Add update_behavior param to control how SA updates (commaai#238)

* add standstill_hack param to readme

* change auto_update to update_behavior

* safety check

* at least 10 percent sim

* at least 20 percent sim

* debug

* 1/3

* remove debug

* remove debug

* debug

* debug

* this looks pretty cool

* change

* final changes

* final changes

Author: sshane

README.md

@@ -131,11 +131,12 @@ Here are the main parameters you can change with this fork:
   - `camera_offset` **`(live!)`**: Your camera offset to use in lane_planner.py. Helps fix lane hugging
   - `steer_ratio` **`(live!)`**: The steering ratio you want to use with openpilot. If you enter None, it will use the learned steer ratio from openpilot instead
   - [`enable_long_derivative`](#pi---pid-controller-for-long-and-lat): This enables derivative-based integral wind-down to help overshooting within the PID loop. Useful for Toyotas with pedals or cars with bad long tuning
+  `standstill_hack`: Some cars support stop and go, you just need to enable this
 - **General fork params**:
   - `alca_nudge_required`: Whether to wait for applied torque to the wheel (nudge) before making lane changes
   - `alca_min_speed`: The minimum speed allowed for an automatic lane change
   - `upload_on_hotspot`: Controls whether your EON will upload driving data on your phone's hotspot
-  - [`auto_update`](#Automatic-updates): Toggles whether your device will update and reboot automatically on this fork
+  - [`update_behavior`](#Automatic-updates): off will never update, alert shows an alert on-screen. auto will reboot the device when an update is seen
   - `disengage_on_gas`: Whether you want openpilot to disengage on gas input or not
 - **Dynamic params**:
   - `dynamic_gas`: Whether to use [dynamic gas](#dynamic-gas) if your car is supported
@@ -164,6 +165,7 @@ Parameters are stored at `/data/op_params.json`
 ### Automatic updates
 When a new update is available on GitHub for Stock Additions, your EON/C2 will pull and reset your local branch to the remote. It then queues a reboot to occur when the following is true:
 - your EON has been inactive or offroad for more than 5 minutes
+- `update_behavior` param is set to `auto`
 
 Therefore, if your device sees an update while you're driving it will reboot approximately 5 to 10 minutes after you finish your drive, it resets the timer if you start driving again before the time is up.
 

SA_RELEASES.md

@@ -3,6 +3,7 @@ Stock Additions v0.5.3 - 2020-9-15 (0.7.7)
  * Properly set unsafe_mode in boardd. This might fix panda flashing issues for new users, since it won't be required
  * Separate 2020 Prius and add PID tune
  * Add param `standstill_hack` for stop and go hack
+ * Add param `update_behavior` to change how SA updates. off never updates, auto reboots if there's an update, and alert shows a button offroad with changelog
 
 Stock Additions v0.5.2 - 2020-9-11 (0.7.7)
 ===

common/op_params.py

@@ -81,7 +81,9 @@ def __init__(self):
                         'enable_long_derivative': Param(False, bool, 'If you have longitudinal overshooting, enable this! This enables derivative-based\n'
                                                                      'integral wind-down to help reduce overshooting within the long PID loop'),
                         'disengage_on_gas': Param(True, bool, 'Whether you want openpilot to disengage on gas input or not'),
-                        'auto_update': Param(False, bool, 'Toggles whether your device will update and reboot automatically on this fork'),
+                        'update_behavior': Param('auto', str, 'Can be: (\'off\', \'alert\', \'auto\') without quotes\n'
+                                                              'off will never update, alert shows an alert on-screen\n'
+                                                              'auto will reboot the device when an update is seen'),
                         'dynamic_gas': Param(True, bool, 'Whether to use dynamic gas if your car is supported'),
                         'hide_auto_df_alerts': Param(False, bool, 'Hides the alert that shows what profile the model has chosen'),
                         'log_auto_df': Param(False, bool, 'Logs dynamic follow data for auto-df'),
@@ -99,7 +101,7 @@ def __init__(self):
     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 = ['lane_hug_direction', 'lane_hug_angle_offset', 'prius_use_lqr', 'no_ota_updates']  # a list of params you want to delete (unused)
+    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
 
   def _run_init(self):  # does first time initializing of default params

op_edit.py

@@ -130,7 +130,7 @@ def parse_choice(self, choice, opt_len):
       return 'exit', choice
     else:  # find most similar param to user's input
       param_sims = [(idx, self.str_sim(choice, param.lower())) for idx, param in enumerate(self.params)]
-      param_sims = [param for param in param_sims if param[1] > 0.5]
+      param_sims = [param for param in param_sims if param[1] > 0.33]
       if len(param_sims) > 0:
         chosen_param = sorted(param_sims, key=lambda param: param[1], reverse=True)[0]
         return 'change', chosen_param[0]  # return idx

selfdrive/manager.py

@@ -15,12 +15,14 @@
 
 from common.basedir import BASEDIR, PARAMS
 from common.android import ANDROID
+from common.op_params import opParams
 WEBCAM = os.getenv("WEBCAM") is not None
 sys.path.append(os.path.join(BASEDIR, "pyextra"))
 os.environ['BASEDIR'] = BASEDIR
 
 TOTAL_SCONS_NODES = 1020
 prebuilt = os.path.exists(os.path.join(BASEDIR, 'prebuilt'))
+kill_updated = opParams().get('update_behavior').lower().strip() == 'off' or os.path.exists('/data/no_ota_updates')
 
 # Create folders needed for msgq
 try:
@@ -228,9 +230,11 @@ def get_running():
   persistent_processes += [
     'logcatd',
     'tombstoned',
-    'updated',
+    # 'updated',
     'deleter',
   ]
+  if not kill_updated:
+    persistent_processes.append('updated')
 
 car_started_processes = [
   'controlsd',

selfdrive/updated.py

@@ -43,6 +43,7 @@
 from common.op_params import opParams
 
 STAGING_ROOT = "/data/safe_staging"
+REBOOT_ON_UPDATE = opParams().get('update_behavior').lower().strip() == 'auto'  # if not auto, has to be alert
 
 OVERLAY_UPPER = os.path.join(STAGING_ROOT, "upper")
 OVERLAY_METADATA = os.path.join(STAGING_ROOT, "metadata")
@@ -57,9 +58,6 @@
 ffi.cdef("int link(const char *oldpath, const char *newpath);")
 libc = ffi.dlopen(None)
 
-op_params = opParams()
-auto_update = op_params.get('auto_update') and not os.path.exists('/data/no_ota_updates')
-
 class WaitTimeHelper:
   ready_event = threading.Event()
   shutdown = False
@@ -321,12 +319,11 @@ def attempt_update(time_offroad, need_reboot):
 
 
 def auto_update_reboot(time_offroad, need_reboot, new_version):
-  if not auto_update:
+  if not REBOOT_ON_UPDATE:
     return False
 
   min_reboot_time = 5. * 60
-  if new_version:
-    need_reboot = True
+  need_reboot |= new_version
 
   if need_reboot:
     if sec_since_boot() - time_offroad > min_reboot_time: