spacecruft
/
nopenpilot
1
0
Fork 0
Code Issues Pull Requests Projects Releases Wiki Activity

Abstract common events + event cleanup (#1129) 

* too many if

* unused

* whitespace

* key

* sefldrive/car/*

* no more gctx

* lower

* start abstracting common events

* all cars

* start small

* all cars

* reverse gear

* wrongCarMode

* wrongGear

* espDisabled

* steerUnvailable

* make linter happy

* c isn't used

* fix esp_disabled in VW

* update ref

* more red

* more cleanup

* fix subaru

* update ref
pull/1145/head
Adeeb 2020-02-20 16:22:25 -08:00 committed by GitHub
parent d2970fd2da
commit e8cb6ea06a
No known key found for this signature in database
GPG Key ID: 4AEE18F83AFDEB23
33 changed files with 97 additions and 196 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

2
selfdrive/athena/athenad.py
View File

@ -294,7 +294,7 @@ def ws_send(ws, end_event):
def backoff(retries):
return random.randrange(0, min(128, int(2 ** retries)))
def main(gctx=None):
def main():
params = Params()
dongle_id = params.get("DongleId").decode('utf-8')
ws_uri = ATHENA_HOST + "/ws/v2/" + dongle_id

2
selfdrive/boardd/tests/boardd_old.py
View File

@ -232,7 +232,7 @@ def boardd_proxy_loop(rate=100, address="192.168.2.251"):
rk.keep_time()
def main(gctx=None):
def main():
if os.getenv("MOCK") is not None:
boardd_mock_loop()
elif os.getenv("PROXY") is not None:

27
selfdrive/car/chrysler/interface.py
View File

@ -6,14 +6,7 @@ from selfdrive.car.chrysler.values import Ecu, ECU_FINGERPRINT, CAR, FINGERPRINT
from selfdrive.car import STD_CARGO_KG, scale_rot_inertia, scale_tire_stiffness, is_ecu_disconnected, gen_empty_fingerprint
from selfdrive.car.interfaces import CarInterfaceBase
GearShifter = car.CarState.GearShifter
ButtonType = car.CarState.ButtonEvent.Type
class CarInterface(CarInterfaceBase):
def __init__(self, CP, CarController, CarState):
super().__init__(CP, CarController, CarState)
self.low_speed_alert = False
@staticmethod
def compute_gb(accel, speed):
@ -76,24 +69,8 @@ class CarInterface(CarInterfaceBase):
ret.buttonEvents = []
self.low_speed_alert = (ret.vEgo < self.CP.minSteerSpeed)
# events
events = []
if not (ret.gearShifter in (GearShifter.drive, GearShifter.low)):
events.append(create_event('wrongGear', [ET.NO_ENTRY, ET.SOFT_DISABLE]))
if ret.doorOpen:
events.append(create_event('doorOpen', [ET.NO_ENTRY, ET.SOFT_DISABLE]))
if ret.seatbeltUnlatched:
events.append(create_event('seatbeltNotLatched', [ET.NO_ENTRY, ET.SOFT_DISABLE]))
if self.CS.esp_disabled:
events.append(create_event('espDisabled', [ET.NO_ENTRY, ET.SOFT_DISABLE]))
if not ret.cruiseState.available:
events.append(create_event('wrongCarMode', [ET.NO_ENTRY, ET.USER_DISABLE]))
if ret.gearShifter == GearShifter.reverse:
events.append(create_event('reverseGear', [ET.NO_ENTRY, ET.IMMEDIATE_DISABLE]))
if self.CS.steer_error:
events.append(create_event('steerUnavailable', [ET.NO_ENTRY, ET.IMMEDIATE_DISABLE, ET.PERMANENT]))
events = self.create_common_events(ret, extra_gears=[car.CarState.GearShifter.low])
if ret.cruiseState.enabled and not self.cruise_enabled_prev:
events.append(create_event('pcmEnable', [ET.ENABLE]))
@ -105,7 +82,7 @@ class CarInterface(CarInterfaceBase):
if (ret.gasPressed and (not self.gas_pressed_prev) and ret.vEgo > 2.0):
events.append(create_event('pedalPressed', [ET.NO_ENTRY, ET.USER_DISABLE]))
if self.low_speed_alert:
if ret.vEgo < self.CP.minSteerSpeed:
events.append(create_event('belowSteerSpeed', [ET.WARNING]))
ret.events = events

