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
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)
# uploader is gated based on the phone temperature
if msg.thermal.thermalStatus >= ThermalStatus.yellow:
kill_managed_process("uploader")
else:
start_managed_process("uploader")
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_thread():
cloudlog.info("manager start")
cloudlog.info({"environ": os.environ})
# save boot log
subprocess.call("./bootlog",
cwd=os.path.join(BASEDIR, "selfdrive/loggerd"))
params = Params()
ignore = []
if os.getenv("NOBOARD") is not None:
ignore.append("pandad")
if os.getenv("BLOCK") is not None:
ignore += os.getenv("BLOCK").split(",")
ensure_running(managed_processes.values(), started=False, not_run=ignore)
started_prev = False
sm = messaging.SubMaster(['deviceState'])
pm = messaging.PubMaster(['managerState'])
while True:
sm.update()
not_run = ignore[:]
if sm['deviceState'].freeSpacePercent < 5:
not_run.append("loggerd")
started = sm['deviceState'].started
driverview = params.get_bool("IsDriverViewEnabled")
ensure_running(managed_processes.values(), started, driverview,
not_run)
# trigger an update after going offroad
if started_prev and not started and 'updated' in managed_processes:
os.sync()
managed_processes['updated'].signal(signal.SIGHUP)
started_prev = started
running_list = [
"%s%s\u001b[0m" %
("\u001b[32m" if p.proc.is_alive() else "\u001b[31m", p.name)
for p in managed_processes.values() if p.proc
]
cloudlog.debug(' '.join(running_list))
# send managerState
msg = messaging.new_message('managerState')
msg.managerState.processes = [
p.get_process_state_msg() for p in managed_processes.values()
]
pm.send('managerState', msg)
# TODO: let UI handle this
# Exit main loop when uninstall is needed
if params.get_bool("DoUninstall"):
break
def upload(self, key, fn):
try:
sz = os.path.getsize(fn)
except OSError:
cloudlog.exception("upload: getsize failed")
return False
cloudlog.event("upload", key=key, fn=fn, sz=sz)
cloudlog.debug("checking %r with size %r", key, sz)
if sz == 0:
try:
# tag files of 0 size as uploaded
setxattr(fn, UPLOAD_ATTR_NAME, UPLOAD_ATTR_VALUE)
except OSError:
cloudlog.event("uploader_setxattr_failed",
exc=self.last_exc,
key=key,
fn=fn,
sz=sz)
success = True
else:
start_time = time.monotonic()
cloudlog.debug("uploading %r", fn)
stat = self.normal_upload(key, fn)
if stat is not None and stat.status_code in (200, 201, 403, 412):
cloudlog.event("upload_success" if stat.status_code != 412 else
"upload_ignored",
key=key,
fn=fn,
sz=sz,
debug=True)
try:
# tag file as uploaded
setxattr(fn, UPLOAD_ATTR_NAME, UPLOAD_ATTR_VALUE)
except OSError:
cloudlog.event("uploader_setxattr_failed",
exc=self.last_exc,
key=key,
fn=fn,
sz=sz)
self.last_filename = fn
self.last_time = time.monotonic() - start_time
self.last_speed = (sz / 1e6) / self.last_time
success = True
else:
cloudlog.event("upload_failed",
stat=stat,
exc=self.last_exc,
key=key,
fn=fn,
sz=sz,
debug=True)
success = False
return success
def manager_thread():
cloudlog.info("manager start")
cloudlog.info({"environ": os.environ})
params = Params()
ignore = []
if params.get("DongleId", encoding='utf8') == UNREGISTERED_DONGLE_ID:
ignore += ["manage_athenad", "uploader"]
if os.getenv("NOBOARD") is not None:
ignore.append("pandad")
if os.getenv("BLOCK") is not None:
ignore += os.getenv("BLOCK").split(",")
ensure_running(managed_processes.values(), started=False, not_run=ignore)
started_prev = False
sm = messaging.SubMaster(['deviceState'])
pm = messaging.PubMaster(['managerState'])
while True:
sm.update()
not_run = ignore[:]
if sm['deviceState'].freeSpacePercent < 5:
not_run.append("loggerd")
started = sm['deviceState'].started
driverview = params.get_bool("IsDriverViewEnabled")
ensure_running(managed_processes.values(), started, driverview, not_run)
# trigger an update after going offroad
if started_prev and not started and 'updated' in managed_processes:
os.sync()
managed_processes['updated'].signal(signal.SIGHUP)
started_prev = started
running = ' '.join(["%s%s\u001b[0m" % ("\u001b[32m" if p.proc.is_alive() else "\u001b[31m", p.name)
for p in managed_processes.values() if p.proc])
print(running)
cloudlog.debug(running)
# send managerState
msg = messaging.new_message('managerState')
msg.managerState.processes = [p.get_process_state_msg() for p in managed_processes.values()]
pm.send('managerState', msg)
# Exit main loop when uninstall/shutdown/reboot is needed
shutdown = False
for param in ("DoUninstall", "DoShutdown", "DoReboot"):
if params.get_bool(param):
cloudlog.warning(f"Shutting down manager - {param} set")
shutdown = True
if shutdown:
break
def manager_thread():
# now loop
context = zmq.Context()
thermal_sock = messaging.sub_sock(context, service_list['thermal'].port)
cloudlog.info("manager start")
cloudlog.info({"environ": os.environ})
# save boot log
subprocess.call(["./loggerd", "--bootlog"],
cwd=os.path.join(BASEDIR, "selfdrive/loggerd"))
for p in persistent_processes:
start_managed_process(p)
# start frame
pm_apply_packages('enable')
system("am start -n ai.comma.plus.frame/.MainActivity")
if os.getenv("NOBOARD") is None:
start_managed_process("pandad")
params = Params()
logger_dead = False
while 1:
# get health of board, log this in "thermal"
msg = messaging.recv_sock(thermal_sock, wait=True)
# uploader is gated based on the phone temperature
if msg.thermal.thermalStatus >= ThermalStatus.yellow:
kill_managed_process("uploader")
else:
start_managed_process("uploader")
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 car_started_processes:
kill_managed_process(p)
