brianhansonxyz
887b9c9e12
Adds a second controlsd variant that runs while ignition is on but the car is in Park. It only listens to CAN and publishes carState — no model, no planner, no lateral/long control, no actuator commands — so modeld, locationd, calibrationd, plannerd, radard, paramsd, torqued, dmonitoring*, soundd, loggerd all stay stopped while parked. Manager swaps between the two via mutually-exclusive predicates: - controlsd_parked: ignition AND not started - controlsd (full): started (= ignition AND not_parked) Thermald owns the swap. It already subscribes to carState; we add a new onroad condition `not_parked` derived from gearShifter, with a 1.5s hysteresis on going into parked (R/P/D thrash protection) and zero hysteresis on going out (instant wake on shift to D/R/N). At boot we assume parked so the heavy stack waits for carState to confirm gear has actually left Park. Manager predicates can only see persistent Params, not pandaStates, so thermald exposes ignition as a new IgnitionOn param (edge-written). Reverse is treated as not-parked — driver is moving. Files: - selfdrive/controls/controlsd_parked.py (new, ~50 lines) - selfdrive/thermald/thermald.py: not_parked condition + IgnitionOn - selfdrive/manager/process_config.py: parked_only predicate + entry - selfdrive/manager/manager.py: seed IgnitionOn=False - common/params.cc: register IgnitionOn The full controlsd is unchanged. Co-Authored-By: Claude Opus 4.7 (1M context) <noreply@anthropic.com>
129 lines
6.5 KiB
Python
Executable File
129 lines
6.5 KiB
Python
Executable File
import os
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from cereal import car
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from openpilot.common.params import Params
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from openpilot.system.hardware import PC, TICI
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from openpilot.selfdrive.manager.process import PythonProcess, NativeProcess, DaemonProcess
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WEBCAM = os.getenv("USE_WEBCAM") is not None
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BENCH_MODE = os.getenv("BENCH_MODE") is not None
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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 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, 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
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def ublox_available() -> bool:
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return os.path.exists('/dev/ttyHS0') and not os.path.exists('/persist/comma/use-quectel-gps')
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def ublox(started, 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 use_ublox
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def qcomgps(started, params, CP: car.CarParams) -> bool:
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return not ublox_available()
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def always_run(started, params, CP: car.CarParams) -> bool:
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return True
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def only_onroad(started: bool, params, CP: car.CarParams) -> bool:
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return started
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def only_offroad(started, params, CP: car.CarParams) -> bool:
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return not started
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# CLEARPILOT: predicate for the parked controlsd variant. Runs while ignition
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# is on but the car is in Park (so started=False because thermald has gated it
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# off). Mutually exclusive with the full controlsd, which uses only_onroad.
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def parked_only(started, params, CP: car.CarParams) -> bool:
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return params.get_bool("IgnitionOn") and not started
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# FrogPilot functions
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def allow_logging(started, params, CP: car.CarParams) -> bool:
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allow_logging = not (params.get_bool("DeviceManagement") and params.get_bool("NoLogging"))
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return allow_logging and logging(started, params, CP)
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def allow_uploads(started, params, CP: car.CarParams) -> bool:
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allow_uploads = not (params.get_bool("DeviceManagement") and params.get_bool("NoUploads"))
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return allow_uploads
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# ClearPilot functions
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def dashcam_should_run(started, params, CP: car.CarParams) -> bool:
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return True # CLEARPILOT: dashcamd manages its own trip lifecycle
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procs = [
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DaemonProcess("manage_athenad", "selfdrive.athena.manage_athenad", "AthenadPid"),
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NativeProcess("camerad", "system/camerad", ["./camerad"], always_run),
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NativeProcess("logcatd", "system/logcatd", ["./logcatd"], allow_logging),
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NativeProcess("proclogd", "system/proclogd", ["./proclogd"], allow_logging),
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PythonProcess("logmessaged", "system.logmessaged", allow_logging),
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PythonProcess("micd", "system.micd", iscar),
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PythonProcess("timed", "system.timed", always_run, enabled=not PC),
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PythonProcess("dmonitoringmodeld", "selfdrive.modeld.dmonitoringmodeld", driverview, enabled=(not PC or WEBCAM)),
