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StarPilot/selfdrive/manager/manager.py
T
FrogAi cf0bfe33cc Sentry logging 
Logging for my Sentry server that tracks the values of the serial number, car fingerprint, user set parameters, and the date and time for when FrogPilot was installed and last updated for debugging and support.
2024-03-01 11:09:19 -07:00

456 lines
14 KiB
Python
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#!/usr/bin/env python3
import datetime
import os
import signal
import subprocess
import sys
import traceback
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.system.hardware import HARDWARE, PC
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
from openpilot.common.swaglog import cloudlog, add_file_handler
from openpilot.system.version import is_dirty, get_commit, get_version, get_origin, get_short_branch, \
get_normalized_origin, terms_version, training_version, \
is_tested_branch, is_release_branch, get_commit_date
from openpilot.selfdrive.frogpilot.functions.frogpilot_functions import DEFAULT_MODEL
def manager_init() -> None:
save_bootlog()
# Clear the error log on boot to prevent old errors from hanging around
if os.path.isfile(os.path.join(sentry.CRASHES_DIR, 'error.txt')):
os.remove(os.path.join(sentry.CRASHES_DIR, 'error.txt'))
params = Params()
params_storage = Params("/persist/comma/params")
params.clear_all(ParamKeyType.CLEAR_ON_MANAGER_START)
params.clear_all(ParamKeyType.CLEAR_ON_ONROAD_TRANSITION)
params.clear_all(ParamKeyType.CLEAR_ON_OFFROAD_TRANSITION)
if is_release_branch():
params.clear_all(ParamKeyType.DEVELOPMENT_ONLY)
############### Remove this after the April 26th update ###############
previous_speed_limit = params.get_float("PreviousSpeedLimit")
if previous_speed_limit >= 50:
params.put_float("PreviousSpeedLimit", previous_speed_limit / 100)
for priority_key in ["SLCPriority", "SLCPriority1", "SLCPriority2", "SLCPriority3"]:
priority_value = params.get(priority_key)
if isinstance(priority_value, int):
params.remove(priority_key)
attributes = ["AggressiveFollow", "StandardFollow", "RelaxedFollow", "AggressiveJerk", "StandardJerk", "RelaxedJerk"]
values = {attr: params.get_float(attr) for attr in attributes}
if any(value > 5 for value in values.values()):
for attr, value in values.items():
params.put_float(attr, value / 10)
if params.get_bool("SilentMode"):
attributes = ["DisengageVolume", "EngageVolume", "PromptVolume", "PromptDistractedVolume", "RefuseVolume", "WarningSoftVolume", "WarningImmediateVolume"]
for attr in attributes:
params.put_float(attr, 0)
params.put_bool("SilentMode", False)
#######################################################################
# Check if the currently selected model still exists
current_model = params.get("Model", encoding='utf-8')
if current_model != DEFAULT_MODEL:
models_folder = os.path.join(BASEDIR, 'selfdrive/modeld/models/models')
model_exists = current_model in [os.path.splitext(file)[0] for file in os.listdir(models_folder)]
if not model_exists:
params.remove("Model")
default_params: List[Tuple[str, Union[str, bytes]]] = [
("CompletedTrainingVersion", "0"),
("DisengageOnAccelerator", "0"),
("GsmMetered", "1"),
("HasAcceptedTerms", "0"),
("LanguageSetting", "main_en"),
("OpenpilotEnabledToggle", "1"),
