selfdrive/*.py
George Hotz
parent
368a956b96
commit
2f9379a139
|
|
@ -0,0 +1,30 @@
|
|||
import numpy as np
|
||||
|
||||
class Conversions:
|
||||
#Speed
|
||||
MPH_TO_KPH = 1.609344
|
||||
KPH_TO_MPH = 1. / MPH_TO_KPH
|
||||
MS_TO_KPH = 3.6
|
||||
KPH_TO_MS = 1. / MS_TO_KPH
|
||||
MS_TO_MPH = MS_TO_KPH * KPH_TO_MPH
|
||||
MPH_TO_MS = MPH_TO_KPH * KPH_TO_MS
|
||||
MS_TO_KNOTS = 1.9438
|
||||
KNOTS_TO_MS = 1. / MS_TO_KNOTS
|
||||
#Angle
|
||||
DEG_TO_RAD = np.pi/180.
|
||||
RAD_TO_DEG = 1. / DEG_TO_RAD
|
||||
#Mass
|
||||
LB_TO_KG = 0.453592
|
||||
|
||||
|
||||
RADAR_TO_CENTER = 2.7 # (deprecated) RADAR is ~ 2.7m ahead from center of car
|
||||
RADAR_TO_CAMERA = 1.52 # RADAR is ~ 1.5m ahead from center of mesh frame
|
||||
|
||||
class UIParams:
|
||||
lidar_x, lidar_y, lidar_zoom = 384, 960, 6
|
||||
lidar_car_x, lidar_car_y = lidar_x/2., lidar_y/1.1
|
||||
car_hwidth = 1.7272/2 * lidar_zoom
|
||||
car_front = 2.6924 * lidar_zoom
|
||||
car_back = 1.8796 * lidar_zoom
|
||||
car_color = 110
|
||||
|
||||
|
|
@ -0,0 +1,66 @@
|
|||
"""Install exception handler for process crash."""
|
||||
import os
|
||||
import sys
|
||||
import threading
|
||||
import capnp
|
||||
from selfdrive.version import version, dirty
|
||||
|
||||
from selfdrive.swaglog import cloudlog
|
||||
|
||||
if os.getenv("NOLOG") or os.getenv("NOCRASH"):
|
||||
def capture_exception(*exc_info):
|
||||
pass
|
||||
def bind_user(**kwargs):
|
||||
pass
|
||||
def bind_extra(**kwargs):
|
||||
pass
|
||||
def install():
|
||||
pass
|
||||
else:
|
||||
from raven import Client
|
||||
from raven.transport.http import HTTPTransport
|
||||
client = Client('https://1994756b5e6f41cf939a4c65de45f4f2:cefebaf3a8aa40d182609785f7189bd7@app.getsentry.com/77924',
|
||||
install_sys_hook=False, transport=HTTPTransport, release=version, tags={'dirty': dirty})
|
||||
|
||||
def capture_exception(*args, **kwargs):
|
||||
exc_info = sys.exc_info()
|
||||
if not exc_info[0] is capnp.lib.capnp.KjException:
|
||||
client.captureException(*args, **kwargs)
|
||||
cloudlog.error("crash", exc_info=kwargs.get('exc_info', 1))
|
||||
|
||||
def bind_user(**kwargs):
|
||||
client.user_context(kwargs)
|
||||
|
||||
def bind_extra(**kwargs):
|
||||
client.extra_context(kwargs)
|
||||
|
||||
def install():
|
||||
# installs a sys.excepthook
|
||||
__excepthook__ = sys.excepthook
|
||||
def handle_exception(*exc_info):
|
||||
if exc_info[0] not in (KeyboardInterrupt, SystemExit):
|
||||
capture_exception(exc_info=exc_info)
|
||||
__excepthook__(*exc_info)
|
||||
sys.excepthook = handle_exception
|
||||
|
||||
"""
|
||||
Workaround for `sys.excepthook` thread bug from:
|
||||
http://bugs.python.org/issue1230540
|
||||
Call once from the main thread before creating any threads.
|
||||
Source: https://stackoverflow.com/a/31622038
|
||||
"""
|
||||
init_original = threading.Thread.__init__
|
||||
|
||||
def init(self, *args, **kwargs):
|
||||
init_original(self, *args, **kwargs)
|
||||
run_original = self.run
|
||||
|
||||
def run_with_except_hook(*args2, **kwargs2):
|
||||
try:
|
||||
run_original(*args2, **kwargs2)
|
||||
except Exception:
|
||||
sys.excepthook(*sys.exc_info())
|
||||
|
||||
self.run = run_with_except_hook
|
||||
|
||||
threading.Thread.__init__ = init
|
||||
|
|
@ -0,0 +1,27 @@
|
|||
import importlib
|
||||
from setproctitle import setproctitle #pylint: disable=no-name-in-module
|
||||
|
||||
import cereal.messaging as messaging
|
||||
import selfdrive.crash as crash
|
||||
from selfdrive.swaglog import cloudlog
|
||||
|
||||
def launcher(proc):
|
||||
try:
|
||||
# import the process
|
||||
mod = importlib.import_module(proc)
|
||||
|
||||
# rename the process
|
||||
setproctitle(proc)
|
||||
|
||||
# create new context since we forked
|
||||
messaging.context = messaging.Context()
|
||||
|
||||
# exec the process
|
||||
mod.main()
|
||||
except KeyboardInterrupt:
|
||||
cloudlog.warning("child %s got SIGINT" % proc)
|
||||
except Exception:
|
||||
# can't install the crash handler becuase sys.excepthook doesn't play nice
|
||||
# with threads, so catch it here.
|
||||
crash.capture_exception()
|
||||
raise
|
||||
|
|
@ -0,0 +1,40 @@
|
|||
#!/usr/bin/env python3
|
||||
import zmq
|
||||
from logentries import LogentriesHandler
|
||||
import cereal.messaging as messaging
|
||||
|
||||
def main(gctx=None):
|
||||
# setup logentries. we forward log messages to it
|
||||
le_token = "e8549616-0798-4d7e-a2ca-2513ae81fa17"
|
||||
le_handler = LogentriesHandler(le_token, use_tls=False, verbose=False)
|
||||
|
||||
le_level = 20 #logging.INFO
|
||||
|
||||
ctx = zmq.Context().instance()
|
||||
sock = ctx.socket(zmq.PULL)
|
||||
sock.bind("ipc:///tmp/logmessage")
|
||||
|
||||
# and we publish them
|
||||
pub_sock = messaging.pub_sock('logMessage')
|
||||
|
||||
while True:
|
||||
dat = b''.join(sock.recv_multipart())
|
||||
dat = dat.decode('utf8')
|
||||
|
||||
# print "RECV", repr(dat)
|
||||
|
||||
levelnum = ord(dat[0])
|
||||
dat = dat[1:]
|
||||
|
||||
if levelnum >= le_level:
|
||||
# push to logentries
|
||||
# TODO: push to athena instead
|
||||
le_handler.emit_raw(dat)
|
||||
|
||||
# then we publish them
|
||||
msg = messaging.new_message()
|
||||
msg.logMessage = dat
|
||||
pub_sock.send(msg.to_bytes())
|
||||
|
||||
if __name__ == "__main__":
|
||||
main()
|
||||
|
|
@ -0,0 +1,530 @@
|
|||
#!/usr/bin/env python3.7
|
||||
import os
|
||||
import time
|
||||
import sys
|
||||
import fcntl
|
||||
import errno
|
||||
import signal
|
||||
import shutil
|
||||
import subprocess
|
||||
import datetime
|
||||
|
||||
from common.basedir import BASEDIR
|
||||
from common.android import ANDROID
|
||||
sys.path.append(os.path.join(BASEDIR, "pyextra"))
|
||||
os.environ['BASEDIR'] = BASEDIR
|
||||
|
||||
TOTAL_SCONS_NODES = 1170
|
||||
prebuilt = os.path.exists(os.path.join(BASEDIR, 'prebuilt'))
|
||||
|
||||
# Create folders needed for msgq
|
||||
try:
|
||||
os.mkdir("/dev/shm")
|
||||
except FileExistsError:
|
||||
pass
|
||||
|
||||
if ANDROID:
|
||||
os.chmod("/dev/shm", 0o777)
|
||||
|
||||
def unblock_stdout():
|
||||
# get a non-blocking stdout
|
||||
child_pid, child_pty = os.forkpty()
|
||||
if child_pid != 0: # parent
|
||||
|
||||
# child is in its own process group, manually pass kill signals
|
||||
signal.signal(signal.SIGINT, lambda signum, frame: os.kill(child_pid, signal.SIGINT))
|
||||
signal.signal(signal.SIGTERM, lambda signum, frame: os.kill(child_pid, signal.SIGTERM))
|
||||
|
||||
fcntl.fcntl(sys.stdout, fcntl.F_SETFL,
|
||||
fcntl.fcntl(sys.stdout, fcntl.F_GETFL) | os.O_NONBLOCK)
|
||||
|
||||
while True:
|
||||
try:
|
||||
dat = os.read(child_pty, 4096)
|
||||
except OSError as e:
|
||||
if e.errno == errno.EIO:
|
||||
break
|
||||
continue
|
||||
|
||||
if not dat:
|
||||
break
|
||||
|
||||
try:
|
||||
sys.stdout.write(dat.decode('utf8'))
|
||||
except (OSError, IOError, UnicodeDecodeError):
|
||||
pass
|
||||
|
||||
os._exit(os.wait()[1])
|
||||
|
||||
|
||||
if __name__ == "__main__":
|
||||
unblock_stdout()
|
||||
from common.spinner import Spinner
|
||||
else:
|
||||
from common.spinner import FakeSpinner as Spinner
|
||||
|
||||
import importlib
|
||||
import traceback
|
||||
from multiprocessing import Process
|
||||
|
||||
# Run scons
|
||||
spinner = Spinner()
|
||||
spinner.update("0")
|
||||
|
||||
if not prebuilt:
|
||||
for retry in [True, False]:
|
||||
# run scons
|
||||
env = os.environ.copy()
|
||||
env['SCONS_PROGRESS'] = "1"
|
||||
env['SCONS_CACHE'] = "1"
|
||||
|
||||
nproc = os.cpu_count()
|
||||
j_flag = "" if nproc is None else "-j%d" % (nproc - 1)
|
||||
scons = subprocess.Popen(["scons", j_flag], cwd=BASEDIR, env=env, stderr=subprocess.PIPE)
|
||||
|
||||
# Read progress from stderr and update spinner
|
||||
while scons.poll() is None:
