324 lines
10 KiB
Python
Executable File
324 lines
10 KiB
Python
Executable File
#!/usr/bin/env python3
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import datetime
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import os
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import signal
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import sys
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import traceback
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from cereal import custom
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import cereal.messaging as messaging
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import openpilot.system.sentry as sentry
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from openpilot.common.api.sunnylink import UNREGISTERED_SUNNYLINK_DONGLE_ID
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from openpilot.common.params import Params, ParamKeyType
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from openpilot.common.text_window import TextWindow
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from openpilot.system.hardware import HARDWARE, PC
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from openpilot.system.manager.helpers import unblock_stdout, write_onroad_params, save_bootlog
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from openpilot.system.manager.mapd_installer import VERSION
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from openpilot.system.manager.process import ensure_running
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from openpilot.system.manager.process_config import managed_processes
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from openpilot.system.athena.registration import register, UNREGISTERED_DONGLE_ID, is_registered_device
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from openpilot.common.swaglog import cloudlog, add_file_handler
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from openpilot.system.hardware.hw import Paths
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from openpilot.system.version import get_build_metadata, terms_version, terms_version_sp, training_version
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def manager_init() -> None:
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save_bootlog()
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build_metadata = get_build_metadata()
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params = Params()
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params.clear_all(ParamKeyType.CLEAR_ON_MANAGER_START)
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params.clear_all(ParamKeyType.CLEAR_ON_ONROAD_TRANSITION)
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params.clear_all(ParamKeyType.CLEAR_ON_OFFROAD_TRANSITION)
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if build_metadata.release_channel:
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params.clear_all(ParamKeyType.DEVELOPMENT_ONLY)
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default_params: list[tuple[str, str | bytes]] = [
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("CompletedTrainingVersion", "0.2.0"),
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("DisengageOnAccelerator", "0"),
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("GsmMetered", "1"),
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("HasAcceptedTerms", "2"),
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("LanguageSetting", "main_en"),
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("OpenpilotEnabledToggle", "1"),
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("LongitudinalPersonality", str(custom.LongitudinalPersonalitySP.standard)),
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("AccMadsCombo", "1"),
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("AutoLaneChangeTimer", "0"),
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("AutoLaneChangeBsmDelay", "1"),
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("BelowSpeedPause", "0"),
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("BrakeLights", "0"),
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("BrightnessControl", "0"),
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("CustomTorqueLateral", "0"),
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("CameraControl", "2"),
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("CameraControlToggle", "0"),
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("CameraOffset", "4"),
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("CarModel", ""),
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("CarModelText", ""),
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("ChevronInfo", "1"),
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("MadsCruiseMain", "1"),
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("CustomBootScreen", "0"),
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("CustomOffsets", "0"),
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("DevUIInfo", "3"),
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("DisableOnroadUploads", "0"),
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("DisengageLateralOnBrake", "0"),
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("DrivingModelGeneration", "0"),
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("DynamicLaneProfile", "1"),
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("EnableMads", "1"),
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("EnhancedScc", "0"),
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("FeatureStatus", "1"),
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("HandsOnWheelMonitoring", "0"),
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("HasAcceptedTermsSP", "1.0"),
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("HideVEgoUi", "0"),
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("LastSpeedLimitSignTap", "0"),
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("LkasToggle", "0"),
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("MadsIconToggle", "1"),
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("MapdVersion", f"{VERSION}"),
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("MaxTimeOffroad", "9"),
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("NNFF", "0"),
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("OnroadScreenOff", "-2"),
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("OnroadScreenOffBrightness", "50"),
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("OnroadScreenOffEvent", "1"),
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("OnroadSettings", "1"),
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("PathOffset", "0"),
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("PauseLateralSpeed", "0"),
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("ReverseAccChange", "0"),
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("ScreenRecorder", "1"),
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("ShowDebugUI", "1"),
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("SpeedLimitControlPolicy", "3"),
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("SpeedLimitEngageType", "0"),
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("SpeedLimitValueOffset", "0"),
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("SpeedLimitOffsetType", "0"),
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("SpeedLimitWarningType", "0"),
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("SpeedLimitWarningValueOffset", "0"),
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("SpeedLimitWarningOffsetType", "0"),
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("StandStillTimer", "0"),
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("StockLongToyota", "0"),
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("TorqueDeadzoneDeg", "0"),
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("TorqueFriction", "1"),
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("TorqueMaxLatAccel", "250"),
