def test_missing_cache(self): # keys exist but no dongle id self._generate_keys() with mock.patch("selfdrive.athena.registration.api_get", autospec=True) as m: dongle = "DONGLE_ID_123" m.return_value = MockResponse(json.dumps({'dongle_id': dongle}), 200) self.assertEqual(register(), dongle) self.assertEqual(m.call_count, 1) # call again, shouldn't hit the API this time self.assertEqual(register(), dongle) self.assertEqual(m.call_count, 1) self.assertEqual(self.params.get("DongleId", encoding='utf-8'), dongle)
def test_unregistered_non_pc(self): # no keys, no dongle id with mock.patch("selfdrive.athena.registration.api_get", autospec=True) as m, \ mock.patch("selfdrive.athena.registration.PC", new=False): m.return_value = MockResponse(None, 402) self.assertIs(register(), None) self.assertEqual(m.call_count, 1)
def test_no_keys(self): # missing pubkey with mock.patch("selfdrive.athena.registration.api_get", autospec=True) as m: dongle = register() self.assertEqual(m.call_count, 0) self.assertEqual(dongle, UNREGISTERED_DONGLE_ID) self.assertEqual(self.params.get("DongleId", encoding='utf-8'), dongle)
def test_unregistered_pc(self): # no keys, no dongle id with mock.patch("selfdrive.athena.registration.api_get", autospec=True) as m, \ mock.patch("selfdrive.athena.registration.PC", new=True): m.return_value = MockResponse(None, 402) dongle = register() self.assertGreater(len(dongle), 0) self.assertEqual(m.call_count, 1) self.assertEqual(self.params.get("DongleId", encoding='utf-8'), dongle)
def test_unregistered(self): # no keys, no dongle id with mock.patch("selfdrive.athena.registration.api_get", autospec=True) as m: m.return_value = MockResponse(None, 402) dongle = register() self.assertEqual(m.call_count, 1) self.assertEqual(dongle, UNREGISTERED_DONGLE_ID) self.assertEqual(self.params.get("DongleId", encoding='utf-8'), dongle)
def test_valid_cache(self): # if all params are written, return the cached dongle id self.params.put("IMEI", "imei") self.params.put("HardwareSerial", "serial") self._generate_keys() with mock.patch("selfdrive.athena.registration.api_get", autospec=True) as m: dongle = "DONGLE_ID_123" self.params.put("DongleId", dongle) self.assertEqual(register(), dongle) self.assertFalse(m.called)
def manager_init(): # update system time from panda set_time(cloudlog) params = Params() params.clear_all(ParamKeyType.CLEAR_ON_MANAGER_START) default_params = [ ("OpenpilotEnabledToggle", "1"), ("CommunityFeaturesToggle", "1"), ("IsMetric", "1"), # HKG ("UseClusterSpeed", "1"), ("LongControlEnabled", "0"), ("MadModeEnabled", "1"), ("IsLdwsCar", "0"), ("LaneChangeEnabled", "0"), ("AutoLaneChangeEnabled", "0"), ("SccSmootherSlowOnCurves", "0"), ("SccSmootherSyncGasPressed", "0"), ("StockNaviDecelEnabled", "0"), ("ShowDebugUI", "0"), ("CustomLeadMark", "0") ] if not PC: default_params.append( ("LastUpdateTime", datetime.datetime.utcnow().isoformat().encode('utf8'))) if params.get_bool("RecordFrontLock"): params.put_bool("RecordFront", True) # 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_bool("Passive", bool(int(os.getenv("PASSIVE")))) if params.get("Passive") is None: raise Exception("Passive must be set to continue") # Create folders needed for msgq try: os.mkdir("/dev/shm") except FileExistsError: pass except PermissionError: print("WARNING: failed to make /dev/shm") # set version params