dreamview: use supervisorctl to control modules

modules/dreamview/conf/hmi.conf

@@ -4,11 +4,11 @@ modules {
     display_name: "GPS Driver"
     supported_commands {
       key: "start"
-      value: "scripts/gps.sh start"
+      value: "supervisorctl start gps"
     }
     supported_commands {
       key: "stop"
-      value: "scripts/gps.sh stop"
+      value: "supervisorctl stop gps"
     }
   }
 }
@@ -18,11 +18,11 @@ modules {
     display_name: "Velodyne"
     supported_commands {
       key: "start"
-      value: "scripts/velodyne.sh start"
+      value: "supervisorctl start velodyne"
     }
     supported_commands {
       key: "stop"
-      value: "scripts/velodyne.sh stop"
+      value: "supervisorctl stop velodyne"
     }
   }
 }
@@ -32,11 +32,11 @@ modules {
     display_name: "Radar"
     supported_commands {
       key: "start"
-      value: "scripts/conti_radar.sh start"
+      value: "supervisorctl start conti_radar"
     }
     supported_commands {
       key: "stop"
-      value: "scripts/conti_radar.sh stop"
+      value: "supervisorctl stop conti_radar"
     }
   }
 }
@@ -46,11 +46,11 @@ modules {
     display_name: "Camera"
     supported_commands {
       key: "start"
-      value: "scripts/usb_camera.sh start"
+      value: "supervisorctl start usb_camera"
     }
     supported_commands {
       key: "stop"
-      value: "scripts/usb_camera.sh stop"
+      value: "supervisorctl stop usb_camera"
     }
   }
 }
@@ -61,11 +61,11 @@ modules {
     path: "modules/drivers/mobileye"
     supported_commands {
       key: "start"
-      value: "scripts/mobileye.sh start"
+      value: "supervisorctl start mobileye"
     }
     supported_commands {
       key: "stop"
-      value: "scripts/mobileye.sh stop"
+      value: "supervisorctl stop mobileye"
     }
   }
 }
@@ -75,11 +75,11 @@ modules {
     display_name: "Localization"
     supported_commands {
       key: "start"
-      value: "scripts/localization.sh start"
+      value: "supervisorctl start localization"
     }
     supported_commands {
       key: "stop"
-      value: "scripts/localization.sh stop"
+      value: "supervisorctl stop localization"
     }
   }
 }
@@ -89,11 +89,11 @@ modules {
     display_name: "Perception"
     supported_commands {
       key: "start"
-      value: "scripts/perception.sh start"
+      value: "supervisorctl start perception"
     }
     supported_commands {
       key: "stop"
-      value: "scripts/perception.sh stop"
+      value: "supervisorctl stop perception"
     }
   }
 }
@@ -103,11 +103,11 @@ modules {
     display_name: "Third Party Perception"
     supported_commands {
       key: "start"
-      value: "scripts/third_party_perception.sh start"
+      value: "supervisorctl start third_party_perception"
     }
     supported_commands {
       key: "stop"
-      value: "scripts/third_party_perception.sh stop"
+      value: "supervisorctl stop third_party_perception"
     }
   }
 }
@@ -117,11 +117,11 @@ modules {
     display_name: "Prediction"
     supported_commands {
       key: "start"
-      value: "scripts/prediction.sh start"
+      value: "supervisorctl start prediction"
     }
     supported_commands {
       key: "stop"
-      value: "scripts/prediction.sh stop"
+      value: "supervisorctl stop prediction"
     }
   }
 }
@@ -131,11 +131,11 @@ modules {
     display_name: "Planning"
     supported_commands {
       key: "start"
-      value: "scripts/planning.sh start"
+      value: "supervisorctl start planning"
     }
     supported_commands {
       key: "stop"
-      value: "scripts/planning.sh stop"
+      value: "supervisorctl stop planning"
     }
   }
 }
@@ -145,11 +145,11 @@ modules {
     display_name: "Routing"
     supported_commands {
       key: "start"
-      value: "scripts/routing.sh start"
+      value: "supervisorctl start routing"
     }
     supported_commands {
       key: "stop"
-      value: "scripts/routing.sh stop"
+      value: "supervisorctl stop routing"
     }
   }
 }
@@ -159,11 +159,11 @@ modules {
     display_name: "Control"
     supported_commands {
       key: "start"
-      value: "scripts/control.sh start"
+      value: "supervisorctl start control"
     }
     supported_commands {
       key: "stop"
-      value: "scripts/control.sh stop"
+      value: "supervisorctl stop control"
     }
   }
 }
@@ -173,11 +173,11 @@ modules {
     display_name: "Control"
     supported_commands {
       key: "start"
-      value: "scripts/navigation_control.sh start"
+      value: "supervisorctl start navigation_control"
     }
     supported_commands {
       key: "stop"
-      value: "scripts/navigation_control.sh stop"
+      value: "supervisorctl stop navigation_control"
     }
   }
 }
@@ -187,11 +187,11 @@ modules {
     display_name: "CAN Bus"
     supported_commands {
       key: "start"
-      value: "scripts/canbus.sh start"
+      value: "supervisorctl start canbus"
     }
     supported_commands {
       key: "stop"
-      value: "scripts/canbus.sh stop"
+      value: "supervisorctl stop canbus"
     }
   }
 }
@@ -215,11 +215,11 @@ modules {
     display_name: "NaviView"
     supported_commands {
       key: "start"
-      value: "scripts/navigation_server.sh start"
+      value: "supervisorctl start navigation_server"
     }
     supported_commands {
       key: "stop"
-      value: "scripts/navigation_server.sh stop"
+      value: "supervisorctl stop navigation_server"
     }
   }
 }
@@ -229,11 +229,11 @@ modules {
     display_name: "Planning"
     supported_commands {
       key: "start"
-      value: "scripts/navigation_planning.sh start"
+      value: "supervisorctl start navigation_planning"
     }
     supported_commands {
       key: "stop"
-      value: "scripts/navigation_planning.sh stop"
+      value: "supervisorctl stop navigation_planning"
     }
   }
 }
@@ -243,11 +243,11 @@ modules {
     display_name: "Routing"
     supported_commands {
       key: "start"
-      value: "scripts/navigation_routing.sh start"
+      value: "supervisorctl start navigation_routing"
     }
     supported_commands {
       key: "stop"
-      value: "scripts/navigation_routing.sh stop"
+      value: "supervisorctl stop navigation_routing"
     }
   }
 }

