brianhansonxyz
3ebfc29d35
Adds the AT-command-based GPS daemon for the Quectel EC25 modem (the device has no u-blox chip and qcomgpsd's diag interface hangs on this hardware). Trimmed from broken's version: dropped cloudlog calls and the IsDaylight / ScreenDisplayMode auto-switching (those belong to the display-modes feature, port later). Used solely for system clock initialization, on-screen UI speed, and per-segment dashcam GPS metadata. Self-driving must NOT consume gpsLocation — feeding it to locationd's kalman filter screws up the math. Patch locationd to skip GPS: - locationd_thread() no longer subscribes to gpsLocation/gpsLocationExternal - handle_msg's GPS branches commented (dead code without subscription) - the "save LastGPSPosition once a minute when gpsOK" block commented (dead because gpsOK is now permanently false) Result: liveLocationKalman.gpsOK = false for all self-driving consumers (controlsd, paramsd, torqued, frogpilot_planner). They already handle that case. Other liveLocationKalman fields still publish from the camera-odometry + IMU + calibration kalman state. system/clearpilot/__init__.py added so system.clearpilot.gpsd is a valid Python module.
113 lines
5.7 KiB
Python
Executable File
113 lines
5.7 KiB
Python
Executable File
import os
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from cereal import car
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from openpilot.common.params import Params
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from openpilot.system.hardware import PC, TICI
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from openpilot.selfdrive.manager.process import PythonProcess, NativeProcess, DaemonProcess
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WEBCAM = os.getenv("USE_WEBCAM") is not None
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def driverview(started: bool, params: Params, CP: car.CarParams) -> bool:
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return started or params.get_bool("IsDriverViewEnabled")
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def notcar(started: bool, params: Params, CP: car.CarParams) -> bool:
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return started and CP.notCar
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def iscar(started: bool, params: Params, CP: car.CarParams) -> bool:
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return started and not CP.notCar
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def logging(started, params, CP: car.CarParams) -> bool:
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run = (not CP.notCar) or not params.get_bool("DisableLogging")
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return started and run
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def ublox_available() -> bool:
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return os.path.exists('/dev/ttyHS0') and not os.path.exists('/persist/comma/use-quectel-gps')
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def ublox(started, params, CP: car.CarParams) -> bool:
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use_ublox = ublox_available()
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if use_ublox != params.get_bool("UbloxAvailable"):
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params.put_bool("UbloxAvailable", use_ublox)
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return use_ublox
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def qcomgps(started, params, CP: car.CarParams) -> bool:
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return not ublox_available()
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def always_run(started, params, CP: car.CarParams) -> bool:
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return True
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def only_onroad(started: bool, params, CP: car.CarParams) -> bool:
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return started
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def only_offroad(started, params, CP: car.CarParams) -> bool:
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return not started
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# FrogPilot functions
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def allow_logging(started, params, CP: car.CarParams) -> bool:
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allow_logging = not (params.get_bool("DeviceManagement") and params.get_bool("NoLogging"))
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return allow_logging and logging(started, params, CP)
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def allow_uploads(started, params, CP: car.CarParams) -> bool:
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allow_uploads = not (params.get_bool("DeviceManagement") and params.get_bool("NoUploads"))
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return allow_uploads
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procs = [
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DaemonProcess("manage_athenad", "selfdrive.athena.manage_athenad", "AthenadPid"),
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NativeProcess("camerad", "system/camerad", ["./camerad"], driverview),
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NativeProcess("logcatd", "system/logcatd", ["./logcatd"], allow_logging),
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NativeProcess("proclogd", "system/proclogd", ["./proclogd"], allow_logging),
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PythonProcess("logmessaged", "system.logmessaged", allow_logging),
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PythonProcess("micd", "system.micd", iscar),
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PythonProcess("timed", "system.timed", always_run, enabled=not PC),
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PythonProcess("dmonitoringmodeld", "selfdrive.modeld.dmonitoringmodeld", driverview, enabled=(not PC or WEBCAM)),
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# CLEARPILOT: disabled segment + camera logging — no rlog/qlog or .hevc
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# files written to /data/media/0/realdata. We don't use comma's upload/
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# replay pipeline. Keep deleter running for any leftover cleanup.
