mirror of https://github.com/commaai/openpilot.git
separate car logger forwarded to cloudlog (#33170)
* car logger
* try this
* fix double printing!
* clean up
* need to import where we actually use it (card won't be in submodule)
* NullHandler does not forward everything properly, need propagate=False to stop root logger from printing
* card is staying
* set up
* forward
old-commit-hash: 12a7b7f7fb
This commit is contained in:
Shane Smiskol
GitHub
parent
8bf177ece0
commit
cfc2cda37c
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@ -18,6 +18,7 @@ forbidden_modules =
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openpilot.teleoprtc
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openpilot.tinygrad
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ignore_imports =
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# remove these
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openpilot.selfdrive.car.card -> openpilot.common.realtime
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openpilot.selfdrive.car.card -> openpilot.selfdrive.controls.lib.events
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openpilot.selfdrive.car.interfaces -> openpilot.selfdrive.controls.lib.events
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@ -26,16 +27,13 @@ ignore_imports =
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openpilot.selfdrive.car.tests.test_models -> openpilot.tools.lib.route
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openpilot.selfdrive.car.tests.test_models -> openpilot.system.hardware.hw
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openpilot.selfdrive.car.tests.test_models -> openpilot.selfdrive.test.helpers
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openpilot.selfdrive.car.isotp_parallel_query -> openpilot.common.swaglog
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openpilot.selfdrive.car.fw_versions -> openpilot.common.swaglog
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openpilot.selfdrive.car.disable_ecu -> openpilot.common.swaglog
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openpilot.selfdrive.car.vin -> openpilot.common.swaglog
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openpilot.selfdrive.car.ecu_addrs -> openpilot.common.swaglog
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openpilot.selfdrive.car.car_helpers -> openpilot.common.swaglog
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openpilot.selfdrive.car.car_helpers -> openpilot.system.version
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openpilot.selfdrive.car.interfaces -> openpilot.selfdrive.controls.lib.drive_helpers
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openpilot.selfdrive.car.tests.test_car_interfaces -> openpilot.selfdrive.controls.lib.latcontrol_angle
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openpilot.selfdrive.car.tests.test_car_interfaces -> openpilot.selfdrive.controls.lib.longcontrol
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openpilot.selfdrive.car.tests.test_car_interfaces -> openpilot.selfdrive.controls.lib.latcontrol_torque
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openpilot.selfdrive.car.tests.test_car_interfaces -> openpilot.selfdrive.controls.lib.latcontrol_pid
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# these are okay
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openpilot.selfdrive.car.card -> openpilot.common.swaglog
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unmatched_ignore_imports_alerting = warn
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@ -104,6 +104,15 @@ class UnixDomainSocketHandler(logging.Handler):
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pass
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class ForwardingHandler(logging.Handler):
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def __init__(self, target_logger):
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super().__init__()
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self.target_logger = target_logger
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def emit(self, record):
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self.target_logger.handle(record)
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def add_file_handler(log):
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"""
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Function to add the file log handler to swaglog.
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@ -1,4 +1,5 @@
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# functions common among cars
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import logging
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from collections import namedtuple
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from dataclasses import dataclass
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from enum import IntFlag, ReprEnum, EnumType
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@ -12,6 +13,11 @@ from openpilot.common.numpy_fast import clip, interp
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from openpilot.common.utils import Freezable
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from openpilot.selfdrive.car.docs_definitions import CarDocs
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# set up logging
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carlog = logging.getLogger('carlog')
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carlog.setLevel(logging.INFO)
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carlog.propagate = False
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DT_CTRL = 0.01 # car state and control loop timestep (s)
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# kg of standard extra cargo to count for drive, gas, etc...
