mirror of
https://github.com/firestar5683/StarPilot.git
synced 2026-09-01 21:53:42 +08:00
FrogAi
180 lines
7.2 KiB
Python
180 lines
7.2 KiB
Python
#!/usr/bin/env python3
|
|
import datetime
|
|
import json
|
|
import time
|
|
|
|
import openpilot.system.sentry as sentry
|
|
|
|
from pathlib import Path
|
|
|
|
from cereal import messaging
|
|
from openpilot.common.params import Params
|
|
from openpilot.common.realtime import Priority, config_realtime_process
|
|
from openpilot.common.time import system_time_valid
|
|
from openpilot.system.hardware import HARDWARE
|
|
|
|
from openpilot.selfdrive.frogpilot.assets.model_manager import ModelManager, MODEL_DOWNLOAD_PARAM
|
|
from openpilot.selfdrive.frogpilot.assets.theme_manager import ThemeManager
|
|
from openpilot.selfdrive.frogpilot.controls.frogpilot_planner import FrogPilotPlanner
|
|
from openpilot.selfdrive.frogpilot.controls.lib.frogpilot_tracking import FrogPilotTracking
|
|
from openpilot.selfdrive.frogpilot.frogpilot_functions import backup_toggles
|
|
from openpilot.selfdrive.frogpilot.frogpilot_utilities import flash_panda, is_url_pingable, lock_doors, run_thread_with_lock, send_sentry_reports, update_maps, update_openpilot
|
|
from openpilot.selfdrive.frogpilot.frogpilot_variables import FrogPilotVariables, get_frogpilot_toggles, params, params_memory
|
|
|
|
def assets_checks(model_manager, theme_manager):
|
|
if params_memory.get_bool("DownloadAllModels"):
|
|
run_thread_with_lock("download_all_models", model_manager.download_all_models)
|
|
|
|
if params_memory.get_bool("FlashPanda"):
|
|
run_thread_with_lock("flash_panda", flash_panda)
|
|
|
|
model_to_download = params_memory.get(MODEL_DOWNLOAD_PARAM, encoding='utf-8')
|
|
if model_to_download is not None:
|
|
run_thread_with_lock("download_model", model_manager.download_model, (model_to_download,))
|
|
|
|
report_data = json.loads(params_memory.get("IssueReported", encoding="utf-8") or "{}")
|
|
if report_data:
|
|
sentry.capture_report(report_data["DiscordUser"], report_data["Issue"], vars(get_frogpilot_toggles()))
|
|
params_memory.remove("IssueReported")
|
|
|
|
assets = [
|
|
("ColorToDownload", "colors"),
|
|
("DistanceIconToDownload", "distance_icons"),
|
|
("IconToDownload", "icons"),
|
|
("SignalToDownload", "signals"),
|
|
("SoundToDownload", "sounds"),
|
|
("WheelToDownload", "steering_wheels")
|
|
]
|
|
|
|
for param, asset_type in assets:
|
|
asset_to_download = params_memory.get(param, encoding='utf-8')
|
|
if asset_to_download is not None:
|
|
run_thread_with_lock("download_theme", theme_manager.download_theme, (asset_type, asset_to_download, param))
|
|
|
|
def update_checks(manually_updated, model_manager, now, theme_manager, frogpilot_toggles, boot_run=False):
|
|
while not (is_url_pingable("https://github.com") or is_url_pingable("https://gitlab.com")):
|
|
time.sleep(60)
|
|
|
|
run_thread_with_lock("update_maps", update_maps, (now,))
|
|
run_thread_with_lock("update_models", model_manager.update_models, (boot_run,))
|
|
run_thread_with_lock("update_openpilot", update_openpilot, (manually_updated, frogpilot_toggles,))
|
|
run_thread_with_lock("update_themes", theme_manager.update_themes, (frogpilot_toggles, boot_run,))
|
|
|
|
time.sleep(1)
|
|
|
|
def frogpilot_thread():
|
|
config_realtime_process(5, Priority.CTRL_LOW)
|
|
|
|
error_log = Path(sentry.CRASHES_DIR) / "error.txt"
|
|
if error_log.is_file():
|
|
error_log.unlink()
|
|
|
|
params_storage = Params("/persist/params")
|
|
|
|
frogpilot_planner = FrogPilotPlanner(error_log)
|
|
frogpilot_tracking = FrogPilotTracking()
|
|
frogpilot_variables = FrogPilotVariables()
|
|
model_manager = ModelManager()
|
|
theme_manager = ThemeManager()
|
|
|
|
assets_checked = False
|
|
run_update_checks = False
|
|
started_previously = False
|
|
theme_updated = False