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# CLEARPILOT: disabled video encoding (camera .hevc files) — CAN/sensor logs still recorded via loggerd
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# NativeProcess("encoderd", "system/loggerd", ["./encoderd"], allow_logging),
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# NativeProcess("stream_encoderd", "system/loggerd", ["./encoderd", "--stream"], notcar),
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NativeProcess("loggerd", "system/loggerd", ["./loggerd"], allow_logging),
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NativeProcess("modeld", "selfdrive/modeld", ["./modeld"], only_onroad),
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#NativeProcess("mapsd", "selfdrive/navd", ["./mapsd"], only_onroad),
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#PythonProcess("navmodeld", "selfdrive.modeld.navmodeld", only_onroad),
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NativeProcess("sensord", "system/sensord", ["./sensord"], only_onroad, enabled=not PC),
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NativeProcess("ui", "selfdrive/ui", ["./ui"], always_run, watchdog_max_dt=(5 if not PC else None), always_watchdog=only_offroad),
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PythonProcess("soundd", "selfdrive.ui.soundd", only_onroad),
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NativeProcess("locationd", "selfdrive/locationd", ["./locationd"], only_onroad),
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NativeProcess("boardd", "selfdrive/boardd", ["./boardd"], always_run, enabled=False),
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PythonProcess("calibrationd", "selfdrive.locationd.calibrationd", only_onroad),
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PythonProcess("torqued", "selfdrive.locationd.torqued", only_onroad),
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PythonProcess("controlsd", "selfdrive.controls.controlsd", only_onroad),
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# CLEARPILOT: lightweight CAN listener that runs while ignition is on and the
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# car is parked. Publishes carState (so thermald can see gear); does no model,
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# planner, or actuator work. Manager swaps it out for the full controlsd as
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# soon as gear leaves Park.
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PythonProcess("controlsd_parked", "selfdrive.controls.controlsd_parked", parked_only),
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PythonProcess("deleter", "system.loggerd.deleter", always_run),
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PythonProcess("dmonitoringd", "selfdrive.monitoring.dmonitoringd", driverview, enabled=(not PC or WEBCAM)),
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# PythonProcess("qcomgpsd", "system.qcomgpsd.qcomgpsd", qcomgps, enabled=TICI),
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PythonProcess("gpsd", "system.clearpilot.gpsd", qcomgps, enabled=TICI),
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# PythonProcess("ugpsd", "system.ugpsd", only_onroad, enabled=TICI),
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#PythonProcess("navd", "selfdrive.navd.navd", only_onroad),
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PythonProcess("pandad", "selfdrive.boardd.pandad", always_run),
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PythonProcess("paramsd", "selfdrive.locationd.paramsd", only_onroad),
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NativeProcess("ubloxd", "system/ubloxd", ["./ubloxd"], ublox, enabled=TICI),
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PythonProcess("pigeond", "system.ubloxd.pigeond", ublox, enabled=TICI),
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PythonProcess("plannerd", "selfdrive.controls.plannerd", only_onroad),
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PythonProcess("radard", "selfdrive.controls.radard", only_onroad),
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PythonProcess("thermald", "selfdrive.thermald.thermald", always_run),
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PythonProcess("tombstoned", "selfdrive.tombstoned", always_run, enabled=not PC),
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# PythonProcess("updated", "selfdrive.updated.updated", always_run, enabled=not PC),
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# PythonProcess("uploader", "system.loggerd.uploader", allow_uploads),
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PythonProcess("statsd", "selfdrive.statsd", allow_logging),
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# debug procs
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NativeProcess("bridge", "cereal/messaging", ["./bridge"], notcar),
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PythonProcess("webrtcd", "system.webrtc.webrtcd", notcar),
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PythonProcess("webjoystick", "tools.bodyteleop.web", notcar),
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# FrogPilot processes
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PythonProcess("fleet_manager", "selfdrive.frogpilot.fleetmanager.fleet_manager", always_run),
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PythonProcess("frogpilot_process", "selfdrive.frogpilot.frogpilot_process", always_run),
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# ClearPilot processes
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NativeProcess("dashcamd", "selfdrive/clearpilot", ["./dashcamd"], dashcam_should_run),
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PythonProcess("telemetryd", "selfdrive.clearpilot.telemetryd", always_run),
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PythonProcess("bench_onroad", "selfdrive.clearpilot.bench_onroad", always_run, enabled=BENCH_MODE),
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]
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managed_processes = {p.name: p for p in procs} |