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StarPilot

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firestar5683
2026-03-12 01:49:47 -05:00
parent 0e9ef526f7
commit d0e1db6766
2171 changed files with 590688 additions and 247754 deletions
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common/.gitignore
+1
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@@ -1 +1,2 @@
*.cpp
!params_pyx.cpp
common/clutil.cc
+32 -1
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@@ -53,6 +53,37 @@ void cl_print_build_errors(cl_program program, cl_device_id device) {
LOGE("build failed; status=%d, log: %s", status, log.c_str());
}
std::string resolve_program_path(const char *path) {
std::string resolved_path(path);
if (util::file_exists(resolved_path)) {
return resolved_path;
}
const std::string basedir = util::getenv("BASEDIR", "");
if (!basedir.empty()) {
// Handle repository-relative paths, e.g. "selfdrive/modeld/transforms/transform.cl".
if (!resolved_path.empty() && resolved_path.front() != '/') {
const std::string candidate = basedir + "/" + resolved_path;
if (util::file_exists(candidate)) {
return candidate;
}
}
// Recover from build-path-embedded absolute paths like "/work/selfdrive/...".
for (const char *marker : {"/selfdrive/", "/frogpilot/", "/common/"}) {
if (const size_t idx = resolved_path.find(marker); idx != std::string::npos) {
const std::string candidate = basedir + "/" + resolved_path.substr(idx + 1);
if (util::file_exists(candidate)) {
LOGW("OpenCL source path remapped: %s -> %s", resolved_path.c_str(), candidate.c_str());
return candidate;
}
}
}
}
return resolved_path;
}
} // namespace
cl_device_id cl_get_device_id(cl_device_type device_type) {
@@ -84,7 +115,7 @@ void cl_release_context(cl_context context) {
}
cl_program cl_program_from_file(cl_context ctx, cl_device_id device_id, const char* path, const char* args) {
return cl_program_from_source(ctx, device_id, util::read_file(path), args);
return cl_program_from_source(ctx, device_id, util::read_file(resolve_program_path(path)), args);
}
cl_program cl_program_from_source(cl_context ctx, cl_device_id device_id, const std::string& src, const char* args) {
common/file_chunker.py
+41
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@@ -0,0 +1,41 @@
import math
import os
from pathlib import Path
CHUNK_SIZE = 45 * 1024 * 1024 # 45MB, under GitHub's 50MB limit
def get_chunk_name(name, idx, num_chunks):
return f"{name}.chunk{idx + 1:02d}of{num_chunks:02d}"
def get_manifest_path(name):
return f"{name}.chunkmanifest"
def get_chunk_paths(path, file_size):
num_chunks = math.ceil(file_size / CHUNK_SIZE)
return [get_manifest_path(path)] + [get_chunk_name(path, i, num_chunks) for i in range(num_chunks)]
def chunk_file(path, targets):
manifest_path, *chunk_paths = targets
with open(path, 'rb') as f:
data = f.read()
actual_num_chunks = max(1, math.ceil(len(data) / CHUNK_SIZE))
assert len(chunk_paths) >= actual_num_chunks, f"Allowed {len(chunk_paths)} chunks but needs at least {actual_num_chunks}, for path {path}"
