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