mirror of
https://github.com/firestar5683/StarPilot.git
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firestar5683
42 lines
1014 B
Python
42 lines
1014 B
Python
"""Run a normal daemon, optionally placing only its own realtime entrypoint."""
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import argparse
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import importlib
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import sys
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if __package__:
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from .placement import apply
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else:
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from placement import apply
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def install(module, name):
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for attribute in ('config_realtime_process', 'set_core_affinity'):
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if not hasattr(module, attribute):
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continue
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original = getattr(module, attribute)
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def placed(*args, _original=original, **kwargs):
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result = _original(*args, **kwargs)
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apply(name)
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return result
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setattr(module, attribute, placed)
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def main():
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parser = argparse.ArgumentParser(description=__doc__)
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parser.add_argument('name', choices=('radard', 'plannerd'))
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args = parser.parse_args()
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module = importlib.import_module('openpilot.selfdrive.controls.' + args.name)
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if hasattr(module, 'config_realtime_process'):
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install(module, args.name)
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else:
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apply(args.name)
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module.main()
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if __name__ == '__main__':
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sys.dont_write_bytecode = True
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main()
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