80 lines
4.2 KiB
Python
80 lines
4.2 KiB
Python
import os
|
|
|
|
from cereal import car
|
|
from common.params import Params
|
|
from system.hardware import PC, TICI
|
|
from selfdrive.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 params.get_bool("IsDriverViewEnabled") # type: ignore
|
|
|
|
def notcar(started: bool, params: Params, CP: car.CarParams) -> bool:
|
|
return CP.notCar # type: ignore
|
|
|
|
def logging(started, 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, 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 qcomgps(started, params, CP: car.CarParams) -> bool:
|
|
return started and not ublox_available()
|
|
|
|
procs = [
|
|
# due to qualcomm kernel bugs SIGKILLing camerad sometimes causes page table corruption
|
|
NativeProcess("camerad", "system/camerad", ["./camerad"], unkillable=True, callback=driverview),
|
|
NativeProcess("clocksd", "system/clocksd", ["./clocksd"]),
|
|
NativeProcess("logcatd", "system/logcatd", ["./logcatd"]),
|
|
NativeProcess("proclogd", "system/proclogd", ["./proclogd"]),
|
|
PythonProcess("logmessaged", "system.logmessaged", offroad=True),
|
|
PythonProcess("micd", "system.micd"),
|
|
PythonProcess("timezoned", "system.timezoned", enabled=not PC, offroad=True),
|
|
|
|
DaemonProcess("manage_athenad", "selfdrive.athena.manage_athenad", "AthenadPid"),
|
|
NativeProcess("dmonitoringmodeld", "selfdrive/modeld", ["./dmonitoringmodeld"], enabled=(not PC or WEBCAM), callback=driverview),
|
|
NativeProcess("encoderd", "system/loggerd", ["./encoderd"]),
|
|
NativeProcess("loggerd", "system/loggerd", ["./loggerd"], onroad=False, callback=logging),
|
|
NativeProcess("modeld", "selfdrive/modeld", ["./modeld"]),
|
|
NativeProcess("mapsd", "selfdrive/navd", ["./mapsd"]),
|
|
NativeProcess("navmodeld", "selfdrive/modeld", ["./navmodeld"]),
|
|
NativeProcess("sensord", "system/sensord", ["./sensord"], enabled=not PC),
|
|
NativeProcess("ui", "selfdrive/ui", ["./ui"], offroad=True, watchdog_max_dt=(5 if not PC else None)),
|
|
NativeProcess("soundd", "selfdrive/ui/soundd", ["./soundd"]),
|
|
NativeProcess("locationd", "selfdrive/locationd", ["./locationd"]),
|
|
NativeProcess("boardd", "selfdrive/boardd", ["./boardd"], enabled=False),
|
|
PythonProcess("calibrationd", "selfdrive.locationd.calibrationd"),
|
|
PythonProcess("torqued", "selfdrive.locationd.torqued"),
|
|
PythonProcess("controlsd", "selfdrive.controls.controlsd"),
|
|
PythonProcess("deleter", "system.loggerd.deleter", offroad=True),
|
|
PythonProcess("dmonitoringd", "selfdrive.monitoring.dmonitoringd", enabled=(not PC or WEBCAM), callback=driverview),
|
|
PythonProcess("laikad", "selfdrive.locationd.laikad"),
|
|
PythonProcess("rawgpsd", "system.sensord.rawgps.rawgpsd", enabled=TICI, onroad=False, callback=qcomgps),
|
|
PythonProcess("navd", "selfdrive.navd.navd"),
|
|
PythonProcess("pandad", "selfdrive.boardd.pandad", offroad=True),
|
|
PythonProcess("paramsd", "selfdrive.locationd.paramsd"),
|
|
NativeProcess("ubloxd", "system/ubloxd", ["./ubloxd"], enabled=TICI, onroad=False, callback=ublox),
|
|
PythonProcess("pigeond", "system.sensord.pigeond", enabled=TICI, onroad=False, callback=ublox),
|
|
PythonProcess("plannerd", "selfdrive.controls.plannerd"),
|
|
PythonProcess("radard", "selfdrive.controls.radard"),
|
|
PythonProcess("thermald", "selfdrive.thermald.thermald", offroad=True),
|
|
PythonProcess("tombstoned", "selfdrive.tombstoned", enabled=not PC, offroad=True),
|
|
PythonProcess("updated", "selfdrive.updated", enabled=not PC, onroad=False, offroad=True),
|
|
PythonProcess("uploader", "system.loggerd.uploader", offroad=True),
|
|
PythonProcess("statsd", "selfdrive.statsd", offroad=True),
|
|
|
|
# debug procs
|
|
NativeProcess("bridge", "cereal/messaging", ["./bridge"], onroad=False, callback=notcar),
|
|
PythonProcess("webjoystick", "tools.joystick.web", onroad=False, callback=notcar),
|
|
]
|
|
|
|
managed_processes = {p.name: p for p in procs}
|