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https://github.com/MoreTore/openpilot.git
synced 2026-08-23 17:13:44 +08:00
FrogPilot 0.9.7
This commit is contained in:
James
@@ -18,6 +18,8 @@ from openpilot.system.athena.registration import register, UNREGISTERED_DONGLE_I
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from openpilot.common.swaglog import cloudlog, add_file_handler
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from openpilot.system.version import get_build_metadata, terms_version, training_version
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from openpilot.frogpilot.common.frogpilot_functions import convert_params, frogpilot_boot_functions, setup_frogpilot, uninstall_frogpilot
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from openpilot.frogpilot.common.frogpilot_variables import EXCLUDED_KEYS, frogpilot_default_params, get_frogpilot_toggles, params_cache, params_memory
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def manager_init() -> None:
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@@ -32,6 +34,10 @@ def manager_init() -> None:
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if build_metadata.release_channel:
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params.clear_all(ParamKeyType.DEVELOPMENT_ONLY)
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# FrogPilot variables
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setup_frogpilot(build_metadata)
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convert_params(params_cache)
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default_params: list[tuple[str, str | bytes]] = [
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("CompletedTrainingVersion", "0"),
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("DisengageOnAccelerator", "0"),
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@@ -48,9 +54,24 @@ def manager_init() -> None:
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params.put_bool("RecordFront", True)
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# set unset params
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for k, v in default_params:
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if params.get(k) is None:
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params.put(k, v)
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reset_toggles = params.get_bool("DoToggleReset")
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reset_toggles_stock = params.get_bool("DoToggleResetStock")
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for k, v, stock in [(k, v, v) for k, v in default_params] + [(k, v, stock) for k, v, _, stock in frogpilot_default_params]:
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if (reset_toggles or reset_toggles_stock) and k in EXCLUDED_KEYS:
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continue
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if params.get(k) is None or reset_toggles or reset_toggles_stock:
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if params_cache.get(k) is None or reset_toggles or reset_toggles_stock:
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params.put(k, v if not reset_toggles_stock else stock)
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params_cache.remove(k)
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else:
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params.put(k, params_cache.get(k))
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else:
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params_cache.put(k, params.get(k))
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params.remove("DoToggleReset")
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params.remove("DoToggleResetStock")
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frogpilot_boot_functions(build_metadata, params_cache)
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# Create folders needed for msgq
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try:
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@@ -127,23 +148,38 @@ def manager_thread() -> None:
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ignore.append("pandad")
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ignore += [x for x in os.getenv("BLOCK", "").split(",") if len(x) > 0]
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sm = messaging.SubMaster(['deviceState', 'carParams'], poll='deviceState')
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sm = messaging.SubMaster(['deviceState', 'carParams', 'frogpilotPlan'], poll='deviceState')
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pm = messaging.PubMaster(['managerState'])
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write_onroad_params(False, params)
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ensure_running(managed_processes.values(), False, params=params, CP=sm['carParams'], not_run=ignore)
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ensure_running(managed_processes.values(), False, params=params, CP=sm['carParams'], not_run=ignore, classic_model=False, tinygrad_model=False, frogpilot_toggles=get_frogpilot_toggles())
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started_prev = False
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# FrogPilot variables
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frogpilot_toggles = get_frogpilot_toggles()
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classic_model = frogpilot_toggles.classic_model
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tinygrad_model = frogpilot_toggles.tinygrad_model
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while True:
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sm.update(1000)
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started = sm['deviceState'].started
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if started and not started_prev:
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params.clear_all(ParamKeyType.CLEAR_ON_ONROAD_TRANSITION)
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if not frogpilot_toggles.force_onroad:
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params.clear_all(ParamKeyType.CLEAR_ON_ONROAD_TRANSITION)
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# FrogPilot variables
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frogpilot_toggles = get_frogpilot_toggles()
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classic_model = frogpilot_toggles.classic_model
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tinygrad_model = frogpilot_toggles.tinygrad_model
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elif not started and started_prev:
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params.clear_all(ParamKeyType.CLEAR_ON_OFFROAD_TRANSITION)
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params_memory.clear_all(ParamKeyType.CLEAR_ON_OFFROAD_TRANSITION)
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# update onroad params, which drives pandad's safety setter thread
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if started != started_prev:
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@@ -151,7 +187,7 @@ def manager_thread() -> None:
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started_prev = started
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ensure_running(managed_processes.values(), started, params=params, CP=sm['carParams'], not_run=ignore)
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ensure_running(managed_processes.values(), started, params=params, CP=sm['carParams'], not_run=ignore, classic_model=classic_model, tinygrad_model=tinygrad_model, frogpilot_toggles=frogpilot_toggles)
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running = ' '.join("{}{}\u001b[0m".format("\u001b[32m" if p.proc.is_alive() else "\u001b[31m", p.name)
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for p in managed_processes.values() if p.proc)