scripts/docker_adduser.sh

@@ -62,3 +62,6 @@ if [ "$RELEASE_DOCKER" != "1" ];then
   chmod a+w "${ROS}/share/gnss_driver/launch/gnss_driver.launch"
   chmod a+w "${ROS}/share/gnss_driver/conf/gnss_conf_mkz.txt"
 fi
+
+# start supervisord
+supervisord -c /apollo/tools/supervisord.conf

tools/supervisord.conf

@@ -104,36 +104,62 @@ serverurl=unix:///tmp/supervisor.sock ; use a unix:// URL  for a unix socket
 ;environment=A="1",B="2"       ; process environment additions (def no adds)
 ;serverurl=AUTO                ; override serverurl computation (childutils)
 
-;[program:velodyne]
-;directory=/apollo/
-;command=roslaunch velodyne start_velodyne.launch
-;startsecs=30
-;autostart=false
-;numprocs=1
-;exitcodes=0
-;stopsignal=SIGINT
-;startretries=10
-;autorestart=unexpected
-;redirect_stderr=true
-;stdout_logfile=data/log/gnss_driver.out
-
-;[program:gps]
-;directory=/apollo/
-;command=roslaunch gnss_driver gnss_driver.launch
-;startsecs=30
-;autostart=false
-;numprocs=1
-;exitcodes=0
-;stopsignal=SIGINT
-;startretries=10
-;autorestart=unexpected
-;redirect_stderr=true
-;stdout_logfile=data/log/gnss_driver.out
+[program:velodyne]
+directory=/apollo/
+command=roslaunch velodyne start_velodyne.launch
+startsecs=10
+autostart=false
+numprocs=1
+exitcodes=0
+stopsignal=SIGINT
+startretries=10
+autorestart=unexpected
+redirect_stderr=true
+stdout_logfile=data/log/velodyne.out
+
+[program:gps]
+directory=/apollo/
+command=roslaunch gnss_driver gnss_driver.launch
+startsecs=10
+autostart=false
+numprocs=1
+exitcodes=0
+stopsignal=SIGINT
+startretries=10
+autorestart=unexpected
+redirect_stderr=true
+stdout_logfile=data/log/gnss_driver.out
+
+[program:conti_radar]
+directory=/apollo/
+command=bazel-bin/modules/drivers/conti_radar/conti_radar
+startsecs=10
+autostart=false
+numprocs=1
+exitcodes=0
+stopsignal=SIGINT
+startretries=10
+autorestart=unexpected
+redirect_stderr=true
+stdout_logfile=data/log/conti_radar.out
+
+[program:mobileye]
+directory=/apollo/
+command=bazel-bin/modules/drivers/mobileye/mobileye
+startsecs=10
+autostart=false
+numprocs=1
+exitcodes=0
+stopsignal=SIGINT
+startretries=10
+autorestart=unexpected
+redirect_stderr=true
+stdout_logfile=data/log/mobileye.out
 
