mirror of
https://github.com/firestar5683/StarPilot.git
synced 2026-09-01 05:33:49 +08:00
FrogAi
99 lines
3.1 KiB
Python
99 lines
3.1 KiB
Python
import datetime
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import threading
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from cereal import log, messaging
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from openpilot.common.params import Params
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from openpilot.common.realtime import Priority, config_realtime_process
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from openpilot.common.time import system_time_valid
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from openpilot.selfdrive.frogpilot.controls.frogpilot_planner import FrogPilotPlanner
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from openpilot.selfdrive.frogpilot.controls.lib.frogpilot_functions import is_url_pingable
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from openpilot.selfdrive.frogpilot.controls.lib.frogpilot_variables import FrogPilotVariables
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OFFLINE = log.DeviceState.NetworkType.none
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locks = {
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"time_checks": threading.Lock(),
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"update_frogpilot_params": threading.Lock(),
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}
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running_threads = {}
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def run_thread_with_lock(name, lock, target, args):
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if name not in running_threads or not running_threads[name].is_alive():
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with lock:
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thread = threading.Thread(target=target, args=args)
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thread.start()
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running_threads[name] = thread
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def time_checks(deviceState, now, started, params, params_memory):
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if deviceState.networkType == OFFLINE:
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return
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if not is_url_pingable("https://github.com"):
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return
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screen_off = deviceState.screenBrightnessPercent == 0
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wifi_connection = deviceState.networkType == WIFI
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def frogpilot_thread():
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config_realtime_process(5, Priority.CTRL_LOW)
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frogpilot_toggles = FrogPilotVariables.toggles
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params = Params()
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params_memory = Params("/dev/shm/params")
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frogpilot_planner = FrogPilotPlanner()
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run_time_checks = False
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started_previously = False
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time_validated = system_time_valid()
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update_toggles = False
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pm = messaging.PubMaster(['frogpilotPlan'])
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sm = messaging.SubMaster(['carState', 'controlsState', 'deviceState', 'frogpilotCarControl',
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'frogpilotCarState', 'frogpilotNavigation', 'modelV2', 'radarState'],
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poll='modelV2', ignore_avg_freq=['radarState'])
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while True:
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sm.update()
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now = datetime.datetime.now()
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deviceState = sm['deviceState']
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started = deviceState.started
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if not started and started_previously:
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frogpilot_planner = FrogPilotPlanner()
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if started and sm.updated['modelV2']:
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frogpilot_planner.update(sm['carState'], sm['controlsState'], sm['frogpilotCarControl'], sm['frogpilotCarState'],
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sm['frogpilotNavigation'], sm['modelV2'], sm['radarState'], frogpilot_toggles)
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frogpilot_planner.publish(sm, pm, frogpilot_toggles)
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if FrogPilotVariables.toggles_updated:
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update_toggles = True
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elif update_toggles:
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run_thread_with_lock("update_frogpilot_params", locks["update_frogpilot_params"], FrogPilotVariables.update_frogpilot_params, (started,))
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update_toggles = False
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started_previously = started
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if now.second == 0:
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run_time_checks = True
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elif run_time_checks or not time_validated:
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run_thread_with_lock("time_checks", locks["time_checks"], time_checks, (deviceState, now, started, params, params_memory))
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run_time_checks = False
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if not time_validated:
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time_validated = system_time_valid()
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if not time_validated:
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continue
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def main():
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frogpilot_thread()
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if __name__ == "__main__":
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main()
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