mirror of
https://github.com/firestar5683/StarPilot.git
synced 2026-06-13 19:15:02 +08:00
163 lines
8.6 KiB
Python
163 lines
8.6 KiB
Python
import os
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import operator
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import platform
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from types import SimpleNamespace
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from cereal import car
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from openpilot.common.params import Params
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from openpilot.system.hardware import HARDWARE, PC, TICI
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from openpilot.system.manager.process import PythonProcess, NativeProcess, DaemonProcess
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WEBCAM = os.getenv("USE_WEBCAM") is not None
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UI_WATCHDOG_MAX_DT = int(os.getenv("UI_WATCHDOG_MAX_DT", "10"))
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def driverview(started: bool, params: Params, CP: car.CarParams, starpilot_toggles: SimpleNamespace) -> bool:
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return started or params.get_bool("IsDriverViewEnabled")
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def notcar(started: bool, params: Params, CP: car.CarParams, starpilot_toggles: SimpleNamespace) -> bool:
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return started and CP.notCar
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def iscar(started: bool, params: Params, CP: car.CarParams, starpilot_toggles: SimpleNamespace) -> bool:
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return started and not CP.notCar
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def logging(started: bool, params: Params, CP: car.CarParams, starpilot_toggles: SimpleNamespace) -> bool:
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run = (not CP.notCar) or not params.get_bool("DisableLogging")
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return started and run
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def ublox_available() -> bool:
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return os.path.exists('/dev/ttyHS0') and not os.path.exists('/persist/comma/use-quectel-gps')
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def ublox(started: bool, params: Params, CP: car.CarParams, starpilot_toggles: SimpleNamespace) -> bool:
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use_ublox = ublox_available()
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if use_ublox != params.get_bool("UbloxAvailable"):
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params.put_bool("UbloxAvailable", use_ublox)
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return started and use_ublox
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def joystick(started: bool, params: Params, CP: car.CarParams, starpilot_toggles: SimpleNamespace) -> bool:
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return started and params.get_bool("JoystickDebugMode")
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def not_joystick(started: bool, params: Params, CP: car.CarParams, starpilot_toggles: SimpleNamespace) -> bool:
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return started and not params.get_bool("JoystickDebugMode")
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def long_maneuver(started: bool, params: Params, CP: car.CarParams, starpilot_toggles: SimpleNamespace) -> bool:
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return started and params.get_bool("LongitudinalManeuverMode") and not params.get_bool("LateralManeuverMode")
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def lat_maneuver(started: bool, params: Params, CP: car.CarParams, starpilot_toggles: SimpleNamespace) -> bool:
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return started and params.get_bool("LateralManeuverMode") and not params.get_bool("LongitudinalManeuverMode")
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def not_long_maneuver(started: bool, params: Params, CP: car.CarParams, starpilot_toggles: SimpleNamespace) -> bool:
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return started and not params.get_bool("LongitudinalManeuverMode")
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def qcomgps(started: bool, params: Params, CP: car.CarParams, starpilot_toggles: SimpleNamespace) -> bool:
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return started and not ublox_available()
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def always_run(started: bool, params: Params, CP: car.CarParams, starpilot_toggles: SimpleNamespace) -> bool:
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return True
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def only_onroad(started: bool, params: Params, CP: car.CarParams, starpilot_toggles: SimpleNamespace) -> bool:
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return started
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def only_offroad(started: bool, params: Params, CP: car.CarParams, starpilot_toggles: SimpleNamespace) -> bool:
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return not started
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def or_(*fns):
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return lambda *args: operator.or_(*(fn(*args) for fn in fns))
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def and_(*fns):
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return lambda *args: operator.and_(*(fn(*args) for fn in fns))
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# StarPilot variables
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def allow_logging(started: bool, params: Params, CP: car.CarParams, starpilot_toggles: SimpleNamespace) -> bool:
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return not starpilot_toggles.no_logging
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def allow_uploads(started: bool, params: Params, CP: car.CarParams, starpilot_toggles: SimpleNamespace) -> bool:
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return params.get_bool("AlwaysAllowUploads") or not starpilot_toggles.no_uploads or starpilot_toggles.no_onroad_uploads
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def run_speed_limit_filler(started: bool, params: Params, CP: car.CarParams, starpilot_toggles: SimpleNamespace) -> bool:
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return starpilot_toggles.speed_limit_filler
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def run_speed_limit_vision(started: bool, params: Params, CP: car.CarParams, starpilot_toggles: SimpleNamespace) -> bool:
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return starpilot_toggles.vision_speed_limit_detection
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def run_navigationd(started: bool, params: Params, CP: car.CarParams, starpilot_toggles: SimpleNamespace) -> bool:
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return started and params.get("NavDestination") is not None
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procs = [
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DaemonProcess("manage_athenad", "system.athena.manage_athenad", "AthenadPid"),
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NativeProcess("loggerd", "system/loggerd", ["./loggerd"], and_(allow_logging, logging)),
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NativeProcess("encoderd", "system/loggerd", ["./encoderd"], and_(allow_logging, only_onroad)),