("LongitudinalPersonality", str(log.LongitudinalPersonality.standard)),
# Default FrogPilot parameters
("AccelerationPath", "1"),
("AccelerationProfile", "2"),
("AdjacentPath", "0"),
("AdjacentPathMetrics", "0"),
("AdjustablePersonalities", "1"),
("AggressiveAcceleration", "1"),
("AggressiveFollow", "1.25"),
("AggressiveJerk", "0.5"),
("AlertVolumeControl", "0"),
("AlwaysOnLateral", "1"),
("AlwaysOnLateralMain", "0"),
("BlindSpotPath", "1"),
("CameraView", "0"),
("CECurves", "1"),
("CENavigation", "1"),
("CENavigationIntersections", "1"),
("CENavigationLead", "1"),
("CENavigationTurns", "1"),
("CESignal", "1"),
("CESlowerLead", "0"),
("CESpeed", "0"),
("CESpeedLead", "0"),
("CEStopLights", "1"),
("CEStopLightsLead", "1"),
("Compass", "0"),
("ConditionalExperimental", "1"),
("CrosstrekTorque", "0"),
("CurveSensitivity", "100"),
("CustomAlerts", "0"),
("CustomColors", "1"),
("CustomIcons", "1"),
("CustomPersonalities", "1"),
("CustomSignals", "1"),
("CustomSounds", "1"),
("CustomTheme", "1"),
("CustomUI", "1"),
("CydiaTune", "1"),
("DecelerationProfile", "1"),
("DeviceShutdown", "9"),
("DisableMTSCSmoothing", "0"),
("DisableVTSCSmoothing", "0"),
("DisengageVolume", "100"),
("DragonPilotTune", "0"),
("DriverCamera", "0"),
("DriveStats", "1"),
("DynamicPathWidth", "0"),
("EngageVolume", "100"),
("EVTable", "1"),
("ExperimentalModeActivation", "1"),
("ExperimentalModeViaLKAS", "0"),
("ExperimentalModeViaScreen", "1"),
("Fahrenheit", "0"),
("FireTheBabysitter", "0"),
("ForceAutoTune", "0"),
("FPSCounter", "0"),
("FrogPilotDrives", "0"),
("FrogPilotKilometers", "0"),
("FrogPilotMinutes", "0"),
("FrogsGoMooTune", "0"),
("FullMap", "0"),
("GasRegenCmd", "0"),
("GoatScream", "1"),
("GreenLightAlert", "0"),
("HideSpeed", "0"),
("HideSpeedUI", "0"),
("HigherBitrate", "0"),
("LaneChangeTime", "0"),
("LaneDetection", "1"),
("LaneDetectionWidth", "60"),
("LaneLinesWidth", "4"),
("LateralTune", "1"),
("LeadDepartingAlert", "0"),
("LeadInfo", "0"),
("LockDoors", "0"),
("LongitudinalTune", "1"),
("LongPitch", "1"),
("LoudBlindspotAlert", "0"),
("LowerVolt", "1"),
("MapStyle", "0"),
("MTSCAggressiveness", "100"),
("MTSCCurvatureCheck", "0"),
("MTSCLimit", "0"),
("Model", DEFAULT_MODEL),
("ModelUI", "1"),
("MTSCEnabled", "1"),
("MuteOverheated", "0"),
("NNFF", "1"),
("NoLogging", "0"),
("NoUploads", "0"),
("NudgelessLaneChange", "1"),
("NumericalTemp", "0"),
("Offset1", "5"),
("Offset2", "5"),
("Offset3", "5"),
("Offset4", "10"),
("OneLaneChange", "1"),
("PathEdgeWidth", "20"),
("PathWidth", "61"),
("PauseLateralOnSignal", "0"),
("PedalsOnUI", "1"),
("PersonalitiesViaScreen", "1"),
("PersonalitiesViaWheel", "1"),
("PreferredSchedule", "0"),
("PromptVolume", "100"),
("PromptDistractedVolume", "100"),
("QOLControls", "1"),
("QOLVisuals", "1"),
("RandomEvents", "0"),
("RefuseVolume", "100"),
("RelaxedFollow", "1.75"),
("RelaxedJerk", "1.0"),
("ReverseCruise", "0"),
("ReverseCruiseUI", "1"),
("RoadEdgesWidth", "2"),
("RoadNameUI", "1"),
("RotatingWheel", "1"),
("ScreenBrightness", "101"),
("SearchInput", "0"),
("SetSpeedLimit", "0"),
("SetSpeedOffset", "0"),
("ShowCPU", "0"),
("ShowGPU", "0"),
("ShowIP", "0"),
("ShowMemoryUsage", "0"),
("Sidebar", "0"),
("SLCConfirmation", "1"),
("SLCConfirmationLower", "1"),
("SLCConfirmationHigher", "0"),
("SLCFallback", "2"),
("SLCOverride", "1"),
