opParams: More params are live (commaai#351)

* debug * run * debug * debug * debug * debug * debug * debug * debug * debug * don't import if already imported * fix * debug * debug * debug * update put * update put * update put * update put * update put * update put * update put * update put * update put * debug * debug * debug * debug * clean up * clean up * safety for reading * Rename live to not static * Fixup opEdit for static params * debug * change to static * Add msg * Revert * Debug * Right in the middle * Clean up * Clean up * Clean up * debug * clean up * clean up * debug * debug * debug * clean up * More params are live now * Use travis again * Quicker * Make read frequency a Param class attr * replace self._last_read_times with param class attr * rm reference * Add msg * Add msg * Don't show this * Only show live params in live mode * debug * live defaults to false * update msg * Reenable default live params in menu * remove redundant argument pass * Simplify importing old params * Revert rate changes * Make static * Update releases * Update features * Update README.md * These params now update with ignition * Use basedir * Can get rid of travis * Windows friendly, write file when imported * Update documentation * Can create its own instance without much issue * Update msg * Update msg * don't lie lol * Color * Color
Ray5609 · Mar 27, 2021 · 848e250 · 848e250
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diff --git a/OPEDIT_FEATURES.md b/OPEDIT_FEATURES.md
@@ -1,12 +1,15 @@
 # opEdit Features:
 - You can misspell parameter names and opEdit should be able to figure out which parameter you want. Ex. `cmra off` would be parsed as: `camera_offset`
   - You can also still enter the corresponding parameter index while choosing parameters to edit
-- Type `a` to add a parameter, `d` to delete a parameter, or `l` to toggle live tuning only mode
+- Type `l` to toggle live tuning only mode, which only shows params that update within a second
 - Shows a detailed description for each parameter once you choose it
 - Parameter value type restriction. Ensures a user cannot save an unsupported value type for any parameters, breaking the fork
 - Remembers which mode you were last in and initializes opEdit with that mode (live tuning or not)
-- Case insensitive boolean and NoneType entrance. Type `faLsE` to save `False (bool)`, etc
-- **Parameters marked with `(live!)` will have updates take affect within 3 seconds while driving! All other params will require a reboot of your EON/C2 to take effect.**
+- Case-insensitive boolean and NoneType entrance. Type `faLsE` to save `False (bool)`, etc
+
+## ❗NEW❗:
+- **Now, any parameter that isn't marked with `(static)` can update while driving and onroad. Only the parameters in the "live" view update within a second, the rest update within 10 seconds. If you enter a parameter, it will tell you its update behavior**
+- As before, static parameters will need a reboot of the device, or ignition in some cases.
 
 ## To run the opEdit parameter manager:
 ```python

diff --git a/README.md b/README.md
@@ -126,6 +126,8 @@ python op_edit.py  # or ./op_edit.py
 
 [**To see what features opEdit has, click me!**](/OPEDIT_FEATURES.md)
 
+🆕 All params now update live while driving, and params that are marked with `static` need a reboot of the device, or ignition.
+
 Here are the main parameters you can change with this fork:
 - **Tuning params**:
   - `camera_offset` **`(live!)`**: Your camera offset to use in lane_planner.py. Helps fix lane hugging

diff --git a/SA_RELEASES.md b/SA_RELEASES.md
@@ -7,6 +7,8 @@ Stock Additions v0.6.6 - 2020-02-27 (0.8.2)
  * Roadtrip profile is now stock longitudinal for smoother road trips
    * No dynamic follow distance modiciations, all stock
  * Add color corrections button, PR by ihsakashi
+ * More parameters now update while driving.
+   * If the param isn't marked with "static" you no longer have to reboot
 
 Stock Additions v0.6.5 - 2020-12-07 (0.8)
 ===

diff --git a/common/op_params.py b/common/op_params.py
diff --git a/common/travis_checker.py b/common/travis_checker.py
@@ -1,2 +1,3 @@
-from common.basedir import BASEDIR
+import os
+BASEDIR = os.path.abspath(os.path.join(os.path.dirname(os.path.realpath(__file__)), "../"))
 travis = BASEDIR.strip('/').split('/')[0] != 'data'
diff --git a/op_edit.py b/op_edit.py
@@ -24,36 +24,38 @@ def __init__(self):
 
   def run_init(self):
     if self.username is None:
-      self.success('\nWelcome to the opParams command line editor!', sleep_time=0)
-      self.prompt('Parameter \'username\' is missing! Would you like to add your Discord username for easier crash debugging?')