for i, chunk_path in enumerate(chunk_paths):
with open(chunk_path, 'wb') as f:
f.write(data[i * CHUNK_SIZE:(i + 1) * CHUNK_SIZE])
Path(manifest_path).write_text(str(len(chunk_paths)))
os.remove(path)
def read_file_chunked(path):
manifest_path = get_manifest_path(path)
if os.path.isfile(manifest_path):
num_chunks = int(Path(manifest_path).read_text().strip())
return b''.join(Path(get_chunk_name(path, i, num_chunks)).read_bytes() for i in range(num_chunks))
if os.path.isfile(path):
return Path(path).read_bytes()
raise FileNotFoundError(path)
common/libcommon.a
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common/params.cc
+1 -1
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@@ -97,7 +97,7 @@ Params::Params(const std::string &path, bool memory) {
// FrogPilot variables
std::string params_folder;
if (memory) {
params_folder = "/dev/shm/params";
params_folder = Path::shm_path() + "/params";
} else {
cache_path = "/cache/params" + params_prefix + "/";
params_folder = path;
common/params.py
+64 -2
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@@ -1,9 +1,71 @@
from openpilot.common.params_pyx import Params, ParamKeyFlag, ParamKeyType, UnknownKeyName
assert Params
from openpilot.common.params_pyx import Params as _Params, ParamKeyFlag, ParamKeyType, UnknownKeyName
assert _Params
assert ParamKeyFlag
assert ParamKeyType
assert UnknownKeyName
class Params(_Params):
def get(self, key, block=False, return_default=False, encoding=None, default=None):
try:
value = super().get(key, block=block, return_default=return_default)
except UnknownKeyName:
return default
if value is None:
return default
if encoding is not None and isinstance(value, bytes):
try:
return value.decode(encoding)
except Exception:
return value.decode("utf-8", errors="replace")
return value
def get_bool(self, key, block=False, default=False):
try:
return super().get_bool(key, block=block)
except UnknownKeyName:
return bool(default)
def get_int(self, key, block=False, return_default=False, default=0):
val = self.get(key, block=block, return_default=return_default, encoding="utf-8")
if val is None or val == "":
return default
try:
return int(float(val))
except ValueError:
return default
def get_float(self, key, block=False, return_default=False, default=0.0):
val = self.get(key, block=block, return_default=return_default, encoding="utf-8")
if val is None or val == "":
return default
try:
return float(val)
except ValueError:
return default
def put_int(self, key, val):
t = self.get_type(key)
if t == ParamKeyType.FLOAT:
self.put(key, float(val))
elif t == ParamKeyType.INT:
self.put(key, int(val))
elif t == ParamKeyType.BOOL:
self.put(key, bool(val))
else:
self.put(key, str(int(val)))
def put_float(self, key, val):
t = self.get_type(key)
if t == ParamKeyType.FLOAT:
self.put(key, float(val))
elif t == ParamKeyType.INT:
self.put(key, int(val))
elif t == ParamKeyType.BOOL:
self.put(key, bool(val))
else:
self.put(key, str(float(val)))
if __name__ == "__main__":
