def getVersion():
return {
"version": get_version(),
"remote": get_git_remote(),
"branch": get_git_branch(),
"commit": get_git_commit(),
}
def register():
params = Params()
params.put("Version", version)
params.put("TrainingVersion", training_version)
params.put("GitCommit", get_git_commit())
params.put("GitBranch", get_git_branch())
params.put("GitRemote", get_git_remote())
params.put("SubscriberInfo", get_subscriber_info())
# create a key for auth
# your private key is kept on your device persist partition and never sent to our servers
# do not erase your persist partition
if not os.path.isfile("/persist/comma/id_rsa.pub"):
cloudlog.warning("generating your personal RSA key")
mkdirs_exists_ok("/persist/comma")
assert os.system(
"echo -e 'y\n' | ssh-keygen -t rsa -b 2048 -f /persist/comma/id_rsa.tmp -N ''"
) == 0
os.rename("/persist/comma/id_rsa.tmp", "/persist/comma/id_rsa")
os.rename("/persist/comma/id_rsa.tmp.pub", "/persist/comma/id_rsa.pub")
dongle_id, access_token = params.get("DongleId"), params.get("AccessToken")
public_key = open("/persist/comma/id_rsa.pub").read()
# create registration token
# in the future, this key will make JWTs directly
private_key = open("/persist/comma/id_rsa").read()
register_token = jwt.encode(
{
'register': True,
'exp': datetime.utcnow() + timedelta(hours=1)
},
private_key,
algorithm='RS256')
try:
cloudlog.info("getting pilotauth")
resp = api_get("v2/pilotauth/",
method='POST',
timeout=15,
imei=get_imei(),
serial=get_serial(),
public_key=public_key,
register_token=register_token)
dongleauth = json.loads(resp.text)
dongle_id, access_token = dongleauth["dongle_id"].encode(
'ascii'), dongleauth["access_token"].encode('ascii')
params.put("DongleId", dongle_id)
params.put("AccessToken", access_token)
return dongle_id, access_token
except Exception:
cloudlog.exception("failed to authenticate")
if dongle_id is not None and access_token is not None:
return dongle_id, access_token
else:
return None
def register():
params = Params()
params.put("Version", version)
params.put("TermsVersion", terms_version)
params.put("TrainingVersion", training_version)
params.put("GitCommit", get_git_commit())
params.put("GitBranch", get_git_branch())
params.put("GitRemote", get_git_remote())
params.put("SubscriberInfo", get_subscriber_info())
# make key readable by app users (ai.comma.plus.offroad)
os.chmod('/persist/comma/', 0o755)
os.chmod('/persist/comma/id_rsa', 0o744)
dongle_id, access_token = params.get(
"DongleId", encoding='utf8'), params.get("AccessToken",
encoding='utf8')
public_key = open("/persist/comma/id_rsa.pub").read()
# create registration token
# in the future, this key will make JWTs directly
private_key = open("/persist/comma/id_rsa").read()
# late import
import jwt
register_token = jwt.encode(
{
'register': True,
'exp': datetime.utcnow() + timedelta(hours=1)
},
private_key,
algorithm='RS256')
try:
cloudlog.info("getting pilotauth")
resp = api_get("v2/pilotauth/",
method='POST',
timeout=15,
imei=get_imei(),
serial=get_serial(),
public_key=public_key,
register_token=register_token)
dongleauth = json.loads(resp.text)
dongle_id, access_token = dongleauth["dongle_id"], dongleauth[
"access_token"]
params.put("DongleId", dongle_id)
params.put("AccessToken", access_token)
return dongle_id, access_token
except Exception:
cloudlog.exception("failed to authenticate")
if dongle_id is not None and access_token is not None:
return dongle_id, access_token
else:
return None
def register():
params = 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=""))
params.put("SubscriberInfo", get_subscriber_info())
# create a key for auth
# your private key is kept on your device persist partition and never sent to our servers
# do not erase your persist partition
if not os.path.isfile(PERSIST+"/comma/id_rsa.pub"):
cloudlog.warning("generating your personal RSA key")
mkdirs_exists_ok(PERSIST+"/comma")
assert os.system("openssl genrsa -out "+PERSIST+"/comma/id_rsa.tmp 2048") == 0
assert os.system("openssl rsa -in "+PERSIST+"/comma/id_rsa.tmp -pubout -out "+PERSIST+"/comma/id_rsa.tmp.pub") == 0
os.rename(PERSIST+"/comma/id_rsa.tmp", PERSIST+"/comma/id_rsa")
os.rename(PERSIST+"/comma/id_rsa.tmp.pub", PERSIST+"/comma/id_rsa.pub")