params.put("Version", version) params.put("TermsVersion", terms_version) params.put("TrainingVersion", training_version) params.put("GitCommit", get_git_commit(default="")) params.put("GitBranch", get_git_branch(default="")) params.put("GitRemote", get_git_remote(default="")) # set dongle id reg_res = register(show_spinner=True) if reg_res: dongle_id = reg_res else: serial = params.get("HardwareSerial") raise Exception(f"Registration failed for device {serial}") os.environ['DONGLE_ID'] = dongle_id # Needed for swaglog if not dirty: os.environ['CLEAN'] = '1' cloudlog.bind_global(dongle_id=dongle_id, version=version, dirty=dirty, device=HARDWARE.get_device_type()) if comma_remote and not (os.getenv("NOLOG") or os.getenv("NOCRASH") or PC): crash.init() crash.bind_user(id=dongle_id) crash.bind_extra(dirty=dirty, origin=origin, branch=branch, commit=commit, device=HARDWARE.get_device_type())
def manager_init(): # update system time from panda set_time(cloudlog) # save boot log subprocess.call("./bootlog", cwd=os.path.join(BASEDIR, "selfdrive/loggerd")) params = Params() params.clear_all(ParamKeyType.CLEAR_ON_MANAGER_START) default_params = [ ("CompletedTrainingVersion", "0"), ("HasAcceptedTerms", "0"), ("OpenpilotEnabledToggle", "1"), ] if not PC: default_params.append(("LastUpdateTime", datetime.datetime.utcnow().isoformat().encode('utf8'))) if params.get_bool("RecordFrontLock"): params.put_bool("RecordFront", True) if not params.get_bool("DisableRadar_Allow"): params.delete("DisableRadar") # 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_bool("Passive", bool(int(os.getenv("PASSIVE")))) if params.get("Passive") is None: raise Exception("Passive must be set to continue") # Create folders needed for msgq try: os.mkdir("/dev/shm") except FileExistsError: pass except PermissionError: print("WARNING: failed to make /dev/shm") # set version params params.put("Version", version) params.put("TermsVersion", terms_version) params.put("TrainingVersion", training_version) params.put("GitCommit", get_git_commit(default="")) params.put("GitBranch", get_git_branch(default="")) params.put("GitRemote", get_git_remote(default="")) # set dongle id reg_res = register(show_spinner=True) if reg_res: dongle_id = reg_res else: serial = params.get("HardwareSerial") raise Exception(f"Registration failed for device {serial}") os.environ['DONGLE_ID'] = dongle_id # Needed for swaglog if not dirty: os.environ['CLEAN'] = '1' cloudlog.bind_global(dongle_id=dongle_id, version=version, dirty=dirty, device=HARDWARE.get_device_type()) if comma_remote and not (os.getenv("NOLOG") or os.getenv("NOCRASH") or PC): crash.init() crash.bind_user(id=dongle_id) crash.bind_extra(dirty=dirty, origin=origin, branch=branch, commit=commit, device=HARDWARE.get_device_type())
def manager_init() -> None: # update system time from panda set_time(cloudlog) # save boot log #subprocess.call("./bootlog", cwd=os.path.join(BASEDIR, "selfdrive/loggerd")) params = Params() params.clear_all(ParamKeyType.CLEAR_ON_MANAGER_START) default_params: List[Tuple[str, Union[str, bytes]]] = [ ("CompletedTrainingVersion", "0"), ("DisengageOnAccelerator", "0"), ("HasAcceptedTerms", "0"), ("OpenpilotEnabledToggle", "1"), ("IsMetric", "1"), # HKG ("LateralControl", "TORQUE"), ("UseClusterSpeed", "0"), ("LongControlEnabled", "0"), ("MadModeEnabled", "1"), ("IsLdwsCar", "0"), ("LaneChangeEnabled", "0"), ("AutoLaneChangeEnabled", "0"), ("SccSmootherSlowOnCurves", "0"), ("SccSmootherSyncGasPressed", "0"), ("StockNaviDecelEnabled", "0"), ("KeepSteeringTurnSignals", "0"), ("HapticFeedbackWhenSpeedCamera", "0"), ("DisableOpFcw", "0"), ("ShowDebugUI", "0"), ("NewRadarInterface", "0"), ] if