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https://github.com/firestar5683/StarPilot.git
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firestar5683
60 lines
2.4 KiB
Python
60 lines
2.4 KiB
Python
"""Fixed production response-calibration purpose, separate from legacy fitting."""
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import gc
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import json
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import os
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import resource
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import sys
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from openpilot.starpilot.flm.live_tracking_response_policy import MAX_AS, MAX_CPU, MAX_INPUT, MAX_OUTPUT, PURPOSE, production_result
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from openpilot.starpilot.flm.live_tracking_response_policy import MAX_WALL_NS as MAX_WALL_NS
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def main():
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try:
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if not sys.platform.startswith('linux'):
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raise ValueError('qualified Linux response worker required')
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import ctypes
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import signal
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parent = int(os.environ['STARPILOT_FLM_PARENT_PID'])
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if ctypes.CDLL(None).prctl(1, signal.SIGKILL, 0, 0, 0) != 0 or os.getppid() != parent:
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raise ValueError('bootstrap parent disappeared')
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os.sched_setscheduler(0, os.SCHED_OTHER, os.sched_param(0))
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os.nice(10)
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for kind, ceiling in ((resource.RLIMIT_AS, MAX_AS), (resource.RLIMIT_CPU, MAX_CPU)):
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soft, hard = resource.getrlimit(kind)
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limit = min((ceiling, *[value for value in (soft, hard) if value >= 0]))
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resource.setrlimit(kind, (limit, hard))
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if any(os.environ.get(name) != '1' for name in ('OPENBLAS_NUM_THREADS', 'OMP_NUM_THREADS', 'MKL_NUM_THREADS', 'NUMEXPR_NUM_THREADS')):
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raise ValueError('one numerical thread required')
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# This exact module/purpose and actual resource guards are independently
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# checked by the native helper; no inherited environment opt-in selects it.
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from openpilot.starpilot.flm.native_primitives import enable_response_worker
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if not enable_response_worker(PURPOSE):
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raise ValueError('qualified response native runtime unavailable')
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raw = sys.stdin.buffer.read(MAX_INPUT+1)
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if len(raw) > MAX_INPUT:
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raise ValueError('response worker input bound')
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from openpilot.starpilot.flm.live_tracking_bootstrap import bootstrap_snapshot
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was_enabled = gc.isenabled()
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try:
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gc.disable()
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result = bootstrap_snapshot(json.loads(raw))
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finally:
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if was_enabled:
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gc.enable()
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result = production_result(result)
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encoded = json.dumps(result, separators=(',', ':'), allow_nan=False).encode()
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if len(encoded) > MAX_OUTPUT:
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raise ValueError('response worker output bound')
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sys.stdout.buffer.write(encoded)
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sys.stdout.buffer.flush()
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return 0
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except (Exception, MemoryError) as error:
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sys.stderr.write(type(error).__name__+': '+str(error)[:240]+'\n')
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return 1
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if __name__ == '__main__':
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raise SystemExit(main())
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