def main() -> NoReturn:
sentry.init(sentry.SentryProject.SELFDRIVE_NATIVE)
# Clear apport folder on start, otherwise duplicate crashes won't register
clear_apport_folder()
initial_tombstones = set(get_tombstones())
while True:
now_tombstones = set(get_tombstones())
for fn, _ in (now_tombstones - initial_tombstones):
try:
cloudlog.info(f"reporting new tombstone {fn}")
if fn.endswith(".crash"):
report_tombstone_apport(fn)
else:
report_tombstone_android(fn)
except Exception:
cloudlog.exception(f"Error reporting tombstone {fn}")
initial_tombstones = now_tombstones
time.sleep(5)
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())