openpilot v0.3.7 release

old-commit-hash: daf54ad54d

common/basedir.py

@@ -0,0 +1,4 @@
+import os
+BASEDIR = os.path.join(os.path.dirname(os.path.realpath(__file__)), "../")
+
+

common/crash.py

@@ -2,7 +2,7 @@
 import os
 import sys
 
-if os.getenv("NOLOG"):
+if os.getenv("NOLOG") or os.getenv("NOCRASH"):
   def capture_exception(*exc_info):
     pass
   def bind_user(**kwargs):

common/fingerprints.py

@@ -18,6 +18,9 @@ _FINGERPRINTS = {
     57L: 3, 145L: 8, 316L: 8, 340L: 8, 342L: 6, 344L: 8, 380L: 8, 398L: 3, 399L: 6, 401L: 8, 420L: 8, 422L: 8, 426L: 8, 432L: 7, 464L: 8, 474L: 5, 476L: 4, 487L: 4, 490L: 8, 493L: 3, 507L: 1, 542L: 7, 545L: 4, 597L: 8, 660L: 8, 661L: 4, 773L: 7, 777L: 8, 800L: 8, 804L: 8, 808L: 8, 882L: 2, 884L: 7, 888L: 8, 891L: 8, 892L: 8, 923L: 2, 929L: 8, 983L: 8, 985L: 3, 1024L: 5, 1027L: 5, 1029L: 8, 1033L: 5, 1036L: 8, 1039L: 8, 1057L: 5, 1064L: 7, 1108L: 8, 1125L: 8, 1296L: 8, 1365L: 5, 1424L: 5, 1600L: 5, 1601L: 8,
     # sent messages
     0x194: 4, 0x1fa: 8, 0x30c: 8, 0x33d: 5,
+  },
+  "TOYOTA PRIUS 2017": {
+    896L: 8, 832L: 8, 898L: 8, 899L: 8, 577L: 8, 528L: 8, 529L: 8, 530L: 8, 531L: 8, 532L: 8, 533L: 8, 534L: 8, 535L: 8, 536L: 8, 537L: 8, 538L: 8, 539L: 8, 540L: 8, 541L: 8, 542L: 8, 543L: 8, 544L: 8, 545L: 8, 546L: 8, 547L: 8, 548L: 8, 549L: 8, 550L: 8, 551L: 8, 296L: 6, 553L: 6, 554L: 6, 555L: 6, 556L: 6, 557L: 6, 558L: 6, 559L: 6, 560L: 7, 561L: 8, 562L: 8, 883L: 8, 837L: 8, 833L: 8, 576L: 8, 321L: 4, 834L: 8, 835L: 8, 580L: 8, 581L: 8, 897L: 8, 584L: 8, 1136L: 4, 976L: 8, 977L: 8, 978L: 8, 291L: 7, 881L: 8, 352L: 8, 353L: 7, 867L: 8, 868L: 8, 869L: 8, 1126L: 3, 304L: 7, 880L: 8, 552L: 6, 882L: 8, 979L: 8, 884L: 8, 885L: 8, 836L: 8
   }
 }
 

common/params.py

@@ -66,6 +66,13 @@ keys = {
 # read:    radard
   "CarParams": TxType.CLEAR_ON_CAR_START}
 
+def fsync_dir(path):
+  fd = os.open(path, os.O_RDONLY)
+  try:
+    os.fsync(fd)
+  finally:
+    os.close(fd)
+
 
 class FileLock(object):
   def __init__(self, path, create):
@@ -182,15 +189,32 @@ class DBWriter(DBAccessor):
     self._check_entered()
 
     try:
+      # data_path refers to the externally used path to the params. It is a symlink.
+      # old_data_path is the path currently pointed to by data_path.
+      # tempdir_path is a path where the new params will go, which the new data path will point to.
+      # new_data_path is a temporary symlink that will atomically overwrite data_path.
+      #
+      # The current situation is:
+      #   data_path -> old_data_path
+      # We're going to write params data to tempdir_path
+      #   tempdir_path -> params data
+      # Then point new_data_path to tempdir_path
+      #   new_data_path -> tempdir_path
+      # Then atomically overwrite data_path with new_data_path
+      #   data_path -> tempdir_path
       old_data_path = None
       new_data_path = None
       tempdir_path = tempfile.mkdtemp(prefix=".tmp", dir=self._path)
+
       try:
         # Write back all keys.
         os.chmod(tempdir_path, 0o777)
         for k, v in self._vals.items():
           with open(os.path.join(tempdir_path, k), "wb") as f:
             f.write(v)
+            f.flush()
+            os.fsync(f.fileno())
+        fsync_dir(tempdir_path)
 
         data_path = self._data_path()
         try:
@@ -203,16 +227,21 @@ class DBWriter(DBAccessor):
         new_data_path = "{}.link".format(tempdir_path)
         os.symlink(os.path.basename(tempdir_path), new_data_path)
         os.rename(new_data_path, data_path)
-      # TODO(mgraczyk): raise useful error when values are bad.
-      except:
-        shutil.rmtree(tempdir_path)
-        if new_data_path is not None:
-          os.remove(new_data_path)
-        raise
+        fsync_dir(self._path)
+      finally:
+        # If the rename worked, we can delete the old data. Otherwise delete the new one.
+        success = new_data_path is not None and os.path.exists(data_path) and (
+          os.readlink(data_path) == os.path.basename(tempdir_path))
 
-      # Keep holding the lock while we clean up the old data.
-      if old_data_path is not None:
-        shutil.rmtree(old_data_path)
+        if success:
+          if old_data_path is not None:
+            shutil.rmtree(old_data_path)
+        else:
+          shutil.rmtree(tempdir_path)
+
+        # Regardless of what happened above, there should be no link at new_data_path.
+        if new_data_path is not None and os.path.islink(new_data_path):
+          os.remove(new_data_path)
     finally:
       os.umask(self._prev_umask)
       self._prev_umask = None
@@ -249,6 +278,10 @@ class Params(object):
   def car_start(self):
     self._clear_keys_with_type(TxType.CLEAR_ON_CAR_START)
 
+  def delete(self, key):
+    with self.env.begin(write=True) as txn:
+      txn.delete(key)
+
   def get(self, key, block=False):
     if key not in keys:
       raise UnknownKeyName(key)

common/profiler.py

@@ -14,6 +14,12 @@ class Profiler(object):
     self.cp.append((name, tt - self.last_time))
     self.last_time = tt
 
+  def reset(self, enabled=False):
+    self.enabled = enabled
+    self.cp = []
+    self.start_time = sec_since_boot()
+    self.last_time = self.start_time
+
   def display(self):
     if not self.enabled:
       return