@ -9,7 +9,6 @@ from cereal import car, log
from msgq . visionipc import VisionIpcClient , VisionStreamType
from openpilot . common . git import get_short_branch
from openpilot . common . params import Params
from openpilot . common . realtime import config_realtime_process , Priority , Ratekeeper , DT_CTRL
from openpilot . common . swaglog import cloudlog
@ -37,23 +36,6 @@ ButtonType = car.CarState.ButtonEvent.Type
SafetyModel = car . CarParams . SafetyModel
IGNORED_SAFETY_MODES = ( SafetyModel . silent , SafetyModel . noOutput )
CSID_MAP = { " 1 " : EventName . roadCameraError , " 2 " : EventName . wideRoadCameraError , " 0 " : EventName . driverCameraError }
def get_startup_event ( car_recognized , controller_available , fw_seen ) :
build_metadata = get_build_metadata ( )
if build_metadata . openpilot . comma_remote and build_metadata . tested_channel :
event = EventName . startup
else :
event = EventName . startupMaster
if not car_recognized :
if fw_seen :
event = EventName . startupNoCar
else :
event = EventName . startupNoFw
elif car_recognized and not controller_available :
event = EventName . startupNoControl
return event
class SelfdriveD :
@ -61,7 +43,7 @@ class SelfdriveD:
self . params = Params ( )
# Ensure the current branch is cached, otherwise the first cycle lags
self . branch = get_short_branch ( )
build_metadata = get_build_metadata ( )
cloudlog . info ( " selfdrived is waiting for CarParams " )
self . CP = messaging . log_from_bytes ( self . params . get ( " CarParams " , block = True ) , car . CarParams )
@ -75,8 +57,6 @@ class SelfdriveD:
self . sensor_packets = [ " accelerometer " , " gyroscope " ]
self . camera_packets = [ " roadCameraState " , " driverCameraState " , " wideRoadCameraState " ]
self . log_sock = messaging . sub_sock ( ' androidLog ' )
# TODO: de-couple selfdrived with card/conflate on carState without introducing controls mismatches
self . car_state_sock = messaging . sub_sock ( ' carState ' , timeout = 20 )
@ -128,27 +108,23 @@ class SelfdriveD:
self . personality = self . read_personality_param ( )
self . recalibrating_seen = False
self . state_machine = StateMachine ( )
self . rk = Ratekeeper ( 100 , print_delay_threshold = None )
self . startup_event = get_startup_event ( car_recognized , not self . CP . passive , len ( self . CP . carFw ) > 0 )
# Determine startup event
self . startup_event = EventName . startup if build_metadata . openpilot . comma_remote and build_metadata . tested_channel else EventName . startupMaster
if not car_recognized :
self . startup_event = EventName . startupNoCar
elif car_recognized and self . CP . passive :
self . startup_event = EventName . startupNoControl
if not sounds_available :
self . events . add ( EventName . soundsUnavailable , static = True )
if not car_recognized :
self . events . add ( EventName . carUnrecognized , static = True )
if len ( self . CP . carFw ) > 0 :
set_offroad_alert ( " Offroad_CarUnrecognized " , True )
else :
set_offroad_alert ( " Offroad_NoFirmware " , True )
elif self . CP . passive :
self . events . add ( EventName . dashcamMode , static = True )
# selfdrived is driven by carState, expected at 100Hz
self . rk = Ratekeeper ( 100 , print_delay_threshold = None )
def set_initial_state ( self ) :
if REPLAY and any ( ps . controlsAllowed for ps in self . sm [ ' pandaStates ' ] ) :
self . state_machine . state = State . enabled
def update_events ( self , CS ) :
""" Compute onroadEvents from carState """
@ -355,18 +331,6 @@ class SelfdriveD:
if ( planner_fcw or model_fcw ) and not self . CP . notCar :
self . events . add ( EventName . fcw )
# Camera errors from the kernel
for m in messaging . drain_sock ( self . log_sock , wait_for_one = False ) :
try :
msg = m . androidLog . message
if any ( err in msg for err in ( " ERROR_CRC " , " ERROR_ECC " , " ERROR_STREAM_UNDERFLOW " , " APPLY FAILED " ) ) :
csid = msg . split ( " CSID: " ) [ - 1 ] . split ( " " ) [ 0 ]
evt = CSID_MAP . get ( csid , None )
if evt is not None :
self . events . add ( evt )
except UnicodeDecodeError :
pass
# TODO: fix simulator
if not SIMULATION or REPLAY :
# Not show in first 1.5 km to allow for driving out of garage. This event shows after 5 minutes
@ -403,9 +367,10 @@ class SelfdriveD:
if VisionStreamType . VISION_STREAM_WIDE_ROAD not in available_streams :
self . sm . ignore_alive . append ( ' wideRoadCameraState ' )
self . initialized = True
self . set_initial_state ( )
if REPLAY and any ( ps . controlsAllowed for ps in self . sm [ ' pandaStates ' ] ) :
self . state_machine . state = State . enabled
self . initialized = True
cloudlog . event (
" selfdrived.initialized " ,
dt = self . sm . frame * DT_CTRL ,
@ -449,19 +414,20 @@ class SelfdriveD:
ss_msg = messaging . new_message ( ' selfdriveState ' )
ss_msg . valid = True
ss = ss_msg . selfdriveState
if self . AM . current_alert :
ss . alertText1 = self . AM . current_alert . alert_text_1
ss . alertText2 = self . AM . current_alert . alert_text_2
ss . alertSize = self . AM . current_alert . alert_size
ss . alertStatus = self . AM . current_alert . alert_status
ss . alertType = self . AM . current_alert . alert_type
ss . alertSound = self . AM . current_alert . audible_alert
ss . enabled = self . enabled
ss . active = self . active
ss . state = self . state_machine . state
ss . engageable = not self . events . contains ( ET . NO_ENTRY )
ss . experimentalMode = self . experimental_mode
ss . personality = self . personality
ss . alertText1 = self . AM . current_alert . alert_text_1
ss . alertText2 = self . AM . current_alert . alert_text_2
ss . alertSize = self . AM . current_alert . alert_size
ss . alertStatus = self . AM . current_alert . alert_status
ss . alertType = self . AM . current_alert . alert_type
ss . alertSound = self . AM . current_alert . audible_alert
self . pm . send ( ' selfdriveState ' , ss_msg )
# onroadEvents - logged every second or on change
Adeeb Shihadeh
8 months ago
committed by
GitHub