# check the status of all processes, did any of them die?
for p in running:
cloudlog.debug(" running %s %s" % (p, running[p]))
# is this still needed?
if params.get("DoUninstall") == "1":
break
def __init__(self, CP, CarController, CarState):
super().__init__(CP, CarController, CarState)
cloudlog.debug("Using Mock Car Interface")
self.sensor = messaging.sub_sock('sensorEvents')
self.gps = messaging.sub_sock('gpsLocationExternal')
self.speed = 0.
self.prev_speed = 0.
self.yaw_rate = 0.
self.yaw_rate_meas = 0.
def uploader_fn(exit_event):
params = Params()
dongle_id = params.get("DongleId", encoding='utf8')
if dongle_id is None:
cloudlog.info("uploader missing dongle_id")
raise Exception("uploader can't start without dongle id")
if TICI and not Path("/data/media").is_mount():
cloudlog.warning("NVME not mounted")
sm = messaging.SubMaster(['deviceState'])
pm = messaging.PubMaster(['uploaderState'])
uploader = Uploader(dongle_id, ROOT)
backoff = 0.1
while not exit_event.is_set():
sm.update(0)
offroad = params.get_bool("IsOffroad")
network_type = sm[
'deviceState'].networkType if not force_wifi else NetworkType.wifi
if network_type == NetworkType.none:
if allow_sleep:
time.sleep(60 if offroad else 5)
continue
good_internet = network_type in [
NetworkType.wifi, NetworkType.ethernet
]
allow_raw_upload = params.get_bool("UploadRaw")
d = uploader.next_file_to_upload(
with_raw=allow_raw_upload and good_internet and offroad)
if d is None: # Nothing to upload
if allow_sleep:
time.sleep(60 if offroad else 5)
continue
key, fn = d
cloudlog.debug("upload %r over %s", d, network_type)
success = uploader.upload(key, fn)
if success:
backoff = 0.1
elif allow_sleep:
cloudlog.info("upload backoff %r", backoff)
time.sleep(backoff + random.uniform(0, backoff))
backoff = min(backoff * 2, 120)
pm.send("uploaderState", uploader.get_msg())
cloudlog.info("upload done, success=%r", success)
def __init__(self, CP, CarController, CarState):
self.CP = CP
self.CC = CarController
cloudlog.debug("Using Mock Car Interface")
# TODO: subscribe to phone sensor
self.sensor = messaging.sub_sock('sensorEvents')
self.gps = messaging.sub_sock('gpsLocation')
self.speed = 0.
self.prev_speed = 0.
self.yaw_rate = 0.
self.yaw_rate_meas = 0.
def __init__(self, CP, sendcan=None):
self.CP = CP
cloudlog.debug("Using Mock Car Interface")
context = zmq.Context()
# TODO: subscribe to phone sensor
self.sensor = messaging.sub_sock(context, service_list['sensorEvents'].port)
self.gps = messaging.sub_sock(context, service_list['gpsLocation'].port)
self.speed = 0.
self.prev_speed = 0.
self.yaw_rate = 0.
self.yaw_rate_meas = 0.
def manager_thread() -> None:
Process(name="road_speed_limiter", target=launcher, args=("selfdrive.road_speed_limiter", "road_speed_limiter")).start()
cloudlog.bind(daemon="manager")
cloudlog.info("manager start")
cloudlog.info({"environ": os.environ})
params = Params()
ignore: List[str] = []
if params.get("DongleId", encoding='utf8') in (None, UNREGISTERED_DONGLE_ID):
ignore += ["manage_athenad", "uploader"]
if os.getenv("NOBOARD") is not None:
ignore.append("pandad")
ignore += [x for x in os.getenv("BLOCK", "").split(",") if len(x) > 0]
ensure_running(managed_processes.values(), started=False, not_run=ignore)
sm = messaging.SubMaster(['deviceState', 'carParams'], poll=['deviceState'])
pm = messaging.PubMaster(['managerState'])
while True:
sm.update()
started = sm['deviceState'].started
driverview = params.get_bool("IsDriverViewEnabled")
ensure_running(managed_processes.values(), started=started, driverview=driverview, notcar=sm['carParams'].notCar, not_run=ignore)
running = ' '.join("%s%s\u001b[0m" % ("\u001b[32m" if p.proc.is_alive() else "\u001b[31m", p.name)
for p in managed_processes.values() if p.proc)
print(running)
cloudlog.debug(running)
# send managerState
msg = messaging.new_message('managerState')
msg.managerState.processes = [p.get_process_state_msg() for p in managed_processes.values()]
pm.send('managerState', msg)
# Exit main loop when uninstall/shutdown/reboot is needed
shutdown = False
for param in ("DoUninstall", "DoShutdown", "DoReboot"):
if params.get_bool(param):
shutdown = True
params.put("LastManagerExitReason", param)
cloudlog.warning(f"Shutting down manager - {param} set")
if shutdown:
break
def __init__(self, CP, CarController):
self.CP = CP
self.CC = CarController
cloudlog.debug("Using Mock Car Interface")
# TODO: subscribe to phone sensor
self.sensor = messaging.sub_sock(service_list['sensorEvents'].port)
self.gps = messaging.sub_sock(service_list['gpsLocation'].port)
self.speed = 0.
