Process config cleanup (#20276)

* add enabled flag

* remove hack

* only prepare when enabled

selfdrive/manager/process.py

@@ -58,6 +58,7 @@ class ManagerProcess(ABC):
   daemon = False
   sigkill = False
   proc = None
+  enabled = True
   name = ""
 
   @abstractmethod
@@ -123,10 +124,11 @@ class ManagerProcess(ABC):
 
 
 class NativeProcess(ManagerProcess):
-  def __init__(self, name, cwd, cmdline, persistent=False, driverview=False, unkillable=False, sigkill=False):
+  def __init__(self, name, cwd, cmdline, enabled=True, persistent=False, driverview=False, unkillable=False, sigkill=False):
     self.name = name
     self.cwd = cwd
     self.cmdline = cmdline
+    self.enabled = enabled
     self.persistent = persistent
     self.driverview = driverview
     self.unkillable = unkillable
@@ -146,17 +148,19 @@ class NativeProcess(ManagerProcess):
 
 
 class PythonProcess(ManagerProcess):
-  def __init__(self, name, module, persistent=False, driverview=False, unkillable=False, sigkill=False):
+  def __init__(self, name, module, enabled=True, persistent=False, driverview=False, unkillable=False, sigkill=False):
     self.name = name
     self.module = module
+    self.enabled = enabled
     self.persistent = persistent
     self.driverview = driverview
     self.unkillable = unkillable
     self.sigkill = sigkill
 
   def prepare(self):
-    cloudlog.info("preimporting %s" % self.module)
-    importlib.import_module(self.module)
+    if self.enabled:
+      cloudlog.info("preimporting %s" % self.module)
+      importlib.import_module(self.module)
 
   def start(self):
     if self.proc is not None:
@@ -170,10 +174,11 @@ class PythonProcess(ManagerProcess):
 class DaemonProcess(ManagerProcess):
   """Python process that has to stay running accross manager restart.
   This is used for athena so you don't lose SSH access when restarting manager."""
-  def __init__(self, name, module, param_name):
+  def __init__(self, name, module, param_name, enabled=True):
     self.name = name
     self.module = module
     self.param_name = param_name
+    self.enabled = enabled
     self.persistent = True
 
   def prepare(self):
@@ -215,6 +220,8 @@ def ensure_running(procs, started, driverview=False, not_run=None):
   for p in procs:
     if p.name in not_run:
       p.stop()
+    elif not p.enabled:
+      p.stop()
     elif p.persistent:
       p.start()
     elif p.driverview and driverview:

selfdrive/manager/process_config.py

@@ -10,47 +10,30 @@ procs = [
   # due to qualcomm kernel bugs SIGKILLing camerad sometimes causes page table corruption
   NativeProcess("camerad", "selfdrive/camerad", ["./camerad"], unkillable=True, driverview=True),
   NativeProcess("clocksd", "selfdrive/clocksd", ["./clocksd"]),
+  NativeProcess("dmonitoringmodeld", "selfdrive/modeld", ["./dmonitoringmodeld"], enabled=(not PC or WEBCAM), driverview=True),
   NativeProcess("logcatd", "selfdrive/logcatd", ["./logcatd"]),
   NativeProcess("loggerd", "selfdrive/loggerd", ["./loggerd"]),
   NativeProcess("modeld", "selfdrive/modeld", ["./modeld"]),
   NativeProcess("proclogd", "selfdrive/proclogd", ["./proclogd"]),
+  NativeProcess("sensord", "selfdrive/sensord", ["./sensord"], enabled=not PC, persistent=EON, sigkill=EON),
+  NativeProcess("ubloxd", "selfdrive/locationd", ["./ubloxd"], enabled=(not PC or WEBCAM)),
   NativeProcess("ui", "selfdrive/ui", ["./ui"], persistent=True),
   PythonProcess("calibrationd", "selfdrive.locationd.calibrationd"),
   PythonProcess("controlsd", "selfdrive.controls.controlsd"),
   PythonProcess("deleter", "selfdrive.loggerd.deleter", persistent=True),
+  PythonProcess("dmonitoringd", "selfdrive.monitoring.dmonitoringd", enabled=(not PC or WEBCAM), driverview=True),
   PythonProcess("locationd", "selfdrive.locationd.locationd"),
   PythonProcess("logmessaged", "selfdrive.logmessaged", persistent=True),
   PythonProcess("pandad", "selfdrive.pandad", persistent=True),
   PythonProcess("paramsd", "selfdrive.locationd.paramsd"),
   PythonProcess("plannerd", "selfdrive.controls.plannerd"),
   PythonProcess("radard", "selfdrive.controls.radard"),
+  PythonProcess("rtshield", "selfdrive.rtshield", enabled=EON),
   PythonProcess("thermald", "selfdrive.thermald.thermald", persistent=True),
+  PythonProcess("timezoned", "selfdrive.timezoned", enabled=TICI, persistent=True),
+  PythonProcess("tombstoned", "selfdrive.tombstoned", enabled=not PC, persistent=True),
+  PythonProcess("updated", "selfdrive.updated", enabled=not PC, persistent=True),
   PythonProcess("uploader", "selfdrive.loggerd.uploader", persistent=True),
 ]
 
-if not PC:
-  procs += [
-    NativeProcess("sensord", "selfdrive/sensord", ["./sensord"], persistent=EON, sigkill=EON),
-    PythonProcess("tombstoned", "selfdrive.tombstoned", persistent=True),
-    PythonProcess("updated", "selfdrive.updated", persistent=True),
-  ]
-
-if not PC or WEBCAM:
-  procs += [
-    NativeProcess("ubloxd", "selfdrive/locationd", ["./ubloxd"]),
-    PythonProcess("dmonitoringd", "selfdrive.monitoring.dmonitoringd", driverview=True),
-    NativeProcess("dmonitoringmodeld", "selfdrive/modeld", ["./dmonitoringmodeld"], driverview=True),
-  ]
-
-if TICI:
-  procs += [
-    PythonProcess("timezoned", "selfdrive.timezoned", persistent=True),
-  ]
-
-if EON:
-  procs += [
-    PythonProcess("rtshield", "selfdrive.rtshield"),
-  ]
-
-
 managed_processes = {p.name: p for p in procs}

selfdrive/test/process_replay/process_replay.py

@@ -14,8 +14,6 @@ from cereal import car, log
 from cereal.services import service_list
 from common.params import Params
 from selfdrive.car.car_helpers import get_car
-
-os.environ['WEBCAM'] = '1' # hack to get dmonitoringd in managed_processes
 from selfdrive.manager.process import PythonProcess
 from selfdrive.manager.process_config import managed_processes