sunnypilot/system/manager/process_config.py

import os
import operator

from cereal import car, custom
from openpilot.common.params import Params
from openpilot.system.hardware import PC, TICI
from openpilot.system.manager.process import PythonProcess, NativeProcess, DaemonProcess

from sunnypilot.models.helpers import get_active_model_runner
from sunnypilot.sunnylink.utils import sunnylink_need_register, sunnylink_ready, use_sunnylink_uploader

WEBCAM = os.getenv("USE_WEBCAM") is not None

def driverview(started: bool, params: Params, CP: car.CarParams) -> bool:
  return started or params.get_bool("IsDriverViewEnabled")

def notcar(started: bool, params: Params, CP: car.CarParams) -> bool:
  return started and CP.notCar

def iscar(started: bool, params: Params, CP: car.CarParams) -> bool:
  return started and not CP.notCar

def logging(started: bool, params: Params, CP: car.CarParams) -> bool:
  run = (not CP.notCar) or not params.get_bool("DisableLogging")
  return started and run

def ublox_available() -> bool:
  return os.path.exists('/dev/ttyHS0') and not os.path.exists('/persist/comma/use-quectel-gps')

def ublox(started: bool, params: Params, CP: car.CarParams) -> bool:
  use_ublox = ublox_available()
  if use_ublox != params.get_bool("UbloxAvailable"):
    params.put_bool("UbloxAvailable", use_ublox)
  return started and use_ublox

def joystick(started: bool, params: Params, CP: car.CarParams) -> bool:
  return started and params.get_bool("JoystickDebugMode")

def not_joystick(started: bool, params: Params, CP: car.CarParams) -> bool:
  return started and not params.get_bool("JoystickDebugMode")

def long_maneuver(started: bool, params: Params, CP: car.CarParams) -> bool:
  return started and params.get_bool("LongitudinalManeuverMode")

def not_long_maneuver(started: bool, params: Params, CP: car.CarParams) -> bool:
  return started and not params.get_bool("LongitudinalManeuverMode")

def qcomgps(started: bool, params: Params, CP: car.CarParams) -> bool:
  return started and not ublox_available()

def always_run(started: bool, params: Params, CP: car.CarParams) -> bool:
  return True

def only_onroad(started: bool, params: Params, CP: car.CarParams) -> bool:
  return started

def only_offroad(started: bool, params: Params, CP: car.CarParams) -> bool:
  return not started

def use_github_runner(started, params, CP: car.CarParams) -> bool:
  return not PC and params.get_bool("EnableGithubRunner") and not params.get_bool("NetworkMetered")

def sunnylink_ready_shim(started, params, CP: car.CarParams) -> bool:
  """Shim for sunnylink_ready to match the process manager signature."""
  return sunnylink_ready(params)

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)

def is_snpe_model(started, params, CP: car.CarParams) -> bool:
  """Check if the active model runner is SNPE."""
  # TODO-SP: I want to do a little more optimization here to only check this once when we've transitioned from offroad to onroad.
  return bool(get_active_model_runner(params) == custom.ModelManagerSP.Runner.snpe)

def is_stock_model(started, params, CP: car.CarParams) -> bool:
  """Check if the active model runner is stock."""
  return not is_snpe_model(started, params, CP)

def or_(*fns):
  return lambda *args: operator.or_(*(fn(*args) for fn in fns))

def and_(*fns):
  return lambda *args: operator.and_(*(fn(*args) for fn in fns))

procs = [
  DaemonProcess("manage_athenad", "system.athena.manage_athenad", "AthenadPid"),

  NativeProcess("camerad", "system/camerad", ["./camerad"], driverview),
  NativeProcess("logcatd", "system/logcatd", ["./logcatd"], only_onroad),
  NativeProcess("proclogd", "system/proclogd", ["./proclogd"], only_onroad),
  PythonProcess("logmessaged", "system.logmessaged", always_run),
  PythonProcess("micd", "system.micd", iscar),
  PythonProcess("timed", "system.timed", always_run, enabled=not PC),