 [program:canbus]
 directory=/apollo/
 command=bazel-bin/modules/canbus/canbus --flagfile=modules/canbus/conf/canbus.conf --log_dir=/apollo/data/log canbus canbus
-startsecs=30
+startsecs=5
 autostart=false
 numprocs=1
 exitcodes=0
@@ -146,7 +172,7 @@ stdout_logfile=data/log/canbus.out
 [program:localization]
 directory=/apollo/
 command=bazel-bin/modules/localization/localization --flagfile=modules/localization/conf/localization.conf --log_dir=/apollo/data/log localization localization
-startsecs=30
+startsecs=5
 autostart=false
 numprocs=1
 exitcodes=0
@@ -159,7 +185,7 @@ stdout_logfile=data/log/localization.out
 [program:control]
 directory=/apollo/
 command=bazel-bin/modules/control/control --flagfile=modules/control/conf/control.conf --log_dir=/apollo/data/log control control
-startsecs=30
+startsecs=5
 autostart=false
 numprocs=1
 exitcodes=0
@@ -172,7 +198,7 @@ stdout_logfile=data/log/control.out
 [program:planning]
 directory=/apollo/
 command=bazel-bin/modules/planning/planning --flagfile=modules/planning/conf/planning.conf --log_dir=/apollo/data/log planning planning
-startsecs=20
+startsecs=5
 autostart=false
 numprocs=1
 exitcodes=0
@@ -185,7 +211,7 @@ stdout_logfile=data/log/planning.out
 [program:routing]
 directory=/apollo/
 command=bazel-bin/modules/routing/routing --flagfile=modules/routing/conf/routing.conf --log_dir=/apollo/data/log routing routing
-startsecs=20
+startsecs=5
 autostart=false
 numprocs=1
 exitcodes=0
@@ -198,7 +224,7 @@ stdout_logfile=data/log/routing.out
 [program:prediction]
 directory=/apollo/
 command=bazel-bin/modules/prediction/prediction --flagfile=modules/prediction/conf/prediction.conf --log_dir=/apollo/data/log prediction prediction
-startsecs=20
+startsecs=5
 autostart=false
 numprocs=1
 exitcodes=0
@@ -211,7 +237,7 @@ stdout_logfile=data/log/prediction.out
 [program:perception]
 directory=/apollo/
 command=bazel-bin/modules/perception/perception --flagfile=modules/perception/conf/perception.conf --log_dir=/apollo/data/log perception perception
-startsecs=30
+startsecs=5
 autostart=false
 numprocs=1
 exitcodes=0
@@ -221,6 +247,72 @@ autorestart=unexpected
 redirect_stderr=true
 stdout_logfile=data/log/perception.out
 
+[program:third_party_perception]
+directory=/apollo/
+command=bazel-bin/modules/third_party_perception/third_party_perception --flagfile=modules/third_party_perception/conf/third_party_perception.conf --log_dir=/apollo/data/log third_party_perception third_party_perception
+startsecs=5
+autostart=false
+numprocs=1
+exitcodes=0
+stopsignal=SIGINT
+startretries=10
+autorestart=unexpected
+redirect_stderr=true
+stdout_logfile=data/log/third_party_perception.out
+
+[program:navigation_control]
+directory=/apollo/
+command=bazel-bin/modules/control/control --flagfile=modules/control/conf/control.conf --log_dir=/apollo/data/log --control_conf_file=modules/control/conf/navigation_lincoln.pb.txt --use_relative_position=true
+startsecs=5
+autostart=false
+numprocs=1
+exitcodes=0
+stopsignal=SIGINT
+startretries=10
+autorestart=unexpected
+redirect_stderr=true
+stdout_logfile=data/log/navigation_control.out
+
+[program:navigation_server]
+directory=/apollo/
+command=python modules/tools/navigation/simulator/navigation_view_backend.py
+startsecs=5
+autostart=false
+numprocs=1
+exitcodes=0
+stopsignal=SIGINT
+startretries=10
+autorestart=unexpected
+redirect_stderr=true
+stdout_logfile=data/log/navigation_server.out
+
+
+[program:navigation_planning]
+directory=/apollo/
+command=python modules/tools/navigation/planning/navigation_planning.py 
+startsecs=5
+autostart=false
+numprocs=1
+exitcodes=0
+stopsignal=SIGINT
+startretries=10
+autorestart=unexpected
+redirect_stderr=true
+stdout_logfile=data/log/navigation_planning.out
+
+[program:navigation_routing]
+directory=/apollo/
+command=python modules/tools/navigation/routing/navigation_routing.py 
+startsecs=5
+autostart=false
+numprocs=1
+exitcodes=0
+stopsignal=SIGINT
+startretries=10
+autorestart=unexpected
+redirect_stderr=true
+stdout_logfile=data/log/navigation_routing.out
+
 ; The sample eventlistener section below shows all possible eventlistener
 ; subsection values.  Create one or more 'real' eventlistener: sections to be
 ; able to handle event notifications sent by supervisord.
@@ -263,10 +355,6 @@ stdout_logfile=data/log/perception.out
 ;programs=progname1,progname2  ; each refers to 'x' in [program:x] definitions
 ;priority=999                  ; the relative start priority (default 999)
 
-[group:apollo_runtime]
-programs:canbus,localization,control,planning,routing,perception,prediction
-priority:999
-
 
 ; The [include] section can just contain the "files" setting.  This
 ; setting can list multiple files (separated by whitespace or