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openpilot_comma
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remove debugging

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old-commit-hash: ac170d0ca32a4285be22e28ec7730fcba3d0697d
pull/32103/head
Shane Smiskol 1 year ago
parent 1dbea86f7d
commit 5d87fc5c90
5 changed files with 43 additions and 113 deletions
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  1. 6
      cpp_process.py
  2. 33
      manager.py
  3. 25
      python_process.py
  4. 7
      system/manager/manager.py
  5. 85
      system/manager/process_config.py

6
cpp_process.py
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@ -1,6 +0,0 @@
import time
if __name__ == "__main__":
print('python process!')
while True:
time.sleep(1)

33
manager.py
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@ -1,33 +0,0 @@
import time
import os
import sys
import signal
import multiprocessing
from python_process import main
from setproctitle import setproctitle
from system.manager.process_config import managed_processes
def launcher():
setproctitle('python_process')
main()
if __name__ == '__main__':
def signal_handler(sig, frame):
print('(fake) manager got signal', sig)
sys.exit()
# SystemExit on sigterm
# signal.signal(signal.SIGTERM, signal_handler)
# os.register_at_fork(after_in_child=lambda: signal.signal(signal.SIGTERM, signal.getsignal(signal.SIGTERM)))
p = multiprocessing.Process(target=launcher, name='python_process')
try:
p.start()
# managed_processes['python_process'].start()
input('Press enter to stop the process')
finally:
p.kill()
# managed_processes['python_process'].stop()

25
python_process.py
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@ -1,25 +0,0 @@
import os
import subprocess
import sys
import signal
import time
from openpilot.common.basedir import BASEDIR
def signal_handler(sig, frame):
print('python process got signal', sig)
# time.sleep(5)
# sys.exit()
def main():
print('pandad!')
# SystemExit on sigterm
# signal.signal(signal.SIGTERM, signal_handler)
while True:
os.chdir(os.path.join(BASEDIR))
subprocess.run(["python", "cpp_process.py"], check=True)

7
system/manager/manager.py
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@ -180,13 +180,8 @@ def main() -> None:
if os.getenv("PREPAREONLY") is not None: if os.getenv("PREPAREONLY") is not None:
return return
def here(sig, frame):
print('manager got signal', sig)
sys.exit()
# SystemExit on sigterm # SystemExit on sigterm
# signal.signal(signal.SIGTERM, lambda signum, frame: sys.exit(1)) signal.signal(signal.SIGTERM, lambda signum, frame: sys.exit(1))
signal.signal(signal.SIGTERM, here)
try: try:
manager_thread() manager_thread()

