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 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 dongle id
reg_res = register(show_spinner=True)
if reg_res:
dongle_id = reg_res
else:
raise Exception("server registration failed")
os.environ['DONGLE_ID'] = dongle_id # Needed for swaglog and loggerd
if not dirty:
os.environ['CLEAN'] = '1'
cloudlog.bind_global(dongle_id=dongle_id,
version=version,
dirty=dirty,
device=HARDWARE.get_device_type())
crash.bind_user(id=dongle_id)
crash.bind_extra(version=version,
dirty=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 = [
("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.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
dongle_id = register(show_spinner=True)
if dongle_id is not None:
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 (dongle_id is None or 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)
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)
# 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())
