將 dragonconf 移至系統的 params, 方便將來移植到 APK

common/params.py

@@ -76,6 +76,12 @@ keys = {
   "SubscriberInfo": [TxType.PERSISTENT],
   "TrainingVersion": [TxType.PERSISTENT],
   "Version": [TxType.PERSISTENT],
+  #dragonpilot config
+  "d_enableDashcam": [TxType.PERSISTENT],
+  "d_enableDriverMonitor": [TxType.PERSISTENT],
+  "d_autoShutdownAt": [TxType.PERSISTENT],
+  "d_tempDisableSteerOnSignal": [TxType.PERSISTENT],
+  "d_allowGasOnOP": [TxType.PERSISTENT],
 }
 
 

selfdrive/car/honda/carcontroller.py

@@ -6,8 +6,8 @@ from selfdrive.car import create_gas_command
 from selfdrive.car.honda import hondacan
 from selfdrive.car.honda.values import AH, CruiseButtons, CAR
 from selfdrive.can.packer import CANPacker
-from selfdrive.dragonpilot.dragonconf.dragonconf import dragonconf
-dragonconf = dragonconf()
+from common.params import Params
+params = Params()
 
 def actuator_hystereses(brake, braking, brake_steady, v_ego, car_fingerprint):
   # hyst params
@@ -148,8 +148,8 @@ class CarController(object):
     # Send CAN commands.
     can_sends = []
 
-    if (CS.left_blinker_on or CS.right_blinker_on) and dragonconf.conf["tempDisableSteerOnSignal"]:
-      apply_steer = 0.
+    if (CS.left_blinker_on or CS.right_blinker_on) and params.get("d_tempDisableSteerOnSignal") == "1":
+      apply_steer = 0
     # Send steering command.
     idx = frame % 4
     can_sends.append(hondacan.create_steering_control(self.packer, apply_steer,
@@ -168,9 +168,9 @@ class CarController(object):
         can_sends.append(hondacan.spam_buttons_command(self.packer, CruiseButtons.RES_ACCEL, idx))
 
     else:
-      if CS.car_gas > 0 and dragonconf.conf["allowGasOnOP"]:
+      if CS.car_gas > 0 and params.get("d_allowGasOnOP") == "1":
         apply_brake = 0
-        apply_gas = 0.
+        apply_gas = 0
       # Send gas and brake commands.
       if (frame % 2) == 0:
         idx = frame // 2

selfdrive/car/honda/interface.py

@@ -11,8 +11,8 @@ from selfdrive.controls.lib.vehicle_model import VehicleModel
 from selfdrive.car.honda.carstate import CarState, get_can_parser, get_cam_can_parser
 from selfdrive.car.honda.values import CruiseButtons, CAR, HONDA_BOSCH, AUDIO_HUD, VISUAL_HUD
 from selfdrive.controls.lib.planner import _A_CRUISE_MAX_V_FOLLOWING
-from selfdrive.dragonpilot.dragonconf.dragonconf import dragonconf
-dragonconf = dragonconf()
+from common.params import Params
+params = Params()
 
 # msgs sent for steering controller by camera module on can 0.
 # those messages are mutually exclusive on CRV and non-CRV cars
@@ -540,13 +540,13 @@ class CarInterface(object):
       events.append(create_event('speedTooLow', [ET.NO_ENTRY]))
 
     # disable on pedals rising edge or when brake is pressed and speed isn't zero
-    if ret.gasPressed and not self.gas_pressed_prev and not dragonconf.conf["allowGasOnOP"]:
+    if ret.gasPressed and not self.gas_pressed_prev and params.get("d_allowGasOnOP") == "0":
       events.append(create_event('pedalPressed', [ET.NO_ENTRY, ET.USER_DISABLE]))
 
     if ret.brakePressed and (not self.brake_pressed_prev or ret.vEgo > 0.001):
       events.append(create_event('pedalPressed', [ET.NO_ENTRY, ET.USER_DISABLE]))
 
-    if ret.gasPressed and not dragonconf.conf["allowGasOnOP"]:
+    if ret.gasPressed and params.get("d_allowGasOnOP") == "0":
       events.append(create_event('pedalPressed', [ET.PRE_ENABLE]))
 
     # it can happen that car cruise disables while comma system is enabled: need to

selfdrive/car/toyota/carcontroller.py

@@ -8,8 +8,8 @@ from selfdrive.car.toyota.toyotacan import make_can_msg, create_video_target,\
                                            create_fcw_command
 from selfdrive.car.toyota.values import ECU, STATIC_MSGS, TSSP2_CAR
 from selfdrive.can.packer import CANPacker
-from selfdrive.dragonpilot.dragonconf.dragonconf import dragonconf
-dragonconf = dragonconf()
+from common.params import Params
+params = Params()
 
 
 VisualAlert = car.CarControl.HUDControl.VisualAlert
@@ -200,8 +200,9 @@ class CarController(object):
 
     can_sends = []
 
