255 lines
13 KiB
Python
255 lines
13 KiB
Python
import os
|
|
import platform
|
|
from pathlib import Path
|
|
|
|
from iqpilot.cereal import car, custom
|
|
from iqpilot.common.params import Params
|
|
from iqpilot.system.hardware import HARDWARE, PC, TICI
|
|
from iqpilot.system.hardware.hw import Paths
|
|
from iqpilot.system.manager.process import PythonProcess, NativeProcess, BundleProcess
|
|
|
|
from iqpilot.selfdrive.iqmodeld.egpu_helpers import egpu_selected, resolve_backend, usbgpu_present
|
|
from iqpilot.selfdrive.iqmodeld.models.helpers import get_active_model_runner
|
|
from iqpilot.konn3kt.service_health import hephaestus_ready
|
|
|
|
def driverview(started: bool, params: Params, CP: car.CarParams) -> bool:
|
|
return started or params.get_bool("IsDriverViewEnabled")
|
|
|
|
def driver_monitoring(started: bool, params: Params, CP: car.CarParams) -> bool:
|
|
if os.path.exists('/tmp/lite_hw'):
|
|
return False
|
|
return driverview(started, params, CP)
|
|
|
|
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 and params.get_bool("DashcamEnabled")
|
|
|
|
def ublox_available() -> bool:
|
|
if HARDWARE.get_device_type() == "tizi" or os.path.exists('/tmp/lite_hw'):
|
|
return False
|
|
|
|
quectel_override = Path(Paths.persist_root()) / "comma" / "use-quectel-gps"
|
|
return os.path.exists('/dev/ttyHS0') and not quectel_override.exists()
|
|
|
|
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 lat_maneuver(started: bool, params: Params, CP: car.CarParams) -> bool:
|
|
return started and params.get_bool("LateralManeuverMode")
|
|
|
|
def not_lat_maneuver(started: bool, params: Params, CP: car.CarParams) -> bool:
|
|
return started and not params.get_bool("LateralManeuverMode")
|
|
|
|
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 navd_onroad(started: bool, params: Params, CP: car.CarParams) -> bool:
|
|
return started and params.get_bool("NavigationEnabled")
|
|
|
|
def navrenderd_onroad(started: bool, params: Params, CP: car.CarParams) -> bool:
|
|
return started and params.get_bool("NavigationEnabled") and params.get_bool("OnScreenNavigation")
|
|
|
|
def navincidentd_onroad(started: bool, params: Params, CP: car.CarParams) -> bool:
|
|
return started and params.get_bool("NavigationEnabled") and bool(params.get("WazePoliceApiKey")) and (
|
|
params.get_int("WazePoliceAlertMode") > 0 or params.get_bool("WazePoliceShadow")
|
|
)
|
|
|
|
def iqmapd_needed(params: Params) -> bool:
|
|
return (
|
|
params.get_bool("IQRoadNameOverlay")
|
|
or params.get_bool("ShowSpeedLimits")
|
|
or params.get_bool("SpeedLimitController")
|
|
or params.get_bool("EnableSpeedLimitControl")
|
|
or params.get_bool("EnableSpeedLimitPredicative")
|
|
or params.get_bool("MapCurveSpeedController")
|
|
or params.get_bool("VisionCurveSpeedController")
|
|
)
|
|
|
|
def iqmapd_onroad(started: bool, params: Params, CP: car.CarParams) -> bool:
|
|
return started and params.get_bool("NavigationEnabled") and iqmapd_needed(params)
|
|
|
|
def mapd_onroad(started: bool, params: Params, CP: car.CarParams) -> bool:
|
|
return started and iqmapd_needed(params)
|
|
|
|
def constructiond_onroad(started: bool, params: Params, CP: car.CarParams) -> bool:
|
|
return started and params.get_bool("ConstructionZoneAssist")
|
|
|
|
def iqvd_onroad(started: bool, params: Params, CP: car.CarParams) -> bool:
