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openpilot v0.3.7 release

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old-commit-hash: daf54ad54d
This commit is contained in:
Vehicle Researcher
2017-09-30 03:07:27 -07:00
parent 7a6d152ae0
commit 2c0cc6103a
130 changed files with 3557 additions and 1717 deletions
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selfdrive/manager.py
+115 -55
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@@ -1,30 +1,36 @@
#!/usr/bin/env python
import os
import time
# check if NEOS update is required
while 1:
if ((not os.path.isfile("/VERSION")
or int(open("/VERSION").read()) < 3)
and not os.path.isfile("/data/media/0/noupdate")):
os.system("curl -o /tmp/updater https://openpilot.comma.ai/updater && chmod +x /tmp/updater && /tmp/updater")
else:
break
if os.path.isfile("/init.qcom.rc"):
# check if NEOS update is required
while 1:
if ((not os.path.isfile("/VERSION")
or int(open("/VERSION").read()) < 3)
and not os.path.isfile("/data/media/0/noupdate")):
os.system("curl -o /tmp/updater https://openpilot.comma.ai/updater && chmod +x /tmp/updater && /tmp/updater")
else:
break
time.sleep(10)
import sys
import time
import importlib
import subprocess
import signal
import traceback
import usb1
from multiprocessing import Process
from selfdrive.services import service_list
from common.basedir import BASEDIR
sys.path.append(os.path.join(BASEDIR, "pyextra"))
os.environ['BASEDIR'] = BASEDIR
import usb1
import hashlib
import zmq
from setproctitle import setproctitle
from selfdrive.services import service_list
from selfdrive.swaglog import cloudlog
import selfdrive.messaging as messaging
from selfdrive.thermal import read_thermal
@@ -36,22 +42,20 @@ from common.params import Params
from selfdrive.loggerd.config import ROOT
BASEDIR = os.path.join(os.path.dirname(os.path.realpath(__file__)), "../")
# comment out anything you don't want to run
managed_processes = {
"uploader": "selfdrive.loggerd.uploader",
"controlsd": "selfdrive.controls.controlsd",
"radard": "selfdrive.controls.radard",
"loggerd": ("loggerd", ["./loggerd"]),
"loggerd": ("selfdrive/loggerd", ["./loggerd"]),
"logmessaged": "selfdrive.logmessaged",
"tombstoned": "selfdrive.tombstoned",
"logcatd": ("logcatd", ["./logcatd"]),
"proclogd": ("proclogd", ["./proclogd"]),
"boardd": ("boardd", ["./boardd"]), # switch to c++ boardd
"ui": ("ui", ["./ui"]),
"visiond": ("visiond", ["./visiond"]),
"sensord": ("sensord", ["./sensord"]), }
"logcatd": ("selfdrive/logcatd", ["./logcatd"]),
"proclogd": ("selfdrive/proclogd", ["./proclogd"]),
"boardd": ("selfdrive/boardd", ["./boardd"]), # switch to c++ boardd
"ui": ("selfdrive/ui", ["./ui"]),
"visiond": ("selfdrive/visiond", ["./visiond"]),
"sensord": ("selfdrive/sensord", ["./sensord"]), }
running = {}
def get_running():
@@ -116,13 +120,28 @@ def start_managed_process(name):
running[name] = Process(name=name, target=launcher, args=(proc, gctx))
else:
pdir, pargs = proc
cwd = os.path.join(BASEDIR, "selfdrive")
if pdir is not None:
cwd = os.path.join(cwd, pdir)
cwd = os.path.join(BASEDIR, pdir)
cloudlog.info("starting process %s" % name)
running[name] = Process(name=name, target=nativelauncher, args=(pargs, cwd))
running[name].start()
def prepare_managed_process(p):
proc = managed_processes[p]
if isinstance(proc, basestring):
# import this python
cloudlog.info("preimporting %s" % proc)
importlib.import_module(proc)
else:
# build this process
cloudlog.info("building %s" % (proc,))
try:
subprocess.check_call(["make", "-j4"], cwd=os.path.join(BASEDIR, proc[0]))
except subprocess.CalledProcessError:
# make clean if the build failed
cloudlog.info("building %s failed, make clean" % (proc, ))
subprocess.check_call(["make", "clean"], cwd=os.path.join(BASEDIR, proc[0]))
subprocess.check_call(["make", "-j4"], cwd=os.path.join(BASEDIR, proc[0]))
def kill_managed_process(name):
if name not in running or name not in managed_processes:
return
@@ -212,9 +231,67 @@ def system(cmd):
except subprocess.CalledProcessError, e:
cloudlog.event("running failed",
cmd=e.cmd,
output=e.output,
output=e.output[-1024:],
returncode=e.returncode)
# TODO: this is not proper gating for EON
try:
from smbus2 import SMBus
EON = True
except ImportError:
EON = False
def setup_eon_fan():
if not EON:
return
os.system("echo 2 > /sys/module/dwc3_msm/parameters/otg_switch")
bus = SMBus(7, force=True)
bus.write_byte_data(0x21, 0x10, 0xf) # mask all interrupts
bus.write_byte_data(0x21, 0x03, 0x1) # set drive current and global interrupt disable
bus.write_byte_data(0x21, 0x02, 0x2) # needed?
