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FrogPilot Setup

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This commit is contained in:
FrogAi
2024-03-01 09:26:59 -07:00
parent 505ad1fbfe
commit 6c946fc97a
106 changed files with 2349 additions and 185 deletions
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242
selfdrive/manager/manager.py
View File

@@ -2,6 +2,7 @@
import datetime
import os
import signal
import subprocess
import sys
import traceback
from typing import List, Tuple, Union
@@ -27,12 +28,38 @@ def manager_init() -> None:
save_bootlog()
params = Params()
params_storage = Params("/persist/comma/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)
if is_release_branch():
params.clear_all(ParamKeyType.DEVELOPMENT_ONLY)
############### Remove this after the April 26th update ###############
previous_speed_limit = params.get_float("PreviousSpeedLimit")
if previous_speed_limit >= 50:
params.put_float("PreviousSpeedLimit", previous_speed_limit / 100)
for priority_key in ["SLCPriority", "SLCPriority1", "SLCPriority2", "SLCPriority3"]:
priority_value = params.get(priority_key)
if isinstance(priority_value, int):
params.remove(priority_key)
attributes = ["AggressiveFollow", "StandardFollow", "RelaxedFollow", "AggressiveJerk", "StandardJerk", "RelaxedJerk"]
values = {attr: params.get_float(attr) for attr in attributes}
if any(value > 5 for value in values.values()):
for attr, value in values.items():
params.put_float(attr, value / 10)
if params.get_bool("SilentMode"):
attributes = ["DisengageVolume", "EngageVolume", "PromptVolume", "PromptDistractedVolume", "RefuseVolume", "WarningSoftVolume", "WarningImmediateVolume"]
for attr in attributes:
params.put_float(attr, 0)
params.put_bool("SilentMode", False)
#######################################################################
default_params: List[Tuple[str, Union[str, bytes]]] = [
("CompletedTrainingVersion", "0"),
("DisengageOnAccelerator", "0"),
@@ -40,7 +67,192 @@ def manager_init() -> None:
("HasAcceptedTerms", "0"),
("LanguageSetting", "main_en"),
("OpenpilotEnabledToggle", "1"),
("UpdaterAvailableBranches", ""),
("LongitudinalPersonality", str(log.LongitudinalPersonality.standard)),
# Default FrogPilot parameters
("AccelerationPath", "1"),
("AccelerationProfile", "2"),
("AdjacentPath", "0"),
("AdjacentPathMetrics", "0"),
("AdjustablePersonalities", "1"),
("AggressiveAcceleration", "1"),
("AggressiveFollow", "1.25"),
("AggressiveJerk", "0.5"),
("AlertVolumeControl", "0"),
("AlwaysOnLateral", "1"),
("AlwaysOnLateralMain", "0"),
("BlindSpotPath", "1"),
("CameraView", "1"),
("CarMake", ""),
("CarModel", ""),
("CECurves", "1"),
("CENavigation", "1"),
("CENavigationIntersections", "1"),
("CENavigationLead", "1"),
("CENavigationTurns", "1"),
("CESignal", "1"),
("CESlowerLead", "0"),
("CESpeed", "0"),
("CESpeedLead", "0"),
("CEStopLights", "1"),
("CEStopLightsLead", "0"),
("Compass", "0"),
("ConditionalExperimental", "1"),
("CrosstrekTorque", "1"),
("CurveSensitivity", "100"),
("CustomAlerts", "1"),
("CustomColors", "1"),
("CustomIcons", "1"),
("CustomPersonalities", "1"),
("CustomSignals", "1"),
("CustomSounds", "1"),
("CustomTheme", "1"),
("CustomUI", "1"),
("CydiaTune", "0"),
("DecelerationProfile", "1"),
("DeviceShutdown", "9"),
("DisableMTSCSmoothing", "0"),
("DisableOnroadUploads", "0"),
("DisableOpenpilotLongitudinal", "0"),
("DisableVTSCSmoothing", "0"),
("DisengageVolume", "100"),
("DragonPilotTune", "0"),
("DriverCamera", "0"),
("DriveStats", "1"),
("DynamicPathWidth", "0"),
("EngageVolume", "100"),
("EVTable", "1"),
("ExperimentalModeActivation", "1"),
("ExperimentalModeViaDistance", "0"),
("ExperimentalModeViaLKAS", "0"),
("ExperimentalModeViaScreen", "1"),
("Fahrenheit", "0"),
("FireTheBabysitter", "0"),
("ForceAutoTune", "0"),
("ForceFingerprint", "0"),
("ForceMPHDashboard", "0"),
("FPSCounter", "0"),
("FrogPilotDrives", "0"),
("FrogPilotKilometers", "0"),
("FrogPilotMinutes", "0"),
("FrogsGoMooTune", "1"),
("FullMap", "0"),
("GasRegenCmd", "0"),
("GoatScream", "1"),
("GreenLightAlert", "0"),
("HideAlerts", "0"),
("HideAOLStatusBar", "0"),
("HideCEMStatusBar", "0"),
("HideLeadMarker", "0"),
("HideMapIcon", "0"),
("HideMaxSpeed", "0"),
("HideSpeed", "0"),
("HideSpeedUI", "0"),
("HideUIElements", "0"),
("HigherBitrate", "0"),
("LaneChangeTime", "0"),
("LaneDetection", "1"),
("LaneDetectionWidth", "60"),
("LaneLinesWidth", "4"),
("LateralTune", "1"),
("LeadDepartingAlert", "0"),
("LeadDetectionThreshold", "25"),
("LeadInfo", "0"),
("LockDoors", "0"),
("LongitudinalTune", "1"),
("LongPitch", "1"),
("LoudBlindspotAlert", "0"),
("LowerVolt", "1"),
