Source code for selfdrive.manager.process_config

import os

from cereal import car
from openpilot.common.params import Params
from openpilot.system.hardware import PC, TICI
from openpilot.selfdrive.manager.process import PythonProcess, NativeProcess, DaemonProcess

WEBCAM = os.getenv("USE_WEBCAM") is not None

[docs] def driverview(started: bool, params: Params, CP: car.CarParams) -> bool: return started or params.get_bool("IsDriverViewEnabled")
[docs] def notcar(started: bool, params: Params, CP: car.CarParams) -> bool: return started and CP.notCar
[docs] def iscar(started: bool, params: Params, CP: car.CarParams) -> bool: return started and not CP.notCar
[docs] def logging(started, params, CP: car.CarParams) -> bool: run = (not CP.notCar) or not params.get_bool("DisableLogging") return started and run
[docs] def ublox_available() -> bool: return os.path.exists('/dev/ttyHS0') and not os.path.exists('/persist/comma/use-quectel-gps')
[docs] def ublox(started, params, CP: car.CarParams) -> bool: use_ublox = ublox_available() if use_ublox != params.get_bool("UbloxAvailable"): params.put_bool("UbloxAvailable", use_ublox) return started and use_ublox
[docs] def qcomgps(started, params, CP: car.CarParams) -> bool: return started and not ublox_available()
[docs] def always_run(started, params, CP: car.CarParams) -> bool: return True
[docs] def only_onroad(started: bool, params, CP: car.CarParams) -> bool: return started
[docs] def only_offroad(started, params, CP: car.CarParams) -> bool: return not started
procs = [ DaemonProcess("manage_athenad", "selfdrive.athena.manage_athenad", "AthenadPid"), NativeProcess("camerad", "system/camerad", ["./camerad"], driverview), 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("timed", "system.timed", always_run, enabled=not PC), PythonProcess("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), PythonProcess("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)), PythonProcess("soundd", "selfdrive.ui.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("qcomgpsd", "system.qcomgpsd.qcomgpsd", qcomgps, enabled=TICI), #PythonProcess("ugpsd", "system.ugpsd", only_onroad, 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.ubloxd.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.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"], notcar), PythonProcess("webrtcd", "system.webrtc.webrtcd", notcar), PythonProcess("webjoystick", "tools.bodyteleop.web", notcar), ] managed_processes = {p.name: p for p in procs}