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# TODO: these port numbers are hardcoded in c, fix this
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# LogRotate: 8001 is a PUSH PULL socket between loggerd and visiond
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class Service(object):
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def __init__(self, port, should_log):
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self.port = port
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self.should_log = should_log
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# all ZMQ pub sub
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service_list = {
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# frame syncing packet
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"frame": Service(8002, True),
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# accel, gyro, and compass
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"sensorEvents": Service(8003, True),
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# GPS data, also global timestamp
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"gpsNMEA": Service(8004, True),
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# CPU+MEM+GPU+BAT temps
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"thermal": Service(8005, True),
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# List(CanData), list of can messages
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"can": Service(8006, True),
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"live100": Service(8007, True),
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# random events we want to log
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#"liveEvent": Service(8008, True),
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"model": Service(8009, True),
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"features": Service(8010, True),
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"health": Service(8011, True),
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"live20": Service(8012, True),
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#"liveUI": Service(8014, True),
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"encodeIdx": Service(8015, True),
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"liveTracks": Service(8016, True),
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"sendcan": Service(8017, True),
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"logMessage": Service(8018, True),
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"liveCalibration": Service(8019, True),
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"androidLog": Service(8020, True),
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"carState": Service(8021, True),
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}
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# manager -- base process to manage starting and stopping of all others
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# subscribes: health
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# publishes: thermal
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# **** processes that communicate with the outside world ****
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# boardd -- communicates with the car
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# subscribes: sendcan
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# publishes: can, health
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# sensord -- publishes the IMU and GPS
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# publishes: sensorEvents, gpsNMEA
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# visiond -- talks to the cameras, runs the model, saves the videos
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# subscribes: liveCalibration, sensorEvents
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# publishes: frame, encodeIdx, model, features
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# **** stateful data transformers ****
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# controlsd -- actually drives the car
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# subscribes: can, thermal, model, live20
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# publishes: carState, sendcan, live100
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# radard -- processes the radar data
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# subscribes: can, live100, model
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# publishes: live20, liveTracks
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# calibrationd -- places the camera box
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# subscribes: features, live100
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# publishes: liveCalibration
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# **** LOGGING SERVICE ****
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# loggerd
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# subscribes: EVERYTHING
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# **** NON VITAL SERVICES ****
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# ui
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# subscribes: live100, live20, liveCalibration, model, (raw frames)
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# uploader
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# communicates through file system with loggerd
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# logmessaged -- central logging service, can log to cloud
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# publishes: logMessage
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# logcatd -- fetches logcat info from android
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# publishes: androidLog
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