wip

common/params.cc

@@ -234,10 +234,15 @@ std::unordered_map<std::string, uint32_t> keys = {
 
     {"CarCruiseDisplayActual", PERSISTENT},
     {"CarSpeedLimit", PERSISTENT},
+    
+    {"CarSpeedLimitWarning", PERSISTENT},
     {"CarSpeedLimitLiteral", PERSISTENT},
-    {"SpeedLimitLatDesired", PERSISTENT},
+    
-    {"SpeedLimitVTSC", PERSISTENT},
+    // {"SpeedLimitLatDesired", PERSISTENT},
+    // {"SpeedLimitVTSC", PERSISTENT},
+
     {"CPTLkasButtonAction", PERSISTENT},
+    {"ScreenDisaplayMode", PERSISTENT},
     
     {"RadarDist", PERSISTENT},
     {"ModelDist", PERSISTENT},

openpilot/cereal

@@ -0,0 +1 @@
+../cereal/

openpilot/clearpiliot_devqueue_zbacklog.txt

@@ -1,5 +1,214 @@
+-----
+
+- screen off on lkas
+- speed limit change chirp on cruise
+
+-----
+
+- fix manager / error recording / restart service on fail
+- fix gps tracking 
+- dashcam
+- better turning logic
+- new settings UI
+- experimental mode
+
+------------
+
+
+- revert a bunch of debugging in canfd
+
+- configure it so i can toggle experimental via lkas
+- if experimental enabled, then transmit experimental speed settings
+  - but only if no lead car or not decelerating.  got to think of a condition
+    where we reengage if the lead is going too slow and we need to let stock long decel
+- implement speed limit controller as a simple Warning
+- implement a simple resume from standstill hack
+
+- flesh all this out and prepare for trip.  we will make auto match speed a future problem.
+- continue on other projects and bench this one.
+
+
+- this whole thing kind of sucks if i cant transmit buttons.  keep trying.
+  - maybe curise_button and not cruise_button_alt will work?
+
+-----
+Latest:
+- fix hiding path if disabled
+- fix suspend on override behavior - override doesnt happen on always on lateral.  need alternative check.
+- fix & test lane line narrow on lane change view
+- the acc cancel does nothing.
+- must simulate actual button presses.
+- add radar dist, model dist, radar speed, model speed to debug hud
+- add wheel touched, wheel override to hud
+
+- fix always on lateral saying its on when actually fully engaged
+
+Notes on speed limit override:
+- we need to capture the original speed and feed it to vtsc and model whule we
+  are under speed adjustment
+
+------
+- fix lane lines
+- fix always on lateral detection
+- position override under 25 mph suspends assist
+
+- output the three speeds
+
+- test - if engaged, adjust the speed twoards experimental one unit every second
+
+- disable onroad on parked, not car off
+
+- test that lkas button crashes controlsd, it should
+- test that lkas button creates an alert, it should
+
+- hyundai clsc https://github.com/garrettpall/openpilot/commit/5528198aa73d3d017d16ec4ca38306b11e5da0a8
+
+- get ui to work on its own using no video feed, custom ui state inputs
+  - dress up ui
+
+- add debug elements to ui with a boolean at top of onroad.cc to enable/disable:
+  - curviture
+  - current speed limit
+  - current cruise speed
+  - current experimental mode speed
+  - current distance to lead based on radar
+  - current distance to lead based on model draw distance
+  - current speed of lead
+
+- when changing lanes and lateral disabled, draw a narrow single 'line' down center
+- of computed path, and don't show side lane boundaries
+
+- make side lanes 10% wider and the disengage mode 10% brighter
+- make 25% of side lanes 50% darker than base
+
+- hello world alert triggered by lkas btn
+- hello world bootstrap dashboard
+
+- button stuff:
+- read paddle left (for full nudgeless lane change + blinker, reset to drive)
+- read paddle right ("")
+- read current drive mode, reset paddle mode to drive
+- write pause, res, accel, mode, drive
+
+wishlist: read / write info switcher, hvac, windows
+wishlist: allow lane assist (not lane keep) on disengage
+
+test:
+- disable all canbus
+- set speed limit during stock long
+
+OP -> Oscar
+- oscar - global clearpilot state var
+- oscar.cs - clearpilot car state  (populated by op variables for cp.planner)
+- oscar.ce - clearpilot car event queue (array that can be pushed to from car)
+- oscar.ceh - event queue history (for debug)
+- oscar.clog - error and console.log style one off messages to transmit to logs or watching consoles
+Oscar -> OP
+- oscar.ps - clearpilot planner state (data from cp)
+- oscar.pe - clearpilot planner event (one time events from planner to be processed by openpilot)
+- oscar.peh - planner event history (for debug)
+- oscar.plog - retransmits clog as well as additional data for UI based log consoles
+
+- oscar - clearpilot's planner - nodejs process that synchronizes state between all processes and makes decisions
+
+- settings menu
+- - branch selector - release, stage, dev.  Stage is my personal release branch.  Should always be able to easilly switch to stage while im in a development state.
+
+- unfuck the directory structure.  new structure:
+-
+
+-------
+
+- make functions
+--- get_curvature
+--- get_wheel_angle
+--- get_distance_to_left_lane
+--- get_distance_to_right_lane
+--- are hands on wheel
+--- distance traveled for lane change
+--- distance to lead
+- put these on a debug.
+
+- Design alternate settings webview
+- get speed limit display working
+- get calculated experimental speed display working
+- get button press emulation working
+- get experimental mode working
+- get speed limit set working
+- dev enable lateral on blinker but no wheel pressure or no wheel presence
+- bluetooth dummy device
+
+- Test if activation fix works for op long, submit to frog maintain
+- (test) disable all turn signal output commands - they are causing issues
+- test "create_acc_cancel" on canfd on cc engaged on boot
+- Create clearpilot process.  manages behaviors.
+- experiment with reduced jerk values
+- test toggle stop all canbus output
+- check if acc_cancel events are being made on idle in stock long, if so, its a bug.
+
+- Warn if significantly slower traffic
+
+behaviors:
+
+- getting head mode - turn off babysitter with an alert on the screen that it is off, suspend for 10 minutes
+  - in this mode it should be extra grouchy if a curve is detected, slowdown is detected, or lane lines are weak
+
+- lane change wrong way reenable lateral
+- blinker signal wheel angle minor enable lateral
+- wheel angle sharp only engage lateral if over lane edge unless hands not on wheel
+- no lateral on turn signal - only enforce if model curvature > 10 degrees, hands on wheel, or wheel override (maybe curve not necessary?)
+
+
+- basic lane keep - nudge wheel slightly if over line and still going straight and hands on wheel
+
+- debug mode activated bu lkas
+
+- See where disk free is going with NCDU and add smarter log rotation
+  - Maybe this has logs where it could show what happened to frogpilot process?
+- Test supress cruise icon on long paused
+- increase center lane brightness 50% and make it blueish
+- make drive mode color much brighter and 30% more white
+- maintain lateral on icon on stop on dash
+- prevent engagement if disengaged and brakes are applied, just enable lateral
+- edit manager to log all stderr output
+- find a way to disable all logging unless debug mode enabled (screen setting)
+- set up dash cam recordings
+- disable dash cam and record in real logger mode if debug mode is entered
+
+- Integrate here maps api for traffic data
+  - maybe even speed limit data? and location data?
+
+- write a debug function for python that cats data to a screen terminal and optionally a log file
+- if cruise already engaged when boot, just enable lateral
+- reengage lateral if changing lanes and changing the wrong way
+- speed limit display / over speed display / trigger set
+- hack the buttons so we can press them
+- auto set speed limit
+- conditional experimenal mode
+- ui conditional experimental mode, orange lines, show large font of desired speed in lower left
+- hold down button to turn off screen, remember setting
+- bluetooth dummy device
+- dash cam
+- change disk used on sidebar to disk free / percent used
+-
+- warn if lead is going more than 30 under my speed or 20 if auto mode is off
+
+- mark os version different than release, forcing a os reinstall
+- no prompt on os reinstall
+
+
+Test features wizard:
+- read paddles
+- read speed
+- adjust speed
+- cancel / resume
+- reset drive mode
+- read radar distance
+- activate blinkers
+
 
 - disable changing lanes notices (tiny indicator is fine)
+
 - speed limit display / over speed display
 - hack the buttons so we can press them
 - auto set speed limit

openpilot/clearpilot_devqueue_amain.txt

@@ -1,174 +1,45 @@
------
+- lkas button toggle display off / minimal / full / info
-Latest:
-- fix hiding path if disabled
-- fix suspend on override behavior - override doesnt happen on always on lateral.  need alternative check.
-- fix & test lane line narrow on lane change view
-- the acc cancel does nothing.
-- must simulate actual button presses.
-- add radar dist, model dist, radar speed, model speed to debug hud
-- add wheel touched, wheel override to hud
 
-- fix always on lateral saying its on when actually fully engaged
+- revert a bunch of debugging in canfd
 
-Notes on speed limit override:
+- fix it so it reads cruise state and uses it to determine program state exclusively
-- we need to capture the original speed and feed it to vtsc and model whule we
+  - always on lat in particular
-  are under speed adjustment
 
-------
+- make override a state that can happen on always on lateral
-- fix lane lines
-- fix always on lateral detection
-- position override under 25 mph suspends assist
 
-- output the three speeds
+- fix turning with override to disengage lower than 20
 
-- test - if engaged, adjust the speed twoards experimental one unit every second
+- configure it so i can toggle experimental via lkas
 
-- disable onroad on parked, not car off
+- if experimental enabled, then transmit experimental speed settings
+  - but only if no lead car or not decelerating.  got to think of a condition
+    where we reengage if the lead is going too slow and we need to let stock long decel
 
-- test that lkas button crashes controlsd, it should
+- implement speed limit controller as a simple Warning
-- test that lkas button creates an alert, it should
 
-- hyundai clsc https://github.com/garrettpall/openpilot/commit/5528198aa73d3d017d16ec4ca38306b11e5da0a8
+- implement a simple resume from standstill hack
 
-- get ui to work on its own using no video feed, custom ui state inputs
+--- TRIP RELEASE ---
-  - dress up ui
 
