bootlog doesn't block startup (#31061)

* bootlog doesn't block startup

* keep params

* fix

* cleanup
old-commit-hash: c4362bd958d1473b97ae336fd0e9bd7b50fe4fb9

selfdrive/manager/helpers.py

@@ -3,7 +3,13 @@ import sys
 import fcntl
 import errno
 import signal
+import shutil
+import subprocess
+import tempfile
+import threading
 
+from openpilot.common.basedir import BASEDIR
+from openpilot.common.params import Params
 
 def unblock_stdout() -> None:
   # get a non-blocking stdout
@@ -41,3 +47,16 @@ def unblock_stdout() -> None:
 def write_onroad_params(started, params):
   params.put_bool("IsOnroad", started)
   params.put_bool("IsOffroad", not started)
+
+
+def save_bootlog():
+  # copy current params
+  tmp = tempfile.mkdtemp()
+  shutil.copytree(Params().get_param_path() + "/..", tmp, dirs_exist_ok=True)
+
+  env = os.environ.copy()
+  env['PARAMS_ROOT'] = tmp
+
+  t = threading.Thread(target=subprocess.call, args=("./bootlog", ), kwargs={'cwd': os.path.join(BASEDIR, "system/loggerd"), 'env': env})
+  t.daemon = True
+  t.start()

selfdrive/manager/manager.py

@@ -2,7 +2,6 @@
 import datetime
 import os
 import signal
-import subprocess
 import sys
 import traceback
 from typing import List, Tuple, Union
@@ -10,12 +9,11 @@ from typing import List, Tuple, Union
 from cereal import log
 import cereal.messaging as messaging
 import openpilot.selfdrive.sentry as sentry
-from openpilot.common.basedir import BASEDIR
 from openpilot.common.params import Params, ParamKeyType
 from openpilot.common.text_window import TextWindow
 from openpilot.selfdrive.boardd.set_time import set_time
 from openpilot.system.hardware import HARDWARE, PC
-from openpilot.selfdrive.manager.helpers import unblock_stdout, write_onroad_params
+from openpilot.selfdrive.manager.helpers import unblock_stdout, write_onroad_params, save_bootlog
 from openpilot.selfdrive.manager.process import ensure_running
 from openpilot.selfdrive.manager.process_config import managed_processes
 from openpilot.selfdrive.athena.registration import register, UNREGISTERED_DONGLE_ID
@@ -31,7 +29,7 @@ def manager_init() -> None:
   set_time(cloudlog)
 
   # save boot log
-  subprocess.call("./bootlog", cwd=os.path.join(BASEDIR, "system/loggerd"))
+  save_bootlog()
 
   params = Params()
   params.clear_all(ParamKeyType.CLEAR_ON_MANAGER_START)

system/hardware/hw.h

@@ -30,13 +30,13 @@ namespace Path {
   }
 
   inline std::string params() {
-    return Hardware::PC() ? util::getenv("PARAMS_ROOT", Path::comma_home() + "/params") : "/data/params";
+    return util::getenv("PARAMS_ROOT", Hardware::PC ? (Path::comma_home() + "/params") : "/data/params");
   }
 
   inline std::string rsa_file() {
     return Hardware::PC() ? Path::comma_home() + "/persist/comma/id_rsa" : "/persist/comma/id_rsa";
   }
-  
+
   inline std::string swaglog_ipc() {
     return "ipc:///tmp/logmessage" + Path::openpilot_prefix();
   }