manager: start process by callback (#24417)

selfdrive/manager/manager.py

@@ -128,17 +128,16 @@ def manager_thread() -> None:
     ignore.append("pandad")
   ignore += [x for x in os.getenv("BLOCK", "").split(",") if len(x) > 0]
 
-  ensure_running(managed_processes.values(), started=False, not_run=ignore)
-
   sm = messaging.SubMaster(['deviceState', 'carParams'], poll=['deviceState'])
   pm = messaging.PubMaster(['managerState'])
 
+  ensure_running(managed_processes.values(), False, params=params, CP=sm['carParams'], not_run=ignore)
+
   while True:
     sm.update()
 
     started = sm['deviceState'].started
-    driverview = params.get_bool("IsDriverViewEnabled")
-    ensure_running(managed_processes.values(), started=started, driverview=driverview, notcar=sm['carParams'].notCar, not_run=ignore)
+    ensure_running(managed_processes.values(), started, params=params, CP=sm['carParams'], not_run=ignore)
 
     running = ' '.join("%s%s\u001b[0m" % ("\u001b[32m" if p.proc.is_alive() else "\u001b[31m", p.name)
                        for p in managed_processes.values() if p.proc)

selfdrive/manager/process.py

@@ -4,7 +4,7 @@ import signal
 import struct
 import time
 import subprocess
-from typing import Optional, List, ValuesView
+from typing import Optional, Callable, List, ValuesView
 from abc import ABC, abstractmethod
 from multiprocessing import Process
 
@@ -12,6 +12,7 @@ from setproctitle import setproctitle  # pylint: disable=no-name-in-module
 
 import cereal.messaging as messaging
 import selfdrive.sentry as sentry
+from cereal import car
 from common.basedir import BASEDIR
 from common.params import Params
 from common.realtime import sec_since_boot
@@ -71,8 +72,7 @@ class ManagerProcess(ABC):
   sigkill = False
   onroad = True
   offroad = False
-  driverview = False
-  notcar = False
+  callback: Optional[Callable[[bool, Params, car.CarParams], bool]] = None
   proc: Optional[Process] = None
   enabled = True
   name = ""
@@ -184,15 +184,14 @@ class ManagerProcess(ABC):
 
 
 class NativeProcess(ManagerProcess):
-  def __init__(self, name, cwd, cmdline, enabled=True, onroad=True, offroad=False, driverview=False, notcar=False, unkillable=False, sigkill=False, watchdog_max_dt=None):
+  def __init__(self, name, cwd, cmdline, enabled=True, onroad=True, offroad=False, callback=None, unkillable=False, sigkill=False, watchdog_max_dt=None):
     self.name = name
     self.cwd = cwd
     self.cmdline = cmdline
     self.enabled = enabled
     self.onroad = onroad
     self.offroad = offroad
-    self.driverview = driverview
-    self.notcar = notcar
+    self.callback = callback
     self.unkillable = unkillable
     self.sigkill = sigkill
     self.watchdog_max_dt = watchdog_max_dt
@@ -217,14 +216,13 @@ class NativeProcess(ManagerProcess):
 
 
 class PythonProcess(ManagerProcess):
-  def __init__(self, name, module, enabled=True, onroad=True, offroad=False, driverview=False, notcar=False, unkillable=False, sigkill=False, watchdog_max_dt=None):
+  def __init__(self, name, module, enabled=True, onroad=True, offroad=False, callback=None, unkillable=False, sigkill=False, watchdog_max_dt=None):
     self.name = name
     self.module = module
     self.enabled = enabled
     self.onroad = onroad
     self.offroad = offroad
-    self.driverview = driverview
-    self.notcar = notcar
+    self.callback = callback
     self.unkillable = unkillable
     self.sigkill = sigkill
     self.watchdog_max_dt = watchdog_max_dt
@@ -291,7 +289,7 @@ class DaemonProcess(ManagerProcess):
     pass
 