5
selfdrive/car/ford/interface.py
View File

@ -59,10 +59,7 @@ class CarInterface(CarInterfaceBase):
ret.canValid = self.cp.can_valid
# events
events = []
if self.CS.steer_error:
events.append(create_event('steerUnavailable', [ET.NO_ENTRY, ET.IMMEDIATE_DISABLE, ET.PERMANENT]))
events = self.create_common_events(ret)
# enable request in prius is simple, as we activate when Toyota is active (rising edge)
if ret.cruiseState.enabled and not self.cruise_enabled_prev:

2
selfdrive/car/gm/carstate.py
View File

@ -79,7 +79,7 @@ class CarState(CarStateBase):
# 0 - inactive, 1 - active, 2 - temporary limited, 3 - failed
self.lkas_status = pt_cp.vl["PSCMStatus"]['LKATorqueDeliveredStatus']
self.steer_not_allowed = not is_eps_status_ok(self.lkas_status, self.car_fingerprint)
self.steer_warning = not is_eps_status_ok(self.lkas_status, self.car_fingerprint)
return ret

17
selfdrive/car/gm/interface.py
View File

@ -163,13 +163,7 @@ class CarInterface(CarInterfaceBase):
ret.buttonEvents = buttonEvents
events = []
if self.CS.steer_not_allowed:
events.append(create_event('steerTempUnavailable', [ET.NO_ENTRY, ET.WARNING]))
if ret.doorOpen:
events.append(create_event('doorOpen', [ET.NO_ENTRY, ET.SOFT_DISABLE]))
if ret.seatbeltUnlatched:
events.append(create_event('seatbeltNotLatched', [ET.NO_ENTRY, ET.SOFT_DISABLE]))
events = self.create_common_events(ret)
if self.CS.car_fingerprint in SUPERCRUISE_CARS:
if self.CS.acc_active and not self.acc_active_prev:
@ -178,14 +172,7 @@ class CarInterface(CarInterfaceBase):
events.append(create_event('pcmDisable', [ET.USER_DISABLE]))
else:
if ret.gearShifter != car.CarState.GearShifter.drive:
events.append(create_event('wrongGear', [ET.NO_ENTRY, ET.SOFT_DISABLE]))
if self.CS.esp_disabled:
events.append(create_event('espDisabled', [ET.NO_ENTRY, ET.SOFT_DISABLE]))
if not ret.cruiseState.available:
events.append(create_event('wrongCarMode', [ET.NO_ENTRY, ET.USER_DISABLE]))
if ret.gearShifter == car.CarState.GearShifter.reverse:
events.append(create_event('reverseGear', [ET.NO_ENTRY, ET.IMMEDIATE_DISABLE]))
# TODO: why is this only not supercruise? ignore supercruise?
if ret.vEgo < self.CP.minEnableSpeed:
events.append(create_event('speedTooLow', [ET.NO_ENTRY]))
if self.CS.park_brake:

19
selfdrive/car/honda/interface.py
View File

@ -14,7 +14,6 @@ from selfdrive.car.interfaces import CarInterfaceBase
A_ACC_MAX = max(_A_CRUISE_MAX_V_FOLLOWING)
ButtonType = car.CarState.ButtonEvent.Type
GearShifter = car.CarState.GearShifter
def compute_gb_honda(accel, speed):
creep_brake = 0.0
@ -440,25 +439,9 @@ class CarInterface(CarInterfaceBase):
ret.buttonEvents = buttonEvents
# events
events = []
if self.CS.steer_error:
events.append(create_event('steerUnavailable', [ET.NO_ENTRY, ET.IMMEDIATE_DISABLE, ET.PERMANENT]))
elif self.CS.steer_warning:
events.append(create_event('steerTempUnavailable', [ET.WARNING]))
events = self.create_common_events(ret)
if self.CS.brake_error:
events.append(create_event('brakeUnavailable', [ET.NO_ENTRY, ET.IMMEDIATE_DISABLE, ET.PERMANENT]))
if not ret.gearShifter == GearShifter.drive:
events.append(create_event('wrongGear', [ET.NO_ENTRY, ET.SOFT_DISABLE]))
if ret.doorOpen:
events.append(create_event('doorOpen', [ET.NO_ENTRY, ET.SOFT_DISABLE]))
if ret.seatbeltUnlatched:
events.append(create_event('seatbeltNotLatched', [ET.NO_ENTRY, ET.SOFT_DISABLE]))
if self.CS.esp_disabled:
events.append(create_event('espDisabled', [ET.NO_ENTRY, ET.SOFT_DISABLE]))
if not ret.cruiseState.available:
events.append(create_event('wrongCarMode', [ET.NO_ENTRY, ET.USER_DISABLE]))
if ret.gearShifter == GearShifter.reverse:
events.append(create_event('reverseGear', [ET.NO_ENTRY, ET.IMMEDIATE_DISABLE]))
if self.CS.brake_hold and self.CS.CP.carFingerprint not in HONDA_BOSCH:
events.append(create_event('brakeHold', [ET.NO_ENTRY, ET.USER_DISABLE]))
if self.CS.park_brake:

2
selfdrive/car/hyundai/carstate.py
View File

@ -103,7 +103,7 @@ class CarState(CarStateBase):
self.esp_disabled = cp.vl["TCS15"]['ESC_Off_Step']
self.park_brake = cp.vl["CGW1"]['CF_Gway_ParkBrakeSw']
self.steer_state = cp.vl["MDPS12"]['CF_Mdps_ToiActive'] #0 NOT ACTIVE, 1 ACTIVE
self.steer_error = cp.vl["MDPS12"]['CF_Mdps_ToiUnavail']
self.steer_warning = cp.vl["MDPS12"]['CF_Mdps_ToiUnavail']
self.brake_error = 0
return ret

22
selfdrive/car/hyundai/interface.py
View File

@ -6,16 +6,10 @@ from selfdrive.car.hyundai.values import Ecu, ECU_FINGERPRINT, CAR, get_hud_aler
from selfdrive.car import STD_CARGO_KG, scale_rot_inertia, scale_tire_stiffness, is_ecu_disconnected, gen_empty_fingerprint
from selfdrive.car.interfaces import CarInterfaceBase
GearShifter = car.CarState.GearShifter
ButtonType = car.CarState.ButtonEvent.Type
class CarInterface(CarInterfaceBase):
def __init__(self, CP, CarController, CarState):
super().__init__(CP, CarController, CarState)
self.idx = 0
self.lanes = 0
self.lkas_request = 0
self.low_speed_alert = False
@staticmethod
@ -121,21 +115,7 @@ class CarInterface(CarInterfaceBase):
if ret.vEgo > (self.CP.minSteerSpeed + 4.):
self.low_speed_alert = False
events = []
if not ret.gearShifter == GearShifter.drive:
events.append(create_event('wrongGear', [ET.NO_ENTRY, ET.SOFT_DISABLE]))
if ret.doorOpen:
events.append(create_event('doorOpen', [ET.NO_ENTRY, ET.SOFT_DISABLE]))
if ret.seatbeltUnlatched:
events.append(create_event('seatbeltNotLatched', [ET.NO_ENTRY, ET.SOFT_DISABLE]))
if self.CS.esp_disabled:
events.append(create_event('espDisabled', [ET.NO_ENTRY, ET.SOFT_DISABLE]))
if not ret.cruiseState.available:
events.append(create_event('wrongCarMode', [ET.NO_ENTRY, ET.USER_DISABLE]))
if ret.gearShifter == GearShifter.reverse:
events.append(create_event('reverseGear', [ET.NO_ENTRY, ET.IMMEDIATE_DISABLE]))
if self.CS.steer_error:
events.append(create_event('steerTempUnavailable', [ET.NO_ENTRY, ET.WARNING]))
events = self.create_common_events(ret)
if ret.cruiseState.enabled and not self.cruise_enabled_prev:
events.append(create_event('pcmEnable', [ET.ENABLE]))