|
||||
try:
|
||||
line = scons.stderr.readline()
|
||||
if line is None:
|
||||
continue
|
||||
|
||||
line = line.rstrip()
|
||||
prefix = b'progress: '
|
||||
if line.startswith(prefix):
|
||||
i = int(line[len(prefix):])
|
||||
if spinner is not None:
|
||||
spinner.update("%d" % (50.0 * (i / TOTAL_SCONS_NODES)))
|
||||
elif len(line):
|
||||
print(line.decode('utf8'))
|
||||
except Exception:
|
||||
pass
|
||||
|
||||
if scons.returncode != 0:
|
||||
if retry:
|
||||
print("scons build failed, cleaning in")
|
||||
for i in range(3,-1,-1):
|
||||
print("....%d" % i)
|
||||
time.sleep(1)
|
||||
subprocess.check_call(["scons", "-c"], cwd=BASEDIR, env=env)
|
||||
shutil.rmtree("/tmp/scons_cache")
|
||||
else:
|
||||
raise RuntimeError("scons build failed")
|
||||
else:
|
||||
break
|
||||
|
||||
import cereal
|
||||
import cereal.messaging as messaging
|
||||
|
||||
from common.params import Params
|
||||
import selfdrive.crash as crash
|
||||
from selfdrive.swaglog import cloudlog
|
||||
from selfdrive.registration import register
|
||||
from selfdrive.version import version, dirty
|
||||
from selfdrive.loggerd.config import ROOT
|
||||
from selfdrive.launcher import launcher
|
||||
from common import android
|
||||
from common.apk import update_apks, pm_apply_packages, start_frame
|
||||
|
||||
ThermalStatus = cereal.log.ThermalData.ThermalStatus
|
||||
|
||||
# comment out anything you don't want to run
|
||||
managed_processes = {
|
||||
"thermald": "selfdrive.thermald",
|
||||
"uploader": "selfdrive.loggerd.uploader",
|
||||
"deleter": "selfdrive.loggerd.deleter",
|
||||
"controlsd": "selfdrive.controls.controlsd",
|
||||
"plannerd": "selfdrive.controls.plannerd",
|
||||
"radard": "selfdrive.controls.radard",
|
||||
"ubloxd": ("selfdrive/locationd", ["./ubloxd"]),
|
||||
"loggerd": ("selfdrive/loggerd", ["./loggerd"]),
|
||||
"logmessaged": "selfdrive.logmessaged",
|
||||
"tombstoned": "selfdrive.tombstoned",
|
||||
"logcatd": ("selfdrive/logcatd", ["./logcatd"]),
|
||||
"proclogd": ("selfdrive/proclogd", ["./proclogd"]),
|
||||
"boardd": ("selfdrive/boardd", ["./boardd"]), # not used directly
|
||||
"pandad": "selfdrive.pandad",
|
||||
"ui": ("selfdrive/ui", ["./ui"]),
|
||||
"calibrationd": "selfdrive.locationd.calibrationd",
|
||||
"paramsd": ("selfdrive/locationd", ["./paramsd"]),
|
||||
"camerad": ("selfdrive/camerad", ["./camerad"]),
|
||||
"sensord": ("selfdrive/sensord", ["./sensord"]),
|
||||
"clocksd": ("selfdrive/clocksd", ["./clocksd"]),
|
||||
"gpsd": ("selfdrive/sensord", ["./gpsd"]),
|
||||
"updated": "selfdrive.updated",
|
||||
"monitoringd": ("selfdrive/modeld", ["./monitoringd"]),
|
||||
"modeld": ("selfdrive/modeld", ["./modeld"]),
|
||||
}
|
||||
|
||||
daemon_processes = {
|
||||
"manage_athenad": ("selfdrive.athena.manage_athenad", "AthenadPid"),
|
||||
}
|
||||
|
||||
running = {}
|
||||
def get_running():
|
||||
return running
|
||||
|
||||
# due to qualcomm kernel bugs SIGKILLing camerad sometimes causes page table corruption
|
||||
unkillable_processes = ['camerad']
|
||||
|
||||
# processes to end with SIGINT instead of SIGTERM
|
||||
interrupt_processes = []
|
||||
|
||||
# processes to end with SIGKILL instead of SIGTERM
|
||||
kill_processes = ['sensord', 'paramsd']
|
||||
|
||||
# processes to end if thermal conditions exceed Green parameters
|
||||
green_temp_processes = ['uploader']
|
||||
|
||||
persistent_processes = [
|
||||
'thermald',
|
||||
'logmessaged',
|
||||
'ui',
|
||||
'uploader',
|
||||
]
|
||||
if ANDROID:
|
||||
persistent_processes += [
|
||||
'logcatd',
|
||||
'tombstoned',
|
||||
'updated',
|
||||
]
|
||||
|
||||
car_started_processes = [
|
||||
'controlsd',
|
||||
'plannerd',
|
||||
'loggerd',
|
||||
'radard',
|
||||
'calibrationd',
|
||||
'paramsd',
|
||||
'camerad',
|
||||
'modeld',
|
||||
'proclogd',
|
||||
'ubloxd',
|
||||
]
|
||||
if ANDROID:
|
||||
car_started_processes += [
|
||||
'sensord',
|
||||
'clocksd',
|
||||
'gpsd',
|
||||
'monitoringd',
|
||||
'deleter',
|
||||
]
|
||||
|
||||
def register_managed_process(name, desc, car_started=False):
|
||||
global managed_processes, car_started_processes, persistent_processes
|
||||
print("registering %s" % name)
|
||||
managed_processes[name] = desc
|
||||
if car_started:
|
||||
car_started_processes.append(name)
|
||||
else:
|
||||
persistent_processes.append(name)
|
||||
|
||||
# ****************** process management functions ******************
|
||||
def nativelauncher(pargs, cwd):
|
||||
# exec the process
|
||||
os.chdir(cwd)
|
||||
|
||||
# because when extracted from pex zips permissions get lost -_-
|
||||
os.chmod(pargs[0], 0o700)
|
||||
|
||||
os.execvp(pargs[0], pargs)
|
||||
|
||||
def start_managed_process(name):
|
||||
if name in running or name not in managed_processes:
|
||||
return
|
||||
proc = managed_processes[name]
|
||||
if isinstance(proc, str):
|
||||
cloudlog.info("starting python %s" % proc)
|
||||
running[name] = Process(name=name, target=launcher, args=(proc,))
|
||||
else:
|
||||
pdir, pargs = proc
|
||||
cwd = os.path.join(BASEDIR, pdir)
|
||||
cloudlog.info("starting process %s" % name)
|
||||
running[name] = Process(name=name, target=nativelauncher, args=(pargs, cwd))
|
||||
running[name].start()
|
||||
|
||||
def start_daemon_process(name):
|
||||
params = Params()
|
||||
proc, pid_param = daemon_processes[name]
|
||||
pid = params.get(pid_param)
|
||||
|
||||
if pid is not None:
|
||||
try:
|
||||
os.kill(int(pid), 0)
|
||||
# process is running (kill is a poorly-named system call)
|
||||
return
|
||||
except OSError:
|
||||
# process is dead
|
||||
pass
|
||||
|
||||
cloudlog.info("starting daemon %s" % name)
|
||||
proc = subprocess.Popen(['python', '-m', proc],
|
||||
stdin=open('/dev/null', 'r'),
|
||||
stdout=open('/dev/null', 'w'),
|
||||
stderr=open('/dev/null', 'w'),
|
||||
preexec_fn=os.setpgrp)
|
||||
|
||||
params.put(pid_param, str(proc.pid))
|
||||
|
||||
def prepare_managed_process(p):
|
||||
proc = managed_processes[p]
|
||||
if isinstance(proc, str):
|
||||
# import this python
|
||||
cloudlog.info("preimporting %s" % proc)
|
||||
importlib.import_module(proc)
|
||||
elif os.path.isfile(os.path.join(BASEDIR, proc[0], "Makefile")):
|
||||
# build this process
|
||||
cloudlog.info("building %s" % (proc,))
|
||||
try:
|
||||
subprocess.check_call(["make", "-j4"], cwd=os.path.join(BASEDIR, proc[0]))
|
||||
except subprocess.CalledProcessError:
|
||||
# make clean if the build failed
|
||||
cloudlog.warning("building %s failed, make clean" % (proc, ))
|
||||
subprocess.check_call(["make", "clean"], cwd=os.path.join(BASEDIR, proc[0]))
|
||||
subprocess.check_call(["make", "-j4"], cwd=os.path.join(BASEDIR, proc[0]))
|
||||
|
||||
def kill_managed_process(name):
|
||||
if name not in running or name not in managed_processes:
|
||||
return
|
||||
cloudlog.info("killing %s" % name)
|
||||
|
||||
if running[name].exitcode is None:
|
||||
if name in interrupt_processes:
|
||||
os.kill(running[name].pid, signal.SIGINT)
|
||||
elif name in kill_processes:
|
||||
os.kill(running[name].pid, signal.SIGKILL)
|
||||
else:
|
||||
running[name].terminate()
|
||||
|
||||
# Process().join(timeout) will hang due to a python 3 bug: https://bugs.python.org/issue28382
|
||||
# We have to poll the exitcode instead
|
||||
# running[name].join(5.0)
|
||||
|
||||
t = time.time()
|
||||
while time.time() - t < 5 and running[name].exitcode is None:
|
||||
time.sleep(0.001)
|
||||
|
||||
if running[name].exitcode is None:
|
||||
if name in unkillable_processes:
|
||||
cloudlog.critical("unkillable process %s failed to exit! rebooting in 15 if it doesn't die" % name)
|
||||
running[name].join(15.0)
|
||||
if running[name].exitcode is None:
|
||||
cloudlog.critical("FORCE REBOOTING PHONE!")
