openpilot v0.5.13 release

old-commit-hash: dd34ccfe28
2026-08-21 08:14:00 +08:00 · 2019-06-06 04:38:45 +00:00
parent 86fb001d62
commit e47a2e6e30
106 changed files with 3754 additions and 1927 deletions
@@ -0,0 +1,16 @@
+from posix.time cimport clock_gettime, timespec, CLOCK_BOOTTIME, CLOCK_MONOTONIC_RAW
+
+cdef double readclock(int clock_id):
+    cdef timespec ts
+    cdef double current
+
+    clock_gettime(clock_id, &ts)
+    current = ts.tv_sec + (ts.tv_nsec / 1000000000.)
+    return current
+
+
+def monotonic_time():
+    return readclock(CLOCK_MONOTONIC_RAW)
+
+def sec_since_boot():
+    return readclock(CLOCK_BOOTTIME)
@@ -0,0 +1,103 @@
+import os
+import shutil
+import tempfile
+from atomicwrites import AtomicWriter
+
+def mkdirs_exists_ok(path):
+  try:
+    os.makedirs(path)
+  except OSError:
+    if not os.path.isdir(path):
+      raise
+
+def rm_not_exists_ok(path):
+  try:
+    os.remove(path)
+  except OSError:
+    if os.path.exists(path):
+      raise
+
+def rm_tree_or_link(path):
+  if os.path.islink(path):
+    os.unlink(path)
+  elif os.path.isdir(path):
+    shutil.rmtree(path)
+
+def get_tmpdir_on_same_filesystem(path):
+  # TODO(mgraczyk): HACK, we should actually check for which filesystem.
+  normpath = os.path.normpath(path)
+  parts = normpath.split("/")
+  if len(parts) > 1:
+    if parts[1].startswith("raid"):
+      if len(parts) > 2 and parts[2] == "runner":
+        return "/{}/runner/tmp".format(parts[1])
+      elif len(parts) > 2 and parts[2] == "aws":
+        return "/{}/aws/tmp".format(parts[1])
+      else:
+        return "/{}/tmp".format(parts[1])
+    elif parts[1] == "aws":
+      return "/aws/tmp"
+    elif parts[1] == "scratch":
+      return "/scratch/tmp"
+  return "/tmp"
+
+class AutoMoveTempdir(object):
+  def __init__(self, target_path, temp_dir=None):
+    self._target_path = target_path
+    self._path = tempfile.mkdtemp(dir=temp_dir)
+
+  @property
+  def name(self):
+    return self._path
+
+  def close(self):
+    os.rename(self._path, self._target_path)
+
+  def __enter__(self): return self
+
+  def __exit__(self, type, value, traceback):
+    if type is None:
+      self.close()
+    else:
+      shutil.rmtree(self._path)
+
+class NamedTemporaryDir(object):
+  def __init__(self, temp_dir=None):
+    self._path = tempfile.mkdtemp(dir=temp_dir)
+
+  @property
+  def name(self):
+    return self._path
+
+  def close(self):
+    shutil.rmtree(self._path)
+
+  def __enter__(self): return self
+
+  def __exit__(self, type, value, traceback):
+    self.close()
+
+def _get_fileobject_func(writer, temp_dir):
+  def _get_fileobject():
+    file_obj = writer.get_fileobject(dir=temp_dir)
+    os.chmod(file_obj.name, 0o644)
+    return file_obj
+  return _get_fileobject
+
+def atomic_write_on_fs_tmp(path, **kwargs):
+  """Creates an atomic writer using a temporary file in a temporary directory
+     on the same filesystem as path.
+  """
+  # TODO(mgraczyk): This use of AtomicWriter relies on implementation details to set the temp
+  #                 directory.
+  writer = AtomicWriter(path, **kwargs)
+  return writer._open(_get_fileobject_func(writer, get_tmpdir_on_same_filesystem(path)))
+
+
+def atomic_write_in_dir(path, **kwargs):
+  """Creates an atomic writer using a temporary file in the same directory
+     as the destination file.
+  """
+  writer = AtomicWriter(path, **kwargs)
+  return writer._open(_get_fileobject_func(writer, os.path.dirname(path)))
+
@@ -41,7 +41,7 @@ def mkdirs_exists_ok(path):
 class TxType(Enum):
  PERSISTENT = 1
  CLEAR_ON_MANAGER_START = 2
-  CLEAR_ON_CAR_START = 3
+  CLEAR_ON_PANDA_DISCONNECT = 3


 class UnknownKeyName(Exception):
@@ -49,32 +49,33 @@ class UnknownKeyName(Exception):