25
selfdrive/car/interfaces.py
View File

@ -4,6 +4,7 @@ from cereal import car
from common.kalman.simple_kalman import KF1D
from common.realtime import DT_CTRL
from selfdrive.car import gen_empty_fingerprint
from selfdrive.controls.lib.drive_helpers import EventTypes as ET, create_event
from selfdrive.controls.lib.vehicle_model import VehicleModel
GearShifter = car.CarState.GearShifter
@ -79,6 +80,30 @@ class CarInterfaceBase():
def apply(self, c):
raise NotImplementedError
def create_common_events(self, cs_out, extra_gears=[]):
events = []
if cs_out.doorOpen:
events.append(create_event('doorOpen', [ET.NO_ENTRY, ET.SOFT_DISABLE]))
if cs_out.seatbeltUnlatched:
events.append(create_event('seatbeltNotLatched', [ET.NO_ENTRY, ET.SOFT_DISABLE]))
if cs_out.gearShifter != GearShifter.drive and cs_out.gearShifter not in extra_gears:
events.append(create_event('wrongGear', [ET.NO_ENTRY, ET.SOFT_DISABLE]))
if cs_out.gearShifter == GearShifter.reverse:
events.append(create_event('reverseGear', [ET.NO_ENTRY, ET.IMMEDIATE_DISABLE]))
if not cs_out.cruiseState.available:
events.append(create_event('wrongCarMode', [ET.NO_ENTRY, ET.USER_DISABLE]))
# TODO: move this stuff to the capnp strut
if getattr(self.CS, "steer_error", False):
events.append(create_event('steerUnavailable', [ET.NO_ENTRY, ET.IMMEDIATE_DISABLE, ET.PERMANENT]))
elif getattr(self.CS, "steer_warning", False):
events.append(create_event('steerTempUnavailable', [ET.NO_ENTRY, ET.WARNING]))
if getattr(self.CS, "esp_disabled", False):
events.append(create_event('espDisabled', [ET.NO_ENTRY, ET.SOFT_DISABLE]))
return events
class RadarInterfaceBase():
def __init__(self, CP):
self.pts = {}

19
selfdrive/car/subaru/interface.py
View File

@ -6,12 +6,7 @@ from selfdrive.car.subaru.values import CAR
from selfdrive.car import STD_CARGO_KG, scale_rot_inertia, scale_tire_stiffness, gen_empty_fingerprint
from selfdrive.car.interfaces import CarInterfaceBase
ButtonType = car.CarState.ButtonEvent.Type
class CarInterface(CarInterfaceBase):
def __init__(self, CP, CarController, CarState):
super().__init__(CP, CarController, CarState)
self.enabled_prev = 0
@staticmethod
def compute_gb(accel, speed):
@ -65,17 +60,13 @@ class CarInterface(CarInterfaceBase):
buttonEvents = []
be = car.CarState.ButtonEvent.new_message()
be.type = ButtonType.accelCruise
be.type = car.CarState.ButtonEvent.Type.accelCruise
buttonEvents.append(be)
events = []
if ret.seatbeltUnlatched:
events.append(create_event('seatbeltNotLatched', [ET.NO_ENTRY, ET.SOFT_DISABLE]))
# TODO: add gearShifter to carState
events = self.create_common_events(ret, extra_gears=[car.CarState.GearShifter.unknown])
if ret.doorOpen:
events.append(create_event('doorOpen', [ET.NO_ENTRY, ET.SOFT_DISABLE]))
if ret.cruiseState.enabled and not self.enabled_prev:
if ret.cruiseState.enabled and not self.cruise_enabled_prev:
events.append(create_event('pcmEnable', [ET.ENABLE]))
if not ret.cruiseState.enabled:
events.append(create_event('pcmDisable', [ET.USER_DISABLE]))
@ -90,7 +81,7 @@ class CarInterface(CarInterfaceBase):
ret.events = events
self.gas_pressed_prev = ret.gasPressed
self.enabled_prev = ret.cruiseState.enabled
self.cruise_enabled_prev = ret.cruiseState.enabled
self.CS.out = ret.as_reader()
return self.CS.out

2
selfdrive/car/toyota/carstate.py
View File

@ -89,7 +89,7 @@ class CarState(CarStateBase):
self.esp_disabled = cp.vl["ESP_CONTROL"]['TC_DISABLED']
# 2 is standby, 10 is active. TODO: check that everything else is really a faulty state
self.steer_state = cp.vl["EPS_STATUS"]['LKA_STATE']
self.steer_error = cp.vl["EPS_STATUS"]['LKA_STATE'] not in [1, 5]
self.steer_warning = cp.vl["EPS_STATUS"]['LKA_STATE'] not in [1, 5]
self.ipas_active = cp.vl['EPS_STATUS']['IPAS_STATE'] == 3
return ret

