Make model daemons Python processes (#34880)

system/manager/process.py

@@ -221,8 +221,12 @@ class PythonProcess(ManagerProcess):
     if self.proc is not None:
       return
 
+    # TODO: this is just a workaround for this tinygrad check:
+    # https://github.com/tinygrad/tinygrad/blob/ac9c96dae1656dc220ee4acc39cef4dd449aa850/tinygrad/device.py#L26
+    name = self.name if "modeld" not in self.name else "MainProcess"
+
     cloudlog.info(f"starting python {self.module}")
-    self.proc = Process(name=self.name, target=self.launcher, args=(self.module, self.name))
+    self.proc = Process(name=name, target=self.launcher, args=(self.module, self.name))
     self.proc.start()
     self.watchdog_seen = False
     self.shutting_down = False

system/manager/process_config.py

@@ -75,10 +75,8 @@ procs = [
   PythonProcess("micd", "system.micd", iscar),
   PythonProcess("timed", "system.timed", always_run, enabled=not PC),
 
-  # TODO: Make python process once TG allows opening QCOM from child pro
-  # https://github.com/tinygrad/tinygrad/blob/ac9c96dae1656dc220ee4acc39cef4dd449aa850/tinygrad/device.py#L26
-  NativeProcess("modeld", "selfdrive/modeld", ["./modeld.py"], only_onroad),
-  NativeProcess("dmonitoringmodeld", "selfdrive/modeld", ["./dmonitoringmodeld.py"], driverview, enabled=(WEBCAM or not PC)),
+  PythonProcess("modeld", "selfdrive.modeld.modeld", only_onroad),
+  PythonProcess("dmonitoringmodeld", "selfdrive.modeld.dmonitoringmodeld", driverview, enabled=(WEBCAM or not PC)),
 
   NativeProcess("sensord", "system/sensord", ["./sensord"], only_onroad, enabled=not PC),
   NativeProcess("ui", "selfdrive/ui", ["./ui"], always_run, watchdog_max_dt=(5 if not PC else None)),