sadmen
/
openpilot_comma
mirror of https://github.com/commaai/openpilot.git
1
0
Fork 0
Code Issues Packages Projects Releases Wiki Activity

onroad transition: clear params and start safety setter thread (#28151)

Browse Source 
* rename from ignition to onroad/offroad

* forgot one

* clear in manager

* don't clear in boardd anymore

fix

* params isn't used here

* add comment

* Revert "add comment"

This reverts commit 54fb666050.

* write params in manager

* first part is self explanatory

* remove these from thermald now

* start safety setter thread with IsOnroad

* drivesss

* more

* less

* come back

* makes sense here
old-commit-hash: b8fa7f58ea
beeps
Shane Smiskol 2 years ago committed by GitHub
parent ec5bd1077b
commit a14463cbe3
6 changed files with 43 additions and 31 deletions
Whitespace
Show all changes Ignore whitespace when comparing lines Ignore changes in amount of whitespace Ignore changes in whitespace at EOL
Unified View
Diff Options
Show Stats Download Patch File Download Diff File
  1. 34
      common/params.cc
  2. 4
      common/params.h
  3. 4
      common/params_pyx.pyx
  4. 14
      selfdrive/boardd/boardd.cc
  5. 15
      selfdrive/manager/manager.py
  6. 3
      selfdrive/thermald/thermald.py

