109 lines
5.7 KiB
Python
109 lines
5.7 KiB
Python
import os
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from cereal import car
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from openpilot.common.params import Params
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from openpilot.system.hardware import PC, TICI, EON
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from openpilot.selfdrive.manager.process import PythonProcess, NativeProcess, DaemonProcess
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NO_IR_CTRL = os.path.isfile('/data/media/0/no_ir_ctrl')
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WEBCAM = os.getenv("USE_WEBCAM") is not None
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def driverview(started: bool, params: Params, CP: car.CarParams) -> bool:
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return started or params.get_bool("IsDriverViewEnabled")
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def notcar(started: bool, params: Params, CP: car.CarParams) -> bool:
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return started and CP.notCar
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def iscar(started: bool, params: Params, CP: car.CarParams) -> bool:
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return started and not CP.notCar
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def logging(started, params, CP: car.CarParams) -> bool:
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run = (not CP.notCar) or not params.get_bool("DisableLogging")
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return started and run
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def ublox_available() -> bool:
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return True if EON else os.path.exists('/dev/ttyHS0') and not os.path.exists('/persist/comma/use-quectel-gps')
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def ublox(started, params, CP: car.CarParams) -> bool:
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use_ublox = ublox_available()
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if use_ublox != params.get_bool("UbloxAvailable"):
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params.put_bool("UbloxAvailable", use_ublox)
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return started and use_ublox
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def qcomgps(started, params, CP: car.CarParams) -> bool:
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return started and not ublox_available()
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def always_run(started, params, CP: car.CarParams) -> bool:
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return True
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def only_onroad(started: bool, params, CP: car.CarParams) -> bool:
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return started
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def only_offroad(started, params, CP: car.CarParams) -> bool:
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return not started
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procs = [
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NativeProcess("camerad", "selfdrive/camerad", ["./camerad"], driverview),
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NativeProcess("clocksd", "system/clocksd", ["./clocksd"], only_onroad),
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NativeProcess("logcatd", "system/logcatd", ["./logcatd"], only_onroad),
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NativeProcess("proclogd", "system/proclogd", ["./proclogd"], only_onroad),
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PythonProcess("logmessaged", "system.logmessaged", always_run),
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# PythonProcess("micd", "system.micd", callback=iscar),
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# PythonProcess("timezoned", "system.timezoned", enabled=not PC, offroad=True),
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DaemonProcess("manage_athenad", "selfdrive.athena.manage_athenad", "AthenadPid"),
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NativeProcess("dmonitoringmodeld", "selfdrive/hybrid_modeld", ["./dmonitoringmodeld"], driverview, enabled=(not PC or WEBCAM) and not NO_IR_CTRL),
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# NativeProcess("encoderd", "system/loggerd", ["./encoderd"]),
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# NativeProcess("stream_encoderd", "system/loggerd", ["./encoderd", "--stream"], onroad=False, callback=notcar),
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NativeProcess("loggerd", "selfdrive/loggerd", ["./loggerd"], logging),
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NativeProcess("modeld", "selfdrive/hybrid_modeld" if not Params().get_bool("dp_0813") else "selfdrive/legacy_modeld", ["./modeld"], only_onroad),
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# NativeProcess("mapsd", "selfdrive/navd", ["./mapsd"]),
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# NativeProcess("navmodeld", "selfdrive/modeld", ["./navmodeld"]),
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NativeProcess("sensord", "system/sensord", ["./sensord"], always_run if EON else only_onroad, enabled=not PC),
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NativeProcess("ui", "selfdrive/ui", ["./ui"], always_run, watchdog_max_dt=(5 if not PC else None)),
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NativeProcess("soundd", "selfdrive/ui/soundd", ["./soundd"], only_onroad),
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NativeProcess("locationd", "selfdrive/locationd", ["./locationd"], only_onroad),
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NativeProcess("boardd", "selfdrive/boardd", ["./boardd"], always_run, enabled=False),
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PythonProcess("calibrationd", "selfdrive.locationd.calibrationd", only_onroad),
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PythonProcess("torqued", "selfdrive.locationd.torqued", only_onroad),
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PythonProcess("controlsd", "selfdrive.controls.controlsd", only_onroad),
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PythonProcess("deleter", "selfdrive.loggerd.deleter", always_run),
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PythonProcess("dmonitoringd", "selfdrive.legacy_monitoring.dmonitoringd", driverview, enabled=(not PC or WEBCAM) and not NO_IR_CTRL),
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# PythonProcess("laikad", "selfdrive.locationd.laikad"),
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# PythonProcess("rawgpsd", "system.sensord.rawgps.rawgpsd", enabled=TICI, onroad=False, callback=qcomgps),
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# PythonProcess("navd", "selfdrive.navd.navd"),
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PythonProcess("pandad", "selfdrive.boardd.pandad", always_run),
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PythonProcess("paramsd", "selfdrive.locationd.paramsd", only_onroad),
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NativeProcess("ubloxd", "system/ubloxd", ["./ubloxd"], ublox, enabled=not PC),
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# PythonProcess("pigeond", "system.sensord.pigeond", enabled=TICI, onroad=False, callback=ublox),
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PythonProcess("plannerd", "selfdrive.controls.plannerd", only_onroad),
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PythonProcess("radard", "selfdrive.controls.radard", only_onroad),
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PythonProcess("thermald", "selfdrive.thermald.thermald", always_run),
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PythonProcess("tombstoned", "selfdrive.tombstoned", always_run, enabled=not PC),
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PythonProcess("updated", "selfdrive.updated", only_offroad, enabled=not PC),
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PythonProcess("uploader", "selfdrive.loggerd.uploader", only_offroad),
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# PythonProcess("statsd", "selfdrive.statsd", offroad=True),
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# debug procs
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NativeProcess("bridge", "cereal/messaging", ["./bridge"], notcar),
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# rick - webjoystick needs aiohttp, install additional modules manually: pip install aiohttp aiortc
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# PythonProcess("webjoystick", "tools.bodyteleop.web", onroad=False, callback=notcar),
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PythonProcess("fleet_manager", "system.fleetmanager.fleet_manager", only_offroad),
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# EON only
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PythonProcess("rtshield", "selfdrive.rtshield", only_onroad, enabled=EON),
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PythonProcess("shutdownd", "system.hardware.eon.shutdownd", only_onroad, enabled=EON),
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PythonProcess("androidd", "system.hardware.eon.androidd", always_run, enabled=EON),
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# mapd
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PythonProcess("mapd", "selfdrive.mapd.mapd", only_onroad),
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# dashcam
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PythonProcess("systemd", "selfdrive.dragonpilot.systemd", only_onroad),
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# gpxd
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PythonProcess("gpxd", "selfdrive.dragonpilot.gpxd",only_onroad),
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# PythonProcess("gpx_uploader", "selfdrive.dragonpilot.gpx_uploader", offroad=True),
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NativeProcess("otisserv", "selfdrive/dragonpilot", ['./otisserv'], only_offroad),
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]
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managed_processes = {p.name: p for p in procs}
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