def getVersion():
return {
"version": get_version(),
"remote": get_git_remote(),
"branch": get_git_branch(),
"commit": get_git_commit(),
}
def main():
clear_apport_folder(
) # Clear apport folder on start, otherwise duplicate crashes won't register
initial_tombstones = set(get_tombstones())
sentry_sdk.utils.MAX_STRING_LENGTH = 8192
sentry_sdk.init(
"https://[email protected]/157615",
default_integrations=False,
release=get_version())
dongle_id = Params().get("DongleId", encoding='utf-8')
sentry_sdk.set_user({"id": dongle_id})
sentry_sdk.set_tag("dirty", get_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())
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 test_init_data_values(self):
os.environ["CLEAN"] = random.choice(["0", "1"])
dongle = ''.join(
random.choice(string.printable)
for n in range(random.randint(1, 100)))
fake_params = [
# param, initData field, value
("DongleId", "dongleId", dongle),
("GitCommit", "gitCommit", "commit"),
("GitBranch", "gitBranch", "branch"),
("GitRemote", "gitRemote", "remote"),
]
params = Params()
for k, _, v in fake_params:
params.put(k, v)
lr = list(LogReader(str(self._gen_bootlog())))
initData = lr[0].initData
self.assertTrue(initData.dirty != bool(os.environ["CLEAN"]))
self.assertEqual(initData.version, get_version())
if os.path.isfile("/proc/cmdline"):
with open("/proc/cmdline") as f:
self.assertEqual(list(initData.kernelArgs),
f.read().strip().split(" "))
with open("/proc/version") as f:
self.assertEqual(initData.kernelVersion, f.read())
for _, k, v in fake_params:
self.assertEqual(getattr(initData, k), v)
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 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 api_get(endpoint, method='GET', timeout=None, access_token=None, **params):
headers = {}
if access_token is not None:
headers['Authorization'] = "JWT " + access_token
headers['User-Agent'] = "openpilot-" + get_version()
return requests.request(method,
API_HOST + "/" + endpoint,
timeout=timeout,
headers=headers,
params=params)
def main():
params = Params()
dongle_id = params.get("DongleId").decode('utf-8')
cloudlog.bind_global(dongle_id=dongle_id, version=get_version(), dirty=is_dirty())
try:
while 1:
cloudlog.info("starting athena daemon")
proc = Process(name='athenad', target=launcher, args=('selfdrive.athena.athenad', 'athenad'))
proc.start()
proc.join()
cloudlog.event("athenad exited", exitcode=proc.exitcode)
time.sleep(5)
except Exception:
cloudlog.exception("manage_athenad.exception")
finally:
params.delete(ATHENA_MGR_PID_PARAM)
def init() -> None:
sentry_sdk.init(
"https://[email protected]/77924",
default_integrations=False,
integrations=[ThreadingIntegration(propagate_hub=True)],
release=get_version())
# This file only contains a selection of the most common options. For a full
# list see the documentation:
# https://www.sphinx-doc.org/en/master/usage/configuration.html
# -- Path setup --------------------------------------------------------------
# If extensions (or modules to document with autodoc) are in another directory,
# add these directories to sys.path here. If the directory is relative to the
# documentation root, use os.path.abspath to make it absolute, like shown here.
#
import os
import sys
from selfdrive.version import get_version
sys.path.insert(0, os.path.abspath('.'))
sys.path.insert(0, os.path.abspath('..'))
VERSION = get_version()
# -- Project information -----------------------------------------------------
project = 'openpilot docs'
copyright = '2021, comma.ai'
author = 'comma.ai'
version = VERSION
release = VERSION
language = 'en'
# -- General configuration ---------------------------------------------------
# Add any Sphinx extension module names here, as strings. They can be
# extensions coming with Sphinx (named 'sphinx.ext.*') or your custom
# ones.
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 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())