bus.write_byte_data(0x21, 0x04, 0x4) # manual override source
bus.close()
last_eon_fan_val = None
def set_eon_fan(val):
global last_eon_fan_val
if not EON:
return
if last_eon_fan_val is None or last_eon_fan_val != val:
bus = SMBus(7, force=True)
bus.write_byte_data(0x21, 0x04, 0x2)
bus.write_byte_data(0x21, 0x03, (val*2)+1)
bus.write_byte_data(0x21, 0x04, 0x4)
bus.close()
last_eon_fan_val = val
# temp thresholds to control fan speed - high hysteresis
_TEMP_THRS_H = [50., 65., 80., 10000]
# temp thresholds to control fan speed - low hysteresis
_TEMP_THRS_L = [42.5, 57.5, 72.5, 10000]
# fan speed options
_FAN_SPEEDS = [0, 16384, 32768, 65535]
def handle_fan(max_temp, fan_speed):
new_speed_h = next(speed for speed, temp_h in zip(_FAN_SPEEDS, _TEMP_THRS_H) if temp_h > max_temp)
new_speed_l = next(speed for speed, temp_l in zip(_FAN_SPEEDS, _TEMP_THRS_L) if temp_l > max_temp)
if new_speed_h > fan_speed:
# update speed if using the high thresholds results in fan speed increment
fan_speed = new_speed_h
elif new_speed_l < fan_speed:
# update speed if using the low thresholds results in fan speed decrement
fan_speed = new_speed_l
set_eon_fan(fan_speed/16384)
return fan_speed
def manager_thread():
global baseui_running
@@ -233,24 +310,18 @@ def manager_thread():
start_managed_process("ui")
manage_baseui(True)
panda = False
# do this before panda flashing
setup_eon_fan()
if os.getenv("NOBOARD") is None:
# *** wait for the board ***
panda = wait_for_device() == 0x2300
# flash the device
if os.getenv("NOPROG") is None:
# flash the board
boarddir = os.path.join(BASEDIR, "panda/board/")
mkfile = "Makefile" if panda else "Makefile.legacy"
print "using", mkfile
system("cd %s && make -f %s" % (boarddir, mkfile))
start_managed_process("boardd")
from panda import ensure_st_up_to_date
ensure_st_up_to_date()
start_managed_process("boardd")
started = False
logger_dead = False
count = 0
fan_speed = 0
# set 5 second timeout on health socket
# 5x slower than expected
@@ -274,12 +345,15 @@ def manager_thread():
msg.thermal.batteryPercent = int(f.read())
with open("/sys/class/power_supply/battery/status") as f:
msg.thermal.batteryStatus = f.read().strip()
thermal_sock.send(msg.to_bytes())
print msg
# TODO: add car battery voltage check
max_temp = max(msg.thermal.cpu0, msg.thermal.cpu1,
msg.thermal.cpu2, msg.thermal.cpu3) / 10.0
fan_speed = handle_fan(max_temp, fan_speed)
msg.thermal.fanSpeed = fan_speed
thermal_sock.send(msg.to_bytes())
print msg
# uploader is gated based on the phone temperature
if max_temp > 85.0:
@@ -352,21 +426,7 @@ def manager_prepare():
# build all processes
os.chdir(os.path.dirname(os.path.abspath(__file__)))
for p in managed_processes:
proc = managed_processes[p]
if isinstance(proc, basestring):
# import this python
cloudlog.info("preimporting %s" % proc)
importlib.import_module(proc)
else:
# build this process
cloudlog.info("building %s" % (proc,))
try:
subprocess.check_call(["make", "-j4"], cwd=proc[0])
except subprocess.CalledProcessError:
# make clean if the build failed
cloudlog.info("building %s failed, make clean" % (proc, ))
subprocess.check_call(["make", "clean"], cwd=proc[0])
subprocess.check_call(["make", "-j4"], cwd=proc[0])
prepare_managed_process(p)
# install apks
installed = get_installed_apks()