + + + Acceleration Profile + + + + Choose between a sporty or eco-friendly acceleration rate. + + + + Deceleration Profile + + + + Choose between a sporty or eco-friendly deceleration rate. + + + + Human-Like Acceleration + + + + Uses the lead's acceleration rate when at a takeoff and ramps off the acceleration rate when approaching the maximum set speed for a smoother max speed approach. + + + + Human-Like Following Distance + + + + Dynamically adjusts the following distance to feel more natural when approaching slower or stopped vehicles. + + + + Increase Stopped Distance + + + + Increases the distance to stop behind vehicles. + + + + Quality of Life Improvements + + + + Miscellaneous longitudinal focused features to improve your overall openpilot experience. + + + + Cruise Increase Interval + + + + Interval used when increasing the cruise control speed. + + + + Custom Cruise Interval (Long Press) + + + + Interval used when increasing the cruise control speed when holding down the button for 0.5+ seconds. + + + + Map Accel/Decel to Gears + + + + Map the acceleration and deceleration profiles to the 'Eco' or 'Sport' gear modes. + + + + Onroad Personality Button + + + + The current driving personality is displayed on the screen. Tap to switch personalities, or long press for 2.5 seconds to activate 'Traffic Mode'. + + + + Reverse Cruise Increase + + + + The long press feature is reversed in order to increase speed by 5 mph instead of 1. + + + + Speed Limit Controller + + + + Automatically adjust your max speed to match the speed limit using 'Open Street Maps', 'Navigate on openpilot', or your car's dashboard (Toyota/Lexus/HKG only). + + + + Confirm New Speed Limits + + + + Require manual confirmation before using a new speed limit. + + + + Fallback Method + + + + Choose what happens when no speed limit data is available. + + + + Override Method + + + + Choose how you want to override the current speed limit. + + + + + + Speed Limit Source Priority + + + + Set the order of priority for speed limit data sources. + + + + Speed Limit Offsets + + + + Manage toggles related to 'Speed Limit Controller's controls. + + + + Speed Limit Offset (0-34 mph) + + + + Set the speed limit offset for speeds between 0 and 34 mph. + + + + Speed Limit Offset (35-54 mph) + + + + Set the speed limit offset for speeds between 35 and 54 mph. + + + + Speed Limit Offset (55-64 mph) + + + + Set the speed limit offset for speeds between 55 and 64 mph. + + + + Speed Limit Offset (65-99 mph) + + + + Set the speed limit offset for speeds between 65 and 99 mph. + + + + Miscellaneous 'Speed Limit Controller' focused features to improve your overall openpilot experience. + + + + Force MPH Readings from Dashboard + + + + Force speed limit readings in MPH from the dashboard if it normally displays in KPH. + + + + Prepare for Higher Speed Limits + + + + Set a lookahead value to prepare for upcoming higher speed limits based on map data. + + + + Prepare for Lower Speed Limits + + + + Set a lookahead value to prepare for upcoming lower speed limits based on map data. + + + + Set Speed to Current Limit + + + + Set your max speed to match the current speed limit when enabling openpilot. + + + + Visual Settings + + + + Manage visual settings for the 'Speed Limit Controller'. + + + + Use Vienna-Style Speed Signs + + + + Switch to Vienna-style (EU) speed limit signs instead of MUTCD (US). + + + + Show Speed Limit Offset + + + + Display the speed limit offset separately in the onroad UI when using the Speed Limit Controller. + + + + mph + mi/h + + + With Lead + + + + Switches to 'Experimental Mode' when driving below the set speed with a lead vehicle. + + + + With Lead + + + + Slower Lead + + + + Stopped Lead + + + + Intersections + + + + Turns + + + + Off + + + + Map Based + + + + Vision + + + + Standard + Standard + + + Eco + + + + Sport + + + + Sport+ + + + + feet + + + + Acceleration + + + + Deceleration + + + + Lower Limits + + + + Higher Limits + + + + None + + + + Set Speed + + + + Experimental Mode + Mode expérimental + + + Previous Limit + + + + Gas Pedal Press + + + + Cruise Set Speed + + + + SELECT + SÉLECTIONNER + + + Dashboard + + + + Navigation + + + + Offline Maps + + + + Highest + + + + Lowest + + + + Select your primary priority + + + + Select your secondary priority + + + + Select your tertiary priority + + + + MANAGE + + + + seconds + + + + Control Via UI + + + + Speed Limit Offset (0-34 kph) + + + + Speed Limit Offset (35-54 kph) + + + + Speed Limit Offset (55-64 kph) + + + + Speed Limit Offset (65-99 kph) + + + + Set speed limit offset for limits between 0-34 kph. + + + + Set speed limit offset for limits between 35-54 kph. + + + + Set speed limit offset for limits between 55-64 kph. + + + + Set speed limit offset for limits between 65-99 kph. + + + + kph + + + + meters + + + + Set speed limit offset for limits between 0-34 mph. + + + + Set speed limit offset for limits between 35-54 mph. + + + + Set speed limit offset for limits between 55-64 mph. + + + + Set speed limit offset for limits between 65-99 mph. + + + + + FrogPilotParamManageControl + + MANAGE + + + + + FrogPilotSettingsWindow + + Advanced Settings + + + + Alerts and Sounds + + + + Driving Controls + + + + Navigation + + + + System Management + + + + Theme and Appearance + + + + Vehicle Controls + + + + Advanced FrogPilot features for more experienced users. + + + + Options to customize FrogPilot's sound alerts and notifications. + + + + FrogPilot features than impact acceleration, braking, and steering. + + + + Offline maps downloader and 'Navigate On openpilot (NOO)' settings. + + + + Tools and system utilities used to maintain and troubleshoot FrogPilot. + + + + Options for customizing FrogPilot's themes, UI appearance, and onroad widgets. + + + + Vehicle-specific settings and configurations for supported makes and models. + + + + DRIVING + + + + VISUALS + + + + MANAGE + + + + GAS / BRAKE + + + + STEERING + + + + DATA + + + + DEVICE + + + + UTILITIES + + + + APPEARANCE + + + + THEME + + + + + FrogPilotSoundsPanel + + Alert Volume Controller + + + + Control the volume level for each individual sound in openpilot. + + + + Disengage Volume + + + + Related alerts: + +Adaptive Cruise Disabled +Parking Brake Engaged +Brake Pedal Pressed +Speed too Low + + + + Engage Volume + + + + Related alerts: + +NNFF Torque Controller loaded +openpilot engaged + + + + Prompt Volume + + + + Related alerts: + +Car Detected in Blindspot +Speed too Low +Steer Unavailable Below 'X' +Take Control, Turn Exceeds Steering Limit + + + + Prompt Distracted Volume + + + + Related alerts: + +Pay Attention, Driver Distracted +Touch Steering Wheel, Driver Unresponsive + + + + Refuse Volume + + + + Related alerts: + +openpilot Unavailable + + + + Warning Soft Volume + + + + Related alerts: + +BRAKE!, Risk of Collision +TAKE CONTROL IMMEDIATELY + + + + Warning Immediate Volume + + + + Related alerts: + +DISENGAGE IMMEDIATELY, Driver Distracted +DISENGAGE IMMEDIATELY, Driver Unresponsive + + + + Custom Alerts + + + + Enable custom alerts for openpilot events. + + + + Goat Scream Steering Saturated Alert + + + + Enable the famed 'Goat Scream' that has brought both joy and anger to FrogPilot users all around the world! + + + + Green Light Alert + + + + Get an alert when a traffic light changes from red to green. + + + + Lead Departing Alert + + + + Get an alert when the lead vehicle starts departing when at a standstill. + + + + Loud Blindspot Alert + + + + Enable a louder alert for when a vehicle is detected in the blindspot when attempting to change lanes. + + + + Speed Limit Change Alert + + + + Trigger an alert when the speed limit changes. + + + + + FrogPilotThemesPanel + + Custom Theme + + + + Custom openpilot themes. + + + + Color Scheme + + + + Themed color schemes. + +Want to submit your own color scheme? Share it in the 'feature-request' channel on the FrogPilot Discord! + + + + Icon Pack + + + + Themed icon packs. + +Want to submit your own icons? Share them in the 'feature-request' channel on the FrogPilot Discord! + + + + Sound Pack + + + + Themed sound effects. + +Want to submit your own sounds? Share them in the 'feature-request' channel on the FrogPilot Discord! + + + + Steering Wheel + + + + Custom steering wheel icons. + + + + Turn Signal Animation + + + + Themed turn signal animations. + +Want to submit your own animations? Share them in the 'feature-request' channel on the FrogPilot Discord! + + + + Download Status + + + + Holiday Themes + + + + Change the openpilot theme based on the current holiday. Minor holidays last one day, while major holidays (Easter, Christmas, Halloween, etc.) last a week. + + + + Random Events + + + + Random cosmetic events that happen during certain driving conditions. These events are purely for fun and don't affect driving controls! + + + + Startup Alert + + + + Custom 'Startup' alert message that appears when you start driving. + + + + DELETE + + + + DOWNLOAD + TÉLÉCHARGER + + + SELECT + SÉLECTIONNER + + + Select a color scheme to delete + + + + Are you sure you want to delete the '%1' color scheme? + + + + Delete + + + + Select a color scheme to download + + + + Select a color scheme + + + + Select an icon pack to delete + + + + Are you sure you want to delete the '%1' icon pack? + + + + Select an icon pack to download + + + + Select an icon pack + + + + Select a signal pack to delete + + + + Are you sure you want to delete the '%1' signal pack? + + + + Select a signal pack to download + + + + Select a signal pack + + + + Select a sound pack to delete + + + + Are you sure you want to delete the '%1' sound scheme? + + + + Select a sound pack to download + + + + Select a sound scheme + + + + Select a steering wheel to delete + + + + Are you sure you want to delete the '%1' steering wheel image? + + + + Select a steering wheel to download + + + + Select a steering wheel + + + + STOCK + + + + FROGPILOT + + + + CUSTOM + + + + CLEAR + + + + Enter your text for the top half + + + + Characters: 0/%1 + + + + Enter your text for the bottom half + + + + CANCEL + + + + + FrogPilotVehiclesPanel + + Select Make + + + + SELECT + SÉLECTIONNER + + + Select a Make + + + + Select Model + + + + Select a Model + + + + Disable Automatic Fingerprint Detection + + + + Forces the selected fingerprint and prevents it from ever changing. + + + + Disable openpilot Longitudinal Control + + + + Disable openpilot longitudinal control and use stock ACC instead. + + + + Are you sure you want to completely disable openpilot longitudinal control? + + + + Reboot required to take effect. + + + + Reboot Now + + + + 2017 Volt Stop and Go Hack + + + + Force stop and go for the 2017 Chevy Volt. + + + + Experimental GM Tune + + + + FrogsGoMoo's experimental GM tune that is based on nothing but guesswork. Use at your own risk! + + + + Uphill/Downhill Smoothing + + + + Smoothen the car’s gas and brake response when driving on slopes. + + + + Use comma's New Longitudinal API + + + + Comma's new longitudinal control system that has shown great improvement with acceleration and braking, but has a few issues on some GM vehicles. + + + + Use comma's new longitudinal control system that has shown great improvement with acceleration and braking, but has a few issues on Hyundai/Kia/Genesis. + + + + Subaru Crosstrek Torque Increase + + + + Increases the maximum allowed torque for the Subaru Crosstrek. + + + + Automatically Lock/Unlock Doors + + + + Automatically lock the doors when in drive and unlock when in park. + + + + Cluster Speed Offset + + + + Set the cluster offset openpilot uses to try and match the speed displayed on the dash. + + + + FrogsGoMoo's Personal Tweaks + + + + Use FrogsGoMoo's personal tweaks to the Toyota tune focused around his 2019 Lexus ES 350 to take off a bit quicker and stop a bit smoother. + + + + Stop and Go Hack + + + + Force stop and go for vehicles without stock stop and go functionality. + + + + Lock + + + + Unlock + + + + + FrogPilotVisualsPanel + + Onroad UI Widgets + + + + Custom FrogPilot widgets used in the onroad user interface. + + + + Compass + + + + A compass in the onroad UI to show the current driving direction. + + + + Dynamic Path Width + - work - travail + Automatically adjust the width of the driving path display based on the current engagement state: + +Fully engaged = 100% +Always On Lateral Active = 75% +Fully disengaged = 50% + - No %1 location set - Aucun lieu %1 défini + Gas/Brake Pedal Indicators + - - - DevicePanel - Dongle ID - Dongle ID + Pedal indicators in the onroad UI that change opacity based on the pressure applied. + - N/A - N/A + Paths + - Serial - N° de série + Projected acceleration path, detected lanes, and vehicles in the blind spot. + - Driver Camera - Caméra conducteur + Road Name + - PREVIEW - APERÇU + The current road name is displayed at the bottom of the screen using data from 'OpenStreetMap'. + - Preview the driver facing camera to ensure that driver monitoring has good visibility. (vehicle must be off) - Aperçu de la caméra orientée vers le conducteur pour assurer une bonne visibilité de la surveillance du conducteur. (véhicule doit être éteint) + Rotating Steering Wheel + - Reset Calibration - Réinitialiser la calibration + The steering wheel in the onroad UI rotates along with your steering wheel movements. + - RESET - RÉINITIALISER + Quality of Life Improvements + - Are you sure you want to reset calibration? - Êtes-vous sûr de vouloir réinitialiser la calibration ? + Miscellaneous visual focused features to improve your overall openpilot experience. + - Reset - Réinitialiser + Larger Map Display + - Review Training Guide - Revoir le guide de formation + A larger size of the map in the onroad UI for easier navigation readings. + - REVIEW - REVOIR + Map Style + - Review the rules, features, and limitations of openpilot - Revoir les règles, fonctionnalités et limitations d'openpilot + Custom map styles for the map used during navigation. + - Are you sure you want to review the training guide? - Êtes-vous sûr de vouloir revoir le guide de formation ? + Screen Standby Mode + - Review - Revoir + The screen is turned off after it times out when driving, but it automatically wakes up if engagement state changes or important alerts occur. + - Regulatory - Réglementaire + Show Driver Camera When In Reverse + - VIEW - VOIR + The driver camera feed is displayed when the vehicle is in reverse. + - Change Language - Changer de langue + Stopped Timer + - CHANGE - CHANGER + A timer on the onroad UI to indicate how long the vehicle has been stopped. + - Select a language - Choisir une langue + Acceleration + - Reboot - Redémarrer + Adjacent + - Power Off - Éteindre + Blind Spot + - openpilot requires the device to be mounted within 4° left or right and within 5° up or 9° down. openpilot is continuously calibrating, resetting is rarely required. - openpilot nécessite que l'appareil soit monté à 4° à gauche ou à droite et à 5° vers le haut ou 9° vers le bas. openpilot se calibre en continu, la réinitialisation est rarement nécessaire. + Dynamic + - Your device is pointed %1° %2 and %3° %4. - Votre appareil est orienté %1° %2 et %3° %4. + Static + - down - bas + Full Map + - up - haut + Stock openpilot + - left - gauche + Mapbox Streets + - right - droite + Mapbox Outdoors + - Are you sure you want to reboot? - Êtes-vous sûr de vouloir redémarrer ? + Mapbox Light + - Disengage to Reboot - Désengager pour redémarrer + Mapbox Dark + - Are you sure you want to power off? - Êtes-vous sûr de vouloir éteindre ? + Mapbox Satellite + - Disengage to Power Off - Désengager pour éteindre + Mapbox Satellite Streets + - Pair your device with comma connect (connect.comma.ai) and claim your comma prime offer. - Associez votre appareil avec comma connect (connect.comma.ai) et profitez de l'offre comma prime. + Mapbox Navigation Day + - Pair Device + Mapbox Navigation Night - PAIR + Mapbox Traffic Night - - - DriverViewWindow - camera starting - démarrage de la caméra + mike854's (Satellite hybrid) + - - - ExperimentalModeButton - EXPERIMENTAL MODE ON - MODE EXPÉRIMENTAL ACTIVÉ + SELECT + SÉLECTIONNER - CHILL MODE ON - MODE DÉTENTE ACTIVÉ + Select a map style + @@ -337,6 +3383,10 @@ Besoin d'au moins %n caractères ! + + Characters: %1/%2 + + Installer @@ -370,6 +3420,10 @@ Manage at connect.comma.ai Gérer sur connect.comma.ai + + Manage at %1 + + MapWindow @@ -591,7 +3645,7 @@ openpilot - openpilot + openpilot %n minute(s) ago @@ -634,6 +3688,10 @@ now + + FrogPilot + + Reset @@ -680,7 +3738,7 @@ Cela peut prendre jusqu'à une minute. SettingsWindow × - × + × Device @@ -698,6 +3756,14 @@ Cela peut prendre jusqu'à une minute. Software Logiciel + + ← Back + + + + FrogPilot + + Setup @@ -891,12 +3957,36 @@ Cela peut prendre jusqu'à une minute. 5G 5G + + GPU + + + + CPU + + + + GB + + + + MEMORY + + + + LEFT + + + + USED + + SoftwarePanel Updates are only downloaded while the car is off. - Les MàJ sont téléchargées uniquement si la voiture est éteinte. + Les MàJ sont téléchargées uniquement si la voiture est éteinte. Current Version @@ -966,6 +4056,34 @@ Cela peut prendre jusqu'à une minute. up to date, last checked %1 à jour, dernière vérification %1 + + Updates are only downloaded while the car is off or in park. + + + + Automatically Update FrogPilot + + + + FrogPilot will automatically update itself and it's assets when you're offroad and connected to Wi-Fi. + + + + Do you want to permanently delete any additional FrogPilot assets? This is 100% unrecoverable and includes backups, downloaded models, themes, and long-term storage toggle settings for easy reinstalls. + + + + Error Log + + + + VIEW + VOIR + + + View the error log for openpilot crashes. + + SshControl @@ -1144,7 +4262,7 @@ Cela peut prendre jusqu'à une minute. An alpha version of openpilot longitudinal control can be tested, along with Experimental mode, on non-release branches. - Une version alpha du contrôle longitudinal openpilot peut être testée, avec le mode expérimental, sur des branches non publiées. + Une version alpha du contrôle longitudinal openpilot peut être testée, avec le mode expérimental, sur des branches non publiées. End-to-End Longitudinal Control @@ -1162,14 +4280,6 @@ Cela peut prendre jusqu'à une minute. The driving visualization will transition to the road-facing wide-angle camera at low speeds to better show some turns. The Experimental mode logo will also be shown in the top right corner. La visualisation de la conduite passera sur la caméra grand angle dirigée vers la route à faible vitesse afin de mieux montrer certains virages. Le logo du mode expérimental s'affichera également dans le coin supérieur droit. - - Always-On Driver Monitoring - - - - Enable driver monitoring even when openpilot is not engaged. - - Updater @@ -1206,6 +4316,89 @@ Cela peut prendre jusqu'à une minute. Échec de la mise à jour + + UtilitiesPanel + + Flash Panda + + + + FLASH + + + + Use this button to flash the Panda device's firmware if you're running into issues. + + + + Are you sure you want to flash the Panda? + + + + Flash + + + + Flashing... + + + + Flashed! + + + + Rebooting... + + + + Force Started State + + + + Force openpilot either offroad or onroad. + + + + OFFROAD + + + + ONROAD + + + + OFF + + + + Reset Toggles to Default + + + + RESET + RÉINITIALISER + + + Reset your toggle settings back to their default settings. + + + + Are you sure you want to completely reset all of your toggle settings? + + + + Reset + Réinitialiser + + + Resetting... + + + + Reset! + + + WiFiPromptWidget @@ -1228,6 +4421,14 @@ Cela peut prendre jusqu'à une minute. Training data will be pulled periodically while your device is on Wi-Fi Les données d'entraînement seront envoyées périodiquement lorsque votre appareil est connecté au réseau Wi-Fi + + Uploading disabled + + + + Toggle off the 'Disable Uploading' toggle to enable uploads. + + WifiUI diff --git a/selfdrive/ui/translations/main_ja.ts b/selfdrive/ui/translations/main_ja.ts index e0fb60620bc64f..0c2fc5530d3db3 100644 --- a/selfdrive/ui/translations/main_ja.ts +++ b/selfdrive/ui/translations/main_ja.ts @@ -15,6 +15,10 @@ Reboot and Update 再起動してアップデート + + Disable Internet Check + + AdvancedNetworking @@ -86,6 +90,26 @@ for "%1" ﾈｯﾄﾜｰｸ名：%1 + + Off + + + + Always + + + + Only Onroad + + + + Until Reboot + + + + Allow tethering with your data SIM and keep it active either while driving or continuously. + + AnnotatedCameraWidget @@ -109,6 +133,156 @@ LIMIT 制限速度 + + Vehicle in blind spot + + + + m/s² + + + + m/s + + + + kph + + + + ft/s² + + + + Accel: %1%2 + + + + - Max: %1%2 + + + + | Obstacle: + + + + | Obstacle Factor: + + + + - Stop: + + + + - Stop Factor: + + + + Follow: + + + + Follow Distance: + + + + Confirm speed limit + + + + + Ignore speed limit + + + + + Conditional Experimental Mode ready + + + + Conditional Experimental overridden + + + + Experimental Mode manually activated + + + + Experimental Mode activated for %1 + + + + low speed + + + + speed being less than %1 %2 + + + + Experimental Mode activated for turn + + + + / lane change + + + + Experimental Mode activated for intersection + + + + Experimental Mode activated for upcoming turn + + + + Experimental Mode activated for curve + + + + Experimental Mode activated for stopped lead + + + + Experimental Mode activated for slower lead + + + + Experimental Mode activated %1 + + + + to stop + + + + Experimental Mode forced on %1 + + + + Experimental Mode activated due to no speed limit + + + + Always On Lateral active + + + + . Press the "Cruise Control" button to disable + + + + . Long press the "distance" button to revert + + + + . Click the "LKAS" button to revert + + + + . Double tap the screen to revert + + ConfirmationDialog @@ -139,189 +313,3061 @@ DestinationWidget - Home + Home + + + + Work + + + + No destination set + + + + No %1 location set + + + + home + + + + work + + + + + DevicePanel + + Dongle ID + ドングル番号 (Dongle ID) + + + N/A + N/A + + + Serial + シリアル番号 + + + Driver Camera + 車内カメラ + + + PREVIEW + プレビュー + + + Preview the driver facing camera to ensure that driver monitoring has good visibility. (vehicle must be off) + 車内カメラをプレビューして、ドライバー監視システムの視界を確認ができます。(車両の電源を切る必要があります) + + + Reset Calibration + ｷｬﾘﾌﾞﾚｰｼｮﾝをﾘｾｯﾄ + + + RESET + ﾘｾｯﾄ + + + Are you sure you want to reset calibration? + ｷｬﾘﾌﾞﾚｰｼｮﾝをリセットしてもよろしいですか？ + + + Review Training Guide + 使い方の確認 + + + REVIEW + 見る + + + Review the rules, features, and limitations of openpilot + openpilot の特徴を見る + + + Are you sure you want to review the training guide? + 使い方の確認をしますか？ + + + Regulatory + 認証情報 + + + VIEW + 見る + + + Change Language + 言語を変更 + + + CHANGE + 変更 + + + Select a language + 言語を選択 + + + Reboot + 再起動 + + + Power Off + 電源を切る + + + openpilot requires the device to be mounted within 4° left or right and within 5° up or 9° down. openpilot is continuously calibrating, resetting is rarely required. + openpilotの本体は、左右4°以内、上5°、下9°以内の角度で取付ける必要があります。継続してキャリブレーションを続けているので、手動でリセットを行う必要はほぼありません。 + + + Your device is pointed %1° %2 and %3° %4. + このデバイスは%2 %1°、%4 %3°の向きに設置されています。 + + + down + 下 + + + up + 上 + + + left + 左 + + + right + 右 + + + Are you sure you want to reboot? + 再起動してもよろしいですか？ + + + Disengage to Reboot + openpilot をキャンセルして再起動ができます + + + Are you sure you want to power off? + シャットダウンしてもよろしいですか？ + + + Disengage to Power Off + openpilot をキャンセルしてシャットダウンができます + + + Reset + リセット + + + Review + 確認 + + + Pair your device with comma connect (connect.comma.ai) and claim your comma prime offer. + デバイスを comma connect (connect.comma.ai)でペアリングし、comma primeの特典を申請してください。 + + + Pair Device + + + + PAIR + + + + + DriveStats + + ALL TIME + + + + PAST WEEK + + + + FROGPILOT + + + + Drives + + + + Hours + + + + KM + + + + Miles + + + + + DriverViewWindow + + camera starting + ｶﾒﾗを起動しています + + + + ExperimentalModeButton + + EXPERIMENTAL MODE ON + 実験モード + + + CHILL MODE ON + チルモード + + + + FrogPilotAdvancedDrivingPanel + + Advanced Lateral Tuning + + + + Advanced settings that control how openpilot manages steering. + + + + Friction (Default: %1) + + + + Friction + + + + The resistance in steering. Higher values provide more stable steering but can make it feel heavy, while lower values allow lighter steering but may feel too sensitive. + + + + Kp Factor (Default: %1) + + + + Kp Factor + + + + How aggressively the car corrects its steering. Higher values offer quicker corrections but may feel jerky, while lower values make steering smoother but slower to respond. + + + + Lateral Accel (Default: %1) + + + + Lateral Accel + + + + Adjust how fast the car can steer from side to side. Higher values allow quicker lane changes but can feel unstable, while lower values provide smoother steering but may feel sluggish. + + + + Steer Ratio (Default: %1) + + + + Steer Ratio + + + + Adjust how much openpilot needs to turn the wheel to steer. Higher values feel like driving a truck, more stable at high speeds, but harder to steer quickly at low speeds, while lower values feel like a go-kart, easier to steer in tight spots but more sensitive and less stable at high speeds. + + + + comma's 2022 Taco Bell Turn Hack + + + + Use comma's hack they used to help handle left and right turns more precisely during their 2022 'Taco Bell' drive. + + + + Force Auto Tune On + + + + Forces comma's auto lateral tuning for unsupported vehicles. + + + + Force Auto Tune Off + + + + Forces comma's auto lateral tuning off for supported vehicles. + + + + Force Turn Desires Below Lane Change Speed + + + + Force the model to use turn desires when driving below the minimum lane change speed to help make left and right turns more precisely. + + + + Advanced Longitudinal Tuning + + + + Advanced settings that control how openpilot manages speed and acceleration. + + + + Lead Detection Confidence + + + + How sensitive openpilot is to detecting vehicles ahead. A lower value can help detect vehicles sooner and from farther away, but may occasionally mistake other objects for vehicles. + + + + Maximum Acceleration Rate + + + + Set a cap on how fast openpilot can accelerate to prevent high acceleration at low speeds. + + + + Advanced Quality of Life + + + + Miscellaneous advanced features to improve your overall openpilot experience. + + + + Force Keep openpilot in the Standstill State + + + + Keep openpilot in the 'standstill' state until the gas pedal or 'resume' button is pressed. + + + + Force Stop for 'Detected' Stop Lights/Signs + + + + Whenever openpilot 'detects' a potential stop light/stop sign, force a stop where it originally detected it to prevent running the potential red light/stop sign. + + + + Set Speed Offset + + + + How much higher or lower the set speed should be compared to your current set speed. For example, if you prefer to drive 5 mph above the speed limit, this setting will automatically add that difference when you adjust your set speed. + + + + Customize Driving Personalities + + + + Customize the personality profiles to suit your preferences. + + + + Traffic Personality + + + + Customize the 'Traffic' personality profile, tailored for navigating through traffic. + + + + Following Distance + + + + The minimum following distance in 'Traffic Mode.' openpilot will adjust dynamically between this value and the 'Aggressive' profile distance based on your speed. + + + + Acceleration Sensitivity + + + + How sensitive openpilot is to changes in acceleration in 'Traffic Mode.' Higher values result in smoother, more gradual acceleration and deceleration, while lower values allow for faster changes that may feel more abrupt. + + + + Deceleration Sensitivity + + + + Controls how sensitive openpilot is to changes in deceleration in 'Traffic Mode.' Higher values result in smoother, more gradual braking, while lower values allow for quicker, more responsive braking that may feel abrupt. + + + + Safety Distance Sensitivity + + + + Adjusts how cautious openpilot is around other vehicles or obstacles in 'Traffic Mode.' Higher values increase following distances and prioritize safety, leading to more cautious driving, while lower values allow for closer following but may reduce reaction time. + + + + Speed Increase Responsiveness + + + + Controls how quickly openpilot adjusts speed in 'Traffic Mode.' Higher values ensure smoother, more gradual speed changes, while lower values enable quicker adjustments that might feel sharper or less smooth. + + + + Speed Decrease Responsiveness + + + + Sets how quickly openpilot adjusts to decreasing speeds in 'Traffic Mode.' Higher values ensure smoother transitions when slowing down, while lower values allow for quicker, more responsive speed reductions that might feel sharper. + + + + Reset Settings + + + + Restore the 'Traffic Mode' settings to their default values. + + + + Aggressive Personality + + + + Customize the 'Aggressive' personality profile, designed for a more assertive driving style. + + + + Set the following distance for 'Aggressive' mode. This determines roughly how many seconds you'll follow behind the car ahead. + +Default: 1.25 seconds. + + + + Controls how sensitive openpilot is to acceleration changes in 'Aggressive' mode. Higher values make acceleration and deceleration smoother but slower, while lower values allow quicker changes that may feel jerky. + +Default: 0.5. + + + + Controls how sensitive openpilot is to deceleration in 'Aggressive' mode. Higher values result in smoother braking, while lower values allow for more immediate braking that may feel abrupt. + +Default: 0.5. + + + + Adjusts how cautious openpilot is around vehicles or obstacles in 'Aggressive' mode. Higher values make it more cautious, while lower values allow for closer following, increasing the risk of sudden braking. + +Default: 1.0. + + + + Controls how quickly openpilot adjusts speed in 'Aggressive' mode. Higher values result in smoother but slower speed changes, while lower values make speed adjustments quicker but potentially more abrupt. + +Default: 0.5. + + + + Sets how quickly openpilot adjusts to speed reductions in 'Aggressive' mode. Higher values ensure smoother transitions when slowing down, while lower values allow for quicker, more responsive speed decreases that may feel sharp. + +Default: 0.5. + + + + Restore the 'Aggressive' settings to their default values. + + + + Standard Personality + + + + Customize the 'Standard' personality profile, optimized for balanced driving. + + + + Set the following distance for 'Standard' mode. This determines roughly how many seconds you'll follow behind the car ahead. + +Default: 1.45 seconds. + + + + Controls how sensitive openpilot is to acceleration changes in 'Standard' mode. Higher values make acceleration and deceleration smoother but slower, while lower values allow quicker changes that may feel jerky. + +Default: 1.0. + + + + Controls how sensitive openpilot is to deceleration in 'Standard' mode. Higher values result in smoother braking, while lower values allow for quicker, more immediate braking that may feel abrupt. + +Default: 1.0. + + + + Adjusts how cautious openpilot is around vehicles or obstacles in 'Standard' mode. Higher values make it more cautious, while lower values allow for closer following, increasing the risk of sudden braking. + +Default: 1.0. + + + + Controls how quickly openpilot adjusts speed in 'Standard' mode. Higher values result in smoother but slower speed changes, while lower values make speed adjustments quicker but potentially more abrupt. + +Default: 1.0. + + + + Sets how quickly openpilot adjusts to speed reductions in 'Standard' mode. Higher values ensure smoother transitions when slowing down, while lower values allow for quicker, more responsive speed decreases that may feel sharp. + +Default: 1.0. + + + + Restore the 'Standard' settings to their default values. + + + + Relaxed Personality + + + + Customize the 'Relaxed' personality profile, ideal for a more laid-back driving style. + + + + Set the following distance for 'Relaxed' mode. This determines roughly how many seconds you'll follow behind the car ahead. + +Default: 1.75 seconds. + + + + Controls how sensitive openpilot is to acceleration changes in 'Relaxed' mode. Higher values make acceleration and deceleration smoother but slower, while lower values allow quicker changes that may feel jerky. + +Default: 1.0. + + + + Controls how sensitive openpilot is to deceleration in 'Relaxed' mode. Higher values result in smoother braking, while lower values allow for quicker, more immediate braking that may feel abrupt. + +Default: 1.0. + + + + Adjusts how cautious openpilot is around vehicles or obstacles in 'Relaxed' mode. Higher values make it more cautious, while lower values allow for closer following, increasing the risk of sudden braking. + +Default: 1.0. + + + + Controls how quickly openpilot adjusts speed in 'Relaxed' mode. Higher values result in smoother but slower speed changes, while lower values make speed adjustments quicker but potentially more abrupt. + +Default: 1.0. + + + + Sets how quickly openpilot adjusts to speed reductions in 'Relaxed' mode. Higher values ensure smoother transitions when slowing down, while lower values allow for quicker, more responsive speed decreases that may feel sharp. + +Default: 1.0. + + + + Restore the 'Relaxed' settings to their default values. + + + + Model Management + + + + Manage the driving models used by openpilot. + + + + Automatically Update and Download Models + + + + Automatically download new or updated driving models. + + + + Model Randomizer + + + + A random model is selected and can be reviewed at the end of each drive if it's longer than 15 minutes to help find your preferred model. + + + + Manage Model Blacklist + + + + Control which models are blacklisted and won't be used for future drives. + + + + Reset Model Scores + + + + Clear the ratings you've given to the driving models. + + + + Review Model Scores + + + + View the ratings you've assigned to the driving models. + + + + Delete Model + + + + Remove the selected driving model from your device. + + + + Download Model + + + + Download undownloaded driving models. + + + + Download All Models + + + + Download all undownloaded driving models. + + + + Select Model + + + + Select which model openpilot uses to drive. + + + + Reset Model Calibrations + + + + Reset calibration settings for the driving models. + + + + mph + mph + + + Reset + リセット + + + seconds + + + + ADD + 追加 + + + REMOVE + 削除 + + + There's no more models to blacklist! The only available model is "%1"! + + + + OK + OK + + + Select a model to add to the blacklist + + + + Are you sure you want to add the '%1' model to the blacklist? + + + + Add + + + + Select a model to remove from the blacklist + + + + Are you sure you want to remove the '%1' model from the blacklist? + + + + Remove + + + + RESET + ﾘｾｯﾄ + + + Reset all model scores? + + + + VIEW + 見る + + + DELETE + + + + Select a model to delete + + + + Are you sure you want to delete the '%1' model? + + + + Delete + + + + Deleting... + + + + Deleted! + + + + DOWNLOAD + + + + CANCEL + + + + Select a driving model to download + + + + Downloading %1... + + + + SELECT + 選択 + + + Select a model - 🗺️ = Navigation | 📡 = Radar | 👀 = VOACC + + + + WARNING: This is a very experimental model and may drive dangerously! + + + + I understand the risks. + + + + Start with a fresh calibration for the newly selected model? + + + + Reboot required to take effect. + + + + Reboot Now + + + + RESET ALL + + + + RESET ONE + + + + Are you sure you want to completely reset all of your model calibrations? + + + + Select a model to reset + + + + Are you sure you want to completely reset this model's calibrations? + + + + The 'Model Randomizer' only works with downloaded models. Do you want to download all the driving models? + + + + Are you sure you want to completely reset your settings for the 'Traffic Mode' personality? + + + + Are you sure you want to completely reset your settings for the 'Aggressive' personality? + + + + Are you sure you want to completely reset your settings for the 'Standard' personality? + + + + Are you sure you want to completely reset your settings for the 'Relaxed' personality? + + + + kph + + + + Downloading models... + + + + openpilot requires the device to be mounted within 4° left or right and within 5° up or 9° down. openpilot is continuously calibrating, resetting is rarely required. + openpilotの本体は、左右4°以内、上5°、下9°以内の角度で取付ける必要があります。継続してキャリブレーションを続けているので、手動でリセットを行う必要はほぼありません。 + + + Your device is pointed %1° %2 and %3° %4. + このデバイスは%2 %1°、%4 %3°の向きに設置されています。 + + + down + 下 + + + up + 上 + + + left + 左 + + + right + 右 + + + + FrogPilotAdvancedVisualsPanel + + Advanced Onroad UI Widgets + + + + Advanced user customizations for the Onroad UI. + + + + Camera View + + + + Camera view for the onroad UI. This is purely a visual change and doesn't impact how openpilot drives. + + + + Display Stopping Points + + + + Display an image on the screen where openpilot is detecting a potential red light/stop sign. + + + + Hide Lead Marker + + + + Hide the marker for the vehicle ahead on the screen. + + + + Hide Speed + + + + Hide the speed indicator in the onroad UI. Additional toggle allows it to be hidden/shown via tapping the speed itself. + + + + Hide UI Elements + + + + Hide the selected UI elements from the onroad screen. + + + + Use Wheel Speed + + + + Use the wheel speed instead of the cluster speed in the onroad UI. + + + + Developer UI + + + + Show detailed information about openpilot's internal operations. + + + + Border Metrics + + + + Display performance metrics around the edge of the screen while driving. + + + + FPS Display + + + + Display the 'Frames Per Second' (FPS) at the bottom of the screen while driving. + + + + Lateral Metrics + + + + Display metrics related to steering control at the top of the screen while driving. + + + + Longitudinal Metrics + + + + Display metrics related to acceleration, speed, and desired following distance at the top of the screen while driving. + + + + Numerical Temperature Gauge + + + + Show exact temperature readings instead of general status labels like 'GOOD', 'OK', or 'HIGH' in the sidebar. + + + + Sidebar + + + + Display system information like CPU, GPU, RAM usage, IP address, and storage space in the sidebar. + + + + Use International System of Units + + + + Display measurements using the 'International System of Units' (SI). + + + + Model UI + + + + Customize the model visualizations on the screen. + + + + Lane Lines Width + + + + How thick the lane lines appear on the display. + +Default matches the MUTCD standard of 4 inches. + + + + Path Edges Width + + + + The width of the edges of the driving path to represent different modes and statuses. + +Default is 20% of the total path width. + +Color Guide: +- Blue: Navigation +- Light Blue: 'Always On Lateral' +- Green: Default +- Orange: 'Experimental Mode' +- Red: 'Traffic Mode' +- Yellow: 'Conditional Experimental Mode' Overridden + + + + Path Width + + + + How wide the driving path appears on your screen. + +Default (6.1 feet / 1.9 meters) matches the width of a 2019 Lexus ES 350. + + + + Road Edges Width + + + + How thick the road edges appear on the display. + +Default matches half of the MUTCD standard lane line width of 4 inches. + + + + 'Unlimited' Road UI + + + + Extend the display of the path, lane lines, and road edges as far as the model can see. + + + + Auto + + + + Driver + + + + Standard + + + + Wide + + + + Control Via UI + + + + Alerts + + + + Map Icon + + + + Max Speed + + + + Show Distance + + + + Blind Spot + + + + Steering Torque + + + + Turn Signal + + + + Adjacent Path Metrics + + + + Auto Tune + + + + Lead Info + + + + Longitudinal Jerk + + + + Fahrenheit + + + + CPU + + + + GPU + + + + IP + + + + RAM + + + + SSD Left + + + + SSD Used + + + + inches + + + + % + + + + feet + + + + Adjust how thick the lane lines appear on the display. + +Default matches the Vienna standard of 10 centimeters. + + + + Adjust how thick the road edges appear on the display. + +Default matches half of the Vienna standard of 10 centimeters. + + + + centimeters + + + + meters + + + + Adjust how thick the lane lines appear on the display. + +Default matches the MUTCD standard of 4 inches. + + + + Adjust how thick the road edges appear on the display. + +Default matches half of the MUTCD standard of 4 inches. + + + + + FrogPilotConfirmationDialog + + Reboot Later + + + + Yes + + + + No + + + + + FrogPilotDataPanel + + Delete Driving Footage and Data + + + + DELETE + + + + This button provides a swift and secure way to permanently delete all stored driving footage and data from your device. Ideal for maintaining privacy or freeing up space. + + + + Are you sure you want to permanently delete all of your driving footage and data? + + + + Delete + + + + Deleting... + + + + Deleted! + + + + Screen Recordings + + + + Manage your screen recordings. + + + + RENAME + + + + Select a recording to delete + + + + Are you sure you want to delete this recording? + + + + Failed... + + + + Select a recording to rename + + + + Enter a new name + + + + Rename Recording + + + + Renaming... + + + + Renamed! + + + + FrogPilot Backups + + + + Manage your FrogPilot backups. + + + + BACKUP + + + + RESTORE + + + + Name your backup + + + + Do you want to compress this backup? The end file size will be 2.25x smaller, but can take 10+ minutes. + + + + Backing... + + + + Compressing... + + + + Success! + + + + Select a backup to delete + + + + Are you sure you want to delete this backup? + + + + Select a restore point + + + + Are you sure you want to restore this version of FrogPilot? + + + + Restore + + + + Restoring... + + + + Extracting... + + + + Restored! + + + + Rebooting... + + + + Toggle Backups + + + + Manage your toggle backups. + + + + Are you sure you want to restore this toggle backup? + + + + + FrogPilotDevicePanel + + Device Settings + + + + Device behavior settings. + + + + Device Shutdown Timer + + + + How long the device stays on after you stop driving. + + + + Disable Internet Requirement + + + + The device can work without an internet connection for as long as you need. + + + + Increase Thermal Safety Limit + + + + The device can run at higher temperatures than recommended. + + + + Low Battery Shutdown Threshold + + + + Shut down the device when the car's battery gets too low to prevent damage to the 12V battery. + + + + Turn Off Data Tracking + + + + Disable all tracking to improve privacy. + + + + Turn Off Data Uploads + + + + Stop the device from sending any data to the servers. + + + + Screen Settings + + + + Screen behavior settings. + + + + Screen Brightness (Offroad) + + + + The screen brightness when you're not driving. + + + + Screen Brightness (Onroad) + + + + The screen brightness while you're driving. + + + + Screen Recorder + + + + Display a button in the onroad UI to record the screen. + + + + Screen Timeout (Offroad) + + + + How long it takes for the screen to turn off when you're not driving. + + + + Screen Timeout (Onroad) + + + + How long it takes for the screen to turn off while you're driving. + + + + 5 mins + + + + mins + + + + hour + + + + hours + + + + Only Onroad + + + + volts + + + + Auto + + + + seconds + + + + WARNING: This can cause premature wear or damage by running the device over comma's recommended temperature limits! + + + + I understand the risks. + + + + WARNING: This will prevent your drives from being recorded and the data will be unobtainable! + + + + WARNING: This will prevent your drives from appearing on comma connect which may impact debugging and support! + + + + + FrogPilotLateralPanel + + Always on Lateral + + + + openpilot's steering control stays active even when the brake or gas pedals are pressed. + +Deactivate only occurs with the 'Cruise Control' button. + + + + Control with LKAS Button + + + + 'Always on Lateral' gets turned on or off using the 'LKAS' button. + + + + Enable with Cruise Control + + + + 'Always on Lateral' gets turned on by pressing the 'Cruise Control' button bypassing the requirement to enable openpilot first. + + + + Pause on Brake Below + + + + 'Always on Lateral' pauses when the brake pedal is pressed below the set speed. + + + + Hide the Status Bar + + + + The status bar for 'Always on Lateral' is hidden. + + + + Lane Change Settings + + + + How openpilot handles lane changes. + + + + Hands-Free Lane Change + + + + Lane changes are conducted without needing to touch the steering wheel upon turn signal activation. + + + + Lane Change Delay + + + + How long openpilot waits before changing lanes. + + + + Lane Width Requirement + + + + The minimum lane width for openpilot to detect a lane as a lane. + + + + Minimum Speed for Lane Change + + + + The minimum speed required for openpilot to perform a lane change. + + + + Single Lane Change Per Signal + + + + Lane changes are limited to one per turn signal activation. + + + + Lateral Tuning + + + + Settings that control how openpilot manages steering. + + + + Neural Network Feedforward (NNFF) + + + + Twilsonco's 'Neural Network FeedForward' for more precise steering control. + + + + Smooth Curve Handling + + + + Smoother steering when entering and exiting curves with Twilsonco's torque adjustments. + + + + Quality of Life Improvements + + + + Miscellaneous lateral focused features to improve your overall openpilot experience. + + + + Pause Steering Below + + + + Pauses steering control when driving below the set speed. + + + + mph + mph + + + feet + + + + Reboot required to take effect. + + + + Reboot Now + + + + kph + + + + meters + + + + + FrogPilotLongitudinalPanel + + Conditional Experimental Mode + + + + Automatically switches to 'Experimental Mode' when specific conditions are met. + + + + Below + + + + 'Experimental Mode' is active when driving below the set speed without a lead vehicle. + + + + Curve Detected Ahead + + + + 'Experimental Mode' is active when a curve is detected in the road ahead. + + + + Lead Detected Ahead + + + + 'Experimental Mode' is active when a slower or stopped vehicle is detected ahead. + + + + Navigation Data + + + + 'Experimental Mode' is active based on navigation data, such as upcoming intersections or turns. + + + + openpilot Wants to Stop In + + + + 'Experimental Mode' is active when openpilot wants to stop such as for a stop sign or red light. + + + + Turn Signal Below + + + + 'Experimental Mode' is active when using turn signals below the set speed. + + + + Hide the Status Bar + + + + The status bar for 'Conditional Experimental Mode' is hidden. + + + + Curve Speed Control + + + + Automatically slow down for curves detected ahead or through the downloaded maps. + + + + Curve Detection Method + + + + The method used to detect curves. + + + + Curve Detection Failsafe + + + + Curve control is triggered only when a curve is detected ahead. Use this as a failsafe to prevent false positives when using the 'Map Based' method. + + + + Curve Sensitivity + + + + How sensitive openpilot is to detecting curves. Higher values trigger earlier responses at the risk of triggering too often, while lower values increase confidence at the risk of triggering too infrequently. + + + + Turn Speed Aggressiveness + + + + How aggressive openpilot takes turns. Higher values result in quicker turns, while lower values provide gentler turns. + + + + Disable Speed Value Smoothing In the UI + + + + Speed value smoothing is disabled in the UI to instead display the exact speed requested by the curve control. + + + + Experimental Mode Activation + + + + 'Experimental Mode' is toggled off/on using the steering wheel buttons or the on-screen controls. + +This overrides 'Conditional Experimental Mode'. + + + + Click the LKAS Button + + + + 'Experimental Mode' is toggled by pressing the 'LKAS' button on the steering wheel. + + + + Double-Tap the Screen + + + + 'Experimental Mode' is toggled by double-tapping the onroad UI within 0.5 seconds. + + + + Long Press the Distance Button + + + + 'Experimental Mode' is toggled by holding the 'distance' button on the steering wheel for 0.5+ seconds. + + + + Longitudinal Tuning + + + + Settings that control how openpilot manages speed and acceleration. + + + + Acceleration Profile + + + + Choose between a sporty or eco-friendly acceleration rate. + + + + Deceleration Profile + + + + Choose between a sporty or eco-friendly deceleration rate. + + + + Human-Like Acceleration + + + + Uses the lead's acceleration rate when at a takeoff and ramps off the acceleration rate when approaching the maximum set speed for a smoother max speed approach. + + + + Human-Like Following Distance + + + + Dynamically adjusts the following distance to feel more natural when approaching slower or stopped vehicles. + + + + Increase Stopped Distance + + + + Increases the distance to stop behind vehicles. + + + + Quality of Life Improvements + + + + Miscellaneous longitudinal focused features to improve your overall openpilot experience. + + + + Cruise Increase Interval + + + + Interval used when increasing the cruise control speed. + + + + Custom Cruise Interval (Long Press) + + + + Interval used when increasing the cruise control speed when holding down the button for 0.5+ seconds. + + + + Map Accel/Decel to Gears + + + + Map the acceleration and deceleration profiles to the 'Eco' or 'Sport' gear modes. + + + + Onroad Personality Button + + + + The current driving personality is displayed on the screen. Tap to switch personalities, or long press for 2.5 seconds to activate 'Traffic Mode'. + + + + Reverse Cruise Increase + + + + The long press feature is reversed in order to increase speed by 5 mph instead of 1. + + + + Speed Limit Controller + + + + Automatically adjust your max speed to match the speed limit using 'Open Street Maps', 'Navigate on openpilot', or your car's dashboard (Toyota/Lexus/HKG only). + + + + Confirm New Speed Limits + + + + Require manual confirmation before using a new speed limit. + + + + Fallback Method + + + + Choose what happens when no speed limit data is available. + + + + Override Method + + + + Choose how you want to override the current speed limit. + + + + + + Speed Limit Source Priority + + + + Set the order of priority for speed limit data sources. + + + + Speed Limit Offsets + + + + Manage toggles related to 'Speed Limit Controller's controls. + + + + Speed Limit Offset (0-34 mph) + + + + Set the speed limit offset for speeds between 0 and 34 mph. + + + + Speed Limit Offset (35-54 mph) + + + + Set the speed limit offset for speeds between 35 and 54 mph. + + + + Speed Limit