def main():
params = Params()
dongle_id = params.get("DongleId", encoding='utf-8')
crash.init()
crash.bind_user(id=dongle_id)
crash.bind_extra(dirty=dirty, origin=origin, branch=branch, commit=commit,
device=HARDWARE.get_device_type())
ws_uri = ATHENA_HOST + "/ws/v2/" + dongle_id
api = Api(dongle_id)
conn_retries = 0
while 1:
try:
ws = create_connection(ws_uri,
cookie="jwt=" + api.get_token(),
enable_multithread=True)
cloudlog.event("athenad.main.connected_ws", ws_uri=ws_uri)
ws.settimeout(1)
conn_retries = 0
handle_long_poll(ws)
except (KeyboardInterrupt, SystemExit):
break
except (ConnectionError, TimeoutError, WebSocketException):
conn_retries += 1
params.delete("LastAthenaPingTime")
except Exception:
crash.capture_exception()
cloudlog.exception("athenad.main.exception")
conn_retries += 1
params.delete("LastAthenaPingTime")
time.sleep(backoff(conn_retries))
def main():
prepare_only = os.getenv("PREPAREONLY") is not None
manager_init()
# Start UI early so prepare can happen in the background
if not prepare_only:
managed_processes['ui'].start()
manager_prepare()
if prepare_only:
return
# SystemExit on sigterm
signal.signal(signal.SIGTERM, lambda signum, frame: sys.exit(1))
try:
manager_thread()
except Exception:
traceback.print_exc()
crash.capture_exception()
finally:
manager_cleanup()
if Params().get_bool("DoUninstall"):
cloudlog.warning("uninstalling")
HARDWARE.uninstall()
def main():
params = Params()
params.manager_start()
default_params = [
("CommunityFeaturesToggle", "0"),
("CompletedTrainingVersion", "0"),
("IsRHD", "0"),
("IsMetric", "0"),
("RecordFront", "0"),
("HasAcceptedTerms", "0"),
("HasCompletedSetup", "0"),
("IsUploadRawEnabled", "1"),
("IsLdwEnabled", "1"),
("LastUpdateTime", datetime.datetime.utcnow().isoformat().encode('utf8')),
("OpenpilotEnabledToggle", "1"),
("VisionRadarToggle", "0"),
("LaneChangeEnabled", "1"),
("LongControlEnabled", "0"),
("MadModeEnabled", "0"),
("AutoLaneChangeEnabled", "0"),
("IsDriverViewEnabled", "0"),
]
# set unset params
for k, v in default_params:
if params.get(k) is None:
params.put(k, v)
# is this dashcam?
if os.getenv("PASSIVE") is not None:
params.put("Passive", str(int(os.getenv("PASSIVE"))))
if params.get("Passive") is None:
raise Exception("Passive must be set to continue")
if EON:
update_apks()
manager_init()
manager_prepare()
spinner.close()
if os.getenv("PREPAREONLY") is not None:
return
# SystemExit on sigterm
signal.signal(signal.SIGTERM, lambda signum, frame: sys.exit(1))
try:
manager_thread()
except Exception:
traceback.print_exc()
crash.capture_exception()
finally:
cleanup_all_processes(None, None)
if params.get("DoUninstall", encoding='utf8') == "1":
cloudlog.warning("uninstalling")
HARDWARE.uninstall()
def main():
# params = Params()
# params.manager_start()
# # set unset params
# if params.get("IsMetric") is None:
# params.put("IsMetric", "0")
# if params.get("RecordFront") is None:
# params.put("RecordFront", "0")
# if params.get("IsFcwEnabled") is None:
# params.put("IsFcwEnabled", "1")
# if params.get("HasAcceptedTerms") is None:
# params.put("HasAcceptedTerms", "0")
# if params.get("IsUploadVideoOverCellularEnabled") is None:
# params.put("IsUploadVideoOverCellularEnabled", "1")
# if params.get("IsDriverMonitoringEnabled") is None:
# params.put("IsDriverMonitoringEnabled", "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")
parser = argparse.ArgumentParser()
parser.add_argument('--ui', type=int, default=1, help='default = 1')
args = parser.parse_args()
args.ui = bool(args.ui)
if not args.ui:
managed_processes.pop('ui')
try:
manager_init(False)
manager_prepare()
finally:
pass
# SystemExit on sigterm
signal.signal(signal.SIGTERM, lambda signum, frame: sys.exit(1))
try:
manager_thread()
except Exception:
traceback.print_exc()
crash.capture_exception()
finally:
cleanup_all_processes(None, None)
def launcher(proc, gctx):
try:
# import the process
mod = importlib.import_module(proc)
# rename the process
setproctitle(proc)
# exec the process
mod.main(gctx)
except KeyboardInterrupt:
cloudlog.warning("child %s got SIGINT" % proc)
except Exception:
# can't install the crash handler becuase sys.excepthook doesn't play nice
# with threads, so catch it here.
crash.capture_exception()
raise
def main():
# params = Params()
# params.manager_start()
# # set unset params
# if params.get("IsMetric") is None:
# params.put("IsMetric", "0")
# if params.get("RecordFront") is None:
# params.put("RecordFront", "0")
# if params.get("IsFcwEnabled") is None:
# params.put("IsFcwEnabled", "1")
# if params.get("HasAcceptedTerms") is None:
# params.put("HasAcceptedTerms", "0")
# if params.get("IsUploadVideoOverCellularEnabled") is None:
# params.put("IsUploadVideoOverCellularEnabled", "1")
# if params.get("IsDriverMonitoringEnabled") is None:
# params.put("IsDriverMonitoringEnabled", "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")
try:
manager_init(False)
manager_prepare()
finally:
pass
# SystemExit on sigterm
signal.signal(signal.SIGTERM, lambda signum, frame: sys.exit(1))
try:
manager_thread()
except Exception:
traceback.print_exc()
crash.capture_exception()
finally:
cleanup_all_processes(None, None)
def launcher(proc):
try:
# import the process
mod = importlib.import_module(proc)
# rename the process
setproctitle(proc)
# create new context since we forked
messaging.context = messaging.Context()
# exec the process
mod.main()
except KeyboardInterrupt:
cloudlog.warning("child %s got SIGINT" % proc)
except Exception:
# can't install the crash handler because sys.excepthook doesn't play nice
# with threads, so catch it here.
crash.capture_exception()
raise
def main(spinner=None):
manager_init(spinner)
manager_prepare(spinner)
if os.getenv("PREPAREONLY") is not None:
return
# SystemExit on sigterm
signal.signal(signal.SIGTERM, lambda signum, frame: sys.exit(1))
try:
manager_thread(spinner)
except Exception:
traceback.print_exc()
crash.capture_exception()
finally:
manager_cleanup()
if Params().get("DoUninstall", encoding='utf8') == "1":
cloudlog.warning("uninstalling")
HARDWARE.uninstall()
def main():
os.environ['PARAMS_PATH'] = PARAMS
if ANDROID:
# the flippening!
os.system(
'LD_LIBRARY_PATH="" content insert --uri content://settings/system --bind name:s:user_rotation --bind value:i:1'
)
# disable bluetooth
os.system('service call bluetooth_manager 8')
params = Params()
params.manager_start()
default_params = [
("CommunityFeaturesToggle", "0"),
("CompletedTrainingVersion", "0"),
("IsRHD", "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.utcnow().isoformat().encode('utf8')),
("OpenpilotEnabledToggle", "1"),
("LaneChangeEnabled", "1"),
("IsDriverViewEnabled", "0"),
("IsOpenpilotViewEnabled", "0"),
("OpkrAutoShutdown", "0"),
("OpkrAutoScreenOff", "0"),
("OpkrUIBrightness", "0"),
("OpkrEnableDriverMonitoring", "1"),
("OpkrEnableLogger", "0"),
("OpkrEnableGetoffAlert", "1"),
("OpkrEnableLearner", "0"),
("OpkrAutoResume", "1"),
("OpkrAccelProfile", "0"),
("OpkrAutoLanechangedelay", "0"),
("OpkrRunMixplorer", "0"),
("OpkrRunQuickedit", "0"),
("OpkrRunSoftkey", "0"),
("OpkrRunNavigation", "0"),
("OpkrBootNavigation", "0"),
("PutPrebuiltOn", "0"),
("FingerprintIssuedFix", "0"),
("LdwsCarFix", "0"),
("LateralControlMethod", "0"),
("CruiseStatemodeSelInit", "0"),
("LateralControlPriority", "0"),
]
# set unset params
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:
params.put("Passive", str(int(os.getenv("PASSIVE"))))
if params.get("Passive") is None:
raise Exception("Passive must be set to continue")
if ANDROID:
update_apks()
manager_init()
manager_prepare(spinner)
spinner.close()
if os.getenv("PREPAREONLY") is not None:
return
# SystemExit on sigterm
signal.signal(signal.SIGTERM, lambda signum, frame: sys.exit(1))
try:
manager_thread()
except Exception:
traceback.print_exc()
crash.capture_exception()
finally:
cleanup_all_processes(None, None)
if params.get("DoUninstall", encoding='utf8') == "1":
uninstall()
def main():
# the flippening!
os.system(
'LD_LIBRARY_PATH="" content insert --uri content://settings/system --bind name:s:user_rotation --bind value:i:1'
)
if os.getenv("NOLOG") is not None:
del managed_processes['loggerd']
del managed_processes['tombstoned']
if os.getenv("NOUPLOAD") is not None:
del managed_processes['uploader']
if os.getenv("NOVISION") is not None:
del managed_processes['visiond']
if os.getenv("LEAN") is not None:
del managed_processes['uploader']
del managed_processes['loggerd']
del managed_processes['logmessaged']
del managed_processes['logcatd']
del managed_processes['tombstoned']
del managed_processes['proclogd']
if os.getenv("NOCONTROL") is not None:
del managed_processes['controlsd']
del managed_processes['radard']
# support additional internal only extensions
try:
import selfdrive.manager_extensions
selfdrive.manager_extensions.register(register_managed_process)
except ImportError:
pass
params = Params()
params.manager_start()
# set unset params
if params.get("IsMetric") is None:
params.put("IsMetric", "0")
if params.get("RecordFront") is None:
params.put("RecordFront", "0")
if params.get("IsFcwEnabled") is None:
params.put("IsFcwEnabled", "1")
if params.get("HasAcceptedTerms") is None:
params.put("HasAcceptedTerms", "0")
if params.get("IsUploadVideoOverCellularEnabled") is None:
params.put("IsUploadVideoOverCellularEnabled", "1")
if params.get("IsDriverMonitoringEnabled") is None:
params.put("IsDriverMonitoringEnabled", "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")
# is this chffrplus?
if os.getenv("PASSIVE") is not None:
params.put("Passive", str(int(os.getenv("PASSIVE"))))
if params.get("Passive") is None:
raise Exception("Passive must be set to continue")
# put something on screen while we set things up
if os.getenv("PREPAREONLY") is not None:
spinner_proc = None
else:
spinner_text = "chffrplus" if params.get(
"Passive") == "1" else "openpilot"
spinner_proc = subprocess.Popen(
["./spinner", "loading %s" % spinner_text],
cwd=os.path.join(BASEDIR, "selfdrive", "ui", "spinner"),
close_fds=True)
try:
manager_update()
manager_init()
manager_prepare()
finally:
if spinner_proc:
spinner_proc.terminate()
if os.getenv("PREPAREONLY") is not None:
return
# SystemExit on sigterm
signal.signal(signal.SIGTERM, lambda signum, frame: sys.exit(1))
try:
manager_thread()
except Exception:
traceback.print_exc()
crash.capture_exception()
finally:
cleanup_all_processes(None, None)
if params.get("DoUninstall") == "1":
uninstall()
def main():
