mirror of
https://github.com/sunnypilot/sunnypilot.git
synced 2026-06-27 16:02:04 +08:00
DevTekVE
53fbdf7329
The parameter name "HkgTuningAngleIdleTorqueReductionGain" was updated to "HkgTuningAngleActiveTorqueReductionGain" across multiple files for better clarity and alignment with its functionality. This change ensures consistency in naming conventions and improves code readability.
269 lines
8.5 KiB
Python
Executable File
269 lines
8.5 KiB
Python
Executable File
#!/usr/bin/env python3
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import datetime
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import os
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import signal
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import sys
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import traceback
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from cereal import log
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import cereal.messaging as messaging
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import openpilot.system.sentry as sentry
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from openpilot.common.params import Params, ParamKeyType
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from openpilot.common.text_window import TextWindow
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from openpilot.system.hardware import HARDWARE
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from openpilot.system.manager.helpers import unblock_stdout, write_onroad_params, save_bootlog
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from openpilot.system.manager.process import ensure_running
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from openpilot.system.manager.process_config import managed_processes
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from openpilot.system.athena.registration import register, UNREGISTERED_DONGLE_ID
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from openpilot.common.swaglog import cloudlog, add_file_handler
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from openpilot.system.version import get_build_metadata, terms_version, training_version
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from openpilot.system.hardware.hw import Paths
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from openpilot.sunnypilot.mapd.mapd_installer import VERSION
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def manager_init() -> None:
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save_bootlog()
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build_metadata = get_build_metadata()
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params = Params()
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params.clear_all(ParamKeyType.CLEAR_ON_MANAGER_START)
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params.clear_all(ParamKeyType.CLEAR_ON_ONROAD_TRANSITION)
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params.clear_all(ParamKeyType.CLEAR_ON_OFFROAD_TRANSITION)
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if build_metadata.release_channel:
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params.clear_all(ParamKeyType.DEVELOPMENT_ONLY)
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default_params: list[tuple[str, str | bytes]] = [
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("CompletedTrainingVersion", "0"),
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("DisengageOnAccelerator", "0"),
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("GsmMetered", "1"),
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("HasAcceptedTerms", "0"),
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("LanguageSetting", "main_en"),
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("OpenpilotEnabledToggle", "1"),
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("LongitudinalPersonality", str(log.LongitudinalPersonality.standard)),
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]
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sunnypilot_default_params: list[tuple[str, str | bytes]] = [
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("AutoLaneChangeTimer", "0"),
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("AutoLaneChangeBsmDelay", "0"),
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("BlindSpot", "0"),
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("BlinkerMinLateralControlSpeed", "20"), # MPH or km/h
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("BlinkerPauseLateralControl", "0"),
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("CustomAccIncrementsEnabled", "0"),
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("CustomAccLongPressIncrement", "5"),
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("CustomAccShortPressIncrement", "1"),
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("DeviceBootMode", "0"),
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("DynamicExperimentalControl", "0"),
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("HyundaiLongitudinalTuning", "0"),
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("LagdToggle", "1"),
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("Mads", "1"),
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("MadsMainCruiseAllowed", "1"),
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("MadsSteeringMode", "0"),
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("MadsUnifiedEngagementMode", "1"),
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("MapdVersion", f"{VERSION}"),
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("MaxTimeOffroad", "1800"),
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("Brightness", "0"),
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("ModelManager_LastSyncTime", "0"),
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("ModelManager_ModelsCache", ""),
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("NeuralNetworkLateralControl", "0"),
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("QuietMode", "0"),
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("EnableHkgTuningAngleSmoothingFactor", "1"),
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("HkgTuningAngleMinTorqueReductionGain", "10"),
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("HkgTuningAngleActiveTorqueReductionGain", "60"),
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("HkgTuningAngleMaxTorqueReductionGain", "100"),
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("HkgTuningOverridingCycles", "17"),
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("HkgAngleLiveTuning", "0"),
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]
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# device boot mode
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if params.get("DeviceBootMode") == b"1": # start in always offroad mode
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params.put_bool("OffroadMode", True)
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if params.get_bool("RecordFrontLock"):
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params.put_bool("RecordFront", True)
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# set unset params
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for k, v in (default_params + sunnypilot_default_params):
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if params.get(k) is None:
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params.put(k, v)
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# Create folders needed for msgq
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try:
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os.mkdir(Paths.shm_path())
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except FileExistsError:
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pass
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except PermissionError:
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print(f"WARNING: failed to make {Paths.shm_path()}")
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# set params
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serial = HARDWARE.get_serial()
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params.put("Version", build_metadata.openpilot.version)
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params.put("TermsVersion", terms_version)
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params.put("TrainingVersion", training_version)
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params.put("GitCommit", build_metadata.openpilot.git_commit)
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params.put("GitCommitDate", build_metadata.openpilot.git_commit_date)
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params.put("GitBranch", build_metadata.channel)
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params.put("GitRemote", build_metadata.openpilot.git_origin)
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params.put_bool("IsTestedBranch", build_metadata.tested_channel)
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params.put_bool("IsReleaseBranch", build_metadata.release_channel)
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params.put("HardwareSerial", serial)
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# set dongle id
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reg_res = register(show_spinner=True)
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if reg_res:
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dongle_id = reg_res
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else:
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raise Exception(f"Registration failed for device {serial}")
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os.environ['DONGLE_ID'] = dongle_id # Needed for swaglog
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os.environ['GIT_ORIGIN'] = build_metadata.openpilot.git_normalized_origin # Needed for swaglog
