d3ae10dc1d
* paddle Decel sound... * fix angle torque.. more stronger * add lfa decel mode... * fix.. * cruise, e2e decel limit to COMFORT BRAKE * fix.. lanemode change... * fix.. lfa decel.. * remove lfa undecel... * revert cruise braking * fix.. * add toyota * fix.. emergency steer.. * fix.. vision track.. * fix.. * Revert "fix.." This reverts commit 30c5a46cdf15d0db9194f1456dee3751d4784602. * fix.. lanechange option... * fix.. typo * add ev3
390 lines
12 KiB
Python
Executable File
390 lines
12 KiB
Python
Executable File
#!/usr/bin/env python3
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import datetime
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import os
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import signal
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import sys
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import traceback
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from cereal import log
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import cereal.messaging as messaging
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import openpilot.system.sentry as sentry
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from openpilot.common.params import Params, ParamKeyType
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from openpilot.common.text_window import TextWindow
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from openpilot.system.hardware import HARDWARE
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from openpilot.system.manager.helpers import unblock_stdout, write_onroad_params, save_bootlog
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from openpilot.system.manager.process import ensure_running
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from openpilot.system.manager.process_config import managed_processes
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from openpilot.system.athena.registration import register, UNREGISTERED_DONGLE_ID
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from openpilot.common.swaglog import cloudlog, add_file_handler
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from openpilot.system.version import get_build_metadata, terms_version, training_version
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from openpilot.system.hardware.hw import Paths
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def get_default_params():
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default_params : list[tuple[str, str | bytes]] = [
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# kans
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("LongPitch", "1"),
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("EVTable", "1"),
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("CompletedTrainingVersion", "0"),
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("DisengageOnAccelerator", "0"),
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("GsmMetered", "1"),
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("HasAcceptedTerms", "0"),
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("LanguageSetting", "main_en"),
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("OpenpilotEnabledToggle", "1"),
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("LongitudinalPersonality", str(log.LongitudinalPersonality.standard)),
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("IsMetric", "1"),
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("SearchInput", "0"),
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("GMapKey", "0"),
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("MapboxStyle", "0"),
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("LongitudinalPersonalityMax", "3"),
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("ShowDebugUI", "0"),
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("ShowDateTime", "1"),
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("ShowPathEnd", "1"),
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("ShowCustomBrightness", "100"),
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("ShowLaneInfo", "1"),
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("ShowRadarInfo", "1"),
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("ShowDeviceState", "1"),
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("ShowRouteInfo", "1"),
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("ShowPathMode", "9"),
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("ShowPathColor", "13"),
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("ShowPathModeCruiseOff", "0"),
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("ShowPathColorCruiseOff", "19"),
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("ShowPathModeLane", "14"),
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("ShowPathColorLane", "13"),
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("ShowPlotMode", "0"),
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("AutoCruiseControl", "0"),
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("CruiseEcoControl", "2"),
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("AutoGasTokSpeed", "0"),
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("AutoGasSyncSpeed", "1"),
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("AutoEngage", "0"),
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("DisableMinSteerSpeed", "0"),
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("SoftHoldMode", "0"),
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("AutoSpeedUptoRoadSpeedLimit", "0"),
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("AutoRoadSpeedAdjust", "50"),
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("AutoCurveSpeedLowerLimit", "30"),
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("AutoCurveSpeedFactor", "120"),
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("AutoCurveSpeedAggressiveness", "100"),
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("AutoTurnControl", "0"),
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("AutoTurnControlSpeedTurn", "20"),
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("AutoTurnControlTurnEnd", "6"),
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("AutoTurnMapChange", "0"),
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("AutoNaviSpeedCtrlEnd", "7"),
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("AutoNaviSpeedCtrlMode", "2"),
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("AutoNaviSpeedBumpTime", "1"),
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("AutoNaviSpeedBumpSpeed", "35"),
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("AutoNaviSpeedSafetyFactor", "105"),
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("AutoNaviSpeedDecelRate", "120"),
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("AutoNaviCountDownMode", "2"),
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("TurnSpeedControlMode", "1"),
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("MapTurnSpeedFactor", "90"),
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("StoppingAccel", "0"),
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("StopDistanceCarrot", "550"),
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("JLeadFactor3", "0"),
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("CruiseButtonMode", "0"),
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("LfaButtonMode", "0"),
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("CruiseButtonTest1", "8"),
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("CruiseButtonTest2", "30"),
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("CruiseButtonTest3", "1"),
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("CruiseSpeedUnit", "10"),
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("PaddleMode", "0"),
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("MyDrivingMode", "3"),
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("MyDrivingModeAuto", "0"),
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("TrafficLightDetectMode", "2"),
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("CruiseMaxVals1", "200"),
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("CruiseMaxVals2", "160"),
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("CruiseMaxVals3", "130"),
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("CruiseMaxVals4", "110"),
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("CruiseMaxVals5", "95"),
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("CruiseMaxVals6", "80"),
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("LongTuningKpV", "100"),
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("LongTuningKiV", "0"),
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("LongTuningKf", "100"),
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("LongActuatorDelay", "20"),
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("VEgoStopping", "50"),
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("RadarReactionFactor", "100"),
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("EnableRadarTracks", "0"),
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("HyundaiCameraSCC", "0"),
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("CanfdHDA2", "0"),
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("CanfdDebug", "0"),
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("SoundVolumeAdjust", "100"),
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("SoundVolumeAdjustEngage", "10"),
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("TFollowGap1", "110"),
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("TFollowGap2", "120"),
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("TFollowGap3", "140"),