|
|
# held for 1.0d: iqvd runs a detector per frame and the added load is not
|
|
# something 1.0c needs to carry. re-enable by restoring the param check.
|
|
return False
|
|
|
|
def only_offroad(started: bool, params: Params, CP: car.CarParams) -> bool:
|
|
return not started
|
|
|
|
def livestream(started: bool, params: Params, CP: car.CarParams) -> bool:
|
|
# Konn3kt Live View: hephaestusd sets IsLiveStreaming when a viewer connects, so the
|
|
# manager brings up the stream encoder (and camerad/webrtcd when offroad) and tears them
|
|
# down cleanly when the session ends — no subprocess management inside hephaestusd.
|
|
return params.get_bool("IsLiveStreaming")
|
|
|
|
def canlive(started: bool, params: Params, CP: car.CarParams) -> bool:
|
|
# Remote live CAN debugging via konn3kt. hephaestusd sets CanLiveStreaming when a viewer
|
|
# connects (startCanLive) and clears it when the last one leaves (stopCanLive), so canlived
|
|
# runs only during an active debug session — no idle connection or battery cost otherwise.
|
|
return params.get_bool("CanLiveStreaming")
|
|
|
|
def is_tinygrad_model(started, params, CP: car.CarParams) -> bool:
|
|
"""Check if the active model runner is tinygrad."""
|
|
return bool(get_active_model_runner(params, not started) == custom.IQModelManager.Runner.tinygrad)
|
|
|
|
def _egpu_present(params) -> bool:
|
|
if params.get_bool("IQEgpuDisabled"):
|
|
return False
|
|
return usbgpu_present()
|
|
|
|
|
|
def emac_enabled(started, params, CP: car.CarParams) -> bool:
|
|
return resolve_backend(params.get_bool("IQEmacEnabled"), egpu_selected(params), _egpu_present(params)) == "emac"
|
|
|
|
def egpu_enabled(started, params, CP: car.CarParams) -> bool:
|
|
return (resolve_backend(params.get_bool("IQEmacEnabled"), egpu_selected(params), _egpu_present(params)) == "egpu"
|
|
and _egpu_present(params))
|
|
|
|
def egpu_prefetch_enabled(started, params, CP: car.CarParams) -> bool:
|
|
if params.get_bool("IQEgpuDisabled"):
|
|
return False
|
|
return resolve_backend(params.get_bool("IQEmacEnabled"), True, _egpu_present(params)) == "egpu"
|
|
|
|
def big_model_enabled(started, params, CP: car.CarParams) -> bool:
|
|
return params.get_bool("IQEmacEnabled") or egpu_selected(params)
|
|
|
|
def hephaestus_ready_shim(started, params, CP: car.CarParams) -> bool:
|
|
return hephaestus_ready(params)
|
|
|
|
def not_low_power(started: bool, params: Params, CP: car.CarParams) -> bool:
|
|
# FastSleep deep standby: heavy processes are shed offroad while DevicePowerState is low_power
|
|
return started or params.get("DevicePowerState") != "low_power"
|
|
|
|
def iquploaderd_ready(started: bool, params: Params, CP: car.CarParams) -> bool:
|
|
if not params.get_bool("OnroadUploads"):
|
|
return only_offroad(started, params, CP)
|
|
|
|
return always_run(started, params, CP)
|
|
|
|
def or_(*fns):
|
|
return lambda *args: any(fn(*args) for fn in fns)
|
|
|
|
def and_(*fns):
|
|
return lambda *args: all(fn(*args) for fn in fns)
|
|
|
|
procs = [
|
|
NativeProcess("loggerd", "iqpilot/system/loggerd", ["./loggerd"], logging),
|
|
NativeProcess("encoderd", "iqpilot/system/loggerd", ["./encoderd"], only_onroad),
