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import os
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from cereal import car
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from common.params import Params
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from system.hardware import PC, TICI
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from selfdrive.manager.process import PythonProcess, NativeProcess, DaemonProcess
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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 params.get_bool("IsDriverViewEnabled") # type: ignore
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def notcar(started: bool, params: Params, CP: car.CarParams) -> bool:
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return CP.notCar # type: ignore
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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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procs = [
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# due to qualcomm kernel bugs SIGKILLing camerad sometimes causes page table corruption
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NativeProcess("camerad", "system/camerad", ["./camerad"], unkillable=True, callback=driverview),
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NativeProcess("clocksd", "system/clocksd", ["./clocksd"]),
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NativeProcess("logcatd", "system/logcatd", ["./logcatd"]),
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NativeProcess("proclogd", "system/proclogd", ["./proclogd"]),
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PythonProcess("logmessaged", "system.logmessaged", offroad=True),
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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/modeld", ["./dmonitoringmodeld"], enabled=(not PC or WEBCAM), callback=driverview),
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NativeProcess("encoderd", "selfdrive/loggerd", ["./encoderd"]),
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NativeProcess("loggerd", "selfdrive/loggerd", ["./loggerd"], onroad=False, callback=logging),
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NativeProcess("modeld", "selfdrive/modeld", ["./modeld"]),
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# NativeProcess("mapsd", "selfdrive/navd", ["./map_renderer"]),
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NativeProcess("sensord", "selfdrive/sensord", ["./sensord"], enabled=not PC),
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NativeProcess("ubloxd", "selfdrive/locationd", ["./ubloxd"], enabled=(not PC or WEBCAM)),
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NativeProcess("ui", "selfdrive/ui", ["./ui"], offroad=True, watchdog_max_dt=(5 if not PC else None)),
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NativeProcess("soundd", "selfdrive/ui/soundd", ["./soundd"], offroad=True),
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NativeProcess("locationd", "selfdrive/locationd", ["./locationd"]),
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NativeProcess("boardd", "selfdrive/boardd", ["./boardd"], enabled=False),
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PythonProcess("calibrationd", "selfdrive.locationd.calibrationd"),
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Live torque (#25456)
* wip torqued
* add basic logic
* setup in manager
* check sanity and publish msg
* add first order filter to outputs
* wire up controlsd, and update gains
* rename intercept to offset
* add cloudlog, live values are not updated
* fix bugs, do not reset points for now
* fix crashes
* rename to main
* fix bugs, works offline
* fix float in cereal bug
* add latacc filter
* randomly choose points, approx for iid
* add variable decay
* local param to capnp instead of dict
* verify works in replay
* use torqued output in controlsd
* use in controlsd; use points from past routes
* controlsd bugfix
* filter before updating gains, needs to be replaced
* save all points to ensure smooth transition across routes, revert friction factor to 1.5
* add filters to prevent noisy low-speed data points; improve fit sanity
* add engaged buffer
* revert lat_acc thresh
* use paramsd realtime process config
* make latacc-to-torque generic, and overrideable
* move freq to 4Hz, avoid storing in np.array, don't publish points in the message
* float instead of np
* remove constant while storing pts
* rename slope, offset to lat_accet_factor, offset
* resolve issues
* use camelcase in all capnp params
* use camelcase everywhere
* reduce latacc threshold or sanity, add car_sane todo, save points properly
* add and check tag
* write param to disk at end of route
* remove args
* rebase op, cereal
* save on exit
* restore default handler
* cpu usage check
* add to process replay
* handle reset better, reduce unnecessary computation
* always publish raw values - useful for debug
* regen routes
* update refs
* checks on cache restore
* check tuning vals too
* clean that up
* reduce cpu usage
* reduce cpu usage by 75%
* cleanup
* optimize further
* handle reset condition better, don't put points in init, use only in corolla
* bump cereal after rebasing
* update refs
* Update common/params.cc
Co-authored-by: Adeeb Shihadeh <adeebshihadeh@gmail.com>
* remove unnecessary checks
* Update RELEASES.md
Co-authored-by: Adeeb Shihadeh <adeebshihadeh@gmail.com>
3 years ago
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PythonProcess("torqued", "selfdrive.locationd.torqued"),
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PythonProcess("controlsd", "selfdrive.controls.controlsd"),
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PythonProcess("deleter", "selfdrive.loggerd.deleter", offroad=True),
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PythonProcess("dmonitoringd", "selfdrive.monitoring.dmonitoringd", enabled=(not PC or WEBCAM), callback=driverview),
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PythonProcess("laikad", "selfdrive.locationd.laikad"),
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PythonProcess("rawgpsd", "selfdrive.sensord.rawgps.rawgpsd", enabled=TICI),
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PythonProcess("navd", "selfdrive.navd.navd"),
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PythonProcess("pandad", "selfdrive.boardd.pandad", offroad=True),
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PythonProcess("paramsd", "selfdrive.locationd.paramsd"),
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PythonProcess("pigeond", "selfdrive.sensord.pigeond", enabled=TICI),
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PythonProcess("plannerd", "selfdrive.controls.plannerd"),
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PythonProcess("radard", "selfdrive.controls.radard"),
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PythonProcess("thermald", "selfdrive.thermald.thermald", offroad=True),
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PythonProcess("tombstoned", "selfdrive.tombstoned", enabled=not PC, offroad=True),
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PythonProcess("updated", "selfdrive.updated", enabled=not PC, onroad=False, offroad=True),
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PythonProcess("uploader", "selfdrive.loggerd.uploader", offroad=True),
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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"], onroad=False, callback=notcar),
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PythonProcess("webjoystick", "tools.joystick.web", onroad=False, callback=notcar),
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]
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managed_processes = {p.name: p for p in procs}
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