manager: refactor process starting logic (#29574)

* refactor into sane api * always set * cleanup * cleanup * and there too * fix order * fail * and ensure we test * pass test pass test * order * only diff not related --------- Co-authored-by: Shane Smiskol <shane@smiskol.com> old-commit-hash: d013f2174a
2 years ago · 5bc6566e7c
parent 9564eba598
commit 5bc6566e7c
2 changed files with 64 additions and 74 deletions
--- a/selfdrive/manager/process.py
+++ b/selfdrive/manager/process.py
@ -66,9 +66,7 @@ def join_process(process: Process, timeout: float) -> None:
 class ManagerProcess(ABC):
  daemon = False
  sigkill = False
-  onroad = True
-  offroad = False
-  callback: Optional[Callable[[bool, Params, car.CarParams], bool]] = None
+  should_run: Callable[[bool, Params, car.CarParams], bool]
  proc: Optional[Process] = None
  enabled = True
  name = ""
@ -170,15 +168,12 @@ class ManagerProcess(ABC):


 class NativeProcess(ManagerProcess):
-  def __init__(self, name, cwd, cmdline, enabled=True, onroad=True, offroad=False, callback=None, unkillable=False, sigkill=False, watchdog_max_dt=None):
+  def __init__(self, name, cwd, cmdline, should_run, enabled=True, sigkill=False, watchdog_max_dt=None):
    self.name = name
    self.cwd = cwd
    self.cmdline = cmdline
+    self.should_run = should_run
    self.enabled = enabled
-    self.onroad = onroad
-    self.offroad = offroad
-    self.callback = callback
-    self.unkillable = unkillable
    self.sigkill = sigkill
    self.watchdog_max_dt = watchdog_max_dt
    self.launcher = nativelauncher
@ -203,14 +198,11 @@ class NativeProcess(ManagerProcess):


 class PythonProcess(ManagerProcess):
-  def __init__(self, name, module, enabled=True, onroad=True, offroad=False, callback=None, unkillable=False, sigkill=False, watchdog_max_dt=None):
+  def __init__(self, name, module, should_run, enabled=True, sigkill=False, watchdog_max_dt=None):
    self.name = name
    self.module = module
+    self.should_run = should_run
    self.enabled = enabled
-    self.onroad = onroad
-    self.offroad = offroad
-    self.callback = callback
-    self.unkillable = unkillable
    self.sigkill = sigkill
    self.watchdog_max_dt = watchdog_max_dt
    self.launcher = launcher
@ -243,10 +235,12 @@ class DaemonProcess(ManagerProcess):
    self.module = module
    self.param_name = param_name
    self.enabled = enabled
-    self.onroad = True
-    self.offroad = True
    self.params = None

+  @staticmethod
+  def should_run(started, params, CP):
+    return True
+
  def prepare(self) -> None:
    pass

@ -286,21 +280,7 @@ def ensure_running(procs: ValuesView[ManagerProcess], started: bool, params=None

  running = []
  for p in procs:
-    # Conditions that make a process run
-    run = any((
-      p.offroad and not started,
-      p.onroad and started,
-    ))
-    if p.callback is not None and None not in (params, CP):
-      run = run or p.callback(started, params, CP)
-
-    # Conditions that block a process from starting
-    run = run and not any((
-      not p.enabled,
-      p.name in not_run,
-    ))
-
-    if run:
+    if p.enabled and p.name not in not_run and p.should_run(started, params, CP):
      p.start()
      running.append(p)
    else:
--- a/selfdrive/manager/process_config.py
+++ b/selfdrive/manager/process_config.py
@ -8,13 +8,13 @@ from openpilot.selfdrive.manager.process import PythonProcess, NativeProcess, Da
 WEBCAM = os.getenv("USE_WEBCAM") is not None

 def driverview(started: bool, params: Params, CP: car.CarParams) -> bool:
-  return params.get_bool("IsDriverViewEnabled")  # type: ignore
+  return started or params.get_bool("IsDriverViewEnabled")

 def notcar(started: bool, params: Params, CP: car.CarParams) -> bool:
-  return CP.notCar  # type: ignore
+  return started and CP.notCar

 def iscar(started: bool, params: Params, CP: car.CarParams) -> bool:
-  return not CP.notCar
+  return started and not CP.notCar

 def logging(started, params, CP: car.CarParams) -> bool:
  run = (not CP.notCar) or not params.get_bool("DisableLogging")
@ -32,51 +32,61 @@ def ublox(started, params, CP: car.CarParams) -> bool:
 def qcomgps(started, params, CP: car.CarParams) -> bool:
  return started and not ublox_available()

