service_list.yaml

# TODO: these port numbers are hardcoded in c, fix this

# LogRotate: 8001 is a PUSH PULL socket between loggerd and visiond

# all ZMQ pub sub: port, should_log, frequency, (qlog_decimation)

# frame syncing packet
frame: [8002, true, 20., 1]
# accel, gyro, and compass
sensorEvents: [8003, true, 100., 100]
# GPS data, also global timestamp
gpsNMEA: [8004, true, 9.]  # 9 msgs each sec
# CPU+MEM+GPU+BAT temps
thermal: [8005, true, 2., 1]
# List(CanData), list of can messages
can: [8006, true, 100.]
controlsState: [8007, true, 100., 100]
#liveEvent: [8008, true, 0.]
model: [8009, true, 20., 5]
features: [8010, true, 0.]
health: [8011, true, 2., 1]
radarState: [8012, true, 20., 5]
#liveUI: [8014, true, 0.]
encodeIdx: [8015, true, 20.]
liveTracks: [8016, true, 20.]
sendcan: [8017, true, 100.]
logMessage: [8018, true, 0.]
liveCalibration: [8019, true, 4., 4]
androidLog: [8020, true, 0.]
carState: [8021, true, 100., 10]
# 8022 is reserved for sshd
carControl: [8023, true, 100., 10]
plan: [8024, true, 20., 2]
liveLocation: [8025, true, 0., 1]
gpsLocation: [8026, true, 1., 1]
ethernetData: [8027, true, 0.]
navUpdate: [8028, true, 0.]
qcomGnss: [8029, true, 0.]
lidarPts: [8030, true, 0.]
procLog: [8031, true, 0.5]
gpsLocationExternal: [8032, true, 10., 1]
ubloxGnss: [8033, true, 10.]
clocks: [8034, true, 1., 1]
liveMpc: [8035, false, 20.]
liveLongitudinalMpc: [8036, false, 20.]
navStatus: [8038, true, 0.]
gpsLocationTrimble: [8039, true, 0.]
trimbleGnss: [8041, true, 0.]
ubloxRaw: [8042, true, 20.]
gpsPlannerPoints: [8043, true, 0.]
gpsPlannerPlan: [8044, true, 0.]
applanixRaw: [8046, true, 0.]
orbLocation: [8047, true, 0.]
trafficEvents: [8048, true, 0.]
liveLocationTiming: [8049, true, 0.]
orbslamCorrection: [8050, true, 0.]
liveLocationCorrected: [8051, true, 0.]
orbObservation: [8052, true, 0.]
applanixLocation: [8053, true, 0.]
liveLocationKalman: [8054, true, 10., 1]
uiNavigationEvent: [8055, true, 0.]
orbOdometry: [8057, true, 0.]
orbFeatures: [8058, false, 0.]
orbKeyFrame: [8059, true, 0.]
uiLayoutState: [8060, true, 0.]
frontEncodeIdx: [8061, true, 5.]
orbFeaturesSummary: [8062, true, 0.]
driverState: [8063, true, 5., 1]
liveParameters: [8064, true, 20., 2]
liveMapData: [8065, true, 0.]
cameraOdometry: [8066, true, 20., 5]
pathPlan: [8067, true, 20., 2]
kalmanOdometry: [8068, true, 0.]
thumbnail: [8069, true, 0.2, 1]
carEvents: [8070, true, 1., 1]
carParams: [8071, true, 0.02, 1]
frontFrame: [8072, true, 10.]
dMonitoringState: [8073, true, 5., 1]
offroadLayout: [8074, false, 0.]

testModel: [8040, false, 0.]
testLiveLocation: [8045, false, 0.]
testJoystick: [8056, false, 0.]

# 8080 is reserved for slave testing daemon
# 8762 is reserved for logserver

# manager -- base process to manage starting and stopping of all others
#   subscribes: thermal

# **** processes that communicate with the outside world ****

# thermald -- decides when to start and stop onroad
#   subscribes: health, location
#   publishes: thermal

# boardd -- communicates with the car
#   subscribes: sendcan
#   publishes: can, health, ubloxRaw

# sensord -- publishes IMU and Magnetometer
#   publishes: sensorEvents

# gpsd -- publishes EON's gps
#   publishes: gpsNMEA

# camerad -- publishes camera frames
#   publishes: frame, frontFrame, thumbnail
#   subscribes: driverState

# dmonitoringmodeld -- runs face detection on camera frames
#   publishes: driverState

# **** stateful data transformers ****

# modeld -- runs & publishes the model
#   publishes: model, cameraOdometry
#   subscribes: liveCalibration, pathPlan

# plannerd -- decides where to drive the car
#   subscribes: carState, model, radarState, controlsState, liveParameters
#   publishes:  plan, pathPlan, liveMpc, liveLongitudinalMpc

# controlsd -- drives the car by sending CAN messages to panda
#   subscribes: can, thermal, health, plan, pathPlan, dMonitoringState, liveCalibration, model
#   publishes:  carState, carControl, sendcan, controlsState, carEvents, carParams

# dmonitoringd -- processes driver monitoring data and publishes driver awareness
#   subscribes: driverState, liveCalibration, carState, model, gpsLocation
#   publishes: dMonitoringState

# radard -- processes the radar and vision data
#   subscribes: can, controlsState, model, liveParameters
#   publishes:  radarState, liveTracks

# params_learner -- learns vehicle params by observing the vehicle dynamics
#   subscribes: controlsState, sensorEvents, cameraOdometry
#   publishes: liveParameters

# calibrationd -- reads posenet and applies a temporal filter on the frame region to look at
#   subscribes: cameraOdometry
#   publishes: liveCalibration

# ubloxd -- read raw ublox data and converts them in readable format
#   subscribes: ubloxRaw
#   publishes: ubloxGnss

# **** LOGGING SERVICE ****

# loggerd
#   subscribes: EVERYTHING

# **** NON VITAL SERVICES ****

# ui
#   subscribes: thermal, model, controlsState, uiLayout, liveCalibration, radarState, liveMpc, plusFrame, liveMapData

# uploader
#   communicates through file system with loggerd

# deleter
#   communicates through file system with loggerd and uploader

# logmessaged -- central logging service, can log to cloud
#   publishes:  logMessage

# logcatd -- fetches logcat info from android
#   publishes:  androidLog

# proclogd -- fetches process information
#   publishes: procLog

# tombstoned -- reports native crashes

# athenad -- on request, open a sub socket and return the value

# updated -- waits for network access and tries to update every hour