|
||||
os.system("date >> /sdcard/unkillable_reboot")
|
||||
os.system("reboot")
|
||||
raise RuntimeError
|
||||
else:
|
||||
cloudlog.info("killing %s with SIGKILL" % name)
|
||||
os.kill(running[name].pid, signal.SIGKILL)
|
||||
running[name].join()
|
||||
|
||||
cloudlog.info("%s is dead with %d" % (name, running[name].exitcode))
|
||||
del running[name]
|
||||
|
||||
|
||||
def cleanup_all_processes(signal, frame):
|
||||
cloudlog.info("caught ctrl-c %s %s" % (signal, frame))
|
||||
|
||||
if ANDROID:
|
||||
pm_apply_packages('disable')
|
||||
|
||||
for name in list(running.keys()):
|
||||
kill_managed_process(name)
|
||||
cloudlog.info("everything is dead")
|
||||
|
||||
# ****************** run loop ******************
|
||||
|
||||
def manager_init(should_register=True):
|
||||
if should_register:
|
||||
reg_res = register()
|
||||
if reg_res:
|
||||
dongle_id, dongle_secret = reg_res
|
||||
else:
|
||||
raise Exception("server registration failed")
|
||||
else:
|
||||
dongle_id = "c"*16
|
||||
|
||||
# set dongle id
|
||||
cloudlog.info("dongle id is " + dongle_id)
|
||||
os.environ['DONGLE_ID'] = dongle_id
|
||||
|
||||
cloudlog.info("dirty is %d" % dirty)
|
||||
if not dirty:
|
||||
os.environ['CLEAN'] = '1'
|
||||
|
||||
cloudlog.bind_global(dongle_id=dongle_id, version=version, dirty=dirty, is_eon=True)
|
||||
crash.bind_user(id=dongle_id)
|
||||
crash.bind_extra(version=version, dirty=dirty, is_eon=True)
|
||||
|
||||
os.umask(0)
|
||||
try:
|
||||
os.mkdir(ROOT, 0o777)
|
||||
except OSError:
|
||||
pass
|
||||
|
||||
# ensure shared libraries are readable by apks
|
||||
os.chmod(BASEDIR, 0o755)
|
||||
os.chmod(os.path.join(BASEDIR, "cereal"), 0o755)
|
||||
os.chmod(os.path.join(BASEDIR, "cereal", "libmessaging_shared.so"), 0o755)
|
||||
|
||||
def manager_thread():
|
||||
# now loop
|
||||
thermal_sock = messaging.sub_sock('thermal')
|
||||
|
||||
cloudlog.info("manager start")
|
||||
cloudlog.info({"environ": os.environ})
|
||||
|
||||
# save boot log
|
||||
subprocess.call(["./loggerd", "--bootlog"], cwd=os.path.join(BASEDIR, "selfdrive/loggerd"))
|
||||
|
||||
params = Params()
|
||||
|
||||
# start daemon processes
|
||||
for p in daemon_processes:
|
||||
start_daemon_process(p)
|
||||
|
||||
# start persistent processes
|
||||
for p in persistent_processes:
|
||||
start_managed_process(p)
|
||||
|
||||
# start frame
|
||||
if ANDROID:
|
||||
pm_apply_packages('enable')
|
||||
start_frame()
|
||||
|
||||
if os.getenv("NOBOARD") is None:
|
||||
start_managed_process("pandad")
|
||||
|
||||
logger_dead = False
|
||||
|
||||
while 1:
|
||||
msg = messaging.recv_sock(thermal_sock, wait=True)
|
||||
|
||||
# heavyweight batch processes are gated on favorable thermal conditions
|
||||
if msg.thermal.thermalStatus >= ThermalStatus.yellow:
|
||||
for p in green_temp_processes:
|
||||
if p in persistent_processes:
|
||||
kill_managed_process(p)
|
||||
else:
|
||||
for p in green_temp_processes:
|
||||
if p in persistent_processes:
|
||||
start_managed_process(p)
|
||||
|
||||
if msg.thermal.freeSpace < 0.05:
|
||||
logger_dead = True
|
||||
|
||||
if msg.thermal.started:
|
||||
for p in car_started_processes:
|
||||
if p == "loggerd" and logger_dead:
|
||||
kill_managed_process(p)
|
||||
else:
|
||||
start_managed_process(p)
|
||||
else:
|
||||
logger_dead = False
|
||||
for p in reversed(car_started_processes):
|
||||
kill_managed_process(p)
|
||||
|
||||
# check the status of all processes, did any of them die?
|
||||
running_list = ["%s%s\u001b[0m" % ("\u001b[32m" if running[p].is_alive() else "\u001b[31m", p) for p in running]
|
||||
cloudlog.debug(' '.join(running_list))
|
||||
|
||||
# Exit main loop when uninstall is needed
|
||||
if params.get("DoUninstall", encoding='utf8') == "1":
|
||||
break
|
||||
|
||||
def manager_prepare(spinner=None):
|
||||
# build all processes
|
||||
os.chdir(os.path.dirname(os.path.abspath(__file__)))
|
||||
|
||||
# Spinner has to start from 70 here
|
||||
total = 100.0 if prebuilt else 50.0
|
||||
|
||||
for i, p in enumerate(managed_processes):
|
||||
if spinner is not None:
|
||||
spinner.update("%d" % ((100.0 - total) + total * (i + 1) / len(managed_processes),))
|
||||
prepare_managed_process(p)
|
||||
|
||||
def uninstall():
|
||||
cloudlog.warning("uninstalling")
|
||||
with open('/cache/recovery/command', 'w') as f:
|
||||
f.write('--wipe_data\n')
|
||||
# IPowerManager.reboot(confirm=false, reason="recovery", wait=true)
|
||||
android.reboot(reason="recovery")
|
||||
|
||||
def main():
|
||||
# the flippening!
|
||||
os.system('LD_LIBRARY_PATH="" content insert --uri content://settings/system --bind name:s:user_rotation --bind value:i:1')
|
||||
|
||||
# disable bluetooth
|
||||
os.system('service call bluetooth_manager 8')
|
||||
|
||||
params = Params()
|
||||
params.manager_start()
|
||||
|
||||
# set unset params
|
||||
if params.get("CommunityFeaturesToggle") is None:
|
||||
params.put("CommunityFeaturesToggle", "0")
|
||||
if params.get("CompletedTrainingVersion") is None:
|
||||
params.put("CompletedTrainingVersion", "0")
|
||||
if params.get("IsMetric") is None:
|
||||
params.put("IsMetric", "0")
|
||||
if params.get("RecordFront") is None:
|
||||
params.put("RecordFront", "0")
|
||||
if params.get("HasAcceptedTerms") is None:
|
||||
params.put("HasAcceptedTerms", "0")
|
||||
if params.get("HasCompletedSetup") is None:
|
||||
params.put("HasCompletedSetup", "0")
|
||||
if params.get("IsUploadRawEnabled") is None:
|
||||
params.put("IsUploadRawEnabled", "1")
|
||||
if params.get("IsLdwEnabled") is None:
|
||||
params.put("IsLdwEnabled", "1")
|
||||
if params.get("IsGeofenceEnabled") is None:
|
||||
params.put("IsGeofenceEnabled", "-1")
|
||||
if params.get("SpeedLimitOffset") is None:
|
||||
params.put("SpeedLimitOffset", "0")
|
||||
if params.get("LongitudinalControl") is None:
|
||||
params.put("LongitudinalControl", "0")
|
||||
if params.get("LimitSetSpeed") is None:
|
||||
params.put("LimitSetSpeed", "0")
|
||||
if params.get("LimitSetSpeedNeural") is None:
|
||||
params.put("LimitSetSpeedNeural", "0")
|
||||
if params.get("LastUpdateTime") is None:
|
||||
t = datetime.datetime.now().isoformat()
|
||||
params.put("LastUpdateTime", t.encode('utf8'))
|
||||
if params.get("OpenpilotEnabledToggle") is None:
|
||||
params.put("OpenpilotEnabledToggle", "1")
|
||||
|
||||
# is this chffrplus?
|
||||
if os.getenv("PASSIVE") is not None:
|
||||
params.put("Passive", str(int(os.getenv("PASSIVE"))))
|
||||
|
||||
if params.get("Passive") is None:
|
||||
raise Exception("Passive must be set to continue")
|
||||
|
||||
if ANDROID:
|
||||
update_apks()
|
||||
manager_init()
|
||||
manager_prepare(spinner)
|
||||
spinner.close()
|
||||
|
||||
if os.getenv("PREPAREONLY") is not None:
|
||||
return
|
||||
|
||||
# SystemExit on sigterm
|
||||
signal.signal(signal.SIGTERM, lambda signum, frame: sys.exit(1))
|
||||
|
||||
try:
|
||||
manager_thread()
|
||||
except Exception:
|
||||
traceback.print_exc()
|
||||
crash.capture_exception()
|
||||
finally:
|
||||
cleanup_all_processes(None, None)
|
||||
|
||||
if params.get("DoUninstall", encoding='utf8') == "1":
|
||||
uninstall()
|
||||
|
||||
if __name__ == "__main__":
|
||||
main()
|
||||
# manual exit because we are forked
|
||||
sys.exit(0)
|
||||
|
|
@ -0,0 +1,96 @@
|
|||
#!/usr/bin/env python3
|
||||
# simple boardd wrapper that updates the panda first
|
||||
import os
|
||||
import time
|
||||
|
||||
from selfdrive.swaglog import cloudlog
|
||||
from panda import Panda, PandaDFU, BASEDIR, build_st
|
||||
|
||||
|
||||
def get_firmware_fn():
|
||||
signed_fn = os.path.join(BASEDIR, "board", "obj", "panda.bin.signed")
|
||||
if os.path.exists(signed_fn):
|
||||
cloudlog.info("Using prebuilt signed firmware")
|
||||
return signed_fn
|
||||
else:
|
||||
cloudlog.info("Building panda firmware")
|
||||
fn = "obj/panda.bin"
|
||||
build_st(fn, clean=False)
|
||||
return os.path.join(BASEDIR, "board", fn)
|
||||
|
||||
|
||||
def get_expected_signature(fw_fn=None):
|
||||
if fw_fn is None:
|
||||
fw_fn = get_firmware_fn()
|
||||
|
||||
return Panda.get_signature_from_firmware(fw_fn)
|
||||
|
||||
|
||||
def update_panda():
|
||||
panda = None
|
||||
panda_dfu = None
|
||||
|
||||
cloudlog.info("Connecting to panda")
|
||||
|
||||
while True:
|
||||
# break on normal mode Panda
|
||||
panda_list = Panda.list()
|
||||
if len(panda_list) > 0:
|
||||
cloudlog.info("Panda found, connecting")
|
||||
panda = Panda(panda_list[0])
|
||||
break
|
||||
|
||||
# flash on DFU mode Panda
|
||||
panda_dfu = PandaDFU.list()
|
||||
if len(panda_dfu) > 0:
|
||||
cloudlog.info("Panda in DFU mode found, flashing recovery")
|
||||
panda_dfu = PandaDFU(panda_dfu[0])
|
||||
panda_dfu.recover()
|
||||
|
||||
time.sleep(1)
|
||||
|
||||
fw_fn = get_firmware_fn()
|
||||
fw_signature = get_expected_signature(fw_fn)
|
||||
|
||||
try:
|
||||
serial = panda.get_serial()[0].decode("utf-8")
|
||||
except Exception:
|
||||
serial = None
|
||||
|
||||
panda_version = "bootstub" if panda.bootstub else panda.get_version()
|
||||
panda_signature = "bootstub" if panda.bootstub else panda.get_signature()
|
||||
