diff --git a/common/params.py b/common/params.py index f90ccfdca..fa93520ee 100755 --- a/common/params.py +++ b/common/params.py @@ -168,6 +168,7 @@ keys = { "DragonBTG": [TxType.PERSISTENT], "DragonBootHotspot": [TxType.PERSISTENT], "DragonAccelProfile": [TxType.PERSISTENT], + "DragonLastModified": [TxType.PERSISTENT], } diff --git a/selfdrive/car/honda/carcontroller.py b/selfdrive/car/honda/carcontroller.py index 098e1e1a5..f8bf0f749 100644 --- a/selfdrive/car/honda/carcontroller.py +++ b/selfdrive/car/honda/carcontroller.py @@ -9,6 +9,7 @@ from selfdrive.car.honda.values import CruiseButtons, CAR, VISUAL_HUD from opendbc.can.packer import CANPacker from common.params import Params params = Params() +from selfdrive.dragonpilot.dragonconf import dp_get_last_modified VisualAlert = car.CarControl.HUDControl.VisualAlert @@ -96,14 +97,18 @@ class CarController(): self.turning_signal_timer = 0 self.dragon_enable_steering_on_signal = False self.dragon_lat_ctrl = True + self.dp_last_modified = None def update(self, enabled, CS, frame, actuators, \ pcm_speed, pcm_override, pcm_cancel_cmd, pcm_accel, \ hud_v_cruise, hud_show_lanes, hud_show_car, hud_alert): # dragonpilot, don't check for param too often as it's a kernel call if frame % 500 == 0: - self.dragon_enable_steering_on_signal = True if params.get("DragonEnableSteeringOnSignal", encoding='utf8') == "1" else False - self.dragon_lat_ctrl = False if params.get("DragonLatCtrl", encoding='utf8') == "0" else True + modified = dp_get_last_modified() + if self.dp_last_modified != modified: + self.dragon_enable_steering_on_signal = True if params.get("DragonEnableSteeringOnSignal", encoding='utf8') == "1" else False + self.dragon_lat_ctrl = False if params.get("DragonLatCtrl", encoding='utf8') == "0" else True + self.dp_last_modified = modified # *** apply brake hysteresis *** brake, self.braking, self.brake_steady = actuator_hystereses(actuators.brake, self.braking, self.brake_steady, CS.v_ego, CS.CP.carFingerprint) diff --git a/selfdrive/car/honda/interface.py b/selfdrive/car/honda/interface.py index e43050514..e005c6c40 100755 --- a/selfdrive/car/honda/interface.py +++ b/selfdrive/car/honda/interface.py @@ -14,6 +14,7 @@ from selfdrive.controls.lib.planner import _A_CRUISE_MAX_V_FOLLOWING from selfdrive.car.interfaces import CarInterfaceBase from common.params import Params params = Params() +from selfdrive.dragonpilot.dragonconf import dp_get_last_modified A_ACC_MAX = max(_A_CRUISE_MAX_V_FOLLOWING) @@ -105,6 +106,7 @@ class CarInterface(CarInterfaceBase): self.dragon_allow_gas = False self.ts_last_check = 0. self.dragon_lat_ctrl = True + self.dp_last_modified = None @staticmethod def calc_accel_override(a_ego, a_target, v_ego, v_target): @@ -386,10 +388,13 @@ class CarInterface(CarInterfaceBase): def update(self, c, can_strings): # dragonpilot, don't check for param too often as it's a kernel call ts = sec_since_boot() - if ts - self.ts_last_check > 5.: - self.dragon_enable_steering_on_signal = True if params.get("DragonEnableSteeringOnSignal", encoding='utf8') == "1" else True - self.dragon_allow_gas = True if params.get("DragonAllowGas", encoding='utf8') == "1" else False - self.dragon_lat_ctrl = False if params.get("DragonLatCtrl", encoding='utf8') == "0" else True + if ts - self.ts_last_check >= 5.: + modified = dp_get_last_modified() + if self.dp_last_modified != modified: + self.dragon_enable_steering_on_signal = True if params.get("DragonEnableSteeringOnSignal", encoding='utf8') == "1" else True + self.dragon_allow_gas = True if params.get("DragonAllowGas", encoding='utf8') == "1" else False + self.dragon_lat_ctrl = False if params.get("DragonLatCtrl", encoding='utf8') == "0" else True + self.dp_last_modified = modified self.ts_last_check = ts # ******************* do can recv ******************* diff --git a/selfdrive/car/hyundai/carcontroller.py b/selfdrive/car/hyundai/carcontroller.py index 28dc52d94..fc0e49b3d 100644 --- a/selfdrive/car/hyundai/carcontroller.py +++ b/selfdrive/car/hyundai/carcontroller.py @@ -4,7 +4,7 @@ from selfdrive.car.hyundai.values import Buttons, SteerLimitParams from opendbc.can.packer import CANPacker from common.params import Params params = Params() - +from selfdrive.dragonpilot.dragonconf import dp_get_last_modified class CarController(): def __init__(self, dbc_name, car_fingerprint): @@ -20,13 +20,17 @@ class CarController(): self.turning_signal_timer = 0 self.dragon_enable_steering_on_signal = False self.dragon_lat_ctrl = True + self.dp_last_modified = None def update(self, enabled, CS, frame, actuators, pcm_cancel_cmd, hud_alert): # dragonpilot, don't check for param too often as it's a kernel call if frame % 500 == 0: - self.dragon_enable_steering_on_signal = True if params.get("DragonEnableSteeringOnSignal", encoding='utf8') == "1" else False - self.dragon_lat_ctrl = False if params.get("DragonLatCtrl", encoding='utf8') == "0" else True + modified = dp_get_last_modified() + if self.dp_last_modified != modified: + self.dragon_enable_steering_on_signal = True if params.get("DragonEnableSteeringOnSignal", encoding='utf8') == "1" else False + self.dragon_lat_ctrl = False if params.get("DragonLatCtrl", encoding='utf8') == "0" else True + self.dp_last_modified = modified ### Steering Torque new_steer = actuators.steer * SteerLimitParams.STEER_MAX diff --git a/selfdrive/car/hyundai/interface.py b/selfdrive/car/hyundai/interface.py index 9dbcf74d5..5a8e58475 100644 --- a/selfdrive/car/hyundai/interface.py +++ b/selfdrive/car/hyundai/interface.py @@ -10,6 +10,7 @@ from selfdrive.car import STD_CARGO_KG, scale_rot_inertia, scale_tire_stiffness, from selfdrive.car.interfaces import CarInterfaceBase from common.params import Params params = Params() +from selfdrive.dragonpilot.dragonconf import dp_get_last_modified GearShifter = car.CarState.GearShifter ButtonType = car.CarState.ButtonEvent.Type @@ -42,6 +43,7 @@ class CarInterface(CarInterfaceBase): self.dragon_allow_gas = False self.ts_last_check = 0. self.dragon_lat_ctrl = True + self.dp_last_modified = None @staticmethod def compute_gb(accel, speed): @@ -162,10 +164,13 @@ class CarInterface(CarInterfaceBase): def update(self, c, can_strings): # dragonpilot, don't check for param too often as it's a kernel call ts = sec_since_boot() - if ts - self.ts_last_check > 5.: - self.dragon_enable_steering_on_signal = True if params.get("DragonEnableSteeringOnSignal", encoding='utf8') == "1" else True - self.dragon_allow_gas = True if params.get("DragonAllowGas", encoding='utf8') == "1" else False - self.dragon_lat_ctrl = False if params.get("DragonLatCtrl", encoding='utf8') == "0" else True + if ts - self.ts_last_check >= 5.: + modified = dp_get_last_modified() + if self.dp_last_modified != modified: + self.dragon_enable_steering_on_signal = True if params.get("DragonEnableSteeringOnSignal", encoding='utf8') == "1" else True + self.dragon_allow_gas = True if params.get("DragonAllowGas", encoding='utf8') == "1" else False + self.dragon_lat_ctrl = False if params.get("DragonLatCtrl", encoding='utf8') == "0" else True + self.dp_last_modified = modified self.ts_last_check = ts # ******************* do can recv ******************* diff --git a/selfdrive/car/toyota/carcontroller.py b/selfdrive/car/toyota/carcontroller.py index 856feec0e..e65ade1cc 100644 --- a/selfdrive/car/toyota/carcontroller.py +++ b/selfdrive/car/toyota/carcontroller.py @@ -8,6 +8,7 @@ from selfdrive.car.toyota.values import Ecu, CAR, STATIC_MSGS, SteerLimitParams from opendbc.can.packer import CANPacker from common.params import Params params = Params() +from selfdrive.dragonpilot.dragonconf import dp_get_last_modified VisualAlert = car.CarControl.HUDControl.VisualAlert @@ -109,16 +110,20 @@ class CarController(): self.dragon_lat_ctrl = True self.dragon_lane_departure_warning = True self.dragon_toyota_sng_mod = False + self.dp_last_modified = None def update(self, enabled, CS, frame, actuators, pcm_cancel_cmd, hud_alert, left_line, right_line, lead, left_lane_depart, right_lane_depart): # dragonpilot, don't check for param too often as it's a kernel call