79 lines
4.2 KiB
79 lines
4.2 KiB
import os
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from cereal import car
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from common.params import Params
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from system.hardware import PC, TICI
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from selfdrive.manager.process import PythonProcess, NativeProcess, DaemonProcess
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WEBCAM = os.getenv("USE_WEBCAM") is not None
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def driverview(started: bool, params: Params, CP: car.CarParams) -> bool:
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return params.get_bool("IsDriverViewEnabled") # type: ignore
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def notcar(started: bool, params: Params, CP: car.CarParams) -> bool:
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return CP.notCar # type: ignore
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def logging(started, params, CP: car.CarParams) -> bool:
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run = (not CP.notCar) or not params.get_bool("DisableLogging")
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return started and run
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def ublox_available() -> bool:
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return os.path.exists('/dev/ttyHS0') and not os.path.exists('/persist/comma/use-quectel-gps')
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def ublox(started, params, CP: car.CarParams) -> bool:
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use_ublox = ublox_available()
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if use_ublox != params.get_bool("UbloxAvailable"):
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params.put_bool("UbloxAvailable", use_ublox)
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return started and use_ublox
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def qcomgps(started, params, CP: car.CarParams) -> bool:
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return started and not ublox_available()
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procs = [
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# due to qualcomm kernel bugs SIGKILLing camerad sometimes causes page table corruption
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NativeProcess("camerad", "system/camerad", ["./camerad"], unkillable=True, callback=driverview),
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NativeProcess("clocksd", "system/clocksd", ["./clocksd"]),
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NativeProcess("logcatd", "system/logcatd", ["./logcatd"]),
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NativeProcess("proclogd", "system/proclogd", ["./proclogd"]),
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PythonProcess("logmessaged", "system.logmessaged", offroad=True),
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PythonProcess("micd", "system.micd"),
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PythonProcess("timezoned", "system.timezoned", enabled=not PC, offroad=True),
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DaemonProcess("manage_athenad", "selfdrive.athena.manage_athenad", "AthenadPid"),
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NativeProcess("dmonitoringmodeld", "selfdrive/modeld", ["./dmonitoringmodeld"], enabled=(not PC or WEBCAM), callback=driverview),
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NativeProcess("encoderd", "system/loggerd", ["./encoderd"]),
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NativeProcess("loggerd", "system/loggerd", ["./loggerd"], onroad=False, callback=logging),
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NativeProcess("modeld", "selfdrive/modeld", ["./modeld"]),
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NativeProcess("mapsd", "selfdrive/navd", ["./mapsd"]),
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NativeProcess("navmodeld", "selfdrive/modeld", ["./navmodeld"]),
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NativeProcess("sensord", "system/sensord", ["./sensord"], enabled=not PC),
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NativeProcess("ui", "selfdrive/ui", ["./ui"], offroad=True, watchdog_max_dt=(5 if not PC else None)),
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NativeProcess("soundd", "selfdrive/ui/soundd", ["./soundd"]),
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NativeProcess("locationd", "selfdrive/locationd", ["./locationd"]),
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NativeProcess("boardd", "selfdrive/boardd", ["./boardd"], enabled=False),
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PythonProcess("calibrationd", "selfdrive.locationd.calibrationd"),
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PythonProcess("torqued", "selfdrive.locationd.torqued"),
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PythonProcess("controlsd", "selfdrive.controls.controlsd"),
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PythonProcess("deleter", "system.loggerd.deleter", offroad=True),
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PythonProcess("dmonitoringd", "selfdrive.monitoring.dmonitoringd", enabled=(not PC or WEBCAM), callback=driverview),
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PythonProcess("laikad", "selfdrive.locationd.laikad"),
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PythonProcess("rawgpsd", "system.sensord.rawgps.rawgpsd", enabled=TICI, onroad=False, callback=qcomgps),
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PythonProcess("navd", "selfdrive.navd.navd"),
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PythonProcess("pandad", "selfdrive.boardd.pandad", offroad=True),
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PythonProcess("paramsd", "selfdrive.locationd.paramsd"),
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NativeProcess("ubloxd", "system/ubloxd", ["./ubloxd"], enabled=TICI, onroad=False, callback=ublox),
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PythonProcess("pigeond", "system.sensord.pigeond", enabled=TICI, onroad=False, callback=ublox),
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PythonProcess("plannerd", "selfdrive.controls.plannerd"),
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PythonProcess("radard", "selfdrive.controls.radard"),
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PythonProcess("thermald", "selfdrive.thermald.thermald", offroad=True),
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PythonProcess("tombstoned", "selfdrive.tombstoned", enabled=not PC, offroad=True),
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PythonProcess("updated", "selfdrive.updated", enabled=not PC, onroad=False, offroad=True),
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PythonProcess("uploader", "system.loggerd.uploader", offroad=True),
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PythonProcess("statsd", "selfdrive.statsd", offroad=True),
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# debug procs
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NativeProcess("bridge", "cereal/messaging", ["./bridge"], onroad=False, callback=notcar),
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PythonProcess("webjoystick", "tools.joystick.web", onroad=False, callback=notcar),
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]
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managed_processes = {p.name: p for p in procs}
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