IQ.Lvbs CI [bot]
208 lines
9.9 KiB
Python
208 lines
9.9 KiB
Python
import os
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import operator
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import platform
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from pathlib import Path
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from cereal import car, custom
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from openpilot.common.params import Params
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from openpilot.system.hardware import HARDWARE, PC, TICI
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from openpilot.system.hardware.hw import Paths
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from openpilot.system.manager.process import PythonProcess, NativeProcess, DaemonProcess
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from openpilot.iqpilot.models.helpers import get_active_model_runner
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from iqpilot.konn3kt.utils import hephaestus_ready
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WEBCAM = os.getenv("USE_WEBCAM") is not None
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def driverview(started: bool, params: Params, CP: car.CarParams) -> bool:
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return started or params.get_bool("IsDriverViewEnabled")
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def driver_monitoring(started: bool, params: Params, CP: car.CarParams) -> bool:
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if os.path.exists('/tmp/lite_hw'):
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return False
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return driverview(started, params, CP)
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def notcar(started: bool, params: Params, CP: car.CarParams) -> bool:
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return started and CP.notCar
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def iscar(started: bool, params: Params, CP: car.CarParams) -> bool:
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return started and not CP.notCar
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def logging(started: bool, params: Params, CP: car.CarParams) -> bool:
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run = (not CP.notCar) or not params.get_bool("DisableLogging")
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return started and run and params.get_bool("DashcamEnabled")
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def ublox_available() -> bool:
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if HARDWARE.get_device_type() == "tizi" or os.path.exists('/tmp/lite_hw'):
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return False
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quectel_override = Path(Paths.persist_root()) / "comma" / "use-quectel-gps"
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return os.path.exists('/dev/ttyHS0') and not quectel_override.exists()
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def ublox(started: bool, params: Params, CP: car.CarParams) -> bool:
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use_ublox = ublox_available()
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if use_ublox != params.get_bool("UbloxAvailable"):
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params.put_bool("UbloxAvailable", use_ublox)
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return started and use_ublox
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def joystick(started: bool, params: Params, CP: car.CarParams) -> bool:
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return started and params.get_bool("JoystickDebugMode")
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def not_joystick(started: bool, params: Params, CP: car.CarParams) -> bool:
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return started and not params.get_bool("JoystickDebugMode")
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def long_maneuver(started: bool, params: Params, CP: car.CarParams) -> bool:
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return started and params.get_bool("LongitudinalManeuverMode")
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def not_long_maneuver(started: bool, params: Params, CP: car.CarParams) -> bool:
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return started and not params.get_bool("LongitudinalManeuverMode")
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def lat_maneuver(started: bool, params: Params, CP: car.CarParams) -> bool:
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return started and params.get_bool("LateralManeuverMode")
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def not_lat_maneuver(started: bool, params: Params, CP: car.CarParams) -> bool:
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return started and not params.get_bool("LateralManeuverMode")
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def qcomgps(started: bool, params: Params, CP: car.CarParams) -> bool:
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return started and not ublox_available()
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def always_run(started: bool, params: Params, CP: car.CarParams) -> bool:
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return True
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def only_onroad(started: bool, params: Params, CP: car.CarParams) -> bool:
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return started
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def navd_onroad(started: bool, params: Params, CP: car.CarParams) -> bool:
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return started and params.get_bool("NavigationEnabled")
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def navrenderd_onroad(started: bool, params: Params, CP: car.CarParams) -> bool:
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return started and params.get_bool("NavigationEnabled") and params.get_bool("OnScreenNavigation")
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def iqmapd_needed(params: Params) -> bool:
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return (
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params.get_bool("RoadNameToggle")
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or params.get_bool("ShowSpeedLimits")
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or params.get_bool("SpeedLimitController")
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or params.get_bool("EnableSpeedLimitControl")
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or params.get_bool("EnableSpeedLimitPredicative")
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or params.get_bool("MapCurveSpeedController")
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or params.get_bool("VisionCurveSpeedController")
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)
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def iqmapd_onroad(started: bool, params: Params, CP: car.CarParams) -> bool:
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return started and params.get_bool("NavigationEnabled") and iqmapd_needed(params)
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def mapd_onroad(started: bool, params: Params, CP: car.CarParams) -> bool:
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return started and iqmapd_needed(params)
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def only_offroad(started: bool, params: Params, CP: car.CarParams) -> bool:
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return not started
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def livestream(started: bool, params: Params, CP: car.CarParams) -> bool:
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# Konn3kt Live View: hephaestusd sets IsLiveStreaming when a viewer connects, so the
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# manager brings up the stream encoder (and camerad/webrtcd when offroad) and tears them
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# down cleanly when the session ends — no subprocess management inside hephaestusd.