-procs = [
-  NativeProcess("camerad", "system/camerad", ["./camerad"], callback=driverview),
-  NativeProcess("clocksd", "system/clocksd", ["./clocksd"]),
-  NativeProcess("logcatd", "system/logcatd", ["./logcatd"]),
-  NativeProcess("proclogd", "system/proclogd", ["./proclogd"]),
-  PythonProcess("logmessaged", "system.logmessaged", offroad=True),
-  PythonProcess("micd", "system.micd", callback=iscar),
-  PythonProcess("timezoned", "system.timezoned", enabled=not PC, offroad=True),
+def always_run(started, params, CP: car.CarParams) -> bool:
+  return True
+
+def only_onroad(started: bool, params, CP: car.CarParams) -> bool:
+  return started
+
+def only_offroad(started, params, CP: car.CarParams) -> bool:
+  return not started

+procs = [
  DaemonProcess("manage_athenad", "selfdrive.athena.manage_athenad", "AthenadPid"),
-  NativeProcess("dmonitoringmodeld", "selfdrive/modeld", ["./dmonitoringmodeld"], enabled=(not PC or WEBCAM), callback=driverview),
-  NativeProcess("encoderd", "system/loggerd", ["./encoderd"]),
-  NativeProcess("stream_encoderd", "system/loggerd", ["./encoderd", "--stream"], onroad=False, callback=notcar),
-  NativeProcess("loggerd", "system/loggerd", ["./loggerd"], onroad=False, callback=logging),
-  NativeProcess("modeld", "selfdrive/modeld", ["./modeld"]),
-  NativeProcess("mapsd", "selfdrive/navd", ["./mapsd"]),
-  NativeProcess("navmodeld", "selfdrive/modeld", ["./navmodeld"]),
-  NativeProcess("sensord", "system/sensord", ["./sensord"], enabled=not PC),
-  NativeProcess("ui", "selfdrive/ui", ["./ui"], offroad=True, watchdog_max_dt=(5 if not PC else None)),
-  NativeProcess("soundd", "selfdrive/ui/soundd", ["./soundd"]),
-  NativeProcess("locationd", "selfdrive/locationd", ["./locationd"]),
-  NativeProcess("boardd", "selfdrive/boardd", ["./boardd"], enabled=False),
-  PythonProcess("calibrationd", "selfdrive.locationd.calibrationd"),
-  PythonProcess("torqued", "selfdrive.locationd.torqued"),
-  PythonProcess("controlsd", "selfdrive.controls.controlsd"),
-  PythonProcess("deleter", "system.loggerd.deleter", offroad=True),
-  PythonProcess("dmonitoringd", "selfdrive.monitoring.dmonitoringd", enabled=(not PC or WEBCAM), callback=driverview),
-  PythonProcess("laikad", "selfdrive.locationd.laikad"),
-  PythonProcess("rawgpsd", "system.sensord.rawgps.rawgpsd", enabled=TICI, onroad=False, callback=qcomgps),
-  PythonProcess("navd", "selfdrive.navd.navd"),
-  PythonProcess("pandad", "selfdrive.boardd.pandad", offroad=True),
-  PythonProcess("paramsd", "selfdrive.locationd.paramsd"),
-  NativeProcess("ubloxd", "system/ubloxd", ["./ubloxd"], enabled=TICI, onroad=False, callback=ublox),
-  PythonProcess("pigeond", "system.sensord.pigeond", enabled=TICI, onroad=False, callback=ublox),
-  PythonProcess("plannerd", "selfdrive.controls.plannerd"),
-  PythonProcess("radard", "selfdrive.controls.radard"),
-  PythonProcess("thermald", "selfdrive.thermald.thermald", offroad=True),
-  PythonProcess("tombstoned", "selfdrive.tombstoned", enabled=not PC, offroad=True),
-  PythonProcess("updated", "selfdrive.updated", enabled=not PC, onroad=False, offroad=True),
-  PythonProcess("uploader", "system.loggerd.uploader", offroad=True),
-  PythonProcess("statsd", "selfdrive.statsd", offroad=True),
