FrogPilot base

system/manager/manager.py

@@ -21,6 +21,8 @@ from openpilot.common.swaglog import cloudlog, add_file_handler
 from openpilot.system.version import get_build_metadata, terms_version, training_version
 from openpilot.system.hardware.hw import Paths
 
+from openpilot.frogpilot.common.frogpilot_functions import frogpilot_boot_functions, install_frogpilot, uninstall_frogpilot
+
 
 def manager_init() -> None:
   save_bootlog()
@@ -38,6 +40,8 @@ def manager_init() -> None:
   if params.get_bool("RecordFrontLock"):
     params.put_bool("RecordFront", True)
 
+  # FrogPilot variables
+
   # set unset params to their default value
   for k in params.all_keys():
     default_value = params.get_default_value(k)
@@ -93,6 +97,10 @@ def manager_init() -> None:
   for p in managed_processes.values():
     p.prepare()
 
+  # FrogPilot variables
+  install_frogpilot()
+  frogpilot_boot_functions()
+
 
 def manager_cleanup() -> None:
   # send signals to kill all procs
@@ -129,6 +137,8 @@ def manager_thread() -> None:
   started_prev = False
   ignition_prev = False
 
+  # FrogPilot variables
+
   while True:
     sm.update(1000)
 
@@ -136,9 +146,13 @@ def manager_thread() -> None:
 
     if started and not started_prev:
       params.clear_all(ParamKeyFlag.CLEAR_ON_ONROAD_TRANSITION)
+
+      # FrogPilot variables
     elif not started and started_prev:
       params.clear_all(ParamKeyFlag.CLEAR_ON_OFFROAD_TRANSITION)
 
+      # FrogPilot variables
+
     ignition = any(ps.ignitionLine or ps.ignitionCan for ps in sm['pandaStates'] if ps.pandaType != log.PandaState.PandaType.unknown)
     if ignition and not ignition_prev:
       params.clear_all(ParamKeyFlag.CLEAR_ON_IGNITION_ON)
@@ -181,6 +195,8 @@ def manager_thread() -> None:
     if shutdown:
       break
 
+    # FrogPilot variables
+
 
 def main() -> None:
   manager_init()
@@ -201,7 +217,7 @@ def main() -> None:
   params = Params()
   if params.get_bool("DoUninstall"):
     cloudlog.warning("uninstalling")
-    HARDWARE.uninstall()
+    uninstall_frogpilot()
   elif params.get_bool("DoReboot"):
     cloudlog.warning("reboot")
     HARDWARE.reboot()

system/manager/process_config.py

@@ -4,7 +4,7 @@ import platform
 
 from cereal import car
 from openpilot.common.params import Params
-from openpilot.system.hardware import PC, TICI
+from openpilot.system.hardware import HARDWARE, PC, TICI
 from openpilot.system.manager.process import PythonProcess, NativeProcess, DaemonProcess
 
 WEBCAM = os.getenv("USE_WEBCAM") is not None
@@ -61,6 +61,8 @@ def or_(*fns):
 def and_(*fns):
   return lambda *args: operator.and_(*(fn(*args) for fn in fns))
 
+# FrogPilot variables
+
 procs = [
   DaemonProcess("manage_athenad", "system.athena.manage_athenad", "AthenadPid"),
 
@@ -80,7 +82,6 @@ procs = [
   PythonProcess("dmonitoringmodeld", "selfdrive.modeld.dmonitoringmodeld", driverview, enabled=(WEBCAM or not PC)),
 
   PythonProcess("sensord", "system.sensord.sensord", only_onroad, enabled=not PC),
-  NativeProcess("ui", "selfdrive/ui", ["./ui"], always_run, watchdog_max_dt=(5 if not PC else None)),
   PythonProcess("soundd", "selfdrive.ui.soundd", driverview),
   PythonProcess("locationd", "selfdrive.locationd.locationd", only_onroad),
   NativeProcess("_pandad", "selfdrive/pandad", ["./pandad"], always_run, enabled=False),
@@ -115,4 +116,13 @@ procs = [
   PythonProcess("joystick", "tools.joystick.joystick_control", and_(joystick, iscar)),
 ]
 
+# FrogPilot variables
+if HARDWARE.get_device_type() == "mici":
+  procs.append(PythonProcess("ui", "selfdrive.ui.ui", always_run))
+elif TICI:
+  procs.append(NativeProcess("ui", "selfdrive/ui", ["./ui"], always_run, watchdog_max_dt=5)),
+procs += [
+  PythonProcess("frogpilot_process", "frogpilot.frogpilot_process", always_run),
+]
+
 managed_processes = {p.name: p for p in procs}