34
common/params.cc
Unescape View File

@ -92,15 +92,15 @@ std::unordered_map<std::string, uint32_t> keys = {
{"CameraDebugExpGain", CLEAR_ON_MANAGER_START}, {"CameraDebugExpGain", CLEAR_ON_MANAGER_START},
{"CameraDebugExpTime", CLEAR_ON_MANAGER_START}, {"CameraDebugExpTime", CLEAR_ON_MANAGER_START},
{"CarBatteryCapacity", PERSISTENT}, {"CarBatteryCapacity", PERSISTENT},
{"CarParams", CLEAR_ON_MANAGER_START | CLEAR_ON_IGNITION_ON}, {"CarParams", CLEAR_ON_MANAGER_START | CLEAR_ON_ONROAD_TRANSITION},
{"CarParamsCache", CLEAR_ON_MANAGER_START}, {"CarParamsCache", CLEAR_ON_MANAGER_START},
{"CarParamsPersistent", PERSISTENT}, {"CarParamsPersistent", PERSISTENT},
{"CarVin", CLEAR_ON_MANAGER_START | CLEAR_ON_IGNITION_ON}, {"CarVin", CLEAR_ON_MANAGER_START | CLEAR_ON_ONROAD_TRANSITION},
{"CompletedTrainingVersion", PERSISTENT}, {"CompletedTrainingVersion", PERSISTENT},
{"ControlsReady", CLEAR_ON_MANAGER_START | CLEAR_ON_IGNITION_ON}, {"ControlsReady", CLEAR_ON_MANAGER_START | CLEAR_ON_ONROAD_TRANSITION},
{"CurrentBootlog", PERSISTENT}, {"CurrentBootlog", PERSISTENT},
{"CurrentRoute", CLEAR_ON_MANAGER_START | CLEAR_ON_IGNITION_ON}, {"CurrentRoute", CLEAR_ON_MANAGER_START | CLEAR_ON_ONROAD_TRANSITION},
{"DisableLogging", CLEAR_ON_MANAGER_START | CLEAR_ON_IGNITION_ON}, {"DisableLogging", CLEAR_ON_MANAGER_START | CLEAR_ON_ONROAD_TRANSITION},
{"DisablePowerDown", PERSISTENT}, {"DisablePowerDown", PERSISTENT},
{"ExperimentalMode", PERSISTENT}, {"ExperimentalMode", PERSISTENT},
{"ExperimentalModeConfirmed", PERSISTENT}, {"ExperimentalModeConfirmed", PERSISTENT},
@ -111,7 +111,7 @@ std::unordered_map<std::string, uint32_t> keys = {
{"DoReboot", CLEAR_ON_MANAGER_START}, {"DoReboot", CLEAR_ON_MANAGER_START},
{"DoShutdown", CLEAR_ON_MANAGER_START}, {"DoShutdown", CLEAR_ON_MANAGER_START},
{"DoUninstall", CLEAR_ON_MANAGER_START}, {"DoUninstall", CLEAR_ON_MANAGER_START},
{"FirmwareQueryDone", CLEAR_ON_MANAGER_START | CLEAR_ON_IGNITION_ON}, {"FirmwareQueryDone", CLEAR_ON_MANAGER_START | CLEAR_ON_ONROAD_TRANSITION},
{"ForcePowerDown", CLEAR_ON_MANAGER_START}, {"ForcePowerDown", CLEAR_ON_MANAGER_START},
{"GitBranch", PERSISTENT}, {"GitBranch", PERSISTENT},
{"GitCommit", PERSISTENT}, {"GitCommit", PERSISTENT},
@ -137,7 +137,7 @@ std::unordered_map<std::string, uint32_t> keys = {
{"IsTestedBranch", CLEAR_ON_MANAGER_START}, {"IsTestedBranch", CLEAR_ON_MANAGER_START},
{"IsReleaseBranch", CLEAR_ON_MANAGER_START}, {"IsReleaseBranch", CLEAR_ON_MANAGER_START},
{"IsUpdateAvailable", CLEAR_ON_MANAGER_START}, {"IsUpdateAvailable", CLEAR_ON_MANAGER_START},
{"JoystickDebugMode", CLEAR_ON_MANAGER_START | CLEAR_ON_IGNITION_OFF}, {"JoystickDebugMode", CLEAR_ON_MANAGER_START | CLEAR_ON_OFFROAD_TRANSITION},
{"LaikadEphemerisV3", PERSISTENT | DONT_LOG}, {"LaikadEphemerisV3", PERSISTENT | DONT_LOG},
{"LanguageSetting", PERSISTENT}, {"LanguageSetting", PERSISTENT},
{"LastAthenaPingTime", CLEAR_ON_MANAGER_START}, {"LastAthenaPingTime", CLEAR_ON_MANAGER_START},
@ -150,30 +150,30 @@ std::unordered_map<std::string, uint32_t> keys = {
{"LiveParameters", PERSISTENT}, {"LiveParameters", PERSISTENT},
{"LiveTorqueCarParams", PERSISTENT}, {"LiveTorqueCarParams", PERSISTENT},
{"LiveTorqueParameters", PERSISTENT | DONT_LOG}, {"LiveTorqueParameters", PERSISTENT | DONT_LOG},
{"NavDestination", CLEAR_ON_MANAGER_START | CLEAR_ON_IGNITION_OFF}, {"NavDestination", CLEAR_ON_MANAGER_START | CLEAR_ON_OFFROAD_TRANSITION},
{"NavDestinationWaypoints", CLEAR_ON_MANAGER_START | CLEAR_ON_IGNITION_OFF}, {"NavDestinationWaypoints", CLEAR_ON_MANAGER_START | CLEAR_ON_OFFROAD_TRANSITION},
{"NavSettingTime24h", PERSISTENT}, {"NavSettingTime24h", PERSISTENT},