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("TrueVEgoUi", "0"),
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("TurnSpeedControl", "0"),
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("TurnVisionControl", "0"),
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("VisionCurveLaneless", "0"),
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("VwAccType", "0"),
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("OsmDbUpdatesCheck", "0"),
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("OsmDownloadedDate", "0"),
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("OSMDownloadProgress", "{}"),
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("SidebarTemperatureOptions", "0"),
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("SunnylinkEnabled", "0" if (build_metadata.release_channel or build_metadata.release_sp_channel) else "1"),
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("SunnylinkDongleId", f"{UNREGISTERED_SUNNYLINK_DONGLE_ID}"),
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("CustomDrivingModel", "0"),
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("DrivingModelGeneration", "4"),
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("LastSunnylinkPingTime", "0"),
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]
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if not PC:
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default_params.append(("LastUpdateTime", datetime.datetime.utcnow().isoformat().encode('utf8')))
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if params.get_bool("RecordFrontLock"):
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params.put_bool("RecordFront", True)
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# set unset params
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for k, v in default_params:
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if params.get(k) is None:
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params.put(k, v)
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# parameters set by Environment Variables
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if os.getenv("HANDSMONITORING") is not None:
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params.put_bool("HandsOnWheelMonitoring", bool(int(os.getenv("HANDSMONITORING", "0"))))
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# Create folders needed for msgq
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try:
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os.mkdir("/dev/shm")
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except FileExistsError:
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pass
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except PermissionError:
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print("WARNING: failed to make /dev/shm")
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# set version params
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params.put("Version", build_metadata.openpilot.version)
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params.put("TermsVersion", terms_version)
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params.put("TermsVersionSunnypilot", terms_version_sp)
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params.put("TrainingVersion", training_version)
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params.put("GitCommit", build_metadata.openpilot.git_commit)
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params.put("GitCommitDate", build_metadata.openpilot.git_commit_date)
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params.put("GitBranch", build_metadata.channel)
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params.put("GitRemote", build_metadata.openpilot.git_origin)
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params.put_bool("IsTestedBranch", build_metadata.tested_channel)
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params.put_bool("IsReleaseBranch", build_metadata.release_channel)
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params.put_bool("IsReleaseSPBranch", build_metadata.release_sp_channel)
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# set dongle id
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reg_res = register(show_spinner=True)
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if reg_res:
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dongle_id = reg_res
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else:
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serial = params.get("HardwareSerial")
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raise Exception(f"Registration failed for device {serial}")
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if params.get("HardwareSerial") is None:
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try:
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serial = HARDWARE.get_serial()
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params.put("HardwareSerial", serial)
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except Exception:
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cloudlog.exception("Error getting serial for device")
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os.environ['DONGLE_ID'] = dongle_id # Needed for swaglog
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os.environ['GIT_ORIGIN'] = build_metadata.openpilot.git_normalized_origin # Needed for swaglog
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os.environ['GIT_BRANCH'] = build_metadata.channel # Needed for swaglog
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os.environ['GIT_COMMIT'] = build_metadata.openpilot.git_commit # Needed for swaglog
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if not build_metadata.openpilot.is_dirty:
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os.environ['CLEAN'] = '1'
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# init logging
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sentry.init(sentry.SentryProject.SELFDRIVE)
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cloudlog.bind_global(dongle_id=dongle_id,
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version=build_metadata.openpilot.version,
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origin=build_metadata.openpilot.git_normalized_origin,
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branch=build_metadata.channel,
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commit=build_metadata.openpilot.git_commit,
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dirty=build_metadata.openpilot.is_dirty,
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device=HARDWARE.get_device_type())
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if os.path.isfile(os.path.join(sentry.CRASHES_DIR, 'error.txt')):
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os.remove(os.path.join(sentry.CRASHES_DIR, 'error.txt'))
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models_dir = Paths.model_root()
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if not os.path.exists(models_dir):
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os.makedirs(models_dir)
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# preimport all processes
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for p in managed_processes.values():
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p.prepare()
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def manager_cleanup() -> None:
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# send signals to kill all procs
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for p in managed_processes.values():
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p.stop(block=False)
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# ensure all are killed
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for p in managed_processes.values():
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p.stop(block=True)