|
|
NativeProcess("stream_encoderd", "iqpilot/system/loggerd", ["./encoderd", "--stream"], or_(notcar, livestream)),
|
|
PythonProcess("logmessaged", "iqpilot.system.logmessaged", always_run, restart_if_crash=True),
|
|
|
|
NativeProcess("camerad", "iqpilot/system/camerad", ["./camerad"], or_(driverview, livestream), restart_if_crash=True),
|
|
PythonProcess("proclogd", "iqpilot.system.proclogd", only_onroad, enabled=platform.system() != "Darwin"),
|
|
PythonProcess("journald", "iqpilot.system.journald", only_onroad, platform.system() != "Darwin"),
|
|
PythonProcess("micd", "iqpilot.system.micd", or_(iscar, livestream)),
|
|
PythonProcess("timed", "iqpilot.system.timed", always_run, enabled=not PC),
|
|
|
|
PythonProcess("dmonitoringmodeld", "iqpilot.selfdrive.dmonitoringmodeld.dmonitoringmodeld", driver_monitoring, enabled=not PC),
|
|
|
|
PythonProcess("sensord", "iqpilot.system.sensord.sensord", only_onroad, enabled=not PC),
|
|
PythonProcess("ui", "iqpilot.selfdrive.ui.ui", not_low_power, restart_if_crash=True),
|
|
PythonProcess("soundd", "iqpilot.selfdrive.ui.soundd", driverview),
|
|
PythonProcess("locationd", "iqpilot.selfdrive.locationd.locationd", only_onroad),
|
|
NativeProcess("_pandad", "iqpilot/selfdrive/pandad", ["./pandad"], always_run, enabled=False),
|
|
PythonProcess("calibrationd", "iqpilot.selfdrive.locationd.calibrationd", only_onroad),
|
|
PythonProcess("controlsd", "iqpilot.selfdrive.controls.controlsd", and_(not_joystick, iscar)),
|
|
PythonProcess("joystickd", "iqpilot.tools.joystick.joystickd", or_(joystick, notcar)),
|
|
PythonProcess("selfdrived", "iqpilot.selfdrive.selfdrived.selfdrived", only_onroad),
|
|
PythonProcess("card", "iqpilot.selfdrive.car.card", only_onroad),
|
|
PythonProcess("deleter", "iqpilot.system.loggerd.deleter", always_run),
|
|
PythonProcess("dmonitoringd", "iqpilot.selfdrive.monitoring.dmonitoringd", driver_monitoring, enabled=not PC),
|
|
PythonProcess("qcomgpsd", "iqpilot.system.qcomgpsd.qcomgpsd", qcomgps, enabled=TICI),
|
|
PythonProcess("pandad", "iqpilot.selfdrive.pandad.pandad", always_run),
|
|
PythonProcess("estimatord", "iqpilot.selfdrive.locationd.estimatord", only_onroad),
|
|
PythonProcess("ubloxd", "iqpilot.system.ubloxd.ubloxd", ublox, enabled=TICI),
|
|
PythonProcess("pigeond", "iqpilot.system.ubloxd.pigeond", ublox, enabled=TICI),
|
|
PythonProcess("plannerd", "iqpilot.selfdrive.controls.plannerd", not_long_maneuver),
|
|
PythonProcess("maneuversd", "iqpilot.tools.maneuvers.longitudinal_maneuversd", long_maneuver),
|
|
PythonProcess("lateral_maneuversd", "iqpilot.tools.maneuvers.lateral_maneuversd", lat_maneuver),
|
|
PythonProcess("radard", "iqpilot.selfdrive.controls.radard", only_onroad),
|
|
PythonProcess("hardwared", "iqpilot.system.hardware.hardwared", always_run, restart_if_crash=True),
|
|
PythonProcess("tombstoned", "iqpilot.system.tombstoned", always_run, enabled=not PC),
|
|
PythonProcess("updated", "iqpilot.system.updated.updated", and_(only_offroad, not_low_power), enabled=not PC),
|
|
BundleProcess("iquploaderd", "iqpilot_hephaestusd_private", "iqpilot_private.konn3kt.uploaderd.iquploaderd",
|