Offset (55-64 mph) + + + + Set the speed limit offset for speeds between 55 and 64 mph. + + + + Speed Limit Offset (65-99 mph) + + + + Set the speed limit offset for speeds between 65 and 99 mph. + + + + Miscellaneous 'Speed Limit Controller' focused features to improve your overall openpilot experience. + + + + Force MPH Readings from Dashboard + + + + Force speed limit readings in MPH from the dashboard if it normally displays in KPH. + + + + Prepare for Higher Speed Limits + + + + Set a lookahead value to prepare for upcoming higher speed limits based on map data. + + + + Prepare for Lower Speed Limits + + + + Set a lookahead value to prepare for upcoming lower speed limits based on map data. + + + + Set Speed to Current Limit + + + + Set your max speed to match the current speed limit when enabling openpilot. + + + + Visual Settings + + + + Manage visual settings for the 'Speed Limit Controller'. + + + + Use Vienna-Style Speed Signs + + + + Switch to Vienna-style (EU) speed limit signs instead of MUTCD (US). + + + + Show Speed Limit Offset + + + + Display the speed limit offset separately in the onroad UI when using the Speed Limit Controller. + + + + mph + mph + + + With Lead + + + + Switches to 'Experimental Mode' when driving below the set speed with a lead vehicle. + + + + With Lead + + + + Slower Lead + + + + Stopped Lead + + + + Intersections + + + + Turns + + + + Off + + + + Map Based + + + + Vision + + + + Standard + + + + Eco + + + + Sport + + + + Sport+ + + + + feet + + + + Acceleration + + + + Deceleration + + + + Lower Limits + + + + Higher Limits + + + + None + + + + Set Speed + + + + Experimental Mode + 実験モード + + + Previous Limit + + + + Gas Pedal Press + + + + Cruise Set Speed + + + + SELECT + 選択 + + + Dashboard + + + + Navigation + + + + Offline Maps + + + + Highest + + + + Lowest + + + + Select your primary priority + + + + Select your secondary priority + + + + Select your tertiary priority + + + + MANAGE + + + + seconds + + + + Control Via UI + + + + Speed Limit Offset (0-34 kph) + + + + Speed Limit Offset (35-54 kph) + + + + Speed Limit Offset (55-64 kph) + + + + Speed Limit Offset (65-99 kph) + + + + Set speed limit offset for limits between 0-34 kph. + + + + Set speed limit offset for limits between 35-54 kph. + + + + Set speed limit offset for limits between 55-64 kph. + + + + Set speed limit offset for limits between 65-99 kph. + + + + kph + + + + meters + + + + Set speed limit offset for limits between 0-34 mph. + + + + Set speed limit offset for limits between 35-54 mph. + + + + Set speed limit offset for limits between 55-64 mph. + + + + Set speed limit offset for limits between 65-99 mph. + + + + + FrogPilotParamManageControl + + MANAGE + + + + + FrogPilotSettingsWindow + + Advanced Settings + + + + Alerts and Sounds + + + + Driving Controls + + + + Navigation + + + + System Management + + + + Theme and Appearance + + + + Vehicle Controls + + + + Advanced FrogPilot features for more experienced users. + + + + Options to customize FrogPilot's sound alerts and notifications. + + + + FrogPilot features than impact acceleration, braking, and steering. + + + + Offline maps downloader and 'Navigate On openpilot (NOO)' settings. + + + + Tools and system utilities used to maintain and troubleshoot FrogPilot. + + + + Options for customizing FrogPilot's themes, UI appearance, and onroad widgets. + + + + Vehicle-specific settings and configurations for supported makes and models. + + + + DRIVING + + + + VISUALS + + + + MANAGE + + + + GAS / BRAKE + + + + STEERING + + + + DATA + + + + DEVICE + + + + UTILITIES + + + + APPEARANCE + + + + THEME + + + + + FrogPilotSoundsPanel + + Alert Volume Controller + + + + Control the volume level for each individual sound in openpilot. + + + + Disengage Volume + + + + Related alerts: + +Adaptive Cruise Disabled +Parking Brake Engaged +Brake Pedal Pressed +Speed too Low + + + + Engage Volume + + + + Related alerts: + +NNFF Torque Controller loaded +openpilot engaged + + + + Prompt Volume + + + + Related alerts: + +Car Detected in Blindspot +Speed too Low +Steer Unavailable Below 'X' +Take Control, Turn Exceeds Steering Limit + + + + Prompt Distracted Volume + + + + Related alerts: + +Pay Attention, Driver Distracted +Touch Steering Wheel, Driver Unresponsive + + + + Refuse Volume + + + + Related alerts: + +openpilot Unavailable + + + + Warning Soft Volume + + + + Related alerts: + +BRAKE!, Risk of Collision +TAKE CONTROL IMMEDIATELY + + + + Warning Immediate Volume + + + + Related alerts: + +DISENGAGE IMMEDIATELY, Driver Distracted +DISENGAGE IMMEDIATELY, Driver Unresponsive + + + + Custom Alerts + + + + Enable custom alerts for openpilot events. + + + + Goat Scream Steering Saturated Alert + + + + Enable the famed 'Goat Scream' that has brought both joy and anger to FrogPilot users all around the world! + + + + Green Light Alert + + + + Get an alert when a traffic light changes from red to green. + + + + Lead Departing Alert + + + + Get an alert when the lead vehicle starts departing when at a standstill. + + + + Loud Blindspot Alert + + + + Enable a louder alert for when a vehicle is detected in the blindspot when attempting to change lanes. + + + + Speed Limit Change Alert + + + + Trigger an alert when the speed limit changes. + + + + + FrogPilotThemesPanel + + Custom Theme + + + + Custom openpilot themes. + + + + Color Scheme + + + + Themed color schemes. + +Want to submit your own color scheme? Share it in the 'feature-request' channel on the FrogPilot Discord! + + + + Icon Pack + + + + Themed icon packs. + +Want to submit your own icons? Share them in the 'feature-request' channel on the FrogPilot Discord! + + + + Sound Pack + + + + Themed sound effects. + +Want to submit your own sounds? Share them in the 'feature-request' channel on the FrogPilot Discord! + + + + Steering Wheel + + + + Custom steering wheel icons. + + + + Turn Signal Animation + + + + Themed turn signal animations. + +Want to submit your own animations? Share them in the 'feature-request' channel on the FrogPilot Discord! + + + + Download Status + + + + Holiday Themes + + + + Change the openpilot theme based on the current holiday. Minor holidays last one day, while major holidays (Easter, Christmas, Halloween, etc.) last a week. + + + + Random Events + + + + Random cosmetic events that happen during certain driving conditions. These events are purely for fun and don't affect driving controls! + + + + Startup Alert + + + + Custom 'Startup' alert message that appears when you start driving. + + + + DELETE + + + + DOWNLOAD + + + + SELECT + 選択 + + + Select a color scheme to delete + + + + Are you sure you want to delete the '%1' color scheme? + + + + Delete + + + + Select a color scheme to download + + + + Select a color scheme + + + + Select an icon pack to delete + + + + Are you sure you want to delete the '%1' icon pack? + + + + Select an icon pack to download + + + + Select an icon pack + + + + Select a signal pack to delete + + + + Are you sure you want to delete the '%1' signal pack? + + + + Select a signal pack to download + + + + Select a signal pack + + + + Select a sound pack to delete + + + + Are you sure you want to delete the '%1' sound scheme? + + + + Select a sound pack to download + + + + Select a sound scheme + + + + Select a steering wheel to delete + + + + Are you sure you want to delete the '%1' steering wheel image? + + + + Select a steering wheel to download + + + + Select a steering wheel + + + + STOCK + + + + FROGPILOT + + + + CUSTOM + + + + CLEAR + + + + Enter your text for the top half + + + + Characters: 0/%1 + + + + Enter your text for the bottom half + + + + CANCEL + + + + + FrogPilotVehiclesPanel + + Select Make + + + + SELECT + 選択 + + + Select a Make + + + + Select Model + + + + Select a Model + + + + Disable Automatic Fingerprint Detection + + + + Forces the selected fingerprint and prevents it from ever changing. + + + + Disable openpilot Longitudinal Control + + + + Disable openpilot longitudinal control and use stock ACC instead. + + + + Are you sure you want to completely disable openpilot longitudinal control? + + + + Reboot required to take effect. + + + + Reboot Now + + + + 2017 Volt Stop and Go Hack + + + + Force stop and go for the 2017 Chevy Volt. + + + + Experimental GM Tune + + + + FrogsGoMoo's experimental GM tune that is based on nothing but guesswork. Use at your own risk! + + + + Uphill/Downhill Smoothing + + + + Smoothen the car’s gas and brake response when driving on slopes. + + + + Use comma's New Longitudinal API + + + + Comma's new longitudinal control system that has shown great improvement with acceleration and braking, but has a few issues on some GM vehicles. + + + + Use comma's new longitudinal control system that has shown great improvement with acceleration and braking, but has a few issues on Hyundai/Kia/Genesis. + + + + Subaru Crosstrek Torque Increase + + + + Increases the maximum allowed torque for the Subaru Crosstrek. + + + + Automatically Lock/Unlock Doors + + + + Automatically lock the doors when in drive and unlock when in park. + + + + Cluster Speed Offset + + + + Set the cluster offset openpilot uses to try and match the speed displayed on the dash. + + + + FrogsGoMoo's Personal Tweaks + + + + Use FrogsGoMoo's personal tweaks to the Toyota tune focused around his 2019 Lexus ES 350 to take off a bit quicker and stop a bit smoother. + + + + Stop and Go Hack + + + + Force stop and go for vehicles without stock stop and go functionality. + + + + Lock + + + + Unlock + + + + + FrogPilotVisualsPanel + + Onroad UI Widgets + + + + Custom FrogPilot widgets used in the onroad user interface. - Work + Compass - No destination set + A compass in the onroad UI to show the current driving direction. - No %1 location set + Dynamic Path Width - home + Automatically adjust the width of the driving path display based on the current engagement state: + +Fully engaged = 100% +Always On Lateral Active = 75% +Fully disengaged = 50% - work + Gas/Brake Pedal Indicators - - - DevicePanel - Dongle ID - ドングル番号 (Dongle ID) + Pedal indicators in the onroad UI that change opacity based on the pressure applied. + - N/A - N/A + Paths + - Serial - シリアル番号 + Projected acceleration path, detected lanes, and vehicles in the blind spot. + - Driver Camera - 車内カメラ + Road Name + - PREVIEW - プレビュー + The current road name is displayed at the bottom of the screen using data from 'OpenStreetMap'. + - Preview the driver facing camera to ensure that driver monitoring has good visibility. (vehicle must be off) - 車内カメラをプレビューして、ドライバー監視システムの視界を確認ができます。(車両の電源を切る必要があります) + Rotating Steering Wheel + - Reset Calibration - ｷｬﾘﾌﾞﾚｰｼｮﾝをﾘｾｯﾄ + The steering wheel in the onroad UI rotates along with your steering wheel movements. + - RESET - ﾘｾｯﾄ + Quality of Life Improvements + - Are you sure you want to reset calibration? - ｷｬﾘﾌﾞﾚｰｼｮﾝをリセットしてもよろしいですか？ + Miscellaneous visual focused features to improve your overall openpilot experience. + - Review Training Guide - 使い方の確認 + Larger Map Display + - REVIEW - 見る + A larger size of the map in the onroad UI for easier navigation readings. + - Review the rules, features, and limitations of openpilot - openpilot の特徴を見る + Map Style + - Are you sure you want to review the training guide? - 使い方の確認をしますか？ + Custom map styles for the map used during navigation. + - Regulatory - 認証情報 + Screen Standby Mode + - VIEW - 見る + The screen is turned off after it times out when driving, but it automatically wakes up if engagement state changes or important alerts occur. + - Change Language - 言語を変更 + Show Driver Camera When In Reverse + - CHANGE - 変更 + The driver camera feed is displayed when the vehicle is in reverse. + - Select a language - 言語を選択 + Stopped Timer + - Reboot - 再起動 + A timer on the onroad UI to indicate how long the vehicle has been stopped. + - Power Off - 電源を切る + Acceleration + - openpilot requires the device to be mounted within 4° left or right and within 5° up or 9° down. openpilot is continuously calibrating, resetting is rarely required. - openpilotの本体は、左右4°以内、上5°、下9°以内の角度で取付ける必要があります。継続してキャリブレーションを続けているので、手動でリセットを行う必要はほぼありません。 + Adjacent + - Your device is pointed %1° %2 and %3° %4. - このデバイスは%2 %1°、%4 %3°の向きに設置されています。 + Blind Spot + - down - 下 + Dynamic + - up - 上 + Static + - left - 左 + Full Map + - right - 右 + Stock openpilot + - Are you sure you want to reboot? - 再起動してもよろしいですか？ + Mapbox Streets + - Disengage to Reboot - openpilot をキャンセルして再起動ができます + Mapbox Outdoors + - Are you sure you want to power off? - シャットダウンしてもよろしいですか？ + Mapbox Light + - Disengage to Power Off - openpilot をキャンセルしてシャットダウンができます + Mapbox Dark + - Reset - リセット + Mapbox Satellite + - Review - 確認 + Mapbox Satellite Streets + - Pair your device with comma connect (connect.comma.ai) and claim your comma prime offer. - デバイスを comma connect (connect.comma.ai)でペアリングし、comma primeの特典を申請してください。 + Mapbox Navigation Day + - Pair Device + Mapbox Navigation Night - PAIR + Mapbox Traffic Night - - - DriverViewWindow - camera starting - ｶﾒﾗを起動しています + mike854's (Satellite hybrid) + - - - ExperimentalModeButton - EXPERIMENTAL MODE ON - 実験モード + SELECT + 選択 - CHILL MODE ON - チルモード + Select a map style + @@ -336,6 +3382,10 @@ %n文字以上でお願いします！ + + Characters: %1/%2 + + Installer @@ -369,6 +3419,10 @@ Manage at connect.comma.ai + + Manage at %1 + + MapWindow @@ -589,7 +3643,7 @@ openpilot - openpilot + openpilot %n minute(s) ago @@ -629,6 +3683,10 @@ now + + FrogPilot + + Reset @@ -674,7 +3732,7 @@ This may take up to a minute. SettingsWindow × - × + × Device @@ -692,6 +3750,14 @@ This may take up to a minute. Software ｿﾌﾄｳｪｱ + + ← Back + + + + FrogPilot + + Setup @@ -885,12 +3951,36 @@ This may take up to a minute. 5G 5G + + GPU + + + + CPU + + + + GB + + + + MEMORY + + + + LEFT + + + + USED + + SoftwarePanel Updates are only downloaded while the car is off. - 車の電源がオフの間のみ、アップデートのダウンロードが行われます。 + 車の電源がオフの間のみ、アップデートのダウンロードが行われます。 Current Version @@ -960,6 +4050,34 @@ This may take up to a minute. never + + Updates are only downloaded while the car is off or in park. + + + + Automatically Update FrogPilot + + + + FrogPilot will automatically update itself and it's assets when you're offroad and connected to Wi-Fi. + + + + Do you want to permanently delete any additional FrogPilot assets? This is 100% unrecoverable and includes backups, downloaded models, themes, and long-term storage toggle settings for easy reinstalls. + + + + Error Log + + + + VIEW + 見る + + + View the error log for openpilot crashes. + + SshControl @@ -1140,10 +4258,6 @@ This may take up to a minute. openpilot longitudinal control may come in a future update. - - An alpha version of openpilot longitudinal control can be tested, along with Experimental mode, on non-release branches. - - Enable the openpilot longitudinal control (alpha) toggle to allow Experimental mode. @@ -1156,14 +4270,6 @@ This may take up to a minute. The driving visualization will transition to the road-facing wide-angle camera at low speeds to better show some turns. The Experimental mode logo will also be shown in the top right corner. - - Always-On Driver Monitoring - - - - Enable driver monitoring even when openpilot is not engaged. - - Updater @@ -1200,6 +4306,89 @@ This may take up to a minute. 更新失敗 + + UtilitiesPanel + + Flash Panda + + + + FLASH + + + + Use this button to flash the Panda device's firmware if you're running into issues. + + + + Are you sure you want to flash the Panda? + + + + Flash + + + + Flashing... + + + + Flashed! + + + + Rebooting... + + + + Force Started State + + + + Force openpilot either offroad or onroad. + + + + OFFROAD + + + + ONROAD + + + + OFF + + + + Reset Toggles to Default + + + + RESET + ﾘｾｯﾄ + + + Reset your toggle settings back to their default settings. + + + + Are you sure you want to completely reset all of your toggle settings? + + + + Reset + リセット + + + Resetting... + + + + Reset! + + + WiFiPromptWidget @@ -1222,6 +4411,14 @@ This may take up to a minute. Training data will be pulled periodically while your device is on Wi-Fi + + Uploading disabled + + + + Toggle off the 'Disable Uploading' toggle to enable uploads. + + WifiUI diff --git a/selfdrive/ui/translations/main_ko.ts b/selfdrive/ui/translations/main_ko.ts index 56fc5014eed4b2..66bce55db1ba4b 100644 --- a/selfdrive/ui/translations/main_ko.ts +++ b/selfdrive/ui/translations/main_ko.ts @@ -15,6 +15,10 @@ Reboot and Update 업데이트 및 재부팅 + + Disable Internet Check + + AdvancedNetworking @@ -86,6 +90,26 @@ for "%1" "%1"에 접속하려면 비밀번호가 필요합니다 + + Off + + + + Always + + + + Only Onroad + + + + Until Reboot + + + + Allow tethering with your data SIM and keep it active either while driving or continuously. + + AnnotatedCameraWidget @@ -109,6 +133,156 @@ LIMIT LIMIT + + Vehicle in blind spot + + + + m/s² + + + + m/s + + + + kph + + + + ft/s² + + + + Accel: %1%2 + + + + - Max: %1%2 + + + + | Obstacle: + + + + | Obstacle Factor: + + + + - Stop: + + + + - Stop Factor: + + + + Follow: + + + + Follow Distance: + + + + Confirm speed limit + + + + + Ignore speed limit + + + + + Conditional Experimental Mode ready + + + + Conditional Experimental overridden + + + + Experimental Mode manually activated + + + + Experimental Mode activated for %1 + + + + low speed + + + + speed being less than %1 %2 + + + + Experimental Mode activated for turn + + + + / lane change + + + + Experimental Mode activated for intersection + + + + Experimental Mode activated for upcoming turn + + + + Experimental Mode activated for curve + + + + Experimental Mode activated for stopped lead + + + + Experimental Mode activated for slower lead + + + + Experimental Mode activated %1 + + + + to stop + + + + Experimental Mode forced on %1 + + + + Experimental Mode activated due to no speed limit + + + + Always On Lateral active + + + + . Press the "Cruise Control" button to disable + + + + . Long press the "distance" button to revert + + + + . Click the "LKAS" button to revert + + + + . Double tap the screen to revert + + ConfirmationDialog @@ -159,169 +333,3041 @@ 집 - work - 회사 + work + 회사 + + + + DevicePanel + + Dongle ID + 동글 ID + + + N/A + N/A + + + Serial + 시리얼 + + + Driver Camera + 운전자 카메라 + + + PREVIEW + 미리보기 + + + Preview the driver facing camera to ensure that driver monitoring has good visibility. (vehicle must be off) + 운전자 모니터링이 잘 되는지 확인하기 위해 후면 카메라를 미리 봅니다. (차량 시동이 꺼져 있어야 합니다) + + + Reset Calibration + 캘리브레이션 초기화 + + + RESET + 초기화 + + + Are you sure you want to reset calibration? + 캘리브레이션을 초기화하시겠습니까? + + + Review Training Guide + 트레이닝 가이드 다시보기 + + + REVIEW + 다시보기 + + + Review the rules, features, and limitations of openpilot + openpilot의 규칙, 기능 및 제한 다시 확인 + + + Are you sure you want to review the training guide? + 트레이닝 가이드를 다시 확인하시겠습니까? + + + Regulatory + 규제 + + + VIEW + 보기 + + + Change Language + 언어 변경 + + + CHANGE + 변경 + + + Select a language + 언어를 선택하세요 + + + Reboot + 재부팅 + + + Power Off + 전원 끄기 + + + openpilot requires the device to be mounted within 4° left or right and within 5° up or 9° down. openpilot is continuously calibrating, resetting is rarely required. + openpilot 장치는 좌우 4°, 위로 5°, 아래로 9° 이내 각도로 장착되어야 합니다. openpilot은 지속적으로 자동 보정되며 재설정은 거의 필요하지 않습니다. + + + Your device is pointed %1° %2 and %3° %4. + 사용자의 장치는 %2 %1° 및 %4 %3° 의 방향으로 장착되어 있습니다. + + + down + 아래로 + + + up + 위로 + + + left + 좌측으로 + + + right + 우측으로 + + + Are you sure you want to reboot? + 재부팅하시겠습니까? + + + Disengage to Reboot + 재부팅하려면 연결을 해제하세요 + + + Are you sure you want to power off? + 전원을 끄시겠습니까? + + + Disengage to Power Off + 전원을 끄려면 연결을 해제하세요 + + + Reset + 초기화 + + + Review + 다시보기 + + + Pair your device with comma connect (connect.comma.ai) and claim your comma prime offer. + 장치를 comma connect (connect.comma.ai)에서 페어링하고 comma prime 무료 이용권을 사용하세요. + + + Pair Device + 장치 동기화 + + + PAIR + 동기화 + + + + DriveStats + + ALL TIME + + + + PAST WEEK + + + + FROGPILOT + + + + Drives + + + + Hours + + + + KM + + + + Miles + + + + + DriverViewWindow + + camera starting + 카메라 시작 중 + + + + ExperimentalModeButton + + EXPERIMENTAL MODE ON + 실험 모드 사용 + + + CHILL MODE ON + 안정 모드 사용 + + + + FrogPilotAdvancedDrivingPanel + + Advanced Lateral Tuning + + + + Advanced settings that control how openpilot manages steering. + + + + Friction (Default: %1) + + + + Friction + + + + The resistance in steering. Higher values provide more stable steering but can make it feel heavy, while lower values allow lighter steering but may feel too sensitive. + + + + Kp Factor (Default: %1) + + + + Kp Factor + + + + How aggressively the car corrects its steering. Higher values offer quicker corrections but may feel jerky, while lower values make steering smoother but slower to respond. + + + + Lateral Accel (Default: %1) + + + + Lateral Accel + + + + Adjust how fast the car can steer from side to side. Higher values allow quicker lane changes but can feel unstable, while lower values provide smoother steering but may feel sluggish. + + + + Steer Ratio (Default: %1) + + + + Steer Ratio + + + + Adjust how much openpilot needs to turn the wheel to steer. Higher values feel like driving a truck, more stable at high speeds, but harder to steer quickly at low speeds, while lower values feel like a go-kart, easier to steer in tight spots but more sensitive and less stable at high speeds. + + + + comma's 2022 Taco Bell Turn Hack + + + + Use comma's hack they used to help handle left and right turns more precisely during their 2022 'Taco Bell' drive. + + + + Force Auto Tune On + + + + Forces comma's auto lateral tuning for unsupported vehicles. + + + + Force Auto Tune Off + + + + Forces comma's auto lateral tuning off for supported vehicles. + + + + Force Turn Desires Below Lane Change Speed + + + + Force the model to use turn desires when driving below the minimum lane change speed to help make left and right turns more precisely. + + + + Advanced Longitudinal Tuning + + + + Advanced settings that control how openpilot manages speed and acceleration. + + + + Lead Detection Confidence + + + + How sensitive openpilot is to detecting vehicles ahead. A lower value can help detect vehicles sooner and from farther away, but may occasionally mistake other objects for vehicles. + + + + Maximum Acceleration Rate + + + + Set a cap on how fast openpilot can accelerate to prevent high acceleration at low speeds. + + + + Advanced Quality of Life + + + + Miscellaneous advanced features to improve your overall openpilot experience. + + + + Force Keep openpilot in the Standstill State + + + + Keep openpilot in the 'standstill' state until the gas pedal or 'resume' button is pressed. + + + + Force Stop for 'Detected' Stop Lights/Signs + + + + Whenever openpilot 'detects' a potential stop light/stop sign, force a stop where it originally detected it to prevent running the potential red light/stop sign. + + + + Set Speed Offset + + + + How much higher or lower the set speed should be compared to your current set speed. For example, if you prefer to drive 5 mph above the speed limit, this setting will automatically add that difference when you adjust your set speed. + + + + Customize Driving Personalities + + + + Customize the personality profiles to suit your preferences. + + + + Traffic Personality + + + + Customize the 'Traffic' personality profile, tailored for navigating through traffic. + + + + Following Distance + + + + The minimum following distance in 'Traffic Mode.' openpilot will adjust dynamically between this value and the 'Aggressive' profile distance based on your speed. + + + + Acceleration Sensitivity + + + + How sensitive openpilot is to changes in acceleration in 'Traffic Mode.' Higher values result in smoother, more gradual acceleration and deceleration, while lower values allow for faster changes that may feel more abrupt. + + + + Deceleration Sensitivity + + + + Controls how sensitive openpilot is to changes in deceleration in 'Traffic Mode.' Higher values result in smoother, more gradual braking, while lower values allow for quicker, more responsive braking that may feel abrupt. + + + + Safety Distance Sensitivity + + + + Adjusts how cautious openpilot is around other vehicles or obstacles in 'Traffic Mode.' Higher values increase following distances and prioritize safety, leading to more cautious driving, while lower values allow for closer following but may reduce reaction time. + + + + Speed Increase Responsiveness + + + + Controls how quickly openpilot adjusts speed in 'Traffic Mode.' Higher values ensure smoother, more gradual speed changes, while lower values enable quicker adjustments that might feel sharper or less smooth. + + + + Speed Decrease Responsiveness + + + + Sets how quickly openpilot adjusts to decreasing speeds in 'Traffic Mode.' Higher values ensure smoother transitions when slowing down, while lower values allow for quicker, more responsive speed reductions that might feel sharper. + + + + Reset Settings + + + + Restore the 'Traffic Mode' settings to their default values. + + + + Aggressive Personality + + + + Customize the 'Aggressive' personality profile, designed for a more assertive driving style. + + + + Set the following distance for 'Aggressive' mode. This determines roughly how many seconds you'll follow behind the car ahead. + +Default: 1.25 seconds. + + + + Controls how sensitive openpilot is to acceleration changes in 'Aggressive' mode. Higher values make acceleration and deceleration smoother but slower, while lower values allow quicker changes that may feel jerky. + +Default: 0.5. + + + + Controls how sensitive openpilot is to deceleration in 'Aggressive' mode. Higher values result in smoother braking, while lower values allow for more immediate braking that may feel abrupt. + +Default: 0.5. + + + + Adjusts how cautious openpilot is around vehicles or obstacles in 'Aggressive' mode. Higher values make it more cautious, while lower values allow for closer following, increasing the risk of sudden braking. + +Default: 1.0. + + + + Controls how quickly openpilot adjusts speed in 'Aggressive' mode. Higher values result in smoother but slower speed changes, while lower values make speed adjustments quicker but potentially more abrupt. + +Default: 0.5. + + + + Sets how quickly openpilot adjusts to speed reductions in 'Aggressive' mode. Higher values ensure smoother transitions when slowing down, while lower values allow for quicker, more responsive speed decreases that may feel sharp. + +Default: 0.5. + + + + Restore the 'Aggressive' settings to their default values. + + + + Standard Personality + + + + Customize the 'Standard' personality profile, optimized for balanced driving. + + + + Set the following distance for 'Standard' mode. This determines roughly how many seconds you'll follow behind the car ahead. + +Default: 1.45 seconds. + + + + Controls how sensitive openpilot is to acceleration changes in 'Standard' mode. Higher values make acceleration and deceleration smoother but slower, while lower values allow quicker changes that may feel jerky. + +Default: 1.0. + + + + Controls how sensitive openpilot is to deceleration in 'Standard' mode. Higher values result in smoother braking, while lower values allow for quicker, more immediate braking that may feel abrupt. + +Default: 1.0. + + + + Adjusts how cautious openpilot is around vehicles or obstacles in 'Standard' mode. Higher values make it more cautious, while lower values allow for closer following, increasing the risk of sudden braking. + +Default: 1.0. + + + + Controls how quickly openpilot adjusts speed in 'Standard' mode. Higher values result in smoother but slower speed changes, while lower values make speed adjustments quicker but potentially more abrupt. + +Default: 1.0. + + + + Sets how quickly openpilot adjusts to speed reductions in 'Standard' mode. Higher values ensure smoother transitions when slowing down, while lower values allow for quicker, more responsive speed decreases that may feel sharp. + +Default: 1.0. + + + + Restore the 'Standard' settings to their default values. + + + + Relaxed Personality + + + + Customize the 'Relaxed' personality profile, ideal for a more laid-back driving style. + + + + Set the following distance for 'Relaxed' mode. This determines roughly how many seconds you'll follow behind the car ahead. + +Default: 1.75 seconds. + + + + Controls how sensitive openpilot is to acceleration changes in 'Relaxed' mode. Higher values make acceleration and deceleration smoother but slower, while lower values allow quicker changes that may feel jerky. + +Default: 1.0. + + + + Controls how sensitive openpilot is to deceleration in 'Relaxed' mode. Higher values result in smoother braking, while lower values allow for quicker, more immediate braking that may feel abrupt. + +Default: 1.0. + + + + Adjusts how cautious openpilot is around vehicles or obstacles in 'Relaxed' mode. Higher values make it more cautious, while lower values allow for closer following, increasing the risk of sudden braking. + +Default: 1.0. + + + + Controls how quickly openpilot adjusts speed in 'Relaxed' mode. Higher values result in smoother but slower speed changes, while lower values make speed adjustments quicker but potentially more abrupt. + +Default: 1.0. + + + + Sets how quickly openpilot adjusts to speed reductions in 'Relaxed' mode. Higher values ensure smoother transitions when slowing down, while lower values allow for quicker, more responsive speed decreases that may feel sharp. + +Default: 1.0. + + + + Restore the 'Relaxed' settings to their default values. + + + + Model Management + + + + Manage the driving models used by openpilot. + + + + Automatically Update and Download Models + + + + Automatically download new or updated driving models. + + + + Model Randomizer + + + + A random model is selected and can be reviewed at the end of each drive if it's longer than 15 minutes to help find your preferred model. + + + + Manage Model Blacklist + + + + Control which models are blacklisted and won't be used for future drives. + + + + Reset Model Scores + + + + Clear the ratings you've given to the driving models. + + + + Review Model Scores + + + + View the ratings you've assigned to the driving models. + + + + Delete Model + + + + Remove the selected driving model from your device. + + + + Download Model + + + + Download undownloaded driving models. + + + + Download All Models + + + + Download all undownloaded driving models. + + + + Select Model + + + + Select which model openpilot uses to drive. + + + + Reset Model Calibrations + + + + Reset calibration settings for the driving models. + + + + mph + mph + + + Reset + 초기화 + + + seconds + + + + ADD + 추가 + + + REMOVE + 삭제 + + + There's no more models to blacklist! The only available model is "%1"! + + + + OK + OK + + + Select a model to add to the blacklist + + + + Are you sure you want to add the '%1' model to the blacklist? + + + + Add + + + + Select a model to remove from the blacklist + + + + Are you sure you want to remove the '%1' model from the blacklist? + + + + Remove + + + + RESET + 초기화 + + + Reset all model scores? + + + + VIEW + 보기 + + + DELETE + + + + Select a model to delete + + + + Are you sure you want to delete the '%1' model? + + + + Delete + + + + Deleting... + + + + Deleted! + + + + DOWNLOAD + 다운로드 + + + CANCEL + + + + Select a driving model to download + + + + Downloading %1... + + + + SELECT + 선택 + + + Select a model - 🗺️ = Navigation | 📡 = Radar | 👀 = VOACC + + + + WARNING: This is a very experimental model and may drive dangerously! + + + + I understand the risks. + + + + Start with a fresh calibration for the newly selected model? + + + + Reboot required to take effect. + + + + Reboot Now + + + + RESET ALL + + + + RESET ONE + + + + Are you sure you want to completely reset all of your model calibrations? + + + + Select a model to reset + + + + Are you sure you want to completely reset this model's calibrations? + + + + The 'Model Randomizer' only works with downloaded models. Do you want to download all the driving models? + + + + Are you sure you want to completely reset your settings for the 'Traffic Mode' personality? + + + + Are you sure you want to completely reset your settings for the 'Aggressive' personality? + + + + Are you sure you want to completely reset your settings for the 'Standard' personality? + + + + Are you sure you want to completely reset your settings for the 'Relaxed' personality? + + + + kph + + + + Downloading models... + + + + openpilot requires the device to be mounted within 4° left or right and within 5° up or 9° down. openpilot is continuously calibrating, resetting is rarely required. + openpilot 장치는 좌우 4°, 위로 5°, 아래로 9° 이내 각도로 장착되어야 합니다. openpilot은 지속적으로 자동 보정되며 재설정은 거의 필요하지 않습니다. + + + Your device is pointed %1° %2 and %3° %4. + 사용자의 장치는 %2 %1° 및 %4 %3° 의 방향으로 장착되어 있습니다. + + + down + 아래로 + + + up + 위로 + + + left + 좌측으로 + + + right + 우측으로 + + + + FrogPilotAdvancedVisualsPanel + + Advanced Onroad UI Widgets + + + + Advanced user customizations for the Onroad UI. + + + + Camera View + + + + Camera view for the onroad UI. This is purely a visual change and doesn't impact how openpilot drives. + + + + Display Stopping Points + + + + Display an image on the screen where openpilot is detecting a potential red light/stop sign. + + + + Hide Lead Marker + + + + Hide the marker for the vehicle ahead on the screen. + + + + Hide Speed + + + + Hide the speed indicator in the onroad UI. Additional toggle allows it to be hidden/shown via tapping the speed itself. + + + + Hide UI Elements + + + + Hide the selected UI elements from the onroad screen. + + + + Use Wheel Speed + + + + Use the wheel speed instead of the cluster speed in the onroad UI. + + + + Developer UI + + + + Show detailed information about openpilot's internal operations. + + + + Border Metrics + + + + Display performance metrics around the edge of the screen while driving. + + + + FPS Display + + + + Display the 'Frames Per Second' (FPS) at the bottom of the screen while driving. + + + + Lateral Metrics + + + + Display metrics related to steering control at the top of the screen while driving. + + + + Longitudinal Metrics + + + + Display metrics related to acceleration, speed, and desired following distance at the top of the screen while driving. + + + + Numerical Temperature Gauge + + + + Show exact temperature readings instead of general status labels like 'GOOD', 'OK', or 'HIGH' in the sidebar. + + + + Sidebar + + + + Display system information like CPU, GPU, RAM usage, IP address, and storage space in the sidebar. + + + + Use International System of Units + + + + Display measurements using the 'International System of Units' (SI). + + + + Model UI + + + + Customize the model visualizations on the screen. + + + + Lane Lines Width + + + + How thick the lane lines appear on the display. + +Default matches the MUTCD standard of 4 inches. + + + + Path Edges Width + + + + The width of the edges of the driving path to represent different modes and statuses. + +Default is 20% of the total path width. + +Color Guide: +- Blue: Navigation +- Light Blue: 'Always On Lateral' +- Green: Default +- Orange: 'Experimental Mode' +- Red: 'Traffic Mode' +- Yellow: 'Conditional Experimental Mode' Overridden + + + + Path Width + + + + How wide the driving path appears on your screen. + +Default (6.1 feet / 1.9 meters) matches the width of a 2019 Lexus ES 350. + + + + Road Edges Width + + + + How thick the road edges appear on the display. + +Default matches half of the MUTCD standard lane line width of 4 inches. + + + + 'Unlimited' Road UI + + + + Extend the display of the path, lane lines, and road edges as far as the model can see. + + + + Auto + + + + Driver + + + + Standard + 표준 + + + Wide + + + + Control Via UI + + + + Alerts + + + + Map Icon + + + + Max Speed + + + + Show Distance + + + + Blind Spot + + + + Steering Torque + + + + Turn Signal + + + + Adjacent Path Metrics + + + + Auto Tune + + + + Lead Info + + + + Longitudinal Jerk + + + + Fahrenheit + + + + CPU + + + + GPU + + + + IP + + + + RAM + + + + SSD Left + + + + SSD Used + + + + inches + + + + % + + + + feet + + + + Adjust how thick the lane lines appear on the display. + +Default matches the Vienna standard of 10 centimeters. + + + + Adjust how thick the road edges appear on the display. + +Default matches half of the Vienna standard of 10 centimeters. + + + + centimeters + + + + meters + + + + Adjust how thick the lane lines appear on the display. + +Default matches the MUTCD standard of 4 inches. + + + + Adjust how thick the road edges appear on the display. + +Default matches half of the MUTCD standard of 4 inches. + + + + + FrogPilotConfirmationDialog + + Reboot Later + + + + Yes + + + + No + + + + + FrogPilotDataPanel + + Delete Driving Footage and Data + + + + DELETE + + + + This button provides a swift and secure way to permanently delete all stored driving footage and data from your device. Ideal for maintaining privacy or freeing up space. + + + + Are you sure you want to permanently delete all of your driving footage and data? + + + + Delete + + + + Deleting... + + + + Deleted! + + + + Screen Recordings + + + + Manage your screen recordings. + + + + RENAME + + + + Select a recording to delete + + + + Are you sure you want to delete this recording? + + + + Failed... + + + + Select a recording to rename + + + + Enter a new name + + + + Rename Recording + + + + Renaming... + + + + Renamed! + + + + FrogPilot Backups + + + + Manage your FrogPilot backups. + + + + BACKUP + + + + RESTORE + + + + Name your backup + + + + Do you want to compress this backup? The end file size will be 2.25x smaller, but can take 10+ minutes. + + + + Backing... + + + + Compressing... + + + + Success! + + + + Select a backup to delete + + + + Are you sure you want to delete this backup? + + + + Select a restore point + + + + Are you sure you want to restore this version of FrogPilot? + + + + Restore + + + + Restoring... + + + + Extracting... + + + + Restored! + + + + Rebooting... + + + + Toggle Backups + + + + Manage your toggle backups. + + + + Are you sure you want to restore this toggle backup? + + + + + FrogPilotDevicePanel + + Device Settings + + + + Device behavior settings. + + + + Device Shutdown Timer + + + + How long the device stays on after you stop driving. + + + + Disable Internet Requirement + + + + The device can work without an internet connection for as long as you need. + + + + Increase Thermal Safety Limit + + + + The device can run at higher temperatures than recommended. + + + + Low Battery Shutdown Threshold + + + + Shut down the device when the car's battery gets too low to prevent damage to the 12V battery. + + + + Turn Off Data Tracking + + + + Disable all tracking to improve privacy. + + + + Turn Off Data Uploads + + + + Stop the device from sending any data to the servers. + + + + Screen Settings + + + + Screen behavior settings. + + + + Screen Brightness (Offroad) + + + + The screen brightness when you're not driving. + + + + Screen Brightness (Onroad) + + + + The screen brightness while you're driving. + + + + Screen Recorder + + + + Display a button in the onroad UI to record the screen. + + + + Screen Timeout (Offroad) + + + + How long it takes for the screen to turn off when you're not driving. + + + + Screen Timeout (Onroad) + + + + How long it takes for the screen to turn off while you're driving. + + + + 5 mins + + + + mins + + + + hour + + + + hours + + + + Only Onroad + + + + volts + + + + Auto + + + + seconds + + + + WARNING: This can cause premature wear or damage by running the device over comma's recommended temperature limits! + + + + I understand the risks. + + + + WARNING: This will prevent your drives from being recorded and the data will be unobtainable! + + + + WARNING: This will prevent your drives from appearing on comma connect which may impact debugging and support! + + + + + FrogPilotLateralPanel + + Always on Lateral + + + + openpilot's steering control stays active even when the brake or gas pedals are pressed. + +Deactivate only occurs with the 'Cruise Control' button. + + + + Control with LKAS Button + + + + 'Always on Lateral' gets turned on or off using the 'LKAS' button. + + + + Enable with Cruise Control + + + + 'Always on Lateral' gets turned on by pressing the 'Cruise Control' button bypassing the requirement to enable openpilot first. + + + + Pause on Brake Below + + + + 'Always on Lateral' pauses when the brake pedal is pressed below the set speed. + + + + Hide the Status Bar + + + + The status bar for 'Always on Lateral' is hidden. + + + + Lane Change Settings + + + + How openpilot handles lane changes. + + + + Hands-Free Lane Change + + + + Lane changes are conducted without needing to touch the steering wheel upon turn signal activation. + + + + Lane Change Delay + + + + How long openpilot waits before changing lanes. + + + + Lane Width Requirement + + + + The minimum lane width for openpilot to detect a lane as a lane. + + + + Minimum Speed for Lane Change + + + + The minimum speed required for openpilot to perform a lane change. + + + + Single Lane Change Per Signal + + + + Lane changes are limited to one per turn signal activation. + + + + Lateral Tuning + + + + Settings that control how openpilot manages steering. + + + + Neural Network Feedforward (NNFF) + + + + Twilsonco's 'Neural Network FeedForward' for more precise steering control. + + + + Smooth Curve Handling + + + + Smoother steering when entering and exiting curves with Twilsonco's torque adjustments. + + + + Quality of Life Improvements + + + + Miscellaneous lateral focused features to improve your overall openpilot experience. + + + + Pause Steering Below + + + + Pauses steering control when driving below the set speed. + + + + mph + mph + + + feet + + + + Reboot required to take effect. + + + + Reboot Now + + + + kph + + + + meters + + + + + FrogPilotLongitudinalPanel + + Conditional Experimental Mode + + + + Automatically switches to 'Experimental Mode' when specific conditions are met. + + + + Below + + + + 'Experimental Mode' is active when driving below the set speed without a lead vehicle. + + + + Curve Detected Ahead + + + + 'Experimental Mode' is active when a curve is detected in the road ahead. + + + + Lead Detected Ahead + + + + 'Experimental Mode' is active when a slower or stopped vehicle is detected ahead. + + + + Navigation Data + + + + 'Experimental Mode' is active based on navigation data, such as upcoming intersections or turns. + + + + openpilot Wants to Stop In + + + + 'Experimental Mode' is active when openpilot wants to stop such as for a stop sign or red light. + + + + Turn Signal Below + + + + 'Experimental Mode' is active when using turn signals below the set speed. + + + + Hide the Status Bar + + + + The status bar for 'Conditional Experimental Mode' is hidden. + + + + Curve Speed Control + + + + Automatically slow down for curves detected ahead or through the downloaded maps. + + + + Curve Detection Method + + + + The method used to detect curves. + + + + Curve Detection Failsafe + + + + Curve control is triggered only when a curve is detected ahead. Use this as a failsafe to prevent false positives when using the 'Map Based' method. + + + + Curve Sensitivity + + + + How sensitive openpilot is to detecting curves. Higher values trigger earlier responses at the risk of triggering too often, while lower values increase confidence at the risk of triggering too infrequently. + + + + Turn Speed Aggressiveness + + + + How aggressive openpilot takes turns. Higher values result in quicker turns, while lower values provide gentler turns. + + + + Disable Speed Value Smoothing In the UI + + + + Speed value smoothing is disabled in the UI to instead display the exact speed requested by the curve control. + + + + Experimental Mode Activation + + + + 'Experimental Mode' is toggled off/on using the steering wheel buttons or the on-screen controls. + +This overrides 'Conditional Experimental Mode'. + + + + Click the LKAS Button + + + + 'Experimental Mode' is toggled by pressing the 'LKAS' button on the steering wheel. + + + + Double-Tap the Screen + + + + 'Experimental Mode' is toggled by double-tapping the onroad UI within 0.5 seconds. + + + + Long Press the Distance Button + + + + 'Experimental Mode' is toggled by holding the 'distance' button on the steering wheel for 0.5+ seconds. + + + + Longitudinal Tuning + + + + Settings that control how openpilot manages speed and acceleration. + + + + Acceleration Profile + + + + Choose between a sporty or eco-friendly acceleration rate. + + + + Deceleration Profile + + + + Choose between a sporty or eco-friendly deceleration rate. + + + + Human-Like Acceleration + + + + Uses the lead's acceleration rate when at a takeoff and ramps off the acceleration rate when approaching the maximum set speed for a smoother max speed approach. + + + + Human-Like Following Distance + + + + Dynamically adjusts the following distance to feel more natural when approaching slower or stopped vehicles. + + + + Increase Stopped Distance + + + + Increases the distance to stop behind vehicles. + + + + Quality of Life Improvements + + + + Miscellaneous longitudinal focused features to improve your overall openpilot experience. + + + + Cruise Increase Interval + + + + Interval used when increasing the cruise control speed. + + + + Custom Cruise Interval (Long Press) + + + + Interval used when increasing the cruise control speed when holding down the button for 0.5+ seconds. + + + + Map Accel/Decel to Gears + + + + Map the acceleration and deceleration profiles to the 'Eco' or 'Sport' gear modes. + + + + Onroad Personality Button + + + + The current driving personality is displayed on the screen. Tap to switch personalities, or long press for 2.5 seconds to activate 'Traffic Mode'. + + + + Reverse Cruise Increase + + + + The long press feature is reversed in order to increase speed by 5 mph instead of 1. + + + + Speed Limit Controller + + + + Automatically adjust your max speed to match the speed limit using 'Open Street Maps', 'Navigate on openpilot', or your car's dashboard (Toyota/Lexus/HKG only). + + + + Confirm New Speed Limits + + + + Require manual confirmation before using a new speed limit. + + + + Fallback Method + + + + Choose what happens when no speed limit data is available. + + + + Override Method + + + + Choose how you want to override the current speed limit. + + + + + + Speed Limit Source Priority + + + + Set the order of priority for speed limit data sources. + + + + Speed Limit Offsets + + + + Manage toggles related to 'Speed Limit Controller's controls. + + + + Speed Limit Offset (0-34 mph) + + + + Set the speed limit offset for speeds between 0 and 34 mph. + + + + Speed Limit Offset (35-54 mph) + + + + Set the speed limit offset for speeds between 35 and 54 mph. + + + + Speed Limit Offset (55-64 mph) + + + + Set the speed limit offset for speeds between 55 and 64 mph. + + + + Speed Limit Offset (65-99 mph) + + + + Set the speed limit offset for speeds between 65 and 99 mph. + + + + Miscellaneous 'Speed Limit Controller' focused features to improve your overall openpilot experience. + + + + Force MPH Readings from Dashboard + + + + Force speed limit readings in MPH from the dashboard if it normally displays in KPH. + + + + Prepare for Higher Speed Limits + + + + Set a lookahead value to prepare for upcoming higher speed limits based on map data. + + + + Prepare for Lower Speed Limits + + + + Set a lookahead value to prepare for upcoming lower speed limits based on map data. + + + + Set Speed to Current Limit + + + + Set your max speed to match the current speed limit when enabling openpilot. + + + + Visual Settings + + + + Manage visual settings for the 'Speed Limit Controller'. + + + + Use Vienna-Style Speed Signs + + + + Switch to Vienna-style (EU) speed limit signs instead of MUTCD (US). + + + + Show Speed Limit Offset + + + + Display the speed limit offset separately in the onroad UI when using the Speed Limit Controller. + + + + mph + mph + + + With Lead + + + + Switches to 'Experimental Mode' when driving below the set speed with a lead vehicle. + + + + With Lead + + + + Slower Lead + + + + Stopped Lead + + + + Intersections + + + + Turns + + + + Off + + + + Map Based + + + + Vision + + + + Standard + 표준 + + + Eco + + + + Sport + + + + Sport+ + + + + feet + + + + Acceleration + + + + Deceleration + + + + Lower Limits + + + + Higher Limits + + + + None + + + + Set Speed + + + + Experimental Mode + 실험 모드 + + + Previous Limit + + + + Gas Pedal Press + + + + Cruise Set Speed + + + + SELECT + 선택 + + + Dashboard + + + + Navigation + + + + Offline Maps + + + + Highest + + + + Lowest + + + + Select your primary priority + + + + Select your secondary priority + + + + Select your tertiary priority + + + + MANAGE + + + + seconds + + + + Control Via UI + + + + Speed Limit Offset (0-34 kph) + + + + Speed Limit Offset (35-54 kph) + + + + Speed Limit Offset (55-64 kph) + + + + Speed Limit Offset (65-99 kph) + + + + Set speed limit offset for limits between 0-34 kph. + + + + Set speed limit offset for limits between 35-54 kph. + + + + Set speed limit offset for limits between 55-64 kph. + + + + Set speed limit offset for limits between 65-99 kph. + + + + kph + + + + meters + + + + Set speed limit offset for limits between 0-34 mph. + + + + Set speed limit offset for limits between 35-54 mph. + + + + Set speed limit offset for limits between 55-64 mph. + + + + Set speed limit offset for limits between 65-99 mph. + + + + + FrogPilotParamManageControl + + MANAGE + + + + + FrogPilotSettingsWindow + + Advanced Settings + + + + Alerts and Sounds + + + + Driving Controls + + + + Navigation + + + + System Management + + + + Theme and Appearance + + + + Vehicle Controls + + + + Advanced FrogPilot features for more experienced users. + + + + Options to customize FrogPilot's sound alerts and notifications. + + + + FrogPilot features than impact acceleration, braking, and steering. + + + + Offline maps downloader and 'Navigate On openpilot (NOO)' settings. + + + + Tools and system utilities used to maintain and troubleshoot FrogPilot. + + + + Options for customizing FrogPilot's themes, UI appearance, and onroad widgets. + + + + Vehicle-specific settings and configurations for supported makes and models. + + + + DRIVING + + + + VISUALS + + + + MANAGE + + + + GAS / BRAKE + + + + STEERING + + + + DATA + + + + DEVICE + + + + UTILITIES + + + + APPEARANCE + + + + THEME + + + + + FrogPilotSoundsPanel + + Alert Volume Controller + + + + Control the volume level for each individual sound in openpilot. + + + + Disengage Volume + + + + Related alerts: + +Adaptive Cruise Disabled +Parking Brake Engaged +Brake Pedal Pressed +Speed too Low + + + + Engage Volume + + + + Related alerts: + +NNFF Torque Controller loaded +openpilot engaged + + + + Prompt Volume + + + + Related alerts: + +Car Detected in Blindspot +Speed too Low +Steer Unavailable Below 'X' +Take Control, Turn Exceeds Steering Limit + + + + Prompt Distracted Volume + + + + Related alerts: + +Pay Attention, Driver Distracted +Touch Steering Wheel, Driver Unresponsive + + + + Refuse Volume + + + + Related alerts: + +openpilot Unavailable + + + + Warning Soft Volume + + + + Related alerts: + +BRAKE!, Risk of Collision +TAKE CONTROL IMMEDIATELY + + + + Warning Immediate Volume + + + + Related alerts: + +DISENGAGE IMMEDIATELY, Driver Distracted +DISENGAGE IMMEDIATELY, Driver Unresponsive + + + + Custom Alerts + + + + Enable custom alerts for openpilot events. + + + + Goat Scream Steering Saturated Alert + + + + Enable the famed 'Goat Scream' that has brought both joy and anger to FrogPilot users all around the world! + + + + Green Light Alert + + + + Get an alert when a traffic light changes from red to green. + + + + Lead Departing Alert + + + + Get an alert when the lead vehicle starts departing when at a standstill. + + + + Loud Blindspot Alert + + + + Enable a louder alert for when a vehicle is detected in the blindspot when attempting to change lanes. + + + + Speed Limit Change Alert + + + + Trigger an alert when the speed limit changes. + + + + + FrogPilotThemesPanel + + Custom Theme + + + + Custom openpilot themes. + + + + Color Scheme + + + + Themed color schemes. + +Want to submit your own color scheme? Share it in the 'feature-request' channel on the FrogPilot Discord! + + + + Icon Pack + + + + Themed icon packs. + +Want to submit your own icons? Share them in the 'feature-request' channel on the FrogPilot Discord! + + + + Sound Pack + + + + Themed sound effects. + +Want to submit your own sounds? Share them in the 'feature-request' channel on the FrogPilot Discord! + + + + Steering Wheel + + + + Custom steering wheel icons. + + + + Turn Signal Animation + + + + Themed turn signal animations. + +Want to submit your own animations? Share them in the 'feature-request' channel on the FrogPilot Discord! + + + + Download Status + + + + Holiday Themes + + + + Change the openpilot theme based on the current holiday. Minor holidays last one day, while major holidays (Easter, Christmas, Halloween, etc.) last a week. + + + + Random Events + + + + Random cosmetic events that happen during certain driving conditions. These events are purely for fun and don't affect driving controls! + + + + Startup Alert + + + + Custom 'Startup' alert message that appears when you start driving. + + + + DELETE + + + + DOWNLOAD + 다운로드 + + + SELECT + 선택 + + + Select a color scheme to delete + + + + Are you sure you want to delete the '%1' color scheme? + + + + Delete + + + + Select a color scheme to download + + + + Select a color scheme + + + + Select an icon pack to delete + + + + Are you sure you want to delete the '%1' icon pack? + + + + Select an icon pack to download + + + + Select an icon pack + + + + Select a signal pack to delete + + + + Are you sure you want to delete the '%1' signal pack? + + + + Select a signal pack to download + + + + Select a signal pack + + + + Select a sound pack to delete + + + + Are you sure you want to delete the '%1' sound scheme? + + + + Select a sound pack to download + + + + Select a sound scheme + + + + Select a steering wheel to delete + + + + Are you sure you want to delete the '%1' steering wheel image? + + + + Select a steering wheel to download + + + + Select a steering wheel + + + + STOCK + + + + FROGPILOT + + + + CUSTOM + + + + CLEAR + + + + Enter your text for the top half + + + + Characters: 0/%1 + + + + Enter your text for the bottom half + + + + CANCEL + + + + + FrogPilotVehiclesPanel + + Select Make + + + + SELECT + 선택 + + + Select a Make + + + + Select Model + + + + Select a Model + + + + Disable Automatic Fingerprint Detection + + + + Forces the selected fingerprint and prevents it from ever changing. + + + + Disable openpilot Longitudinal Control + + + + Disable openpilot longitudinal control and use stock ACC instead. + + + + Are you sure you want to completely disable openpilot longitudinal control? + + + + Reboot required to take effect. + + + + Reboot Now + + + + 2017 Volt Stop and Go Hack + + + + Force stop and go for the 2017 Chevy Volt. + + + + Experimental GM Tune + + + + FrogsGoMoo's experimental GM tune that is based on nothing but guesswork. Use at your own risk! + + + + Uphill/Downhill Smoothing + + + + Smoothen the car’s gas and brake response when driving on slopes. + + + + Use comma's New Longitudinal API + + + + Comma's new longitudinal control system that has shown great improvement with acceleration and braking, but has a few issues on some GM vehicles. + + + + Use comma's new longitudinal control system that has shown great improvement with acceleration and braking, but has a few issues on Hyundai/Kia/Genesis. + + + + Subaru Crosstrek Torque Increase + + + + Increases the maximum allowed torque for the Subaru Crosstrek. + + + + Automatically Lock/Unlock Doors + + + + Automatically lock the doors when in drive and unlock when in park. + + + + Cluster Speed Offset + + + + Set the cluster offset openpilot uses to try and match the speed displayed on the dash. + + + + FrogsGoMoo's Personal Tweaks + + + + Use FrogsGoMoo's personal tweaks to the Toyota tune focused around his 2019 Lexus ES 350 to take off a bit quicker and stop a bit smoother. + + + + Stop and Go Hack + + + + Force stop and go for vehicles without stock stop and go functionality. + + + + Lock + + + + Unlock + + + + + FrogPilotVisualsPanel + + Onroad UI Widgets + + + + Custom FrogPilot widgets used in the onroad user interface. + + + + Compass + + + + A compass in the onroad UI to show the current driving direction. + + + + Dynamic Path Width + + + + Automatically adjust the width of the driving path display based on the current engagement state: + +Fully engaged = 100% +Always On Lateral Active = 75% +Fully disengaged = 50% + + + + Gas/Brake Pedal Indicators + - - - DevicePanel - Dongle ID - 동글 ID + Pedal indicators in the onroad UI that change opacity based on the pressure applied. + - N/A - N/A + Paths + - Serial - 시리얼 + Projected acceleration path, detected lanes, and vehicles in the blind spot. + - Driver Camera - 운전자 카메라 + Road Name + - PREVIEW - 미리보기 + The current road name is displayed at the bottom of the screen using data from 'OpenStreetMap'. + - Preview the driver facing camera to ensure that driver monitoring has good visibility. (vehicle must be off) - 운전자 모니터링이 잘 되는지 확인하기 위해 후면 카메라를 미리 봅니다. (차량 시동이 꺼져 있어야 합니다) + Rotating Steering Wheel + - Reset Calibration - 캘리브레이션 초기화 + The steering wheel in the onroad UI rotates along with your steering wheel movements. + - RESET - 초기화 + Quality of Life Improvements + - Are you sure you want to reset calibration? - 캘리브레이션을 초기화하시겠습니까? + Miscellaneous visual focused features to improve your overall openpilot experience. + - Review Training Guide - 트레이닝 가이드 다시보기 + Larger Map Display + - REVIEW - 다시보기 + A larger size of the map in the onroad UI for easier navigation readings. + - Review the rules, features, and limitations of openpilot - openpilot의 규칙, 기능 및 제한 다시 확인 + Map Style + - Are you sure you want to review the training guide? - 트레이닝 가이드를 다시 확인하시겠습니까? + Custom map styles for the map used during navigation. + - Regulatory - 규제 + Screen Standby Mode + - VIEW - 보기 + The screen is turned off after it times out when driving, but it automatically wakes up if engagement state changes or important alerts occur. + - Change Language - 언어 변경 + Show Driver Camera When In Reverse + - CHANGE - 변경 + The driver camera feed is displayed when the vehicle is in reverse. + - Select a language - 언어를 선택하세요 + Stopped Timer + - Reboot - 재부팅 + A timer on the onroad UI to indicate how long the vehicle has been stopped. + - Power Off - 전원 끄기 + Acceleration + - openpilot requires the device to be mounted within 4° left or right and within 5° up or 9° down. openpilot is continuously calibrating, resetting is rarely required. - openpilot 장치는 좌우 4°, 위로 5°, 아래로 9° 이내 각도로 장착되어야 합니다. openpilot은 지속적으로 자동 보정되며 재설정은 거의 필요하지 않습니다. + Adjacent + - Your device is pointed %1° %2 and %3° %4. - 사용자의 장치는 %2 %1° 및 %4 %3° 의 방향으로 장착되어 있습니다. + Blind Spot + - down - 아래로 + Dynamic + - up - 위로 + Static + - left - 좌측으로 + Full Map + - right - 우측으로 + Stock openpilot + - Are you sure you want to reboot? - 재부팅하시겠습니까? + Mapbox Streets + - Disengage to Reboot - 재부팅하려면 연결을 해제하세요 + Mapbox Outdoors + - Are you sure you want to power off? - 전원을 끄시겠습니까? + Mapbox Light + - Disengage to Power Off - 전원을 끄려면 연결을 해제하세요 + Mapbox Dark + - Reset - 초기화 + Mapbox Satellite + - Review - 다시보기 + Mapbox Satellite Streets + - Pair your device with comma connect (connect.comma.ai) and claim your comma prime offer. - 장치를 comma connect (connect.comma.ai)에서 페어링하고 comma prime 무료 이용권을 사용하세요. + Mapbox Navigation Day + - Pair Device - 장치 동기화 + Mapbox Navigation Night + - PAIR - 동기화 + Mapbox Traffic Night + - - - DriverViewWindow - camera starting - 카메라 시작 중 + mike854's (Satellite hybrid) + - - - ExperimentalModeButton - EXPERIMENTAL MODE ON - 실험 모드 사용 + SELECT + 선택 - CHILL MODE ON - 안정 모드 사용 + Select a map style + @@ -336,6 +3382,10 @@ 최소 %n자 이상이어야 합니다! + + Characters: %1/%2 + + Installer @@ -369,6 +3419,10 @@ Manage at connect.comma.ai connect.comma.ai에서 관리하세요 + + Manage at %1 + + MapWindow @@ -590,7 +3644,7 @@ openpilot - openpilot + openpilot %n minute(s) ago @@ -630,6 +3684,10 @@ now now + + FrogPilot + + Reset @@ -676,7 +3734,7 @@ This may take up to a minute. SettingsWindow × - × + × Device @@ -694,6 +3752,14 @@ This may take up to a minute. Software 소프트웨어 + + ← Back + + + + FrogPilot + + Setup @@ -887,12 +3953,36 @@ This may take up to a minute. 5G 5G + + GPU + + + + CPU + + + + GB + + + + MEMORY + + + + LEFT + + + + USED + + SoftwarePanel Updates are only downloaded while the car is off. - 업데이트는 차량 시동이 꺼졌을 때 다운로드됩니다. + 업데이트는 차량 시동이 꺼졌을 때 다운로드됩니다. Current Version @@ -962,6 +4052,34 @@ This may take up to a minute. never 업데이트 안함 + + Updates are only downloaded while the car is off or in park. + + + + Automatically Update FrogPilot + + + + FrogPilot will automatically update itself and it's assets when you're offroad and connected to Wi-Fi. + + + + Do you want to permanently delete any additional FrogPilot assets? This is 100% unrecoverable and includes backups, downloaded models, themes, and long-term storage toggle settings for easy reinstalls. + + + + Error Log + + + + VIEW + 보기 + + + View the error log for openpilot crashes. + + SshControl @@ -1140,7 +4258,7 @@ This may take up to a minute. An alpha version of openpilot longitudinal control can be tested, along with Experimental mode, on non-release branches. - openpilot 가감속 제어 알파 버전은 비 릴리즈 브랜치에서 실험 모드와 함께 테스트할 수 있습니다. + openpilot 가감속 제어 알파 버전은 비 릴리즈 브랜치에서 실험 모드와 함께 테스트할 수 있습니다. Enable the openpilot longitudinal control (alpha) toggle to allow Experimental mode. @@ -1158,14 +4276,6 @@ This may take up to a minute. The driving visualization will transition to the road-facing wide-angle camera at low speeds to better show some turns. The Experimental mode logo will also be shown in the top right corner. - - Always-On Driver Monitoring - - - - Enable driver monitoring even when openpilot is not engaged. - - Updater @@ -1202,6 +4312,89 @@ This may take up to a minute. 업데이트 실패 + + UtilitiesPanel + + Flash Panda + + + + FLASH + + + + Use this button to flash the Panda device's firmware if you're running into issues. + + + + Are you sure you want to flash the Panda? + + + + Flash + + + + Flashing... + + + + Flashed! + + + + Rebooting... + + + + Force Started State + + + + Force openpilot either offroad or onroad. + + + + OFFROAD + + + + ONROAD + + + + OFF + + + + Reset Toggles to Default + + + + RESET + 초기화 + + + Reset your toggle settings back to their default settings. + + + + Are you sure you want to completely reset all of your toggle settings? + + + + Reset + 초기화 + + + Resetting... + + + + Reset! + + + WiFiPromptWidget @@ -1224,6 +4417,14 @@ This may take up to a minute. Training data will be pulled periodically while your device is on Wi-Fi 기기가 Wi-Fi에 연결되어 있는 동안 트레이닝 데이터를 주기적으로 전송합니다 + + Uploading disabled + + + + Toggle off the 'Disable Uploading' toggle to enable uploads. + + WifiUI diff --git a/selfdrive/ui/translations/main_pt-BR.ts b/selfdrive/ui/translations/main_pt-BR.ts index feaa6e86a14abb..0556c2d618d843 100644 --- a/selfdrive/ui/translations/main_pt-BR.ts +++ b/selfdrive/ui/translations/main_pt-BR.ts @@ -15,313 +15,3359 @@ Reboot and Update Reiniciar e Atualizar + + Disable Internet Check + + AdvancedNetworking - Back - Voltar + Back + Voltar + + + Enable Tethering + Ativar Tether + + + Tethering Password + Senha Tethering + + + EDIT + EDITAR + + + Enter new tethering password + Insira nova senha tethering + + + IP Address + Endereço IP + + + Enable Roaming + Ativar Roaming + + + APN Setting + APN Config + + + Enter APN + Insira APN + + + leave blank for automatic configuration + deixe em branco para configuração automática + + + Cellular Metered + Plano de Dados Limitado + + + Prevent large data uploads when on a metered connection + Evite grandes uploads de dados quando estiver em uma conexão limitada + + + Hidden Network + Rede Oculta + + + CONNECT + CONECTE + + + Enter SSID + Digite o SSID + + + Enter password + Insira a senha + + + for "%1" + para "%1" + + + Off + + + + Always + + + + Only Onroad + + + + Until Reboot + + + + Allow tethering with your data SIM and keep it active either while driving or continuously. + + + + + AnnotatedCameraWidget + + km/h + km/h + + + mph + mph + + + MAX + LIMITE + + + SPEED + MAX + + + LIMIT + VELO + + + Vehicle in blind spot + + + + m/s² + + + + m/s + + + + kph + + + + ft/s² + + + + Accel: %1%2 + + + + - Max: %1%2 + + + + | Obstacle: + + + + | Obstacle Factor: + + + + - Stop: + + + + - Stop Factor: + + + + Follow: + + + + Follow Distance: + + + + Confirm speed limit + + + + + Ignore speed limit + + + + + Conditional Experimental Mode ready + + + + Conditional Experimental overridden + + + + Experimental Mode manually activated + + + + Experimental Mode activated for %1 + + + + low speed + + + + speed being less than %1 %2 + + + + Experimental Mode activated for turn + + + + / lane change + + + + Experimental Mode activated for intersection + + + + Experimental Mode activated for upcoming turn + + + + Experimental Mode activated for curve + + + + Experimental Mode activated for stopped lead + + + + Experimental Mode activated for slower lead + + + + Experimental Mode activated %1 + + + + to stop + + + + Experimental Mode forced on %1 + + + + Experimental Mode activated due to no speed limit + + + + Always On Lateral active + + + + . Press the "Cruise Control" button to disable + + + + . Long press the "distance" button to revert + + + + . Click the "LKAS" button to revert + + + + . Double tap the screen to revert + + + + + ConfirmationDialog + + Ok + OK + + + Cancel + Cancelar + + + + DeclinePage + + You must accept the Terms and Conditions in order to use openpilot. + Você precisa aceitar os Termos e Condições para utilizar openpilot. + + + Back + Voltar + + + Decline, uninstall %1 + Rejeitar, desintalar %1 + + + + DestinationWidget + + Home + Casa + + + Work + Trabalho + + + No destination set + Nenhum destino definido + + + No %1 location set + Endereço de %1 não definido + + + home + casa + + + work + trabalho + + + + DevicePanel + + Dongle ID + Dongle ID + + + N/A + N/A + + + Serial + Serial + + + Driver Camera + Câmera do Motorista + + + PREVIEW + VER + + + Preview the driver facing camera to ensure that driver monitoring has good visibility. (vehicle must be off) + Pré-visualizar a câmera voltada para o motorista para garantir que o monitoramento do sistema tenha uma boa visibilidade (veículo precisa estar desligado) + + + Reset Calibration + Reinicializar Calibragem + + + RESET + RESET + + + Are you sure you want to reset calibration? + Tem certeza que quer resetar a calibragem? + + + Review Training Guide + Revisar Guia de Treinamento + + + REVIEW + REVISAR + + + Review the rules, features, and limitations of openpilot + Revisar regras, aprimoramentos e limitações do openpilot + + + Are you sure you want to review the training guide? + Tem certeza que quer rever o treinamento? + + + Regulatory + Regulatório + + + VIEW + VER + + + Change Language + Alterar Idioma + + + CHANGE + ALTERAR + + + Select a language + Selecione o Idioma + + + Reboot + Reiniciar + + + Power Off + Desligar + + + openpilot requires the device to be mounted within 4° left or right and within 5° up or 9° down. openpilot is continuously calibrating, resetting is rarely required. + O openpilot requer que o dispositivo seja montado dentro de 4° esquerda ou direita e dentro de 5° para cima ou 9° para baixo. O openpilot está continuamente calibrando, resetar raramente é necessário. + + + Your device is pointed %1° %2 and %3° %4. + Seu dispositivo está montado %1° %2 e %3° %4. + + + down + baixo + + + up + cima + + + left + esquerda + + + right + direita + + + Are you sure you want to reboot? + Tem certeza que quer reiniciar? + + + Disengage to Reboot + Desacione para Reiniciar + + + Are you sure you want to power off? + Tem certeza que quer desligar? + + + Disengage to Power Off + Desacione para Desligar + + + Reset + Resetar + + + Review + Revisar + + + Pair your device with comma connect (connect.comma.ai) and claim your comma prime offer. + Pareie seu dispositivo com comma connect (connect.comma.ai) e reivindique sua oferta de comma prime. + + + Pair Device + Parear Dispositivo + + + PAIR + PAREAR + + + + DriveStats + + ALL TIME + + + + PAST WEEK + + + + FROGPILOT + + + + Drives + + + + Hours + + + + KM + + + + Miles + + + + + DriverViewWindow + + camera starting + câmera iniciando + + + + ExperimentalModeButton + + EXPERIMENTAL MODE ON + MODO EXPERIMENTAL ON + + + CHILL MODE ON + MODO CHILL ON + + + + FrogPilotAdvancedDrivingPanel + + Advanced Lateral Tuning + + + + Advanced settings that control how openpilot manages steering. + + + + Friction (Default: %1) + + + + Friction + + + + The resistance in steering. Higher values provide more stable steering but can make it feel heavy, while lower values allow lighter steering but may feel too sensitive. + + + + Kp Factor (Default: %1) + + + + Kp Factor + + + + How aggressively the car corrects its steering. Higher values offer quicker corrections but may feel jerky, while lower values make steering smoother but slower to respond. + + + + Lateral Accel (Default: %1) + + + + Lateral Accel + + + + Adjust how fast the car can steer from side to side. Higher values allow quicker lane changes but can feel unstable, while lower values provide smoother steering but may feel sluggish. + + + + Steer Ratio (Default: %1) + + + + Steer Ratio + + + + Adjust how much openpilot needs to turn the wheel to steer. Higher values feel like driving a truck, more stable at high speeds, but harder to steer quickly at low speeds, while lower values feel like a go-kart, easier to steer in tight spots but more sensitive and less stable at high speeds. + + + + comma's 2022 Taco Bell Turn Hack + + + + Use comma's hack they used to help handle left and right turns more precisely during their 2022 'Taco Bell' drive. + + + + Force Auto Tune On + + + + Forces comma's auto lateral tuning for unsupported vehicles. + + + + Force Auto Tune Off + + + + Forces comma's auto lateral tuning off for supported vehicles. + + + + Force Turn Desires Below Lane Change Speed + + + + Force the model to use turn desires when driving below the minimum lane change speed to help make left and right turns more precisely. + + + + Advanced Longitudinal Tuning + + + + Advanced settings that control how openpilot manages speed and acceleration. + + + + Lead Detection Confidence + + + + How sensitive openpilot is to detecting vehicles ahead. A lower value can help detect vehicles sooner and from farther away, but may occasionally mistake other objects for vehicles. + + + + Maximum Acceleration Rate + + + + Set a cap on how fast openpilot can accelerate to prevent high acceleration at low speeds. + + + + Advanced Quality of Life + + + + Miscellaneous advanced features to improve your overall openpilot experience. + + + + Force Keep openpilot in the Standstill State + + + + Keep openpilot in the 'standstill' state until the gas pedal or 'resume' button is pressed. + + + + Force Stop for 'Detected' Stop Lights/Signs + + + + Whenever openpilot 'detects' a potential stop light/stop sign, force a stop where it originally detected it to prevent running the potential red light/stop sign. + + + + Set Speed Offset + + + + How much higher or lower the set speed should be compared to your current set speed. For example, if you prefer to drive 5 mph above the speed limit, this setting will automatically add that difference when you adjust your set speed. + + + + Customize Driving Personalities + + + + Customize the personality profiles to suit your preferences. + + + + Traffic Personality + + + + Customize the 'Traffic' personality profile, tailored for navigating through traffic. + + + + Following Distance + + + + The minimum following distance in 'Traffic Mode.' openpilot will adjust dynamically between this value and the 'Aggressive' profile distance based on your speed. + + + + Acceleration Sensitivity + + + + How sensitive openpilot is to changes in acceleration in 'Traffic Mode.' Higher values result in smoother, more gradual acceleration and deceleration, while lower values allow for faster changes that may feel more abrupt. + + + + Deceleration Sensitivity + + + + Controls how sensitive openpilot is to changes in deceleration in 'Traffic Mode.' Higher values result in smoother, more gradual braking, while lower values allow for quicker, more responsive braking that may feel abrupt. + + + + Safety Distance Sensitivity + + + + Adjusts how cautious openpilot is around other vehicles or obstacles in 'Traffic Mode.' Higher values increase following distances and prioritize safety, leading to more cautious driving, while lower values allow for closer following but may reduce reaction time. + + + + Speed Increase Responsiveness + + + + Controls how quickly openpilot adjusts speed in 'Traffic Mode.' Higher values ensure smoother, more gradual speed changes, while lower values enable quicker adjustments that might feel sharper or less smooth. + + + + Speed Decrease Responsiveness + + + + Sets how quickly openpilot adjusts to decreasing speeds in 'Traffic Mode.' Higher values ensure smoother transitions when slowing down, while lower values allow for quicker, more responsive speed reductions that might feel sharper. + + + + Reset Settings + + + + Restore the 'Traffic Mode' settings to their default values. + + + + Aggressive Personality + + + + Customize the 'Aggressive' personality profile, designed for a more assertive driving style. + + + + Set the following distance for 'Aggressive' mode. This determines roughly how many seconds you'll follow behind the car ahead. + +Default: 1.25 seconds. + + + + Controls how sensitive openpilot is to acceleration changes in 'Aggressive' mode. Higher values make acceleration and deceleration smoother but slower, while lower values allow quicker changes that may feel jerky. + +Default: 0.5. + + + + Controls how sensitive openpilot is to deceleration in 'Aggressive' mode. Higher values result in smoother braking, while lower values allow for more immediate braking that may feel abrupt. + +Default: 0.5. + + + + Adjusts how cautious openpilot is around vehicles or obstacles in 'Aggressive' mode. Higher values make it more cautious, while lower values allow for closer following, increasing the risk of sudden braking. + +Default: 1.0. + + + + Controls how quickly openpilot adjusts speed in 'Aggressive' mode. Higher values result in smoother but slower speed changes, while lower values make speed adjustments quicker but potentially more abrupt. + +Default: 0.5. + + + + Sets how quickly openpilot adjusts to speed reductions in 'Aggressive' mode. Higher values ensure smoother transitions when slowing down, while lower values allow for quicker, more responsive speed decreases that may feel sharp. + +Default: 0.5. + + + + Restore the 'Aggressive' settings to their default values. + + + + Standard Personality + + + + Customize the 'Standard' personality profile, optimized for balanced driving. + + + + Set the following distance for 'Standard' mode. This determines roughly how many seconds you'll follow behind the car ahead. + +Default: 1.45 seconds. + + + + Controls how sensitive openpilot is to acceleration changes in 'Standard' mode. Higher values make acceleration and deceleration smoother but slower, while lower values allow quicker changes that may feel jerky. + +Default: 1.0. + + + + Controls how sensitive openpilot is to deceleration in 'Standard' mode. Higher values result in smoother braking, while lower values allow for quicker, more immediate braking that may feel abrupt. + +Default: 1.0. + + + + Adjusts how cautious openpilot is around vehicles or obstacles in 'Standard' mode. Higher values make it more cautious, while lower values allow for closer following, increasing the risk of sudden braking. + +Default: 1.0. + + + + Controls how quickly openpilot adjusts speed in 'Standard' mode. Higher values result in smoother but slower speed changes, while lower values make speed adjustments quicker but potentially more abrupt. + +Default: 1.0. + + + + Sets how quickly openpilot adjusts to speed reductions in 'Standard' mode. Higher values ensure smoother transitions when slowing down, while lower values allow for quicker, more responsive speed decreases that may feel sharp. + +Default: 1.0. + + + + Restore the 'Standard' settings to their default values. + + + + Relaxed Personality + + + + Customize the 'Relaxed' personality profile, ideal for a more laid-back driving style. + + + + Set the following distance for 'Relaxed' mode. This determines roughly how many seconds you'll follow behind the car ahead. + +Default: 1.75 seconds. + + + + Controls how sensitive openpilot is to acceleration changes in 'Relaxed' mode. Higher values make acceleration and deceleration smoother but slower, while lower values allow quicker changes that may feel jerky. + +Default: 1.0. + + + + Controls how sensitive openpilot is to deceleration in 'Relaxed' mode. Higher values result in smoother braking, while lower values allow for quicker, more immediate braking that may feel abrupt. + +Default: 1.0. + + + + Adjusts how cautious openpilot is around vehicles or obstacles in 'Relaxed' mode. Higher values make it more cautious, while lower values allow for closer following, increasing the risk of sudden braking. + +Default: 1.0. + + + + Controls how quickly openpilot adjusts speed in 'Relaxed' mode. Higher values result in smoother but slower speed changes, while lower values make speed adjustments quicker but potentially more abrupt. + +Default: 1.0. + + + + Sets how quickly openpilot adjusts to speed reductions in 'Relaxed' mode. Higher values ensure smoother transitions when slowing down, while lower values allow for quicker, more responsive speed decreases that may feel sharp. + +Default: 1.0. + + + + Restore the 'Relaxed' settings to their default values. + + + + Model Management + + + + Manage the driving models used by openpilot. + + + + Automatically Update and Download Models + + + + Automatically download new or updated driving models. + + + + Model Randomizer + + + + A random model is selected and can be reviewed at the end of each drive if it's longer than 15 minutes to help find your preferred model. + + + + Manage Model Blacklist + + + + Control which models are blacklisted and won't be used for future drives. + + + + Reset Model Scores + + + + Clear the ratings you've given to the driving models. + + + + Review Model Scores + + + + View the ratings you've assigned to the driving models. + + + + Delete Model + + + + Remove the selected driving model from your device. + + + + Download Model + + + + Download undownloaded driving models. + + + + Download All Models + + + + Download all undownloaded driving models. + + + + Select Model + + + + Select which model openpilot uses to drive. + + + + Reset Model Calibrations + + + + Reset calibration settings for the driving models. + + + + mph + mph + + + Reset + Resetar + + + seconds + + + + ADD + ADICIONAR + + + REMOVE + REMOVER + + + There's no more models to blacklist! The only available model is "%1"! + + + + OK + OK + + + Select a model to add to the blacklist + + + + Are you sure you want to add the '%1' model to the blacklist? + + + + Add + + + + Select a model to remove from the blacklist + + + + Are you sure you want to remove the '%1' model from the blacklist? + + + + Remove + + + + RESET + RESET + + + Reset all model scores? + + + + VIEW + VER + + + DELETE + + + + Select a model to delete + + + + Are you sure you want to delete the '%1' model? + + + + Delete + + + + Deleting... + + + + Deleted! + + + + DOWNLOAD + BAIXAR + + + CANCEL + + + + Select a driving model to download + + + + Downloading %1... + + + + SELECT + SELECIONE + + + Select a model - 🗺️ = Navigation | 📡 = Radar | 👀 = VOACC + + + + WARNING: This is a very experimental model and may drive dangerously! + + + + I understand the risks. + + + + Start with a fresh calibration for the newly selected model? + + + + Reboot required to take effect. + + + + Reboot Now + + + + RESET ALL + + + + RESET ONE + + + + Are you sure you want to completely reset all of your model calibrations? + + + + Select a model to reset + + + + Are you sure you want to completely reset this model's calibrations? + + + + The 'Model Randomizer' only works with downloaded models. Do you want to download all the driving models? + + + + Are you sure you want to completely reset your settings for the 'Traffic Mode' personality? + + + + Are you sure you want to completely reset your settings for the 'Aggressive' personality? + + + + Are you sure you want to completely reset your settings for the 'Standard' personality? + + + + Are you sure you want to completely reset your settings for the 'Relaxed' personality? + + + + kph + + + + Downloading models... + + + + openpilot requires the device to be mounted within 4° left or right and within 5° up or 9° down. openpilot is continuously calibrating, resetting is rarely required. + O openpilot requer que o dispositivo seja montado dentro de 4° esquerda ou direita e dentro de 5° para cima ou 9° para baixo. O openpilot está continuamente calibrando, resetar raramente é necessário. + + + Your device is pointed %1° %2 and %3° %4. + Seu dispositivo está montado %1° %2 e %3° %4. + + + down + baixo + + + up + cima + + + left + esquerda + + + right + direita + + + + FrogPilotAdvancedVisualsPanel + + Advanced Onroad UI Widgets + + + + Advanced user customizations for the Onroad UI. + + + + Camera View + + + + Camera view for the onroad UI. This is purely a visual change and doesn't impact how openpilot drives. + + + + Display Stopping Points + + + + Display an image on the screen where openpilot is detecting a potential red light/stop sign. + + + + Hide Lead Marker + + + + Hide the marker for the vehicle ahead on the screen. + + + + Hide Speed + + + + Hide the speed indicator in the onroad UI. Additional toggle allows it to be hidden/shown via tapping the speed itself. + + + + Hide UI Elements + + + + Hide the selected UI elements from the onroad screen. + + + + Use Wheel Speed + + + + Use the wheel speed instead of the cluster speed in the onroad UI. + + + + Developer UI + + + + Show detailed information about openpilot's internal operations. + + + + Border Metrics + + + + Display performance metrics around the edge of the screen while driving. + + + + FPS Display + + + + Display the 'Frames Per Second' (FPS) at the bottom of the screen while driving. + + + + Lateral Metrics + + + + Display metrics related to steering control at the top of the screen while driving. + + + + Longitudinal Metrics + + + + Display metrics related to acceleration, speed, and desired following distance at the top of the screen while driving. + + + + Numerical Temperature Gauge + + + + Show exact temperature readings instead of general status labels like 'GOOD', 'OK', or 'HIGH' in the sidebar. + + + + Sidebar + + + + Display system information like CPU, GPU, RAM usage, IP address, and storage space in the sidebar. + + + + Use International System of Units + + + + Display measurements using the 'International System of Units' (SI). + + + + Model UI + + + + Customize the model visualizations on the screen. + + + + Lane Lines Width + + + + How thick the lane lines appear on the display. + +Default matches the MUTCD standard of 4 inches. + + + + Path Edges Width + + + + The width of the edges of the driving path to represent different modes and statuses. + +Default is 20% of the total path width. + +Color Guide: +- Blue: Navigation +- Light Blue: 'Always On Lateral' +- Green: Default +- Orange: 'Experimental Mode' +- Red: 'Traffic Mode' +- Yellow: 'Conditional Experimental Mode' Overridden + + + + Path Width + + + + How wide the driving path appears on your screen. + +Default (6.1 feet / 1.9 meters) matches the width of a 2019 Lexus ES 350. + + + + Road Edges Width + + + + How thick the road edges appear on the display. + +Default matches half of the MUTCD standard lane line width of 4 inches. + + + + 'Unlimited' Road UI + + + + Extend the display of the path, lane lines, and road edges as far as the model can see. + + + + Auto + + + + Driver + + + + Standard + Neutro + + + Wide + + + + Control Via UI + + + + Alerts + + + + Map Icon + + + + Max Speed + + + + Show Distance + + + + Blind Spot + + + + Steering Torque + + + + Turn Signal + + + + Adjacent Path Metrics + + + + Auto Tune + + + + Lead Info + + + + Longitudinal Jerk + + + + Fahrenheit + + + + CPU + + + + GPU + + + + IP + + + + RAM + + + + SSD Left + + + + SSD Used + + + + inches + + + + % + + + + feet + + + + Adjust how thick the lane lines appear on the display. + +Default matches the Vienna standard of 10 centimeters. + + + + Adjust how thick the road edges appear on the display. + +Default matches half of the Vienna standard of 10 centimeters. + + + + centimeters + + + + meters + + + + Adjust how thick the lane lines appear on the display. + +Default matches the MUTCD standard of 4 inches. + + + + Adjust how thick the road edges appear on the display. + +Default matches half of the MUTCD standard of 4 inches. + + + + + FrogPilotConfirmationDialog + + Reboot Later + + + + Yes + + + + No + + + + + FrogPilotDataPanel + + Delete Driving Footage and Data + + + + DELETE + + + + This button provides a swift and secure way to permanently delete all stored driving footage and data from your device. Ideal for maintaining privacy or freeing up space. + + + + Are you sure you want to permanently delete all of your driving footage and data? + + + + Delete + + + + Deleting... + + + + Deleted! + + + + Screen Recordings + + + + Manage your screen recordings. + + + + RENAME + + + + Select a recording to delete + + + + Are you sure you want to delete this recording? + + + + Failed... + + + + Select a recording to rename + + + + Enter a new name + + + + Rename Recording + + + + Renaming... + + + + Renamed! + + + + FrogPilot Backups + + + + Manage your FrogPilot backups. + + + + BACKUP + + + + RESTORE + + + + Name your backup + + + + Do you want to compress this backup? The end file size will be 2.25x smaller, but can take 10+ minutes. + + + + Backing... + + + + Compressing... + + + + Success! + + + + Select a backup to delete + + + + Are you sure you want to delete this backup? + + + + Select a restore point + + + + Are you sure you want to restore this version of FrogPilot? + + + + Restore + + + + Restoring... + + + + Extracting... + + + + Restored! + + + + Rebooting... + + + + Toggle Backups + + + + Manage your toggle backups. + + + + Are you sure you want to restore this toggle backup? + + + + + FrogPilotDevicePanel + + Device Settings + + + + Device behavior settings. + + + + Device Shutdown Timer + + + + How long the device stays on after you stop driving. + + + + Disable Internet Requirement + + + + The device can work without an internet connection for as long as you need. + + + + Increase Thermal Safety Limit + + + + The device can run at higher temperatures than recommended. + + + + Low Battery Shutdown Threshold + + + + Shut down the device when the car's battery gets too low to prevent damage to the 12V battery. + + + + Turn Off Data Tracking + + + + Disable all tracking to improve privacy. + + + + Turn Off Data Uploads + + + + Stop the device from sending any data to the servers. + + + + Screen Settings + + + + Screen behavior settings. + + + + Screen Brightness (Offroad) + + + + The screen brightness when you're not driving. + + + + Screen Brightness (Onroad) + + + + The screen brightness while you're driving. + + + + Screen Recorder + + + + Display a button in the onroad UI to record the screen. + + + + Screen Timeout (Offroad) + + + + How long it takes for the screen to turn off when you're not driving. + + + + Screen Timeout (Onroad) + + + + How long it takes for the screen to turn off while you're driving. + + + + 5 mins + + + + mins + + + + hour + + + + hours + + + + Only Onroad + + + + volts + + + + Auto + + + + seconds + + + + WARNING: This can cause premature wear or damage by running the device over comma's recommended temperature limits! + + + + I understand the risks. + + + + WARNING: This will prevent your drives from being recorded and the data will be unobtainable! + + + + WARNING: This will prevent your drives from appearing on comma connect which may impact debugging and support! + + + + + FrogPilotLateralPanel + + Always on Lateral + + + + openpilot's steering control stays active even when the brake or gas pedals are pressed. + +Deactivate only occurs with the 'Cruise Control' button. + + + + Control with LKAS Button + + + + 'Always on Lateral' gets turned on or off using the 'LKAS' button. + + + + Enable with Cruise Control + + + + 'Always on Lateral' gets turned on by pressing the 'Cruise Control' button bypassing the requirement to enable openpilot first. + + + + Pause on Brake Below + + + + 'Always on Lateral' pauses when the brake pedal is pressed below the set speed. + + + + Hide the Status Bar + + + + The status bar for 'Always on Lateral' is hidden. + + + + Lane Change Settings + + + + How openpilot handles lane changes. + + + + Hands-Free Lane Change + + + + Lane changes are conducted without needing to touch the steering wheel upon turn signal activation. + + + + Lane Change Delay + + + + How long openpilot waits before changing lanes. + + + + Lane Width Requirement + + + + The minimum lane width for openpilot to detect a lane as a lane. + + + + Minimum Speed for Lane Change + + + + The minimum speed required for openpilot to perform a lane change. + + + + Single Lane Change Per Signal + + + + Lane changes are limited to one per turn signal activation. + + + + Lateral Tuning + + + + Settings that control how openpilot manages steering. + + + + Neural Network Feedforward (NNFF) + + + + Twilsonco's 'Neural Network FeedForward' for more precise steering control. + + + + Smooth Curve Handling + + + + Smoother steering when entering and exiting curves with Twilsonco's torque adjustments. + + + + Quality of Life Improvements + + + + Miscellaneous lateral focused features to improve your overall openpilot experience. + + + + Pause Steering Below + + + + Pauses steering control when driving below the set speed. + + + + mph + mph + + + feet + + + + Reboot required to take effect. + + + + Reboot Now + + + + kph + + + + meters + + + + + FrogPilotLongitudinalPanel + + Conditional Experimental Mode + + + + Automatically switches to 'Experimental Mode' when specific conditions are met. + + + + Below + + + + 'Experimental Mode' is active when driving below the set speed without a lead vehicle. + + + + Curve Detected Ahead + + + + 'Experimental Mode' is active when a curve is detected in the road ahead. + + + + Lead Detected Ahead + + + + 'Experimental Mode' is active when a slower or stopped vehicle is detected ahead. + + + + Navigation Data + + + + 'Experimental Mode' is active based on navigation data, such as upcoming intersections or turns. + + + + openpilot Wants to Stop In + + + + 'Experimental Mode' is active when openpilot wants to stop such as for a stop sign or red light. + + + + Turn Signal Below + + + + 'Experimental Mode' is active when using turn signals below the set speed. + + + + Hide the Status Bar + + + + The status bar for 'Conditional Experimental Mode' is hidden. + + + + Curve Speed Control + + + + Automatically slow down for curves detected ahead or through the downloaded maps. + + + + Curve Detection Method + + + + The method used to detect curves. + + + + Curve Detection Failsafe + + + + Curve control is triggered only when a curve is detected ahead. Use this as a failsafe to prevent false positives when using the 'Map Based' method. + + + + Curve Sensitivity + + + + How sensitive openpilot is to detecting curves. Higher values trigger earlier responses at the risk of triggering too often, while lower values increase confidence at the risk of triggering too infrequently. + + + + Turn Speed Aggressiveness + + + + How aggressive openpilot takes turns. Higher values result in quicker turns, while lower values provide gentler turns. + + + + Disable Speed Value Smoothing In the UI + + + + Speed value smoothing is disabled in the UI to instead display the exact speed requested by the curve control. + + + + Experimental Mode Activation + + + + 'Experimental Mode' is toggled off/on using the steering wheel buttons or the on-screen controls. + +This overrides 'Conditional Experimental Mode'. + + + + Click the LKAS Button + + + + 'Experimental Mode' is toggled by pressing the 'LKAS' button on the steering wheel. + + + + Double-Tap the Screen + + + + 'Experimental Mode' is toggled by double-tapping the onroad UI within 0.5 seconds. + + + + Long Press the Distance Button + + + + 'Experimental Mode' is toggled by holding the 'distance' button on the steering wheel for 0.5+ seconds. + + + + Longitudinal Tuning + + + + Settings that control how openpilot manages speed and acceleration. + + + + Acceleration Profile + + + + Choose between a sporty or eco-friendly acceleration rate. + + + + Deceleration Profile + + + + Choose between a sporty or eco-friendly deceleration rate. + + + + Human-Like Acceleration + + + + Uses the lead's acceleration rate when at a takeoff and ramps off the acceleration rate when approaching the maximum set speed for a smoother max speed approach. + + + + Human-Like Following Distance + + + + Dynamically adjusts the following distance to feel more natural when approaching slower or stopped vehicles. + + + + Increase Stopped Distance + + + + Increases the distance to stop behind vehicles. + + + + Quality of Life Improvements + + + + Miscellaneous longitudinal focused features to improve your overall openpilot experience. + + + + Cruise Increase Interval + + + + Interval used when increasing the cruise control speed. + + + + Custom Cruise Interval (Long Press) + + + + Interval used when increasing the cruise control speed when holding down the button for 0.5+ seconds. + + + + Map Accel/Decel to Gears + + + + Map the acceleration and deceleration profiles to the 'Eco' or 'Sport' gear modes. + + + + Onroad Personality Button + + + + The current driving personality is displayed on the screen. Tap to switch personalities, or long press for 2.5 seconds to activate 'Traffic Mode'. + + + + Reverse Cruise Increase + + + + The long press feature is reversed in order to increase speed by 5 mph instead of 1. + + + + Speed Limit Controller + + + + Automatically adjust your max speed to match the speed limit using 'Open Street Maps', 'Navigate on openpilot', or your car's dashboard (Toyota/Lexus/HKG only). + + + + Confirm New Speed Limits + + + + Require manual confirmation before using a new speed limit. + + + + Fallback Method + + + + Choose what happens when no speed limit data is available. + + + + Override Method + + + + Choose how you want to override the current speed limit. + + + + + + Speed Limit Source Priority + + + + Set the order of priority for speed limit data sources. + + + + Speed Limit Offsets + + + + Manage toggles related to 'Speed Limit Controller's controls. + + + + Speed Limit Offset (0-34 mph) + + + + Set the speed limit offset for speeds between 0 and 34 mph. + + + + Speed Limit Offset (35-54 mph) + + + + Set the speed limit offset for speeds between 35 and 54 mph. + + + + Speed Limit Offset (55-64 mph) + + + + Set the speed limit offset for speeds between 55 and 64 mph. + + + + Speed Limit Offset (65-99 mph) + + + + Set the speed limit offset for speeds between 65 and 99 mph. + + + + Miscellaneous 'Speed Limit Controller' focused features to improve your overall openpilot experience. + + + + Force MPH Readings from Dashboard + + + + Force speed limit readings in MPH from the dashboard if it normally displays in KPH. + + + + Prepare for Higher Speed Limits + + + + Set a lookahead value to prepare for upcoming higher speed limits based on map data. + + + + Prepare for Lower Speed Limits + + + + Set a lookahead value to prepare for upcoming lower speed limits based on map data. + + + + Set Speed to Current Limit + + + + Set your max speed to match the current speed limit when enabling openpilot. + + + + Visual Settings + + + + Manage visual settings for the 'Speed Limit Controller'. + + + + Use Vienna-Style Speed Signs + + + + Switch to Vienna-style (EU) speed limit signs instead of MUTCD (US). + + + + Show Speed Limit Offset + + + + Display the speed limit offset separately in the onroad UI when using the Speed Limit Controller. + + + + mph + mph + + + With Lead + + + + Switches to 'Experimental Mode' when driving below the set speed with a lead vehicle. + + + + With Lead + + + + Slower Lead + + + + Stopped Lead + + + + Intersections + + + + Turns + + + + Off + + + + Map Based + + + + Vision + + + + Standard + Neutro + + + Eco + + + + Sport + + + + Sport+ + + + + feet + + + + Acceleration + + + + Deceleration + + + + Lower Limits + + + + Higher Limits + + + + None + + + + Set Speed + + + + Experimental Mode + Modo Experimental + + + Previous Limit + + + + Gas Pedal Press + + + + Cruise Set Speed + + + + SELECT + SELECIONE + + + Dashboard + + + + Navigation + + + + Offline Maps + + + + Highest + + + + Lowest + + + + Select your primary priority + + + + Select your secondary priority + + + + Select your tertiary priority + + + + MANAGE + + + + seconds + + + + Control Via UI + + + + Speed Limit Offset (0-34 kph) + + + + Speed Limit Offset (35-54 kph) + + + + Speed Limit Offset (55-64 kph) + + + + Speed Limit Offset (65-99 kph) + + + + Set speed limit offset for limits between 0-34 kph. + + + + Set speed limit offset for limits between 35-54 kph. + + + + Set speed limit offset for limits between 55-64 kph. + + + + Set speed limit offset for limits between 65-99 kph. + + + + kph + + + + meters + + + + Set speed limit offset for limits between 0-34 mph. + + + + Set speed limit offset for limits between 35-54 mph. + + + + Set speed limit offset for limits between 55-64 mph. + + + + Set speed limit offset for limits between 65-99 mph. + + + + + FrogPilotParamManageControl + + MANAGE + + + + + FrogPilotSettingsWindow + + Advanced Settings + + + + Alerts and Sounds + + + + Driving Controls + + + + Navigation + + + + System Management + + + + Theme and Appearance + + + + Vehicle Controls + + + + Advanced FrogPilot features for more experienced users. + + + + Options to customize FrogPilot's sound alerts and notifications. + + + + FrogPilot features than impact acceleration, braking, and steering. + + + + Offline maps downloader and 'Navigate On openpilot (NOO)' settings. + + + + Tools and system utilities used to maintain and troubleshoot FrogPilot. + + + + Options for customizing FrogPilot's themes, UI appearance, and onroad widgets. + + + + Vehicle-specific settings and configurations for supported makes and models. + + + + DRIVING + + + + VISUALS + + + + MANAGE + + + + GAS / BRAKE + + + + STEERING + + + + DATA + + + + DEVICE + + + + UTILITIES + + + + APPEARANCE + + + + THEME + + + + + FrogPilotSoundsPanel + + Alert Volume Controller + + + + Control the volume level for each individual sound in openpilot. + + + + Disengage Volume + + + + Related alerts: + +Adaptive Cruise Disabled +Parking Brake Engaged +Brake Pedal Pressed +Speed too Low + + + + Engage Volume + + + + Related alerts: + +NNFF Torque Controller loaded +openpilot engaged + + + + Prompt Volume + + + + Related alerts: + +Car Detected in Blindspot +Speed too Low +Steer Unavailable Below 'X' +Take Control, Turn Exceeds Steering Limit + + + + Prompt Distracted Volume + + + + Related alerts: + +Pay Attention, Driver Distracted +Touch Steering Wheel, Driver Unresponsive + + + + Refuse Volume + + + + Related alerts: + +openpilot Unavailable + + + + Warning Soft Volume + + + + Related alerts: + +BRAKE!, Risk of Collision +TAKE CONTROL IMMEDIATELY + + + + Warning Immediate Volume + + + + Related alerts: + +DISENGAGE IMMEDIATELY, Driver Distracted +DISENGAGE IMMEDIATELY, Driver Unresponsive + + + + Custom Alerts + + + + Enable custom alerts for openpilot events. + + + + Goat Scream Steering Saturated Alert + + + + Enable the famed 'Goat Scream' that has brought both joy and anger to FrogPilot users all around the world! + + + + Green Light Alert + + + + Get an alert when a traffic light changes from red to green. + + + + Lead Departing Alert + + + + Get an alert when the lead vehicle starts departing when at a standstill. + + + + Loud Blindspot Alert + + + + Enable a louder alert for when a vehicle is detected in the blindspot when attempting to change lanes. + + + + Speed Limit Change Alert + + + + Trigger an alert when the speed limit changes. + + + + + FrogPilotThemesPanel + + Custom Theme + + + + Custom openpilot themes. + + + + Color Scheme + + + + Themed color schemes. + +Want to submit your own color scheme? Share it in the 'feature-request' channel on the FrogPilot Discord! + + + + Icon Pack + + + + Themed icon packs. + +Want