134 lines
6.7 KiB
Python
134 lines
6.7 KiB
Python
import os
|
|
import operator
|
|
import platform
|
|
|
|
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: bool, params: Params, CP: car.CarParams) -> bool:
|
|
run = 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 beep(started: bool, params: Params, CP: car.CarParams) -> bool:
|
|
return started and bool(os.getenv("LITE")) and params.get_bool("dp_dev_beep")
|
|
|
|
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 dashy(started: bool, params: Params, CP: car.CarParams) -> bool:
|
|
return int(params.get("dp_dev_dashy") or 0) > 0
|
|
|
|
def dashy_with_video(started: bool, params: Params, CP: car.CarParams) -> bool:
|
|
return int(params.get("dp_dev_dashy") or 0) == 2
|
|
|
|
def disable_connect(started: bool, params: Params, CP: car.CarParams) -> bool:
|
|
return params.get_bool("dp_dev_disable_connect")
|
|
|
|
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))
|
|
|
|
procs = [
|
|
DaemonProcess("manage_athenad", "system.athena.manage_athenad", "AthenadPid", enabled=not disable_connect),
|
|
|
|
NativeProcess("loggerd", "system/loggerd", ["./loggerd"], logging),
|
|
NativeProcess("encoderd", "system/loggerd", ["./encoderd"], only_onroad),
|
|
NativeProcess("stream_encoderd", "system/loggerd", ["./encoderd", "--stream"], or_(notcar, and_(dashy_with_video, only_onroad))),
|
|
PythonProcess("logmessaged", "system.logmessaged", always_run),
|
|
|
|
NativeProcess("camerad", "system/camerad", ["./camerad"], driverview, enabled=not WEBCAM),
|
|
PythonProcess("webcamerad", "tools.webcam.camerad", driverview, enabled=WEBCAM),
|
|
PythonProcess("proclogd", "system.proclogd", only_onroad, enabled=platform.system() != "Darwin"),
|
|
PythonProcess("journald", "system.journald", only_onroad, platform.system() != "Darwin"),
|
|
PythonProcess("micd", "system.micd", iscar, enabled="LITE" not in os.environ),
|
|
PythonProcess("timed", "system.timed", always_run, enabled=not PC),
|
|
|
|
PythonProcess("modeld", "selfdrive.modeld.modeld", only_onroad),
|
|
PythonProcess("dmonitoringmodeld", "selfdrive.modeld.dmonitoringmodeld", driverview, enabled=(WEBCAM or not PC) and "LITE" not in os.environ),
|
|
|
|
PythonProcess("sensord", "system.sensord.sensord", only_onroad, enabled=not PC),
|
|
PythonProcess("ui", "selfdrive.ui.ui", always_run),
|
|
PythonProcess("soundd", "selfdrive.ui.soundd", only_onroad),
|
|
PythonProcess("beepd", "dragonpilot.selfdrive.ui.beepd", beep, enabled=TICI),
|
|
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", driverview, enabled=(WEBCAM or not PC) and "LITE" not in os.environ),
|
|
PythonProcess("dpmonitoringd", "selfdrive.monitoring.dpmonitoringd", only_onroad, enabled="LITE" in os.environ),
|
|
PythonProcess("qcomgpsd", "system.qcomgpsd.qcomgpsd", qcomgps, enabled=TICI),
|
|
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", only_offroad, enabled=not PC),
|
|
PythonProcess("uploader", "system.loggerd.uploader", always_run, enabled=not disable_connect),
|
|
PythonProcess("statsd", "system.statsd", always_run),
|
|
PythonProcess("feedbackd", "selfdrive.ui.feedback.feedbackd", only_onroad, enabled="LITE" not in os.environ),
|
|
|
|
# debug procs
|
|
NativeProcess("bridge", "cereal/messaging", ["./bridge"], or_(notcar, and_(dashy_with_video, only_onroad))),
|
|
PythonProcess("webrtcd", "system.webrtc.webrtcd", or_(notcar, and_(dashy_with_video, only_onroad))),
|
|
PythonProcess("webjoystick", "tools.bodyteleop.web", notcar),
|
|
PythonProcess("joystick", "tools.joystick.joystick_control", and_(joystick, iscar)),
|
|
PythonProcess("dashy", "dragonpilot.dashy.backend.server", dashy),
|
|
]
|
|
|
|
managed_processes = {p.name: p for p in procs}
|