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dragonpilot mod for 0.8.5-4

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This commit is contained in:
Rick Lan
2021-07-02 12:49:43 +08:00
parent 145b222f0d
commit 522fb06db7
224 changed files with 9120 additions and 7777 deletions
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selfdrive/manager/process_config.py
+15 -12
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@@ -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}