add share data via TCP (#242)

system/manager/manager.py

@@ -183,6 +183,7 @@ def get_default_params():
     ("SteerRatioRate", "100"),
     ("NNFF", "0"),
     ("NNFFLite", "0"),
+    ("ShareData", "0"),
   ]
   return default_params
 

system/manager/process_config.py

@@ -75,6 +75,9 @@ def enable_dm(started, params, CP: car.CarParams) -> bool:
 def enable_connect(started, params, CP: car.CarParams) -> bool:
   return params.get_int("EnableConnect") > 0
 
+def enable_xiaoge_data(started, params, CP: car.CarParams) -> bool:
+  return params.get_bool("ShareData")
+
 def c3x_lite(started: bool, params: Params, CP: car.CarParams) -> bool:
   return started and params.get_bool("HardwareC3xLite")
 
@@ -137,6 +140,8 @@ procs = [
   PythonProcess("fleet_manager", "selfdrive.frogpilot.fleetmanager.fleet_manager", check_fleet),
   PythonProcess("carrot_man", "selfdrive.carrot.carrot_man", always_run),#, enabled=not PC),
 
+  #Xiaoge data broadcaster (conditional on ShareData param)
+  PythonProcess("xiaoge_data", "selfdrive.carrot.xiaoge_data", enable_xiaoge_data),
   # c3x lite
   PythonProcess("beep", "selfdrive.controls.beep", c3x_lite, enabled=TICI),
 ]