  # TODO Make python process once TG allows opening QCOM from child proc
  NativeProcess("dmonitoringmodeld", "selfdrive/modeld", ["./dmonitoringmodeld"], driverview, enabled=(not PC or WEBCAM)),
  NativeProcess("encoderd", "system/loggerd", ["./encoderd"], only_onroad),
  NativeProcess("stream_encoderd", "system/loggerd", ["./encoderd", "--stream"], notcar),
  NativeProcess("loggerd", "system/loggerd", ["./loggerd"], logging),
  # TODO Make python process once TG allows opening QCOM from child proc
  NativeProcess("modeld", "selfdrive/modeld", ["./modeld"], and_(only_onroad, is_stock_model)),
  NativeProcess("sensord", "system/sensord", ["./sensord"], only_onroad, enabled=not PC),
  NativeProcess("ui", "selfdrive/ui", ["./ui"], always_run, watchdog_max_dt=(5 if not PC else None)),
  PythonProcess("soundd", "selfdrive.ui.soundd", only_onroad),
  PythonProcess("locationd", "selfdrive.locationd.locationd", only_onroad),
  NativeProcess("pandad", "selfdrive/pandad", ["./pandad"], always_run, enabled=False),
  PythonProcess("calibrationd", "selfdrive.locationd.calibrationd", only_onroad),
  PythonProcess("torqued", "selfdrive.locationd.torqued", only_onroad),
  PythonProcess("controlsd", "selfdrive.controls.controlsd", and_(not_joystick, iscar)),
  PythonProcess("joystickd", "tools.joystick.joystickd", or_(joystick, notcar)),
  PythonProcess("selfdrived", "selfdrive.selfdrived.selfdrived", only_onroad),
  PythonProcess("card", "selfdrive.car.card", only_onroad),
  PythonProcess("deleter", "system.loggerd.deleter", always_run),
  PythonProcess("dmonitoringd", "selfdrive.monitoring.dmonitoringd", driverview, enabled=(not PC or WEBCAM)),
  PythonProcess("qcomgpsd", "system.qcomgpsd.qcomgpsd", qcomgps, enabled=TICI),
  PythonProcess("pandad", "selfdrive.pandad.pandad", always_run),
  PythonProcess("paramsd", "selfdrive.locationd.paramsd", only_onroad),
  NativeProcess("ubloxd", "system/ubloxd", ["./ubloxd"], ublox, enabled=TICI),
  PythonProcess("pigeond", "system.ubloxd.pigeond", ublox, enabled=TICI),
  PythonProcess("plannerd", "selfdrive.controls.plannerd", not_long_maneuver),
  PythonProcess("maneuversd", "tools.longitudinal_maneuvers.maneuversd", long_maneuver),
  PythonProcess("radard", "selfdrive.controls.radard", only_onroad),
  PythonProcess("hardwared", "system.hardware.hardwared", always_run),
  PythonProcess("tombstoned", "system.tombstoned", always_run, enabled=not PC),
  PythonProcess("updated", "system.updated.updated", only_offroad, enabled=not PC),
  PythonProcess("uploader", "system.loggerd.uploader", always_run),
  PythonProcess("statsd", "system.statsd", always_run),

  # debug procs
  NativeProcess("bridge", "cereal/messaging", ["./bridge"], notcar),
  PythonProcess("webrtcd", "system.webrtc.webrtcd", notcar),
  PythonProcess("webjoystick", "tools.bodyteleop.web", notcar),
  PythonProcess("joystick", "tools.joystick.joystick_control", and_(joystick, iscar)),

  # sunnylink <3
  DaemonProcess("manage_sunnylinkd", "sunnypilot.sunnylink.athena.manage_sunnylinkd", "SunnylinkdPid"),
  PythonProcess("sunnylink_registration_manager", "sunnypilot.sunnylink.registration_manager", sunnylink_need_register_shim),
]

# sunnypilot
procs += [
  PythonProcess("models_manager", "sunnypilot.models.manager", only_offroad),
  NativeProcess("modeld_snpe", "sunnypilot/modeld", ["./modeld"], and_(only_onroad, is_snpe_model)),
]

if os.path.exists("./github_runner.sh"):
  procs += [NativeProcess("github_runner_start", "system/manager", ["./github_runner.sh", "start"], and_(only_offroad, use_github_runner), sigkill=False)]

if os.path.exists("../sunnypilot/sunnylink/uploader.py"):
  procs += [PythonProcess("sunnylink_uploader", "sunnypilot.sunnylink.uploader", use_sunnylink_uploader_shim)]

managed_processes = {p.name: p for p in procs}