mirror of
https://github.com/dragonpilot/dragonpilot.git
synced 2026-02-22 01:13:54 +08:00
71f5c441fe
* format card * standalone process * no class member CS, there's no point also can be confusing; what else could be using this? * rename CoS * Update selfdrive/controls/controlsd.py * never works first time :D * canRcvTimeout is bool * hack * add cpu * see what testing closet comes up with * first * some clean up * support passable CI, fix test models * fix startup alert * process replay changes * test_fuzzy * gate carOutput valid on carControl valid * we should publish after we update carOutput * controlsd was using actuatorsOutput from 2 frames ago for torque, not the most up to date * check all checks for carControl in case controlsd dies * log more timestamps * more generic latency logger; needs some clean up latency_logger.py was difficult to understand and modify * card polls on can and carControl to get latest carControl possible * temp try to send earlier * add log * remove latencylogger * no mpld3! * old loop * detect first event * normal send * revert "card polls on can and carControl to get latest carControl possible" how it was is best * sheesh! update should be first * first timestamp * temp comment ( timestamp is slow :( ) * more final ordering, and make polling on/off test repeatable * Received can * new plot timestamps * clean up * no poll * add controllers (draft) * Revert "add controllers (draft)" This reverts commit e2c3f01b2fadcff74347bac90c8a5cc1ef4e27b3. * fix that * conventions * just use CS * consider controlsd state machine in card: not fully done * hmm it's just becoming controlsd * rm debugging * Revert "hmm it's just becoming controlsd" This reverts commit 534a357ee95bec4ed070667186af55d59421bbc7. * Revert "just use CS" This reverts commit 9fa7406f30c86200f20457f7b9ff95e731201bf9. * add vCruise * migrate car state * Revert "migrate car state" This reverts commit 4ae86ca163c6920070f410f608f7644ab632850b. * Revert "add vCruise" This reverts commit af247a8da41c3626ada4231b98042da1a1ae4633. * simple state machine in card (doesn't work as is) * Revert "simple state machine in card (doesn't work as is)" This reverts commit b4af8a9b0a2e17fdfc89d344c64678ef51305c24. * poll carState without conflate * bump * remove state transition * fix * update refs * ignore cumLagMs and don't ignore valid * fix controls mismatch; controlsd used to set alt exp * controlsd_config_callback not needed for card * revert ref temp * update refs * no poll * not builder! * test fix * need to migrate initialized * CC will be a reader * more as_reader! * fix None * init after publish like before - no real difference * controlsd clean up * remove redundant check and check passive for init * stash * flip * migrate missing carOutput for controlsd * Update ref_commit * bump cereal * comment * no class params * no class * Revert "no class" This reverts commit 5499b83c2dcb5462070626f8523e3aec6f4c209d. * add todo * regen and update refs * fix * update refs * and fix that * should be controlsstate * remove controlsState migration CoS.initialized isn't needed yet * fix * flip! * bump * fix that * update refs * fix * if canValid goes false, controlsd would still send * bump * rm diff * need to be very careful with initializing * update refs
92 lines
4.4 KiB
Python
92 lines
4.4 KiB
Python
import os
|
|
|
|
from cereal import car
|
|
from openpilot.common.params import Params
|
|
from openpilot.system.hardware import PC, TICI
|
|
from openpilot.selfdrive.manager.process import PythonProcess, NativeProcess, DaemonProcess
|
|
|
|
WEBCAM = os.getenv("USE_WEBCAM") is not None
|
|
|
|
def driverview(started: bool, params: Params, CP: car.CarParams) -> bool:
|
|
return started or params.get_bool("IsDriverViewEnabled")
|
|
|
|
def notcar(started: bool, params: Params, CP: car.CarParams) -> bool:
|
|
return started and CP.notCar
|
|
|
|
def iscar(started: bool, params: Params, CP: car.CarParams) -> bool:
|
|
return started and not CP.notCar
|
|
|
|
def logging(started, params, CP: car.CarParams) -> bool:
|
|
run = (not CP.notCar) or not params.get_bool("DisableLogging")
|
|
return started and run
|
|
|
|
def ublox_available() -> bool:
|
|
return os.path.exists('/dev/ttyHS0') and not os.path.exists('/persist/comma/use-quectel-gps')
|
|
|
|
def ublox(started, params, CP: car.CarParams) -> bool:
|
|
use_ublox = ublox_available()
|
|
if use_ublox != params.get_bool("UbloxAvailable"):
|
|
params.put_bool("UbloxAvailable", use_ublox)
|
|
return started and use_ublox
|
|
|
|
def qcomgps(started, params, CP: car.CarParams) -> bool:
|
|
return started and not ublox_available()
|
|
|
|
def always_run(started, params, CP: car.CarParams) -> bool:
|
|
return True
|
|
|
|
def only_onroad(started: bool, params, CP: car.CarParams) -> bool:
|
|
return started
|
|
|
|
def only_offroad(started, params, CP: car.CarParams) -> bool:
|
|
return not started
|
|
|
|
procs = [
|
|
DaemonProcess("manage_athenad", "system.athena.manage_athenad", "AthenadPid"),
|
|
|
|
NativeProcess("camerad", "system/camerad", ["./camerad"], driverview),
|
|
NativeProcess("logcatd", "system/logcatd", ["./logcatd"], only_onroad),
|
|
NativeProcess("proclogd", "system/proclogd", ["./proclogd"], only_onroad),
|
|
PythonProcess("logmessaged", "system.logmessaged", always_run),
|
|
PythonProcess("micd", "system.micd", iscar),
|
|
PythonProcess("timed", "system.timed", always_run, enabled=not PC),
|
|
|
|
PythonProcess("dmonitoringmodeld", "selfdrive.modeld.dmonitoringmodeld", driverview, enabled=(not PC or WEBCAM)),
|
|
NativeProcess("encoderd", "system/loggerd", ["./encoderd"], only_onroad),
|
|
NativeProcess("stream_encoderd", "system/loggerd", ["./encoderd", "--stream"], notcar),
|
|
NativeProcess("loggerd", "system/loggerd", ["./loggerd"], logging),
|
|
NativeProcess("modeld", "selfdrive/modeld", ["./modeld"], only_onroad),
|
|
NativeProcess("sensord", "system/sensord", ["./sensord"], only_onroad, enabled=not PC),
|
|
NativeProcess("ui", "selfdrive/ui", ["./ui"], always_run, watchdog_max_dt=(5 if not PC else None)),
|
|
PythonProcess("soundd", "selfdrive.ui.soundd", only_onroad),
|
|
NativeProcess("locationd", "selfdrive/locationd", ["./locationd"], only_onroad),
|
|
NativeProcess("boardd", "selfdrive/boardd", ["./boardd"], always_run, enabled=False),
|
|
PythonProcess("calibrationd", "selfdrive.locationd.calibrationd", only_onroad),
|
|
PythonProcess("torqued", "selfdrive.locationd.torqued", only_onroad),
|
|
PythonProcess("controlsd", "selfdrive.controls.controlsd", only_onroad),
|
|
PythonProcess("card", "selfdrive.car.card", only_onroad),
|
|
PythonProcess("deleter", "system.loggerd.deleter", always_run),
|
|
PythonProcess("dmonitoringd", "selfdrive.monitoring.dmonitoringd", driverview, enabled=(not PC or WEBCAM)),
|
|
PythonProcess("qcomgpsd", "system.qcomgpsd.qcomgpsd", qcomgps, enabled=TICI),
|
|
#PythonProcess("ugpsd", "system.ugpsd", only_onroad, enabled=TICI),
|
|
PythonProcess("navd", "selfdrive.navd.navd", only_onroad),
|
|
PythonProcess("pandad", "selfdrive.boardd.pandad", always_run),
|
|
PythonProcess("paramsd", "selfdrive.locationd.paramsd", only_onroad),
|
|
NativeProcess("ubloxd", "system/ubloxd", ["./ubloxd"], ublox, enabled=TICI),
|
|
PythonProcess("pigeond", "system.ubloxd.pigeond", ublox, enabled=TICI),
|
|
PythonProcess("plannerd", "selfdrive.controls.plannerd", only_onroad),
|
|
PythonProcess("radard", "selfdrive.controls.radard", only_onroad),
|
|
PythonProcess("thermald", "system.thermald.thermald", always_run),
|
|
PythonProcess("tombstoned", "system.tombstoned", always_run, enabled=not PC),
|
|
PythonProcess("updated", "selfdrive.updated.updated", only_offroad, enabled=not PC),
|
|
PythonProcess("uploader", "system.loggerd.uploader", always_run),
|
|
PythonProcess("statsd", "system.statsd", always_run),
|
|
|
|
# debug procs
|
|
NativeProcess("bridge", "cereal/messaging", ["./bridge"], notcar),
|
|
PythonProcess("webrtcd", "system.webrtc.webrtcd", notcar),
|
|
PythonProcess("webjoystick", "tools.bodyteleop.web", notcar),
|
|
]
|
|
|
|
managed_processes = {p.name: p for p in procs}
|