cloudlog.warning("Panda %s connected, version: %s, signature %s, expected %s" % (
|
||||
serial,
|
||||
panda_version,
|
||||
panda_signature.hex(),
|
||||
fw_signature.hex(),
|
||||
))
|
||||
|
||||
if panda.bootstub or panda_signature != fw_signature:
|
||||
cloudlog.info("Panda firmware out of date, update required")
|
||||
panda.flash(fw_fn)
|
||||
cloudlog.info("Done flashing")
|
||||
|
||||
if panda.bootstub:
|
||||
cloudlog.info("Flashed firmware not booting, flashing development bootloader")
|
||||
panda.recover()
|
||||
cloudlog.info("Done flashing bootloader")
|
||||
|
||||
if panda.bootstub:
|
||||
cloudlog.info("Panda still not booting, exiting")
|
||||
raise AssertionError
|
||||
|
||||
panda_signature = panda.get_signature()
|
||||
if panda_signature != fw_signature:
|
||||
cloudlog.info("Version mismatch after flashing, exiting")
|
||||
raise AssertionError
|
||||
|
||||
|
||||
def main(gctx=None):
|
||||
update_panda()
|
||||
|
||||
os.chdir("boardd")
|
||||
os.execvp("./boardd", ["./boardd"])
|
||||
|
||||
if __name__ == "__main__":
|
||||
main()
|
||||
|
|
@ -0,0 +1,66 @@
|
|||
import os
|
||||
import json
|
||||
|
||||
from datetime import datetime, timedelta
|
||||
from selfdrive.swaglog import cloudlog
|
||||
from selfdrive.version import version, terms_version, training_version, get_git_commit, get_git_branch, get_git_remote
|
||||
from common.android import get_imei, get_serial, get_subscriber_info
|
||||
from common.api import api_get
|
||||
from common.params import Params
|
||||
from common.file_helpers import mkdirs_exists_ok
|
||||
|
||||
def register():
|
||||
params = Params()
|
||||
params.put("Version", version)
|
||||
params.put("TermsVersion", terms_version)
|
||||
params.put("TrainingVersion", training_version)
|
||||
params.put("GitCommit", get_git_commit())
|
||||
params.put("GitBranch", get_git_branch())
|
||||
params.put("GitRemote", get_git_remote())
|
||||
params.put("SubscriberInfo", get_subscriber_info())
|
||||
|
||||
# create a key for auth
|
||||
# your private key is kept on your device persist partition and never sent to our servers
|
||||
# do not erase your persist partition
|
||||
if not os.path.isfile("/persist/comma/id_rsa.pub"):
|
||||
cloudlog.warning("generating your personal RSA key")
|
||||
mkdirs_exists_ok("/persist/comma")
|
||||
assert os.system("openssl genrsa -out /persist/comma/id_rsa.tmp 2048") == 0
|
||||
assert os.system("openssl rsa -in /persist/comma/id_rsa.tmp -pubout -out /persist/comma/id_rsa.tmp.pub") == 0
|
||||
os.rename("/persist/comma/id_rsa.tmp", "/persist/comma/id_rsa")
|
||||
os.rename("/persist/comma/id_rsa.tmp.pub", "/persist/comma/id_rsa.pub")
|
||||
|
||||
# make key readable by app users (ai.comma.plus.offroad)
|
||||
os.chmod('/persist/comma/', 0o755)
|
||||
os.chmod('/persist/comma/id_rsa', 0o744)
|
||||
|
||||
dongle_id, access_token = params.get("DongleId", encoding='utf8'), params.get("AccessToken", encoding='utf8')
|
||||
public_key = open("/persist/comma/id_rsa.pub").read()
|
||||
|
||||
# create registration token
|
||||
# in the future, this key will make JWTs directly
|
||||
private_key = open("/persist/comma/id_rsa").read()
|
||||
|
||||
# late import
|
||||
import jwt
|
||||
register_token = jwt.encode({'register':True, 'exp': datetime.utcnow() + timedelta(hours=1)}, private_key, algorithm='RS256')
|
||||
|
||||
try:
|
||||
cloudlog.info("getting pilotauth")
|
||||
resp = api_get("v2/pilotauth/", method='POST', timeout=15,
|
||||
imei=get_imei(0), imei2=get_imei(1), serial=get_serial(), public_key=public_key, register_token=register_token)
|
||||
dongleauth = json.loads(resp.text)
|
||||
dongle_id, access_token = dongleauth["dongle_id"], dongleauth["access_token"]
|
||||
|
||||
params.put("DongleId", dongle_id)
|
||||
params.put("AccessToken", access_token)
|
||||
return dongle_id, access_token
|
||||
except Exception:
|
||||
cloudlog.exception("failed to authenticate")
|
||||
if dongle_id is not None and access_token is not None:
|
||||
return dongle_id, access_token
|
||||
else:
|
||||
return None
|
||||
|
||||
if __name__ == "__main__":
|
||||
print(register())
|
||||
|
|
@ -0,0 +1,40 @@
|
|||
import os
|
||||
import logging
|
||||
|
||||
import zmq
|
||||
|
||||
from common.logging_extra import SwagLogger, SwagFormatter
|
||||
|
||||
class LogMessageHandler(logging.Handler):
|
||||
def __init__(self, formatter):
|
||||
logging.Handler.__init__(self)
|
||||
self.setFormatter(formatter)
|
||||
self.pid = None
|
||||
|
||||
def connect(self):
|
||||
self.zctx = zmq.Context()
|
||||
self.sock = self.zctx.socket(zmq.PUSH)
|
||||
self.sock.setsockopt(zmq.LINGER, 10)
|
||||
self.sock.connect("ipc:///tmp/logmessage")
|
||||
self.pid = os.getpid()
|
||||
|
||||
def emit(self, record):
|
||||
if os.getpid() != self.pid:
|
||||
self.connect()
|
||||
|
||||
msg = self.format(record).rstrip('\n')
|
||||
# print("SEND".format(repr(msg)))
|
||||
try:
|
||||
s = chr(record.levelno)+msg
|
||||
self.sock.send(s.encode('utf8'), zmq.NOBLOCK)
|
||||
except zmq.error.Again:
|
||||
# drop :/
|
||||
pass
|
||||
|
||||
cloudlog = log = SwagLogger()
|
||||
log.setLevel(logging.DEBUG)
|
||||
|
||||
outhandler = logging.StreamHandler()
|
||||
log.addHandler(outhandler)
|
||||
|
||||
log.addHandler(LogMessageHandler(SwagFormatter(log)))
|
||||
|
|
@ -0,0 +1,379 @@
|
|||
#!/usr/bin/env python3.7
|
||||
import os
|
||||
import json
|
||||
import copy
|
||||
import datetime
|
||||
import psutil
|
||||
from smbus2 import SMBus
|
||||
from cereal import log
|
||||
from common.android import ANDROID
|
||||
from common.basedir import BASEDIR
|
||||
from common.params import Params
|
||||
from common.realtime import sec_since_boot, DT_TRML
|
||||
from common.numpy_fast import clip, interp
|
||||
from common.filter_simple import FirstOrderFilter
|
||||
from selfdrive.version import terms_version, training_version
|
||||
from selfdrive.swaglog import cloudlog
|
||||
import cereal.messaging as messaging
|
||||
from selfdrive.loggerd.config import get_available_percent
|
||||
from selfdrive.pandad import get_expected_signature
|
||||
|
||||
FW_SIGNATURE = get_expected_signature()
|
||||
|
||||
ThermalStatus = log.ThermalData.ThermalStatus
|
||||
CURRENT_TAU = 15. # 15s time constant
|
||||
DAYS_NO_CONNECTIVITY_MAX = 7 # do not allow to engage after a week without internet
|
||||
DAYS_NO_CONNECTIVITY_PROMPT = 4 # send an offroad prompt after 4 days with no internet
|
||||
|
||||
|
||||
with open(BASEDIR + "/selfdrive/controls/lib/alerts_offroad.json") as json_file:
|
||||
OFFROAD_ALERTS = json.load(json_file)
|
||||
|
||||
def read_tz(x, clip=True):
|
||||
try:
|
||||
with open("/sys/devices/virtual/thermal/thermal_zone%d/temp" % x) as f:
|
||||
ret = int(f.read())
|
||||
if clip:
|
||||
ret = max(0, ret)
|
||||
except FileNotFoundError:
|
||||
return 0
|
||||
|
||||
return ret
|
||||
|
||||
def read_thermal():
|
||||
dat = messaging.new_message()
|
||||
dat.init('thermal')
|
||||
dat.thermal.cpu0 = read_tz(5)
|
||||
dat.thermal.cpu1 = read_tz(7)
|
||||
dat.thermal.cpu2 = read_tz(10)
|
||||
dat.thermal.cpu3 = read_tz(12)
|
||||
dat.thermal.mem = read_tz(2)
|
||||
dat.thermal.gpu = read_tz(16)
|
||||
dat.thermal.bat = read_tz(29)
|
||||
dat.thermal.pa0 = read_tz(25)
|
||||
return dat
|
||||
|
||||
LEON = False
|
||||
def setup_eon_fan():
|
||||
global LEON
|
||||
|
||||
os.system("echo 2 > /sys/module/dwc3_msm/parameters/otg_switch")
|
||||
|
||||
bus = SMBus(7, force=True)
|
||||
try:
|
||||
bus.write_byte_data(0x21, 0x10, 0xf) # mask all interrupts
|
||||
bus.write_byte_data(0x21, 0x03, 0x1) # set drive current and global interrupt disable
|
||||
bus.write_byte_data(0x21, 0x02, 0x2) # needed?
|
||||
bus.write_byte_data(0x21, 0x04, 0x4) # manual override source
|
||||
except IOError:
|
||||
print("LEON detected")
|
||||
#os.system("echo 1 > /sys/devices/soc/6a00000.ssusb/power_supply/usb/usb_otg")
|
||||
LEON = True
|
||||
bus.close()
|
||||
|
||||
last_eon_fan_val = None
|
||||
def set_eon_fan(val):
|
||||
global LEON, last_eon_fan_val
|
||||
|
||||
if last_eon_fan_val is None or last_eon_fan_val != val:
|
||||
bus = SMBus(7, force=True)
|
||||
if LEON:
|
||||
try:
|
||||
i = [0x1, 0x3 | 0, 0x3 | 0x08, 0x3 | 0x10][val]
|
||||
bus.write_i2c_block_data(0x3d, 0, [i])
|
||||
except IOError:
|
||||
# tusb320
|
||||
if val == 0:
|
||||
bus.write_i2c_block_data(0x67, 0xa, [0])
|
||||
#bus.write_i2c_block_data(0x67, 0x45, [1<<2])
|
||||
else:
|
||||
#bus.write_i2c_block_data(0x67, 0x45, [0])
|
||||
bus.write_i2c_block_data(0x67, 0xa, [0x20])
|
||||
bus.write_i2c_block_data(0x67, 0x8, [(val-1)<<6])
|
||||
else:
|
||||
bus.write_byte_data(0x21, 0x04, 0x2)
|
||||
bus.write_byte_data(0x21, 0x03, (val*2)+1)
|
||||
bus.write_byte_data(0x21, 0x04, 0x4)
|
||||
bus.close()
|
||||
last_eon_fan_val = val
|
||||
|
||||
# temp thresholds to control fan speed - high hysteresis
|
||||
_TEMP_THRS_H = [50., 65., 80., 10000]
|
||||
# temp thresholds to control fan speed - low hysteresis
|
||||
_TEMP_THRS_L = [42.5, 57.5, 72.5, 10000]
|
||||
# fan speed options
|
||||
_FAN_SPEEDS = [0, 16384, 32768, 65535]
|
||||
# max fan speed only allowed if battery is hot
|
||||
_BAT_TEMP_THERSHOLD = 45.
