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 wrap():
update_apks()
pm_apply_packages('enable')
start_offroad()
func()
try:
for package in android_packages:
apk_is_running = (subprocess.call(["pidof", package]) == 0)
assert apk_is_running, package
finally:
pm_apply_packages('disable')
for package in android_packages:
apk_is_not_running = (subprocess.call(["pidof", package]) == 1)
assert apk_is_not_running, package
def manager_init(spinner=None):
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"),
("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()
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(spinner)
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())
# 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)
os.chmod(os.path.join(BASEDIR, "cereal", "libmessaging_shared.so"),
0o755)
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 manager_init(spinner=None):
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"),
("VisionRadarToggle", "0"),
("LaneChangeEnabled", "1"),
("IsDriverViewEnabled", "0"),
("LimitSetSpeed", "0"),
("IsOpenpilotViewEnabled", "0"),
("OpkrAutoShutdown", "2"),
("OpkrAutoScreenOff", "0"),
("OpkrUIBrightness", "0"),
("OpkrEnableDriverMonitoring", "1"),
("OpkrEnableLogger", "0"),
("OpkrEnableGetoffAlert", "1"),
("OpkrAutoResume", "1"),
("OpkrVariableCruise", "1"),
("OpkrLaneChangeSpeed", "45"),
("OpkrAutoLaneChangeDelay", "0"),
("OpkrSteerAngleCorrection", "0"),
("PutPrebuiltOn", "0"),
("FingerprintIssuedFix", "0"),
("LdwsCarFix", "0"),
("LateralControlMethod", "0"),
("CruiseStatemodeSelInit", "1"),
("InnerLoopGain", "35"),
("OuterLoopGain", "20"),
("TimeConstant", "14"),
("ActuatorEffectiveness", "20"),
("Scale", "1750"),
("LqrKi", "10"),
("DcGain", "30"),
("IgnoreZone", "1"),
("PidKp", "30"),
("PidKi", "50"),
("PidKd", "150"),
("PidKf", "5"),
("CameraOffsetAdj", "60"),
("SteerRatioAdj", "150"),
("SteerRatioMaxAdj", "180"),
("SteerActuatorDelayAdj", "0"),
("SteerRateCostAdj", "45"),
("SteerLimitTimerAdj", "40"),
("TireStiffnessFactorAdj", "85"),
("SteerMaxAdj", "450"),
("SteerMaxBaseAdj", "280"),
("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"),
("OpkrAutoResumeOption", "1"),
("OpkrSpeedLimitOffset", "0"),
("LimitSetSpeedCamera", "0"),
("LimitSetSpeedCameraDist", "0"),
("OpkrLiveSteerRatio", "1"),
("OpkrVariableSteerMax", "1"),
("OpkrVariableSteerDelta", "0"),
("FingerprintTwoSet", "1"),
("OpkrVariableCruiseProfile", "0"),
("OpkrLiveTune", "0"),
("OpkrDrivingRecord", "0"),
("OpkrTurnSteeringDisable", "0"),
("CarModel", ""),
("OpkrSafetyCamera", "0"),
("OpkrHotspotOnBoot", "0"),
("UserOption1", "0"),
("UserOption2", "0"),
("UserOption3", "0"),
("UserOption4", "0"),
("UserOption5", "0"),
("UserOption6", "0"),
("UserOption7", "0"),
("UserOption8", "0"),
("UserOption9", "0"),
("UserOption10", "0"),
("UserOptionName1", "설정속도를 현재속도에 동기화"),
("UserOptionName2", "Shane's FeedForward 활성화"),
("UserOptionName3", "저속 조향각 제한 활성화"),
("UserOptionName4", "가변크루즈 사용시 카메라감속만 사용"),
("UserOptionName5", ""),
("UserOptionName6", ""),
("UserOptionName7", ""),
("UserOptionName8", ""),
("UserOptionName9", ""),
("UserOptionName10", ""),
("UserOptionNameDescription1", "가변 크루즈 사용시 운전자 가속으로 인해 현재속도가 설정속도보다 높아질 경우 설정속도를 현재속도와 동기화 합니다."),