-- add debug elements to ui with a boolean at top of onroad.cc to enable/disable:
+- configure orangepi wifi selector
-  - curviture
+  - can i have it use phone bt tether?
-  - current speed limit
+- fix gps
-  - current cruise speed
+- implement new onroad settings
-  - current experimental mode speed
+- implement new offroad settings
-  - current distance to lead based on radar
+- implement debug console (make it actually useful)
-  - current distance to lead based on model draw distance
+- implement dash cam
-  - current speed of lead
+- implement dash cam viewer
+- implement trip logger
+- implement generic CLSC
+- implement GM CLSC
 
-- when changing lanes and lateral disabled, draw a narrow single 'line' down center
+- CRAIG RELEASE -
-- of computed path, and don't show side lane boundaries
 
-- make side lanes 10% wider and the disengage mode 10% brighter
+- implement logo selector
-- make 25% of side lanes 50% darker than base
+- update models, sync important changes from main
+- update installer
 
-- hello world alert triggered by lkas btn
+- PUBLIC RELEASE - 
-- hello world bootstrap dashboard
 
-- button stuff:
+Hyundai CLSC
-- read paddle left (for full nudgeless lane change + blinker, reset to drive)
+Hyundai Paddle shifter lane change
-- read paddle right ("")
-- read current drive mode, reset paddle mode to drive
-- write pause, res, accel, mode, drive
-
-wishlist: read / write info switcher, hvac, windows
-wishlist: allow lane assist (not lane keep) on disengage
-
-test:
-- disable all canbus
-- set speed limit during stock long
-
-OP -> Oscar
-- oscar - global clearpilot state var
-- oscar.cs - clearpilot car state  (populated by op variables for cp.planner)
-- oscar.ce - clearpilot car event queue (array that can be pushed to from car)
-- oscar.ceh - event queue history (for debug)
-- oscar.clog - error and console.log style one off messages to transmit to logs or watching consoles
-Oscar -> OP
-- oscar.ps - clearpilot planner state (data from cp)
-- oscar.pe - clearpilot planner event (one time events from planner to be processed by openpilot)
-- oscar.peh - planner event history (for debug)
-- oscar.plog - retransmits clog as well as additional data for UI based log consoles
-
-- oscar - clearpilot's planner - nodejs process that synchronizes state between all processes and makes decisions
-
-- settings menu
-- - branch selector - release, stage, dev.  Stage is my personal release branch.  Should always be able to easilly switch to stage while im in a development state.
-
-- unfuck the directory structure.  new structure:
--
-
--------
-
-- make functions
---- get_curvature
---- get_wheel_angle
---- get_distance_to_left_lane
---- get_distance_to_right_lane
---- are hands on wheel
---- distance traveled for lane change
---- distance to lead
-- put these on a debug.
-
-- Design alternate settings webview
-- get speed limit display working
-- get calculated experimental speed display working
-- get button press emulation working
-- get experimental mode working
-- get speed limit set working
-- dev enable lateral on blinker but no wheel pressure or no wheel presence
-- bluetooth dummy device
-
-- Test if activation fix works for op long, submit to frog maintain
-- (test) disable all turn signal output commands - they are causing issues
-- test "create_acc_cancel" on canfd on cc engaged on boot
-- Create clearpilot process.  manages behaviors.
-- experiment with reduced jerk values
-- test toggle stop all canbus output
-- check if acc_cancel events are being made on idle in stock long, if so, its a bug.
-
-- Warn if significantly slower traffic
-
-behaviors:
-
-- getting head mode - turn off babysitter with an alert on the screen that it is off, suspend for 10 minutes
-  - in this mode it should be extra grouchy if a curve is detected, slowdown is detected, or lane lines are weak
-
-- lane change wrong way reenable lateral
-- blinker signal wheel angle minor enable lateral
-- wheel angle sharp only engage lateral if over lane edge unless hands not on wheel
-- no lateral on turn signal - only enforce if model curvature > 10 degrees, hands on wheel, or wheel override (maybe curve not necessary?)
-
-
-- basic lane keep - nudge wheel slightly if over line and still going straight and hands on wheel
-
-- debug mode activated bu lkas
-
-- See where disk free is going with NCDU and add smarter log rotation
-  - Maybe this has logs where it could show what happened to frogpilot process?
-- Test supress cruise icon on long paused
-- increase center lane brightness 50% and make it blueish
-- make drive mode color much brighter and 30% more white
-- maintain lateral on icon on stop on dash
-- prevent engagement if disengaged and brakes are applied, just enable lateral
-- edit manager to log all stderr output
-- find a way to disable all logging unless debug mode enabled (screen setting)
-- set up dash cam recordings
-- disable dash cam and record in real logger mode if debug mode is entered
-
-- Integrate here maps api for traffic data
-  - maybe even speed limit data? and location data?
-
-- write a debug function for python that cats data to a screen terminal and optionally a log file
-- if cruise already engaged when boot, just enable lateral
-- reengage lateral if changing lanes and changing the wrong way
-- speed limit display / over speed display / trigger set
-- hack the buttons so we can press them
-- auto set speed limit
-- conditional experimenal mode
-- ui conditional experimental mode, orange lines, show large font of desired speed in lower left
-- hold down button to turn off screen, remember setting
-- bluetooth dummy device
-- dash cam
-- change disk used on sidebar to disk free / percent used
--
-- warn if lead is going more than 30 under my speed or 20 if auto mode is off
-
-- mark os version different than release, forcing a os reinstall
-- no prompt on os reinstall
-
-
-Test features wizard:
-- read paddles
-- read speed
-- adjust speed
-- cancel / resume
-- reset drive mode
-- read radar distance
-- activate blinkers

selfdrive/car/hyundai/carcontroller.py

@@ -123,45 +123,41 @@ class CarController(CarControllerBase):
       if self.frame % 5 == 0 and (not hda2 or hda2_long):
         # CLEARPILOT TEST self.CS.lkas_enabled
         # can_sends.append(hyundaicanfd.create_lfahda_cluster(self.packer, self.CAN, CC.enabled, CC.latActive))
-        params_memory = Params("/dev/shm/params")
+        # params_memory = Params("/dev/shm/params")
-        lkas_icon = params_memory.get_bool("CPTLkasButtonAction") or CS.lkas_enabled
+        # lkas_icon = params_memory.get_bool("CPTLkasButtonAction") or CS.lkas_enabled
-        can_sends.append(hyundaicanfd.create_lfahda_cluster(self.packer, self.CAN, lkas_icon, lkas_icon))
+        # lkas_icon = CS.experimentalMode
+        can_sends.append(hyundaicanfd.create_lfahda_cluster(self.packer, self.CAN, False, False))
+        # can_sends.append(hyundaicanfd.create_lfahda_cluster(self.packer, self.CAN, CS.experimentalMode, False))
 
       # blinkers
       if hda2 and self.CP.flags & HyundaiFlags.ENABLE_BLINKERS:
         can_sends.extend(hyundaicanfd.create_spas_messages(self.packer, self.CAN, self.frame, CC.leftBlinker, CC.rightBlinker))
 
       # params_memory = Params("/dev/shm/params")
-      params_memory = Params("/dev/shm/params")
+      # if params_memory.get_bool("CPTLkasButtonAction"):
-      if params_memory.get_bool("CPTLkasButtonAction"):
-        if self.frame % 2 == 0:
-          can_sends.append(hyundaicanfd.create_acc_control_alt(self.packer, self.CAN, CC.enabled, self.accel_last, accel, stopping, CC.cruiseControl.override,
-                                                           set_speed_in_units, hud_control))
-          self.accel_last = accel
         # if self.frame % 10 == 0:
           #  for _ in range(20):
-            # can_sends.append(hyundaicanfd.create_buttons_alt(self.packer, self.CP, self.CAN, CS.buttons_counter+1, Buttons.SET_DECEL, CS.cruise_can_msg))
+              # can_sends.append(hyundaicanfd.create_buttons_alt(self.packer, self.CP, self.CAN, CS.buttons_counter+1, Buttons.SET_DECEL))
-        # print("Decel")
         # can_sends.extend(hyundaicanfd.create_adrv_messages(self.packer, self.CAN, self.frame))
         # can_sends.append(hyundaicanfd.create_acc_set_speed(self.packer, self.CP, self.CAN, CS.cruise_info, 50))
         # can_sends.append(hyundaicanfd.create_acc_cancel(self.packer, self.CP, self.CAN, CS.cruise_info))
         # print("Debug cancel executed")
 
-      if self.CP.openpilotLongitudinalControl:
+      if self.CP.openpilotLongitudinalControl: # or CS.experimentalMode:
         if hda2:
           can_sends.extend(hyundaicanfd.create_adrv_messages(self.packer, self.CAN, self.frame))
         if self.frame % 2 == 0:
           can_sends.append(hyundaicanfd.create_acc_control(self.packer, self.CAN, CC.enabled, self.accel_last, accel, stopping, CC.cruiseControl.override,
                                                            set_speed_in_units, hud_control))
           self.accel_last = accel
-      else:
+      # else:
         # Clearpilot
         # If cruise control was enabled or idle on start, force cancel
         # if CS.fix_main_enabled_cancel_main:
           # CS.fix_main_enabled_cancel_main = False
           # CC.cruiseControl.cancel = True
         # button presses
-        can_sends.extend(self.create_button_messages(CC, CS, use_clu11=False))
+        # can_sends.extend(self.create_button_messages(CC, CS, use_clu11=False))
     else:
       can_sends.append(hyundaican.create_lkas11(self.packer, self.frame, self.CP, apply_steer, apply_steer_req,
                                                 torque_fault, CS.lkas11, sys_warning, sys_state, CC.enabled,
@@ -217,7 +213,7 @@ class CarController(CarControllerBase):
             self.last_button_frame = self.frame
     else:
       if (self.frame - self.last_button_frame) * DT_CTRL > 0.25:
-        params_memory = Params("/dev/shm/params")
+        # params_memory = Params("/dev/shm/params")
         # if params_memory.get_bool("CPTLkasButtonAction"):
         #   params_memory.put_bool("CPTLkasButtonAction", False)
         #   CC.cruiseControl.cancel = True
@@ -228,6 +224,7 @@ class CarController(CarControllerBase):
             # pass
             # can_sends.append(hyundaicanfd.create_acc_cancel(self.packer, self.CP, self.CAN, CS.cruise_info))
             # for _ in range(20):
+              # can_sends.append(hyundaicanfd.create_buttons_alt(self.packer, self.CP, self.CAN, CS.buttons_counter+1, Buttons.CANCEL))
               # if CS.cruise_can_msg:
                 # can_sends.append(hyundaicanfd.create_buttons_alt(self.packer, self.CP, self.CAN, CS.buttons_counter+1, Buttons.CANCEL, CS.cruise_can_msg))
             # print("Try Cancel Button Alt")

selfdrive/car/hyundai/carstate.py

@@ -209,7 +209,7 @@ class CarState(CarStateBase):
       self.lkas_previously_enabled = self.lkas_enabled
       self.lkas_enabled = cp.vl["BCM_PO_11"]["LFA_Pressed"]
 
