Release 260111

system/manager/process_config.py

@@ -0,0 +1,144 @@
+import os
+import operator
+import importlib.util
+
+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
+
+FLASK_AVAILABLE = importlib.util.find_spec("flask") is not None
+
+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: bool, params: 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: bool, params: 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 joystick(started: bool, params: Params, CP: car.CarParams) -> bool:
+  return started and params.get_bool("JoystickDebugMode")
+
+def not_joystick(started: bool, params: Params, CP: car.CarParams) -> bool:
+  return started and not params.get_bool("JoystickDebugMode")
+
+def long_maneuver(started: bool, params: Params, CP: car.CarParams) -> bool:
+  return started and params.get_bool("LongitudinalManeuverMode")
+
+def not_long_maneuver(started: bool, params: Params, CP: car.CarParams) -> bool:
+  return started and not params.get_bool("LongitudinalManeuverMode")
+
+def qcomgps(started: bool, params: Params, CP: car.CarParams) -> bool:
+  return started and not ublox_available()
+
+def always_run(started: bool, params: Params, CP: car.CarParams) -> bool:
+  return True
+
+def only_onroad(started: bool, params: Params, CP: car.CarParams) -> bool:
+  return started
+
+def only_offroad(started: bool, params: Params, CP: car.CarParams) -> bool:
+  return not started
+
+def enable_updated(started: bool, params: Params, CP: car.CarParams) -> bool:
+  return not started and params.get_bool("SoftwareMenu")
+
+def check_fleet(started, params, CP: car.CarParams) -> bool:
+  return FLASK_AVAILABLE
+
+def or_(*fns):
+  return lambda *args: operator.or_(*(fn(*args) for fn in fns))
+
+def and_(*fns):
+  return lambda *args: operator.and_(*(fn(*args) for fn in fns))
+
+def enable_dm(started, params, CP: car.CarParams) -> bool:
+  return (started or params.get_bool("IsDriverViewEnabled")) and params.get_int("DisableDM") == 0
+
+def enable_connect(started, params, CP: car.CarParams) -> bool:
+  return params.get_int("EnableConnect") > 0
+
+def c3x_lite(started: bool, params: Params, CP: car.CarParams) -> bool:
+  return started and params.get_bool("HardwareC3xLite")
+
+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("micd", "system.micd", iscar),
+  PythonProcess("timed", "system.timed", always_run, enabled=not PC),
+
+  PythonProcess("modeld", "selfdrive.modeld.modeld", only_onroad),
+  PythonProcess("dmonitoringmodeld", "selfdrive.modeld.dmonitoringmodeld", enable_dm, enabled=(WEBCAM or not PC)),
+  #NativeProcess("mapsd", "selfdrive/navd", ["./mapsd"], only_onroad),
+  #NativeProcess("mapsd", "selfdrive/navd", ["./mapsd"], always_run),
+  #PythonProcess("navmodeld", "selfdrive.modeld.navmodeld", only_onroad),
+  PythonProcess("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", and_(not_joystick, iscar)),
+  PythonProcess("joystickd", "tools.joystick.joystickd", or_(joystick, notcar)),
+  PythonProcess("selfdrived", "selfdrive.selfdrived.selfdrived", only_onroad),
+  PythonProcess("card", "selfdrive.car.card", only_onroad),
+  PythonProcess("deleter", "system.loggerd.deleter", always_run),
+  PythonProcess("dmonitoringd", "selfdrive.monitoring.dmonitoringd", enable_dm, enabled=(WEBCAM or not PC)),
+  PythonProcess("qcomgpsd", "system.qcomgpsd.qcomgpsd", qcomgps, enabled=TICI),
+  PythonProcess("navd", "selfdrive.navd.navd", only_onroad),
+  PythonProcess("pandad", "selfdrive.pandad.pandad", always_run),
+  PythonProcess("paramsd", "selfdrive.locationd.paramsd", only_onroad),
+  PythonProcess("lagd", "selfdrive.locationd.lagd", only_onroad),
+  PythonProcess("ubloxd", "system.ubloxd.ubloxd", ublox, enabled=TICI),
+  PythonProcess("pigeond", "system.ubloxd.pigeond", ublox, enabled=TICI),
+  PythonProcess("plannerd", "selfdrive.controls.plannerd", not_long_maneuver),
+  PythonProcess("maneuversd", "tools.longitudinal_maneuvers.maneuversd", long_maneuver),
+  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", enable_updated, enabled=not PC),
+  PythonProcess("uploader", "system.loggerd.uploader", enable_connect),
+  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),
+  PythonProcess("joystick", "tools.joystick.joystick_control", and_(joystick, iscar)),
+
+  #PythonProcess("fleet_manager", "selfdrive.frogpilot.fleetmanager.fleet_manager", check_fleet, enabled=not PC),
+  PythonProcess("fleet_manager", "selfdrive.frogpilot.fleetmanager.fleet_manager", check_fleet),
+  PythonProcess("carrot_man", "selfdrive.carrot.carrot_man", always_run),#, enabled=not PC),
+
+  # c3x lite
+  PythonProcess("beep", "selfdrive.controls.beep", c3x_lite, enabled=TICI),
+]
+
+managed_processes = {p.name: p for p in procs}