StarPilot/system/manager/process_config.py

import os
import operator
import platform

from types import SimpleNamespace

from cereal import car
from openpilot.common.params import Params
from openpilot.system.hardware import HARDWARE, PC, TICI

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")

def notcar(started: bool, params: Params, CP: car.CarParams, starpilot_toggles: SimpleNamespace) -> bool:
  return started and CP.notCar

def iscar(started: bool, params: Params, CP: car.CarParams, starpilot_toggles: SimpleNamespace) -> bool:
  return started and not CP.notCar

def logging(started: bool, params: Params, CP: car.CarParams, starpilot_toggles: SimpleNamespace) -> 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: bool, params: Params, CP: car.CarParams, starpilot_toggles: SimpleNamespace) -> bool:
  use_ublox = ublox_available()
  if use_ublox != params.get_bool("UbloxAvailable"):
    params.put_bool("UbloxAvailable", use_ublox)
  return started and use_ublox

def joystick(started: bool, params: Params, CP: car.CarParams, starpilot_toggles: SimpleNamespace) -> bool:
  return started and params.get_bool("JoystickDebugMode")

def not_joystick(started: bool, params: Params, CP: car.CarParams, starpilot_toggles: SimpleNamespace) -> bool:
  return started and not params.get_bool("JoystickDebugMode")

def long_maneuver(started: bool, params: Params, CP: car.CarParams, starpilot_toggles: SimpleNamespace) -> bool:
  return started and params.get_bool("LongitudinalManeuverMode") and not params.get_bool("LateralManeuverMode")

def lat_maneuver(started: bool, params: Params, CP: car.CarParams, starpilot_toggles: SimpleNamespace) -> bool:
  return started and params.get_bool("LateralManeuverMode") and not params.get_bool("LongitudinalManeuverMode")

def not_long_maneuver(started: bool, params: Params, CP: car.CarParams, starpilot_toggles: SimpleNamespace) -> bool:
  return started and not params.get_bool("LongitudinalManeuverMode")

def qcomgps(started: bool, params: Params, CP: car.CarParams, starpilot_toggles: SimpleNamespace) -> bool:
  return started and not ublox_available()

def always_run(started: bool, params: Params, CP: car.CarParams, starpilot_toggles: SimpleNamespace) -> bool:
  return True

def only_onroad(started: bool, params: Params, CP: car.CarParams, starpilot_toggles: SimpleNamespace) -> bool:
  return started

def only_offroad(started: bool, params: Params, CP: car.CarParams, starpilot_toggles: SimpleNamespace) -> bool:
  return not started

def or_(*fns):
  return lambda *args: operator.or_(*(fn(*args) for fn in fns))

def and_(*fns):
  return lambda *args: operator.and_(*(fn(*args) for fn in fns))

# StarPilot variables
def allow_logging(started: bool, params: Params, CP: car.CarParams, starpilot_toggles: SimpleNamespace) -> bool:
  return not starpilot_toggles.no_logging

def allow_uploads(started: bool, params: Params, CP: car.CarParams, starpilot_toggles: SimpleNamespace) -> bool:
  return params.get_bool("AlwaysAllowUploads") or not starpilot_toggles.no_uploads or starpilot_toggles.no_onroad_uploads

def run_speed_limit_filler(started: bool, params: Params, CP: car.CarParams, starpilot_toggles: SimpleNamespace) -> bool:
  return starpilot_toggles.speed_limit_filler

def run_speed_limit_vision(started: bool, params: Params, CP: car.CarParams, starpilot_toggles: SimpleNamespace) -> bool:
  return starpilot_toggles.vision_speed_limit_detection

def run_navigationd(started: bool, params: Params, CP: car.CarParams, starpilot_toggles: SimpleNamespace) -> bool:
  return started and params.get("NavDestination") is not None

procs = [
  DaemonProcess("manage_athenad", "system.athena.manage_athenad", "AthenadPid"),

  NativeProcess("loggerd", "system/loggerd", ["./loggerd"], and_(allow_logging, logging)),
  NativeProcess("encoderd", "system/loggerd", ["./encoderd"], and_(allow_logging, only_onroad)),
  NativeProcess("stream_encoderd", "system/loggerd", ["./encoderd", "--stream"], notcar),
  PythonProcess("logmessaged", "system.logmessaged", always_run),

