Driver view refactor (#1869)
* quick driver view cleanup
* send at correct freq
* let manager handle that
* don't block starting on driver view
* fix UI hacks
* ui cleanup
* move driver view functionality into dmonitoringd
* dmonitoring thresholds shouldnt be in UI
* remove driver view file from release files
* timeout on frontview
* bump cereal
old-commit-hash: a7ee2a53a8
commatwo_master
Adeeb Shihadeh
5 years ago
committed by
GitHub
parent
046dd61d3b
commit
069bd4061e
8 changed files with 57 additions and 132 deletions
@ -1 +1 @@ |
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Subproject commit 430cc73a3b7c31de902bd0a62fbac7cd3a05cf3e |
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Subproject commit 10a25c8b98ad295308e6825cef7cf42dff6f4396 |
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@ -1,81 +0,0 @@ |
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#!/usr/bin/env python3 |
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import os |
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import subprocess |
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import multiprocessing |
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import signal |
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import time |
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import cereal.messaging as messaging |
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from common.params import Params |
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from common.basedir import BASEDIR |
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KILL_TIMEOUT = 15 |
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def send_controls_packet(pm): |
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while True: |
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dat = messaging.new_message('controlsState') |
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dat.controlsState = { |
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"rearViewCam": True, |
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} |
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pm.send('controlsState', dat) |
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time.sleep(0.01) |
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def send_dmon_packet(pm, d): |
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dat = messaging.new_message('dMonitoringState') |
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dat.dMonitoringState = { |
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"isRHD": d[0], |
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"rhdChecked": d[1], |
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"isPreview": d[2], |
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} |
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pm.send('dMonitoringState', dat) |
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def main(): |
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pm = messaging.PubMaster(['controlsState', 'dMonitoringState']) |
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controls_sender = multiprocessing.Process(target=send_controls_packet, args=[pm]) |
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controls_sender.start() |
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# TODO: refactor with manager start/kill |
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proc_cam = subprocess.Popen(os.path.join(BASEDIR, "selfdrive/camerad/camerad"), cwd=os.path.join(BASEDIR, "selfdrive/camerad")) |
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proc_mon = subprocess.Popen(os.path.join(BASEDIR, "selfdrive/modeld/dmonitoringmodeld"), cwd=os.path.join(BASEDIR, "selfdrive/modeld")) |
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params = Params() |
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is_rhd = False |
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is_rhd_checked = False |
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should_exit = False |
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def terminate(signalNumber, frame): |
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print('got SIGTERM, exiting..') |
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should_exit = True |
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send_dmon_packet(pm, [is_rhd, is_rhd_checked, not should_exit]) |
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proc_cam.send_signal(signal.SIGINT) |
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proc_mon.send_signal(signal.SIGINT) |
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kill_start = time.time() |
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while proc_cam.poll() is None: |
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if time.time() - kill_start > KILL_TIMEOUT: |
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from selfdrive.swaglog import cloudlog |
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cloudlog.critical("FORCE REBOOTING PHONE!") |
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os.system("date >> /sdcard/unkillable_reboot") |
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os.system("reboot") |
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raise RuntimeError |
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continue |
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controls_sender.terminate() |
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exit() |
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signal.signal(signal.SIGTERM, terminate) |
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while True: |
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send_dmon_packet(pm, [is_rhd, is_rhd_checked, not should_exit]) |
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if not is_rhd_checked: |
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is_rhd = params.get("IsRHD") == b"1" |
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is_rhd_checked = True |
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time.sleep(0.01) |
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if __name__ == '__main__': |
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main() |
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