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feat: Squash all min-features into full

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This commit is contained in:
Rick Lan
2025-09-05 11:07:32 +08:00
parent 028b6e5664
commit 5e0f34905d
75 changed files with 4041 additions and 83 deletions
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system/manager/process_config.py
+17 -8
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@@ -55,6 +55,12 @@ def only_onroad(started: bool, params: Params, CP: car.CarParams) -> bool:
def only_offroad(started: bool, params: Params, CP: car.CarParams) -> bool:
return not started
def dashy(started: bool, params: Params, CP: car.CarParams) -> bool:
return int(params.get("dp_dev_dashy") or 0) > 0
def dashy_with_video(started: bool, params: Params, CP: car.CarParams) -> bool:
return int(params.get("dp_dev_dashy") or 0) == 2
def or_(*fns):
return lambda *args: operator.or_(*(fn(*args) for fn in fns))
@@ -66,23 +72,24 @@ procs = [
NativeProcess("loggerd", "system/loggerd", ["./loggerd"], logging),
NativeProcess("encoderd", "system/loggerd", ["./encoderd"], only_onroad),
NativeProcess("stream_encoderd", "system/loggerd", ["./encoderd", "--stream"], notcar),
NativeProcess("stream_encoderd", "system/loggerd", ["./encoderd", "--stream"], or_(notcar, and_(dashy_with_video, only_onroad))),
PythonProcess("logmessaged", "system.logmessaged", always_run),
NativeProcess("camerad", "system/camerad", ["./camerad"], driverview, enabled=not WEBCAM),
PythonProcess("webcamerad", "tools.webcam.camerad", driverview, enabled=WEBCAM),
NativeProcess("logcatd", "system/logcatd", ["./logcatd"], only_onroad, platform.system() != "Darwin"),
NativeProcess("proclogd", "system/proclogd", ["./proclogd"], only_onroad, platform.system() != "Darwin"),
PythonProcess("micd", "system.micd", iscar),
PythonProcess("micd", "system.micd", iscar, enabled=not os.getenv("LITE")),
PythonProcess("timed", "system.timed", always_run, enabled=not PC),
PythonProcess("modeld", "selfdrive.modeld.modeld", only_onroad),
PythonProcess("dmonitoringmodeld", "selfdrive.modeld.dmonitoringmodeld", driverview, enabled=(WEBCAM or not PC)),
PythonProcess("dmonitoringmodeld", "selfdrive.modeld.dmonitoringmodeld", driverview, enabled=(WEBCAM or not PC) and not os.getenv("LITE")),
PythonProcess("sensord", "system.sensord.sensord", only_onroad, enabled=not PC),
NativeProcess("ui", "selfdrive/ui", ["./ui"], always_run, watchdog_max_dt=(5 if not PC else None)),
PythonProcess("raylib_ui", "selfdrive.ui.ui", always_run, enabled=False, watchdog_max_dt=(5 if not PC else None)),
PythonProcess("soundd", "selfdrive.ui.soundd", only_onroad),
PythonProcess("soundd", "selfdrive.ui.soundd", only_onroad, enabled=not os.getenv("LITE")),
PythonProcess("beepd", "dragonpilot.selfdrive.ui.beepd", only_onroad, enabled=(Params().get_bool("dp_device_beep") and os.getenv("LITE"))),
PythonProcess("locationd", "selfdrive.locationd.locationd", only_onroad),
NativeProcess("_pandad", "selfdrive/pandad", ["./pandad"], always_run, enabled=False),
PythonProcess("calibrationd", "selfdrive.locationd.calibrationd", only_onroad),
@@ -92,7 +99,8 @@ procs = [
PythonProcess("selfdrived", "selfdrive.selfdrived.selfdrived", only_onroad),
PythonProcess("card", "selfdrive.car.card", only_onroad),
PythonProcess("deleter", "system.loggerd.deleter", always_run),
PythonProcess("dmonitoringd", "selfdrive.monitoring.dmonitoringd", driverview, enabled=(WEBCAM or not PC)),
PythonProcess("dmonitoringd", "selfdrive.monitoring.dmonitoringd", driverview, enabled=(WEBCAM or not PC) and not os.getenv("LITE")),
PythonProcess("dpmonitoringd", "selfdrive.monitoring.dpmonitoringd", only_onroad, enabled=os.getenv("LITE")),
PythonProcess("qcomgpsd", "system.qcomgpsd.qcomgpsd", qcomgps, enabled=TICI),
PythonProcess("pandad", "selfdrive.pandad.pandad", always_run),
PythonProcess("paramsd", "selfdrive.locationd.paramsd", only_onroad),
@@ -107,13 +115,14 @@ procs = [
PythonProcess("updated", "system.updated.updated", only_offroad, enabled=not PC),
PythonProcess("uploader", "system.loggerd.uploader", always_run),
PythonProcess("statsd", "system.statsd", always_run),
PythonProcess("feedbackd", "selfdrive.ui.feedback.feedbackd", only_onroad),
PythonProcess("feedbackd", "selfdrive.ui.feedback.feedbackd", only_onroad, enabled=not os.getenv("LITE")),
# debug procs
NativeProcess("bridge", "cereal/messaging", ["./bridge"], notcar),
PythonProcess("webrtcd", "system.webrtc.webrtcd", notcar),
NativeProcess("bridge", "cereal/messaging", ["./bridge"], or_(notcar, and_(dashy_with_video, only_onroad))),
PythonProcess("webrtcd", "system.webrtc.webrtcd", or_(notcar, and_(dashy_with_video, only_onroad))),
PythonProcess("webjoystick", "tools.bodyteleop.web", notcar),
PythonProcess("joystick", "tools.joystick.joystick_control", and_(joystick, iscar)),
PythonProcess("dashy", "dragonpilot.dashy.backend.server", dashy),
]
managed_processes = {p.name: p for p in procs}