623 lines
17 KiB
Python
Executable File
623 lines
17 KiB
Python
Executable File
#!/usr/bin/env python3
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import os
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import time
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import sys
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import fcntl
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import errno
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import signal
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import shutil
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import subprocess
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import datetime
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import textwrap
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from typing import Dict, List
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from selfdrive.swaglog import cloudlog, add_logentries_handler
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from common.basedir import BASEDIR, PARAMS
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from common.android import ANDROID
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WEBCAM = os.getenv("WEBCAM") is not None
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sys.path.append(os.path.join(BASEDIR, "pyextra"))
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os.environ['BASEDIR'] = BASEDIR
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TOTAL_SCONS_NODES = 1140
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prebuilt = os.path.exists(os.path.join(BASEDIR, 'prebuilt'))
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# Create folders needed for msgq
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try:
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os.mkdir("/dev/shm")
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except FileExistsError:
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pass
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except PermissionError:
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print("WARNING: failed to make /dev/shm")
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if ANDROID:
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os.chmod("/dev/shm", 0o777)
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def unblock_stdout():
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# get a non-blocking stdout
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child_pid, child_pty = os.forkpty()
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if child_pid != 0: # parent
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# child is in its own process group, manually pass kill signals
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signal.signal(signal.SIGINT, lambda signum, frame: os.kill(child_pid, signal.SIGINT))
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signal.signal(signal.SIGTERM, lambda signum, frame: os.kill(child_pid, signal.SIGTERM))
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fcntl.fcntl(sys.stdout, fcntl.F_SETFL,
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fcntl.fcntl(sys.stdout, fcntl.F_GETFL) | os.O_NONBLOCK)
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while True:
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try:
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dat = os.read(child_pty, 4096)
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except OSError as e:
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if e.errno == errno.EIO:
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break
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continue
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if not dat:
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break
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try:
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sys.stdout.write(dat.decode('utf8'))
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except (OSError, IOError, UnicodeDecodeError):
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pass
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# os.wait() returns a tuple with the pid and a 16 bit value
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# whose low byte is the signal number and whose high byte is the exit satus
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exit_status = os.wait()[1] >> 8
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os._exit(exit_status)
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if __name__ == "__main__":
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unblock_stdout()
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if __name__ == "__main__" and ANDROID:
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from common.spinner import Spinner
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from common.text_window import TextWindow
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else:
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from common.spinner import FakeSpinner as Spinner
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from common.text_window import FakeTextWindow as TextWindow
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import importlib
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import traceback
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from multiprocessing import Process
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# Run scons
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spinner = Spinner()
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spinner.update("0")
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if not prebuilt:
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for retry in [True, False]:
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# run scons
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env = os.environ.copy()
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env['SCONS_PROGRESS'] = "1"
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env['SCONS_CACHE'] = "1"
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nproc = os.cpu_count()
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j_flag = "" if nproc is None else "-j%d" % (nproc - 1)
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scons = subprocess.Popen(["scons", j_flag], cwd=BASEDIR, env=env, stderr=subprocess.PIPE)
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compile_output = []
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# Read progress from stderr and update spinner
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while scons.poll() is None:
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try:
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line = scons.stderr.readline() # type: ignore
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if line is None:
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continue
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line = line.rstrip()
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prefix = b'progress: '
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if line.startswith(prefix):
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i = int(line[len(prefix):])
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if spinner is not None:
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spinner.update("%d" % (70.0 * (i / TOTAL_SCONS_NODES)))
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elif len(line):
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compile_output.append(line)
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print(line.decode('utf8', 'replace'))
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except Exception:
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pass
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if scons.returncode != 0:
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# Read remaining output
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r = scons.stderr.read().split(b'\n') # type: ignore
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compile_output += r
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if retry:
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print("scons build failed, cleaning in")
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for i in range(3,-1,-1):
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print("....%d" % i)
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time.sleep(1)
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subprocess.check_call(["scons", "-c"], cwd=BASEDIR, env=env)
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shutil.rmtree("/tmp/scons_cache")
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else:
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# Build failed log errors
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errors = [line.decode('utf8', 'replace') for line in compile_output
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if any([err in line for err in [b'error: ', b'not found, needed by target']])]
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error_s = "\n".join(errors)
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add_logentries_handler(cloudlog)
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cloudlog.error("scons build failed\n" + error_s)