import sys
common/params_keys.h
+40 -10
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@@ -111,6 +111,7 @@ inline static std::unordered_map<std::string, ParamKeyAttributes> keys = {
{"RecordFrontLock", {PERSISTENT, BOOL}}, // for the internal fleet
{"SecOCKey", {PERSISTENT | DONT_LOG, STRING}},
{"ShowDebugInfo", {PERSISTENT, BOOL}},
{"UsePrebuilt", {PERSISTENT, BOOL, "1"}},
{"RouteCount", {PERSISTENT, INT, "0"}},
{"SnoozeUpdate", {CLEAR_ON_MANAGER_START | CLEAR_ON_OFFROAD_TRANSITION, BOOL}},
{"SshEnabled", {PERSISTENT, BOOL}},
@@ -139,9 +140,10 @@ inline static std::unordered_map<std::string, ParamKeyAttributes> keys = {
{"AdjacentPath", {PERSISTENT, BOOL, "0", "0", 3}},
{"AdjacentPathMetrics", {PERSISTENT, BOOL, "0", "0", 3}},
{"AdvancedCustomUI", {PERSISTENT, BOOL, "0", "0", 2}},
{"AdvancedLateralTune", {PERSISTENT, BOOL, "0", "0", 3}},
{"AdvancedLateralTune", {PERSISTENT, BOOL, "1", "0", 2}},
{"AdvancedLongitudinalTune", {PERSISTENT, BOOL, "0", "0", 3}},
{"AggressiveFollow", {PERSISTENT, FLOAT, "1.25", "1.25", 2}},
{"AggressiveFollowHigh", {PERSISTENT, FLOAT, "1.25", "1.25", 2}},
{"AggressiveJerkAcceleration", {PERSISTENT, FLOAT, "50.0", "50.0", 3}},
{"AggressiveJerkDanger", {PERSISTENT, FLOAT, "100.0", "100.0", 3}},
{"AggressiveJerkDeceleration", {PERSISTENT, FLOAT, "50.0", "50.0", 3}},
@@ -154,8 +156,10 @@ inline static std::unordered_map<std::string, ParamKeyAttributes> keys = {
{"AutomaticallyDownloadModels", {PERSISTENT, BOOL, "1", "0", 1}},
{"AutomaticUpdates", {PERSISTENT, BOOL, "1", "1", 0}},
{"AvailableModelNames", {PERSISTENT, STRING, "", "", 1}},
{"AvailableModelSeries", {PERSISTENT, STRING, "", "", 1}},
{"AvailableModels", {PERSISTENT, STRING, "", "", 1}},
{"BlacklistedModels", {PERSISTENT, STRING, "", "", 2}},
{"BootLogo", {PERSISTENT, STRING, "starpilot", "stock", 0}},
{"BuildMetadata", {PERSISTENT, STRING, "", "", 0}},
{"BlindSpotMetrics", {PERSISTENT, BOOL, "1", "0", 3}},
{"BlindSpotPath", {PERSISTENT, BOOL, "1", "0", 1}},
@@ -172,7 +176,7 @@ inline static std::unordered_map<std::string, ParamKeyAttributes> keys = {
{"CECurves", {PERSISTENT, BOOL, "0", "0", 1}},
{"CECurvesLead", {PERSISTENT, BOOL, "0", "0", 1}},
{"CELead", {PERSISTENT, BOOL, "0", "0", 1}},
{"CEModelStopTime", {PERSISTENT, FLOAT, "8.0", "0.0", 2}},
{"CEModelStopTime", {PERSISTENT, FLOAT, "7.0", "0.0", 2}},
{"CESignalLaneDetection", {PERSISTENT, BOOL, "1", "0", 2}},
{"CESignalSpeed", {PERSISTENT, FLOAT, "55.0", "0.0", 2}},
{"CESlowerLead", {PERSISTENT, BOOL, "0", "0", 1}},
@@ -184,7 +188,9 @@ inline static std::unordered_map<std::string, ParamKeyAttributes> keys = {
{"ClusterOffset", {PERSISTENT, FLOAT, "1.015", "1.015", 2}},
{"ColorScheme", {PERSISTENT, STRING, "frog", "stock", 0}},
{"ColorToDownload", {CLEAR_ON_MANAGER_START, STRING, "", ""}},
{"BootLogoToDownload", {CLEAR_ON_MANAGER_START, STRING, "", ""}},
{"Compass", {PERSISTENT, BOOL, "0", "0", 1}},
{"CommunityFavorites", {PERSISTENT, STRING, "", "", 1}},
{"ConditionalExperimental", {PERSISTENT, BOOL, "1", "0", 1}},
