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2024-05-03 01:12:47 -05:00
parent b94be3e23e
commit 02513c94c6
5 changed files with 49 additions and 37 deletions
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11
selfdrive/manager/process_config.py
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@@ -5,9 +5,7 @@ from openpilot.common.params import Params
from openpilot.system.hardware import PC, TICI
from openpilot.selfdrive.manager.process import PythonProcess, NativeProcess, DaemonProcess
from openpilot.selfdrive.frogpilot.controls.lib.model_manager import RADARLESS_MODELS
RADARLESS = Params().get("Model", encoding='utf-8') in RADARLESS_MODELS
WEBCAM = os.getenv("USE_WEBCAM") is not None
def driverview(started: bool, params: Params, CP: car.CarParams) -> bool:
@@ -80,16 +78,15 @@ procs = [
PythonProcess("controlsd", "selfdrive.controls.controlsd", 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", always_run, enabled=TICI),
# PythonProcess("ugpsd", "system.ugpsd", only_onroad, enabled=TICI),
PythonProcess("qcomgpsd", "system.qcomgpsd.qcomgpsd", qcomgps, enabled=TICI),
#PythonProcess("ugpsd", "system.ugpsd", only_onroad, enabled=TICI),
PythonProcess("navd", "selfdrive.navd.navd", only_onroad),
PythonProcess("pandad", "selfdrive.boardd.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", only_onroad),
PythonProcess("radard", "selfdrive.controls.radard", only_onroad, enabled=not RADARLESS),
PythonProcess("radardless", "selfdrive.controls.radardless", only_onroad, enabled=RADARLESS),
PythonProcess("radard", "selfdrive.controls.radard", only_onroad),
PythonProcess("thermald", "selfdrive.thermald.thermald", always_run),
PythonProcess("tombstoned", "selfdrive.tombstoned", always_run, enabled=not PC),
PythonProcess("updated", "selfdrive.updated.updated", always_run, enabled=not PC),
@@ -107,4 +104,4 @@ procs = [
PythonProcess("mapd", "selfdrive.frogpilot.navigation.mapd", always_run),
]
managed_processes = {p.name: p for p in procs}
managed_processes = {p.name: p for p in procs}