if frame % 500 == 0: - self.dragon_enable_steering_on_signal = True if params.get("DragonEnableSteeringOnSignal", encoding='utf8') == "1" else False - self.dragon_lat_ctrl = False if params.get("DragonLatCtrl", encoding='utf8') == "0" else True - self.dragon_lane_departure_warning = False if params.get("DragonToyotaLaneDepartureWarning", encoding='utf8') == "0" else True - self.dragon_toyota_sng_mod = True if params.get("DragonToyotaSnGMod", encoding='utf8') == "1" else False + modified = dp_get_last_modified() + if self.dp_last_modified != modified: + self.dragon_enable_steering_on_signal = True if params.get("DragonEnableSteeringOnSignal", encoding='utf8') == "1" else False + self.dragon_lat_ctrl = False if params.get("DragonLatCtrl", encoding='utf8') == "0" else True + self.dragon_lane_departure_warning = False if params.get("DragonToyotaLaneDepartureWarning", encoding='utf8') == "0" else True + self.dragon_toyota_sng_mod = True if params.get("DragonToyotaSnGMod", encoding='utf8') == "1" else False + self.dp_last_modified = modified # *** compute control surfaces *** diff --git a/selfdrive/car/toyota/interface.py b/selfdrive/car/toyota/interface.py index 2b2d65d60..62e60f200 100644 --- a/selfdrive/car/toyota/interface.py +++ b/selfdrive/car/toyota/interface.py @@ -11,6 +11,7 @@ from selfdrive.car.interfaces import CarInterfaceBase from common.realtime import sec_since_boot from common.params import Params params = Params() +from selfdrive.dragonpilot.dragonconf import dp_get_last_modified ButtonType = car.CarState.ButtonEvent.Type GearShifter = car.CarState.GearShifter @@ -41,6 +42,7 @@ class CarInterface(CarInterfaceBase): self.dragon_allow_gas = False self.ts_last_check = 0. self.dragon_lat_ctrl = True + self.dp_last_modified = None @staticmethod def compute_gb(accel, speed): @@ -382,10 +384,13 @@ class CarInterface(CarInterfaceBase): # dragonpilot, don't check for param too often as it's a kernel call ts = sec_since_boot() if ts - self.ts_last_check >= 5.: - self.dragon_enable_steering_on_signal = True if params.get("DragonEnableSteeringOnSignal", encoding='utf8') == "1" else False - self.dragon_allow_gas = True if params.get("DragonAllowGas", encoding='utf8') == "1" else False - self.dragon_toyota_stock_dsu = True if params.get("DragonToyotaStockDSU", encoding='utf8') == "1" else False - self.dragon_lat_ctrl = False if params.get("DragonLatCtrl", encoding='utf8') == "0" else True + modified = dp_get_last_modified() + if self.dp_last_modified != modified: + self.dragon_enable_steering_on_signal = True if params.get("DragonEnableSteeringOnSignal", encoding='utf8') == "1" else False + self.dragon_allow_gas = True if params.get("DragonAllowGas", encoding='utf8') == "1" else False + self.dragon_toyota_stock_dsu = True if params.get("DragonToyotaStockDSU", encoding='utf8') == "1" else False + self.dragon_lat_ctrl = False if params.get("DragonLatCtrl", encoding='utf8') == "0" else True + self.dp_last_modified = modified self.ts_last_check = ts # ******************* do can recv ******************* diff --git a/selfdrive/controls/controlsd.py b/selfdrive/controls/controlsd.py index 6397e08c2..4bef4b8a5 100755 --- a/selfdrive/controls/controlsd.py +++ b/selfdrive/controls/controlsd.py @@ -25,6 +25,7 @@ from selfdrive.controls.lib.alertmanager import AlertManager from selfdrive.controls.lib.vehicle_model import VehicleModel from selfdrive.controls.lib.planner import LON_MPC_STEP from selfdrive.locationd.calibration_helpers import Calibration, Filter +from selfdrive.dragonpilot.dragonconf import dp_get_last_modified LANE_DEPARTURE_THRESHOLD = 0.1 @@ -546,15 +547,19 @@ def controlsd_thread(sm=None, pm=None, can_sock=None): dragon_display_steering_limit_alert = True dragon_stopped_has_lead_count = 0 dragon_lead_car_moving_alert = False + dp_last_modified = None while True: # dragonpilot, don't check for param too often as it's a kernel call ts = sec_since_boot() - if ts - ts_last_check > 5.: - dragon_toyota_stock_dsu = True if params.get("DragonToyotaStockDSU", encoding='utf8') == "1" else