-    if (CS.left_blinker_on or CS.right_blinker_on) and dragonconf.conf["tempDisableSteerOnSignal"]:
-      apply_steer = 0.
+    if (CS.left_blinker_on or CS.right_blinker_on) and params.get("d_tempDisableSteerOnSignal") == "1":
+      apply_steer = 0
+      apply_steer_req = 0
     #*** control msgs ***
     #print("steer {0} {1} {2} {3}".format(apply_steer, min_lim, max_lim, CS.steer_torque_motor)
 
@@ -220,7 +221,7 @@ class CarController(object):
     elif ECU.APGS in self.fake_ecus:
       can_sends.append(create_ipas_steer_command(self.packer, 0, 0, True))
 
-    if CS.gas_pressed and dragonconf.conf["allowGasOnOP"]:
+    if CS.gas_pressed and params.get("d_allowGasOnOP") == "1":
       apply_accel = 0
       apply_gas = 0
     # accel cmd comes from DSU, but we can spam can to cancel the system even if we are using lat only control

selfdrive/car/toyota/interface.py

@@ -7,9 +7,8 @@ from selfdrive.controls.lib.vehicle_model import VehicleModel
 from selfdrive.car.toyota.carstate import CarState, get_can_parser, get_cam_can_parser
 from selfdrive.car.toyota.values import ECU, check_ecu_msgs, CAR, NO_STOP_TIMER_CAR
 from selfdrive.swaglog import cloudlog
-from selfdrive.dragonpilot.dragonconf.dragonconf import dragonconf
-dragonconf = dragonconf()
-
+from common.params import Params
+params = Params()
 
 class CarInterface(object):
   def __init__(self, CP, CarController):
@@ -375,7 +374,7 @@ class CarInterface(object):
         # while in standstill, send a user alert
         events.append(create_event('manualRestart', [ET.WARNING]))
 
-    if ret.gasPressed and not self.gas_pressed_prev and not dragonconf.conf["allowGasOnOP"]:
+    if ret.gasPressed and not self.gas_pressed_prev and params.get("d_allowGasOnOP") == "0":
       events.append(create_event('pedalPressed', [ET.NO_ENTRY, ET.USER_DISABLE]))
 
     if ret.brakePressed and (not self.brake_pressed_prev or ret.vEgo > 0.001):
@@ -386,7 +385,7 @@ class CarInterface(object):
        (ret.brakePressed and (not self.brake_pressed_prev or ret.vEgo > 0.001)):
       events.append(create_event('pedalPressed', [ET.NO_ENTRY, ET.USER_DISABLE]))
 
-    if ret.gasPressed and not dragonconf.conf["allowGasOnOP"]:
+    if ret.gasPressed and params.get("d_allowGasOnOP") == "0":
       events.append(create_event('pedalPressed', [ET.PRE_ENABLE]))
 
     ret.events = events

selfdrive/controls/lib/driver_monitor.py

@@ -2,8 +2,8 @@ import numpy as np
 from common.realtime import sec_since_boot
 from selfdrive.controls.lib.drive_helpers import create_event, EventTypes as ET
 from common.filter_simple import FirstOrderFilter
-from selfdrive.dragonpilot.dragonconf.dragonconf import dragonconf
-dragonconf = dragonconf()
+from common.params import Params
+params = Params()
 
 _DT = 0.01                  # update runs at 100Hz
 _DTM = 0.1                   # DM runs at 10Hz
@@ -147,7 +147,7 @@ class DriverStatus():
        not (standstill and self.awareness - self.step_change <= self.threshold_prompt):
       self.awareness = max(self.awareness - self.step_change, -0.1)
 
-    if dragonconf.conf["enableDriverMonitor"]:
+    if params.get("d_enableDriverMonitor") == "1":
       alert = None
       if self.awareness <= 0.:
         # terminal red alert: disengagement required

selfdrive/dragonpilot/dashcamd/dashcamd.py

@@ -13,8 +13,8 @@ import datetime
 import zmq
 import selfdrive.messaging as messaging
 from selfdrive.services import service_list
-from selfdrive.dragonpilot.dragonconf.dragonconf import dragonconf
-dragonconf = dragonconf()
+from common.params import Params
+params = Params()
 
 dashcam_videos = '/sdcard/dashcam/'
 duration = 60 # max is 180
@@ -31,7 +31,7 @@ def main(gctx=None):
   thermal_sock = messaging.sub_sock(context, service_list['thermal'].port)
 
   while 1:
-    if dragonconf.conf["enableDashcam"]:
+    if params.get("d_enableDashcam") == "1":
       # get health of board, log this in "thermal"
       msg = messaging.recv_sock(thermal_sock, wait=True)
 