to submit your own icons? Share them in the 'feature-request' channel on the FrogPilot Discord! + + + + Sound Pack + + + + Themed sound effects. + +Want to submit your own sounds? Share them in the 'feature-request' channel on the FrogPilot Discord! + + + + Steering Wheel + + + + Custom steering wheel icons. + + + + Turn Signal Animation + + + + Themed turn signal animations. + +Want to submit your own animations? Share them in the 'feature-request' channel on the FrogPilot Discord! + + + + Download Status + + + + Holiday Themes + + + + Change the openpilot theme based on the current holiday. Minor holidays last one day, while major holidays (Easter, Christmas, Halloween, etc.) last a week. + + + + Random Events + + + + Random cosmetic events that happen during certain driving conditions. These events are purely for fun and don't affect driving controls! + + + + Startup Alert + + + + Custom 'Startup' alert message that appears when you start driving. + + + + DELETE + + + + DOWNLOAD + BAIXAR + + + SELECT + SELECIONE + + + Select a color scheme to delete + + + + Are you sure you want to delete the '%1' color scheme? + + + + Delete + + + + Select a color scheme to download + + + + Select a color scheme + + + + Select an icon pack to delete + + + + Are you sure you want to delete the '%1' icon pack? + + + + Select an icon pack to download + + + + Select an icon pack + + + + Select a signal pack to delete + + + + Are you sure you want to delete the '%1' signal pack? + + + + Select a signal pack to download + + + + Select a signal pack + + + + Select a sound pack to delete + + + + Are you sure you want to delete the '%1' sound scheme? + + + + Select a sound pack to download + + + + Select a sound scheme + + + + Select a steering wheel to delete + + + + Are you sure you want to delete the '%1' steering wheel image? + + + + Select a steering wheel to download + + + + Select a steering wheel + + + + STOCK + + + + FROGPILOT + + + + CUSTOM + + + + CLEAR + + + + Enter your text for the top half + + + + Characters: 0/%1 + + + + Enter your text for the bottom half + + + + CANCEL + + + + + FrogPilotVehiclesPanel + + Select Make + + + + SELECT + SELECIONE + + + Select a Make + + + + Select Model + - Enable Tethering - Ativar Tether + Select a Model + - Tethering Password - Senha Tethering + Disable Automatic Fingerprint Detection + - EDIT - EDITAR + Forces the selected fingerprint and prevents it from ever changing. + - Enter new tethering password - Insira nova senha tethering + Disable openpilot Longitudinal Control + - IP Address - Endereço IP + Disable openpilot longitudinal control and use stock ACC instead. + - Enable Roaming - Ativar Roaming + Are you sure you want to completely disable openpilot longitudinal control? + - APN Setting - APN Config + Reboot required to take effect. + - Enter APN - Insira APN + Reboot Now + - leave blank for automatic configuration - deixe em branco para configuração automática + 2017 Volt Stop and Go Hack + - Cellular Metered - Plano de Dados Limitado + Force stop and go for the 2017 Chevy Volt. + - Prevent large data uploads when on a metered connection - Evite grandes uploads de dados quando estiver em uma conexão limitada + Experimental GM Tune + - Hidden Network - Rede Oculta + FrogsGoMoo's experimental GM tune that is based on nothing but guesswork. Use at your own risk! + - CONNECT - CONECTE + Uphill/Downhill Smoothing + - Enter SSID - Digite o SSID + Smoothen the car’s gas and brake response when driving on slopes. + - Enter password - Insira a senha + Use comma's New Longitudinal API + - for "%1" - para "%1" + Comma's new longitudinal control system that has shown great improvement with acceleration and braking, but has a few issues on some GM vehicles. + - - - AnnotatedCameraWidget - km/h - km/h + Use comma's new longitudinal control system that has shown great improvement with acceleration and braking, but has a few issues on Hyundai/Kia/Genesis. + - mph - mph + Subaru Crosstrek Torque Increase + - MAX - LIMITE + Increases the maximum allowed torque for the Subaru Crosstrek. + - SPEED - MAX + Automatically Lock/Unlock Doors + - LIMIT - VELO + Automatically lock the doors when in drive and unlock when in park. + - - - ConfirmationDialog - Ok - OK + Cluster Speed Offset + - Cancel - Cancelar + Set the cluster offset openpilot uses to try and match the speed displayed on the dash. + - - - DeclinePage - You must accept the Terms and Conditions in order to use openpilot. - Você precisa aceitar os Termos e Condições para utilizar openpilot. + FrogsGoMoo's Personal Tweaks + - Back - Voltar + Use FrogsGoMoo's personal tweaks to the Toyota tune focused around his 2019 Lexus ES 350 to take off a bit quicker and stop a bit smoother. + - Decline, uninstall %1 - Rejeitar, desintalar %1 + Stop and Go Hack + + + + Force stop and go for vehicles without stock stop and go functionality. + + + + Lock + + + + Unlock + - DestinationWidget + FrogPilotVisualsPanel - Home - Casa + Onroad UI Widgets + - Work - Trabalho + Custom FrogPilot widgets used in the onroad user interface. + - No destination set - Nenhum destino definido + Compass + - No %1 location set - Endereço de %1 não definido + A compass in the onroad UI to show the current driving direction. + - home - casa + Dynamic Path Width + - work - trabalho + Automatically adjust the width of the driving path display based on the current engagement state: + +Fully engaged = 100% +Always On Lateral Active = 75% +Fully disengaged = 50% + - - - DevicePanel - Dongle ID - Dongle ID + Gas/Brake Pedal Indicators + - N/A - N/A + Pedal indicators in the onroad UI that change opacity based on the pressure applied. + - Serial - Serial + Paths + - Driver Camera - Câmera do Motorista + Projected acceleration path, detected lanes, and vehicles in the blind spot. + - PREVIEW - VER + Road Name + - Preview the driver facing camera to ensure that driver monitoring has good visibility. (vehicle must be off) - Pré-visualizar a câmera voltada para o motorista para garantir que o monitoramento do sistema tenha uma boa visibilidade (veículo precisa estar desligado) + The current road name is displayed at the bottom of the screen using data from 'OpenStreetMap'. + - Reset Calibration - Reinicializar Calibragem + Rotating Steering Wheel + - RESET - RESET + The steering wheel in the onroad UI rotates along with your steering wheel movements. + - Are you sure you want to reset calibration? - Tem certeza que quer resetar a calibragem? + Quality of Life Improvements + - Review Training Guide - Revisar Guia de Treinamento + Miscellaneous visual focused features to improve your overall openpilot experience. + - REVIEW - REVISAR + Larger Map Display + - Review the rules, features, and limitations of openpilot - Revisar regras, aprimoramentos e limitações do openpilot + A larger size of the map in the onroad UI for easier navigation readings. + - Are you sure you want to review the training guide? - Tem certeza que quer rever o treinamento? + Map Style + - Regulatory - Regulatório + Custom map styles for the map used during navigation. + - VIEW - VER + Screen Standby Mode + - Change Language - Alterar Idioma + The screen is turned off after it times out when driving, but it automatically wakes up if engagement state changes or important alerts occur. + - CHANGE - ALTERAR + Show Driver Camera When In Reverse + - Select a language - Selecione o Idioma + The driver camera feed is displayed when the vehicle is in reverse. + - Reboot - Reiniciar + Stopped Timer + - Power Off - Desligar + A timer on the onroad UI to indicate how long the vehicle has been stopped. + - openpilot requires the device to be mounted within 4° left or right and within 5° up or 9° down. openpilot is continuously calibrating, resetting is rarely required. - O openpilot requer que o dispositivo seja montado dentro de 4° esquerda ou direita e dentro de 5° para cima ou 9° para baixo. O openpilot está continuamente calibrando, resetar raramente é necessário. + Acceleration + - Your device is pointed %1° %2 and %3° %4. - Seu dispositivo está montado %1° %2 e %3° %4. + Adjacent + - down - baixo + Blind Spot + - up - cima + Dynamic + - left - esquerda + Static + - right - direita + Full Map + - Are you sure you want to reboot? - Tem certeza que quer reiniciar? + Stock openpilot + - Disengage to Reboot - Desacione para Reiniciar + Mapbox Streets + - Are you sure you want to power off? - Tem certeza que quer desligar? + Mapbox Outdoors + - Disengage to Power Off - Desacione para Desligar + Mapbox Light + - Reset - Resetar + Mapbox Dark + - Review - Revisar + Mapbox Satellite + - Pair your device with comma connect (connect.comma.ai) and claim your comma prime offer. - Pareie seu dispositivo com comma connect (connect.comma.ai) e reivindique sua oferta de comma prime. + Mapbox Satellite Streets + - Pair Device - Parear Dispositivo + Mapbox Navigation Day + - PAIR - PAREAR + Mapbox Navigation Night + - - - DriverViewWindow - camera starting - câmera iniciando + Mapbox Traffic Night + - - - ExperimentalModeButton - EXPERIMENTAL MODE ON - MODO EXPERIMENTAL ON + mike854's (Satellite hybrid) + - CHILL MODE ON - MODO CHILL ON + SELECT + SELECIONE + + + Select a map style + @@ -337,6 +3383,10 @@ Necessita no mínimo %n caracteres! + + Characters: %1/%2 + + Installer @@ -370,6 +3420,10 @@ Manage at connect.comma.ai Gerencie em connect.comma.ai + + Manage at %1 + + MapWindow @@ -591,7 +3645,7 @@ openpilot - openpilot + openpilot %n minute(s) ago @@ -634,6 +3688,10 @@ now agora + + FrogPilot + + Reset @@ -680,7 +3738,7 @@ Isso pode levar até um minuto. SettingsWindow × - × + × Device @@ -698,6 +3756,14 @@ Isso pode levar até um minuto. Software Software + + ← Back + + + + FrogPilot + + Setup @@ -891,12 +3957,36 @@ Isso pode levar até um minuto. 5G 5G + + GPU + + + + CPU + + + + GB + + + + MEMORY + + + + LEFT + + + + USED + + SoftwarePanel Updates are only downloaded while the car is off. - Atualizações baixadas durante o motor desligado. + Atualizações baixadas durante o motor desligado. Current Version @@ -966,6 +4056,34 @@ Isso pode levar até um minuto. never nunca + + Updates are only downloaded while the car is off or in park. + + + + Automatically Update FrogPilot + + + + FrogPilot will automatically update itself and it's assets when you're offroad and connected to Wi-Fi. + + + + Do you want to permanently delete any additional FrogPilot assets? This is 100% unrecoverable and includes backups, downloaded models, themes, and long-term storage toggle settings for easy reinstalls. + + + + Error Log + + + + VIEW + VER + + + View the error log for openpilot crashes. + + SshControl @@ -1144,7 +4262,7 @@ Isso pode levar até um minuto. An alpha version of openpilot longitudinal control can be tested, along with Experimental mode, on non-release branches. - Uma versão embrionária do controle longitudinal openpilot pode ser testada em conjunto com o modo Experimental, em branches que não sejam de produção. + Uma versão embrionária do controle longitudinal openpilot pode ser testada em conjunto com o modo Experimental, em branches que não sejam de produção. Enable the openpilot longitudinal control (alpha) toggle to allow Experimental mode. @@ -1164,11 +4282,11 @@ Isso pode levar até um minuto. Always-On Driver Monitoring - Monitoramento do Motorista Sempre Ativo + Monitoramento do Motorista Sempre Ativo Enable driver monitoring even when openpilot is not engaged. - Habilite o monitoramento do motorista mesmo quando o openpilot não estiver acionado. + Habilite o monitoramento do motorista mesmo quando o openpilot não estiver acionado. @@ -1206,6 +4324,89 @@ Isso pode levar até um minuto. Falha na atualização + + UtilitiesPanel + + Flash Panda + + + + FLASH + + + + Use this button to flash the Panda device's firmware if you're running into issues. + + + + Are you sure you want to flash the Panda? + + + + Flash + + + + Flashing... + + + + Flashed! + + + + Rebooting... + + + + Force Started State + + + + Force openpilot either offroad or onroad. + + + + OFFROAD + + + + ONROAD + + + + OFF + + + + Reset Toggles to Default + + + + RESET + RESET + + + Reset your toggle settings back to their default settings. + + + + Are you sure you want to completely reset all of your toggle settings? + + + + Reset + Resetar + + + Resetting... + + + + Reset! + + + WiFiPromptWidget @@ -1228,6 +4429,14 @@ Isso pode levar até um minuto. Training data will be pulled periodically while your device is on Wi-Fi Os dados de treinamento serão extraídos periodicamente enquanto o dispositivo estiver no Wi-Fi + + Uploading disabled + + + + Toggle off the 'Disable Uploading' toggle to enable uploads. + + WifiUI diff --git a/selfdrive/ui/translations/main_th.ts b/selfdrive/ui/translations/main_th.ts index e594a6975f4c1a..293ad5bd92f72a 100644 --- a/selfdrive/ui/translations/main_th.ts +++ b/selfdrive/ui/translations/main_th.ts @@ -15,6 +15,10 @@ Reboot and Update รีบูตและอัปเดต + + Disable Internet Check + + AdvancedNetworking @@ -86,6 +90,26 @@ for "%1" สำหรับ "%1" + + Off + + + + Always + + + + Only Onroad + + + + Until Reboot + + + + Allow tethering with your data SIM and keep it active either while driving or continuously. + + AnnotatedCameraWidget @@ -109,6 +133,156 @@ LIMIT จำกัด + + Vehicle in blind spot + + + + m/s² + + + + m/s + + + + kph + + + + ft/s² + + + + Accel: %1%2 + + + + - Max: %1%2 + + + + | Obstacle: + + + + | Obstacle Factor: + + + + - Stop: + + + + - Stop Factor: + + + + Follow: + + + + Follow Distance: + + + + Confirm speed limit + + + + + Ignore speed limit + + + + + Conditional Experimental Mode ready + + + + Conditional Experimental overridden + + + + Experimental Mode manually activated + + + + Experimental Mode activated for %1 + + + + low speed + + + + speed being less than %1 %2 + + + + Experimental Mode activated for turn + + + + / lane change + + + + Experimental Mode activated for intersection + + + + Experimental Mode activated for upcoming turn + + + + Experimental Mode activated for curve + + + + Experimental Mode activated for stopped lead + + + + Experimental Mode activated for slower lead + + + + Experimental Mode activated %1 + + + + to stop + + + + Experimental Mode forced on %1 + + + + Experimental Mode activated due to no speed limit + + + + Always On Lateral active + + + + . Press the "Cruise Control" button to disable + + + + . Long press the "distance" button to revert + + + + . Click the "LKAS" button to revert + + + + . Double tap the screen to revert + + ConfirmationDialog @@ -159,169 +333,3041 @@ ที่ทำงาน - No %1 location set - ยังไม่ได้เลือกตำแหน่ง%1 + No %1 location set + ยังไม่ได้เลือกตำแหน่ง%1 + + + + DevicePanel + + Dongle ID + Dongle ID + + + N/A + ไม่มี + + + Serial + ซีเรียล + + + Driver Camera + กล้องฝั่งคนขับ + + + PREVIEW + แสดงภาพ + + + Preview the driver facing camera to ensure that driver monitoring has good visibility. (vehicle must be off) + ดูภาพตัวอย่างกล้องที่หันเข้าหาคนขับเพื่อให้แน่ใจว่าการตรวจสอบคนขับมีทัศนวิสัยที่ดี (รถต้องดับเครื่องยนต์) + + + Reset Calibration + รีเซ็ตการคาลิเบรท + + + RESET + รีเซ็ต + + + Are you sure you want to reset calibration? + คุณแน่ใจหรือไม่ว่าต้องการรีเซ็ตการคาลิเบรท? + + + Review Training Guide + ทบทวนคู่มือการใช้งาน + + + REVIEW + ทบทวน + + + Review the rules, features, and limitations of openpilot + ตรวจสอบกฎ คุณสมบัติ และข้อจำกัดของ openpilot + + + Are you sure you want to review the training guide? + คุณแน่ใจหรือไม่ว่าต้องการทบทวนคู่มือการใช้งาน? + + + Regulatory + ระเบียบข้อบังคับ + + + VIEW + ดู + + + Change Language + เปลี่ยนภาษา + + + CHANGE + เปลี่ยน + + + Select a language + เลือกภาษา + + + Reboot + รีบูต + + + Power Off + ปิดเครื่อง + + + openpilot requires the device to be mounted within 4° left or right and within 5° up or 9° down. openpilot is continuously calibrating, resetting is rarely required. + openpilot กำหนดให้ติดตั้งอุปกรณ์ โดยสามารถเอียงด้านซ้ายหรือขวาไม่เกิน 4° และเอียงขึ้นด้านบนไม่เกิน 5° หรือเอียงลงด้านล่างไม่เกิน 9° openpilot ทำการคาลิเบรทอย่างต่อเนื่อง แทบจะไม่จำเป็นต้องทำการรีเซ็ตการคาลิเบรท + + + Your device is pointed %1° %2 and %3° %4. + อุปกรณ์ของคุณเอียงไปทาง %2 %1° และ %4 %3° + + + down + ด้านล่าง + + + up + ด้านบน + + + left + ด้านซ้าย + + + right + ด้านขวา + + + Are you sure you want to reboot? + คุณแน่ใจหรือไม่ว่าต้องการรีบูต? + + + Disengage to Reboot + ยกเลิกระบบช่วยขับเพื่อรีบูต + + + Are you sure you want to power off? + คุณแน่ใจหรือไม่ว่าต้องการปิดเครื่อง? + + + Disengage to Power Off + ยกเลิกระบบช่วยขับเพื่อปิดเครื่อง + + + Reset + รีเซ็ต + + + Review + ทบทวน + + + Pair your device with comma connect (connect.comma.ai) and claim your comma prime offer. + จับคู่อุปกรณ์ของคุณกับ comma connect (connect.comma.ai) และรับข้อเสนอ comma prime ของคุณ + + + Pair Device + จับคู่อุปกรณ์ + + + PAIR + จับคู่ + + + + DriveStats + + ALL TIME + + + + PAST WEEK + + + + FROGPILOT + + + + Drives + + + + Hours + + + + KM + + + + Miles + + + + + DriverViewWindow + + camera starting + กำลังเปิดกล้อง + + + + ExperimentalModeButton + + EXPERIMENTAL MODE ON + คุณกำลังใช้โหมดทดลอง + + + CHILL MODE ON + คุณกำลังใช้โหมดชิล + + + + FrogPilotAdvancedDrivingPanel + + Advanced Lateral Tuning + + + + Advanced settings that control how openpilot manages steering. + + + + Friction (Default: %1) + + + + Friction + + + + The resistance in steering. Higher values provide more stable steering but can make it feel heavy, while lower values allow lighter steering but may feel too sensitive. + + + + Kp Factor (Default: %1) + + + + Kp Factor + + + + How aggressively the car corrects its steering. Higher values offer quicker corrections but may feel jerky, while lower values make steering smoother but slower to respond. + + + + Lateral Accel (Default: %1) + + + + Lateral Accel + + + + Adjust how fast the car can steer from side to side. Higher values allow quicker lane changes but can feel unstable, while lower values provide smoother steering but may feel sluggish. + + + + Steer Ratio (Default: %1) + + + + Steer Ratio + + + + Adjust how much openpilot needs to turn the wheel to steer. Higher values feel like driving a truck, more stable at high speeds, but harder to steer quickly at low speeds, while lower values feel like a go-kart, easier to steer in tight spots but more sensitive and less stable at high speeds. + + + + comma's 2022 Taco Bell Turn Hack + + + + Use comma's hack they used to help handle left and right turns more precisely during their 2022 'Taco Bell' drive. + + + + Force Auto Tune On + + + + Forces comma's auto lateral tuning for unsupported vehicles. + + + + Force Auto Tune Off + + + + Forces comma's auto lateral tuning off for supported vehicles. + + + + Force Turn Desires Below Lane Change Speed + + + + Force the model to use turn desires when driving below the minimum lane change speed to help make left and right turns more precisely. + + + + Advanced Longitudinal Tuning + + + + Advanced settings that control how openpilot manages speed and acceleration. + + + + Lead Detection Confidence + + + + How sensitive openpilot is to detecting vehicles ahead. A lower value can help detect vehicles sooner and from farther away, but may occasionally mistake other objects for vehicles. + + + + Maximum Acceleration Rate + + + + Set a cap on how fast openpilot can accelerate to prevent high acceleration at low speeds. + + + + Advanced Quality of Life + + + + Miscellaneous advanced features to improve your overall openpilot experience. + + + + Force Keep openpilot in the Standstill State + + + + Keep openpilot in the 'standstill' state until the gas pedal or 'resume' button is pressed. + + + + Force Stop for 'Detected' Stop Lights/Signs + + + + Whenever openpilot 'detects' a potential stop light/stop sign, force a stop where it originally detected it to prevent running the potential red light/stop sign. + + + + Set Speed Offset + + + + How much higher or lower the set speed should be compared to your current set speed. For example, if you prefer to drive 5 mph above the speed limit, this setting will automatically add that difference when you adjust your set speed. + + + + Customize Driving Personalities + + + + Customize the personality profiles to suit your preferences. + + + + Traffic Personality + + + + Customize the 'Traffic' personality profile, tailored for navigating through traffic. + + + + Following Distance + + + + The minimum following distance in 'Traffic Mode.' openpilot will adjust dynamically between this value and the 'Aggressive' profile distance based on your speed. + + + + Acceleration Sensitivity + + + + How sensitive openpilot is to changes in acceleration in 'Traffic Mode.' Higher values result in smoother, more gradual acceleration and deceleration, while lower values allow for faster changes that may feel more abrupt. + + + + Deceleration Sensitivity + + + + Controls how sensitive openpilot is to changes in deceleration in 'Traffic Mode.' Higher values result in smoother, more gradual braking, while lower values allow for quicker, more responsive braking that may feel abrupt. + + + + Safety Distance Sensitivity + + + + Adjusts how cautious openpilot is around other vehicles or obstacles in 'Traffic Mode.' Higher values increase following distances and prioritize safety, leading to more cautious driving, while lower values allow for closer following but may reduce reaction time. + + + + Speed Increase Responsiveness + + + + Controls how quickly openpilot adjusts speed in 'Traffic Mode.' Higher values ensure smoother, more gradual speed changes, while lower values enable quicker adjustments that might feel sharper or less smooth. + + + + Speed Decrease Responsiveness + + + + Sets how quickly openpilot adjusts to decreasing speeds in 'Traffic Mode.' Higher values ensure smoother transitions when slowing down, while lower values allow for quicker, more responsive speed reductions that might feel sharper. + + + + Reset Settings + + + + Restore the 'Traffic Mode' settings to their default values. + + + + Aggressive Personality + + + + Customize the 'Aggressive' personality profile, designed for a more assertive driving style. + + + + Set the following distance for 'Aggressive' mode. This determines roughly how many seconds you'll follow behind the car ahead. + +Default: 1.25 seconds. + + + + Controls how sensitive openpilot is to acceleration changes in 'Aggressive' mode. Higher values make acceleration and deceleration smoother but slower, while lower values allow quicker changes that may feel jerky. + +Default: 0.5. + + + + Controls how sensitive openpilot is to deceleration in 'Aggressive' mode. Higher values result in smoother braking, while lower values allow for more immediate braking that may feel abrupt. + +Default: 0.5. + + + + Adjusts how cautious openpilot is around vehicles or obstacles in 'Aggressive' mode. Higher values make it more cautious, while lower values allow for closer following, increasing the risk of sudden braking. + +Default: 1.0. + + + + Controls how quickly openpilot adjusts speed in 'Aggressive' mode. Higher values result in smoother but slower speed changes, while lower values make speed adjustments quicker but potentially more abrupt. + +Default: 0.5. + + + + Sets how quickly openpilot adjusts to speed reductions in 'Aggressive' mode. Higher values ensure smoother transitions when slowing down, while lower values allow for quicker, more responsive speed decreases that may feel sharp. + +Default: 0.5. + + + + Restore the 'Aggressive' settings to their default values. + + + + Standard Personality + + + + Customize the 'Standard' personality profile, optimized for balanced driving. + + + + Set the following distance for 'Standard' mode. This determines roughly how many seconds you'll follow behind the car ahead. + +Default: 1.45 seconds. + + + + Controls how sensitive openpilot is to acceleration changes in 'Standard' mode. Higher values make acceleration and deceleration smoother but slower, while lower values allow quicker changes that may feel jerky. + +Default: 1.0. + + + + Controls how sensitive openpilot is to deceleration in 'Standard' mode. Higher values result in smoother braking, while lower values allow for quicker, more immediate braking that may feel abrupt. + +Default: 1.0. + + + + Adjusts how cautious openpilot is around vehicles or obstacles in 'Standard' mode. Higher values make it more cautious, while lower values allow for closer following, increasing the risk of sudden braking. + +Default: 1.0. + + + + Controls how quickly openpilot adjusts speed in 'Standard' mode. Higher values result in smoother but slower speed changes, while lower values make speed adjustments quicker but potentially more abrupt. + +Default: 1.0. + + + + Sets how quickly openpilot adjusts to speed reductions in 'Standard' mode. Higher values ensure smoother transitions when slowing down, while lower values allow for quicker, more responsive speed decreases that may feel sharp. + +Default: 1.0. + + + + Restore the 'Standard' settings to their default values. + + + + Relaxed Personality + + + + Customize the 'Relaxed' personality profile, ideal for a more laid-back driving style. + + + + Set the following distance for 'Relaxed' mode. This determines roughly how many seconds you'll follow behind the car ahead. + +Default: 1.75 seconds. + + + + Controls how sensitive openpilot is to acceleration changes in 'Relaxed' mode. Higher values make acceleration and deceleration smoother but slower, while lower values allow quicker changes that may feel jerky. + +Default: 1.0. + + + + Controls how sensitive openpilot is to deceleration in 'Relaxed' mode. Higher values result in smoother braking, while lower values allow for quicker, more immediate braking that may feel abrupt. + +Default: 1.0. + + + + Adjusts how cautious openpilot is around vehicles or obstacles in 'Relaxed' mode. Higher values make it more cautious, while lower values allow for closer following, increasing the risk of sudden braking. + +Default: 1.0. + + + + Controls how quickly openpilot adjusts speed in 'Relaxed' mode. Higher values result in smoother but slower speed changes, while lower values make speed adjustments quicker but potentially more abrupt. + +Default: 1.0. + + + + Sets how quickly openpilot adjusts to speed reductions in 'Relaxed' mode. Higher values ensure smoother transitions when slowing down, while lower values allow for quicker, more responsive speed decreases that may feel sharp. + +Default: 1.0. + + + + Restore the 'Relaxed' settings to their default values. + + + + Model Management + + + + Manage the driving models used by openpilot. + + + + Automatically Update and Download Models + + + + Automatically download new or updated driving models. + + + + Model Randomizer + + + + A random model is selected and can be reviewed at the end of each drive if it's longer than 15 minutes to help find your preferred model. + + + + Manage Model Blacklist + + + + Control which models are blacklisted and won't be used for future drives. + + + + Reset Model Scores + + + + Clear the ratings you've given to the driving models. + + + + Review Model Scores + + + + View the ratings you've assigned to the driving models. + + + + Delete Model + + + + Remove the selected driving model from your device. + + + + Download Model + + + + Download undownloaded driving models. + + + + Download All Models + + + + Download all undownloaded driving models. + + + + Select Model + + + + Select which model openpilot uses to drive. + + + + Reset Model Calibrations + + + + Reset calibration settings for the driving models. + + + + mph + ไมล์/ชม. + + + Reset + รีเซ็ต + + + seconds + + + + ADD + เพิ่ม + + + REMOVE + ลบ + + + There's no more models to blacklist! The only available model is "%1"! + + + + OK + พอใช้ + + + Select a model to add to the blacklist + + + + Are you sure you want to add the '%1' model to the blacklist? + + + + Add + + + + Select a model to remove from the blacklist + + + + Are you sure you want to remove the '%1' model from the blacklist? + + + + Remove + + + + RESET + รีเซ็ต + + + Reset all model scores? + + + + VIEW + ดู + + + DELETE + + + + Select a model to delete + + + + Are you sure you want to delete the '%1' model? + + + + Delete + + + + Deleting... + + + + Deleted! + + + + DOWNLOAD + ดาวน์โหลด + + + CANCEL + + + + Select a driving model to download + + + + Downloading %1... + + + + SELECT + เลือก + + + Select a model - 🗺️ = Navigation | 📡 = Radar | 👀 = VOACC + + + + WARNING: This is a very experimental model and may drive dangerously! + + + + I understand the risks. + + + + Start with a fresh calibration for the newly selected model? + + + + Reboot required to take effect. + + + + Reboot Now + + + + RESET ALL + + + + RESET ONE + + + + Are you sure you want to completely reset all of your model calibrations? + + + + Select a model to reset + + + + Are you sure you want to completely reset this model's calibrations? + + + + The 'Model Randomizer' only works with downloaded models. Do you want to download all the driving models? + + + + Are you sure you want to completely reset your settings for the 'Traffic Mode' personality? + + + + Are you sure you want to completely reset your settings for the 'Aggressive' personality? + + + + Are you sure you want to completely reset your settings for the 'Standard' personality? + + + + Are you sure you want to completely reset your settings for the 'Relaxed' personality? + + + + kph + + + + Downloading models... + + + + openpilot requires the device to be mounted within 4° left or right and within 5° up or 9° down. openpilot is continuously calibrating, resetting is rarely required. + openpilot กำหนดให้ติดตั้งอุปกรณ์ โดยสามารถเอียงด้านซ้ายหรือขวาไม่เกิน 4° และเอียงขึ้นด้านบนไม่เกิน 5° หรือเอียงลงด้านล่างไม่เกิน 9° openpilot ทำการคาลิเบรทอย่างต่อเนื่อง แทบจะไม่จำเป็นต้องทำการรีเซ็ตการคาลิเบรท + + + Your device is pointed %1° %2 and %3° %4. + อุปกรณ์ของคุณเอียงไปทาง %2 %1° และ %4 %3° + + + down + ด้านล่าง + + + up + ด้านบน + + + left + ด้านซ้าย + + + right + ด้านขวา + + + + FrogPilotAdvancedVisualsPanel + + Advanced Onroad UI Widgets + + + + Advanced user customizations for the Onroad UI. + + + + Camera View + + + + Camera view for the onroad UI. This is purely a visual change and doesn't impact how openpilot drives. + + + + Display Stopping Points + + + + Display an image on the screen where openpilot is detecting a potential red light/stop sign. + + + + Hide Lead Marker + + + + Hide the marker for the vehicle ahead on the screen. + + + + Hide Speed + + + + Hide the speed indicator in the onroad UI. Additional toggle allows it to be hidden/shown via tapping the speed itself. + + + + Hide UI Elements + + + + Hide the selected UI elements from the onroad screen. + + + + Use Wheel Speed + + + + Use the wheel speed instead of the cluster speed in the onroad UI. + + + + Developer UI + + + + Show detailed information about openpilot's internal operations. + + + + Border Metrics + + + + Display performance metrics around the edge of the screen while driving. + + + + FPS Display + + + + Display the 'Frames Per Second' (FPS) at the bottom of the screen while driving. + + + + Lateral Metrics + + + + Display metrics related to steering control at the top of the screen while driving. + + + + Longitudinal Metrics + + + + Display metrics related to acceleration, speed, and desired following distance at the top of the screen while driving. + + + + Numerical Temperature Gauge + + + + Show exact temperature readings instead of general status labels like 'GOOD', 'OK', or 'HIGH' in the sidebar. + + + + Sidebar + + + + Display system information like CPU, GPU, RAM usage, IP address, and storage space in the sidebar. + + + + Use International System of Units + + + + Display measurements using the 'International System of Units' (SI). + + + + Model UI + + + + Customize the model visualizations on the screen. + + + + Lane Lines Width + + + + How thick the lane lines appear on the display. + +Default matches the MUTCD standard of 4 inches. + + + + Path Edges Width + + + + The width of the edges of the driving path to represent different modes and statuses. + +Default is 20% of the total path width. + +Color Guide: +- Blue: Navigation +- Light Blue: 'Always On Lateral' +- Green: Default +- Orange: 'Experimental Mode' +- Red: 'Traffic Mode' +- Yellow: 'Conditional Experimental Mode' Overridden + + + + Path Width + + + + How wide the driving path appears on your screen. + +Default (6.1 feet / 1.9 meters) matches the width of a 2019 Lexus ES 350. + + + + Road Edges Width + + + + How thick the road edges appear on the display. + +Default matches half of the MUTCD standard lane line width of 4 inches. + + + + 'Unlimited' Road UI + + + + Extend the display of the path, lane lines, and road edges as far as the model can see. + + + + Auto + + + + Driver + + + + Standard + มาตรฐาน + + + Wide + + + + Control Via UI + + + + Alerts + + + + Map Icon + + + + Max Speed + + + + Show Distance + + + + Blind Spot + + + + Steering Torque + + + + Turn Signal + + + + Adjacent Path Metrics + + + + Auto Tune + + + + Lead Info + + + + Longitudinal Jerk + + + + Fahrenheit + + + + CPU + + + + GPU + + + + IP + + + + RAM + + + + SSD Left + + + + SSD Used + + + + inches + + + + % + + + + feet + + + + Adjust how thick the lane lines appear on the display. + +Default matches the Vienna standard of 10 centimeters. + + + + Adjust how thick the road edges appear on the display. + +Default matches half of the Vienna standard of 10 centimeters. + + + + centimeters + + + + meters + + + + Adjust how thick the lane lines appear on the display. + +Default matches the MUTCD standard of 4 inches. + + + + Adjust how thick the road edges appear on the display. + +Default matches half of the MUTCD standard of 4 inches. + + + + + FrogPilotConfirmationDialog + + Reboot Later + + + + Yes + + + + No + + + + + FrogPilotDataPanel + + Delete Driving Footage and Data + + + + DELETE + + + + This button provides a swift and secure way to permanently delete all stored driving footage and data from your device. Ideal for maintaining privacy or freeing up space. + + + + Are you sure you want to permanently delete all of your driving footage and data? + + + + Delete + + + + Deleting... + + + + Deleted! + + + + Screen Recordings + + + + Manage your screen recordings. + + + + RENAME + + + + Select a recording to delete + + + + Are you sure you want to delete this recording? + + + + Failed... + + + + Select a recording to rename + + + + Enter a new name + + + + Rename Recording + + + + Renaming... + + + + Renamed! + + + + FrogPilot Backups + + + + Manage your FrogPilot backups. + + + + BACKUP + + + + RESTORE + + + + Name your backup + + + + Do you want to compress this backup? The end file size will be 2.25x smaller, but can take 10+ minutes. + + + + Backing... + + + + Compressing... + + + + Success! + + + + Select a backup to delete + + + + Are you sure you want to delete this backup? + + + + Select a restore point + + + + Are you sure you want to restore this version of FrogPilot? + + + + Restore + + + + Restoring... + + + + Extracting... + + + + Restored! + + + + Rebooting... + + + + Toggle Backups + + + + Manage your toggle backups. + + + + Are you sure you want to restore this toggle backup? + + + + + FrogPilotDevicePanel + + Device Settings + + + + Device behavior settings. + + + + Device Shutdown Timer + + + + How long the device stays on after you stop driving. + + + + Disable Internet Requirement + + + + The device can work without an internet connection for as long as you need. + + + + Increase Thermal Safety Limit + + + + The device can run at higher temperatures than recommended. + + + + Low Battery Shutdown Threshold + + + + Shut down the device when the car's battery gets too low to prevent damage to the 12V battery. + + + + Turn Off Data Tracking + + + + Disable all tracking to improve privacy. + + + + Turn Off Data Uploads + + + + Stop the device from sending any data to the servers. + + + + Screen Settings + + + + Screen behavior settings. + + + + Screen Brightness (Offroad) + + + + The screen brightness when you're not driving. + + + + Screen Brightness (Onroad) + + + + The screen brightness while you're driving. + + + + Screen Recorder + + + + Display a button in the onroad UI to record the screen. + + + + Screen Timeout (Offroad) + + + + How long it takes for the screen to turn off when you're not driving. + + + + Screen Timeout (Onroad) + + + + How long it takes for the screen to turn off while you're driving. + + + + 5 mins + + + + mins + + + + hour + + + + hours + + + + Only Onroad + + + + volts + + + + Auto + + + + seconds + + + + WARNING: This can cause premature wear or damage by running the device over comma's recommended temperature limits! + + + + I understand the risks. + + + + WARNING: This will prevent your drives from being recorded and the data will be unobtainable! + + + + WARNING: This will prevent your drives from appearing on comma connect which may impact debugging and support! + + + + + FrogPilotLateralPanel + + Always on Lateral + + + + openpilot's steering control stays active even when the brake or gas pedals are pressed. + +Deactivate only occurs with the 'Cruise Control' button. + + + + Control with LKAS Button + + + + 'Always on Lateral' gets turned on or off using the 'LKAS' button. + + + + Enable with Cruise Control + + + + 'Always on Lateral' gets turned on by pressing the 'Cruise Control' button bypassing the requirement to enable openpilot first. + + + + Pause on Brake Below + + + + 'Always on Lateral' pauses when the brake pedal is pressed below the set speed. + + + + Hide the Status Bar + + + + The status bar for 'Always on Lateral' is hidden. + + + + Lane Change Settings + + + + How openpilot handles lane changes. + + + + Hands-Free Lane Change + + + + Lane changes are conducted without needing to touch the steering wheel upon turn signal activation. + + + + Lane Change Delay + + + + How long openpilot waits before changing lanes. + + + + Lane Width Requirement + + + + The minimum lane width for openpilot to detect a lane as a lane. + + + + Minimum Speed for Lane Change + + + + The minimum speed required for openpilot to perform a lane change. + + + + Single Lane Change Per Signal + + + + Lane changes are limited to one per turn signal activation. + + + + Lateral Tuning + + + + Settings that control how openpilot manages steering. + + + + Neural Network Feedforward (NNFF) + + + + Twilsonco's 'Neural Network FeedForward' for more precise steering control. + + + + Smooth Curve Handling + + + + Smoother steering when entering and exiting curves with Twilsonco's torque adjustments. + + + + Quality of Life Improvements + + + + Miscellaneous lateral focused features to improve your overall openpilot experience. + + + + Pause Steering Below + + + + Pauses steering control when driving below the set speed. + + + + mph + ไมล์/ชม. + + + feet + + + + Reboot required to take effect. + + + + Reboot Now + + + + kph + + + + meters + + + + + FrogPilotLongitudinalPanel + + Conditional Experimental Mode + + + + Automatically switches to 'Experimental Mode' when specific conditions are met. + + + + Below + + + + 'Experimental Mode' is active when driving below the set speed without a lead vehicle. + + + + Curve Detected Ahead + + + + 'Experimental Mode' is active when a curve is detected in the road ahead. + + + + Lead Detected Ahead + + + + 'Experimental Mode' is active when a slower or stopped vehicle is detected ahead. + + + + Navigation Data + + + + 'Experimental Mode' is active based on navigation data, such as upcoming intersections or turns. + + + + openpilot Wants to Stop In + + + + 'Experimental Mode' is active when openpilot wants to stop such as for a stop sign or red light. + + + + Turn Signal Below + + + + 'Experimental Mode' is active when using turn signals below the set speed. + + + + Hide the Status Bar + + + + The status bar for 'Conditional Experimental Mode' is hidden. + + + + Curve Speed Control + + + + Automatically slow down for curves detected ahead or through the downloaded maps. + + + + Curve Detection Method + + + + The method used to detect curves. + + + + Curve Detection Failsafe + + + + Curve control is triggered only when a curve is detected ahead. Use this as a failsafe to prevent false positives when using the 'Map Based' method. + + + + Curve Sensitivity + + + + How sensitive openpilot is to detecting curves. Higher values trigger earlier responses at the risk of triggering too often, while lower values increase confidence at the risk of triggering too infrequently. + + + + Turn Speed Aggressiveness + + + + How aggressive openpilot takes turns. Higher values result in quicker turns, while lower values provide gentler turns. + + + + Disable Speed Value Smoothing In the UI + + + + Speed value smoothing is disabled in the UI to instead display the exact speed requested by the curve control. + + + + Experimental Mode Activation + + + + 'Experimental Mode' is toggled off/on using the steering wheel buttons or the on-screen controls. + +This overrides 'Conditional Experimental Mode'. + + + + Click the LKAS Button + + + + 'Experimental Mode' is toggled by pressing the 'LKAS' button on the steering wheel. + + + + Double-Tap the Screen + + + + 'Experimental Mode' is toggled by double-tapping the onroad UI within 0.5 seconds. + + + + Long Press the Distance Button + + + + 'Experimental Mode' is toggled by holding the 'distance' button on the steering wheel for 0.5+ seconds. + + + + Longitudinal Tuning + + + + Settings that control how openpilot manages speed and acceleration. + + + + Acceleration Profile + + + + Choose between a sporty or eco-friendly acceleration rate. + + + + Deceleration Profile + + + + Choose between a sporty or eco-friendly deceleration rate. + + + + Human-Like Acceleration + + + + Uses the lead's acceleration rate when at a takeoff and ramps off the acceleration rate when approaching the maximum set speed for a smoother max speed approach. + + + + Human-Like Following Distance + + + + Dynamically adjusts the following distance to feel more natural when approaching slower or stopped vehicles. + + + + Increase Stopped Distance + + + + Increases the distance to stop behind vehicles. + + + + Quality of Life Improvements + + + + Miscellaneous longitudinal focused features to improve your overall openpilot experience. + + + + Cruise Increase Interval + + + + Interval used when increasing the cruise control speed. + + + + Custom Cruise Interval (Long Press) + + + + Interval used when increasing the cruise control speed when holding down the button for 0.5+ seconds. + + + + Map Accel/Decel to Gears + + + + Map the acceleration and deceleration profiles to the 'Eco' or 'Sport' gear modes. + + + + Onroad Personality Button + + + + The current driving personality is displayed on the screen. Tap to switch personalities, or long press for 2.5 seconds to activate 'Traffic Mode'. + + + + Reverse Cruise Increase + + + + The long press feature is reversed in order to increase speed by 5 mph instead of 1. + + + + Speed Limit Controller + + + + Automatically adjust your max speed to match the speed limit using 'Open Street Maps', 'Navigate on openpilot', or your car's dashboard (Toyota/Lexus/HKG only). + + + + Confirm New Speed Limits + + + + Require manual confirmation before using a new speed limit. + + + + Fallback Method + + + + Choose what happens when no speed limit data is available. + + + + Override Method + + + + Choose how you want to override the current speed limit. + + + + + + Speed Limit Source Priority + + + + Set the order of priority for speed limit data sources. + + + + Speed Limit Offsets + + + + Manage toggles related to 'Speed Limit Controller's controls. + + + + Speed Limit Offset (0-34 mph) + + + + Set the speed limit offset for speeds between 0 and 34 mph. + + + + Speed Limit Offset (35-54 mph) + + + + Set the speed limit offset for speeds between 35 and 54 mph. + + + + Speed Limit Offset (55-64 mph) + + + + Set the speed limit offset for speeds between 55 and 64 mph. + + + + Speed Limit Offset (65-99 mph) + + + + Set the speed limit offset for speeds between 65 and 99 mph. + + + + Miscellaneous 'Speed Limit Controller' focused features to improve your overall openpilot experience. + + + + Force MPH Readings from Dashboard + + + + Force speed limit readings in MPH from the dashboard if it normally displays in KPH. + + + + Prepare for Higher Speed Limits + + + + Set a lookahead value to prepare for upcoming higher speed limits based on map data. + + + + Prepare for Lower Speed Limits + + + + Set a lookahead value to prepare for upcoming lower speed limits based on map data. + + + + Set Speed to Current Limit + + + + Set your max speed to match the current speed limit when enabling openpilot. + + + + Visual Settings + + + + Manage visual settings for the 'Speed Limit Controller'. + + + + Use Vienna-Style Speed Signs + + + + Switch to Vienna-style (EU) speed limit signs instead of MUTCD (US). + + + + Show Speed Limit Offset + + + + Display the speed limit offset separately in the onroad UI when using the Speed Limit Controller. + + + + mph + ไมล์/ชม. + + + With Lead + + + + Switches to 'Experimental Mode' when driving below the set speed with a lead vehicle. + + + + With Lead + + + + Slower Lead + + + + Stopped Lead + + + + Intersections + + + + Turns + + + + Off + + + + Map Based + + + + Vision + + + + Standard + มาตรฐาน + + + Eco + + + + Sport + + + + Sport+ + + + + feet + + + + Acceleration + + + + Deceleration + + + + Lower Limits + + + + Higher Limits + + + + None + + + + Set Speed + + + + Experimental Mode + โหมดทดลอง + + + Previous Limit + + + + Gas Pedal Press + + + + Cruise Set Speed + + + + SELECT + เลือก + + + Dashboard + + + + Navigation + + + + Offline Maps + + + + Highest + + + + Lowest + + + + Select your primary priority + + + + Select your secondary priority + + + + Select your tertiary priority + + + + MANAGE + + + + seconds + + + + Control Via UI + + + + Speed Limit Offset (0-34 kph) + + + + Speed Limit Offset (35-54 kph) + + + + Speed Limit Offset (55-64 kph) + + + + Speed Limit Offset (65-99 kph) + + + + Set speed limit offset for limits between 0-34 kph. + + + + Set speed limit offset for limits between 35-54 kph. + + + + Set speed limit offset for limits between 55-64 kph. + + + + Set speed limit offset for limits between 65-99 kph. + + + + kph + + + + meters + + + + Set speed limit offset for limits between 0-34 mph. + + + + Set speed limit offset for limits between 35-54 mph. + + + + Set speed limit offset for limits between 55-64 mph. + + + + Set speed limit offset for limits between 65-99 mph. + + + + + FrogPilotParamManageControl + + MANAGE + + + + + FrogPilotSettingsWindow + + Advanced Settings + + + + Alerts and Sounds + + + + Driving Controls + + + + Navigation + + + + System Management + + + + Theme and Appearance + + + + Vehicle Controls + + + + Advanced FrogPilot features for more experienced users. + + + + Options to customize FrogPilot's sound alerts and notifications. + + + + FrogPilot features than impact acceleration, braking, and steering. + + + + Offline maps downloader and 'Navigate On openpilot (NOO)' settings. + + + + Tools and system utilities used to maintain and troubleshoot FrogPilot. + + + + Options for customizing FrogPilot's themes, UI appearance, and onroad widgets. + + + + Vehicle-specific settings and configurations for supported makes and models. + + + + DRIVING + + + + VISUALS + + + + MANAGE + + + + GAS / BRAKE + + + + STEERING + + + + DATA + + + + DEVICE + + + + UTILITIES + + + + APPEARANCE + + + + THEME + + + + + FrogPilotSoundsPanel + + Alert Volume Controller + + + + Control the volume level for each individual sound in openpilot. + + + + Disengage Volume + + + + Related alerts: + +Adaptive Cruise Disabled +Parking Brake Engaged +Brake Pedal Pressed +Speed too Low + + + + Engage Volume + + + + Related alerts: + +NNFF Torque Controller loaded +openpilot engaged + + + + Prompt Volume + + + + Related alerts: + +Car Detected in Blindspot +Speed too Low +Steer Unavailable Below 'X' +Take Control, Turn Exceeds Steering Limit + + + + Prompt Distracted Volume + + + + Related alerts: + +Pay Attention, Driver Distracted +Touch Steering Wheel, Driver Unresponsive + + + + Refuse Volume + + + + Related alerts: + +openpilot Unavailable + + + + Warning Soft Volume + + + + Related alerts: + +BRAKE!, Risk of Collision +TAKE CONTROL IMMEDIATELY + + + + Warning Immediate Volume + + + + Related alerts: + +DISENGAGE IMMEDIATELY, Driver Distracted +DISENGAGE IMMEDIATELY, Driver Unresponsive + + + + Custom Alerts + + + + Enable custom alerts for openpilot events. + + + + Goat Scream Steering Saturated Alert + + + + Enable the famed 'Goat Scream' that has brought both joy and anger to FrogPilot users all around the world! + + + + Green Light Alert + + + + Get an alert when a traffic light changes from red to green. + + + + Lead Departing Alert + + + + Get an alert when the lead vehicle starts departing when at a standstill. + + + + Loud Blindspot Alert + + + + Enable a louder alert for when a vehicle is detected in the blindspot when attempting to change lanes. + + + + Speed Limit Change Alert + + + + Trigger an alert when the speed limit changes. + + + + + FrogPilotThemesPanel + + Custom Theme + + + + Custom openpilot themes. + + + + Color Scheme + + + + Themed color schemes. + +Want to submit your own color scheme? Share it in the 'feature-request' channel on the FrogPilot Discord! + + + + Icon Pack + + + + Themed icon packs. + +Want to submit your own icons? Share them in the 'feature-request' channel on the FrogPilot Discord! + + + + Sound Pack + + + + Themed sound effects. + +Want to submit your own sounds? Share them in the 'feature-request' channel on the FrogPilot Discord! + + + + Steering Wheel + + + + Custom steering wheel icons. + + + + Turn Signal Animation + + + + Themed turn signal animations. + +Want to submit your own animations? Share them in the 'feature-request' channel on the FrogPilot Discord! + + + + Download Status + + + + Holiday Themes + + + + Change the openpilot theme based on the current holiday. Minor holidays last one day, while major holidays (Easter, Christmas, Halloween, etc.) last a week. + + + + Random Events + + + + Random cosmetic events that happen during certain driving conditions. These events are purely for fun and don't affect driving controls! + + + + Startup Alert + + + + Custom 'Startup' alert message that appears when you start driving. + + + + DELETE + + + + DOWNLOAD + ดาวน์โหลด + + + SELECT + เลือก + + + Select a color scheme to delete + + + + Are you sure you want to delete the '%1' color scheme? + + + + Delete + + + + Select a color scheme to download + + + + Select a color scheme + + + + Select an icon pack to delete + + + + Are you sure you want to delete the '%1' icon pack? + + + + Select an icon pack to download + + + + Select an icon pack + + + + Select a signal pack to delete + + + + Are you sure you want to delete the '%1' signal pack? + + + + Select a signal pack to download + + + + Select a signal pack + + + + Select a sound pack to delete + + + + Are you sure you want to delete the '%1' sound scheme? + + + + Select a sound pack to download + + + + Select a sound scheme + + + + Select a steering wheel to delete + + + + Are you sure you want to delete the '%1' steering wheel image? + + + + Select a steering wheel to download + + + + Select a steering wheel + + + + STOCK + + + + FROGPILOT + + + + CUSTOM + + + + CLEAR + + + + Enter your text for the top half + + + + Characters: 0/%1 + + + + Enter your text for the bottom half + + + + CANCEL + + + + + FrogPilotVehiclesPanel + + Select Make + + + + SELECT + เลือก + + + Select a Make + + + + Select Model + + + + Select a Model + + + + Disable Automatic Fingerprint Detection + + + + Forces the selected fingerprint and prevents it from ever changing. + + + + Disable openpilot Longitudinal Control + + + + Disable openpilot longitudinal control and use stock ACC instead. + + + + Are you sure you want to completely disable openpilot longitudinal control? + + + + Reboot required to take effect. + + + + Reboot Now + + + + 2017 Volt Stop and Go Hack + + + + Force stop and go for the 2017 Chevy Volt. + + + + Experimental GM Tune + + + + FrogsGoMoo's experimental GM tune that is based on nothing but guesswork. Use at your own risk! + + + + Uphill/Downhill Smoothing + + + + Smoothen the car’s gas and brake response when driving on slopes. + + + + Use comma's New Longitudinal API + + + + Comma's new longitudinal control system that has shown great improvement with acceleration and braking, but has a few issues on some GM vehicles. + + + + Use comma's new longitudinal control system that has shown great improvement with acceleration and braking, but has a few issues on Hyundai/Kia/Genesis. + + + + Subaru Crosstrek Torque Increase + + + + Increases the maximum allowed torque for the Subaru Crosstrek. + + + + Automatically Lock/Unlock Doors + + + + Automatically lock the doors when in drive and unlock when in park. + + + + Cluster Speed Offset + + + + Set the cluster offset openpilot uses to try and match the speed displayed on the dash. + + + + FrogsGoMoo's Personal Tweaks + + + + Use FrogsGoMoo's personal tweaks to the Toyota tune focused around his 2019 Lexus ES 350 to take off a bit quicker and stop a bit smoother. + + + + Stop and Go Hack + + + + Force stop and go for vehicles without stock stop and go functionality. + + + + Lock + + + + Unlock + + + + + FrogPilotVisualsPanel + + Onroad UI Widgets + + + + Custom FrogPilot widgets used in the onroad user interface. + + + + Compass + + + + A compass in the onroad UI to show the current driving direction. + + + + Dynamic Path Width + + + + Automatically adjust the width of the driving path display based on the current engagement state: + +Fully engaged = 100% +Always On Lateral Active = 75% +Fully disengaged = 50% + + + + Gas/Brake Pedal Indicators + - - - DevicePanel - Dongle ID - Dongle ID + Pedal indicators in the onroad UI that change opacity based on the pressure applied. + - N/A - ไม่มี + Paths + - Serial - ซีเรียล + Projected acceleration path, detected lanes, and vehicles in the blind spot. + - Driver Camera - กล้องฝั่งคนขับ + Road Name + - PREVIEW - แสดงภาพ + The current road name is displayed at the bottom of the screen using data from 'OpenStreetMap'. + - Preview the driver facing camera to ensure that driver monitoring has good visibility. (vehicle must be off) - ดูภาพตัวอย่างกล้องที่หันเข้าหาคนขับเพื่อให้แน่ใจว่าการตรวจสอบคนขับมีทัศนวิสัยที่ดี (รถต้องดับเครื่องยนต์) + Rotating Steering Wheel + - Reset Calibration - รีเซ็ตการคาลิเบรท + The steering wheel in the onroad UI rotates along with your steering wheel movements. + - RESET - รีเซ็ต + Quality of Life Improvements + - Are you sure you want to reset calibration? - คุณแน่ใจหรือไม่ว่าต้องการรีเซ็ตการคาลิเบรท? + Miscellaneous visual focused features to improve your overall openpilot experience. + - Review Training Guide - ทบทวนคู่มือการใช้งาน + Larger Map Display + - REVIEW - ทบทวน + A larger size of the map in the onroad UI for easier navigation readings. + - Review the rules, features, and limitations of openpilot - ตรวจสอบกฎ คุณสมบัติ และข้อจำกัดของ openpilot + Map Style + - Are you sure you want to review the training guide? - คุณแน่ใจหรือไม่ว่าต้องการทบทวนคู่มือการใช้งาน? + Custom map styles for the map used during navigation. + - Regulatory - ระเบียบข้อบังคับ + Screen Standby Mode + - VIEW - ดู + The screen is turned off after it times out when driving, but it automatically wakes up if engagement state changes or important alerts occur. + - Change Language - เปลี่ยนภาษา + Show Driver Camera When In Reverse + - CHANGE - เปลี่ยน + The driver camera feed is displayed when the vehicle is in reverse. + - Select a language - เลือกภาษา + Stopped Timer + - Reboot - รีบูต + A timer on the onroad UI to indicate how long the vehicle has been stopped. + - Power Off - ปิดเครื่อง + Acceleration + - openpilot requires the device to be mounted within 4° left or right and within 5° up or 9° down. openpilot is continuously calibrating, resetting is rarely required. - openpilot กำหนดให้ติดตั้งอุปกรณ์ โดยสามารถเอียงด้านซ้ายหรือขวาไม่เกิน 4° และเอียงขึ้นด้านบนไม่เกิน 5° หรือเอียงลงด้านล่างไม่เกิน 9° openpilot ทำการคาลิเบรทอย่างต่อเนื่อง แทบจะไม่จำเป็นต้องทำการรีเซ็ตการคาลิเบรท + Adjacent + - Your device is pointed %1° %2 and %3° %4. - อุปกรณ์ของคุณเอียงไปทาง %2 %1° และ %4 %3° + Blind Spot + - down - ด้านล่าง + Dynamic + - up - ด้านบน + Static + - left - ด้านซ้าย + Full Map + - right - ด้านขวา + Stock openpilot + - Are you sure you want to reboot? - คุณแน่ใจหรือไม่ว่าต้องการรีบูต? + Mapbox Streets + - Disengage to Reboot - ยกเลิกระบบช่วยขับเพื่อรีบูต + Mapbox Outdoors + - Are you sure you want to power off? - คุณแน่ใจหรือไม่ว่าต้องการปิดเครื่อง? + Mapbox Light + - Disengage to Power Off - ยกเลิกระบบช่วยขับเพื่อปิดเครื่อง + Mapbox Dark + - Reset - รีเซ็ต + Mapbox Satellite + - Review - ทบทวน + Mapbox Satellite Streets + - Pair your device with comma connect (connect.comma.ai) and claim your comma prime offer. - จับคู่อุปกรณ์ของคุณกับ comma connect (connect.comma.ai) และรับข้อเสนอ comma prime ของคุณ + Mapbox Navigation Day + - Pair Device - จับคู่อุปกรณ์ + Mapbox Navigation Night + - PAIR - จับคู่ + Mapbox Traffic Night + - - - DriverViewWindow - camera starting - กำลังเปิดกล้อง + mike854's (Satellite hybrid) + - - - ExperimentalModeButton - EXPERIMENTAL MODE ON - คุณกำลังใช้โหมดทดลอง + SELECT + เลือก - CHILL MODE ON - คุณกำลังใช้โหมดชิล + Select a map style + @@ -336,6 +3382,10 @@ ต้องการอย่างน้อย %n ตัวอักษร! + + Characters: %1/%2 + + Installer @@ -369,6 +3419,10 @@ Manage at connect.comma.ai จัดการได้ที่ connect.comma.ai + + Manage at %1 + + MapWindow @@ -590,7 +3644,7 @@ openpilot - openpilot + openpilot %n minute(s) ago @@ -630,6 +3684,10 @@ now ตอนนี้ + + FrogPilot + + Reset @@ -676,7 +3734,7 @@ This may take up to a minute. SettingsWindow × - × + × Device @@ -694,6 +3752,14 @@ This may take up to a minute. Software ซอฟต์แวร์ + + ← Back + + + + FrogPilot + + Setup @@ -887,6 +3953,30 @@ This may take up to a minute. 5G 5G + + GPU + + + + CPU + + + + GB + + + + MEMORY + + + + LEFT + + + + USED + + SoftwarePanel @@ -908,7 +3998,7 @@ This may take up to a minute. Updates are only downloaded while the car is off. - ตัวอัปเดตจะดำเนินการดาวน์โหลดเมื่อรถดับเครื่องยนต์อยู่เท่านั้น + ตัวอัปเดตจะดำเนินการดาวน์โหลดเมื่อรถดับเครื่องยนต์อยู่เท่านั้น Current Version @@ -962,6 +4052,34 @@ This may take up to a minute. up to date, last checked %1 ล่าสุดแล้ว ตรวจสอบครั้งสุดท้ายเมื่อ %1 + + Updates are only downloaded while the car is off or in park. + + + + Automatically Update FrogPilot + + + + FrogPilot will automatically update itself and it's assets when you're offroad and connected to Wi-Fi. + + + + Do you want to permanently delete any additional FrogPilot assets? This is 100% unrecoverable and includes backups, downloaded models, themes, and long-term storage toggle settings for easy reinstalls. + + + + Error Log + + + + VIEW + ดู + + + View the error log for openpilot crashes. + + SshControl @@ -1140,7 +4258,7 @@ This may take up to a minute. An alpha version of openpilot longitudinal control can be tested, along with Experimental mode, on non-release branches. - ระบบควบคุมการเร่ง/เบรคโดย openpilot เวอร์ชัน alpha สามารถทดสอบได้พร้อมกับโหมดการทดลอง บน branch ที่กำลังพัฒนา + ระบบควบคุมการเร่ง/เบรคโดย openpilot เวอร์ชัน alpha สามารถทดสอบได้พร้อมกับโหมดการทดลอง บน branch ที่กำลังพัฒนา End-to-End Longitudinal Control @@ -1158,14 +4276,6 @@ This may take up to a minute. The driving visualization will transition to the road-facing wide-angle camera at low speeds to better show some turns. The Experimental mode logo will also be shown in the top right corner. การแสดงภาพการขับขี่จะเปลี่ยนไปใช้กล้องมุมกว้างที่หันหน้าไปทางถนนเมื่ออยู่ในความเร็วต่ำ เพื่อแสดงภาพการเลี้ยวที่ดีขึ้น โลโก้โหมดการทดลองจะแสดงที่มุมบนขวาด้วย - - Always-On Driver Monitoring - - - - Enable driver monitoring even when openpilot is not engaged. - - Updater @@ -1202,6 +4312,89 @@ This may take up to a minute. การอัปเดตล้มเหลว + + UtilitiesPanel + + Flash Panda + + + + FLASH + + + + Use this button to flash the Panda device's firmware if you're running into issues. + + + + Are you sure you want to flash the Panda? + + + + Flash + + + + Flashing... + + + + Flashed! + + + + Rebooting... + + + + Force Started State + + + + Force openpilot either offroad or onroad. + + + + OFFROAD + + + + ONROAD + + + + OFF + + + + Reset Toggles to Default + + + + RESET + รีเซ็ต + + + Reset your toggle settings back to their default settings. + + + + Are you sure you want to completely reset all of your toggle settings? + + + + Reset + รีเซ็ต + + + Resetting... + + + + Reset! + + + WiFiPromptWidget @@ -1224,6 +4417,14 @@ This may take up to a minute. Training data will be pulled periodically while your device is on Wi-Fi ข้อมูลการฝึกฝนจะถูกดึงเป็นระยะระหว่างที่อุปกรณ์ของคุณเชื่อมต่อกับ Wi-Fi + + Uploading disabled + + + + Toggle off the 'Disable Uploading' toggle to enable uploads. + + WifiUI diff --git a/selfdrive/ui/translations/main_tr.ts b/selfdrive/ui/translations/main_tr.ts index 48615f169933b3..69cf1e01d01f9b 100644 --- a/selfdrive/ui/translations/main_tr.ts +++ b/selfdrive/ui/translations/main_tr.ts @@ -15,6 +15,10 @@ Reboot and Update Güncelle ve Yeniden başlat + + Disable Internet Check + + AdvancedNetworking @@ -86,6 +90,26 @@ for "%1" için "%1" + + Off + + + + Always + + + + Only Onroad + + + + Until Reboot + + + + Allow tethering with your data SIM and keep it active either while driving or continuously. + + AnnotatedCameraWidget @@ -109,6 +133,156 @@ LIMIT LİMİT + + Vehicle in blind spot + + + + m/s² + + + + m/s + + + + kph + + + + ft/s² + + + + Accel: %1%2 + + + + - Max: %1%2 + + + + | Obstacle: + + + + | Obstacle Factor: + + + + - Stop: + + + + - Stop Factor: + + + + Follow: + + + + Follow Distance: + + + + Confirm speed limit + + + + + Ignore speed limit + + + + + Conditional Experimental Mode ready + + + + Conditional Experimental overridden + + + + Experimental Mode manually activated + + + + Experimental Mode activated for %1 + + + + low speed + + + + speed being less than %1 %2 + + + + Experimental Mode activated for turn + + + + / lane change + + + + Experimental Mode activated for intersection + + + + Experimental Mode activated for upcoming turn + + + + Experimental Mode activated for curve + + + + Experimental Mode activated for stopped lead + + + + Experimental Mode activated for slower lead + + + + Experimental Mode activated %1 + + + + to stop + + + + Experimental Mode forced on %1 + + + + Experimental Mode activated due to no speed limit + + + + Always On Lateral active + + + + . Press the "Cruise Control" button to disable + + + + . Long press the "distance" button to revert + + + + . Click the "LKAS" button to revert + + + + . Double tap the screen to revert + + ConfirmationDialog @@ -135,192 +309,3064 @@ Decline, uninstall %1 Reddet, Kurulumu kaldır. %1 - - - DestinationWidget + + + DestinationWidget + + Home + + + + Work + + + + No destination set + + + + home + + + + work + + + + No %1 location set + + + + + DevicePanel + + Dongle ID + Adaptör ID + + + N/A + N/A + + + Serial + Seri Numara + + + Driver Camera + Sürücü Kamerası + + + PREVIEW + ÖN İZLEME + + + Preview the driver facing camera to ensure that driver monitoring has good visibility. (vehicle must be off) + Sürücü kamerasının görüş açısını test etmek için kamerayı önizleyin (Araç kapalı olmalıdır.) + + + Reset Calibration + Kalibrasyonu sıfırla + + + RESET + SIFIRLA + + + Are you sure you want to reset calibration? + Kalibrasyon ayarını sıfırlamak istediğinizden emin misiniz? + + + Review Training Guide + Eğitim kılavuzunu inceleyin + + + REVIEW + GÖZDEN GEÇİR + + + Review the rules, features, and limitations of openpilot + openpilot sisteminin kurallarını ve sınırlamalarını gözden geçirin. + + + Are you sure you want to review the training guide? + Eğitim kılavuzunu incelemek istediğinizden emin misiniz? + + + Regulatory + Mevzuat + + + VIEW + BAK + + + Change Language + Dili değiştir + + + CHANGE + DEĞİŞTİR + + + Select a language + Dil seçin + + + Reboot + Yeniden başlat + + + Power Off + Sistemi kapat + + + openpilot requires the device to be mounted within 4° left or right and within 5° up or 9° down. openpilot is continuously calibrating, resetting is rarely required. + openpilot, cihazın 4° sola veya 5° yukarı yada 9° aşağı bakıcak şekilde monte edilmesi gerekmektedir. openpilot sürekli kendisini kalibre edilmektedir ve nadiren sıfırlama gerebilir. + + + Your device is pointed %1° %2 and %3° %4. + Cihazınız %1° %2 ve %3° %4 yönünde ayarlı + + + down + aşağı + + + up + yukarı + + + left + sol + + + right + sağ + + + Are you sure you want to reboot? + Cihazı Tekrar başlatmak istediğinizden eminmisiniz? + + + Disengage to Reboot + Bağlantıyı kes ve Cihazı Yeniden başlat + + + Are you sure you want to power off? + Cihazı kapatmak istediğizden eminmisiniz? + + + Disengage to Power Off + Bağlantıyı kes ve Cihazı kapat + + + Reset + + + + Review + + + + Pair your device with comma connect (connect.comma.ai) and claim your comma prime offer. + Cihazınızı comma connect (connect.comma.ai) ile eşleştirin ve comma prime aboneliğine göz atın. + + + Pair Device + + + + PAIR + + + + + DriveStats + + ALL TIME + + + + PAST WEEK + + + + FROGPILOT + + + + Drives + + + + Hours + + + + KM + + + + Miles + + + + + DriverViewWindow + + camera starting + kamera başlatılıyor + + + + ExperimentalModeButton + + EXPERIMENTAL MODE ON + + + + CHILL MODE ON + + + + + FrogPilotAdvancedDrivingPanel + + Advanced Lateral Tuning + + + + Advanced settings that control how openpilot manages steering. + + + + Friction (Default: %1) + + + + Friction + + + + The resistance in steering. Higher values provide more stable steering but can make it feel heavy, while lower values allow lighter steering but may feel too sensitive. + + + + Kp Factor (Default: %1) + + + + Kp Factor + + + + How aggressively the car corrects its steering. Higher values offer quicker corrections but may feel jerky, while lower values make steering smoother but slower to respond. + + + + Lateral Accel (Default: %1) + + + + Lateral Accel + + + + Adjust how fast the car can steer from side to side. Higher values allow quicker lane changes but can feel unstable, while lower values provide smoother steering but may feel sluggish. + + + + Steer Ratio (Default: %1) + + + + Steer Ratio + + + + Adjust how much openpilot needs to turn the wheel to steer. Higher values feel like driving a truck, more stable at high speeds, but harder to steer quickly at low speeds, while lower values feel like a go-kart, easier to steer in tight spots but more sensitive and less stable at high speeds. + + + + comma's 2022 Taco Bell Turn Hack + + + + Use comma's hack they used to help handle left and right turns more precisely during their 2022 'Taco Bell' drive. + + + + Force Auto Tune On + + + + Forces comma's auto lateral tuning for unsupported vehicles. + + + + Force Auto Tune Off + + + + Forces comma's auto lateral tuning off for supported vehicles. + + + + Force Turn Desires Below Lane Change Speed + + + + Force the model to use turn desires when driving below the minimum lane change speed to help make left and right turns more precisely. + + + + Advanced Longitudinal Tuning + + + + Advanced settings that control how openpilot manages speed and acceleration. + + + + Lead Detection Confidence + + + + How sensitive openpilot is to detecting vehicles ahead. A lower value can help detect vehicles sooner and from farther away, but may occasionally mistake other objects for vehicles. + + + + Maximum Acceleration Rate + + + + Set a cap on how fast openpilot can accelerate to prevent high acceleration at low speeds. + + + + Advanced Quality of Life + + + + Miscellaneous advanced features to improve your overall openpilot experience. + + + + Force Keep openpilot in the Standstill State + + + + Keep openpilot in the 'standstill' state until the gas pedal or 'resume' button is pressed. + + + + Force Stop for 'Detected' Stop Lights/Signs + + + + Whenever openpilot 'detects' a potential stop light/stop sign, force a stop where it originally detected it to prevent running the potential red light/stop sign. + + + + Set Speed Offset + + + + How much higher or lower the set speed should be compared to your current set speed. For example, if you prefer to drive 5 mph above the speed limit, this setting will automatically add that difference when you adjust your set speed. + + + + Customize Driving Personalities + + + + Customize the personality profiles to suit your preferences. + + + + Traffic Personality + + + + Customize the 'Traffic' personality profile, tailored for navigating through traffic. + + + + Following Distance + + + + The minimum following distance in 'Traffic Mode.' openpilot will adjust dynamically between this value and the 'Aggressive' profile distance based on your speed. + + + + Acceleration Sensitivity + + + + How sensitive openpilot is to changes in acceleration in 'Traffic Mode.' Higher values result in smoother, more gradual acceleration and deceleration, while lower values allow for faster changes that may feel more abrupt. + + + + Deceleration Sensitivity + + + + Controls how sensitive openpilot is to changes in deceleration in 'Traffic Mode.' Higher values result in smoother, more gradual braking, while lower values allow for quicker, more responsive braking that may feel abrupt. + + + + Safety Distance Sensitivity + + + + Adjusts how cautious openpilot is around other vehicles or obstacles in 'Traffic Mode.' Higher values increase following distances and prioritize safety, leading to more cautious driving, while lower values allow for closer following but may reduce reaction time. + + + + Speed Increase Responsiveness + + + + Controls how quickly openpilot adjusts speed in 'Traffic Mode.' Higher values ensure smoother, more gradual speed changes, while lower values enable quicker adjustments that might feel sharper or less smooth. + + + + Speed Decrease Responsiveness + + + + Sets how quickly openpilot adjusts to decreasing speeds in 'Traffic Mode.' Higher values ensure smoother transitions when slowing down, while lower values allow for quicker, more responsive speed reductions that might feel sharper. + + + + Reset Settings + + + + Restore the 'Traffic Mode' settings to their default values. + + + + Aggressive Personality + + + + Customize the 'Aggressive' personality profile, designed for a more assertive driving style. + + + + Set the following distance for 'Aggressive' mode. This determines roughly how many seconds you'll follow behind the car ahead. + +Default: 1.25 seconds. + + + + Controls how sensitive openpilot is to acceleration changes in 'Aggressive' mode. Higher values make acceleration and deceleration smoother but slower, while lower values allow quicker changes that may feel jerky. + +Default: 0.5. + + + + Controls how sensitive openpilot is to deceleration in 'Aggressive' mode. Higher values result in smoother braking, while lower values allow for more immediate braking that may feel abrupt. + +Default: 0.5. + + + + Adjusts how cautious openpilot is around vehicles or obstacles in 'Aggressive' mode. Higher values make it more cautious, while lower values allow for closer following, increasing the risk of sudden braking. + +Default: 1.0. + + + + Controls how quickly openpilot adjusts speed in 'Aggressive' mode. Higher values result in smoother but slower speed changes, while lower values make speed adjustments quicker but potentially more abrupt. + +Default: 0.5. + + + + Sets how quickly openpilot adjusts to speed reductions in 'Aggressive' mode. Higher values ensure smoother transitions when slowing down, while lower values allow for quicker, more responsive speed decreases that may feel sharp. + +Default: 0.5. + + + + Restore the 'Aggressive' settings to their default values. + + + + Standard Personality + + + + Customize the 'Standard' personality profile, optimized for balanced driving. + + + + Set the following distance for 'Standard' mode. This determines roughly how many seconds you'll follow behind the car ahead. + +Default: 1.45 seconds. + + + + Controls how sensitive openpilot is to acceleration changes in 'Standard' mode. Higher values make acceleration and deceleration smoother but slower, while lower values allow quicker changes that may feel jerky. + +Default: 1.0. + + + + Controls how sensitive openpilot is to deceleration in 'Standard' mode. Higher values result in smoother braking, while lower values allow for quicker, more immediate braking that may feel abrupt. + +Default: 1.0. + + + + Adjusts how cautious openpilot is around vehicles or obstacles in 'Standard' mode. Higher values make it more cautious, while lower values allow for closer following, increasing the risk of sudden braking. + +Default: 1.0. + + + + Controls how quickly openpilot adjusts speed in 'Standard' mode. Higher values result in smoother but slower speed changes, while lower values make speed adjustments quicker but potentially more abrupt. + +Default: 1.0. + + + + Sets how quickly openpilot adjusts to speed reductions in 'Standard' mode. Higher values ensure smoother transitions when slowing down, while lower values allow for quicker, more responsive speed decreases that may feel sharp. + +Default: 1.0. + + + + Restore the 'Standard' settings to their default values. + + + + Relaxed Personality + + + + Customize the 'Relaxed' personality profile, ideal for a more laid-back driving style. + + + + Set the following distance for 'Relaxed' mode. This determines roughly how many seconds you'll follow behind the car ahead. + +Default: 1.75 seconds. + + + + Controls how sensitive openpilot is to acceleration changes in 'Relaxed' mode. Higher values make acceleration and deceleration smoother but slower, while lower values allow quicker changes that may feel jerky. + +Default: 1.0. + + + + Controls how sensitive openpilot is to deceleration in 'Relaxed' mode. Higher values result in smoother braking, while lower values allow for quicker, more immediate braking that may feel abrupt. + +Default: 1.0. + + + + Adjusts how cautious openpilot is around vehicles or obstacles in 'Relaxed' mode. Higher values make it more cautious, while lower values allow for closer following, increasing the risk of sudden braking. + +Default: 1.0. + + + + Controls how quickly openpilot adjusts speed in 'Relaxed' mode. Higher values result in smoother but slower speed changes, while lower values make speed adjustments quicker but potentially more abrupt. + +Default: 1.0. + + + + Sets how quickly openpilot adjusts to speed reductions in 'Relaxed' mode. Higher values ensure smoother transitions when slowing down, while lower values allow for quicker, more responsive speed decreases that may feel sharp. + +Default: 1.0. + + + + Restore the 'Relaxed' settings to their default values. + + + + Model Management + + + + Manage the driving models used by openpilot. + + + + Automatically Update and Download Models + + + + Automatically download new or updated driving models. + + + + Model Randomizer + + + + A random model is selected and can be reviewed at the end of each drive if it's longer than 15 minutes to help find your preferred model. + + + + Manage Model Blacklist + + + + Control which models are blacklisted and won't be used for future drives. + + + + Reset Model Scores + + + + Clear the ratings you've given to the driving models. + + + + Review Model Scores + + + + View the ratings you've assigned to the driving models. + + + + Delete Model + + + + Remove the selected driving model from your device. + + + + Download Model + + + + Download undownloaded driving models. + + + + Download All Models + + + + Download all undownloaded driving models. + + + + Select Model + + + + Select which model openpilot uses to drive. + + + + Reset Model Calibrations + + + + Reset calibration settings for the driving models. + + + + mph + mph + + + Reset + + + + seconds + + + + ADD + EKLE + + + REMOVE + KALDIR + + + There's no more models to blacklist! The only available model is "%1"! + + + + OK + TAMAM + + + Select a model to add to the blacklist + + + + Are you sure you want to add the '%1' model to the blacklist? + + + + Add + + + + Select a model to remove from the blacklist + + + + Are you sure you want to remove the '%1' model from the blacklist? + + + + Remove + + + + RESET + SIFIRLA + + + Reset all model scores? + + + + VIEW + BAK + + + DELETE + + + + Select a model to delete + + + + Are you sure you want to delete the '%1' model? + + + + Delete + + + + Deleting... + + + + Deleted! + + + + DOWNLOAD + + + + CANCEL + + + + Select a driving model to download + + + + Downloading %1... + + + + SELECT + + + + Select a model - 🗺️ = Navigation | 📡 = Radar | 👀 = VOACC + + + + WARNING: This is a very experimental model and may drive dangerously! + + + + I understand the risks. + + + + Start with a fresh calibration for the newly selected model? + + + + Reboot required to take effect. + + + + Reboot Now + + + + RESET ALL + + + + RESET ONE + + + + Are you sure you want to completely reset all of your model calibrations? + + + + Select a model to reset + + + + Are you sure you want to completely reset this model's calibrations? + + + + The 'Model Randomizer' only works with downloaded models. Do you want to download all the driving models? + + + + Are you sure you want to completely reset your settings for the 'Traffic Mode' personality? + + + + Are you sure you want to completely reset your settings for the 'Aggressive' personality? + + + + Are you sure you want to completely reset your settings for the 'Standard' personality? + + + + Are you sure you want to completely reset your settings for the 'Relaxed' personality? + + + + kph + + + + Downloading models... + + + + openpilot requires the device to be mounted within 4° left or right and within 5° up or 9° down. openpilot is continuously calibrating, resetting is rarely required. + openpilot, cihazın 4° sola veya 5° yukarı yada 9° aşağı bakıcak şekilde monte edilmesi gerekmektedir. openpilot sürekli kendisini kalibre edilmektedir ve nadiren sıfırlama gerebilir. + + + Your device is pointed %1° %2 and %3° %4. + Cihazınız %1° %2 ve %3° %4 yönünde ayarlı + + + down + aşağı + + + up + yukarı + + + left + sol + + + right + sağ + + + + FrogPilotAdvancedVisualsPanel + + Advanced Onroad UI Widgets + + + + Advanced user customizations for the Onroad UI. + + + + Camera View + + + + Camera view for the onroad UI. This is purely a visual change and doesn't impact how openpilot drives. + + + + Display Stopping Points + + + + Display an image on the screen where openpilot is detecting a potential red light/stop sign. + + + + Hide Lead Marker + + + + Hide the marker for the vehicle ahead on the screen. + + + + Hide Speed + + + + Hide the speed indicator in the onroad UI. Additional toggle allows it to be hidden/shown via tapping the speed itself. + + + + Hide UI Elements + + + + Hide the selected UI elements from the onroad screen. + + + + Use Wheel Speed + + + + Use the wheel speed instead of the cluster speed in the onroad UI. + + + + Developer UI + + + + Show detailed information about openpilot's internal operations. + + + + Border Metrics + + + + Display performance metrics around the edge of the screen while driving. + + + + FPS Display + + + + Display the 'Frames Per Second' (FPS) at the bottom of the screen while driving. + + + + Lateral Metrics + + + + Display metrics related to steering control at the top of the screen while driving. + + + + Longitudinal Metrics + + + + Display metrics related to acceleration, speed, and desired following distance at the top of the screen while driving. + + + + Numerical Temperature Gauge + + + + Show exact temperature readings instead of general status labels like 'GOOD', 'OK', or 'HIGH' in the sidebar. + + + + Sidebar + + + + Display system information like CPU, GPU, RAM usage, IP address, and storage space in the sidebar. + + + + Use International System of Units + + + + Display measurements using the 'International System of Units' (SI). + + + + Model UI + + + + Customize the model visualizations on the screen. + + + + Lane Lines Width + + + + How thick the lane lines appear on the display. + +Default matches the MUTCD standard of 4 inches. + + + + Path Edges Width + + + + The width of the edges of the driving path to represent different modes and statuses. + +Default is 20% of the total path width. + +Color Guide: +- Blue: Navigation +- Light Blue: 'Always On Lateral' +- Green: Default +- Orange: 'Experimental Mode' +- Red: 'Traffic Mode' +- Yellow: 'Conditional Experimental Mode' Overridden + + + + Path Width + + + + How wide the driving path appears on your screen. + +Default (6.1 feet / 1.9 meters) matches the width of a 2019 Lexus ES 350. + + + + Road Edges Width + + + + How thick the road edges appear on the display. + +Default matches half of the MUTCD standard lane line width of 4 inches. + + + + 'Unlimited' Road UI + + + + Extend the display of the path, lane lines, and road edges as far as the model can see. + + + + Auto + + + + Driver + + + + Standard + + + + Wide + + + + Control Via UI + + + + Alerts + + + + Map Icon + + + + Max Speed + + + + Show Distance + + + + Blind Spot + + + + Steering Torque + + + + Turn Signal + + + + Adjacent Path Metrics + + + + Auto Tune + + + + Lead Info + + + + Longitudinal Jerk + + + + Fahrenheit + + + + CPU + + + + GPU + + + + IP + + + + RAM + + + + SSD Left + + + + SSD Used + + + + inches + + + + % + + + + feet + + + + Adjust how thick the lane lines appear on the display. + +Default matches the Vienna standard of 10 centimeters. + + + + Adjust how thick the road edges appear on the display. + +Default matches half of the Vienna standard of 10 centimeters. + + + + centimeters + + + + meters + + + + Adjust how thick the lane lines appear on the display. + +Default matches the MUTCD standard of 4 inches. + + + + Adjust how thick the road edges appear on the display. + +Default matches half of the MUTCD standard of 4 inches. + + + + + FrogPilotConfirmationDialog + + Reboot Later + + + + Yes + + + + No + + + + + FrogPilotDataPanel + + Delete Driving Footage and Data + + + + DELETE + + + + This button provides a swift and secure way to permanently delete all stored driving footage and data from your device. Ideal for maintaining privacy or freeing up space. + + + + Are you sure you want to permanently delete all of your driving footage and data? + + + + Delete + + + + Deleting... + + + + Deleted! + + + + Screen Recordings + + + + Manage your screen recordings. + + + + RENAME + + + + Select a recording to delete + + + + Are you sure you want to delete this recording? + + + + Failed... + + + + Select a recording to rename + + + + Enter a new name + + + + Rename Recording + + + + Renaming... + + + + Renamed! + + + + FrogPilot Backups + + + + Manage your FrogPilot backups. + + + + BACKUP + + + + RESTORE + + + + Name your backup + + + + Do you want to compress this backup? The end file size will be 2.25x smaller, but can take 10+ minutes. + + + + Backing... + + + + Compressing... + + + + Success! + + + + Select a backup to delete + + + + Are you sure you want to delete this backup? + + + + Select a restore point + + + + Are you sure you want to restore this version of FrogPilot? + + + + Restore + + + + Restoring... + + + + Extracting... + + + + Restored! + + + + Rebooting... + + + + Toggle Backups + + + + Manage your toggle backups. + + + + Are you sure you want to restore this toggle backup? + + + + + FrogPilotDevicePanel + + Device Settings + + + + Device behavior settings. + + + + Device Shutdown Timer + + + + How long the device stays on after you stop driving. + + + + Disable Internet Requirement + + + + The device can work without an internet connection for as long as you need. + + + + Increase Thermal Safety Limit + + + + The device can run at higher temperatures than recommended. + + + + Low Battery Shutdown Threshold + + + + Shut down the device when the car's battery gets too low to prevent damage to the 12V battery. + + + + Turn Off Data Tracking + + + + Disable all tracking to improve privacy. + + + + Turn Off Data Uploads + + + + Stop the device from sending any data to the servers. + + + + Screen Settings + + + + Screen behavior settings. + + + + Screen Brightness (Offroad) + + + + The screen brightness when you're not driving. + + + + Screen Brightness (Onroad) + + + + The screen brightness while you're driving. + + + + Screen Recorder + + + + Display a button in the onroad UI to record the screen. + + + + Screen Timeout (Offroad) + + + + How long it takes for the screen to turn off when you're not driving. + + + + Screen Timeout (Onroad) + + + + How long it takes for the screen to turn off while you're driving. + + + + 5 mins + + + + mins + + + + hour + + + + hours + + + + Only Onroad + + + + volts + + + + Auto + + + + seconds + + + + WARNING: This can cause premature wear or damage by running the device over comma's recommended temperature limits! + + + + I understand the risks. + + + + WARNING: This will prevent your drives from being recorded and the data will be unobtainable! + + + + WARNING: This will prevent your drives from appearing on comma connect which may impact debugging and support! + + + + + FrogPilotLateralPanel + + Always on Lateral + + + + openpilot's steering control stays active even when the brake or gas pedals are pressed. + +Deactivate only occurs with the 'Cruise Control' button. + + + + Control with LKAS Button + + + + 'Always on Lateral' gets turned on or off using the 'LKAS' button. + + + + Enable with Cruise Control + + + + 'Always on Lateral' gets turned on by pressing the 'Cruise Control' button bypassing the requirement to enable openpilot first. + + + + Pause on Brake Below + + + + 'Always on Lateral' pauses when the brake pedal is pressed below the set speed. + + + + Hide the Status Bar + + + + The status bar for 'Always on Lateral' is hidden. + + + + Lane Change Settings + + + + How openpilot handles lane changes. + + + + Hands-Free Lane Change + + + + Lane changes are conducted without needing to touch the steering wheel upon turn signal activation. + + + + Lane Change Delay + + + + How long openpilot waits before changing lanes. + + + + Lane Width Requirement + + + + The minimum lane width for openpilot to detect a lane as a lane. + + + + Minimum Speed for Lane Change + + + + The minimum speed required for openpilot to perform a lane change. + + + + Single Lane Change Per Signal + + + + Lane changes are limited to one per turn signal activation. + + + + Lateral Tuning + + + + Settings that control how openpilot manages steering. + + + + Neural Network Feedforward (NNFF) + + + + Twilsonco's 'Neural Network FeedForward' for more precise steering control. + + + + Smooth Curve Handling + + + + Smoother steering when entering and exiting curves with Twilsonco's torque adjustments. + + + + Quality of Life Improvements + + + + Miscellaneous lateral focused features to improve your overall openpilot experience. + + + + Pause Steering Below + + + + Pauses steering control when driving below the set speed. + + + + mph + mph + + + feet + + + + Reboot required to take effect. + + + + Reboot Now + + + + kph + + + + meters + + + + + FrogPilotLongitudinalPanel + + Conditional Experimental Mode + + + + Automatically switches to 'Experimental Mode' when specific conditions are met. + + + + Below + + + + 'Experimental Mode' is active when driving below the set speed without a lead vehicle. + + + + Curve Detected Ahead + + + + 'Experimental Mode' is active when a curve is detected in the road ahead. + + + + Lead Detected Ahead + + + + 'Experimental Mode' is active when a slower or stopped vehicle is detected ahead. + + + + Navigation Data + + + + 'Experimental Mode' is active based on navigation data, such as upcoming intersections or turns. + + + + openpilot Wants to Stop In + + + + 'Experimental Mode' is active when openpilot wants to stop such as for a stop sign or red light. + + + + Turn Signal Below + + + + 'Experimental Mode' is active when using turn signals below the set speed. + + + + Hide the Status Bar + + + + The status bar for 'Conditional Experimental Mode' is hidden. + + + + Curve Speed Control + + + + Automatically slow down for curves detected ahead or through the downloaded maps. + + + + Curve Detection Method + + + + The method used to detect curves. + + + + Curve Detection Failsafe + + + + Curve control is triggered only when a curve is detected ahead. Use this as a failsafe to prevent false positives when using the 'Map Based' method. + + + + Curve Sensitivity + + + + How sensitive openpilot is to detecting curves. Higher values trigger earlier responses at the risk of triggering too often, while lower values increase confidence at the risk of triggering too infrequently. + + + + Turn Speed Aggressiveness + + + + How aggressive openpilot takes turns. Higher values result in quicker turns, while lower values provide gentler turns. + + + + Disable Speed Value Smoothing In the UI + + + + Speed value smoothing is disabled in the UI to instead display the exact speed requested by the curve control. + + + + Experimental Mode Activation + + + + 'Experimental Mode' is toggled off/on using the steering wheel buttons or the on-screen controls. + +This overrides 'Conditional Experimental Mode'. + + + + Click the LKAS Button + + + + 'Experimental Mode' is toggled by pressing the 'LKAS' button on the steering wheel. + + + + Double-Tap the Screen + + + + 'Experimental Mode' is toggled by double-tapping the onroad UI within 0.5 seconds. + + + + Long Press the Distance Button + + + + 'Experimental Mode' is toggled by holding the 'distance' button on the steering wheel for 0.5+ seconds. + + + + Longitudinal Tuning + + + + Settings that control how openpilot manages speed and acceleration. + + + + Acceleration Profile + + + + Choose between a sporty or eco-friendly acceleration rate. + + + + Deceleration Profile + + + + Choose between a sporty or eco-friendly deceleration rate. + + + + Human-Like Acceleration + + + + Uses the lead's acceleration rate when at a takeoff and ramps off the acceleration rate when approaching the maximum set speed for a smoother max speed approach. + + + + Human-Like Following Distance + + + + Dynamically adjusts the following distance to feel more natural when approaching slower or stopped vehicles. + + + + Increase Stopped Distance + + + + Increases the distance to stop behind vehicles. + + + + Quality of Life Improvements + + + + Miscellaneous longitudinal focused features to improve your overall openpilot experience. + + + + Cruise Increase Interval + + + + Interval used when increasing the cruise control speed. + + + + Custom Cruise Interval (Long Press) + + + + Interval used when increasing the cruise control speed when holding down the button for 0.5+ seconds. + + + + Map Accel/Decel to Gears + + + + Map the acceleration and deceleration profiles to the 'Eco' or 'Sport' gear modes. + + + + Onroad Personality Button + + + + The current driving personality is displayed on the screen. Tap to switch personalities, or long press for 2.5 seconds to activate 'Traffic Mode'. + + + + Reverse Cruise Increase + + + + The long press feature is reversed in order to increase speed by 5 mph instead of 1. + + + + Speed Limit Controller + + + + Automatically adjust your max speed to match the speed limit using 'Open Street Maps', 'Navigate on openpilot', or your car's dashboard (Toyota/Lexus/HKG only). + + + + Confirm New Speed Limits + + + + Require manual confirmation before using a new speed limit. + + + + Fallback Method + + + + Choose what happens when no speed limit data is available. + + + + Override Method + + + + Choose how you want to override the current speed limit. + + + + + + Speed Limit Source Priority + + + + Set the order of priority for speed limit data sources. + + + + Speed Limit Offsets + + + + Manage toggles related to 'Speed Limit Controller's controls. + + + + Speed Limit Offset (0-34 mph) + + + + Set the speed limit offset for speeds between 0 and 34 mph. + + + + Speed Limit Offset (35-54 mph) + + + + Set the speed limit offset for speeds between 35 and 54 mph. + + + + Speed Limit Offset (55-64 mph) + + + + Set the speed limit offset for speeds between 55 and 64 mph. + + + + Speed Limit Offset (65-99 mph) + + + + Set the speed limit offset for speeds between 65 and 99 mph. + + + + Miscellaneous 'Speed Limit Controller' focused features to improve your overall openpilot experience. + + + + Force MPH Readings from Dashboard + + + + Force speed limit readings in MPH from the dashboard if it normally displays in KPH. + + + + Prepare for Higher Speed Limits + + + + Set a lookahead value to prepare for upcoming higher speed limits based on map data. + + + + Prepare for Lower Speed Limits + + + + Set a lookahead value to prepare for upcoming lower speed limits based on map data. + + + + Set Speed to Current Limit + + + + Set your max speed to match the current speed limit when enabling openpilot. + + + + Visual Settings + + + + Manage visual settings for the 'Speed Limit Controller'. + + + + Use Vienna-Style Speed Signs + + + + Switch to Vienna-style (EU) speed limit signs instead of MUTCD (US). + + + + Show Speed Limit Offset + + + + Display the speed limit offset separately in the onroad UI when using the Speed Limit Controller. + + + + mph + mph + + + With Lead + + + + Switches to 'Experimental Mode' when driving below the set speed with a lead vehicle. + + + + With Lead + + + + Slower Lead + + + + Stopped Lead + + + + Intersections + + + + Turns + + + + Off + + + + Map Based + + + + Vision + + + + Standard + + + + Eco + + + + Sport + + + + Sport+ + + + + feet + + + + Acceleration + + + + Deceleration + + + + Lower Limits + + + + Higher Limits + + + + None + + + + Set Speed + + + + Experimental Mode + + + + Previous Limit + + + + Gas Pedal Press + + + + Cruise Set Speed + + + + SELECT + + + + Dashboard + + + + Navigation + + + + Offline Maps + + + + Highest + + + + Lowest + + + + Select your primary priority + + + + Select your secondary priority + + + + Select your tertiary priority + + + + MANAGE + + + + seconds + + + + Control Via UI + + + + Speed Limit Offset (0-34 kph) + + + + Speed Limit Offset (35-54 kph) + + + + Speed Limit Offset (55-64 kph) + + + + Speed Limit Offset (65-99 kph) + + + + Set speed limit offset for limits between 0-34 kph. + + + + Set speed limit offset for limits between 35-54 kph. + + + + Set speed limit offset for limits between 55-64 kph. + + + + Set speed limit offset for limits between 65-99 kph. + + + + kph + + + + meters + + + + Set speed limit offset for limits between 0-34 mph. + + + + Set speed limit offset for limits between 35-54 mph. + + + + Set speed limit offset for limits between 55-64 mph. + + + + Set speed limit offset for limits between 65-99 mph. + + + + + FrogPilotParamManageControl + + MANAGE + + + + + FrogPilotSettingsWindow + + Advanced Settings + + + + Alerts and Sounds + + + + Driving Controls + + + + Navigation + + + + System Management + + + + Theme and Appearance + + + + Vehicle Controls + + + + Advanced FrogPilot features for more experienced users. + + + + Options to customize FrogPilot's sound alerts and notifications. + + + + FrogPilot features than impact acceleration, braking, and steering. + + + + Offline maps downloader and 'Navigate On openpilot (NOO)' settings. + + + + Tools and system utilities used to maintain and troubleshoot FrogPilot. + + + + Options for customizing FrogPilot's themes, UI appearance, and onroad widgets. + + + + Vehicle-specific settings and configurations for supported makes and models. + + + + DRIVING + + + + VISUALS + + + + MANAGE + + + + GAS / BRAKE + + + + STEERING + + + + DATA + + + + DEVICE + + + + UTILITIES + + + + APPEARANCE + + + + THEME + + + + + FrogPilotSoundsPanel + + Alert Volume Controller + + + + Control the volume level for each individual sound in openpilot. + + + + Disengage Volume + + + + Related alerts: + +Adaptive Cruise Disabled +Parking Brake Engaged +Brake Pedal Pressed +Speed too Low + + + + Engage Volume + + + + Related alerts: + +NNFF Torque Controller loaded +openpilot engaged + + + + Prompt Volume + + + + Related alerts: + +Car Detected in Blindspot +Speed too Low +Steer Unavailable Below 'X' +Take Control, Turn Exceeds Steering Limit + + + + Prompt Distracted Volume + + + + Related alerts: + +Pay Attention, Driver Distracted +Touch Steering Wheel, Driver Unresponsive + + + + Refuse Volume + + + + Related alerts: + +openpilot Unavailable + + + + Warning Soft Volume + + + + Related alerts: + +BRAKE!, Risk of Collision +TAKE CONTROL IMMEDIATELY + + + + Warning Immediate Volume + + + + Related alerts: + +DISENGAGE IMMEDIATELY, Driver Distracted +DISENGAGE IMMEDIATELY, Driver Unresponsive + + + + Custom Alerts + + + + Enable custom alerts for openpilot events. + + + + Goat Scream Steering Saturated Alert + + + + Enable the famed 'Goat Scream' that has brought both joy and anger to FrogPilot users all around the world! + + + + Green Light Alert + + + + Get an alert when a traffic light changes from red to green. + + + + Lead Departing Alert + + + + Get an alert when the lead vehicle starts departing when at a standstill. + + + + Loud Blindspot Alert + + + + Enable a louder alert for when a vehicle is detected in the blindspot when attempting to change lanes. + + + + Speed Limit Change Alert + + + + Trigger an alert when the speed limit changes. + + + + + FrogPilotThemesPanel + + Custom Theme + + + + Custom openpilot themes. + + + + Color Scheme + + + + Themed color schemes. + +Want to submit your own color scheme? Share it in the 'feature-request' channel on the FrogPilot Discord! + + + + Icon Pack + + + + Themed icon packs. + +Want to submit your own icons? Share them in the 'feature-request' channel on the FrogPilot Discord! + + + + Sound Pack + + + + Themed sound effects. + +Want to submit your own sounds? Share them in the 'feature-request' channel on the FrogPilot Discord! + + + + Steering Wheel + + + + Custom steering wheel icons. + + + + Turn Signal Animation + + + + Themed turn signal animations. + +Want to submit your own animations? Share them in the 'feature-request' channel on the FrogPilot Discord! + + + + Download Status + + + + Holiday Themes + + + + Change the openpilot theme based on the current holiday. Minor holidays last one day, while major holidays (Easter, Christmas, Halloween, etc.) last a week. + + + + Random Events + + + + Random cosmetic events that happen during certain driving conditions. These events are purely for fun and don't affect driving controls! + + + + Startup Alert + + + + Custom 'Startup' alert message that appears when you start driving. + + + + DELETE + + + + DOWNLOAD + + + + SELECT + + + + Select a color scheme to delete + + + + Are you sure you want to delete the '%1' color scheme? + + + + Delete + + + + Select a color scheme to download + + + + Select a color scheme + + + + Select an icon pack to delete + + + + Are you sure you want to delete the '%1' icon pack? + + + + Select an icon pack to download + + + + Select an icon pack + + + + Select a signal pack to delete + + + + Are you sure you want to delete the '%1' signal pack? + + + + Select a signal pack to download + + + + Select a signal pack + + + + Select a sound pack to delete + + + + Are you sure you want to delete the '%1' sound scheme? + + + + Select a sound pack to download + + + + Select a sound scheme + + + + Select a steering wheel to delete + + + + Are you sure you want to delete the '%1' steering wheel image? + + + + Select a steering wheel to download + + + + Select a steering wheel + + + + STOCK + + + + FROGPILOT + + + + CUSTOM + + + + CLEAR + + + + Enter your text for the top half + + + + Characters: 0/%1 + + + + Enter your text for the bottom half + + + + CANCEL + + + + + FrogPilotVehiclesPanel + + Select Make + + + + SELECT + + + + Select a Make + + + + Select Model + + + + Select a Model + + + + Disable Automatic Fingerprint Detection + + + + Forces the selected fingerprint and prevents it from ever changing. + + + + Disable openpilot Longitudinal Control + + + + Disable openpilot longitudinal control and use stock ACC instead. + + + + Are you sure you want to completely disable openpilot longitudinal control? + + + + Reboot required to take effect. + + + + Reboot Now + + + + 2017 Volt Stop and Go Hack + + + + Force stop and go for the 2017 Chevy Volt. + + + + Experimental GM Tune + + + + FrogsGoMoo's experimental GM tune that is based on nothing but guesswork. Use at your own risk! + + + + Uphill/Downhill Smoothing + + + + Smoothen the car’s gas and brake response when driving on slopes. + + + + Use comma's New Longitudinal API + + + + Comma's new longitudinal control system that has shown great improvement with acceleration and braking, but has a few issues on some GM vehicles. + + + + Use comma's new longitudinal control system that has shown great improvement with acceleration and braking, but has a few issues on Hyundai/Kia/Genesis. + + + + Subaru Crosstrek Torque Increase + + + + Increases the maximum allowed torque for the Subaru Crosstrek. + + + + Automatically Lock/Unlock Doors + + + + Automatically lock the doors when in drive and unlock when in park. + + + + Cluster Speed Offset + + + + Set the cluster offset openpilot uses to try and match the speed displayed on the dash. + + + + FrogsGoMoo's Personal Tweaks + + + + Use FrogsGoMoo's personal tweaks to the Toyota tune focused around his 2019 Lexus ES 350 to take off a bit quicker and stop a bit smoother. + + + + Stop and Go Hack + + + + Force stop and go for vehicles without stock stop and go functionality. + + + + Lock + + + + Unlock + + + + + FrogPilotVisualsPanel + + Onroad UI Widgets + + - Home + Custom FrogPilot widgets used in the onroad user interface. - Work + Compass - No destination set + A compass in the onroad UI to show the current driving direction. - home + Dynamic Path Width - work + Automatically adjust the width of the driving path display based on the current engagement state: + +Fully engaged = 100% +Always On Lateral Active = 75% +Fully disengaged = 50% - No %1 location set + Gas/Brake Pedal Indicators - - - DevicePanel - Dongle ID - Adaptör ID + Pedal indicators in the onroad UI that change opacity based on the pressure applied. + - N/A - N/A + Paths + - Serial - Seri Numara + Projected acceleration path, detected lanes, and vehicles in the blind spot. + - Driver Camera - Sürücü Kamerası + Road Name + - PREVIEW - ÖN İZLEME + The current road name is displayed at the bottom of the screen using data from 'OpenStreetMap'. + - Preview the driver facing camera to ensure that driver monitoring has good visibility. (vehicle must be off) - Sürücü kamerasının görüş açısını test etmek için kamerayı önizleyin (Araç kapalı olmalıdır.) + Rotating Steering Wheel + - Reset Calibration - Kalibrasyonu sıfırla + The steering wheel in the onroad UI rotates along with your steering wheel movements. + - RESET - SIFIRLA + Quality of Life Improvements + - Are you sure you want to reset calibration? - Kalibrasyon ayarını sıfırlamak istediğinizden emin misiniz? + Miscellaneous visual focused features to improve your overall openpilot experience. + - Review Training Guide - Eğitim kılavuzunu inceleyin + Larger Map Display + - REVIEW - GÖZDEN GEÇİR + A larger size of the map in the onroad UI for easier navigation readings. + - Review the rules, features, and limitations of openpilot - openpilot sisteminin kurallarını ve sınırlamalarını gözden geçirin. + Map Style + - Are you sure you want to review the training guide? - Eğitim kılavuzunu incelemek istediğinizden emin misiniz? + Custom map styles for the map used during navigation. + - Regulatory - Mevzuat + Screen Standby Mode + - VIEW - BAK + The screen is turned off after it times out when driving, but it automatically wakes up if engagement state changes or important alerts occur. + - Change Language - Dili değiştir + Show Driver Camera When In Reverse + - CHANGE - DEĞİŞTİR + The driver camera feed is displayed when the vehicle is in reverse. + - Select a language - Dil seçin + Stopped Timer + - Reboot - Yeniden başlat + A timer on the onroad UI to indicate how long the vehicle has been stopped. + - Power Off - Sistemi kapat + Acceleration + - openpilot requires the device to be mounted within 4° left or right and within 5° up or 9° down. openpilot is continuously calibrating, resetting is rarely required. - openpilot, cihazın 4° sola veya 5° yukarı yada 9° aşağı bakıcak şekilde monte edilmesi gerekmektedir. openpilot sürekli kendisini kalibre edilmektedir ve nadiren sıfırlama gerebilir. + Adjacent + - Your device is pointed %1° %2 and %3° %4. - Cihazınız %1° %2 ve %3° %4 yönünde ayarlı + Blind Spot + - down - aşağı + Dynamic + - up - yukarı + Static + - left - sol + Full Map + - right - sağ + Stock openpilot + - Are you sure you want to reboot? - Cihazı Tekrar başlatmak istediğinizden eminmisiniz? + Mapbox Streets + - Disengage to Reboot - Bağlantıyı kes ve Cihazı Yeniden başlat + Mapbox Outdoors + - Are you sure you want to power off? - Cihazı kapatmak istediğizden eminmisiniz? + Mapbox Light + - Disengage to Power Off - Bağlantıyı kes ve Cihazı kapat + Mapbox Dark + - Reset + Mapbox Satellite - Review + Mapbox Satellite Streets - Pair your device with comma connect (connect.comma.ai) and claim your comma prime offer. - Cihazınızı comma connect (connect.comma.ai) ile eşleştirin ve comma prime aboneliğine göz atın. + Mapbox Navigation Day + - Pair Device + Mapbox Navigation Night - PAIR + Mapbox Traffic Night - - - DriverViewWindow - camera starting - kamera başlatılıyor + mike854's (Satellite hybrid) + - - - ExperimentalModeButton - EXPERIMENTAL MODE ON + SELECT - CHILL MODE ON + Select a map style @@ -336,6 +3382,10 @@ En az %n karakter gerekli! + + Characters: %1/%2 + + Installer @@ -369,6 +3419,10 @@ Manage at connect.comma.ai + + Manage at %1 + + MapWindow @@ -589,7 +3643,7 @@ openpilot - openpilot + openpilot %n minute(s) ago @@ -629,6 +3683,10 @@ now + + FrogPilot + + Reset @@ -674,7 +3732,7 @@ This may take up to a minute. SettingsWindow × - x + x Device @@ -692,6 +3750,14 @@ This may take up to a minute. Software Yazılım + + ← Back + + + + FrogPilot + + Setup @@ -885,6 +3951,30 @@ This may take up to a minute. 