self.prev_speed = 0.
self.yaw_rate = 0.
self.yaw_rate_meas = 0.
self.rk = Ratekeeper(100, print_delay_threshold=2. / 1000)
def ws_proxy_recv(ws, local_sock, ssock, end_event, global_end_event):
while not (end_event.is_set() or global_end_event.is_set()):
try:
data = ws.recv()
local_sock.sendall(data)
except WebSocketTimeoutException:
pass
except Exception:
cloudlog.exception("athenad.ws_proxy_recv.exception")
break
cloudlog.debug("athena.ws_proxy_recv closing sockets")
ssock.close()
local_sock.close()
cloudlog.debug("athena.ws_proxy_recv done closing sockets")
end_event.set()
def jsonrpc_handler(end_event):
dispatcher["startLocalProxy"] = partial(startLocalProxy, end_event)
while not end_event.is_set():
try:
data = recv_queue.get(timeout=1)
if "method" in data:
cloudlog.debug(f"athena.jsonrpc_handler.call_method {data}")
response = JSONRPCResponseManager.handle(data, dispatcher)
send_queue.put_nowait(response.json)
elif "id" in data and ("result" in data or "error" in data):
log_recv_queue.put_nowait(data)
else:
raise Exception("not a valid request or response")
except queue.Empty:
pass
except Exception as e:
cloudlog.exception("athena jsonrpc handler failed")
send_queue.put_nowait(json.dumps({"error": str(e)}))
def uploader_fn(exit_event):
cloudlog.info("uploader_fn")
params = Params()
dongle_id = params.get("DongleId").decode('utf8')
if dongle_id is None:
cloudlog.info("uploader missing dongle_id")
raise Exception("uploader can't start without dongle id")
if TICI and not Path("/data/media").is_mount():
cloudlog.debug("NVME not mounted")
sm = messaging.SubMaster(['deviceState'])
uploader = Uploader(dongle_id, ROOT)
backoff = 0.1
while not exit_event.is_set():
sm.update(0)
on_wifi = force_wifi or sm[
'deviceState'].networkType == NetworkType.wifi
offroad = params.get("IsOffroad") == b'1'
allow_raw_upload = params.get("IsUploadRawEnabled") != b"0"
d = uploader.next_file_to_upload(
with_raw=allow_raw_upload and on_wifi and offroad)
if d is None: # Nothing to upload
if allow_sleep:
time.sleep(60 if offroad else 5)
continue
key, fn = d
cloudlog.event("uploader_netcheck", is_on_wifi=on_wifi)
cloudlog.info("to upload %r", d)
success = uploader.upload(key, fn)
if success:
backoff = 0.1
elif allow_sleep:
cloudlog.info("backoff %r", backoff)
time.sleep(backoff + random.uniform(0, backoff))
backoff = min(backoff * 2, 120)
cloudlog.info("upload done, success=%r", success)
def set_timezone(valid_timezones, timezone):
if timezone not in valid_timezones:
cloudlog.error(f"Timezone not supported {timezone}")
return
cloudlog.debug(f"Setting timezone to {timezone}")
try:
if TICI:
tzpath = os.path.join("/usr/share/zoneinfo/", timezone)
subprocess.check_call(
f'sudo su -c "ln -snf {tzpath} /data/etc/tmptime && \
mv /data/etc/tmptime /data/etc/localtime"',
shell=True)
subprocess.check_call(
f'sudo su -c "echo \"{timezone}\" > /data/etc/timezone"',
shell=True)
else:
subprocess.check_call(f'sudo timedatectl set-timezone {timezone}',
shell=True)
except subprocess.CalledProcessError:
cloudlog.exception(f"Error setting timezone to {timezone}")
def do_upload(self, key, fn):
try:
url_resp = self.api.get("v1.4/" + self.dongle_id + "/upload_url/",
timeout=10,
path=key,
access_token=self.api.get_token())
if url_resp.status_code == 412:
self.last_resp = url_resp
return
url_resp_json = json.loads(url_resp.text)
url = url_resp_json['url']
headers = url_resp_json['headers']
cloudlog.debug("upload_url v1.4 %s %s", url, str(headers))
if fake_upload:
cloudlog.debug(
f"*** WARNING, THIS IS A FAKE UPLOAD TO {url} ***")
class FakeResponse():
def __init__(self):
self.status_code = 200
self.last_resp = FakeResponse()
else:
with open(fn, "rb") as f:
if key.endswith('.bz2') and not fn.endswith('.bz2'):
data = bz2.compress(f.read())
data = io.BytesIO(data)
else:
data = f
self.last_resp = requests.put(url,
data=data,
headers=headers,
timeout=10)
except Exception as e:
self.last_exc = (e, traceback.format_exc())
raise
def ws_proxy_send(ws, local_sock, signal_sock, end_event):
while not end_event.is_set():
try:
r, _, _ = select.select((local_sock, signal_sock), (), ())
if r:
if r[0].fileno() == signal_sock.fileno():
# got end signal from ws_proxy_recv
end_event.set()
break
data = local_sock.recv(4096)
if not data:
# local_sock is dead
end_event.set()
break
ws.send(data, ABNF.OPCODE_BINARY)
except Exception:
cloudlog.exception("athenad.ws_proxy_send.exception")
end_event.set()
cloudlog.debug("athena.ws_proxy_send closing sockets")
signal_sock.close()
cloudlog.debug("athena.ws_proxy_send done closing sockets")
def main() -> NoReturn:
params = Params()
tf = TimezoneFinder()
# Get allowed timezones
valid_timezones = subprocess.check_output(
'timedatectl list-timezones', shell=True,
encoding='utf8').strip().split('\n')