# the flippening!
os.system('LD_LIBRARY_PATH="" content insert --uri content://settings/system --bind name:s:user_rotation --bind value:i:1')
# disable bluetooth
os.system('service call bluetooth_manager 8')
# support additional internal only extensions
try:
import selfdrive.manager_extensions
selfdrive.manager_extensions.register(register_managed_process) # pylint: disable=no-member
except ImportError:
pass
params = Params()
params.manager_start()
# 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")
# is this chffrplus?
if os.getenv("PASSIVE") is not None:
params.put("Passive", str(int(os.getenv("PASSIVE"))))
if params.get("Passive") is None:
raise Exception("Passive must be set to continue")
update_apks()
manager_init()
manager_prepare(spinner)
spinner.close()
if os.getenv("PREPAREONLY") is not None:
return
# SystemExit on sigterm
signal.signal(signal.SIGTERM, lambda signum, frame: sys.exit(1))
try:
manager_thread()
except Exception:
traceback.print_exc()
crash.capture_exception()
finally:
cleanup_all_processes(None, None)
if params.get("DoUninstall", encoding='utf8') == "1":
uninstall()
def main():
if os.getenv("NOLOG") is not None:
del managed_processes['loggerd']
del managed_processes['tombstoned']
if os.getenv("NOUPLOAD") is not None:
del managed_processes['uploader']
if os.getenv("NOVISION") is not None:
del managed_processes['visiond']
if os.getenv("LEAN") is not None:
del managed_processes['uploader']
del managed_processes['loggerd']
del managed_processes['logmessaged']
del managed_processes['logcatd']
del managed_processes['tombstoned']
del managed_processes['proclogd']
if os.getenv("NOCONTROL") is not None:
del managed_processes['controlsd']
del managed_processes['radard']
# support additional internal only extensions
try:
import selfdrive.manager_extensions
selfdrive.manager_extensions.register(register_managed_process)
except ImportError:
pass
params = Params()
params.manager_start()
# set unset params
if params.get("IsMetric") is None:
params.put("IsMetric", "0")
if params.get("IsRearViewMirror") is None:
params.put("IsRearViewMirror", "0")
if params.get("IsFcwEnabled") is None:
params.put("IsFcwEnabled", "1")
if params.get("HasAcceptedTerms") is None:
params.put("HasAcceptedTerms", "0")
if params.get("IsUploadVideoOverCellularEnabled") is None:
params.put("IsUploadVideoOverCellularEnabled", "1")
params.put("Passive", "1" if os.getenv("PASSIVE") else "0")
# put something on screen while we set things up
if os.getenv("PREPAREONLY") is not None:
spinner_proc = None
else:
spinner_proc = subprocess.Popen(["./spinner", "loading..."],
cwd=os.path.join(
BASEDIR, "selfdrive", "ui",
"spinner"),
close_fds=True)
try:
manager_update()
manager_init()
manager_prepare()
finally:
if spinner_proc:
spinner_proc.terminate()
if os.getenv("PREPAREONLY") is not None:
return
# SystemExit on sigterm
signal.signal(signal.SIGTERM, lambda signum, frame: sys.exit(1))
try:
manager_thread()
except Exception:
traceback.print_exc()
crash.capture_exception()
finally:
cleanup_all_processes(None, None)
if params.get("DoUninstall") == "1":
uninstall()
def main():
