2021-03-07 22:02:08 -08:00
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import os
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2021-03-05 11:03:23 +01:00
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from selfdrive.manager.process import PythonProcess, NativeProcess, DaemonProcess
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from selfdrive.hardware import EON, TICI, PC
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2021-06-05 12:20:02 +08:00
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WEBCAM = os.getenv("USE_WEBCAM") is not None
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2021-03-07 22:02:08 -08:00
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2021-03-05 11:03:23 +01:00
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procs = [
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DaemonProcess("manage_athenad", "selfdrive.athena.manage_athenad", "AthenadPid"),
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# due to qualcomm kernel bugs SIGKILLing camerad sometimes causes page table corruption
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NativeProcess("camerad", "selfdrive/camerad", ["./camerad"], unkillable=True, driverview=True),
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NativeProcess("clocksd", "selfdrive/clocksd", ["./clocksd"]),
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2021-03-08 12:18:58 +01:00
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NativeProcess("dmonitoringmodeld", "selfdrive/modeld", ["./dmonitoringmodeld"], enabled=(not PC or WEBCAM), driverview=True),
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2021-03-05 11:03:23 +01:00
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NativeProcess("logcatd", "selfdrive/logcatd", ["./logcatd"]),
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NativeProcess("loggerd", "selfdrive/loggerd", ["./loggerd"]),
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NativeProcess("modeld", "selfdrive/modeld", ["./modeld"]),
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2021-11-04 14:32:32 +01:00
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NativeProcess("navd", "selfdrive/ui/navd", ["./navd"], enabled=(PC or TICI), persistent=True),
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2021-03-05 11:03:23 +01:00
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NativeProcess("proclogd", "selfdrive/proclogd", ["./proclogd"]),
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2021-03-08 12:18:58 +01:00
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NativeProcess("sensord", "selfdrive/sensord", ["./sensord"], enabled=not PC, persistent=EON, sigkill=EON),
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NativeProcess("ubloxd", "selfdrive/locationd", ["./ubloxd"], enabled=(not PC or WEBCAM)),
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2021-07-17 14:52:05 -07:00
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NativeProcess("ui", "selfdrive/ui", ["./ui"], persistent=True, watchdog_max_dt=(5 if TICI else None)),
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2021-12-15 14:29:32 -08:00
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NativeProcess("soundd", "selfdrive/ui/soundd", ["./soundd"]),
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2021-04-20 11:56:43 +02:00
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NativeProcess("locationd", "selfdrive/locationd", ["./locationd"]),
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2021-08-06 15:48:16 -07:00
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NativeProcess("boardd", "selfdrive/boardd", ["./boardd"], enabled=False),
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2021-03-05 11:03:23 +01:00
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PythonProcess("calibrationd", "selfdrive.locationd.calibrationd"),
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PythonProcess("controlsd", "selfdrive.controls.controlsd"),
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PythonProcess("deleter", "selfdrive.loggerd.deleter", persistent=True),
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2021-03-08 12:18:58 +01:00
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PythonProcess("dmonitoringd", "selfdrive.monitoring.dmonitoringd", enabled=(not PC or WEBCAM), driverview=True),
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2021-03-05 11:03:23 +01:00
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PythonProcess("logmessaged", "selfdrive.logmessaged", persistent=True),
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PythonProcess("pandad", "selfdrive.pandad", persistent=True),
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PythonProcess("paramsd", "selfdrive.locationd.paramsd"),
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PythonProcess("plannerd", "selfdrive.controls.plannerd"),
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PythonProcess("radard", "selfdrive.controls.radard"),
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PythonProcess("thermald", "selfdrive.thermald.thermald", persistent=True),
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2021-03-08 12:18:58 +01:00
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PythonProcess("timezoned", "selfdrive.timezoned", enabled=TICI, persistent=True),
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PythonProcess("tombstoned", "selfdrive.tombstoned", enabled=not PC, persistent=True),
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PythonProcess("updated", "selfdrive.updated", enabled=not PC, persistent=True),
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2021-03-05 11:03:23 +01:00
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PythonProcess("uploader", "selfdrive.loggerd.uploader", persistent=True),
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2021-08-19 16:00:05 -07:00
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# EON only
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PythonProcess("rtshield", "selfdrive.rtshield", enabled=EON),
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PythonProcess("androidd", "selfdrive.hardware.eon.androidd", enabled=EON, persistent=True),
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2021-03-05 11:03:23 +01:00
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]
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managed_processes = {p.name: p for p in procs}
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