19
selfdrive/car/toyota/interface.py
View File

@ -7,9 +7,6 @@ from selfdrive.car import STD_CARGO_KG, scale_rot_inertia, scale_tire_stiffness,
from selfdrive.swaglog import cloudlog
from selfdrive.car.interfaces import CarInterfaceBase
ButtonType = car.CarState.ButtonEvent.Type
GearShifter = car.CarState.GearShifter
class CarInterface(CarInterfaceBase):
@staticmethod
@ -300,24 +297,10 @@ class CarInterface(CarInterfaceBase):
ret.buttonEvents = []
# events
events = []
events = self.create_common_events(ret)
if self.cp_cam.can_invalid_cnt >= 200 and self.CP.enableCamera:
events.append(create_event('invalidGiraffeToyota', [ET.PERMANENT]))
if not ret.gearShifter == GearShifter.drive and self.CP.openpilotLongitudinalControl:
events.append(create_event('wrongGear', [ET.NO_ENTRY, ET.SOFT_DISABLE]))
if ret.doorOpen:
events.append(create_event('doorOpen', [ET.NO_ENTRY, ET.SOFT_DISABLE]))
if ret.seatbeltUnlatched:
events.append(create_event('seatbeltNotLatched', [ET.NO_ENTRY, ET.SOFT_DISABLE]))
if self.CS.esp_disabled and self.CP.openpilotLongitudinalControl:
events.append(create_event('espDisabled', [ET.NO_ENTRY, ET.SOFT_DISABLE]))
if not ret.cruiseState.available and self.CP.openpilotLongitudinalControl:
events.append(create_event('wrongCarMode', [ET.NO_ENTRY, ET.USER_DISABLE]))
if ret.gearShifter == GearShifter.reverse and self.CP.openpilotLongitudinalControl:
events.append(create_event('reverseGear', [ET.NO_ENTRY, ET.IMMEDIATE_DISABLE]))
if self.CS.steer_error:
events.append(create_event('steerTempUnavailable', [ET.NO_ENTRY, ET.WARNING]))
if self.CS.low_speed_lockout and self.CP.openpilotLongitudinalControl:
events.append(create_event('lowSpeedLockout', [ET.NO_ENTRY, ET.PERMANENT]))
if ret.vEgo < self.CP.minEnableSpeed and self.CP.openpilotLongitudinalControl:

2
selfdrive/car/volkswagen/carstate.py
View File

@ -116,7 +116,7 @@ class CarState(CarStateBase):
# Additional safety checks performed in CarInterface.
self.parkingBrakeSet = bool(pt_cp.vl["Kombi_01"]['KBI_Handbremse']) # FIXME: need to include an EPB check as well
self.stabilityControlDisabled = pt_cp.vl["ESP_21"]['ESP_Tastung_passiv']
self.esp_disabled = pt_cp.vl["ESP_21"]['ESP_Tastung_passiv']
return ret

13
selfdrive/car/volkswagen/interface.py
View File

@ -75,7 +75,6 @@ class CarInterface(CarInterfaceBase):
# returns a car.CarState
def update(self, c, can_strings):
canMonoTimes = []
events = []
buttonEvents = []
params = Params()
@ -103,17 +102,9 @@ class CarInterface(CarInterfaceBase):
be.pressed = self.CS.buttonStates[button]
buttonEvents.append(be)
events = self.create_common_events(ret, extra_gears=[GEAR.eco, GEAR.sport])
# Vehicle operation safety checks and events
if ret.doorOpen:
events.append(create_event('doorOpen', [ET.NO_ENTRY, ET.SOFT_DISABLE]))
if ret.seatbeltUnlatched:
events.append(create_event('seatbeltNotLatched', [ET.NO_ENTRY, ET.SOFT_DISABLE]))
if ret.gearShifter == GEAR.reverse:
events.append(create_event('reverseGear', [ET.NO_ENTRY, ET.IMMEDIATE_DISABLE]))
if not ret.gearShifter in [GEAR.drive, GEAR.eco, GEAR.sport]:
events.append(create_event('wrongGear', [ET.NO_ENTRY, ET.SOFT_DISABLE]))
if self.CS.stabilityControlDisabled:
events.append(create_event('espDisabled', [ET.NO_ENTRY, ET.SOFT_DISABLE]))
if self.CS.parkingBrakeSet:
events.append(create_event('parkBrake', [ET.NO_ENTRY, ET.USER_DISABLE]))

2
selfdrive/controls/gps_plannerd.py
View File

@ -362,7 +362,7 @@ def gps_planner_plan():
gps_planner_plan.send(m.to_bytes())
def main(gctx=None):
def main():
cloudlog.info("Starting gps_plannerd main thread")
point_thread = Thread(target=gps_planner_point_selection)