-    self.params_memory.put_int("CarSpeedLimitLiteral", self.calculate_speed_limit(cp, cp_cam))
+    # self.params_memory.put_int("CarSpeedLimitLiteral", self.calculate_speed_limit(cp, cp_cam))
     self.params_memory.put_float("CarSpeedLimit", self.calculate_speed_limit(cp, cp_cam) * speed_conv)
     self.params_memory.put_float("CarCruiseDisplayActual", cp_cruise.vl["SCC11"]["VSetDis"])
     
@@ -417,7 +417,7 @@ class CarState(CarStateBase):
 
     # print("Set limit")
     # print(self.calculate_speed_limit(cp, cp_cam))
-    self.params_memory.put_float("CarSpeedLimitLiteral", self.calculate_speed_limit(cp, cp_cam))
+    # self.params_memory.put_float("CarSpeedLimitLiteral", self.calculate_speed_limit(cp, cp_cam))
     self.params_memory.put_float("CarSpeedLimit", self.calculate_speed_limit(cp, cp_cam) * speed_factor)
 
     return ret

selfdrive/car/hyundai/hyundaicanfd.py

@@ -236,10 +236,10 @@ def create_acc_cancel(packer, CP, CAN, cruise_info_copy):
 
 # CLEARPILOT changed HDA icons
 # This doesn't appear to do anything on my tucson
-def create_lfahda_cluster(packer, CAN, enabled, lat_active):
+def create_lfahda_cluster(packer, CAN, experimental, lat_active):
   values = {
     "HDA_ICON": 0, # Literally shows HDA.  Maybe we use this to indicate experimental mode
-    "LFA_ICON": 2 if enabled else 1 if lat_active else 0
+    "LFA_ICON": 2 if experimental else 0
   }
 
   return packer.make_can_msg("LFAHDA_CLUSTER", CAN.ECAN, values)

selfdrive/controls/controlsd.py

@@ -77,6 +77,7 @@ class Controls:
     self.params_storage = Params("/persist/params")
 
     self.params_memory.put_bool("CPTLkasButtonAction", False)
+    self.params_memory.put_bool("ScreenDisaplayMode", 0)
 
     self.radarless_model = self.params.get("Model", encoding='utf-8') in RADARLESS_MODELS
 
@@ -1239,16 +1240,21 @@ class Controls:
 
   def clearpilot_state_control(self, CC, CS):
     if any(be.pressed and be.type == FrogPilotButtonType.lkas for be in CS.buttonEvents):
-#      self.params_memory.put_bool("CPTLkasButtonAction", True)
-      if self.params_memory.get_bool("CPTLkasButtonAction"):
-        self.params_memory.put_bool("CPTLkasButtonAction", False)
-      else:
-        self.params_memory.put_bool("CPTLkasButtonAction", True)
-      # CS.lkas_enabled = self.params_memory.get_bool("CPTLkasButtonAction")
       
-    self.params_memory.put_int("SpeedLimitLatDesired", CC.actuators.speed * CV.MS_TO_MPH )
+      # if self.params_memory.get_bool("CPTLkasButtonAction"):
-    # CC.actuators.speed
+      #   self.params_memory.put_bool("CPTLkasButtonAction", False)
-    # print ("Alive")
+      # else:
+      #   self.params_memory.put_bool("CPTLkasButtonAction", True)
+  
+      # Rotate display mode.  These are mostly used in the frontend ui app.
+      max_display_mode = 1
+      current_display_mode = self.params_memory.get_int("ScreenDisaplayMode")
+      current_display_mode = current_display_mode + 1
+      if current_display_mode > max_display_mode:
+        current_display_mode = 0
+      self.params_memory.put_int("ScreenDisaplayMode", current_display_mode)
+
+      # self.params_memory.put_int("SpeedLimitLatDesired", CC.actuators.speed * CV.MS_TO_MPH )
     return CC
 
 def main():

selfdrive/frogpilot/controls/frogpilot_planner.py

@@ -274,7 +274,7 @@ class FrogPilotPlanner:
 
     frogpilotPlan.vtscControllingCurve = bool(self.mtsc_target > self.vtsc_target)
 
-    self.params_memory.put_int("SpeedLimitVTSC", frogpilotPlan.adjustedCruise)
+    # self.params_memory.put_int("SpeedLimitVTSC", frogpilotPlan.adjustedCruise)
 
     pm.send('frogpilotPlan', frogpilot_plan_send)
 

selfdrive/manager/manager.py

@@ -149,6 +149,9 @@ def manager_init(frogpilot_functions) -> None:
     ("ForceFingerprint", "0"),
     ("ForceMPHDashboard", "0"),
     ("FPSCounter", "0"),
+    ("FrogPilotDrives", "0"),
+    ("FrogPilotKilometers", "0"),
+    ("FrogPilotMinutes", "0"),
     ("FrogsGoMooTune", "1"),
     ("FullMap", "0"),
     ("GasRegenCmd", "0"),
@@ -169,7 +172,7 @@ def manager_init(frogpilot_functions) -> None:
     ("IncreaseThermalLimits", "0"),
     ("LaneChangeTime", "0"),
     ("LaneDetectionWidth", "60"),
-    ("LaneLinesWidth", "2"),
+    ("LaneLinesWidth", "4"),
     ("LateralTune", "1"),
     ("LeadDepartingAlert", "0"),
     ("LeadDetectionThreshold", "35"),
@@ -179,14 +182,6 @@ def manager_init(frogpilot_functions) -> None:
     ("LongPitch", "1"),
     ("LoudBlindspotAlert", "0"),
     ("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", ""),
@@ -277,7 +272,6 @@ def manager_init(frogpilot_functions) -> None:
     ("TrafficFollow", "0.5"),
     ("TrafficJerk", "1"),
     ("TrafficMode", "0"),
-    ("Tuning", "1"),
     ("TurnAggressiveness", "100"),
     ("TurnDesires", "0"),
     ("UnlimitedLength", "1"),
@@ -341,14 +335,14 @@ def manager_init(frogpilot_functions) -> None:
     os.environ['CLEAN'] = '1'
 
   # init logging
-  # sentry.init(sentry.SentryProject.SELFDRIVE)
+  sentry.init(sentry.SentryProject.SELFDRIVE)
-  # cloudlog.bind_global(dongle_id=dongle_id,
+  cloudlog.bind_global(dongle_id=dongle_id,
-  #                      version=get_version(),
+                       version=get_version(),
-  #                      origin=get_normalized_origin(),
+                       origin=get_normalized_origin(),
-  #                      branch=get_short_branch(),
+                       branch=get_short_branch(),
-  #                      commit=get_commit(),
+                       commit=get_commit(),
-  #                      dirty=is_dirty(),
+                       dirty=is_dirty(),
-  #                      device=HARDWARE.get_device_type())
+                       device=HARDWARE.get_device_type())
 
   # preimport all processes
   for p in managed_processes.values():
@@ -366,11 +360,8 @@ def manager_cleanup() -> None:
 
   cloudlog.info("everything is dead")
 
-last_running = ""
 
 def manager_thread(frogpilot_functions) -> None:
-  global last_running
-
   cloudlog.bind(daemon="manager")
   cloudlog.info("manager start")
   cloudlog.info({"environ": os.environ})
@@ -422,12 +413,8 @@ def manager_thread(frogpilot_functions) -> None:
 
     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)
-   
-    # clearpilot
-    if (running != last_running):
     print(running)
     cloudlog.debug(running)
-      last_running = running
 
     # send managerState
     msg = messaging.new_message('managerState', valid=True)
@@ -436,7 +423,7 @@ def manager_thread(frogpilot_functions) -> None:
 
     # Exit main loop when uninstall/shutdown/reboot is needed
     shutdown = False
-    for param in ("DoUninstall", "DoShutdown", "DoReboot", "DoSoftReboot"):
+    for param in ("DoUninstall", "DoShutdown", "DoReboot"):
       if params.get_bool(param):
         shutdown = True
         params.put("LastManagerExitReason", f"{param} {datetime.datetime.now()}")
@@ -477,9 +464,6 @@ def main() -> None:
   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()

