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add waze mode

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This commit is contained in:
dragonpilot
2019-12-10 11:24:49 +10:00
parent 29ab7b80d8
commit 9a1e4ff917
6 changed files with 169 additions and 71 deletions
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2
common/params.py
View File

@@ -150,6 +150,8 @@ keys = {
"DragonIsEON": [TxType.PERSISTENT],
"DragonHWChecked": [TxType.PERSISTENT],
"DragonEnableSRLearner": [TxType.PERSISTENT],
"DragonWazeMode": [TxType.PERSISTENT],
"DragonRunWaze": [TxType.PERSISTENT],
}

138
selfdrive/dragonpilot/appd/appd.py
View File

@@ -29,6 +29,16 @@ gpsservice_main = "cn.dragonpilot.gpsservice.MainService"
aegis = "tw.com.ainvest.outpack"
aegis_main = "tw.com.ainvest.outpack.ui.MainActivity"
# v4.57.2.0
waze = "com.waze"
waze_main = "com.waze.MainActivity"
frame = "ai.comma.plus.frame"
frame_main = ".MainActivity"
offroad = "ai.comma.plus.offroad"
offroad_main = ".MainActivity"
def main(gctx=None):
dragon_enable_tomtom = True if params.get('DragonEnableTomTom', encoding='utf8') == "1" else False
@@ -39,16 +49,23 @@ def main(gctx=None):
dragon_boot_autonavi = True if params.get("DragonBootAutonavi", encoding='utf8') == "1" else False
dragon_boot_aegis = True if params.get("DragonBootAegis", encoding='utf8') == "1" else False
dragon_greypanda_mode = True if params.get("DragonGreyPandaMode", encoding='utf8') == "1" else False
dragon_waze_mode = True if params.get("DragonWazeMode", encoding='utf8') == "1" else False
if dragon_waze_mode:
dragon_enable_tomtom = False
dragon_enable_autonavi = False
dragon_enable_aegis = False
dragon_grepanda_mode_started = False
tomtom_is_running = False
autonavi_is_running = False
aegis_is_running = False
mixplorer_is_running = False
waze_is_running = False
allow_auto_boot = True
manual_tomtom = False
manual_autonavi = False
manual_aegis = False
manual_waze = False
last_started = False
frame = 0
start_delay = None
@@ -58,6 +75,7 @@ def main(gctx=None):
put_nonblocking('DragonRunAutonavi', '0')
put_nonblocking('DragonRunMixplorer', '0')
put_nonblocking('DragonRunAegis', '0')
put_nonblocking('DragonRunWaze', '0')
# we want to disable all app when boot
system("pm disable %s" % tomtom)
@@ -65,10 +83,11 @@ def main(gctx=None):
system("pm disable %s" % mixplorer)
system("pm disable %s" % gpsservice)
system("pm disable %s" % aegis)
system("pm disable %s" % waze)
thermal_sock = messaging.sub_sock('thermal')
while dragon_enable_tomtom or dragon_enable_autonavi or dragon_enable_aegis or dragon_enable_mixplorer or dragon_greypanda_mode:
while dragon_enable_tomtom or dragon_enable_autonavi or dragon_enable_aegis or dragon_enable_mixplorer or dragon_greypanda_mode or dragon_waze_mode:
# allow user to manually start/stop app
if dragon_enable_tomtom:
@@ -98,6 +117,17 @@ def main(gctx=None):
mixplorer_is_running = exec_app(status, mixplorer, mixplorer_main)
put_nonblocking('DragonRunMixplorer', '0')
if dragon_waze_mode:
status = params.get('DragonRunWaze', encoding='utf8')
if not status == "0":
if status == "1":
start_waze_prep()
elif status == "-1":
stop_waze_prep()
waze_is_running = exec_app(status, waze, waze_main)
put_nonblocking('DragonRunWaze', '0')
manual_waze = status != "0"
# if manual control is set, we do not allow any of the auto actions
auto_tomtom = not manual_tomtom and dragon_enable_tomtom and dragon_boot_tomtom
auto_autonavi = not manual_autonavi and dragon_enable_autonavi and dragon_boot_autonavi
@@ -107,41 +137,48 @@ def main(gctx=None):
started = msg.thermal.started
# car on
if started:
stop_delay = None
if start_delay is None:
start_delay = frame + 3
if dragon_greypanda_mode and not dragon_grepanda_mode_started:
dragon_grepanda_mode_started = True
system("pm enable %s" % gpsservice)
system("am startservice %s/%s" % (gpsservice, gpsservice_main))
stop_delay = None
if start_delay is None:
start_delay = frame + 5
#
# Logic:
# if temp reach red, we disable all 3rd party apps.
# once the temp drop below yellow, we then re-enable them
#
# set allow_auto_boot back to True once the thermal status is < yellow
thermal_status = msg.thermal.thermalStatus
if not allow_auto_boot and thermal_status < ThermalStatus.yellow:
allow_auto_boot = True
if allow_auto_boot:
