Manager cleanup (#20231)

* move manager in folder

* inital refactor

* call start

* small cleanup

* add comments

* use self.signal()

* order shouldnt matter

* newlines

* add helpers

* newlines

* add process config

* split out build part of manager

* this should fix most tests

* no sensord on pc

* dont start athena

* remove comment

* fix old athena test

* fix inject model

* fix test car models

* should be not none

* fix helpers exitcode

* ignore manage_athenad

* Use time.monotonic()

Co-authored-by: Adeeb Shihadeh <adeebshihadeh@gmail.com>

* combine init, remove spinner

* move manager test

Co-authored-by: Adeeb Shihadeh <adeebshihadeh@gmail.com>
old-commit-hash: 5a3b51130649356b14b24e3c82e014b3a0be95a8

selfdrive/debug/cpu_usage_stat.py

@@ -24,7 +24,7 @@ import argparse
 import re
 from collections import defaultdict
 
-import selfdrive.manager as manager
+from selfdrive.manager.process_config import managed_processes
 
 # Do statistics every 5 seconds
 PRINT_INTERVAL = 5
@@ -36,7 +36,7 @@ monitored_proc_names = [
 
   # android procs
   'SurfaceFlinger', 'sensors.qcom'
-] + manager.car_started_processes + manager.persistent_processes
+] + list(managed_processes.keys())
 
 cpu_time_names = ['user', 'system', 'children_user', 'children_system']
 

selfdrive/debug/uiview.py

@@ -1,21 +1,27 @@
 #!/usr/bin/env python3
 import time
 import cereal.messaging as messaging
-from selfdrive.manager import start_managed_process, kill_managed_process
+from selfdrive.manager.process_config import managed_processes
 
-services = ['controlsState', 'deviceState', 'radarState']  # the services needed to be spoofed to start ui offroad
-procs = ['camerad', 'ui', 'modeld', 'calibrationd']
-[start_managed_process(p) for p in procs]  # start needed processes
-pm = messaging.PubMaster(services)
 
-dat_controlsState, dat_deviceState, dat_radar = [messaging.new_message(s) for s in services]
-dat_deviceState.deviceState.started = True
+if __name__ == "__main__":
+  services = ['controlsState', 'deviceState', 'radarState']  # the services needed to be spoofed to start ui offroad
+  procs = ['camerad', 'ui', 'modeld', 'calibrationd']
 
-try:
-  while True:
-    pm.send('controlsState', dat_controlsState)
-    pm.send('deviceState', dat_deviceState)
-    pm.send('radarState', dat_radar)
-    time.sleep(1 / 100)  # continually send, rate doesn't matter for deviceState
-except KeyboardInterrupt:
-  [kill_managed_process(p) for p in procs]
+  for p in procs:
+    managed_processes[p].start()
+
+  pm = messaging.PubMaster(services)
+
+  dat_controlsState, dat_deviceState, dat_radar = [messaging.new_message(s) for s in services]
+  dat_deviceState.deviceState.started = True
+
+  try:
+    while True:
+      pm.send('controlsState', dat_controlsState)
+      pm.send('deviceState', dat_deviceState)
+      pm.send('radarState', dat_radar)
+      time.sleep(1 / 100)  # continually send, rate doesn't matter for deviceState
+  except KeyboardInterrupt:
+    for p in procs:
+      managed_processes[p].stop()