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# Show TextWindow
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error_s = "\n \n".join(["\n".join(textwrap.wrap(e, 65)) for e in errors])
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with TextWindow("Openpilot failed to build\n \n" + error_s) as t:
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t.wait_for_exit()
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exit(1)
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else:
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break
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import cereal
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import cereal.messaging as messaging
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from common.params import Params
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import selfdrive.crash as crash
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from selfdrive.registration import register
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from selfdrive.version import version, dirty
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from selfdrive.loggerd.config import ROOT
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from selfdrive.launcher import launcher
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from common import android
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from common.apk import update_apks, pm_apply_packages, start_offroad
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from common.manager_helpers import print_cpu_usage
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ThermalStatus = cereal.log.ThermalData.ThermalStatus
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# comment out anything you don't want to run
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managed_processes = {
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"thermald": "selfdrive.thermald.thermald",
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"uploader": "selfdrive.loggerd.uploader",
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"deleter": "selfdrive.loggerd.deleter",
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"controlsd": "selfdrive.controls.controlsd",
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"plannerd": "selfdrive.controls.plannerd",
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"radard": "selfdrive.controls.radard",
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"dmonitoringd": "selfdrive.controls.dmonitoringd",
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"ubloxd": ("selfdrive/locationd", ["./ubloxd"]),
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"loggerd": ("selfdrive/loggerd", ["./loggerd"]),
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"logmessaged": "selfdrive.logmessaged",
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"locationd": "selfdrive.locationd.locationd",
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"tombstoned": "selfdrive.tombstoned",
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"logcatd": ("selfdrive/logcatd", ["./logcatd"]),
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"proclogd": ("selfdrive/proclogd", ["./proclogd"]),
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"boardd": ("selfdrive/boardd", ["./boardd"]), # not used directly
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"pandad": "selfdrive.pandad",
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"ui": ("selfdrive/ui", ["./ui"]),
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"calibrationd": "selfdrive.locationd.calibrationd",
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"paramsd": ("selfdrive/locationd", ["./paramsd"]),
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"camerad": ("selfdrive/camerad", ["./camerad"]),
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"sensord": ("selfdrive/sensord", ["./sensord"]),
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"clocksd": ("selfdrive/clocksd", ["./clocksd"]),
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"gpsd": ("selfdrive/sensord", ["./gpsd"]),
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"updated": "selfdrive.updated",
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"dmonitoringmodeld": ("selfdrive/modeld", ["./dmonitoringmodeld"]),
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"modeld": ("selfdrive/modeld", ["./modeld"]),
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"driverview": "selfdrive.controls.lib.driverview",
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}
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daemon_processes = {
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"manage_athenad": ("selfdrive.athena.manage_athenad", "AthenadPid"),
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}
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running: Dict[str, Process] = {}
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def get_running():
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return running
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# due to qualcomm kernel bugs SIGKILLing camerad sometimes causes page table corruption
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unkillable_processes = ['camerad']
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# processes to end with SIGINT instead of SIGTERM
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interrupt_processes: List[str] = []
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# processes to end with SIGKILL instead of SIGTERM
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kill_processes = ['sensord', 'paramsd']
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# processes to end if thermal conditions exceed Green parameters
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green_temp_processes = ['uploader']
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persistent_processes = [
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'thermald',
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'logmessaged',
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'ui',
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'uploader',
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]
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if ANDROID:
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persistent_processes += [
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'logcatd',
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'tombstoned',
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'updated',
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]
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car_started_processes = [
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'controlsd',
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'plannerd',
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'loggerd',
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'radard',
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'dmonitoringd',
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'calibrationd',
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'paramsd',
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'camerad',
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'modeld',
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'proclogd',
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'ubloxd',
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'locationd',
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]
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if WEBCAM:
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car_started_processes += [
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'dmonitoringmodeld',
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]
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if ANDROID:
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car_started_processes += [
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'sensord',
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'clocksd',
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'gpsd',
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'dmonitoringmodeld',
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'deleter',
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]
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def register_managed_process(name, desc, car_started=False):
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global managed_processes, car_started_processes, persistent_processes
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print("registering %s" % name)
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managed_processes[name] = desc
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if car_started:
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car_started_processes.append(name)
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else:
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persistent_processes.append(name)
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# ****************** process management functions ******************
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def nativelauncher(pargs, cwd):
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# exec the process
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os.chdir(cwd)
