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"))
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()
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() -> None:
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]
sm = messaging.SubMaster(['deviceState', 'carParams'],
poll=['deviceState'])
pm = messaging.PubMaster(['managerState'])
ensure_running(managed_processes.values(),
False,
params=params,
CP=sm['carParams'],
not_run=ignore)
while True:
sm.update()
started = sm['deviceState'].started
ensure_running(managed_processes.values(),
started,
params=params,
CP=sm['carParams'],
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 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():
Process(name="shutdownd", target=launcher, args=("selfdrive.shutdownd",)).start()
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"))
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 manager_cleanup():
# send signals to kill all procs
for p in managed_processes.values():
p.stop(block=False)
# ensure all are killed
for p in managed_processes.values():
p.stop(block=True)
cloudlog.info("everything is dead")
def manager_cleanup():
if EON:
pm_apply_packages('disable')
for p in managed_processes.values():
p.stop()
cloudlog.info("everything is dead")
def manager_cleanup():
if EON and Params().get_bool("OpkrApksEnable"):
pm_apply_packages('disable')
for p in managed_processes.values():
p.stop()
cloudlog.info("everything is dead")
def manager_prepare(spinner=None):
# build all processes
os.chdir(os.path.dirname(os.path.abspath(__file__)))
total = 100.0 - (0 if PREBUILT else MAX_BUILD_PROGRESS)
for i, p in enumerate(managed_processes.values()):
p.prepare()
if spinner:
perc = (100.0 - total) + total * (i + 1) / len(managed_processes)
spinner.update_progress(perc, 100.)
import os
import signal
import time
import unittest
import selfdrive.manager.manager as manager
from selfdrive.hardware import EON
from selfdrive.manager.process import DaemonProcess
from selfdrive.manager.process_config import managed_processes
os.environ['FAKEUPLOAD'] = "1"
# TODO: make eon fast
MAX_STARTUP_TIME = 30 if EON else 15
ALL_PROCESSES = [
p.name for p in managed_processes.values()
if (type(p) is not DaemonProcess) and (p.name not in ['updated', 'pandad'])
]
class TestManager(unittest.TestCase):
def setUp(self):
os.environ['PASSIVE'] = '0'
def tearDown(self):
manager.manager_cleanup()
def test_manager_prepare(self):
os.environ['PREPAREONLY'] = '1'
manager.main()
def regen_segment(lr, frs=None, outdir=FAKEDATA):
lr = list(lr)
if frs is None:
frs = dict()
# setup env
params = Params()
params.clear_all()
params.put_bool("Passive", False)
params.put_bool("OpenpilotEnabledToggle", True)
os.environ["LOG_ROOT"] = outdir
os.environ["REPLAY"] = "1"
os.environ['SKIP_FW_QUERY'] = ""
os.environ['FINGERPRINT'] = ""
# TODO: remove after getting new route for mazda
migration = {
"Mazda CX-9 2021": "MAZDA CX-9 2021",
}
for msg in lr:
if msg.which() == 'carParams':
car_fingerprint = migration.get(msg.carParams.carFingerprint,
msg.carParams.carFingerprint)
if len(msg.carParams.carFw) and (car_fingerprint in FW_VERSIONS):
params.put("CarParamsCache",
msg.carParams.as_builder().to_bytes())
else:
os.environ['SKIP_FW_QUERY'] = "1"
os.environ['FINGERPRINT'] = car_fingerprint
elif msg.which() == 'liveCalibration':
params.put("CalibrationParams", msg.as_builder().to_bytes())
vs, cam_procs = replay_cameras(lr, frs)
fake_daemons = {
'sensord': [
multiprocessing.Process(target=replay_sensor_events,
args=('sensorEvents', lr)),
],
'pandad': [
multiprocessing.Process(target=replay_service, args=('can', lr)),