while True:
time.sleep(60)
is_onroad = not params.get_bool("IsOffroad")
if is_onroad:
continue
# Set based on param
timezone = params.get("Timezone", encoding='utf8')
if timezone is not None:
cloudlog.debug("Setting timezone based on param")
set_timezone(valid_timezones, timezone)
continue
location = params.get("LastGPSPosition", encoding='utf8')
# Find timezone based on IP geolocation if no gps location is available
if location is None:
cloudlog.debug("Setting timezone based on IP lookup")
try:
r = requests.get("https://ipapi.co/timezone", timeout=10)
if r.status_code == 200:
set_timezone(valid_timezones, r.text)
else:
cloudlog.error(
f"Unexpected status code from api {r.status_code}")
time.sleep(3600) # Don't make too many API requests
except requests.exceptions.RequestException:
cloudlog.exception("Error getting timezone based on IP")
continue
# Find timezone by reverse geocoding the last known gps location
else:
cloudlog.debug("Setting timezone based on GPS location")
try:
location = json.loads(location)
except Exception:
cloudlog.exception("Error parsing location")
continue
timezone = tf.timezone_at(lng=location['longitude'],
lat=location['latitude'])
if timezone is None:
cloudlog.error(
f"No timezone found based on location, {location}")
continue
set_timezone(valid_timezones, timezone)
def __init__(self, CP, CarController, CarState):
self.CP = CP
self.CC = CarController
cloudlog.debug("Using Mock Car Interface")
# TODO: subscribe to phone sensor
self.sensor = messaging.sub_sock('sensorEvents')
self.gps = messaging.sub_sock('gpsLocation')
self.speed = 0.
self.prev_speed = 0.
self.yaw_rate = 0.
self.yaw_rate_meas = 0.
# dp
# mock override constructor so we need to define here as well.
self.dragon_toyota_stock_dsu = False
self.dragon_enable_steering_on_signal = False
self.dragon_allow_gas = False
self.ts_last_check = 0.
self.dragon_lat_ctrl = True
self.dp_last_modified = None
self.dp_gear_check = True
def manager_thread():
cloudlog.info("manager start")
cloudlog.info({"environ": os.environ})
# save boot log
subprocess.call("./bootlog", cwd=os.path.join(BASEDIR, "selfdrive/loggerd"))
# 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 offroad
if EON:
pm_apply_packages('enable')
start_offroad()
if os.getenv("NOBOARD") is not None:
del managed_processes["pandad"]
if os.getenv("BLOCK") is not None:
for k in os.getenv("BLOCK").split(","):
del managed_processes[k]
started_prev = False
logger_dead = False
params = Params()
device_state_sock = messaging.sub_sock('deviceState')
pm = messaging.PubMaster(['managerState'])
while 1:
msg = messaging.recv_sock(device_state_sock, wait=True)
if msg.deviceState.freeSpacePercent < 5:
logger_dead = True
if msg.deviceState.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
driver_view = params.get("IsDriverViewEnabled") == b"1"
# TODO: refactor how manager manages processes
for p in reversed(car_started_processes):
if p not in driver_view_processes or not driver_view:
kill_managed_process(p)
for p in driver_view_processes:
if driver_view:
start_managed_process(p)
else:
kill_managed_process(p)
# trigger an update after going offroad
if started_prev:
os.sync()
send_managed_process_signal("updated", signal.SIGHUP)
started_prev = msg.deviceState.started
# 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))
# send managerState
states = []
for p in managed_processes:
state = log.ManagerState.ProcessState.new_message()
state.name = p
if p in running:
state.running = running[p].is_alive()
state.pid = running[p].pid
state.exitCode = running[p].exitcode or 0
states.append(state)
msg = messaging.new_message('managerState')
msg.managerState.processes = states
pm.send('managerState', msg)
# Exit main loop when uninstall is needed
if params.get("DoUninstall", encoding='utf8') == "1":
break
def manager_thread():
# now loop
thermal_sock = messaging.sub_sock('thermal')
if os.getenv("GET_CPU_USAGE"):
proc_sock = messaging.sub_sock('procLog', conflate=True)
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 offroad
if ANDROID:
pm_apply_packages('enable')
start_offroad()
if os.getenv("NOBOARD") is None:
start_managed_process("pandad")
if os.getenv("BLOCK") is not None:
for k in os.getenv("BLOCK").split(","):
del managed_processes[k]
logger_dead = False
start_t = time.time()
first_proc = None
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 and "driverview" not in running:
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)
# this is ugly
if "driverview" not in running and params.get(
"IsDriverViewEnabled") == b"1":
start_managed_process("driverview")
elif "driverview" in running and params.get(
"IsDriverViewEnabled") == b"0":
kill_managed_process("driverview")
# 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
if os.getenv("GET_CPU_USAGE"):
