#include "common/params.h" #include #include #include #include #include #include #include "common/queue.h" #include "common/swaglog.h" #include "common/util.h" #include "system/hardware/hw.h" namespace { volatile sig_atomic_t params_do_exit = 0; void params_sig_handler(int signal) { params_do_exit = 1; } int fsync_dir(const std::string &path) { int result = -1; int fd = HANDLE_EINTR(open(path.c_str(), O_RDONLY, 0755)); if (fd >= 0) { result = fsync(fd); close(fd); } return result; } bool create_params_path(const std::string ¶m_path, const std::string &key_path) { // Make sure params path exists if (!util::file_exists(param_path) && !util::create_directories(param_path, 0775)) { return false; } // See if the symlink exists, otherwise create it if (!util::file_exists(key_path)) { // 1) Create temp folder // 2) Symlink it to temp link // 3) Move symlink to /d std::string tmp_path = param_path + "/.tmp_XXXXXX"; // this should be OK since mkdtemp just replaces characters in place char *tmp_dir = mkdtemp((char *)tmp_path.c_str()); if (tmp_dir == NULL) { return false; } std::string link_path = std::string(tmp_dir) + ".link"; if (symlink(tmp_dir, link_path.c_str()) != 0) { return false; } // don't return false if it has been created by other if (rename(link_path.c_str(), key_path.c_str()) != 0 && errno != EEXIST) { return false; } } return true; } std::string ensure_params_path(const std::string &prefix, const std::string &path = {}) { std::string params_path = path.empty() ? Path::params() : path; if (!create_params_path(params_path, params_path + prefix)) { throw std::runtime_error(util::string_format( "Failed to ensure params path, errno=%d, path=%s, param_prefix=%s", errno, params_path.c_str(), prefix.c_str())); } return params_path; } class FileLock { public: FileLock(const std::string &fn) { fd_ = HANDLE_EINTR(open(fn.c_str(), O_CREAT, 0775)); if (fd_ < 0 || HANDLE_EINTR(flock(fd_, LOCK_EX)) < 0) { LOGE("Failed to lock file %s, errno=%d", fn.c_str(), errno); } } ~FileLock() { close(fd_); } private: int fd_ = -1; }; std::unordered_map keys = { {"AccessToken", CLEAR_ON_MANAGER_START | DONT_LOG}, {"ApiCache_Device", PERSISTENT}, {"ApiCache_NavDestinations", PERSISTENT}, {"AssistNowToken", PERSISTENT}, {"AthenadPid", PERSISTENT}, {"AthenadUploadQueue", PERSISTENT}, {"AthenadRecentlyViewedRoutes", PERSISTENT}, {"BootCount", PERSISTENT}, {"CalibrationParams", PERSISTENT}, {"CameraDebugExpGain", CLEAR_ON_MANAGER_START}, {"CameraDebugExpTime", CLEAR_ON_MANAGER_START}, {"CarBatteryCapacity", PERSISTENT}, {"CarParams", CLEAR_ON_MANAGER_START | CLEAR_ON_ONROAD_TRANSITION}, {"CarParamsCache", CLEAR_ON_MANAGER_START}, {"CarParamsPersistent", PERSISTENT}, {"CarParamsPrevRoute", PERSISTENT}, {"CarVin", CLEAR_ON_MANAGER_START | CLEAR_ON_ONROAD_TRANSITION}, {"CompletedTrainingVersion", PERSISTENT}, {"ControlsReady", CLEAR_ON_MANAGER_START | CLEAR_ON_ONROAD_TRANSITION}, {"CurrentBootlog", PERSISTENT}, {"CurrentRoute", CLEAR_ON_MANAGER_START | CLEAR_ON_ONROAD_TRANSITION}, {"DisableLogging", CLEAR_ON_MANAGER_START | CLEAR_ON_ONROAD_TRANSITION}, {"DisablePowerDown", PERSISTENT}, {"DisableUpdates", PERSISTENT}, {"DisengageOnAccelerator", PERSISTENT | FROGPILOT_STORAGE}, {"DmModelInitialized", CLEAR_ON_ONROAD_TRANSITION}, {"DongleId", PERSISTENT}, {"DoReboot", CLEAR_ON_MANAGER_START}, {"DoShutdown", CLEAR_ON_MANAGER_START}, {"DoUninstall", CLEAR_ON_MANAGER_START}, {"ExperimentalLongitudinalEnabled", PERSISTENT | DEVELOPMENT_ONLY | FROGPILOT_STORAGE}, {"ExperimentalMode", PERSISTENT | FROGPILOT_STORAGE}, {"ExperimentalModeConfirmed", PERSISTENT}, {"FirmwareQueryDone", CLEAR_ON_MANAGER_START | CLEAR_ON_ONROAD_TRANSITION}, {"ForcePowerDown", PERSISTENT}, {"GitBranch", PERSISTENT}, {"GitCommit", PERSISTENT}, {"GitCommitDate", PERSISTENT}, {"GitDiff", PERSISTENT}, {"GithubSshKeys", PERSISTENT}, {"GithubUsername", PERSISTENT}, {"GitRemote", PERSISTENT}, {"GsmApn", PERSISTENT}, {"GsmMetered", PERSISTENT | FROGPILOT_STORAGE}, {"GsmRoaming", PERSISTENT | FROGPILOT_STORAGE}, {"HardwareSerial", PERSISTENT}, {"HasAcceptedTerms", PERSISTENT}, {"IMEI", PERSISTENT}, {"InstallDate", PERSISTENT}, {"IsDriverViewEnabled", CLEAR_ON_MANAGER_START}, {"IsEngaged", PERSISTENT}, {"IsLdwEnabled", PERSISTENT | FROGPILOT_STORAGE}, {"IsMetric", PERSISTENT | FROGPILOT_STORAGE}, {"IsOffroad", CLEAR_ON_MANAGER_START}, {"IsOnroad", PERSISTENT}, {"IsRhdDetected", PERSISTENT}, {"IsReleaseBranch", CLEAR_ON_MANAGER_START}, {"IsTakingSnapshot", CLEAR_ON_MANAGER_START}, {"IsTestedBranch", CLEAR_ON_MANAGER_START}, {"JoystickDebugMode", CLEAR_ON_MANAGER_START | CLEAR_ON_OFFROAD_TRANSITION}, {"LanguageSetting", PERSISTENT}, {"LastAthenaPingTime", CLEAR_ON_MANAGER_START}, {"LastGPSPosition", PERSISTENT}, {"LastManagerExitReason", CLEAR_ON_MANAGER_START}, {"LastOffroadStatusPacket", CLEAR_ON_MANAGER_START | CLEAR_ON_OFFROAD_TRANSITION}, {"LastPowerDropDetected", CLEAR_ON_MANAGER_START}, {"LastUpdateException", CLEAR_ON_MANAGER_START}, {"LastUpdateTime", PERSISTENT}, {"LiveParameters", PERSISTENT}, {"LiveTorqueParameters", PERSISTENT | DONT_LOG}, {"LongitudinalPersonality", PERSISTENT}, {"NavDestination", CLEAR_ON_MANAGER_START | CLEAR_ON_OFFROAD_TRANSITION}, {"NavDestinationWaypoints", CLEAR_ON_MANAGER_START | CLEAR_ON_OFFROAD_TRANSITION}, {"NavPastDestinations", PERSISTENT}, {"NavSettingLeftSide", PERSISTENT | FROGPILOT_STORAGE}, {"NavSettingTime24h", PERSISTENT | FROGPILOT_STORAGE}, {"NetworkMetered", PERSISTENT}, {"ObdMultiplexingChanged", CLEAR_ON_MANAGER_START | CLEAR_ON_ONROAD_TRANSITION}, {"ObdMultiplexingEnabled", CLEAR_ON_MANAGER_START | CLEAR_ON_ONROAD_TRANSITION}, {"Offroad_BadNvme", CLEAR_ON_MANAGER_START}, {"Offroad_CarUnrecognized", CLEAR_ON_MANAGER_START | CLEAR_ON_ONROAD_TRANSITION}, {"Offroad_ConnectivityNeeded", CLEAR_ON_MANAGER_START}, {"Offroad_ConnectivityNeededPrompt", CLEAR_ON_MANAGER_START}, {"Offroad_InvalidTime", CLEAR_ON_MANAGER_START}, {"Offroad_IsTakingSnapshot", CLEAR_ON_MANAGER_START}, {"Offroad_NeosUpdate", CLEAR_ON_MANAGER_START}, {"Offroad_NoFirmware", CLEAR_ON_MANAGER_START | CLEAR_ON_ONROAD_TRANSITION}, {"Offroad_Recalibration", CLEAR_ON_MANAGER_START | CLEAR_ON_ONROAD_TRANSITION}, {"Offroad_StorageMissing", CLEAR_ON_MANAGER_START}, {"Offroad_TemperatureTooHigh", CLEAR_ON_MANAGER_START}, {"Offroad_UnofficialHardware", CLEAR_ON_MANAGER_START}, {"Offroad_UpdateFailed", CLEAR_ON_MANAGER_START}, {"OpenpilotEnabledToggle", PERSISTENT | FROGPILOT_STORAGE}, {"PandaHeartbeatLost", CLEAR_ON_MANAGER_START | CLEAR_ON_OFFROAD_TRANSITION}, {"PandaSomResetTriggered", CLEAR_ON_MANAGER_START | CLEAR_ON_OFFROAD_TRANSITION}, {"PandaSignatures", CLEAR_ON_MANAGER_START}, {"PrimeType", PERSISTENT}, {"RecordFront", PERSISTENT | FROGPILOT_STORAGE}, {"RecordFrontLock", PERSISTENT}, // for the internal fleet {"ReplayControlsState", CLEAR_ON_MANAGER_START | CLEAR_ON_ONROAD_TRANSITION}, {"RouteCount", PERSISTENT}, {"SnoozeUpdate", CLEAR_ON_MANAGER_START | CLEAR_ON_OFFROAD_TRANSITION}, {"SshEnabled", PERSISTENT | FROGPILOT_STORAGE}, {"TermsVersion", PERSISTENT}, {"Timezone", PERSISTENT}, {"TrainingVersion", PERSISTENT}, {"UbloxAvailable", PERSISTENT}, {"UpdateAvailable", CLEAR_ON_MANAGER_START | CLEAR_ON_ONROAD_TRANSITION}, {"UpdateFailedCount", CLEAR_ON_MANAGER_START}, {"UpdaterAvailableBranches", PERSISTENT}, {"UpdaterCurrentDescription", CLEAR_ON_MANAGER_START}, {"UpdaterCurrentReleaseNotes", CLEAR_ON_MANAGER_START}, {"UpdaterFetchAvailable", CLEAR_ON_MANAGER_START}, {"UpdaterNewDescription", CLEAR_ON_MANAGER_START}, {"UpdaterNewReleaseNotes", CLEAR_ON_MANAGER_START}, {"UpdaterState", CLEAR_ON_MANAGER_START}, {"UpdaterTargetBranch", CLEAR_ON_MANAGER_START}, {"UpdaterLastFetchTime", PERSISTENT}, {"Version", PERSISTENT}, // FrogPilot parameters {"AccelerationPath", PERSISTENT | FROGPILOT_STORAGE | FROGPILOT_VISUALS}, {"AccelerationProfile", PERSISTENT | FROGPILOT_STORAGE | FROGPILOT_CONTROLS}, {"AdjacentPath", PERSISTENT | FROGPILOT_STORAGE | FROGPILOT_VISUALS}, {"AdjacentPathMetrics", PERSISTENT | FROGPILOT_STORAGE | FROGPILOT_VISUALS}, {"AggressiveAcceleration", PERSISTENT | FROGPILOT_STORAGE | FROGPILOT_CONTROLS}, {"AggressiveAccelerationExperimental", PERSISTENT | FROGPILOT_STORAGE | FROGPILOT_CONTROLS}, {"AggressiveFollow", PERSISTENT | FROGPILOT_STORAGE | FROGPILOT_CONTROLS}, {"AggressiveJerkAcceleration", PERSISTENT | FROGPILOT_STORAGE | FROGPILOT_CONTROLS}, {"AggressiveJerkSpeed", PERSISTENT | FROGPILOT_STORAGE | FROGPILOT_CONTROLS}, {"AggressivePersonalityProfile", PERSISTENT | FROGPILOT_STORAGE | FROGPILOT_CONTROLS}, {"AlertVolumeControl", PERSISTENT | FROGPILOT_STORAGE | FROGPILOT_VISUALS}, {"AlwaysOnLateral", PERSISTENT | FROGPILOT_STORAGE | FROGPILOT_CONTROLS}, {"AlwaysOnLateralMain", PERSISTENT | FROGPILOT_STORAGE | FROGPILOT_CONTROLS}, {"AMapKey1", PERSISTENT}, {"AMapKey2", PERSISTENT}, {"ApiCache_DriveStats", PERSISTENT}, {"AutomaticUpdates", PERSISTENT | FROGPILOT_STORAGE | FROGPILOT_OTHER}, {"AvailableModels", PERSISTENT}, {"AvailableModelsNames", PERSISTENT}, {"BorderMetrics", PERSISTENT | FROGPILOT_STORAGE | FROGPILOT_VISUALS}, {"BigMap", PERSISTENT | FROGPILOT_STORAGE | FROGPILOT_VISUALS}, {"BlindSpotMetrics", PERSISTENT | FROGPILOT_STORAGE | FROGPILOT_VISUALS}, {"BlindSpotPath", PERSISTENT | FROGPILOT_STORAGE | FROGPILOT_VISUALS}, {"CameraFPS", PERSISTENT}, {"CameraView", PERSISTENT | FROGPILOT_STORAGE | FROGPILOT_VISUALS}, {"CarMake", PERSISTENT}, {"CarModel", PERSISTENT}, {"CECurves", PERSISTENT | FROGPILOT_STORAGE | FROGPILOT_CONTROLS}, {"CECurvesLead", PERSISTENT | FROGPILOT_STORAGE | FROGPILOT_CONTROLS}, {"CENavigation", PERSISTENT | FROGPILOT_STORAGE | FROGPILOT_CONTROLS}, {"CENavigationIntersections", PERSISTENT | FROGPILOT_STORAGE | FROGPILOT_CONTROLS}, {"CENavigationLead", PERSISTENT | FROGPILOT_STORAGE | FROGPILOT_CONTROLS}, {"CENavigationTurns", PERSISTENT | FROGPILOT_STORAGE | FROGPILOT_CONTROLS}, {"CESignal", PERSISTENT | FROGPILOT_STORAGE | FROGPILOT_CONTROLS}, {"CESlowerLead", PERSISTENT | FROGPILOT_STORAGE | FROGPILOT_CONTROLS}, {"CESpeed", PERSISTENT | FROGPILOT_STORAGE | FROGPILOT_CONTROLS}, {"CESpeedLead", PERSISTENT | FROGPILOT_STORAGE | FROGPILOT_CONTROLS}, {"CEStatus", PERSISTENT}, {"CEStopLights", PERSISTENT | FROGPILOT_STORAGE | FROGPILOT_CONTROLS}, {"CEStopLightsLead", PERSISTENT | FROGPILOT_STORAGE | FROGPILOT_CONTROLS}, {"ClusterOffset", PERSISTENT | FROGPILOT_STORAGE | FROGPILOT_VEHICLES}, {"Compass", PERSISTENT | FROGPILOT_STORAGE | FROGPILOT_VISUALS}, {"ConditionalExperimental", PERSISTENT | FROGPILOT_STORAGE | FROGPILOT_CONTROLS}, {"CrosstrekTorque", PERSISTENT | FROGPILOT_STORAGE | FROGPILOT_VEHICLES}, {"CurrentHolidayTheme", PERSISTENT}, {"CurrentRandomEvent", PERSISTENT}, {"CurveSensitivity", PERSISTENT | FROGPILOT_STORAGE | FROGPILOT_CONTROLS}, {"CustomAlerts", PERSISTENT | FROGPILOT_STORAGE | FROGPILOT_VISUALS}, {"CustomColors", PERSISTENT | FROGPILOT_STORAGE | FROGPILOT_VISUALS}, {"CustomCruise", PERSISTENT | FROGPILOT_STORAGE | FROGPILOT_CONTROLS}, {"CustomCruiseLong", PERSISTENT | FROGPILOT_STORAGE | FROGPILOT_CONTROLS}, {"CustomIcons", PERSISTENT | FROGPILOT_STORAGE | FROGPILOT_VISUALS}, {"CustomPaths", PERSISTENT | FROGPILOT_STORAGE | FROGPILOT_VISUALS}, {"CustomPersonalities", PERSISTENT | FROGPILOT_STORAGE | FROGPILOT_CONTROLS}, {"CustomUI", PERSISTENT | FROGPILOT_STORAGE | FROGPILOT_VISUALS}, {"CustomSignals", PERSISTENT | FROGPILOT_STORAGE | FROGPILOT_VISUALS}, {"CustomSounds", PERSISTENT | FROGPILOT_STORAGE | FROGPILOT_VISUALS}, {"CustomTheme", PERSISTENT | FROGPILOT_STORAGE | FROGPILOT_VISUALS}, {"CydiaTune", PERSISTENT | FROGPILOT_STORAGE | FROGPILOT_VEHICLES}, {"DecelerationProfile", PERSISTENT | FROGPILOT_STORAGE | FROGPILOT_CONTROLS}, {"DeveloperUI", PERSISTENT | FROGPILOT_STORAGE | FROGPILOT_VISUALS}, {"DeviceManagement", PERSISTENT | FROGPILOT_STORAGE | FROGPILOT_CONTROLS}, {"DeviceShutdown", PERSISTENT | FROGPILOT_STORAGE | FROGPILOT_CONTROLS}, {"DisableMTSCSmoothing", PERSISTENT | FROGPILOT_STORAGE | FROGPILOT_CONTROLS}, {"DisableOnroadUploads", PERSISTENT | FROGPILOT_STORAGE | FROGPILOT_CONTROLS}, {"DisableOpenpilotLongitudinal", PERSISTENT | FROGPILOT_STORAGE}, {"DisableVTSCSmoothing", PERSISTENT | FROGPILOT_STORAGE | FROGPILOT_CONTROLS}, {"DisengageVolume", PERSISTENT | FROGPILOT_STORAGE | FROGPILOT_VISUALS}, {"DoToggleReset", PERSISTENT}, {"DragonPilotTune", PERSISTENT | FROGPILOT_STORAGE | FROGPILOT_VEHICLES}, {"DriverCamera", PERSISTENT | FROGPILOT_STORAGE | FROGPILOT_VISUALS}, {"DrivingPersonalities", PERSISTENT | FROGPILOT_STORAGE | FROGPILOT_CONTROLS}, {"DynamicPathWidth", PERSISTENT | FROGPILOT_STORAGE | FROGPILOT_VISUALS}, {"DynamicPedalsOnUI", PERSISTENT | FROGPILOT_STORAGE | FROGPILOT_VISUALS}, {"EngageVolume", PERSISTENT | FROGPILOT_STORAGE | FROGPILOT_VISUALS}, {"ExperimentalModeActivation", PERSISTENT | FROGPILOT_STORAGE | FROGPILOT_CONTROLS}, {"ExperimentalModeViaDistance", PERSISTENT | FROGPILOT_STORAGE | FROGPILOT_CONTROLS}, {"ExperimentalModeViaLKAS", PERSISTENT | FROGPILOT_STORAGE | FROGPILOT_CONTROLS}, {"ExperimentalModeViaTap", PERSISTENT | FROGPILOT_STORAGE | FROGPILOT_CONTROLS}, {"Fahrenheit", PERSISTENT | FROGPILOT_STORAGE | FROGPILOT_VISUALS}, {"FingerprintLogged", PERSISTENT}, {"ForceAutoTune", PERSISTENT | FROGPILOT_STORAGE | FROGPILOT_CONTROLS}, {"ForceFingerprint", PERSISTENT | FROGPILOT_STORAGE | FROGPILOT_VEHICLES}, {"ForceMPHDashboard", PERSISTENT | FROGPILOT_STORAGE | FROGPILOT_CONTROLS}, {"FPSCounter", PERSISTENT | FROGPILOT_STORAGE | FROGPILOT_VISUALS}, {"FrogPilotDrives", PERSISTENT | FROGPILOT_TRACKING}, {"FrogPilotKilometers", PERSISTENT | FROGPILOT_TRACKING}, {"FrogPilotMinutes", PERSISTENT | FROGPILOT_TRACKING}, {"FrogPilotTogglesUpdated", PERSISTENT}, {"FrogsGoMoo", PERSISTENT}, {"FrogsGoMooTune", PERSISTENT | FROGPILOT_STORAGE | FROGPILOT_VEHICLES}, {"FullMap", PERSISTENT | FROGPILOT_STORAGE | FROGPILOT_VISUALS}, {"GasRegenCmd", PERSISTENT | FROGPILOT_STORAGE | FROGPILOT_VEHICLES}, {"GMapKey", PERSISTENT}, {"GoatScream", PERSISTENT | FROGPILOT_STORAGE | FROGPILOT_VISUALS}, {"GreenLightAlert", PERSISTENT | FROGPILOT_STORAGE | FROGPILOT_VISUALS}, {"HideAlerts", PERSISTENT | FROGPILOT_STORAGE | FROGPILOT_VISUALS}, {"HideAOLStatusBar", PERSISTENT | FROGPILOT_STORAGE | FROGPILOT_CONTROLS}, {"HideCEMStatusBar", PERSISTENT | FROGPILOT_STORAGE | FROGPILOT_CONTROLS}, {"HideDisableOpenpilotLongitudinal", PERSISTENT}, {"HideLeadMarker", PERSISTENT | FROGPILOT_STORAGE | FROGPILOT_VISUALS}, {"HideMapIcon", PERSISTENT | FROGPILOT_STORAGE | FROGPILOT_VISUALS}, {"HideMaxSpeed", PERSISTENT | FROGPILOT_STORAGE | FROGPILOT_VISUALS}, {"HideSpeed", PERSISTENT | FROGPILOT_STORAGE | FROGPILOT_VISUALS}, {"HideSpeedUI", PERSISTENT | FROGPILOT_STORAGE | FROGPILOT_VISUALS}, {"HideUIElements", PERSISTENT | FROGPILOT_STORAGE | FROGPILOT_VISUALS}, {"HolidayThemes", PERSISTENT | FROGPILOT_STORAGE | FROGPILOT_VISUALS}, {"IncreaseThermalLimits", PERSISTENT | FROGPILOT_STORAGE | FROGPILOT_CONTROLS}, {"KaofuiIcons", PERSISTENT | FROGPILOT_STORAGE | FROGPILOT_CONTROLS}, {"LaneChangeCustomizations", PERSISTENT | FROGPILOT_STORAGE | FROGPILOT_CONTROLS}, {"LaneChangeTime", PERSISTENT | FROGPILOT_STORAGE | FROGPILOT_CONTROLS}, {"LaneDetectionWidth", PERSISTENT | FROGPILOT_STORAGE | FROGPILOT_CONTROLS}, {"LaneLinesWidth", PERSISTENT | FROGPILOT_STORAGE | FROGPILOT_VISUALS}, {"LastMapsUpdate", PERSISTENT | FROGPILOT_OTHER}, {"LateralMetrics", PERSISTENT | FROGPILOT_STORAGE | FROGPILOT_VISUALS}, {"LateralTune", PERSISTENT | FROGPILOT_STORAGE | FROGPILOT_CONTROLS}, {"LeadDepartingAlert", PERSISTENT | FROGPILOT_STORAGE | FROGPILOT_VISUALS}, {"LeadDetectionThreshold", PERSISTENT | FROGPILOT_STORAGE | FROGPILOT_CONTROLS}, {"LockDoors", PERSISTENT | FROGPILOT_STORAGE | FROGPILOT_VEHICLES}, {"LongitudinalMetrics", PERSISTENT | FROGPILOT_STORAGE | FROGPILOT_VISUALS}, {"LongitudinalTune", PERSISTENT | FROGPILOT_STORAGE | FROGPILOT_CONTROLS}, {"LongPitch", PERSISTENT | FROGPILOT_STORAGE | FROGPILOT_VEHICLES}, {"LoudBlindspotAlert", PERSISTENT | FROGPILOT_STORAGE | FROGPILOT_VISUALS}, {"LowVoltageShutdown", PERSISTENT | FROGPILOT_STORAGE | FROGPILOT_CONTROLS}, {"ManualUpdateInitiated", PERSISTENT}, {"MapboxPublicKey", PERSISTENT}, {"MapboxSecretKey", PERSISTENT}, {"MapAcceleration", PERSISTENT | FROGPILOT_STORAGE | FROGPILOT_CONTROLS}, {"MapDeceleration", PERSISTENT | FROGPILOT_STORAGE | FROGPILOT_CONTROLS}, {"MapGears", PERSISTENT | FROGPILOT_STORAGE | FROGPILOT_CONTROLS}, {"MapsSelected", PERSISTENT | FROGPILOT_OTHER}, {"MapSpeedLimit", PERSISTENT}, {"MapStyle", PERSISTENT | FROGPILOT_STORAGE | FROGPILOT_VISUALS}, {"MapTargetLatA", PERSISTENT}, {"MapTargetVelocities", PERSISTENT}, {"MinimumLaneChangeSpeed", PERSISTENT | FROGPILOT_STORAGE | FROGPILOT_CONTROLS}, {"Model", PERSISTENT | FROGPILOT_STORAGE | FROGPILOT_CONTROLS}, {"ModelDownloadProgress", PERSISTENT}, {"ModelName", PERSISTENT | FROGPILOT_STORAGE | FROGPILOT_CONTROLS}, {"ModelSelector", PERSISTENT | FROGPILOT_STORAGE | FROGPILOT_CONTROLS}, {"ModelToDownload", PERSISTENT}, {"ModelUI", PERSISTENT | FROGPILOT_STORAGE | FROGPILOT_VISUALS}, {"MTSCAggressiveness", PERSISTENT | FROGPILOT_STORAGE | FROGPILOT_CONTROLS}, {"MTSCCurvatureCheck", PERSISTENT | FROGPILOT_STORAGE | FROGPILOT_CONTROLS}, {"MTSCEnabled", PERSISTENT | FROGPILOT_STORAGE | FROGPILOT_CONTROLS}, {"NNFF", PERSISTENT | FROGPILOT_STORAGE | FROGPILOT_CONTROLS}, {"NNFFLite", PERSISTENT | FROGPILOT_STORAGE | FROGPILOT_CONTROLS}, {"NNFFModelName", PERSISTENT}, {"NoLogging", PERSISTENT | FROGPILOT_STORAGE | FROGPILOT_CONTROLS}, {"NoUploads", PERSISTENT | FROGPILOT_STORAGE | FROGPILOT_CONTROLS}, {"NudgelessLaneChange", PERSISTENT | FROGPILOT_STORAGE | FROGPILOT_CONTROLS}, {"NumericalTemp", PERSISTENT | FROGPILOT_STORAGE | FROGPILOT_VISUALS}, {"OfflineMode", PERSISTENT | FROGPILOT_STORAGE | FROGPILOT_CONTROLS}, {"Offset1", PERSISTENT | FROGPILOT_STORAGE | FROGPILOT_CONTROLS}, {"Offset2", PERSISTENT | FROGPILOT_STORAGE | FROGPILOT_CONTROLS}, {"Offset3", PERSISTENT | FROGPILOT_STORAGE | FROGPILOT_CONTROLS}, {"Offset4", PERSISTENT | FROGPILOT_STORAGE | FROGPILOT_CONTROLS}, {"OneLaneChange", PERSISTENT | FROGPILOT_STORAGE | FROGPILOT_CONTROLS}, {"OnroadDistanceButton", PERSISTENT | FROGPILOT_STORAGE | FROGPILOT_CONTROLS}, {"OnroadDistanceButtonPressed", PERSISTENT}, {"OSMDownloadBounds", PERSISTENT}, {"OSMDownloadLocations", PERSISTENT}, {"OSMDownloadProgress", CLEAR_ON_MANAGER_START}, {"ParamConversionVersion", PERSISTENT}, {"PathEdgeWidth", PERSISTENT | FROGPILOT_STORAGE | FROGPILOT_VISUALS}, {"PathWidth", PERSISTENT | FROGPILOT_STORAGE | FROGPILOT_VISUALS}, {"PauseAOLOnBrake", PERSISTENT | FROGPILOT_STORAGE | FROGPILOT_CONTROLS}, {"PauseLateralOnSignal", PERSISTENT | FROGPILOT_STORAGE | FROGPILOT_CONTROLS}, {"PauseLateralSpeed", PERSISTENT | FROGPILOT_STORAGE | FROGPILOT_CONTROLS}, {"PedalsOnUI", PERSISTENT | FROGPILOT_STORAGE | FROGPILOT_VISUALS}, {"PreferredSchedule", PERSISTENT | FROGPILOT_STORAGE | FROGPILOT_OTHER}, {"PreviousSpeedLimit", PERSISTENT}, {"PromptDistractedVolume", PERSISTENT | FROGPILOT_STORAGE | FROGPILOT_VISUALS}, {"PromptVolume", PERSISTENT | FROGPILOT_STORAGE | FROGPILOT_VISUALS}, {"QOLControls", PERSISTENT | FROGPILOT_STORAGE | FROGPILOT_CONTROLS}, {"QOLVisuals", PERSISTENT | FROGPILOT_STORAGE | FROGPILOT_VISUALS}, {"RandomEvents", PERSISTENT | FROGPILOT_STORAGE | FROGPILOT_VISUALS}, {"RefuseVolume", PERSISTENT | FROGPILOT_STORAGE | FROGPILOT_VISUALS}, {"RelaxedFollow", PERSISTENT | FROGPILOT_STORAGE | FROGPILOT_CONTROLS}, {"RelaxedJerkAcceleration", PERSISTENT | FROGPILOT_STORAGE | FROGPILOT_CONTROLS}, {"RelaxedJerkSpeed", PERSISTENT | FROGPILOT_STORAGE | FROGPILOT_CONTROLS}, {"RelaxedPersonalityProfile", PERSISTENT | FROGPILOT_STORAGE | FROGPILOT_CONTROLS}, {"ResetSteerRatio", PERSISTENT}, {"ReverseCruise", PERSISTENT | FROGPILOT_STORAGE | FROGPILOT_CONTROLS}, {"ReverseCruiseUI", PERSISTENT | FROGPILOT_STORAGE | FROGPILOT_CONTROLS}, {"RoadEdgesWidth", PERSISTENT | FROGPILOT_STORAGE | FROGPILOT_VISUALS}, {"RoadName", PERSISTENT}, {"RoadNameUI", PERSISTENT | FROGPILOT_STORAGE | FROGPILOT_VISUALS}, {"RotatingWheel", PERSISTENT | FROGPILOT_STORAGE | FROGPILOT_VISUALS}, {"ScreenBrightness", PERSISTENT | FROGPILOT_STORAGE | FROGPILOT_VISUALS}, {"ScreenBrightnessOnroad", PERSISTENT | FROGPILOT_STORAGE | FROGPILOT_VISUALS}, {"ScreenManagement", PERSISTENT | FROGPILOT_STORAGE | FROGPILOT_VISUALS}, {"ScreenRecorder", PERSISTENT | FROGPILOT_STORAGE | FROGPILOT_VISUALS}, {"ScreenTimeout", PERSISTENT | FROGPILOT_STORAGE | FROGPILOT_VISUALS}, {"ScreenTimeoutOnroad", PERSISTENT | FROGPILOT_STORAGE | FROGPILOT_VISUALS}, {"SearchInput", PERSISTENT | FROGPILOT_STORAGE | FROGPILOT_OTHER}, {"SetSpeedLimit", PERSISTENT | FROGPILOT_STORAGE | FROGPILOT_CONTROLS}, {"SetSpeedOffset", PERSISTENT | FROGPILOT_STORAGE | FROGPILOT_CONTROLS}, {"ShowCPU", PERSISTENT | FROGPILOT_STORAGE | FROGPILOT_VISUALS}, {"ShowGPU", PERSISTENT | FROGPILOT_STORAGE | FROGPILOT_VISUALS}, {"ShowIP", PERSISTENT | FROGPILOT_STORAGE | FROGPILOT_VISUALS}, {"ShowMemoryUsage", PERSISTENT | FROGPILOT_STORAGE | FROGPILOT_VISUALS}, {"ShowSLCOffset", PERSISTENT | FROGPILOT_STORAGE | FROGPILOT_CONTROLS}, {"ShowSLCOffsetUI", PERSISTENT | FROGPILOT_STORAGE | FROGPILOT_CONTROLS}, {"ShowSteering", PERSISTENT | FROGPILOT_STORAGE | FROGPILOT_VISUALS}, {"ShowStorageLeft", PERSISTENT | FROGPILOT_STORAGE | FROGPILOT_VISUALS}, {"ShowStorageUsed", PERSISTENT | FROGPILOT_STORAGE | FROGPILOT_VISUALS}, {"Sidebar", PERSISTENT | FROGPILOT_OTHER}, {"SidebarMetrics", PERSISTENT | FROGPILOT_STORAGE | FROGPILOT_VISUALS}, {"SignalMetrics", PERSISTENT | FROGPILOT_STORAGE | FROGPILOT_VISUALS}, {"SLCConfirmation", PERSISTENT | FROGPILOT_STORAGE | FROGPILOT_CONTROLS}, {"SLCConfirmationLower", PERSISTENT | FROGPILOT_STORAGE | FROGPILOT_CONTROLS}, {"SLCConfirmationHigher", PERSISTENT | FROGPILOT_STORAGE | FROGPILOT_CONTROLS}, {"SLCConfirmed", PERSISTENT}, {"SLCConfirmedPressed", PERSISTENT}, {"SLCLookaheadHigher", PERSISTENT | FROGPILOT_STORAGE | FROGPILOT_CONTROLS}, {"SLCLookaheadLower", PERSISTENT | FROGPILOT_STORAGE | FROGPILOT_CONTROLS}, {"SLCFallback", PERSISTENT | FROGPILOT_STORAGE | FROGPILOT_CONTROLS}, {"SLCOverride", PERSISTENT | FROGPILOT_STORAGE | FROGPILOT_CONTROLS}, {"SLCPriority", PERSISTENT | FROGPILOT_STORAGE | FROGPILOT_CONTROLS}, {"SLCPriority1", PERSISTENT | FROGPILOT_STORAGE | FROGPILOT_CONTROLS}, {"SLCPriority2", PERSISTENT | FROGPILOT_STORAGE | FROGPILOT_CONTROLS}, {"SLCPriority3", PERSISTENT | FROGPILOT_STORAGE | FROGPILOT_CONTROLS}, {"SmoothBraking", PERSISTENT | FROGPILOT_STORAGE | FROGPILOT_CONTROLS}, {"SmoothBrakingFarLead", PERSISTENT | FROGPILOT_STORAGE | FROGPILOT_CONTROLS}, {"SmoothBrakingJerk", PERSISTENT | FROGPILOT_STORAGE | FROGPILOT_CONTROLS}, {"SNGHack", PERSISTENT | FROGPILOT_STORAGE | FROGPILOT_VEHICLES}, {"SpeedLimitController", PERSISTENT | FROGPILOT_STORAGE | FROGPILOT_CONTROLS}, {"SpeedLimitChangedAlert", PERSISTENT | FROGPILOT_STORAGE | FROGPILOT_CONTROLS}, {"StandardFollow", PERSISTENT | FROGPILOT_STORAGE | FROGPILOT_CONTROLS}, {"StandardJerkAcceleration", PERSISTENT | FROGPILOT_STORAGE | FROGPILOT_CONTROLS}, {"StandardJerkSpeed", PERSISTENT | FROGPILOT_STORAGE | FROGPILOT_CONTROLS}, {"StandardPersonalityProfile", PERSISTENT | FROGPILOT_STORAGE | FROGPILOT_CONTROLS}, {"StandbyMode", PERSISTENT | FROGPILOT_STORAGE | FROGPILOT_VISUALS}, {"StaticPedalsOnUI", PERSISTENT | FROGPILOT_STORAGE | FROGPILOT_VISUALS}, {"SteerRatio", PERSISTENT | FROGPILOT_STORAGE | FROGPILOT_CONTROLS}, {"SteerRatioStock", PERSISTENT}, {"StockTune", PERSISTENT | FROGPILOT_STORAGE | FROGPILOT_VEHICLES}, {"StoppingDistance", PERSISTENT | FROGPILOT_STORAGE | FROGPILOT_CONTROLS}, {"TacoTune", PERSISTENT | FROGPILOT_STORAGE | FROGPILOT_CONTROLS}, {"TetheringEnabled", PERSISTENT | FROGPILOT_OTHER}, {"ToyotaDoors", PERSISTENT | FROGPILOT_STORAGE | FROGPILOT_VEHICLES}, {"TrafficFollow", PERSISTENT | FROGPILOT_STORAGE | FROGPILOT_CONTROLS}, {"TrafficJerkAcceleration", PERSISTENT | FROGPILOT_STORAGE | FROGPILOT_CONTROLS}, {"TrafficJerkSpeed", PERSISTENT | FROGPILOT_STORAGE | FROGPILOT_CONTROLS}, {"TrafficMode", PERSISTENT | FROGPILOT_STORAGE | FROGPILOT_CONTROLS}, {"TrafficModeActive", CLEAR_ON_OFFROAD_TRANSITION}, {"TrafficPersonalityProfile", PERSISTENT | FROGPILOT_STORAGE | FROGPILOT_CONTROLS}, {"TurnAggressiveness", PERSISTENT | FROGPILOT_STORAGE | FROGPILOT_CONTROLS}, {"TurnDesires", PERSISTENT | FROGPILOT_STORAGE | FROGPILOT_CONTROLS}, {"UnlimitedLength", PERSISTENT | FROGPILOT_STORAGE | FROGPILOT_VISUALS}, {"UnlockDoors", PERSISTENT | FROGPILOT_STORAGE | FROGPILOT_VEHICLES}, {"Updated", PERSISTENT}, {"UseSI", PERSISTENT | FROGPILOT_STORAGE | FROGPILOT_VISUALS}, {"UseVienna", PERSISTENT | FROGPILOT_STORAGE | FROGPILOT_CONTROLS}, {"VisionTurnControl", PERSISTENT | FROGPILOT_STORAGE | FROGPILOT_CONTROLS}, {"WarningImmediateVolume", PERSISTENT | FROGPILOT_STORAGE | FROGPILOT_VISUALS}, {"WarningSoftVolume", PERSISTENT | FROGPILOT_STORAGE | FROGPILOT_VISUALS}, {"WheelIcon", PERSISTENT | FROGPILOT_STORAGE | FROGPILOT_VISUALS}, {"WheelSpeed", PERSISTENT | FROGPILOT_STORAGE | FROGPILOT_VISUALS}, }; } // namespace Params::Params(const std::string &path) { params_prefix = "/" + util::getenv("OPENPILOT_PREFIX", "d"); params_path = ensure_params_path(params_prefix, path); } Params::~Params() { if (future.valid()) { future.wait(); } assert(queue.empty()); } std::vector Params::allKeys() const { std::vector ret; for (auto &p : keys) { ret.push_back(p.first); } return ret; } bool Params::checkKey(const std::string &key) { return keys.find(key) != keys.end(); } ParamKeyType Params::getKeyType(const std::string &key) { return static_cast(keys[key]); } int Params::put(const char* key, const char* value, size_t value_size) { // Information about safely and atomically writing a file: https://lwn.net/Articles/457667/ // 1) Create temp file // 2) Write data to temp file // 3) fsync() the temp file // 4) rename the temp file to the real name // 5) fsync() the containing directory std::string tmp_path = params_path + "/.tmp_value_XXXXXX"; int tmp_fd = mkstemp((char*)tmp_path.c_str()); if (tmp_fd < 0) return -1; int result = -1; do { // Write value to temp. ssize_t bytes_written = HANDLE_EINTR(write(tmp_fd, value, value_size)); if (bytes_written < 0 || (size_t)bytes_written != value_size) { result = -20; break; } // fsync to force persist the changes. if ((result = fsync(tmp_fd)) < 0) break; FileLock file_lock(params_path + "/.lock"); // Move temp into place. if ((result = rename(tmp_path.c_str(), getParamPath(key).c_str())) < 0) break; // fsync parent directory result = fsync_dir(getParamPath()); } while (false); close(tmp_fd); ::unlink(tmp_path.c_str()); return result; } int Params::remove(const std::string &key) { FileLock file_lock(params_path + "/.lock"); int result = unlink(getParamPath(key).c_str()); if (result != 0) { return result; } return fsync_dir(getParamPath()); } std::string Params::get(const std::string &key, bool block) { if (!block) { return util::read_file(getParamPath(key)); } else { // blocking read until successful params_do_exit = 0; void (*prev_handler_sigint)(int) = std::signal(SIGINT, params_sig_handler); void (*prev_handler_sigterm)(int) = std::signal(SIGTERM, params_sig_handler); std::string value; while (!params_do_exit) { if (value = util::read_file(getParamPath(key)); !value.empty()) { break; } util::sleep_for(100); // 0.1 s } std::signal(SIGINT, prev_handler_sigint); std::signal(SIGTERM, prev_handler_sigterm); return value; } } std::map Params::readAll() { FileLock file_lock(params_path + "/.lock"); return util::read_files_in_dir(getParamPath()); } void Params::clearAll(ParamKeyType key_type) { FileLock file_lock(params_path + "/.lock"); // 1) delete params of key_type // 2) delete files that are not defined in the keys. if (DIR *d = opendir(getParamPath().c_str())) { struct dirent *de = NULL; while ((de = readdir(d))) { if (de->d_type != DT_DIR) { auto it = keys.find(de->d_name); if (it == keys.end() || (it->second & key_type)) { unlink(getParamPath(de->d_name).c_str()); } } } closedir(d); } fsync_dir(getParamPath()); } void Params::putNonBlocking(const std::string &key, const std::string &val) { queue.push(std::make_pair(key, val)); // start thread on demand if (!future.valid() || future.wait_for(std::chrono::milliseconds(0)) == std::future_status::ready) { future = std::async(std::launch::async, &Params::asyncWriteThread, this); } } void Params::asyncWriteThread() { // TODO: write the latest one if a key has multiple values in the queue. std::pair p; while (queue.try_pop(p, 0)) { // Params::put is Thread-Safe put(p.first, p.second); } }