("MapsSelected", ""),
("MapStyle", "0"),
("MTSCAggressiveness", "100"),
("MTSCCurvatureCheck", "0"),
("MTSCLimit", "0"),
("Model", DEFAULT_MODEL),
("ModelUI", "1"),
("MTSCEnabled", "1"),
("MuteOverheated", "0"),
("NavChill", "0"),
("NNFF", "1"),
("NoLogging", "0"),
("NoUploads", "0"),
("NudgelessLaneChange", "1"),
("NumericalTemp", "0"),
("OfflineMode", "0"),
("Offset1", "5"),
("Offset2", "5"),
("Offset3", "5"),
("Offset4", "10"),
("OneLaneChange", "1"),
("PathEdgeWidth", "20"),
("PathWidth", "61"),
("PauseLateralOnSignal", "0"),
("PedalsOnUI", "1"),
("PersonalitiesViaScreen", "1"),
("PersonalitiesViaWheel", "1"),
("PreferredSchedule", "0"),
("PromptVolume", "100"),
("PromptDistractedVolume", "100"),
("QOLControls", "1"),
("QOLVisuals", "1"),
("RandomEvents", "0"),
("RefuseVolume", "100"),
("RelaxedFollow", "1.75"),
("RelaxedJerk", "1.0"),
("ReverseCruise", "0"),
("ReverseCruiseUI", "1"),
("RoadEdgesWidth", "2"),
("RoadNameUI", "1"),
("RotatingWheel", "1"),
("ScreenBrightness", "101"),
("ScreenBrightnessOnroad", "101"),
("ScreenManagement", "1"),
("ScreenRecorder", "1"),
("ScreenTimeout", "30"),
("ScreenTimeoutOnroad", "30"),
("SearchInput", "0"),
("SetSpeedLimit", "0"),
("SetSpeedOffset", "0"),
("ShowCPU", "0"),
("ShowGPU", "0"),
("ShowIP", "0"),
("ShowMemoryUsage", "0"),
("ShowSLCOffset", "0"),
("ShowSLCOffsetUI", "1"),
("ShowStorageLeft", "0"),
("ShowStorageUsed", "0"),
("Sidebar", "0"),
("SLCConfirmation", "1"),
("SLCConfirmationLower", "1"),
("SLCConfirmationHigher", "1"),
("SLCFallback", "2"),
("SLCOverride", "1"),
("SLCPriority1", "Dashboard"),
("SLCPriority2", "Offline Maps"),
("SLCPriority3", "Navigation"),
("SmoothBraking", "1"),
("SNGHack", "1"),
("SpeedLimitChangedAlert", "1"),
("SpeedLimitController", "1"),
("StandardFollow", "1.45"),
("StandardJerk", "1.0"),
("StandbyMode", "0"),
("SteerRatio", "0"),
("StockTune", "0"),
("StoppingDistance", "0"),
("TurnAggressiveness", "100"),
("TurnDesires", "0"),
("UnlimitedLength", "1"),
("UpdateSchedule", "0"),
("UseLateralJerk", "0"),
("UseSI", "0"),
("UseVienna", "0"),
("VisionTurnControl", "1"),
("WarningSoftVolume", "100"),
("WarningImmediateVolume", "100"),
("WheelIcon", "3"),
("WheelSpeed", "0")
]
if not PC:
default_params.append(("LastUpdateTime", datetime.datetime.utcnow().isoformat().encode('utf8')))
@@ -51,7 +263,12 @@ def manager_init() -> None:
# set unset params
for k, v in default_params:
if params.get(k) is None:
params.put(k, v)
if params_storage.get(k) is None:
params.put(k, v)
else:
params.put(k, params_storage.get(k))
else:
params_storage.put(k, params.get(k))
# Create folders needed for msgq
try:
@@ -114,12 +331,21 @@ def manager_cleanup() -> None:
cloudlog.info("everything is dead")
def update_frogpilot_params(params, params_memory):
keys = []
for key in keys:
params_memory.put_bool(key, params.get_bool(key))
def manager_thread() -> None:
cloudlog.bind(daemon="manager")
cloudlog.info("manager start")
cloudlog.info({"environ": os.environ})
params = Params()
params_memory = Params("/dev/shm/params")
params_storage = Params("/persist/comma/params")
update_frogpilot_params(params, params_memory)
ignore: List[str] = []
if params.get("DongleId", encoding='utf8') in (None, UNREGISTERED_DONGLE_ID):
@@ -132,7 +358,7 @@ def manager_thread() -> None:
pm = messaging.PubMaster(['managerState'])
write_onroad_params(False, params)
ensure_running(managed_processes.values(), False, params=params, CP=sm['carParams'], not_run=ignore)
ensure_running(managed_processes.values(), False, params=params, params_memory=params_memory, CP=sm['carParams'], not_run=ignore)
started_prev = False
@@ -152,7 +378,7 @@ def manager_thread() -> None:
started_prev = started
ensure_running(managed_processes.values(), started, params=params, CP=sm['carParams'], not_run=ignore)
ensure_running(managed_processes.values(), started, params=params, params_memory=params_memory, CP=sm['carParams'], not_run=ignore)
running = ' '.join("%s%s\u001b[0m" % ("\u001b[32m" if p.proc.is_alive() else "\u001b[31m", p.name)
for p in managed_processes.values() if p.proc)
@@ -175,8 +401,18 @@ def manager_thread() -> None:
if shutdown:
break
if params_memory.get_bool("FrogPilotTogglesUpdated"):
update_frogpilot_params(params, params_memory)
def main() -> None:
# Create the long term param storage folder
try:
# Attempt to remount /persist as read-write
subprocess.run(['sudo', 'mount', '-o', 'remount,rw', '/persist'], check=True)
print("Successfully remounted /persist as read-write.")
except subprocess.CalledProcessError as e:
print(f"Failed to remount /persist. Error: {e}")
manager_init()
if os.getenv("PREPAREONLY") is not None:
return