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return params.get_bool("IsLiveStreaming")
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def is_snpe_model(started, params, CP: car.CarParams) -> bool:
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"""Check if the active model runner is SNPE."""
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return bool(get_active_model_runner(params, not started) == custom.IQModelManager.Runner.snpe)
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def is_tinygrad_model(started, params, CP: car.CarParams) -> bool:
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"""Check if the active model runner is SNPE."""
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return bool(get_active_model_runner(params, not started) == custom.IQModelManager.Runner.tinygrad)
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def is_stock_model(started, params, CP: car.CarParams) -> bool:
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"""Check if the active model runner is stock."""
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return bool(get_active_model_runner(params, not started) == custom.IQModelManager.Runner.stock)
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def hephaestus_ready_shim(started, params, CP: car.CarParams) -> bool:
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return hephaestus_ready(params)
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def uploader_ready(started: bool, params: Params, CP: car.CarParams) -> bool:
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if not params.get_bool("OnroadUploads"):
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return only_offroad(started, params, CP)
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return always_run(started, params, CP)
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def or_(*fns):
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return lambda *args: operator.or_(*(fn(*args) for fn in fns))
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def and_(*fns):
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return lambda *args: operator.and_(*(fn(*args) for fn in fns))
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procs = [
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NativeProcess("loggerd", "system/loggerd", ["./loggerd"], logging),
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NativeProcess("encoderd", "system/loggerd", ["./encoderd"], only_onroad),
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NativeProcess("stream_encoderd", "system/loggerd", ["./encoderd", "--stream"], or_(notcar, livestream)),
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PythonProcess("logmessaged", "system.logmessaged", always_run, restart_if_crash=True),
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NativeProcess("camerad", "system/camerad", ["./camerad"], or_(driverview, livestream), enabled=not WEBCAM),
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PythonProcess("webcamerad", "tools.webcam.camerad", driverview, enabled=WEBCAM),
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PythonProcess("proclogd", "system.proclogd", only_onroad, enabled=platform.system() != "Darwin"),
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PythonProcess("journald", "system.journald", only_onroad, platform.system() != "Darwin"),
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PythonProcess("micd", "system.micd", iscar),
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PythonProcess("timed", "system.timed", always_run, enabled=not PC),
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PythonProcess("modeld", "selfdrive.modeld.modeld", and_(only_onroad, is_stock_model)),
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PythonProcess("dmonitoringmodeld", "selfdrive.modeld.dmonitoringmodeld", driver_monitoring, enabled=(WEBCAM or not PC)),
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PythonProcess("sensord", "system.sensord.sensord", only_onroad, enabled=not PC),
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PythonProcess("ui", "selfdrive.ui.ui", always_run, restart_if_crash=True),
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PythonProcess("soundd", "selfdrive.ui.soundd", driverview),
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PythonProcess("locationd", "selfdrive.locationd.locationd", only_onroad),
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NativeProcess("_pandad", "selfdrive/pandad", ["./pandad"], always_run, enabled=False),
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PythonProcess("calibrationd", "selfdrive.locationd.calibrationd", only_onroad),
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PythonProcess("torqued", "selfdrive.locationd.torqued", only_onroad),
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PythonProcess("controlsd", "selfdrive.controls.controlsd", and_(not_joystick, iscar)),
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PythonProcess("joystickd", "tools.joystick.joystickd", or_(joystick, notcar)),