multiprocessing.Process(target=replay_service,
args=('ubloxRaw', lr)),
multiprocessing.Process(target=replay_panda_states,
args=('pandaStates', lr)),
],
'managerState': [
multiprocessing.Process(target=replay_manager_state,
args=('managerState', lr)),
],
'thermald': [
multiprocessing.Process(target=replay_device_state,
args=('deviceState', lr)),
],
'camerad': [
*cam_procs,
],
}
try:
# start procs up
ignore = list(
fake_daemons.keys()) + ['ui', 'manage_athenad', 'uploader']
ensure_running(managed_processes.values(),
started=True,
not_run=ignore)
for procs in fake_daemons.values():
for p in procs:
p.start()
for _ in tqdm(range(60)):
# ensure all procs are running
for d, procs in fake_daemons.items():
for p in procs:
if not p.is_alive():
raise Exception(f"{d}'s {p.name} died")
time.sleep(1)
finally:
# kill everything
for p in managed_processes.values():
p.stop()
for procs in fake_daemons.values():
for p in procs:
p.terminate()
del vs
r = params.get("CurrentRoute", encoding='utf-8')
return os.path.join(outdir, r + "--0")
def regen_segment(lr, frs=None, outdir=FAKEDATA):
lr = list(lr)
if frs is None:
frs = dict()
setup_env()
params = Params()
os.environ["LOG_ROOT"] = outdir
os.environ['SKIP_FW_QUERY'] = ""
os.environ['FINGERPRINT'] = ""
# TODO: remove after getting new route for mazda
migration = {
"Mazda CX-9 2021": "MAZDA CX-9 2021",
}
for msg in lr:
if msg.which() == 'carParams':
car_fingerprint = migration.get(msg.carParams.carFingerprint, msg.carParams.carFingerprint)
if len(msg.carParams.carFw) and (car_fingerprint in FW_VERSIONS):
params.put("CarParamsCache", msg.carParams.as_builder().to_bytes())
else:
os.environ['SKIP_FW_QUERY'] = "1"
os.environ['FINGERPRINT'] = car_fingerprint
elif msg.which() == 'liveCalibration':
params.put("CalibrationParams", msg.as_builder().to_bytes())
vs, cam_procs = replay_cameras(lr, frs)
fake_daemons = {
'sensord': [
multiprocessing.Process(target=replay_sensor_events, args=('sensorEvents', lr)),
],
'pandad': [
multiprocessing.Process(target=replay_service, args=('can', lr)),
multiprocessing.Process(target=replay_service, args=('ubloxRaw', lr)),
multiprocessing.Process(target=replay_panda_states, args=('pandaStates', lr)),
],
'managerState': [
multiprocessing.Process(target=replay_manager_state, args=('managerState', lr)),
],
'thermald': [
multiprocessing.Process(target=replay_device_state, args=('deviceState', lr)),
],
'camerad': [
*cam_procs,
],
}
try:
# TODO: make first run of onnxruntime CUDA provider fast
managed_processes["modeld"].start()
managed_processes["dmonitoringmodeld"].start()
time.sleep(5)
# start procs up
ignore = list(fake_daemons.keys()) + ['ui', 'manage_athenad', 'uploader']
ensure_running(managed_processes.values(), started=True, params=Params(), CP=car.CarParams(), not_run=ignore)
for procs in fake_daemons.values():
for p in procs:
p.start()
for _ in tqdm(range(60)):
# ensure all procs are running
for d, procs in fake_daemons.items():
for p in procs:
if not p.is_alive():
raise Exception(f"{d}'s {p.name} died")
time.sleep(1)
finally:
# kill everything
for p in managed_processes.values():
p.stop()
for procs in fake_daemons.values():
for p in procs:
p.terminate()
del vs
segment = params.get("CurrentRoute", encoding='utf-8') + "--0"
seg_path = os.path.join(outdir, segment)
# check to make sure openpilot is engaged in the route
if not check_enabled(LogReader(os.path.join(seg_path, "rlog"))):
raise Exception(f"Route never enabled: {segment}")
return seg_path
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() -> None:
if EON:
Process(name="autoshutdownd",