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# because when extracted from pex zips permissions get lost -_-
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os.chmod(pargs[0], 0o700)
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os.execvp(pargs[0], pargs)
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def start_managed_process(name):
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if name in running or name not in managed_processes:
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return
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proc = managed_processes[name]
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if isinstance(proc, str):
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cloudlog.info("starting python %s" % proc)
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running[name] = Process(name=name, target=launcher, args=(proc,))
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else:
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pdir, pargs = proc
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cwd = os.path.join(BASEDIR, pdir)
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cloudlog.info("starting process %s" % name)
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running[name] = Process(name=name, target=nativelauncher, args=(pargs, cwd))
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running[name].start()
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def start_daemon_process(name):
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params = Params()
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proc, pid_param = daemon_processes[name]
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pid = params.get(pid_param, encoding='utf-8')
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if pid is not None:
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try:
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os.kill(int(pid), 0)
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with open(f'/proc/{pid}/cmdline') as f:
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if proc in f.read():
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# daemon is running
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return
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except (OSError, FileNotFoundError):
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# process is dead
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pass
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cloudlog.info("starting daemon %s" % name)
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proc = subprocess.Popen(['python', '-m', proc],
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stdin=open('/dev/null', 'r'),
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stdout=open('/dev/null', 'w'),
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stderr=open('/dev/null', 'w'),
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preexec_fn=os.setpgrp)
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params.put(pid_param, str(proc.pid))
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def prepare_managed_process(p):
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proc = managed_processes[p]
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if isinstance(proc, str):
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# import this python
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cloudlog.info("preimporting %s" % proc)
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importlib.import_module(proc)
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elif os.path.isfile(os.path.join(BASEDIR, proc[0], "Makefile")):
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# build this process
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cloudlog.info("building %s" % (proc,))
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try:
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subprocess.check_call(["make", "-j4"], cwd=os.path.join(BASEDIR, proc[0]))
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except subprocess.CalledProcessError:
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# make clean if the build failed
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cloudlog.warning("building %s failed, make clean" % (proc, ))
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subprocess.check_call(["make", "clean"], cwd=os.path.join(BASEDIR, proc[0]))
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subprocess.check_call(["make", "-j4"], cwd=os.path.join(BASEDIR, proc[0]))
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def join_process(process, timeout):
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# Process().join(timeout) will hang due to a python 3 bug: https://bugs.python.org/issue28382
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# We have to poll the exitcode instead
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t = time.time()
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while time.time() - t < timeout and process.exitcode is None:
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time.sleep(0.001)
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def kill_managed_process(name):
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if name not in running or name not in managed_processes:
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return
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cloudlog.info("killing %s" % name)
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if running[name].exitcode is None:
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if name in interrupt_processes:
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os.kill(running[name].pid, signal.SIGINT)
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elif name in kill_processes:
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os.kill(running[name].pid, signal.SIGKILL)
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else:
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running[name].terminate()
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join_process(running[name], 5)
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if running[name].exitcode is None:
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if name in unkillable_processes:
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cloudlog.critical("unkillable process %s failed to exit! rebooting in 15 if it doesn't die" % name)
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join_process(running[name], 15)
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if running[name].exitcode is None:
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cloudlog.critical("FORCE REBOOTING PHONE!")
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os.system("date >> /sdcard/unkillable_reboot")
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os.system("reboot")
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raise RuntimeError
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else:
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cloudlog.info("killing %s with SIGKILL" % name)
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os.kill(running[name].pid, signal.SIGKILL)
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running[name].join()
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cloudlog.info("%s is dead with %d" % (name, running[name].exitcode))
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del running[name]
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def cleanup_all_processes(signal, frame):
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cloudlog.info("caught ctrl-c %s %s" % (signal, frame))
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if ANDROID:
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pm_apply_packages('disable')
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for name in list(running.keys()):
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kill_managed_process(name)
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cloudlog.info("everything is dead")
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# ****************** run loop ******************
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def manager_init(should_register=True):
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if should_register:
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reg_res = register()
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if reg_res:
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dongle_id = reg_res
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else:
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raise Exception("server registration failed")
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else:
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dongle_id = "c"*16
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# set dongle id
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cloudlog.info("dongle id is " + dongle_id)
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os.environ['DONGLE_ID'] = dongle_id
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cloudlog.info("dirty is %d" % dirty)
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if not dirty:
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os.environ['CLEAN'] = '1'