selfdrive/manager/manager_wip.txt

@@ -0,0 +1,519 @@
+#!/usr/bin/env python3
+import datetime
+import os
+import signal
+import subprocess
+import sys
+import threading
+import time
+import traceback
+
+from cereal import log
+import cereal.messaging as messaging
+import openpilot.selfdrive.sentry as sentry
+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
+from openpilot.selfdrive.manager.process_config import managed_processes
+from openpilot.selfdrive.athena.registration import register, UNREGISTERED_DONGLE_ID
+from openpilot.common.swaglog import cloudlog, add_file_handler
+from openpilot.system.version import is_dirty, get_commit, get_version, get_origin, get_short_branch, \
+                           get_normalized_origin, terms_version, training_version, \
+                           is_tested_branch, is_release_branch, get_commit_date
+
+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 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:
+  timestamp = datetime.datetime.now().strftime("%Y-%m-%d-%H-%M-%S")
+  log_dir = f"/data/log2/{timestamp}"
+  os.makedirs(log_dir, exist_ok=True)
+
+  frogpilot_boot = threading.Thread(target=frogpilot_boot_functions, args=(frogpilot_functions,))
+  frogpilot_boot.start()
+
+  save_bootlog()
+
+  params = 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)
+
+  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"),
+    ("RecordFront", "0"),
+    ("LongitudinalPersonality", str(log.LongitudinalPersonality.standard)),
+
+    # Default FrogPilot parameters
+    ("AccelerationPath", "1"),
+    ("AccelerationProfile", "2"),
+    ("AdjacentPath", "0"),
+    ("AdjacentPathMetrics", "0"),
+    ("AggressiveAcceleration", "1"),
+    ("AggressiveFollow", "1.25"),
+    ("AggressiveJerk", "0.5"),
+    ("AlertVolumeControl", "0"),
+    ("AlwaysOnLateral", "1"),
+    ("AlwaysOnLateralMain", "0"),
+    ("AMapKey1", ""),
+    ("AMapKey2", ""),
+    ("AutomaticUpdates", "0"),
+    ("BlindSpotPath", "1"),
+    ("CameraView", "2"),
+    ("CarMake", ""),
+    ("CarModel", ""),
+    ("CECurves", "1"),
+    ("CENavigation", "1"),
+    ("CENavigationIntersections", "1"),
+    ("CENavigationLead", "1"),
+    ("CENavigationTurns", "1"),
+    ("CESignal", "1"),
+    ("CESlowerLead", "1"),
+    ("CESpeed", "0"),
+    ("CESpeedLead", "0"),
+    ("CEStopLights", "1"),
+    ("CEStopLightsLead", "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"),
+    ("CustomTheme", "1"),
+    ("CustomUI", "1"),
+    ("CydiaTune", "0"),
+    ("DecelerationProfile", "1"),
+    ("DeveloperUI", "0"),
+    ("DeviceManagement", "1"),
+    ("DeviceShutdown", "9"),
+    ("DisableMTSCSmoothing", "0"),
+    ("DisableOnroadUploads", "0"),
+    ("DisableOpenpilotLongitudinal", "0"),
+    ("DisableVTSCSmoothing", "0"),
+    ("DisengageVolume", "100"),
+    ("DragonPilotTune", "0"),
+    ("DriverCamera", "0"),
+    ("DynamicPathWidth", "0"),
+    ("EngageVolume", "100"),
+    ("EVTable", "1"),
+    ("ExperimentalModeActivation", "1"),
+    ("ExperimentalModeViaDistance", "1"),
+    ("ExperimentalModeViaLKAS", "1"),
+    ("ExperimentalModeViaTap", "0"),
+    ("Fahrenheit", "0"),
+    ("ForceAutoTune", "1"),
+    ("ForceFingerprint", "0"),
+    ("ForceMPHDashboard", "0"),
+    ("FPSCounter", "0"),
+    ("FrogsGoMooTune", "1"),
+    ("FullMap", "0"),
+    ("GasRegenCmd", "0"),
+    ("GMapKey", ""),
+    ("GoatScream", "1"),
+    ("GreenLightAlert", "0"),
+    ("HideAlerts", "0"),
+    ("HideAOLStatusBar", "0"),
+    ("HideCEMStatusBar", "0"),
+    ("HideLeadMarker", "0"),
+    ("HideMapIcon", "0"),
+    ("HideMaxSpeed", "0"),
+    ("HideSpeed", "0"),
+    ("HideSpeedUI", "0"),
+    ("HideUIElements", "0"),
+    ("HigherBitrate", "0"),
+    ("HolidayThemes", "1"),
+    ("IncreaseThermalLimits", "0"),
+    ("LaneChangeTime", "0"),
+    ("LaneDetectionWidth", "60"),
+    ("LaneLinesWidth", "2"),
+    ("LateralTune", "1"),
+    ("LeadDepartingAlert", "0"),
+    ("LeadDetectionThreshold", "35"),
+    ("LeadInfo", "0"),
+    ("LockDoors", "1"),
+    ("LongitudinalTune", "1"),
+    ("LongPitch", "1"),
+    ("LoudBlindspotAlert", "0"),
+    ("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"),
+    ("Model", DEFAULT_MODEL),
+    ("ModelName", DEFAULT_MODEL_NAME),
+    ("ModelSelector", "1"),
+    ("ModelUI", "1"),
+    ("MTSCEnabled", "1"),
+    ("NNFF", "1"),
+    ("NNFFLite", "1"),
+    ("NoLogging", "0"),
+    ("NoUploads", "0"),
+    ("NudgelessLaneChange", "1"),
+    ("NumericalTemp", "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"),
+    ("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"),
+    ("ShowJerk", "1"),
+    ("ShowMemoryUsage", "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"),
+    ("StandardFollow", "1.45"),
+    ("StandardJerk", "1.0"),
+    ("StandbyMode", "0"),
+    ("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"),
+    ("UnlockDoors", "1"),
+    ("UseSI", "1"),
+    ("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')))
+
+  if params.get_bool("RecordFrontLock"):
+    params.put_bool("RecordFront", True)
+
+  # set unset params
+  for k, v in default_params:
+    if params.get(k) is None:
+      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:
+    os.mkdir("/dev/shm")
+  except FileExistsError:
+    pass
+  except PermissionError:
+    print("WARNING: failed to make /dev/shm")
+
+  # set version params
+  params.put("Version", get_version())
+  params.put("TermsVersion", terms_version)
+  params.put("TrainingVersion", training_version)
+  params.put("GitCommit", get_commit())
+  params.put("GitCommitDate", get_commit_date())
+  params.put("GitBranch", get_short_branch())
+  params.put("GitRemote", get_origin())
+  params.put_bool("IsTestedBranch", is_tested_branch())
+  params.put_bool("IsReleaseBranch", is_release_branch())
+
+  # set dongle id
+  reg_res = register(show_spinner=True)
+  if reg_res:
+    dongle_id = reg_res
+  else:
+    serial = params.get("HardwareSerial")
+    raise Exception(f"Registration failed for device {serial}")
+  os.environ['DONGLE_ID'] = dongle_id  # Needed for swaglog
+  os.environ['GIT_ORIGIN'] = get_normalized_origin() # Needed for swaglog
+  os.environ['GIT_BRANCH'] = get_short_branch() # Needed for swaglog
+  os.environ['GIT_COMMIT'] = get_commit() # Needed for swaglog
+
+  if not is_dirty():
+    os.environ['CLEAN'] = '1'
+
+  # init logging
+  # sentry.init(sentry.SentryProject.SELFDRIVE)
+  # cloudlog.bind_global(dongle_id=dongle_id,
+  #                      version=get_version(),
+  #                      origin=get_normalized_origin(),
+  #                      branch=get_short_branch(),
+  #                      commit=get_commit(),
+  #                      dirty=is_dirty(),
+  #                      device=HARDWARE.get_device_type())
+
+  # preimport all processes
+  for p in managed_processes.values():
+    p.prepare()
+
+  return log_dir
+
+
+def manager_cleanup() -> None:
+  # send signals to kill all procs
+  for p in managed_processes.values():
+    p.stop(block=False)
+
+  # ensure all are killed
+  for p in managed_processes.values():
+    p.stop(block=True)
+
+  cloudlog.info("everything is dead")
+
+last_running = ""
+
+def manager_thread(frogpilot_functions, log_dir) -> None:
+  global last_running
+
+  cloudlog.bind(daemon="manager")
+  cloudlog.info("manager start")
+  cloudlog.info({"environ": os.environ})
+
+  params = Params()
+  params_memory = Params("/dev/shm/params")
+
+  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:
+    ignore.append("pandad")
+  ignore += [x for x in os.getenv("BLOCK", "").split(",") if len(x) > 0]
+
+  sm = messaging.SubMaster(['deviceState', 'carParams'], poll='deviceState')
+  pm = messaging.PubMaster(['managerState'])
+
+  write_onroad_params(False, params)
+  ensure_running(managed_processes.values(), False, params=params, CP=sm['carParams'], not_run=ignore, log_dir=log_dir)
+
+  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)
+
+      if openpilot_crashed:
+        os.remove(os.path.join(sentry.CRASHES_DIR, 'error.txt'))
+
+    elif not started and started_prev:
+      params.clear_all(ParamKeyType.CLEAR_ON_OFFROAD_TRANSITION)
+      params_memory.clear_all(ParamKeyType.CLEAR_ON_OFFROAD_TRANSITION)
+
+    # update onroad params, which drives boardd's safety setter thread
+    if started != started_prev:
+      write_onroad_params(started, params)
+
+    started_prev = started
+
+    ensure_running(managed_processes.values(), started, params=params, CP=sm['carParams'], not_run=ignore, log_dir=log_dir)
+
+    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)
+   
+    # clearpilot
+    if (running != last_running):
+      print(running)
+      cloudlog.debug(running)
+      last_running = running
+
+    # send managerState
+    msg = messaging.new_message('managerState', valid=True)
+    msg.managerState.processes = [p.get_process_state_msg() for p in managed_processes.values()]
+    pm.send('managerState', msg)
+
+    # Exit main loop when uninstall/shutdown/reboot is needed
+    shutdown = False
+    for param in ("DoUninstall", "DoShutdown", "DoReboot", "DoSoftReboot"):
+      if params.get_bool(param):
+        shutdown = True
+        params.put("LastManagerExitReason", f"{param} {datetime.datetime.now()}")
+        cloudlog.warning(f"Shutting down manager - {param} set")
+
+    if shutdown:
+      break
+
+
+def main() -> None:
+  frogpilot_functions = FrogPilotFunctions()
+
+  try:
+    frogpilot_functions.setup_frogpilot()
+  except subprocess.CalledProcessError as e:
+    print(f"Failed to setup FrogPilot. Error: {e}")
+    return
+
+  log_dir = manager_init(frogpilot_functions)
+  if os.getenv("PREPAREONLY") is not None:
+    return
+
+  # SystemExit on sigterm
+  signal.signal(signal.SIGTERM, lambda signum, frame: sys.exit(1))
+
+  try:
+    manager_thread(frogpilot_functions, log_dir)
+  except Exception:
+    traceback.print_exc()
+    sentry.capture_exception()
+  finally:
+    manager_cleanup()
+
+  params = Params()
+  if params.get_bool("DoUninstall"):
+    cloudlog.warning("uninstalling")
+    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()
+
+
+if __name__ == "__main__":
+  unblock_stdout()
+
+  try:
+    main()
+  except KeyboardInterrupt:
+    print("got CTRL-C, exiting")
+  except Exception:
+    add_file_handler(cloudlog)
+    cloudlog.exception("Manager failed to start")
+
+    try:
+      managed_processes['ui'].stop()
+    except Exception:
+      pass
+
+    # Show last 3 lines of traceback
+    error = traceback.format_exc(-3)
+    error = "Manager failed to start\n\n" + error
+    with TextWindow(error) as t:
+      t.wait_for_exit()
+
+    raise
+
+  # manual exit because we are forked
+  sys.exit(0)

selfdrive/manager/process.py

@@ -2,6 +2,7 @@ import importlib
 import os
 import signal
 import struct
+import datetime
 import time
 import subprocess
 from collections.abc import Callable, ValuesView
@@ -20,6 +21,11 @@ from openpilot.common.swaglog import cloudlog
 WATCHDOG_FN = "/dev/shm/wd_"
 ENABLE_WATCHDOG = os.getenv("NO_WATCHDOG") is None
 
