openpilot release

common/services.py

@@ -0,0 +1,82 @@
+# TODO: these port numbers are hardcoded in c, fix this
+
+# LogRotate: 8001 is a PUSH PULL socket between loggerd and visiond
+
+class Service(object):
+  def __init__(self, port, should_log):
+    self.port = port
+    self.should_log = should_log
+
+# all ZMQ pub sub
+service_list = {
+  # frame syncing packet
+  "frame": Service(8002, True),
+  # accel, gyro, and compass
+  "sensorEvents": Service(8003, True),
+  # GPS data, also global timestamp
+  "gpsNMEA": Service(8004, True),
+  # CPU+MEM+GPU+BAT temps
+  "thermal": Service(8005, True),
+  # List(CanData), list of can messages
+  "can": Service(8006, True),
+  "live100": Service(8007, True),
+  # random events we want to log
+  #"liveEvent": Service(8008, True),
+  "model": Service(8009, True),
+  "features": Service(8010, True),
+  "health": Service(8011, True),
+  "live20": Service(8012, True),
+  #"liveUI": Service(8014, True),
+  "encodeIdx": Service(8015, True),
+  "liveTracks": Service(8016, True),
+  "sendcan": Service(8017, True),
+  "logMessage": Service(8018, True),
+  "liveCalibration": Service(8019, True),
+  "androidLog": Service(8020, True),
+}
+
+# manager -- base process to manage starting and stopping of all others
+#   subscribes: health
+#   publishes:  thermal
+
+# boardd -- communicates with the car
+#   subscribes: sendcan
+#   publishes:  can, health
+
+# visiond -- talks to the cameras, runs the model, saves the videos
+#   subscribes: liveCalibration, sensorEvents
+#   publishes:  frame, encodeIdx, model, features
+
+# controlsd -- actually drives the car
+#   subscribes: can, thermal, model, live20
+#   publishes:  sendcan, live100
+
+# radard -- processes the radar data
+#   subscribes: can, live100, model
+#   publishes:  live20, liveTracks
+
+# sensord -- publishes the IMU and GPS
+#   publishes:  sensorEvents, gpsNMEA
+
+# calibrationd -- places the camera box
+#   subscribes: features, live100
+#   publishes:  liveCalibration
+
+# **** LOGGING SERVICE ****
+
+# loggerd
+#   subscribes: EVERYTHING
+
+# **** NON VITAL SERVICES ****
+
+# ui
+#   subscribes: live100, live20, liveCalibration, model, (raw frames)
+
+# uploader
+#   communicates through file system with loggerd
+
+# logmessaged -- central logging service, can log to cloud
+#   publishes:  logMessage
+
+# logcatd -- fetches logcat info from android
+#   publishes:  androidLog