{"NavSettingLeftSide", PERSISTENT}, {"NavSettingLeftSide", PERSISTENT},
{"NavdRender", PERSISTENT}, {"NavdRender", PERSISTENT},
{"ObdMultiplexingChanged", CLEAR_ON_MANAGER_START | CLEAR_ON_IGNITION_ON}, {"ObdMultiplexingChanged", CLEAR_ON_MANAGER_START | CLEAR_ON_ONROAD_TRANSITION},
{"ObdMultiplexingEnabled", CLEAR_ON_MANAGER_START | CLEAR_ON_IGNITION_ON}, {"ObdMultiplexingEnabled", CLEAR_ON_MANAGER_START | CLEAR_ON_ONROAD_TRANSITION},
{"OpenpilotEnabledToggle", PERSISTENT}, {"OpenpilotEnabledToggle", PERSISTENT},
{"PandaHeartbeatLost", CLEAR_ON_MANAGER_START | CLEAR_ON_IGNITION_OFF}, {"PandaHeartbeatLost", CLEAR_ON_MANAGER_START | CLEAR_ON_OFFROAD_TRANSITION},
{"PandaSignatures", CLEAR_ON_MANAGER_START}, {"PandaSignatures", CLEAR_ON_MANAGER_START},
{"Passive", PERSISTENT}, {"Passive", PERSISTENT},
{"PrimeType", PERSISTENT}, {"PrimeType", PERSISTENT},
{"RecordFront", PERSISTENT}, {"RecordFront", PERSISTENT},
{"RecordFrontLock", PERSISTENT}, // for the internal fleet {"RecordFrontLock", PERSISTENT}, // for the internal fleet
{"ReplayControlsState", CLEAR_ON_MANAGER_START | CLEAR_ON_IGNITION_ON}, {"ReplayControlsState", CLEAR_ON_MANAGER_START | CLEAR_ON_ONROAD_TRANSITION},
{"ShouldDoUpdate", CLEAR_ON_MANAGER_START}, {"ShouldDoUpdate", CLEAR_ON_MANAGER_START},
{"SnoozeUpdate", CLEAR_ON_MANAGER_START | CLEAR_ON_IGNITION_OFF}, {"SnoozeUpdate", CLEAR_ON_MANAGER_START | CLEAR_ON_OFFROAD_TRANSITION},
{"SshEnabled", PERSISTENT}, {"SshEnabled", PERSISTENT},
{"SubscriberInfo", PERSISTENT}, {"SubscriberInfo", PERSISTENT},
{"TermsVersion", PERSISTENT}, {"TermsVersion", PERSISTENT},
{"Timezone", PERSISTENT}, {"Timezone", PERSISTENT},
{"TrainingVersion", PERSISTENT}, {"TrainingVersion", PERSISTENT},
{"UbloxAvailable", PERSISTENT}, {"UbloxAvailable", PERSISTENT},
{"UpdateAvailable", CLEAR_ON_MANAGER_START | CLEAR_ON_IGNITION_ON}, {"UpdateAvailable", CLEAR_ON_MANAGER_START | CLEAR_ON_ONROAD_TRANSITION},
{"UpdateFailedCount", CLEAR_ON_MANAGER_START}, {"UpdateFailedCount", CLEAR_ON_MANAGER_START},
{"UpdaterState", CLEAR_ON_MANAGER_START}, {"UpdaterState", CLEAR_ON_MANAGER_START},
{"UpdaterFetchAvailable", CLEAR_ON_MANAGER_START}, {"UpdaterFetchAvailable", CLEAR_ON_MANAGER_START},
@ -191,13 +191,13 @@ std::unordered_map<std::string, uint32_t> keys = {
{"ApiCache_NavDestinations", PERSISTENT}, {"ApiCache_NavDestinations", PERSISTENT},
{"ApiCache_Owner", PERSISTENT}, {"ApiCache_Owner", PERSISTENT},
{"Offroad_BadNvme", CLEAR_ON_MANAGER_START}, {"Offroad_BadNvme", CLEAR_ON_MANAGER_START},
{"Offroad_CarUnrecognized", CLEAR_ON_MANAGER_START | CLEAR_ON_IGNITION_ON}, {"Offroad_CarUnrecognized", CLEAR_ON_MANAGER_START | CLEAR_ON_ONROAD_TRANSITION},
{"Offroad_ConnectivityNeeded", CLEAR_ON_MANAGER_START}, {"Offroad_ConnectivityNeeded", CLEAR_ON_MANAGER_START},
{"Offroad_ConnectivityNeededPrompt", CLEAR_ON_MANAGER_START}, {"Offroad_ConnectivityNeededPrompt", CLEAR_ON_MANAGER_START},
{"Offroad_InvalidTime", CLEAR_ON_MANAGER_START}, {"Offroad_InvalidTime", CLEAR_ON_MANAGER_START},
{"Offroad_IsTakingSnapshot", CLEAR_ON_MANAGER_START}, {"Offroad_IsTakingSnapshot", CLEAR_ON_MANAGER_START},
{"Offroad_NeosUpdate", CLEAR_ON_MANAGER_START}, {"Offroad_NeosUpdate", CLEAR_ON_MANAGER_START},
{"Offroad_NoFirmware", CLEAR_ON_MANAGER_START | CLEAR_ON_IGNITION_ON}, {"Offroad_NoFirmware", CLEAR_ON_MANAGER_START | CLEAR_ON_ONROAD_TRANSITION},
{"Offroad_StorageMissing", CLEAR_ON_MANAGER_START}, {"Offroad_StorageMissing", CLEAR_ON_MANAGER_START},
{"Offroad_TemperatureTooHigh", CLEAR_ON_MANAGER_START}, {"Offroad_TemperatureTooHigh", CLEAR_ON_MANAGER_START},
{"Offroad_UnofficialHardware", CLEAR_ON_MANAGER_START}, {"Offroad_UnofficialHardware", CLEAR_ON_MANAGER_START},