+      self.success('\nWelcome to the {}opParams{} command line editor!'.format(COLORS.CYAN, COLORS.SUCCESS), sleep_time=0)
+      self.prompt('Would you like to add your Discord username for easier crash debugging for the fork owner?')
+      self.prompt('Your username is only used for reaching out if a crash occurs.')
 
       username_choice = self.input_with_options(['Y', 'n', 'don\'t ask again'], default='n')[0]
       if username_choice == 0:
-        self.prompt('Please enter your Discord username so the developers can reach out if a crash occurs:')
+        self.prompt('Enter a unique identifer/Discord username:')
         username = ''
         while username == '':
           username = input('>> ').strip()
-        self.success('Thanks! Saved your Discord username\n'
-                     'Edit the \'username\' parameter at any time to update', sleep_time=1.0)
         self.op_params.put('username', username)
         self.username = username
+        self.success('Thanks! Saved your username\n'
+                     'Edit the \'username\' parameter at any time to update', sleep_time=1.5)
       elif username_choice == 2:
         self.op_params.put('username', False)
         self.info('Got it, bringing you into opEdit\n'
                   'Edit the \'username\' parameter at any time to update', sleep_time=1.0)
     else:
-      self.success('\nWelcome to the opParams command line editor, {}!'.format(self.username), sleep_time=0)
+      self.success('\nWelcome to the {}opParams{} command line editor, {}!'.format(COLORS.CYAN, COLORS.SUCCESS, self.username), sleep_time=0)
 
     self.run_loop()
 
   def run_loop(self):
     while True:
       if not self.live_tuning:
-        self.info('Here are your parameters:', end='\n', sleep_time=0)
+        self.info('Here are all your parameters:', sleep_time=0)
+        self.info('(non-static params update while driving)', end='\n', sleep_time=0)
       else:
         self.info('Here are your live parameters:', sleep_time=0)
-        self.info('(changes take effect within {} seconds)'.format(self.op_params.read_frequency), end='\n', sleep_time=0)
-      self.params = self.op_params.get(force_live=True)
+        self.info('(changes take effect within a second)', end='\n', sleep_time=0)
+      self.params = self.op_params.get(force_update=True)
       if self.live_tuning:  # only display live tunable params
         self.params = {k: v for k, v in self.params.items() if self.op_params.fork_params[k].live}
 
@@ -70,20 +72,20 @@ def run_loop(self):
           v = '{} ... {}'.format(str(v)[:30], str(v)[-15:])
         values_list.append(v)
 
-      live = [COLORS.INFO + '(live!)' + COLORS.ENDC if self.op_params.fork_params[k].live else '' for k in self.params]
+      static = [COLORS.INFO + '(static)' + COLORS.ENDC if self.op_params.fork_params[k].static else '' for k in self.params]
 
       to_print = []
       blue_gradient = [33, 39, 45, 51, 87]
       for idx, param in enumerate(self.params):
-        line = '{}. {}: {}  {}'.format(idx + 1, param, values_list[idx], live[idx])
+        line = '{}. {}: {}  {}'.format(idx + 1, param, values_list[idx], static[idx])
         if idx == self.last_choice and self.last_choice is not None:
           line = COLORS.OKGREEN + line
         else:
           _color = blue_gradient[min(round(idx / len(self.params) * len(blue_gradient)), len(blue_gradient) - 1)]
           line = COLORS.BASE(_color) + line
         to_print.append(line)
 
-      extras = {'l': ('Toggle live tuning', COLORS.WARNING),
+      extras = {'l': ('Toggle live params', COLORS.WARNING),
                 'e': ('Exit opEdit', COLORS.PINK)}
 
       to_print += ['---'] + ['{}. {}'.format(ext_col + e, ext_txt + COLORS.ENDC) for e, (ext_txt, ext_col) in extras.items()]
@@ -137,14 +139,18 @@ def change_parameter(self, choice):
       param_info = self.op_params.fork_params[chosen_key]
 
       old_value = self.params[chosen_key]
-      if param_info.live:
+      if not param_info.static:
         self.info2('Chosen parameter: {}{} (live!)'.format(chosen_key, COLORS.BASE(207)), sleep_time=0)
       else:
-        self.info2('Chosen parameter: {}'.format(chosen_key), sleep_time=0)
+        self.info2('Chosen parameter: {}{} (static)'.format(chosen_key, COLORS.BASE(207)), sleep_time=0)
 
       to_print = []
       if param_info.has_description:
         to_print.append(COLORS.OKGREEN + '>>  Description: {}'.format(param_info.description.replace('\n', '\n  > ')) + COLORS.ENDC)
+      if param_info.static:
+        to_print.append(COLORS.WARNING + '>>  A reboot is required for changes to this parameter!' + COLORS.ENDC)
+      if not param_info.static and not param_info.live:
+        to_print.append(COLORS.WARNING + '>>  Changes take effect within 10 seconds for this parameter!' + COLORS.ENDC)
       if param_info.has_allowed_types:
         to_print.append(COLORS.RED + '>>  Allowed types: {}'.format(', '.join([at.__name__ for at in param_info.allowed_types])) + COLORS.ENDC)
 
@@ -175,7 +181,7 @@ def change_parameter(self, choice):
           self.error('The type of data you entered ({}) is not allowed with this parameter!'.format(type(new_value).__name__))
           continue
 
-        if param_info.live:  # stay in live tuning interface
+        if not param_info.static:  # stay in live tuning interface
           self.op_params.put(chosen_key, new_value)
           self.success('Saved {} with value: {}! (type: {})'.format(chosen_key, new_value, type(new_value).__name__))
         else:  # else ask to save and break

diff --git a/selfdrive/car/interfaces.py b/selfdrive/car/interfaces.py
@@ -23,7 +23,7 @@ class CarInterfaceBase():
   def __init__(self, CP, CarController, CarState):
     self.CP = CP
     self.VM = VehicleModel(CP)
-    self.disengage_on_gas = opParams().get('disengage_on_gas')
+    self.op_params = opParams()
 
     self.frame = 0
     self.low_speed_alert = False
@@ -108,7 +108,7 @@ def create_common_events(self, cs_out, extra_gears=[], gas_resume_speed=-1, pcm_
       events.add(EventName.wrongCarMode)
     if cs_out.espDisabled:
       events.add(EventName.espDisabled)
-    if cs_out.gasPressed and self.disengage_on_gas:
+    if cs_out.gasPressed and self.op_params.get('disengage_on_gas'):
       events.add(EventName.gasPressed)
     if cs_out.stockFcw:
       events.add(EventName.stockFcw)
@@ -127,7 +127,7 @@ def create_common_events(self, cs_out, extra_gears=[], gas_resume_speed=-1, pcm_