dt = time.time() - start_t
# Get first sample
if dt > 30 and first_proc is None:
first_proc = messaging.recv_sock(proc_sock)
# Get last sample and exit
if dt > 90:
last_proc = messaging.recv_sock(proc_sock, wait=True)
cleanup_all_processes(None, None)
sys.exit(print_cpu_usage(first_proc, last_proc))
def manager_thread():
cloudlog.info("manager start")
cloudlog.info({"environ": os.environ})
params = Params()
dp_reg = params.get_bool('dp_reg')
dp_logger = params.get_bool('dp_logger')
dp_athenad = params.get_bool('dp_athenad')
dp_uploader = params.get_bool('dp_uploader')
dp_atl = params.get_bool('dp_atl')
dp_jetson = params.get_bool('dp_jetson')
dp_otisserv = params.get_bool('dp_otisserv')
dp_mapd = params.get_bool('dp_mapd')
if not dp_reg:
dp_athenad = False
dp_uploader = False
# save boot log
if dp_logger:
subprocess.call("./bootlog",
cwd=os.path.join(BASEDIR, "selfdrive/loggerd"))
ignore = []
if dp_jetson:
ignore += ['dmonitoringmodeld', 'dmonitoringd']
if not params.get_bool('dp_dashcamd'):
ignore += ['dashcamd']
if not params.get_bool('dp_updated'):
ignore += ['updated']
if not dp_logger:
ignore += [
'logcatd', 'loggerd', 'proclogd', 'logmessaged', 'tombstoned'
]
if not dp_athenad:
ignore += ['manage_athenad']
if not dp_athenad and not dp_uploader:
ignore += ['deleter']
if not dp_mapd:
ignore += ['mapd']
if not dp_otisserv:
ignore += ['otisserv']
if not dp_mapd and not dp_otisserv and not params.get_bool('dp_gpxd'):
ignore += ['gpxd']
if params.get("DongleId", encoding='utf8') == UNREGISTERED_DONGLE_ID:
ignore += ["manage_athenad", "uploader"]
if os.getenv("NOBOARD") is not None:
ignore.append("pandad")
if os.getenv("BLOCK") is not None:
ignore += os.getenv("BLOCK").split(",")
ensure_running(managed_processes.values(), started=False, not_run=ignore)
started_prev = False
sm = messaging.SubMaster(['deviceState'])
pm = messaging.PubMaster(['managerState'])
while True:
sm.update()
not_run = ignore[:]
if sm['deviceState'].freeSpacePercent < 5:
not_run.append("loggerd")
started = sm['deviceState'].started
driverview = params.get_bool("IsDriverViewEnabled")
ensure_running(managed_processes.values(), started, driverview,
not_run)
# trigger an update after going offroad
if started_prev and not started and 'updated' in managed_processes:
os.sync()
managed_processes['updated'].signal(signal.SIGHUP)
started_prev = started
running_list = [
"%s%s\u001b[0m" %
("\u001b[32m" if p.proc.is_alive() else "\u001b[31m", p.name)
for p in managed_processes.values() if p.proc
]
cloudlog.debug(' '.join(running_list))
# send managerState
msg = messaging.new_message('managerState')
msg.managerState.processes = [
p.get_process_state_msg() for p in managed_processes.values()
]
pm.send('managerState', msg)
# TODO: let UI handle this
# Exit main loop when uninstall is needed
if params.get_bool("DoUninstall"):
break
def manager_thread(spinner=None):
shutdownd = Process(name="shutdownd",
target=launcher,
args=("selfdrive.shutdownd", ))
shutdownd.start()
if EON:
pm_grant("com.neokii.openpilot",
"android.permission.ACCESS_FINE_LOCATION")
appops_set("com.neokii.optool", "SU", "allow")
system("am startservice com.neokii.optool/.MainService")
system("am startservice com.neokii.openpilot/.MainService")
cloudlog.info("manager start")
cloudlog.info({"environ": os.environ})
# save boot log
#subprocess.call("./bootlog", cwd=os.path.join(BASEDIR, "selfdrive/loggerd"))
ignore = []
if os.getenv("NOBOARD") is not None:
ignore.append("pandad")
if os.getenv("BLOCK") is not None:
ignore += os.getenv("BLOCK").split(",")
# start offroad
if EON and "QT" not in os.environ:
pm_apply_packages('enable')
start_offroad()
ensure_running(managed_processes.values(), started=False, not_run=ignore)
if spinner: # close spinner when ui has started
spinner.close()
started_prev = False
params = Params()
sm = messaging.SubMaster(['deviceState'])
pm = messaging.PubMaster(['managerState'])
while True:
sm.update()
not_run = ignore[:]
if sm['deviceState'].freeSpacePercent < 5:
not_run.append("loggerd")
started = sm['deviceState'].started
driverview = params.get("IsDriverViewEnabled") == b"1"
ensure_running(managed_processes.values(), started, driverview,
not_run)
# trigger an update after going offroad
if started_prev and not started and 'updated' in managed_processes:
os.sync()
managed_processes['updated'].signal(signal.SIGHUP)
started_prev = started
running_list = [
"%s%s\u001b[0m" %
("\u001b[32m" if p.proc.is_alive() else "\u001b[31m", p.name)
for p in managed_processes.values() if p.proc
]
cloudlog.debug(' '.join(running_list))
# send managerState
msg = messaging.new_message('managerState')
msg.managerState.processes = [
p.get_process_state_msg() for p in managed_processes.values()
]
