調整appd logic

selfdrive/dragonpilot/appd/appd.py

@@ -34,6 +34,10 @@ def main(gctx=None):
   autonavi_is_running = False
   mixplorer_is_running = False
   allow_auto_boot = True
+  manual_tomtom = False
+  manual_autonavi = False
+  last_started = False
+  started = False
 
   params.put('DragonRunTomTom', '0')
   params.put('DragonRunAutonavi', '0')
@@ -51,53 +55,82 @@ def main(gctx=None):
 
     # allow user to manually start/stop app
     if dragon_enable_tomtom:
-      tomtom_is_running = execApp(params.get('DragonRunTomTom'), tomtom, tomtom_main, 'DragonRunTomTom')
+      status = params.get('DragonRunTomTom')
+      if not status == "0":
+        tomtom_is_running = execApp(status, tomtom, tomtom_main)
+        params.put('DragonRunTomTom', '0')
+        manual_tomtom = status != "0"
 
     if dragon_enable_autonavi:
-      autonavi_is_running = execApp(params.get('DragonRunAutonavi'), autonavi, autonavi_main, 'DragonRunAutonavi')
+      status = params.get('DragonRunAutonavi')
+      if not status == "0":
+        autonavi_is_running = execApp(status, autonavi, autonavi_main)
+        params.put('DragonRunAutonavi', '0')
+        manual_autonavi = status != "0"
 
     if dragon_enable_mixplorer:
-      mixplorer_is_running = execApp(params.get('DragonRunMixplorer'), mixplorer, mixplorer_main, 'DragonRunMixplorer')
+      status = params.get('DragonRunMixplorer')
+      if not status == "0":
+        mixplorer_is_running = execApp(status, mixplorer, mixplorer_main)
+        params.put('DragonRunMixplorer', '0')
 
-    auto_tomtom = dragon_enable_tomtom and dragon_boot_tomtom
-    auto_autonavi = dragon_enable_autonavi and dragon_boot_autonavi
+    # if manual control is set, we do not allow any of the auto actions
+    auto_tomtom = not manual_tomtom and dragon_enable_tomtom and dragon_boot_tomtom
+    auto_autonavi = not manual_autonavi and dragon_enable_autonavi and dragon_boot_autonavi
+
+    started = msg.thermal.started
     # car on
-    if msg.thermal.started:
-      if msg.thermal.thermalStatus < ThermalStatus.yellow and not allow_auto_boot:
+    if started:
+      #
+      # Logic:
+      # if temp reach red, we disable all 3rd party apps.
+      # once the temp drop below yellow, we then re-enable them
+      #
+      # set allow_auto_boot back to True once the thermal status is < yellow
+      if not allow_auto_boot and msg.thermal.thermalStatus < ThermalStatus.yellow:
         allow_auto_boot = True
-      # do not allow tomtom / autonavi when it's hot
       if allow_auto_boot:
+        # only allow auto boot when thermal status is < red
         if msg.thermal.thermalStatus < ThermalStatus.red:
           if auto_tomtom and not tomtom_is_running:
-            tomtom_is_running = execApp('1', tomtom, tomtom_main, 'DragonRunTomTom')
+            tomtom_is_running = execApp('1', tomtom, tomtom_main)
           if auto_autonavi and not autonavi_is_running:
-            autonavi_is_running = execApp('1', autonavi, autonavi_main, 'DragonRunAutonavi')
+            autonavi_is_running = execApp('1', autonavi, autonavi_main)
         else:
+          if auto_tomtom and tomtom_is_running:
+            tomtom_is_running = execApp('-1', tomtom, tomtom_main)
+          if auto_autonavi and autonavi_is_running:
+            autonavi_is_running = execApp('-1', autonavi, autonavi_main)
+          # set allow_auto_boot to False once the thermal status is >= red
           allow_auto_boot = False
 
       # kill mixplorer when car started
       if mixplorer_is_running:
-        mixplorer_is_running = execApp('-1', mixplorer, mixplorer_main, 'DragonRunMixplorer')
+        mixplorer_is_running = execApp('-1', mixplorer, mixplorer_main)
 
     # car off
     else:
       if auto_tomtom and tomtom_is_running:
-        tomtom_is_running = execApp('-1', tomtom, tomtom_main, 'DragonRunTomTom')
+        tomtom_is_running = execApp('-1', tomtom, tomtom_main)
       if auto_autonavi and autonavi_is_running:
-        autonavi_is_running = execApp('-1', autonavi, autonavi_main, 'DragonRunAutonavi')
+        autonavi_is_running = execApp('-1', autonavi, autonavi_main)
 
+    # if car stats changed, we remove manual control state
+    if not last_started == started:
+      manual_tomtom = False
+      manual_autonavi = False
+
+    last_started = started
     # every 3 seconds, we re-check status
     time.sleep(3)
 
-def execApp(status, app, app_main, param):
+def execApp(status, app, app_main):
   if status == "1":
     system("pm enable %s" % app)
     system("am start -n %s/%s" % (app, app_main))
-    params.put(param, '0')
     return True
   if status == "-1":
     system("pm disable %s" % app)
-    params.put(param, '0')
     return False