28
selfdrive/controls/lib/alerts.py
View File

@ -3,7 +3,7 @@ from cereal import car, log
# Priority
class Priority:
LOWEST = 0
LOW_LOWEST = 1
LOWER = 1
LOW = 2
MID = 3
HIGH = 4
@ -169,28 +169,28 @@ ALERTS = [
"Be ready to take over at any time",
"Always keep hands on wheel and eyes on road",
AlertStatus.normal, AlertSize.mid,
Priority.LOW_LOWEST, VisualAlert.none, AudibleAlert.none, 0., 0., 15.),
Priority.LOWER, VisualAlert.none, AudibleAlert.none, 0., 0., 15.),
Alert(
"startupMaster",
"WARNING: This branch is not tested",
"Always keep hands on wheel and eyes on road",
AlertStatus.userPrompt, AlertSize.mid,
Priority.LOW_LOWEST, VisualAlert.none, AudibleAlert.none, 0., 0., 15.),
Priority.LOWER, VisualAlert.none, AudibleAlert.none, 0., 0., 15.),
Alert(
"startupNoControl",
"Dashcam mode",
"Always keep hands on wheel and eyes on road",
AlertStatus.normal, AlertSize.mid,
Priority.LOW_LOWEST, VisualAlert.none, AudibleAlert.none, 0., 0., 15.),
Priority.LOWER, VisualAlert.none, AudibleAlert.none, 0., 0., 15.),
Alert(
"startupNoCar",
"Dashcam mode with unsupported car",
"Always keep hands on wheel and eyes on road",
AlertStatus.normal, AlertSize.mid,
Priority.LOW_LOWEST, VisualAlert.none, AudibleAlert.none, 0., 0., 15.),
Priority.LOWER, VisualAlert.none, AudibleAlert.none, 0., 0., 15.),
Alert(
"ethicalDilemma",
@ -693,21 +693,21 @@ ALERTS = [
"LKAS Fault: Restart the car to engage",
"",
AlertStatus.normal, AlertSize.small,
Priority.LOW_LOWEST, VisualAlert.none, AudibleAlert.none, 0., 0., .2),
Priority.LOWER, VisualAlert.none, AudibleAlert.none, 0., 0., .2),
Alert(
"brakeUnavailablePermanent",
"Cruise Fault: Restart the car to engage",
"",
AlertStatus.normal, AlertSize.small,
Priority.LOW_LOWEST, VisualAlert.none, AudibleAlert.none, 0., 0., .2),
Priority.LOWER, VisualAlert.none, AudibleAlert.none, 0., 0., .2),
Alert(
"lowSpeedLockoutPermanent",
"Cruise Fault: Restart the car to engage",
"",
AlertStatus.normal, AlertSize.small,
Priority.LOW_LOWEST, VisualAlert.none, AudibleAlert.none, 0., 0., .2),
Priority.LOWER, VisualAlert.none, AudibleAlert.none, 0., 0., .2),
Alert(
"calibrationIncompletePermanent",
@ -721,14 +721,14 @@ ALERTS = [
"Unsupported Giraffe Configuration",
"Visit comma.ai/tg",
AlertStatus.normal, AlertSize.mid,
Priority.LOW_LOWEST, VisualAlert.none, AudibleAlert.none, 0., 0., .2),
Priority.LOWER, VisualAlert.none, AudibleAlert.none, 0., 0., .2),
Alert(
"internetConnectivityNeededPermanent",
"Please connect to Internet",
"An Update Check Is Required to Engage",
AlertStatus.normal, AlertSize.mid,
Priority.LOW_LOWEST, VisualAlert.none, AudibleAlert.none, 0., 0., .2),
Priority.LOWER, VisualAlert.none, AudibleAlert.none, 0., 0., .2),
Alert(
"communityFeatureDisallowedPermanent",
@ -742,28 +742,28 @@ ALERTS = [
"No Data from Device Sensors",
"Reboot your Device",
AlertStatus.normal, AlertSize.mid,
Priority.LOW_LOWEST, VisualAlert.none, AudibleAlert.none, 0., 0., .2),
Priority.LOWER, VisualAlert.none, AudibleAlert.none, 0., 0., .2),
Alert(
"soundsUnavailablePermanent",
"Speaker not found",
"Reboot your Device",
AlertStatus.normal, AlertSize.mid,
Priority.LOW_LOWEST, VisualAlert.none, AudibleAlert.none, 0., 0., .2),
Priority.LOWER, VisualAlert.none, AudibleAlert.none, 0., 0., .2),
Alert(
"lowMemoryPermanent",
"RAM Critically Low",
"Reboot your Device",
AlertStatus.normal, AlertSize.mid,
Priority.LOW_LOWEST, VisualAlert.none, AudibleAlert.none, 0., 0., .2),
Priority.LOWER, VisualAlert.none, AudibleAlert.none, 0., 0., .2),
Alert(
"carUnrecognizedPermanent",
"Dashcam Mode",
"Car Unrecognized",
AlertStatus.normal, AlertSize.mid,
Priority.LOW_LOWEST, VisualAlert.none, AudibleAlert.none, 0., 0., .2),
Priority.LOWER, VisualAlert.none, AudibleAlert.none, 0., 0., .2),
Alert(
"vehicleModelInvalid",