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@@ -174,6 +210,9 @@ def manager_thread() -> None:
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if shutdown:
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break
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# Update FrogPilot variables
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if sm['frogpilotPlan'].togglesUpdated:
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frogpilot_toggles = get_frogpilot_toggles()
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def main() -> None:
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manager_init()
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@@ -194,7 +233,7 @@ def main() -> None:
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params = Params()
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if params.get_bool("DoUninstall"):
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cloudlog.warning("uninstalling")
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HARDWARE.uninstall()
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uninstall_frogpilot()
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elif params.get_bool("DoReboot"):
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cloudlog.warning("reboot")
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HARDWARE.reboot()
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@@ -238,7 +238,7 @@ class DaemonProcess(ManagerProcess):
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self.params = None
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@staticmethod
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def should_run(started, params, CP):
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def should_run(started, params, CP, classic_model, tinygrad_model, frogpilot_toggles):
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return True
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def prepare(self) -> None:
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@@ -274,13 +274,13 @@ class DaemonProcess(ManagerProcess):
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def ensure_running(procs: ValuesView[ManagerProcess], started: bool, params=None, CP: car.CarParams=None,
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not_run: list[str] | None=None) -> list[ManagerProcess]:
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not_run: list[str] | None=None, classic_model=False, tinygrad_model=False, frogpilot_toggles=None) -> list[ManagerProcess]:
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if not_run is None:
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not_run = []
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running = []
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for p in procs:
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if p.enabled and p.name not in not_run and p.should_run(started, params, CP):
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if p.enabled and p.name not in not_run and p.should_run(started, params, CP, classic_model, tinygrad_model, frogpilot_toggles):
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running.append(p)
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else:
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p.stop(block=False)
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@@ -7,55 +7,76 @@ from openpilot.system.manager.process import PythonProcess, NativeProcess, Daemo
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WEBCAM = os.getenv("USE_WEBCAM") is not None
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def driverview(started: bool, params: Params, CP: car.CarParams) -> bool:
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def driverview(started: bool, params: Params, CP: car.CarParams, classic_model, tinygrad_model, frogpilot_toggles) -> bool:
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return started or params.get_bool("IsDriverViewEnabled")
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def notcar(started: bool, params: Params, CP: car.CarParams) -> bool:
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def notcar(started: bool, params: Params, CP: car.CarParams, classic_model, tinygrad_model, frogpilot_toggles) -> bool:
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return started and CP.notCar
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def iscar(started: bool, params: Params, CP: car.CarParams) -> bool:
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def iscar(started: bool, params: Params, CP: car.CarParams, classic_model, tinygrad_model, frogpilot_toggles) -> bool:
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return started and not CP.notCar
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def logging(started, params, CP: car.CarParams) -> bool:
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def logging(started, params, CP: car.CarParams, classic_model, tinygrad_model, frogpilot_toggles) -> bool:
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run = (not CP.notCar) or not params.get_bool("DisableLogging")
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return started and run
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def ublox_available() -> bool:
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return os.path.exists('/dev/ttyHS0') and not os.path.exists('/persist/comma/use-quectel-gps')
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def ublox(started, params, CP: car.CarParams) -> bool:
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def ublox(started, params, CP: car.CarParams, classic_model, tinygrad_model, frogpilot_toggles) -> bool:
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use_ublox = ublox_available()
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if use_ublox != params.get_bool("UbloxAvailable"):
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params.put_bool("UbloxAvailable", use_ublox)
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return started and use_ublox
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def qcomgps(started, params, CP: car.CarParams) -> bool:
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def qcomgps(started, params, CP: car.CarParams, classic_model, tinygrad_model, frogpilot_toggles) -> bool:
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return started and not ublox_available()
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def always_run(started, params, CP: car.CarParams) -> bool:
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def always_run(started, params, CP: car.CarParams, classic_model, tinygrad_model, frogpilot_toggles) -> bool:
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return True
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def only_onroad(started: bool, params, CP: car.CarParams) -> bool:
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def only_onroad(started: bool, params, CP: car.CarParams, classic_model, tinygrad_model, frogpilot_toggles) -> bool:
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return started
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def only_offroad(started, params, CP: car.CarParams) -> bool:
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def only_offroad(started, params, CP: car.CarParams, classic_model, tinygrad_model, frogpilot_toggles) -> bool:
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return not started
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# FrogPilot functions
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def allow_logging(started, params, CP: car.CarParams, classic_model, tinygrad_model, frogpilot_toggles) -> bool:
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return not frogpilot_toggles.no_logging and logging(started, params, CP, classic_model, tinygrad_model, frogpilot_toggles)
