define services in python (commaai#118)

* define services in python

* rm

* optional

SConscript

@@ -27,9 +27,7 @@ env.SharedLibrary('cereal_shared', cereal_objects)
 
 # Build messaging
 
-services_h = env.Command(['services.h'],
-                          ['service_list.yaml', 'services.py'],
-                          'python3 ' + cereal_dir.path + '/services.py > $TARGET')
+services_h = env.Command(['services.h'], ['services.py'], 'python3 ' + cereal_dir.path + '/services.py > $TARGET')
 
 messaging_objects = env.SharedObject([
   'messaging/messaging.cc',

services.py

@@ -1,34 +1,106 @@
 #!/usr/bin/env python3
-import os
-import yaml
+from typing import Optional
 
-
-class Service():
-  def __init__(self, port, should_log, frequency, decimation=None):
+class Service:
+  def __init__(self, port: int, should_log: bool, frequency: float, decimation: Optional[int] = None):
     self.port = port
     self.should_log = should_log
     self.frequency = frequency
     self.decimation = decimation
 
+service_list = {
+  "frame": Service(8002, True, 20., 1),
+  "sensorEvents": Service(8003, True, 100., 100),
+  "gpsNMEA": Service(8004, True, 9.),
+  "thermal": Service(8005, True, 2., 1),
+  "can": Service(8006, True, 100.),
+  "controlsState": Service(8007, True, 100., 100),
+  "model": Service(8009, True, 20., 5),
+  "features": Service(8010, True, 0.),
+  "health": Service(8011, True, 2., 1),
+  "radarState": Service(8012, True, 20., 5),
+  "encodeIdx": Service(8015, True, 20., 1),
+  "liveTracks": Service(8016, True, 20.),
+  "sendcan": Service(8017, True, 100.),
+  "logMessage": Service(8018, True, 0.),
+  "liveCalibration": Service(8019, True, 4., 4),
+  "androidLog": Service(8020, True, 0.),
+  "carState": Service(8021, True, 100., 10),
+  "carControl": Service(8023, True, 100., 10),
+  "longitudinalPlan": Service(8024, True, 20., 2),
+  "liveLocation": Service(8025, True, 0., 1),
+  "gpsLocation": Service(8026, True, 1., 1),
+  "ethernetData": Service(8027, True, 0.),
+  "navUpdate": Service(8028, True, 0.),
+  "qcomGnss": Service(8029, True, 0.),
+  "lidarPts": Service(8030, True, 0.),
+  "procLog": Service(8031, True, 0.5),
+  "gpsLocationExternal": Service(8032, True, 10., 1),
+  "ubloxGnss": Service(8033, True, 10.),
+  "clocks": Service(8034, True, 1., 1),
+  "liveMpc": Service(8035, False, 20.),
+  "liveLongitudinalMpc": Service(8036, False, 20.),
+  "navStatus": Service(8038, True, 0.),
+  "gpsLocationTrimble": Service(8039, True, 0.),
+  "trimbleGnss": Service(8041, True, 0.),
+  "ubloxRaw": Service(8042, True, 20.),
+  "gpsPlannerPoints": Service(8043, True, 0.),
+  "gpsPlannerPlan": Service(8044, True, 0.),
+  "applanixRaw": Service(8046, True, 0.),
+  "orbLocation": Service(8047, True, 0.),
+  "trafficEvents": Service(8048, True, 0.),
+  "liveLocationTiming": Service(8049, True, 0.),
+  "orbslamCorrection": Service(8050, True, 0.),
+  "liveLocationCorrected": Service(8051, True, 0.),
+  "orbObservation": Service(8052, True, 0.),
+  "applanixLocation": Service(8053, True, 0.),
+  "liveLocationKalman": Service(8054, True, 20., 2),
+  "uiNavigationEvent": Service(8055, True, 0.),
+  "orbOdometry": Service(8057, True, 0.),
+  "orbFeatures": Service(8058, False, 0.),
+  "orbKeyFrame": Service(8059, True, 0.),
+  "uiLayoutState": Service(8060, True, 0.),
+  "frontEncodeIdx": Service(8061, True, 10., 1), # should be 20fps on tici
+  "orbFeaturesSummary": Service(8062, True, 0.),
+  "driverState": Service(8063, True, 5., 1),
+  "liveParameters": Service(8064, True, 20., 2),
+  "liveMapData": Service(8065, True, 0.),
+  "cameraOdometry": Service(8066, True, 20., 5),
+  "lateralPlan": Service(8067, True, 20., 2),
+  "kalmanOdometry": Service(8068, True, 0.),
+  "thumbnail": Service(8069, True, 0.2, 1),
+  "carEvents": Service(8070, True, 1., 1),
+  "carParams": Service(8071, True, 0.02, 1),
+  "frontFrame": Service(8072, True, 10.),
+  "driverMonitoringState": Service(8073, True, 5., 1),
+  "offroadLayout": Service(8074, False, 0.),
+  "wideEncodeIdx": Service(8075, True, 20., 1),
+  "wideFrame": Service(8076, True, 20.),
+  "modelV2": Service(8077, True, 20., 20),
+  "managerState": Service(8078, True, 2., 1),
+
+  "testModel": Service(8040, False, 0.),
+  "testLiveLocation": Service(8045, False, 0.),
+  "testJoystick": Service(8056, False, 0.),
+}
 
-service_list_path = os.path.join(os.path.dirname(__file__), "service_list.yaml")
 
-service_list = {}
-with open(service_list_path, "r") as f:
-  for k, v in yaml.safe_load(f).items():
-    decimation = None
-    if len(v) == 4:
-      decimation = v[3]
+def build_header():
+  h = ""
+  h += "/* THIS IS AN AUTOGENERATED FILE, PLEASE EDIT services.py */\n"
+  h += "#ifndef __SERVICES_H\n"
+  h += "#define __SERVICES_H\n"
+  h += "struct service { char name[0x100]; int port; bool should_log; int frequency; int decimation; };\n"
+  h += "static struct service services[] = {\n"
+  for k, v in service_list.items():
+    should_log = "true" if v.should_log else "false"
+    decimation = -1 if v.decimation is None else v.decimation
+    h += '  { .name = "%s", .port = %d, .should_log = %s, .frequency = %d, .decimation = %d },\n' % \
+         (k, v.port, should_log, v.frequency, decimation)
+  h += "};\n"
+  h += "#endif\n"
+  return h
 
-    service_list[k] = Service(v[0], v[1], v[2], decimation)
 
 if __name__ == "__main__":
-  print("/* THIS IS AN AUTOGENERATED FILE, PLEASE EDIT service_list.yaml */")
-  print("#ifndef __SERVICES_H")
-  print("#define __SERVICES_H")
-  print("struct service { char name[0x100]; int port; bool should_log; int frequency; int decimation; };")
-  print("static struct service services[] = {")
-  for k, v in service_list.items():
-    print('  { .name = "%s", .port = %d, .should_log = %s, .frequency = %d, .decimation = %d },' % (k, v.port, "true" if v.should_log else "false", v.frequency, -1 if v.decimation is None else v.decimation))
-  print("};")
-  print("#endif")
+  print(build_header())