False - dragon_lat_control = False if params.get("DragonLatCtrl", encoding='utf8') == "0" else True - dragon_display_steering_limit_alert = False if params.get("DragonDisplaySteeringLimitAlert", encoding='utf8') == "0" else True - dragon_lead_car_moving_alert = True if params.get("DragonEnableLeadCarMovingAlert", encoding='utf8') == "1" else False + if ts - ts_last_check >= 5.: + modified = dp_get_last_modified() + if dp_last_modified != modified: + dragon_toyota_stock_dsu = True if params.get("DragonToyotaStockDSU", encoding='utf8') == "1" else False + dragon_lat_control = False if params.get("DragonLatCtrl", encoding='utf8') == "0" else True + dragon_display_steering_limit_alert = False if params.get("DragonDisplaySteeringLimitAlert", encoding='utf8') == "0" else True + dragon_lead_car_moving_alert = True if params.get("DragonEnableLeadCarMovingAlert", encoding='utf8') == "1" else False + dp_last_modified = modified ts_last_check = ts start_time = sec_since_boot() diff --git a/selfdrive/controls/lib/driver_monitor.py b/selfdrive/controls/lib/driver_monitor.py index ef453243d..3c0a2f50b 100644 --- a/selfdrive/controls/lib/driver_monitor.py +++ b/selfdrive/controls/lib/driver_monitor.py @@ -1,11 +1,12 @@ from common.numpy_fast import interp from math import atan2, sqrt -from common.realtime import DT_DMON +from common.realtime import DT_DMON, sec_since_boot from selfdrive.controls.lib.drive_helpers import create_event, EventTypes as ET from common.filter_simple import FirstOrderFilter from common.stat_live import RunningStatFilter from common.params import Params params = Params() +from selfdrive.dragonpilot.dragonconf import dp_get_last_modified _AWARENESS_TIME = 70. # one minute limit without user touching steering wheels make the car enter a terminal status _AWARENESS_PRE_TIME_TILL_TERMINAL = 15. # a first alert is issued 25s before expiration @@ -114,10 +115,11 @@ class DriverStatus(): self.is_rhd_region_checked = False # dragonpilot - self.awareness_time = float(params.get("DragonSteeringMonitorTimer", encoding='utf8')) - self.awareness_time = 86400 if self.awareness_time <= 0. else self.awareness_time * 60. - self.dragon_enable_driver_safety_check = False if params.get("DragonEnableDriverSafetyCheck", encoding='utf8') == "0" else True - self.dragon_enable_driver_monitoring = False if params.get("DragonEnableDriverMonitoring", encoding='utf8') == "0" else True + self.last_ts = 0 + self.dp_last_modified = None + self.awareness_time = 100 + self.dragon_enable_driver_safety_check = True + self.dragon_enable_driver_monitoring = True self._set_timers(active_monitoring=True) @@ -220,6 +222,20 @@ class DriverStatus(): self.hi_stds = 0 def update(self, events, driver_engaged, ctrl_active, standstill): + cur_time = sec_since_boot() + if cur_time - self.last_ts >= 5.: + modified = dp_get_last_modified() + if self.dp_last_modified != modified: + self.awareness_time = int(params.get("DragonSteeringMonitorTimer", encoding='utf8')) + self.awareness_time = 100 if self.awareness_time <= 0. else self.awareness_time * 60. + + self.dragon_enable_driver_safety_check = False if params.get("DragonEnableDriverSafetyCheck", encoding='utf8') == "0" else True + if self.dragon_enable_driver_safety_check: + self.dragon_enable_driver_monitoring = False if params.get("DragonEnableDriverMonitoring", encoding='utf8') == "0" else True + else: + self.dragon_enable_driver_monitoring = False + self.dp_last_modified = modified + self.last_ts = cur_time if (driver_engaged and self.awareness > 0) or not ctrl_active or not self.dragon_enable_driver_safety_check: # reset only when on disengagement if red reached self.awareness = 1. diff --git a/selfdrive/controls/lib/lane_planner.py b/selfdrive/controls/lib/lane_planner.py index 2bc7b2b21..3e53ec3d0 100644 --- a/selfdrive/controls/lib/lane_planner.py +++ b/selfdrive/controls/lib/lane_planner.py @@ -77,7 +77,7 @@ class LanePlanner(): def update_d_poly(self, v_ego): ts = sec_since_boot() - if ts - self.ts_last_check > 5.: + if ts - self.ts_last_check >= 