2
selfdrive/locationd/test/ubloxd.py
View File

@ -276,7 +276,7 @@ def handle_msg(dev, msg, nav_frame_buffer):
#if dev is not None and dev.dev is not None:
# dev.close()
def main(gctx=None):
def main():
global gpsLocationExternal, ubloxGnss
nav_frame_buffer = {}
nav_frame_buffer[0] = {}

2
selfdrive/locationd/test/ubloxd_easy.py
View File

@ -10,7 +10,7 @@ import cereal.messaging as messaging
unlogger = os.getenv("UNLOGGER") is not None # debug prints
def main(gctx=None):
def main():
poller = zmq.Poller()
gpsLocationExternal = messaging.pub_sock('gpsLocationExternal')

2
selfdrive/loggerd/deleter.py
View File

@ -35,7 +35,7 @@ def deleter_thread(exit_event):
exit_event.wait(30)
def main(gctx=None):
def main():
deleter_thread(threading.Event())

2
selfdrive/loggerd/ethernetsniffer.py
View File

@ -4,7 +4,7 @@ import cereal.messaging as messaging
from cereal.services import service_list
import pcap
def main(gctx=None):
def main():
ethernetData = messaging.pub_sock('ethernetData')
for ts, pkt in pcap.pcap('eth0'):

2
selfdrive/loggerd/uploader.py
View File

@ -266,7 +266,7 @@ def uploader_fn(exit_event):
backoff = min(backoff*2, 120)
cloudlog.info("upload done, success=%r", success)
def main(gctx=None):
def main():
uploader_fn(threading.Event())
if __name__ == "__main__":

2
selfdrive/logmessaged.py
View File

@ -3,7 +3,7 @@ import zmq
from logentries import LogentriesHandler
import cereal.messaging as messaging
def main(gctx=None):
def main():
# setup logentries. we forward log messages to it
le_token = "e8549616-0798-4d7e-a2ca-2513ae81fa17"
le_handler = LogentriesHandler(le_token, use_tls=False, verbose=False)

55
selfdrive/manager.py
View File

@ -475,40 +475,29 @@ def main():
params = Params()
params.manager_start()
default_params = [
("CommunityFeaturesToggle", "0"),
("CompletedTrainingVersion", "0"),
("IsMetric", "0"),
("RecordFront", "0"),
("HasAcceptedTerms", "0"),
("HasCompletedSetup", "0"),
("IsUploadRawEnabled", "1"),
("IsLdwEnabled", "1"),
("IsGeofenceEnabled", "-1"),
("SpeedLimitOffset", "0"),
("LongitudinalControl", "0"),
("LimitSetSpeed", "0"),
("LimitSetSpeedNeural", "0"),
("LastUpdateTime", datetime.datetime.now().isoformat().encode('utf8')),
("OpenpilotEnabledToggle", "1"),
("LaneChangeEnabled", "1"),
]
# set unset params
if params.get("CommunityFeaturesToggle") is None:
params.put("CommunityFeaturesToggle", "0")
if params.get("CompletedTrainingVersion") is None:
params.put("CompletedTrainingVersion", "0")
if params.get("IsMetric") is None:
params.put("IsMetric", "0")
if params.get("RecordFront") is None:
params.put("RecordFront", "0")
if params.get("HasAcceptedTerms") is None:
params.put("HasAcceptedTerms", "0")
if params.get("HasCompletedSetup") is None:
params.put("HasCompletedSetup", "0")
if params.get("IsUploadRawEnabled") is None:
params.put("IsUploadRawEnabled", "1")
if params.get("IsLdwEnabled") is None:
params.put("IsLdwEnabled", "1")
if params.get("IsGeofenceEnabled") is None:
params.put("IsGeofenceEnabled", "-1")
if params.get("SpeedLimitOffset") is None:
params.put("SpeedLimitOffset", "0")
if params.get("LongitudinalControl") is None:
params.put("LongitudinalControl", "0")
if params.get("LimitSetSpeed") is None:
params.put("LimitSetSpeed", "0")
if params.get("LimitSetSpeedNeural") is None:
params.put("LimitSetSpeedNeural", "0")
if params.get("LastUpdateTime") is None:
t = datetime.datetime.now().isoformat()
params.put("LastUpdateTime", t.encode('utf8'))
if params.get("OpenpilotEnabledToggle") is None:
params.put("OpenpilotEnabledToggle", "1")
if params.get("LaneChangeEnabled") is None:
params.put("LaneChangeEnabled", "1")
for k, v in default_params:
if params.get(k) is None:
params.put(k, v)
# is this chffrplus?
if os.getenv("PASSIVE") is not None:

2
selfdrive/mapd/mapd.py
View File

@ -273,7 +273,7 @@ def mapsd_thread():
map_data_sock.send(dat.to_bytes())
def main(gctx=None):
def main():
params = Params()
dongle_id = params.get("DongleId")
crash.bind_user(id=dongle_id)

2
selfdrive/pandad.py
View File

@ -86,7 +86,7 @@ def update_panda():
raise AssertionError
def main(gctx=None):
def main():
update_panda()
os.chdir("boardd")

1
selfdrive/test/longitudinal_maneuvers/test_longitudinal.py
View File

@ -333,7 +333,6 @@ class LongitudinalControl(unittest.TestCase):
params.put("OpenpilotEnabledToggle", "1")
params.put("CommunityFeaturesToggle", "1")
manager.gctx = {}
manager.prepare_managed_process('radard')
manager.prepare_managed_process('controlsd')
manager.prepare_managed_process('plannerd')

2
selfdrive/test/process_replay/ref_commit
View File

@ -1 +1 @@
8e94b45bbadf4355135e13905f3e8219ff122f7f
0491cad238025a44b7fc636cf03efc27d80dcdae

2
selfdrive/thermald.py
View File

@ -393,7 +393,7 @@ def thermald_thread():
count += 1
def main(gctx=None):
def main():
thermald_thread()
if __name__ == "__main__":

2
selfdrive/tombstoned.py
View File

@ -101,7 +101,7 @@ def report_tombstone(fn, client):
cloudlog.error({'tombstone': message})
def main(gctx=None):
def main():
initial_tombstones = set(get_tombstones())
client = Client('https://d3b175702f62402c91ade04d1c547e68:b20d68c813c74f63a7cdf9c4039d8f56@sentry.io/157615',

4
selfdrive/ui/SConscript
View File

@ -1,7 +1,7 @@
Import('env', 'arch', 'common', 'messaging', 'gpucommon', 'visionipc', 'cereal')
src = ['ui.cc', 'paint.cc', '#phonelibs/nanovg/nanovg.c']
libs = [common, 'zmq', 'czmq', 'capnp', 'capnp_c', 'm', cereal, 'json', messaging, gpucommon, visionipc]
libs = [common, 'zmq', 'czmq', 'capnp', 'capnp_c', 'm', cereal, messaging, gpucommon, visionipc]
if arch == "aarch64":
src += ['sound.cc', 'slplay.c']
@ -11,7 +11,7 @@ else:
src += ['linux.cc']
libs += ['pthread', 'glfw']
linkflags = []
env.Program('_ui', src,
LINKFLAGS=linkflags,
LIBS=libs)

1
selfdrive/ui/ui.cc
View File

@ -6,7 +6,6 @@
#include <sys/mman.h>
#include <sys/resource.h>
#include <json.h>
#include <czmq.h>
#include "common/util.h"

2
selfdrive/updated.py
View File

@ -292,7 +292,7 @@ def attempt_update():
set_update_available_params(new_version=new_version)
def main(gctx=None):
def main():
update_failed_count = 0
overlay_init_done = False
wait_helper = WaitTimeHelper()