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firestar5683
2026-07-02 16:38:13 -05:00
parent 5bbe5f1daf
commit ea2aa532af
18 changed files with 173 additions and 1187 deletions
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system/manager/process_config.py
+8 -56
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@@ -7,42 +7,10 @@ from types import SimpleNamespace
from cereal import car
from openpilot.common.params import Params
from openpilot.system.hardware import HARDWARE, PC, TICI
from openpilot.system.manager.process import PythonProcess, NativeProcess, DaemonProcess
WEBCAM = os.getenv("USE_WEBCAM") is not None
UI_WATCHDOG_MAX_DT = int(os.getenv("UI_WATCHDOG_MAX_DT", "10"))
device_type = HARDWARE.get_device_type()
def _env_bool(name: str) -> bool | None:
value = os.getenv(name)
if value is None:
return None
return value.strip().lower() in ("1", "true", "yes", "on")
def python_ui_enabled(device_type: str) -> bool:
for env_name in ("USE_PYTHON_UI", "USE_RAYLIB_UI"):
enabled = _env_bool(env_name)
if enabled is not None:
return enabled
native_ui = _env_bool("USE_NATIVE_UI")
if native_ui is not None:
return not native_ui
return device_type not in ("tici", "tizi")
def python_ui_process_start_method(uses_python_ui: bool, is_pc: bool = PC) -> str:
return "fork" if is_pc or not uses_python_ui else "subprocess"
PYTHON_UI = python_ui_enabled(device_type)
PYTHON_UI_PROCESS_START_METHOD = python_ui_process_start_method(PYTHON_UI)
THE_GALAXY_PROCESS_START_METHOD = "fork" if PC else "subprocess"
UPDATED_PROCESS_START_METHOD = "fork" if PC else "subprocess"
from openpilot.system.manager.process import PythonProcess, NativeProcess, DaemonProcess
def driverview(started: bool, params: Params, CP: car.CarParams, starpilot_toggles: SimpleNamespace) -> bool:
return started or params.get_bool("IsDriverViewEnabled")
@@ -157,13 +125,7 @@ procs = [
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",
always_run,
enabled=not PC,
start_method=UPDATED_PROCESS_START_METHOD,
),
PythonProcess("updated", "system.updated.updated", always_run, enabled=not PC),
PythonProcess("uploader", "system.loggerd.uploader", allow_uploads),
PythonProcess("statsd", "system.statsd", always_run),
PythonProcess("feedbackd", "selfdrive.ui.feedback.feedbackd", only_onroad),
@@ -177,26 +139,16 @@ procs = [
# StarPilot variables
procs += [
PythonProcess(
"the_galaxy",
"starpilot.system.the_galaxy.the_galaxy",
always_run,
nice=19,
start_method=THE_GALAXY_PROCESS_START_METHOD,
),
PythonProcess("the_galaxy", "starpilot.system.the_galaxy.the_galaxy", always_run, nice=19),
PythonProcess("galaxy", "starpilot.system.galaxy.galaxy", always_run, nice=19),
]
if PYTHON_UI:
procs.append(PythonProcess(
"ui",
"selfdrive.ui.ui",
always_run,
watchdog_max_dt=UI_WATCHDOG_MAX_DT,
start_method=PYTHON_UI_PROCESS_START_METHOD,
))
else:
device_type = HARDWARE.get_device_type()
if device_type in ("tici", "tizi"):
procs.append(NativeProcess("ui", "selfdrive/ui", ["./ui"], always_run, watchdog_max_dt=UI_WATCHDOG_MAX_DT))
else:
# C4 (mici) runs the Python raylib UI path.
procs.append(PythonProcess("ui", "selfdrive.ui.ui", always_run, watchdog_max_dt=UI_WATCHDOG_MAX_DT))
procs += [
PythonProcess("device_syncd", "starpilot.system.device_syncd", always_run),