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WMI model, fix AngleControl, CornerRadar and ETC. (#246)

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This commit is contained in:
carrot
2026-01-28 07:47:02 +09:00
committed by GitHub
parent 320197a59f
commit 665c5541be
64 changed files with 2820 additions and 2721 deletions
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system/manager/manager.py
+33 -199
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@@ -8,7 +8,7 @@ import traceback
from cereal import log
import cereal.messaging as messaging
import openpilot.system.sentry as sentry
from openpilot.common.params import Params, ParamKeyType
from openpilot.common.params import Params, ParamKeyFlag
from openpilot.common.text_window import TextWindow
from openpilot.system.hardware import HARDWARE
from openpilot.system.manager.helpers import unblock_stdout, write_onroad_params, save_bootlog
@@ -19,192 +19,19 @@ from openpilot.common.swaglog import cloudlog, add_file_handler
from openpilot.system.version import get_build_metadata, terms_version, training_version
from openpilot.system.hardware.hw import Paths
def get_default_params():
default_params : list[tuple[str, str | bytes]] = [
# kans
("LongPitch", "1"),
("EVTable", "1"),
("CompletedTrainingVersion", "0"),
("DisengageOnAccelerator", "0"),
("GsmMetered", "1"),
("HasAcceptedTerms", "0"),
("LanguageSetting", "main_en"),
("OpenpilotEnabledToggle", "1"),
("LongitudinalPersonality", str(log.LongitudinalPersonality.standard)),
("IsMetric", "1"),
("RecordAudio", "1"),
("SearchInput", "0"),
("GMapKey", "0"),
("MapboxStyle", "0"),
("LongitudinalPersonalityMax", "3"),
("ShowDebugUI", "0"),
("ShowTpms", "1"),
("ShowDateTime", "1"),
("ShowPathEnd", "1"),
("ShowCustomBrightness", "100"),
("ShowLaneInfo", "1"),
("ShowRadarInfo", "1"),
("ShowDeviceState", "1"),
("ShowRouteInfo", "1"),
("ShowPathMode", "9"),
("ShowPathColor", "13"),
("ShowPathColorCruiseOff", "19"),
("ShowPathModeLane", "14"),
("ShowPathColorLane", "13"),
("ShowPlotMode", "0"),
("AutoCruiseControl", "0"),
("CruiseEcoControl", "2"),
("CarrotCruiseDecel", "-1"),
("CarrotCruiseAtcDecel", "-1"),
("CommaLongAcc", "0"),
("AutoGasTokSpeed", "0"),
("AutoGasSyncSpeed", "1"),
("AutoEngage", "0"),
("DisableMinSteerSpeed", "0"),
("SoftHoldMode", "0"),
("AutoSpeedUptoRoadSpeedLimit", "0"),
("AutoRoadSpeedAdjust", "50"),
("AutoCurveSpeedLowerLimit", "30"),
("AutoCurveSpeedFactor", "120"),
("AutoCurveSpeedAggressiveness", "100"),
("AutoTurnControl", "0"),
("AutoTurnControlSpeedTurn", "20"),
("AutoTurnControlTurnEnd", "6"),
("AutoTurnMapChange", "0"),
("AutoNaviSpeedCtrlEnd", "7"),
("AutoNaviSpeedCtrlMode", "2"),
("AutoNaviSpeedBumpTime", "1"),
("AutoNaviSpeedBumpSpeed", "35"),
("AutoNaviSpeedSafetyFactor", "105"),
("AutoNaviSpeedDecelRate", "120"),
("AutoRoadSpeedLimitOffset", "-1"),
("AutoNaviCountDownMode", "2"),
("TurnSpeedControlMode", "1"),
("CarrotSmartSpeedControl", "0"),
("MapTurnSpeedFactor", "90"),
("ModelTurnSpeedFactor", "0"),
("StoppingAccel", "0"),
("StopDistanceCarrot", "550"),
("JLeadFactor3", "0"),
("CruiseButtonMode", "0"),
("CancelButtonMode", "0"),
("LfaButtonMode", "0"),
("CruiseButtonTest1", "8"),
("CruiseButtonTest2", "30"),
("CruiseButtonTest3", "1"),
("CruiseSpeedUnit", "10"),
("CruiseSpeedUnitBasic", "1"),
("CruiseSpeed1", "30"),
("CruiseSpeed2", "50"),
("CruiseSpeed3", "80"),
("CruiseSpeed4", "110"),
("CruiseSpeed5", "130"),
