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2024-04-27 13:48:05 -05:00
parent 2fbe9dbea1
commit 931db76fc6
432 changed files with 12973 additions and 3300 deletions
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242
selfdrive/manager/manager.py
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@@ -5,16 +5,15 @@ import signal
import subprocess
import sys
import threading
import time
import traceback
from pathlib import Path
from typing import List, Tuple, Union
from cereal import log
import cereal.messaging as messaging
import openpilot.selfdrive.sentry as sentry
from openpilot.common.basedir import BASEDIR
from openpilot.common.params import Params, ParamKeyType
from openpilot.common.text_window import TextWindow
from openpilot.common.time import system_time_valid
from openpilot.system.hardware import HARDWARE, PC
from openpilot.selfdrive.manager.helpers import unblock_stdout, write_onroad_params, save_bootlog
from openpilot.selfdrive.manager.process import ensure_running
@@ -25,63 +24,61 @@ from openpilot.system.version import is_dirty, get_commit, get_version, get_orig
get_normalized_origin, terms_version, training_version, \
is_tested_branch, is_release_branch, get_commit_date
from openpilot.selfdrive.frogpilot.functions.frogpilot_functions import DEFAULT_MODEL
from openpilot.selfdrive.frogpilot.controls.lib.frogpilot_functions import FrogPilotFunctions
from openpilot.selfdrive.frogpilot.controls.lib.model_manager import DEFAULT_MODEL, DEFAULT_MODEL_NAME, delete_deprecated_models
def manager_init() -> None:
def frogpilot_boot_functions(frogpilot_functions):
try:
delete_deprecated_models()
while not system_time_valid():
print("Waiting for system time to become valid...")
time.sleep(1)
try:
frogpilot_functions.backup_frogpilot()
except subprocess.CalledProcessError as e:
print(f"Failed to backup FrogPilot. Error: {e}")
return
try:
frogpilot_functions.backup_toggles()
except subprocess.CalledProcessError as e:
print(f"Failed to backup toggles. Error: {e}")
return
except Exception as e:
print(f"An unexpected error occurred: {e}")
def manager_init(frogpilot_functions) -> None:
frogpilot_boot = threading.Thread(target=frogpilot_boot_functions, args=(frogpilot_functions,))
frogpilot_boot.start()
save_bootlog()
params = Params()
params_storage = Params("/persist/comma/params")
params_storage = Params("/persist/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)
#######################################################################
# Check if the currently selected model still exists
current_model = params.get("Model", encoding='utf-8')
if current_model != DEFAULT_MODEL:
models_folder = os.path.join(BASEDIR, 'selfdrive/modeld/models/models')
model_exists = current_model in [os.path.splitext(file)[0] for file in os.listdir(models_folder)]
if not model_exists:
params.remove("Model")
default_params: List[Tuple[str, Union[str, bytes]]] = [
default_params: list[tuple[str, str | bytes]] = [
("CarParamsPersistent", ""),
("CompletedTrainingVersion", "0"),
("DisengageOnAccelerator", "0"),
("ExperimentalLongitudinalEnabled", "1"),
("GsmMetered", "1"),
("HasAcceptedTerms", "0"),
("IsLdwEnabled", "0"),
("IsMetric", "0"),
("LanguageSetting", "main_en"),
("NavSettingLeftSide", "0"),
("NavSettingTime24h", "0"),
("OpenpilotEnabledToggle", "1"),
("UpdaterAvailableBranches", ""),
("RecordFront", "0"),
("LongitudinalPersonality", str(log.LongitudinalPersonality.standard)),