# make key readable by app users (ai.comma.plus.offroad)
os.chmod(PERSIST+'/comma/', 0o755)
os.chmod(PERSIST+'/comma/id_rsa', 0o744)
dongle_id = params.get("DongleId", encoding='utf8')
public_key = open(PERSIST+"/comma/id_rsa.pub").read()
# create registration token
# in the future, this key will make JWTs directly
private_key = open(PERSIST+"/comma/id_rsa").read()
# late import
import jwt
register_token = jwt.encode({'register': True, 'exp': datetime.utcnow() + timedelta(hours=1)}, private_key, algorithm='RS256')
try:
cloudlog.info("getting pilotauth")
resp = api_get("v2/pilotauth/", method='POST', timeout=15,
imei=get_imei(0), imei2=get_imei(1), serial=get_serial(), public_key=public_key, register_token=register_token)
dongleauth = json.loads(resp.text)
dongle_id = dongleauth["dongle_id"]
params.put("DongleId", dongle_id)
return dongle_id
except Exception:
cloudlog.exception("failed to authenticate")
if dongle_id is not None:
return dongle_id
else:
return None
def manager_init(should_register=False):
params = Params() # apparently not registering in registration.py requires us to do this here
if should_register:
reg_res = register()
if reg_res:
dongle_id, dongle_secret = reg_res
else:
raise Exception("server registration failed")
else:
# apparently not registering in registration.py requires us to do this here
params.put("Version", version)
params.put("TermsVersion", terms_version)
params.put("TrainingVersion", training_version)
params.put("GitCommit", get_git_commit())
params.put("GitBranch", get_git_branch())
params.put("GitRemote", get_git_remote())
params.put("SubscriberInfo", get_subscriber_info())
dongle_id = params.get('DongleId')
if dongle_id:
dongle_id = dongle_id.decode("utf-8")
else:
dongle_id = str("c"*16)
# set dongle id
cloudlog.info("dongle id is " + dongle_id)
os.environ['DONGLE_ID'] = dongle_id
cloudlog.info("dirty is %d" % dirty)
if not dirty:
os.environ['CLEAN'] = '1'
cloudlog.bind_global(dongle_id=dongle_id, version=version, dirty=dirty, is_eon=True)
crash.bind_user(id=dongle_id)
crash.bind_extra(version=version, dirty=dirty, is_eon=True)
os.umask(0)
try:
os.mkdir(ROOT, 0o777)
except OSError:
pass
# ensure shared libraries are readable by apks
if ANDROID:
os.chmod(BASEDIR, 0o755)
os.chmod(os.path.join(BASEDIR, "cereal"), 0o755)
os.chmod(os.path.join(BASEDIR, "cereal", "libmessaging_shared.so"), 0o755)
]
results: Any = {TEST_ROUTE: {}}
results[TEST_ROUTE]["modeld"] = compare_logs(cmp_log,
log_msgs,
ignore_fields=ignore)
diff1, diff2, failed = format_diff(results, ref_commit)
print(diff1)
with open("model_diff.txt", "w") as f:
f.write(diff2)
if update or failed:
from selfdrive.test.openpilotci import upload_file
print("Uploading new refs")
new_commit = get_git_commit()
log_fn = "%s_%s_%s.bz2" % (TEST_ROUTE, "model", new_commit)
save_log(log_fn, log_msgs)
try:
upload_file(log_fn, os.path.basename(log_fn))
except Exception as e:
print("failed to upload", e)
with open(ref_commit_fn, 'w') as f:
f.write(str(new_commit))
print("\n\nNew ref commit: ", new_commit)
sys.exit(int(failed))
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 bind_extra(**kwargs):
pass
def install():
pass
else:
from raven import Client
from raven.transport.http import HTTPTransport
from selfdrive.version import origin, branch, get_git_commit
from common.op_params import opParams
CRASHES_DIR = '/data/community/crashes'
if not os.path.exists(CRASHES_DIR):
os.makedirs(CRASHES_DIR)
error_tags = {'dirty': dirty, 'origin': origin, 'branch': branch, 'commit': get_git_commit()}
username = opParams().get('username')
if username is None or not isinstance(username, str):
username = '******'
error_tags['username'] = username
sentry_uri = 'https://*****:*****@app.getsentry.com/77924' # stock
client = Client(sentry_uri, install_sys_hook=False, transport=HTTPTransport, release=version, tags=error_tags)
def save_exception(exc_text):
log_file = '{}/{}'.format(CRASHES_DIR, datetime.now().strftime('%d-%m-%Y--%I:%M.%S-%p.log'))
with open(log_file, 'w') as f:
f.write(exc_text)
print('Logged current crash to {}'.format(log_file))
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 install():
