wip

common/prefix.py

@@ -4,6 +4,7 @@ import uuid
 
 from typing import Optional
 
+
 from openpilot.common.params import Params
 from openpilot.system.hardware.hw import Paths
 

common/watcher.py

@@ -0,0 +1,33 @@
+import socket
+import json
+
+# Initialize the socket without connecting
+watcher_sock = None
+
+class Watcher:
+    def ensure_socket_connected():
+        global watcher_sock
+        if watcher_sock is None or watcher_sock.fileno() == -1:  # Checks if socket is not initialized or closed
+            try:
+                # Attempt to initialize and connect the socket
+                watcher_sock = socket.socket(socket.AF_UNIX, socket.SOCK_STREAM)
+                watcher_sock.connect("/tmp/oscar_watcher.sock")
+            except socket.error:
+                # If connection fails, set sock to None and do nothing
+                watcher_sock = None
+
+    def log_watch(var_name, message):
+        global watcher_sock
+        ensure_socket_connected()  # Ensure the socket is connected before attempting to log
+        if watcher_sock:  # Proceed only if sock is not None (i.e., is connected)
+            message_json = json.dumps(message)
+            try:
+                watcher_sock.sendall(message_json.encode('utf-8') + b'\n')
+            except socket.error:
+                # Handle potential error in sending (e.g., if connection was lost)
+            watcher_sock.close()  # Close the current socket to clean up resources
+            watcher_sock = None  # Reset sock to ensure reconnection attempt on next call
+
+#message = {"variable": "car_stats", "value": {"car_lights_on": [3, 5, 7], "car_state": "on"}}
+#log_watch(sock, message)
+

selfdrive/controls/controlsd.py

@@ -29,6 +29,8 @@ from openpilot.selfdrive.controls.lib.alertmanager import AlertManager, set_offr
 from openpilot.selfdrive.controls.lib.vehicle_model import VehicleModel
 from openpilot.system.hardware import HARDWARE
 
+from openpilot.common.watcher import Watcher
+
 SOFT_DISABLE_TIME = 3  # seconds
 LDW_MIN_SPEED = 31 * CV.MPH_TO_MS
 LANE_DEPARTURE_THRESHOLD = 0.1
@@ -131,6 +133,9 @@ class Controls:
 
     self.CP.alternativeExperience |= ALTERNATIVE_EXPERIENCE.RAISE_LONGITUDINAL_LIMITS_TO_ISO_MAX
 
+    # Test
+    Watcher.log_watch("always_on_lateral", self.always_on_lateral)
+
     # read params
     self.is_metric = self.params.get_bool("IsMetric")
     self.is_ldw_enabled = self.params.get_bool("IsLdwEnabled")