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@ -4,12 +4,12 @@ from collections.abc import Callable
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from cereal import car
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from openpilot.common.params import Params
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from openpilot.selfdrive.car import carlog
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from openpilot.selfdrive.car.interfaces import get_interface_attr
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from openpilot.selfdrive.car.fingerprints import eliminate_incompatible_cars, all_legacy_fingerprint_cars
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from openpilot.selfdrive.car.vin import get_vin, is_valid_vin, VIN_UNKNOWN
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from openpilot.selfdrive.car.fw_versions import get_fw_versions_ordered, get_present_ecus, match_fw_to_car, set_obd_multiplexing
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from openpilot.selfdrive.car.mock.values import CAR as MOCK
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from openpilot.common.swaglog import cloudlog
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import cereal.messaging as messaging
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from openpilot.selfdrive.car import gen_empty_fingerprint
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from openpilot.system.version import get_build_metadata
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@ -127,12 +127,12 @@ def fingerprint(logcan, sendcan, num_pandas):
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if cached_params is not None and len(cached_params.carFw) > 0 and \
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cached_params.carVin is not VIN_UNKNOWN and not disable_fw_cache:
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cloudlog.warning("Using cached CarParams")
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carlog.warning("Using cached CarParams")
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vin_rx_addr, vin_rx_bus, vin = -1, -1, cached_params.carVin
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car_fw = list(cached_params.carFw)
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cached = True
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else:
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cloudlog.warning("Getting VIN & FW versions")
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carlog.warning("Getting VIN & FW versions")
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# enable OBD multiplexing for VIN query
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# NOTE: this takes ~0.1s and is relied on to allow sendcan subscriber to connect in time
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set_obd_multiplexing(params, True)
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@ -149,9 +149,9 @@ def fingerprint(logcan, sendcan, num_pandas):
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cached = False
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if not is_valid_vin(vin):
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cloudlog.event("Malformed VIN", vin=vin, error=True)
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carlog.error({"event": "Malformed VIN", "vin": vin})
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vin = VIN_UNKNOWN
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cloudlog.warning("VIN %s", vin)
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carlog.warning("VIN %s", vin)
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params.put("CarVin", vin)
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# disable OBD multiplexing for CAN fingerprinting and potential ECU knockouts
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@ -178,9 +178,9 @@ def fingerprint(logcan, sendcan, num_pandas):
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car_fingerprint = fixed_fingerprint
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source = car.CarParams.FingerprintSource.fixed
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cloudlog.event("fingerprinted", car_fingerprint=car_fingerprint, source=source, fuzzy=not exact_match, cached=cached,
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fw_count=len(car_fw), ecu_responses=list(ecu_rx_addrs), vin_rx_addr=vin_rx_addr, vin_rx_bus=vin_rx_bus,
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fingerprints=repr(finger), fw_query_time=fw_query_time, error=True)
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carlog.error({"event": "fingerprinted", "car_fingerprint": car_fingerprint, "source": source, "fuzzy": not exact_match,
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"cached": cached, "fw_count": len(car_fw), "ecu_responses": list(ecu_rx_addrs), "vin_rx_addr": vin_rx_addr,
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"vin_rx_bus": vin_rx_bus, "fingerprints": repr(finger), "fw_query_time": fw_query_time})
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return car_fingerprint, finger, vin, car_fw, source, exact_match
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@ -194,7 +194,7 @@ def get_car(logcan, sendcan, experimental_long_allowed, num_pandas=1):
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candidate, fingerprints, vin, car_fw, source, exact_match = fingerprint(logcan, sendcan, num_pandas)
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if candidate is None:
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cloudlog.event("car doesn't match any fingerprints", fingerprints=repr(fingerprints), error=True)
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carlog.error({"event": "car doesn't match any fingerprints", "fingerprints": repr(fingerprints)})
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candidate = "MOCK"
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CarInterface, _, _ = interfaces[candidate]
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@ -10,9 +10,10 @@ from panda import ALTERNATIVE_EXPERIENCE
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from openpilot.common.params import Params
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from openpilot.common.realtime import config_realtime_process, Priority, Ratekeeper