     # Disable on rising edge of gas or brake. Also disable on brake when speed > 0.
     # Optionally allow to press gas at zero speed to resume.
     # e.g. Chrysler does not spam the resume button yet, so resuming with gas is handy. FIXME!
-    if (self.disengage_on_gas and cs_out.gasPressed and (not self.CS.out.gasPressed) and cs_out.vEgo > gas_resume_speed) or \
+    if (self.op_params.get('disengage_on_gas') and cs_out.gasPressed and (not self.CS.out.gasPressed) and cs_out.vEgo > gas_resume_speed) or \
        (cs_out.brakePressed and (not self.CS.out.brakePressed or not cs_out.standstill)):
       events.add(EventName.pedalPressed)
 

diff --git a/selfdrive/car/toyota/interface.py b/selfdrive/car/toyota/interface.py
@@ -7,11 +7,6 @@
 from selfdrive.car.interfaces import CarInterfaceBase
 from common.op_params import opParams
 
-op_params = opParams()
-use_lqr = op_params.get('use_lqr')
-prius_use_pid = False  # op_params.get('prius_use_pid')
-corollaTSS2_use_indi = False  # op_params.get('corollaTSS2_use_indi')
-rav4TSS2_use_indi = op_params.get('rav4TSS2_use_indi')
 EventName = car.CarEvent.EventName
 
 
@@ -22,6 +17,12 @@ def compute_gb(accel, speed):
 
   @staticmethod
   def get_params(candidate, fingerprint=gen_empty_fingerprint(), has_relay=False, car_fw=[]):  # pylint: disable=dangerous-default-value
+    op_params = opParams()
+    use_lqr = op_params.get('use_lqr')
+    prius_use_pid = False  # op_params.get('prius_use_pid')
+    corollaTSS2_use_indi = False  # op_params.get('corollaTSS2_use_indi')
+    rav4TSS2_use_indi = op_params.get('rav4TSS2_use_indi')
+
     ret = CarInterfaceBase.get_std_params(candidate, fingerprint, has_relay)
 
     ret.carName = "toyota"

diff --git a/selfdrive/controls/controlsd.py b/selfdrive/controls/controlsd.py
@@ -77,8 +77,7 @@ def __init__(self, sm=None, pm=None, can_sock=None):
                                            'laneSpeed', 'dynamicCameraOffset', 'modelLongButton'])
 
     self.op_params = opParams()
-    self.df_manager = dfManager(self.op_params)
-    self.hide_auto_df_alerts = self.op_params.get('hide_auto_df_alerts')
+    self.df_manager = dfManager()
     self.support_white_panda = self.op_params.get('support_white_panda')
     self.last_model_long = False
 
@@ -318,7 +317,7 @@ def add_stock_additions_alerts(self, CS):
       df_alert = 'dfButtonAlert'
       if df_out.is_auto and df_out.last_is_auto:
         # only show auto alert if engaged, not hiding auto, and time since lane speed alert not showing
-        if CS.cruiseState.enabled and not self.hide_auto_df_alerts:
+        if CS.cruiseState.enabled and not self.op_params.get('hide_auto_df_alerts'):
           df_alert += 'Silent'
           self.AM.SA_add(df_alert, extra_text_1=df_out.model_profile_text + ' (auto)')
           return

diff --git a/selfdrive/controls/lib/dynamic_follow/__init__.py b/selfdrive/controls/lib/dynamic_follow/__init__.py
@@ -58,7 +58,7 @@ def __init__(self, mpc_id):
     self.mpc_id = mpc_id
     self.op_params = opParams()
     self.df_profiles = dfProfiles()
-    self.df_manager = dfManager(self.op_params)
+    self.df_manager = dfManager()
     self.dmc_v_rel = DistanceModController(k_i=0.042, k_d=0.08, x_clip=[-1, 0, 0.66], mods=[1.15, 1., 0.95])
     self.dmc_a_rel = DistanceModController(k_i=0.042 * 1.05, k_d=0.08, x_clip=[-1, 0, 0.33], mods=[1.15, 1., 0.98])  # a_lead loop is 5% faster
 

diff --git a/selfdrive/controls/lib/dynamic_follow/df_manager.py b/selfdrive/controls/lib/dynamic_follow/df_manager.py
@@ -1,4 +1,5 @@
 import cereal.messaging as messaging
+from common.op_params import opParams
 from selfdrive.controls.lib.dynamic_follow.support import dfProfiles
 from common.realtime import sec_since_boot
 
@@ -14,9 +15,8 @@ class dfReturn:
 
 
 class dfManager:
-  def __init__(self, op_params, is_df=False):
-    self.op_params = op_params
-    self.is_df = is_df
+  def __init__(self):
+    self.op_params = opParams()
     self.df_profiles = dfProfiles()
     self.sm = messaging.SubMaster(['dynamicFollowButton', 'dynamicFollowData'])
