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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,43 @@ | ||
| class COLORS: | ||
| def __init__(self): | ||
| self.HEADER = '\033[95m' | ||
| self.OKBLUE = '\033[94m' | ||
| self.CBLUE = '\33[44m' | ||
| self.BOLD = '\033[1m' | ||
| self.CITALIC = '\33[3m' | ||
| self.OKGREEN = '\033[92m' | ||
| self.CWHITE = '\33[37m' | ||
| self.ENDC = '\033[0m' + self.CWHITE | ||
| self.UNDERLINE = '\033[4m' | ||
| self.PINK = '\33[38;5;207m' | ||
| self.PRETTY_YELLOW = self.BASE(220) | ||
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| self.RED = '\033[91m' | ||
| self.PURPLE_BG = '\33[45m' | ||
| self.YELLOW = '\033[93m' | ||
| self.BLUE_GREEN = self.BASE(85) | ||
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| self.FAIL = self.RED | ||
| self.INFO = self.PURPLE_BG | ||
| self.SUCCESS = self.OKGREEN | ||
| self.PROMPT = self.YELLOW | ||
| self.DBLUE = '\033[36m' | ||
| self.CYAN = self.BASE(39) | ||
| self.WARNING = '\033[33m' | ||
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| def BASE(self, col): # seems to support more colors | ||
| return '\33[38;5;{}m'.format(col) | ||
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| def BASEBG(self, col): # seems to support more colors | ||
| return '\33[48;5;{}m'.format(col) | ||
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| COLORS = COLORS() | ||
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| def opParams_warning(msg): | ||
| print('{}opParams WARNING: {}{}'.format(COLORS.WARNING, msg, COLORS.ENDC)) | ||
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| def opParams_error(msg): | ||
| print('{}opParams ERROR: {}{}'.format(COLORS.FAIL, msg, COLORS.ENDC)) |
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,190 @@ | ||
| #!/usr/bin/env python3 | ||
| import os | ||
| import json | ||
| from common.colors import opParams_error as error | ||
| from common.colors import opParams_warning as warning | ||
| try: | ||
| from common.realtime import sec_since_boot | ||
| except ImportError: | ||
| import time | ||
| sec_since_boot = time.time | ||
| warning("Using python time.time() instead of faster sec_since_boot") | ||
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| travis = False # replace with travis_checker if you use travis or GitHub Actions | ||
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| class ValueTypes: | ||
| number = [float, int] | ||
| none_or_number = [type(None), float, int] | ||
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| class Param: | ||
| def __init__(self, default=None, allowed_types=[], description=None, live=False, hidden=False): | ||
| self.default = default | ||
| if not isinstance(allowed_types, list): | ||
| allowed_types = [allowed_types] | ||
| self.allowed_types = allowed_types | ||
| self.description = description | ||
| self.hidden = hidden | ||
| self.live = live | ||
| self._create_attrs() | ||
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| def is_valid(self, value): | ||
| if not self.has_allowed_types: | ||
| return True | ||
| return type(value) in self.allowed_types | ||
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| def _create_attrs(self): # Create attributes and check Param is valid | ||
| self.has_allowed_types = isinstance(self.allowed_types, list) and len(self.allowed_types) > 0 | ||
| self.has_description = self.description is not None | ||
| self.is_list = list in self.allowed_types | ||
| if self.has_allowed_types: | ||
| assert type(self.default) in self.allowed_types, 'Default value type must be in specified allowed_types!' | ||
| if self.is_list: | ||
| self.allowed_types.remove(list) | ||
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| class opParams: | ||
| def __init__(self): | ||
| """ | ||
| To add your own parameter to opParams in your fork, simply add a new entry in self.fork_params, instancing a new Param class with at minimum a default value. | ||
| The allowed_types and description args are not required but highly recommended to help users edit their parameters with opEdit safely. | ||
| - The description value will be shown to users when they use opEdit to change the value of the parameter. | ||
| - The allowed_types arg is used to restrict what kinds of values can be entered with opEdit so that users can't crash openpilot with unintended behavior. | ||
| (setting a param intended to be a number with a boolean, or viceversa for example) | ||
| Limiting the range of floats or integers is still recommended when `.get`ting the parameter. | ||
| When a None value is allowed, use `type(None)` instead of None, as opEdit checks the type against the values in the arg with `isinstance()`. | ||
| - Finally, the live arg tells both opParams and opEdit that it's a live parameter that will change. Therefore, you must place the `op_params.get()` call in the update function so that it can update. | ||
| Here's an example of a good fork_param entry: | ||
| self.fork_params = {'camera_offset': Param(default=0.06, allowed_types=VT.number)} # VT.number allows both floats and ints | ||
| """ | ||
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| VT = ValueTypes() | ||
| self.fork_params = {'Camera_Offset': Param(0.06, VT.number, 'This will reposition your vehicle if there is a lane hugging issue' | ||
| 'increase the offset(max 0.12) if the vehicle is hugging right lane' | ||
| 'decrease the offset(min 0.0) if the vehicle is hugging left lane'), | ||
| 'LCA_Min_Speed': Param(25.0, VT.number, 'The minimum speed for Lane Change Assist MPH/KPH'), | ||
| 'enableLKASbutton': Param(True, bool, 'general toggle to enable LKAS button, LKAS button press will cancel OP steer'), | ||
| 'Enable_INDI': Param(False, bool, 'Toggle to enable INDI tuning for lat control'), | ||
| 'OuterLoopGain': Param(3.1, VT.number, 'Turn Aggressiveness'), | ||
| 'InnerLoopGain': Param(2.1, VT.number, 'Over correction'), | ||
| 'RCTimeConstant': Param(1.4, VT.number, 'Time constant'), | ||
| 'ActuatorEffectiveness': Param(2., VT.number, 'Sensitivity of the actuator, increase for less pingpong, decrease if weak steering'), | ||
