opcode

selfdrive/maneger.py

+ main()

进程注册register_managed_process+启动进程：manager_thread

selfdrive/ui/ui.c

+ attribute1:type = defaultValue+ attribute2:type- attribute3:type

+ operation1(params):returnType- operation2(params)- operation3()

selfdrive/loggerd/log

selfdrive/service_list.yaml

selfdrive/visond/visiond.cc

+main():-VisionState-model_init() -monitoring_init() -posenet_init()-cameras_init()-init_buffers()    recorder_sock_raw:8002     monitoring_sock_raw:8063    posenet_sock_raw:8006    thumbnail_sock_raw:8069-cameras_open()-party()

+ party    visionserver_thread    processing_thread    frontview_thread    monitoring_thread    live_thread    cameras_run

visiond/cameras/camera_qcom.c

+ imx298_apply_exposure()+ ov8865_apply_exposure()+imx179_s5k3p8sp_apply_exposure()+cameras_init()+ ...+imx298_ois_calibration()+sensors_init()+camera_open()+cameras_run()