params = Params()
params.manager_start()
default_params = [
("CommunityFeaturesToggle", "0"),
("CompletedTrainingVersion", "0"),
("IsRHD", "0"),
("IsMetric", "1"),
("RecordFront", "0"),
("HasAcceptedTerms", "0"),
("HasCompletedSetup", "0"),
("IsUploadRawEnabled", "1"),
("IsLdwEnabled", "1"),
("IsGeofenceEnabled", "-1"),
("SpeedLimitOffset", "0"),
("LimitSetSpeed", "0"),
("LimitSetSpeedNeural", "0"),
("LastUpdateTime",
datetime.datetime.utcnow().isoformat().encode('utf8')),
("OpenpilotEnabledToggle", "1"),
("LaneChangeEnabled", "1"),
("IsDriverViewEnabled", "0"),
("IsOpenpilotViewEnabled", "0"),
("OpkrAutoShutdown", "2"),
("OpkrAutoScreenOff", "0"),
("OpkrUIBrightness", "0"),
("OpkrEnableDriverMonitoring", "1"),
("OpkrEnableLogger", "0"),
("OpkrEnableGetoffAlert", "1"),
("OpkrAutoResume", "1"),
("OpkrVariableCruise", "0"),
("OpkrLaneChangeSpeed", "60"),
("OpkrAutoLaneChangeDelay", "0"),
("OpkrSteerAngleCorrection", "0"),
("PutPrebuiltOn", "0"),
("FingerprintIssuedFix", "0"),
("LdwsCarFix", "0"),
("LateralControlMethod", "0"),
("InnerLoopGain", "30"),
("OuterLoopGain", "20"),
("TimeConstant", "10"),
("ActuatorEffectiveness", "15"),
("Scale", "1750"),
("LqrKi", "10"),
("DcGain", "30"),
("IgnoreZone", "1"),
("PidKp", "20"),
("PidKi", "40"),
("PidKd", "150"),
("PidKf", "5"),
("CameraOffsetAdj", "60"),
("SteerRatioAdj", "140"),
("SteerActuatorDelayAdj", "35"),
("SteerRateCostAdj", "45"),
("SteerLimitTimerAdj", "40"),
("TireStiffnessFactorAdj", "85"),
("SteerMaxAdj", "380"),
("SteerMaxBaseAdj", "275"),
("SteerDeltaUpAdj", "3"),
("SteerDeltaDownAdj", "7"),
("SteerMaxvAdj", "10"),
("OpkrBatteryChargingControl", "1"),
("OpkrBatteryChargingMin", "70"),
("OpkrBatteryChargingMax", "80"),
("OpkrUiOpen", "0"),
("OpkrDriveOpen", "0"),
("OpkrTuneOpen", "0"),
("OpkrControlOpen", "0"),
("LeftCurvOffsetAdj", "0"),
("RightCurvOffsetAdj", "0"),
("DebugUi1", "0"),
("DebugUi2", "0"),
("OpkrBlindSpotDetect", "1"),
("OpkrMaxAngleLimit", "90"),
("OpkrAngleOffsetSelect", "0"),
("OpkrCruiseGapSet", "3"),
("OpkrLatMode", "0"),
("OpkrAccMode", "1"),
("LimitSetSpeedCamera", "0"),
("LimitSetSpeedCurv", "1"),
("OpkrLiveSteerRatio", "0"),
("OpkrVariableSteerMax", "1"),
("OpkrVariableSteerDelta", "0"),
("FingerprintTwoSet", "1"),
("OpkrVariableCruiseProfile", "0"),
("OpkrLiveTune", "0"),
("OpkrEnableMap", "1"),
("OpkrDrivingRecord", "0"),
]
# set unset params
for k, v in default_params:
if params.get(k) is None:
params.put(k, v)
# is this dashcam?
if os.getenv("PASSIVE") is not None:
params.put("Passive", str(int(os.getenv("PASSIVE"))))
if params.get("Passive") is None:
raise Exception("Passive must be set to continue")
if EON:
update_apks()
manager_init()
manager_prepare(spinner)
spinner.close()
if os.getenv("PREPAREONLY") is not None:
return
# SystemExit on sigterm
signal.signal(signal.SIGTERM, lambda signum, frame: sys.exit(1))
try:
manager_thread()
except Exception:
traceback.print_exc()
crash.capture_exception()
finally:
cleanup_all_processes(None, None)
if params.get("DoUninstall", encoding='utf8') == "1":
cloudlog.warning("uninstalling")
HARDWARE.uninstall()
def main():