85
system/manager/process_config.py
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@ -42,51 +42,50 @@ def only_offroad(started, params, CP: car.CarParams) -> bool:
return not started return not started
procs = [ procs = [
# DaemonProcess("manage_athenad", "system.athena.manage_athenad", "AthenadPid"), DaemonProcess("manage_athenad", "system.athena.manage_athenad", "AthenadPid"),
#
# NativeProcess("camerad", "system/camerad", ["./camerad"], driverview), NativeProcess("camerad", "system/camerad", ["./camerad"], driverview),
# NativeProcess("logcatd", "system/logcatd", ["./logcatd"], only_onroad), NativeProcess("logcatd", "system/logcatd", ["./logcatd"], only_onroad),
# NativeProcess("proclogd", "system/proclogd", ["./proclogd"], only_onroad), NativeProcess("proclogd", "system/proclogd", ["./proclogd"], only_onroad),
# PythonProcess("logmessaged", "system.logmessaged", always_run), PythonProcess("logmessaged", "system.logmessaged", always_run),
# PythonProcess("micd", "system.micd", iscar), PythonProcess("micd", "system.micd", iscar),
# PythonProcess("timed", "system.timed", always_run, enabled=not PC), PythonProcess("timed", "system.timed", always_run, enabled=not PC),
#
# PythonProcess("dmonitoringmodeld", "selfdrive.modeld.dmonitoringmodeld", driverview, enabled=(not PC or WEBCAM)), PythonProcess("dmonitoringmodeld", "selfdrive.modeld.dmonitoringmodeld", driverview, enabled=(not PC or WEBCAM)),
# NativeProcess("encoderd", "system/loggerd", ["./encoderd"], only_onroad), NativeProcess("encoderd", "system/loggerd", ["./encoderd"], only_onroad),
# NativeProcess("stream_encoderd", "system/loggerd", ["./encoderd", "--stream"], notcar), NativeProcess("stream_encoderd", "system/loggerd", ["./encoderd", "--stream"], notcar),
# NativeProcess("loggerd", "system/loggerd", ["./loggerd"], logging), NativeProcess("loggerd", "system/loggerd", ["./loggerd"], logging),
# NativeProcess("modeld", "selfdrive/modeld", ["./modeld"], only_onroad), NativeProcess("modeld", "selfdrive/modeld", ["./modeld"], only_onroad),
# NativeProcess("sensord", "system/sensord", ["./sensord"], only_onroad, enabled=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)), NativeProcess("ui", "selfdrive/ui", ["./ui"], always_run, watchdog_max_dt=(5 if not PC else None)),
# PythonProcess("soundd", "selfdrive.ui.soundd", only_onroad), PythonProcess("soundd", "selfdrive.ui.soundd", only_onroad),
# NativeProcess("locationd", "selfdrive/locationd", ["./locationd"], only_onroad), NativeProcess("locationd", "selfdrive/locationd", ["./locationd"], only_onroad),
# NativeProcess("pandad", "selfdrive/pandad", ["./pandad"], always_run, enabled=False), NativeProcess("pandad", "selfdrive/pandad", ["./pandad"], always_run, enabled=False),
# PythonProcess("calibrationd", "selfdrive.locationd.calibrationd", only_onroad), PythonProcess("calibrationd", "selfdrive.locationd.calibrationd", only_onroad),
# PythonProcess("torqued", "selfdrive.locationd.torqued", only_onroad), PythonProcess("torqued", "selfdrive.locationd.torqued", only_onroad),
# PythonProcess("controlsd", "selfdrive.controls.controlsd", only_onroad), PythonProcess("controlsd", "selfdrive.controls.controlsd", only_onroad),
# PythonProcess("card", "selfdrive.car.card", only_onroad), PythonProcess("card", "selfdrive.car.card", only_onroad),
# PythonProcess("deleter", "system.loggerd.deleter", always_run), PythonProcess("deleter", "system.loggerd.deleter", always_run),
# PythonProcess("dmonitoringd", "selfdrive.monitoring.dmonitoringd", driverview, enabled=(not PC or WEBCAM)), PythonProcess("dmonitoringd", "selfdrive.monitoring.dmonitoringd", driverview, enabled=(not PC or WEBCAM)),
# PythonProcess("qcomgpsd", "system.qcomgpsd.qcomgpsd", qcomgps, enabled=TICI), PythonProcess("qcomgpsd", "system.qcomgpsd.qcomgpsd", qcomgps, enabled=TICI),
# #PythonProcess("ugpsd", "system.ugpsd", only_onroad, enabled=TICI), #PythonProcess("ugpsd", "system.ugpsd", only_onroad, enabled=TICI),
# PythonProcess("navd", "selfdrive.navd.navd", only_onroad), PythonProcess("navd", "selfdrive.navd.navd", only_onroad),
# PythonProcess("pandad", "selfdrive.pandad.pandad", always_run), PythonProcess("pandad", "selfdrive.pandad.pandad", always_run),
# PythonProcess("paramsd", "selfdrive.locationd.paramsd", only_onroad), PythonProcess("paramsd", "selfdrive.locationd.paramsd", only_onroad),
# NativeProcess("ubloxd", "system/ubloxd", ["./ubloxd"], ublox, enabled=TICI), NativeProcess("ubloxd", "system/ubloxd", ["./ubloxd"], ublox, enabled=TICI),
# PythonProcess("pigeond", "system.ubloxd.pigeond", ublox, enabled=TICI), PythonProcess("pigeond", "system.ubloxd.pigeond", ublox, enabled=TICI),
# PythonProcess("plannerd", "selfdrive.controls.plannerd", only_onroad), PythonProcess("plannerd", "selfdrive.controls.plannerd", only_onroad),
# PythonProcess("radard", "selfdrive.controls.radard", only_onroad), PythonProcess("radard", "selfdrive.controls.radard", only_onroad),
# PythonProcess("hardwared", "system.hardware.hardwared", always_run), PythonProcess("hardwared", "system.hardware.hardwared", always_run),
# PythonProcess("tombstoned", "system.tombstoned", always_run, enabled=not PC), PythonProcess("tombstoned", "system.tombstoned", always_run, enabled=not PC),
# PythonProcess("updated", "system.updated.updated", only_offroad, enabled=not PC), PythonProcess("updated", "system.updated.updated", only_offroad, enabled=not PC),
# PythonProcess("uploader", "system.loggerd.uploader", always_run), PythonProcess("uploader", "system.loggerd.uploader", always_run),
# PythonProcess("statsd", "system.statsd", always_run), PythonProcess("statsd", "system.statsd", always_run),
PythonProcess("python_process", "python_process", always_run),
# debug procs # debug procs
# NativeProcess("bridge", "cereal/messaging", ["./bridge"], notcar), NativeProcess("bridge", "cereal/messaging", ["./bridge"], notcar),
# PythonProcess("webrtcd", "system.webrtc.webrtcd", notcar), PythonProcess("webrtcd", "system.webrtc.webrtcd", notcar),
# PythonProcess("webjoystick", "tools.bodyteleop.web", notcar), PythonProcess("webjoystick", "tools.bodyteleop.web", notcar),
] ]
managed_processes = {p.name: p for p in procs} managed_processes = {p.name: p for p in procs}

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