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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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frogpilot/frogpilot_process.py
+71 -8
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@@ -1,25 +1,41 @@
#!/usr/bin/env python3
import datetime
import json
import requests
import time
from cereal import messaging
from openpilot.common.api import Api, api_get
from openpilot.common.params import Params
from openpilot.common.realtime import DT_MDL, Priority, Ratekeeper, config_realtime_process
from openpilot.common.time_helpers import system_time_valid
from openpilot.system.athena.registration import UNREGISTERED_DONGLE_ID
from openpilot.frogpilot.assets.model_manager import MODEL_DOWNLOAD_ALL_PARAM, MODEL_DOWNLOAD_PARAM, ModelManager
from openpilot.frogpilot.assets.theme_manager import THEME_COMPONENT_PARAMS, ThemeManager
from openpilot.frogpilot.common.frogpilot_backups import backup_toggles
from openpilot.frogpilot.common.frogpilot_functions import capture_report, update_maps, update_openpilot
from openpilot.frogpilot.common.frogpilot_utilities import ThreadManager, flash_panda, is_url_pingable, lock_doors
from openpilot.frogpilot.common.frogpilot_utilities import ThreadManager, flash_panda, is_url_pingable, lock_doors, use_konik_server
from openpilot.frogpilot.common.frogpilot_variables import ERROR_LOGS_PATH, FrogPilotVariables
from openpilot.frogpilot.controls.frogpilot_planner import FrogPilotPlanner
from openpilot.frogpilot.system.frogpilot_stats import send_stats
from openpilot.frogpilot.system.frogpilot_tracking import FrogPilotTracking
ASSET_CHECK_RATE = (1 / DT_MDL)
DRIVE_STATS_SYNC_RATE = 30
def check_assets(now, model_manager, theme_manager, thread_manager, params, params_memory, frogpilot_toggles):
if params_memory.get_bool(MODEL_DOWNLOAD_ALL_PARAM):
thread_manager.run_with_lock(model_manager.download_all_models)
elif params_memory.get_bool("UpdateTinygrad"):
thread_manager.run_with_lock(model_manager.update_tinygrad)
else:
model_to_download = params_memory.get(MODEL_DOWNLOAD_PARAM)
if isinstance(model_to_download, bytes):
model_to_download = model_to_download.decode("utf-8", errors="replace")
if model_to_download:
thread_manager.run_with_lock(model_manager.download_model, (model_to_download,))
def check_assets(now, theme_manager, thread_manager, params, params_memory, frogpilot_toggles):
for asset_type, asset_param in THEME_COMPONENT_PARAMS.items():
asset_to_download = params_memory.get(asset_param)
if asset_to_download:
@@ -36,6 +52,40 @@ def check_assets(now, theme_manager, thread_manager, params, params_memory, frog
if params_memory.get_bool("DownloadMaps"):
thread_manager.run_with_lock(update_maps, (now, params, params_memory, True))
def sync_drive_stats(params, session):
try:
dongle_id = params.get("DongleId")
if isinstance(dongle_id, bytes):
dongle_id = dongle_id.decode("utf-8", errors="replace")
if not dongle_id or dongle_id == UNREGISTERED_DONGLE_ID:
return
token = Api(dongle_id).get_token(expiry_hours=2)
if not token:
return
response = api_get(f"v1.1/devices/{dongle_id}/stats", timeout=15, access_token=token, session=session)
if response.status_code != 200:
print(f"Failed to sync drive stats (HTTP {response.status_code})")
return
stats = response.json()
if not isinstance(stats, dict):
return
all_stats = stats.get("all")
week_stats = stats.get("week")
if not isinstance(all_stats, dict) or not isinstance(week_stats, dict):
return
params.put("ApiCache_DriveStats", stats)
all_minutes = all_stats.get("minutes")
if isinstance(all_minutes, (int, float)):