pm.send('managerState', msg)
# Exit main loop when uninstall is needed
if params.get("DoUninstall", encoding='utf8') == "1":
break
def manager_thread():
if EON:
Process(name="shutdownd",
target=launcher,
args=("selfdrive.shutdownd", )).start()
system("am startservice com.neokii.optool/.MainService")
Process(name="road_speed_limiter",
target=launcher,
args=("selfdrive.road_speed_limiter", )).start()
cloudlog.info("manager start")
cloudlog.info({"environ": os.environ})
# save boot log
#subprocess.call("./bootlog", cwd=os.path.join(BASEDIR, "selfdrive/loggerd"))
params = Params()
ignore = []
if params.get("DongleId", encoding='utf8') == UNREGISTERED_DONGLE_ID:
ignore += ["manage_athenad", "uploader"]
if os.getenv("NOBOARD") is not None:
ignore.append("pandad")
if os.getenv("BLOCK") is not None:
ignore += os.getenv("BLOCK").split(",")
ensure_running(managed_processes.values(), started=False, not_run=ignore)
started_prev = False
sm = messaging.SubMaster(['deviceState'])
pm = messaging.PubMaster(['managerState'])
while True:
sm.update()
not_run = ignore[:]
if sm['deviceState'].freeSpacePercent < 5:
not_run.append("loggerd")
started = sm['deviceState'].started
driverview = params.get_bool("IsDriverViewEnabled")
ensure_running(managed_processes.values(), started, driverview,
not_run)
# trigger an update after going offroad
if started_prev and not started and 'updated' in managed_processes:
os.sync()
managed_processes['updated'].signal(signal.SIGHUP)
started_prev = started
running_list = [
"%s%s\u001b[0m" %
("\u001b[32m" if p.proc.is_alive() else "\u001b[31m", p.name)
for p in managed_processes.values() if p.proc
]
cloudlog.debug(' '.join(running_list))
# send managerState
msg = messaging.new_message('managerState')
msg.managerState.processes = [
p.get_process_state_msg() for p in managed_processes.values()
]
pm.send('managerState', msg)
# TODO: let UI handle this
# Exit main loop when uninstall is needed
if params.get_bool("DoUninstall"):
break
def log_handler(end_event):
if PC:
return
log_files = []
last_scan = 0
while not end_event.is_set():
try:
curr_scan = sec_since_boot()
if curr_scan - last_scan > 10:
log_files = get_logs_to_send_sorted()
last_scan = curr_scan
# send one log
curr_log = None
if len(log_files) > 0:
log_entry = log_files.pop()
cloudlog.debug(
f"athena.log_handler.forward_request {log_entry}")
try:
curr_time = int(time.time())
log_path = os.path.join(SWAGLOG_DIR, log_entry)
setxattr(log_path, LOG_ATTR_NAME,
int.to_bytes(curr_time, 4, sys.byteorder))
with open(log_path, "r") as f:
jsonrpc = {
"method": "forwardLogs",
"params": {
"logs": f.read()
},
"jsonrpc": "2.0",
"id": log_entry
}
log_send_queue.put_nowait(json.dumps(jsonrpc))
curr_log = log_entry
except OSError:
pass # file could be deleted by log rotation
# wait for response up to ~100 seconds
# always read queue at least once to process any old responses that arrive
for _ in range(100):
if end_event.is_set():
break
try:
log_resp = json.loads(log_recv_queue.get(timeout=1))
log_entry = log_resp.get("id")
log_success = "result" in log_resp and log_resp[
"result"].get("success")
cloudlog.debug(
f"athena.log_handler.forward_response {log_entry} {log_success}"
)
if log_entry and log_success:
log_path = os.path.join(SWAGLOG_DIR, log_entry)
try:
setxattr(log_path, LOG_ATTR_NAME,
LOG_ATTR_VALUE_MAX_UNIX_TIME)
except OSError:
pass # file could be deleted by log rotation
if curr_log == log_entry:
break
except queue.Empty:
if curr_log is None:
break
except Exception:
cloudlog.exception("athena.log_handler.exception")
def uploader_fn(exit_event):
params = Params()
dongle_id = params.get("DongleId", encoding='utf8')
transition_to_offroad_last = 0.
disable_onroad_upload_offroad_transition_timeout = 900. # wait until offroad for 15 minutes before starting uploads
offroad_last = params.get_bool("IsOffroad")
if dongle_id is None:
cloudlog.info("uploader missing dongle_id")
raise Exception("uploader can't start without dongle id")
if TICI and not Path("/data/media").is_mount():
cloudlog.warning("NVME not mounted")
sm = messaging.SubMaster(['deviceState'])
pm = messaging.PubMaster(['uploaderState'])
uploader = Uploader(dongle_id, ROOT)
backoff = 0.1
while not exit_event.is_set():
sm.update(0)
offroad = params.get_bool("IsOffroad")
t = sec_since_boot()
if offroad and not offroad_last and t > 300.:
transition_to_offroad_last = sec_since_boot()
offroad_last = offroad
network_type = sm[
'deviceState'].networkType if not force_wifi else NetworkType.wifi
if network_type == NetworkType.none:
if allow_sleep:
time.sleep(60 if offroad else 5)
continue
on_wifi = network_type == NetworkType.wifi
allow_raw_upload = params.get_bool("UploadRaw")
if Params().get_bool("DisableOnroadUploads"):
if not offroad or (
transition_to_offroad_last > 0.