 
-def ensure_running(procs: ValuesView[ManagerProcess], started: bool, driverview: bool=False, notcar: bool=False,
+def ensure_running(procs: ValuesView[ManagerProcess], started: bool, params=None, CP: car.CarParams=None,
                    not_run: Optional[List[str]]=None) -> None:
   if not_run is None:
     not_run = []
@@ -301,9 +299,9 @@ def ensure_running(procs: ValuesView[ManagerProcess], started: bool, driverview:
     run = any((
       p.offroad and not started,
       p.onroad and started,
-      p.driverview and driverview,
-      p.notcar and notcar,
     ))
+    if p.callback is not None and None not in (params, CP):
+      run = run or p.callback(started, params, CP)
 
     # Conditions that block a process from starting
     run = run and not any((

selfdrive/manager/process_config.py

@@ -1,16 +1,25 @@
 import os
 
+from cereal import car
+from common.params import Params
 from selfdrive.hardware import TICI, PC
 from selfdrive.manager.process import PythonProcess, NativeProcess, DaemonProcess
 
 WEBCAM = os.getenv("USE_WEBCAM") is not None
 
+def driverview(started: bool, params: Params, CP: car.CarParams) -> bool:
+  return params.get_bool("IsDriverViewEnabled")
+
+def notcar(started: bool, params: Params, CP: car.CarParams) -> bool:
+  return CP.notCar
+
+
 procs = [
   DaemonProcess("manage_athenad", "selfdrive.athena.manage_athenad", "AthenadPid"),
   # due to qualcomm kernel bugs SIGKILLing camerad sometimes causes page table corruption
-  NativeProcess("camerad", "selfdrive/camerad", ["./camerad"], unkillable=True, driverview=True),
+  NativeProcess("camerad", "selfdrive/camerad", ["./camerad"], unkillable=True, callback=driverview),
   NativeProcess("clocksd", "selfdrive/clocksd", ["./clocksd"]),
-  NativeProcess("dmonitoringmodeld", "selfdrive/modeld", ["./dmonitoringmodeld"], enabled=(not PC or WEBCAM), driverview=True),
+  NativeProcess("dmonitoringmodeld", "selfdrive/modeld", ["./dmonitoringmodeld"], enabled=(not PC or WEBCAM), callback=driverview),
   NativeProcess("logcatd", "selfdrive/logcatd", ["./logcatd"]),
   NativeProcess("loggerd", "selfdrive/loggerd", ["./loggerd"]),
   NativeProcess("modeld", "selfdrive/modeld", ["./modeld"]),
@@ -25,7 +34,7 @@ procs = [
   PythonProcess("calibrationd", "selfdrive.locationd.calibrationd"),
   PythonProcess("controlsd", "selfdrive.controls.controlsd"),
   PythonProcess("deleter", "selfdrive.loggerd.deleter", offroad=True),
-  PythonProcess("dmonitoringd", "selfdrive.monitoring.dmonitoringd", enabled=(not PC or WEBCAM), driverview=True),
+  PythonProcess("dmonitoringd", "selfdrive.monitoring.dmonitoringd", enabled=(not PC or WEBCAM), callback=driverview),
   PythonProcess("logmessaged", "selfdrive.logmessaged", offroad=True),
   PythonProcess("pandad", "selfdrive.boardd.pandad", offroad=True),
   PythonProcess("paramsd", "selfdrive.locationd.paramsd"),
@@ -38,8 +47,8 @@ procs = [
   PythonProcess("uploader", "selfdrive.loggerd.uploader", offroad=True),
   PythonProcess("statsd", "selfdrive.statsd", offroad=True),
 
-  NativeProcess("bridge", "cereal/messaging", ["./bridge"], onroad=False, notcar=True),
-  PythonProcess("webjoystick", "tools.joystick.web", onroad=False, notcar=True),
+  NativeProcess("bridge", "cereal/messaging", ["./bridge"], onroad=False, callback=notcar),
+  PythonProcess("webjoystick", "tools.joystick.web", onroad=False, callback=notcar),
 
   # Experimental
   PythonProcess("rawgpsd", "selfdrive.sensord.rawgps.rawgpsd", enabled=os.path.isfile("/persist/comma/use-quectel-rawgps")),