mirror of
https://github.com/sunnypilot/sunnypilot.git
synced 2026-02-26 09:04:01 +08:00
236dffe400
* Pose kf draft old-commit-hash: 17dd4d576e597792f0e18826498c00076739f92b * Fix it old-commit-hash: 13ac120affe58fd22e871586ea5f4d335b3e9d2b * Add translation noise old-commit-hash: 166529cb612858c4ce80649367ac35b2b6007e1d * Add gravity to acc old-commit-hash: 8fcfed544b8e090ccc86b189c13bc03c6c190613 * Use pyx old-commit-hash: 8e69e0baa0a4c43b4d0c22535711f296f05420aa * Indent old-commit-hash: 25b19a73644cdcb571ccf1a1d8acb88a0d066c67 * Reset function old-commit-hash: ca5d2736da15e4fd6539f7268133320735b7c9cc * Add device_from_ned and ned_from_device transformations old-commit-hash: a60d25da0edc311e583549dc015fa595749fd4ae * Fix rotations old-commit-hash: d6d582f7f6d19a2bc2308dbcb0c9f81363e325b6 * kms old-commit-hash: 681bc4e50374795ccc61422c3ce4ffb51389fce2 * Centripetal acceleration old-commit-hash: 6e574506d27e5b76a04b2097d94efa4ca91ead71 * Rewrite draft old-commit-hash: 4a2aad0146267460e5d30036c8cdb2bef94d1d7c * Remove old locationd stuff old-commit-hash: c2be9f7dbf22fb5cd29e437cd7891a7d52266fba * Python process now old-commit-hash: 83fac85f28c0b546b6965aafe1dd8a089e67f5b3 * Process replay fix old-commit-hash: c44f9de98583c49dad0b22497869b3bb0266fcd9 * Add checks for timing and validity old-commit-hash: aed4fbe2d00ca620e01a0e0ee99a4871c939de36 * Fixes old-commit-hash: 3f052c658c16984a34915f38afdfbfd0fb19a267 * Process replay config fixes old-commit-hash: 1c56690ee7ceb3c23c9ec2b2713352191212716e * static analysis fixes old-commit-hash: 6145e2c140ea9aa97e75069c3ddd82172cadc866 * lp in latcontrol old-commit-hash: 9abf7359d68e794c69052724f3aca14b04dd3cca * Fix SensorEvent name for acceleration old-commit-hash: 91a1ad6c604727c9c898ba4aefe9478022b167fd * Ignore sensor readings from segments with multiple imus old-commit-hash: 1f05af63d6cc605ea98d7da0d727a5bd8d7819b0 * Update shebang old-commit-hash: e3f2f5c10df3a4ba698421335bfeffc63d1a8797 * Replace llk with lp old-commit-hash: 99b6c7ba08de6b703708fef0b8fd2d8cb24b92c0 * Refactor locationd scenario test old-commit-hash: 7f5f788f071b7647e36f854df927cc5b6f819a84 * Add more debugging tools old-commit-hash: 8d4e364867e143ea35f4bfd00d8212aaf170a1d1 * Param name update old-commit-hash: 5151e8f5520f067e7808e3f0baa628fbf8fb7337 * Fix expected observations old-commit-hash: d6a0d4c1a96c438fb6893e8b6ff43becf6061b75 * Handle invalid measurements old-commit-hash: 549362571e74ad1e7ec9368f6026378c54a29adf * Fix spelling old-commit-hash: eefd7c4c92fb486452e9b83c7121d2599811852b * Include observations in debug info too old-commit-hash: 625806d1110b3bffe249cd1d03416f2a3f2c1868 * Store error instead of expected observation old-commit-hash: 1cb7a799b67e56af4eddc6608d5b0e295f2d888c * Renames old-commit-hash: a7eec74640fc5cc7a5e86172d2087b66cb93d17d * Zero the yaw old-commit-hash: 96150779590fcb8ac50e8ffe8f8df03105983179 * New state_dot for orientation old-commit-hash: c1456bf3a0c5af2f888aa6ff0b5ffc2e5516ddf7 * Fix the state transformations old-commit-hash: 7cb9b91e2f99caa4ac3fb748c7f23bb8bf9f65db * Update process in test_onroad old-commit-hash: 854afab7c39ca7dec2b42974cecbb5310b82b617 * Test polling on cameraOdometry old-commit-hash: a78e8b7d61618177f15c9892e2fa1e51620deca8 * Keep the copy of x and P returned from predict old-commit-hash: 3c4159a6a7d7383265a99f3f78f8805d2fcfc8cd * Remove polling again old-commit-hash: f7228675c5fd2de5f879c4786859f1abcec27d68 * Remove locationd.cc old-commit-hash: d7005599b2b178e688c3bd1959d6b69357d3a663 * Optim in _finite_check old-commit-hash: 58ad6a06b9380960e9f69eb98663ddb97461e8d5 * Access .t once old-commit-hash: d03252e75ed4cbdb49291a60c904568e6a3d3399 * Move the timing check to cam odo code path old-commit-hash: 6a1c26f8c201e1feb601753f0cb7299cf981b47e * Call all_checks only once old-commit-hash: 373809cebf8d9db89d1ab00f4c8c933f33038e78 * Do not sort old-commit-hash: 2984cd02c0ab76827b8c7e32f7e637b261425025 * Check sm.updated old-commit-hash: 11c48de3f0802eb4783899f6a37737078dbf2da4 * Remove test_params_gps old-commit-hash: 82db4fd1a876cc2402702edc74eba0a8ac5da858 * Increase tolerance old-commit-hash: 927d6f05249d2c8ec40b32e2a0dcde8e1a469fb3 * Fix static old-commit-hash: 2d86d62c74d5ac0ad56ec3855a126e00a26cd490 * Try separate sockets for sensors old-commit-hash: 5dade63947ab237f0b4555f45d941a8851449ab1 * sensor_all_checks old-commit-hash: e25f40dd6b37ee76cd9cc2b19be552baf1355ec3 * Fix static old-commit-hash: 328cf1ad86079746b4f3fde55539e4acb92d285e * Set the cpu limit to 25 old-commit-hash: 7ba696ff54c5d3bfa42e42624d124f2a1914a96d * Make it prettier old-commit-hash: cd6270dec80d8b9dac784ddd4767a1a46bcff4b7 * Prettier old-commit-hash: 1b17931d23d37f299dad54139eaf283a89592bf5 * Increase the cpu budget to 260 old-commit-hash: 20173afb937a2609c8a9905aee0b2b093cb8bba4 * Change trans std mult. 2 works better * Update ref commit * Update ref commit
91 lines
4.4 KiB
Python
91 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.system.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),
|
|
PythonProcess("locationd", "selfdrive.locationd.locationd", only_onroad),
|
|
NativeProcess("pandad", "selfdrive/pandad", ["./pandad"], 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("pandad", "selfdrive.pandad.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("hardwared", "system.hardware.hardwared", always_run),
|
|
PythonProcess("tombstoned", "system.tombstoned", always_run, enabled=not PC),
|
|
PythonProcess("updated", "system.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}
|