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("TFollowGap4", "160"),
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("DynamicTFollow", "0"),
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("DynamicTFollowLC", "100"),
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("HapticFeedbackWhenSpeedCamera", "0"),
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("UseLaneLineSpeed", "0"),
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("PathOffset", "0"),
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("UseLaneLineCurveSpeed", "0"),
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("UseLaneLineSpeedApply", "0"),
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("AdjustLaneOffset", "0"),
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("LaneChangeNeedTorque", "0"),
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("LaneChangeBsd", "0"),
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("MaxAngleFrames", "89"),
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("LateralTorqueCustom", "0"),
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("LateralTorqueAccelFactor", "2500"),
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("LateralTorqueFriction", "100"),
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("LateralTorqueKpV", "100"),
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("LateralTorqueKiV", "10"),
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("LateralTorqueKf", "100"),
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("LateralTorqueKd", "0"),
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("LatMpcPathCost", "100"),
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("LatMpcMotionCost", "11"),
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("LatMpcAccelCost", "0"),
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("LatMpcJerkCost", "4"),
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("LatMpcSteeringRateCost", "700"),
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("CustomSteerMax", "0"),
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("CustomSteerDeltaUp", "0"),
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("CustomSteerDeltaDown", "0"),
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("SpeedFromPCM", "2"),
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("SteerActuatorDelay", "0"),
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("MaxTimeOffroadMin", "60"),
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("DisableDM", "0"),
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("MuteDoor", "0"),
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("MuteSeatbelt", "0"),
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("RecordRoadCam", "0"),
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("HDPuse", "0"),
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("CruiseOnDist", "400"),
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("HotspotOnBoot", "0"),
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("SoftwareMenu", "1"),
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("CustomSR", "0"),
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("SteerRatioRate", "100"),
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]
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return default_params
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def set_default_params():
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params = Params()
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default_params = get_default_params()
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try:
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default_params.remove(("GMapKey", "0"))
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default_params.remove(("CompletedTrainingVersion", "0"))
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default_params.remove(("LanguageSetting", "main_en"))
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default_params.remove(("GsmMetered", "1"))
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except ValueError:
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pass
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for k, v in default_params:
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params.put(k, v)
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print(f"SetToDefault[{k}]={v}")
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def get_default_params_key():
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default_params = get_default_params()
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all_keys = [key for key, _ in default_params]
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return all_keys
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def manager_init() -> None:
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save_bootlog()
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build_metadata = get_build_metadata()
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params = Params()
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params.clear_all(ParamKeyType.CLEAR_ON_MANAGER_START)
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params.clear_all(ParamKeyType.CLEAR_ON_ONROAD_TRANSITION)
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params.clear_all(ParamKeyType.CLEAR_ON_OFFROAD_TRANSITION)
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if build_metadata.release_channel:
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params.clear_all(ParamKeyType.DEVELOPMENT_ONLY)
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default_params = get_default_params()
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if params.get_bool("RecordFrontLock"):
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params.put_bool("RecordFront", True)
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# set unset params
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for k, v in default_params:
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if params.get(k) is None:
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params.put(k, v)
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# Create folders needed for msgq
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try:
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os.mkdir(Paths.shm_path())
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except FileExistsError:
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pass
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except PermissionError:
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print(f"WARNING: failed to make {Paths.shm_path()}")
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# set params
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serial = HARDWARE.get_serial()
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params.put("Version", build_metadata.openpilot.version)
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params.put("TermsVersion", terms_version)
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params.put("TrainingVersion", training_version)
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params.put("GitCommit", build_metadata.openpilot.git_commit)
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params.put("GitCommitDate", build_metadata.openpilot.git_commit_date)
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params.put("GitBranch", build_metadata.channel)
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params.put("GitRemote", build_metadata.openpilot.git_origin)
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params.put_bool("IsTestedBranch", build_metadata.tested_channel)
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params.put_bool("IsReleaseBranch", build_metadata.release_channel)
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params.put("HardwareSerial", serial)
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# set dongle id
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reg_res = register(show_spinner=True)
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if reg_res:
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dongle_id = reg_res
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else:
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raise Exception(f"Registration failed for device {serial}")
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os.environ['DONGLE_ID'] = dongle_id # Needed for swaglog
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os.environ['GIT_ORIGIN'] = build_metadata.openpilot.git_normalized_origin # Needed for swaglog
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os.environ['GIT_BRANCH'] = build_metadata.channel # Needed for swaglog
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os.environ['GIT_COMMIT'] = build_metadata.openpilot.git_commit # Needed for swaglog
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if not build_metadata.openpilot.is_dirty:
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os.environ['CLEAN'] = '1'
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# init logging
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sentry.init(sentry.SentryProject.SELFDRIVE)
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cloudlog.bind_global(dongle_id=dongle_id,
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version=build_metadata.openpilot.version,
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origin=build_metadata.openpilot.git_normalized_origin,
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branch=build_metadata.channel,
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commit=build_metadata.openpilot.git_commit,
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dirty=build_metadata.openpilot.is_dirty,
