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