mirror of
https://github.com/sunnypilot/sunnypilot.git
synced 2026-07-26 03:02:06 +08:00
royjr
68 lines
1.9 KiB
Python
68 lines
1.9 KiB
Python
#!/usr/bin/env python3
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import argparse
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import signal
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import subprocess
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import time
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from pathlib import Path
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from openpilot.common.params import Params
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MODEL_OUTPUTS = "modelV2,drivingModelData,cameraOdometry,modelDataV2SP"
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ROOT = Path(__file__).resolve().parents[3]
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BRIDGE = ROOT / "openpilot/cereal/messaging/bridge"
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def stop_process(proc: subprocess.Popen) -> None:
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proc.terminate()
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try:
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proc.wait(timeout=5)
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except subprocess.TimeoutExpired:
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proc.kill()
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proc.wait()
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def handle_sigterm(*_) -> None:
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raise KeyboardInterrupt
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def main() -> None:
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parser = argparse.ArgumentParser(description="Route modeld traffic between this device and a wireless host.")
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parser.add_argument("host", help="Laptop IP address reachable from this device")
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args = parser.parse_args()
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if not BRIDGE.is_file():
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raise FileNotFoundError(f"build the cereal bridge first: {BRIDGE}")
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params = Params()
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if not params.get_bool("IsOffroad"):
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raise RuntimeError("start the wgpu bridge while offroad")
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procs: list[subprocess.Popen] = []
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try:
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params.put_bool("WgpuEnabled", True, block=True)
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procs = [
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subprocess.Popen([str(BRIDGE)]),
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subprocess.Popen([str(BRIDGE), args.host, MODEL_OUTPUTS]),
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]
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print(f"wgpu enabled; forwarding camera/state to {args.host}")
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print("keep this process running; Ctrl+C restores local modeld")
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while all(proc.poll() is None for proc in procs):
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time.sleep(0.25)
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failed = next(proc for proc in procs if proc.poll() is not None)
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raise RuntimeError(f"bridge exited with status {failed.returncode}")
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finally:
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params.put_bool("WgpuEnabled", False, block=True)
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for proc in procs:
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if proc.poll() is None:
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stop_process(proc)
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print("wgpu disabled; local modeld restored")
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if __name__ == "__main__":
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signal.signal(signal.SIGTERM, handle_sigterm)
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try:
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main()
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except KeyboardInterrupt:
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pass
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