and t - transition_to_offroad_last <
disable_onroad_upload_offroad_transition_timeout):
if not offroad:
cloudlog.info("not uploading: onroad uploads disabled")
else:
wait_minutes = int(
disable_onroad_upload_offroad_transition_timeout / 60)
time_left = disable_onroad_upload_offroad_transition_timeout - (
t - transition_to_offroad_last)
if (time_left / 60. > 2.):
time_left_str = f"{int(time_left / 60)} minute(s)"
else:
time_left_str = f"{int(time_left)} seconds(s)"
cloudlog.info(
f"not uploading: waiting until offroad for {wait_minutes} minutes; {time_left_str} left"
)
if allow_sleep:
time.sleep(60)
continue
d = uploader.next_file_to_upload(
with_raw=allow_raw_upload and on_wifi and offroad)
if d is None: # Nothing to upload
if allow_sleep:
time.sleep(60 if offroad else 5)
continue
key, fn = d
cloudlog.debug("upload %r over %s", d, network_type)
success = uploader.upload(key, fn)
if success:
backoff = 0.1
elif allow_sleep:
cloudlog.info("upload backoff %r", backoff)
time.sleep(backoff + random.uniform(0, backoff))
backoff = min(backoff * 2, 120)
pm.send("uploaderState", uploader.get_msg())
cloudlog.info("upload done, success=%r", success)
def manager_thread():
global baseui_running
# now loop
context = zmq.Context()
thermal_sock = messaging.pub_sock(context, service_list['thermal'].port)
health_sock = messaging.sub_sock(context, service_list['health'].port)
location_sock = messaging.sub_sock(context, service_list['gpsLocation'].port)
cloudlog.info("manager start")
cloudlog.info({"environ": os.environ})
for p in persistent_processes:
start_managed_process(p)
manage_baseui(True)
# do this before panda flashing
setup_eon_fan()
if os.getenv("NOBOARD") is None:
start_managed_process("pandad")
passive = bool(os.getenv("PASSIVE"))
passive_starter = LocationStarter()
started_ts = None
logger_dead = False
count = 0
fan_speed = 0
ignition_seen = False
health_sock.RCVTIMEO = 1500
while 1:
# get health of board, log this in "thermal"
td = messaging.recv_sock(health_sock, wait=True)
location = messaging.recv_sock(location_sock)
location = location.gpsLocation if location else None
print td
# replace thermald
msg = read_thermal()
# loggerd is gated based on free space
statvfs = os.statvfs(ROOT)
avail = (statvfs.f_bavail * 1.0)/statvfs.f_blocks
# thermal message now also includes free space
msg.thermal.freeSpace = avail
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()
# TODO: add car battery voltage check
max_temp = max(msg.thermal.cpu0, msg.thermal.cpu1,
msg.thermal.cpu2, msg.thermal.cpu3) / 10.0
fan_speed = handle_fan(max_temp, fan_speed)
msg.thermal.fanSpeed = fan_speed
thermal_sock.send(msg.to_bytes())
print msg
# uploader is gated based on the phone temperature
if max_temp > 85.0:
cloudlog.warning("over temp: %r", max_temp)
kill_managed_process("uploader")
elif max_temp < 70.0:
start_managed_process("uploader")
if avail < 0.05:
logger_dead = True
# start constellation of processes when the car starts
ignition = td is not None and td.health.started
ignition_seen = ignition_seen or ignition
params = Params()
should_start = ignition and (params.get("HasAcceptedTerms") == "1")
# start on gps in passive mode
if passive and not ignition_seen:
should_start = should_start or passive_starter.update(started_ts, location)
# with 2% left, we killall, otherwise the phone is bricked
should_start = should_start and avail > 0.02
if should_start:
if not started_ts:
params.car_start()
started_ts = sec_since_boot()
for p in car_started_processes:
if p == "loggerd" and logger_dead:
kill_managed_process(p)
else:
start_managed_process(p)
manage_baseui(False)
else:
manage_baseui(True)
started_ts = None
logger_dead = False
for p in car_started_processes:
kill_managed_process(p)
# shutdown if the battery gets lower than 10%, we aren't running, and we are discharging
if msg.thermal.batteryPercent < 5 and msg.thermal.batteryStatus == "Discharging":
os.system('LD_LIBRARY_PATH="" svc power shutdown')
# check the status of baseui
baseui_running = 'com.baseui' in subprocess.check_output(["ps"])
