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feat: Squash all min-features into full

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This commit is contained in:
Rick Lan
2026-06-11 20:00:23 +08:00
parent ce6611af1f
commit d328bb844d
447 changed files with 108504 additions and 163 deletions
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system/manager/process_config.py
+27 -7
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@@ -8,6 +8,9 @@ from openpilot.system.hardware import PC, TICI
from openpilot.system.manager.process import PythonProcess, NativeProcess, DaemonProcess
WEBCAM = os.getenv("USE_WEBCAM") is not None
LITE = os.getenv("LITE") is not None
TICI_DOS = "TICI_DOS" in os.environ
def driverview(started: bool, params: Params, CP: car.CarParams) -> bool:
return started or params.get_bool("IsDriverViewEnabled")
@@ -46,9 +49,15 @@ def lat_maneuver(started: bool, params: Params, CP: car.CarParams) -> bool:
def not_long_maneuver(started: bool, params: Params, CP: car.CarParams) -> bool:
return started and not params.get_bool("LongitudinalManeuverMode")
def opview(started: bool, params: Params, CP: car.CarParams) -> bool:
return started and params.get_bool("dp_dev_opview")
def qcomgps(started: bool, params: Params, CP: car.CarParams) -> bool:
return started and not ublox_available()
def beep(started: bool, params: Params, CP: car.CarParams) -> bool:
return started and params.get_bool("dp_dev_beep")
def always_run(started: bool, params: Params, CP: car.CarParams) -> bool:
return True
@@ -58,6 +67,12 @@ 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 params.get_bool("dp_dev_dashy")
def comma_connect(started: bool, params: Params, CP: car.CarParams) -> bool:
return not params.get_bool("dp_dev_disable_connect")
def or_(*fns):
return lambda *args: operator.or_(*(fn(*args) for fn in fns))
@@ -69,14 +84,14 @@ 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, opview)),
PythonProcess("logmessaged", "system.logmessaged", always_run),
NativeProcess("camerad", "system/camerad", ["./camerad"], driverview, enabled=not WEBCAM),
PythonProcess("webcamerad", "tools.webcam.camerad", driverview, enabled=WEBCAM),
PythonProcess("proclogd", "system.proclogd", only_onroad, enabled=platform.system() != "Darwin"),
PythonProcess("journald", "system.journald", only_onroad, platform.system() != "Darwin"),
PythonProcess("micd", "system.micd", iscar),
PythonProcess("micd", "system.micd", iscar, enabled=not LITE),
PythonProcess("timed", "system.timed", always_run, enabled=not PC),
PythonProcess("modeld", "selfdrive.modeld.modeld", only_onroad),
@@ -84,7 +99,8 @@ procs = [
PythonProcess("sensord", "system.sensord.sensord", only_onroad, enabled=not PC),
PythonProcess("ui", "selfdrive.ui.ui", always_run, restart_if_crash=True),
PythonProcess("soundd", "selfdrive.ui.soundd", driverview),
PythonProcess("soundd", "selfdrive.ui.soundd", driverview, enabled=not LITE),
PythonProcess("beepd", "dragonpilot.selfdrive.ui.beepd", beep, enabled=TICI and LITE),
PythonProcess("locationd", "selfdrive.locationd.locationd", only_onroad),
NativeProcess("_pandad", "selfdrive/pandad", ["./pandad"], always_run, enabled=False),
PythonProcess("calibrationd", "selfdrive.locationd.calibrationd", only_onroad),
@@ -96,7 +112,7 @@ procs = [
PythonProcess("deleter", "system.loggerd.deleter", always_run),
PythonProcess("dmonitoringd", "selfdrive.monitoring.dmonitoringd", driverview, enabled=(WEBCAM or not PC)),
PythonProcess("qcomgpsd", "system.qcomgpsd.qcomgpsd", qcomgps, enabled=TICI),
PythonProcess("pandad", "selfdrive.pandad.pandad", always_run),
PythonProcess("pandad", "selfdrive.pandad.pandad" if not TICI_DOS else "selfdrive.pandad_tici.pandad", always_run),
PythonProcess("paramsd", "selfdrive.locationd.paramsd", only_onroad),
PythonProcess("lagd", "selfdrive.locationd.lagd", only_onroad),
PythonProcess("ubloxd", "system.ubloxd.ubloxd", ublox, enabled=TICI),
@@ -106,18 +122,22 @@ procs = [
PythonProcess("lateral_maneuversd", "tools.lateral_maneuvers.lateral_maneuversd", lat_maneuver),
PythonProcess("radard", "selfdrive.controls.radard", only_onroad),
PythonProcess("hardwared", "system.hardware.hardwared", always_run),
PythonProcess("modem", "system.hardware.tici.modem", always_run, enabled=TICI),
PythonProcess("modem", "system.hardware.tici.modem", always_run, enabled=TICI and not LITE),
PythonProcess("tombstoned", "system.tombstoned", always_run, enabled=not PC),
PythonProcess("updated", "system.updated.updated", only_offroad, enabled=not PC),
PythonProcess("uploader", "system.loggerd.uploader", always_run),
PythonProcess("uploader", "system.loggerd.uploader", and_(comma_connect, always_run)),
PythonProcess("statsd", "system.statsd", always_run),
PythonProcess("feedbackd", "selfdrive.ui.feedback.feedbackd", only_onroad),
# debug procs
NativeProcess("bridge", "cereal/messaging", ["./bridge"], notcar),
PythonProcess("webrtcd", "system.webrtc.webrtcd", notcar),
PythonProcess("webrtcd", "system.webrtc.webrtcd", or_(notcar, opview)),
PythonProcess("webjoystick", "tools.bodyteleop.web", notcar),
PythonProcess("joystick", "tools.joystick.joystick_control", and_(joystick, iscar)),
# dashy
PythonProcess("serverd", "dragonpilot.dashy.serverd", always_run),
PythonProcess("dashyd", "dragonpilot.dashy.dashyd", and_(dashy, only_onroad)),
]
managed_processes = {p.name: p for p in procs}