params.put_int("KonikMinutes" if use_konik_server() else "openpilotMinutes", int(all_minutes))
except Exception as exception:
print(f"Failed to sync drive stats: {exception}")
def transition_offroad(frogpilot_planner, theme_manager, thread_manager, time_validated, sm, params, frogpilot_toggles):
params.put("LastGPSPosition", json.dumps(frogpilot_planner.gps_position))
@@ -46,16 +96,17 @@ def transition_offroad(frogpilot_planner, theme_manager, thread_manager, time_va
theme_manager.update_active_theme(time_validated, frogpilot_toggles, randomize_theme=True)
if time_validated:
thread_manager.run_with_lock(send_stats, (params, frogpilot_toggles))
thread_manager.run_with_lock(send_stats)
def transition_onroad(error_log):
if error_log.is_file():
error_log.unlink()
def update_checks(now, theme_manager, thread_manager, params, params_memory, frogpilot_toggles, boot_run=False):
def update_checks(now, model_manager, theme_manager, thread_manager, params, params_memory, frogpilot_toggles, boot_run=False):
while not (is_url_pingable("https://github.com") or is_url_pingable("https://gitlab.com")):
time.sleep(60)
model_manager.update_models(boot_run)
theme_manager.update_themes(frogpilot_toggles, boot_run)
thread_manager.run_with_lock(update_maps, (now, params, params_memory))
@@ -99,11 +150,15 @@ def frogpilot_thread():
params_memory = Params(memory=True)
frogpilot_variables = FrogPilotVariables()
model_manager = ModelManager(params, params_memory)
theme_manager = ThemeManager(params, params_memory)
thread_manager = ThreadManager()
frogpilot_toggles = frogpilot_variables.frogpilot_toggles
drive_stats_session = requests.Session()
next_drive_stats_sync = 0.0
run_update_checks = False
started_previously = False
time_validated = False
@@ -145,8 +200,16 @@ def frogpilot_thread():
started_previously = started
if not started and time_validated and sm["deviceState"].screenBrightnessPercent > 0:
monotonic_now = time.monotonic()
if monotonic_now >= next_drive_stats_sync:
thread_manager.run_with_lock(sync_drive_stats, (params, drive_stats_session), report=False)
next_drive_stats_sync = monotonic_now + DRIVE_STATS_SYNC_RATE
elif started:
next_drive_stats_sync = 0.0
if rate_keeper.frame % ASSET_CHECK_RATE == 0:
check_assets(now, theme_manager, thread_manager, params, params_memory, frogpilot_toggles)
check_assets(now, model_manager, theme_manager, thread_manager, params, params_memory, frogpilot_toggles)
if params_memory.get_bool("FrogPilotTogglesUpdated") or theme_manager.theme_updated:
frogpilot_toggles = update_toggles(frogpilot_variables, started, theme_manager, thread_manager, time_validated, params, frogpilot_toggles)
@@ -157,7 +220,7 @@ def frogpilot_thread():
if run_update_checks:
theme_manager.update_active_theme(time_validated, frogpilot_toggles)
thread_manager.run_with_lock(update_checks, (now, theme_manager, thread_manager, params, params_memory, frogpilot_toggles))
thread_manager.run_with_lock(update_checks, (now, model_manager, theme_manager, thread_manager, params, params_memory, frogpilot_toggles))
run_update_checks = False
elif not time_validated:
@@ -168,8 +231,8 @@ def frogpilot_thread():
theme_manager.update_active_theme(time_validated, frogpilot_toggles)
thread_manager.run_with_lock(backup_toggles, (params, True))
thread_manager.run_with_lock(send_stats, (params, frogpilot_toggles))
thread_manager.run_with_lock(update_checks, (now, theme_manager, thread_manager, params, params_memory, frogpilot_toggles, True))
thread_manager.run_with_lock(send_stats)
thread_manager.run_with_lock(update_checks, (now, model_manager, theme_manager, thread_manager, params, params_memory, frogpilot_toggles, True))
rate_keeper.keep_time()