clearpilot/selfdrive/frogpilot/controls/lib/frogpilot_functions.py

import datetime
import filecmp
import glob
import numpy as np
import os
import shutil
import subprocess
import time

from openpilot.common.basedir import BASEDIR
from openpilot.common.numpy_fast import interp
from openpilot.common.params import Params
from openpilot.system.hardware import HARDWARE
from openpilot.system.version import get_short_branch, get_commit_date

CITY_SPEED_LIMIT = 25  # 55mph is typically the minimum speed for highways
CRUISING_SPEED = 5     # Roughly the speed cars go when not touching the gas while in drive
PROBABILITY = 0.6      # 60% chance of condition being true
THRESHOLD = 5          # Time threshold (0.25s)

def calculate_lane_width(lane, current_lane, road_edge):
  lane_x, lane_y = np.array(lane.x), np.array(lane.y)
  edge_x, edge_y = np.array(road_edge.x), np.array(road_edge.y)
  current_x, current_y = np.array(current_lane.x), np.array(current_lane.y)

  lane_y_interp = np.interp(current_x, lane_x[lane_x.argsort()], lane_y[lane_x.argsort()])
  road_edge_y_interp = np.interp(current_x, edge_x[edge_x.argsort()], edge_y[edge_x.argsort()])

  distance_to_lane = np.mean(np.abs(current_y - lane_y_interp))
  distance_to_road_edge = np.mean(np.abs(current_y - road_edge_y_interp))

  return min(distance_to_lane, distance_to_road_edge)

# Clearpilot added default value 0
def calculate_road_curvature(modelData, v_ego):
  try:
    predicted_velocities = np.array(modelData.velocity.x)
    curvature_ratios = np.abs(np.array(modelData.acceleration.y)) / (predicted_velocities**2)
    return np.amax(curvature_ratios * (v_ego**2))
  except:
    return 0

class MovingAverageCalculator:
  def __init__(self):
    self.data = []
    self.total = 0

  def add_data(self, value):
    if len(self.data) == THRESHOLD:
      self.total -= self.data.pop(0)
    self.data.append(value)
    self.total += value

  def get_moving_average(self):
    if len(self.data) == 0:
      return None
    return self.total / len(self.data)

  def reset_data(self):
    self.data = []
    self.total = 0

class FrogPilotFunctions:
  @classmethod
  def run_cmd(cls, cmd, success_msg, fail_msg):
    try:
      subprocess.check_call(cmd)
      print(success_msg)
    except subprocess.CalledProcessError as e:
      print(f"{fail_msg}: {e}")
    except Exception as e:
      print(f"Unexpected error occurred: {e}")

  @classmethod
  def backup_frogpilot(cls):
    # CLEARPILOT - disabled backups
    return
    frogpilot_backup_directory = "/data/cp_backups"
    os.makedirs(frogpilot_backup_directory, exist_ok=True)

    auto_backups = sorted(glob.glob(os.path.join(frogpilot_backup_directory, "*_auto")),
                          key=os.path.getmtime, reverse=True)

    for old_backup in auto_backups[4:]:
      shutil.rmtree(old_backup)
      print(f"Deleted oldest FrogPilot backup to maintain limit: {os.path.basename(old_backup)}")

    branch = get_short_branch()
    commit = get_commit_date()[12:-16]
    backup_folder_name = f"{branch}_{commit}_auto"
    backup_path = os.path.join(frogpilot_backup_directory, backup_folder_name)

    if not os.path.exists(backup_path):
      cmd = ['sudo', 'cp', '-a', f"{BASEDIR}", f"{backup_path}/"]
      cls.run_cmd(cmd, f"Successfully backed up FrogPilot to {backup_folder_name}.", f"Failed to backup FrogPilot to {backup_folder_name}.")

  @classmethod
  def backup_toggles(cls):
    params = Params()
    params_storage = Params("/persist/params")

    all_keys = params.all_keys()
    for key in all_keys:
      value = params.get(key)
      if value is not None:
        params_storage.put(key, value)

    # CLEARPILOT changed to cp_toggle_backups
    toggle_backup_directory = "/data/cp_toggle_backups"
    os.makedirs(toggle_backup_directory, exist_ok=True)

    auto_backups = sorted(glob.glob(os.path.join(toggle_backup_directory, "*_auto")),
                          key=os.path.getmtime, reverse=True)

    for old_backup in auto_backups[9:]:
      shutil.rmtree(old_backup)
      print(f"Deleted oldest toggle backup to maintain limit: {os.path.basename(old_backup)}")

    current_datetime = datetime.datetime.now().strftime("%Y-%m-%d_%I-%M%p").lower()
    backup_folder_name = f"{current_datetime}_auto"
    backup_path = os.path.join(toggle_backup_directory, backup_folder_name)

    if not os.path.exists(backup_path):
      cmd = ['sudo', 'cp', '-a', '/data/params/.', f"{backup_path}/"]
      cls.run_cmd(cmd, f"Successfully backed up toggles to {backup_folder_name}.", f"Failed to backup toggles to {backup_folder_name}.")

  @classmethod
  def delete_logs(cls):
    directories_to_check = []
    for root, dirs, files in os.walk('/data/media/0/realdata/', topdown=False):
      for name in files:
        filepath = os.path.join(root, name)
        if time.time() - max(os.path.getctime(filepath), os.path.getmtime(filepath)) < 3600:
          os.remove(filepath)
          if root not in directories_to_check:
            directories_to_check.append(root)
    for directory in directories_to_check:
      try:
        os.rmdir(directory)
      except OSError:
        pass

  @classmethod
  def prune_recordings():
    return

  @classmethod
  def setup_frogpilot(cls):
    remount_cmd = ['sudo', 'mount', '-o', 'remount,rw', '/persist']
    cls.run_cmd(remount_cmd, "Successfully remounted /persist as read-write.", "Failed to remount /persist.")

    if os.path.isdir('/persist/comma/params') and os.path.isdir('/persist/params'):
      if os.listdir('/persist/comma/params') and os.listdir('/persist/params'):
        shutil.rmtree('/persist/comma/params')

    # CLEARPILOT
    # Disable boot logo
    #frogpilot_boot_logo = f'{BASEDIR}/selfdrive/frogpilot/assets/other_images/frogpilot_boot_logo.png'
    #boot_logo_location = '/usr/comma/bg.jpg'

    #remount_cmd = ['sudo', 'mount', '-o', 'remount,rw', '/']
    #cls.run_cmd(remount_cmd, "File system remounted as read-write.", "Failed to remount file system")

    #if not filecmp.cmp(frogpilot_boot_logo, boot_logo_location, shallow=False):
    #  copy_cmd = ['sudo', 'cp', frogpilot_boot_logo, boot_logo_location]
    #  cls.run_cmd(copy_cmd, "Successfully replaced bg.jpg with frogpilot_boot_logo.png.", "Failed to replace boot logo")

  @classmethod
  def uninstall_frogpilot(cls):
    original_boot_logo = f'{BASEDIR}/selfdrive/frogpilot/assets/other_images/bg.jpg'
    boot_logo_location = '/usr/comma/bg.jpg'

    copy_cmd = ['sudo', 'cp', original_boot_logo, boot_logo_location]
    cls.run_cmd(copy_cmd, "Successfully restored the original boot logo.", "Failed to restore the original boot logo.")

    HARDWARE.uninstall()