not PC: default_params.append(("LastUpdateTime", datetime.datetime.utcnow().isoformat().encode('utf8'))) if params.get_bool("RecordFrontLock"): params.put_bool("RecordFront", True) if not params.get_bool("DisableRadar_Allow"): params.delete("DisableRadar") # 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_bool("Passive", bool(int(os.getenv("PASSIVE", "0")))) if params.get("Passive") is None: raise Exception("Passive must be set to continue") # Create folders needed for msgq try: os.mkdir("/dev/shm") except FileExistsError: pass except PermissionError: print("WARNING: failed to make /dev/shm") # set version params params.put("Version", get_version()) params.put("TermsVersion", terms_version) params.put("TrainingVersion", training_version) params.put("GitCommit", get_commit(default="")) params.put("GitBranch", get_short_branch(default="")) params.put("GitRemote", get_origin(default="")) # set dongle id reg_res = register(show_spinner=True) if reg_res: dongle_id = reg_res else: serial = params.get("HardwareSerial") raise Exception(f"Registration failed for device {serial}") os.environ['DONGLE_ID'] = dongle_id # Needed for swaglog if not is_dirty(): os.environ['CLEAN'] = '1' # init logging sentry.init(sentry.SentryProject.SELFDRIVE) cloudlog.bind_global(dongle_id=dongle_id, version=get_version(), dirty=is_dirty(), device=HARDWARE.get_device_type())
def manager_init(): # update system time from panda set_time(cloudlog) params = Params() params.clear_all(ParamKeyType.CLEAR_ON_MANAGER_START) default_params = [ ("CompletedTrainingVersion", "0"), ("HasAcceptedTerms", "0"), ("LastUpdateTime", datetime.datetime.utcnow().isoformat().encode('utf8')), ("OpenpilotEnabledToggle", "1"), ("IsOpenpilotViewEnabled", "0"), ("OpkrAutoShutdown", "2"), ("OpkrAutoScreenOff", "0"), ("OpkrUIBrightness", "0"), ("OpkrUIBrightness", "0"), ("OpkrUIVolumeBoost", "0"), ("OpkrEnableDriverMonitoring", "1"), ("OpkrEnableLogger", "0"), ("OpkrEnableUploader", "0"), ("OpkrEnableGetoffAlert", "1"), ("OpkrAutoResume", "1"), ("OpkrVariableCruise", "1"), ("OpkrLaneChangeSpeed", "45"), ("OpkrAutoLaneChangeDelay", "0"), ("OpkrSteerAngleCorrection", "0"), ("PutPrebuiltOn", "0"), ("LdwsCarFix", "0"), ("LateralControlMethod", "0"), ("CruiseStatemodeSelInit", "1"), ("InnerLoopGain", "35"), ("OuterLoopGain", "20"), ("TimeConstant", "14"), ("ActuatorEffectiveness", "20"), ("Scale", "1500"), ("LqrKi", "15"), ("DcGain", "27"), ("IgnoreZone", "1"), ("PidKp", "20"), ("PidKi", "40"), ("PidKd", "150"), ("PidKf", "5"), ("CameraOffsetAdj", "60"), ("SteerRatioAdj", "155"), ("SteerRatioMaxAdj", "175"), ("SteerActuatorDelayAdj", "15"), ("SteerRateCostAdj", "35"), ("SteerLimitTimerAdj", "40"), ("TireStiffnessFactorAdj", "85"), ("SteerMaxBaseAdj", "300"), ("SteerMaxAdj", "384"), ("SteerDeltaUpBaseAdj", "3"), ("SteerDeltaUpAdj", "3"), ("SteerDeltaDownBaseAdj", "7"), ("SteerDeltaDownAdj", "7"), ("SteerMaxvAdj", "13"), ("OpkrBatteryChargingControl", "1"), ("OpkrBatteryChargingMin", "70"), ("OpkrBatteryChargingMax", "80"), ("LeftCurvOffsetAdj", "0"), ("RightCurvOffsetAdj", "0"), ("DebugUi1", "0"), ("DebugUi2", "0"), ("LongLogDisplay", "0"), ("OpkrBlindSpotDetect", "1"), ("OpkrMaxAngleLimit", "90"), ("OpkrSpeedLimitOffset", "0"), ("LimitSetSpeedCamera", "0"), ("LimitSetSpeedCameraDist", "0"), ("OpkrLiveSteerRatio", "1"), ("OpkrVariableSteerMax", "1"), ("OpkrVariableSteerDelta", "0"), ("FingerprintTwoSet", "1"), ("OpkrVariableCruiseProfile", "0"), ("OpkrLiveTune", "0"), ("OpkrDrivingRecord", "0"), ("OpkrTurnSteeringDisable", "0"), ("CarModel", ""), ("CarModelAbb", ""), ("OpkrHotspotOnBoot", "0"), ("OpkrSSHLegacy", "1"), ("ShaneFeedForward", "0"), ("CruiseOverMaxSpeed", "0"), ("JustDoGearD", "0"), ("LanelessMode", "0"), ("ComIssueGone", "0"), ("MaxSteer", "384"), ("MaxRTDelta", "112"), ("MaxRateUp", "3"), ("MaxRateDown", "7"), ("SteerThreshold", "150"), ("RecordingCount", "100"), ("RecordingQuality", "1"), ("CruiseGapAdjust", "0"), ("AutoEnable", "1"), ("CruiseAutoRes", "0"), ("AutoResOption", "0"), ("SteerWindDown", "0"), ("OpkrMonitoringMode", "0"), ("OpkrMonitorEyesThreshold", "75"), ("OpkrMonitorNormalEyesThreshold", "50"), ("OpkrMonitorBlinkThreshold", "50"), ("MadModeEnabled", "1"), ("OpkrFanSpeedGain", "0"), ("WhitePandaSupport", "0"), ("SteerWarningFix", "0"), ] if TICI: default_params.append(("IsUploadRawEnabled", "0")) if params.get_bool("RecordFrontLock"): params.put_bool("RecordFront", True) # 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_bool("Passive", bool(int(os.getenv("PASSIVE")))) if params.get("Passive") is None: raise Exception("Passive must be set to continue") if EON: update_apks() os.umask(0) # Make sure we can create files with 777 permissions # Create folders needed for msgq try: os.mkdir("/dev/shm") except FileExistsError: pass except PermissionError: print("WARNING: failed to make /dev/shm") # set version params params.put("Version", version) params.put("TermsVersion", terms_version) params.put("TrainingVersion", training_version) params.put("GitCommit", get_git_commit(default="")) params.put("GitBranch", get_git_branch(default="")) params.put("GitRemote", get_git_remote(default="")) # set dongle id reg_res = register(show_spinner=True) if reg_res: dongle_id = reg_res elif not reg_res: dongle_id = "" else: serial = params.get("HardwareSerial") raise Exception(f"Registration failed for device {serial}") os.environ['DONGLE_ID'] = dongle_id # Needed for swaglog if not dirty: os.environ['CLEAN'] = '1' cloudlog.bind_global(dongle_id=dongle_id, version=version, dirty=dirty, device=HARDWARE.get_device_type()) # ensure shared libraries are readable by apks if EON: os.chmod(BASEDIR, 0o755) os.chmod("/dev/shm", 0o777) os.chmod(os.path.join(BASEDIR, "cereal"), 0o755) #if not (os.getenv("NOLOG") or os.getenv("NOCRASH") or PC): # crash.init() crash.bind_user(id=dongle_id) crash.bind_extra(dirty=dirty, origin=origin, branch=branch, commit=commit, device=HARDWARE.get_device_type()) os.system("/data/openpilot/gitcommit.sh")
def manager_init(): # update system time from panda set_time(cloudlog) params = Params() params.manager_start() default_params = [ ("CompletedTrainingVersion", "0"), ("HasAcceptedTerms", "0"), ("LastUpdateTime", datetime.datetime.utcnow().isoformat().encode('utf8')), ("OpenpilotEnabledToggle", "1"), ] if TICI: default_params.append(("IsUploadRawEnabled", "1")) if params.get_bool("RecordFrontLock"): params.put_bool("RecordFront", True) # 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_bool("Passive", bool(int(os.getenv("PASSIVE")))) if params.get("Passive") is None: raise Exception("Passive must be set to continue") os.umask(0) # Make sure we can create files with 777 permissions # Create folders needed for msgq try: os.mkdir("/dev/shm") except FileExistsError: pass except