def getVersion():
return {
"version": get_version(),
"remote": get_origin(),
"branch": get_short_branch(),
"commit": get_commit(),
}
def getVersion() -> Dict[str, str]:
return {
"version": get_version(),
"remote": get_origin(''),
"branch": get_short_branch(''),
"commit": get_commit(default=''),
}
def startup_master_alert(CP: car.CarParams, sm: messaging.SubMaster,
metric: bool, soft_disable_time: int) -> Alert:
branch = get_short_branch("")
if "REPLAY" in os.environ:
branch = "replay"
return StartupAlert("WARNING: This branch is not tested",
branch,
alert_status=AlertStatus.userPrompt)
def manager_init() -> None:
# update system time from panda
set_time(cloudlog)
# save boot log
#subprocess.call("./bootlog", cwd=os.path.join(BASEDIR, "selfdrive/loggerd"))
params = Params()
params.clear_all(ParamKeyType.CLEAR_ON_MANAGER_START)
default_params: List[Tuple[str, Union[str, bytes]]] = [
("CompletedTrainingVersion", "0"),
("DisengageOnAccelerator", "0"),
("HasAcceptedTerms", "0"),
("OpenpilotEnabledToggle", "1"),
("IsMetric", "1"),
# HKG
("LateralControl", "TORQUE"),
("UseClusterSpeed", "0"),
("LongControlEnabled", "0"),
("MadModeEnabled", "1"),
("IsLdwsCar", "0"),
("LaneChangeEnabled", "0"),
("AutoLaneChangeEnabled", "0"),
("SccSmootherSlowOnCurves", "0"),
("SccSmootherSyncGasPressed", "0"),
("StockNaviDecelEnabled", "0"),
("KeepSteeringTurnSignals", "0"),
("HapticFeedbackWhenSpeedCamera", "0"),
("DisableOpFcw", "0"),
("ShowDebugUI", "0"),
("NewRadarInterface", "0"),
]
if not PC:
default_params.append(("LastUpdateTime", datetime.datetime.utcnow().isoformat().encode('utf8')))
if params.get_bool("RecordFrontLock"):
params.put_bool("RecordFront", True)
if not params.get_bool("DisableRadar_Allow"):
params.delete("DisableRadar")
# set unset params
for k, v in default_params:
if params.get(k) is None:
params.put(k, v)
# is this dashcam?
if os.getenv("PASSIVE") is not None:
params.put_bool("Passive", bool(int(os.getenv("PASSIVE", "0"))))
if params.get("Passive") is None:
raise Exception("Passive must be set to continue")
# Create folders needed for msgq
try:
os.mkdir("/dev/shm")
except FileExistsError:
pass
except PermissionError:
print("WARNING: failed to make /dev/shm")
# set version params
params.put("Version", get_version())
params.put("TermsVersion", terms_version)
params.put("TrainingVersion", training_version)
params.put("GitCommit", get_commit(default=""))
params.put("GitBranch", get_short_branch(default=""))
params.put("GitRemote", get_origin(default=""))
# set dongle id
reg_res = register(show_spinner=True)
if reg_res:
dongle_id = reg_res
else:
serial = params.get("HardwareSerial")
raise Exception(f"Registration failed for device {serial}")
os.environ['DONGLE_ID'] = dongle_id # Needed for swaglog
if not is_dirty():
os.environ['CLEAN'] = '1'
# init logging
sentry.init(sentry.SentryProject.SELFDRIVE)
cloudlog.bind_global(dongle_id=dongle_id, version=get_version(), dirty=is_dirty(),
device=HARDWARE.get_device_type())
def main():
def get_influxdb_line(measurement: str, value: float, timestamp: datetime, tags: dict):
res = f"{measurement}"
for k, v in tags.items():
res += f",{k}={str(v)}"
res += f" value={value} {int(timestamp.timestamp() * 1e9)}\n"
return res
# open statistics socket
ctx = zmq.Context().instance()
sock = ctx.socket(zmq.PULL)
sock.bind(STATS_SOCKET)
