#!/usr/bin/env python3 import datetime import json import requests import time from cereal import messaging from openpilot.common.api import Api, api_get from openpilot.common.params import Params from openpilot.common.realtime import DT_MDL, Priority, Ratekeeper, config_realtime_process from openpilot.common.time_helpers import system_time_valid from openpilot.system.athena.registration import UNREGISTERED_DONGLE_ID from openpilot.frogpilot.assets.model_manager import MODEL_DOWNLOAD_ALL_PARAM, MODEL_DOWNLOAD_PARAM, ModelManager from openpilot.frogpilot.assets.theme_manager import THEME_COMPONENT_PARAMS, ThemeManager from openpilot.frogpilot.common.frogpilot_functions import capture_report, update_maps, update_openpilot from openpilot.frogpilot.common.frogpilot_utilities import ThreadManager, flash_panda, is_url_pingable, lock_doors, use_konik_server from openpilot.frogpilot.common.frogpilot_variables import ERROR_LOGS_PATH, FrogPilotVariables from openpilot.frogpilot.controls.frogpilot_planner import FrogPilotPlanner from openpilot.frogpilot.system.frogpilot_stats import send_stats from openpilot.frogpilot.system.frogpilot_tracking import FrogPilotTracking ASSET_CHECK_RATE = (1 / DT_MDL) DRIVE_STATS_SYNC_RATE = 30 def check_assets(now, model_manager, theme_manager, thread_manager, params, params_memory, frogpilot_toggles): if params_memory.get_bool(MODEL_DOWNLOAD_ALL_PARAM): thread_manager.run_with_lock(model_manager.download_all_models) elif params_memory.get_bool("UpdateTinygrad"): thread_manager.run_with_lock(model_manager.update_tinygrad) else: model_to_download = params_memory.get(MODEL_DOWNLOAD_PARAM) if isinstance(model_to_download, bytes): model_to_download = model_to_download.decode("utf-8", errors="replace") if model_to_download: thread_manager.run_with_lock(model_manager.download_model, (model_to_download,)) for asset_type, asset_param in THEME_COMPONENT_PARAMS.items(): asset_to_download = params_memory.get(asset_param) if asset_to_download: thread_manager.run_with_lock(theme_manager.download_theme, (asset_type, asset_to_download, asset_param, frogpilot_toggles)) if params_memory.get_bool("FlashPanda"): thread_manager.run_with_lock(flash_panda, (params_memory)) report_data = params_memory.get("IssueReported") if report_data: capture_report(report_data["DiscordUser"], report_data["Issue"], params, vars(frogpilot_toggles)) params_memory.remove("IssueReported") if params_memory.get_bool("DownloadMaps"): thread_manager.run_with_lock(update_maps, (now, params, params_memory, True)) def sync_drive_stats(params, session): try: dongle_id = params.get("DongleId") if isinstance(dongle_id, bytes): dongle_id = dongle_id.decode("utf-8", errors="replace") if not dongle_id or dongle_id == UNREGISTERED_DONGLE_ID: return token = Api(dongle_id).get_token(expiry_hours=2) if not token: return response = api_get(f"v1.1/devices/{dongle_id}/stats", timeout=15, access_token=token, session=session) if response.status_code != 200: print(f"Failed to sync drive stats (HTTP {response.status_code})") return stats = response.json() if not isinstance(stats, dict): return all_stats = stats.get("all") week_stats = stats.get("week") if not isinstance(all_stats, dict) or not isinstance(week_stats, dict): return params.put("ApiCache_DriveStats", stats) all_minutes = all_stats.get("minutes") if isinstance(all_minutes, (int, float)): params.put_int("KonikMinutes" if use_konik_server() else "openpilotMinutes", int(all_minutes)) except Exception as exception: print(f"Failed to sync drive stats: {exception}") def transition_offroad(frogpilot_planner, theme_manager, thread_manager, time_validated, sm, params, frogpilot_toggles): params.put("LastGPSPosition", json.dumps(frogpilot_planner.gps_position)) if frogpilot_toggles.lock_doors_timer != 0: thread_manager.run_with_lock(lock_doors, (frogpilot_toggles.lock_doors_timer, sm, params), report=False) if frogpilot_toggles.random_themes: theme_manager.update_active_theme(time_validated, frogpilot_toggles, randomize_theme=True) if time_validated: thread_manager.run_with_lock(send_stats) def transition_onroad(error_log): if error_log.is_file(): error_log.unlink() def update_checks(now, model_manager, theme_manager, thread_manager, params, params_memory, frogpilot_toggles, boot_run=False): while not (is_url_pingable("https://github.com") or is_url_pingable("https://gitlab.com")): time.sleep(60) model_manager.update_models(boot_run) theme_manager.update_themes(frogpilot_toggles, boot_run) thread_manager.run_with_lock(update_maps, (now, params, params_memory)) if frogpilot_toggles.automatic_updates: thread_manager.run_with_lock(update_openpilot, (thread_manager, params)) time.sleep(1) def