  NativeProcess("camerad", "system/camerad", ["./camerad"], driverview, 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"),
  PythonProcess("micd", "system.micd", iscar),
  PythonProcess("timed", "system.timed", always_run, enabled=not PC),

  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("soundd", "selfdrive.ui.soundd", driverview),
  PythonProcess("locationd", "selfdrive.locationd.locationd", only_onroad),
  NativeProcess("_pandad", "selfdrive/pandad", ["./pandad"], always_run, enabled=False),
  PythonProcess("calibrationd", "selfdrive.locationd.calibrationd", only_onroad),
  PythonProcess("torqued", "selfdrive.locationd.torqued", only_onroad),
  PythonProcess("controlsd", "selfdrive.controls.controlsd", and_(not_joystick, iscar)),
  PythonProcess("joystickd", "tools.joystick.joystickd", or_(joystick, notcar)),
  PythonProcess("selfdrived", "selfdrive.selfdrived.selfdrived", only_onroad),
  PythonProcess("card", "selfdrive.car.card", only_onroad),
  PythonProcess("deleter", "system.loggerd.deleter", always_run),
  PythonProcess("dmonitoringd", "selfdrive.monitoring.dmonitoringd", driverview, enabled=(WEBCAM or not PC)),
  PythonProcess("qcomgpsd", "system.qcomgpsd.qcomgpsd", qcomgps, enabled=TICI),
  PythonProcess("pandad", "selfdrive.pandad.pandad", always_run),
  PythonProcess("paramsd", "selfdrive.locationd.paramsd", only_onroad),
  PythonProcess("lagd", "selfdrive.locationd.lagd", only_onroad),
  PythonProcess("ubloxd", "system.ubloxd.ubloxd", ublox, enabled=TICI),
  PythonProcess("pigeond", "system.ubloxd.pigeond", ublox, enabled=TICI),
  PythonProcess("plannerd", "selfdrive.controls.plannerd", not_long_maneuver),
  PythonProcess("maneuversd", "tools.longitudinal_maneuvers.maneuversd", long_maneuver),
  PythonProcess("lateral_maneuversd", "tools.lateral_maneuvers.lateral_maneuversd", lat_maneuver),
  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("uploader", "system.loggerd.uploader", allow_uploads),
  PythonProcess("statsd", "system.statsd", always_run),
  PythonProcess("feedbackd", "selfdrive.ui.feedback.feedbackd", only_onroad),

  # debug procs
  NativeProcess("bridge", "cereal/messaging", ["./bridge"], notcar),
  PythonProcess("webrtcd", "system.webrtc.webrtcd", notcar),
  PythonProcess("webjoystick", "tools.bodyteleop.web", notcar),
  PythonProcess("joystick", "tools.joystick.joystick_control", and_(joystick, iscar)),
]

# StarPilot variables
procs += [
  PythonProcess(
    "the_galaxy",
    "starpilot.system.the_galaxy.the_galaxy",
    always_run,
    nice=19,
    start_method=THE_GALAXY_PROCESS_START_METHOD,
  ),
  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:
  procs.append(NativeProcess("ui", "selfdrive/ui", ["./ui"], always_run, watchdog_max_dt=UI_WATCHDOG_MAX_DT))

procs += [
  PythonProcess("device_syncd", "starpilot.system.device_syncd", always_run),
  PythonProcess("starpilot_process", "starpilot.starpilot_process", always_run),
  PythonProcess("mapd", "starpilot.navigation.mapd_wrapper", always_run, nice=19),
  PythonProcess("navigationd", "starpilot.navigation.navigationd", run_navigationd, nice=19),
  PythonProcess("speed_limit_filler", "starpilot.system.speed_limit_filler", run_speed_limit_filler, nice=19),
  PythonProcess("speed_limit_vision", "starpilot.system.speed_limit_vision", run_speed_limit_vision, nice=19),
]

managed_processes = {p.name: p for p in procs}