# only allow auto boot when thermal status is < red
if thermal_status < ThermalStatus.red:
if auto_tomtom and not tomtom_is_running and frame > start_delay:
tomtom_is_running = exec_app('1', tomtom, tomtom_main)
if auto_autonavi and not autonavi_is_running and frame > start_delay:
autonavi_is_running = exec_app('1', autonavi, autonavi_main)
if auto_aegis and not aegis_is_running and frame > start_delay:
aegis_is_running = exec_app('1', aegis, aegis_main)
else:
if auto_tomtom and tomtom_is_running:
tomtom_is_running = exec_app('-1', tomtom, tomtom_main)
if auto_autonavi and autonavi_is_running:
autonavi_is_running = exec_app('-1', autonavi, autonavi_main)
if auto_aegis and aegis_is_running:
aegis_is_running = exec_app('-1', aegis, aegis_main)
# set allow_auto_boot to False once the thermal status is >= red
allow_auto_boot = False
if dragon_waze_mode:
if not manual_waze and not waze_is_running:
start_waze_prep()
waze_is_running = exec_app('1', waze, waze_main)
else:
#
# Logic:
# if temp reach red, we disable all 3rd party apps.
# once the temp drop below yellow, we then re-enable them
#
# set allow_auto_boot back to True once the thermal status is < yellow
thermal_status = msg.thermal.thermalStatus
if not allow_auto_boot and thermal_status < ThermalStatus.yellow:
allow_auto_boot = True
if allow_auto_boot:
# only allow auto boot when thermal status is < red
if thermal_status < ThermalStatus.red:
if auto_tomtom and not tomtom_is_running and frame > start_delay:
tomtom_is_running = exec_app('1', tomtom, tomtom_main)
if auto_autonavi and not autonavi_is_running and frame > start_delay:
autonavi_is_running = exec_app('1', autonavi, autonavi_main)
if auto_aegis and not aegis_is_running and frame > start_delay:
aegis_is_running = exec_app('1', aegis, aegis_main)
else:
if auto_tomtom and tomtom_is_running:
tomtom_is_running = exec_app('-1', tomtom, tomtom_main)
if auto_autonavi and autonavi_is_running:
autonavi_is_running = exec_app('-1', autonavi, autonavi_main)
if auto_aegis and aegis_is_running:
aegis_is_running = exec_app('-1', aegis, aegis_main)
# set allow_auto_boot to False once the thermal status is >= red
allow_auto_boot = False
# kill mixplorer when car started
if mixplorer_is_running:
@@ -149,31 +186,52 @@ def main(gctx=None):
# car off
else:
start_delay = None
if stop_delay is None:
stop_delay = frame + 30
if dragon_greypanda_mode and dragon_grepanda_mode_started:
dragon_grepanda_mode_started = False
system("pm disable %s" % gpsservice)
start_delay = None
if stop_delay is None:
stop_delay = frame + 30
if auto_tomtom and tomtom_is_running and frame > stop_delay:
tomtom_is_running = exec_app('-1', tomtom, tomtom_main)
if auto_autonavi and autonavi_is_running and frame > stop_delay:
autonavi_is_running = exec_app('-1', autonavi, autonavi_main)
if auto_aegis and aegis_is_running and frame > stop_delay:
aegis_is_running = exec_app('-1', aegis, aegis_main)
if dragon_waze_mode:
if not manual_waze and waze_is_running:
stop_waze_prep()
waze_is_running = exec_app('-1', waze, waze_main)
else:
if auto_tomtom and tomtom_is_running and frame > stop_delay:
tomtom_is_running = exec_app('-1', tomtom, tomtom_main)
if auto_autonavi and autonavi_is_running and frame > stop_delay:
autonavi_is_running = exec_app('-1', autonavi, autonavi_main)
if auto_aegis and aegis_is_running and frame > stop_delay:
aegis_is_running = exec_app('-1', aegis, aegis_main)
# if car state changed, we remove manual control state
if not last_started == started:
manual_tomtom = False
manual_autonavi = False
manual_aegis = False
manual_waze = False
last_started = started
frame += 3
# every 3 seconds, we re-check status
time.sleep(3)
# when starting waze, we want to disable frame
def start_waze_prep():
system("pm disable %s" % frame)
system("am start -n %s/%s" % (offroad, offroad_main))
# when stopping waze
# we want to disable offroad first and enable offroad (this way the offroad sits in the background waiting for launch.)
# then we re-enable frame and start frame app (the offroad app will start shortly after)
def stop_waze_prep():
system("pm disable %s" % offroad)
system("pm enable %s" % offroad)
system("pm enable %s" % frame)
system("am start -n %s/%s" % (frame, frame_main))
def exec_app(status, app, app_main):
if status == "1":
system("pm enable %s" % app)