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from openpilot.common.swaglog import cloudlog, ForwardingHandler
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from openpilot.selfdrive.pandad import can_list_to_can_capnp
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from openpilot.selfdrive.car import DT_CTRL
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from openpilot.selfdrive.car import DT_CTRL, carlog
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from openpilot.selfdrive.car.car_helpers import get_car, get_one_can
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from openpilot.selfdrive.car.interfaces import CarInterfaceBase
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from openpilot.selfdrive.controls.lib.events import Events
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@ -21,6 +22,9 @@ REPLAY = "REPLAY" in os.environ
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EventName = car.CarEvent.EventName
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# forward
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carlog.addHandler(ForwardingHandler(cloudlog))
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class Car:
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CI: CarInterfaceBase
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@ -1,6 +1,6 @@
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#!/usr/bin/env python3
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from openpilot.selfdrive.car import carlog
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from openpilot.selfdrive.car.isotp_parallel_query import IsoTpParallelQuery
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from openpilot.common.swaglog import cloudlog
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EXT_DIAG_REQUEST = b'\x10\x03'
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EXT_DIAG_RESPONSE = b'\x50\x03'
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@ -14,26 +14,26 @@ def disable_ecu(logcan, sendcan, bus=0, addr=0x7d0, sub_addr=None, com_cont_req=
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This is used to disable the radar in some cars. Openpilot will emulate the radar.
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WARNING: THIS DISABLES AEB!"""
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cloudlog.warning(f"ecu disable {hex(addr), sub_addr} ...")
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carlog.warning(f"ecu disable {hex(addr), sub_addr} ...")
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for i in range(retry):
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try:
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query = IsoTpParallelQuery(sendcan, logcan, bus, [(addr, sub_addr)], [EXT_DIAG_REQUEST], [EXT_DIAG_RESPONSE], debug=debug)
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for _, _ in query.get_data(timeout).items():
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cloudlog.warning("communication control disable tx/rx ...")
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carlog.warning("communication control disable tx/rx ...")
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query = IsoTpParallelQuery(sendcan, logcan, bus, [(addr, sub_addr)], [com_cont_req], [COM_CONT_RESPONSE], debug=debug)
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query.get_data(0)
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cloudlog.warning("ecu disabled")
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carlog.warning("ecu disabled")
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return True
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except Exception:
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cloudlog.exception("ecu disable exception")
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carlog.exception("ecu disable exception")
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cloudlog.error(f"ecu disable retry ({i + 1}) ...")
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cloudlog.error("ecu disable failed")
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carlog.error(f"ecu disable retry ({i + 1}) ...")
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carlog.error("ecu disable failed")
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return False
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@ -4,10 +4,9 @@ import time
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import cereal.messaging as messaging
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from panda.python.uds import SERVICE_TYPE
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from openpilot.selfdrive.car import make_tester_present_msg
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from openpilot.selfdrive.car import make_tester_present_msg, carlog
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from openpilot.selfdrive.car.fw_query_definitions import EcuAddrBusType
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from openpilot.selfdrive.pandad import can_list_to_can_capnp
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from openpilot.common.swaglog import cloudlog
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def _is_tester_present_response(msg: capnp.lib.capnp._DynamicStructReader, subaddr: int = None) -> bool:
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@ -45,7 +44,7 @@ def get_ecu_addrs(logcan: messaging.SubSocket, sendcan: messaging.PubSocket, que
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for packet in can_packets:
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for msg in packet.can:
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if not len(msg.dat):
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cloudlog.warning("ECU addr scan: skipping empty remote frame")
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carlog.warning("ECU addr scan: skipping empty remote frame")
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continue
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subaddr = None if (msg.address, None, msg.src) in responses else msg.dat[0]
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@ -56,7 +55,7 @@ def get_ecu_addrs(logcan: messaging.SubSocket, sendcan: messaging.PubSocket, que
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print(f"Duplicate ECU address: {hex(msg.address)}")
