dragonpilot beta3

date: 2023-08-22T14:21:17
commit: 6148ce3d77530281f890970718e9c42b2acc5ff1

selfdrive/manager/build.py

@@ -16,7 +16,7 @@ from system.version import is_dirty
 MAX_CACHE_SIZE = 4e9 if "CI" in os.environ else 2e9
 CACHE_DIR = Path("/data/scons_cache" if AGNOS else "/tmp/scons_cache")
 
-TOTAL_SCONS_NODES = 2460
+TOTAL_SCONS_NODES = 2560
 MAX_BUILD_PROGRESS = 100
 PREBUILT = os.path.exists(os.path.join(BASEDIR, 'prebuilt'))
 

selfdrive/manager/manager.py

@@ -76,6 +76,8 @@ def manager_init() -> None:
     ("dp_long_taco", "0"),
     ("dp_long_stock_mode", "0"),
     ("dp_long_missing_lead_warning", "0"),
+    ("dp_lateral_road_edge_detection", "0"),
+    ("dp_nav_voice_guidance", "0"),
   ]
   if not PC:
     default_params.append(("LastUpdateTime", datetime.datetime.utcnow().isoformat().encode('utf8')))
@@ -179,10 +181,14 @@ def manager_thread() -> None:
   if not params.get_bool("dp_otisserv"):
     ignore += ["otisserv"]
 
+  dpdmonitoringd_ignored = True
   if not is_registered_device():
     ignore += ["uploader"]
     if params.get_bool("dp_device_dm_unavailable"):
       ignore += ["dmonitoringd", "dmonitoringmodeld"]
+      dpdmonitoringd_ignored = False
+  if dpdmonitoringd_ignored:
+    ignore += ["dpdmonitoringd"]
 
   sm = messaging.SubMaster(['deviceState', 'carParams'], poll=['deviceState'])
   pm = messaging.PubMaster(['managerState'])

selfdrive/manager/process.py

@@ -39,7 +39,7 @@ def launcher(proc: str, name: str) -> None:
     sentry.set_tag("daemon", name)
 
     # exec the process
-    getattr(mod, 'main')()
+    mod.main()
   except KeyboardInterrupt:
     cloudlog.warning(f"child {proc} got SIGINT")
   except Exception:

selfdrive/manager/process_config.py

@@ -13,6 +13,9 @@ def driverview(started: bool, params: Params, CP: car.CarParams) -> bool:
 def notcar(started: bool, params: Params, CP: car.CarParams) -> bool:
   return CP.notCar  # type: ignore
 
+def iscar(started: bool, params: Params, CP: car.CarParams) -> bool:
+  return not CP.notCar
+
 def logging(started, params, CP: car.CarParams) -> bool:
   run = (not CP.notCar) or not params.get_bool("DisableLogging")
   return started and run
@@ -35,12 +38,13 @@ procs = [
   NativeProcess("logcatd", "system/logcatd", ["./logcatd"]),
   NativeProcess("proclogd", "system/proclogd", ["./proclogd"]),
   PythonProcess("logmessaged", "system.logmessaged", offroad=True),
-  PythonProcess("micd", "system.micd"),
+  PythonProcess("micd", "system.micd", callback=iscar),
   PythonProcess("timezoned", "system.timezoned", enabled=not PC, offroad=True),
 
   DaemonProcess("manage_athenad", "selfdrive.athena.manage_athenad", "AthenadPid"),
   NativeProcess("dmonitoringmodeld", "selfdrive/modeld", ["./dmonitoringmodeld"], enabled=(not PC or WEBCAM), callback=driverview),
   NativeProcess("encoderd", "system/loggerd", ["./encoderd"]),
+  NativeProcess("stream_encoderd", "system/loggerd", ["./encoderd", "--stream"], onroad=False, callback=notcar),
   NativeProcess("loggerd", "system/loggerd", ["./loggerd"], onroad=False, callback=logging),
   NativeProcess("modeld", "selfdrive/modeld", ["./modeld"]),
   NativeProcess("mapsd", "selfdrive/navd", ["./mapsd"]),
@@ -80,6 +84,7 @@ procs = [
   # gpxd
   PythonProcess("gpxd", "selfdrive.dragonpilot.gpxd"),
   PythonProcess("gpx_uploader", "selfdrive.dragonpilot.gpx_uploader", offroad=True),
+  PythonProcess("dpdmonitoringd", "selfdrive.dragonpilot.dpdmonitoringd"),
   NativeProcess("fileserv", "selfdrive/dragonpilot", ['./fileserv'], offroad=True),
 ]