("SLCPriority1", "Dashboard"),
("SLCPriority2", "Offline Maps"),
("SLCPriority3", "Navigation"),
("SmoothBraking", "1"),
("SNGHack", "1"),
("SpeedLimitChangedAlert", "0"),
("SpeedLimitController", "1"),
("StandardFollow", "1.45"),
("StandardJerk", "1.0"),
("StoppingDistance", "0"),
("TurnAggressiveness", "100"),
("TurnDesires", "0"),
("UnlimitedLength", "1"),
("UseLateralJerk", "0"),
("UseSI", "0"),
("UseVienna", "0"),
("VisionTurnControl", "1"),
("WarningSoftVolume", "100"),
("WarningImmediateVolume", "100"),
("WheelIcon", "3"),
("WheelSpeed", "0")
]
if not PC:
default_params.append(("LastUpdateTime", datetime.datetime.utcnow().isoformat().encode('utf8')))
if params.get_bool("RecordFrontLock"):
params.put_bool("RecordFront", True)
# set unset params
for k, v in default_params:
if params.get(k) is None:
if params_storage.get(k) is None:
params.put(k, v)
else:
params.put(k, params_storage.get(k))
else:
params_storage.put(k, params.get(k))
# Create folders needed for msgq
try:
os.mkdir("/dev/shm")
except FileExistsError:
pass
except PermissionError:
print("WARNING: failed to make /dev/shm")
# set version params
params.put("Version", get_version())
params.put("TermsVersion", terms_version)
params.put("TrainingVersion", training_version)
params.put("GitCommit", get_commit())
params.put("GitCommitDate", get_commit_date())
params.put("GitBranch", get_short_branch())
params.put("GitRemote", get_origin())
params.put_bool("IsTestedBranch", is_tested_branch())
params.put_bool("IsReleaseBranch", is_release_branch())
# set dongle id
reg_res = register(show_spinner=True)
if reg_res:
dongle_id = reg_res
else:
serial = params.get("HardwareSerial")
raise Exception(f"Registration failed for device {serial}")
os.environ['DONGLE_ID'] = dongle_id # Needed for swaglog
os.environ['GIT_ORIGIN'] = get_normalized_origin() # Needed for swaglog
os.environ['GIT_BRANCH'] = get_short_branch() # Needed for swaglog
os.environ['GIT_COMMIT'] = get_commit() # Needed for swaglog
if not is_dirty():
os.environ['CLEAN'] = '1'
# init logging
sentry.init(sentry.SentryProject.SELFDRIVE)
cloudlog.bind_global(dongle_id=dongle_id,
version=get_version(),
origin=get_normalized_origin(),
branch=get_short_branch(),
commit=get_commit(),
dirty=is_dirty(),
device=HARDWARE.get_device_type())
# preimport all processes
for p in managed_processes.values():
p.prepare()
def manager_cleanup() -> None:
# send signals to kill all procs
for p in managed_processes.values():
p.stop(block=False)
# ensure all are killed
for p in managed_processes.values():
p.stop(block=True)
cloudlog.info("everything is dead")
def update_frogpilot_params(params, params_memory):
keys = ["DisableOnroadUploads", "FireTheBabysitter", "NoLogging", "NoUploads", "RoadNameUI"]
for key in keys:
params_memory.put_bool(key, params.get_bool(key))
def manager_thread() -> None:
cloudlog.bind(daemon="manager")
cloudlog.info("manager start")
cloudlog.info({"environ": os.environ})
params = Params()
params_memory = Params("/dev/shm/params")
params_storage = Params("/persist/comma/params")
update_frogpilot_params(params, params_memory)
ignore: List[str] = []
if params.get("DongleId", encoding='utf8') in (None, UNREGISTERED_DONGLE_ID):
ignore += ["manage_athenad", "uploader"]
if os.getenv("NOBOARD") is not None:
ignore.append("pandad")
