openpilot v0.7.8 release

selfdrive/manager.py

@@ -19,7 +19,7 @@ WEBCAM = os.getenv("WEBCAM") is not None
 sys.path.append(os.path.join(BASEDIR, "pyextra"))
 os.environ['BASEDIR'] = BASEDIR
 
-TOTAL_SCONS_NODES = 1140
+TOTAL_SCONS_NODES = 1005
 prebuilt = os.path.exists(os.path.join(BASEDIR, 'prebuilt'))
 
 # Create folders needed for msgq
@@ -70,19 +70,15 @@ def unblock_stdout():
 if __name__ == "__main__":
   unblock_stdout()
 
-if __name__ == "__main__" and ANDROID:
-  from common.spinner import Spinner
-  from common.text_window import TextWindow
-else:
-  from common.spinner import FakeSpinner as Spinner
-  from common.text_window import FakeTextWindow as TextWindow
+from common.spinner import Spinner
+from common.text_window import TextWindow
 
 import importlib
 import traceback
 from multiprocessing import Process
 
 # Run scons
-spinner = Spinner()
+spinner = Spinner(noop=(__name__ != "__main__" or not ANDROID))
 spinner.update("0")
 
 if not prebuilt:
@@ -142,8 +138,9 @@ if not prebuilt:
         cloudlog.error("scons build failed\n" + error_s)
 
         # Show TextWindow
+        no_ui = __name__ != "__main__" or not ANDROID
         error_s = "\n \n".join(["\n".join(textwrap.wrap(e, 65)) for e in errors])
-        with TextWindow("openpilot failed to build\n \n" + error_s) as t:
+        with TextWindow("openpilot failed to build\n \n" + error_s, noop=no_ui) as t:
           t.wait_for_exit()
 
         exit(1)
@@ -192,7 +189,6 @@ managed_processes = {
   "updated": "selfdrive.updated",
   "dmonitoringmodeld": ("selfdrive/modeld", ["./dmonitoringmodeld"]),
   "modeld": ("selfdrive/modeld", ["./modeld"]),
-  "driverview": "selfdrive.monitoring.driverview",
 }
 
 daemon_processes = {
@@ -245,6 +241,12 @@ car_started_processes = [
   'locationd',
 ]
 
+driver_view_processes = [
+  'camerad',
+  'dmonitoringd',
+  'dmonitoringmodeld'
+]
+
 if WEBCAM:
   car_started_processes += [
     'dmonitoringmodeld',
@@ -387,6 +389,14 @@ def cleanup_all_processes(signal, frame):
     kill_managed_process(name)
   cloudlog.info("everything is dead")
 
+
+def send_managed_process_signal(name, sig):
+  if name not in running or name not in managed_processes:
+    return
+  cloudlog.info(f"sending signal {sig} to {name}")
+  os.kill(running[name].pid, sig)
+
+
 # ****************** run loop ******************
 
 def manager_init(should_register=True):
@@ -455,6 +465,7 @@ def manager_thread():
     for k in os.getenv("BLOCK").split(","):
       del managed_processes[k]
 
+  started_prev = False
   logger_dead = False
 
   while 1:
@@ -473,7 +484,7 @@ def manager_thread():
     if msg.thermal.freeSpace < 0.05:
       logger_dead = True
 
-    if msg.thermal.started and "driverview" not in running:
+    if msg.thermal.started:
       for p in car_started_processes:
         if p == "loggerd" and logger_dead:
           kill_managed_process(p)
@@ -481,13 +492,24 @@ def manager_thread():
           start_managed_process(p)
     else:
       logger_dead = False
+      driver_view = params.get("IsDriverViewEnabled") == b"1"
+
+      # TODO: refactor how manager manages processes
       for p in reversed(car_started_processes):
-        kill_managed_process(p)
-      # this is ugly
-      if "driverview" not in running and params.get("IsDriverViewEnabled") == b"1":
-        start_managed_process("driverview")
-      elif "driverview" in running and params.get("IsDriverViewEnabled") == b"0":
-        kill_managed_process("driverview")
+        if p not in driver_view_processes or not driver_view:
+          kill_managed_process(p)
+
+      for p in driver_view_processes:
+        if driver_view:
+          start_managed_process(p)
+        else:
+          kill_managed_process(p)
+
+      # trigger an update after going offroad
+      if started_prev:
+        send_managed_process_signal("updated", signal.SIGHUP)
+
+    started_prev = msg.thermal.started
 
     # check the status of all processes, did any of them die?
     running_list = ["%s%s\u001b[0m" % ("\u001b[32m" if running[p].is_alive() else "\u001b[31m", p) for p in running]