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don't run ublox procs without ublox (#26965)

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* pigeond: don't run if ublox missing

* same for ubloxd

Co-authored-by: Comma Device <device@comma.ai>
old-commit-hash: 6861c9999195a9791bdb31675a4ed07dbd562b9c
This commit is contained in:
Adeeb Shihadeh
2023-01-14 23:06:09 -08:00
committed by GitHub
parent 63efb985cd
commit cd2756da23
2 changed files with 8 additions and 4 deletions
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9
selfdrive/manager/process_config.py
View File

@@ -17,6 +17,11 @@ def logging(started, params, CP: car.CarParams) -> bool:
run = (not CP.notCar) or not params.get_bool("DisableLogging")
return started and run
def ublox(started, params, CP: car.CarParams) -> bool:
use_ublox = os.path.exists('/dev/ttyHS0') and not os.path.exists('/persist/comma/use-quectel-gps')
params.put_bool("UbloxAvailable", use_ublox)
return started and use_ublox
procs = [
# due to qualcomm kernel bugs SIGKILLing camerad sometimes causes page table corruption
NativeProcess("camerad", "system/camerad", ["./camerad"], unkillable=True, callback=driverview),
@@ -35,7 +40,6 @@ procs = [
NativeProcess("mapsd", "selfdrive/navd", ["./map_renderer"], enabled=False),
NativeProcess("navmodeld", "selfdrive/modeld", ["./navmodeld"], enabled=False),
NativeProcess("sensord", "selfdrive/sensord", ["./sensord"], enabled=not PC),
NativeProcess("ubloxd", "selfdrive/locationd", ["./ubloxd"], enabled=(not PC or WEBCAM)),
NativeProcess("ui", "selfdrive/ui", ["./ui"], offroad=True, watchdog_max_dt=(5 if not PC else None)),
NativeProcess("soundd", "selfdrive/ui/soundd", ["./soundd"], offroad=True),
NativeProcess("locationd", "selfdrive/locationd", ["./locationd"]),
@@ -50,7 +54,8 @@ procs = [
PythonProcess("navd", "selfdrive.navd.navd"),
PythonProcess("pandad", "selfdrive.boardd.pandad", offroad=True),
PythonProcess("paramsd", "selfdrive.locationd.paramsd"),
PythonProcess("pigeond", "selfdrive.sensord.pigeond", enabled=TICI),
NativeProcess("ubloxd", "selfdrive/locationd", ["./ubloxd"], enabled=TICI, onroad=False, callback=ublox),
PythonProcess("pigeond", "selfdrive.sensord.pigeond", enabled=TICI, onroad=False, callback=ublox),
PythonProcess("plannerd", "selfdrive.controls.plannerd"),
PythonProcess("radard", "selfdrive.controls.radard"),
PythonProcess("thermald", "selfdrive.thermald.thermald", offroad=True),

3
selfdrive/sensord/pigeond.py
View File

@@ -303,8 +303,7 @@ def main():
pigeon, pm = create_pigeon()
init_baudrate(pigeon)
r = initialize_pigeon(pigeon)
Params().put_bool("UbloxAvailable", r)
initialize_pigeon(pigeon)
# start receiving data
run_receiving(pigeon, pm)