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os.environ['GIT_BRANCH'] = build_metadata.channel # Needed for swaglog
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os.environ['GIT_COMMIT'] = build_metadata.openpilot.git_commit # Needed for swaglog
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if not build_metadata.openpilot.is_dirty:
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os.environ['CLEAN'] = '1'
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# init logging
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sentry.init(sentry.SentryProject.SELFDRIVE)
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cloudlog.bind_global(dongle_id=dongle_id,
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version=build_metadata.openpilot.version,
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origin=build_metadata.openpilot.git_normalized_origin,
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branch=build_metadata.channel,
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commit=build_metadata.openpilot.git_commit,
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dirty=build_metadata.openpilot.is_dirty,
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device=HARDWARE.get_device_type())
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# preimport all processes
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for p in managed_processes.values():
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p.prepare()
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def manager_cleanup() -> None:
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# send signals to kill all procs
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for p in managed_processes.values():
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p.stop(block=False)
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# ensure all are killed
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for p in managed_processes.values():
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p.stop(block=True)
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cloudlog.info("everything is dead")
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def manager_thread() -> None:
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cloudlog.bind(daemon="manager")
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cloudlog.info("manager start")
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cloudlog.info({"environ": os.environ})
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params = Params()
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ignore: list[str] = []
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if params.get("DongleId", encoding='utf8') in (None, UNREGISTERED_DONGLE_ID):
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ignore += ["manage_athenad", "uploader"]
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if os.getenv("NOBOARD") is not None:
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ignore.append("pandad")
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ignore += [x for x in os.getenv("BLOCK", "").split(",") if len(x) > 0]
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sm = messaging.SubMaster(['deviceState', 'carParams'], poll='deviceState')
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pm = messaging.PubMaster(['managerState'])
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write_onroad_params(False, params)
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ensure_running(managed_processes.values(), False, params=params, CP=sm['carParams'], not_run=ignore)
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started_prev = False
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while True:
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sm.update(1000)
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started = sm['deviceState'].started
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if started and not started_prev:
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params.clear_all(ParamKeyType.CLEAR_ON_ONROAD_TRANSITION)
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elif not started and started_prev:
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params.clear_all(ParamKeyType.CLEAR_ON_OFFROAD_TRANSITION)
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# update onroad params, which drives pandad's safety setter thread
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if started != started_prev:
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write_onroad_params(started, params)
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started_prev = started
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ensure_running(managed_processes.values(), started, params=params, CP=sm['carParams'], not_run=ignore)
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running = ' '.join("{}{}\u001b[0m".format("\u001b[32m" if p.proc.is_alive() else "\u001b[31m", p.name)
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for p in managed_processes.values() if p.proc)
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print(running)
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cloudlog.debug(running)
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# send managerState
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msg = messaging.new_message('managerState', valid=True)
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msg.managerState.processes = [p.get_process_state_msg() for p in managed_processes.values()]
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pm.send('managerState', msg)
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# Exit main loop when uninstall/shutdown/reboot is needed
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shutdown = False
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for param in ("DoUninstall", "DoShutdown", "DoReboot"):
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if params.get_bool(param):
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shutdown = True
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params.put("LastManagerExitReason", f"{param} {datetime.datetime.now()}")
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cloudlog.warning(f"Shutting down manager - {param} set")
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if shutdown:
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break
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def main() -> None:
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manager_init()
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if os.getenv("PREPAREONLY") is not None:
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return
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# SystemExit on sigterm
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signal.signal(signal.SIGTERM, lambda signum, frame: sys.exit(1))
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try:
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manager_thread()
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except Exception:
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traceback.print_exc()
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sentry.capture_exception()
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finally:
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manager_cleanup()
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params = Params()
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if params.get_bool("DoUninstall"):
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cloudlog.warning("uninstalling")
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HARDWARE.uninstall()
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elif params.get_bool("DoReboot"):
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cloudlog.warning("reboot")
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HARDWARE.reboot()
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elif params.get_bool("DoShutdown"):
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cloudlog.warning("shutdown")
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HARDWARE.shutdown()
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if __name__ == "__main__":
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unblock_stdout()
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try:
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main()
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except KeyboardInterrupt:
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print("got CTRL-C, exiting")
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except Exception:
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add_file_handler(cloudlog)
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cloudlog.exception("Manager failed to start")
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try:
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managed_processes['ui'].stop()
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except Exception:
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pass
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# Show last 3 lines of traceback
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error = traceback.format_exc(-3)
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error = "Manager failed to start\n\n" + error
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with TextWindow(error) as t:
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t.wait_for_exit()
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raise
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# manual exit because we are forked
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sys.exit(0)
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