James
179 lines
7.5 KiB
Python
179 lines
7.5 KiB
Python
#!/usr/bin/env python3
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import datetime
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import json
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import time
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from cereal import messaging
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from openpilot.common.params import Params
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from openpilot.common.realtime import DT_MDL, Priority, Ratekeeper, config_realtime_process
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from openpilot.common.time_helpers import system_time_valid
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from openpilot.frogpilot.assets.theme_manager import THEME_COMPONENT_PARAMS, ThemeManager
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from openpilot.frogpilot.common.frogpilot_backups import backup_toggles
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from openpilot.frogpilot.common.frogpilot_functions import capture_report, update_maps, update_openpilot
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from openpilot.frogpilot.common.frogpilot_utilities import ThreadManager, flash_panda, is_url_pingable, lock_doors
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from openpilot.frogpilot.common.frogpilot_variables import ERROR_LOGS_PATH, FrogPilotVariables
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from openpilot.frogpilot.controls.frogpilot_planner import FrogPilotPlanner
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from openpilot.frogpilot.system.frogpilot_stats import send_stats
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from openpilot.frogpilot.system.frogpilot_tracking import FrogPilotTracking
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ASSET_CHECK_RATE = (1 / DT_MDL)
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def check_assets(now, theme_manager, thread_manager, params, params_memory, frogpilot_toggles):
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for asset_type, asset_param in THEME_COMPONENT_PARAMS.items():
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asset_to_download = params_memory.get(asset_param)
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if asset_to_download:
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thread_manager.run_with_lock(theme_manager.download_theme, (asset_type, asset_to_download, asset_param, frogpilot_toggles))
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if params_memory.get_bool("FlashPanda"):
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thread_manager.run_with_lock(flash_panda, (params_memory))
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report_data = params_memory.get("IssueReported")
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if report_data:
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capture_report(report_data["DiscordUser"], report_data["Issue"], params, vars(frogpilot_toggles))
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params_memory.remove("IssueReported")
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if params_memory.get_bool("DownloadMaps"):
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thread_manager.run_with_lock(update_maps, (now, params, params_memory, True))
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def transition_offroad(frogpilot_planner, theme_manager, thread_manager, time_validated, sm, params, frogpilot_toggles):
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params.put("LastGPSPosition", json.dumps(frogpilot_planner.gps_position))
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if frogpilot_toggles.lock_doors_timer != 0:
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thread_manager.run_with_lock(lock_doors, (frogpilot_toggles.lock_doors_timer, sm, params), report=False)
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if frogpilot_toggles.random_themes:
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theme_manager.update_active_theme(time_validated, frogpilot_toggles, randomize_theme=True)
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if time_validated:
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thread_manager.run_with_lock(send_stats, (params, frogpilot_toggles))
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def transition_onroad(error_log):
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if error_log.is_file():
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error_log.unlink()
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def update_checks(now, theme_manager, thread_manager, params, params_memory, frogpilot_toggles, boot_run=False):
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while not (is_url_pingable("https://github.com") or is_url_pingable("https://gitlab.com")):
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time.sleep(60)
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theme_manager.update_themes(frogpilot_toggles, boot_run)
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thread_manager.run_with_lock(update_maps, (now, params, params_memory))
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if frogpilot_toggles.automatic_updates:
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thread_manager.run_with_lock(update_openpilot, (thread_manager, params))
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time.sleep(1)
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def update_toggles(frogpilot_variables, started, theme_manager, thread_manager, time_validated, params, frogpilot_toggles):
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previous_holiday_themes = frogpilot_toggles.holiday_themes
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previous_random_themes = frogpilot_toggles.random_themes
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frogpilot_variables.update(theme_manager.holiday_theme, started)
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frogpilot_toggles = frogpilot_variables.frogpilot_toggles
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randomize_theme = frogpilot_toggles.holiday_themes != previous_holiday_themes
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randomize_theme |= frogpilot_toggles.random_themes != previous_random_themes
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theme_manager.theme_updated = False
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theme_manager.update_active_theme(time_validated, frogpilot_toggles, randomize_theme=randomize_theme)
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if time_validated:
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thread_manager.run_with_lock(backup_toggles, (params))
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return frogpilot_toggles
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def frogpilot_thread():