("PaddleMode", "0"),
("MyDrivingMode", "3"),
("MyDrivingModeAuto", "0"),
("TrafficLightDetectMode", "2"),
("CruiseMaxVals0", "160"),
("CruiseMaxVals1", "200"),
("CruiseMaxVals2", "160"),
("CruiseMaxVals3", "130"),
("CruiseMaxVals4", "110"),
("CruiseMaxVals5", "95"),
("CruiseMaxVals6", "80"),
("LongTuningKpV", "100"),
("LongTuningKiV", "0"),
("LongTuningKf", "100"),
("LongActuatorDelay", "20"),
("VEgoStopping", "50"),
("RadarReactionFactor", "100"),
("EnableRadarTracks", "0"),
("RadarLatFactor", "0"),
("EnableCornerRadar", "0"),
("HyundaiCameraSCC", "0"),
("IsLdwsCar", "0"),
("CanfdHDA2", "0"),
("CanfdDebug", "0"),
("SoundVolumeAdjust", "100"),
("SoundVolumeAdjustEngage", "10"),
("TFollowGap1", "110"),
("TFollowGap2", "120"),
("TFollowGap3", "140"),
("TFollowGap4", "160"),
("DynamicTFollow", "0"),
("AChangeCostStarting", "10"),
("TrafficStopDistanceAdjust", "400"),
("DynamicTFollowLC", "100"),
("HapticFeedbackWhenSpeedCamera", "0"),
("UseLaneLineSpeed", "0"),
("PathOffset", "0"),
("UseLaneLineCurveSpeed", "0"),
("AdjustLaneOffset", "0"),
("LaneChangeNeedTorque", "0"),
("LaneChangeDelay", "0"),
("LaneChangeBsd", "0"),
("MaxAngleFrames", "89"),
("LateralTorqueCustom", "0"),
("LateralTorqueAccelFactor", "2500"),
("LateralTorqueFriction", "100"),
("LateralTorqueKpV", "100"),
("LateralTorqueKiV", "10"),
("LateralTorqueKf", "100"),
("LateralTorqueKd", "0"),
("LatMpcPathCost", "200"),
("LatMpcMotionCost", "7"),
("LatMpcAccelCost", "120"),
("LatMpcJerkCost", "4"),
("LatMpcSteeringRateCost", "7"),
("LatMpcInputOffset", "4"),
("CustomSteerMax", "0"),
("CustomSteerDeltaUp", "0"),
("CustomSteerDeltaDown", "0"),
("CustomSteerDeltaUpLC", "0"),
("CustomSteerDeltaDownLC", "0"),
("SpeedFromPCM", "2"),
("SteerActuatorDelay", "0"),
("LatSmoothSec", "13"),
("MaxTimeOffroadMin", "60"),
("DisableDM", "0"),
("EnableConnect", "0"),
("MuteDoor", "0"),
("MuteSeatbelt", "0"),
("RecordRoadCam", "0"),
("HDPuse", "0"),
("CruiseOnDist", "400"),
("HotspotOnBoot", "0"),
("SoftwareMenu", "1"),
("CustomSR", "0"),
("SteerRatioRate", "100"),
("NNFF", "0"),
("NNFFLite", "0"),
("ShareData", "0"),
]
return default_params
def set_default_params():
params = Params()
default_params = get_default_params()
try:
default_params.remove(("GMapKey", "0"))
default_params.remove(("CompletedTrainingVersion", "0"))
default_params.remove(("LanguageSetting", "main_en"))
default_params.remove(("GsmMetered", "1"))
except ValueError:
pass
for k, v in default_params:
params.put(k, v)
print(f"SetToDefault[{k}]={v}")
for k in params.all_keys():
default_value = params.get_default_value(k)
if default_value is not None:
params.put(k, default_value)
print(f"SetToDefault[{k}]={default_value}")
def get_default_params_key():
default_params = get_default_params()
all_keys = [key for key, _ in default_params]
return all_keys
return Params().all_keys()
#default_params = get_default_params()
#all_keys = [key for key, _ in default_params]
#return all_keys
def manager_init() -> None:
save_bootlog()
@@ -212,21 +39,21 @@ def manager_init() -> None:
build_metadata = get_build_metadata()
params = Params()
params.clear_all(ParamKeyType.CLEAR_ON_MANAGER_START)
params.clear_all(ParamKeyType.CLEAR_ON_ONROAD_TRANSITION)
params.clear_all(ParamKeyType.CLEAR_ON_OFFROAD_TRANSITION)
params.clear_all(ParamKeyFlag.CLEAR_ON_MANAGER_START)
params.clear_all(ParamKeyFlag.CLEAR_ON_ONROAD_TRANSITION)
params.clear_all(ParamKeyFlag.CLEAR_ON_OFFROAD_TRANSITION)
