133 lines
6.4 KiB
Python
133 lines
6.4 KiB
Python
import os
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from cereal import car
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from openpilot.common.params import Params
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from openpilot.system.hardware import PC, TICI
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from openpilot.selfdrive.sunnypilot import get_model_generation
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from openpilot.system.manager.process import PythonProcess, NativeProcess, DaemonProcess
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from openpilot.system.mapd_manager import MAPD_PATH, COMMON_DIR
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from openpilot.system.manager.sunnylink import sunnylink_need_register, sunnylink_ready
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WEBCAM = os.getenv("USE_WEBCAM") is not None
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def driverview(started: bool, params: Params, CP: car.CarParams) -> bool:
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return started or params.get_bool("IsDriverViewEnabled")
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def notcar(started: bool, params: Params, CP: car.CarParams) -> bool:
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return started and CP.notCar
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def iscar(started: bool, params: Params, CP: car.CarParams) -> bool:
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return started and not CP.notCar
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def logging(started, params, CP: car.CarParams) -> bool:
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run = (not CP.notCar) or not params.get_bool("DisableLogging")
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return started and run
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def ublox_available() -> bool:
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return os.path.exists('/dev/ttyHS0') and not os.path.exists('/persist/comma/use-quectel-gps')
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def ublox(started, params, CP: car.CarParams) -> bool:
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use_ublox = ublox_available()
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if use_ublox != params.get_bool("UbloxAvailable"):
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params.put_bool("UbloxAvailable", use_ublox)
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return started and use_ublox
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def qcomgps(started, params, CP: car.CarParams) -> bool:
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return started and not ublox_available()
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def always_run(started, params, CP: car.CarParams) -> bool:
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return True
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def only_onroad(started: bool, params, CP: car.CarParams) -> bool:
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return started
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def only_offroad(started, params, CP: car.CarParams) -> bool:
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return not started
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def model_use_nav(started, params, CP: car.CarParams) -> bool:
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custom_model, model_gen = get_model_generation(params)
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return started and custom_model and model_gen not in (0, 4)
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def sunnylink_ready_shim(started, params, CP: car.CarParams) -> bool:
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"""Shim for sunnylink_ready to match the process manager signature."""
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return sunnylink_ready(params)
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def sunnylink_need_register_shim(started, params, CP: car.CarParams) -> bool:
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"""Shim for sunnylink_need_register to match the process manager signature."""
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return sunnylink_need_register(params)
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procs = [
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DaemonProcess("manage_athenad", "system.athena.manage_athenad", "AthenadPid"),
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NativeProcess("camerad", "system/camerad", ["./camerad"], driverview),
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NativeProcess("logcatd", "system/logcatd", ["./logcatd"], only_onroad),
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NativeProcess("proclogd", "system/proclogd", ["./proclogd"], only_onroad),
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PythonProcess("logmessaged", "system.logmessaged", always_run),
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PythonProcess("micd", "system.micd", iscar),
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PythonProcess("timed", "system.timed", always_run, enabled=not PC),
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PythonProcess("dmonitoringmodeld", "selfdrive.modeld.dmonitoringmodeld", driverview, enabled=(not PC or WEBCAM)),
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NativeProcess("encoderd", "system/loggerd", ["./encoderd"], only_onroad),
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NativeProcess("stream_encoderd", "system/loggerd", ["./encoderd", "--stream"], notcar),
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#NativeProcess("loggerd", "system/loggerd", ["./loggerd"], logging),
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NativeProcess("modeld", "selfdrive/modeld", ["./modeld"], only_onroad),