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PythonProcess("selfdrived", "selfdrive.selfdrived.selfdrived", only_onroad),
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PythonProcess("card", "selfdrive.car.card", only_onroad),
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PythonProcess("deleter", "system.loggerd.deleter", always_run),
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PythonProcess("dmonitoringd", "selfdrive.monitoring.dmonitoringd", driver_monitoring, enabled=(WEBCAM or not PC)),
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PythonProcess("qcomgpsd", "system.qcomgpsd.qcomgpsd", qcomgps, enabled=TICI),
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PythonProcess("pandad", "selfdrive.pandad.pandad", always_run),
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PythonProcess("paramsd", "selfdrive.locationd.paramsd", only_onroad),
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PythonProcess("lagd", "selfdrive.locationd.lagd", only_onroad),
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PythonProcess("ubloxd", "system.ubloxd.ubloxd", ublox, enabled=TICI),
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PythonProcess("pigeond", "system.ubloxd.pigeond", ublox, enabled=TICI),
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PythonProcess("plannerd", "selfdrive.controls.plannerd", not_long_maneuver),
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PythonProcess("maneuversd", "tools.longitudinal_maneuvers.maneuversd", long_maneuver),
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PythonProcess("lateral_maneuversd", "tools.lateral_maneuvers.lateral_maneuversd", lat_maneuver),
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PythonProcess("radard", "selfdrive.controls.radard", only_onroad),
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PythonProcess("hardwared", "system.hardware.hardwared", always_run, restart_if_crash=True),
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PythonProcess("tombstoned", "system.tombstoned", always_run, enabled=not PC),
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PythonProcess("updated", "system.updated.updated", only_offroad, enabled=not PC),
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PythonProcess("uploader", "system.loggerd.uploader", uploader_ready),
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PythonProcess("statsd", "system.statsd", always_run),
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PythonProcess("feedbackd", "selfdrive.ui.feedback.feedbackd", and_(only_onroad, not_lat_maneuver)),
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# debug procs
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NativeProcess("bridge", "cereal/messaging", ["./bridge"], notcar),
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PythonProcess("webrtcd", "system.webrtc.webrtcd", or_(iscar, livestream)),
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PythonProcess("webjoystick", "tools.bodyteleop.web", notcar),
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]
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# iqpilot
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procs += [
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# Models
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PythonProcess("models_manager", "iqpilot.models.manager", only_offroad),
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NativeProcess("modeld_snpe", "iqpilot/modeld", ["./modeld"], and_(only_onroad, is_snpe_model)),
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NativeProcess("modeld_tinygrad", "iqpilot/modeld_v2", ["./modeld"], and_(only_onroad, is_tinygrad_model)),
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PythonProcess("backup_manager_k3", "iqpilot.konn3kt.backups.manager", and_(only_offroad, hephaestus_ready_shim)),
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PythonProcess("navd", "iqpilot.navd.navd", navd_onroad, restart_if_crash=True),
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PythonProcess("navrenderd", "iqpilot.navd.navrenderd", navrenderd_onroad, restart_if_crash=True),
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PythonProcess("iqmapd", "iqpilot.navd.iqmapd", iqmapd_onroad, restart_if_crash=True),
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PythonProcess("nav_webserver", "iqpilot.navd.web_server", navd_onroad, restart_if_crash=True),
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# mapd
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NativeProcess("mapd", "third_party/mapd_pfeiferj", ["./mapd"], mapd_onroad),
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PythonProcess("mapd_manager", "iqpilot.mapd.mapd_manager", only_offroad),
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# locationd
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NativeProcess("locationd_llk", "iqpilot/selfdrive/locationd", ["./locationd"], only_onroad),
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]
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managed_processes = {p.name: p for p in procs}
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