5.: self.camera_offset = int(params.get("DragonCameraOffset", encoding='utf8')) * 0.01 self.ts_last_check = ts # only offset left and right lane lines; offsetting p_poly does not make sense diff --git a/selfdrive/controls/lib/pathplanner.py b/selfdrive/controls/lib/pathplanner.py index 1f2eea032..9e784c4de 100644 --- a/selfdrive/controls/lib/pathplanner.py +++ b/selfdrive/controls/lib/pathplanner.py @@ -11,6 +11,7 @@ import cereal.messaging as messaging from cereal import log # dragonpilot from common.params import Params +from selfdrive.dragonpilot.dragonconf import dp_get_last_modified LaneChangeState = log.PathPlan.LaneChangeState LaneChangeDirection = log.PathPlan.LaneChangeDirection @@ -72,6 +73,7 @@ class PathPlanner(): self.dragon_auto_lc_min_mph = 60 * CV.MPH_TO_MS self.dragon_auto_lc_delay = 2. self.last_ts = 0. + self.dp_last_modified = None def setup_mpc(self): self.libmpc = libmpc_py.libmpc @@ -92,26 +94,29 @@ class PathPlanner(): def update(self, sm, pm, CP, VM): # dragonpilot cur_time = sec_since_boot() - if cur_time - self.last_ts > 5.: - self.dragon_assisted_lc_enabled = self.lane_change_enabled - if self.dragon_assisted_lc_enabled: - self.dragon_auto_lc_enabled = True if self.params.get("DragonEnableAutoLC", encoding='utf8') == "1" else False - # adjustable assisted lc min speed - self.dragon_assisted_lc_min_mph = int(self.params.get("DragonAssistedLCMinMPH", encoding='utf8')) * CV.MPH_TO_MS - if self.dragon_assisted_lc_min_mph < 0: - self.dragon_assisted_lc_min_mph = 0 - if self.dragon_auto_lc_enabled: - # adjustable auto lc min speed - self.dragon_auto_lc_min_mph = int(self.params.get("DragonAutoLCMinMPH", encoding='utf8')) * CV.MPH_TO_MS - if self.dragon_auto_lc_min_mph < 0: - self.dragon_auto_lc_min_mph = 0 - # when auto lc is smaller than assisted lc, we set assisted lc to the same speed as auto lc - if self.dragon_auto_lc_min_mph < self.dragon_assisted_lc_min_mph: - self.dragon_assisted_lc_min_mph = self.dragon_auto_lc_min_mph - # adjustable auto lc delay - self.dragon_auto_lc_delay = int(self.params.get("DragonAutoLCDelay", encoding='utf8')) - if self.dragon_auto_lc_delay < 0: - self.dragon_auto_lc_delay = 0 + if cur_time - self.last_ts >= 5.: + modified = dp_get_last_modified() + if self.dp_last_modified != modified: + self.dragon_assisted_lc_enabled = self.lane_change_enabled + if self.dragon_assisted_lc_enabled: + self.dragon_auto_lc_enabled = True if self.params.get("DragonEnableAutoLC", encoding='utf8') == "1" else False + # adjustable assisted lc min speed + self.dragon_assisted_lc_min_mph = int(self.params.get("DragonAssistedLCMinMPH", encoding='utf8')) * CV.MPH_TO_MS + if self.dragon_assisted_lc_min_mph < 0: + self.dragon_assisted_lc_min_mph = 0 + if self.dragon_auto_lc_enabled: + # adjustable auto lc min speed + self.dragon_auto_lc_min_mph = int(self.params.get("DragonAutoLCMinMPH", encoding='utf8')) * CV.MPH_TO_MS + if self.dragon_auto_lc_min_mph < 0: + self.dragon_auto_lc_min_mph = 0 + # when auto lc is smaller than assisted lc, we set assisted lc to the same speed as auto lc + if self.dragon_auto_lc_min_mph < self.dragon_assisted_lc_min_mph: + self.dragon_assisted_lc_min_mph = self.dragon_auto_lc_min_mph + # adjustable auto lc delay + self.dragon_auto_lc_delay = int(self.params.get("DragonAutoLCDelay", encoding='utf8')) + if self.dragon_auto_lc_delay < 0: + self.dragon_auto_lc_delay = 0 + self.dp_last_modified = modified self.last_ts = cur_time v_ego = sm['carState'].vEgo diff --git a/selfdrive/controls/lib/planner.py b/selfdrive/controls/lib/planner.py index 1fe641d21..8fd37832c 100755 --- a/selfdrive/controls/lib/planner.py +++ b/selfdrive/controls/lib/planner.py @@ -13,6 +13,7 @@ from selfdrive.controls.lib.speed_smoother import speed_smoother from selfdrive.controls.lib.longcontrol import LongCtrlState, MIN_CAN_SPEED from selfdrive.controls.lib.fcw import FCWChecker from selfdrive.controls.lib.long_mpc import LongitudinalMpc +from selfdrive.dragonpilot.dragonconf import dp_get_last_modified MAX_SPEED = 255.0 @@ -111,6 +112,7 @@ class