+
+  NativeProcess("camerad", "system/camerad", ["./camerad"], driverview),
+  NativeProcess("clocksd", "system/clocksd", ["./clocksd"], only_onroad),
+  NativeProcess("logcatd", "system/logcatd", ["./logcatd"], only_onroad),
+  NativeProcess("proclogd", "system/proclogd", ["./proclogd"], only_onroad),
+  PythonProcess("logmessaged", "system.logmessaged", always_run),
+  PythonProcess("micd", "system.micd", iscar),
+  PythonProcess("timezoned", "system.timezoned", always_run, enabled=not PC),
+
+  NativeProcess("dmonitoringmodeld", "selfdrive/modeld", ["./dmonitoringmodeld"], driverview, enabled=(not PC or WEBCAM)),
+  NativeProcess("encoderd", "system/loggerd", ["./encoderd"], only_onroad),
+  NativeProcess("stream_encoderd", "system/loggerd", ["./encoderd", "--stream"], notcar),
+  NativeProcess("loggerd", "system/loggerd", ["./loggerd"], logging),
+  NativeProcess("modeld", "selfdrive/modeld", ["./modeld"], only_onroad),
+  NativeProcess("mapsd", "selfdrive/navd", ["./mapsd"], only_onroad),
+  NativeProcess("navmodeld", "selfdrive/modeld", ["./navmodeld"], only_onroad),
+  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)),
+  NativeProcess("soundd", "selfdrive/ui/soundd", ["./soundd"], only_onroad),
+  NativeProcess("locationd", "selfdrive/locationd", ["./locationd"], only_onroad),
+  NativeProcess("boardd", "selfdrive/boardd", ["./boardd"], always_run, enabled=False),
+  PythonProcess("calibrationd", "selfdrive.locationd.calibrationd", only_onroad),
+  PythonProcess("torqued", "selfdrive.locationd.torqued", only_onroad),
+  PythonProcess("controlsd", "selfdrive.controls.controlsd", only_onroad),
+  PythonProcess("deleter", "system.loggerd.deleter", always_run),
+  PythonProcess("dmonitoringd", "selfdrive.monitoring.dmonitoringd", driverview, enabled=(not PC or WEBCAM)),
+  PythonProcess("laikad", "selfdrive.locationd.laikad", only_onroad),
+  PythonProcess("rawgpsd", "system.sensord.rawgps.rawgpsd", qcomgps, enabled=TICI),
+  PythonProcess("navd", "selfdrive.navd.navd", only_onroad),
+  PythonProcess("pandad", "selfdrive.boardd.pandad", always_run),
+  PythonProcess("paramsd", "selfdrive.locationd.paramsd", only_onroad),
+  NativeProcess("ubloxd", "system/ubloxd", ["./ubloxd"], ublox, enabled=TICI),
+  PythonProcess("pigeond", "system.sensord.pigeond", ublox, enabled=TICI),
+  PythonProcess("plannerd", "selfdrive.controls.plannerd", only_onroad),
+  PythonProcess("radard", "selfdrive.controls.radard", only_onroad),
+  PythonProcess("thermald", "selfdrive.thermald.thermald", always_run),
+  PythonProcess("tombstoned", "selfdrive.tombstoned", always_run, enabled=not PC),
+  PythonProcess("updated", "selfdrive.updated", only_offroad, enabled=not PC),
+  PythonProcess("uploader", "system.loggerd.uploader", always_run),
+  PythonProcess("statsd", "selfdrive.statsd", always_run),

  # debug procs
-  NativeProcess("bridge", "cereal/messaging", ["./bridge"], onroad=False, callback=notcar),
-  PythonProcess("webjoystick", "tools.bodyteleop.web", onroad=False, callback=notcar),
+  NativeProcess("bridge", "cereal/messaging", ["./bridge"], notcar),
+  PythonProcess("webjoystick", "tools.bodyteleop.web", notcar),
 ]

 managed_processes = {p.name: p for p in procs}