# the flippening!
os.system('LD_LIBRARY_PATH="" content insert --uri content://settings/system --bind name:s:user_rotation --bind value:i:1')
# disable bluetooth
os.system('service call bluetooth_manager 8')
if os.getenv("NOLOG") is not None:
del managed_processes['loggerd']
del managed_processes['tombstoned']
if os.getenv("NOUPLOAD") is not None:
del managed_processes['uploader']
if os.getenv("NOVISION") is not None:
del managed_processes['visiond']
if os.getenv("LEAN") is not None:
del managed_processes['uploader']
del managed_processes['loggerd']
del managed_processes['logmessaged']
del managed_processes['logcatd']
del managed_processes['tombstoned']
del managed_processes['proclogd']
if os.getenv("NOCONTROL") is not None:
del managed_processes['controlsd']
del managed_processes['plannerd']
del managed_processes['radard']
# support additional internal only extensions
try:
import selfdrive.manager_extensions
selfdrive.manager_extensions.register(register_managed_process) # pylint: disable=no-member
except ImportError:
pass
params = Params()
params.manager_start()
# set unset params
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("IsUploadVideoOverCellularEnabled") is None:
params.put("IsUploadVideoOverCellularEnabled", "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")
# is this chffrplus?
if os.getenv("PASSIVE") is not None:
params.put("Passive", str(int(os.getenv("PASSIVE"))))
if params.get("Passive") is None:
raise Exception("Passive must be set to continue")
#with Spinner() as spinner:
#spinner.update("0") # Show progress bar
#manager_update()
#manager_init()
manager_prepare(None)
if os.getenv("PREPAREONLY") is not None:
return
# SystemExit on sigterm
signal.signal(signal.SIGTERM, lambda signum, frame: sys.exit(1))
try:
manager_thread()
except Exception:
traceback.print_exc()
crash.capture_exception()
finally:
cleanup_all_processes(None, None)
if params.get("DoUninstall") == "1":
uninstall()
def main():
params = Params()
params.manager_start()
default_params = [
("CommunityFeaturesToggle", "0"),
("CompletedTrainingVersion", "0"),
("IsRHD", "0"),
("IsMetric", "0"),
("RecordFront", "0"),
("HasAcceptedTerms", "0"),
("HasCompletedSetup", "0"),
("IsUploadRawEnabled", "1"),
("IsLdwEnabled", "1"),
("LastUpdateTime", datetime.datetime.utcnow().isoformat().encode('utf8')),
("OpenpilotEnabledToggle", "1"),
("LaneChangeEnabled", "1"),
("IsDriverViewEnabled", "0"),
]
# set unset params
for k, v in default_params:
if params.get(k) is None:
params.put(k, v)
