139 lines
6.9 KiB
Python
139 lines
6.9 KiB
Python
import os
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import operator
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import importlib.util
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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
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from openpilot.system.manager.process import PythonProcess, NativeProcess, DaemonProcess
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FLASK_AVAILABLE = importlib.util.find_spec("flask") is not None
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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: bool, params: 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 os.path.exists('/dev/ttyHS0') and not os.path.exists('/persist/comma/use-quectel-gps')
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def ublox(started: bool, params: 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 joystick(started: bool, params: Params, CP: car.CarParams) -> bool:
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return started and params.get_bool("JoystickDebugMode")
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def not_joystick(started: bool, params: Params, CP: car.CarParams) -> bool:
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return started and not params.get_bool("JoystickDebugMode")
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def long_maneuver(started: bool, params: Params, CP: car.CarParams) -> bool:
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return started and params.get_bool("LongitudinalManeuverMode")
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def not_long_maneuver(started: bool, params: Params, CP: car.CarParams) -> bool:
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return started and not params.get_bool("LongitudinalManeuverMode")
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def qcomgps(started: bool, params: Params, CP: car.CarParams) -> bool:
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return started and not ublox_available()
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def always_run(started: bool, params: Params, CP: car.CarParams) -> bool:
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return True
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def only_onroad(started: bool, params: Params, CP: car.CarParams) -> bool:
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return started
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def only_offroad(started: bool, params: Params, CP: car.CarParams) -> bool:
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return not started
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def enable_updated(started: bool, params: Params, CP: car.CarParams) -> bool:
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return not started and params.get_bool("SoftwareMenu")
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def check_fleet(started, params, CP: car.CarParams) -> bool:
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return FLASK_AVAILABLE
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def or_(*fns):
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return lambda *args: operator.or_(*(fn(*args) for fn in fns))
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def and_(*fns):
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return lambda *args: operator.and_(*(fn(*args) for fn in fns))
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def enable_dm(started, params, CP: car.CarParams) -> bool:
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return (started or params.get_bool("IsDriverViewEnabled")) and params.get_int("DisableDM") == 0
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procs = [
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DaemonProcess("manage_athenad", "system.athena.manage_athenad", "AthenadPid"),
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NativeProcess("loggerd", "system/loggerd", ["./loggerd"], logging),
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NativeProcess("encoderd", "system/loggerd", ["./encoderd"], only_onroad),
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NativeProcess("stream_encoderd", "system/loggerd", ["./encoderd", "--stream"], notcar),
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PythonProcess("logmessaged", "system.logmessaged", always_run),
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NativeProcess("camerad", "system/camerad", ["./camerad"], driverview, enabled=not WEBCAM),
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PythonProcess("webcamerad", "tools.webcam.camerad", driverview, enabled=WEBCAM),
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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("micd", "system.micd", iscar),
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PythonProcess("timed", "system.timed", always_run, enabled=not PC),
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# TODO: Make python process once TG allows opening QCOM from child pro
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# https://github.com/tinygrad/tinygrad/blob/ac9c96dae1656dc220ee4acc39cef4dd449aa850/tinygrad/device.py#L26
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NativeProcess("modeld", "selfdrive/modeld", ["./modeld.py"], only_onroad),
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NativeProcess("dmonitoringmodeld", "selfdrive/modeld", ["./dmonitoringmodeld.py"], enable_dm, enabled=(WEBCAM or not PC)),
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#NativeProcess("mapsd", "selfdrive/navd", ["./mapsd"], only_onroad),
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#NativeProcess("mapsd", "selfdrive/navd", ["./mapsd"], always_run),
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#PythonProcess("navmodeld", "selfdrive.modeld.navmodeld", only_onroad),
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NativeProcess("sensord", "system/sensord", ["./sensord"], 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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PythonProcess("soundd", "selfdrive.ui.soundd", only_onroad),
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NativeProcess("locationd", "selfdrive/locationd", ["./locationd"], only_onroad),
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#PythonProcess("locationd", "selfdrive.locationd.locationd", only_onroad),
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NativeProcess("_pandad", "selfdrive/pandad", ["./pandad"], 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", and_(not_joystick, iscar)),
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PythonProcess("joystickd", "tools.joystick.joystickd", or_(joystick, notcar)),
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PythonProcess("selfdrived", "selfdrive.selfdrived.selfdrived", only_onroad),
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PythonProcess("card", "selfdrive.car.card", only_onroad),
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PythonProcess("deleter", "system.loggerd.deleter", always_run),
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PythonProcess("dmonitoringd", "selfdrive.monitoring.dmonitoringd", enable_dm, enabled=(WEBCAM or not PC)),
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PythonProcess("qcomgpsd", "system.qcomgpsd.qcomgpsd", qcomgps, enabled=TICI),
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PythonProcess("navd", "selfdrive.navd.navd", only_onroad),
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PythonProcess("pandad", "selfdrive.pandad.pandad", always_run),
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PythonProcess("paramsd", "selfdrive.locationd.paramsd", only_onroad),
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PythonProcess("lagd", "selfdrive.locationd.lagd", only_onroad),
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NativeProcess("ubloxd", "system/ubloxd", ["./ubloxd"], ublox, enabled=TICI),
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PythonProcess("pigeond", "system.ubloxd.pigeond", ublox, enabled=TICI),
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PythonProcess("plannerd", "selfdrive.controls.plannerd", not_long_maneuver),
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PythonProcess("maneuversd", "tools.longitudinal_maneuvers.maneuversd", long_maneuver),
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PythonProcess("radard", "selfdrive.controls.radard", only_onroad),
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PythonProcess("hardwared", "system.hardware.hardwared", always_run),
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PythonProcess("tombstoned", "system.tombstoned", always_run, enabled=not PC),
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PythonProcess("updated", "system.updated.updated", enable_updated, enabled=not PC),
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#PythonProcess("uploader", "system.loggerd.uploader", always_run),
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PythonProcess("statsd", "system.statsd", always_run),
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# debug procs
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NativeProcess("bridge", "cereal/messaging", ["./bridge"], notcar),
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PythonProcess("webrtcd", "system.webrtc.webrtcd", notcar),
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PythonProcess("webjoystick", "tools.bodyteleop.web", notcar),
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PythonProcess("joystick", "tools.joystick.joystick_control", and_(joystick, iscar)),
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#PythonProcess("fleet_manager", "selfdrive.frogpilot.fleetmanager.fleet_manager", check_fleet, enabled=not PC),
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PythonProcess("fleet_manager", "selfdrive.frogpilot.fleetmanager.fleet_manager", check_fleet),
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PythonProcess("carrot_man", "selfdrive.carrot.carrot_man", always_run),#, enabled=not PC),
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]
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managed_processes = {p.name: p for p in procs}
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