manager: start bridge and web joystick for notcars (#24212)

* manager: start bridge and web joystick for notcars

* fix that

* bump cereal

Co-authored-by: Comma Device <device@comma.ai>

cereal

@@ -1 +1 @@
-Subproject commit 1b342ce4e00cacc0c87f3339cd7696e2ab0e62fe
+Subproject commit 6eb3994daa0f64f57a36606a7bdd982ed2ac9d2d

selfdrive/manager/manager.py

@@ -131,16 +131,15 @@ def manager_thread() -> None:
   ensure_running(managed_processes.values(), started=False, not_run=ignore)
 
   started_prev = False
-  sm = messaging.SubMaster(['deviceState'])
+  sm = messaging.SubMaster(['deviceState', 'carParams'], poll=['deviceState'])
   pm = messaging.PubMaster(['managerState'])
 
   while True:
     sm.update()
-    not_run = ignore[:]
 
     started = sm['deviceState'].started
     driverview = params.get_bool("IsDriverViewEnabled")
-    ensure_running(managed_processes.values(), started, driverview, not_run)
+    ensure_running(managed_processes.values(), started=started, driverview=driverview, notcar=sm['carParams'].notCar, not_run=ignore)
 
     # trigger an update after going offroad
     if started_prev and not started and 'updated' in managed_processes:

selfdrive/manager/process.py

@@ -71,6 +71,7 @@ class ManagerProcess(ABC):
   sigkill = False
   persistent = False
   driverview = False
+  notcar = False
   proc: Optional[Process] = None
   enabled = True
   name = ""
@@ -182,13 +183,14 @@ class ManagerProcess(ABC):
 
 
 class NativeProcess(ManagerProcess):
-  def __init__(self, name, cwd, cmdline, enabled=True, persistent=False, driverview=False, unkillable=False, sigkill=False, watchdog_max_dt=None):
+  def __init__(self, name, cwd, cmdline, enabled=True, persistent=False, driverview=False, notcar=False, unkillable=False, sigkill=False, watchdog_max_dt=None):
     self.name = name
     self.cwd = cwd
     self.cmdline = cmdline
     self.enabled = enabled
     self.persistent = persistent
     self.driverview = driverview
+    self.notcar = notcar
     self.unkillable = unkillable
     self.sigkill = sigkill
     self.watchdog_max_dt = watchdog_max_dt
@@ -213,12 +215,13 @@ class NativeProcess(ManagerProcess):
 
 
 class PythonProcess(ManagerProcess):
-  def __init__(self, name, module, enabled=True, persistent=False, driverview=False, unkillable=False, sigkill=False, watchdog_max_dt=None):
+  def __init__(self, name, module, enabled=True, persistent=False, driverview=False, notcar=False, unkillable=False, sigkill=False, watchdog_max_dt=None):
     self.name = name
     self.module = module
     self.enabled = enabled
     self.persistent = persistent
     self.driverview = driverview
+    self.notcar = notcar
     self.unkillable = unkillable
     self.sigkill = sigkill
     self.watchdog_max_dt = watchdog_max_dt
@@ -284,7 +287,8 @@ class DaemonProcess(ManagerProcess):
     pass
 
 
-def ensure_running(procs: ValuesView[ManagerProcess], started: bool, driverview: bool=False, not_run: Optional[List[str]]=None) -> None:
+def ensure_running(procs: ValuesView[ManagerProcess], started: bool, driverview: bool=False, notcar: bool=False,
+                   not_run: Optional[List[str]]=None) -> None:
   if not_run is None:
     not_run = []
 
@@ -297,6 +301,11 @@ def ensure_running(procs: ValuesView[ManagerProcess], started: bool, driverview:
       p.start()
     elif p.driverview and driverview:
       p.start()
+    elif p.notcar:
+      if notcar:
+        p.start()
+      else:
+        p.stop(block=False)
     elif started:
       p.start()
     else:

selfdrive/manager/process_config.py

@@ -14,7 +14,7 @@ procs = [
   NativeProcess("logcatd", "selfdrive/logcatd", ["./logcatd"]),
   NativeProcess("loggerd", "selfdrive/loggerd", ["./loggerd"]),
   NativeProcess("modeld", "selfdrive/modeld", ["./modeld"]),
-  NativeProcess("navd", "selfdrive/ui/navd", ["./navd"], enabled=(PC or TICI), persistent=True),
+  NativeProcess("navd", "selfdrive/ui/navd", ["./navd"], persistent=True),
   NativeProcess("proclogd", "selfdrive/proclogd", ["./proclogd"]),
   NativeProcess("sensord", "selfdrive/sensord", ["./sensord"], enabled=not PC),
   NativeProcess("ubloxd", "selfdrive/locationd", ["./ubloxd"], enabled=(not PC or WEBCAM)),
@@ -38,6 +38,9 @@ procs = [
   PythonProcess("uploader", "selfdrive.loggerd.uploader", persistent=True),
   PythonProcess("statsd", "selfdrive.statsd", persistent=True),
 
+  NativeProcess("bridge", "cereal/messaging", ["./bridge"], notcar=True),
+  PythonProcess("webjoystick", "tools.joystick.web", notcar=True),
+
   # Experimental
   PythonProcess("rawgpsd", "selfdrive.sensord.rawgps.rawgpsd", enabled=os.path.isfile("/persist/comma/use-quectel-rawgps")),
 ]

tools/joystick/web.py

@@ -1,7 +1,8 @@
 #!/usr/bin/env python3
-from flask import Flask
 import time
 import threading
+from flask import Flask
+
 import cereal.messaging as messaging
 
 app = Flask(__name__)
@@ -31,7 +32,7 @@ setInterval(function(){
 def hello_world():
   return index
 
-last_send_time = time.time()
+last_send_time = time.monotonic()
 @app.route("/control/<x>/<y>")
 def control(x, y):
   global last_send_time
@@ -42,12 +43,12 @@ def control(x, y):
   dat.testJoystick.axes = [y,x]
   dat.testJoystick.buttons = [False]
   pm.send('testJoystick', dat)
-  last_send_time = time.time()
+  last_send_time = time.monotonic()
   return ""
 
 def handle_timeout():
   while 1:
-    this_time = time.time()
+    this_time = time.monotonic()
     if (last_send_time+0.5) < this_time:
       print("timeout, no web in %.2f s" % (this_time-last_send_time))
       dat = messaging.new_message('testJoystick')
@@ -56,7 +57,9 @@ def handle_timeout():
       pm.send('testJoystick', dat)
     time.sleep(0.1)
 
-if __name__ == '__main__':
+def main():
   threading.Thread(target=handle_timeout, daemon=True).start()
   app.run(host="0.0.0.0")
 
+if __name__ == '__main__':
+  main()