+timestamp = datetime.datetime.now().strftime("%Y-%m-%d-%H-%M-%S")
+_log_dir = f"/data/log2/{timestamp}"
+os.makedirs(_log_dir, exist_ok=True)
+
+
 
 def launcher(proc: str, name: str) -> None:
   try:
@@ -54,7 +60,6 @@ def nativelauncher(pargs: list[str], cwd: str, name: str) -> None:
   os.chdir(cwd)
   os.execvp(pargs[0], pargs)
 
-
 def join_process(process: Process, timeout: float) -> None:
   # Process().join(timeout) will hang due to a python 3 bug: https://bugs.python.org/issue28382
   # We have to poll the exitcode instead
@@ -190,6 +195,9 @@ class NativeProcess(ManagerProcess):
     if self.proc is not None:
       return
     
+    global _log_dir
+    log_path = _log_dir+"/"+self.name+".log"
+
     cwd = os.path.join(BASEDIR, self.cwd)
     cloudlog.info(f"starting process {self.name}")
     self.proc = Process(name=self.name, target=self.launcher, args=(self.cmdline, cwd, self.name))
@@ -221,6 +229,8 @@ class PythonProcess(ManagerProcess):
     if self.proc is not None:
       return
 
+    global _log_dir
+    log_path = _log_dir+"/"+self.name+".log"
     cloudlog.info(f"starting python {self.module}")
     self.proc = Process(name=self.name, target=self.launcher, args=(self.module, self.name))
     self.proc.start()
@@ -238,6 +248,7 @@ class DaemonProcess(ManagerProcess):
     self.enabled = enabled
     self.params = None
 
+
   @staticmethod
   def should_run(started, params, CP):
     return True
@@ -249,6 +260,9 @@ class DaemonProcess(ManagerProcess):
     if self.params is None:
       self.params = Params()
 
+    global _log_dir
+    log_path = _log_dir+"/"+self.name+".log"
+
     pid = self.params.get(self.param_name, encoding='utf-8')
     if pid is not None:
       try:
@@ -264,8 +278,8 @@ class DaemonProcess(ManagerProcess):
     cloudlog.info(f"starting daemon {self.name}")
     proc = subprocess.Popen(['python', '-m', self.module],
                                stdin=open('/dev/null'),
-                               stdout=open('/dev/null', 'w'),
+                               stdout=open(log_path, 'a'),
-                               stderr=open('/dev/null', 'w'),
+                               stderr=subprocess.STDOUT,
                                preexec_fn=os.setpgrp)
 
     self.params.put(self.param_name, str(proc.pid))
@@ -276,6 +290,7 @@ class DaemonProcess(ManagerProcess):
 
 def ensure_running(procs: ValuesView[ManagerProcess], started: bool, params=None, CP: car.CarParams=None,
                    not_run: list[str] | None=None) -> list[ManagerProcess]:
+
   if not_run is None:
     not_run = []
 

selfdrive/manager/process_config.py

@@ -28,10 +28,10 @@ def ublox(started, params, 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
+  return use_ublox
 
 def qcomgps(started, params, CP: car.CarParams) -> bool:
-  return started and not ublox_available()
+  return not ublox_available()
 
 def always_run(started, params, CP: car.CarParams) -> bool:
   return True
@@ -78,13 +78,13 @@ procs = [
   PythonProcess("controlsd", "selfdrive.controls.controlsd", only_onroad),
   PythonProcess("deleter", "system.loggerd.deleter", always_run),
   PythonProcess("dmonitoringd", "selfdrive.monitoring.dmonitoringd", driverview, enabled=(not PC or WEBCAM)),
-  #PythonProcess("qcomgpsd", "system.qcomgpsd.qcomgpsd", qcomgps, enabled=TICI),
+  # PythonProcess("qcomgpsd", "system.qcomgpsd.qcomgpsd", qcomgps, enabled=TICI),  # Fixme
-  #PythonProcess("ugpsd", "system.ugpsd", only_onroad, enabled=TICI),
+  # PythonProcess("ugpsd", "system.ugpsd", only_onroad, enabled=TICI),
   #PythonProcess("navd", "selfdrive.navd.navd", only_onroad),
   PythonProcess("pandad", "selfdrive.boardd.pandad", always_run),
   PythonProcess("paramsd", "selfdrive.locationd.paramsd", only_onroad),
-  #NativeProcess("ubloxd", "system/ubloxd", ["./ubloxd"], ublox, enabled=TICI),
+  NativeProcess("ubloxd", "system/ubloxd", ["./ubloxd"], ublox, enabled=TICI),
-  #PythonProcess("pigeond", "system.ubloxd.pigeond", ublox, enabled=TICI),
+  PythonProcess("pigeond", "system.ubloxd.pigeond", ublox, enabled=TICI),
   PythonProcess("plannerd", "selfdrive.controls.plannerd", only_onroad),
   PythonProcess("radard", "selfdrive.controls.radard", only_onroad),
   PythonProcess("thermald", "selfdrive.thermald.thermald", always_run),

selfdrive/manager/process_wip.txt

@@ -0,0 +1,251 @@
+import importlib
+import os
+import signal
+import struct
+import time
+import subprocess
+from collections.abc import Callable, ValuesView
+from abc import ABC, abstractmethod
+from multiprocessing import Process
+
+from setproctitle import setproctitle
+
+from cereal import car, log
+import cereal.messaging as messaging
+import openpilot.selfdrive.sentry as sentry
+from openpilot.common.basedir import BASEDIR
+from openpilot.common.params import Params
+from openpilot.common.swaglog import cloudlog
+
+WATCHDOG_FN = "/dev/shm/wd_"
+ENABLE_WATCHDOG = os.getenv("NO_WATCHDOG") is None
+ENABLE_WATCHDOG = False # Fixme
+_log_dir = ""
+
+def nativelauncher(pargs: list[str], cwd: str, name: str, log_path: str) -> None:
+    os.environ['MANAGER_DAEMON'] = name
+    with open(log_path, 'a') as log_file:
+        os.chdir(cwd)
+        proc = subprocess.Popen(pargs, stdout=subprocess.PIPE, stderr=subprocess.STDOUT, bufsize=1, universal_newlines=True)
+        log_file.write("Started "+name)
+        for line in proc.stdout:
+            print(line, end='')
+            log_file.write(line)
+        proc.wait()
+
+def launcher(proc: str, name: str, log_path: str) -> None:
+  for _ in iter(int, 1):
+    try:
+      mod = importlib.import_module(proc)
+      setproctitle(proc)
+      messaging.context = messaging.Context()
+      cloudlog.bind(daemon=name)
+      sentry.set_tag("daemon", name)
+      with open(log_path, 'a') as log_file, subprocess.Popen(['python', '-m', proc], stdout=subprocess.PIPE, stderr=subprocess.STDOUT, bufsize=1, universal_newlines=True) as proc:
+        log_file.write("Started "+name)
+        for line in proc.stdout:
+          print(line, end='')
+          log_file.write(line)
+        proc.wait()
+    except Exception as e:
+      print ("Fatal: "+name)
+      print (e)
+      sentry.capture_exception()
+
+def join_process(process: Process, timeout: float) -> None:
+  t = time.monotonic()
+  while time.monotonic() - t < timeout and process.exitcode is None:
+    time.sleep(0.001)
+
+class ManagerProcess(ABC):
+  daemon = False
+  sigkill = False
+  should_run: Callable[[bool, Params, car.CarParams], bool]
+  proc: Process | None = None
+  enabled = True
+  name = ""
+  last_watchdog_time = 0
+  watchdog_max_dt: int | None = None
+  watchdog_seen = False
+  shutting_down = False
+
+  @abstractmethod
+  def prepare(self) -> None:
+    pass
+
+  @abstractmethod
+  def start(self) -> None:
+    pass
+
+  def restart(self) -> None:
+    if self.proc is not None and self.proc.exitcode is not None:
+      self.stop(sig=signal.SIGKILL, block=False)
+    self.start()
+
+  def check_watchdog(self, started: bool) -> None:
+    if self.watchdog_max_dt is None or self.proc is None:
+      return
+    try:
+      fn = WATCHDOG_FN + str(self.proc.pid)
+      with open(fn, "rb") as f:
+        self.last_watchdog_time = struct.unpack('Q', f.read())[0]
+    except Exception:
+      pass
+    dt = time.monotonic() - self.last_watchdog_time / 1e9
+    if dt > self.watchdog_max_dt:
+      if (self.watchdog_seen or self.always_watchdog and self.proc.exitcode is not None) and ENABLE_WATCHDOG:
+        cloudlog.error(f"Watchdog timeout for {self.name} (exitcode {self.proc.exitcode}) restarting ({started=})")
+        self.restart()
+    else:
+      self.watchdog_seen = True
+
+  def stop(self, retry: bool = True, block: bool = True, sig: signal.Signals = None) -> int | None:
+    if self.proc is None:
+      return None
+    if self.proc.exitcode is None:
+      if not self.shutting_down:
+        cloudlog.info(f"killing {self.name}")
+        if sig is None:
+          sig = signal.SIGKILL if self.sigkill else signal.SIGINT
+        self.signal(sig)
+        self.shutting_down = True
+        if not block:
+          return None
+      join_process(self.proc, 5)
+      if self.proc.exitcode is None and retry:
+        cloudlog.info(f"killing {self.name} with SIGKILL")
+        self.signal(signal.SIGKILL)
+        self.proc.join()
+    ret = self.proc.exitcode
+    cloudlog.info(f"{self.name} is dead with {ret}")
+    if self.proc.exitcode is not None:
+      self.shutting_down = False
+      self.proc = None
+    return ret
+
+  def signal(self, sig: int) -> None:
+    if self.proc is None or self.proc.exitcode is not None or self.proc.pid is None:
+      return
+    cloudlog.info(f"sending signal {sig} to {self.name}")
+    os.kill(self.proc.pid, sig)
+
+  def get_process_state_msg(self):
+    state = log.ManagerState.ProcessState.new_message()
+    state.name = self.name
+    if self.proc:
+      state.running = self.proc.is_alive()
+      state.shouldBeRunning = self.proc is not None and not self.shutting_down
+      state.pid = self.proc.pid or 0
+      state.exitCode = self.proc.exitcode or 0
+    return state
+
+
+class NativeProcess(ManagerProcess):
+  def __init__(self, name, cwd, cmdline, should_run, enabled=True, sigkill=False, watchdog_max_dt=None, always_watchdog=False):
+    self.name = name
+    self.cwd = cwd
+    self.cmdline = cmdline
+    self.should_run = should_run
+    self.enabled = enabled
+    self.sigkill = sigkill
+    self.watchdog_max_dt = watchdog_max_dt
+    self.launcher = nativelauncher
+    self.always_watchdog = always_watchdog
+
+  def prepare(self) -> None:
+    pass
+
+  def start(self) -> None:
+    global _log_dir
+    log_path = _log_dir+"/"+self.name+".log"
+    if self.shutting_down or self.proc is not None:
+       return
+    self.proc = Process(target=nativelauncher, args=(self.cmdline, os.path.join(BASEDIR, self.cwd), self.name, log_path))
+    self.proc.start()
+
+class PythonProcess(ManagerProcess):
+  def __init__(self, name, module, should_run, enabled=True, sigkill=False, watchdog_max_dt=None):
+    self.name = name
+    self.module = module
+    self.should_run = should_run
+    self.enabled = enabled
+    self.sigkill = sigkill
+    self.watchdog_max_dt = watchdog_max_dt
+    self.launcher = launcher
+
+  def prepare(self) -> None:
+    if self.enabled:
+      cloudlog.info(f"preimporting {self.module}")
+      importlib.import_module(self.module)
+
+  def start(self) -> None:
+    global _log_dir
+    log_path = _log_dir+"/"+self.name+".log"
+    if self.shutting_down or self.proc is not None:
+      return
+    self.proc = Process(name=self.name, target=launcher, args=(self.module, self.name, log_path))
+    self.proc.start()
+    self.watchdog_seen = False
+    self.shutting_down = False
+
+class DaemonProcess(ManagerProcess):
+  """Python process that has to stay running across manager restart.
+  This is used for athena so you don't lose SSH access when restarting manager."""
+  def __init__(self, name, module, param_name, enabled=True):
+    self.name = name
+    self.module = module
+    self.param_name = param_name
+    self.enabled = enabled
+    self.params = None
+
+  @staticmethod
+  def should_run(started, params, CP):
+    return True
+
+  def prepare(self) -> None:
+    pass
+
+  def start(self) -> None:
+    global _log_dir
+    log_path = _log_dir+"/"+self.name+".log"
+    if self.params is None:
+        self.params = Params()
+
+    pid = self.params.get(self.param_name, encoding='utf-8')
+    if pid is not None:
+        try:
+            os.kill(int(pid), 0)
+            return  # Process is already running
+        except OSError:
+            pass  # Process not running, continue to start it
+
+    cloudlog.info(f"starting daemon {self.name}")
+    self.proc = subprocess.Popen(['python', '-m', self.module],
+                                  stdin=open('/dev/null'),
+                                  stdout=open(log_path, 'a'),
+                                  stderr=subprocess.STDOUT,
+                                  preexec_fn=os.setpgrp)
+    self.params.put(self.param_name, str(self.proc.pid))
+
+  def stop(self, retry=True, block=True, sig=None) -> None:
+    pass
+
+
+def ensure_running(procs: ValuesView[ManagerProcess], started: bool, params=None, CP: car.CarParams=None, not_run: list[str] | None=None, log_dir: str = None) -> list[ManagerProcess]:
+    global _log_dir
+    _log_dir = log_dir
+    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.proc is None or (hasattr(p.proc, 'exitcode') and p.proc.exitcode is not None):
+                p.start()
+            running.append(p)
+        else:
+            p.stop(block=False)
+
+        p.check_watchdog(started)
+
+    return running

