Resolve merge, code updates to match up 0.8.1

common/basedir.py

@@ -2,7 +2,11 @@
 BASEDIR = os.path.abspath(os.path.join(os.path.dirname(os.path.realpath(__file__)), "../"))
 
 from selfdrive.hardware import PC
+is_tbp = os.path.isfile('/data/tinkla_buddy_pro')
 if PC:
   PERSIST = os.path.join(BASEDIR, "persist")
+elif is_tbp:
+  PERSIST = "/data/params/persist"
+  PARAMS = "/data/params"
 else:
   PERSIST = "/persist"

selfdrive/controls/controlsd.py

@@ -21,11 +21,12 @@
 from selfdrive.controls.lib.planner import LON_MPC_STEP
 from selfdrive.locationd.calibrationd import Calibration
 from selfdrive.hardware import HARDWARE
+from selfdrive.tinklad.tinkla_interface import TinklaClient
 
 LDW_MIN_SPEED = 31 * CV.MPH_TO_MS
 LANE_DEPARTURE_THRESHOLD = 0.1
 STEER_ANGLE_SATURATION_TIMEOUT = 1.0 / DT_CTRL
-STEER_ANGLE_SATURATION_THRESHOLD = 2.5  # Degrees
+STEER_ANGLE_SATURATION_THRESHOLD = 250  # Degrees
 
 SIMULATION = "SIMULATION" in os.environ
 NOSENSOR = "NOSENSOR" in os.environ
@@ -41,9 +42,14 @@
 
 
 class Controls:
+
+  tinklaClient = None
+
   def __init__(self, sm=None, pm=None, can_sock=None):
     config_realtime_process(3, Priority.CTRL_HIGH)
 
+    self.tinklaClient = TinklaClient()
+
     # Setup sockets
     self.pm = pm
     if self.pm is None:
@@ -209,6 +215,7 @@ def update_events(self, CS):
       self.events.add(EventName.radarCommIssue)
     elif not self.sm.all_alive_and_valid():
       self.events.add(EventName.commIssue)
+      logAllAliveAndValidInfoToTinklad(sm=self.sm, tinklaClient=self.tinklaClient)
     if not self.sm['pathPlan'].mpcSolutionValid:
       self.events.add(EventName.plannerError)
     if not self.sm['liveLocationKalman'].sensorsOK and not NOSENSOR:
@@ -571,10 +578,18 @@ def controlsd_thread(self):
       self.rk.monitor_time()
       self.prof.display()
 
+def logAllAliveAndValidInfoToTinklad(sm, tinklaClient):
+  # areAllAlive, aliveProcessName, aliveCount = sm.all_alive_with_info()
+  # areAllValid, validProcessName, validCount = sm.all_valid_with_info()
+  # if not areAllAlive:
+  #   tinklaClient.logProcessCommErrorEvent(source="carcontroller", processName=aliveProcessName, count=aliveCount, eventType="Not Alive")
+  # else:
+  #   tinklaClient.logProcessCommErrorEvent(source="carcontroller", processName=validProcessName, count=validCount, eventType="Not Valid")
+  pass
+
 def main(sm=None, pm=None, logcan=None):
   controls = Controls(sm, pm, logcan)
   controls.controlsd_thread()
 
-
 if __name__ == "__main__":
   main()

selfdrive/crash.py

@@ -8,6 +8,8 @@
 from selfdrive.hardware import PC
 from selfdrive.swaglog import cloudlog
 
+from selfdrive.tinklad.tinkla_interface import TinklaClient
+
 if os.getenv("NOLOG") or os.getenv("NOCRASH") or PC:
   def capture_exception(*args, **kwargs):
     pass
@@ -32,8 +34,13 @@ def install():
   client = Client('https://1994756b5e6f41cf939a4c65de45f4f2:cefebaf3a8aa40d182609785f7189bd7@app.getsentry.com/77924',
                   install_sys_hook=False, transport=HTTPTransport, release=version, tags=tags)
 
