mirror of
https://github.com/dragonpilot/dragonpilot.git
synced 2026-02-20 14:53:58 +08:00
43 lines
2.7 KiB
Python
43 lines
2.7 KiB
Python
import os
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from selfdrive.manager.process import PythonProcess, NativeProcess, DaemonProcess
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from selfdrive.hardware import EON, TICI, PC, JETSON
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from common.params import Params
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JETSON = JETSON or Params().get_bool('dp_jetson')
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WEBCAM = os.getenv("USE_WEBCAM") is not None
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procs = [
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DaemonProcess("manage_athenad", "selfdrive.athena.manage_athenad", "AthenadPid", enabled=not JETSON),
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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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NativeProcess("dmonitoringmodeld", "selfdrive/modeld", ["./dmonitoringmodeld"], enabled=not JETSON and (not PC or WEBCAM), driverview=True),
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NativeProcess("logcatd", "selfdrive/logcatd", ["./logcatd"], enabled=not JETSON),
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NativeProcess("loggerd", "selfdrive/loggerd", ["./loggerd"], enabled=not JETSON),
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NativeProcess("modeld", "selfdrive/modeld", ["./modeld"]),
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NativeProcess("proclogd", "selfdrive/proclogd", ["./proclogd"], enabled=not JETSON),
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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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NativeProcess("ui", "selfdrive/ui", ["./ui"], persistent=True, watchdog_max_dt=(10 if TICI else None)),
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NativeProcess("locationd", "selfdrive/locationd", ["./locationd"]),
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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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PythonProcess("dmonitoringd", "selfdrive.monitoring.dmonitoringd", enabled=not JETSON and (not PC or WEBCAM), driverview=True),
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PythonProcess("logmessaged", "selfdrive.logmessaged", enabled=not JETSON, 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("rtshield", "selfdrive.rtshield", enabled=EON),
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PythonProcess("thermald", "selfdrive.thermald.thermald", persistent=True),
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PythonProcess("timezoned", "selfdrive.timezoned", enabled=TICI, persistent=True),
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PythonProcess("tombstoned", "selfdrive.tombstoned", enabled=not PC and not JETSON, persistent=True),
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PythonProcess("updated", "selfdrive.updated", enabled=not PC and not JETSON, persistent=True),
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PythonProcess("uploader", "selfdrive.loggerd.uploader", enabled=not JETSON, persistent=True),
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PythonProcess("systemd", "selfdrive.dragonpilot.systemd", persistent=True),
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]
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managed_processes = {p.name: p for p in procs}
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