target=launcher,
args=("selfdrive.autoshutdownd", "autoshutdownd")).start()
system("am startservice com.neokii.optool/.MainService")
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)
started_prev = False
sm = messaging.SubMaster(['deviceState'])
pm = messaging.PubMaster(['managerState'])
while True:
sm.update()
not_run = ignore[:]
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):
shutdown = True
params.put("LastManagerExitReason", param)
cloudlog.warning(f"Shutting down manager - {param} set")
if shutdown:
break
#!/usr/bin/env python3
import os
import signal
import time
import unittest
import selfdrive.manager.manager as manager
from selfdrive.hardware import EON
from selfdrive.manager.process import DaemonProcess
from selfdrive.manager.process_config import managed_processes
os.environ['FAKEUPLOAD'] = "1"
# TODO: make eon fast
MAX_STARTUP_TIME = 30 if EON else 15
ALL_PROCESSES = [p.name for p in managed_processes.values() if (type(p) is not DaemonProcess) and p.enabled and (p.name not in ['updated', 'pandad'])]
class TestManager(unittest.TestCase):
def setUp(self):
os.environ['PASSIVE'] = '0'
def tearDown(self):
manager.manager_cleanup()
def test_manager_prepare(self):
os.environ['PREPAREONLY'] = '1'
manager.main()
def test_startup_time(self):
for _ in range(10):
def regen_segment(lr, frs=None, outdir=FAKEDATA, disable_tqdm=False):
lr = migrate_carparams(list(lr))
if frs is None:
frs = dict()
params = Params()
os.environ["LOG_ROOT"] = outdir
# Get and setup initial state
CP = [m for m in lr if m.which() == 'carParams'][0].carParams
controlsState = [m for m in lr
if m.which() == 'controlsState'][0].controlsState
liveCalibration = [m for m in lr if m.which() == 'liveCalibration'][0]
setup_env(CP=CP, controlsState=controlsState)
params.put("CalibrationParams", liveCalibration.as_builder().to_bytes())
vs, cam_procs = replay_cameras(lr, frs, disable_tqdm=disable_tqdm)
fake_daemons = {
'sensord': [
multiprocessing.Process(target=replay_sensor_events,
args=('sensorEvents', lr)),
],
'pandad': [
multiprocessing.Process(target=replay_service, args=('can', lr)),
multiprocessing.Process(target=replay_service,
args=('ubloxRaw', lr)),
multiprocessing.Process(target=replay_panda_states,
args=('pandaStates', lr)),
],
'managerState': [
multiprocessing.Process(target=replay_manager_state,
args=('managerState', lr)),
],
'thermald': [
multiprocessing.Process(target=replay_device_state,
args=('deviceState', lr)),
],
'camerad': [
*cam_procs,
],
}
try:
# TODO: make first run of onnxruntime CUDA provider fast
managed_processes["modeld"].start()
managed_processes["dmonitoringmodeld"].start()
time.sleep(5)
# start procs up
ignore = list(fake_daemons.keys()) + [
'ui', 'manage_athenad', 'uploader', 'soundd'
]
ensure_running(managed_processes.values(),
started=True,
params=Params(),
CP=car.CarParams(),
not_run=ignore)
for procs in fake_daemons.values():
for p in procs:
p.start()
for _ in tqdm(range(60), disable=disable_tqdm):
# ensure all procs are running
for d, procs in fake_daemons.items():
for p in procs:
if not p.is_alive():
raise Exception(f"{d}'s {p.name} died")
time.sleep(1)
finally:
# kill everything
for p in managed_processes.values():
p.stop()
for procs in fake_daemons.values():
for p in procs:
p.terminate()
del vs
segment = params.get("CurrentRoute", encoding='utf-8') + "--0"
seg_path = os.path.join(outdir, segment)
# check to make sure openpilot is engaged in the route
if not check_enabled(LogReader(os.path.join(seg_path, "rlog"))):
raise Exception(f"Route did not engage for long enough: {segment}")
return seg_path
