mirror of
https://github.com/firestar5683/StarPilot.git
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firestar5683
49d5b8eaff
Own model discovery, compilation and registry selection through explicit model metadata and geometry contracts. Co-authored-by: whoisdomi <dcantu83@gmail.com>
53 lines
2.2 KiB
Python
53 lines
2.2 KiB
Python
"""
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Copyright (c) 2026-, Zeph Leggett.
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This file is part of jetlink and is licensed under the MIT License.
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See the LICENSE file in the root directory for more details.
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jetlinkd, the resident gadget owner, as an openpilot device runs it.
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manager runs the fork's adapter module under the name jetlinkd, and its main()
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builds an OwnerConfig and calls main() here. The owner itself is
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jetlink.comma.owner; this hands it the settings, read off the params files the
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config names, the chestnut's USB ids, and the provisioning run to start when
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there is work.
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The owner stays resident for the whole drive at about 10 MB, so this module
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and everything it imports is the standard library and jetlink's light half;
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tests/openpilot/test_imports.py holds the line.
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manager starts it again if it dies (the fork's process_config), and every
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start adopts what the last owner left. A crash loop would re-enumerate the
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Jetson at every start, so the owner's own backoff holds a start back once
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owners keep dying (jetlink.comma.owner.note_start).
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"""
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from __future__ import annotations
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import signal
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import sys
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from jetlink.comma import gadget
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from jetlink.comma import owner as comma_owner
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from jetlink.openpilot.interface import OwnerConfig
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from jetlink.openpilot.settings import FileParams, Settings
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# the provisioning run's module. Named here and nowhere in the fork: the fork
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# names its adapter, and moving the run is jetlink's business alone
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WORKER = 'jetlink.openpilot.provision'
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def worker(config: OwnerConfig) -> list[str]:
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"""One provisioning run's argv, on this interpreter, over the fork's adapter."""
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return [sys.executable, '-m', WORKER, '--adapter', config.adapter]
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def main(config: OwnerConfig) -> None:
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"""Hold the gadget until manager stops this process (SIGINT, or SIGTERM)."""
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gadget.set_logger(comma_owner.logger(config.log_file))
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owner = comma_owner.Owner(worker(config), cwd=str(config.cwd), env=dict(config.env),
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settings=Settings(FileParams(config.params_dir), config.keys),
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chestnut_ids=config.chestnut_ids)
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signal.signal(signal.SIGTERM, owner.request_stop)
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signal.signal(signal.SIGINT, owner.request_stop)
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owner.run()
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