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NativeProcess("mapsd", "selfdrive/navd", ["./mapsd"], model_use_nav),
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PythonProcess("navmodeld", "selfdrive.modeld.navmodeld", model_use_nav),
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NativeProcess("sensord", "system/sensord", ["./sensord"], only_onroad, enabled=not PC),
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NativeProcess("ui", "selfdrive/ui", ["./ui"], always_run, watchdog_max_dt=(5 if not PC else None)),
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PythonProcess("soundd", "selfdrive.ui.soundd", only_onroad),
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NativeProcess("locationd", "selfdrive/locationd", ["./locationd"], only_onroad),
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NativeProcess("pandad", "selfdrive/pandad", ["./pandad"], always_run, enabled=False),
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PythonProcess("calibrationd", "selfdrive.locationd.calibrationd", only_onroad),
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PythonProcess("torqued", "selfdrive.locationd.torqued", only_onroad),
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PythonProcess("controlsd", "selfdrive.controls.controlsd", only_onroad),
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PythonProcess("card", "selfdrive.car.card", only_onroad),
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PythonProcess("deleter", "system.loggerd.deleter", always_run),
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PythonProcess("dmonitoringd", "selfdrive.monitoring.dmonitoringd", driverview, enabled=(not PC or WEBCAM)),
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PythonProcess("qcomgpsd", "system.qcomgpsd.qcomgpsd", qcomgps, enabled=TICI),
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#PythonProcess("ugpsd", "system.ugpsd", only_onroad, enabled=TICI),
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PythonProcess("navd", "selfdrive.navd.navd", only_onroad),
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PythonProcess("pandad", "selfdrive.pandad.pandad", always_run),
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PythonProcess("paramsd", "selfdrive.locationd.paramsd", only_onroad),
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NativeProcess("ubloxd", "system/ubloxd", ["./ubloxd"], ublox, enabled=TICI),
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PythonProcess("pigeond", "system.ubloxd.pigeond", ublox, enabled=TICI),
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PythonProcess("plannerd", "selfdrive.controls.plannerd", only_onroad),
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PythonProcess("radard", "selfdrive.controls.radard", only_onroad),
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PythonProcess("hardwared", "system.hardware.hardwared", always_run),
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PythonProcess("tombstoned", "system.tombstoned", always_run, enabled=not PC),
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PythonProcess("updated", "system.updated.updated", only_offroad, enabled=not PC),
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PythonProcess("uploader", "system.loggerd.uploader", always_run),
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PythonProcess("statsd", "system.statsd", always_run),
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# PFEIFER - MAPD {{
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NativeProcess("mapd", COMMON_DIR, [MAPD_PATH], always_run, enabled=not PC),
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PythonProcess("mapd_manager", "system.mapd_manager", always_run, enabled=not PC),
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# }} PFEIFER - MAPD
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PythonProcess("otisserv", "selfdrive.navd.otisserv", always_run),
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PythonProcess("fleet_manager", "system.fleetmanager.fleet_manager", always_run, enabled=not PC),
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# debug procs
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NativeProcess("bridge", "cereal/messaging", ["./bridge"], notcar),
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PythonProcess("webrtcd", "system.webrtc.webrtcd", notcar),
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PythonProcess("webjoystick", "tools.bodyteleop.web", notcar),
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# Sunnylink <3
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DaemonProcess("manage_sunnylinkd", "system.athena.manage_sunnylinkd", "SunnylinkdPid"),
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PythonProcess("sunnylink_registration", "system.manager.sunnylink", sunnylink_need_register_shim),
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]
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if os.path.exists("../loggerd/sunnylink_uploader.py"):
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procs += [
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PythonProcess("sunnylink_uploader", "system.loggerd.sunnylink_uploader", sunnylink_ready_shim),
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]
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if os.path.exists("./gitlab_runner.sh") and not PC:
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# Only devs!
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procs += [
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NativeProcess("gitlab_runner_start", "system/manager", ["./gitlab_runner.sh", "start"], only_offroad, sigkill=False),
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NativeProcess("gitlab_runner_stop", "system/manager", ["./gitlab_runner.sh", "stop"], only_onroad, sigkill=False)
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]
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managed_processes = {p.name: p for p in procs}
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