params.clear_all(ParamKeyFlag.CLEAR_ON_IGNITION_ON)
if build_metadata.release_channel:
params.clear_all(ParamKeyType.DEVELOPMENT_ONLY)
default_params = get_default_params()
params.clear_all(ParamKeyFlag.DEVELOPMENT_ONLY)
if params.get_bool("RecordFrontLock"):
params.put_bool("RecordFront", True)
# set unset params
for k, v in default_params:
if params.get(k) is None:
params.put(k, v)
# set unset params to their default value
for k in params.all_keys():
default_value = params.get_default_value(k)
if default_value is not None and params.get(k) is None:
params.put(k, default_value)
# Create folders needed for msgq
try:
@@ -298,25 +125,27 @@ def manager_thread() -> None:
params = Params()
ignore: list[str] = []
if params.get("DongleId", encoding='utf8') in (None, UNREGISTERED_DONGLE_ID):
if params.get("DongleId") in (None, UNREGISTERED_DONGLE_ID):
ignore += ["manage_athenad", "uploader"]
if os.getenv("NOBOARD") is not None:
ignore.append("pandad")
ignore += [x for x in os.getenv("BLOCK", "").split(",") if len(x) > 0]
if params.get("HardwareC3xLite"):
if params.get_bool("HardwareC3xLite"):
ignore += ["micd", "soundd", "loggerd"]
params.put("RecordAudio", "0")
params.put_bool("RecordAudio", False)
sm = messaging.SubMaster(['deviceState', 'carParams'], poll='deviceState')
sm = messaging.SubMaster(['deviceState', 'carParams', 'pandaStates'], poll='deviceState')
pm = messaging.PubMaster(['managerState'])
write_onroad_params(False, params)
print(f"################# ignore process list: {ignore} #################")
ensure_running(managed_processes.values(), False, params=params, CP=sm['carParams'], not_run=ignore)
print_timer = 0
started_prev = False
ignition_prev = False
while True:
sm.update(1000)
@@ -324,15 +153,20 @@ def manager_thread() -> None:
started = sm['deviceState'].started
if started and not started_prev:
params.clear_all(ParamKeyType.CLEAR_ON_ONROAD_TRANSITION)
params.clear_all(ParamKeyFlag.CLEAR_ON_ONROAD_TRANSITION)
elif not started and started_prev:
params.clear_all(ParamKeyType.CLEAR_ON_OFFROAD_TRANSITION)
params.clear_all(ParamKeyFlag.CLEAR_ON_OFFROAD_TRANSITION)
ignition = any(ps.ignitionLine or ps.ignitionCan for ps in sm['pandaStates'] if ps.pandaType != log.PandaState.PandaType.unknown)
if ignition and not ignition_prev:
params.clear_all(ParamKeyFlag.CLEAR_ON_IGNITION_ON)
# update onroad params, which drives pandad's safety setter thread
if started != started_prev:
write_onroad_params(started, params)
started_prev = started
ignition_prev = ignition
ensure_running(managed_processes.values(), started, params=params, CP=sm['carParams'], not_run=ignore)
system/manager/process.py
+2 -3
View File
@@ -197,7 +197,6 @@ class NativeProcess(ManagerProcess):
self.watchdog_seen = False
self.shutting_down = False
class PythonProcess(ManagerProcess):
def __init__(self, name, module, should_run, enabled=True, sigkill=False, watchdog_max_dt=None):
self.name = name
@@ -256,7 +255,7 @@ class DaemonProcess(ManagerProcess):
if self.params is None:
self.params = Params()
pid = self.params.get(self.param_name, encoding='utf-8')
pid = self.params.get(self.param_name)
if pid is not None:
try:
os.kill(int(pid), 0)
@@ -275,7 +274,7 @@ class DaemonProcess(ManagerProcess):
stderr=open('/dev/null', 'w'),
preexec_fn=os.setpgrp)
self.params.put(self.param_name, str(proc.pid))
self.params.put(self.param_name, proc.pid)
def stop(self, retry=True, block=True, sig=None) -> None:
pass