dragonpilot mod for 0.8.5-4

selfdrive/manager/build.py

@@ -5,6 +5,7 @@ import sys
 import time
 import textwrap
 from pathlib import Path
+import re
 
 # NOTE: Do NOT import anything here that needs be built (e.g. params)
 from common.basedir import BASEDIR
@@ -74,10 +75,16 @@ def build(spinner, dirty=False):
         add_file_handler(cloudlog)
         cloudlog.error("scons build failed\n" + error_s)
 
+        try:
+          result = subprocess.check_output(["ifconfig", "wlan0"], encoding='utf8')
+          ip = re.findall(r"inet addr:((\d+\.){3}\d+)", result)[0][0]
+        except:
+          ip = 'N/A'
+
         # Show TextWindow
         spinner.close()
         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 (IP: %s)\n \n" % ip) + error_s) as t:
           t.wait_for_exit()
         exit(1)
     else:

selfdrive/manager/manager.py

@@ -12,7 +12,7 @@ from common.basedir import BASEDIR
 from common.params import Params, ParamKeyType
 from common.text_window import TextWindow
 from selfdrive.boardd.set_time import set_time
-from selfdrive.hardware import HARDWARE, PC, TICI
+from selfdrive.hardware import HARDWARE, PC, TICI, EON
 from selfdrive.manager.helpers import unblock_stdout
 from selfdrive.manager.process import ensure_running
 from selfdrive.manager.process_config import managed_processes
@@ -21,6 +21,8 @@ from selfdrive.swaglog import cloudlog, add_file_handler
 from selfdrive.version import dirty, get_git_commit, version, origin, branch, commit, \
                               terms_version, training_version, comma_remote, \
                               get_git_branch, get_git_remote
+from common.dp_conf import init_params_vals
+
 
 def manager_init():
 
@@ -48,6 +50,10 @@ def manager_init():
     if params.get(k) is None:
       params.put(k, v)
 
+  # dp init params
+  init_params_vals(params)
+  dp_reg = params.get_bool('dp_reg')
+
   # is this dashcam?
   if os.getenv("PASSIVE") is not None:
     params.put_bool("Passive", bool(int(os.getenv("PASSIVE"))))
@@ -65,6 +71,13 @@ def manager_init():
   except PermissionError:
     print("WARNING: failed to make /dev/shm")
 
+  # dp - make sure libmessaging_shared.so is working
+  if EON:
+    os.chmod(BASEDIR, 0o755)
+    os.chmod("/dev/shm", 0o777)
+    os.chmod(os.path.join(BASEDIR, "cereal"), 0o755)
+    os.chmod(os.path.join(BASEDIR, "cereal", "libmessaging_shared.so"), 0o755)
+
   # set version params
   params.put("Version", version)
   params.put("TermsVersion", terms_version)
@@ -111,12 +124,43 @@ def manager_thread():
   cloudlog.info("manager start")
   cloudlog.info({"environ": os.environ})
 
-  # save boot log
-  subprocess.call("./bootlog", cwd=os.path.join(BASEDIR, "selfdrive/loggerd"))
-
   params = Params()
 
+  dp_reg = params.get_bool('dp_reg')
+  dp_appd = params.get_bool('dp_appd')
+  dp_updated = params.get_bool('dp_updated')
+  dp_logger = params.get_bool('dp_logger')
+  dp_athenad = params.get_bool('dp_athenad')
+  dp_uploader = params.get_bool('dp_uploader')
+  dp_dashcamd = params.get_bool('dp_dashcamd')
+  dp_panda_no_gps = params.get_bool('dp_panda_no_gps')
+  if params.get_bool('dp_atl'):
+    dp_reg = False
+  if not dp_reg:
+    dp_logger = False
+    dp_athenad = False
+    dp_uploader = False
+  # save boot log
+  if dp_logger:
+    subprocess.call("./bootlog", cwd=os.path.join(BASEDIR, "selfdrive/loggerd"))
+
   ignore = []
+  if not dp_appd:
+    ignore += ['appd']
+  if dp_panda_no_gps:
+    ignore += ['ubloxd']
+  if not dp_dashcamd:
+    ignore += ['dashcamd']
+  if not dp_updated:
+    ignore += ['updated']
+  if not dp_logger:
+    ignore += ['logcatd', 'loggerd', 'proclogd', 'logmessaged', 'tombstoned']
+  if not dp_athenad:
+    ignore += ['manage_athenad']
+  if not dp_uploader or not dp_reg:
+    ignore += ['uploader']
+  if not dp_athenad and not dp_uploader:
+    ignore += ['deleter']
   if params.get("DongleId", encoding='utf8') == UNREGISTERED_DONGLE_ID:
     ignore += ["manage_athenad", "uploader"]
   if os.getenv("NOBOARD") is not None:

selfdrive/manager/process_config.py

@@ -1,29 +1,31 @@
 import os
 
 from selfdrive.manager.process import PythonProcess, NativeProcess, DaemonProcess
-from selfdrive.hardware import EON, TICI, PC
+from selfdrive.hardware import EON, TICI, PC, JETSON
+from common.params import Params
 
