Merge branch 'refs/heads/master-priv' into master-dev-c3

.gitlab-ci.yml

@@ -50,7 +50,7 @@ default:
   - 'mkdir -p "${BUILD_DIR}/"'
   - *configure_git
 
-workflow: # If running on any branch other than main, use the `aws-datacontracts-dev` account; otherwise use `aws-datacontracts`
+workflow: # If running on any branch other than main.
   rules:
     # We are an MR, but it's a draft, we won't proceed with anything.
     - if: '$CI_MERGE_REQUEST_TITLE =~ /^wip:/i || $CI_MERGE_REQUEST_TITLE =~ /^draft:/i'
@@ -64,7 +64,7 @@ workflow: # If running on any branch other than main, use the `aws-datacontracts
       when: always
       
     # We are a merge request
-    - if: $CI_MERGE_REQUEST_IID #|| $CI_COMMIT_REF_NAME == "gitlab-pipelines" # TBD once merged
+    - if: $CI_MERGE_REQUEST_IID
       variables:
         EXTRA_VERSION_IDENTIFIER: "-${CI_PIPELINE_IID}"
         NEW_BRANCH: ${CI_COMMIT_REF_NAME}-prebuilt

common/params.cc

@@ -341,6 +341,8 @@ std::unordered_map<std::string, uint32_t> keys = {
 
     {"SunnylinkCache_Users", PERSISTENT},
     {"SunnylinkCache_Roles", PERSISTENT},
+    {"EnableGitlabRunner", PERSISTENT | BACKUP},
+    {"EnableSunnylinkUploader", PERSISTENT | BACKUP},
 
     // PFEIFER - MAPD {{
     {"MapdVersion", PERSISTENT},

system/manager/manager.py

@@ -119,6 +119,8 @@ def manager_init() -> None:
     ("CustomDrivingModel", "0"),
     ("DrivingModelGeneration", "4"),
     ("LastSunnylinkPingTime", "0"),
+    ("EnableGitlabRunner", "0"),
+    ("EnableSunnylinkUploader", "0"),
   ]
   if not PC:
     default_params.append(("LastUpdateTime", datetime.datetime.now(datetime.UTC).replace(tzinfo=None).isoformat().encode('utf8')))

system/manager/process_config.py

@@ -6,7 +6,7 @@ from openpilot.system.hardware import PC, TICI
 from openpilot.selfdrive.modeld.custom_model_metadata import CustomModelMetadata, ModelCapabilities
 from openpilot.system.manager.process import PythonProcess, NativeProcess, DaemonProcess
 from openpilot.system.mapd_manager import MAPD_PATH, COMMON_DIR
-from openpilot.system.manager.sunnylink import sunnylink_need_register, sunnylink_ready
+from openpilot.system.manager.sunnylink import sunnylink_need_register, sunnylink_ready, use_sunnylink_uploader
 
 WEBCAM = os.getenv("USE_WEBCAM") is not None
 
@@ -44,6 +44,10 @@ def only_onroad(started: bool, params, CP: car.CarParams) -> bool:
 def only_offroad(started, params, CP: car.CarParams) -> bool:
   return not started
 
+def use_gitlab_runner(started, params, CP: car.CarParams) -> bool:
+  return (not PC and params.get_bool("EnableGitlabRunner") and only_offroad(started, params, CP)
+          and os.path.exists("./gitlab_runner.sh"))
+
 def model_use_nav(started, params, CP: car.CarParams) -> bool:
   custom_model_metadata = CustomModelMetadata(params=params, init_only=True)
   return started and custom_model_metadata.valid and custom_model_metadata.capabilities & ModelCapabilities.NoO
@@ -56,6 +60,10 @@ def sunnylink_need_register_shim(started, params, CP: car.CarParams) -> bool:
   """Shim for sunnylink_need_register to match the process manager signature."""
   return sunnylink_need_register(params)
 
+def use_sunnylink_uploader_shim(started, params, CP: car.CarParams) -> bool:
+  """Shim for use_sunnylink_uploader to match the process manager signature."""
+  return use_sunnylink_uploader(params) and os.path.exists("../loggerd/sunnylink_uploader.py")
+
 procs = [
   DaemonProcess("manage_athenad", "system.athena.manage_athenad", "AthenadPid"),
 
@@ -112,21 +120,12 @@ procs = [
   PythonProcess("webrtcd", "system.webrtc.webrtcd", notcar),
   PythonProcess("webjoystick", "tools.bodyteleop.web", notcar),
 
+  # Sunnypilot devs
+  NativeProcess("gitlab_runner_start", "system/manager", ["./gitlab_runner.sh", "start"], use_gitlab_runner, sigkill=False),
   # Sunnylink <3
   DaemonProcess("manage_sunnylinkd", "system.athena.manage_sunnylinkd", "SunnylinkdPid"),
   PythonProcess("sunnylink_registration", "system.manager.sunnylink", sunnylink_need_register_shim),
+  PythonProcess("sunnylink_uploader", "system.loggerd.sunnylink_uploader", use_sunnylink_uploader_shim),
 ]
 
-if os.path.exists("../loggerd/sunnylink_uploader.py"):
-  procs += [
-    PythonProcess("sunnylink_uploader", "system.loggerd.sunnylink_uploader", sunnylink_ready_shim),
-  ]
-
-if os.path.exists("./gitlab_runner.sh") and not PC:
-  # Only devs!
-  procs += [
-    NativeProcess("gitlab_runner_start", "system/manager", ["./gitlab_runner.sh", "start"], only_offroad, sigkill=False),
-    NativeProcess("gitlab_runner_stop", "system/manager", ["./gitlab_runner.sh", "stop"], only_onroad, sigkill=False)
-  ]
-
 managed_processes = {p.name: p for p in procs}

system/manager/sunnylink.py

@@ -27,6 +27,11 @@ def sunnylink_ready(params=Params()) -> bool:
   return is_sunnylink_enabled and is_registered
 
 
+def use_sunnylink_uploader(params) -> bool:
+  """Check if the device is ready to use Sunnylink and the uploader is enabled."""
+  return sunnylink_ready(params) and params.get_bool("EnableSunnylinkUploader")
+
+
 def sunnylink_need_register(params=Params()) -> bool:
   """Check if the device needs to be registered with Sunnylink."""
   is_sunnylink_enabled, is_registered = get_sunnylink_status(params)