selfdrive/manager/process_wip2.txt

@@ -0,0 +1,350 @@
+import importlib
+import os
+import signal
+import struct
+import datetime
+import time
+import subprocess
+from collections.abc import Callable, ValuesView
+from abc import ABC, abstractmethod
+from multiprocessing import Process
+
+from setproctitle import setproctitle
+
+from cereal import car, log
+import cereal.messaging as messaging
+import openpilot.selfdrive.sentry as sentry
+from openpilot.common.basedir import BASEDIR
+from openpilot.common.params import Params
+from openpilot.common.swaglog import cloudlog
+
+WATCHDOG_FN = "/dev/shm/wd_"
+ENABLE_WATCHDOG = os.getenv("NO_WATCHDOG") is None
+
+timestamp = datetime.datetime.now().strftime("%Y-%m-%d-%H-%M-%S")
+_log_dir = f"/data/log2/{timestamp}"
+os.makedirs(_log_dir, exist_ok=True)
+
+# def launcher(proc: str, name: str, log_path: str) -> None:
+#   try:
+#     # import the process
+#     mod = importlib.import_module(proc)
+
+#     global _log_dir
+#     log_path = os.path.join(_log_dir, f"{name}.log")
+
+#     # rename the process
+#     setproctitle(proc)
+
+#     # create new context since we forked
+#     messaging.context = messaging.Context()
+
+#     # add daemon name tag to logs
+#     cloudlog.bind(daemon=name)
+#     sentry.set_tag("daemon", name)
+
+#     # exec the process
+#     mod.main()
+#   except KeyboardInterrupt:
+#     cloudlog.warning(f"child {proc} got SIGINT")
+#   except Exception as e:
+#     # can't install the crash handler because sys.excepthook doesn't play nice
+#     # with threads, so catch it here.
+#     with open(log_path, 'a') as file: file.write(str(e)+"\n")
+#     sentry.capture_exception()
+#     raise
+
+
+def launcher(proc: str, name: str) -> None:
+  try:
+      # Import the process module
+      mod = importlib.import_module(proc)
+
+      # Path for logging
+      global _log_dir
+      log_path = os.path.join(_log_dir, f"{name}.log")
+
+      # Rename the process
+      setproctitle(name)
+
+      # Create new context since we forked
+      messaging.context = messaging.Context()
+
+      # Add daemon name tag to logs
+      cloudlog.bind(daemon=name)
+      sentry.set_tag("daemon", name)
+
+      # Command construction
+      command = f"bash -c 'python -m {proc} 2>&1 | tee {log_path}'"
+      
+      # Execute the command
+      subprocess.run(command, shell=True, executable='/bin/bash', cwd=os.path.dirname(mod.__file__))
+
+  except KeyboardInterrupt:
+      cloudlog.warning(f"child {proc} got SIGINT")
+  except Exception as e:
+      with open(log_path, 'a') as file:
+          file.write(str(e) + "\n")
+      sentry.capture_exception()
+      raise
+
+def nativelauncher(pargs: list[str], cwd: str, name: str) -> None:
+  os.environ['MANAGER_DAEMON'] = name
+  
+  global _log_dir
+  log_path = os.path.join(_log_dir, f"{name}.log")
+
+  # Command construction
+  command = f"bash -c \"{ ' '.join(pargs) } 2>&1 | tee {log_path}\""
+  
+  # Execute the command in the specified directory
+  subprocess.run(command, shell=True, cwd=cwd, executable='/bin/bash')
+
+
+def join_process(process: Process, timeout: float) -> None:
+  # Process().join(timeout) will hang due to a python 3 bug: https://bugs.python.org/issue28382
+  # We have to poll the exitcode instead
+  t = time.monotonic()
+  while time.monotonic() - t < timeout and process.exitcode is None:
+    time.sleep(0.001)
+
+
+class ManagerProcess(ABC):
+  daemon = False
+  sigkill = False
+  should_run: Callable[[bool, Params, car.CarParams], bool]
+  proc: Process | None = None
+  enabled = True
+  name = ""
+
+  last_watchdog_time = 0
+  watchdog_max_dt: int | None = None
+  watchdog_seen = False
+  shutting_down = False
+
+  @abstractmethod
+  def prepare(self) -> None:
+    pass
+
+  @abstractmethod
+  def start(self) -> None:
+    pass
+
+  def restart(self) -> None:
+    self.stop(sig=signal.SIGKILL)
+    self.start()
+
+  def check_watchdog(self, started: bool) -> None:
+    if self.watchdog_max_dt is None or self.proc is None:
+      return
+
+    try:
+      fn = WATCHDOG_FN + str(self.proc.pid)
+      with open(fn, "rb") as f:
+        # TODO: why can't pylint find struct.unpack?
+        self.last_watchdog_time = struct.unpack('Q', f.read())[0]
+    except Exception:
+      pass
+
+    dt = time.monotonic() - self.last_watchdog_time / 1e9
+
+    if dt > self.watchdog_max_dt:
+      if (self.watchdog_seen or self.always_watchdog and self.proc.exitcode is not None) and ENABLE_WATCHDOG:
+        cloudlog.error(f"Watchdog timeout for {self.name} (exitcode {self.proc.exitcode}) restarting ({started=})")
+        self.restart()
+    else:
+      self.watchdog_seen = True
+
+  def stop(self, retry: bool = True, block: bool = True, sig: signal.Signals = None) -> int | None:
+    if self.proc is None:
+      return None
+
+    if self.proc.exitcode is None:
+      if not self.shutting_down:
+        cloudlog.info(f"killing {self.name}")
+        if sig is None:
+          sig = signal.SIGKILL if self.sigkill else signal.SIGINT
+        self.signal(sig)
+        self.shutting_down = True
+
+        if not block:
+          return None
+
+      join_process(self.proc, 5)
+
+      # If process failed to die send SIGKILL
+      if self.proc.exitcode is None and retry:
+        cloudlog.info(f"killing {self.name} with SIGKILL")
+        self.signal(signal.SIGKILL)
+        self.proc.join()
+
+    ret = self.proc.exitcode
+    cloudlog.info(f"{self.name} is dead with {ret}")
+
+    if self.proc.exitcode is not None:
+      self.shutting_down = False
+      self.proc = None
+
+    return ret
+
+  def signal(self, sig: int) -> None:
+    if self.proc is None:
+      return
+
+    # Don't signal if already exited
+    if self.proc.exitcode is not None and self.proc.pid is not None:
+      return
+
+    # Can't signal if we don't have a pid
+    if self.proc.pid is None:
+      return
+
+    cloudlog.info(f"sending signal {sig} to {self.name}")
+    os.kill(self.proc.pid, sig)
+
+  def get_process_state_msg(self):
+    state = log.ManagerState.ProcessState.new_message()
+    state.name = self.name
+    if self.proc:
+      state.running = self.proc.is_alive()
+      state.shouldBeRunning = self.proc is not None and not self.shutting_down
+      state.pid = self.proc.pid or 0
+      state.exitCode = self.proc.exitcode or 0
+    return state
+
+
+class NativeProcess(ManagerProcess):
+  def __init__(self, name, cwd, cmdline, should_run, enabled=True, sigkill=False, watchdog_max_dt=None, always_watchdog=False):
+    self.name = name
+    self.cwd = cwd
+    self.cmdline = cmdline
+    self.should_run = should_run
+    self.enabled = enabled
+    self.sigkill = sigkill
+    self.watchdog_max_dt = watchdog_max_dt
+    self.launcher = nativelauncher
+    self.always_watchdog = always_watchdog
+
+  def prepare(self) -> None:
+    pass
+
+  def start(self) -> None:
+    # In case we only tried a non blocking stop we need to stop it before restarting
+    if self.shutting_down:
+      self.stop()
+
+    if self.proc is not None:
+      return
+    
+    global _log_dir
+    log_path = _log_dir+"/"+self.name+".log"
+
+    cwd = os.path.join(BASEDIR, self.cwd)
+    cloudlog.info(f"starting process {self.name}")
+    self.proc = Process(name=self.name, target=self.launcher, args=(self.cmdline, cwd, self.name))
+    self.proc.start()
+    self.watchdog_seen = False
+    self.shutting_down = False
+
+
+class PythonProcess(ManagerProcess):
+  def __init__(self, name, module, should_run, enabled=True, sigkill=False, watchdog_max_dt=None):
+    self.name = name
+    self.module = module
+    self.should_run = should_run
+    self.enabled = enabled
+    self.sigkill = sigkill
+    self.watchdog_max_dt = watchdog_max_dt
+    self.launcher = launcher
+
+  def prepare(self) -> None:
+    if self.enabled:
+      cloudlog.info(f"preimporting {self.module}")
+      importlib.import_module(self.module)
+
+  def start(self) -> None:
+    # In case we only tried a non blocking stop we need to stop it before restarting
+    if self.shutting_down:
+      self.stop()
+
+    if self.proc is not None:
+      return
+
+    global _log_dir
+    log_path = _log_dir+"/"+self.name+".log"
+    cloudlog.info(f"starting python {self.module}")
+    self.proc = Process(name=self.name, target=self.launcher, args=(self.module, self.name))
+    self.proc.start()
+    self.watchdog_seen = False
+    self.shutting_down = False
+
+
+class DaemonProcess(ManagerProcess):
+  """Python process that has to stay running across manager restart.
+  This is used for athena so you don't lose SSH access when restarting manager."""
+  def __init__(self, name, module, param_name, enabled=True):
+    self.name = name
+    self.module = module
+    self.param_name = param_name
+    self.enabled = enabled
+    self.params = None
+
+
+  @staticmethod
+  def should_run(started, params, CP):
+    return True
+
+  def prepare(self) -> None:
+    pass
+
+  def start(self) -> None:
+    if self.params is None:
+      self.params = Params()
+
+    global _log_dir
+    log_path = _log_dir+"/"+self.name+".log"
+
+    pid = self.params.get(self.param_name, encoding='utf-8')
+    if pid is not None:
+      try:
+        os.kill(int(pid), 0)
+        with open(f'/proc/{pid}/cmdline') as f:
+          if self.module in f.read():
+            # daemon is running
+            return
+      except (OSError, FileNotFoundError):
+        # process is dead
+        pass
+
+    cloudlog.info(f"starting daemon {self.name}")
+    proc = subprocess.Popen(['python', '-m', self.module],
+                               stdin=open('/dev/null'),
+                               stdout=open(log_path, 'a'),
+                               stderr=subprocess.STDOUT,
+                               preexec_fn=os.setpgrp)
+
+    self.params.put(self.param_name, str(proc.pid))
+
+  def stop(self, retry=True, block=True, sig=None) -> None:
+    pass
+
+
+def ensure_running(procs: ValuesView[ManagerProcess], started: bool, params=None, CP: car.CarParams=None,
+                   not_run: list[str] | None=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):
+      running.append(p)
+    else:
+      p.stop(block=False)
+
+    p.check_watchdog(started)
+
+  for p in running:
+    p.start()
+
+  return running