# is this dashcam?
if os.getenv("PASSIVE") is not None:
params.put("Passive", str(int(os.getenv("PASSIVE"))))
if params.get("Passive") is None:
raise Exception("Passive must be set to continue")
init_params_vals(params)
if EON:
update_apks()
manager_init(params.get('dp_reg') == b'1')
manager_prepare()
spinner.close()
if os.getenv("PREPAREONLY") is not None:
return
# dp
del managed_processes['tombstoned']
steering_monitor = params.get("dp_steering_monitor") == b'1'
if not steering_monitor and params.get("dp_driver_monitor") == b'0':
del managed_processes['loggerd']
del managed_processes['logmessaged']
del managed_processes['proclogd']
del managed_processes['logcatd']
del managed_processes['dmonitoringd']
del managed_processes['dmonitoringmodeld']
elif params.get("dp_logger") == b'0' or \
params.get("dp_atl") == b'1' or \
not steering_monitor:
del managed_processes['loggerd']
del managed_processes['logmessaged']
del managed_processes['proclogd']
del managed_processes['logcatd']
if params.get("dp_uploader") == b'0':
del managed_processes['uploader']
if params.get("dp_updated") == b'0':
del managed_processes['updated']
if params.get('dp_gpxd') == b'0':
del managed_processes['gpxd']
# SystemExit on sigterm
signal.signal(signal.SIGTERM, lambda signum, frame: sys.exit(1))
try:
manager_thread()
except Exception:
traceback.print_exc()
crash.capture_exception()
finally:
cleanup_all_processes(None, None)
if params.get("DoUninstall", encoding='utf8') == "1":
cloudlog.warning("uninstalling")
HARDWARE.uninstall()
def main():
if ANDROID:
# the flippening!
os.system(
'LD_LIBRARY_PATH="" content insert --uri content://settings/system --bind name:s:user_rotation --bind value:i:1'
)
# disable bluetooth
os.system('service call bluetooth_manager 8')
params = Params()
params.manager_start()
default_params = [
("CommunityFeaturesToggle", "0"),
("CompletedTrainingVersion", "0"),
("IsRHD", "0"),
("IsMetric", "1"),
("RecordFront", "0"),
("HasAcceptedTerms", "0"),
("HasCompletedSetup", "0"),
("IsUploadRawEnabled", "1"),
("IsLdwEnabled", "1"),
("LastUpdateTime",
datetime.datetime.utcnow().isoformat().encode('utf8')),
("OpenpilotEnabledToggle", "1"),
("LaneChangeEnabled", "1"),
("IsDriverViewEnabled", "0"),
("IsOpenpilotViewEnabled", "0"),
("OpkrAutoShutdown", "3"),
("OpkrAutoScreenOff", "0"),
("OpkrUIBrightness", "0"),
("OpkrEnableDriverMonitoring", "1"),
("OpkrEnableLogger", "0"),
("OpkrEnableGetoffAlert", "1"),
("OpkrAutoResume", "1"),
("OpkrVariableCruise", "0"),
("OpkrLaneChangeSpeed", "60"),
("OpkrAutoLaneChangeDelay", "0"),
("OpkrSteerAngleCorrection", "0"),
("PutPrebuiltOn", "0"),
("FingerprintIssuedFix", "0"),
("LdwsCarFix", "0"),
("LateralControlMethod", "0"),
("CruiseStatemodeSelInit", "1"),
("InnerLoopGain", "30"),
("OuterLoopGain", "20"),
("TimeConstant", "10"),
("ActuatorEffectiveness", "15"),
("Scale", "1750"),
("LqrKi", "10"),
("DcGain", "30"),
("IgnoreZone", "0"),
("PidKp", "20"),
("PidKi", "40"),
("PidKf", "5"),
("CameraOffsetAdj", "60"),
("SteerRatioAdj", "135"),
("SteerActuatorDelayAdj", "35"),
("SteerRateCostAdj", "50"),
("SteerLimitTimerAdj", "80"),
("TireStiffnessFactorAdj", "75"),
("SteerMaxAdj", "380"),
("SteerMaxBaseAdj", "255"),
("SteerDeltaUpAdj", "3"),
("SteerDeltaDownAdj", "7"),
("SteerMaxvAdj", "10"),
("OpkrBatteryChargingControl", "1"),
("OpkrBatteryChargingMin", "70"),
("OpkrBatteryChargingMax", "80"),
("OpkrUiOpen", "0"),
("OpkrDriveOpen", "0"),
("OpkrTuneOpen", "0"),
("OpkrControlOpen", "0"),
("LeftCurvOffsetAdj", "0"),
("RightCurvOffsetAdj", "0"),
("DebugUi1", "0"),
("DebugUi2", "0"),
("OpkrBlindSpotDetect", "0"),
("OpkrMaxAngleLimit", "90"),
("OpkrAutoResumeOption", "0"),
("OpkrAngleOffsetSelect", "0"),
]
# set unset params
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:
params.put("Passive", str(int(os.getenv("PASSIVE"))))
if params.get("Passive") is None:
raise Exception("Passive must be set to continue")
if ANDROID:
update_apks()
manager_init()
manager_prepare(spinner)
spinner.close()
if os.getenv("PREPAREONLY") is not None:
return
# SystemExit on sigterm
signal.signal(signal.SIGTERM, lambda signum, frame: sys.exit(1))
try:
manager_thread()
except Exception:
traceback.print_exc()
crash.capture_exception()
finally:
cleanup_all_processes(None, None)
if params.get("DoUninstall", encoding='utf8') == "1":
uninstall()
def main():
