FrogPilot 0.9.7

system/manager/process_config.py

@@ -7,55 +7,76 @@ from openpilot.system.manager.process import PythonProcess, NativeProcess, Daemo
 
 WEBCAM = os.getenv("USE_WEBCAM") is not None
 
-def driverview(started: bool, params: Params, CP: car.CarParams) -> bool:
+def driverview(started: bool, params: Params, CP: car.CarParams, classic_model, tinygrad_model, frogpilot_toggles) -> bool:
   return started or params.get_bool("IsDriverViewEnabled")
 
-def notcar(started: bool, params: Params, CP: car.CarParams) -> bool:
+def notcar(started: bool, params: Params, CP: car.CarParams, classic_model, tinygrad_model, frogpilot_toggles) -> bool:
   return started and CP.notCar
 
-def iscar(started: bool, params: Params, CP: car.CarParams) -> bool:
+def iscar(started: bool, params: Params, CP: car.CarParams, classic_model, tinygrad_model, frogpilot_toggles) -> bool:
   return started and not CP.notCar
 
-def logging(started, params, CP: car.CarParams) -> bool:
+def logging(started, params, CP: car.CarParams, classic_model, tinygrad_model, frogpilot_toggles) -> bool:
   run = (not CP.notCar) or not params.get_bool("DisableLogging")
   return started and run
 
 def ublox_available() -> bool:
   return os.path.exists('/dev/ttyHS0') and not os.path.exists('/persist/comma/use-quectel-gps')
 
-def ublox(started, params, CP: car.CarParams) -> bool:
+def ublox(started, params, CP: car.CarParams, classic_model, tinygrad_model, frogpilot_toggles) -> bool:
   use_ublox = ublox_available()
   if use_ublox != params.get_bool("UbloxAvailable"):
     params.put_bool("UbloxAvailable", use_ublox)
   return started and use_ublox
 
-def qcomgps(started, params, CP: car.CarParams) -> bool:
+def qcomgps(started, params, CP: car.CarParams, classic_model, tinygrad_model, frogpilot_toggles) -> bool:
   return started and not ublox_available()
 
-def always_run(started, params, CP: car.CarParams) -> bool:
+def always_run(started, params, CP: car.CarParams, classic_model, tinygrad_model, frogpilot_toggles) -> bool:
   return True
 
-def only_onroad(started: bool, params, CP: car.CarParams) -> bool:
+def only_onroad(started: bool, params, CP: car.CarParams, classic_model, tinygrad_model, frogpilot_toggles) -> bool:
   return started
 
-def only_offroad(started, params, CP: car.CarParams) -> bool:
+def only_offroad(started, params, CP: car.CarParams, classic_model, tinygrad_model, frogpilot_toggles) -> bool:
   return not started
 
+# FrogPilot functions
+def allow_logging(started, params, CP: car.CarParams, classic_model, tinygrad_model, frogpilot_toggles) -> bool:
+  return not frogpilot_toggles.no_logging and logging(started, params, CP, classic_model, tinygrad_model, frogpilot_toggles)
+
+def allow_uploads(started, params, CP: car.CarParams, classic_model, tinygrad_model, frogpilot_toggles) -> bool:
+  return not frogpilot_toggles.no_uploads or frogpilot_toggles.no_onroad_uploads
+
+def run_classic_modeld(started, params, CP: car.CarParams, classic_model, tinygrad_model, frogpilot_toggles) -> bool:
+  return started and classic_model
+
+def run_new_modeld(started, params, CP: car.CarParams, classic_model, tinygrad_model, frogpilot_toggles) -> bool:
+  return started and not (classic_model or tinygrad_model)
+
+def run_speed_limit_filler(started, params, CP: car.CarParams, classic_model, tinygrad_model, frogpilot_toggles) -> bool:
+  return frogpilot_toggles.speed_limit_filler
+
+def run_tinygrad_modeld(started, params, CP: car.CarParams, classic_model, tinygrad_model, frogpilot_toggles) -> bool:
+  return started and tinygrad_model
+
 procs = [
   DaemonProcess("manage_athenad", "system.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),
+  NativeProcess("logcatd", "system/logcatd", ["./logcatd"], allow_logging),
+  NativeProcess("proclogd", "system/proclogd", ["./proclogd"], allow_logging),
+  PythonProcess("logmessaged", "system.logmessaged", allow_logging),
   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("encoderd", "system/loggerd", ["./encoderd"], allow_logging),
   NativeProcess("stream_encoderd", "system/loggerd", ["./encoderd", "--stream"], notcar),
-  NativeProcess("loggerd", "system/loggerd", ["./loggerd"], logging),
-  NativeProcess("modeld", "selfdrive/modeld", ["./modeld"], only_onroad),
+  NativeProcess("loggerd", "system/loggerd", ["./loggerd"], allow_logging),
+  NativeProcess("modeld", "selfdrive/modeld", ["./modeld"], run_new_modeld),
+  NativeProcess("mapsd", "selfdrive/navd", ["./mapsd"], run_classic_modeld),
+  PythonProcess("navmodeld", "frogpilot.classic_modeld.navmodeld", run_classic_modeld),
   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),
@@ -72,20 +93,29 @@ procs = [
   PythonProcess("navd", "selfdrive.navd.navd", only_onroad),
   PythonProcess("pandad", "selfdrive.pandad.pandad", always_run),
   PythonProcess("paramsd", "selfdrive.locationd.paramsd", only_onroad),
+  PythonProcess("lagd", "selfdrive.locationd.lagd", 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("hardwared", "system.hardware.hardwared", always_run),
   PythonProcess("tombstoned", "system.tombstoned", always_run, enabled=not PC),
-  PythonProcess("updated", "system.updated.updated", only_offroad, enabled=not PC),
-  PythonProcess("uploader", "system.loggerd.uploader", always_run),
-  PythonProcess("statsd", "system.statsd", always_run),
+  PythonProcess("updated", "system.updated.updated", always_run, enabled=not PC),
+  PythonProcess("uploader", "system.loggerd.uploader", allow_uploads),
+  PythonProcess("statsd", "system.statsd", allow_logging),
 
   # debug procs
   NativeProcess("bridge", "cereal/messaging", ["./bridge"], notcar),
   PythonProcess("webrtcd", "system.webrtc.webrtcd", notcar),
   PythonProcess("webjoystick", "tools.bodyteleop.web", notcar),
+
+  # FrogPilot processes
+  NativeProcess("classic_modeld", "frogpilot/classic_modeld", ["./classic_modeld"], run_classic_modeld),
+  PythonProcess("frogpilot_process", "frogpilot.frogpilot_process", always_run),
+  PythonProcess("mapd", "frogpilot.navigation.mapd", always_run),
+  PythonProcess("speed_limit_filler", "frogpilot.system.speed_limit_filler", run_speed_limit_filler),
+  PythonProcess("the_pond", "frogpilot.system.the_pond.the_pond", always_run),
+  PythonProcess("tinygrad_modeld", "frogpilot.tinygrad_modeld.tinygrad_modeld", run_tinygrad_modeld),
 ]
 
 managed_processes = {p.name: p for p in procs}