{"CurvatureData", {PERSISTENT | DONT_LOG, JSON, "{}", "{}"}},
{"CurveSpeedController", {PERSISTENT, BOOL, "1", "0", 1}},
@@ -192,6 +198,10 @@ inline static std::unordered_map<std::string, ParamKeyAttributes> keys = {
{"CustomCruise", {PERSISTENT, FLOAT, "1.0", "1.0", 2}},
{"CustomCruiseLong", {PERSISTENT, FLOAT, "5.0", "5.0", 2}},
{"CustomPersonalities", {PERSISTENT, BOOL, "0", "0", 2}},
{"TrafficPersonalityProfile", {PERSISTENT, BOOL, "1", "1", 2}},
{"AggressivePersonalityProfile", {PERSISTENT, BOOL, "1", "1", 2}},
{"StandardPersonalityProfile", {PERSISTENT, BOOL, "1", "1", 2}},
{"RelaxedPersonalityProfile", {PERSISTENT, BOOL, "1", "1", 2}},
{"CustomThemes", {PERSISTENT, BOOL, "1", "0", 0}},
{"CustomUI", {PERSISTENT, BOOL, "1", "0", 1}},
{"DebugMode", {CLEAR_ON_OFFROAD_TRANSITION, BOOL, "0", "0"}},
@@ -216,6 +226,7 @@ inline static std::unordered_map<std::string, ParamKeyAttributes> keys = {
{"DistanceButtonControl", {PERSISTENT, INT, "1", "0", 2}},
{"DistanceIconPack", {PERSISTENT, STRING, "stock", "stock", 0}},
{"DistanceIconToDownload", {CLEAR_ON_MANAGER_START, STRING, "", ""}},
{"DownloadableBootLogos", {PERSISTENT, STRING, "", ""}},
{"DownloadableColors", {PERSISTENT, STRING, "", ""}},
{"DownloadableDistanceIcons", {PERSISTENT, STRING, "", ""}},
{"DownloadableIcons", {PERSISTENT, STRING, "", ""}},
@@ -225,16 +236,22 @@ inline static std::unordered_map<std::string, ParamKeyAttributes> keys = {
{"DownloadAllModels", {CLEAR_ON_MANAGER_START, BOOL, "0", "0"}},
{"DownloadMaps", {CLEAR_ON_MANAGER_START, BOOL, "0", "0"}},
{"DriverCamera", {PERSISTENT, BOOL, "0", "0", 1}},
{"DrivingModel", {PERSISTENT, STRING, "wmi-model_default", "wmi-model_default", 1}},
{"DrivingModelName", {PERSISTENT, STRING, "WMI model (Default)", "WMI model (Default)", 1}},
{"DrivingModelVersion", {PERSISTENT, STRING, "v9", "v9", 1}},
{"Model", {PERSISTENT, STRING, "sc", "sc", 1}},
{"ModelVersion", {PERSISTENT, STRING, "v11", "v11", 1}},
{"DrivingModel", {PERSISTENT, STRING, "sc", "sc", 1}},
{"DrivingModelName", {PERSISTENT, STRING, "South Carolina", "South Carolina", 1}},
{"DrivingModelVersion", {PERSISTENT, STRING, "v11", "v11", 1}},
{"DynamicPathWidth", {PERSISTENT, BOOL, "0", "0", 2}},
{"DynamicPedalsOnUI", {PERSISTENT, BOOL, "1", "0", 1}},
{"EngageVolume", {PERSISTENT, INT, "101", "101", 2}},
{"EVTuning", {PERSISTENT, BOOL, "0", "0", 3}},
{"Fahrenheit", {PERSISTENT, BOOL, "0", "0", 3}},
{"FlashPanda", {CLEAR_ON_MANAGER_START, BOOL, "0", "0"}},
{"GMPedalLongitudinal", {PERSISTENT, BOOL, "1", "1", 2}},
{"RemoteStartBootsComma", {PERSISTENT, BOOL, "0", "0"}},
{"RemapCancelToDistance", {PERSISTENT, BOOL, "0", "0"}},
{"ForceAutoTune", {PERSISTENT, BOOL, "0", "0", 3}},
{"ForceAutoTuneOff", {PERSISTENT, BOOL, "0", "0", 3}},
{"ForceAutoTuneOff", {PERSISTENT, BOOL, "1", "0", 2}},
{"ForceFingerprint", {PERSISTENT, BOOL, "0", "0", 2}},
{"ForceOffroad", {CLEAR_ON_MANAGER_START, BOOL, "0", "0"}},
{"ForceOnroad", {CLEAR_ON_MANAGER_START, BOOL, "0", "0"}},
