FrogPilot 0.9.7

system/manager/manager.py

@@ -18,6 +18,8 @@ from openpilot.system.athena.registration import register, UNREGISTERED_DONGLE_I
 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.frogpilot_functions import convert_params, frogpilot_boot_functions, setup_frogpilot, uninstall_frogpilot
+from openpilot.selfdrive.frogpilot.frogpilot_variables import frogpilot_default_params, get_frogpilot_toggles, params_memory
 
 
 def manager_init() -> None:
@@ -32,13 +34,35 @@ def manager_init() -> None:
   if build_metadata.release_channel:
     params.clear_all(ParamKeyType.DEVELOPMENT_ONLY)
 
+  # FrogPilot variables
+  setup_frogpilot(build_metadata)
+  params_storage = Params("/persist/params")
+  convert_params(params_storage)
+
   default_params: list[tuple[str, str | bytes]] = [
+    ("AlwaysOnDM", "0"),
+    ("CarParamsPersistent", ""),
     ("CompletedTrainingVersion", "0"),
     ("DisengageOnAccelerator", "0"),
+    ("ExperimentalLongitudinalEnabled", "0"),
+    ("ExperimentalMode", "0"),
+    ("ExperimentalModeConfirmed", "0"),
+    ("GithubSshKeys", ""),
+    ("GithubUsername", ""),
+    ("GsmApn", ""),
     ("GsmMetered", "1"),
+    ("GsmRoaming", "1"),
     ("HasAcceptedTerms", "0"),
+    ("IsLdwEnabled", "0"),
+    ("IsMetric", "0"),
     ("LanguageSetting", "main_en"),
+    ("NavSettingLeftSide", "0"),
+    ("NavSettingTime24h", "0"),
     ("OpenpilotEnabledToggle", "1"),
+    ("RecordFront", "0"),
+    ("SshEnabled", "0"),
+    ("TetheringEnabled", "0"),
+    ("UpdaterAvailableBranches", ""),
     ("LongitudinalPersonality", str(log.LongitudinalPersonality.standard)),
   ]
   if not PC:
@@ -48,9 +72,18 @@ def manager_init() -> None:
     params.put_bool("RecordFront", True)
 
   # set unset params
-  for k, v in default_params:
-    if params.get(k) is None:
-      params.put(k, v)
+  reset_toggles = params.get_bool("DoToggleReset")
+  for k, v in default_params + [(k, v) for k, v, _ in frogpilot_default_params]:
+    if params.get(k) is None or reset_toggles:
+      if params_storage.get(k) is None or reset_toggles:
+        params.put(k, v)
+        params_storage.remove(k)
+      else:
+        params.put(k, params_storage.get(k))
+    else:
+      params_storage.put(k, params.get(k))
+  params.remove("DoToggleReset")
+  frogpilot_boot_functions(build_metadata, params_storage)
 
   # Create folders needed for msgq
   try:
@@ -127,14 +160,19 @@ def manager_thread() -> None:
     ignore.append("pandad")
   ignore += [x for x in os.getenv("BLOCK", "").split(",") if len(x) > 0]
 
-  sm = messaging.SubMaster(['deviceState', 'carParams'], poll='deviceState')
+  sm = messaging.SubMaster(['deviceState', 'carParams', 'frogpilotPlan'], poll='deviceState')
   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, classic_model=False, frogpilot_toggles=get_frogpilot_toggles())
 
   started_prev = False
 
+  # FrogPilot variables
+  frogpilot_toggles = get_frogpilot_toggles()
+
+  classic_model = frogpilot_toggles.classic_model
+
   while True:
     sm.update(1000)
 
@@ -142,8 +180,13 @@ def manager_thread() -> None:
 
     if started and not started_prev:
       params.clear_all(ParamKeyType.CLEAR_ON_ONROAD_TRANSITION)
+
+      # FrogPilot variables
+      classic_model = frogpilot_toggles.classic_model
+
     elif not started and started_prev:
       params.clear_all(ParamKeyType.CLEAR_ON_OFFROAD_TRANSITION)
+      params_memory.clear_all(ParamKeyType.CLEAR_ON_OFFROAD_TRANSITION)
 
     # update onroad params, which drives pandad's safety setter thread
     if started != started_prev:
@@ -151,7 +194,7 @@ 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, classic_model=classic_model, frogpilot_toggles=frogpilot_toggles)
 
     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)
@@ -174,6 +217,9 @@ def manager_thread() -> None:
     if shutdown:
       break
 
+    # Update FrogPilot parameters
+    if sm['frogpilotPlan'].togglesUpdated:
+      frogpilot_toggles = get_frogpilot_toggles()
 
 def main() -> None:
   manager_init()
@@ -194,7 +240,7 @@ 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()