mirror of
https://github.com/firestar5683/StarPilot.git
synced 2026-07-07 22:52:06 +08:00
firestar5683
74 lines
1.9 KiB
Python
74 lines
1.9 KiB
Python
import os
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def unblock_stdout() -> None:
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import errno
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import fcntl
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import signal
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import sys
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# get a non-blocking stdout
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child_pid, child_pty = os.forkpty()
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if child_pid != 0: # parent
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# child is in its own process group, manually pass kill signals
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signal.signal(signal.SIGINT, lambda signum, frame: os.kill(child_pid, signal.SIGINT))
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signal.signal(signal.SIGTERM, lambda signum, frame: os.kill(child_pid, signal.SIGTERM))
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fcntl.fcntl(sys.stdout, fcntl.F_SETFL, fcntl.fcntl(sys.stdout, fcntl.F_GETFL) | os.O_NONBLOCK)
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while True:
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try:
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dat = os.read(child_pty, 4096)
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except OSError as e:
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if e.errno == errno.EIO:
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break
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continue
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if not dat:
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break
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try:
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sys.stdout.write(dat.decode('utf8'))
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except (OSError, UnicodeDecodeError):
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pass
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# os.wait() returns a tuple with the pid and a 16 bit value
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# whose low byte is the signal number and whose high byte is the exit status
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exit_status = os.wait()[1] >> 8
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os._exit(exit_status)
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def write_onroad_params(started, params):
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params.put_bool("IsOnroad", started)
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params.put_bool("IsOffroad", not started)
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def save_bootlog():
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import threading
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def fn():
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import pathlib
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import shutil
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import subprocess
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import tempfile
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from openpilot.common.basedir import BASEDIR
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from openpilot.common.params import Params
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tmpdir = tempfile.mkdtemp()
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env = os.environ.copy()
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env['PARAMS_COPY_PATH'] = tmpdir
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try:
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params = Params()
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params_dirname = pathlib.Path(params.get_param_path()).name
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params_dir = os.path.join(tmpdir, params_dirname)
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shutil.copytree(params.get_param_path(), params_dir, dirs_exist_ok=True)
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subprocess.call("./bootlog", cwd=os.path.join(BASEDIR, "system/loggerd"), env=env)
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finally:
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shutil.rmtree(tmpdir, ignore_errors=True)
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t = threading.Thread(target=fn)
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t.daemon = True
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t.start()
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