# initialize stats directory
Path(STATS_DIR).mkdir(parents=True, exist_ok=True)
# initialize tags
tags = {
'dongleId': Params().get("DongleId", encoding='utf-8'),
'started': False,
'version': get_short_version(),
'branch': get_short_branch(),
'dirty': is_dirty(),
'origin': get_normalized_origin(),
'deviceType': HARDWARE.get_device_type(),
}
# subscribe to deviceState for started state
sm = SubMaster(['deviceState'])
last_flush_time = time.monotonic()
gauges = {}
while True:
started_prev = sm['deviceState'].started
sm.update()
# Update metrics
while True:
try:
metric = sock.recv_string(zmq.NOBLOCK)
try:
metric_type = metric.split('|')[1]
metric_name = metric.split(':')[0]
metric_value = metric.split('|')[0].split(':')[1]
if metric_type == METRIC_TYPE.GAUGE:
gauges[metric_name] = metric_value
else:
cloudlog.event("unknown metric type", metric_type=metric_type)
except Exception:
cloudlog.event("malformed metric", metric=metric)
except zmq.error.Again:
break
# flush when started state changes or after FLUSH_TIME_S
if (time.monotonic() > last_flush_time + STATS_FLUSH_TIME_S) or (sm['deviceState'].started != started_prev):
result = ""
current_time = datetime.utcnow().replace(tzinfo=timezone.utc)
tags['started'] = sm['deviceState'].started
for gauge_key in gauges:
result += get_influxdb_line(f"gauge.{gauge_key}", gauges[gauge_key], current_time, tags)
# clear intermediate data
gauges = {}
last_flush_time = time.monotonic()
# check that we aren't filling up the drive
if len(os.listdir(STATS_DIR)) < STATS_DIR_FILE_LIMIT:
if len(result) > 0:
stats_path = os.path.join(STATS_DIR, str(int(current_time.timestamp())))
with atomic_write_in_dir(stats_path) as f:
f.write(result)
else:
cloudlog.error("stats dir full")
def main() -> NoReturn:
dongle_id = Params().get("DongleId", encoding='utf-8')
def get_influxdb_line(measurement: str, value: Union[float, Dict[str,
float]],
timestamp: datetime, tags: dict) -> str:
res = f"{measurement}"
for k, v in tags.items():
res += f",{k}={str(v)}"
res += " "
if isinstance(value, float):
value = {'value': value}
for k, v in value.items():
res += f"{k}={v},"
res += f"dongle_id=\"{dongle_id}\" {int(timestamp.timestamp() * 1e9)}\n"
return res
# open statistics socket
ctx = zmq.Context().instance()
sock = ctx.socket(zmq.PULL)
sock.bind(STATS_SOCKET)
# initialize stats directory
Path(STATS_DIR).mkdir(parents=True, exist_ok=True)
# initialize tags
tags = {
'started': False,
'version': get_short_version(),
'branch': get_short_branch(),
'dirty': is_dirty(),
'origin': get_normalized_origin(),
'deviceType': HARDWARE.get_device_type(),
}
# subscribe to deviceState for started state
sm = SubMaster(['deviceState'])
idx = 0
last_flush_time = time.monotonic()
gauges = {}
samples: Dict[str, List[float]] = defaultdict(list)
while True:
started_prev = sm['deviceState'].started
sm.update()
# Update metrics
while True:
try:
metric = sock.recv_string(zmq.NOBLOCK)
try:
metric_type = metric.split('|')[1]
metric_name = metric.split(':')[0]
metric_value = float(metric.split('|')[0].split(':')[1])
if metric_type == METRIC_TYPE.GAUGE:
gauges[metric_name] = metric_value
elif metric_type == METRIC_TYPE.SAMPLE:
samples[metric_name].append(metric_value)
else:
cloudlog.event("unknown metric type",
metric_type=metric_type)
except Exception:
cloudlog.event("malformed metric", metric=metric)
except zmq.error.Again:
break
# flush when started state changes or after FLUSH_TIME_S
if (time.monotonic() > last_flush_time + STATS_FLUSH_TIME_S) or (
sm['deviceState'].started != started_prev):
result = ""
current_time = datetime.utcnow().replace(tzinfo=timezone.utc)
tags['started'] = sm['deviceState'].started
for key, value in gauges.items():
result += get_influxdb_line(f"gauge.{key}", value,
current_time, tags)
for key, values in samples.items():
values.sort()
sample_count = len(values)
sample_sum = sum(values)
stats = {
'count': sample_count,
'min': values[0],
'max': values[-1],
'mean': sample_sum / sample_count,
}
for percentile in [0.05, 0.5, 0.95]:
value = values[int(round(percentile * (sample_count - 1)))]
stats[f"p{int(percentile * 100)}"] = value
result += get_influxdb_line(f"sample.{key}", stats,
current_time, tags)
# clear intermediate data
gauges.clear()
samples.clear()
last_flush_time = time.monotonic()
# check that we aren't filling up the drive
if len(os.listdir(STATS_DIR)) < STATS_DIR_FILE_LIMIT:
if len(result) > 0:
stats_path = os.path.join(
STATS_DIR, f"{current_time.timestamp():.0f}_{idx}")
with atomic_write_in_dir(stats_path) as f:
f.write(result)
idx += 1
else:
cloudlog.error("stats dir full")
def manager_init():
# update system time from panda
set_time(cloudlog)
# save boot log
subprocess.call("./bootlog",
cwd=os.path.join(BASEDIR, "selfdrive/loggerd"))
params = Params()
params.clear_all(ParamKeyType.CLEAR_ON_MANAGER_START)
default_params = [
("CompletedTrainingVersion", "0"),
("HasAcceptedTerms", "0"),
("OpenpilotEnabledToggle", "1"),
]
if not PC:
default_params.append(
("LastUpdateTime",
datetime.datetime.utcnow().isoformat().encode('utf8')))
if params.get_bool("RecordFrontLock"):
params.put_bool("RecordFront", True)
if not params.get_bool("DisableRadar_Allow"):
params.delete("DisableRadar")
# set unset params
for k, v in default_params:
if params.get(k) is None:
params.put(k, v)
# is this dashcam?
if os.getenv("PASSIVE") is not None:
params.put_bool("Passive", bool(int(os.getenv("PASSIVE"))))
if params.get("Passive") is None:
raise Exception("Passive must be set to continue")
# Create folders needed for msgq
try:
os.mkdir("/dev/shm")
except FileExistsError:
pass
except PermissionError:
print("WARNING: failed to make /dev/shm")
# set version params
params.put("Version", get_version())
params.put("TermsVersion", terms_version)
params.put("TrainingVersion", training_version)
params.put("GitCommit", get_commit(default=""))
params.put("GitBranch", get_short_branch(default=""))
params.put("GitRemote", get_origin(default=""))
# set dongle id
reg_res = register(show_spinner=True)
if reg_res:
dongle_id = reg_res
else:
serial = params.get("HardwareSerial")
raise Exception(f"Registration failed for device {serial}")
os.environ['DONGLE_ID'] = dongle_id # Needed for swaglog
if not get_dirty():
os.environ['CLEAN'] = '1'
cloudlog.bind_global(dongle_id=dongle_id,
version=get_version(),
dirty=get_dirty(),
device=HARDWARE.get_device_type())
if get_comma_remote() and not (os.getenv("NOLOG") or os.getenv("NOCRASH")
or PC):
crash.init()
crash.bind_user(id=dongle_id)
crash.bind_extra(dirty=get_dirty(),
origin=get_origin(),
branch=get_short_branch(),
commit=get_commit(),
device=HARDWARE.get_device_type())