 keys = {
-  "AccessToken": TxType.PERSISTENT,
-  "CalibrationParams": TxType.PERSISTENT,
-  "CarParams": TxType.CLEAR_ON_CAR_START,
-  "CompletedTrainingVersion": TxType.PERSISTENT,
-  "ControlsParams": TxType.PERSISTENT,
-  "DoUninstall": TxType.CLEAR_ON_MANAGER_START,
-  "DongleId": TxType.PERSISTENT,
-  "GitBranch": TxType.PERSISTENT,
-  "GitCommit": TxType.PERSISTENT,
-  "GitRemote": TxType.PERSISTENT,
-  "HasAcceptedTerms": TxType.PERSISTENT,
-  "IsDriverMonitoringEnabled": TxType.PERSISTENT,
-  "IsFcwEnabled": TxType.PERSISTENT,
-  "IsGeofenceEnabled": TxType.PERSISTENT,
-  "IsMetric": TxType.PERSISTENT,
-  "IsUpdateAvailable": TxType.PERSISTENT,
-  "IsUploadVideoOverCellularEnabled": TxType.PERSISTENT,
-  "LimitSetSpeed": TxType.PERSISTENT,
-  "LiveParameters": TxType.PERSISTENT,
-  "LongitudinalControl": TxType.PERSISTENT,
-  "Passive": TxType.PERSISTENT,
-  "RecordFront": TxType.PERSISTENT,
-  "ShouldDoUpdate": TxType.CLEAR_ON_MANAGER_START,
-  "SpeedLimitOffset": TxType.PERSISTENT,
-  "TrainingVersion": TxType.PERSISTENT,
-  "Version": TxType.PERSISTENT,
+  "AccessToken": [TxType.PERSISTENT],
+  "CalibrationParams": [TxType.PERSISTENT],
+  "CarParams": [TxType.CLEAR_ON_MANAGER_START, TxType.CLEAR_ON_PANDA_DISCONNECT],
+  "CompletedTrainingVersion": [TxType.PERSISTENT],
+  "ControlsParams": [TxType.PERSISTENT],
+  "DoUninstall": [TxType.CLEAR_ON_MANAGER_START],
+  "DongleId": [TxType.PERSISTENT],
+  "GitBranch": [TxType.PERSISTENT],
+  "GitCommit": [TxType.PERSISTENT],
+  "GitRemote": [TxType.PERSISTENT],
+  "HasAcceptedTerms": [TxType.PERSISTENT],
+  "IsDriverMonitoringEnabled": [TxType.PERSISTENT],
+  "IsFcwEnabled": [TxType.PERSISTENT],
+  "IsGeofenceEnabled": [TxType.PERSISTENT],
+  "IsMetric": [TxType.PERSISTENT],
+  "IsUpdateAvailable": [TxType.PERSISTENT],
+  "IsUploadVideoOverCellularEnabled": [TxType.PERSISTENT],
+  "LimitSetSpeed": [TxType.PERSISTENT],
+  "LiveParameters": [TxType.PERSISTENT],
+  "LongitudinalControl": [TxType.PERSISTENT],
+  "Passive": [TxType.PERSISTENT],
+  "RecordFront": [TxType.PERSISTENT],
+  "ShouldDoUpdate": [TxType.CLEAR_ON_MANAGER_START],
+  "SpeedLimitOffset": [TxType.PERSISTENT],
+  "SubscriberInfo": [TxType.PERSISTENT],
+  "TrainingVersion": [TxType.PERSISTENT],
+  "Version": [TxType.PERSISTENT],
 }


@@ -308,14 +309,14 @@ class Params(object):
  def _clear_keys_with_type(self, tx_type):
    with self.transaction(write=True) as txn:
      for key in keys:
-        if keys[key] == tx_type:
+        if tx_type in keys[key]:
          txn.delete(key)

  def manager_start(self):
    self._clear_keys_with_type(TxType.CLEAR_ON_MANAGER_START)

-  def car_start(self):
-    self._clear_keys_with_type(TxType.CLEAR_ON_CAR_START)
+  def panda_disconnect(self):
+    self._clear_keys_with_type(TxType.CLEAR_ON_PANDA_DISCONNECT)

  def delete(self, key):
    with self.transaction(write=True) as txn:
@@ -2,58 +2,24 @@
 import os
 import time
 import platform
-import threading
 import subprocess
 import multiprocessing
-
 from cffi import FFI
+
+# Build and load cython module
+import pyximport
+installer = pyximport.install(inplace=True, build_dir='/tmp')
+from common.clock import monotonic_time, sec_since_boot  # pylint: disable=no-name-in-module, import-error
+pyximport.uninstall(*installer)
+assert monotonic_time
+assert sec_since_boot
+
+
 ffi = FFI()
-ffi.cdef("""
-
-typedef int clockid_t;
-struct timespec {
-    long tv_sec;   /* Seconds.  */
-    long tv_nsec;  /* Nanoseconds.  */
-};
-int clock_gettime (clockid_t clk_id, struct timespec *tp);
-
-long syscall(long number, ...);
-
-"""
-)
+ffi.cdef("long syscall(long number, ...);")
 libc = ffi.dlopen(None)