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ecu_responses.add((msg.address, subaddr, msg.src))
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except Exception:
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cloudlog.exception("ECU addr scan exception")
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carlog.exception("ECU addr scan exception")
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return ecu_responses
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@ -9,7 +9,7 @@ import capnp
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import panda.python.uds as uds
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from cereal import car
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from openpilot.common.params import Params
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from openpilot.common.swaglog import cloudlog
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from openpilot.selfdrive.car import carlog
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from openpilot.selfdrive.car.ecu_addrs import get_ecu_addrs
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from openpilot.selfdrive.car.fingerprints import FW_VERSIONS
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from openpilot.selfdrive.car.fw_query_definitions import AddrType, EcuAddrBusType, FwQueryConfig, LiveFwVersions, OfflineFwVersions
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@ -97,7 +97,7 @@ def match_fw_to_car_fuzzy(live_fw_versions: LiveFwVersions, match_brand: str = N
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# if there are enough matches. FIXME: parameterize this or require all ECUs to exist like exact matching
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if match and len(matched_ecus) >= 2:
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if log:
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cloudlog.error(f"Fingerprinted {match} using fuzzy match. {len(matched_ecus)} matching ECUs")
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carlog.error(f"Fingerprinted {match} using fuzzy match. {len(matched_ecus)} matching ECUs")
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return {match}
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else:
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return set()
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@ -230,11 +230,11 @@ def get_brand_ecu_matches(ecu_rx_addrs: set[EcuAddrBusType]) -> dict[str, set[Ad
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def set_obd_multiplexing(params: Params, obd_multiplexing: bool):
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if params.get_bool("ObdMultiplexingEnabled") != obd_multiplexing:
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cloudlog.warning(f"Setting OBD multiplexing to {obd_multiplexing}")
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carlog.warning(f"Setting OBD multiplexing to {obd_multiplexing}")
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params.remove("ObdMultiplexingChanged")
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params.put_bool("ObdMultiplexingEnabled", obd_multiplexing)
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params.get_bool("ObdMultiplexingChanged", block=True)
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cloudlog.warning("OBD multiplexing set successfully")
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carlog.warning("OBD multiplexing set successfully")
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def get_fw_versions_ordered(logcan, sendcan, vin: str, ecu_rx_addrs: set[EcuAddrBusType], timeout: float = 0.1, num_pandas: int = 1,
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@ -331,7 +331,7 @@ def get_fw_versions(logcan, sendcan, query_brand: str = None, extra: OfflineFwVe
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car_fw.append(f)
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except Exception:
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cloudlog.exception("FW query exception")
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carlog.exception("FW query exception")
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return car_fw
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@ -3,9 +3,9 @@ from collections import defaultdict
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from functools import partial
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import cereal.messaging as messaging
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from openpilot.common.swaglog import cloudlog
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from openpilot.selfdrive.pandad import can_list_to_can_capnp
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from openpilot.selfdrive.car import carlog
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from openpilot.selfdrive.car.fw_query_definitions import AddrType
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from openpilot.selfdrive.pandad import can_list_to_can_capnp
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from panda.python.uds import CanClient, IsoTpMessage, FUNCTIONAL_ADDRS, get_rx_addr_for_tx_addr
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@ -109,7 +109,7 @@ class IsoTpParallelQuery:
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try:
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dat, rx_in_progress = msg.recv()
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except Exception:
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cloudlog.exception(f"Error processing UDS response: {tx_addr}")
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carlog.exception(f"Error processing UDS response: {tx_addr}")
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request_done[tx_addr] = True
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continue
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@ -123,7 +123,7 @@ class IsoTpParallelQuery:
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# Log unexpected empty responses
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if len(dat) == 0:
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cloudlog.error(f"iso-tp query empty response: {tx_addr}")
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carlog.error(f"iso-tp query empty response: {tx_addr}")