# check the status of all processes, did any of them die?
for p in running:
cloudlog.debug(" running %s %s" % (p, running[p]))
# report to server once per minute
if (count%60) == 0:
cloudlog.event("STATUS_PACKET",
running=running.keys(),
count=count,
health=(td.to_dict() if td else None),
thermal=msg.to_dict())
count += 1
def manager_thread():
# now loop
thermal_sock = messaging.sub_sock('thermal')
cloudlog.info("manager start")
cloudlog.info({"environ": os.environ})
params = Params()
EnableLogger = int(params.get('OpkrEnableLogger'))
#EnableLogger = (params.get("RecordFront") != b"0")
if not EnableLogger:
car_started_processes.remove('loggerd')
persistent_processes.remove('logmessaged')
persistent_processes.remove('uploader')
persistent_processes.remove('logcatd')
persistent_processes.remove('updated')
persistent_processes.remove('deleter')
persistent_processes.remove('tombstoned')
else:
# save boot log
subprocess.call(["./loggerd", "--bootlog"],
cwd=os.path.join(BASEDIR, "selfdrive/loggerd"))
# 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 offroad
if ANDROID:
pm_apply_packages('enable')
start_offroad()
if os.getenv("NOBOARD") is None:
start_managed_process("pandad")
if os.getenv("BLOCK") is not None:
for k in os.getenv("BLOCK").split(","):
del managed_processes[k]
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 and "driverview" not in running:
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)
# this is ugly
if "driverview" not in running and params.get(
"IsDriverViewEnabled") == b"1":
start_managed_process("driverview")
elif "driverview" in running and params.get(
"IsDriverViewEnabled") == b"0":
kill_managed_process("driverview")
# 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_thread():
# now loop
context = zmq.Context()
thermal_sock = messaging.pub_sock(context, service_list['thermal'].port)
health_sock = messaging.sub_sock(context, service_list['health'].port)
location_sock = messaging.sub_sock(context,
service_list['gpsLocation'].port)
cloudlog.info("manager start")
cloudlog.info({"environ": os.environ})
for p in persistent_processes:
start_managed_process(p)
# start frame
system("am start -n ai.comma.plus.frame/.MainActivity")
# do this before panda flashing
setup_eon_fan()
if os.getenv("NOBOARD") is None:
start_managed_process("pandad")
params = Params()
passive = params.get("Passive") == "1"
passive_starter = LocationStarter()
started_ts = None
logger_dead = False
count = 0
fan_speed = 0
ignition_seen = False
battery_was_high = False
health_sock.RCVTIMEO = 1500
while 1:
# get health of board, log this in "thermal"
td = messaging.recv_sock(health_sock, wait=True)
location = messaging.recv_sock(location_sock)
location = location.gpsLocation if location else None
print td
# replace thermald
msg = read_thermal()
# loggerd is gated based on free space
statvfs = os.statvfs(ROOT)
avail = (statvfs.f_bavail * 1.0) / statvfs.f_blocks
# thermal message now also includes free space
msg.thermal.freeSpace = avail
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/usb/online") as f:
msg.thermal.usbOnline = bool(int(f.read()))
# TODO: add car battery voltage check
max_temp = max(msg.thermal.cpu0, msg.thermal.cpu1, msg.thermal.cpu2,
msg.thermal.cpu3) / 10.0
bat_temp = msg.thermal.bat / 1000.
fan_speed = handle_fan(max_temp, bat_temp, fan_speed)
msg.thermal.fanSpeed = fan_speed
msg.thermal.started = started_ts is not None
msg.thermal.startedTs = int(1e9 * (started_ts or 0))
thermal_sock.send(msg.to_bytes())
print msg
# uploader is gated based on the phone temperature
if max_temp > 85.0:
cloudlog.warning("over temp: %r", max_temp)
kill_managed_process("uploader")
elif max_temp < 70.0:
start_managed_process("uploader")
if avail < 0.05:
logger_dead = True
# start constellation of processes when the car starts
ignition = td is not None and td.health.started
ignition_seen = ignition_seen or ignition
do_uninstall = params.get("DoUninstall") == "1"
accepted_terms = params.get("HasAcceptedTerms") == "1"
should_start = ignition
# start on gps in passive mode
if passive and not ignition_seen:
should_start = should_start or passive_starter.update(
started_ts, location)
# with 2% left, we killall, otherwise the phone is bricked
should_start = should_start and avail > 0.02
# require usb power
should_start = should_start and msg.thermal.usbOnline
should_start = should_start and accepted_terms and (not do_uninstall)
# if any CPU gets above 107 or the battery gets above 53, kill all processes
# controls will warn with CPU above 95 or battery above 50
if max_temp > 107.0 or msg.thermal.bat >= 53000:
should_start = False
if should_start:
if not started_ts:
params.car_start()
started_ts = sec_since_boot()
for p in car_started_processes:
if p == "loggerd" and logger_dead:
kill_managed_process(p)
else:
start_managed_process(p)
else:
started_ts = None
logger_dead = False
for p in car_started_processes:
kill_managed_process(p)
# shutdown if the battery gets lower than 5%, we aren't running, and we are discharging
if msg.thermal.batteryPercent < 5 and msg.thermal.batteryStatus == "Discharging" and battery_was_high:
os.system('LD_LIBRARY_PATH="" svc power shutdown')
if msg.thermal.batteryPercent > 10:
battery_was_high = True
# check the status of all processes, did any of them die?
for p in running:
cloudlog.debug(" running %s %s" % (p, running[p]))
# report to server once per minute
if (count % 60) == 0:
cloudlog.event("STATUS_PACKET",
running=running.keys(),
count=count,
health=(td.to_dict() if td else None),
thermal=msg.to_dict())
if do_uninstall:
break
count += 1
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 offroad
if ANDROID:
pm_apply_packages('enable')
start_offroad()
if os.getenv("NOBOARD") is None:
start_managed_process("pandad")
if os.getenv("BLOCK") is not None:
for k in os.getenv("BLOCK").split(","):
del managed_processes[k]
started_prev = False
logger_dead = False
while 1:
msg = messaging.recv_sock(thermal_sock, wait=True)
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
driver_view = params.get("IsDriverViewEnabled") == b"1"
# TODO: refactor how manager manages processes
for p in reversed(car_started_processes):
if p not in driver_view_processes or not driver_view:
kill_managed_process(p)
for p in driver_view_processes:
if driver_view:
start_managed_process(p)
else:
kill_managed_process(p)
# trigger an update after going offroad
if started_prev:
send_managed_process_signal("updated", signal.SIGHUP)
started_prev = msg.thermal.started
# 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