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device=HARDWARE.get_device_type())
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# preimport all processes
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for p in managed_processes.values():
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p.prepare()
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def manager_cleanup() -> None:
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# send signals to kill all procs
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for p in managed_processes.values():
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p.stop(block=False)
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# ensure all are killed
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for p in managed_processes.values():
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p.stop(block=True)
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cloudlog.info("everything is dead")
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def manager_thread() -> None:
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cloudlog.bind(daemon="manager")
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cloudlog.info("manager start")
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cloudlog.info({"environ": os.environ})
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params = Params()
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ignore: list[str] = []
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if params.get("DongleId", encoding='utf8') in (None, UNREGISTERED_DONGLE_ID):
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ignore += ["manage_athenad", "uploader"]
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if os.getenv("NOBOARD") is not None:
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ignore.append("pandad")
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ignore += [x for x in os.getenv("BLOCK", "").split(",") if len(x) > 0]
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sm = messaging.SubMaster(['deviceState', 'carParams'], poll='deviceState')
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pm = messaging.PubMaster(['managerState'])
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write_onroad_params(False, params)
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ensure_running(managed_processes.values(), False, params=params, CP=sm['carParams'], not_run=ignore)
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print_timer = 0
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started_prev = False
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while True:
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sm.update(1000)
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started = sm['deviceState'].started
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if started and not started_prev:
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params.clear_all(ParamKeyType.CLEAR_ON_ONROAD_TRANSITION)
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elif not started and started_prev:
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params.clear_all(ParamKeyType.CLEAR_ON_OFFROAD_TRANSITION)
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# update onroad params, which drives pandad's safety setter thread
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if started != started_prev:
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write_onroad_params(started, params)
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started_prev = started
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ensure_running(managed_processes.values(), started, params=params, CP=sm['carParams'], not_run=ignore)
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running = ' '.join("{}{}\u001b[0m".format("\u001b[32m" if p.proc.is_alive() else "\u001b[31m", p.name)
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for p in managed_processes.values() if p.proc)
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print_timer = (print_timer + 1)%10
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if print_timer == 0:
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print(running)
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cloudlog.debug(running)
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# send managerState
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msg = messaging.new_message('managerState', valid=True)
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msg.managerState.processes = [p.get_process_state_msg() for p in managed_processes.values()]
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pm.send('managerState', msg)
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# Exit main loop when uninstall/shutdown/reboot is needed
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shutdown = False
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for param in ("DoUninstall", "DoShutdown", "DoReboot"):
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if params.get_bool(param):
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shutdown = True
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params.put("LastManagerExitReason", f"{param} {datetime.datetime.now()}")
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cloudlog.warning(f"Shutting down manager - {param} set")
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if shutdown:
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break
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def main() -> None:
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manager_init()
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print(f"python ../../opendbc/car/hyundai/values.py > {Params().get_param_path()}/SupportedCars")
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os.system(f"python ../../opendbc/car/hyundai/values.py > {Params().get_param_path()}/SupportedCars")
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os.system(f"python ../../opendbc/car/gm/values.py > {Params().get_param_path()}/SupportedCars_gm")
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os.system(f"python ../../opendbc/car/toyota/values.py > {Params().get_param_path()}/SupportedCars_toyota")
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os.system(f"python ../../opendbc/car/mazda/values.py > {Params().get_param_path()}/SupportedCars_mazda")
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if os.getenv("PREPAREONLY") is not None:
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return
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# SystemExit on sigterm
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signal.signal(signal.SIGTERM, lambda signum, frame: sys.exit(1))
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try:
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manager_thread()
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except Exception:
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traceback.print_exc()
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sentry.capture_exception()
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finally:
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manager_cleanup()
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params = Params()
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if params.get_bool("DoUninstall"):
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cloudlog.warning("uninstalling")
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HARDWARE.uninstall()
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elif params.get_bool("DoReboot"):
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cloudlog.warning("reboot")
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HARDWARE.reboot()
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elif params.get_bool("DoShutdown"):
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cloudlog.warning("shutdown")
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HARDWARE.shutdown()
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if __name__ == "__main__":
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unblock_stdout()
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try:
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main()
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except KeyboardInterrupt:
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print("got CTRL-C, exiting")
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except Exception:
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add_file_handler(cloudlog)
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cloudlog.exception("Manager failed to start")
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try:
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managed_processes['ui'].stop()
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except Exception:
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pass
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# Show last 3 lines of traceback
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error = traceback.format_exc(-3)
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error = "Manager failed to start\n\n" + error
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with TextWindow(error) as t:
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t.wait_for_exit()
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raise
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# manual exit because we are forked
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sys.exit(0)
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