+JETSON = JETSON or Params().get_bool('dp_jetson')
 WEBCAM = os.getenv("USE_WEBCAM") is not None
 
 procs = [
-  DaemonProcess("manage_athenad", "selfdrive.athena.manage_athenad", "AthenadPid"),
+  DaemonProcess("manage_athenad", "selfdrive.athena.manage_athenad", "AthenadPid", enabled=not JETSON),
   # due to qualcomm kernel bugs SIGKILLing camerad sometimes causes page table corruption
   NativeProcess("camerad", "selfdrive/camerad", ["./camerad"], unkillable=True, driverview=True),
   NativeProcess("clocksd", "selfdrive/clocksd", ["./clocksd"]),
-  NativeProcess("dmonitoringmodeld", "selfdrive/modeld", ["./dmonitoringmodeld"], enabled=(not PC or WEBCAM), driverview=True),
-  NativeProcess("logcatd", "selfdrive/logcatd", ["./logcatd"]),
-  NativeProcess("loggerd", "selfdrive/loggerd", ["./loggerd"]),
+  NativeProcess("dmonitoringmodeld", "selfdrive/modeld", ["./dmonitoringmodeld"], enabled=not JETSON and (not PC or WEBCAM), driverview=True),
+  NativeProcess("logcatd", "selfdrive/logcatd", ["./logcatd"], enabled=not JETSON),
+  NativeProcess("loggerd", "selfdrive/loggerd", ["./loggerd"], enabled=not JETSON),
   NativeProcess("modeld", "selfdrive/modeld", ["./modeld"]),
-  NativeProcess("proclogd", "selfdrive/proclogd", ["./proclogd"]),
+  NativeProcess("proclogd", "selfdrive/proclogd", ["./proclogd"], enabled=not JETSON),
   NativeProcess("sensord", "selfdrive/sensord", ["./sensord"], enabled=not PC, persistent=EON, sigkill=EON),
-  NativeProcess("ubloxd", "selfdrive/locationd", ["./ubloxd"], enabled=(not PC or WEBCAM)),
+  NativeProcess("ubloxd", "selfdrive/locationd", ["./ubloxd"], enabled=not PC or WEBCAM),
   NativeProcess("ui", "selfdrive/ui", ["./ui"], persistent=True, watchdog_max_dt=(10 if TICI else None)),
   NativeProcess("locationd", "selfdrive/locationd", ["./locationd"]),
   PythonProcess("calibrationd", "selfdrive.locationd.calibrationd"),
   PythonProcess("controlsd", "selfdrive.controls.controlsd"),
   PythonProcess("deleter", "selfdrive.loggerd.deleter", persistent=True),
-  PythonProcess("dmonitoringd", "selfdrive.monitoring.dmonitoringd", enabled=(not PC or WEBCAM), driverview=True),
-  PythonProcess("logmessaged", "selfdrive.logmessaged", persistent=True),
+  PythonProcess("dmonitoringd", "selfdrive.monitoring.dmonitoringd", enabled=not JETSON and (not PC or WEBCAM), driverview=True),
+  PythonProcess("logmessaged", "selfdrive.logmessaged", enabled=not JETSON, persistent=True),
   PythonProcess("pandad", "selfdrive.pandad", persistent=True),
   PythonProcess("paramsd", "selfdrive.locationd.paramsd"),
   PythonProcess("plannerd", "selfdrive.controls.plannerd"),
@@ -31,9 +33,10 @@ procs = [
   PythonProcess("rtshield", "selfdrive.rtshield", enabled=EON),
   PythonProcess("thermald", "selfdrive.thermald.thermald", persistent=True),
   PythonProcess("timezoned", "selfdrive.timezoned", enabled=TICI, persistent=True),
-  PythonProcess("tombstoned", "selfdrive.tombstoned", enabled=not PC, persistent=True),
-  PythonProcess("updated", "selfdrive.updated", enabled=not PC, persistent=True),
-  PythonProcess("uploader", "selfdrive.loggerd.uploader", persistent=True),
+  PythonProcess("tombstoned", "selfdrive.tombstoned", enabled=not PC and not JETSON, persistent=True),
+  PythonProcess("updated", "selfdrive.updated", enabled=not PC and not JETSON, persistent=True),
+  PythonProcess("uploader", "selfdrive.loggerd.uploader", enabled=not JETSON, persistent=True),
+  PythonProcess("systemd", "selfdrive.dragonpilot.systemd", persistent=True),
 ]
 
 managed_processes = {p.name: p for p in procs}