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cloudlog.bind_global(dongle_id=dongle_id, version=version, dirty=dirty, is_eon=True)
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crash.bind_user(id=dongle_id)
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crash.bind_extra(version=version, dirty=dirty, is_eon=True)
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os.umask(0)
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try:
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os.mkdir(ROOT, 0o777)
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except OSError:
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pass
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# ensure shared libraries are readable by apks
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if ANDROID:
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os.chmod(BASEDIR, 0o755)
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os.chmod(os.path.join(BASEDIR, "cereal"), 0o755)
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os.chmod(os.path.join(BASEDIR, "cereal", "libmessaging_shared.so"), 0o755)
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def manager_thread():
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# now loop
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thermal_sock = messaging.sub_sock('thermal')
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if os.getenv("GET_CPU_USAGE"):
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proc_sock = messaging.sub_sock('procLog', conflate=True)
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cloudlog.info("manager start")
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cloudlog.info({"environ": os.environ})
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# save boot log
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subprocess.call(["./loggerd", "--bootlog"], cwd=os.path.join(BASEDIR, "selfdrive/loggerd"))
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params = Params()
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# start daemon processes
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for p in daemon_processes:
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start_daemon_process(p)
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# start persistent processes
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for p in persistent_processes:
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start_managed_process(p)
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# start offroad
|
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if ANDROID:
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pm_apply_packages('enable')
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start_offroad()
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|
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if os.getenv("NOBOARD") is None:
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start_managed_process("pandad")
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|
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if os.getenv("BLOCK") is not None:
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for k in os.getenv("BLOCK").split(","):
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del managed_processes[k]
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|
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logger_dead = False
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start_t = time.time()
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first_proc = None
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|
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while 1:
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msg = messaging.recv_sock(thermal_sock, wait=True)
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|
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# heavyweight batch processes are gated on favorable thermal conditions
|
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if msg.thermal.thermalStatus >= ThermalStatus.yellow:
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for p in green_temp_processes:
|
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if p in persistent_processes:
|
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kill_managed_process(p)
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else:
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for p in green_temp_processes:
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if p in persistent_processes:
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start_managed_process(p)
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if msg.thermal.freeSpace < 0.05:
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logger_dead = True
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if msg.thermal.started and "driverview" not in running:
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for p in car_started_processes:
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if p == "loggerd" and logger_dead:
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kill_managed_process(p)
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else:
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start_managed_process(p)
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else:
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logger_dead = False
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for p in reversed(car_started_processes):
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kill_managed_process(p)
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# this is ugly
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if "driverview" not in running and params.get("IsDriverViewEnabled") == b"1":
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start_managed_process("driverview")
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elif "driverview" in running and params.get("IsDriverViewEnabled") == b"0":
|
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kill_managed_process("driverview")
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|
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# check the status of all processes, did any of them die?
|
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running_list = ["%s%s\u001b[0m" % ("\u001b[32m" if running[p].is_alive() else "\u001b[31m", p) for p in running]
|
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cloudlog.debug(' '.join(running_list))
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|
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# Exit main loop when uninstall is needed
|
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if params.get("DoUninstall", encoding='utf8') == "1":
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break
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|
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if os.getenv("GET_CPU_USAGE"):
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dt = time.time() - start_t
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|
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# Get first sample
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if dt > 30 and first_proc is None:
|
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first_proc = messaging.recv_sock(proc_sock)
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|
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# Get last sample and exit
|
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if dt > 90:
|
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last_proc = messaging.recv_sock(proc_sock, wait=True)
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|
|
cleanup_all_processes(None, None)
|
|
sys.exit(print_cpu_usage(first_proc, last_proc))
|
|
|
|
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 30.0
|
|
|
|
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():
|
|
os.environ['PARAMS_PATH'] = PARAMS
|
|
|
|
# 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()
|
|
|
|
default_params = [
|
|
("CommunityFeaturesToggle", "0"),
|
|
("CompletedTrainingVersion", "0"),
|
|
("IsRHD", "0"),
|
|
("IsMetric", "0"),
|
|
("RecordFront", "0"),
|
|
("HasAcceptedTerms", "0"),
|
|
("HasCompletedSetup", "0"),
|
|
("IsUploadRawEnabled", "1"),
|
|
("IsLdwEnabled", "1"),
|
|
("IsGeofenceEnabled", "-1"),
|
|
("SpeedLimitOffset", "0"),
|
|
("LongitudinalControl", "0"),
|
|
("LimitSetSpeed", "0"),
|
|
("LimitSetSpeedNeural", "0"),
|
|
("LastUpdateTime", datetime.datetime.utcnow().isoformat().encode('utf8')),
|
|
("OpenpilotEnabledToggle", "1"),
|
|
("LaneChangeEnabled", "1"),
|
|
("IsDriverViewEnabled", "0"),
|
|
]
|
|
|
|
# set unset params
|
|
for k, v in default_params:
|
|
if params.get(k) is None:
|
|
params.put(k, v)
|
|
|
|
# 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 SystemExit:
|
|
raise
|
|
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__":
|
|
try:
|
|
main()
|
|
except Exception:
|
|
add_logentries_handler(cloudlog)
|
|
cloudlog.exception("Manager failed to start")
|
|
|
|
# Show last 3 lines of traceback
|
|
error = traceback.format_exc(3)
|
|
|
|
error = "Manager failed to start\n \n" + error
|
|
with TextWindow(error) as t:
|
|
t.wait_for_exit()
|
|
|
|
raise
|
|
|
|
# manual exit because we are forked
|
|
sys.exit(0)
|