Planner(): self.dragon_fast_accel = False self.dragon_accel_profile = ACCEL_NORMAL_MODE self.last_ts = 0. + self.dp_last_modified = None def choose_solution(self, v_cruise_setpoint, enabled): if enabled: @@ -147,10 +149,13 @@ class Planner(): # dragonpilot # update variable status every 5 secs if cur_time - self.last_ts >= 5.: - self.dragon_slow_on_curve = False if self.params.get("DragonEnableSlowOnCurve", encoding='utf8') == "0" else True - self.dragon_accel_profile = int(self.params.get("DragonAccelProfile", encoding='utf8')) - if self.dragon_accel_profile >= 2 or self.dragon_accel_profile <= -2: - self.dragon_accel_profile = 0 + modified = dp_get_last_modified() + if self.dp_last_modified != modified: + self.dragon_slow_on_curve = False if self.params.get("DragonEnableSlowOnCurve", encoding='utf8') == "0" else True + self.dragon_accel_profile = int(self.params.get("DragonAccelProfile", encoding='utf8')) + if self.dragon_accel_profile >= 2 or self.dragon_accel_profile <= -2: + self.dragon_accel_profile = 0 + self.dp_last_modified = modified self.last_ts = cur_time long_control_state = sm['controlsState'].longControlState diff --git a/selfdrive/dragonpilot/appd/appd.py b/selfdrive/dragonpilot/appd/appd.py index a6a4e7112..64b2ae152 100644 --- a/selfdrive/dragonpilot/appd/appd.py +++ b/selfdrive/dragonpilot/appd/appd.py @@ -8,6 +8,8 @@ from selfdrive.swaglog import cloudlog from common.realtime import sec_since_boot from common.params import Params, put_nonblocking params = Params() +from selfdrive.dragonpilot.dragonconf import dp_get_last_modified +from math import floor class App(): @@ -72,6 +74,8 @@ class App(): self.set_package_permissions() self.system("pm disable %s" % self.app) + if self.manual_ctrl_param is not None: + put_nonblocking(self.manual_ctrl_param, '0') self.last_ts = sec_since_boot() def read_params(self): @@ -107,6 +111,7 @@ class App(): # app is manually ctrl, we record that if self.manual_ctrl_param is not None and self.manual_ctrl_status == self.MANUAL_ON: put_nonblocking(self.manual_ctrl_param, '0') + put_nonblocking('DragonLastModified', str(floor(time.time()))) self.manually_ctrled = True self.is_running = False @@ -280,6 +285,7 @@ def main(): thermal_status = None start_ts = sec_since_boot() init_done = False + last_modified = None while 1: #has_enabled_apps: if not init_done and sec_since_boot() - start_ts >= 10: @@ -289,10 +295,13 @@ def main(): if init_done: enabled_apps = [] has_fullscreen_apps = False - + modified = dp_get_last_modified() + if last_modified != modified: + print("modified!!!!!") for app in apps: # read params loop - app.read_params() + if last_modified != modified: + app.read_params() if app.last_is_enabled and not app.is_enabled and app.is_running: app.kill(True) @@ -305,7 +314,7 @@ def main(): app.run(True) if app.manual_ctrl_status == App.MANUAL_ON else app.kill(True) enabled_apps.append(app) - + last_modified = modified msg = messaging.recv_sock(thermal_sock, wait=True) started = msg.thermal.started # when car is running diff --git a/selfdrive/dragonpilot/dashcamd/dashcamd.py b/selfdrive/dragonpilot/dashcamd/dashcamd.py index e4b0167f3..78aa49af1 100644 --- a/selfdrive/dragonpilot/dashcamd/dashcamd.py +++ b/selfdrive/dragonpilot/dashcamd/dashcamd.py @@ -29,7 +29,7 @@ def main(gctx=None): thermal_sock = messaging.sub_sock('thermal') while 1: - if params.get("DragonWazeMode", encoding='utf8') == "0" and params.get("DragonEnableDashcam", encoding='utf8') == "1": + if params.get("DragonEnableDashcam", encoding='utf8') == "1": now = datetime.datetime.now() file_name = now.strftime("%Y-%m-%d_%H-%M-%S") os.system("screenrecord --bit-rate %s --time-limit %s %s%s.mp4 &" % (bit_rates, duration, dashcam_videos, file_name)) diff --git a/selfdrive/dragonpilot/dragonconf/__init__.py b/selfdrive/dragonpilot/dragonconf/__init__.py index 89697146c..9437308ba 100644 --- a/selfdrive/dragonpilot/dragonconf/__init__.py +++ b/selfdrive/dragonpilot/dragonconf/__init__.py @@ -1,5 +1,7 @@ #!