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# NativeProcess("encoderd", "system/loggerd", ["./encoderd"], allow_logging),
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# NativeProcess("stream_encoderd", "system/loggerd", ["./encoderd", "--stream"], notcar),
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# NativeProcess("loggerd", "system/loggerd", ["./loggerd"], allow_logging),
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NativeProcess("modeld", "selfdrive/modeld", ["./modeld"], only_onroad),
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#NativeProcess("mapsd", "selfdrive/navd", ["./mapsd"], only_onroad),
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#PythonProcess("navmodeld", "selfdrive.modeld.navmodeld", only_onroad),
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NativeProcess("sensord", "system/sensord", ["./sensord"], only_onroad, enabled=not PC),
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NativeProcess("ui", "selfdrive/ui", ["./ui"], always_run, watchdog_max_dt=(5 if not PC else None), always_watchdog=only_offroad),
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PythonProcess("soundd", "selfdrive.ui.soundd", only_onroad),
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NativeProcess("locationd", "selfdrive/locationd", ["./locationd"], only_onroad),
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NativeProcess("boardd", "selfdrive/boardd", ["./boardd"], always_run, enabled=False),
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PythonProcess("calibrationd", "selfdrive.locationd.calibrationd", only_onroad),
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PythonProcess("torqued", "selfdrive.locationd.torqued", only_onroad),
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PythonProcess("controlsd", "selfdrive.controls.controlsd", only_onroad),
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PythonProcess("deleter", "system.loggerd.deleter", always_run),
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PythonProcess("dmonitoringd", "selfdrive.monitoring.dmonitoringd", driverview, enabled=(not PC or WEBCAM)),
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# PythonProcess("qcomgpsd", "system.qcomgpsd.qcomgpsd", qcomgps, enabled=TICI), # Fixme
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# CLEARPILOT: replacement for qcomgpsd (whose diag interface is broken on this device).
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# Uses Quectel modem AT commands via mmcli. Self-driving does NOT consume this; locationd
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# is patched to skip gpsLocation. Used only for system clock + UI speed + dashcam metadata.
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PythonProcess("gpsd", "system.clearpilot.gpsd", qcomgps, enabled=TICI),
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# PythonProcess("ugpsd", "system.ugpsd", only_onroad, enabled=TICI),
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#PythonProcess("navd", "selfdrive.navd.navd", only_onroad),
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PythonProcess("pandad", "selfdrive.boardd.pandad", always_run),
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PythonProcess("paramsd", "selfdrive.locationd.paramsd", only_onroad),
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NativeProcess("ubloxd", "system/ubloxd", ["./ubloxd"], ublox, enabled=TICI),
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PythonProcess("pigeond", "system.ubloxd.pigeond", ublox, enabled=TICI),
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PythonProcess("plannerd", "selfdrive.controls.plannerd", only_onroad),
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PythonProcess("radard", "selfdrive.controls.radard", only_onroad),
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PythonProcess("thermald", "selfdrive.thermald.thermald", always_run),
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PythonProcess("tombstoned", "selfdrive.tombstoned", always_run, enabled=not PC),
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# PythonProcess("updated", "selfdrive.updated.updated", always_run, enabled=not PC),
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# PythonProcess("uploader", "system.loggerd.uploader", allow_uploads),
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PythonProcess("statsd", "selfdrive.statsd", allow_logging),
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# debug procs
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NativeProcess("bridge", "cereal/messaging", ["./bridge"], notcar),
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PythonProcess("webrtcd", "system.webrtc.webrtcd", notcar),
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PythonProcess("webjoystick", "tools.bodyteleop.web", notcar),
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# FrogPilot processes
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PythonProcess("fleet_manager", "selfdrive.frogpilot.fleetmanager.fleet_manager", always_run),
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PythonProcess("frogpilot_process", "selfdrive.frogpilot.frogpilot_process", always_run),
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]
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managed_processes = {p.name: p for p in procs} |