# Default FrogPilot parameters
@@ -89,15 +86,17 @@ def manager_init() -> None:
("AccelerationProfile", "2"),
("AdjacentPath", "0"),
("AdjacentPathMetrics", "0"),
("AdjustablePersonalities", "1"),
("AggressiveAcceleration", "1"),
("AggressiveFollow", "1.25"),
("AggressiveJerk", "0.5"),
("AlertVolumeControl", "0"),
("AlwaysOnLateral", "1"),
("AlwaysOnLateralMain", "0"),
("AMapKey1", ""),
("AMapKey2", ""),
("AutomaticUpdates", "0"),
("BlindSpotPath", "1"),
("CameraView", "1"),
("CameraView", "2"),
("CarMake", ""),
("CarModel", ""),
("CECurves", "1"),
@@ -106,18 +105,21 @@ def manager_init() -> None:
("CENavigationLead", "1"),
("CENavigationTurns", "1"),
("CESignal", "1"),
("CESlowerLead", "0"),
("CESlowerLead", "1"),
("CESpeed", "0"),
("CESpeedLead", "0"),
("CEStopLights", "1"),
("CEStopLightsLead", "0"),
("Compass", "0"),
("Compass", "1"),
("ConditionalExperimental", "1"),
("CrosstrekTorque", "1"),
("CurveSensitivity", "100"),
("CustomAlerts", "1"),
("CustomColors", "1"),
("CustomCruise", "1"),
("CustomCruiseLong", "5"),
("CustomIcons", "1"),
("CustomPaths", "1"),
("CustomPersonalities", "1"),
("CustomSignals", "1"),
("CustomSounds", "1"),
@@ -125,6 +127,8 @@ def manager_init() -> None:
("CustomUI", "1"),
("CydiaTune", "0"),
("DecelerationProfile", "1"),
("DeveloperUI", "0"),
("DeviceManagement", "1"),
("DeviceShutdown", "9"),
("DisableMTSCSmoothing", "0"),
("DisableOnroadUploads", "0"),
@@ -133,26 +137,22 @@ def manager_init() -> None:
("DisengageVolume", "100"),
("DragonPilotTune", "0"),
("DriverCamera", "0"),
("DriveStats", "1"),
("DynamicPathWidth", "0"),
("EngageVolume", "100"),
("EVTable", "1"),
("ExperimentalModeActivation", "1"),
("ExperimentalModeViaDistance", "0"),
("ExperimentalModeViaLKAS", "0"),
("ExperimentalModeViaScreen", "1"),
("ExperimentalModeViaDistance", "1"),
("ExperimentalModeViaLKAS", "1"),
("ExperimentalModeViaTap", "0"),
("Fahrenheit", "0"),
("FireTheBabysitter", "0"),
("ForceAutoTune", "0"),
("ForceAutoTune", "1"),
("ForceFingerprint", "0"),
("ForceMPHDashboard", "0"),
("FPSCounter", "0"),
("FrogPilotDrives", "0"),
("FrogPilotKilometers", "0"),
("FrogPilotMinutes", "0"),
("FrogsGoMooTune", "1"),
("FullMap", "0"),
("GasRegenCmd", "0"),
("GMapKey", ""),
("GoatScream", "1"),
("GreenLightAlert", "0"),
("HideAlerts", "0"),
@@ -166,46 +166,56 @@ def manager_init() -> None:
("HideUIElements", "0"),
("HigherBitrate", "0"),
("HolidayThemes", "1"),
("IncreaseThermalLimits", "0"),
("LaneChangeTime", "0"),
("LaneDetection", "1"),
("LaneDetectionWidth", "60"),
("LaneLinesWidth", "4"),
("LateralTune", "1"),
("LeadDepartingAlert", "0"),
("LeadDetectionThreshold", "25"),
("LeadDetectionThreshold", "35"),
("LeadInfo", "0"),
("LockDoors", "0"),
("LockDoors", "1"),
("LongitudinalTune", "1"),
("LongPitch", "1"),
("LoudBlindspotAlert", "0"),
("LowerVolt", "1"),
("LowVoltageShutdown", "11.8"),
("kiV1", "0.60"),
("kiV2", "0.45"),
("kiV3", "0.30"),
("kiV4", "0.15"),
("kpV1", "1.50"),
("kpV2", "1.00"),
("kpV3", "0.75"),
("kpV4", "0.50"),
("MapsSelected", ""),
("MapboxPublicKey", ""),
("MapboxSecretKey", ""),
("MapStyle", "0"),
("MTSCAggressiveness", "100"),
("MTSCCurvatureCheck", "0"),
("MTSCLimit", "0"),
("Model", DEFAULT_MODEL),
("ModelName", DEFAULT_MODEL_NAME),
("ModelSelector", "1"),
("ModelUI", "1"),
("MTSCEnabled", "1"),
("MuteOverheated", "0"),
("NavChill", "0"),
("NNFF", "1"),
("NNFFLite", "1"),
("NoLogging", "0"),
("NoUploads", "0"),
("NudgelessLaneChange", "1"),
("NumericalTemp", "0"),
("OfflineMode", "0"),
("OfflineMode", "1"),
("Offset1", "5"),
("Offset2", "5"),
("Offset3", "5"),
("Offset4", "10"),
("OneLaneChange", "1"),
("OnroadDistanceButton", "0"),
("PathEdgeWidth", "20"),
("PathWidth", "61"),
("PauseAOLOnBrake", "0"),
("PauseLateralOnSignal", "0"),
("PedalsOnUI", "1"),
("PersonalitiesViaScreen", "1"),
("PersonalitiesViaWheel", "1"),
("PreferredSchedule", "0"),
("PromptVolume", "100"),
("PromptDistractedVolume", "100"),
@@ -232,21 +242,27 @@ def manager_init() -> None:
("ShowCPU", "0"),
("ShowGPU", "0"),
("ShowIP", "0"),
("ShowJerk", "1"),
("ShowMemoryUsage", "0"),
("ShowSLCOffset", "0"),
("ShowSLCOffset", "1"),
("ShowSLCOffsetUI", "1"),
("ShowStorageLeft", "0"),
("ShowStorageUsed", "0"),
("ShowTuning", "1"),
("Sidebar", "0"),
("SLCConfirmation", "1"),
("SLCConfirmationLower", "1"),
("SLCConfirmationHigher", "1"),
("SLCFallback", "2"),
("SLCLookaheadHigher", "5"),
("SLCLookaheadLower", "5"),
("SLCOverride", "1"),
("SLCPriority1", "Dashboard"),
("SLCPriority2", "Offline Maps"),
("SLCPriority3", "Navigation"),
("SmoothBraking", "1"),
("SmoothBrakingFarLead", "0"),
("SmoothBrakingJerk", "0"),
("SNGHack", "1"),
("SpeedLimitChangedAlert", "1"),
("SpeedLimitController", "1"),
@@ -256,13 +272,17 @@ def manager_init() -> None:
("SteerRatio", "0"),
("StockTune", "0"),
("StoppingDistance", "0"),
("TacoTune", "1"),
("ToyotaDoors", "0"),
("TrafficFollow", "0.5"),
("TrafficJerk", "1"),
("TrafficMode", "0"),
("Tuning", "1"),
("TurnAggressiveness", "100"),
("TurnDesires", "0"),
("UnlimitedLength", "1"),
("UpdateSchedule", "0"),
("UseLateralJerk", "0"),
("UseSI", "0"),
("UnlockDoors", "1"),
("UseSI", "1"),
("UseVienna", "0"),
("VisionTurnControl", "1"),
("WarningSoftVolume", "100"),
@@ -347,23 +367,15 @@ def manager_cleanup() -> None:
cloudlog.info("everything is dead")
def update_frogpilot_params(params, params_memory):
keys = ["DisableOnroadUploads", "FireTheBabysitter", "NoLogging", "NoUploads", "RoadNameUI", "SpeedLimitController"]
for key in keys:
params_memory.put_bool(key, params.get_bool(key))
def manager_thread() -> None:
def manager_thread(frogpilot_functions) -> 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] = []
ignore: list[str] = []
if params.get("DongleId", encoding='utf8') in (None, UNREGISTERED_DONGLE_ID):
ignore += ["manage_athenad", "uploader"]
if os.getenv("NOBOARD") is not None:
@@ -374,20 +386,23 @@ def manager_thread() -> None:
pm = messaging.PubMaster(['managerState'])
write_onroad_params(False, params)
ensure_running(managed_processes.values(), False, params=params, params_memory=params_memory, CP=sm['carParams'], not_run=ignore)
ensure_running(managed_processes.values(), False, params=params, CP=sm['carParams'], not_run=ignore)
started_prev = False
while True:
sm.update(1000)
openpilot_crashed = os.path.isfile(os.path.join(sentry.CRASHES_DIR, 'error.txt'))
if openpilot_crashed:
frogpilot_functions.delete_logs()
started = sm['deviceState'].started
if started and not started_prev:
params.clear_all(ParamKeyType.CLEAR_ON_ONROAD_TRANSITION)
# Clear the error log on offroad transition to prevent old errors from hanging around
if os.path.isfile(os.path.join(sentry.CRASHES_DIR, 'error.txt')):
if openpilot_crashed:
os.remove(os.path.join(sentry.CRASHES_DIR, 'error.txt'))
elif not started and started_prev:
@@ -400,9 +415,9 @@ def manager_thread() -> None:
started_prev = started