@@ -257,8 +274,8 @@ inline static std::unordered_map<std::string, ParamKeyAttributes> keys = {
{"HideSpeedLimit", {PERSISTENT, BOOL, "0", "0", 2}},
{"HigherBitrate", {PERSISTENT, BOOL, "0", "0", 2}},
{"HolidayThemes", {PERSISTENT, BOOL, "1", "0", 0}},
{"HumanAcceleration", {PERSISTENT, BOOL, "1", "0", 2}},
{"HumanFollowing", {PERSISTENT, BOOL, "1", "0", 2}},
{"HumanAcceleration", {PERSISTENT, BOOL, "0", "0", 2}},
{"HumanFollowing", {PERSISTENT, BOOL, "0", "0", 2}},
{"HumanLaneChanges", {PERSISTENT, BOOL, "1", "0", 2}},
{"IconPack", {PERSISTENT, STRING, "frog-animated", "stock", 0}},
{"IconToDownload", {CLEAR_ON_MANAGER_START, STRING, "", ""}},
@@ -290,6 +307,8 @@ inline static std::unordered_map<std::string, ParamKeyAttributes> keys = {
{"LongDistanceButtonControl", {PERSISTENT, INT, "5", "0", 2}},
{"LongitudinalActuatorDelay", {PERSISTENT, FLOAT, "0.0", "0.0", 3}},
{"LongitudinalActuatorDelayStock", {PERSISTENT, FLOAT, "0.0", "0.0", 3}},
{"LongitudinalManeuverPaddleMode", {PERSISTENT, STRING, "auto", "auto"}},
{"LongitudinalManeuverStatus", {CLEAR_ON_MANAGER_START | CLEAR_ON_OFFROAD_TRANSITION, JSON, "{}", "{}"}},
{"LongitudinalTune", {PERSISTENT, BOOL, "1", "0", 0}},
{"LoudBlindspotAlert", {PERSISTENT, BOOL, "0", "0", 0}},
{"LowVoltageShutdown", {PERSISTENT, FLOAT, "11.8", "11.8", 3}},
@@ -308,12 +327,15 @@ inline static std::unordered_map<std::string, ParamKeyAttributes> keys = {
{"MinimumLaneChangeSpeed", {PERSISTENT, FLOAT, "20.0", "20.0", 2}},
{"ModelDownloadProgress", {CLEAR_ON_MANAGER_START, STRING, "", ""}},
{"ModelDrivesAndScores", {PERSISTENT, JSON, "{}", "{}"}},
{"ModelReleasedDates", {PERSISTENT, STRING, "", "", 1}},
{"ModelRandomizer", {PERSISTENT, BOOL, "0", "0", 2}},
{"ModelSortMode", {PERSISTENT, STRING, "alphabetical", "alphabetical", 1}},
{"ModelToDownload", {CLEAR_ON_MANAGER_START, STRING, "", ""}},
{"ModelUI", {PERSISTENT, BOOL, "1", "0", 2}},
{"ModelVersions", {PERSISTENT, STRING, "", "", 1}},
{"NavigationUI", {PERSISTENT, BOOL, "1", "0", 1}},
{"NNFF", {PERSISTENT, BOOL, "1", "0", 2}},
{"NNFFLite", {PERSISTENT, BOOL, "1", "0", 2}},
{"NNFF", {PERSISTENT, BOOL, "0", "0", 2}},
{"NNFFLite", {PERSISTENT, BOOL, "0", "0", 2}},
{"NNFFModelName", {CLEAR_ON_MANAGER_START, STRING, "", "", 0}},
{"NoLogging", {PERSISTENT, BOOL, "0", "0", 2}},
{"NoUploads", {PERSISTENT, BOOL, "0", "0", 2}},
@@ -361,12 +383,14 @@ inline static std::unordered_map<std::string, ParamKeyAttributes> keys = {
{"ReduceLateralAccelerationSnow", {PERSISTENT, INT, "0", "0", 2}},
{"RefuseVolume", {PERSISTENT, INT, "101", "101", 2}},
{"RelaxedFollow", {PERSISTENT, FLOAT, "1.75", "1.75", 2}},
{"RelaxedFollowHigh", {PERSISTENT, FLOAT, "1.75", "1.75", 2}},
{"RelaxedJerkAcceleration", {PERSISTENT, FLOAT, "100.0", "100.0", 3}},
{"RelaxedJerkDanger", {PERSISTENT, FLOAT, "100.0", "100.0", 3}},
{"RelaxedJerkDeceleration", {PERSISTENT, FLOAT, "100.0", "100.0", 3}},
{"RelaxedJerkSpeed", {PERSISTENT, FLOAT, "100.0", "100.0", 3}},
{"RelaxedJerkSpeedDecrease", {PERSISTENT, FLOAT, "100.0", "100.0", 3}},