| 'smartMDPS': Param(True, bool, 'Toggle to enable smart MDPS'), | ||
| } | ||
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| self._params_file = '/data/op_params.json' | ||
| self._backup_file = '/data/op_params_corrupt.json' | ||
| self._last_read_time = sec_since_boot() | ||
| self.read_frequency = 2.5 # max frequency to read with self.get(...) (sec) | ||
| self._to_delete = ['no_ota_updates', 'auto_update'] # a list of unused params you want to delete | ||
| self._run_init() # restores, reads, and updates params | ||
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| def _run_init(self): # does first time initializing of default params | ||
| # Two required parameters for opEdit | ||
| self.fork_params['username'] = Param(None, [type(None), str, bool], 'Your identifier provided with any crash logs sent to Sentry.\nHelps the developer reach out to you if anything goes wrong') | ||
| self.fork_params['op_edit_live_mode'] = Param(False, bool, 'This parameter controls which mode opEdit starts in', hidden=True) | ||
| self.params = self._get_all_params(default=True) # in case file is corrupted | ||
| if travis: | ||
| return | ||
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| to_write = False | ||
| if os.path.isfile(self._params_file): | ||
| if self._read(): | ||
| to_write = self._add_default_params() # if new default data has been added | ||
| to_write |= self._delete_old() # or if old params have been deleted | ||
| else: # backup and re-create params file | ||
| error("Can't read op_params.json file, backing up to /data/op_params_corrupt.json and re-creating file!") | ||
| to_write = True | ||
| if os.path.isfile(self._backup_file): | ||
| os.remove(self._backup_file) | ||
| os.rename(self._params_file, self._backup_file) | ||
| else: | ||
| to_write = True # user's first time running a fork with op_params, write default params | ||
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| if to_write: | ||
| self._write() | ||
| os.chmod(self._params_file, 0o764) | ||
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| def get(self, key=None, force_live=False): # any params you try to get MUST be in fork_params | ||
| param_info = self.param_info(key) | ||
| self._update_params(param_info, force_live) | ||
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| if key is None: | ||
| return self._get_all_params() | ||
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| self._check_key_exists(key, 'get') | ||
| value = self.params[key] | ||
| if param_info.is_valid(value): # always valid if no allowed types, otherwise checks to make sure | ||
| return value # all good, returning user's value | ||
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| warning('User\'s value type is not valid! Returning default') # somehow... it should always be valid | ||
| return param_info.default # return default value because user's value of key is not in allowed_types to avoid crashing openpilot | ||
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| def put(self, key, value): | ||
| self._check_key_exists(key, 'put') | ||
| if not self.param_info(key).is_valid(value): | ||
| raise Exception('opParams: Tried to put a value of invalid type!') | ||
| self.params.update({key: value}) | ||
| self._write() | ||
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| def delete(self, key): # todo: might be obsolete. remove? | ||
| if key in self.params: | ||
| del self.params[key] | ||
| self._write() | ||
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| def param_info(self, key): | ||
| if key in self.fork_params: | ||
| return self.fork_params[key] | ||
| return Param() | ||
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| def _check_key_exists(self, key, met): | ||
| if key not in self.fork_params or key not in self.params: | ||
| raise Exception('opParams: Tried to {} an unknown parameter! Key not in fork_params: {}'.format(met, key)) | ||
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| def _add_default_params(self): | ||
| added = False | ||
| for key, param in self.fork_params.items(): | ||
| if key not in self.params: | ||
| self.params[key] = param.default | ||
| added = True | ||
| elif not param.is_valid(self.params[key]): | ||
| warning('Value type of user\'s {} param not in allowed types, replacing with default!'.format(key)) | ||
| self.params[key] = param.default | ||
| added = True | ||
| return added | ||
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| def _delete_old(self): | ||
| deleted = False | ||
| for param in self._to_delete: | ||
| if param in self.params: | ||
| del self.params[param] | ||
| deleted = True | ||
| return deleted | ||
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| def _get_all_params(self, default=False, return_hidden=False): | ||
| if default: | ||
| return {k: p.default for k, p in self.fork_params.items()} | ||
| return {k: self.params[k] for k, p in self.fork_params.items() if k in self.params and (not p.hidden or return_hidden)} | ||
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| def _update_params(self, param_info, force_live): | ||
| if force_live or param_info.live: # if is a live param, we want to get updates while openpilot is running | ||
| if not travis and sec_since_boot() - self._last_read_time >= self.read_frequency: # make sure we aren't reading file too often | ||
| if self._read(): | ||
| self._last_read_time = sec_since_boot() | ||
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| def _read(self): | ||
| try: | ||
| with open(self._params_file, "r") as f: | ||
| self.params = json.loads(f.read()) | ||
| return True | ||
| except Exception as e: | ||
| error(e) | ||
| return False | ||
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| def _write(self): | ||
| if not travis: | ||
| with open(self._params_file, "w") as f: | ||
| f.write(json.dumps(self.params, indent=2)) # can further speed it up by remove indentation but makes file hard to read |
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