ignore += [x for x in os.getenv("BLOCK", "").split(",") if len(x) > 0]
sm = messaging.SubMaster(['deviceState', 'carParams'], poll='deviceState')
pm = messaging.PubMaster(['managerState'])
write_onroad_params(False, params)
ensure_running(managed_processes.values(), False, params=params, params_memory=params_memory, CP=sm['carParams'], not_run=ignore)
started_prev = False
while True:
sm.update(1000)
started = sm['deviceState'].started
if started and not started_prev:
params.clear_all(ParamKeyType.CLEAR_ON_ONROAD_TRANSITION)
elif not started and started_prev:
params.clear_all(ParamKeyType.CLEAR_ON_OFFROAD_TRANSITION)
# Clear the error log on offroad transition to prevent old errors from hanging around
if os.path.isfile(os.path.join(sentry.CRASHES_DIR, 'error.txt')):
os.remove(os.path.join(sentry.CRASHES_DIR, 'error.txt'))
# update onroad params, which drives boardd's safety setter thread
if started != started_prev:
write_onroad_params(started, params)
started_prev = started
ensure_running(managed_processes.values(), started, params=params, params_memory=params_memory, CP=sm['carParams'], not_run=ignore)
running = ' '.join("%s%s\u001b[0m" % ("\u001b[32m" if p.proc.is_alive() else "\u001b[31m", p.name)
for p in managed_processes.values() if p.proc)
print(running)
cloudlog.debug(running)
# send managerState
msg = messaging.new_message('managerState', valid=True)
msg.managerState.processes = [p.get_process_state_msg() for p in managed_processes.values()]
pm.send('managerState', msg)
# Exit main loop when uninstall/shutdown/reboot is needed
shutdown = False
for param in ("DoUninstall", "DoShutdown", "DoReboot"):
if params.get_bool(param):
shutdown = True
params.put("LastManagerExitReason", f"{param} {datetime.datetime.now()}")
cloudlog.warning(f"Shutting down manager - {param} set")
if shutdown:
break
if params_memory.get_bool("FrogPilotTogglesUpdated"):
update_frogpilot_params(params, params_memory)
def main() -> None:
# Create the long term param storage folder
try:
subprocess.run(['sudo', 'mount', '-o', 'remount,rw', '/persist'], check=True)
print("Successfully remounted /persist as read-write.")
except subprocess.CalledProcessError as e:
print(f"Failed to remount /persist. Error: {e}")
manager_init()
if os.getenv("PREPAREONLY") is not None:
return
# SystemExit on sigterm
signal.signal(signal.SIGTERM, lambda signum, frame: sys.exit(1))
try:
manager_thread()
except Exception:
traceback.print_exc()
sentry.capture_exception()
finally:
manager_cleanup()
params = Params()
if params.get_bool("DoUninstall"):
cloudlog.warning("uninstalling")
HARDWARE.uninstall()
elif params.get_bool("DoReboot"):
cloudlog.warning("reboot")
HARDWARE.reboot()
elif params.get_bool("DoShutdown"):
cloudlog.warning("shutdown")
HARDWARE.shutdown()
if __name__ == "__main__":
unblock_stdout()
try:
main()
except KeyboardInterrupt:
print("got CTRL-C, exiting")
except Exception:
add_file_handler(cloudlog)
cloudlog.exception("Manager failed to start")
try:
managed_processes['ui'].stop()
except Exception:
pass
# Show last 3 lines of traceback
error = traceback.format_exc(-3)
error = "Manager failed to start\n\n" + error
with TextWindow(error) as t:
t.wait_for_exit()
raise
# manual exit because we are forked
sys.exit(0)
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