{"ReverseCruise", {PERSISTENT, BOOL, "0", "0", 1}},
{"RecoveryPower", {PERSISTENT, FLOAT, "1.0", "1.0", 2}},
{"RoadEdgesWidth", {PERSISTENT, FLOAT, "2.0", "2.0", 2}},
{"RoadNameUI", {PERSISTENT, BOOL, "1", "0", 1}},
{"RotatingWheel", {PERSISTENT, BOOL, "1", "0", 1}},
@@ -420,6 +444,7 @@ inline static std::unordered_map<std::string, ParamKeyAttributes> keys = {
{"SpeedLimitsFiltered", {PERSISTENT | DONT_LOG, JSON, "[]", "[]"}},
{"SpeedLimitSources", {PERSISTENT, BOOL, "0", "0", 3}},
{"StandardFollow", {PERSISTENT, FLOAT, "1.45", "1.45", 2}},
{"StandardFollowHigh", {PERSISTENT, FLOAT, "1.45", "1.45", 2}},
{"StandardJerkAcceleration", {PERSISTENT, FLOAT, "100.0", "100.0", 3}},
{"StandardJerkDanger", {PERSISTENT, FLOAT, "100.0", "100.0", 3}},
{"StandardJerkDeceleration", {PERSISTENT, FLOAT, "100.0", "100.0", 3}},
@@ -439,12 +464,15 @@ inline static std::unordered_map<std::string, ParamKeyAttributes> keys = {
{"SteerKPStock", {PERSISTENT, FLOAT, "0.0", "0.0", 3}},
{"SteerLatAccel", {PERSISTENT, FLOAT, "0.0", "0.0", 3}},
{"SteerLatAccelStock", {PERSISTENT, FLOAT, "0.0", "0.0", 3}},
{"SteerOffset", {PERSISTENT, FLOAT, "0.0", "0.0", 3}},
{"SteerOffsetStock", {PERSISTENT, FLOAT, "0.0", "0.0", 3}},
{"SteerRatio", {PERSISTENT, FLOAT, "0.0", "0.0", 3}},
{"SteerRatioStock", {PERSISTENT, FLOAT, "0.0", "0.0", 3}},
{"StockDongleId", {PERSISTENT, STRING, "", ""}},
{"StopAccel", {PERSISTENT, FLOAT, "0.0", "0.0", 3}},
{"StopAccelStock", {PERSISTENT, FLOAT, "0.0", "0.0", 3}},
{"StoppedTimer", {PERSISTENT, BOOL, "0", "0", 1}},
{"StopDistance", {PERSISTENT, FLOAT, "6.0", "6.0", 2}},
{"StoppingDecelRate", {PERSISTENT, FLOAT, "0.0", "0.0", 3}},
{"StoppingDecelRateStock", {PERSISTENT, FLOAT, "0.0", "0.0", 3}},
{"SubaruSNG", {PERSISTENT, BOOL, "1", "0", 2}},
@@ -463,6 +491,7 @@ inline static std::unordered_map<std::string, ParamKeyAttributes> keys = {
{"TrafficJerkDeceleration", {PERSISTENT, FLOAT, "50.0", "50.0", 3}},
{"TrafficJerkSpeed", {PERSISTENT, FLOAT, "50.0", "50.0", 3}},
{"TrafficJerkSpeedDecrease", {PERSISTENT, FLOAT, "50.0", "50.0", 3}},
{"TruckTuning", {PERSISTENT, BOOL, "0", "0", 3}},
{"TuningLevel", {PERSISTENT, INT, "0", "0", 0}},
{"TuningLevelConfirmed", {PERSISTENT, BOOL, "0", "0", 0}},
{"TurnDesires", {PERSISTENT, BOOL, "0", "0", 2}},
@@ -475,6 +504,7 @@ inline static std::unordered_map<std::string, ParamKeyAttributes> keys = {
{"UseActiveTheme", {CLEAR_ON_MANAGER_START, BOOL, "0", "0"}},
{"UseKonikServer", {PERSISTENT, BOOL, "0", "0", 2}},
{"UseSI", {PERSISTENT, BOOL, "1", "1", 3}},
{"UserFavorites", {PERSISTENT, STRING, "", "", 1}},
{"UseVienna", {PERSISTENT, BOOL, "0", "0", 1}},
{"VEgoStarting", {PERSISTENT, FLOAT, "0.0", "0.0", 3}},
{"VEgoStartingStock", {PERSISTENT, FLOAT, "0.0", "0.0", 3}},
common/params_pyx.cpp
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common/params_pyx.pyx
+25 -2
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@@ -65,12 +65,35 @@ PYTHON_2_CPP = {
(list, JSON): json.dumps,
(bytes, BYTES): lambda v: v,
}
