mirror of
https://github.com/firestar5683/StarPilot.git
synced 2026-09-01 05:33:49 +08:00
FrogAi
80 lines
2.6 KiB
Python
80 lines
2.6 KiB
Python
import datetime
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import http.client
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import socket
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import urllib.error
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import urllib.request
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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 FrogPilotFunctions
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from openpilot.selfdrive.frogpilot.controls.lib.frogpilot_variables import FrogPilotVariables
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WIFI = log.DeviceState.NetworkType.wifi
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def github_pinged(url="https://github.com", timeout=5):
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try:
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urllib.request.urlopen(url, timeout=timeout)
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return True
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except (urllib.error.URLError, socket.timeout, http.client.RemoteDisconnected):
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return False
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def time_checks(deviceState, now, params, params_memory):
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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(frogpilot_toggles):
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config_realtime_process(5, Priority.CTRL_LOW)
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params = Params()
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params_memory = Params("/dev/shm/params")
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frogpilot_functions = FrogPilotFunctions()
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frogpilot_planner = FrogPilotPlanner()
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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', 'frogpilotCarState', 'frogpilotNavigation',
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'frogpilotPlan', 'longitudinalPlan', '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 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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FrogPilotVariables.update_frogpilot_params(started)
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update_toggles = False
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if now.second == 0 or not time_validated:
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if not started:
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if github_pinged():
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time_checks(deviceState, now, params, params_memory)
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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(FrogPilotVariables.toggles)
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if __name__ == "__main__":
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main()
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