5G 5G + + GPU + + + + CPU + + + + GB + + + + MEMORY + + + + LEFT + + + + USED + + SoftwarePanel @@ -904,10 +3994,6 @@ This may take up to a minute. CHECK KONTROL ET - - Updates are only downloaded while the car is off. - - Current Version @@ -960,6 +4046,34 @@ This may take up to a minute. up to date, last checked %1 + + Updates are only downloaded while the car is off or in park. + + + + Automatically Update FrogPilot + + + + FrogPilot will automatically update itself and it's assets when you're offroad and connected to Wi-Fi. + + + + Do you want to permanently delete any additional FrogPilot assets? This is 100% unrecoverable and includes backups, downloaded models, themes, and long-term storage toggle settings for easy reinstalls. + + + + Error Log + + + + VIEW + BAK + + + View the error log for openpilot crashes. + + SshControl @@ -1140,10 +4254,6 @@ This may take up to a minute. openpilot longitudinal control may come in a future update. - - An alpha version of openpilot longitudinal control can be tested, along with Experimental mode, on non-release branches. - - Enable the openpilot longitudinal control (alpha) toggle to allow Experimental mode. @@ -1156,14 +4266,6 @@ This may take up to a minute. The driving visualization will transition to the road-facing wide-angle camera at low speeds to better show some turns. The Experimental mode logo will also be shown in the top right corner. - - Always-On Driver Monitoring - - - - Enable driver monitoring even when openpilot is not engaged. - - Updater @@ -1200,6 +4302,89 @@ This may take up to a minute. Güncelleme başarız oldu + + UtilitiesPanel + + Flash Panda + + + + FLASH + + + + Use this button to flash the Panda device's firmware if you're running into issues. + + + + Are you sure you want to flash the Panda? + + + + Flash + + + + Flashing... + + + + Flashed! + + + + Rebooting... + + + + Force Started State + + + + Force openpilot either offroad or onroad. + + + + OFFROAD + + + + ONROAD + + + + OFF + + + + Reset Toggles to Default + + + + RESET + SIFIRLA + + + Reset your toggle settings back to their default settings. + + + + Are you sure you want to completely reset all of your toggle settings? + + + + Reset + + + + Resetting... + + + + Reset! + + + WiFiPromptWidget @@ -1222,6 +4407,14 @@ This may take up to a minute. Training data will be pulled periodically while your device is on Wi-Fi + + Uploading disabled + + + + Toggle off the 'Disable Uploading' toggle to enable uploads. + + WifiUI diff --git a/selfdrive/ui/translations/main_zh-CHS.ts b/selfdrive/ui/translations/main_zh-CHS.ts index 32119ee10f4d78..74a98ef1518606 100644 --- a/selfdrive/ui/translations/main_zh-CHS.ts +++ b/selfdrive/ui/translations/main_zh-CHS.ts @@ -15,313 +15,3359 @@ Reboot and Update 重启并更新 + + Disable Internet Check + + AdvancedNetworking - Back - 返回 + Back + 返回 + + + Enable Tethering + 启用WiFi热点 + + + Tethering Password + WiFi热点密码 + + + EDIT + 编辑 + + + Enter new tethering password + 输入新的WiFi热点密码 + + + IP Address + IP地址 + + + Enable Roaming + 启用数据漫游 + + + APN Setting + APN设置 + + + Enter APN + 输入APN + + + leave blank for automatic configuration + 留空以自动配置 + + + Cellular Metered + 按流量计费的手机移动网络 + + + Prevent large data uploads when on a metered connection + 当使用按流量计费的连接时，避免上传大流量数据 + + + Hidden Network + 隐藏的网络 + + + CONNECT + 连线 + + + Enter SSID + 输入 SSID + + + Enter password + 输入密码 + + + for "%1" + 网络名称："%1" + + + Off + + + + Always + + + + Only Onroad + + + + Until Reboot + + + + Allow tethering with your data SIM and keep it active either while driving or continuously. + + + + + AnnotatedCameraWidget + + km/h + km/h + + + mph + mph + + + MAX + 最高定速 + + + SPEED + SPEED + + + LIMIT + LIMIT + + + Vehicle in blind spot + + + + m/s² + + + + m/s + + + + kph + + + + ft/s² + + + + Accel: %1%2 + + + + - Max: %1%2 + + + + | Obstacle: + + + + | Obstacle Factor: + + + + - Stop: + + + + - Stop Factor: + + + + Follow: + + + + Follow Distance: + + + + Confirm speed limit + + + + + Ignore speed limit + + + + + Conditional Experimental Mode ready + + + + Conditional Experimental overridden + + + + Experimental Mode manually activated + + + + Experimental Mode activated for %1 + + + + low speed + + + + speed being less than %1 %2 + + + + Experimental Mode activated for turn + + + + / lane change + + + + Experimental Mode activated for intersection + + + + Experimental Mode activated for upcoming turn + + + + Experimental Mode activated for curve + + + + Experimental Mode activated for stopped lead + + + + Experimental Mode activated for slower lead + + + + Experimental Mode activated %1 + + + + to stop + + + + Experimental Mode forced on %1 + + + + Experimental Mode activated due to no speed limit + + + + Always On Lateral active + + + + . Press the "Cruise Control" button to disable + + + + . Long press the "distance" button to revert + + + + . Click the "LKAS" button to revert + + + + . Double tap the screen to revert + + + + + ConfirmationDialog + + Ok + 好的 + + + Cancel + 取消 + + + + DeclinePage + + You must accept the Terms and Conditions in order to use openpilot. + 您必须接受条款和条件以使用openpilot。 + + + Back + 返回 + + + Decline, uninstall %1 + 拒绝并卸载%1 + + + + DestinationWidget + + Home + 住家 + + + Work + 工作 + + + No destination set + 尚未设置目的地 + + + No %1 location set + 尚未设置 %1 的位置 + + + home + 住家 + + + work + 工作 + + + + DevicePanel + + Dongle ID + 设备ID（Dongle ID） + + + N/A + N/A + + + Serial + 序列号 + + + Driver Camera + 驾驶员摄像头 + + + PREVIEW + 预览 + + + Preview the driver facing camera to ensure that driver monitoring has good visibility. (vehicle must be off) + 打开并预览驾驶员摄像头，以确保驾驶员监控具有良好视野。（仅熄火时可用） + + + Reset Calibration + 重置设备校准 + + + RESET + 重置 + + + Are you sure you want to reset calibration? + 您确定要重置设备校准吗？ + + + Review Training Guide + 新手指南 + + + REVIEW + 查看 + + + Review the rules, features, and limitations of openpilot + 查看 openpilot 的使用规则，以及其功能和限制 + + + Are you sure you want to review the training guide? + 您确定要查看新手指南吗？ + + + Regulatory + 监管信息 + + + VIEW + 查看 + + + Change Language + 切换语言 + + + CHANGE + 切换 + + + Select a language + 选择语言 + + + Reboot + 重启 + + + Power Off + 关机 + + + openpilot requires the device to be mounted within 4° left or right and within 5° up or 9° down. openpilot is continuously calibrating, resetting is rarely required. + openpilot要求设备安装的偏航角在左4°和右4°之间，俯仰角在上5°和下9°之间。一般来说，openpilot会持续更新校准，很少需要重置。 + + + Your device is pointed %1° %2 and %3° %4. + 您的设备校准为%1° %2、%3° %4。 + + + down + 朝下 + + + up + 朝上 + + + left + 朝左 + + + right + 朝右 + + + Are you sure you want to reboot? + 您确定要重新启动吗？ + + + Disengage to Reboot + 取消openpilot以重新启动 + + + Are you sure you want to power off? + 您确定要关机吗？ + + + Disengage to Power Off + 取消openpilot以关机 + + + Reset + 重置 + + + Review + 预览 + + + Pair your device with comma connect (connect.comma.ai) and claim your comma prime offer. + 将您的设备与comma connect （connect.comma.ai）配对并领取您的comma prime优惠。 + + + Pair Device + 配对设备 + + + PAIR + 配对 + + + + DriveStats + + ALL TIME + + + + PAST WEEK + + + + FROGPILOT + + + + Drives + + + + Hours + + + + KM + + + + Miles + + + + + DriverViewWindow + + camera starting + 正在启动相机 + + + + ExperimentalModeButton + + EXPERIMENTAL MODE ON + 试验模式运行 + + + CHILL MODE ON + 轻松模式运行 + + + + FrogPilotAdvancedDrivingPanel + + Advanced Lateral Tuning + + + + Advanced settings that control how openpilot manages steering. + + + + Friction (Default: %1) + + + + Friction + + + + The resistance in steering. Higher values provide more stable steering but can make it feel heavy, while lower values allow lighter steering but may feel too sensitive. + + + + Kp Factor (Default: %1) + + + + Kp Factor + + + + How aggressively the car corrects its steering. Higher values offer quicker corrections but may feel jerky, while lower values make steering smoother but slower to respond. + + + + Lateral Accel (Default: %1) + + + + Lateral Accel + + + + Adjust how fast the car can steer from side to side. Higher values allow quicker lane changes but can feel unstable, while lower values provide smoother steering but may feel sluggish. + + + + Steer Ratio (Default: %1) + + + + Steer Ratio + + + + Adjust how much openpilot needs to turn the wheel to steer. Higher values feel like driving a truck, more stable at high speeds, but harder to steer quickly at low speeds, while lower values feel like a go-kart, easier to steer in tight spots but more sensitive and less stable at high speeds. + + + + comma's 2022 Taco Bell Turn Hack + + + + Use comma's hack they used to help handle left and right turns more precisely during their 2022 'Taco Bell' drive. + + + + Force Auto Tune On + + + + Forces comma's auto lateral tuning for unsupported vehicles. + + + + Force Auto Tune Off + + + + Forces comma's auto lateral tuning off for supported vehicles. + + + + Force Turn Desires Below Lane Change Speed + + + + Force the model to use turn desires when driving below the minimum lane change speed to help make left and right turns more precisely. + + + + Advanced Longitudinal Tuning + + + + Advanced settings that control how openpilot manages speed and acceleration. + + + + Lead Detection Confidence + + + + How sensitive openpilot is to detecting vehicles ahead. A lower value can help detect vehicles sooner and from farther away, but may occasionally mistake other objects for vehicles. + + + + Maximum Acceleration Rate + + + + Set a cap on how fast openpilot can accelerate to prevent high acceleration at low speeds. + + + + Advanced Quality of Life + + + + Miscellaneous advanced features to improve your overall openpilot experience. + + + + Force Keep openpilot in the Standstill State + + + + Keep openpilot in the 'standstill' state until the gas pedal or 'resume' button is pressed. + + + + Force Stop for 'Detected' Stop Lights/Signs + + + + Whenever openpilot 'detects' a potential stop light/stop sign, force a stop where it originally detected it to prevent running the potential red light/stop sign. + + + + Set Speed Offset + + + + How much higher or lower the set speed should be compared to your current set speed. For example, if you prefer to drive 5 mph above the speed limit, this setting will automatically add that difference when you adjust your set speed. + + + + Customize Driving Personalities + + + + Customize the personality profiles to suit your preferences. + + + + Traffic Personality + + + + Customize the 'Traffic' personality profile, tailored for navigating through traffic. + + + + Following Distance + + + + The minimum following distance in 'Traffic Mode.' openpilot will adjust dynamically between this value and the 'Aggressive' profile distance based on your speed. + + + + Acceleration Sensitivity + + + + How sensitive openpilot is to changes in acceleration in 'Traffic Mode.' Higher values result in smoother, more gradual acceleration and deceleration, while lower values allow for faster changes that may feel more abrupt. + + + + Deceleration Sensitivity + + + + Controls how sensitive openpilot is to changes in deceleration in 'Traffic Mode.' Higher values result in smoother, more gradual braking, while lower values allow for quicker, more responsive braking that may feel abrupt. + + + + Safety Distance Sensitivity + + + + Adjusts how cautious openpilot is around other vehicles or obstacles in 'Traffic Mode.' Higher values increase following distances and prioritize safety, leading to more cautious driving, while lower values allow for closer following but may reduce reaction time. + + + + Speed Increase Responsiveness + + + + Controls how quickly openpilot adjusts speed in 'Traffic Mode.' Higher values ensure smoother, more gradual speed changes, while lower values enable quicker adjustments that might feel sharper or less smooth. + + + + Speed Decrease Responsiveness + + + + Sets how quickly openpilot adjusts to decreasing speeds in 'Traffic Mode.' Higher values ensure smoother transitions when slowing down, while lower values allow for quicker, more responsive speed reductions that might feel sharper. + + + + Reset Settings + + + + Restore the 'Traffic Mode' settings to their default values. + + + + Aggressive Personality + + + + Customize the 'Aggressive' personality profile, designed for a more assertive driving style. + + + + Set the following distance for 'Aggressive' mode. This determines roughly how many seconds you'll follow behind the car ahead. + +Default: 1.25 seconds. + + + + Controls how sensitive openpilot is to acceleration changes in 'Aggressive' mode. Higher values make acceleration and deceleration smoother but slower, while lower values allow quicker changes that may feel jerky. + +Default: 0.5. + + + + Controls how sensitive openpilot is to deceleration in 'Aggressive' mode. Higher values result in smoother braking, while lower values allow for more immediate braking that may feel abrupt. + +Default: 0.5. + + + + Adjusts how cautious openpilot is around vehicles or obstacles in 'Aggressive' mode. Higher values make it more cautious, while lower values allow for closer following, increasing the risk of sudden braking. + +Default: 1.0. + + + + Controls how quickly openpilot adjusts speed in 'Aggressive' mode. Higher values result in smoother but slower speed changes, while lower values make speed adjustments quicker but potentially more abrupt. + +Default: 0.5. + + + + Sets how quickly openpilot adjusts to speed reductions in 'Aggressive' mode. Higher values ensure smoother transitions when slowing down, while lower values allow for quicker, more responsive speed decreases that may feel sharp. + +Default: 0.5. + + + + Restore the 'Aggressive' settings to their default values. + + + + Standard Personality + + + + Customize the 'Standard' personality profile, optimized for balanced driving. + + + + Set the following distance for 'Standard' mode. This determines roughly how many seconds you'll follow behind the car ahead. + +Default: 1.45 seconds. + + + + Controls how sensitive openpilot is to acceleration changes in 'Standard' mode. Higher values make acceleration and deceleration smoother but slower, while lower values allow quicker changes that may feel jerky. + +Default: 1.0. + + + + Controls how sensitive openpilot is to deceleration in 'Standard' mode. Higher values result in smoother braking, while lower values allow for quicker, more immediate braking that may feel abrupt. + +Default: 1.0. + + + + Adjusts how cautious openpilot is around vehicles or obstacles in 'Standard' mode. Higher values make it more cautious, while lower values allow for closer following, increasing the risk of sudden braking. + +Default: 1.0. + + + + Controls how quickly openpilot adjusts speed in 'Standard' mode. Higher values result in smoother but slower speed changes, while lower values make speed adjustments quicker but potentially more abrupt. + +Default: 1.0. + + + + Sets how quickly openpilot adjusts to speed reductions in 'Standard' mode. Higher values ensure smoother transitions when slowing down, while lower values allow for quicker, more responsive speed decreases that may feel sharp. + +Default: 1.0. + + + + Restore the 'Standard' settings to their default values. + + + + Relaxed Personality + + + + Customize the 'Relaxed' personality profile, ideal for a more laid-back driving style. + + + + Set the following distance for 'Relaxed' mode. This determines roughly how many seconds you'll follow behind the car ahead. + +Default: 1.75 seconds. + + + + Controls how sensitive openpilot is to acceleration changes in 'Relaxed' mode. Higher values make acceleration and deceleration smoother but slower, while lower values allow quicker changes that may feel jerky. + +Default: 1.0. + + + + Controls how sensitive openpilot is to deceleration in 'Relaxed' mode. Higher values result in smoother braking, while lower values allow for quicker, more immediate braking that may feel abrupt. + +Default: 1.0. + + + + Adjusts how cautious openpilot is around vehicles or obstacles in 'Relaxed' mode. Higher values make it more cautious, while lower values allow for closer following, increasing the risk of sudden braking. + +Default: 1.0. + + + + Controls how quickly openpilot adjusts speed in 'Relaxed' mode. Higher values result in smoother but slower speed changes, while lower values make speed adjustments quicker but potentially more abrupt. + +Default: 1.0. + + + + Sets how quickly openpilot adjusts to speed reductions in 'Relaxed' mode. Higher values ensure smoother transitions when slowing down, while lower values allow for quicker, more responsive speed decreases that may feel sharp. + +Default: 1.0. + + + + Restore the 'Relaxed' settings to their default values. + + + + Model Management + + + + Manage the driving models used by openpilot. + + + + Automatically Update and Download Models + + + + Automatically download new or updated driving models. + + + + Model Randomizer + + + + A random model is selected and can be reviewed at the end of each drive if it's longer than 15 minutes to help find your preferred model. + + + + Manage Model Blacklist + + + + Control which models are blacklisted and won't be used for future drives. + + + + Reset Model Scores + + + + Clear the ratings you've given to the driving models. + + + + Review Model Scores + + + + View the ratings you've assigned to the driving models. + + + + Delete Model + + + + Remove the selected driving model from your device. + + + + Download Model + + + + Download undownloaded driving models. + + + + Download All Models + + + + Download all undownloaded driving models. + + + + Select Model + + + + Select which model openpilot uses to drive. + + + + Reset Model Calibrations + + + + Reset calibration settings for the driving models. + + + + mph + mph + + + Reset + 重置 + + + seconds + + + + ADD + 添加 + + + REMOVE + 删除 + + + There's no more models to blacklist! The only available model is "%1"! + + + + OK + 一般 + + + Select a model to add to the blacklist + + + + Are you sure you want to add the '%1' model to the blacklist? + + + + Add + + + + Select a model to remove from the blacklist + + + + Are you sure you want to remove the '%1' model from the blacklist? + + + + Remove + + + + RESET + 重置 + + + Reset all model scores? + + + + VIEW + 查看 + + + DELETE + + + + Select a model to delete + + + + Are you sure you want to delete the '%1' model? + + + + Delete + + + + Deleting... + + + + Deleted! + + + + DOWNLOAD + 下载 + + + CANCEL + + + + Select a driving model to download + + + + Downloading %1... + + + + SELECT + 选择 + + + Select a model - 🗺️ = Navigation | 📡 = Radar | 👀 = VOACC + + + + WARNING: This is a very experimental model and may drive dangerously! + + + + I understand the risks. + + + + Start with a fresh calibration for the newly selected model? + + + + Reboot required to take effect. + + + + Reboot Now + + + + RESET ALL + + + + RESET ONE + + + + Are you sure you want to completely reset all of your model calibrations? + + + + Select a model to reset + + + + Are you sure you want to completely reset this model's calibrations? + + + + The 'Model Randomizer' only works with downloaded models. Do you want to download all the driving models? + + + + Are you sure you want to completely reset your settings for the 'Traffic Mode' personality? + + + + Are you sure you want to completely reset your settings for the 'Aggressive' personality? + + + + Are you sure you want to completely reset your settings for the 'Standard' personality? + + + + Are you sure you want to completely reset your settings for the 'Relaxed' personality? + + + + kph + + + + Downloading models... + + + + openpilot requires the device to be mounted within 4° left or right and within 5° up or 9° down. openpilot is continuously calibrating, resetting is rarely required. + openpilot要求设备安装的偏航角在左4°和右4°之间，俯仰角在上5°和下9°之间。一般来说，openpilot会持续更新校准，很少需要重置。 + + + Your device is pointed %1° %2 and %3° %4. + 您的设备校准为%1° %2、%3° %4。 + + + down + 朝下 + + + up + 朝上 + + + left + 朝左 + + + right + 朝右 + + + + FrogPilotAdvancedVisualsPanel + + Advanced Onroad UI Widgets + + + + Advanced user customizations for the Onroad UI. + + + + Camera View + + + + Camera view for the onroad UI. This is purely a visual change and doesn't impact how openpilot drives. + + + + Display Stopping Points + + + + Display an image on the screen where openpilot is detecting a potential red light/stop sign. + + + + Hide Lead Marker + + + + Hide the marker for the vehicle ahead on the screen. + + + + Hide Speed + + + + Hide the speed indicator in the onroad UI. Additional toggle allows it to be hidden/shown via tapping the speed itself. + + + + Hide UI Elements + + + + Hide the selected UI elements from the onroad screen. + + + + Use Wheel Speed + + + + Use the wheel speed instead of the cluster speed in the onroad UI. + + + + Developer UI + + + + Show detailed information about openpilot's internal operations. + + + + Border Metrics + + + + Display performance metrics around the edge of the screen while driving. + + + + FPS Display + + + + Display the 'Frames Per Second' (FPS) at the bottom of the screen while driving. + + + + Lateral Metrics + + + + Display metrics related to steering control at the top of the screen while driving. + + + + Longitudinal Metrics + + + + Display metrics related to acceleration, speed, and desired following distance at the top of the screen while driving. + + + + Numerical Temperature Gauge + + + + Show exact temperature readings instead of general status labels like 'GOOD', 'OK', or 'HIGH' in the sidebar. + + + + Sidebar + + + + Display system information like CPU, GPU, RAM usage, IP address, and storage space in the sidebar. + + + + Use International System of Units + + + + Display measurements using the 'International System of Units' (SI). + + + + Model UI + + + + Customize the model visualizations on the screen. + + + + Lane Lines Width + + + + How thick the lane lines appear on the display. + +Default matches the MUTCD standard of 4 inches. + + + + Path Edges Width + + + + The width of the edges of the driving path to represent different modes and statuses. + +Default is 20% of the total path width. + +Color Guide: +- Blue: Navigation +- Light Blue: 'Always On Lateral' +- Green: Default +- Orange: 'Experimental Mode' +- Red: 'Traffic Mode' +- Yellow: 'Conditional Experimental Mode' Overridden + + + + Path Width + + + + How wide the driving path appears on your screen. + +Default (6.1 feet / 1.9 meters) matches the width of a 2019 Lexus ES 350. + + + + Road Edges Width + + + + How thick the road edges appear on the display. + +Default matches half of the MUTCD standard lane line width of 4 inches. + + + + 'Unlimited' Road UI + + + + Extend the display of the path, lane lines, and road edges as far as the model can see. + + + + Auto + + + + Driver + + + + Standard + 标准 + + + Wide + + + + Control Via UI + + + + Alerts + + + + Map Icon + + + + Max Speed + + + + Show Distance + + + + Blind Spot + + + + Steering Torque + + + + Turn Signal + + + + Adjacent Path Metrics + + + + Auto Tune + + + + Lead Info + + + + Longitudinal Jerk + + + + Fahrenheit + + + + CPU + + + + GPU + + + + IP + + + + RAM + + + + SSD Left + + + + SSD Used + + + + inches + + + + % + + + + feet + + + + Adjust how thick the lane lines appear on the display. + +Default matches the Vienna standard of 10 centimeters. + + + + Adjust how thick the road edges appear on the display. + +Default matches half of the Vienna standard of 10 centimeters. + + + + centimeters + + + + meters + + + + Adjust how thick the lane lines appear on the display. + +Default matches the MUTCD standard of 4 inches. + + + + Adjust how thick the road edges appear on the display. + +Default matches half of the MUTCD standard of 4 inches. + + + + + FrogPilotConfirmationDialog + + Reboot Later + + + + Yes + + + + No + + + + + FrogPilotDataPanel + + Delete Driving Footage and Data + + + + DELETE + + + + This button provides a swift and secure way to permanently delete all stored driving footage and data from your device. Ideal for maintaining privacy or freeing up space. + + + + Are you sure you want to permanently delete all of your driving footage and data? + + + + Delete + + + + Deleting... + + + + Deleted! + + + + Screen Recordings + + + + Manage your screen recordings. + + + + RENAME + + + + Select a recording to delete + + + + Are you sure you want to delete this recording? + + + + Failed... + + + + Select a recording to rename + + + + Enter a new name + + + + Rename Recording + + + + Renaming... + + + + Renamed! + + + + FrogPilot Backups + + + + Manage your FrogPilot backups. + + + + BACKUP + + + + RESTORE + + + + Name your backup + + + + Do you want to compress this backup? The end file size will be 2.25x smaller, but can take 10+ minutes. + + + + Backing... + + + + Compressing... + + + + Success! + + + + Select a backup to delete + + + + Are you sure you want to delete this backup? + + + + Select a restore point + + + + Are you sure you want to restore this version of FrogPilot? + + + + Restore + + + + Restoring... + + + + Extracting... + + + + Restored! + + + + Rebooting... + + + + Toggle Backups + + + + Manage your toggle backups. + + + + Are you sure you want to restore this toggle backup? + + + + + FrogPilotDevicePanel + + Device Settings + + + + Device behavior settings. + + + + Device Shutdown Timer + + + + How long the device stays on after you stop driving. + + + + Disable Internet Requirement + + + + The device can work without an internet connection for as long as you need. + + + + Increase Thermal Safety Limit + + + + The device can run at higher temperatures than recommended. + + + + Low Battery Shutdown Threshold + + + + Shut down the device when the car's battery gets too low to prevent damage to the 12V battery. + + + + Turn Off Data Tracking + + + + Disable all tracking to improve privacy. + + + + Turn Off Data Uploads + + + + Stop the device from sending any data to the servers. + + + + Screen Settings + + + + Screen behavior settings. + + + + Screen Brightness (Offroad) + + + + The screen brightness when you're not driving. + + + + Screen Brightness (Onroad) + + + + The screen brightness while you're driving. + + + + Screen Recorder + + + + Display a button in the onroad UI to record the screen. + + + + Screen Timeout (Offroad) + + + + How long it takes for the screen to turn off when you're not driving. + + + + Screen Timeout (Onroad) + + + + How long it takes for the screen to turn off while you're driving. + + + + 5 mins + + + + mins + + + + hour + + + + hours + + + + Only Onroad + + + + volts + + + + Auto + + + + seconds + + + + WARNING: This can cause premature wear or damage by running the device over comma's recommended temperature limits! + + + + I understand the risks. + + + + WARNING: This will prevent your drives from being recorded and the data will be unobtainable! + + + + WARNING: This will prevent your drives from appearing on comma connect which may impact debugging and support! + + + + + FrogPilotLateralPanel + + Always on Lateral + + + + openpilot's steering control stays active even when the brake or gas pedals are pressed. + +Deactivate only occurs with the 'Cruise Control' button. + + + + Control with LKAS Button + + + + 'Always on Lateral' gets turned on or off using the 'LKAS' button. + + + + Enable with Cruise Control + + + + 'Always on Lateral' gets turned on by pressing the 'Cruise Control' button bypassing the requirement to enable openpilot first. + + + + Pause on Brake Below + + + + 'Always on Lateral' pauses when the brake pedal is pressed below the set speed. + + + + Hide the Status Bar + + + + The status bar for 'Always on Lateral' is hidden. + + + + Lane Change Settings + + + + How openpilot handles lane changes. + + + + Hands-Free Lane Change + + + + Lane changes are conducted without needing to touch the steering wheel upon turn signal activation. + + + + Lane Change Delay + + + + How long openpilot waits before changing lanes. + + + + Lane Width Requirement + + + + The minimum lane width for openpilot to detect a lane as a lane. + + + + Minimum Speed for Lane Change + + + + The minimum speed required for openpilot to perform a lane change. + + + + Single Lane Change Per Signal + + + + Lane changes are limited to one per turn signal activation. + + + + Lateral Tuning + + + + Settings that control how openpilot manages steering. + + + + Neural Network Feedforward (NNFF) + + + + Twilsonco's 'Neural Network FeedForward' for more precise steering control. + + + + Smooth Curve Handling + + + + Smoother steering when entering and exiting curves with Twilsonco's torque adjustments. + + + + Quality of Life Improvements + + + + Miscellaneous lateral focused features to improve your overall openpilot experience. + + + + Pause Steering Below + + + + Pauses steering control when driving below the set speed. + + + + mph + mph + + + feet + + + + Reboot required to take effect. + + + + Reboot Now + + + + kph + + + + meters + + + + + FrogPilotLongitudinalPanel + + Conditional Experimental Mode + + + + Automatically switches to 'Experimental Mode' when specific conditions are met. + + + + Below + + + + 'Experimental Mode' is active when driving below the set speed without a lead vehicle. + + + + Curve Detected Ahead + + + + 'Experimental Mode' is active when a curve is detected in the road ahead. + + + + Lead Detected Ahead + + + + 'Experimental Mode' is active when a slower or stopped vehicle is detected ahead. + + + + Navigation Data + + + + 'Experimental Mode' is active based on navigation data, such as upcoming intersections or turns. + + + + openpilot Wants to Stop In + + + + 'Experimental Mode' is active when openpilot wants to stop such as for a stop sign or red light. + + + + Turn Signal Below + + + + 'Experimental Mode' is active when using turn signals below the set speed. + + + + Hide the Status Bar + + + + The status bar for 'Conditional Experimental Mode' is hidden. + + + + Curve Speed Control + + + + Automatically slow down for curves detected ahead or through the downloaded maps. + + + + Curve Detection Method + + + + The method used to detect curves. + + + + Curve Detection Failsafe + + + + Curve control is triggered only when a curve is detected ahead. Use this as a failsafe to prevent false positives when using the 'Map Based' method. + + + + Curve Sensitivity + + + + How sensitive openpilot is to detecting curves. Higher values trigger earlier responses at the risk of triggering too often, while lower values increase confidence at the risk of triggering too infrequently. + + + + Turn Speed Aggressiveness + + + + How aggressive openpilot takes turns. Higher values result in quicker turns, while lower values provide gentler turns. + + + + Disable Speed Value Smoothing In the UI + + + + Speed value smoothing is disabled in the UI to instead display the exact speed requested by the curve control. + + + + Experimental Mode Activation + + + + 'Experimental Mode' is toggled off/on using the steering wheel buttons or the on-screen controls. + +This overrides 'Conditional Experimental Mode'. + + + + Click the LKAS Button + + + + 'Experimental Mode' is toggled by pressing the 'LKAS' button on the steering wheel. + + + + Double-Tap the Screen + + + + 'Experimental Mode' is toggled by double-tapping the onroad UI within 0.5 seconds. + + + + Long Press the Distance Button + + + + 'Experimental Mode' is toggled by holding the 'distance' button on the steering wheel for 0.5+ seconds. + + + + Longitudinal Tuning + + + + Settings that control how openpilot manages speed and acceleration. + + + + Acceleration Profile + + + + Choose between a sporty or eco-friendly acceleration rate. + + + + Deceleration Profile + + + + Choose between a sporty or eco-friendly deceleration rate. + + + + Human-Like Acceleration + + + + Uses the lead's acceleration rate when at a takeoff and ramps off the acceleration rate when approaching the maximum set speed for a smoother max speed approach. + + + + Human-Like Following Distance + + + + Dynamically adjusts the following distance to feel more natural when approaching slower or stopped vehicles. + + + + Increase Stopped Distance + + + + Increases the distance to stop behind vehicles. + + + + Quality of Life Improvements + + + + Miscellaneous longitudinal focused features to improve your overall openpilot experience. + + + + Cruise Increase Interval + + + + Interval used when increasing the cruise control speed. + + + + Custom Cruise Interval (Long Press) + + + + Interval used when increasing the cruise control speed when holding down the button for 0.5+ seconds. + + + + Map Accel/Decel to Gears + + + + Map the acceleration and deceleration profiles to the 'Eco' or 'Sport' gear modes. + + + + Onroad Personality Button + + + + The current driving personality is displayed on the screen. Tap to switch personalities, or long press for 2.5 seconds to activate 'Traffic Mode'. + + + + Reverse Cruise Increase + + + + The long press feature is reversed in order to increase speed by 5 mph instead of 1. + + + + Speed Limit Controller + + + + Automatically adjust your max speed to match the speed limit using 'Open Street Maps', 'Navigate on openpilot', or your car's dashboard (Toyota/Lexus/HKG only). + + + + Confirm New Speed Limits + + + + Require manual confirmation before using a new speed limit. + + + + Fallback Method + + + + Choose what happens when no speed limit data is available. + + + + Override Method + + + + Choose how you want to override the current speed limit. + + + + + + Speed Limit Source Priority + + + + Set the order of priority for speed limit data sources. + + + + Speed Limit Offsets + + + + Manage toggles related to 'Speed Limit Controller's controls. + + + + Speed Limit Offset (0-34 mph) + + + + Set the speed limit offset for speeds between 0 and 34 mph. + + + + Speed Limit Offset (35-54 mph) + + + + Set the speed limit offset for speeds between 35 and 54 mph. + + + + Speed Limit Offset (55-64 mph) + + + + Set the speed limit offset for speeds between 55 and 64 mph. + + + + Speed Limit Offset (65-99 mph) + + + + Set the speed limit offset for speeds between 65 and 99 mph. + + + + Miscellaneous 'Speed Limit Controller' focused features to improve your overall openpilot experience. + + + + Force MPH Readings from Dashboard + + + + Force speed limit readings in MPH from the dashboard if it normally displays in KPH. + + + + Prepare for Higher Speed Limits + + + + Set a lookahead value to prepare for upcoming higher speed limits based on map data. + + + + Prepare for Lower Speed Limits + + + + Set a lookahead value to prepare for upcoming lower speed limits based on map data. + + + + Set Speed to Current Limit + + + + Set your max speed to match the current speed limit when enabling openpilot. + + + + Visual Settings + + + + Manage visual settings for the 'Speed Limit Controller'. + + + + Use Vienna-Style Speed Signs + + + + Switch to Vienna-style (EU) speed limit signs instead of MUTCD (US). + + + + Show Speed Limit Offset + + + + Display the speed limit offset separately in the onroad UI when using the Speed Limit Controller. + + + + mph + mph + + + With Lead + + + + Switches to 'Experimental Mode' when driving below the set speed with a lead vehicle. + + + + With Lead + + + + Slower Lead + + + + Stopped Lead + + + + Intersections + + + + Turns + + + + Off + + + + Map Based + + + + Vision + + + + Standard + 标准 + + + Eco + + + + Sport + + + + Sport+ + + + + feet + + + + Acceleration + + + + Deceleration + + + + Lower Limits + + + + Higher Limits + + + + None + + + + Set Speed + + + + Experimental Mode + 测试模式 + + + Previous Limit + + + + Gas Pedal Press + + + + Cruise Set Speed + + + + SELECT + 选择 + + + Dashboard + + + + Navigation + + + + Offline Maps + + + + Highest + + + + Lowest + + + + Select your primary priority + + + + Select your secondary priority + + + + Select your tertiary priority + + + + MANAGE + + + + seconds + + + + Control Via UI + + + + Speed Limit Offset (0-34 kph) + + + + Speed Limit Offset (35-54 kph) + + + + Speed Limit Offset (55-64 kph) + + + + Speed Limit Offset (65-99 kph) + + + + Set speed limit offset for limits between 0-34 kph. + + + + Set speed limit offset for limits between 35-54 kph. + + + + Set speed limit offset for limits between 55-64 kph. + + + + Set speed limit offset for limits between 65-99 kph. + + + + kph + + + + meters + + + + Set speed limit offset for limits between 0-34 mph. + + + + Set speed limit offset for limits between 35-54 mph. + + + + Set speed limit offset for limits between 55-64 mph. + + + + Set speed limit offset for limits between 65-99 mph. + + + + + FrogPilotParamManageControl + + MANAGE + + + + + FrogPilotSettingsWindow + + Advanced Settings + + + + Alerts and Sounds + + + + Driving Controls + + + + Navigation + + + + System Management + + + + Theme and Appearance + + + + Vehicle Controls + + + + Advanced FrogPilot features for more experienced users. + + + + Options to customize FrogPilot's sound alerts and notifications. + + + + FrogPilot features than impact acceleration, braking, and steering. + + + + Offline maps downloader and 'Navigate On openpilot (NOO)' settings. + + + + Tools and system utilities used to maintain and troubleshoot FrogPilot. + + + + Options for customizing FrogPilot's themes, UI appearance, and onroad widgets. + + + + Vehicle-specific settings and configurations for supported makes and models. + + + + DRIVING + + + + VISUALS + + + + MANAGE + + + + GAS / BRAKE + + + + STEERING + + + + DATA + + + + DEVICE + + + + UTILITIES + + + + APPEARANCE + + + + THEME + + + + + FrogPilotSoundsPanel + + Alert Volume Controller + + + + Control the volume level for each individual sound in openpilot. + + + + Disengage Volume + + + + Related alerts: + +Adaptive Cruise Disabled +Parking Brake Engaged +Brake Pedal Pressed +Speed too Low + + + + Engage Volume + + + + Related alerts: + +NNFF Torque Controller loaded +openpilot engaged + + + + Prompt Volume + + + + Related alerts: + +Car Detected in Blindspot +Speed too Low +Steer Unavailable Below 'X' +Take Control, Turn Exceeds Steering Limit + + + + Prompt Distracted Volume + + + + Related alerts: + +Pay Attention, Driver Distracted +Touch Steering Wheel, Driver Unresponsive + + + + Refuse Volume + + + + Related alerts: + +openpilot Unavailable + + + + Warning Soft Volume + + + + Related alerts: + +BRAKE!, Risk of Collision +TAKE CONTROL IMMEDIATELY + + + + Warning Immediate Volume + + + + Related alerts: + +DISENGAGE IMMEDIATELY, Driver Distracted +DISENGAGE IMMEDIATELY, Driver Unresponsive + + + + Custom Alerts + + + + Enable custom alerts for openpilot events. + + + + Goat Scream Steering Saturated Alert + + + + Enable the famed 'Goat Scream' that has brought both joy and anger to FrogPilot users all around the world! + + + + Green Light Alert + + + + Get an alert when a traffic light changes from red to green. + + + + Lead Departing Alert + + + + Get an alert when the lead vehicle starts departing when at a standstill. + + + + Loud Blindspot Alert + + + + Enable a louder alert for when a vehicle is detected in the blindspot when attempting to change lanes. + + + + Speed Limit Change Alert + + + + Trigger an alert when the speed limit changes. + + + + + FrogPilotThemesPanel + + Custom Theme + + + + Custom openpilot themes. + + + + Color Scheme + + + + Themed color schemes. + +Want to submit your own color scheme? Share it in the 'feature-request' channel on the FrogPilot Discord! + + + + Icon Pack + + + + Themed icon packs. + +Want to submit your own icons? Share them in the 'feature-request' channel on the FrogPilot Discord! + + + + Sound Pack + + + + Themed sound effects. + +Want to submit your own sounds? Share them in the 'feature-request' channel on the FrogPilot Discord! + + + + Steering Wheel + + + + Custom steering wheel icons. + + + + Turn Signal Animation + + + + Themed turn signal animations. + +Want to submit your own animations? Share them in the 'feature-request' channel on the FrogPilot Discord! + + + + Download Status + + + + Holiday Themes + + + + Change the openpilot theme based on the current holiday. Minor holidays last one day, while major holidays (Easter, Christmas, Halloween, etc.) last a week. + + + + Random Events + + + + Random cosmetic events that happen during certain driving conditions. These events are purely for fun and don't affect driving controls! + + + + Startup Alert + + + + Custom 'Startup' alert message that appears when you start driving. + + + + DELETE + + + + DOWNLOAD + 下载 + + + SELECT + 选择 + + + Select a color scheme to delete + + + + Are you sure you want to delete the '%1' color scheme? + + + + Delete + + + + Select a color scheme to download + + + + Select a color scheme + + + + Select an icon pack to delete + + + + Are you sure you want to delete the '%1' icon pack? + + + + Select an icon pack to download + + + + Select an icon pack + + + + Select a signal pack to delete + + + + Are you sure you want to delete the '%1' signal pack? + + + + Select a signal pack to download + + + + Select a signal pack + + + + Select a sound pack to delete + + + + Are you sure you want to delete the '%1' sound scheme? + + + + Select a sound pack to download + + + + Select a sound scheme + + + + Select a steering wheel to delete + + + + Are you sure you want to delete the '%1' steering wheel image? + + + + Select a steering wheel to download + + + + Select a steering wheel + + + + STOCK + + + + FROGPILOT + + + + CUSTOM + + + + CLEAR + + + + Enter your text for the top half + + + + Characters: 0/%1 + + + + Enter your text for the bottom half + + + + CANCEL + + + + + FrogPilotVehiclesPanel + + Select Make + + + + SELECT + 选择 + + + Select a Make + + + + Select Model + - Enable Tethering - 启用WiFi热点 + Select a Model + - Tethering Password - WiFi热点密码 + Disable Automatic Fingerprint Detection + - EDIT - 编辑 + Forces the selected fingerprint and prevents it from ever changing. + - Enter new tethering password - 输入新的WiFi热点密码 + Disable openpilot Longitudinal Control + - IP Address - IP地址 + Disable openpilot longitudinal control and use stock ACC instead. + - Enable Roaming - 启用数据漫游 + Are you sure you want to completely disable openpilot longitudinal control? + - APN Setting - APN设置 + Reboot required to take effect. + - Enter APN - 输入APN + Reboot Now + - leave blank for automatic configuration - 留空以自动配置 + 2017 Volt Stop and Go Hack + - Cellular Metered - 按流量计费的手机移动网络 + Force stop and go for the 2017 Chevy Volt. + - Prevent large data uploads when on a metered connection - 当使用按流量计费的连接时，避免上传大流量数据 + Experimental GM Tune + - Hidden Network - 隐藏的网络 + FrogsGoMoo's experimental GM tune that is based on nothing but guesswork. Use at your own risk! + - CONNECT - 连线 + Uphill/Downhill Smoothing + - Enter SSID - 输入 SSID + Smoothen the car’s gas and brake response when driving on slopes. + - Enter password - 输入密码 + Use comma's New Longitudinal API + - for "%1" - 网络名称："%1" + Comma's new longitudinal control system that has shown great improvement with acceleration and braking, but has a few issues on some GM vehicles. + - - - AnnotatedCameraWidget - km/h - km/h + Use comma's new longitudinal control system that has shown great improvement with acceleration and braking, but has a few issues on Hyundai/Kia/Genesis. + - mph - mph + Subaru Crosstrek Torque Increase + - MAX - 最高定速 + Increases the maximum allowed torque for the Subaru Crosstrek. + - SPEED - SPEED + Automatically Lock/Unlock Doors + - LIMIT - LIMIT + Automatically lock the doors when in drive and unlock when in park. + - - - ConfirmationDialog - Ok - 好的 + Cluster Speed Offset + - Cancel - 取消 + Set the cluster offset openpilot uses to try and match the speed displayed on the dash. + - - - DeclinePage - You must accept the Terms and Conditions in order to use openpilot. - 您必须接受条款和条件以使用openpilot。 + FrogsGoMoo's Personal Tweaks + - Back - 返回 + Use FrogsGoMoo's personal tweaks to the Toyota tune focused around his 2019 Lexus ES 350 to take off a bit quicker and stop a bit smoother. + - Decline, uninstall %1 - 拒绝并卸载%1 + Stop and Go Hack + + + + Force stop and go for vehicles without stock stop and go functionality. + + + + Lock + + + + Unlock + - DestinationWidget + FrogPilotVisualsPanel - Home - 住家 + Onroad UI Widgets + - Work - 工作 + Custom FrogPilot widgets used in the onroad user interface. + - No destination set - 尚未设置目的地 + Compass + - No %1 location set - 尚未设置 %1 的位置 + A compass in the onroad UI to show the current driving direction. + - home - 住家 + Dynamic Path Width + - work - 工作 + Automatically adjust the width of the driving path display based on the current engagement state: + +Fully engaged = 100% +Always On Lateral Active = 75% +Fully disengaged = 50% + - - - DevicePanel - Dongle ID - 设备ID（Dongle ID） + Gas/Brake Pedal Indicators + - N/A - N/A + Pedal indicators in the onroad UI that change opacity based on the pressure applied. + - Serial - 序列号 + Paths + - Driver Camera - 驾驶员摄像头 + Projected acceleration path, detected lanes, and vehicles in the blind spot. + - PREVIEW - 预览 + Road Name + - Preview the driver facing camera to ensure that driver monitoring has good visibility. (vehicle must be off) - 打开并预览驾驶员摄像头，以确保驾驶员监控具有良好视野。