PermissionError: print("WARNING: failed to make /dev/shm") # set version params params.put("Version", version) params.put("TermsVersion", terms_version) params.put("TrainingVersion", training_version) params.put("GitCommit", get_git_commit(default="")) params.put("GitBranch", get_git_branch(default="")) params.put("GitRemote", get_git_remote(default="")) # set dongle id reg_res = register(show_spinner=True) if reg_res: dongle_id = reg_res else: serial = params.get("HardwareSerial") raise Exception(f"Registration failed for device {serial}") os.environ['DONGLE_ID'] = dongle_id # Needed for swaglog if not dirty: os.environ['CLEAN'] = '1' cloudlog.bind_global(dongle_id=dongle_id, version=version, dirty=dirty, device=HARDWARE.get_device_type()) if not (os.getenv("NOLOG") or os.getenv("NOCRASH") or PC): crash.init() crash.bind_user(id=dongle_id) crash.bind_extra(dirty=dirty, origin=origin, branch=branch, commit=commit, device=HARDWARE.get_device_type())
def manager_init(): # update system time from panda set_time(cloudlog) # save boot log subprocess.call("./bootlog", cwd=os.path.join(BASEDIR, "selfdrive/loggerd")) params = Params() params.clear_all(ParamKeyType.CLEAR_ON_MANAGER_START) default_params = [ ("CommunityFeaturesToggle", "1"), ("jvePilot.carState.accEco", "1"), ("jvePilot.settings.accEco.speedAheadLevel1", "7"), ("jvePilot.settings.accEco.speedAheadLevel2", "5"), ("jvePilot.settings.autoFollow", "1"), ("jvePilot.settings.autoFollow.speed1-2Bars", "15"), ("jvePilot.settings.autoFollow.speed2-3Bars", "30"), ("jvePilot.settings.autoFollow.speed3-4Bars", "65"), ("jvePilot.settings.autoResume", "1"), ("jvePilot.settings.disableOnGas", "0"), ("jvePilot.settings.audioAlertOnSteeringLoss", "1"), ("jvePilot.settings.deviceOffset", "0.00"), ("jvePilot.settings.reverseAccSpeedChange", "1"), ("jvePilot.settings.slowInCurves", "1"), ("jvePilot.settings.slowInCurves.speedRatio", "1.0"), ("jvePilot.settings.slowInCurves.speedDropOff", "2.0"), ("jvePilot.settings.slowInCurves.speedDropOffAngle", "0.0"), ("CompletedTrainingVersion", "0"), ("HasAcceptedTerms", "0"), ("OpenpilotEnabledToggle", "1"), ] if not PC: default_params.append( ("LastUpdateTime", datetime.datetime.utcnow().isoformat().encode('utf8'))) if params.get_bool("RecordFrontLock"): params.put_bool("RecordFront", True) if not params.get_bool("DisableRadar_Allow"): params.delete("DisableRadar") # 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_bool("Passive", bool(int(os.getenv("PASSIVE")))) if params.get("Passive") is None: raise Exception("Passive must be set to continue") # Create folders needed for msgq try: os.mkdir("/dev/shm") except FileExistsError: pass except PermissionError: print("WARNING: failed to make /dev/shm") # set version params params.put("Version", get_version()) params.put("TermsVersion", terms_version) params.put("TrainingVersion", training_version) params.put("GitCommit", get_commit(default="")) params.put("GitBranch", get_short_branch(default="")) params.put("GitRemote", get_origin(default="")) # set dongle id reg_res = register(show_spinner=True) if reg_res: dongle_id = reg_res else: serial = params.get("HardwareSerial") raise Exception(f"Registration failed for device {serial}") os.environ['DONGLE_ID'] = dongle_id # Needed for swaglog if not get_dirty(): os.environ['CLEAN'] = '1' cloudlog.bind_global(dongle_id=dongle_id, version=get_version(), dirty=get_dirty(), device=HARDWARE.get_device_type()) if get_comma_remote() and not (os.getenv("NOLOG") or os.getenv("NOCRASH") or PC): crash.init() crash.bind_user(id=dongle_id) crash.bind_extra(dirty=get_dirty(), origin=get_origin(), branch=get_short_branch(), commit=get_commit(), device=HARDWARE.get_device_type())