|
and_(iquploaderd_ready, not_low_power), restart_if_crash=True),
|
|
PythonProcess("feedbackd", "iqpilot.selfdrive.ui.feedback.feedbackd", and_(only_onroad, not_lat_maneuver)),
|
|
|
|
# debug procs
|
|
NativeProcess("bridge", "iqpilot/cereal/messaging", ["./bridge"], notcar),
|
|
PythonProcess("webrtcd", "iqpilot.system.webrtc.webrtcd", or_(iscar, livestream)),
|
|
PythonProcess("canlived", "iqpilot.konn3kt.canlive.canlived", canlive),
|
|
]
|
|
|
|
# iqpilot
|
|
procs += [
|
|
# Models
|
|
BundleProcess("models_manager", "iqpilot_model_selector_private", "iqpilot_private.models.manager", and_(only_offroad, not_low_power)),
|
|
NativeProcess("iqmodeld", "iqpilot/selfdrive/iqmodeld", ["./iqmodeld"], and_(only_onroad, is_tinygrad_model), restart_if_crash=True),
|
|
# big-model backends: iqmodeld self-demotes to the small channel worker when
|
|
# either backend is enabled; the selector publishes, and exactly one big
|
|
# worker (Mac or eGPU, eMac wins) feeds the BIG channel
|
|
PythonProcess("modeld_selector", "iqpilot.selfdrive.iqmodeld.modeld_selector",
|
|
and_(only_onroad, and_(is_tinygrad_model, big_model_enabled)), restart_if_crash=True),
|
|
BundleProcess("maciqmodeld", "iqpilot_emac_private", "iqpilot_private.emac.maciqmodeld",
|
|
and_(only_onroad, and_(is_tinygrad_model, emac_enabled)), restart_if_crash=True),
|
|
PythonProcess("iqegpumodeld", "iqpilot.selfdrive.iqmodeld.iqegpumodeld",
|
|
and_(only_onroad, and_(is_tinygrad_model, egpu_enabled)), restart_if_crash=True),
|
|
PythonProcess("egpu_prefetch", "iqpilot.selfdrive.iqmodeld.egpu_prefetch",
|
|
and_(only_offroad, and_(is_tinygrad_model, egpu_prefetch_enabled)), restart_if_crash=True),
|
|
|
|
BundleProcess("backup_manager_k3", "iqpilot_hephaestusd_private", "iqpilot_private.konn3kt.backups.backup_orchestrator",
|
|
and_(only_offroad, hephaestus_ready_shim, not_low_power)),
|
|
BundleProcess("navd", "iqpilot_navd_private", "iqpilot_private.navd.navd", navd_onroad, restart_if_crash=True),
|
|
BundleProcess("navincidentd", "iqpilot_navd_private", "iqpilot_private.navd.navincidentd", navincidentd_onroad, restart_if_crash=True),
|
|
BundleProcess("navrenderd", "iqpilot_navd_private", "iqpilot_private.navd.navrenderd", navrenderd_onroad, restart_if_crash=True),
|
|
BundleProcess("iqmapd", "iqpilot_navd_private", "iqpilot_private.navd.iqmapd", iqmapd_onroad, restart_if_crash=True),
|
|
|
|
# work-zone detector for Speed Limit Assist
|
|
PythonProcess("constructiond", "iqpilot.selfdrive.constructiond", constructiond_onroad, restart_if_crash=True),
|
|
|
|
# iqvd: vision vehicle detector for UI ambient track dots
|
|
BundleProcess("iqvd", "iqpilot_iqvd_private", "iqpilot_private.iqvd.iqvd", iqvd_onroad, restart_if_crash=True),
|
|
|
|
# mapd
|
|
NativeProcess("mapd", "iqpilot/third_party/mapd_pfeiferj", ["./mapd"], mapd_onroad, restart_if_crash=True),
|
|
PythonProcess("mapd_manager", "iqpilot.iq_maps.orchestrator", and_(only_offroad, not_low_power)),
|
|
|
|
# locationd
|
|
NativeProcess("iqlocd", "iqpilot/selfdrive/iqlocd", ["./iqlocd"], only_onroad, restart_if_crash=True),
|
|
]
|
|
|
|
managed_processes = {p.name: p for p in procs}
|