pass
else:
from raven import Client
from raven.transport.http import HTTPTransport
from selfdrive.version import origin, branch, get_git_commit
CRASHES_DIR = '/data/community/crashes'
if not os.path.exists(CRASHES_DIR):
os.makedirs(CRASHES_DIR)
error_tags = {
'dirty': dirty,
'origin': origin,
'branch': branch,
'commit': get_git_commit()
}
username = ""
if username is None or not isinstance(username, str):
username = '******'
error_tags['username'] = username
sentry_uri = 'https://*****:*****@app.getsentry.com/77924' # stock
client = Client(sentry_uri,
install_sys_hook=False,
transport=HTTPTransport,
release=version,
tags=error_tags)
def save_exception(exc_text):
log_file = '{}/{}'.format(
from selfdrive.test.openpilotci import upload_file
from selfdrive.test.process_replay.compare_logs import save_log
from selfdrive.test.process_replay.test_processes import segments, get_segment
from selfdrive.version import get_git_commit
from tools.lib.logreader import LogReader
from inject_model import inject_model
if __name__ == "__main__":
no_upload = "--no-upload" in sys.argv
process_replay_dir = os.path.dirname(os.path.abspath(__file__))
ref_commit_fn = os.path.join(process_replay_dir, "model_ref_commit")
ref_commit = get_git_commit()
if ref_commit is None:
raise Exception("couldn't get ref commit")
with open(ref_commit_fn, "w") as f:
f.write(ref_commit)
for car_brand, segment in segments:
rlog_fn = get_segment(segment, original=True)
if rlog_fn is None:
print("failed to get segment %s" % segment)
sys.exit(1)
lr = LogReader(rlog_fn)
print('injecting model into % s' % segment)
lr = inject_model(lr, segment)
def register(show_spinner=False):
params = 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=""))
params.put("SubscriberInfo", HARDWARE.get_subscriber_info())
IMEI = params.get("IMEI", encoding='utf8')
HardwareSerial = params.get("HardwareSerial", encoding='utf8')
needs_registration = (None in [IMEI, HardwareSerial])
# create a key for auth
# your private key is kept on your device persist partition and never sent to our servers
# do not erase your persist partition
if not os.path.isfile(PERSIST + "/comma/id_rsa.pub"):
needs_registration = True
cloudlog.warning("generating your personal RSA key")
mkdirs_exists_ok(PERSIST + "/comma")
assert os.system("openssl genrsa -out " + PERSIST +
"/comma/id_rsa.tmp 2048") == 0
assert os.system("openssl rsa -in " + PERSIST +
"/comma/id_rsa.tmp -pubout -out " + PERSIST +
"/comma/id_rsa.tmp.pub") == 0
os.rename(PERSIST + "/comma/id_rsa.tmp", PERSIST + "/comma/id_rsa")
os.rename(PERSIST + "/comma/id_rsa.tmp.pub",
PERSIST + "/comma/id_rsa.pub")
# make key readable by app users (ai.comma.plus.offroad)
os.chmod(PERSIST + '/comma/', 0o755)
os.chmod(PERSIST + '/comma/id_rsa', 0o744)
dongle_id = params.get("DongleId", encoding='utf8')
needs_registration = needs_registration or dongle_id is None
if needs_registration:
if show_spinner:
spinner = Spinner()
spinner.update("registering device")
# Create registration token, in the future, this key will make JWTs directly
private_key = open(PERSIST + "/comma/id_rsa").read()
public_key = open(PERSIST + "/comma/id_rsa.pub").read()
register_token = jwt.encode(
{
'register': True,
'exp': datetime.utcnow() + timedelta(hours=1)
},
private_key,
algorithm='RS256')
# Block until we get the imei
imei1, imei2 = None, None
while imei1 is None and imei2 is None:
try:
imei1, imei2 = HARDWARE.get_imei(0), HARDWARE.get_imei(1)
except Exception:
cloudlog.exception("Error getting imei, trying again...")
time.sleep(1)
serial = HARDWARE.get_serial()
params.put("IMEI", imei1)
params.put("HardwareSerial", serial)
while True:
try:
cloudlog.info("getting pilotauth")
resp = api_get("v2/pilotauth/",
method='POST',
timeout=15,
imei=imei1,
imei2=imei2,
serial=serial,
public_key=public_key,
register_token=register_token)
dongleauth = json.loads(resp.text)
dongle_id = dongleauth["dongle_id"]
params.put("DongleId", dongle_id)
break
except Exception:
cloudlog.exception("failed to authenticate")
time.sleep(1)
if show_spinner:
spinner.close()
return dongle_id
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.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())