("UserOptionNameDescription2", "PID제어 사용시 Shane's FeedForward를 활성화 합니다. 직선구간에서는 토크를 낮추고 곡선구간에서는 토크를 높여 핸들 움직임을 능동적으로 합니다."),
("UserOptionNameDescription3", "저속 주행시 급격한 필요조향각 변화 시 현재조향각 변화를 제한하여 스티어링의 과도한 조향을 억제 합니다"),
("UserOptionNameDescription4", "가변크루즈 사용시 카메라감속기능만 사용합니다. 차간거리 및 커브구간 가속/감속 기능은 사용하지 않습니다. ※오파모드에서는 동작하지 않습니다."),
("UserOptionNameDescription5", ""),
("UserOptionNameDescription6", ""),
("UserOptionNameDescription7", ""),
("UserOptionNameDescription8", ""),
("UserOptionNameDescription9", ""),
("UserOptionNameDescription10", ""),
]
# 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()
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(spinner)
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())
# 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)
os.chmod(os.path.join(BASEDIR, "cereal", "libmessaging_shared.so"), 0o755)
with TextWindow("openpilot failed to build\n \n" +
error_s) as t:
t.wait_for_exit()
exit(1)
else:
break
# enforce max cache size
cache_files = [f for f in CACHE_DIR.rglob('*') if f.is_file()]
cache_files.sort(key=lambda f: f.stat().st_mtime)
cache_size = sum(f.stat().st_size for f in cache_files)
for f in cache_files:
if cache_size < MAX_CACHE_SIZE:
break
cache_size -= f.stat().st_size
f.unlink()
if __name__ == "__main__" and not PREBUILT:
spinner = Spinner()
spinner.update_progress(0, 100)
build(spinner, get_dirty())
if EON:
update_apks()
os.chmod(BASEDIR, 0o755)
os.chmod(os.path.join(BASEDIR, "cereal"), 0o755)
os.chmod(os.path.join(BASEDIR, "cereal", "libmessaging_shared.so"),
0o755)
appops_set("com.neokii.optool", "SU", "allow")
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_thread():
Process(name="shutdownd", target=launcher,
args=("selfdrive.shutdownd", )).start()
update_apks()
os.chmod(BASEDIR, 0o755)
os.chmod("/dev/shm", 0o777)
os.chmod(os.path.join(BASEDIR, "cereal"), 0o755)
os.chmod(os.path.join(BASEDIR, "cereal", "libmessaging_shared.so"), 0o755)
pm_grant("com.neokii.openpilot", "android.permission.ACCESS_FINE_LOCATION")
appops_set("com.neokii.optool", "SU", "allow")
system("am startservice com.neokii.optool/.MainService")
system("am startservice com.neokii.openpilot/.MainService")
cloudlog.info("manager start")
cloudlog.info({"environ": os.environ})
# save boot log
#subprocess.call("./bootlog", cwd=os.path.join(BASEDIR, "selfdrive/loggerd"))
ignore = []
if os.getenv("NOBOARD") is not None:
ignore.append("pandad")
if os.getenv("BLOCK") is not None:
ignore += os.getenv("BLOCK").split(",")
ensure_running(managed_processes.values(), started=False, not_run=ignore)
started_prev = False
params = Params()
sm = messaging.SubMaster(['deviceState'])
pm = messaging.PubMaster(['managerState'])
while True:
sm.update()
not_run = ignore[:]
if sm['deviceState'].freeSpacePercent < 5:
not_run.append("loggerd")
started = sm['deviceState'].started
driverview = params.get_bool("IsDriverViewEnabled")
ensure_running(managed_processes.values(), started, driverview,
not_run)
# trigger an update after going offroad
if started_prev and not started and 'updated' in managed_processes:
os.sync()
managed_processes['updated'].signal(signal.SIGHUP)