/usr/bin/env python2.7 from common.params import Params, put_nonblocking +import time +from math import floor default_conf = { 'DragonEnableDashcam': '0', @@ -67,6 +69,7 @@ default_conf = { 'DragonBTG': 0, 'DragonBootHotspot': 0, 'DragonAccelProfile': '0', + 'DragonLastModified': str(floor(time.time())) } deprecated_conf = { @@ -80,18 +83,21 @@ deprecated_conf_invert = { # 'DragonBBUI': False } +def dp_get_last_modified(): + return Params().get('DragonLastModified', encoding='utf-8') + def dragonpilot_set_params(params): - # remove deprecated params - for old, new in deprecated_conf.items(): - if params.get(old) is not None: - if new is not None: - old_val = str(params.get(old)) - new_val = old_val - # invert the value if true - if old in deprecated_conf_invert and deprecated_conf_invert[old] is True: - new_val = "1" if old_val == "0" else "0" - put_nonblocking(new, new_val) - params.delete(old) + # # remove deprecated params + # for old, new in deprecated_conf.items(): + # if params.get(old) is not None: + # if new is not None: + # old_val = str(params.get(old)) + # new_val = old_val + # # invert the value if true + # if old in deprecated_conf_invert and deprecated_conf_invert[old] is True: + # new_val = "1" if old_val == "0" else "0" + # put_nonblocking(new, new_val) + # params.delete(old) # set params for key, val in default_conf.items(): diff --git a/selfdrive/dragonpilot/shutdownd/shutdownd.py b/selfdrive/dragonpilot/shutdownd/shutdownd.py index f6cd8a17d..ab5f9bd95 100644 --- a/selfdrive/dragonpilot/shutdownd/shutdownd.py +++ b/selfdrive/dragonpilot/shutdownd/shutdownd.py @@ -5,6 +5,7 @@ from common.params import Params params = Params() import cereal.messaging as messaging from common.realtime import sec_since_boot +from selfdrive.dragonpilot.dragonconf import dp_get_last_modified def main(): thermal_sock = messaging.sub_sock('thermal') @@ -16,26 +17,30 @@ def main(): usb_online = False enabled = False last_enabled = False + dp_last_modified = None while 1: cur_time = sec_since_boot() if cur_time - last_ts >= 10.: - enabled = True if params.get("DragonEnableAutoShutdown", encoding='utf8') == '1' else False - # reset timer when enabled status has changed - if not last_enabled and enabled: - shutdown_at = cur_time + secs - last_enabled = enabled - - if enabled: - secs = int(params.get("DragonAutoShutdownAt", encoding='utf8')) * 60 - # reset timer when secs num has changed - if last_secs != secs: + modified = dp_get_last_modified() + if dp_last_modified != modified: + enabled = True if params.get("DragonEnableAutoShutdown", encoding='utf8') == '1' else False + # reset timer when enabled status has changed + if not last_enabled and enabled: shutdown_at = cur_time + secs - last_secs = secs + last_enabled = enabled - msg = messaging.recv_sock(thermal_sock, wait=True) - started = msg.thermal.started - with open("/sys/class/power_supply/usb/present") as f: - usb_online = bool(int(f.read())) + if enabled: + secs = int(params.get("DragonAutoShutdownAt", encoding='utf8')) * 60 + # reset timer when secs num has changed + if last_secs != secs: + shutdown_at = cur_time + secs + last_secs = secs + + msg = messaging.recv_sock(thermal_sock, wait=True) + started = msg.thermal.started + with open("/sys/class/power_supply/usb/present") as f: + usb_online = bool(int(f.read())) + dp_last_modified = modified if enabled: if started or usb_online: diff --git a/selfdrive/thermald.py b/selfdrive/thermald.py index 93d7b4d38..652a4c22b 100755 --- a/selfdrive/thermald.py +++ b/selfdrive/thermald.py @@ -24,6 +24,7 @@ FW_SIGNATURE = get_expected_signature() params = Params() import subprocess import re +from selfdrive.dragonpilot.dragonconf import dp_get_last_modified ThermalStatus = log.ThermalData.ThermalStatus NetworkType = log.ThermalData.NetworkType @@ -185,13 +186,14 @@ def thermald_thread(): # dragonpilot ts_last_ip = None - ts_last_update_vars = None + ts_last_update_vars = 0 ts_last_charging_ctrl = None + dp_last_modified = None ip_addr = '255.255.255.255' - dragon_charging_ctrl = True if params.get('DragonChargingCtrl', encoding='utf8') == "1" else