Merge branch 'refs/heads/master-priv' into master-dev-c3

selfdrive/manager/manager.py

@@ -17,6 +17,7 @@ from openpilot.selfdrive.manager.process import ensure_running
 from openpilot.selfdrive.manager.process_config import managed_processes
 from openpilot.selfdrive.athena.registration import register, UNREGISTERED_DONGLE_ID, is_registered_device
 from openpilot.common.swaglog import cloudlog, add_file_handler
+from openpilot.system.hardware.hw import Paths
 from openpilot.system.version import get_build_metadata, terms_version, training_version
 
 
@@ -179,7 +180,7 @@ def manager_init() -> None:
   if os.path.isfile(os.path.join(sentry.CRASHES_DIR, 'error.txt')):
     os.remove(os.path.join(sentry.CRASHES_DIR, 'error.txt'))
 
-  models_dir = "/data/media/0/models"
+  models_dir = Paths.model_root()
   if not os.path.exists(models_dir):
     os.makedirs(models_dir)
 

selfdrive/manager/process_config.py

@@ -91,12 +91,12 @@ procs = [
   NativeProcess("ui", "selfdrive/ui", ["./ui"], always_run, watchdog_max_dt=(5 if not PC else None), always_watchdog=True),
 
   # PFEIFER - MAPD {{
-  NativeProcess("mapd", COMMON_DIR, [MAPD_PATH], always_run),
-  PythonProcess("mapd_manager", "selfdrive.mapd_manager", always_run),
+  NativeProcess("mapd", COMMON_DIR, [MAPD_PATH], always_run, enabled=not PC),
+  PythonProcess("mapd_manager", "selfdrive.mapd_manager", always_run, enabled=not PC),
   # }} PFEIFER - MAPD
 
   PythonProcess("otisserv", "selfdrive.navd.otisserv", always_run),
-  PythonProcess("fleet_manager", "system.fleetmanager.fleet_manager", always_run),
+  PythonProcess("fleet_manager", "system.fleetmanager.fleet_manager", always_run, enabled=not PC),
 
   # debug procs
   NativeProcess("bridge", "cereal/messaging", ["./bridge"], notcar),

selfdrive/mapd_manager.py

@@ -4,12 +4,14 @@ import platform
 
 import numpy as np
 
+from openpilot.common.basedir import BASEDIR
 from openpilot.common.params_pyx import Params
 from openpilot.selfdrive.controls.lib.alertmanager import set_offroad_alert
 from openpilot.selfdrive.navd.helpers import Coordinate
 from openpilot.selfdrive.sunnypilot.live_map_data import QUERY_RADIUS
 from openpilot.common.realtime import Ratekeeper, set_core_affinity
 from openpilot.common.swaglog import cloudlog
+from openpilot.system.hardware.hw import Paths
 import os
 import glob
 import shutil
@@ -22,8 +24,8 @@ params = Params()
 mem_params = Params("/dev/shm/params") if platform.system() != "Darwin" else params
 # }} PFEIFER - MAPD
 
-COMMON_DIR = '/data/media/0/osm'
-MAPD_BIN_DIR = '/data/openpilot/third_party/pfeiferj-mapd'
+COMMON_DIR = Paths.mapd_root()
+MAPD_BIN_DIR = os.path.join(BASEDIR, 'third_party/pfeiferj-mapd')
 MAPD_PATH = os.path.join(MAPD_BIN_DIR, 'mapd')
 
 

selfdrive/modeld/modeld.py

@@ -27,6 +27,7 @@ from openpilot.selfdrive.modeld.fill_model_msg import fill_model_msg, fill_pose_
 from openpilot.selfdrive.modeld.constants import ModelConstants
 from openpilot.selfdrive.modeld.models.commonmodel_pyx import ModelFrame, CLContext
 from openpilot.selfdrive.sunnypilot import get_model_generation
+from openpilot.system.hardware.hw import Paths
 
 PROCESS_NAME = "selfdrive.modeld.modeld"
 SEND_RAW_PRED = os.getenv('SEND_RAW_PRED')
@@ -37,7 +38,7 @@ MODEL_PATHS = {
 
 METADATA_PATH = Path(__file__).parent / 'models/supercombo_metadata.pkl'
 
-CUSTOM_MODEL_PATH = "/data/media/0/models"
+CUSTOM_MODEL_PATH = Paths.model_root()
 
 LaneChangeState = log.LaneChangeState
 

selfdrive/modeld/navmodeld.py

@@ -15,6 +15,7 @@ from openpilot.common.realtime import set_realtime_priority
 from openpilot.selfdrive.modeld.constants import ModelConstants
 from openpilot.selfdrive.modeld.runners import ModelRunner, Runtime
 from openpilot.selfdrive.sunnypilot import get_model_generation
+from openpilot.system.hardware.hw import Paths
 
 NAV_INPUT_SIZE = 256*256
 NAV_FEATURE_LEN = 256
@@ -22,7 +23,7 @@ NAV_DESIRE_LEN = 32
 NAV_OUTPUT_SIZE = 2*2*ModelConstants.IDX_N + NAV_DESIRE_LEN + NAV_FEATURE_LEN
 MODEL_PATHS = {}
 
-CUSTOM_MODEL_PATH = "/data/media/0/models"
+CUSTOM_MODEL_PATH = Paths.model_root()
 
 class NavModelOutputXY(ctypes.Structure):
   _fields_ = [

selfdrive/sentry.py

@@ -24,7 +24,7 @@ class SentryProject(Enum):
   SELFDRIVE_NATIVE = "https://7e3be9bfcfe04c9abe58bd25fe290d1a@o1138119.ingest.sentry.io/6191481"
 
 
-CRASHES_DIR = '/data/community/crashes/'
+CRASHES_DIR = Paths.community_crash_root()
 IP_ADDRESS = "{{auto}}"
 
 

selfdrive/sunnypilot/__init__.py

@@ -1,4 +1,10 @@
+import os
+
+
+SIMULATION = "SIMULATION" in os.environ
+
+
 def get_model_generation(params):
-  custom_model = params.get_bool("CustomDrivingModel")
+  custom_model = params.get_bool("CustomDrivingModel") and not SIMULATION
   gen = int(params.get("DrivingModelGeneration", encoding="utf8"))
   return custom_model, gen

system/hardware/hw.py

@@ -56,3 +56,24 @@ class Paths:
       return Paths.comma_home()
     else:
       return "/tmp/.comma"
+
+  @staticmethod
+  def community_crash_root() -> str:
+    if PC:
+      return str(Path(Paths.comma_home()) / "community" / "crashes")
+    else:
+      return "/data/community/crashes"
+
+  @staticmethod
+  def model_root() -> str:
+    if PC:
+      return str(Path(Paths.comma_home()) / "media" / "0" / "models")
+    else:
+      return "/data/media/0/models"
+
+  @staticmethod
+  def mapd_root() -> str:
+    if PC:
+      return str(Path(Paths.comma_home()) / "media" / "0" / "osm")
+    else:
+      return "/data/media/0/osm"