     self.button_updated = False

diff --git a/selfdrive/controls/lib/lateral_planner.py b/selfdrive/controls/lib/lateral_planner.py
@@ -66,8 +66,6 @@ def __init__(self, CP):
     self.y_pts = np.zeros(TRAJECTORY_SIZE)
 
     self.op_params = opParams()
-    self.alca_nudge_required = self.op_params.get('alca_nudge_required')
-    self.alca_min_speed = self.op_params.get('alca_min_speed') * CV.MPH_TO_MS
 
   def setup_mpc(self):
     self.libmpc = libmpc_py.libmpc
@@ -107,7 +105,7 @@ def update(self, sm, CP, VM):
 
     # Lane change logic
     one_blinker = sm['carState'].leftBlinker != sm['carState'].rightBlinker
-    below_lane_change_speed = v_ego < self.alca_min_speed
+    below_lane_change_speed = v_ego < self.op_params.get('alca_min_speed') * CV.MPH_TO_MS
 
     if sm['carState'].leftBlinker:
       self.lane_change_direction = LaneChangeDirection.left
@@ -121,7 +119,7 @@ def update(self, sm, CP, VM):
       torque_applied = sm['carState'].steeringPressed and \
                        ((sm['carState'].steeringTorque > 0 and self.lane_change_direction == LaneChangeDirection.left) or
                         (sm['carState'].steeringTorque < 0 and self.lane_change_direction == LaneChangeDirection.right))
-      if not self.alca_nudge_required:
+      if not self.op_params.get('alca_nudge_required'):
         torque_applied = True
 
       blindspot_detected = ((sm['carState'].leftBlindspot and self.lane_change_direction == LaneChangeDirection.left) or

diff --git a/selfdrive/controls/lib/longcontrol.py b/selfdrive/controls/lib/longcontrol.py
@@ -68,7 +68,6 @@ def __init__(self, CP, compute_gb, candidate):
     self.last_output_gb = 0.0
 
     self.op_params = opParams()
-    self.enable_dg = self.op_params.get('dynamic_gas')
     self.dynamic_gas = DynamicGas(CP, candidate)
 
   def reset(self, v_pid):
@@ -82,7 +81,7 @@ def update(self, active, CS, v_target, v_target_future, a_target, CP, extras):
     gas_max = interp(CS.vEgo, CP.gasMaxBP, CP.gasMaxV)
     brake_max = interp(CS.vEgo, CP.brakeMaxBP, CP.brakeMaxV)
 
-    if self.enable_dg:
+    if self.op_params.get('dynamic_gas'):
       gas_max = self.dynamic_gas.update(CS, extras)
 
     # Update state machine

diff --git a/selfdrive/controls/lib/pid.py b/selfdrive/controls/lib/pid.py
@@ -109,7 +109,6 @@ def update(self, setpoint, measurement, speed=0.0, check_saturation=True, overri
 class LongPIDController:
   def __init__(self, k_p, k_i, k_d, k_f=1., pos_limit=None, neg_limit=None, rate=100, sat_limit=0.8, convert=None):
     self.op_params = opParams()
-    self.enable_long_derivative = self.op_params.get('enable_long_derivative')
     self._k_p = k_p  # proportional gain
     self._k_i = k_i  # integral gain
     self._k_d = k_d  # derivative gain
@@ -186,7 +185,7 @@ def update(self, setpoint, measurement, speed=0.0, check_saturation=True, overri
               not freeze_integrator:
         self.id = i
 
-    if self.enable_long_derivative:
+    if self.op_params.get('enable_long_derivative'):
       if abs(setpoint - self.last_setpoint) / self.rate < self.max_accel_d:  # if setpoint isn't changing much
         d = self.k_d * (error - self.last_error)
         if (self.id > 0 and self.id + d >= 0) or (self.id < 0 and self.id + d <= 0):  # if changing integral doesn't make it cross zero

diff --git a/selfdrive/loggerd/uploader.py b/selfdrive/loggerd/uploader.py
@@ -25,7 +25,7 @@
 allow_sleep = bool(os.getenv("UPLOADER_SLEEP", "1"))
 force_wifi = os.getenv("FORCEWIFI") is not None
 fake_upload = os.getenv("FAKEUPLOAD") is not None
-upload_on_hotspot = opParams().get('upload_on_hotspot')
+op_params = opParams()
 
 
 def get_directory_sort(d):
@@ -226,7 +226,7 @@ def uploader_fn(exit_event):
 
     d = None
     on_hotspot = is_on_hotspot()
-    if (on_hotspot and upload_on_hotspot) or not on_hotspot:
+    if (on_hotspot and op_params.get('upload_on_hotspot')) or not on_hotspot:
       d = uploader.next_file_to_upload(with_raw=allow_raw_upload and on_wifi and offroad)
 
     if d is None:  # Nothing to upload