ensure_running(managed_processes.values(), started, params=params, params_memory=params_memory, CP=sm['carParams'], not_run=ignore)
ensure_running(managed_processes.values(), started, params=params, CP=sm['carParams'], not_run=ignore)
running = ' '.join("%s%s\u001b[0m" % ("\u001b[32m" if p.proc.is_alive() else "\u001b[31m", p.name)
running = ' '.join("{}{}\u001b[0m".format("\u001b[32m" if p.proc.is_alive() else "\u001b[31m", p.name)
for p in managed_processes.values() if p.proc)
print(running)
cloudlog.debug(running)
@@ -414,7 +429,7 @@ def manager_thread() -> None:
# Exit main loop when uninstall/shutdown/reboot is needed
shutdown = False
for param in ("DoUninstall", "DoShutdown", "DoReboot"):
for param in ("DoUninstall", "DoShutdown", "DoReboot", "DoSoftReboot"):
if params.get_bool(param):
shutdown = True
params.put("LastManagerExitReason", f"{param} {datetime.datetime.now()}")
@@ -423,55 +438,17 @@ def manager_thread() -> None:
if shutdown:
break
if params_memory.get_bool("FrogPilotTogglesUpdated"):
update_frogpilot_params(params, params_memory)
def backup_openpilot():
# Configure the auto backup generator
backup_dir_path = '/data/backups'
Path(backup_dir_path).mkdir(parents=True, exist_ok=True)
# Sort backups by creation time and only keep the 5 newest auto generated ones
auto_backups = sorted([f for f in os.listdir(backup_dir_path) if f.endswith("_auto")],
key=lambda x: os.path.getmtime(os.path.join(backup_dir_path, x)))
for old_backup in auto_backups:
subprocess.run(['sudo', 'rm', '-rf', os.path.join(backup_dir_path, old_backup)], check=True)
print(f"Deleted oldest backup to maintain limit: {old_backup}")
# Generate the backup folder name from the current git commit and branch name
branch = get_short_branch()
commit = get_commit_date()[12:-16]
backup_folder_name = f"{branch}_{commit}_auto"
# Check if the backup folder already exists
backup_path = os.path.join(backup_dir_path, backup_folder_name)
if os.path.exists(backup_path):
print(f"Backup folder {backup_folder_name} already exists. Skipping backup.")
return
# Create the backup directory and copy openpilot to it
Path(backup_path).mkdir(parents=True, exist_ok=True)
subprocess.run(['sudo', 'cp', '-a', '/data/openpilot/.', backup_path + '/'], check=True)
print(f"Successfully backed up openpilot to {backup_folder_name}.")
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}")
frogpilot_functions = FrogPilotFunctions()
# Backup the current version of openpilot
try:
backup_thread = threading.Thread(target=backup_openpilot)
backup_thread.start()
frogpilot_functions.setup_frogpilot()
except subprocess.CalledProcessError as e:
print(f"Failed to backup openpilot. Error: {e}")
print(f"Failed to setup FrogPilot. Error: {e}")
return
manager_init()
manager_init(frogpilot_functions)
if os.getenv("PREPAREONLY") is not None:
return
@@ -479,7 +456,7 @@ def main() -> None:
signal.signal(signal.SIGTERM, lambda signum, frame: sys.exit(1))
try:
manager_thread()
manager_thread(frogpilot_functions)
except Exception:
traceback.print_exc()
sentry.capture_exception()
@@ -489,10 +466,13 @@ def main() -> None:
params = Params()
if params.get_bool("DoUninstall"):
cloudlog.warning("uninstalling")
HARDWARE.uninstall()
frogpilot_functions.uninstall_frogpilot()
elif params.get_bool("DoReboot"):
cloudlog.warning("reboot")
HARDWARE.reboot()
elif params.get_bool("DoSoftReboot"):
cloudlog.warning("softreboot")
HARDWARE.soft_reboot()
elif params.get_bool("DoShutdown"):
cloudlog.warning("shutdown")
HARDWARE.shutdown()