False - dragon_charging_max = int(params.get('DragonCharging')) - dragon_discharging_min = int(params.get('DragonDisCharging')) + dragon_charging_ctrl = False + dragon_charging_at = 70 + dragon_discharging_at = 80 while 1: health = messaging.recv_sock(health_sock, wait=True) @@ -241,7 +243,7 @@ def thermald_thread(): # dragonpilot ip Mod # update ip every 10 seconds ts = sec_since_boot() - if ts_last_ip is None or ts - ts_last_ip > 10.: + if ts_last_ip is None or ts - ts_last_ip >= 10.: try: result = subprocess.check_output(["ifconfig", "wlan0"], encoding='utf8') # pylint: disable=unexpected-keyword-arg ip_addr = re.findall(r"inet addr:((\d+\.){3}\d+)", result)[0][0] @@ -412,18 +414,28 @@ def thermald_thread(): # dragonpilot ts = sec_since_boot() # update variable status every 10 secs - if ts_last_update_vars is None or ts - ts_last_update_vars >= 10.: - dragon_charging_ctrl = True if params.get('DragonChargingCtrl', encoding='utf8') == "1" else False - dragon_charging_max = int(params.get('DragonCharging', encoding='utf8')) - dragon_discharging_min = int(params.get('DragonDisCharging', encoding='utf8')) + if ts - ts_last_update_vars >= 10.: + modified = dp_get_last_modified() + if dp_last_modified != modified: + dragon_charging_ctrl = True if params.get('DragonChargingCtrl', encoding='utf8') == "1" else False + if dragon_charging_ctrl: + try: + dragon_charging_at = int(params.get('DragonCharging', encoding='utf8')) + except TypeError: + dragon_charging_at = 70 + try: + dragon_discharging_at = int(params.get('DragonDisCharging', encoding='utf8')) + except TypeError: + dragon_discharging_at = 80 + dp_last_modified = modified ts_last_update_vars = ts # we update charging status once every min if ts_last_charging_ctrl is None or ts - ts_last_charging_ctrl >= 60.: if dragon_charging_ctrl: - if msg.thermal.batteryPercent >= dragon_charging_max: + if msg.thermal.batteryPercent >= dragon_charging_at: os.system('echo "0" > /sys/class/power_supply/battery/charging_enabled') - if msg.thermal.batteryPercent <= dragon_discharging_min: + if msg.thermal.batteryPercent <= dragon_discharging_at: os.system('echo "1" > /sys/class/power_supply/battery/charging_enabled') else: os.system('echo "1" > /sys/class/power_supply/battery/charging_enabled') diff --git a/selfdrive/ui/ui.cc b/selfdrive/ui/ui.cc index 2a7fccd1f..4a232385a 100644 --- a/selfdrive/ui/ui.cc +++ b/selfdrive/ui/ui.cc @@ -238,21 +238,21 @@ static void ui_init_vision(UIState *s, const VisionStreamBufs back_bufs, s->limit_set_speed_timeout = UI_FREQ; // dragonpilot, 1hz - s->dragon_ui_speed_timeout = UI_FREQ * 3.1; - s->dragon_ui_event_timeout = UI_FREQ * 3.2; - s->dragon_ui_maxspeed_timeout = UI_FREQ * 3.3; - s->dragon_ui_face_timeout = UI_FREQ * 3.4; - s->dragon_ui_dev_timeout = UI_FREQ * 3.5; - s->dragon_ui_dev_mini_timeout = UI_FREQ * 3.6; - s->dragon_enable_dashcam_timeout = UI_FREQ * 3.7; - s->dragon_ui_volume_boost_timeout = UI_FREQ * 3.8; - s->dragon_driving_ui_timeout = UI_FREQ * 3.9; - s->dragon_ui_lane_timeout = UI_FREQ * 4.0; - s->dragon_ui_lead_timeout = UI_FREQ * 4.1; - s->dragon_ui_path_timeout = UI_FREQ * 4.2; - s->dragon_ui_blinker_timeout = UI_FREQ * 4.3; - s->dragon_waze_mode_timeout = UI_FREQ * 4.4; - s->dragon_ui_dm_view_timeout = UI_FREQ * 4.5; + s->dragon_ui_speed_timeout = UI_FREQ * 5.1; + s->dragon_ui_event_timeout = UI_FREQ * 5.2; + s->dragon_ui_maxspeed_timeout = UI_FREQ * 5.3; + s->dragon_ui_face_timeout = UI_FREQ * 5.4; + s->dragon_ui_dev_timeout = UI_FREQ * 5.5; + s->dragon_ui_dev_mini_timeout = UI_FREQ * 5.6; + s->dragon_enable_dashcam_timeout = UI_FREQ * 5.7; + s->dragon_ui_volume_boost_timeout = UI_FREQ * 5.8; + s->dragon_driving_ui_timeout = UI_FREQ * 5.9; + s->dragon_ui_lane_timeout = UI_FREQ * 6.0; + s->dragon_ui_lead_timeout = UI_FREQ * 6.1; + s->dragon_ui_path_timeout = UI_FREQ * 6.2; + s->dragon_ui_blinker_timeout = UI_FREQ * 6.3; + s->dragon_waze_mode_timeout = UI_FREQ * 6.4; + s->dragon_ui_dm_view_timeout = UI_FREQ * 6.5; } static PathData read_path(cereal_ModelData_PathData_ptr pathp) {