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request_done[tx_addr] = True
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continue
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@ -143,10 +143,10 @@ class IsoTpParallelQuery:
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error_code = dat[2] if len(dat) > 2 else -1
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if error_code == 0x78:
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response_timeouts[tx_addr] = time.monotonic() + self.response_pending_timeout
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cloudlog.error(f"iso-tp query response pending: {tx_addr}")
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carlog.error(f"iso-tp query response pending: {tx_addr}")
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else:
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request_done[tx_addr] = True
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cloudlog.error(f"iso-tp query bad response: {tx_addr} - 0x{dat.hex()}")
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carlog.error(f"iso-tp query bad response: {tx_addr} - 0x{dat.hex()}")
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# Mark request done if address timed out
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cur_time = time.monotonic()
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@ -154,12 +154,12 @@ class IsoTpParallelQuery:
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if cur_time - response_timeouts[tx_addr] > 0:
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if not request_done[tx_addr]:
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if request_counter[tx_addr] > 0:
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cloudlog.error(f"iso-tp query timeout after receiving partial response: {tx_addr}")
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carlog.error(f"iso-tp query timeout after receiving partial response: {tx_addr}")
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elif tx_addr in addrs_responded:
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cloudlog.error(f"iso-tp query timeout while receiving response: {tx_addr}")
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carlog.error(f"iso-tp query timeout while receiving response: {tx_addr}")
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# TODO: handle functional addresses
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# else:
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# cloudlog.error(f"iso-tp query timeout with no response: {tx_addr}")
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# carlog.error(f"iso-tp query timeout with no response: {tx_addr}")
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request_done[tx_addr] = True
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# Break if all requests are done (finished or timed out)
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@ -167,7 +167,7 @@ class IsoTpParallelQuery:
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break
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if cur_time - start_time > total_timeout:
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cloudlog.error("iso-tp query timeout while receiving data")
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carlog.error("iso-tp query timeout while receiving data")
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break
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return results
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@ -322,11 +322,11 @@ class TestFwFingerprintTiming:
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# TODO: replace this with full fingerprint simulation testing
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# https://github.com/commaai/panda/pull/1329
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def fake_cloudlog_exception(*args, **kwargs):
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def fake_carlog_exception(*args, **kwargs):
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raise
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mocker.patch("openpilot.selfdrive.car.fw_versions.set_obd_multiplexing", lambda *args: None)
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mocker.patch("openpilot.common.swaglog.cloudlog.exception", fake_cloudlog_exception)
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mocker.patch("openpilot.selfdrive.car.carlog.exception", fake_carlog_exception)
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fake_socket = FakeSocket()
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for brand in FW_QUERY_CONFIGS.keys():
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with subtests.test(brand=brand):
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@ -3,9 +3,9 @@ import re
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import cereal.messaging as messaging
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from panda.python.uds import get_rx_addr_for_tx_addr, FUNCTIONAL_ADDRS
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from openpilot.selfdrive.car import carlog
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from openpilot.selfdrive.car.isotp_parallel_query import IsoTpParallelQuery
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from openpilot.selfdrive.car.fw_query_definitions import STANDARD_VIN_ADDRS, StdQueries
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from openpilot.common.swaglog import cloudlog
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VIN_UNKNOWN = "0" * 17
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VIN_RE = "[A-HJ-NPR-Z0-9]{17}"
|
||||
|
|
@ -50,12 +50,12 @@ def get_vin(logcan, sendcan, buses, timeout=0.1, retry=2, debug=False):
|
|||
if vin.startswith(b'\x11'):
|
||||
vin = vin[1:18]
|
||||
|
||||
cloudlog.error(f"got vin with {request=}")
|
||||
carlog.error(f"got vin with {request=}")
|
||||
return get_rx_addr_for_tx_addr(addr, rx_offset=rx_offset), bus, vin.decode()
|
||||
except Exception:
|
||||
cloudlog.exception("VIN query exception")
|
||||
carlog.exception("VIN query exception")
|
||||
|
||||
cloudlog.error(f"vin query retry ({i+1}) ...")
|
||||
carlog.error(f"vin query retry ({i+1}) ...")
|
||||
|
||||
return -1, -1, VIN_UNKNOWN
|
||||
|
||||
|
|
|
|||
Loading…
Reference in New Issue