+  def sendCrashInfoToTinklad():
+    tinklaClient = TinklaClient()
+    tinklaClient.logCrashStackTraceEvent()
+
   def capture_exception(*args, **kwargs):
     exc_info = sys.exc_info()
+    sendCrashInfoToTinklad()
     if not exc_info[0] is capnp.lib.capnp.KjException:
       client.captureException(*args, **kwargs)
     cloudlog.error("crash", exc_info=kwargs.get('exc_info', 1))

selfdrive/manager.py

@@ -8,6 +8,8 @@
 import signal
 import shutil
 import subprocess
+from cereal import tinkla
+import datetime
 import textwrap
 import time
 import traceback
@@ -114,9 +116,10 @@ def build():
           for i in range(3, -1, -1):
             print("....%d" % i)
             time.sleep(1)
-          subprocess.check_call(["scons", "-c"], cwd=BASEDIR, env=env)
-          shutil.rmtree("/tmp/scons_cache", ignore_errors=True)
-          shutil.rmtree("/data/scons_cache", ignore_errors=True)
+          #Raf: Commented out while merging/compiling
+          #subprocess.check_call(["scons", "-c"], cwd=BASEDIR, env=env)
+          #shutil.rmtree("/tmp/scons_cache", ignore_errors=True)
+          #shutil.rmtree("/data/scons_cache", ignore_errors=True)
         else:
           print("scons build failed after retry")
           sys.exit(1)
@@ -149,10 +152,13 @@ def build():
 from selfdrive.loggerd.config import ROOT
 from selfdrive.launcher import launcher
 from selfdrive.hardware.eon.apk import update_apks, pm_apply_packages, start_offroad
+from selfdrive.car.tesla.readconfig import CarSettings
+from selfdrive.tinklad.tinkla_interface import TinklaClient
 
 
 # comment out anything you don't want to run
 managed_processes = {
+  "tinklad":  "selfdrive.tinklad.tinklad",
   "thermald": "selfdrive.thermald.thermald",
   "uploader": "selfdrive.loggerd.uploader",
   "deleter": "selfdrive.loggerd.deleter",
@@ -200,13 +206,18 @@ def get_running():
 kill_processes = ['sensord']
 
 persistent_processes = [
+  'tinklad',
   'thermald',
-  'logmessaged',
   'ui',
-  'uploader',
   'deleter',
 ]
 
+if not WEBCAM:
+    persistent_processes += [
+      'logmessaged',
+      'uploader',
+    ]
+
 if not PC:
   persistent_processes += [
     'updated',
@@ -403,6 +414,9 @@ def manager_init():
     dongle_id = reg_res
   else:
     raise Exception("server registration failed")
+  #BB
+  if not dongle_id:
+      dongle_id = "nada"
   os.environ['DONGLE_ID'] = dongle_id
 
   if not dirty:
@@ -425,6 +439,22 @@ def manager_init():
     os.chmod(os.path.join(BASEDIR, "cereal"), 0o755)
     os.chmod(os.path.join(BASEDIR, "cereal", "libmessaging_shared.so"), 0o755)
 
+def sendUserInfoToTinkla(params, tinklaClient):
+  carSettings = CarSettings()
+  gitRemote = params.get("GitRemote")
+  gitBranch = params.get("GitBranch")
+  gitHash = params.get("GitCommit")
+  dongleId = params.get("DongleId")
+  userHandle = carSettings.userHandle
+  info = tinkla.Interface.UserInfo.new_message(
+      openPilotId=dongleId,
+      userHandle=userHandle,
+      gitRemote=gitRemote,
+      gitBranch=gitBranch,
+      gitHash=gitHash
+  )
+  tinklaClient.setUserInfo(info)
+
 def manager_thread():
 
   cloudlog.info("manager start")
@@ -458,9 +488,23 @@ def manager_thread():
   params = Params()
   thermal_sock = messaging.sub_sock('thermal')
 
+  # Tinkla interface
+  last_tinklad_send_attempt_time = 0
+  tinklaClient = TinklaClient()
+  sendUserInfoToTinkla(params=params, tinklaClient=tinklaClient)
+  start_t = time.time()
+  first_proc = None
+
   while 1:
     msg = messaging.recv_sock(thermal_sock, wait=True)
 