4
selfdrive/dragonpilot/dashcamd/dashcamd.py
View File

@@ -30,7 +30,7 @@ def main(gctx=None):
thermal_sock = messaging.sub_sock('thermal')
while 1:
if params.get("DragonEnableDashcam", encoding='utf8') == "1":
if params.get("DragonWazeMode", encoding='utf8') == "0" and params.get("DragonEnableDashcam", encoding='utf8') == "1":
now = datetime.datetime.now()
file_name = now.strftime("%Y-%m-%d_%H-%M-%S")
os.system("screenrecord --bit-rate %s --time-limit %s %s%s.mp4 &" % (bit_rates, duration, dashcam_videos, file_name))
@@ -61,7 +61,7 @@ def main(gctx=None):
# to make sure there are no missing footage
time.sleep(duration-1-time_diff)
else:
time.sleep(1)
time.sleep(5)
def get_used_spaces():
return sum(os.path.getsize(dashcam_videos + f) for f in os.listdir(dashcam_videos) if os.path.isfile(dashcam_videos + f))

2
selfdrive/dragonpilot/dragonconf/__init__.py
View File

@@ -57,6 +57,8 @@ default_conf = {
'DragonIsEON': '1',
'DragonHWChecked': '0',
'DragonEnableSRLearner': '1',
'DragonWazeMode': '0',
'DragonRunWaze': '0',
}
deprecated_conf = {

10
selfdrive/manager.py
View File

@@ -99,7 +99,7 @@ managed_processes = {
daemon_processes = {
"manage_athenad": ("selfdrive.athena.manage_athenad", "AthenadPid"),
}
android_packages = ("tw.com.ainvest.outpack", "cn.dragonpilot.gpsservice", "com.autonavi.amapauto", "com.mixplorer", "com.tomtom.speedcams.android.map", "ai.comma.plus.offroad", "ai.comma.plus.frame")
android_packages = ("tw.com.ainvest.outpack", "cn.dragonpilot.gpsservice", "com.autonavi.amapauto", "com.mixplorer", "com.tomtom.speedcams.android.map", "com.waze", "ai.comma.plus.offroad", "ai.comma.plus.frame")
running = {}
def get_running():
@@ -445,10 +445,10 @@ def update_apks():
def manager_update():
update_apks()
uninstall = [app for app in get_installed_apks().keys() if app in ("com.spotify.music", "com.waze")]
for app in uninstall:
cloudlog.info("uninstalling %s" % app)
os.system("pm uninstall % s" % app)
#uninstall = [app for app in get_installed_apks().keys() if app in ("com.spotify.music", "com.waze")]
#for app in uninstall:
# cloudlog.info("uninstalling %s" % app)
# os.system("pm uninstall % s" % app)
def manager_prepare(spinner=None):
# build cereal first

