調整appd logic

selfdrive/dragonpilot/appd/appd.py

@@ -30,103 +30,77 @@ def main(gctx=None):
   dragon_enable_mixplorer = False if params.get('DragonEnableMixplorer') == "0" else True
   dragon_boot_tomtom = False if params.get("DragonBootTomTom") == "0" else True
   dragon_boot_autonavi = False if params.get("DragonBootAutonavi") == "0" else True
-  tomtom_enabled = False
-  autonavi_enabled = False
-  mixplorer_enabled = False
+  tomtom_is_running = False
+  autonavi_is_running = False
+  mixplorer_is_running = False
+  allow_auto_boot = True
 
   params.put('DragonRunTomTom', '0')
   params.put('DragonRunAutonavi', '0')
   params.put('DragonRunMixplorer', '0')
 
-  # make sure packages are enabled/disabled
-  if dragon_enable_tomtom == "1":
-    system("pm enable %s" % tomtom)
-  else:
-    system("pm disable %s" % tomtom)
-
-  if dragon_enable_autonavi == "1":
-    system("pm enable %s" % autonavi)
-  else:
-    system("pm disable %s" % autonavi)
-
-  if dragon_enable_mixplorer == "1":
-    system("pm enable %s" % mixplorer)
-  else:
-    system("pm disable %s" % mixplorer)
+  # we want to disable all app when boot
+  system("pm disable %s" % tomtom)
+  system("pm disable %s" % autonavi)
+  system("pm disable %s" % mixplorer)
 
   thermal_sock = messaging.sub_sock(service_list['thermal'].port)
 
   while 1:
     msg = messaging.recv_sock(thermal_sock, wait=True)
-    dragon_run_tomtom = params.get('DragonRunTomTom')
-    dragon_run_autonavi = params.get('DragonRunAutonavi')
-    dragon_run_mixplorer = params.get('DragonRunMixplorer')
 
+    # allow user to manually start/stop app
     if dragon_enable_tomtom:
-      if dragon_run_tomtom == "1":
-        system("pm enable %s" % tomtom)
-        system("am start -n %s/%s" % (tomtom, tomtom_main))
-        params.put('DragonRunTomTom', '0')
-        tomtom_enabled = True
-      elif dragon_run_tomtom == "-1":
-        system("pm disable %s" % tomtom)
-        system("pm enable %s" % tomtom)
-        params.put('DragonRunTomTom', '0')
-        tomtom_enabled = False
+      tomtom_is_running = execApp(params.get('DragonRunTomTom'), tomtom, tomtom_main, 'DragonRunTomTom')
 
     if dragon_enable_autonavi:
-      if dragon_run_autonavi == "1":
-        system("pm enable %s" % autonavi)
-        system("am start -n %s/%s" % (autonavi, autonavi_main))
-        params.put('DragonRunAutonavi', '0')
-        autonavi_enabled = True
-      elif dragon_run_autonavi == "-1":
-        system("pm disable %s" % autonavi)
-        params.put('DragonRunAutonavi', '0')
-        autonavi_enabled = False
+      autonavi_is_running = execApp(params.get('DragonRunAutonavi'), autonavi, autonavi_main, 'DragonRunAutonavi')
 
     if dragon_enable_mixplorer:
-      if dragon_run_mixplorer == "1":
-        system("pm enable %s" % mixplorer)
-        system("am start -n %s/%s" % (mixplorer, mixplorer_main))
-        params.put('DragonRunMixplorer', '0')
-        mixplorer_enabled = True
-      elif dragon_run_mixplorer == "-1":
-        system("pm disable %s" % mixplorer)
-        params.put('DragonRunMixplorer', '0')
-        mixplorer_enabled = False
+      mixplorer_is_running = execApp(params.get('DragonRunMixplorer'), mixplorer, mixplorer_main, 'DragonRunMixplorer')
 
+    auto_tomtom = dragon_enable_tomtom and dragon_boot_tomtom
+    auto_autonavi = dragon_enable_autonavi and dragon_boot_autonavi
     # car on
     if msg.thermal.started:
-      # dragonpilot, handle tomtom/autonavi
+      if msg.thermal.thermalStatus < ThermalStatus.yellow and not allow_auto_boot:
+        allow_auto_boot = True
       # do not allow tomtom / autonavi when it's hot
-      if msg.thermal.thermalStatus < ThermalStatus.red:
-        if dragon_boot_tomtom and not tomtom_enabled:
-          system("pm enable %s" % tomtom)
-          system("am start -n %s/%s" % (tomtom, tomtom_main))
-          tomtom_enabled = True
-        if dragon_boot_autonavi and not autonavi_enabled:
-          system("pm enable %s" % autonavi)
-          system("am start -n %s/%s" % (autonavi, autonavi_main))
-          autonavi_enabled = True
+      if allow_auto_boot:
+        if msg.thermal.thermalStatus < ThermalStatus.red:
+          if auto_tomtom and not tomtom_is_running:
+            tomtom_is_running = execApp('1', tomtom, tomtom_main, 'DragonRunTomTom')
+          if auto_autonavi and not autonavi_is_running:
+            autonavi_is_running = execApp('1', autonavi, autonavi_main, 'DragonRunAutonavi')
+        else:
+          allow_auto_boot = False
 
       # kill mixplorer when car started
-      if mixplorer_enabled:
-        system("pm disable %s" % mixplorer)
-        mixplorer_enabled = False
+      if mixplorer_is_running:
+        mixplorer_is_running = execApp('-1', mixplorer, mixplorer_main, 'DragonRunMixplorer')
 
     # car off
     else:
-      if dragon_boot_tomtom and tomtom_enabled:
-        system("pm disable %s" % tomtom)
-        tomtom_enabled = False
-      if dragon_boot_autonavi and autonavi_enabled:
-        system("pm disable %s" % autonavi)
-        autonavi_enabled = False
+      if auto_tomtom and tomtom_is_running:
+        tomtom_is_running = execApp('-1', tomtom, tomtom_main, 'DragonRunTomTom')
+      if auto_autonavi and autonavi_is_running:
+        autonavi_is_running = execApp('-1', autonavi, autonavi_main, 'DragonRunAutonavi')
 
     # every 3 seconds, we re-check status
     time.sleep(3)
 
+def execApp(status, app, app_main, param):
+  if status == "1":
+    system("pm enable %s" % app)
+    system("am start -n %s/%s" % (app, app_main))
+    params.put(param, '0')
+    return True
+  if status == "-1":
+    system("pm disable %s" % app)
+    params.put(param, '0')
+    return False
+
+
 def system(cmd):
   try:
     cloudlog.info("running %s" % cmd)