+    # Attempt to send pending messages if there's any that queued while offline
+    # Seems this loop runs every second or so, throttle to once every 30s
+    now = time.time()
+    if now - last_tinklad_send_attempt_time >= 30:
+      tinklaClient.attemptToSendPendingMessages()
+      last_tinklad_send_attempt_time = now
+
     if msg.thermal.freeSpace < 0.05:
       logger_dead = True
 
@@ -493,23 +537,29 @@ def manager_thread():
     started_prev = msg.thermal.started
 
     # check the status of all processes, did any of them die?
-    running_list = ["%s%s\u001b[0m" % ("\u001b[32m" if running[p].is_alive() else "\u001b[31m", p) for p in running]
-    cloudlog.debug(' '.join(running_list))
+    # running_list = ["%s%s\u001b[0m" % ("\u001b[32m" if running[p].is_alive() else "\u001b[31m", p) for p in running]
+    #cloudlog.debug(' '.join(running_list))
 
     # Exit main loop when uninstall is needed
     if params.get("DoUninstall", encoding='utf8') == "1":
       break
 
 def manager_prepare():
+
+  carSettings = CarSettings()
   # build all processes
   os.chdir(os.path.dirname(os.path.abspath(__file__)))
 
   # Spinner has to start from 70 here
   total = 100.0 if PREBUILT else 30.0
 
+  spinText = ""
+  if spinner is not None:
+    spinText = carSettings.spinnerText
+
   for i, p in enumerate(managed_processes):
     perc = (100.0 - total) + total * (i + 1) / len(managed_processes)
-    spinner.update(str(int(perc)))
+    spinner.update(spinText + str(int(perc)))
     prepare_managed_process(p)
 
 def main():
@@ -530,6 +580,9 @@ def main():
     ("OpenpilotEnabledToggle", "1"),
     ("LaneChangeEnabled", "1"),
     ("IsDriverViewEnabled", "0"),
+    #Tesla
+    ("SpeedLimitOffset", "0"),
+    ("LimitSetSpeed", "0"),
   ]
 
   # set unset params
@@ -561,6 +614,7 @@ def main():
   except Exception:
     traceback.print_exc()
     crash.capture_exception()
+    print ("EXIT ON EXCEPTION")
   finally:
     cleanup_all_processes(None, None)
 

selfdrive/modeld/dmonitoringmodeld.cc

@@ -15,6 +15,25 @@
 #include <linux/limits.h>
 #endif
 
+bool get_bool_config_option(const char *key) {
+  char line[500];
+  FILE *stream;
+  stream = fopen("/data/bb_openpilot.cfg", "r");
+  while(fgets(line, 500, stream) != NULL)
+  {
+          char setting[256], value[256], oper[10];
+          if(line[0] == '#') continue;
+          if(sscanf(line, "%s %s %s", setting, oper, value) != 3) {
+            continue;
+          }       
+          if ((strcmp(key, setting) == 0) && (strcmp("True", value) == 0)) {
+            fclose(stream);
+            return true;
+          }
+  }
+  fclose(stream);
+  return false;
+}
 
 volatile sig_atomic_t do_exit = 0;
 
@@ -47,6 +66,8 @@ int main(int argc, char **argv) {
     }
     LOGW("connected with buffer size: %d", buf_info.buf_len);
 
+    bool is_dm_throttled = get_bool_config_option("throttle_driver_monitor");
+    bool is_dm_disabled = !get_bool_config_option("enable_driver_monitor");
     double last = 0;
     while (!do_exit) {
       VIPCBuf *buf;
@@ -67,6 +88,17 @@ int main(int argc, char **argv) {
 
       LOGD("dmonitoring process: %.2fms, from last %.2fms", t2-t1, t1-last);
       last = t1;
+      if (is_dm_disabled) {
+        usleep(1*1000*1000);
+      } else if (is_dm_throttled) {
+        usleep(250*1000);
+      } else {
+#ifdef QCOM2
+      // this makes it run at about 2.7Hz on tici CPU to deal with modeld lags
+      // TODO: DSP needs to be freed (again)
+      usleep(250000);
+#endif
+      }
     }
     visionstream_destroy(&stream);
   }