IQ.Pilot/system/manager/helpers.py

import errno
import fcntl
import os
import sys
import pathlib
import shutil
import signal
import subprocess
import tempfile
import threading

from openpilot.common.basedir import BASEDIR
from openpilot.common.params import Params
from openpilot.common.swaglog import cloudlog

def unblock_stdout() -> None:
  # get a non-blocking stdout
  child_pid, child_pty = os.forkpty()
  if child_pid != 0:  # parent

    # child is in its own process group, manually pass kill signals
    signal.signal(signal.SIGINT, lambda signum, frame: os.kill(child_pid, signal.SIGINT))
    signal.signal(signal.SIGTERM, lambda signum, frame: os.kill(child_pid, signal.SIGTERM))

    fcntl.fcntl(sys.stdout, fcntl.F_SETFL, fcntl.fcntl(sys.stdout, fcntl.F_GETFL) | os.O_NONBLOCK)

    while True:
      try:
        dat = os.read(child_pty, 4096)
      except OSError as e:
        if e.errno == errno.EIO:
          break
        continue

      if not dat:
        break

      try:
        sys.stdout.write(dat.decode('utf8'))
      except (OSError, UnicodeDecodeError):
        pass

    # os.wait() returns a tuple with the pid and a 16 bit value
    # whose low byte is the signal number and whose high byte is the exit status
    exit_status = os.wait()[1] >> 8
    os._exit(exit_status)


def write_onroad_params(started, params):
  params.put_bool("IsOnroad", started)
  params.put_bool("IsOffroad", not started)


def heal_param_perms():
  """Self-heal for a boot-bricking failure mode: a stray root process occasionally
  writes a param (seen with RouteCount/CurrentRoute) as root:root 0600, which manager
  (comma) then can't read — crashing save_bootlog and any param read. Detect params we
  don't own and chown them back + make them readable. Needs root to chown another user's
  file, so it shells to passwordless sudo (device grants it); best-effort, never raises,
  never blocks boot. No-op when everything is already ours (the common case: no sudo)."""
  try:
    param_path = Params().get_param_path()
    uid, gid = os.getuid(), os.getgid()
    stray = []
    for name in os.listdir(param_path):
      p = os.path.join(param_path, name)
      try:
        if os.stat(p).st_uid != uid:
          stray.append(p)
      except OSError:
        pass
    if stray:
      subprocess.run(["sudo", "-n", "chown", f"{uid}:{gid}", *stray], check=False, timeout=15,
                     stdout=subprocess.DEVNULL, stderr=subprocess.DEVNULL)
      subprocess.run(["sudo", "-n", "chmod", "644", *stray], check=False, timeout=15,
                     stdout=subprocess.DEVNULL, stderr=subprocess.DEVNULL)
  except Exception:
    pass


def save_bootlog():
  # copy current params
  tmp = tempfile.mkdtemp()
  params_dirname = pathlib.Path(Params().get_param_path()).name
  params_dir = os.path.join(tmp, params_dirname)

  # Params are rewritten atomically (unlink + rename) by other processes, so a
  # value can vanish between copytree's listing and the copy; a param may also be
  # unreadable (e.g. a root-owned RouteCount/CurrentRoute). Skip any file we can't
  # copy instead of raising — the bootlog snapshot is best-effort and must NOT block boot.
  def _copy_skip_missing(src, dst, *, follow_symlinks=True):
    try:
      shutil.copy2(src, dst, follow_symlinks=follow_symlinks)
    except OSError:
      pass
  shutil.copytree(Params().get_param_path(), params_dir, dirs_exist_ok=True, copy_function=_copy_skip_missing)

  def fn(tmpdir):
    env = os.environ.copy()
    env['PARAMS_COPY_PATH'] = tmpdir
    subprocess.call("./bootlog", cwd=os.path.join(BASEDIR, "system/loggerd"), env=env)
    shutil.rmtree(tmpdir)
  t = threading.Thread(target=fn, args=(tmp, ))
  t.daemon = True
  t.start()


# REVERT ME!  ---------------------------------------------------------------
# One-shot migration carrying values across the sunny -> IQ param key renames.
# Old keys are no longer registered in params_keys.h, so their values are read
# straight off disk, copied to the new IQ key, and the stale file removed.
# Delete this block (and its manager_init() call) once fielded devices have
# booted past it at least once.
_RENAMED_PARAMS = {
  "QuietMode": "IQAlertSilence",
  "SpeedLimitMode": "IQSpeedAssistMode",
  "SpeedLimitPolicy": "IQSpeedAssistPolicy",
  "SpeedLimitOffsetType": "IQSpeedAssistOffsetType",
  "SpeedLimitValueOffset": "IQSpeedAssistValueOffset",
  "LaneTurnDesire": "IQLaneTurnDesire",
  "LaneTurnValue": "IQLaneTurnValue",
  "BlinkerPauseLateralControl": "IQBlinkerPauseLateral",
  "BlinkerMinLateralControlSpeed": "IQBlinkerMinLateralSpeed",
  "DevUIInfo": "IQDevUIInfo",
}


def migrate_renamed_params(params: Params | None = None) -> None:
  """REVERT ME! carry stored values across the sunny->IQ key renames, then drop the old files.

  Copies at the file level: on-disk param values are raw bytes, so this preserves the exact
  stored representation and sidesteps put()'s typed-value check for BOOL/INT/FLOAT keys.
  """
  p = params if params is not None else Params()
  for old, new in _RENAMED_PARAMS.items():
    try:
      old_path = p.get_param_path(old)
      if not os.path.isfile(old_path):
        continue
      new_path = p.get_param_path(new)
      if not os.path.exists(new_path):
        with open(old_path, "rb") as f:
          value = f.read()
        tmp = new_path + ".tmp"
        with open(tmp, "wb") as f:
          f.write(value)
          f.flush()
          os.fsync(f.fileno())
        os.rename(tmp, new_path)
      os.remove(old_path)
    except Exception:
      cloudlog.exception(f"param rename migration failed for {old} -> {new}")
# END REVERT ME! ------------------------------------------------------------