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This commit is contained in:
ajouatom 2025-02-21 14:49:16 +09:00
parent 5de1dffeb7
commit 71a565e3fd
2 changed files with 12 additions and 3 deletions
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8
selfdrive/selfdrived/selfdrived.py
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@ -65,12 +65,18 @@ class SelfdriveD:
self.sensor_packets = ["accelerometer", "gyroscope"]
self.camera_packets = ["roadCameraState", "driverCameraState", "wideRoadCameraState"]
self.disable_dm = self.params.get_int("DisableDM")
# TODO: de-couple selfdrived with card/conflate on carState without introducing controls mismatches
self.car_state_sock = messaging.sub_sock('carState', timeout=20)
ignore = self.sensor_packets + self.gps_packets + ['alertDebug']
if SIMULATION:
ignore += ['driverCameraState', 'managerState']
elif self.disable_dm > 0:
self.camera_packets.remove("driverCameraState")
ignore += ['driverMonitoringState']
if REPLAY:
# no vipc in replay will make them ignored anyways
ignore += ['roadCameraState', 'wideRoadCameraState']
@ -274,7 +280,7 @@ class SelfdriveD:
# All events here should at least have NO_ENTRY and SOFT_DISABLE.
num_events = len(self.events)
not_running = {p.name for p in self.sm['managerState'].processes if not p.running and p.shouldBeRunning}
not_running = { p.name for p in self.sm['managerState'].processes if not p.running and p.shouldBeRunning }
if self.sm.recv_frame['managerState'] and len(not_running):
if not_running != self.not_running_prev:
cloudlog.event("process_not_running", not_running=not_running, error=True)

7
system/manager/process_config.py
View File

@ -66,6 +66,9 @@ def or_(*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
procs = [
DaemonProcess("manage_athenad", "system.athena.manage_athenad", "AthenadPid"),
@ -78,7 +81,7 @@ procs = [
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("dmonitoringmodeld", "selfdrive/modeld", ["./dmonitoringmodeld"], enable_dm, 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),
@ -100,7 +103,7 @@ procs = [
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)),
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),