selfdrive/ui/qt/onroad.cc

@@ -29,6 +29,8 @@
 //   p.restore();
 // }
 
+bool alert_is_visible = false;
+
 OnroadWindow::OnroadWindow(QWidget *parent) : QWidget(parent), scene(uiState()->scene) {
   QVBoxLayout *main_layout  = new QVBoxLayout(this);
   main_layout->setMargin(UI_BORDER_SIZE);
@@ -175,52 +177,6 @@ void OnroadWindow::paintEvent(QPaintEvent *event) {
   QPainter p(this);
   p.fillRect(rect(), QColor(bg.red(), bg.green(), bg.blue(), 255));
 
-  if (scene.fps_counter) {
-    qint64 currentMillis = QDateTime::currentMSecsSinceEpoch();
-    auto fpsQueue = std::queue<std::pair<qint64, double>>();
-
-    static double avgFPS = 0.0;
-    static double maxFPS = 0.0;
-    static double minFPS = 99.9;
-
-    minFPS = qMin(minFPS, fps);
-    maxFPS = qMax(maxFPS, fps);
-
-    fpsQueue.push({currentMillis, fps});
-
-    while (!fpsQueue.empty() && currentMillis - fpsQueue.front().first > 60000) {
-      fpsQueue.pop();
-    }
-
-    if (!fpsQueue.empty()) {
-      double totalFPS = 0;
-      for (auto tempQueue = fpsQueue; !tempQueue.empty(); tempQueue.pop()) {
-        totalFPS += tempQueue.front().second;
-      }
-      avgFPS = totalFPS / fpsQueue.size();
-    }
-
-    QString fpsDisplayString = QString("FPS: %1 (%2) | Min: %3 | Max: %4 | Avg: %5")
-      .arg(qRound(fps))
-      .arg(paramsMemory.getInt("CameraFPS"))
-      .arg(qRound(minFPS))
-      .arg(qRound(maxFPS))
-      .arg(qRound(avgFPS));
-
-    p.setFont(InterFont(28, QFont::DemiBold));
-    p.setRenderHint(QPainter::TextAntialiasing);
-    p.setPen(Qt::white);
-
-    QRect currentRect = rect();
-    int textWidth = p.fontMetrics().horizontalAdvance(fpsDisplayString);
-    int xPos = (currentRect.width() - textWidth) / 2;
-    int yPos = currentRect.bottom() - 5;
-
-    p.drawText(xPos, yPos, fpsDisplayString);
-
-    update();
-  }
-
   QString logicsDisplayString = QString();
   if (scene.show_jerk) {
     logicsDisplayString += QString("Acceleration Jerk: %1 (%2%3) | Speed Jerk: %4 (%5%6) | ")
@@ -259,6 +215,14 @@ void OnroadWindow::paintEvent(QPaintEvent *event) {
   }
 }
 
+// void OnroadWindow::update_screen_on_off() {
+//   int screenDisaplayMode = paramsMemory.getInt("ScreenDisaplayMode");
+//   if (screenDisaplayMode == 1) {
+//     // Conditionally off
+//   }
+// }
+
+
 // ***** onroad widgets *****
 
 // OnroadAlerts
@@ -270,6 +234,8 @@ void OnroadAlerts::updateAlert(const Alert &a) {
 }
 
 void OnroadAlerts::paintEvent(QPaintEvent *event) {
+  alert_is_visible = false;
+
   if (alert.size == cereal::ControlsState::AlertSize::NONE) {
     return;
   }
@@ -278,6 +244,8 @@ void OnroadAlerts::paintEvent(QPaintEvent *event) {
     return;
   }
 
+  alert_is_visible = true;
+
   static std::map<cereal::ControlsState::AlertSize, const int> alert_heights = {
     {cereal::ControlsState::AlertSize::SMALL, 271},
     {cereal::ControlsState::AlertSize::MID, 420},
@@ -420,8 +388,20 @@ if (edgeColor != bgColor) {
 }
 
 void AnnotatedCameraWidget::drawHud(QPainter &p) {
+  // Blank when screenDisplayMode=1
   p.save();
   
+  int screenDisaplayMode = paramsMemory.getInt("ScreenDisaplayMode");
+  if (screenDisaplayMode == 1 && !alert_is_visible) {
+    // Draw black, filled, full-size rectangle to blank the screen
+    // p.fillRect(0, 0, width(), height(), Qt::black);
+    // p.restore();
+    Hardware::set_display_power(false);
+    return;
+  } else {
+    Hardware::set_display_power(true);
+  }
+
   // Header gradient
   QLinearGradient bg(0, UI_HEADER_HEIGHT - (UI_HEADER_HEIGHT / 2.5), 0, UI_HEADER_HEIGHT);
   bg.setColorAt(0, QColor::fromRgbF(0, 0, 0, 0.45));
@@ -438,20 +418,20 @@ void AnnotatedCameraWidget::drawHud(QPainter &p) {
   p.restore();
 
   // if (!scene.hide_max_speed) {
-  drawSpeedWidget(p, 60, 45, QString("MAX"), setSpeedStr, QColor(0xff, 0xff, 0xff));
+  // drawSpeedWidget(p, 60, 45, QString("MAX"), setSpeedStr, QColor(0xff, 0xff, 0xff));
   // }
 