4
common/params.h
Unescape View File

@ -7,8 +7,8 @@
enum ParamKeyType { enum ParamKeyType {
PERSISTENT = 0x02, PERSISTENT = 0x02,
CLEAR_ON_MANAGER_START = 0x04, CLEAR_ON_MANAGER_START = 0x04,
CLEAR_ON_IGNITION_ON = 0x08, CLEAR_ON_ONROAD_TRANSITION = 0x08,
CLEAR_ON_IGNITION_OFF = 0x10, CLEAR_ON_OFFROAD_TRANSITION = 0x10,
DONT_LOG = 0x20, DONT_LOG = 0x20,
ALL = 0xFFFFFFFF ALL = 0xFFFFFFFF
}; };

4
common/params_pyx.pyx
Unescape View File

@ -9,8 +9,8 @@ cdef extern from "common/params.h":
cpdef enum ParamKeyType: cpdef enum ParamKeyType:
PERSISTENT PERSISTENT
CLEAR_ON_MANAGER_START CLEAR_ON_MANAGER_START
CLEAR_ON_IGNITION_ON CLEAR_ON_ONROAD_TRANSITION
CLEAR_ON_IGNITION_OFF CLEAR_ON_OFFROAD_TRANSITION
ALL ALL
cdef cppclass c_Params "Params": cdef cppclass c_Params "Params":

14
selfdrive/boardd/boardd.cc
Unescape View File

@ -466,7 +466,8 @@ void panda_state_thread(PubMaster *pm, std::vector<Panda *> pandas, bool spoofin
SubMaster sm({"controlsState"}); SubMaster sm({"controlsState"});
Panda *peripheral_panda = pandas[0]; Panda *peripheral_panda = pandas[0];
bool ignition_last = false; bool is_onroad = false;
bool is_onroad_last = false;
std::future<bool> safety_future; std::future<bool> safety_future;
LOGD("start panda state thread"); LOGD("start panda state thread");
@ -507,19 +508,18 @@ void panda_state_thread(PubMaster *pm, std::vector<Panda *> pandas, bool spoofin
} }
} }
// clear ignition-based params and set new safety on car start is_onroad = params.getBool("IsOnroad");
if (ignition && !ignition_last) {
params.clearAll(CLEAR_ON_IGNITION_ON); // set new safety on onroad transition, after params are cleared
if (is_onroad && !is_onroad_last) {
if (!safety_future.valid() || safety_future.wait_for(0ms) == std::future_status::ready) { if (!safety_future.valid() || safety_future.wait_for(0ms) == std::future_status::ready) {
safety_future = std::async(std::launch::async, safety_setter_thread, pandas); safety_future = std::async(std::launch::async, safety_setter_thread, pandas);
} else { } else {
LOGW("Safety setter thread already running"); LOGW("Safety setter thread already running");
} }
} else if (!ignition && ignition_last) {
params.clearAll(CLEAR_ON_IGNITION_OFF);
} }
ignition_last = ignition; is_onroad_last = is_onroad;
sm.update(0); sm.update(0);
const bool engaged = sm.allAliveAndValid({"controlsState"}) && sm["controlsState"].getControlsState().getEnabled(); const bool engaged = sm.allAliveAndValid({"controlsState"}) && sm["controlsState"].getControlsState().getEnabled();

15
selfdrive/manager/manager.py
Unescape View File

@ -138,10 +138,25 @@ def manager_thread() -> None:
ensure_running(managed_processes.values(), False, params=params, CP=sm['carParams'], not_run=ignore) ensure_running(managed_processes.values(), False, params=params, CP=sm['carParams'], not_run=ignore)
started_prev = False
while True: while True:
sm.update() sm.update()
started = sm['deviceState'].started started = sm['deviceState'].started
if started and not started_prev:
params.clear_all(ParamKeyType.CLEAR_ON_ONROAD_TRANSITION)
elif not started and started_prev:
params.clear_all(ParamKeyType.CLEAR_ON_OFFROAD_TRANSITION)
# initialize and update onroad params, which drives boardd's safety setter thread
if started != started_prev or sm.frame == 0:
params.put_bool("IsOnroad", started)
params.put_bool("IsOffroad", not started)
started_prev = started
ensure_running(managed_processes.values(), started, params=params, CP=sm['carParams'], not_run=ignore) ensure_running(managed_processes.values(), started, params=params, CP=sm['carParams'], not_run=ignore)
running = ' '.join("%s%s\u001b[0m" % ("\u001b[32m" if p.proc.is_alive() else "\u001b[31m", p.name) running = ' '.join("%s%s\u001b[0m" % ("\u001b[32m" if p.proc.is_alive() else "\u001b[31m", p.name)

3
selfdrive/thermald/thermald.py
Unescape View File

@ -313,9 +313,6 @@ def thermald_thread(end_event, hw_queue):
should_start = should_start and all(startup_conditions.values()) should_start = should_start and all(startup_conditions.values())
if should_start != should_start_prev or (count == 0): if should_start != should_start_prev or (count == 0):
params.put_bool("IsOnroad", should_start)
params.put_bool("IsOffroad", not should_start)
params.put_bool("IsEngaged", False) params.put_bool("IsEngaged", False)
engaged_prev = False engaged_prev = False
HARDWARE.set_power_save(not should_start) HARDWARE.set_power_save(not should_start)

Write Preview
Loading…
Cancel
Save