mirror of
https://github.com/sunnypilot/sunnypilot.git
synced 2026-07-26 00:52:07 +08:00
royjr
58 lines
1.7 KiB
Python
58 lines
1.7 KiB
Python
#!/usr/bin/env python3
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import argparse
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import os
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import signal
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import subprocess
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import sys
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import time
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from pathlib import Path
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ROOT = Path(__file__).resolve().parents[3]
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CAMERASTREAM = ROOT / "openpilot/tools/camerastream/compressed_vipc.py"
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def stop_process(proc: subprocess.Popen) -> None:
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try:
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os.killpg(proc.pid, signal.SIGTERM)
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except ProcessLookupError:
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proc.wait()
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return
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try:
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proc.wait(timeout=5)
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except subprocess.TimeoutExpired:
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os.killpg(proc.pid, signal.SIGKILL)
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proc.wait()
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def main() -> None:
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parser = argparse.ArgumentParser(description="Run modeld on this host for a remote comma device.")
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parser.add_argument("device", help="comma device hostname or IP address")
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parser.add_argument("--big-model", action="store_true", help="use the locally compiled big driving model")
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args = parser.parse_args()
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camera = subprocess.Popen([sys.executable, str(CAMERASTREAM), args.device, "--cams", "0,2"], start_new_session=True)
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model_args = [sys.executable, "-m", "openpilot.selfdrive.modeld.modeld", "--remote", args.device]
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if args.big_model:
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model_args.append("--big-model")
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model = subprocess.Popen(model_args, cwd=ROOT, start_new_session=True)
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procs = {"camera bridge": camera, "modeld": model}
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try:
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while all(proc.poll() is None for proc in procs.values()):
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time.sleep(0.25)
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failed_name, failed = next((name, proc) for name, proc in procs.items() if proc.poll() is not None)
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raise RuntimeError(f"wgpu {failed_name} exited with status {failed.returncode}")
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finally:
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for proc in procs.values():
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if proc.poll() is None:
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stop_process(proc)
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print("wgpu host stopped")
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if __name__ == "__main__":
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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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