84
selfdrive/ui/ui.cc
View File

@@ -323,6 +323,7 @@ typedef struct UIState {
int dragon_ui_lead_timeout;
int dragon_ui_path_timeout;
int dragon_ui_blinker_timeout;
int dragon_waze_mode_timeout;
bool dragon_ui_speed;
bool dragon_ui_event;
@@ -337,6 +338,7 @@ typedef struct UIState {
bool dragon_ui_lead;
bool dragon_ui_path;
bool dragon_ui_blinker;
bool dragon_waze_mode;
} UIState;
@@ -733,19 +735,35 @@ static void ui_init_vision(UIState *s, const VisionStreamBufs back_bufs,
read_param_bool(&s->longitudinal_control, "LongitudinalControl");
read_param_bool(&s->limit_set_speed, "LimitSetSpeed");
// dragonpilot
read_param_bool(&s->dragon_ui_speed, "DragonUISpeed");
read_param_bool(&s->dragon_ui_event, "DragonUIEvent");
read_param_bool(&s->dragon_ui_maxspeed, "DragonUIMaxSpeed");
read_param_bool(&s->dragon_ui_face, "DragonUIFace");
read_param_bool(&s->dragon_ui_dev, "DragonUIDev");
read_param_bool(&s->dragon_ui_dev_mini, "DragonUIDevMini");
read_param_bool(&s->dragon_enable_dashcam, "DragonEnableDashcam");
read_param_float(&s->dragon_ui_volume_boost, "DragonUIVolumeBoost");
read_param_bool(&s->dragon_driving_ui, "DragonDrivingUI");
read_param_bool(&s->dragon_ui_lane, "DragonUILane");
read_param_bool(&s->dragon_ui_lead, "DragonUILead");
read_param_bool(&s->dragon_ui_path, "DragonUIPath");
read_param_bool(&s->dragon_ui_blinker, "DragonUIBlinker");
read_param_bool(&s->dragon_waze_mode, "DragonWazeMode");
if (s->dragon_waze_mode) {
s->dragon_ui_speed = false;
s->dragon_ui_event = false;
s->dragon_ui_maxspeed = false;
s->dragon_ui_face = false;
s->dragon_ui_dev = false;
s->dragon_ui_dev_mini = false;
s->dragon_enable_dashcam = false;
s->dragon_driving_ui = false;
s->dragon_ui_lane = false;
s->dragon_ui_lead = false;
s->dragon_ui_path = false;
s->dragon_ui_blinker = false;
} else {
read_param_bool(&s->dragon_ui_speed, "DragonUISpeed");
read_param_bool(&s->dragon_ui_event, "DragonUIEvent");
read_param_bool(&s->dragon_ui_maxspeed, "DragonUIMaxSpeed");
read_param_bool(&s->dragon_ui_face, "DragonUIFace");
read_param_bool(&s->dragon_ui_dev, "DragonUIDev");
read_param_bool(&s->dragon_ui_dev_mini, "DragonUIDevMini");
read_param_bool(&s->dragon_enable_dashcam, "DragonEnableDashcam");
read_param_bool(&s->dragon_driving_ui, "DragonDrivingUI");
read_param_bool(&s->dragon_ui_lane, "DragonUILane");
read_param_bool(&s->dragon_ui_lead, "DragonUILead");
read_param_bool(&s->dragon_ui_path, "DragonUIPath");
read_param_bool(&s->dragon_ui_blinker, "DragonUIBlinker");
}
// Set offsets so params don't get read at the same time
@@ -767,6 +785,7 @@ static void ui_init_vision(UIState *s, const VisionStreamBufs back_bufs,
s->dragon_ui_lead_timeout = 100;
s->dragon_ui_path_timeout = 100;
s->dragon_ui_blinker_timeout = 100;
s->dragon_waze_mode_timeout = 100;
}
// Projects a point in car to space to the corresponding point in full frame
@@ -2706,19 +2725,36 @@ int main(int argc, char* argv[]) {
read_param_bool_timeout(&s->limit_set_speed, "LimitSetSpeed", &s->limit_set_speed_timeout);