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cloudlog.info("everything is dead")
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def manager_thread() -> None:
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cloudlog.bind(daemon="manager")
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cloudlog.info("manager start")
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cloudlog.info({"environ": os.environ})
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params = Params()
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ignore: list[str] = []
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if params.get("DongleId", encoding='utf8') in (None, UNREGISTERED_DONGLE_ID):
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ignore += ["manage_athenad", "uploader"]
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if os.getenv("NOBOARD") is not None:
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ignore.append("pandad")
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ignore += [x for x in os.getenv("BLOCK", "").split(",") if len(x) > 0]
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if params.get("DriverCameraHardwareMissing") and not is_registered_device():
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ignore += ["dmonitoringd", "dmonitoringmodeld"]
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sm = messaging.SubMaster(['deviceState', 'carParams'], poll='deviceState')
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pm = messaging.PubMaster(['managerState'])
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write_onroad_params(False, params)
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ensure_running(managed_processes.values(), False, params=params, CP=sm['carParams'], not_run=ignore)
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started_prev = False
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while True:
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sm.update(1000)
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started = sm['deviceState'].started
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if started and not started_prev:
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params.clear_all(ParamKeyType.CLEAR_ON_ONROAD_TRANSITION)
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elif not started and started_prev:
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params.clear_all(ParamKeyType.CLEAR_ON_OFFROAD_TRANSITION)
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# update onroad params, which drives pandad's safety setter thread
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if started != started_prev:
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write_onroad_params(started, params)
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started_prev = started
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ensure_running(managed_processes.values(), started, params=params, CP=sm['carParams'], not_run=ignore)
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running = ' '.join("{}{}\u001b[0m".format("\u001b[32m" if p.proc.is_alive() else "\u001b[31m", p.name)
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for p in managed_processes.values() if p.proc)
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print(running)
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cloudlog.debug(running)
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# send managerState
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msg = messaging.new_message('managerState', valid=True)
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msg.managerState.processes = [p.get_process_state_msg() for p in managed_processes.values()]
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pm.send('managerState', msg)
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# Exit main loop when uninstall/shutdown/reboot is needed
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shutdown = False
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for param in ("DoUninstall", "DoShutdown", "DoReboot"):
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if params.get_bool(param):
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shutdown = True
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params.put("LastManagerExitReason", f"{param} {datetime.datetime.now()}")
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cloudlog.warning(f"Shutting down manager - {param} set")
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if shutdown:
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break
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def main() -> None:
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manager_init()
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if os.getenv("PREPAREONLY") is not None:
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return
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# SystemExit on sigterm
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signal.signal(signal.SIGTERM, lambda signum, frame: sys.exit(1))
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try:
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manager_thread()
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except Exception:
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traceback.print_exc()
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sentry.capture_exception()
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finally:
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manager_cleanup()
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params = Params()
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if params.get_bool("DoUninstall"):
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cloudlog.warning("uninstalling")
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HARDWARE.uninstall()
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elif params.get_bool("DoReboot"):
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cloudlog.warning("reboot")
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HARDWARE.reboot()
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elif params.get_bool("DoShutdown"):
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cloudlog.warning("shutdown")
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HARDWARE.shutdown()
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if __name__ == "__main__":
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unblock_stdout()
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try:
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main()
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except KeyboardInterrupt:
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print("got CTRL-C, exiting")
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except Exception:
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add_file_handler(cloudlog)
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cloudlog.exception("Manager failed to start")
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try:
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managed_processes['ui'].stop()
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except Exception:
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pass
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# Show last 3 lines of traceback
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error = traceback.format_exc(-3)
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error = "Manager failed to start\n\n" + error
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with TextWindow(error) as t:
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t.wait_for_exit()
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raise
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# manual exit because we are forked
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sys.exit(0)
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