|
||||
|
||||
|
||||
def handle_fan_eon(max_cpu_temp, bat_temp, fan_speed):
|
||||
new_speed_h = next(speed for speed, temp_h in zip(_FAN_SPEEDS, _TEMP_THRS_H) if temp_h > max_cpu_temp)
|
||||
new_speed_l = next(speed for speed, temp_l in zip(_FAN_SPEEDS, _TEMP_THRS_L) if temp_l > max_cpu_temp)
|
||||
|
||||
if new_speed_h > fan_speed:
|
||||
# update speed if using the high thresholds results in fan speed increment
|
||||
fan_speed = new_speed_h
|
||||
elif new_speed_l < fan_speed:
|
||||
# update speed if using the low thresholds results in fan speed decrement
|
||||
fan_speed = new_speed_l
|
||||
|
||||
if bat_temp < _BAT_TEMP_THERSHOLD:
|
||||
# no max fan speed unless battery is hot
|
||||
fan_speed = min(fan_speed, _FAN_SPEEDS[-2])
|
||||
|
||||
set_eon_fan(fan_speed//16384)
|
||||
|
||||
return fan_speed
|
||||
|
||||
def handle_fan_uno(max_cpu_temp, bat_temp, fan_speed):
|
||||
# TODO: implement better fan control
|
||||
return int(interp(max_cpu_temp, [40.0, 80.0], [0, 100]))
|
||||
|
||||
def thermald_thread():
|
||||
# prevent LEECO from undervoltage
|
||||
BATT_PERC_OFF = 10 if LEON else 3
|
||||
|
||||
health_timeout = int(1000 * 2.5 * DT_TRML) # 2.5x the expected health frequency
|
||||
|
||||
# now loop
|
||||
thermal_sock = messaging.pub_sock('thermal')
|
||||
health_sock = messaging.sub_sock('health', timeout=health_timeout)
|
||||
location_sock = messaging.sub_sock('gpsLocation')
|
||||
|
||||
fan_speed = 0
|
||||
count = 0
|
||||
|
||||
off_ts = None
|
||||
started_ts = None
|
||||
started_seen = False
|
||||
thermal_status = ThermalStatus.green
|
||||
thermal_status_prev = ThermalStatus.green
|
||||
usb_power = True
|
||||
usb_power_prev = True
|
||||
|
||||
current_filter = FirstOrderFilter(0., CURRENT_TAU, DT_TRML)
|
||||
health_prev = None
|
||||
fw_version_match_prev = True
|
||||
current_connectivity_alert = None
|
||||
time_valid_prev = True
|
||||
should_start_prev = False
|
||||
|
||||
is_uno = (read_tz(29, clip=False) < -1000)
|
||||
if is_uno or not ANDROID:
|
||||
handle_fan = handle_fan_uno
|
||||
else:
|
||||
setup_eon_fan()
|
||||
handle_fan = handle_fan_eon
|
||||
|
||||
params = Params()
|
||||
|
||||
while 1:
|
||||
health = messaging.recv_sock(health_sock, wait=True)
|
||||
location = messaging.recv_sock(location_sock)
|
||||
location = location.gpsLocation if location else None
|
||||
msg = read_thermal()
|
||||
|
||||
# clear car params when panda gets disconnected
|
||||
if health is None and health_prev is not None:
|
||||
params.panda_disconnect()
|
||||
health_prev = health
|
||||
|
||||
if health is not None:
|
||||
usb_power = health.health.usbPowerMode != log.HealthData.UsbPowerMode.client
|
||||
|
||||
msg.thermal.freeSpace = get_available_percent(default=100.0) / 100.0
|
||||
msg.thermal.memUsedPercent = int(round(psutil.virtual_memory().percent))
|
||||
msg.thermal.cpuPerc = int(round(psutil.cpu_percent()))
|
||||
|
||||
try:
|
||||
with open("/sys/class/power_supply/battery/capacity") as f:
|
||||
msg.thermal.batteryPercent = int(f.read())
|
||||
with open("/sys/class/power_supply/battery/status") as f:
|
||||
msg.thermal.batteryStatus = f.read().strip()
|
||||
with open("/sys/class/power_supply/battery/current_now") as f:
|
||||
msg.thermal.batteryCurrent = int(f.read())
|
||||
with open("/sys/class/power_supply/battery/voltage_now") as f:
|
||||
msg.thermal.batteryVoltage = int(f.read())
|
||||
with open("/sys/class/power_supply/usb/present") as f:
|
||||
msg.thermal.usbOnline = bool(int(f.read()))
|
||||
except FileNotFoundError:
|
||||
pass
|
||||
|
||||
# Fake battery levels on uno for frame
|
||||
if is_uno:
|
||||
msg.thermal.batteryPercent = 100
|
||||
msg.thermal.batteryStatus = "Charging"
|
||||
|
||||
current_filter.update(msg.thermal.batteryCurrent / 1e6)
|
||||
|
||||
# TODO: add car battery voltage check
|
||||
max_cpu_temp = max(msg.thermal.cpu0, msg.thermal.cpu1,
|
||||
msg.thermal.cpu2, msg.thermal.cpu3) / 10.0
|
||||
max_comp_temp = max(max_cpu_temp, msg.thermal.mem / 10., msg.thermal.gpu / 10.)
|
||||
bat_temp = msg.thermal.bat/1000.
|
||||
|
||||
fan_speed = handle_fan(max_cpu_temp, bat_temp, fan_speed)
|
||||
msg.thermal.fanSpeed = fan_speed
|
||||
|
||||
# thermal logic with hysterisis
|
||||
if max_cpu_temp > 107. or bat_temp >= 63.:
|
||||
# onroad not allowed
|
||||
thermal_status = ThermalStatus.danger
|
||||
elif max_comp_temp > 92.5 or bat_temp > 60.: # CPU throttling starts around ~90C
|
||||
# hysteresis between onroad not allowed and engage not allowed
|
||||
thermal_status = clip(thermal_status, ThermalStatus.red, ThermalStatus.danger)
|
||||
elif max_cpu_temp > 87.5:
|
||||
# hysteresis between engage not allowed and uploader not allowed
|
||||
thermal_status = clip(thermal_status, ThermalStatus.yellow, ThermalStatus.red)
|
||||
elif max_cpu_temp > 80.0:
|
||||
# uploader not allowed
|
||||
thermal_status = ThermalStatus.yellow
|
||||
elif max_cpu_temp > 75.0:
|
||||
# hysteresis between uploader not allowed and all good
|
||||
thermal_status = clip(thermal_status, ThermalStatus.green, ThermalStatus.yellow)
|
||||
else:
|
||||
# all good
|
||||
thermal_status = ThermalStatus.green
|
||||
|
||||
# **** starting logic ****
|
||||
|
||||
# Check for last update time and display alerts if needed
|
||||
now = datetime.datetime.now()
|
||||
|
||||
# show invalid date/time alert
|
||||
time_valid = now.year >= 2019
|
||||
if time_valid and not time_valid_prev:
|
||||
params.delete("Offroad_InvalidTime")
|
||||
if not time_valid and time_valid_prev:
|
||||
params.put("Offroad_InvalidTime", json.dumps(OFFROAD_ALERTS["Offroad_InvalidTime"]))
|
||||
time_valid_prev = time_valid
|
||||
|
||||
# Show update prompt
|
||||
try:
|
||||
last_update = datetime.datetime.fromisoformat(params.get("LastUpdateTime", encoding='utf8'))
|
||||
except (TypeError, ValueError):
|
||||
last_update = now
|
||||
dt = now - last_update
|
||||
|
||||
if dt.days > DAYS_NO_CONNECTIVITY_MAX:
|
||||
if current_connectivity_alert != "expired":
|
||||
current_connectivity_alert = "expired"
|
||||
params.delete("Offroad_ConnectivityNeededPrompt")
|
||||
params.put("Offroad_ConnectivityNeeded", json.dumps(OFFROAD_ALERTS["Offroad_ConnectivityNeeded"]))
|
||||
elif dt.days > DAYS_NO_CONNECTIVITY_PROMPT:
|
||||
remaining_time = str(DAYS_NO_CONNECTIVITY_MAX - dt.days)
|
||||
if current_connectivity_alert != "prompt" + remaining_time:
|
||||
current_connectivity_alert = "prompt" + remaining_time
|
||||
alert_connectivity_prompt = copy.copy(OFFROAD_ALERTS["Offroad_ConnectivityNeededPrompt"])
|
||||
alert_connectivity_prompt["text"] += remaining_time + " days."