（仅熄火时可用） + The current road name is displayed at the bottom of the screen using data from 'OpenStreetMap'. + - Reset Calibration - 重置设备校准 + Rotating Steering Wheel + - RESET - 重置 + The steering wheel in the onroad UI rotates along with your steering wheel movements. + - Are you sure you want to reset calibration? - 您确定要重置设备校准吗？ + Quality of Life Improvements + - Review Training Guide - 新手指南 + Miscellaneous visual focused features to improve your overall openpilot experience. + - REVIEW - 查看 + Larger Map Display + - Review the rules, features, and limitations of openpilot - 查看 openpilot 的使用规则，以及其功能和限制 + A larger size of the map in the onroad UI for easier navigation readings. + - Are you sure you want to review the training guide? - 您确定要查看新手指南吗？ + Map Style + - Regulatory - 监管信息 + Custom map styles for the map used during navigation. + - VIEW - 查看 + Screen Standby Mode + - Change Language - 切换语言 + The screen is turned off after it times out when driving, but it automatically wakes up if engagement state changes or important alerts occur. + - CHANGE - 切换 + Show Driver Camera When In Reverse + - Select a language - 选择语言 + The driver camera feed is displayed when the vehicle is in reverse. + - Reboot - 重启 + Stopped Timer + - Power Off - 关机 + A timer on the onroad UI to indicate how long the vehicle has been stopped. + - openpilot requires the device to be mounted within 4° left or right and within 5° up or 9° down. openpilot is continuously calibrating, resetting is rarely required. - openpilot要求设备安装的偏航角在左4°和右4°之间，俯仰角在上5°和下9°之间。一般来说，openpilot会持续更新校准，很少需要重置。 + Acceleration + - Your device is pointed %1° %2 and %3° %4. - 您的设备校准为%1° %2、%3° %4。 + Adjacent + - down - 朝下 + Blind Spot + - up - 朝上 + Dynamic + - left - 朝左 + Static + - right - 朝右 + Full Map + - Are you sure you want to reboot? - 您确定要重新启动吗？ + Stock openpilot + - Disengage to Reboot - 取消openpilot以重新启动 + Mapbox Streets + - Are you sure you want to power off? - 您确定要关机吗？ + Mapbox Outdoors + - Disengage to Power Off - 取消openpilot以关机 + Mapbox Light + - Reset - 重置 + Mapbox Dark + - Review - 预览 + Mapbox Satellite + - Pair your device with comma connect (connect.comma.ai) and claim your comma prime offer. - 将您的设备与comma connect （connect.comma.ai）配对并领取您的comma prime优惠。 + Mapbox Satellite Streets + - Pair Device - 配对设备 + Mapbox Navigation Day + - PAIR - 配对 + Mapbox Navigation Night + - - - DriverViewWindow - camera starting - 正在启动相机 + Mapbox Traffic Night + - - - ExperimentalModeButton - EXPERIMENTAL MODE ON - 试验模式运行 + mike854's (Satellite hybrid) + - CHILL MODE ON - 轻松模式运行 + SELECT + 选择 + + + Select a map style + @@ -336,6 +3382,10 @@ 至少需要 %n 个字符！ + + Characters: %1/%2 + + Installer @@ -369,6 +3419,10 @@ Manage at connect.comma.ai 请在 connect.comma.ai 上管理 + + Manage at %1 + + MapWindow @@ -590,7 +3644,7 @@ openpilot - openpilot + openpilot %n minute(s) ago @@ -630,6 +3684,10 @@ now 现在 + + FrogPilot + + Reset @@ -676,7 +3734,7 @@ This may take up to a minute. SettingsWindow × - × + × Device @@ -694,6 +3752,14 @@ This may take up to a minute. Software 软件 + + ← Back + + + + FrogPilot + + Setup @@ -887,12 +3953,36 @@ This may take up to a minute. 5G 5G + + GPU + + + + CPU + + + + GB + + + + MEMORY + + + + LEFT + + + + USED + + SoftwarePanel Updates are only downloaded while the car is off. - 车辆熄火时才能下载升级文件。 + 车辆熄火时才能下载升级文件。 Current Version @@ -962,6 +4052,34 @@ This may take up to a minute. never 从未更新 + + Updates are only downloaded while the car is off or in park. + + + + Automatically Update FrogPilot + + + + FrogPilot will automatically update itself and it's assets when you're offroad and connected to Wi-Fi. + + + + Do you want to permanently delete any additional FrogPilot assets? This is 100% unrecoverable and includes backups, downloaded models, themes, and long-term storage toggle settings for easy reinstalls. + + + + Error Log + + + + VIEW + 查看 + + + View the error log for openpilot crashes. + + SshControl @@ -1140,7 +4258,7 @@ This may take up to a minute. An alpha version of openpilot longitudinal control can be tested, along with Experimental mode, on non-release branches. - 在正式（release）版本以外的分支上，可以测试 openpilot 纵向控制的 Alpha 版本以及实验模式。 + 在正式（release）版本以外的分支上，可以测试 openpilot 纵向控制的 Alpha 版本以及实验模式。 Enable the openpilot longitudinal control (alpha) toggle to allow Experimental mode. @@ -1160,11 +4278,11 @@ This may take up to a minute. Always-On Driver Monitoring - 驾驶员监控常开 + 驾驶员监控常开 Enable driver monitoring even when openpilot is not engaged. - 即使在openpilot未激活时也启用驾驶员监控。 + 即使在openpilot未激活时也启用驾驶员监控。 @@ -1202,6 +4320,89 @@ This may take up to a minute. 更新失败 + + UtilitiesPanel + + Flash Panda + + + + FLASH + + + + Use this button to flash the Panda device's firmware if you're running into issues. + + + + Are you sure you want to flash the Panda? + + + + Flash + + + + Flashing... + + + + Flashed! + + + + Rebooting... + + + + Force Started State + + + + Force openpilot either offroad or onroad. + + + + OFFROAD + + + + ONROAD + + + + OFF + + + + Reset Toggles to Default + + + + RESET + 重置 + + + Reset your toggle settings back to their default settings. + + + + Are you sure you want to completely reset all of your toggle settings? + + + + Reset + 重置 + + + Resetting... + + + + Reset! + + + WiFiPromptWidget @@ -1224,6 +4425,14 @@ This may take up to a minute. Training data will be pulled periodically while your device is on Wi-Fi 训练数据将定期通过 Wi-Fi 上载 + + Uploading disabled + + + + Toggle off the 'Disable Uploading' toggle to enable uploads. + + WifiUI diff --git a/selfdrive/ui/translations/main_zh-CHT.ts b/selfdrive/ui/translations/main_zh-CHT.ts index 9d1c16db9f08ad..6099a81cafb41d 100644 --- a/selfdrive/ui/translations/main_zh-CHT.ts +++ b/selfdrive/ui/translations/main_zh-CHT.ts @@ -15,313 +15,3359 @@ Reboot and Update 重啟並更新 + + Disable Internet Check + + AdvancedNetworking - Back - 回上頁 + Back + 回上頁 + + + Enable Tethering + 啟用網路分享 + + + Tethering Password + 網路分享密碼 + + + EDIT + 編輯 + + + Enter new tethering password + 輸入新的網路分享密碼 + + + IP Address + IP 地址 + + + Enable Roaming + 啟用漫遊 + + + APN Setting + APN 設置 + + + Enter APN + 輸入 APN + + + leave blank for automatic configuration + 留空白將自動配置 + + + Cellular Metered + 行動網路 + + + Prevent large data uploads when on a metered connection + 防止使用行動網路上傳大量的數據 + + + Hidden Network + 隱藏的網路 + + + CONNECT + 連線 + + + Enter SSID + 輸入 SSID + + + Enter password + 輸入密碼 + + + for "%1" + 給 "%1" + + + Off + + + + Always + + + + Only Onroad + + + + Until Reboot + + + + Allow tethering with your data SIM and keep it active either while driving or continuously. + + + + + AnnotatedCameraWidget + + km/h + km/h + + + mph + mph + + + MAX + 最高 + + + SPEED + 速度 + + + LIMIT + 速限 + + + Vehicle in blind spot + + + + m/s² + + + + m/s + + + + kph + + + + ft/s² + + + + Accel: %1%2 + + + + - Max: %1%2 + + + + | Obstacle: + + + + | Obstacle Factor: + + + + - Stop: + + + + - Stop Factor: + + + + Follow: + + + + Follow Distance: + + + + Confirm speed limit + + + + + Ignore speed limit + + + + + Conditional Experimental Mode ready + + + + Conditional Experimental overridden + + + + Experimental Mode manually activated + + + + Experimental Mode activated for %1 + + + + low speed + + + + speed being less than %1 %2 + + + + Experimental Mode activated for turn + + + + / lane change + + + + Experimental Mode activated for intersection + + + + Experimental Mode activated for upcoming turn + + + + Experimental Mode activated for curve + + + + Experimental Mode activated for stopped lead + + + + Experimental Mode activated for slower lead + + + + Experimental Mode activated %1 + + + + to stop + + + + Experimental Mode forced on %1 + + + + Experimental Mode activated due to no speed limit + + + + Always On Lateral active + + + + . Press the "Cruise Control" button to disable + + + + . Long press the "distance" button to revert + + + + . Click the "LKAS" button to revert + + + + . Double tap the screen to revert + + + + + ConfirmationDialog + + Ok + 確定 + + + Cancel + 取消 + + + + DeclinePage + + You must accept the Terms and Conditions in order to use openpilot. + 您必須先接受條款和條件才能使用 openpilot。 + + + Back + 回上頁 + + + Decline, uninstall %1 + 拒絕並解除安裝 %1 + + + + DestinationWidget + + Home + 住家 + + + Work + 工作 + + + No destination set + 尚未設定目的地 + + + No %1 location set + 尚未設定 %1 的位置 + + + home + 住家 + + + work + 工作 + + + + DevicePanel + + Dongle ID + Dongle ID + + + N/A + 無法使用 + + + Serial + 序號 + + + Driver Camera + 駕駛員監控鏡頭 + + + PREVIEW + 預覽 + + + Preview the driver facing camera to ensure that driver monitoring has good visibility. (vehicle must be off) + 預覽駕駛員監控鏡頭畫面，以確保其具有良好視野。（僅在熄火時可用） + + + Reset Calibration + 重設校準 + + + RESET + 重設 + + + Are you sure you want to reset calibration? + 您確定要重設校準嗎？ + + + Review Training Guide + 觀看使用教學 + + + REVIEW + 觀看 + + + Review the rules, features, and limitations of openpilot + 觀看 openpilot 的使用規則、功能和限制 + + + Are you sure you want to review the training guide? + 您確定要觀看使用教學嗎？ + + + Regulatory + 法規/監管 + + + VIEW + 觀看 + + + Change Language + 更改語言 + + + CHANGE + 更改 + + + Select a language + 選擇語言 + + + Reboot + 重新啟動 + + + Power Off + 關機 + + + openpilot requires the device to be mounted within 4° left or right and within 5° up or 9° down. openpilot is continuously calibrating, resetting is rarely required. + openpilot 需要將裝置固定在左右偏差 4° 以內，朝上偏差 5° 以內或朝下偏差 9° 以內。鏡頭在後台會持續自動校準，很少有需要重置的情況。 + + + Your device is pointed %1° %2 and %3° %4. + 你的裝置目前朝%2 %1° 以及朝%4 %3° 。 + + + down + 下 + + + up + 上 + + + left + 左 + + + right + 右 + + + Are you sure you want to reboot? + 您確定要重新啟動嗎？ + + + Disengage to Reboot + 請先取消控車才能重新啟動 + + + Are you sure you want to power off? + 您確定您要關機嗎？ + + + Disengage to Power Off + 請先取消控車才能關機 + + + Reset + 重設 + + + Review + 回顧 + + + Pair your device with comma connect (connect.comma.ai) and claim your comma prime offer. + 將您的裝置與 comma connect (connect.comma.ai) 配對並領取您的 comma 高級會員優惠。 + + + Pair Device + 配對裝置 + + + PAIR + 配對 + + + + DriveStats + + ALL TIME + + + + PAST WEEK + + + + FROGPILOT + + + + Drives + + + + Hours + + + + KM + + + + Miles + + + + + DriverViewWindow + + camera starting + 開啟相機中 + + + + ExperimentalModeButton + + EXPERIMENTAL MODE ON + 實驗模式 ON + + + CHILL MODE ON + 輕鬆模式 ON + + + + FrogPilotAdvancedDrivingPanel + + Advanced Lateral Tuning + + + + Advanced settings that control how openpilot manages steering. + + + + Friction (Default: %1) + + + + Friction + + + + The resistance in steering. Higher values provide more stable steering but can make it feel heavy, while lower values allow lighter steering but may feel too sensitive. + + + + Kp Factor (Default: %1) + + + + Kp Factor + + + + How aggressively the car corrects its steering. Higher values offer quicker corrections but may feel jerky, while lower values make steering smoother but slower to respond. + + + + Lateral Accel (Default: %1) + + + + Lateral Accel + + + + Adjust how fast the car can steer from side to side. Higher values allow quicker lane changes but can feel unstable, while lower values provide smoother steering but may feel sluggish. + + + + Steer Ratio (Default: %1) + + + + Steer Ratio + + + + Adjust how much openpilot needs to turn the wheel to steer. Higher values feel like driving a truck, more stable at high speeds, but harder to steer quickly at low speeds, while lower values feel like a go-kart, easier to steer in tight spots but more sensitive and less stable at high speeds. + + + + comma's 2022 Taco Bell Turn Hack + + + + Use comma's hack they used to help handle left and right turns more precisely during their 2022 'Taco Bell' drive. + + + + Force Auto Tune On + + + + Forces comma's auto lateral tuning for unsupported vehicles. + + + + Force Auto Tune Off + + + + Forces comma's auto lateral tuning off for supported vehicles. + + + + Force Turn Desires Below Lane Change Speed + + + + Force the model to use turn desires when driving below the minimum lane change speed to help make left and right turns more precisely. + + + + Advanced Longitudinal Tuning + + + + Advanced settings that control how openpilot manages speed and acceleration. + + + + Lead Detection Confidence + + + + How sensitive openpilot is to detecting vehicles ahead. A lower value can help detect vehicles sooner and from farther away, but may occasionally mistake other objects for vehicles. + + + + Maximum Acceleration Rate + + + + Set a cap on how fast openpilot can accelerate to prevent high acceleration at low speeds. + + + + Advanced Quality of Life + + + + Miscellaneous advanced features to improve your overall openpilot experience. + + + + Force Keep openpilot in the Standstill State + + + + Keep openpilot in the 'standstill' state until the gas pedal or 'resume' button is pressed. + + + + Force Stop for 'Detected' Stop Lights/Signs + + + + Whenever openpilot 'detects' a potential stop light/stop sign, force a stop where it originally detected it to prevent running the potential red light/stop sign. + + + + Set Speed Offset + + + + How much higher or lower the set speed should be compared to your current set speed. For example, if you prefer to drive 5 mph above the speed limit, this setting will automatically add that difference when you adjust your set speed. + + + + Customize Driving Personalities + + + + Customize the personality profiles to suit your preferences. + + + + Traffic Personality + + + + Customize the 'Traffic' personality profile, tailored for navigating through traffic. + + + + Following Distance + + + + The minimum following distance in 'Traffic Mode.' openpilot will adjust dynamically between this value and the 'Aggressive' profile distance based on your speed. + + + + Acceleration Sensitivity + + + + How sensitive openpilot is to changes in acceleration in 'Traffic Mode.' Higher values result in smoother, more gradual acceleration and deceleration, while lower values allow for faster changes that may feel more abrupt. + + + + Deceleration Sensitivity + + + + Controls how sensitive openpilot is to changes in deceleration in 'Traffic Mode.' Higher values result in smoother, more gradual braking, while lower values allow for quicker, more responsive braking that may feel abrupt. + + + + Safety Distance Sensitivity + + + + Adjusts how cautious openpilot is around other vehicles or obstacles in 'Traffic Mode.' Higher values increase following distances and prioritize safety, leading to more cautious driving, while lower values allow for closer following but may reduce reaction time. + + + + Speed Increase Responsiveness + + + + Controls how quickly openpilot adjusts speed in 'Traffic Mode.' Higher values ensure smoother, more gradual speed changes, while lower values enable quicker adjustments that might feel sharper or less smooth. + + + + Speed Decrease Responsiveness + + + + Sets how quickly openpilot adjusts to decreasing speeds in 'Traffic Mode.' Higher values ensure smoother transitions when slowing down, while lower values allow for quicker, more responsive speed reductions that might feel sharper. + + + + Reset Settings + + + + Restore the 'Traffic Mode' settings to their default values. + + + + Aggressive Personality + + + + Customize the 'Aggressive' personality profile, designed for a more assertive driving style. + + + + Set the following distance for 'Aggressive' mode. This determines roughly how many seconds you'll follow behind the car ahead. + +Default: 1.25 seconds. + + + + Controls how sensitive openpilot is to acceleration changes in 'Aggressive' mode. Higher values make acceleration and deceleration smoother but slower, while lower values allow quicker changes that may feel jerky. + +Default: 0.5. + + + + Controls how sensitive openpilot is to deceleration in 'Aggressive' mode. Higher values result in smoother braking, while lower values allow for more immediate braking that may feel abrupt. + +Default: 0.5. + + + + Adjusts how cautious openpilot is around vehicles or obstacles in 'Aggressive' mode. Higher values make it more cautious, while lower values allow for closer following, increasing the risk of sudden braking. + +Default: 1.0. + + + + Controls how quickly openpilot adjusts speed in 'Aggressive' mode. Higher values result in smoother but slower speed changes, while lower values make speed adjustments quicker but potentially more abrupt. + +Default: 0.5. + + + + Sets how quickly openpilot adjusts to speed reductions in 'Aggressive' mode. Higher values ensure smoother transitions when slowing down, while lower values allow for quicker, more responsive speed decreases that may feel sharp. + +Default: 0.5. + + + + Restore the 'Aggressive' settings to their default values. + + + + Standard Personality + + + + Customize the 'Standard' personality profile, optimized for balanced driving. + + + + Set the following distance for 'Standard' mode. This determines roughly how many seconds you'll follow behind the car ahead. + +Default: 1.45 seconds. + + + + Controls how sensitive openpilot is to acceleration changes in 'Standard' mode. Higher values make acceleration and deceleration smoother but slower, while lower values allow quicker changes that may feel jerky. + +Default: 1.0. + + + + Controls how sensitive openpilot is to deceleration in 'Standard' mode. Higher values result in smoother braking, while lower values allow for quicker, more immediate braking that may feel abrupt. + +Default: 1.0. + + + + Adjusts how cautious openpilot is around vehicles or obstacles in 'Standard' mode. Higher values make it more cautious, while lower values allow for closer following, increasing the risk of sudden braking. + +Default: 1.0. + + + + Controls how quickly openpilot adjusts speed in 'Standard' mode. Higher values result in smoother but slower speed changes, while lower values make speed adjustments quicker but potentially more abrupt. + +Default: 1.0. + + + + Sets how quickly openpilot adjusts to speed reductions in 'Standard' mode. Higher values ensure smoother transitions when slowing down, while lower values allow for quicker, more responsive speed decreases that may feel sharp. + +Default: 1.0. + + + + Restore the 'Standard' settings to their default values. + + + + Relaxed Personality + + + + Customize the 'Relaxed' personality profile, ideal for a more laid-back driving style. + + + + Set the following distance for 'Relaxed' mode. This determines roughly how many seconds you'll follow behind the car ahead. + +Default: 1.75 seconds. + + + + Controls how sensitive openpilot is to acceleration changes in 'Relaxed' mode. Higher values make acceleration and deceleration smoother but slower, while lower values allow quicker changes that may feel jerky. + +Default: 1.0. + + + + Controls how sensitive openpilot is to deceleration in 'Relaxed' mode. Higher values result in smoother braking, while lower values allow for quicker, more immediate braking that may feel abrupt. + +Default: 1.0. + + + + Adjusts how cautious openpilot is around vehicles or obstacles in 'Relaxed' mode. Higher values make it more cautious, while lower values allow for closer following, increasing the risk of sudden braking. + +Default: 1.0. + + + + Controls how quickly openpilot adjusts speed in 'Relaxed' mode. Higher values result in smoother but slower speed changes, while lower values make speed adjustments quicker but potentially more abrupt. + +Default: 1.0. + + + + Sets how quickly openpilot adjusts to speed reductions in 'Relaxed' mode. Higher values ensure smoother transitions when slowing down, while lower values allow for quicker, more responsive speed decreases that may feel sharp. + +Default: 1.0. + + + + Restore the 'Relaxed' settings to their default values. + + + + Model Management + + + + Manage the driving models used by openpilot. + + + + Automatically Update and Download Models + + + + Automatically download new or updated driving models. + + + + Model Randomizer + + + + A random model is selected and can be reviewed at the end of each drive if it's longer than 15 minutes to help find your preferred model. + + + + Manage Model Blacklist + + + + Control which models are blacklisted and won't be used for future drives. + + + + Reset Model Scores + + + + Clear the ratings you've given to the driving models. + + + + Review Model Scores + + + + View the ratings you've assigned to the driving models. + + + + Delete Model + + + + Remove the selected driving model from your device. + + + + Download Model + + + + Download undownloaded driving models. + + + + Download All Models + + + + Download all undownloaded driving models. + + + + Select Model + + + + Select which model openpilot uses to drive. + + + + Reset Model Calibrations + + + + Reset calibration settings for the driving models. + + + + mph + mph + + + Reset + 重設 + + + seconds + + + + ADD + 新增 + + + REMOVE + 移除 + + + There's no more models to blacklist! The only available model is "%1"! + + + + OK + 一般 + + + Select a model to add to the blacklist + + + + Are you sure you want to add the '%1' model to the blacklist? + + + + Add + + + + Select a model to remove from the blacklist + + + + Are you sure you want to remove the '%1' model from the blacklist? + + + + Remove + + + + RESET + 重設 + + + Reset all model scores? + + + + VIEW + 觀看 + + + DELETE + + + + Select a model to delete + + + + Are you sure you want to delete the '%1' model? + + + + Delete + + + + Deleting... + + + + Deleted! + + + + DOWNLOAD + 下載 + + + CANCEL + + + + Select a driving model to download + + + + Downloading %1... + + + + SELECT + 選取 + + + Select a model - 🗺️ = Navigation | 📡 = Radar | 👀 = VOACC + + + + WARNING: This is a very experimental model and may drive dangerously! + + + + I understand the risks. + + + + Start with a fresh calibration for the newly selected model? + + + + Reboot required to take effect. + + + + Reboot Now + + + + RESET ALL + + + + RESET ONE + + + + Are you sure you want to completely reset all of your model calibrations? + + + + Select a model to reset + + + + Are you sure you want to completely reset this model's calibrations? + + + + The 'Model Randomizer' only works with downloaded models. Do you want to download all the driving models? + + + + Are you sure you want to completely reset your settings for the 'Traffic Mode' personality? + + + + Are you sure you want to completely reset your settings for the 'Aggressive' personality? + + + + Are you sure you want to completely reset your settings for the 'Standard' personality? + + + + Are you sure you want to completely reset your settings for the 'Relaxed' personality? + + + + kph + + + + Downloading models... + + + + openpilot requires the device to be mounted within 4° left or right and within 5° up or 9° down. openpilot is continuously calibrating, resetting is rarely required. + openpilot 需要將裝置固定在左右偏差 4° 以內，朝上偏差 5° 以內或朝下偏差 9° 以內。鏡頭在後台會持續自動校準，很少有需要重置的情況。 + + + Your device is pointed %1° %2 and %3° %4. + 你的裝置目前朝%2 %1° 以及朝%4 %3° 。 + + + down + 下 + + + up + 上 + + + left + 左 + + + right + 右 + + + + FrogPilotAdvancedVisualsPanel + + Advanced Onroad UI Widgets + + + + Advanced user customizations for the Onroad UI. + + + + Camera View + + + + Camera view for the onroad UI. This is purely a visual change and doesn't impact how openpilot drives. + + + + Display Stopping Points + + + + Display an image on the screen where openpilot is detecting a potential red light/stop sign. + + + + Hide Lead Marker + + + + Hide the marker for the vehicle ahead on the screen. + + + + Hide Speed + + + + Hide the speed indicator in the onroad UI. Additional toggle allows it to be hidden/shown via tapping the speed itself. + + + + Hide UI Elements + + + + Hide the selected UI elements from the onroad screen. + + + + Use Wheel Speed + + + + Use the wheel speed instead of the cluster speed in the onroad UI. + + + + Developer UI + + + + Show detailed information about openpilot's internal operations. + + + + Border Metrics + + + + Display performance metrics around the edge of the screen while driving. + + + + FPS Display + + + + Display the 'Frames Per Second' (FPS) at the bottom of the screen while driving. + + + + Lateral Metrics + + + + Display metrics related to steering control at the top of the screen while driving. + + + + Longitudinal Metrics + + + + Display metrics related to acceleration, speed, and desired following distance at the top of the screen while driving. + + + + Numerical Temperature Gauge + + + + Show exact temperature readings instead of general status labels like 'GOOD', 'OK', or 'HIGH' in the sidebar. + + + + Sidebar + + + + Display system information like CPU, GPU, RAM usage, IP address, and storage space in the sidebar. + + + + Use International System of Units + + + + Display measurements using the 'International System of Units' (SI). + + + + Model UI + + + + Customize the model visualizations on the screen. + + + + Lane Lines Width + + + + How thick the lane lines appear on the display. + +Default matches the MUTCD standard of 4 inches. + + + + Path Edges Width + + + + The width of the edges of the driving path to represent different modes and statuses. + +Default is 20% of the total path width. + +Color Guide: +- Blue: Navigation +- Light Blue: 'Always On Lateral' +- Green: Default +- Orange: 'Experimental Mode' +- Red: 'Traffic Mode' +- Yellow: 'Conditional Experimental Mode' Overridden + + + + Path Width + + + + How wide the driving path appears on your screen. + +Default (6.1 feet / 1.9 meters) matches the width of a 2019 Lexus ES 350. + + + + Road Edges Width + + + + How thick the road edges appear on the display. + +Default matches half of the MUTCD standard lane line width of 4 inches. + + + + 'Unlimited' Road UI + + + + Extend the display of the path, lane lines, and road edges as far as the model can see. + + + + Auto + + + + Driver + + + + Standard + 標準 + + + Wide + + + + Control Via UI + + + + Alerts + + + + Map Icon + + + + Max Speed + + + + Show Distance + + + + Blind Spot + + + + Steering Torque + + + + Turn Signal + + + + Adjacent Path Metrics + + + + Auto Tune + + + + Lead Info + + + + Longitudinal Jerk + + + + Fahrenheit + + + + CPU + + + + GPU + + + + IP + + + + RAM + + + + SSD Left + + + + SSD Used + + + + inches + + + + % + + + + feet + + + + Adjust how thick the lane lines appear on the display. + +Default matches the Vienna standard of 10 centimeters. + + + + Adjust how thick the road edges appear on the display. + +Default matches half of the Vienna standard of 10 centimeters. + + + + centimeters + + + + meters + + + + Adjust how thick the lane lines appear on the display. + +Default matches the MUTCD standard of 4 inches. + + + + Adjust how thick the road edges appear on the display. + +Default matches half of the MUTCD standard of 4 inches. + + + + + FrogPilotConfirmationDialog + + Reboot Later + + + + Yes + + + + No + + + + + FrogPilotDataPanel + + Delete Driving Footage and Data + + + + DELETE + + + + This button provides a swift and secure way to permanently delete all stored driving footage and data from your device. Ideal for maintaining privacy or freeing up space. + + + + Are you sure you want to permanently delete all of your driving footage and data? + + + + Delete + + + + Deleting... + + + + Deleted! + + + + Screen Recordings + + + + Manage your screen recordings. + + + + RENAME + + + + Select a recording to delete + + + + Are you sure you want to delete this recording? + + + + Failed... + + + + Select a recording to rename + + + + Enter a new name + + + + Rename Recording + + + + Renaming... + + + + Renamed! + + + + FrogPilot Backups + + + + Manage your FrogPilot backups. + + + + BACKUP + + + + RESTORE + + + + Name your backup + + + + Do you want to compress this backup? The end file size will be 2.25x smaller, but can take 10+ minutes. + + + + Backing... + + + + Compressing... + + + + Success! + + + + Select a backup to delete + + + + Are you sure you want to delete this backup? + + + + Select a restore point + + + + Are you sure you want to restore this version of FrogPilot? + + + + Restore + + + + Restoring... + + + + Extracting... + + + + Restored! + + + + Rebooting... + + + + Toggle Backups + + + + Manage your toggle backups. + + + + Are you sure you want to restore this toggle backup? + + + + + FrogPilotDevicePanel + + Device Settings + + + + Device behavior settings. + + + + Device Shutdown Timer + + + + How long the device stays on after you stop driving. + + + + Disable Internet Requirement + + + + The device can work without an internet connection for as long as you need. + + + + Increase Thermal Safety Limit + + + + The device can run at higher temperatures than recommended. + + + + Low Battery Shutdown Threshold + + + + Shut down the device when the car's battery gets too low to prevent damage to the 12V battery. + + + + Turn Off Data Tracking + + + + Disable all tracking to improve privacy. + + + + Turn Off Data Uploads + + + + Stop the device from sending any data to the servers. + + + + Screen Settings + + + + Screen behavior settings. + + + + Screen Brightness (Offroad) + + + + The screen brightness when you're not driving. + + + + Screen Brightness (Onroad) + + + + The screen brightness while you're driving. + + + + Screen Recorder + + + + Display a button in the onroad UI to record the screen. + + + + Screen Timeout (Offroad) + + + + How long it takes for the screen to turn off when you're not driving. + + + + Screen Timeout (Onroad) + + + + How long it takes for the screen to turn off while you're driving. + + + + 5 mins + + + + mins + + + + hour + + + + hours + + + + Only Onroad + + + + volts + + + + Auto + + + + seconds + + + + WARNING: This can cause premature wear or damage by running the device over comma's recommended temperature limits! + + + + I understand the risks. + + + + WARNING: This will prevent your drives from being recorded and the data will be unobtainable! + + + + WARNING: This will prevent your drives from appearing on comma connect which may impact debugging and support! + + + + + FrogPilotLateralPanel + + Always on Lateral + + + + openpilot's steering control stays active even when the brake or gas pedals are pressed. + +Deactivate only occurs with the 'Cruise Control' button. + + + + Control with LKAS Button + + + + 'Always on Lateral' gets turned on or off using the 'LKAS' button. + + + + Enable with Cruise Control + + + + 'Always on Lateral' gets turned on by pressing the 'Cruise Control' button bypassing the requirement to enable openpilot first. + + + + Pause on Brake Below + + + + 'Always on Lateral' pauses when the brake pedal is pressed below the set speed. + + + + Hide the Status Bar + + + + The status bar for 'Always on Lateral' is hidden. + + + + Lane Change Settings + + + + How openpilot handles lane changes. + + + + Hands-Free Lane Change + + + + Lane changes are conducted without needing to touch the steering wheel upon turn signal activation. + + + + Lane Change Delay + + + + How long openpilot waits before changing lanes. + + + + Lane Width Requirement + + + + The minimum lane width for openpilot to detect a lane as a lane. + + + + Minimum Speed for Lane Change + + + + The minimum speed required for openpilot to perform a lane change. + + + + Single Lane Change Per Signal + + + + Lane changes are limited to one per turn signal activation. + + + + Lateral Tuning + + + + Settings that control how openpilot manages steering. + + + + Neural Network Feedforward (NNFF) + + + + Twilsonco's 'Neural Network FeedForward' for more precise steering control. + + + + Smooth Curve Handling + + + + Smoother steering when entering and exiting curves with Twilsonco's torque adjustments. + + + + Quality of Life Improvements + + + + Miscellaneous lateral focused features to improve your overall openpilot experience. + + + + Pause Steering Below + + + + Pauses steering control when driving below the set speed. + + + + mph + mph + + + feet + + + + Reboot required to take effect. + + + + Reboot Now + + + + kph + + + + meters + + + + + FrogPilotLongitudinalPanel + + Conditional Experimental Mode + + + + Automatically switches to 'Experimental Mode' when specific conditions are met. + + + + Below + + + + 'Experimental Mode' is active when driving below the set speed without a lead vehicle. + + + + Curve Detected Ahead + + + + 'Experimental Mode' is active when a curve is detected in the road ahead. + + + + Lead Detected Ahead + + + + 'Experimental Mode' is active when a slower or stopped vehicle is detected ahead. + + + + Navigation Data + + + + 'Experimental Mode' is active based on navigation data, such as upcoming intersections or turns. + + + + openpilot Wants to Stop In + + + + 'Experimental Mode' is active when openpilot wants to stop such as for a stop sign or red light. + + + + Turn Signal Below + + + + 'Experimental Mode' is active when using turn signals below the set speed. + + + + Hide the Status Bar + + + + The status bar for 'Conditional Experimental Mode' is hidden. + + + + Curve Speed Control + + + + Automatically slow down for curves detected ahead or through the downloaded maps. + + + + Curve Detection Method + + + + The method used to detect curves. + + + + Curve Detection Failsafe + + + + Curve control is triggered only when a curve is detected ahead. Use this as a failsafe to prevent false positives when using the 'Map Based' method. + + + + Curve Sensitivity + + + + How sensitive openpilot is to detecting curves. Higher values trigger earlier responses at the risk of triggering too often, while lower values increase confidence at the risk of triggering too infrequently. + + + + Turn Speed Aggressiveness + + + + How aggressive openpilot takes turns. Higher values result in quicker turns, while lower values provide gentler turns. + + + + Disable Speed Value Smoothing In the UI + + + + Speed value smoothing is disabled in the UI to instead display the exact speed requested by the curve control. + + + + Experimental Mode Activation + + + + 'Experimental Mode' is toggled off/on using the steering wheel buttons or the on-screen controls. + +This overrides 'Conditional Experimental Mode'. + + + + Click the LKAS Button + + + + 'Experimental Mode' is toggled by pressing the 'LKAS' button on the steering wheel. + + + + Double-Tap the Screen + + + + 'Experimental Mode' is toggled by double-tapping the onroad UI within 0.5 seconds. + + + + Long Press the Distance Button + + + + 'Experimental Mode' is toggled by holding the 'distance' button on the steering wheel for 0.5+ seconds. + + + + Longitudinal Tuning + + + + Settings that control how openpilot manages speed and acceleration. + + + + Acceleration Profile + + + + Choose between a sporty or eco-friendly acceleration rate. + + + + Deceleration Profile + + + + Choose between a sporty or eco-friendly deceleration rate. + + + + Human-Like Acceleration + + + + Uses the lead's acceleration rate when at a takeoff and ramps off the acceleration rate when approaching the maximum set speed for a smoother max speed approach. + + + + Human-Like Following Distance + + + + Dynamically adjusts the following distance to feel more natural when approaching slower or stopped vehicles. + + + + Increase Stopped Distance + + + + Increases the distance to stop behind vehicles. + + + + Quality of Life Improvements + + + + Miscellaneous longitudinal focused features to improve your overall openpilot experience. + + + + Cruise Increase Interval + + + + Interval used when increasing the cruise control speed. + + + + Custom Cruise Interval (Long Press) + + + + Interval used when increasing the cruise control speed when holding down the button for 0.5+ seconds. + + + + Map Accel/Decel to Gears + + + + Map the acceleration and deceleration profiles to the 'Eco' or 'Sport' gear modes. + + + + Onroad Personality Button + + + + The current driving personality is displayed on the screen. Tap to switch personalities, or long press for 2.5 seconds to activate 'Traffic Mode'. + + + + Reverse Cruise Increase + + + + The long press feature is reversed in order to increase speed by 5 mph instead of 1. + + + + Speed Limit Controller + + + + Automatically adjust your max speed to match the speed limit using 'Open Street Maps', 'Navigate on openpilot', or your car's dashboard (Toyota/Lexus/HKG only). + + + + Confirm New Speed Limits + + + + Require manual confirmation before using a new speed limit. + + + + Fallback Method + + + + Choose what happens when no speed limit data is available. + + + + Override Method + + + + Choose how you want to override the current speed limit. + + + + + + Speed Limit Source Priority + + + + Set the order of priority for speed limit data sources. + + + + Speed Limit Offsets + + + + Manage toggles related to 'Speed Limit Controller's controls. + + + + Speed Limit Offset (0-34 mph) + + + + Set the speed limit offset for speeds between 0 and 34 mph. + + + + Speed Limit Offset (35-54 mph) + + + + Set the speed limit offset for speeds between 35 and 54 mph. + + + + Speed Limit Offset (55-64 mph) + + + + Set the speed limit offset for speeds between 55 and 64 mph. + + + + Speed Limit Offset (65-99 mph) + + + + Set the speed limit offset for speeds between 65 and 99 mph. + + + + Miscellaneous 'Speed Limit Controller' focused features to improve your overall openpilot experience. + + + + Force MPH Readings from Dashboard + + + + Force speed limit readings in MPH from the dashboard if it normally displays in KPH. + + + + Prepare for Higher Speed Limits + + + + Set a lookahead value to prepare for upcoming higher speed limits based on map data. + + + + Prepare for Lower Speed Limits + + + + Set a lookahead value to prepare for upcoming lower speed limits based on map data. + + + + Set Speed to Current Limit + + + + Set your max speed to match the current speed limit when enabling openpilot. + + + + Visual Settings + + + + Manage visual settings for the 'Speed Limit Controller'. + + + + Use Vienna-Style Speed Signs + + + + Switch to Vienna-style (EU) speed limit signs instead of MUTCD (US). + + + + Show Speed Limit Offset + + + + Display the speed limit offset separately in the onroad UI when using the Speed Limit Controller. + + + + mph + mph + + + With Lead + + + + Switches to 'Experimental Mode' when driving below the set speed with a lead vehicle. + + + + With Lead + + + + Slower Lead + + + + Stopped Lead + + + + Intersections + + + + Turns + + + + Off + + + + Map Based + + + + Vision + + + + Standard + 標準 + + + Eco + + + + Sport + + + + Sport+ + + + + feet + + + + Acceleration + + + + Deceleration + + + + Lower Limits + + + + Higher Limits + + + + None + + + + Set Speed + + + + Experimental Mode + 實驗模式 + + + Previous Limit + + + + Gas Pedal Press + + + + Cruise Set Speed + + + + SELECT + 選取 + + + Dashboard + + + + Navigation + + + + Offline Maps + + + + Highest + + + + Lowest + + + + Select your primary priority + + + + Select your secondary priority + + + + Select your tertiary priority + + + + MANAGE + + + + seconds + + + + Control Via UI + + + + Speed Limit Offset (0-34 kph) + + + + Speed Limit Offset (35-54 kph) + + + + Speed Limit Offset (55-64 kph) + + + + Speed Limit Offset (65-99 kph) + + + + Set speed limit offset for limits between 0-34 kph. + + + + Set speed limit offset for limits between 35-54 kph. + + + + Set speed limit offset for limits between 55-64 kph. + + + + Set speed limit offset for limits between 65-99 kph. + + + + kph + + + + meters + + + + Set speed limit offset for limits between 0-34 mph. + + + + Set speed limit offset for limits between 35-54 mph. + + + + Set speed limit offset for limits between 55-64 mph. + + + + Set speed limit offset for limits between 65-99 mph. + + + + + FrogPilotParamManageControl + + MANAGE + + + + + FrogPilotSettingsWindow + + Advanced Settings + + + + Alerts and Sounds + + + + Driving Controls + + + + Navigation + + + + System Management + + + + Theme and Appearance + + + + Vehicle Controls + + + + Advanced FrogPilot features for more experienced users. + + + + Options to customize FrogPilot's sound alerts and notifications. + + + + FrogPilot features than impact acceleration, braking, and steering. + + + + Offline maps downloader and 'Navigate On openpilot (NOO)' settings. + + + + Tools and system utilities used to maintain and troubleshoot FrogPilot. + + + + Options for customizing FrogPilot's themes, UI appearance, and onroad widgets. + + + + Vehicle-specific settings and configurations for supported makes and models. + + + + DRIVING + + + + VISUALS + + + + MANAGE + + + + GAS / BRAKE + + + + STEERING + + + + DATA + + + + DEVICE + + + + UTILITIES + + + + APPEARANCE + + + + THEME + + + + + FrogPilotSoundsPanel + + Alert Volume Controller + + + + Control the volume level for each individual sound in openpilot. + + + + Disengage Volume + + + + Related alerts: + +Adaptive Cruise Disabled +Parking Brake Engaged +Brake Pedal Pressed +Speed too Low + + + + Engage Volume + + + + Related alerts: + +NNFF Torque Controller loaded +openpilot engaged + + + + Prompt Volume + + + + Related alerts: + +Car Detected in Blindspot +Speed too Low +Steer Unavailable Below 'X' +Take Control, Turn Exceeds Steering Limit + + + + Prompt Distracted Volume + + + + Related alerts: + +Pay Attention, Driver Distracted +Touch Steering Wheel, Driver Unresponsive + + + + Refuse Volume + + + + Related alerts: + +openpilot Unavailable + + + + Warning Soft Volume + + + + Related alerts: + +BRAKE!, Risk of Collision +TAKE CONTROL IMMEDIATELY + + + + Warning Immediate Volume + + + + Related alerts: + +DISENGAGE IMMEDIATELY, Driver Distracted +DISENGAGE IMMEDIATELY, Driver Unresponsive + + + + Custom Alerts + + + + Enable custom alerts for openpilot events. + + + + Goat Scream Steering Saturated Alert + + + + Enable the famed 'Goat Scream' that has brought both joy and anger to FrogPilot users all around the world! + + + + Green Light Alert + + + + Get an alert when a traffic light changes from red to green. + + + + Lead Departing Alert + + + + Get an alert when the lead vehicle starts departing when at a standstill. + + + + Loud Blindspot Alert + + + + Enable a louder alert for when a vehicle is detected in the blindspot when attempting to change lanes. + + + + Speed Limit Change Alert + + + + Trigger an alert when the speed limit changes. + + + + + FrogPilotThemesPanel + + Custom Theme + + + + Custom openpilot themes. + + + + Color Scheme + + + + Themed color schemes. + +Want to submit your own color scheme? Share it in the 'feature-request' channel on the FrogPilot Discord! + + + + Icon Pack + + + + Themed icon packs. + +Want to submit your own icons? Share them in the 'feature-request' channel on the FrogPilot Discord! + + + + Sound Pack + + + + Themed sound effects. + +Want to submit your own sounds? Share them in the 'feature-request' channel on the FrogPilot Discord! + + + + Steering Wheel + + + + Custom steering wheel icons. + + + + Turn Signal Animation + + + + Themed turn signal animations. + +Want to submit your own animations? Share them in the 'feature-request' channel on the FrogPilot Discord! + + + + Download Status + + + + Holiday Themes + + + + Change the openpilot theme based on the current holiday. Minor holidays last one day, while major holidays (Easter, Christmas, Halloween, etc.) last a week. + + + + Random Events + + + + Random cosmetic events that happen during certain driving conditions. These events are purely for fun and don't affect driving controls! + + + + Startup Alert + + + + Custom 'Startup' alert message that appears when you start driving. + + + + DELETE + + + + DOWNLOAD + 下載 + + + SELECT + 選取 + + + Select a color scheme to delete + + + + Are you sure you want to delete the '%1' color scheme? + + + + Delete + + + + Select a color scheme to download + + + + Select a color scheme + + + + Select an icon pack to delete + + + + Are you sure you want to delete the '%1' icon pack? + + + + Select an icon pack to download + + + + Select an icon pack + + + + Select a signal pack to delete + + + + Are you sure you want to delete the '%1' signal pack? + + + + Select a signal pack to download + + + + Select a signal pack + + + + Select a sound pack to delete + + + + Are you sure you want to delete the '%1' sound scheme? + + + + Select a sound pack to download + + + + Select a sound scheme + + + + Select a steering wheel to delete + + + + Are you sure you want to delete the '%1' steering wheel image? + + + + Select a steering wheel to download + + + + Select a steering wheel + + + + STOCK + + + + FROGPILOT + + + + CUSTOM + + + + CLEAR + + + + Enter your text for the top half + + + + Characters: 0/%1 + + + + Enter your text for the bottom half + + + + CANCEL + + + + + FrogPilotVehiclesPanel + + Select Make + + + + SELECT + 選取 + + + Select a Make + + + + Select Model + - Enable Tethering - 啟用網路分享 + Select a Model + - Tethering Password - 網路分享密碼 + Disable Automatic Fingerprint Detection + - EDIT - 編輯 + Forces the selected fingerprint and prevents it from ever changing. + - Enter new tethering password - 輸入新的網路分享密碼 + Disable openpilot Longitudinal Control + - IP Address - IP 地址 + Disable openpilot longitudinal control and use stock ACC instead. + - Enable Roaming - 啟用漫遊 + Are you sure you want to completely disable openpilot longitudinal control? + - APN Setting - APN 設置 + Reboot required to take effect. + - Enter APN - 輸入 APN + Reboot Now + - leave blank for automatic configuration - 留空白將自動配置 + 2017 Volt Stop and Go Hack + - Cellular Metered - 行動網路 + Force stop and go for the 2017 Chevy Volt. + - Prevent large data uploads when on a metered connection - 防止使用行動網路上傳大量的數據 + Experimental GM Tune + - Hidden Network - 隱藏的網路 + FrogsGoMoo's experimental GM tune that is based on nothing but guesswork. Use at your own risk! + - CONNECT - 連線 + Uphill/Downhill Smoothing + - Enter SSID - 輸入 SSID + Smoothen the car’s gas and brake response when driving on slopes. + - Enter password - 輸入密碼 + Use comma's New Longitudinal API + - for "%1" - 給 "%1" + Comma's new longitudinal control system that has shown great improvement with acceleration and braking, but has a few issues on some GM vehicles. + - - - AnnotatedCameraWidget - km/h - km/h + Use comma's new longitudinal control system that has shown great improvement with acceleration and braking, but has a few issues on Hyundai/Kia/Genesis. + - mph - mph + Subaru Crosstrek Torque Increase + - MAX - 最高 + Increases the maximum allowed torque for the Subaru Crosstrek. + - SPEED - 速度 + Automatically Lock/Unlock Doors + - LIMIT - 速限 + Automatically lock the doors when in drive and unlock when in park. + - - - ConfirmationDialog - Ok - 確定 + Cluster Speed Offset + - Cancel - 取消 + Set the cluster offset openpilot uses to try and match the speed displayed on the dash. + - - - DeclinePage - You must accept the Terms and Conditions in order to use openpilot. - 您必須先接受條款和條件才能使用 openpilot。 + FrogsGoMoo's Personal Tweaks + - Back - 回上頁 + Use FrogsGoMoo's personal tweaks to the Toyota tune focused around his 2019 Lexus ES 350 to take off a bit quicker and stop a bit smoother. + - Decline, uninstall %1 - 拒絕並解除安裝 %1 + Stop and Go Hack + + + + Force stop and go for vehicles without stock stop and go functionality. + + + + Lock + + + + Unlock + - DestinationWidget + FrogPilotVisualsPanel - Home - 住家 + Onroad UI Widgets + - Work - 工作 + Custom FrogPilot widgets used in the onroad user interface. + - No destination set - 尚未設定目的地 + Compass + - No %1 location set - 尚未設定 %1 的位置 + A compass in the onroad UI to show the current driving direction. + - home - 住家 + Dynamic Path Width + - work - 工作 + Automatically adjust the width of the driving path display based on the current engagement state: + +Fully engaged = 100% +Always On Lateral Active = 75% +Fully disengaged = 50% + - - - DevicePanel - Dongle ID - Dongle ID + Gas/Brake Pedal Indicators + - N/A - 無法使用 + Pedal indicators in the onroad UI that change opacity based on the pressure applied. + - Serial - 序號 + Paths + - Driver Camera - 駕駛員監控鏡頭 + Projected acceleration path, detected lanes, and vehicles in the blind spot. + - PREVIEW - 預覽 + Road Name + - Preview the driver facing camera to ensure that driver monitoring has good visibility. (vehicle must be off) - 預覽駕駛員監控鏡頭畫面，以確保其具有良好視野。（僅在熄火時可用） + The current road name is displayed at the bottom of the screen using data from 'OpenStreetMap'. + - Reset Calibration - 重設校準 + Rotating Steering Wheel + - RESET - 重設 + The steering wheel in the onroad UI rotates along with your steering wheel movements. + - Are you sure you want to reset calibration? - 您確定要重設校準嗎？ + Quality of Life Improvements + - Review Training Guide - 觀看使用教學 + Miscellaneous visual focused features to improve your overall openpilot experience. + - REVIEW - 觀看 + Larger Map Display + - Review the rules, features, and limitations of openpilot - 觀看 openpilot 的使用規則、功能和限制 + A larger size of the map in the onroad UI for easier navigation readings. + - Are you sure you want to review the training guide? - 您確定要觀看使用教學嗎？ + Map Style + - Regulatory - 法規/監管 + Custom map styles for the map used during navigation. + - VIEW - 觀看 + Screen Standby Mode + - Change Language - 更改語言 + The screen is turned off after it times out when driving, but it automatically wakes up if engagement state changes or important alerts occur. + - CHANGE - 更改 + Show Driver Camera When In Reverse + - Select a language - 選擇語言 + The driver camera feed is displayed when the vehicle is in reverse. + - Reboot - 重新啟動 + Stopped Timer + - Power Off - 關機 + A timer on the onroad UI to indicate how long the vehicle has been stopped. + - openpilot requires the device to be mounted within 4° left or right and within 5° up or 9° down. openpilot is continuously calibrating, resetting is rarely required. - openpilot 需要將裝置固定在左右偏差 4° 以內，朝上偏差 5° 以內或朝下偏差 9° 以內。鏡頭在後台會持續自動校準，很少有需要重置的情況。 + Acceleration + - Your device is pointed %1° %2 and %3° %4. - 你的裝置目前朝%2 %1° 以及朝%4 %3° 。 + Adjacent + - down - 下 + Blind Spot + - up - 上 + Dynamic + - left - 左 + Static + - right - 右 + Full Map + - Are you sure you want to reboot? - 您確定要重新啟動嗎？ + Stock openpilot + - Disengage to Reboot - 請先取消控車才能重新啟動 + Mapbox Streets + - Are you sure you want to power off? - 您確定您要關機嗎？ + Mapbox Outdoors + - Disengage to Power Off - 請先取消控車才能關機 + Mapbox Light + - Reset - 重設 + Mapbox Dark + - Review - 回顧 + Mapbox Satellite + - Pair your device with comma connect (connect.comma.ai) and claim your comma prime offer. - 將您的裝置與 comma connect (connect.comma.ai) 配對並領取您的 comma 高級會員優惠。 + Mapbox Satellite Streets + - Pair Device - 配對裝置 + Mapbox Navigation Day + - PAIR - 配對 + Mapbox Navigation Night + - - - DriverViewWindow - camera starting - 開啟相機中 + Mapbox Traffic Night + - - - ExperimentalModeButton - EXPERIMENTAL MODE ON - 實驗模式 ON + mike854's (Satellite hybrid) + - CHILL MODE ON - 輕鬆模式 ON + SELECT + 選取 + + + Select a map style + @@ -336,6 +3382,10 @@ 需要至少 %n 個字元！ + + Characters: %1/%2 + + Installer @@ -369,6 +3419,10 @@ Manage at connect.comma.ai 請在 connect.comma.ai 上管理 + + Manage at %1 + + MapWindow @@ -590,7 +3644,7 @@ openpilot - openpilot + openpilot %n minute(s) ago @@ -630,6 +3684,10 @@ now 現在 + + FrogPilot + + Reset @@ -676,7 +3734,7 @@ This may take up to a minute. SettingsWindow × - × + × Device @@ -694,6 +3752,14 @@ This may take up to a minute. Software 軟體 + + ← Back + + + + FrogPilot + + Setup @@ -887,12 +3953,36 @@ This may take up to a minute. 5G 5G + + GPU + + + + CPU + + + + GB + + + + MEMORY + + + + LEFT + + + + USED + + SoftwarePanel Updates are only downloaded while the car is off. - 系統更新只會在熄火時下載。 + 系統更新只會在熄火時下載。 Current Version @@ -962,6 +4052,34 @@ This may take up to a minute. never 從未更新 + + Updates are only downloaded while the car is off or in park. + + + + Automatically Update FrogPilot + + + + FrogPilot will automatically update itself and it's assets when you're offroad and connected to Wi-Fi. + + + + Do you want to permanently delete any additional FrogPilot assets? This is 100% unrecoverable and includes backups, downloaded models, themes, and long-term storage toggle settings for easy reinstalls. + + + + Error Log + + + + VIEW + 觀看 + + + View the error log for openpilot crashes. + + SshControl @@ -1140,7 +4258,7 @@ This may take up to a minute. An alpha version of openpilot longitudinal control can be tested, along with Experimental mode, on non-release branches. - 在正式 (release) 版以外的分支上可以測試 openpilot 縱向控制的 Alpha 版本以及實驗模式。 + 在正式 (release) 版以外的分支上可以測試 openpilot 縱向控制的 Alpha 版本以及實驗模式。 Enable the openpilot longitudinal control (alpha) toggle to allow Experimental mode. @@ -1160,11 +4278,11 @@ This may take up to a minute. Always-On Driver Monitoring - 駕駛監控常開 + 駕駛監控常開 Enable driver monitoring even when openpilot is not engaged. - 即使在openpilot未激活時也啟用駕駛監控。 + 即使在openpilot未激活時也啟用駕駛監控。 @@ -1202,6 +4320,89 @@ This may take up to a minute. 更新失敗 + + UtilitiesPanel + + Flash Panda + + + + FLASH + + + + Use this button to flash the Panda device's firmware if you're running into issues. + + + + Are you sure you want to flash the Panda? + + + + Flash + + + + Flashing... + + + + Flashed! + + + + Rebooting... + + + + Force Started State + + + + Force openpilot either offroad or onroad. + + + + OFFROAD + + + + ONROAD + + + + OFF + + + + Reset Toggles to Default + + + + RESET + 重設 + + + Reset your toggle settings back to their default settings. + + + + Are you sure you want to completely reset all of your toggle settings? + + + + Reset + 重設 + + + Resetting... + + + + Reset! + + + WiFiPromptWidget @@ -1224,6 +4425,14 @@ This may take up to a minute. Training data will be pulled periodically while your device is on Wi-Fi 訓練數據將定期經過 Wi-Fi 上傳 + + Uploading disabled + + + + Toggle off the 'Disable Uploading' toggle to enable uploads. + + WifiUI diff --git a/selfdrive/ui/ui.cc b/selfdrive/ui/ui.cc index 6b0a9befbdbf72..d8a219944843d5 100644 --- a/selfdrive/ui/ui.cc +++ b/selfdrive/ui/ui.cc @@ -44,15 +44,17 @@ int get_path_length_idx(const cereal::XYZTData::Reader &line, const float path_h return max_idx; } -void update_leads(UIState *s, const cereal::ModelDataV2::Reader &model_data) { - const cereal::XYZTData::Reader &line = model_data.getPosition(); - for (int i = 0; i < model_data.getLeadsV3().size() && i < 2; ++i) { - const auto &lead = model_data.getLeadsV3()[i]; - if (s->scene.has_lead) { - float d_rel = lead.getX()[0]; - float y_rel = lead.getY()[0]; - float z = line.getZ()[get_path_length_idx(line, d_rel)]; - calib_frame_to_full_frame(s, d_rel, y_rel, z + 1.22, &s->scene.lead_vertices[i]); +void update_leads(UIState *s, const cereal::RadarState::Reader &radar_state, const cereal::XYZTData::Reader &line) { + cereal::RadarState::LeadData::Reader (cereal::RadarState::Reader::*get_lead_data[2])() const = { + &cereal::RadarState::Reader::getLeadOne, + &cereal::RadarState::Reader::getLeadTwo, + }; + + for (int i = 0; i < 2; ++i) { + auto lead_data = (radar_state.*get_lead_data[i])(); + if (lead_data.getStatus()) { + float z = line.getZ()[get_path_length_idx(line, lead_data.getDRel())]; + calib_frame_to_full_frame(s, lead_data.getDRel(), -lead_data.getYRel(), z + 1.22, &s->scene.lead_vertices[i]); } } } @@ -115,28 +117,41 @@ void update_model(UIState *s, } // update path - float path; + float path_width; if (scene.dynamic_path_width) { float multiplier = scene.enabled ? 1.0f : scene.always_on_lateral_active ? 0.75f : 0.50f; - path = scene.path_width * multiplier; + path_width = scene.path_width * multiplier; } else { - path = scene.path_width; + path_width = scene.path_width; } - auto lead_count = model.getLeadsV3().size(); - if (lead_count > 0) { - auto lead_one = model.getLeadsV3()[0]; - scene.has_lead = lead_one.getProb() > scene.lead_detection_threshold; + if (scene.radarless_model) { + auto lead_count = model.getLeadsV3().size(); + if (lead_count > 0) { + auto lead_one = model.getLeadsV3()[0]; + scene.has_lead = lead_one.getProb() > scene.lead_detection_threshold; + + if (scene.has_lead) { + const float lead_d = lead_one.getX()[0] * 2.; + max_distance = std::clamp((float)(lead_d - fmin(lead_d * 0.35, 10.)), 0.0f, max_distance); + } + } else { + scene.has_lead = false; + } + } else { + auto lead_one = (*s->sm)["radarState"].getRadarState().getLeadOne(); + scene.has_lead = lead_one.getModelProb() > scene.lead_detection_threshold; + if (scene.has_lead) { - const float lead_d = lead_one.getX()[0] * 2.; + const float lead_d = lead_one.getDRel() * 2.; max_distance = std::clamp((float)(lead_d - fmin(lead_d * 0.35, 10.)), 0.0f, max_distance); } } max_idx = get_path_length_idx(plan_position, max_distance); - update_line_data(s, plan_position, scene.model_ui ? path * (1 - scene.path_edge_width / 100.0f) : 0.9, 1.22, &scene.track_vertices, max_idx, false); + update_line_data(s, plan_position, scene.model_ui ? path_width * (1 - scene.path_edge_width / 100.0f) : 0.9, 1.22, &scene.track_vertices, max_idx, false); // Update path edges - update_line_data(s, plan_position, scene.model_ui ? path : 0, 1.22, &scene.track_edge_vertices, max_idx, false); + update_line_data(s, plan_position, scene.model_ui ? path_width : 0, 1.22, &scene.track_edge_vertices, max_idx, false); } void update_dmonitoring(UIState *s, const cereal::DriverStateV2::Reader &driverstate, float dm_fade_state, bool is_rhd) { @@ -250,7 +265,7 @@ static void update_state(UIState *s) { } if (sm.updated("deviceState")) { auto deviceState = sm["deviceState"].getDeviceState(); - scene.online = deviceState.getNetworkType() == cereal::DeviceState::NetworkType::WIFI; + scene.online = deviceState.getNetworkType() != cereal::DeviceState::NetworkType::NONE; } if (sm.updated("frogpilotCarControl")) { auto frogpilotCarControl = sm["frogpilotCarControl"].getFrogpilotCarControl(); @@ -323,7 +338,7 @@ void ui_update_params(UIState *s) { void ui_update_frogpilot_params(UIState *s, Params ¶ms) { UIScene &scene = s->scene; - auto carParams = params.get("CarParamsPersistent"); + std::string carParams = params.get("CarParamsPersistent"); if (!carParams.empty()) { AlignedBuffer aligned_buf; capnp::FlatArrayMessageReader cmsg(aligned_buf.align(carParams.data(), carParams.size())); @@ -331,11 +346,27 @@ void ui_update_frogpilot_params(UIState *s, Params ¶ms) { scene.longitudinal_control = hasLongitudinalControl(CP); } + float distance_conversion = scene.is_metric ? 1.0f : FOOT_TO_METER; + float small_distance_conversion = scene.is_metric ? 1.0f : INCH_TO_CM; + float speed_conversion = scene.is_metric ? 1 / MS_TO_KPH : 1 / MS_TO_MPH; + + bool advanced_custom_onroad_ui = params.getBool("AdvancedCustomUI"); + scene.camera_view = advanced_custom_onroad_ui ? params.getInt("CameraView") : 0; + scene.hide_lead_marker = advanced_custom_onroad_ui && params.getBool("HideLeadMarker"); + scene.hide_speed = advanced_custom_onroad_ui && params.getBool("HideSpeed"); + scene.hide_speed_ui = scene.hide_speed && params.getBool("HideSpeedUI"); + bool hide_ui_elements = advanced_custom_onroad_ui && params.getBool("HideUIElements"); + scene.hide_alerts = hide_ui_elements && params.getBool("HideAlerts"); + scene.hide_map_icon = hide_ui_elements && params.getBool("HideMapIcon"); + scene.hide_max_speed = hide_ui_elements && params.getBool("HideMaxSpeed"); + scene.show_stopping_point = advanced_custom_onroad_ui && params.getBool("ShowStoppingPoint"); + scene.show_stopping_point_metrics = scene.show_stopping_point && params.getBool("ShowStoppingPointMetrics"); + scene.wheel_speed = advanced_custom_onroad_ui && params.getBool("WheelSpeed"); + bool always_on_lateral = params.getBool("AlwaysOnLateral"); scene.show_aol_status_bar = always_on_lateral && !params.getBool("HideAOLStatusBar"); - bool bonus_content = params.getBool("BonusContent"); - bool personalize_openpilot = bonus_content && params.getBool("PersonalizeOpenpilot"); + bool personalize_openpilot = params.getBool("PersonalizeOpenpilot"); scene.lane_lines_color = loadThemeColors("LaneLines"); scene.lead_marker_color = loadThemeColors("LeadMarker"); scene.path_color = loadThemeColors("Path"); @@ -344,10 +375,8 @@ void ui_update_frogpilot_params(UIState *s, Params ¶ms) { scene.sidebar_color1 = loadThemeColors("Sidebar1"); scene.sidebar_color2 = loadThemeColors("Sidebar2"); scene.sidebar_color3 = loadThemeColors("Sidebar3"); - QString colorScheme = QString::fromStdString(params.get("CustomColors")); - scene.use_stock_colors = !personalize_openpilot || colorScheme == "stock" || params.getBool("UseStockColors"); + scene.use_stock_colors = !personalize_openpilot || params.getBool("UseStockColors"); scene.use_stock_wheel = !personalize_openpilot || QString::fromStdString(params.get("WheelIcon")) == "stock"; - scene.random_events = bonus_content && params.getBool("RandomEvents"); scene.conditional_experimental = scene.longitudinal_control && params.getBool("ConditionalExperimental"); scene.conditional_speed = scene.conditional_experimental ? params.getInt("CESpeed") : 0; @@ -358,16 +387,14 @@ void ui_update_frogpilot_params(UIState *s, Params ¶ms) { bool custom_paths = custom_onroad_ui && params.getBool("CustomPaths"); scene.acceleration_path = custom_paths && params.getBool("AccelerationPath"); scene.adjacent_path = custom_paths && params.getBool("AdjacentPath"); - scene.adjacent_path_metrics = scene.adjacent_path && params.getBool("AdjacentPathMetrics"); scene.blind_spot_path = custom_paths && params.getBool("BlindSpotPath"); scene.compass = custom_onroad_ui && params.getBool("Compass"); + scene.dynamic_path_width = custom_onroad_ui && params.getBool("DynamicPathWidth"); scene.pedals_on_ui = custom_onroad_ui && params.getBool("PedalsOnUI"); scene.dynamic_pedals_on_ui = scene.pedals_on_ui && params.getBool("DynamicPedalsOnUI"); scene.static_pedals_on_ui = scene.pedals_on_ui && params.getBool("StaticPedalsOnUI"); scene.road_name_ui = custom_onroad_ui && params.getBool("RoadNameUI"); scene.rotating_wheel = custom_onroad_ui && params.getBool("RotatingWheel"); - scene.show_stopping_point = custom_onroad_ui && params.getBool("ShowStoppingPoint"); - scene.show_stopping_point_metrics = scene.show_stopping_point && params.getBool("ShowStoppingPointMetrics"); bool developer_ui = params.getBool("DeveloperUI"); bool border_metrics = developer_ui && params.getBool("BorderMetrics"); @@ -376,6 +403,7 @@ void ui_update_frogpilot_params(UIState *s, Params ¶ms) { scene.show_signal = border_metrics && params.getBool("SignalMetrics"); scene.show_steering = border_metrics && params.getBool("ShowSteering"); bool show_lateral = developer_ui && params.getBool("LateralMetrics"); + scene.adjacent_path_metrics = show_lateral && params.getBool("AdjacentPathMetrics"); scene.show_tuning = show_lateral && scene.has_auto_tune && params.getBool("TuningInfo"); bool show_longitudinal = scene.longitudinal_control && developer_ui && params.getBool("LongitudinalMetrics"); scene.lead_info = show_longitudinal && params.getBool("LeadInfo"); @@ -391,59 +419,48 @@ void ui_update_frogpilot_params(UIState *s, Params ¶ms) { scene.is_storage_used = scene.sidebar_metrics && params.getBool("ShowStorageUsed"); scene.use_si = developer_ui && params.getBool("UseSI"); - scene.disable_smoothing_mtsc = params.getBool("MTSCEnabled") && params.getBool("DisableMTSCSmoothing"); - scene.disable_smoothing_vtsc = params.getBool("VisionTurnControl") && params.getBool("DisableVTSCSmoothing"); - - bool driving_personalities = scene.longitudinal_control && params.getBool("DrivingPersonalities"); - scene.onroad_distance_button = driving_personalities && params.getBool("OnroadDistanceButton"); + scene.disable_curve_speed_smoothing = params.getBool("CurveSpeedControl") && params.getBool("DisableCurveSpeedSmoothing"); scene.experimental_mode_via_screen = scene.longitudinal_control && params.getBool("ExperimentalModeActivation") && params.getBool("ExperimentalModeViaTap"); - bool lane_detection = params.getBool("NudgelessLaneChange") && params.getInt("LaneDetectionWidth") != 0; - scene.lane_detection_width = lane_detection ? params.getInt("LaneDetectionWidth") * (scene.is_metric ? 1 : FOOT_TO_METER) / 10.0f : 2.75f; + bool lane_change_customizations = params.getBool("LaneChangeCustomizations"); + scene.lane_detection_width = lane_change_customizations ? params.getInt("LaneDetectionWidth") * distance_conversion / 10.0f : 2.75f; + scene.minimum_lane_change_speed = lane_change_customizations ? params.getInt("MinimumLaneChangeSpeed") * speed_conversion : 20 * (1 / MS_TO_MPH); - bool longitudinal_tune = scene.longitudinal_control && params.getBool("LongitudinalTune"); - bool radarless_model = params.get("Model") == "radical-turtle"; - scene.lead_detection_threshold = longitudinal_tune && !radarless_model ? params.getInt("LeadDetectionThreshold") / 100.0f : 0.5; + bool advanced_longitudinal_tune = scene.longitudinal_control && params.getBool("AdvancedLongitudinalTune"); + scene.radarless_model = params.get("Model") == "radical-turtle"; + scene.lead_detection_threshold = advanced_longitudinal_tune && !scene.radarless_model ? params.getInt("LeadDetectionThreshold") / 100.0f : 0.5; bool model_manager = params.getBool("ModelManagement"); scene.model_randomizer = model_manager && params.getBool("ModelRandomizer"); scene.model_ui = params.getBool("ModelUI"); - scene.dynamic_path_width = scene.model_ui && params.getBool("DynamicPathWidth"); - scene.hide_lead_marker = scene.model_ui && params.getBool("HideLeadMarker"); - scene.lane_line_width = params.getInt("LaneLinesWidth") * (scene.is_metric ? 1.0f : INCH_TO_CM) / 200.0f; + scene.lane_line_width = params.getInt("LaneLinesWidth") * small_distance_conversion / 200.0f; scene.path_edge_width = params.getInt("PathEdgeWidth"); - scene.path_width = params.getInt("PathWidth") / 10.0f * (scene.is_metric ? 1.0f : FOOT_TO_METER) / 2.0f; - scene.road_edge_width = params.getInt("RoadEdgesWidth") * (scene.is_metric ? 1.0f : INCH_TO_CM) / 200.0f; + scene.path_width = params.getFloat("PathWidth") * distance_conversion / 2.0f; + scene.road_edge_width = params.getInt("RoadEdgesWidth") * small_distance_conversion / 200.0f; scene.unlimited_road_ui_length = scene.model_ui && params.getBool("UnlimitedLength"); - bool quality_of_life_controls = params.getBool("QOLControls"); - scene.reverse_cruise = quality_of_life_controls && params.getBool("ReverseCruise"); - scene.reverse_cruise_ui = params.getBool("ReverseCruiseUI"); + bool quality_of_life_longitudinal = params.getBool("QOLLongitudinal"); + scene.onroad_distance_button = quality_of_life_longitudinal && params.getBool("OnroadDistanceButton"); + scene.reverse_cruise = quality_of_life_longitudinal && params.getBool("ReverseCruise"); bool quality_of_life_visuals = params.getBool("QOLVisuals"); scene.big_map = quality_of_life_visuals && params.getBool("BigMap"); scene.full_map = scene.big_map && params.getBool("FullMap"); - scene.camera_view = quality_of_life_visuals ? params.getInt("CameraView") : 0; scene.driver_camera = quality_of_life_visuals && params.getBool("DriverCamera"); - scene.hide_speed = quality_of_life_visuals && params.getBool("HideSpeed"); - scene.hide_speed_ui = scene.hide_speed && params.getBool("HideSpeedUI"); scene.map_style = quality_of_life_visuals ? params.getInt("MapStyle") : 0; + scene.standby_mode = quality_of_life_visuals && params.getBool("StandbyMode"); scene.stopped_timer = quality_of_life_visuals && params.getBool("StoppedTimer"); - scene.wheel_speed = quality_of_life_visuals && params.getBool("WheelSpeed"); + + scene.random_events = params.getBool("RandomEvents"); bool screen_management = params.getBool("ScreenManagement"); - bool hide_ui_elements = screen_management && params.getBool("HideUIElements"); - scene.hide_alerts = hide_ui_elements && params.getBool("HideAlerts"); - scene.hide_map_icon = hide_ui_elements && params.getBool("HideMapIcon"); - scene.hide_max_speed = hide_ui_elements && params.getBool("HideMaxSpeed"); scene.screen_brightness = screen_management ? params.getInt("ScreenBrightness") : 101; scene.screen_brightness_onroad = screen_management ? params.getInt("ScreenBrightnessOnroad") : 101; scene.screen_recorder = screen_management && params.getBool("ScreenRecorder"); scene.screen_timeout = screen_management ? params.getInt("ScreenTimeout") : 30; scene.screen_timeout_onroad = screen_management ? params.getInt("ScreenTimeoutOnroad") : 10; - scene.standby_mode = screen_management && params.getBool("StandbyMode"); scene.speed_limit_controller = scene.longitudinal_control && params.getBool("SpeedLimitController"); scene.show_slc_offset = scene.speed_limit_controller && params.getBool("ShowSLCOffset"); @@ -451,7 +468,7 @@ void ui_update_frogpilot_params(UIState *s, Params ¶ms) { scene.use_vienna_slc_sign = scene.speed_limit_controller && params.getBool("UseVienna"); scene.tethering_config = params.getInt("TetheringEnabled"); - if (scene.tethering_config == 2) { + if (scene.tethering_config == 1) { WifiManager(s).setTetheringEnabled(true); } } @@ -488,7 +505,7 @@ void UIState::updateStatus() { started_prev = scene.started; scene.world_objects_visible = false; emit offroadTransition(!scene.started); - if (scene.tethering_config == 1) { + if (scene.tethering_config == 2) { wifi->setTetheringEnabled(scene.started); } } @@ -532,6 +549,7 @@ void UIState::update() { emit uiUpdate(*this); // Update FrogPilot parameters + static bool theme_updated = false; static bool update_toggles = false; if (paramsMemory.getBool("FrogPilotTogglesUpdated")) { @@ -546,6 +564,18 @@ void UIState::update() { paramsMemory.remove("DriveRated"); } + if (theme_updated) { + loadThemeColors("", true); + + ui_update_params(this); + + paramsMemory.remove("UpdateTheme"); + + theme_updated = false; + } else if (paramsMemory.getBool("UpdateTheme")) { + theme_updated = true; + } + // FrogPilot variables that need to be constantly updated scene.conditional_status = scene.conditional_experimental && scene.enabled ? paramsMemory.getInt("CEStatus") : 0; scene.driver_camera_timer = scene.driver_camera && scene.reverse ? scene.driver_camera_timer + 1 : 0; diff --git a/selfdrive/ui/ui.h b/selfdrive/ui/ui.h index 646ce950f7f6a6..9e5596921f08be 100644 --- a/selfdrive/ui/ui.h +++ b/selfdrive/ui/ui.h @@ -133,8 +133,7 @@ typedef struct UIScene { bool brake_lights_on; bool compass; bool conditional_experimental; - bool disable_smoothing_mtsc; - bool disable_smoothing_vtsc; + bool disable_curve_speed_smoothing; bool driver_camera; bool dynamic_path_width; bool dynamic_pedals_on_ui; @@ -168,11 +167,11 @@ typedef struct UIScene { bool onroad_distance_button; bool parked; bool pedals_on_ui; + bool radarless_model; bool random_events; bool red_light; bool reverse; bool reverse_cruise; - bool reverse_cruise_ui; bool right_hand_drive; bool road_name_ui; bool rotating_wheel; @@ -243,6 +242,7 @@ typedef struct UIScene { int desired_follow; int driver_camera_timer; int map_style; + int minimum_lane_change_speed; int model_length; int obstacle_distance; int obstacle_distance_stock; @@ -363,7 +363,7 @@ void update_model(UIState *s, const cereal::ModelDataV2::Reader &model, const cereal::UiPlan::Reader &plan); void update_dmonitoring(UIState *s, const cereal::DriverStateV2::Reader &driverstate, float dm_fade_state, bool is_rhd); -void update_leads(UIState *s, const cereal::ModelDataV2::Reader &model_data); +void update_leads(UIState *s, const cereal::RadarState::Reader &radar_state, const cereal::XYZTData::Reader &line); void update_line_data(const UIState *s, const cereal::XYZTData::Reader &line, float y_off, float z_off, QPolygonF *pvd, int max_idx, bool allow_invert); diff --git a/selfdrive/ui/update_translations.py b/selfdrive/ui/update_translations.py index 0fe0f05ac4abbc..999ffce7100d67 100755 --- a/selfdrive/ui/update_translations.py +++ b/selfdrive/ui/update_translations.py @@ -6,6 +6,7 @@ from openpilot.common.basedir import BASEDIR UI_DIR = os.path.join(BASEDIR, "selfdrive", "ui") +FROG_UI_DIR = os.path.join(BASEDIR, "selfdrive", "frogpilot", "ui") TRANSLATIONS_DIR = os.path.join(UI_DIR, "translations") LANGUAGES_FILE = os.path.join(TRANSLATIONS_DIR, "languages.json") TRANSLATIONS_INCLUDE_FILE = os.path.join(TRANSLATIONS_DIR, "alerts_generated.h") @@ -33,7 +34,7 @@ def update_translations(vanish: bool = False, translation_files: None | list[str for file in translation_files: tr_file = os.path.join(translations_dir, f"{file}.ts") - args = f"lupdate -locations none -recursive {UI_DIR} -ts {tr_file} -I {BASEDIR}" + args = f"lupdate -locations none -recursive {UI_DIR} {FROG_UI_DIR} -ts {tr_file} -I {BASEDIR}" if vanish: args += " -no-obsolete" if file in PLURAL_ONLY: diff --git a/system/athena/manage_athenad.py b/system/athena/manage_athenad.py index a5a56c89cf70df..f5ab817206a64b 100755 --- a/system/athena/manage_athenad.py +++ b/system/athena/manage_athenad.py @@ -27,10 +27,6 @@ def main(): try: while 1: - if dongle_id == "FrogsGoMoo": - time.sleep(60*60*24*365*100) - continue - cloudlog.info("starting athena daemon") proc = Process(name='athenad', target=launcher, args=('system.athena.athenad', 'athenad')) proc.start() diff --git a/system/hardware/hardwared.py b/system/hardware/hardwared.py index 222bdef2afdf04..cfde93ba101c69 100755 --- a/system/hardware/hardwared.py +++ b/system/hardware/hardwared.py @@ -25,7 +25,7 @@ from openpilot.system.hardware.fan_controller import TiciFanController from openpilot.system.version import terms_version, training_version -from openpilot.selfdrive.frogpilot.controls.lib.frogpilot_variables import FrogPilotVariables +from openpilot.selfdrive.frogpilot.frogpilot_variables import FrogPilotVariables ThermalStatus = log.DeviceState.ThermalStatus NetworkType = log.DeviceState.NetworkType diff --git a/system/manager/manager.py b/system/manager/manager.py index cfddaa2f44da98..8fa51a8b738bfa 100755 --- a/system/manager/manager.py +++ b/system/manager/manager.py @@ -9,9 +9,12 @@ from cereal import log import cereal.messaging as messaging import openpilot.system.sentry as sentry +from openpilot.common.conversions import Conversions as CV from openpilot.common.params import Params, ParamKeyType from openpilot.common.text_window import TextWindow +from openpilot.selfdrive.controls.lib.desire_helper import LANE_CHANGE_SPEED_MIN from openpilot.system.hardware import HARDWARE, PC +from openpilot.system.hardware.power_monitoring import VBATT_PAUSE_CHARGING from openpilot.system.manager.helpers import unblock_stdout, write_onroad_params, save_bootlog from openpilot.system.manager.process import ensure_running from openpilot.system.manager.process_config import managed_processes @@ -19,8 +22,8 @@ from openpilot.common.swaglog import cloudlog, add_file_handler from openpilot.system.version import get_build_metadata, terms_version, training_version -from openpilot.selfdrive.frogpilot.controls.lib.frogpilot_functions import convert_params, frogpilot_boot_functions, setup_frogpilot, uninstall_frogpilot -from openpilot.selfdrive.frogpilot.controls.lib.model_manager import DEFAULT_MODEL, DEFAULT_MODEL_NAME +from openpilot.selfdrive.frogpilot.assets.model_manager import DEFAULT_MODEL, DEFAULT_MODEL_NAME +from openpilot.selfdrive.frogpilot.frogpilot_functions import convert_params, frogpilot_boot_functions, setup_frogpilot, uninstall_frogpilot def manager_init() -> None: @@ -28,9 +31,10 @@ def manager_init() -> None: build_metadata = get_build_metadata() - setup_frogpilot(build_metadata) - params = Params() + + setup_frogpilot(build_metadata, params) + params_storage = Params("/persist/params") params.clear_all(ParamKeyType.CLEAR_ON_MANAGER_START) params.clear_all(ParamKeyType.CLEAR_ON_ONROAD_TRANSITION) @@ -69,10 +73,16 @@ def manager_init() -> None: ("AccelerationProfile", "2"), ("AdjacentPath", "0"), ("AdjacentPathMetrics", "0"), + ("AdvancedCustomUI", "0"), + ("AdvancedLateralTune", "0"), + ("AdvancedLongitudinalTune", "1"), + ("AdvancedQOLDriving", "1"), ("AggressiveFollow", "1.25"), ("AggressiveJerkAcceleration", "50"), ("AggressiveJerkDanger", "100"), + ("AggressiveJerkDeceleration", "50"), ("AggressiveJerkSpeed", "50"), + ("AggressiveJerkSpeedDecrease", "50"), ("AggressivePersonalityProfile", "1"), ("AlertVolumeControl", "0"), ("AlwaysOnLateral", "1"), @@ -88,7 +98,6 @@ def manager_init() -> None: ("BlacklistedModels", ""), ("BlindSpotMetrics", "0"), ("BlindSpotPath", "1"), - ("BonusContent", "1"), ("BorderMetrics", "1"), ("CameraView", "2"), ("CarMake", ""), @@ -106,20 +115,18 @@ def manager_init() -> None: ("CertifiedHerbalistLiveTorqueParameters", ""), ("CertifiedHerbalistScore", "0"), ("CEModelStopTime", "8"), - ("CESignal", "1"), + ("CESignalSpeed", "55"), + ("CESignalLaneDetection", "1"), ("CESlowerLead", "1"), ("CESpeed", "0"), ("CESpeedLead", "0"), ("CEStoppedLead", "1"), - ("ClairvoyantDriverCalibrationParams", ""), - ("ClairvoyantDriverDrives", "0"), - ("ClairvoyantDriverLiveTorqueParameters", ""), - ("ClairvoyantDriverScore", "0"), ("ClusterOffset", "1.015"), ("Compass", "0"), ("ConditionalExperimental", "1"), ("CrosstrekTorque", "1"), ("CurveSensitivity", "100"), + ("CurveSpeedControl", "1"), ("CustomAlerts", "1"), ("CustomColors", "frog"), ("CustomCruise", "1"), @@ -131,15 +138,13 @@ def manager_init() -> None: ("CustomSignals", "frog"), ("CustomSounds", "frog"), ("CustomUI", "1"), - ("CydiaTune", "0"), ("DecelerationProfile", "1"), ("DeveloperUI", "0"), ("DeviceManagement", "1"), ("DeviceShutdown", "9"), - ("DisableMTSCSmoothing", "0"), + ("DisableCurveSpeedSmoothing", "0"), ("DisableOnroadUploads", "0"), ("DisableOpenpilotLongitudinal", "0"), - ("DisableVTSCSmoothing", "0"), ("DisengageVolume", "100"), ("DriverCamera", "0"), ("DrivingPersonalities", "0"), @@ -158,13 +163,18 @@ def manager_init() -> None: ("ExperimentalModeViaTap", "0"), ("Fahrenheit", "0"), ("ForceAutoTune", "1"), + ("ForceAutoTuneOff", "0"), ("ForceFingerprint", "0"), ("ForceMPHDashboard", "0"), ("ForceStandstill", "0"), ("ForceStops", "0"), ("FPSCounter", "1"), - ("FrogsGoMooTune", "1"), + ("FrogsGoMoosTweak", "1"), ("FullMap", "0"), + ("GameBoyCalibrationParams", ""), + ("GameBoyDrives", "0"), + ("GameBoyLiveTorqueParameters", ""), + ("GameBoyScore", "0"), ("GasRegenCmd", "1"), ("GMapKey", ""), ("GoatScream", "0"), @@ -181,11 +191,12 @@ def manager_init() -> None: ("HolidayThemes", "1"), ("HumanAcceleration", "1"), ("HumanFollowing", "1"), + ("IncreasedStoppedDistance", "3"), ("IncreaseThermalLimits", "0"), ("JerkInfo", "1"), ("LaneChangeCustomizations", "1"), ("LaneChangeTime", "0"), - ("LaneDetectionWidth", "60"), + ("LaneDetectionWidth", "6"), ("LaneLinesWidth", "4"), ("LateralMetrics", "1"), ("LateralTune", "1"), @@ -201,7 +212,7 @@ def manager_init() -> None: ("LosAngelesLiveTorqueParameters", ""), ("LosAngelesScore", "0"), ("LoudBlindspotAlert", "0"), - ("LowVoltageShutdown", "11.8"), + ("LowVoltageShutdown", str(VBATT_PAUSE_CHARGING)), ("MapAcceleration", "0"), ("MapDeceleration", "0"), ("MapGears", "0"), @@ -209,18 +220,20 @@ def manager_init() -> None: ("MapboxSecretKey", ""), ("MapsSelected", ""), ("MapStyle", "10"), - ("MinimumLaneChangeSpeed", "20"), + ("MaxDesiredAcceleration", "4.0"), + ("MinimumLaneChangeSpeed", str(LANE_CHANGE_SPEED_MIN / CV.MPH_TO_MS)), ("Model", DEFAULT_MODEL), ("ModelManagement", "0"), ("ModelName", DEFAULT_MODEL_NAME), + ("ModelRandomizer", "0"), ("ModelSelector", "0"), ("ModelUI", "1"), - ("MTSCAggressiveness", "100"), ("MTSCCurvatureCheck", "0"), ("MTSCEnabled", "1"), ("NavigationModels", ""), ("NewLongAPI", "0"), ("NewLongAPIGM", "1"), + ("NewToyotaTune", "0"), ("NNFF", "1"), ("NNFFLite", "1"), ("NoLogging", "0"), @@ -228,10 +241,6 @@ def manager_init() -> None: ("NorthDakotaDrives", "0"), ("NorthDakotaLiveTorqueParameters", ""), ("NorthDakotaScore", "0"), - ("NorthDakotaV2CalibrationParams", ""), - ("NorthDakotaV2Drives", "0"), - ("NorthDakotaV2LiveTorqueParameters", ""), - ("NorthDakotaV2Score", "0"), ("NotreDameCalibrationParams", ""), ("NotreDameDrives", "0"), ("NotreDameLiveTorqueParameters", ""), @@ -247,7 +256,7 @@ def manager_init() -> None: ("OneLaneChange", "1"), ("OnroadDistanceButton", "0"), ("PathEdgeWidth", "20"), - ("PathWidth", "61"), + ("PathWidth", "6.1"), ("PauseAOLOnBrake", "0"), ("PauseLateralOnSignal", "0"), ("PauseLateralSpeed", "0"), @@ -256,7 +265,8 @@ def manager_init() -> None: ("PreferredSchedule", "0"), ("PromptDistractedVolume", "100"), ("PromptVolume", "100"), - ("QOLControls", "1"), + ("QOLLateral", "1"), + ("QOLLongitudinal", "1"), ("QOLVisuals", "1"), ("RadarlessModels", ""), ("RadicalTurtleCalibrationParams", ""), @@ -272,10 +282,12 @@ def manager_init() -> None: ("RelaxedFollow", "1.75"), ("RelaxedJerkAcceleration", "100"), ("RelaxedJerkDanger", "100"), + ("RelaxedJerkDeceleration", "100"), ("RelaxedJerkSpeed", "100"), + ("RelaxedJerkSpeedDecrease", "100"), ("RelaxedPersonalityProfile", "1"), + ("ResetFrogTheme", "0"), ("ReverseCruise", "0"), - ("ReverseCruiseUI", "1"), ("RoadEdgesWidth", "2"), ("RoadNameUI", "1"), ("RotatingWheel", "1"), @@ -306,7 +318,6 @@ def manager_init() -> None: ("Sidebar", "0"), ("SidebarMetrics", "1"), ("SignalMetrics", "0"), - ("SLCConfirmation", "1"), ("SLCConfirmationHigher", "1"), ("SLCConfirmationLower", "1"), ("SLCFallback", "2"), @@ -324,22 +335,33 @@ def manager_init() -> None: ("StandardFollow", "1.45"), ("StandardJerkAcceleration", "100"), ("StandardJerkDanger", "100"), + ("StandardJerkDeceleration", "100"), ("StandardJerkSpeed", "100"), + ("StandardJerkSpeedDecrease", "100"), ("StandardPersonalityProfile", "1"), ("StandbyMode", "0"), ("StaticPedalsOnUI", "0"), - ("SteerRatio", ""), - ("SteerRatioStock", ""), - ("StockTune", "0"), + ("SteerFriction", "0.1"), + ("SteerFrictionStock", "0.1"), + ("SteerLatAccel", "2.5"), + ("SteerLatAccelStock", "2.5"), + ("SteerKP", "1"), + ("SteerKPStock", "1"), + ("SteerRatio", "15"), + ("SteerRatioStock", "15"), ("StoppedTimer", "0"), - ("StoppingDistance", "3"), ("TacoTune", "0"), + ("TombRaiderCalibrationParams", ""), + ("TombRaiderDrives", "0"), + ("TombRaiderLiveTorqueParameters", ""), + ("TombRaiderScore", "0"), ("ToyotaDoors", "0"), ("TrafficFollow", "0.5"), ("TrafficJerkAcceleration", "50"), ("TrafficJerkDanger", "100"), + ("TrafficJerkDeceleration", "50"), ("TrafficJerkSpeed", "50"), - ("TrafficMode", "0"), + ("TrafficJerkSpeedDecrease", "50"), ("TrafficPersonalityProfile", "1"), ("TuningInfo", "1"), ("TurnAggressiveness", "100"), @@ -348,6 +370,7 @@ def manager_init() -> None: ("UnlockDoors", "1"), ("UseSI", "1"), ("UseVienna", "0"), + ("VelocityModels", ""), ("VisionTurnControl", "1"), ("VoltSNG", "0"), ("WarningImmediateVolume", "100"), @@ -457,10 +480,13 @@ def manager_thread() -> None: pm = messaging.PubMaster(['managerState']) write_onroad_params(False, params) - ensure_running(managed_processes.values(), False, params=params, CP=sm['carParams'], not_run=ignore) + ensure_running(managed_processes.values(), False, params=params, CP=sm['carParams'], not_run=ignore, secret_good_openpilot=False) started_prev = False + # FrogPilot variables + secret_good_openpilot = params.get("Model", encoding='utf-8') == "secret-good-openpilot" + while True: sm.update(1000) @@ -473,6 +499,9 @@ def manager_thread() -> None: if os.path.isfile(error_log): os.remove(error_log) + # FrogPilot variables + secret_good_openpilot = params.get("Model", encoding='utf-8') == "secret-good-openpilot" + elif not started and started_prev: params.clear_all(ParamKeyType.CLEAR_ON_OFFROAD_TRANSITION) params_memory.clear_all(ParamKeyType.CLEAR_ON_OFFROAD_TRANSITION) @@ -483,7 +512,7 @@ def manager_thread() -> None: started_prev = started - ensure_running(managed_processes.values(), started, params=params, CP=sm['carParams'], not_run=ignore) + ensure_running(managed_processes.values(), started, params=params, CP=sm['carParams'], not_run=ignore, secret_good_openpilot=secret_good_openpilot) running = ' '.join("{}{}\u001b[0m".format("\u001b[32m" if p.proc.is_alive() else "\u001b[31m", p.name) for p in managed_processes.values() if p.proc) diff --git a/system/manager/process.py b/system/manager/process.py index 81d8a7ffc8f099..7eef9adfd09dc6 100644 --- a/system/manager/process.py +++ b/system/manager/process.py @@ -76,8 +76,6 @@ class ManagerProcess(ABC): watchdog_seen = False shutting_down = False - started_time = 0 - @abstractmethod def prepare(self) -> None: pass @@ -103,14 +101,12 @@ def check_watchdog(self, started: bool, params: Params) -> None: pass dt = time.monotonic() - self.last_watchdog_time / 1e9 - self.started_time = (self.started_time + 1) if started else 0 if dt > self.watchdog_max_dt: if self.watchdog_seen and ENABLE_WATCHDOG: - if self.started_time > 100: - sentry.capture_tmux(params) cloudlog.error(f"Watchdog timeout for {self.name} (exitcode {self.proc.exitcode}) restarting ({started=})") self.restart() + sentry.capture_tmux(self.name, params) else: self.watchdog_seen = True @@ -243,7 +239,7 @@ def __init__(self, name, module, param_name, enabled=True): self.params = None @staticmethod - def should_run(started, params, CP): + def should_run(started, params, CP, secret_good_openpilot): return True def prepare(self) -> None: @@ -279,13 +275,13 @@ def stop(self, retry=True, block=True, sig=None) -> None: def ensure_running(procs: ValuesView[ManagerProcess], started: bool, params=None, CP: car.CarParams=None, - not_run: list[str] | None=None) -> list[ManagerProcess]: + not_run: list[str] | None=None, secret_good_openpilot=False) -> list[ManagerProcess]: if not_run is None: not_run = [] running = [] for p in procs: - if p.enabled and p.name not in not_run and p.should_run(started, params, CP): + if p.enabled and p.name not in not_run and p.should_run(started, params, CP, secret_good_openpilot): running.append(p) else: p.stop(block=False) diff --git a/system/manager/process_config.py b/system/manager/process_config.py index 00433282d41b62..9046c89ef33aa1 100644 --- a/system/manager/process_config.py +++ b/system/manager/process_config.py @@ -7,49 +7,55 @@ WEBCAM = os.getenv("USE_WEBCAM") is not None -def driverview(started: bool, params: Params, CP: car.CarParams) -> bool: +def driverview(started: bool, params: Params, CP: car.CarParams, secret_good_openpilot) -> bool: return started or params.get_bool("IsDriverViewEnabled") -def notcar(started: bool, params: Params, CP: car.CarParams) -> bool: +def notcar(started: bool, params: Params, CP: car.CarParams, secret_good_openpilot) -> bool: return started and CP.notCar -def iscar(started: bool, params: Params, CP: car.CarParams) -> bool: +def iscar(started: bool, params: Params, CP: car.CarParams, secret_good_openpilot) -> bool: return started and not CP.notCar -def logging(started, params, CP: car.CarParams) -> bool: +def logging(started, params, CP: car.CarParams, secret_good_openpilot) -> bool: run = (not CP.notCar) or not params.get_bool("DisableLogging") return started and run def ublox_available() -> bool: return os.path.exists('/dev/ttyHS0') and not os.path.exists('/persist/comma/use-quectel-gps') -def ublox(started, params, CP: car.CarParams) -> bool: +def ublox(started, params, CP: car.CarParams, secret_good_openpilot) -> bool: use_ublox = ublox_available() if use_ublox != params.get_bool("UbloxAvailable"): params.put_bool("UbloxAvailable", use_ublox) return started and use_ublox -def qcomgps(started, params, CP: car.CarParams) -> bool: +def qcomgps(started, params, CP: car.CarParams, secret_good_openpilot) -> bool: return started and not ublox_available() -def always_run(started, params, CP: car.CarParams) -> bool: +def always_run(started, params, CP: car.CarParams, secret_good_openpilot) -> bool: return True -def only_onroad(started: bool, params, CP: car.CarParams) -> bool: +def only_onroad(started: bool, params, CP: car.CarParams, secret_good_openpilot) -> bool: return started -def only_offroad(started, params, CP: car.CarParams) -> bool: +def only_offroad(started, params, CP: car.CarParams, secret_good_openpilot) -> bool: return not started # FrogPilot functions -def allow_logging(started, params, CP: car.CarParams) -> bool: +def allow_logging(started, params, CP: car.CarParams, secret_good_openpilot) -> bool: allow_logging = not (params.get_bool("DeviceManagement") and params.get_bool("NoLogging")) - return allow_logging and logging(started, params, CP) + return allow_logging and logging(started, params, CP, secret_good_openpilot) -def allow_uploads(started, params, CP: car.CarParams) -> bool: +def allow_uploads(started, params, CP: car.CarParams, secret_good_openpilot) -> bool: allow_uploads = not (params.get_bool("DeviceManagement") and params.get_bool("NoUploads") and not params.get_bool("DisableOnroadUploads")) return allow_uploads +def run_classic_modeld(started, params, CP: car.CarParams, secret_good_openpilot) -> bool: + return started and not secret_good_openpilot + +def run_new_modeld(started, params, CP: car.CarParams, secret_good_openpilot) -> bool: + return started and secret_good_openpilot + procs = [ DaemonProcess("manage_athenad", "system.athena.manage_athenad", "AthenadPid"), @@ -64,7 +70,7 @@ def allow_uploads(started, params, CP: car.CarParams) -> bool: NativeProcess("encoderd", "system/loggerd", ["./encoderd"], allow_logging), NativeProcess("stream_encoderd", "system/loggerd", ["./encoderd", "--stream"], notcar), NativeProcess("loggerd", "system/loggerd", ["./loggerd"], allow_logging), - NativeProcess("modeld", "selfdrive/modeld", ["./modeld"], only_onroad), + NativeProcess("modeld", "selfdrive/modeld", ["./modeld"], run_new_modeld), NativeProcess("mapsd", "selfdrive/navd", ["./mapsd"], only_onroad), PythonProcess("navmodeld", "selfdrive.modeld.navmodeld", only_onroad), NativeProcess("sensord", "system/sensord", ["./sensord"], only_onroad, enabled=not PC), @@ -99,6 +105,7 @@ def allow_uploads(started, params, CP: car.CarParams) -> bool: PythonProcess("webjoystick", "tools.bodyteleop.web", notcar), # FrogPilot processes + NativeProcess("classic_modeld", "selfdrive/classic_modeld", ["./classic_modeld"], run_classic_modeld), PythonProcess("fleet_manager", "selfdrive.frogpilot.fleetmanager.fleet_manager", always_run), PythonProcess("frogpilot_process", "selfdrive.frogpilot.frogpilot_process", always_run), PythonProcess("mapd", "selfdrive.frogpilot.navigation.mapd", always_run), diff --git a/system/sentry.py b/system/sentry.py index f4fd577f399707..082c71457e9f13 100644 --- a/system/sentry.py +++ b/system/sentry.py @@ -2,9 +2,7 @@ import os import sentry_sdk import subprocess -import time import traceback - from datetime import datetime from enum import Enum from sentry_sdk.integrations.threading import ThreadingIntegration @@ -15,66 +13,46 @@ from openpilot.common.swaglog import cloudlog from openpilot.system.version import get_build_metadata, get_version -from openpilot.selfdrive.frogpilot.controls.lib.frogpilot_functions import is_url_pingable - CRASHES_DIR = "/data/crashes/" class SentryProject(Enum): # python project - SELFDRIVE = "https://b42f6e8bea596ec3d7dc1d9a80280027@o4507524429185024.ingest.us.sentry.io/4507524452057088" + SELFDRIVE = "https://5ad1714d27324c74a30f9c538bff3b8d@o4505034923769856.ingest.us.sentry.io/4505034930651136" # native project - SELFDRIVE_NATIVE = "https://b42f6e8bea596ec3d7dc1d9a80280027@o4507524429185024.ingest.us.sentry.io/4507524452057088" + SELFDRIVE_NATIVE = "https://5ad1714d27324c74a30f9c538bff3b8d@o4505034923769856.ingest.us.sentry.io/4505034930651136" -def bind_user() -> None: - sentry_sdk.set_user({"id": HARDWARE.get_serial()}) +def report_tombstone(fn: str, message: str, contents: str) -> None: + cloudlog.error({'tombstone': message}) + with sentry_sdk.configure_scope() as scope: + scope.set_extra("tombstone_fn", fn) + scope.set_extra("tombstone", contents) + sentry_sdk.capture_message(message=message) + sentry_sdk.flush() -def capture_tmux(params) -> None: - updated = params.get("Updated", encoding='utf-8') - try: - result = subprocess.run(['tmux', 'capture-pane', '-p', '-S', '-250'], stdout=subprocess.PIPE) - lines = result.stdout.decode('utf-8').splitlines() - - if lines: - while True: - if sentry_pinged(): - with sentry_sdk.configure_scope() as scope: - bind_user() - scope.set_extra("tmux_log", "\n".join(lines)) - sentry_sdk.capture_message(f"User's UI crashed ({updated})", level='error') - sentry_sdk.flush() - break - time.sleep(60) +def capture_exception(*args, **kwargs) -> None: + exc_text = traceback.format_exc() - except Exception: - cloudlog.exception("Failed to capture tmux log") + phrases_to_check = [ + "To overwrite it, set 'overwrite' to True.", + ] + if any(phrase in exc_text for phrase in phrases_to_check): + return -def report_tombstone(fn: str, message: str, contents: str) -> None: - no_internet = 0 - while True: - if is_url_pingable("https://sentry.io"): - cloudlog.error({'tombstone': message}) - - with sentry_sdk.configure_scope() as scope: - bind_user() - scope.set_extra("tombstone_fn", fn) - scope.set_extra("tombstone", contents) - sentry_sdk.capture_message(message=message) - sentry_sdk.flush() - break - elif no_internet > 10: - break - else: - no_internet += 1 - time.sleep(no_internet * 60) + save_exception(exc_text) + cloudlog.error("crash", exc_info=kwargs.get('exc_info', 1)) + try: + sentry_sdk.capture_exception(*args, **kwargs) + sentry_sdk.flush() # https://github.com/getsentry/sentry-python/issues/291 + except Exception: + cloudlog.exception("sentry exception") -def capture_fingerprint(candidate, params, blocked=False): - bind_user() +def capture_fingerprint(candidate, params, blocked=False): params_tracking = Params("/persist/tracking") param_types = { @@ -82,7 +60,7 @@ def capture_fingerprint(candidate, params, blocked=False): "FrogPilot Vehicles": ParamKeyType.FROGPILOT_VEHICLES, "FrogPilot Visuals": ParamKeyType.FROGPILOT_VISUALS, "FrogPilot Other": ParamKeyType.FROGPILOT_OTHER, - "FrogPilot Tracking": ParamKeyType.FROGPILOT_TRACKING + "FrogPilot Tracking": ParamKeyType.FROGPILOT_TRACKING, } matched_params = {label: {} for label in param_types} @@ -90,10 +68,7 @@ def capture_fingerprint(candidate, params, blocked=False): for label, key_type in param_types.items(): if params.get_key_type(key) & key_type: if key_type == ParamKeyType.FROGPILOT_TRACKING: - try: - value = params_tracking.get_int(key) - except Exception: - value = "0" + value = params_tracking.get_int(key) else: try: value = params.get(key) @@ -111,48 +86,35 @@ def capture_fingerprint(candidate, params, blocked=False): else: matched_params[label] = {k: int(v) if isinstance(v, float) and v.is_integer() else v for k, v in sorted(key_values.items())} - no_internet = 0 - while True: - if is_url_pingable("https://sentry.io"): - with sentry_sdk.configure_scope() as scope: - scope.fingerprint = [candidate, HARDWARE.get_serial()] - for label, key_values in matched_params.items(): - scope.set_extra(label, "\n".join([f"{k}: {v}" for k, v in key_values.items()])) + with sentry_sdk.configure_scope() as scope: + scope.fingerprint = [HARDWARE.get_serial()] + for label, key_values in matched_params.items(): + scope.set_extra(label, "\n".join(f"{k}: {v}" for k, v in key_values.items())) - if blocked: - sentry_sdk.capture_message("Blocked user from using the development branch", level='error') - else: - sentry_sdk.capture_message(f"Fingerprinted {candidate}", level='info') - params.put_bool_nonblocking("FingerprintLogged", True) + if blocked: + sentry_sdk.capture_message("Blocked user from using the development branch", level='error') + else: + sentry_sdk.capture_message(f"Fingerprinted {candidate}", level='info') + params.put_bool_nonblocking("FingerprintLogged", True) - sentry_sdk.flush() - break - elif no_internet > 10: - break - else: - no_internet += 1 - time.sleep(no_internet * 60) + sentry_sdk.flush() -def capture_exception(*args, **kwargs) -> None: - exc_text = traceback.format_exc() +def capture_tmux(process, params) -> None: + updated = params.get("Updated", encoding='utf-8') - phrases_to_check = [ - "To overwrite it, set 'overwrite' to True.", - ] + result = subprocess.run(['tmux', 'capture-pane', '-p', '-S', '-50'], stdout=subprocess.PIPE) + lines = result.stdout.decode('utf-8').splitlines() - if any(phrase in exc_text for phrase in phrases_to_check): - return + if lines: + with sentry_sdk.configure_scope() as scope: + scope.set_extra("tmux_log", "\n".join(lines)) + sentry_sdk.capture_message(f"{process} crashed - Last updated: {updated}", level='info') + sentry_sdk.flush() - save_exception(exc_text) - cloudlog.error("crash", exc_info=kwargs.get('exc_info', 1)) - try: - bind_user() - sentry_sdk.capture_exception(*args, **kwargs) - sentry_sdk.flush() # https://github.com/getsentry/sentry-python/issues/291 - except Exception: - cloudlog.exception("sentry exception") +def set_tag(key: str, value: str) -> None: + sentry_sdk.set_tag(key, value) def save_exception(exc_text: str) -> None: @@ -175,13 +137,9 @@ def save_exception(exc_text: str) -> None: print('Logged current crash to {}'.format(files)) -def set_tag(key: str, value: str) -> None: - sentry_sdk.set_tag(key, value) - - def init(project: SentryProject) -> bool: build_metadata = get_build_metadata() - FrogPilot = "FrogAi" in build_metadata.openpilot.git_origin + FrogPilot = "frogai" in build_metadata.openpilot.git_origin.lower() if not FrogPilot or PC: return False @@ -193,10 +151,10 @@ def init(project: SentryProject) -> bool: if short_branch == "FrogPilot-Development": env = "Development" - elif build_metadata.tested_channel: - env = "Staging" elif build_metadata.release_channel: env = "Release" + elif build_metadata.tested_channel: + env = "Staging" else: env = short_branch @@ -209,11 +167,9 @@ def init(project: SentryProject) -> bool: release=get_version(), integrations=integrations, traces_sample_rate=1.0, - max_value_length=98304, + max_value_length=8192, environment=env) - build_metadata = get_build_metadata() - sentry_sdk.set_user({"id": HARDWARE.get_serial()}) sentry_sdk.set_tag("origin", build_metadata.openpilot.git_origin) sentry_sdk.set_tag("branch", short_branch) diff --git a/system/updated/updated.py b/system/updated/updated.py index 9429360ad57619..61504c2945896e 100755 --- a/system/updated/updated.py +++ b/system/updated/updated.py @@ -22,7 +22,7 @@ from openpilot.system.hardware import AGNOS, HARDWARE from openpilot.system.version import get_build_metadata -from openpilot.selfdrive.frogpilot.controls.lib.frogpilot_variables import FrogPilotVariables +from openpilot.selfdrive.frogpilot.frogpilot_variables import FrogPilotVariables LOCK_FILE = os.getenv("UPDATER_LOCK_FILE", "/tmp/safe_staging_overlay.lock") STAGING_ROOT = os.getenv("UPDATER_STAGING_ROOT", "/data/safe_staging") diff --git a/tinygrad_repo/extra/onnx.py b/tinygrad_repo/extra/onnx.py index 54bd3905e50035..8fc1751062c287 100644 --- a/tinygrad_repo/extra/onnx.py +++ b/tinygrad_repo/extra/onnx.py @@ -176,7 +176,7 @@ def fetch_tensor(x: str): arg[axis] = (starts[i], ends[i], steps[i]) new_shape = tuple((s, e) if st > 0 else (e+1, s+1) for s, e, st in arg) if any(s==e for s,e in new_shape): ret = inp[0].shrink(new_shape) - else: ret = inp[0].__getitem__(tuple([slice(s,e,st) for s,e,st in arg])) + else: ret = inp[0].__getitem__(tuple([slice(s,e,int(st)) for s,e,st in arg])) elif n.op_type == "Gradient": # need to call backward on intermediate_tensors assert len(opt["xs"]) == len(inp), f"len(opt['xs']):{len(opt['xs'])}, len(inp):{len(inp)} output and input has to match" y = opt["y"] diff --git a/tinygrad_repo/openpilot/compile2.py b/tinygrad_repo/openpilot/compile2.py index 1ee84f91ebb331..3df3eb45294663 100644 --- a/tinygrad_repo/openpilot/compile2.py +++ b/tinygrad_repo/openpilot/compile2.py @@ -22,7 +22,7 @@ from tinygrad.features.image import fix_schedule_for_images Device.DEFAULT = "GPU" -def get_schedule(onnx_data) -> Tuple[List[ScheduleItem], List[ScheduleItem]]: +def get_schedule(onnx_data, supercombo_dtypes=False) -> Tuple[List[ScheduleItem], List[ScheduleItem]]: Tensor.no_grad = True Tensor.training = False @@ -30,9 +30,16 @@ def get_schedule(onnx_data) -> Tuple[List[ScheduleItem], List[ScheduleItem]]: onnx_model = onnx.load(io.BytesIO(onnx_data)) run_onnx = get_run_onnx(onnx_model) input_shapes = {inp.name:tuple(x.dim_value for x in inp.type.tensor_type.shape.dim) for inp in onnx_model.graph.input} + input_types_onnx = {inp.name:onnx.helper.tensor_dtype_to_np_dtype(inp.type.tensor_type.elem_type) for inp in onnx_model.graph.input} # run the model - inputs = {k:Tensor.empty(*shp) for k,shp in input_shapes.items()} + input_types = {k:getattr(dtypes, input_types_onnx[k].name)for k in input_types_onnx.keys()} + print(input_types) + if supercombo_dtypes: + input_types = {k:dtypes.float32 if 'img' not in k else dtypes.uint8 for k in input_types.keys()} + print(input_types) + + inputs = {k:Tensor.empty(*shp, dtype=input_types[k]) for k,shp in input_shapes.items()} ret: Tensor = next(iter(run_onnx(inputs).values())).cast(dtypes.float32).contiguous() schedule = ret.lazydata.schedule() @@ -129,13 +136,16 @@ def thneed_test_onnx(onnx_data, output_fn): print("thneed self-test passed!") if __name__ == "__main__": - onnx_data = fetch(sys.argv[1] if len(sys.argv) > 1 else OPENPILOT_MODEL) + onnx_fn = sys.argv[1] if len(sys.argv) > 1 else OPENPILOT_MODEL + onnx_data = fetch(onnx_fn) # quick test for ONNX issues #thneed_test_onnx(onnx_data, None) #exit(0) - schedule, schedule_independent, inputs = get_schedule(onnx_data) + # this is a hack due to supercombo being converted with f16 inputs but it uses f32 at runtime + supercombo = 'supercombo' + schedule, schedule_independent, inputs = get_schedule(onnx_data, supercombo_dtypes=supercombo) schedule, schedule_input = partition(schedule, lambda x: x.ast.op not in LoadOps) print(f"{len(schedule_input)} inputs")