-# see <linux/time.h>
-CLOCK_MONOTONIC_RAW = 4
-CLOCK_BOOTTIME = 7
-
-if platform.system() != 'Darwin' and hasattr(libc, 'clock_gettime'):
-  c_clock_gettime = libc.clock_gettime
-
-  tlocal = threading.local()
-  def clock_gettime(clk_id):
-    if not hasattr(tlocal, 'ts'):
-      tlocal.ts = ffi.new('struct timespec *')
-
-    ts = tlocal.ts
-
-    r = c_clock_gettime(clk_id, ts)
-    if r != 0:
-      raise OSError("clock_gettime")
-    return ts.tv_sec + ts.tv_nsec * 1e-9
-else:
-  # hack. only for OS X < 10.12
-  def clock_gettime(clk_id):
-    return time.time()
-
-def monotonic_time():
-  return clock_gettime(CLOCK_MONOTONIC_RAW)
-
-def sec_since_boot():
-  return clock_gettime(CLOCK_BOOTTIME)
-
-
 def set_realtime_priority(level):
  if os.getuid() != 0:
    print("not setting priority, not root")
@@ -99,10 +65,9 @@ class Ratekeeper(object):
    lagged = False
    remaining = self._next_frame_time - sec_since_boot()
    self._next_frame_time += self._interval
-    if remaining < -self._print_delay_threshold:
+    if self._print_delay_threshold is not None and remaining < -self._print_delay_threshold:
      print("%s lagging by %.2f ms" % (self._process_name, -remaining * 1000))
      lagged = True
    self._frame += 1
    self._remaining = remaining
    return lagged
-
@@ -0,0 +1,95 @@
+#!/usr/bin/env python
+import time
+from common.realtime import sec_since_boot
+import selfdrive.messaging as messaging
+from selfdrive.boardd.boardd import can_list_to_can_capnp
+
+def get_vin(logcan, sendcan):
+
+  # works on standard 11-bit addresses for diagnostic. Tested on Toyota and Subaru;
+  # Honda uses the extended 29-bit addresses, and unfortunately only works from OBDII
+  query_msg = [[0x7df, 0, '\x02\x09\x02'.ljust(8, "\x00"), 0],
+               [0x7e0, 0, '\x30'.ljust(8, "\x00"), 0]]
+
+  cnts = [1, 2]  # Number of messages to wait for at each iteration
+  vin_valid = True
+
+  dat = []
+  for i in range(len(query_msg)):
+    cnt = 0
+    sendcan.send(can_list_to_can_capnp([query_msg[i]], msgtype='sendcan'))
+    got_response = False
+    t_start = sec_since_boot()
+    while sec_since_boot() - t_start < 0.05 and not got_response:
+      for a in messaging.drain_sock(logcan):
+        for can in a.can:
+          if can.src == 0 and can.address == 0x7e8:
+            vin_valid = vin_valid and is_vin_response_valid(can.dat, i, cnt)
+            dat += can.dat[2:] if i == 0 else can.dat[1:]
+            cnt += 1
+            if cnt == cnts[i]:
+              got_response = True
+      time.sleep(0.01)
+
+  return "".join(dat[3:]) if vin_valid else ""
+
+"""
+if 'vin' not in gctx:
+  print "getting vin"
+  gctx['vin'] = query_vin()[3:]
+  print "got VIN %s" % (gctx['vin'],)
+  cloudlog.info("got VIN %s" % (gctx['vin'],))
+
+# *** determine platform based on VIN ****
+if vin.startswith("19UDE2F36G"):
+  print "ACURA ILX 2016"
+  self.civic = False
+else:
+  # TODO: add Honda check explicitly
+  print "HONDA CIVIC 2016"
+  self.civic = True
+
+# *** special case VIN of Acura test platform
+if vin == "19UDE2F36GA001322":
+  print "comma.ai test platform detected"
+  # it has a gas interceptor and a torque mod
+  self.torque_mod = True
+"""
+
+
+# sanity checks on response messages from vin query
+def is_vin_response_valid(can_dat, step, cnt):
+
+  can_dat = [ord(i) for i in can_dat]
+
+  if len(can_dat) != 8:
+    # ISO-TP meesages are all 8 bytes
+    return False
+
+  if step == 0:
+    # VIN does not fit in a single message and it's 20 bytes of data
+    if can_dat[0] != 0x10 or can_dat[1] != 0x14:
+       return False
+
+  if step == 1 and cnt == 0:
+    # first response after a CONTINUE query is sent
+    if can_dat[0] != 0x21:
+       return False
+
+  if step == 1 and cnt == 1:
+    # second response after a CONTINUE query is sent
+    if can_dat[0] != 0x22:
+       return False
+
+  return True
+
+
+if __name__ == "__main__":
+  import zmq
+  from selfdrive.services import service_list
+  context = zmq.Context()
+  logcan = messaging.sub_sock(context, service_list['can'].port)
+  sendcan = messaging.pub_sock(context, service_list['sendcan'].port)
+  time.sleep(1.)   # give time to sendcan socket to start
+
+  print get_vin(logcan, sendcan)