mirror of
https://github.com/firestar5683/StarPilot.git
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firestar5683
64abcb4094
Wire controller callbacks into the running process and add joined planner and mode-action regression coverage.
58 lines
1.9 KiB
Python
58 lines
1.9 KiB
Python
import logging
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import time
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from openpilot.starpilot.controllers.input import InputReader
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from openpilot.starpilot.controllers.owner import ControllerOwner
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from openpilot.starpilot.controllers.transport import ControllerService
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from openpilot.starpilot.galaxy.settings import LiveContextSource
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LOGGER = logging.getLogger(__name__)
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class ControllerRuntime:
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def __init__(self, params, *, actions, favorites, invoke_favorite, authority=None, reader=None, socket_path=None):
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self.authority = authority if authority is not None else LiveContextSource(params)
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self.reader = reader if reader is not None else InputReader()
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self.owner = ControllerOwner(params, parked=self.authority.parked, actions=actions, favorites=favorites,
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invoke_favorite=invoke_favorite)
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self.service = ControllerService(self.owner, socket_path)
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self._closed = False
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self._next_warm = 0.0
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self._warm_until = time.monotonic() + 2.0
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try:
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self.service.start()
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except (OSError, RuntimeError):
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LOGGER.exception('Controller input could not start')
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self.close()
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def poll(self):
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if self._closed:
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return
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try:
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now = time.monotonic()
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if now >= self._next_warm:
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self.authority.parked()
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self._next_warm = now + (0.1 if now < self._warm_until else 1.0)
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presses = self.reader.poll(time.monotonic_ns())
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self.owner.set_devices(self.reader.devices())
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self.owner.tick()
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# Process input before configuration so queued presses cannot activate a new binding.
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for press in presses:
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self.owner.feed(press)
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self.service.poll()
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except Exception:
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LOGGER.exception('Controller input stopped')
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self.close()
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def close(self):
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if self._closed:
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return
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self._closed = True
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try:
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self.service.close()
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finally:
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try:
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self.reader.close()
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finally:
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self.authority.close()
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