|
||||
params.delete("Offroad_ConnectivityNeeded")
|
||||
params.put("Offroad_ConnectivityNeededPrompt", json.dumps(alert_connectivity_prompt))
|
||||
elif current_connectivity_alert is not None:
|
||||
current_connectivity_alert = None
|
||||
params.delete("Offroad_ConnectivityNeeded")
|
||||
params.delete("Offroad_ConnectivityNeededPrompt")
|
||||
|
||||
# start constellation of processes when the car starts
|
||||
ignition = health is not None and (health.health.ignitionLine or health.health.ignitionCan)
|
||||
|
||||
do_uninstall = params.get("DoUninstall") == b"1"
|
||||
accepted_terms = params.get("HasAcceptedTerms") == terms_version
|
||||
completed_training = params.get("CompletedTrainingVersion") == training_version
|
||||
|
||||
panda_signature = params.get("PandaFirmware")
|
||||
fw_version_match = (panda_signature is None) or (panda_signature == FW_SIGNATURE) # don't show alert is no panda is connected (None)
|
||||
|
||||
should_start = ignition
|
||||
|
||||
# with 2% left, we killall, otherwise the phone will take a long time to boot
|
||||
should_start = should_start and msg.thermal.freeSpace > 0.02
|
||||
|
||||
# confirm we have completed training and aren't uninstalling
|
||||
should_start = should_start and accepted_terms and completed_training and (not do_uninstall)
|
||||
|
||||
# check for firmware mismatch
|
||||
should_start = should_start and fw_version_match
|
||||
|
||||
# check if system time is valid
|
||||
should_start = should_start and time_valid
|
||||
|
||||
# don't start while taking snapshot
|
||||
if not should_start_prev:
|
||||
is_taking_snapshot = params.get("IsTakingSnapshot") == b"1"
|
||||
should_start = should_start and (not is_taking_snapshot)
|
||||
|
||||
if fw_version_match and not fw_version_match_prev:
|
||||
params.delete("Offroad_PandaFirmwareMismatch")
|
||||
if not fw_version_match and fw_version_match_prev:
|
||||
params.put("Offroad_PandaFirmwareMismatch", json.dumps(OFFROAD_ALERTS["Offroad_PandaFirmwareMismatch"]))
|
||||
|
||||
# if any CPU gets above 107 or the battery gets above 63, kill all processes
|
||||
# controls will warn with CPU above 95 or battery above 60
|
||||
if thermal_status >= ThermalStatus.danger:
|
||||
should_start = False
|
||||
if thermal_status_prev < ThermalStatus.danger:
|
||||
params.put("Offroad_TemperatureTooHigh", json.dumps(OFFROAD_ALERTS["Offroad_TemperatureTooHigh"]))
|
||||
else:
|
||||
if thermal_status_prev >= ThermalStatus.danger:
|
||||
params.delete("Offroad_TemperatureTooHigh")
|
||||
|
||||
if should_start:
|
||||
if not should_start_prev:
|
||||
params.delete("IsOffroad")
|
||||
|
||||
off_ts = None
|
||||
if started_ts is None:
|
||||
started_ts = sec_since_boot()
|
||||
started_seen = True
|
||||
os.system('echo performance > /sys/class/devfreq/soc:qcom,cpubw/governor')
|
||||
else:
|
||||
if should_start_prev or (count == 0):
|
||||
params.put("IsOffroad", "1")
|
||||
|
||||
started_ts = None
|
||||
if off_ts is None:
|
||||
off_ts = sec_since_boot()
|
||||
os.system('echo powersave > /sys/class/devfreq/soc:qcom,cpubw/governor')
|
||||
|
||||
# shutdown if the battery gets lower than 3%, it's discharging, we aren't running for
|
||||
# more than a minute but we were running
|
||||
if msg.thermal.batteryPercent < BATT_PERC_OFF and msg.thermal.batteryStatus == "Discharging" and \
|
||||
started_seen and (sec_since_boot() - off_ts) > 60:
|
||||
os.system('LD_LIBRARY_PATH="" svc power shutdown')
|
||||
|
||||
msg.thermal.chargingError = current_filter.x > 0. and msg.thermal.batteryPercent < 90 # if current is positive, then battery is being discharged
|
||||
msg.thermal.started = started_ts is not None
|
||||
msg.thermal.startedTs = int(1e9*(started_ts or 0))
|
||||
|
||||
msg.thermal.thermalStatus = thermal_status
|
||||
thermal_sock.send(msg.to_bytes())
|
||||
|
||||
if usb_power_prev and not usb_power:
|
||||
params.put("Offroad_ChargeDisabled", json.dumps(OFFROAD_ALERTS["Offroad_ChargeDisabled"]))
|
||||
elif usb_power and not usb_power_prev:
|
||||
params.delete("Offroad_ChargeDisabled")
|
||||
|
||||
thermal_status_prev = thermal_status
|
||||
usb_power_prev = usb_power
|
||||
fw_version_match_prev = fw_version_match
|
||||
should_start_prev = should_start
|
||||
|
||||
#print(msg)
|
||||
|
||||
# report to server once per minute
|
||||
if (count % int(60. / DT_TRML)) == 0:
|
||||
cloudlog.event("STATUS_PACKET",
|
||||
count=count,
|
||||
health=(health.to_dict() if health else None),
|
||||
location=(location.to_dict() if location else None),
|
||||
thermal=msg.to_dict())
|
||||
|
||||
count += 1
|
||||
|
||||
|
||||
def main(gctx=None):
|
||||
thermald_thread()
|
||||
|
||||
if __name__ == "__main__":
|
||||
main()
|
||||
|
|
@ -0,0 +1,122 @@
|
|||
import os
|
||||
import re
|
||||
import time
|
||||
import datetime
|
||||
|
||||
from raven import Client
|
||||
from raven.transport.http import HTTPTransport
|
||||
|
||||
from selfdrive.version import version, dirty
|
||||
from selfdrive.swaglog import cloudlog
|
||||
|
||||
def get_tombstones():
|
||||
DIR_DATA = "/data/tombstones/"
|
||||
return [(DIR_DATA + fn, int(os.stat(DIR_DATA + fn).st_ctime) )
|
||||
for fn in os.listdir(DIR_DATA) if fn.startswith("tombstone")]
|
||||
|
||||
def report_tombstone(fn, client):
|
||||
mtime = os.path.getmtime(fn)
|
||||
with open(fn, encoding='ISO-8859-1') as f:
|
||||
dat = f.read()
|
||||
|
||||
# see system/core/debuggerd/tombstone.cpp
|
||||
parsed = re.match(r"[* ]*\n"
|
||||
r"(?P<header>CM Version:[\s\S]*?ABI:.*\n)"
|
||||
r"(?P<thread>pid:.*\n)"
|
||||
r"(?P<signal>signal.*\n)?"
|
||||
r"(?P<abort>Abort.*\n)?"
|
||||
r"(?P<registers>\s+x0[\s\S]*?\n)\n"
|
||||
r"(?:backtrace:\n"
|
||||
r"(?P<backtrace>[\s\S]*?\n)\n"
|
||||
r"stack:\n"
|
||||
r"(?P<stack>[\s\S]*?\n)\n"
|
||||
r")?", dat)
|
||||
|
||||
logtail = re.search(r"--------- tail end of.*\n([\s\S]*?\n)---", dat)
|
||||
logtail = logtail and logtail.group(1)
|
||||
|
||||
if parsed:
|
||||
parsedict = parsed.groupdict()
|
||||
else:
|
||||
parsedict = {}
|
||||
|
||||
thread_line = parsedict.get('thread', '')
|
||||
thread_parsed = re.match(r'pid: (?P<pid>\d+), tid: (?P<tid>\d+), name: (?P<name>.*) >>> (?P<cmd>.*) <<<', thread_line)
|
||||
if thread_parsed:
|
||||
thread_parseddict = thread_parsed.groupdict()
|
||||
else:
|
||||
thread_parseddict = {}
|
||||
pid = thread_parseddict.get('pid', '')
|
||||
tid = thread_parseddict.get('tid', '')
|
||||
name = thread_parseddict.get('name', 'unknown')
|
||||
cmd = thread_parseddict.get('cmd', 'unknown')
|
||||
|
||||
signal_line = parsedict.get('signal', '')
|
||||
signal_parsed = re.match(r'signal (?P<signal>.*?), code (?P<code>.*?), fault addr (?P<fault_addr>.*)\n', signal_line)
|
||||
if signal_parsed:
|
||||
signal_parseddict = signal_parsed.groupdict()
|
||||
else:
|
||||
signal_parseddict = {}
|
||||
signal = signal_parseddict.get('signal', 'unknown')
|
||||
code = signal_parseddict.get('code', 'unknown')
|
||||
fault_addr = signal_parseddict.get('fault_addr', '')
|
||||
|
||||
abort_line = parsedict.get('abort', '')
|
||||
|
||||
if parsed:
|
||||
message = 'Process {} ({}) got signal {} code {}'.format(name, cmd, signal, code)
|
||||
if abort_line:
|
||||
message += '\n'+abort_line
|
||||
else:
|
||||
message = fn+'\n'+dat[:1024]
|
||||
|
||||
|
||||
client.captureMessage(
|
||||
message=message,
|
||||
date=datetime.datetime.utcfromtimestamp(mtime),
|
||||
data={
|
||||
'logger':'tombstoned',
|
||||
'platform':'other',
|
||||
},
|
||||
sdk={'name': 'tombstoned', 'version': '0'},
|
||||
extra={
|
||||
'fault_addr': fault_addr,
|
||||
'abort_msg': abort_line,
|
||||
'pid': pid,
|
||||
'tid': tid,
|
||||
'name':'{} ({})'.format(name, cmd),
|
||||
'tombstone_fn': fn,
|
||||
'header': parsedict.get('header'),
|
||||
'registers': parsedict.get('registers'),
|
||||
'backtrace': parsedict.get('backtrace'),
|
||||
'logtail': logtail,
|
||||
},
|
||||
tags={
|
||||
'name':'{} ({})'.format(name, cmd),
|
||||
'signal':signal,
|
||||
'code':code,
|
||||
'fault_addr':fault_addr,
|
||||
},
|
||||
)
|
||||
cloudlog.error({'tombstone': message})
|
||||
|
||||
|
||||
def main(gctx=None):
|
||||
initial_tombstones = set(get_tombstones())
|
||||
|
||||
client = Client('https://d3b175702f62402c91ade04d1c547e68:b20d68c813c74f63a7cdf9c4039d8f56@sentry.io/157615',
|
||||
install_sys_hook=False, transport=HTTPTransport, release=version, tags={'dirty': dirty}, string_max_length=10000)
|
||||
|
||||
client.user_context({'id': os.environ.get('DONGLE_ID')})
|
||||
while True:
|
||||
now_tombstones = set(get_tombstones())
|
||||
|
||||
for fn, ctime in (now_tombstones - initial_tombstones):
|
||||
cloudlog.info("reporting new tombstone %s", fn)
|
||||
report_tombstone(fn, client)
|
||||
|
||||
initial_tombstones = now_tombstones
|
||||
time.sleep(5)
|
||||
|
||||
if __name__ == "__main__":
|
||||
main()
