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start logging services first (#34646)

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* start logging services first

* fix test

---------

Co-authored-by: Comma Device <device@comma.ai>
This commit is contained in:
Adeeb Shihadeh
2025-02-20 16:53:07 -08:00
committed by GitHub
parent 7c791ae3d9
commit 952def7abf
2 changed files with 12 additions and 6 deletions
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9
selfdrive/test/test_onroad.py
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@@ -348,9 +348,14 @@ class TestOnroad:
assert np.all(eof_sof_diff > 0)
assert np.all(eof_sof_diff < 50*1e6)
# camerad guarantees that all cams start on the same frame ID
first_fid = {c: min(self.ts[c]['frameId']) for c in cams}
assert len(set(first_fid.values())) == 1, "Cameras don't start on same frame ID"
if cam.endswith('CameraState'):
# camerad guarantees that all cams start on frame ID 0
# (note loggerd also needs to start up fast enough to catch it)
assert set(first_fid.values()) == {0, }, "Cameras don't start on frame ID 0"
else:
# encoder guarantees all cams start on the same frame ID
assert len(set(first_fid.values())) == 1, "Cameras don't start on same frame ID"
# we don't do a full segment rotation, so these might not match exactly
last_fid = {c: max(self.ts[c]['frameId']) for c in cams}

9
system/manager/process_config.py
View File

@@ -63,19 +63,20 @@ def and_(*fns):
procs = [
DaemonProcess("manage_athenad", "system.athena.manage_athenad", "AthenadPid"),
NativeProcess("loggerd", "system/loggerd", ["./loggerd"], logging),
NativeProcess("encoderd", "system/loggerd", ["./encoderd"], only_onroad),
NativeProcess("stream_encoderd", "system/loggerd", ["./encoderd", "--stream"], notcar),
PythonProcess("logmessaged", "system.logmessaged", always_run),
NativeProcess("camerad", "system/camerad", ["./camerad"], driverview, enabled=not WEBCAM),
PythonProcess("webcamerad", "tools.webcam.camerad", driverview, enabled=WEBCAM),
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),
# TODO Make python process once TG allows opening QCOM from child proc
NativeProcess("dmonitoringmodeld", "selfdrive/modeld", ["./dmonitoringmodeld"], driverview, enabled=(WEBCAM or not PC)),
NativeProcess("encoderd", "system/loggerd", ["./encoderd"], only_onroad),
NativeProcess("stream_encoderd", "system/loggerd", ["./encoderd", "--stream"], notcar),
NativeProcess("loggerd", "system/loggerd", ["./loggerd"], logging),
# TODO Make python process once TG allows opening QCOM from child proc
NativeProcess("modeld", "selfdrive/modeld", ["./modeld"], only_onroad),
NativeProcess("sensord", "system/sensord", ["./sensord"], only_onroad, enabled=not PC),