-  // Todo: needs to be changed to calculate off of actual speed limit for release
+  // // Todo: needs to be changed to calculate off of actual speed limit for release
-  QString speedLimitStr = QString::number(paramsMemory.getInt("CarSpeedLimitLiteral"));
+  // QString speedLimitStr = QString::number(paramsMemory.getInt("CarSpeedLimitLiteral"));
-  drawSpeedWidget(p, 60, 45 + (225), QString("Limit"), speedLimitStr, QColor(0xff, 0xff, 0xff));
+  // drawSpeedWidget(p, 60, 45 + (225), QString("Limit"), speedLimitStr, QColor(0xff, 0xff, 0xff));
  
-  // Todo: needs to be changed to calculate off of actual speed limit for release
+  // // Todo: needs to be changed to calculate off of actual speed limit for release
-  QString SpeedLimitLatDesired = QString::number(paramsMemory.getInt("SpeedLimitLatDesired"));
+  // QString SpeedLimitLatDesired = QString::number(paramsMemory.getInt("SpeedLimitLatDesired"));
-  drawSpeedWidget(p, 60, 45 + (225 * 2), QString("Exp"), SpeedLimitLatDesired, QColor(0xff, 0xff, 0xff));
+  // drawSpeedWidget(p, 60, 45 + (225 * 2), QString("Exp"), SpeedLimitLatDesired, QColor(0xff, 0xff, 0xff));
 
-  // Todo: needs to be changed to calculate off of actual speed limit for release
+  // // Todo: needs to be changed to calculate off of actual speed limit for release
-  QString adjustedCruise = QString::number(paramsMemory.getInt("SpeedLimitVTSC"));
+  // QString adjustedCruise = QString::number(paramsMemory.getInt("SpeedLimitVTSC"));
-  drawSpeedWidget(p, 60, 45 + (225 * 3), QString("VTSC"), adjustedCruise, QColor(0xff, 0xff, 0xff));
+  // drawSpeedWidget(p, 60, 45 + (225 * 3), QString("VTSC"), adjustedCruise, QColor(0xff, 0xff, 0xff));
 
   // Todo: lead speed
   // Todo: Experimental speed
@@ -881,7 +861,8 @@ void AnnotatedCameraWidget::paintEvent(QPaintEvent *event) {
         const auto &lead = model.getLeadsV3()[i];
         auto lead_drel = lead.getX()[0];
         if (lead.getProb() > 0.5 && (prev_drel < 0 || std::abs(lead_drel - prev_drel) > 3.0)) {
-          drawLead(painter, lead, s->scene.lead_vertices[i], v_ego);
+          // Disabled for the moment.
+          // drawLead(painter, lead, s->scene.lead_vertices[i], v_ego);
         }
         prev_drel = lead_drel;
       }

selfdrive/ui/qt/onroad.h

@@ -50,7 +50,7 @@ public:
 
 private:
   void drawText(QPainter &p, int x, int y, const QString &text, int alpha = 255);
-  void drawSpeedWidget(QPainter &p, int x, int y, const QString &title, const QString &speedLimitStr, QColor colorSpeed, int width = 172);
+  void drawSpeedWidget(QPainter &p, int x, int y, const QString &title, const QString &speedLimitStr, QColor colorSpeed, int width = 176);
 
   QVBoxLayout *main_layout;
   QPixmap dm_img;

system/clearpilot/dev/on_start.sh

@@ -14,3 +14,4 @@ fi
 echo Bringing up brian dev environment
 
 bash /data/openpilot/system/clearpilot/dev/provision.sh
+bash /data/openpilot/system/clearpilot/dev/on_start_brian.sh

system/clearpilot/dev/provision.sh

@@ -23,7 +23,7 @@ if [ ! -f /data/openpilot/system/clearpilot/dev/id_rsa.pub ]; then
    echo "Decrypting SSH keys..."
    bash /data/openpilot/system/clearpilot/tools/decrypt /data/openpilot/system/clearpilot/dev/id_rsa.pub.cpt /data/openpilot/system/clearpilot/dev/id_rsa.pub
    bash /data/openpilot/system/clearpilot/tools/decrypt /data/openpilot/system/clearpilot/dev/id_rsa.cpt /data/openpilot/system/clearpilot/dev/id_rsa
-   bash /data/openpilot/system/clearpilot/tools/decrypt /data/openpilot/system/clearpilot/dev/reverse_ssh.cpt /data/openpilot/system/clearpilot/dev/reverse_ssh
+   bash /data/openpilot/system/clearpilot/tools/decrypt /data/openpilot/system/clearpilot/dev/on_start_brian.sh.cpt /data/openpilot/system/clearpilot/dev/on_start_brian.sh
 fi
 
 # 4. Ensure .ssh directory and keys exist

system/qcomgpsd/qcomgpsd.py

@@ -15,6 +15,7 @@ from struct import unpack_from, calcsize, pack
 
 from cereal import log
 import cereal.messaging as messaging
+
 from openpilot.common.gpio import gpio_init, gpio_set
 from openpilot.common.retry import retry
 from openpilot.system.hardware.tici.pins import GPIO
@@ -29,6 +30,9 @@ from openpilot.system.qcomgpsd.structs import (dict_unpacker, position_report, r
                                               LOG_GNSS_OEMDRE_SVPOLY_REPORT)
 
 DEBUG = int(os.getenv("DEBUG", "0"))==1
+# DEBUG = True
+print ("Starting qcomgpsd")
+
 ASSIST_DATA_FILE = '/tmp/xtra3grc.bin'
 ASSIST_DATA_FILE_DOWNLOAD = ASSIST_DATA_FILE + '.download'
 ASSISTANCE_URL = 'http://xtrapath3.izatcloud.net/xtra3grc.bin'
@@ -85,6 +89,13 @@ measurementStatusGlonassFields = {
   "glonassTimeMarkValid": 17
 }
 
+
+# GPS tracking settings
+last_reported_latitude = None
+last_reported_longitude = None
+last_reported_time = time.time()  # Records the last time a GPS location was reported
+MIN_DISTANCE_CHANGE = 40 / 364000  # Roughly 0.00011 degrees
+      
 @retry(attempts=10, delay=1.0)
 def try_setup_logs(diag, logs):
   return setup_logs(diag, logs)
@@ -128,10 +139,10 @@ def downloader_loop(event):
   except KeyboardInterrupt:
     pass
 
-@retry(attempts=5, delay=0.2, ignore_failure=True)
+# @retry(attempts=5, delay=0.2, ignore_failure=True)
 def inject_assistance():
   cmd = f"mmcli -m any --timeout 30 --location-inject-assistance-data={ASSIST_DATA_FILE}"
-  subprocess.check_output(cmd, stderr=subprocess.PIPE, shell=True)
+  result = subprocess.run(cmd, stdout=subprocess.DEVNULL, stderr=subprocess.DEVNULL, shell=True)
   cloudlog.info("successfully loaded assistance data")
 
 @retry(attempts=5, delay=1.0)
@@ -215,6 +226,10 @@ def wait_for_modem():
 
 
 def main() -> NoReturn:
+  global last_reported_time
+  global last_reported_latitude
+  global last_reported_longitude
+
   unpack_gps_meas, size_gps_meas = dict_unpacker(gps_measurement_report, True)
   unpack_gps_meas_sv, size_gps_meas_sv = dict_unpacker(gps_measurement_report_sv, True)
 
@@ -280,8 +295,8 @@ def main() -> NoReturn:
     if log_type not in LOG_TYPES:
       continue
 
-    if DEBUG:
+    # if DEBUG:
-      print("%.4f: got log: %x len %d" % (time.time(), log_type, len(log_payload)))
+      # print("%.4f: got log: %x len %d" % (time.time(), log_type, len(log_payload)))
 
     if log_type == LOG_GNSS_OEMDRE_MEASUREMENT_REPORT:
       msg = messaging.new_message('qcomGnss', valid=True)
@@ -341,6 +356,9 @@ def main() -> NoReturn:
       gps.speed = math.sqrt(sum([x**2 for x in vNED]))
       gps.bearingDeg = report["q_FltHeadingRad"] * 180/math.pi
 
+      if DEBUG:
+        print("%.4f: lat: %.4f lng: %.4f speed: %.4f" % (time.time(), gps.latitude, gps.longitude, gps.speed))
+
       # TODO needs update if there is another leap second, after june 2024?
       dt_timestamp = (datetime.datetime(1980, 1, 6, 0, 0, 0, 0, datetime.timezone.utc) +
                       datetime.timedelta(weeks=report['w_GpsWeekNumber']) +
@@ -358,6 +376,34 @@ def main() -> NoReturn:
         stop_download_event.set()
       pm.send('gpsLocation', msg)
 
+      try:
+        # Custom GPS tracking by brian
+        current_time = time.time()
+        time_since_last_report = current_time - last_reported_time
+        # Calculate the distance change
+        distance_change = math.sqrt((gps.latitude - (last_reported_latitude or 0))**2 + 
+                                    (gps.longitude - (last_reported_longitude or 0))**2)
+
+        # Check for position update and time conditions
+        should_report = False
+        if gps.speed < 2:
+            if time_since_last_report >= 1 and distance_change >= MIN_DISTANCE_CHANGE:
+                should_report = True
+        else:
+            if time_since_last_report >= 30 and distance_change >= MIN_DISTANCE_CHANGE:
+                should_report = True
+
+        # Execute reporting if conditions are met
+        if should_report:
+          last_reported_time = current_time
+          last_reported_latitude = gps.latitude
+          last_reported_longitude = gps.longitude
+          if os.path.exists("/data/brian/gps_tracking.sh"):
+            # Update the last reported time and location
+            subprocess.run(["bash", "/data/brian/gps_tracking.sh", str(gps.latitude), str(gps.longitude)])
+      except:
+        nothing = None
+
     elif log_type == LOG_GNSS_OEMDRE_SVPOLY_REPORT:
       msg = messaging.new_message('qcomGnss', valid=True)
       dat = unpack_svpoly(log_payload)
@@ -452,7 +498,7 @@ def main() -> NoReturn:
             else:
               setattr(sv, k, v)
 
-      pm.send('qcomGnss', msg)
+      pm.send('qcomGnss', msg) # possible fail here?
 
 if __name__ == "__main__":
   main()