|
|
time_validated = False
|
|
toggles_updated = False
|
|
|
|
frogpilot_toggles = get_frogpilot_toggles()
|
|
|
|
toggles_last_updated = datetime.datetime.now()
|
|
|
|
pm = messaging.PubMaster(['frogpilotPlan'])
|
|
sm = messaging.SubMaster(['carControl', 'carState', 'controlsState', 'deviceState', 'driverMonitoringState',
|
|
'managerState', 'modelV2', 'pandaStates', 'radarState',
|
|
'frogpilotCarControl', 'frogpilotCarState', 'frogpilotNavigation'],
|
|
poll='modelV2', ignore_avg_freq=['radarState'])
|
|
|
|
while True:
|
|
sm.update()
|
|
|
|
now = datetime.datetime.now()
|
|
|
|
started = sm['deviceState'].started
|
|
|
|
if params_memory.get_bool("FrogPilotTogglesUpdated") or theme_updated:
|
|
frogpilot_variables.update(theme_manager.theme_assets["holiday_theme"], started)
|
|
frogpilot_toggles = get_frogpilot_toggles()
|
|
|
|
theme_updated = theme_manager.update_active_theme(time_validated, frogpilot_toggles)
|
|
|
|
if time_validated:
|
|
run_thread_with_lock("backup_toggles", backup_toggles, (params_storage,))
|
|
|
|
toggles_last_updated = now
|
|
toggles_updated = (now - toggles_last_updated).total_seconds() <= 1
|
|
|
|
if not started and started_previously:
|
|
frogpilot_planner = FrogPilotPlanner(error_log)
|
|
frogpilot_tracking = FrogPilotTracking()
|
|
|
|
run_update_checks = True
|
|
|
|
frogpilot_variables.update(theme_manager.theme_assets["holiday_theme"], started)
|
|
frogpilot_toggles = get_frogpilot_toggles()
|
|
|
|
if frogpilot_toggles.lock_doors_timer != 0:
|
|
run_thread_with_lock("lock_doors", lock_doors, (frogpilot_toggles.lock_doors_timer, sm))
|
|
elif started and not started_previously:
|
|
run_thread_with_lock("send_sentry_reports", send_sentry_reports, (frogpilot_toggles, frogpilot_variables, params, frogpilot_tracking.params_tracking))
|
|
|
|
radarless_model = frogpilot_toggles.radarless_model
|
|
|
|
if error_log.is_file():
|
|
error_log.unlink()
|
|
|
|
if started and sm.updated['modelV2']:
|
|
frogpilot_planner.update(sm['carControl'], sm['carState'], sm['controlsState'], sm['frogpilotCarControl'], sm['frogpilotCarState'],
|
|
sm['frogpilotNavigation'], sm['modelV2'], radarless_model, sm['radarState'], frogpilot_toggles)
|
|
frogpilot_planner.publish(sm, pm, toggles_updated)
|
|
|
|
frogpilot_tracking.update(sm['carState'], sm['controlsState'], sm['frogpilotCarControl'])
|
|
elif not started and toggles_updated:
|
|
frogpilot_plan_send = messaging.new_message('frogpilotPlan')
|
|
frogpilot_plan_send.frogpilotPlan.togglesUpdated = toggles_updated
|
|
pm.send('frogpilotPlan', frogpilot_plan_send)
|
|
|
|
started_previously = started
|
|
|
|
if now.second % 2 == 0:
|
|
if not assets_checked:
|
|
assets_checks(model_manager, theme_manager)
|
|
|
|
assets_checked = True
|
|
else:
|
|
assets_checked = False
|
|
|
|
manually_updated = params_memory.get_bool("ManualUpdateInitiated")
|
|
|
|
run_update_checks |= manually_updated
|
|
run_update_checks |= now.second == 0 and (now.minute % 60 == 0 or (now.minute % 5 == 0 and frogpilot_toggles.frogs_go_moo))
|
|
run_update_checks &= time_validated
|
|
|
|
if run_update_checks:
|
|
theme_updated = theme_manager.update_active_theme(time_validated, frogpilot_toggles)
|
|
run_thread_with_lock("update_checks", update_checks, (manually_updated, model_manager, now, theme_manager, frogpilot_toggles))
|
|
|
|
run_update_checks = False
|
|
elif not time_validated:
|
|
time_validated = system_time_valid()
|
|
if not time_validated:
|
|
continue
|
|
|
|
theme_updated = theme_manager.update_active_theme(time_validated, frogpilot_toggles)
|
|
run_thread_with_lock("update_checks", update_checks, (manually_updated, model_manager, now, theme_manager, frogpilot_toggles, True))
|
|
|
|
def main():
|
|
frogpilot_thread()
|
|
|
|
if __name__ == "__main__":
|
|
main()
|