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81 lines
2.1 KiB
81 lines
2.1 KiB
#!/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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