164 lines
6.2 KiB
Python
164 lines
6.2 KiB
Python
import datetime
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import filecmp
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import glob
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import numpy as np
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import os
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import shutil
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import subprocess
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import time
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from openpilot.common.basedir import BASEDIR
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from openpilot.common.numpy_fast import interp
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from openpilot.common.params import Params
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from openpilot.system.hardware import HARDWARE
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from openpilot.system.version import get_short_branch, get_commit_date
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CITY_SPEED_LIMIT = 25 # 55mph is typically the minimum speed for highways
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CRUISING_SPEED = 5 # Roughly the speed cars go when not touching the gas while in drive
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PROBABILITY = 0.6 # 60% chance of condition being true
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THRESHOLD = 5 # Time threshold (0.25s)
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def calculate_lane_width(lane, current_lane, road_edge):
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lane_x, lane_y = np.array(lane.x), np.array(lane.y)
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edge_x, edge_y = np.array(road_edge.x), np.array(road_edge.y)
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current_x, current_y = np.array(current_lane.x), np.array(current_lane.y)
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lane_y_interp = np.interp(current_x, lane_x[lane_x.argsort()], lane_y[lane_x.argsort()])
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road_edge_y_interp = np.interp(current_x, edge_x[edge_x.argsort()], edge_y[edge_x.argsort()])
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distance_to_lane = np.mean(np.abs(current_y - lane_y_interp))
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distance_to_road_edge = np.mean(np.abs(current_y - road_edge_y_interp))
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return min(distance_to_lane, distance_to_road_edge)
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def calculate_road_curvature(modelData, v_ego):
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predicted_velocities = np.array(modelData.velocity.x)
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curvature_ratios = np.abs(np.array(modelData.acceleration.y)) / (predicted_velocities**2)
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return np.amax(curvature_ratios * (v_ego**2))
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class MovingAverageCalculator:
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def __init__(self):
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self.data = []
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self.total = 0
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def add_data(self, value):
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if len(self.data) == THRESHOLD:
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self.total -= self.data.pop(0)
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self.data.append(value)
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self.total += value
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def get_moving_average(self):
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if len(self.data) == 0:
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return None
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return self.total / len(self.data)
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def reset_data(self):
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self.data = []
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self.total = 0
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class FrogPilotFunctions:
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@classmethod
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def run_cmd(cls, cmd, success_msg, fail_msg):
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try:
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subprocess.check_call(cmd)
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print(success_msg)
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except subprocess.CalledProcessError as e:
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print(f"{fail_msg}: {e}")
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except Exception as e:
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print(f"Unexpected error occurred: {e}")
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@classmethod
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def backup_frogpilot(cls):
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frogpilot_backup_directory = "/data/backups"
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os.makedirs(frogpilot_backup_directory, exist_ok=True)
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auto_backups = sorted(glob.glob(os.path.join(frogpilot_backup_directory, "*_auto")),
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key=os.path.getmtime, reverse=True)
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for old_backup in auto_backups[4:]:
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shutil.rmtree(old_backup)
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print(f"Deleted oldest FrogPilot backup to maintain limit: {os.path.basename(old_backup)}")
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branch = get_short_branch()
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commit = get_commit_date()[12:-16]
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backup_folder_name = f"{branch}_{commit}_auto"
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backup_path = os.path.join(frogpilot_backup_directory, backup_folder_name)
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if not os.path.exists(backup_path):
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cmd = ['sudo', 'cp', '-a', f"{BASEDIR}", f"{backup_path}/"]
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cls.run_cmd(cmd, f"Successfully backed up FrogPilot to {backup_folder_name}.", f"Failed to backup FrogPilot to {backup_folder_name}.")
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@classmethod
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def backup_toggles(cls):
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params = Params()
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params_storage = Params("/persist/params")
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all_keys = params.all_keys()
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for key in all_keys:
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value = params.get(key)
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if value is not None:
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params_storage.put(key, value)
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toggle_backup_directory = "/data/toggle_backups"
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os.makedirs(toggle_backup_directory, exist_ok=True)
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auto_backups = sorted(glob.glob(os.path.join(toggle_backup_directory, "*_auto")),
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key=os.path.getmtime, reverse=True)
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for old_backup in auto_backups[9:]:
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shutil.rmtree(old_backup)
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print(f"Deleted oldest toggle backup to maintain limit: {os.path.basename(old_backup)}")
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current_datetime = datetime.datetime.now().strftime("%Y-%m-%d_%I-%M%p").lower()
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backup_folder_name = f"{current_datetime}_auto"
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backup_path = os.path.join(toggle_backup_directory, backup_folder_name)
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if not os.path.exists(backup_path):
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cmd = ['sudo', 'cp', '-a', '/data/params/.', f"{backup_path}/"]
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cls.run_cmd(cmd, f"Successfully backed up toggles to {backup_folder_name}.", f"Failed to backup toggles to {backup_folder_name}.")
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@classmethod
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def delete_logs(cls):
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directories_to_check = []
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for root, dirs, files in os.walk('/data/media/0/realdata/', topdown=False):
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for name in files:
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filepath = os.path.join(root, name)
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if time.time() - max(os.path.getctime(filepath), os.path.getmtime(filepath)) < 3600:
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os.remove(filepath)
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if root not in directories_to_check:
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directories_to_check.append(root)
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for directory in directories_to_check:
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try:
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os.rmdir(directory)
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except OSError:
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pass
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@classmethod
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def setup_frogpilot(cls):
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remount_cmd = ['sudo', 'mount', '-o', 'remount,rw', '/persist']
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cls.run_cmd(remount_cmd, "Successfully remounted /persist as read-write.", "Failed to remount /persist.")
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if os.path.isdir('/persist/comma/params') and os.path.isdir('/persist/params'):
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if os.listdir('/persist/comma/params') and os.listdir('/persist/params'):
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shutil.rmtree('/persist/comma/params')
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frogpilot_boot_logo = f'{BASEDIR}/selfdrive/frogpilot/assets/other_images/frogpilot_boot_logo.png'
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boot_logo_location = '/usr/comma/bg.jpg'
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remount_cmd = ['sudo', 'mount', '-o', 'remount,rw', '/']
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cls.run_cmd(remount_cmd, "File system remounted as read-write.", "Failed to remount file system")
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if not filecmp.cmp(frogpilot_boot_logo, boot_logo_location, shallow=False):
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copy_cmd = ['sudo', 'cp', frogpilot_boot_logo, boot_logo_location]
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cls.run_cmd(copy_cmd, "Successfully replaced bg.jpg with frogpilot_boot_logo.png.", "Failed to replace boot logo")
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@classmethod
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def uninstall_frogpilot(cls):
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original_boot_logo = f'{BASEDIR}/selfdrive/frogpilot/assets/other_images/bg.jpg'
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boot_logo_location = '/usr/comma/bg.jpg'
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copy_cmd = ['sudo', 'cp', original_boot_logo, boot_logo_location]
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cls.run_cmd(copy_cmd, "Successfully restored the original boot logo.", "Failed to restore the original boot logo.")
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HARDWARE.uninstall()
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