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Sentry and Tunes

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firestar5683
2026-08-14 12:05:45 -05:00
parent 8e1caf8fe4
commit cdfd5d1d66
19 changed files with 621 additions and 9 deletions
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system/manager/process_config.py
+12 -2
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@@ -62,6 +62,15 @@ def only_onroad(started: bool, params: Params, CP: car.CarParams, starpilot_togg
def only_offroad(started: bool, params: Params, CP: car.CarParams, starpilot_toggles: SimpleNamespace) -> bool:
return not started
def sentry_mode(started: bool, params: Params, CP: car.CarParams, starpilot_toggles: SimpleNamespace) -> bool:
return not started and params.get_bool("SentryModeEnabled")
def sensord_run(started: bool, params: Params, CP: car.CarParams, starpilot_toggles: SimpleNamespace) -> bool:
return started or params.get_bool("SentryModeEnabled")
def camera_run(started: bool, params: Params, CP: car.CarParams, starpilot_toggles: SimpleNamespace) -> bool:
return driverview(started, params, CP, starpilot_toggles) or params.get_bool("SentryModeCapture")
def livestream(started: bool, params: Params, CP: car.CarParams, starpilot_toggles: SimpleNamespace) -> bool:
return params.get_bool("IsLiveStreaming")
@@ -182,7 +191,7 @@ procs = [
NativeProcess("stream_encoderd", "system/loggerd", ["./encoderd", "--stream"], or_(and_(livestream, not_(iscar)), notcar)),
PythonProcess("logmessaged", "system.logmessaged", always_run),
NativeProcess("camerad", "system/camerad", ["./camerad"], or_(driverview, livestream), enabled=not WEBCAM),
NativeProcess("camerad", "system/camerad", ["./camerad"], or_(camera_run, livestream), enabled=not WEBCAM),
PythonProcess("webcamerad", "tools.webcam.camerad", driverview, enabled=WEBCAM),
PythonProcess("proclogd", "system.proclogd", and_(allow_logging, only_onroad), enabled=platform.system() != "Darwin"),
PythonProcess("journald", "system.journald", and_(allow_logging, only_onroad), platform.system() != "Darwin"),
@@ -192,7 +201,8 @@ procs = [
PythonProcess("modeld", "selfdrive.modeld.modeld", only_onroad),
PythonProcess("dmonitoringmodeld", "selfdrive.modeld.dmonitoringmodeld", driverview, enabled=(WEBCAM or not PC)),
PythonProcess("sensord", "system.sensord.sensord", only_onroad, enabled=not PC),
PythonProcess("sensord", "system.sensord.sensord", sensord_run, enabled=not PC),
PythonProcess("sentryd", "system.sentryd.sentryd", sentry_mode, enabled=not PC),
PythonProcess("soundd", "selfdrive.ui.soundd", driverview),
PythonProcess("locationd", "selfdrive.locationd.locationd", only_onroad),
NativeProcess("_pandad", "selfdrive/pandad", ["./pandad"], always_run, enabled=False),