os.environ['PARAMS_PATH'] = PARAMS
# the flippening!
os.system(
'LD_LIBRARY_PATH="" content insert --uri content://settings/system --bind name:s:user_rotation --bind value:i:1'
)
# disable bluetooth
os.system('service call bluetooth_manager 8')
params = Params()
params.manager_start()
default_params = [
("CommunityFeaturesToggle", "0"),
("CompletedTrainingVersion", "0"),
("IsRHD", "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.utcnow().isoformat().encode('utf8')),
("OpenpilotEnabledToggle", "1"),
("LaneChangeEnabled", "1"),
("IsDriverViewEnabled", "0"),
]
# set unset params
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:
params.put("Passive", str(int(os.getenv("PASSIVE"))))
if params.get("Passive") is None:
raise Exception("Passive must be set to continue")
if ANDROID:
update_apks()
manager_init()
manager_prepare(spinner)
spinner.close()
if os.getenv("PREPAREONLY") is not None:
return
# SystemExit on sigterm
signal.signal(signal.SIGTERM, lambda signum, frame: sys.exit(1))
try:
manager_thread()
except SystemExit:
raise
except Exception:
traceback.print_exc()
crash.capture_exception()
finally:
cleanup_all_processes(None, None)
if params.get("DoUninstall", encoding='utf8') == "1":
uninstall()
def main():
if os.getenv("NOLOG") is not None:
del managed_processes['loggerd']
del managed_processes['tombstoned']
if os.getenv("NOUPLOAD") is not None:
del managed_processes['uploader']
if os.getenv("NOVISION") is not None:
del managed_processes['visiond']
if os.getenv("NOBOARD") is not None:
del managed_processes['boardd']
if os.getenv("LEAN") is not None:
del managed_processes['uploader']
del managed_processes['loggerd']
del managed_processes['logmessaged']
del managed_processes['logcatd']
del managed_processes['tombstoned']
del managed_processes['proclogd']
if os.getenv("NOCONTROL") is not None:
del managed_processes['controlsd']
del managed_processes['radard']
# support additional internal only extensions
try:
import selfdrive.manager_extensions
selfdrive.manager_extensions.register(register_managed_process)
except ImportError:
pass
params = Params()
params.manager_start()
# set unset params
if params.get("IsMetric") is None:
params.put("IsMetric", "0")
if params.get("IsRearViewMirror") is None:
params.put("IsRearViewMirror", "1")
# put something on screen while we set things up
if os.getenv("PREPAREONLY") is not None:
spinner_proc = None
else:
spinner_proc = subprocess.Popen(["./spinner", "loading openpilot..."],
cwd=os.path.join(
BASEDIR, "selfdrive", "ui",
"spinner"),
close_fds=True)
try:
manager_init()
manager_prepare()
finally:
if spinner_proc:
spinner_proc.terminate()
if os.getenv("PREPAREONLY") is not None:
sys.exit(0)
try:
manager_thread()
except Exception:
traceback.print_exc()
crash.capture_exception()
finally:
cleanup_all_processes(None, None)