started_prev = started
running_list = [
"%s%s\u001b[0m" %
("\u001b[32m" if p.proc.is_alive() else "\u001b[31m", p.name)
for p in managed_processes.values() if p.proc
]
cloudlog.debug(' '.join(running_list))
# send managerState
msg = messaging.new_message('managerState')
msg.managerState.processes = [
p.get_process_state_msg() for p in managed_processes.values()
]
pm.send('managerState', msg)
# TODO: let UI handle this
# Exit main loop when uninstall is needed
if params.get_bool("DoUninstall"):
break
def manager_init():
params = Params()
params.manager_start()
default_params = [
("CommunityFeaturesToggle", "0"),
("EndToEndToggle", "0"),
("CompletedTrainingVersion", "0"),
("IsRHD", "0"),
("IsMetric", "1"),
("RecordFront", "0"),
("HasAcceptedTerms", "0"),
("HasCompletedSetup", "0"),
("IsUploadRawEnabled", "1"),
("IsLdwEnabled", "0"),
("LastUpdateTime", datetime.datetime.utcnow().isoformat().encode('utf8')),
("OpenpilotEnabledToggle", "1"),
("VisionRadarToggle", "0"),
("IsDriverViewEnabled", "0"),
("IsOpenpilotViewEnabled", "0"),
("OpkrAutoShutdown", "2"),
("OpkrAutoScreenDimming", "0"),
("OpkrUIBrightness", "0"),
("OpkrUIBrightness", "0"),
("OpkrUIVolumeBoost", "0"),
("OpkrEnableDriverMonitoring", "1"),
("OpkrEnableLogger", "0"),
("OpkrEnableGetoffAlert", "1"),
("OpkrAutoResume", "1"),
("OpkrVariableCruise", "1"),
("OpkrLaneChangeSpeed", "45"),
("OpkrAutoLaneChangeDelay", "0"),
("OpkrSteerAngleCorrection", "0"),
("PutPrebuiltOn", "0"),
("FingerprintIssuedFix", "0"),
("LdwsCarFix", "0"),
("LateralControlMethod", "0"),
("CruiseStatemodeSelInit", "1"),
("InnerLoopGain", "35"),
("OuterLoopGain", "20"),
("TimeConstant", "14"),
("ActuatorEffectiveness", "20"),
("Scale", "1750"),
("LqrKi", "10"),
("DcGain", "30"),
("IgnoreZone", "1"),
("PidKp", "20"),
("PidKi", "40"),
("PidKd", "150"),
("PidKf", "5"),
("CameraOffsetAdj", "60"),
("SteerRatioAdj", "150"),
("SteerRatioMaxAdj", "180"),
("SteerActuatorDelayAdj", "0"),
("SteerRateCostAdj", "45"),
("SteerLimitTimerAdj", "40"),
("TireStiffnessFactorAdj", "85"),
("SteerMaxBaseAdj", "300"),
("SteerMaxAdj", "384"),
("SteerDeltaUpBaseAdj", "3"),
("SteerDeltaUpAdj", "3"),
("SteerDeltaDownBaseAdj", "7"),
("SteerDeltaDownAdj", "7"),
("SteerMaxvAdj", "10"),
("OpkrBatteryChargingControl", "1"),
("OpkrBatteryChargingMin", "70"),
("OpkrBatteryChargingMax", "80"),
("LeftCurvOffsetAdj", "0"),
("RightCurvOffsetAdj", "0"),
("DebugUi1", "0"),
("DebugUi2", "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", ""),
("OpkrHotspotOnBoot", "0"),
("OpkrSSHLegacy", "1"),
("ShaneFeedForward", "0"),
("CruiseOverMaxSpeed", "0"),
("OpkrMapDecelOnly", "0"),
("JustDoGearD", "0"),
("LanelessMode", "0"),
("ComIssueGone", "0"),
("MaxSteer", "384"),
("MaxRTDelta", "112"),
("MaxRateUp", "3"),
("MaxRateDown", "7"),
("SteerThreshold", "150"),
]
if params.get("RecordFrontLock", encoding='utf-8') == "1":
params.put("RecordFront", "1")
# 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()
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())
# 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)
os.chmod(os.path.join(BASEDIR, "cereal", "libmessaging_shared.so"), 0o755)
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()