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rate_keeper = Ratekeeper(1 / DT_MDL, None)
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config_realtime_process(5, Priority.CTRL_LOW)
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pm = messaging.PubMaster(["frogpilotPlan"])
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sm = messaging.SubMaster(["carControl", "carState", "controlsState", "deviceState", "driverMonitoringState",
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"gpsLocation", "gpsLocationExternal", "liveParameters", "managerState", "modelV2",
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"onroadEvents", "pandaStates", "radarState", "selfdriveState", "frogpilotCarState",
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"frogpilotSelfdriveState", "frogpilotModelV2", "frogpilotOnroadEvents", "mapdOut"],
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poll="modelV2")
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params = Params(return_defaults=True)
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params_memory = Params(memory=True)
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frogpilot_variables = FrogPilotVariables()
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theme_manager = ThemeManager(params, params_memory)
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thread_manager = ThreadManager()
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frogpilot_toggles = frogpilot_variables.frogpilot_toggles
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run_update_checks = False
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started_previously = False
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time_validated = False
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error_log = ERROR_LOGS_PATH / "error.txt"
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if error_log.is_file():
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error_log.unlink()
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while True:
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sm.update()
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now = datetime.datetime.now(datetime.timezone.utc)
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started = sm["deviceState"].started
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if not started and started_previously:
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frogpilot_toggles = update_toggles(frogpilot_variables, started, theme_manager, thread_manager, time_validated, params, frogpilot_toggles)
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transition_offroad(frogpilot_planner, theme_manager, thread_manager, time_validated, sm, params, frogpilot_toggles)
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run_update_checks = True
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elif started and not started_previously:
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frogpilot_planner = FrogPilotPlanner(error_log, theme_manager)
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frogpilot_tracking = FrogPilotTracking(frogpilot_planner, frogpilot_toggles)
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transition_onroad(error_log)
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if started and sm.updated["modelV2"]:
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frogpilot_planner.update(now, time_validated, sm, frogpilot_toggles)
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frogpilot_planner.publish(theme_manager.theme_updated, sm, pm, frogpilot_toggles)
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frogpilot_tracking.update(now, time_validated, sm, frogpilot_toggles)
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elif not started:
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frogpilot_plan_send = messaging.new_message("frogpilotPlan")
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frogpilot_plan_send.frogpilotPlan.frogpilotToggles = json.dumps(vars(frogpilot_toggles))
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frogpilot_plan_send.frogpilotPlan.themeUpdated = theme_manager.theme_updated
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pm.send("frogpilotPlan", frogpilot_plan_send)
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started_previously = started
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if rate_keeper.frame % ASSET_CHECK_RATE == 0:
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check_assets(now, theme_manager, thread_manager, params, params_memory, frogpilot_toggles)
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if params_memory.get_bool("FrogPilotTogglesUpdated") or theme_manager.theme_updated:
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frogpilot_toggles = update_toggles(frogpilot_variables, started, theme_manager, thread_manager, time_validated, params, frogpilot_toggles)
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run_update_checks |= params_memory.get_bool("ManualUpdateInitiated")
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run_update_checks |= now.second == 0 and (now.minute % 60 == 0 or (now.minute % 5 == 0 and frogpilot_variables.frogs_go_moo))
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run_update_checks &= time_validated
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if run_update_checks:
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theme_manager.update_active_theme(time_validated, frogpilot_toggles)
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thread_manager.run_with_lock(update_checks, (now, theme_manager, thread_manager, params, params_memory, frogpilot_toggles))
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run_update_checks = False
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elif not time_validated:
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time_validated = system_time_valid()
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if not time_validated:
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continue
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theme_manager.update_active_theme(time_validated, frogpilot_toggles)
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thread_manager.run_with_lock(backup_toggles, (params, True))
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thread_manager.run_with_lock(send_stats, (params, frogpilot_toggles))
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thread_manager.run_with_lock(update_checks, (now, theme_manager, thread_manager, params, params_memory, frogpilot_toggles, True))
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rate_keeper.keep_time()
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def main():
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frogpilot_thread()
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if __name__ == "__main__":
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main()
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