|
||||
|
|
@ -0,0 +1,361 @@
|
|||
#!/usr/bin/env python3
|
||||
|
||||
# Safe Update: A simple service that waits for network access and tries to
|
||||
# update every 10 minutes. It's intended to make the OP update process more
|
||||
# robust against Git repository corruption. This service DOES NOT try to fix
|
||||
# an already-corrupt BASEDIR Git repo, only prevent it from happening.
|
||||
#
|
||||
# During normal operation, both onroad and offroad, the update process makes
|
||||
# no changes to the BASEDIR install of OP. All update attempts are performed
|
||||
# in a disposable staging area provided by OverlayFS. It assumes the deleter
|
||||
# process provides enough disk space to carry out the process.
|
||||
#
|
||||
# If an update succeeds, a flag is set, and the update is swapped in at the
|
||||
# next reboot. If an update is interrupted or otherwise fails, the OverlayFS
|
||||
# upper layer and metadata can be discarded before trying again.
|
||||
#
|
||||
# The swap on boot is triggered by launch_chffrplus.sh
|
||||
# gated on the existence of $FINALIZED/.overlay_consistent and also the
|
||||
# existence and mtime of $BASEDIR/.overlay_init.
|
||||
#
|
||||
# Other than build byproducts, BASEDIR should not be modified while this
|
||||
# service is running. Developers modifying code directly in BASEDIR should
|
||||
# disable this service.
|
||||
|
||||
import os
|
||||
import datetime
|
||||
import subprocess
|
||||
import psutil
|
||||
from stat import S_ISREG, S_ISDIR, S_ISLNK, S_IMODE, ST_MODE, ST_INO, ST_UID, ST_GID, ST_ATIME, ST_MTIME
|
||||
import shutil
|
||||
import signal
|
||||
from pathlib import Path
|
||||
import fcntl
|
||||
import threading
|
||||
from cffi import FFI
|
||||
|
||||
from common.basedir import BASEDIR
|
||||
from common.params import Params
|
||||
from selfdrive.swaglog import cloudlog
|
||||
|
||||
STAGING_ROOT = "/data/safe_staging"
|
||||
|
||||
OVERLAY_UPPER = os.path.join(STAGING_ROOT, "upper")
|
||||
OVERLAY_METADATA = os.path.join(STAGING_ROOT, "metadata")
|
||||
OVERLAY_MERGED = os.path.join(STAGING_ROOT, "merged")
|
||||
FINALIZED = os.path.join(STAGING_ROOT, "finalized")
|
||||
|
||||
NICE_LOW_PRIORITY = ["nice", "-n", "19"]
|
||||
SHORT = os.getenv("SHORT") is not None
|
||||
|
||||
# Workaround for the EON/termux build of Python having os.link removed.
|
||||
ffi = FFI()
|
||||
ffi.cdef("int link(const char *oldpath, const char *newpath);")
|
||||
libc = ffi.dlopen(None)
|
||||
|
||||
|
||||
class WaitTimeHelper:
|
||||
ready_event = threading.Event()
|
||||
shutdown = False
|
||||
|
||||
def __init__(self):
|
||||
signal.signal(signal.SIGTERM, self.graceful_shutdown)
|
||||
signal.signal(signal.SIGINT, self.graceful_shutdown)
|
||||
signal.signal(signal.SIGHUP, self.update_now)
|
||||
|
||||
def graceful_shutdown(self, signum, frame):
|
||||
# umount -f doesn't appear effective in avoiding "device busy" on EON,
|
||||
# so don't actually die until the next convenient opportunity in main().
|
||||
cloudlog.info("caught SIGINT/SIGTERM, dismounting overlay at next opportunity")
|
||||
self.shutdown = True
|
||||
self.ready_event.set()
|
||||
|
||||
def update_now(self, signum, frame):
|
||||
cloudlog.info("caught SIGHUP, running update check immediately")
|
||||
self.ready_event.set()
|
||||
|
||||
|
||||
def wait_between_updates(ready_event):
|
||||
ready_event.clear()
|
||||
if SHORT:
|
||||
ready_event.wait(timeout=10)
|
||||
else:
|
||||
ready_event.wait(timeout=60 * 10)
|
||||
|
||||
|
||||
def link(src, dest):
|
||||
# Workaround for the EON/termux build of Python having os.link removed.
|
||||
return libc.link(src.encode(), dest.encode())
|
||||
|
||||
|
||||
def run(cmd, cwd=None):
|
||||
return subprocess.check_output(cmd, cwd=cwd, stderr=subprocess.STDOUT, encoding='utf8')
|
||||
|
||||
|
||||
def remove_consistent_flag():
|
||||
os.system("sync")
|
||||
consistent_file = Path(os.path.join(FINALIZED, ".overlay_consistent"))
|
||||
try:
|
||||
consistent_file.unlink()
|
||||
except FileNotFoundError:
|
||||
pass
|
||||
os.system("sync")
|
||||
|
||||
|
||||
def set_consistent_flag():
|
||||
consistent_file = Path(os.path.join(FINALIZED, ".overlay_consistent"))
|
||||
os.system("sync")
|
||||
consistent_file.touch()
|
||||
os.system("sync")
|
||||
|
||||
|
||||
def set_update_available_params(new_version=False):
|
||||
params = Params()
|
||||
|
||||
t = datetime.datetime.now().isoformat()
|
||||
params.put("LastUpdateTime", t.encode('utf8'))
|
||||
|
||||
if new_version:
|
||||
try:
|
||||
with open(os.path.join(FINALIZED, "RELEASES.md"), "rb") as f:
|
||||
r = f.read()
|
||||
r = r[:r.find(b'\n\n')] # Slice latest release notes
|
||||
params.put("ReleaseNotes", r + b"\n")
|
||||
except Exception:
|
||||
params.put("ReleaseNotes", "")
|
||||
params.put("UpdateAvailable", "1")
|
||||
|
||||
|
||||
def dismount_ovfs():
|
||||
if os.path.ismount(OVERLAY_MERGED):
|
||||
cloudlog.error("unmounting existing overlay")
|
||||
run(["umount", "-l", OVERLAY_MERGED])
|
||||
|
||||
|
||||
def init_ovfs():
|
||||
cloudlog.info("preparing new safe staging area")
|
||||
Params().put("UpdateAvailable", "0")
|
||||
|
||||
remove_consistent_flag()
|
||||
|
||||
dismount_ovfs()
|
||||
if os.path.isdir(STAGING_ROOT):
|
||||
shutil.rmtree(STAGING_ROOT)
|
||||
|
||||
for dirname in [STAGING_ROOT, OVERLAY_UPPER, OVERLAY_METADATA, OVERLAY_MERGED, FINALIZED]:
|
||||
os.mkdir(dirname, 0o755)
|
||||
if not os.lstat(BASEDIR).st_dev == os.lstat(OVERLAY_MERGED).st_dev:
|
||||
raise RuntimeError("base and overlay merge directories are on different filesystems; not valid for overlay FS!")
|
||||
|
||||
# Remove consistent flag from current BASEDIR so it's not copied over
|
||||
if os.path.isfile(os.path.join(BASEDIR, ".overlay_consistent")):
|
||||
os.remove(os.path.join(BASEDIR, ".overlay_consistent"))
|
||||
|
||||
# We sync FS object atimes (which EON doesn't use) and mtimes, but ctimes
|
||||
# are outside user control. Make sure Git is set up to ignore system ctimes,
|
||||
# because they change when we make hard links during finalize. Otherwise,
|
||||
# there is a lot of unnecessary churn. This appears to be a common need on
|
||||
# OSX as well: https://www.git-tower.com/blog/make-git-rebase-safe-on-osx/
|
||||
run(["git", "config", "core.trustctime", "false"], BASEDIR)
|
||||
|
||||
# We are temporarily using copytree to copy the directory, which also changes
|
||||
# inode numbers. Ignore those changes too.
|
||||
run(["git", "config", "core.checkStat", "minimal"], BASEDIR)
|
||||
|
||||
# Leave a timestamped canary in BASEDIR to check at startup. The EON clock
|
||||
# should be correct by the time we get here. If the init file disappears, or
|
||||
# critical mtimes in BASEDIR are newer than .overlay_init, continue.sh can
|
||||
# assume that BASEDIR has used for local development or otherwise modified,
|
||||
# and skips the update activation attempt.
|
||||
Path(os.path.join(BASEDIR, ".overlay_init")).touch()
|
||||
|
||||
overlay_opts = f"lowerdir={BASEDIR},upperdir={OVERLAY_UPPER},workdir={OVERLAY_METADATA}"
|
||||
run(["mount", "-t", "overlay", "-o", overlay_opts, "none", OVERLAY_MERGED])
|
||||
|
||||
|
||||
def inodes_in_tree(search_dir):
|
||||
"""Given a search root, produce a dictionary mapping of inodes to relative
|
||||
pathnames of regular files (no directories, symlinks, or special files)."""
|
||||
inode_map = {}
|
||||
for root, dirs, files in os.walk(search_dir, topdown=True):
|
||||
for file_name in files:
|
||||
full_path_name = os.path.join(root, file_name)
|
||||
st = os.lstat(full_path_name)
|
||||
if S_ISREG(st[ST_MODE]):
|
||||
inode_map[st[ST_INO]] = full_path_name
|
||||
return inode_map
|
||||
|
||||
|
||||
def dup_ovfs_object(inode_map, source_obj, target_dir):
|
||||
"""Given a relative pathname to copy, and a new target root, duplicate the
|
||||
source object in the target root, using hardlinks for regular files."""
|
||||
|
||||
source_full_path = os.path.join(OVERLAY_MERGED, source_obj)
|
||||
st = os.lstat(source_full_path)
|
||||
target_full_path = os.path.join(target_dir, source_obj)
|
||||
|
||||
if S_ISREG(st[ST_MODE]):
|
||||
# Hardlink all regular files; ownership and permissions are shared.
|
||||
link(inode_map[st[ST_INO]], target_full_path)
|
||||
else:
|
||||
# Recreate all directories and symlinks; copy ownership and permissions.
|
||||
if S_ISDIR(st[ST_MODE]):
|
||||
os.mkdir(os.path.join(FINALIZED, source_obj), S_IMODE(st[ST_MODE]))
|
||||
elif S_ISLNK(st[ST_MODE]):
|
||||
os.symlink(os.readlink(source_full_path), target_full_path)
|
||||
os.chmod(target_full_path, S_IMODE(st[ST_MODE]), follow_symlinks=False)
|
||||
else:
|
||||
# Ran into a FIFO, socket, etc. Should not happen in OP install dir.
|
||||
# Ignore without copying for the time being; revisit later if needed.
|
||||
cloudlog.error("can't copy this file type: %s" % source_full_path)
|
||||
os.chown(target_full_path, st[ST_UID], st[ST_GID], follow_symlinks=False)