def _decode_int(v):
decoded = v.decode("utf-8")
try:
return int(decoded)
except ValueError:
return int(float(decoded))
def _decode_time(v):
decoded = v.decode("utf-8")
try:
return datetime.datetime.fromisoformat(decoded)
except ValueError:
for fmt in ("%B %d, %Y - %I:%M%p", "%B %d, %Y - %I:%M %p"):
try:
return datetime.datetime.strptime(decoded, fmt)
except ValueError:
pass
raise
CPP_2_PYTHON = {
STRING: lambda v: v.decode("utf-8"),
BOOL: lambda v: v == b"1",
INT: int,
INT: _decode_int,
FLOAT: float,
TIME: lambda v: datetime.datetime.fromisoformat(v.decode("utf-8")),
TIME: _decode_time,
JSON: json.loads,
BYTES: lambda v: v,
}
common/params_pyx.so
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common/spinner.py
+20 -2
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@@ -5,10 +5,28 @@ from openpilot.common.basedir import BASEDIR
class Spinner:
def __init__(self):
self.spinner_proc = None
# Prefer the legacy compiled spinner on device.
legacy_spinner = os.path.join(BASEDIR, "selfdrive", "ui", "spinner")
if os.path.isfile("/TICI") and os.path.isfile(legacy_spinner) and os.access(legacy_spinner, os.X_OK):
try:
self.spinner_proc = subprocess.Popen([legacy_spinner],
stdin=subprocess.PIPE,
cwd=os.path.join(BASEDIR, "selfdrive", "ui"),
close_fds=True)
return
except OSError:
self.spinner_proc = None
# Raylib spinner requires Python deps from the repo virtualenv.
spinner_cwd = os.path.join(BASEDIR, "system", "ui")
venv_python = os.path.join(BASEDIR, ".venv", "bin", "python")
python_exec = venv_python if os.path.isfile(venv_python) else "python3"
try:
self.spinner_proc = subprocess.Popen(["./spinner.py"],
self.spinner_proc = subprocess.Popen([python_exec, "./spinner.py"],
stdin=subprocess.PIPE,
cwd=os.path.join(BASEDIR, "system", "ui"),
cwd=spinner_cwd,
close_fds=True)
except OSError:
self.spinner_proc = None
common/text_window.py
+19 -2
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@@ -7,10 +7,27 @@ from openpilot.common.basedir import BASEDIR
class TextWindow:
def __init__(self, text):
self.text_proc = None
# Prefer the legacy compiled text window on device.
legacy_text = os.path.join(BASEDIR, "selfdrive", "ui", "text")
if os.path.isfile("/TICI") and os.path.isfile(legacy_text) and os.access(legacy_text, os.X_OK):
try:
self.text_proc = subprocess.Popen([legacy_text, text],
stdin=subprocess.PIPE,
cwd=os.path.join(BASEDIR, "selfdrive", "ui"),
close_fds=True)
return
except OSError:
self.text_proc = None
text_cwd = os.path.join(BASEDIR, "system", "ui")
venv_python = os.path.join(BASEDIR, ".venv", "bin", "python")
python_exec = venv_python if os.path.isfile(venv_python) else "python3"
try:
self.text_proc = subprocess.Popen(["./text.py", text],
self.text_proc = subprocess.Popen([python_exec, "./text.py", text],
stdin=subprocess.PIPE,
cwd=os.path.join(BASEDIR, "system", "ui"),
cwd=text_cwd,
close_fds=True)
except OSError:
self.text_proc = None
common/transformations/transformations.so
Executable
BIN
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