selfdrive/dragonpilot/dragonconf/__init__.py

@@ -0,0 +1,50 @@
+#!/usr/bin/env python2.7
+import os
+import json
+
+file = '/data/dragonpilot.json'
+
+
+default_conf = {
+  'd_enableDashcam': '1',
+  'd_enableDriverMonitor': '1',
+  'd_autoShutdownAt': '1800', # shutdown after 30 mins
+  'd_tempDisableSteerOnSignal': '0',
+  'd_allowGasOnOP': '0',
+}
+
+def write_json_config(config):
+  with open(file, 'w') as f:
+    json.dump(config, f, indent=2, sort_keys=True)
+  os.chmod(file, 0644)
+
+def dragonpilot_set_params(params):
+  # create new json file
+  if not os.path.isfile(file):
+    write_json_config(default_conf)
+    config = default_conf
+  else:
+    # load from json
+    with open(file, 'r') as f:
+      config = json.load(f)
+
+    json_update_needed = False
+    # add new keys
+    for key, val in default_conf.items():
+      if key not in config:
+        json_update_needed = True
+        config[key] = val
+
+    # remove invalid keys
+    for key, val in config.items():
+      if key not in default_conf:
+        json_update_needed = True
+        config.pop(key, None)
+
+    # write to json if it's been updated
+    if json_update_needed:
+      write_json_config(config)
+
+  # set params
+  for key, val in config.items():
+    params.put(key, str(val))

selfdrive/dragonpilot/dragonconf/dragonconf.py

@@ -1,67 +0,0 @@
-#!/usr/bin/env python2.7
-import os
-import json
-
-file = '/data/dragonpilot.json'
-
-class dragonconf():
-
-  def __init__(self):
-    self.conf = self.read()
-
-  def read(self):
-    has_new_def = False
-    config = {}
-    if not os.path.isfile(file):
-      self.write(config)
-
-    with open(file, 'r') as f:
-      config = json.load(f)
-
-    # add config here
-
-    # Dashcam, default Enable
-    if "enableDashCam" not in config:
-      config["enableDashCam"] = True
-      has_new_def = True
-    if has_new_def:
-      self.write(config)
-
-    # Driver Monitor, default Enable
-    if "enableDriverMonitor" not in config:
-      config["enableDriverMonitor"] = True
-      has_new_def = True
-    if has_new_def:
-      self.write(config)
-
-    # Auto shutdown, default 0 (disable)
-    if "autoShutdownAt" not in config:
-      config["autoShutdownAt"] = 0
-      has_new_def = True
-    if has_new_def:
-      self.write(config)
-
-    # Temporary disable OP lat control when on turning singal, default False
-    if "tempDisableSteerOnSignal" not in config:
-      config["tempDisableSteerOnSignal"] = False
-      has_new_def = True
-    if has_new_def:
-      self.write(config)
-
-    # Allow Gas with OP, default False
-    if "allowGasOnOP" not in config:
-      config["allowGasOnOP"] = False
-      has_new_def = True
-    if has_new_def:
-      self.write(config)
-
-
-    return config
-
-  def write(self, config):
-    with open(file, 'w') as f:
-      json.dump(config, f, indent=2, sort_keys=True)
-      os.chmod(file, 0644)
-
-if __name__ == "__main__":
-  dragonconf = dragonconf()

selfdrive/dragonpilot/shutdownd/shutdownd.py

@@ -2,12 +2,13 @@
 
 import os
 import time
-from selfdrive.dragonpilot.dragonconf.dragonconf import dragonconf
-dragonconf = dragonconf()
+from common.params import Params
+params = Params()
 
 def main(gctx=None):
 
   shutdown_count = 0
+  autoShutdownAt = get_shutdown_val()
 
   while 1:
     with open("/sys/class/power_supply/usb/present") as f:
@@ -18,10 +19,21 @@ def main(gctx=None):
     else:
       shutdown_count = 0
 
-    if shutdown_count >= dragonconf.conf["autoShutdownAt"] > 0:
-      os.system('LD_LIBRARY_PATH="" svc power shutdown')
+    if autoShutdownAt is None:
+      autoShutdownAt = get_shutdown_val()
+    else:
+      if shutdown_count >= autoShutdownAt > 0:
+        os.system('LD_LIBRARY_PATH="" svc power shutdown')
 
     time.sleep(1)
 
+def get_shutdown_val():
+  val = params.get("d_autoShutdownAt")
+  if val is None:
+    return None
+  else:
+    return int(val)
+
+
 if __name__ == "__main__":
   main()

selfdrive/manager.py

@@ -10,6 +10,8 @@ from common.basedir import BASEDIR
 sys.path.append(os.path.join(BASEDIR, "pyextra"))
 os.environ['BASEDIR'] = BASEDIR
 
+from selfdrive.dragonpilot.dragonconf import dragonpilot_set_params
+
 def unblock_stdout():
   # get a non-blocking stdout
   child_pid, child_pty = os.forkpty()
@@ -498,6 +500,8 @@ def main():
   if params.get("LimitSetSpeed") is None:
     params.put("LimitSetSpeed", "0")
 
+  dragonpilot_set_params(params)
+
   # is this chffrplus?
   if os.getenv("PASSIVE") is not None:
     params.put("Passive", str(int(os.getenv("PASSIVE"))))