6
selfdrive/manager/process.py
View File

@@ -238,7 +238,7 @@ class DaemonProcess(ManagerProcess):
self.params = None
@staticmethod
def should_run(started, params, CP):
def should_run(started, params, params_memory, CP):
return True
def prepare(self) -> None:
@@ -273,14 +273,14 @@ class DaemonProcess(ManagerProcess):
pass
def ensure_running(procs: ValuesView[ManagerProcess], started: bool, params=None, CP: car.CarParams=None,
def ensure_running(procs: ValuesView[ManagerProcess], started: bool, params=None, params_memory=None, CP: car.CarParams=None,
not_run: Optional[List[str]]=None) -> List[ManagerProcess]:
if not_run is None:
not_run = []
running = []
for p in procs:
if p.enabled and p.name not in not_run and p.should_run(started, params, CP):
if p.enabled and p.name not in not_run and p.should_run(started, params, params_memory, CP):
running.append(p)
else:
p.stop(block=False)

22
selfdrive/manager/process_config.py
View File

@@ -7,40 +7,42 @@ from openpilot.selfdrive.manager.process import PythonProcess, NativeProcess, Da
WEBCAM = os.getenv("USE_WEBCAM") is not None
def driverview(started: bool, params: Params, CP: car.CarParams) -> bool:
def driverview(started: bool, params: Params, params_memory: Params, CP: car.CarParams) -> bool:
return started or params.get_bool("IsDriverViewEnabled")
def notcar(started: bool, params: Params, CP: car.CarParams) -> bool:
def notcar(started: bool, params: Params, params_memory: Params, CP: car.CarParams) -> bool:
return started and CP.notCar
def iscar(started: bool, params: Params, CP: car.CarParams) -> bool:
def iscar(started: bool, params: Params, params_memory: Params, CP: car.CarParams) -> bool:
return started and not CP.notCar
def logging(started, params, CP: car.CarParams) -> bool:
def logging(started, params, params_memory, CP: car.CarParams) -> bool:
run = (not CP.notCar) or not params.get_bool("DisableLogging")
return started and run
def ublox_available() -> bool:
return os.path.exists('/dev/ttyHS0') and not os.path.exists('/persist/comma/use-quectel-gps')
def ublox(started, params, CP: car.CarParams) -> bool:
def ublox(started, params, params_memory, CP: car.CarParams) -> bool:
use_ublox = ublox_available()
if use_ublox != params.get_bool("UbloxAvailable"):
params.put_bool("UbloxAvailable", use_ublox)
return started and use_ublox
def qcomgps(started, params, CP: car.CarParams) -> bool:
def qcomgps(started, params, params_memory, CP: car.CarParams) -> bool:
return started and not ublox_available()
def always_run(started, params, CP: car.CarParams) -> bool:
def always_run(started, params, params_memory, CP: car.CarParams) -> bool:
return True
def only_onroad(started: bool, params, CP: car.CarParams) -> bool:
def only_onroad(started: bool, params, params_memory, CP: car.CarParams) -> bool:
return started
def only_offroad(started, params, CP: car.CarParams) -> bool:
def only_offroad(started, params, params_memory, CP: car.CarParams) -> bool:
return not started
# FrogPilot functions
procs = [
DaemonProcess("manage_athenad", "selfdrive.athena.manage_athenad", "AthenadPid"),
@@ -86,6 +88,8 @@ procs = [
NativeProcess("bridge", "cereal/messaging", ["./bridge"], notcar),
PythonProcess("webrtcd", "system.webrtc.webrtcd", notcar),
PythonProcess("webjoystick", "tools.bodyteleop.web", notcar),
# FrogPilot processes
]
managed_processes = {p.name: p for p in procs}