read_param_float_timeout(&s->speed_lim_off, "SpeedLimitOffset", &s->limit_set_speed_timeout);
// dragonpilot
read_param_bool_timeout(&s->dragon_ui_speed, "DragonUISpeed", &s->dragon_ui_speed_timeout);
read_param_bool_timeout(&s->dragon_ui_event, "DragonUIEvent", &s->dragon_ui_event_timeout);
read_param_bool_timeout(&s->dragon_ui_maxspeed, "DragonUIMaxSpeed", &s->dragon_ui_maxspeed_timeout);
read_param_bool_timeout(&s->dragon_ui_face, "DragonUIFace", &s->dragon_ui_face_timeout);
read_param_bool_timeout(&s->dragon_ui_dev, "DragonUIDev", &s->dragon_ui_dev_timeout);
read_param_bool_timeout(&s->dragon_ui_dev_mini, "DragonUIDevMini", &s->dragon_ui_dev_mini_timeout);
read_param_bool_timeout(&s->dragon_enable_dashcam, "DragonEnableDashcam", &s->dragon_enable_dashcam_timeout);
read_param_float_timeout(&s->dragon_ui_volume_boost, "DragonUIVolumeBoost", &s->dragon_ui_volume_boost_timeout);
read_param_bool_timeout(&s->dragon_driving_ui, "DragonDrivingUI", &s->dragon_driving_ui_timeout);
read_param_bool_timeout(&s->dragon_ui_lane, "DragonUILane", &s->dragon_ui_lane_timeout);
read_param_bool_timeout(&s->dragon_ui_lead, "DragonUILead", &s->dragon_ui_lead_timeout);
read_param_bool_timeout(&s->dragon_ui_path, "DragonUIPath", &s->dragon_ui_path_timeout);
read_param_bool_timeout(&s->dragon_ui_blinker, "DragonUIBlinker", &s->dragon_ui_blinker_timeout);
read_param_bool_timeout(&s->dragon_waze_mode, "DragonWazeMode", &s->dragon_waze_mode_timeout);
if (s->dragon_waze_mode) {
s->dragon_ui_speed = false;
s->dragon_ui_event = false;
s->dragon_ui_maxspeed = false;
s->dragon_ui_face = false;
s->dragon_ui_dev = false;
s->dragon_ui_dev_mini = false;
s->dragon_enable_dashcam = false;
s->dragon_driving_ui = false;
s->dragon_ui_lane = false;
s->dragon_ui_lead = false;
s->dragon_ui_path = false;
s->dragon_ui_blinker = false;
} else {
read_param_bool_timeout(&s->dragon_ui_speed, "DragonUISpeed", &s->dragon_ui_speed_timeout);
read_param_bool_timeout(&s->dragon_ui_event, "DragonUIEvent", &s->dragon_ui_event_timeout);
read_param_bool_timeout(&s->dragon_ui_maxspeed, "DragonUIMaxSpeed", &s->dragon_ui_maxspeed_timeout);
read_param_bool_timeout(&s->dragon_ui_face, "DragonUIFace", &s->dragon_ui_face_timeout);
read_param_bool_timeout(&s->dragon_ui_dev, "DragonUIDev", &s->dragon_ui_dev_timeout);
read_param_bool_timeout(&s->dragon_ui_dev_mini, "DragonUIDevMini", &s->dragon_ui_dev_mini_timeout);
read_param_bool_timeout(&s->dragon_enable_dashcam, "DragonEnableDashcam", &s->dragon_enable_dashcam_timeout);
read_param_bool_timeout(&s->dragon_driving_ui, "DragonDrivingUI", &s->dragon_driving_ui_timeout);
read_param_bool_timeout(&s->dragon_ui_lane, "DragonUILane", &s->dragon_ui_lane_timeout);
read_param_bool_timeout(&s->dragon_ui_lead, "DragonUILead", &s->dragon_ui_lead_timeout);
read_param_bool_timeout(&s->dragon_ui_path, "DragonUIPath", &s->dragon_ui_path_timeout);
read_param_bool_timeout(&s->dragon_ui_blinker, "DragonUIBlinker", &s->dragon_ui_blinker_timeout);
}
pthread_mutex_unlock(&s->lock);