mirror of
https://github.com/firestar5683/StarPilot.git
synced 2026-11-06 12:33:51 +08:00
Danny
87 lines
3.4 KiB
Python
87 lines
3.4 KiB
Python
"""Unprivileged manager process; a closed pipe revokes the root worker's lease."""
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import json
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import os
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import select
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import signal
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import subprocess
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import threading
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import time
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from openpilot.starpilot.galaxy.hotspot import HotspotSettings, STATUS_PATH, atomic_json
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from openpilot.starpilot.system.pipe_worker import spawn
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def main():
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from openpilot.common.hardware import PC
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if PC or os.environ.get('OPENPILOT_PREFIX'):
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raise RuntimeError('Hotspot requires the primary comma instance')
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settings = HotspotSettings()
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stop = threading.Event()
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signal.signal(signal.SIGINT, lambda *_: stop.set())
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signal.signal(signal.SIGTERM, lambda *_: stop.set())
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child, revision, buffer, last_reply = None, None, b'', 0.0
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runtime = {'active': False, 'state': 'disabled', 'reason': ''}
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try:
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while not stop.is_set():
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try:
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config = settings.read()
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revision = settings.revision(config)
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if not config['enabled']:
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if child is not None:
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child.stdin.close()
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child.wait(timeout=20)
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child.stdout.close()
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child = None
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runtime = {'active': False, 'state': 'disabled', 'reason': ''}
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else:
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if child is None:
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child = spawn('starpilot-galaxy-hotspot', 'openpilot.starpilot.galaxy.hotspot_worker')
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buffer = b''
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last_reply = time.monotonic()
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runtime = {'active': False, 'state': 'starting', 'reason': 'Starting hotspot service.'}
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if child.poll() is not None:
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raise RuntimeError('Worker exited')
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child.stdin.write(json.dumps(config).encode() + b'\n')
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child.stdin.flush()
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stdout = child.stdout
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if stdout is None:
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raise RuntimeError('Worker output pipe unavailable')
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if select.select([stdout], [], [], 1)[0]:
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data = os.read(stdout.fileno(), 4097)
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if not data:
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raise RuntimeError('Worker disconnected')
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buffer += data
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if len(buffer) > 4096:
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raise ValueError('Oversized status')
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while b'\n' in buffer:
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line, buffer = buffer.split(b'\n', 1)
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runtime = json.loads(line)
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last_reply = time.monotonic()
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if time.monotonic() - last_reply > 20:
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raise RuntimeError('Worker unresponsive')
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atomic_json(STATUS_PATH, {**runtime, 'revision': runtime.get('revision', revision), 'updated': time.monotonic()})
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except (OSError, ValueError, RuntimeError, subprocess.SubprocessError):
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if child is not None:
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if not child.stdin.closed:
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child.stdin.close()
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try:
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child.wait(timeout=20)
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except subprocess.TimeoutExpired:
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# Lease expiry is enforced independently inside the privileged worker.
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pass
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child.stdout.close()
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child = None
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atomic_json(STATUS_PATH, {'active': False, 'state': 'error', 'reason': 'Hotspot service unavailable.',
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'revision': revision, 'updated': time.monotonic()})
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stop.wait(15)
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stop.wait(2)
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finally:
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if child is not None and not child.stdin.closed:
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child.stdin.close()
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atomic_json(STATUS_PATH, {'active': False, 'state': 'disabled', 'reason': 'Hotspot service stopped.',
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'revision': revision, 'updated': time.monotonic()})
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if __name__ == '__main__':
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main()
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