|
||||
|
||||
# Sync target mtimes to the cached lstat() value from each source object.
|
||||
# Restores shared inode mtimes after linking, fixes symlinks and dirs.
|
||||
os.utime(target_full_path, (st[ST_ATIME], st[ST_MTIME]), follow_symlinks=False)
|
||||
|
||||
|
||||
def finalize_from_ovfs_hardlink():
|
||||
"""Take the current OverlayFS merged view and finalize a copy outside of
|
||||
OverlayFS, ready to be swapped-in at BASEDIR. Copy using hardlinks"""
|
||||
|
||||
cloudlog.info("creating finalized version of the overlay")
|
||||
|
||||
# The "copy" is done with hardlinks, but since the OverlayFS merge looks
|
||||
# like a different filesystem, and hardlinks can't cross filesystems, we
|
||||
# have to borrow a source pathname from the upper or lower layer.
|
||||
inode_map = inodes_in_tree(BASEDIR)
|
||||
inode_map.update(inodes_in_tree(OVERLAY_UPPER))
|
||||
|
||||
shutil.rmtree(FINALIZED)
|
||||
os.umask(0o077)
|
||||
os.mkdir(FINALIZED)
|
||||
for root, dirs, files in os.walk(OVERLAY_MERGED, topdown=True):
|
||||
for obj_name in dirs:
|
||||
relative_path_name = os.path.relpath(os.path.join(root, obj_name), OVERLAY_MERGED)
|
||||
dup_ovfs_object(inode_map, relative_path_name, FINALIZED)
|
||||
for obj_name in files:
|
||||
relative_path_name = os.path.relpath(os.path.join(root, obj_name), OVERLAY_MERGED)
|
||||
dup_ovfs_object(inode_map, relative_path_name, FINALIZED)
|
||||
cloudlog.info("done finalizing overlay")
|
||||
|
||||
|
||||
def finalize_from_ovfs_copy():
|
||||
"""Take the current OverlayFS merged view and finalize a copy outside of
|
||||
OverlayFS, ready to be swapped-in at BASEDIR. Copy using shutil.copytree"""
|
||||
|
||||
cloudlog.info("creating finalized version of the overlay")
|
||||
shutil.rmtree(FINALIZED)
|
||||
shutil.copytree(OVERLAY_MERGED, FINALIZED, symlinks=True)
|
||||
cloudlog.info("done finalizing overlay")
|
||||
|
||||
|
||||
def attempt_update():
|
||||
cloudlog.info("attempting git update inside staging overlay")
|
||||
|
||||
git_fetch_output = run(NICE_LOW_PRIORITY + ["git", "fetch"], OVERLAY_MERGED)
|
||||
cloudlog.info("git fetch success: %s", git_fetch_output)
|
||||
|
||||
cur_hash = run(["git", "rev-parse", "HEAD"], OVERLAY_MERGED).rstrip()
|
||||
upstream_hash = run(["git", "rev-parse", "@{u}"], OVERLAY_MERGED).rstrip()
|
||||
new_version = cur_hash != upstream_hash
|
||||
|
||||
git_fetch_result = len(git_fetch_output) > 0 and (git_fetch_output != "Failed to add the host to the list of known hosts (/data/data/com.termux/files/home/.ssh/known_hosts).\n")
|
||||
|
||||
cloudlog.info("comparing %s to %s" % (cur_hash, upstream_hash))
|
||||
if new_version or git_fetch_result:
|
||||
cloudlog.info("Running update")
|
||||
if new_version:
|
||||
cloudlog.info("git reset in progress")
|
||||
r = [
|
||||
run(NICE_LOW_PRIORITY + ["git", "reset", "--hard", "@{u}"], OVERLAY_MERGED),
|
||||
run(NICE_LOW_PRIORITY + ["git", "clean", "-xdf"], OVERLAY_MERGED),
|
||||
run(NICE_LOW_PRIORITY + ["git", "submodule", "init"], OVERLAY_MERGED),
|
||||
run(NICE_LOW_PRIORITY + ["git", "submodule", "update"], OVERLAY_MERGED),
|
||||
]
|
||||
cloudlog.info("git reset success: %s", '\n'.join(r))
|
||||
|
||||
# Un-set the validity flag to prevent the finalized tree from being
|
||||
# activated later if the finalize step is interrupted
|
||||
remove_consistent_flag()
|
||||
|
||||
finalize_from_ovfs_copy()
|
||||
|
||||
# Make sure the validity flag lands on disk LAST, only when the local git
|
||||
# repo and OP install are in a consistent state.
|
||||
set_consistent_flag()
|
||||
|
||||
cloudlog.info("update successful!")
|
||||
else:
|
||||
cloudlog.info("nothing new from git at this time")
|
||||
|
||||
set_update_available_params(new_version=new_version)
|
||||
|
||||
|
||||
def main(gctx=None):
|
||||
overlay_init_done = False
|
||||
wait_helper = WaitTimeHelper()
|
||||
params = Params()
|
||||
|
||||
if not os.geteuid() == 0:
|
||||
raise RuntimeError("updated must be launched as root!")
|
||||
|
||||
# Set low io priority
|
||||
p = psutil.Process()
|
||||
if psutil.LINUX:
|
||||
p.ionice(psutil.IOPRIO_CLASS_BE, value=7)
|
||||
|
||||
ov_lock_fd = open('/tmp/safe_staging_overlay.lock', 'w')
|
||||
try:
|
||||
fcntl.flock(ov_lock_fd, fcntl.LOCK_EX | fcntl.LOCK_NB)
|
||||
except IOError:
|
||||
raise RuntimeError("couldn't get overlay lock; is another updated running?")
|
||||
|
||||
while True:
|
||||
time_wrong = datetime.datetime.now().year < 2019
|
||||
ping_failed = subprocess.call(["ping", "-W", "4", "-c", "1", "8.8.8.8"])
|
||||
|
||||
# Wait until we have a valid datetime to initialize the overlay
|
||||
if not (ping_failed or time_wrong):
|
||||
try:
|
||||
# If the git directory has modifcations after we created the overlay
|
||||
# we need to recreate the overlay
|
||||
if overlay_init_done:
|
||||
overlay_init_fn = os.path.join(BASEDIR, ".overlay_init")
|
||||
git_dir_path = os.path.join(BASEDIR, ".git")
|
||||
new_files = run(["find", git_dir_path, "-newer", overlay_init_fn])
|
||||
|
||||
if len(new_files.splitlines()):
|
||||
cloudlog.info(".git directory changed, recreating overlay")
|
||||
overlay_init_done = False
|
||||
|
||||
if not overlay_init_done:
|
||||
init_ovfs()
|
||||
overlay_init_done = True
|
||||
|
||||
if params.get("IsOffroad") == b"1":
|
||||
attempt_update()
|
||||
else:
|
||||
cloudlog.info("not running updater, openpilot running")
|
||||
|
||||
except subprocess.CalledProcessError as e:
|
||||
cloudlog.event(
|
||||
"update process failed",
|
||||
cmd=e.cmd,
|
||||
output=e.output,
|
||||
returncode=e.returncode
|
||||
)
|
||||
overlay_init_done = False
|
||||
except Exception:
|
||||
cloudlog.exception("uncaught updated exception, shouldn't happen")
|
||||
overlay_init_done = False
|
||||
|
||||
wait_between_updates(wait_helper.ready_event)
|
||||
if wait_helper.shutdown:
|
||||
break
|
||||
|
||||
# We've been signaled to shut down
|
||||
dismount_ovfs()
|
||||
|
||||
if __name__ == "__main__":
|
||||
main()
|
||||
|
|
@ -0,0 +1,73 @@
|
|||
#!/usr/bin/env python3
|
||||
import os
|
||||
import subprocess
|
||||
from selfdrive.swaglog import cloudlog
|
||||
|
||||
|
||||
def get_git_commit():
|
||||
return subprocess.check_output(["git", "rev-parse", "HEAD"], encoding='utf8').strip()
|
||||
|
||||
|
||||
def get_git_branch():
|
||||
return subprocess.check_output(["git", "rev-parse", "--abbrev-ref", "HEAD"], encoding='utf8').strip()
|
||||
|
||||
|
||||
def get_git_full_branchname():
|
||||
return subprocess.check_output(["git", "rev-parse", "--abbrev-ref", "--symbolic-full-name", "@{u}"], encoding='utf8').strip()
|
||||
|
||||
|
||||
def get_git_remote():
|
||||
try:
|
||||
local_branch = subprocess.check_output(["git", "name-rev", "--name-only", "HEAD"], encoding='utf8').strip()
|
||||
tracking_remote = subprocess.check_output(["git", "config", "branch." + local_branch + ".remote"], encoding='utf8').strip()
|
||||
return subprocess.check_output(["git", "config", "remote." + tracking_remote + ".url"], encoding='utf8').strip()
|
||||
except subprocess.CalledProcessError:
|
||||
# Not on a branch, fallback
|
||||
return subprocess.check_output(["git", "config", "--get", "remote.origin.url"], encoding='utf8').strip()
|
||||
|
||||
|
||||
with open(os.path.join(os.path.dirname(os.path.abspath(__file__)), "common", "version.h")) as _versionf:
|
||||
version = _versionf.read().split('"')[1]
|
||||
|
||||
try:
|
||||
origin = get_git_remote()
|
||||
if origin.startswith('git@github.com:commaai') or origin.startswith('https://github.com/commaai'):
|
||||
if origin.endswith('/one.git'):
|
||||
dirty = True
|
||||
else:
|
||||
branch = get_git_full_branchname()
|
||||
|
||||
# This is needed otherwise touched files might show up as modified
|
||||
try:
|
||||
subprocess.check_call(["git", "update-index", "--refresh"])
|
||||
except subprocess.CalledProcessError:
|
||||
pass
|
||||
|
||||
dirty = subprocess.call(["git", "diff-index", "--quiet", branch, "--"]) != 0
|
||||
if dirty:
|
||||
dirty_files = subprocess.check_output(["git", "diff-index", branch, "--"], encoding='utf8')
|
||||
commit = subprocess.check_output(["git", "rev-parse", "--verify", "HEAD"], encoding='utf8').rstrip()
|
||||
origin_commit = subprocess.check_output(["git", "rev-parse", "--verify", branch], encoding='utf8').rstrip()
|
||||
cloudlog.event("dirty comma branch", version=version, dirty=dirty, origin=origin, branch=branch, dirty_files=dirty_files, commit=commit, origin_commit=origin_commit)
|
||||
|
||||
else:
|
||||
dirty = True
|
||||
except subprocess.CalledProcessError:
|
||||
try:
|
||||
cloudlog.exception("git subprocess failed while finding version")
|
||||
except:
|
||||
pass
|
||||
dirty = True
|
||||
|
||||
training_version = b"0.2.0"
|
||||
terms_version = b"2"
|
||||
|
||||
if __name__ == "__main__":
|
||||
print("Dirty: %s" % dirty)
|
||||
print("Version: %s" % version)
|
||||
print("Remote: %s" % origin)
|
||||
|
||||
try:
|
||||
print("Branch %s" % branch)
|
||||
except NameError:
|
||||
pass
|
||||
Loading…
Reference in New Issue