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NativeProcess("stream_encoderd", "system/loggerd", ["./encoderd", "--stream"], notcar),
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PythonProcess("logmessaged", "system.logmessaged", always_run),
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NativeProcess("camerad", "system/camerad", ["./camerad"], driverview, enabled=not WEBCAM),
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PythonProcess("webcamerad", "tools.webcam.camerad", driverview, enabled=WEBCAM),
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PythonProcess("proclogd", "system.proclogd", and_(allow_logging, only_onroad), enabled=platform.system() != "Darwin"),
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PythonProcess("journald", "system.journald", and_(allow_logging, only_onroad), platform.system() != "Darwin"),
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PythonProcess("micd", "system.micd", iscar),
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PythonProcess("timed", "system.timed", always_run, enabled=not PC),
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PythonProcess("modeld", "selfdrive.modeld.modeld", only_onroad),
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PythonProcess("dmonitoringmodeld", "selfdrive.modeld.dmonitoringmodeld", driverview, enabled=(WEBCAM or not PC)),
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PythonProcess("sensord", "system.sensord.sensord", only_onroad, enabled=not PC),
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PythonProcess("soundd", "selfdrive.ui.soundd", driverview),
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PythonProcess("locationd", "selfdrive.locationd.locationd", only_onroad),
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NativeProcess("_pandad", "selfdrive/pandad", ["./pandad"], always_run, enabled=False),
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PythonProcess("calibrationd", "selfdrive.locationd.calibrationd", only_onroad),
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PythonProcess("torqued", "selfdrive.locationd.torqued", only_onroad),
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PythonProcess("controlsd", "selfdrive.controls.controlsd", and_(not_joystick, iscar)),
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PythonProcess("joystickd", "tools.joystick.joystickd", or_(joystick, notcar)),
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PythonProcess("selfdrived", "selfdrive.selfdrived.selfdrived", only_onroad),
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PythonProcess("card", "selfdrive.car.card", only_onroad),
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PythonProcess("deleter", "system.loggerd.deleter", always_run),
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PythonProcess("dmonitoringd", "selfdrive.monitoring.dmonitoringd", driverview, enabled=(WEBCAM or not PC)),
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PythonProcess("qcomgpsd", "system.qcomgpsd.qcomgpsd", qcomgps, enabled=TICI),
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PythonProcess("pandad", "selfdrive.pandad.pandad", always_run),
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PythonProcess("paramsd", "selfdrive.locationd.paramsd", only_onroad),
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PythonProcess("lagd", "selfdrive.locationd.lagd", only_onroad),
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PythonProcess("ubloxd", "system.ubloxd.ubloxd", ublox, enabled=TICI),
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PythonProcess("pigeond", "system.ubloxd.pigeond", ublox, enabled=TICI),
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PythonProcess("plannerd", "selfdrive.controls.plannerd", not_long_maneuver),
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PythonProcess("maneuversd", "tools.longitudinal_maneuvers.maneuversd", long_maneuver),
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PythonProcess("lateral_maneuversd", "tools.lateral_maneuvers.lateral_maneuversd", lat_maneuver),
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PythonProcess("radard", "selfdrive.controls.radard", only_onroad),
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PythonProcess("hardwared", "system.hardware.hardwared", always_run),
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PythonProcess("tombstoned", "system.tombstoned", always_run, enabled=not PC),
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PythonProcess("updated", "system.updated.updated", always_run, enabled=not PC),
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PythonProcess("uploader", "system.loggerd.uploader", allow_uploads),
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PythonProcess("statsd", "system.statsd", always_run),
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PythonProcess("feedbackd", "selfdrive.ui.feedback.feedbackd", only_onroad),
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# debug procs
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NativeProcess("bridge", "cereal/messaging", ["./bridge"], notcar),
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PythonProcess("webrtcd", "system.webrtc.webrtcd", notcar),
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PythonProcess("webjoystick", "tools.bodyteleop.web", notcar),
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PythonProcess("joystick", "tools.joystick.joystick_control", and_(joystick, iscar)),
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]
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# StarPilot variables
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procs += [
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PythonProcess("the_pond", "starpilot.system.the_pond.the_pond", always_run, nice=19),
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PythonProcess("galaxy", "starpilot.system.galaxy.galaxy", always_run, nice=19),
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]
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device_type = HARDWARE.get_device_type()
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if device_type in ("tici", "tizi"):
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procs.append(NativeProcess("ui", "selfdrive/ui", ["./ui"], always_run, watchdog_max_dt=UI_WATCHDOG_MAX_DT))
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else:
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# C4 (mici) runs the Python raylib UI path.
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procs.append(PythonProcess("ui", "selfdrive.ui.ui", always_run, watchdog_max_dt=UI_WATCHDOG_MAX_DT))
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procs += [
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PythonProcess("device_syncd", "starpilot.system.device_syncd", always_run),
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PythonProcess("starpilot_process", "starpilot.starpilot_process", always_run),
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PythonProcess("mapd", "starpilot.navigation.mapd_wrapper", always_run, nice=19),
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PythonProcess("navigationd", "starpilot.navigation.navigationd", run_navigationd, nice=19),
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PythonProcess("speed_limit_filler", "starpilot.system.speed_limit_filler", run_speed_limit_filler, nice=19),
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PythonProcess("speed_limit_vision", "starpilot.system.speed_limit_vision", run_speed_limit_vision, nice=19),
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]
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managed_processes = {p.name: p for p in procs}
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