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def allow_uploads(started, params, CP: car.CarParams, classic_model, tinygrad_model, frogpilot_toggles) -> bool:
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return not frogpilot_toggles.no_uploads or frogpilot_toggles.no_onroad_uploads
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def run_classic_modeld(started, params, CP: car.CarParams, classic_model, tinygrad_model, frogpilot_toggles) -> bool:
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return started and classic_model
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def run_new_modeld(started, params, CP: car.CarParams, classic_model, tinygrad_model, frogpilot_toggles) -> bool:
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return started and not (classic_model or tinygrad_model)
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def run_speed_limit_filler(started, params, CP: car.CarParams, classic_model, tinygrad_model, frogpilot_toggles) -> bool:
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return frogpilot_toggles.speed_limit_filler
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def run_tinygrad_modeld(started, params, CP: car.CarParams, classic_model, tinygrad_model, frogpilot_toggles) -> bool:
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return started and tinygrad_model
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procs = [
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DaemonProcess("manage_athenad", "system.athena.manage_athenad", "AthenadPid"),
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NativeProcess("camerad", "system/camerad", ["./camerad"], driverview),
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NativeProcess("logcatd", "system/logcatd", ["./logcatd"], only_onroad),
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NativeProcess("proclogd", "system/proclogd", ["./proclogd"], only_onroad),
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PythonProcess("logmessaged", "system.logmessaged", always_run),
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NativeProcess("logcatd", "system/logcatd", ["./logcatd"], allow_logging),
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NativeProcess("proclogd", "system/proclogd", ["./proclogd"], allow_logging),
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PythonProcess("logmessaged", "system.logmessaged", allow_logging),
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PythonProcess("micd", "system.micd", iscar),
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PythonProcess("timed", "system.timed", always_run, enabled=not PC),
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PythonProcess("dmonitoringmodeld", "selfdrive.modeld.dmonitoringmodeld", driverview, enabled=(not PC or WEBCAM)),
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NativeProcess("encoderd", "system/loggerd", ["./encoderd"], only_onroad),
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NativeProcess("encoderd", "system/loggerd", ["./encoderd"], allow_logging),
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NativeProcess("stream_encoderd", "system/loggerd", ["./encoderd", "--stream"], notcar),
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NativeProcess("loggerd", "system/loggerd", ["./loggerd"], logging),
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NativeProcess("modeld", "selfdrive/modeld", ["./modeld"], only_onroad),
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NativeProcess("loggerd", "system/loggerd", ["./loggerd"], allow_logging),
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NativeProcess("modeld", "selfdrive/modeld", ["./modeld"], run_new_modeld),
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NativeProcess("mapsd", "selfdrive/navd", ["./mapsd"], run_classic_modeld),
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PythonProcess("navmodeld", "frogpilot.classic_modeld.navmodeld", run_classic_modeld),
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NativeProcess("sensord", "system/sensord", ["./sensord"], only_onroad, enabled=not PC),
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NativeProcess("ui", "selfdrive/ui", ["./ui"], always_run, watchdog_max_dt=(5 if not PC else None)),
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PythonProcess("soundd", "selfdrive.ui.soundd", only_onroad),
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@@ -72,20 +93,29 @@ procs = [
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PythonProcess("navd", "selfdrive.navd.navd", only_onroad),
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PythonProcess("pandad", "selfdrive.pandad.pandad", always_run),
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PythonProcess("paramsd", "selfdrive.locationd.paramsd", only_onroad),
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PythonProcess("lagd", "selfdrive.locationd.lagd", only_onroad),
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NativeProcess("ubloxd", "system/ubloxd", ["./ubloxd"], ublox, enabled=TICI),
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PythonProcess("pigeond", "system.ubloxd.pigeond", ublox, enabled=TICI),
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PythonProcess("plannerd", "selfdrive.controls.plannerd", only_onroad),
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PythonProcess("radard", "selfdrive.controls.radard", only_onroad),
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PythonProcess("hardwared", "system.hardware.hardwared", always_run),
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PythonProcess("tombstoned", "system.tombstoned", always_run, enabled=not PC),
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PythonProcess("updated", "system.updated.updated", only_offroad, enabled=not PC),
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PythonProcess("uploader", "system.loggerd.uploader", always_run),
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PythonProcess("statsd", "system.statsd", always_run),
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PythonProcess("updated", "system.updated.updated", always_run, enabled=not PC),
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PythonProcess("uploader", "system.loggerd.uploader", allow_uploads),
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PythonProcess("statsd", "system.statsd", allow_logging),
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# debug procs
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NativeProcess("bridge", "cereal/messaging", ["./bridge"], notcar),
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PythonProcess("webrtcd", "system.webrtc.webrtcd", notcar),
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PythonProcess("webjoystick", "tools.bodyteleop.web", notcar),
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# FrogPilot processes
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NativeProcess("classic_modeld", "frogpilot/classic_modeld", ["./classic_modeld"], run_classic_modeld),
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PythonProcess("frogpilot_process", "frogpilot.frogpilot_process", always_run),
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PythonProcess("mapd", "frogpilot.navigation.mapd", always_run),
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PythonProcess("speed_limit_filler", "frogpilot.system.speed_limit_filler", run_speed_limit_filler),
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PythonProcess("the_pond", "frogpilot.system.the_pond.the_pond", always_run),
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PythonProcess("tinygrad_modeld", "frogpilot.tinygrad_modeld.tinygrad_modeld", run_tinygrad_modeld),
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]
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managed_processes = {p.name: p for p in procs}
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