def init(project: SentryProject) -> None:
# forks like to mess with this, so double check
comma_remote = is_comma_remote() and "commaai" in get_origin(default="")
if not comma_remote or not is_registered_device() or PC:
return
env = "release" if is_tested_branch() else "master"
dongle_id = Params().get("DongleId", encoding='utf-8')
integrations = []
if project == SentryProject.SELFDRIVE:
integrations.append(ThreadingIntegration(propagate_hub=True))
else:
sentry_sdk.utils.MAX_STRING_LENGTH = 8192
sentry_sdk.init(project.value,
default_integrations=False,
release=get_version(),
integrations=integrations,
traces_sample_rate=1.0,
environment=env)
sentry_sdk.set_user({"id": dongle_id})
sentry_sdk.set_tag("dirty", is_dirty())
sentry_sdk.set_tag("origin", get_origin())
sentry_sdk.set_tag("branch", get_branch())
sentry_sdk.set_tag("commit", get_commit())
sentry_sdk.set_tag("device", HARDWARE.get_device_type())
if project == SentryProject.SELFDRIVE:
sentry_sdk.Hub.current.start_session()
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() -> 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", "1"),
("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", "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=""))
params.put_bool("IsTestedBranch", is_tested_branch())
# 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())