manager: cleanup ensure_running (#24270)

* manager: cleanup ensure_running

* make notcar a blocking condition

* invert last conditions

* duplicate

* always run daemon process

* comment

* typo

* make notcar like driverview

selfdrive/manager/process.py

@@ -69,7 +69,8 @@ class ManagerProcess(ABC):
   unkillable = False
   daemon = False
   sigkill = False
-  persistent = False
+  onroad = True
+  offroad = False
   driverview = False
   notcar = False
   proc: Optional[Process] = None
@@ -183,12 +184,13 @@ class ManagerProcess(ABC):
 
 
 class NativeProcess(ManagerProcess):
-  def __init__(self, name, cwd, cmdline, enabled=True, persistent=False, driverview=False, notcar=False, unkillable=False, sigkill=False, watchdog_max_dt=None):
+  def __init__(self, name, cwd, cmdline, enabled=True, onroad=True, offroad=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.onroad = onroad
+    self.offroad = offroad
     self.driverview = driverview
     self.notcar = notcar
     self.unkillable = unkillable
@@ -215,11 +217,12 @@ class NativeProcess(ManagerProcess):
 
 
 class PythonProcess(ManagerProcess):
-  def __init__(self, name, module, enabled=True, persistent=False, driverview=False, notcar=False, unkillable=False, sigkill=False, watchdog_max_dt=None):
+  def __init__(self, name, module, enabled=True, onroad=True, offroad=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.onroad = onroad
+    self.offroad = offroad
     self.driverview = driverview
     self.notcar = notcar
     self.unkillable = unkillable
@@ -254,7 +257,8 @@ class DaemonProcess(ManagerProcess):
     self.module = module
     self.param_name = param_name
     self.enabled = enabled
-    self.persistent = True
+    self.onroad = True
+    self.offroad = True
 
   def prepare(self) -> None:
     pass
@@ -293,23 +297,23 @@ def ensure_running(procs: ValuesView[ManagerProcess], started: bool, driverview:
     not_run = []
 
   for p in procs:
-    if p.name in not_run:
-      p.stop(block=False)
-    elif not p.enabled:
-      p.stop(block=False)
-    elif p.persistent:
-      p.start()
-    elif p.driverview and driverview:
-      p.start()
-    elif p.notcar:
-      if notcar:
-        p.start()
-      else:
-        p.stop(block=False)
-    elif started:
+    # Conditions that make a process run
+    run = any((
+      p.offroad and not started,
+      p.onroad and started,
+      p.driverview and driverview,
+      p.notcar and notcar,
+    ))
+
+    # Conditions that block a process from starting
+    run = run and not any((
+      not p.enabled,
+      p.name in not_run,
+    ))
+
+    if run:
       p.start()
     else:
       p.stop(block=False)
 
     p.check_watchdog(started)
-

selfdrive/manager/process_config.py

@@ -14,32 +14,32 @@ procs = [
   NativeProcess("logcatd", "selfdrive/logcatd", ["./logcatd"]),
   NativeProcess("loggerd", "selfdrive/loggerd", ["./loggerd"]),
   NativeProcess("modeld", "selfdrive/modeld", ["./modeld"]),
-  NativeProcess("navd", "selfdrive/ui/navd", ["./navd"], persistent=True),
+  NativeProcess("navd", "selfdrive/ui/navd", ["./navd"], offroad=True),
   NativeProcess("proclogd", "selfdrive/proclogd", ["./proclogd"]),
   NativeProcess("sensord", "selfdrive/sensord", ["./sensord"], enabled=not PC),
   NativeProcess("ubloxd", "selfdrive/locationd", ["./ubloxd"], enabled=(not PC or WEBCAM)),
-  NativeProcess("ui", "selfdrive/ui", ["./ui"], persistent=True, watchdog_max_dt=(5 if TICI else None)),
-  NativeProcess("soundd", "selfdrive/ui/soundd", ["./soundd"], persistent=True),
+  NativeProcess("ui", "selfdrive/ui", ["./ui"], offroad=True, watchdog_max_dt=(5 if TICI else None)),
+  NativeProcess("soundd", "selfdrive/ui/soundd", ["./soundd"], offroad=True),
   NativeProcess("locationd", "selfdrive/locationd", ["./locationd"]),
   NativeProcess("boardd", "selfdrive/boardd", ["./boardd"], enabled=False),
   PythonProcess("calibrationd", "selfdrive.locationd.calibrationd"),
   PythonProcess("controlsd", "selfdrive.controls.controlsd"),
-  PythonProcess("deleter", "selfdrive.loggerd.deleter", persistent=True),
+  PythonProcess("deleter", "selfdrive.loggerd.deleter", offroad=True),
   PythonProcess("dmonitoringd", "selfdrive.monitoring.dmonitoringd", enabled=(not PC or WEBCAM), driverview=True),
-  PythonProcess("logmessaged", "selfdrive.logmessaged", persistent=True),
-  PythonProcess("pandad", "selfdrive.boardd.pandad", persistent=True),
+  PythonProcess("logmessaged", "selfdrive.logmessaged", offroad=True),
+  PythonProcess("pandad", "selfdrive.boardd.pandad", offroad=True),
   PythonProcess("paramsd", "selfdrive.locationd.paramsd"),
   PythonProcess("plannerd", "selfdrive.controls.plannerd"),
   PythonProcess("radard", "selfdrive.controls.radard"),
-  PythonProcess("thermald", "selfdrive.thermald.thermald", persistent=True),
-  PythonProcess("timezoned", "selfdrive.timezoned", enabled=TICI, persistent=True),
-  PythonProcess("tombstoned", "selfdrive.tombstoned", enabled=not PC, persistent=True),
-  PythonProcess("updated", "selfdrive.updated", enabled=not PC, persistent=True),
-  PythonProcess("uploader", "selfdrive.loggerd.uploader", persistent=True),
-  PythonProcess("statsd", "selfdrive.statsd", persistent=True),
+  PythonProcess("thermald", "selfdrive.thermald.thermald", offroad=True),
+  PythonProcess("timezoned", "selfdrive.timezoned", enabled=TICI, offroad=True),
+  PythonProcess("tombstoned", "selfdrive.tombstoned", enabled=not PC, offroad=True),
+  PythonProcess("updated", "selfdrive.updated", enabled=not PC, offroad=True),
+  PythonProcess("uploader", "selfdrive.loggerd.uploader", offroad=True),
+  PythonProcess("statsd", "selfdrive.statsd", offroad=True),
 
-  NativeProcess("bridge", "cereal/messaging", ["./bridge"], notcar=True),
-  PythonProcess("webjoystick", "tools.joystick.web", notcar=True),
+  NativeProcess("bridge", "cereal/messaging", ["./bridge"], onroad=False, notcar=True),
+  PythonProcess("webjoystick", "tools.joystick.web", onroad=False, notcar=True),
 
   # Experimental
   PythonProcess("rawgpsd", "selfdrive.sensord.rawgps.rawgpsd", enabled=os.path.isfile("/persist/comma/use-quectel-rawgps")),