def manager_init(): # update system time from panda set_time(cloudlog) params = Params() params.clear_all(ParamKeyType.CLEAR_ON_MANAGER_START) default_params = [ ("CompletedTrainingVersion", "0"), ("HasAcceptedTerms", "0"), ("HandsOnWheelMonitoring", "0"), ("OpenpilotEnabledToggle", "1"), ("ShowDebugUI", "1"), ("SpeedLimitControl", "1"), ("SpeedLimitPercOffset", "1"), ("TurnSpeedControl", "1"), ("TurnVisionControl", "1"), ("GMAutoHold", "1"), ("CruiseSpeedOffset", "1"), ("StockSpeedAdjust", "1"), ("CustomSounds", "0"), ("SilentEngageDisengage", "0"), ("AccelModeButton", "0"), ("AccelMode", "0"), ("EndToEndToggle", "1"), ("LanelessMode", "2"), ("NudgelessLaneChange", "0"), ("Coasting", "0"), ("RegenBraking", "0"), ("OnePedalMode", "0"), ("OnePedalModeSimple", "0"), ("OnePedalModeEngageOnGas", "0"), ("OnePedalBrakeMode", "0"), ("OnePedalPauseBlinkerSteering", "1"), ("FollowLevel", "2"), ("CoastingBrakeOverSpeed", "0"), ("FrictionBrakePercent", "0"), ("BrakeIndicator", "1"), ("DisableOnroadUploads", "0"), ("MeasureNumSlots", "0"), ("MeasureSlot00", "12"), # right column: percent grade ("MeasureSlot01", "10"), # altitude ("MeasureSlot02", "2"), # steering torque ("MeasureSlot03", "3"), # engine rpm ("MeasureSlot04", "7"), # engine coolant temperature ("MeasureSlot05", "16"), # lead dist [s] ("MeasureSlot06", "15"), # lead dist [m] ("MeasureSlot07", "20"), # lead rel spd [mph] ("MeasureSlot08", "21"), # lead spd [mph] ("MeasureSlot09", "23"), # device cpu percent and temp ] if not PC: default_params.append( ("LastUpdateTime", datetime.datetime.utcnow().isoformat().encode('utf8'))) if params.get_bool("RecordFrontLock"): params.put_bool("RecordFront", True) # set unset params for k, v in default_params: if params.get(k) is None: params.put(k, v) # parameters set by Enviroment Varables if os.getenv("HANDSMONITORING") is not None: params.put_bool("HandsOnWheelMonitoring", bool(int(os.getenv("HANDSMONITORING")))) # is this dashcam? if os.getenv("PASSIVE") is not None: params.put_bool("Passive", bool(int(os.getenv("PASSIVE")))) if params.get("Passive") is None: raise Exception("Passive must be set to continue") # Create folders needed for msgq try: os.mkdir("/dev/shm") except FileExistsError: pass except PermissionError: print("WARNING: failed to make /dev/shm") # set version params params.put("Version", version) params.put("TermsVersion", terms_version) params.put("TrainingVersion", training_version) params.put("GitCommit", get_git_commit(default="")) params.put("GitBranch", get_git_branch(default="")) params.put("GitRemote", get_git_remote(default="")) # set dongle id reg_res = register(show_spinner=True) if reg_res: dongle_id = reg_res else: serial = params.get("HardwareSerial") raise Exception(f"Registration failed for device {serial}") os.environ['DONGLE_ID'] = dongle_id # Needed for swaglog if not dirty: os.environ['CLEAN'] = '1' cloudlog.bind_global(dongle_id=dongle_id, version=version, dirty=dirty, device=HARDWARE.get_device_type()) if comma_remote and not (os.getenv("NOLOG") or os.getenv("NOCRASH") or PC): crash.init() crash.bind_user(id=dongle_id) crash.bind_extra(dirty=dirty, origin=origin, branch=branch, commit=commit, device=HARDWARE.get_device_type())