update_toggles(frogpilot_variables, started, theme_manager, thread_manager, time_validated, params, frogpilot_toggles): previous_holiday_themes = frogpilot_toggles.holiday_themes previous_random_themes = frogpilot_toggles.random_themes frogpilot_variables.update(theme_manager.holiday_theme, started) frogpilot_toggles = frogpilot_variables.frogpilot_toggles randomize_theme = frogpilot_toggles.holiday_themes != previous_holiday_themes randomize_theme |= frogpilot_toggles.random_themes != previous_random_themes theme_manager.theme_updated = False theme_manager.update_active_theme(time_validated, frogpilot_toggles, randomize_theme=randomize_theme) return frogpilot_toggles def frogpilot_thread(): rate_keeper = Ratekeeper(1 / DT_MDL, None) config_realtime_process(5, Priority.CTRL_LOW) pm = messaging.PubMaster(["frogpilotPlan"]) sm = messaging.SubMaster(["carControl", "carState", "controlsState", "deviceState", "driverMonitoringState", "gpsLocation", "gpsLocationExternal", "liveParameters", "managerState", "modelV2", "onroadEvents", "pandaStates", "radarState", "selfdriveState", "frogpilotCarState", "frogpilotSelfdriveState", "frogpilotModelV2", "frogpilotOnroadEvents", "mapdOut"], poll="modelV2") params = Params(return_defaults=True) params_memory = Params(memory=True) frogpilot_variables = FrogPilotVariables() model_manager = ModelManager(params, params_memory) theme_manager = ThemeManager(params, params_memory) thread_manager = ThreadManager() frogpilot_toggles = frogpilot_variables.frogpilot_toggles drive_stats_session = requests.Session() next_drive_stats_sync = 0.0 run_update_checks = False started_previously = False time_validated = False error_log = ERROR_LOGS_PATH / "error.txt" if error_log.is_file(): error_log.unlink() while True: sm.update() now = datetime.datetime.now(datetime.timezone.utc) started = sm["deviceState"].started if not started and started_previously: frogpilot_planner.shutdown() frogpilot_toggles = update_toggles(frogpilot_variables, started, theme_manager, thread_manager, time_validated, params, frogpilot_toggles) transition_offroad(frogpilot_planner, theme_manager, thread_manager, time_validated, sm, params, frogpilot_toggles) run_update_checks = True elif started and not started_previously: frogpilot_planner = FrogPilotPlanner(error_log, theme_manager) frogpilot_tracking = FrogPilotTracking(frogpilot_planner, frogpilot_toggles) transition_onroad(error_log) if started and sm.updated["modelV2"]: frogpilot_planner.update(now, time_validated, sm, frogpilot_toggles) frogpilot_planner.publish(theme_manager.theme_updated, sm, pm, frogpilot_toggles) frogpilot_tracking.update(now, time_validated, sm, frogpilot_toggles) elif not started: frogpilot_plan_send = messaging.new_message("frogpilotPlan") frogpilot_plan_send.frogpilotPlan.frogpilotToggles = json.dumps(vars(frogpilot_toggles)) frogpilot_plan_send.frogpilotPlan.themeUpdated = theme_manager.theme_updated pm.send("frogpilotPlan", frogpilot_plan_send) started_previously = started if not started and time_validated and sm["deviceState"].screenBrightnessPercent > 0: monotonic_now = time.monotonic() if monotonic_now >= next_drive_stats_sync: thread_manager.run_with_lock(sync_drive_stats, (params, drive_stats_session), report=False) next_drive_stats_sync = monotonic_now + DRIVE_STATS_SYNC_RATE elif started: next_drive_stats_sync = 0.0 if rate_keeper.frame % ASSET_CHECK_RATE == 0: check_assets(now, model_manager, theme_manager, thread_manager, params, params_memory, frogpilot_toggles) if params_memory.get_bool("FrogPilotTogglesUpdated") or theme_manager.theme_updated: frogpilot_toggles = update_toggles(frogpilot_variables, started, theme_manager, thread_manager, time_validated, params, frogpilot_toggles) run_update_checks |= params_memory.get_bool("ManualUpdateInitiated") run_update_checks |= now.second == 0 and (now.minute % 60 == 0 or (now.minute % 5 == 0 and frogpilot_variables.frogs_go_moo)) run_update_checks &= time_validated if run_update_checks: theme_manager.update_active_theme(time_validated, frogpilot_toggles) thread_manager.run_with_lock(update_checks, (now, model_manager, theme_manager, thread_manager, params, params_memory, frogpilot_toggles)) run_update_checks = False elif not time_validated: time_validated = system_time_valid() if not time_validated: continue theme_manager.update_active_theme(time_validated, frogpilot_toggles) if not started: thread_manager.run_with_lock(send_stats) thread_manager.run_with_lock(update_checks, (now, model_manager, theme_manager, thread_manager, params, params_memory, frogpilot_toggles, True)) rate_keeper.keep_time() def main(): frogpilot_thread() if __name__ == "__main__": main()