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Make model daemons Python processes (#34880)

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This commit is contained in:
Adeeb Shihadeh
2025-03-15 15:55:29 -07:00
committed by GitHub
parent fb7b9c0f94
commit 519ea9dcab
2 changed files with 7 additions and 5 deletions
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6
system/manager/process.py
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@@ -221,8 +221,12 @@ class PythonProcess(ManagerProcess):
if self.proc is not None:
return
# TODO: this is just a workaround for this tinygrad check:
# https://github.com/tinygrad/tinygrad/blob/ac9c96dae1656dc220ee4acc39cef4dd449aa850/tinygrad/device.py#L26
name = self.name if "modeld" not in self.name else "MainProcess"
cloudlog.info(f"starting python {self.module}")
self.proc = Process(name=self.name, target=self.launcher, args=(self.module, self.name))
self.proc = Process(name=name, target=self.launcher, args=(self.module, self.name))
self.proc.start()
self.watchdog_seen = False
self.shutting_down = False

6
system/manager/process_config.py
View File

@@ -75,10 +75,8 @@ procs = [
PythonProcess("micd", "system.micd", iscar),
PythonProcess("timed", "system.timed", always_run, enabled=not PC),
# TODO: Make python process once TG allows opening QCOM from child pro
# https://github.com/tinygrad/tinygrad/blob/ac9c96dae1656dc220ee4acc39cef4dd449aa850/tinygrad/device.py#L26
NativeProcess("modeld", "selfdrive/modeld", ["./modeld.py"], only_onroad),
NativeProcess("dmonitoringmodeld", "selfdrive/modeld", ["./dmonitoringmodeld.py"], driverview, enabled=(WEBCAM or not PC)),
PythonProcess("modeld", "selfdrive.modeld.modeld", only_onroad),
PythonProcess("dmonitoringmodeld", "selfdrive.modeld.dmonitoringmodeld", driverview, enabled=(WEBCAM or not PC)),
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)),