mirror of
https://github.com/dragonpilot/dragonpilot.git
synced 2026-09-30 19:33:42 +08:00
openpilot v0.7 release
This commit is contained in:
Vehicle Researcher
+101
-157
@@ -7,12 +7,23 @@ import errno
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import signal
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import subprocess
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import datetime
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from common.spinner import Spinner
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from common.basedir import BASEDIR
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sys.path.append(os.path.join(BASEDIR, "pyextra"))
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os.environ['BASEDIR'] = BASEDIR
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TOTAL_SCONS_NODES = 1170
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prebuilt = os.path.exists(os.path.join(BASEDIR, 'prebuilt'))
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# Create folders needed for msgq
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try:
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os.mkdir("/dev/shm")
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except FileExistsError:
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pass
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if os.path.isfile('/EON'):
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os.chmod("/dev/shm", 0o777)
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def unblock_stdout():
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# get a non-blocking stdout
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child_pid, child_pty = os.forkpty()
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@@ -38,34 +49,74 @@ def unblock_stdout():
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try:
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sys.stdout.write(dat.decode('utf8'))
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except (OSError, IOError):
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except (OSError, IOError, UnicodeDecodeError):
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pass
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os._exit(os.wait()[1])
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if __name__ == "__main__":
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unblock_stdout()
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from common.spinner import Spinner
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else:
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from common.spinner import FakeSpinner as Spinner
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import glob
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import shutil
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import hashlib
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import importlib
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import traceback
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from multiprocessing import Process
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from setproctitle import setproctitle #pylint: disable=no-name-in-module
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# Run scons
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spinner = Spinner()
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spinner.update("0")
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if not prebuilt:
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for retry in [True, False]:
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# run scons
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env = os.environ.copy()
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env['SCONS_PROGRESS'] = "1"
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scons = subprocess.Popen(["scons", "-j4"], cwd=BASEDIR, env=env, stderr=subprocess.PIPE)
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# Read progress from stderr and update spinner
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while scons.poll() is None:
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try:
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line = scons.stderr.readline()
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if line is None:
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continue
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line = line.rstrip()
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prefix = b'progress: '
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if line.startswith(prefix):
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i = int(line[len(prefix):])
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if spinner is not None:
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spinner.update("%d" % (50.0 * (i / TOTAL_SCONS_NODES)))
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elif len(line):
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print(line.decode('utf8'))
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except Exception:
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pass
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if scons.returncode != 0:
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if retry:
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print("scons build failed, make clean")
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subprocess.check_call(["scons", "-c"], cwd=BASEDIR, env=env)
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else:
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raise RuntimeError("scons build failed")
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else:
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break
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import cereal
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import cereal.messaging as messaging
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from common.params import Params
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import cereal
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ThermalStatus = cereal.log.ThermalData.ThermalStatus
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import selfdrive.crash as crash
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from selfdrive.swaglog import cloudlog
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import selfdrive.messaging as messaging
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from selfdrive.registration import register
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from selfdrive.version import version, dirty
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import selfdrive.crash as crash
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from selfdrive.loggerd.config import ROOT
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from selfdrive.launcher import launcher
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from common import android
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from common.apk import update_apks, pm_apply_packages, start_frame
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ThermalStatus = cereal.log.ThermalData.ThermalStatus
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# comment out anything you don't want to run
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managed_processes = {
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@@ -83,25 +134,26 @@ managed_processes = {
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"proclogd": ("selfdrive/proclogd", ["./proclogd"]),
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"boardd": ("selfdrive/boardd", ["./boardd"]), # not used directly
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"pandad": "selfdrive.pandad",
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"ui": ("selfdrive/ui", ["./start.py"]),
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"ui": ("selfdrive/ui", ["./ui"]),
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"calibrationd": "selfdrive.locationd.calibrationd",
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"paramsd": ("selfdrive/locationd", ["./paramsd"]),
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"visiond": ("selfdrive/visiond", ["./start.py"]),
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"sensord": ("selfdrive/sensord", ["./start_sensord.py"]),
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"gpsd": ("selfdrive/sensord", ["./start_gpsd.py"]),
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"camerad": ("selfdrive/camerad", ["./camerad"]),
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"sensord": ("selfdrive/sensord", ["./sensord"]),
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"gpsd": ("selfdrive/sensord", ["./gpsd"]),
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"updated": "selfdrive.updated",
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"monitoringd": ("selfdrive/modeld", ["./monitoringd"]),
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"modeld": ("selfdrive/modeld", ["./modeld"]),
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}
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daemon_processes = {
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"manage_athenad": ("selfdrive.athena.manage_athenad", "AthenadPid"),
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}
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android_packages = ("ai.comma.plus.offroad", "ai.comma.plus.frame")
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running = {}
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def get_running():
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return running
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# due to qualcomm kernel bugs SIGKILLing visiond sometimes causes page table corruption
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unkillable_processes = ['visiond']
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# due to qualcomm kernel bugs SIGKILLing camerad sometimes causes page table corruption
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unkillable_processes = ['camerad']
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# processes to end with SIGINT instead of SIGTERM
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interrupt_processes = []
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@@ -127,7 +179,9 @@ car_started_processes = [
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'radard',
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'calibrationd',
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'paramsd',
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'visiond',
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'camerad',
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'modeld',
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'monitoringd',
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'proclogd',
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'ubloxd',
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'gpsd',
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@@ -144,27 +198,6 @@ def register_managed_process(name, desc, car_started=False):
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persistent_processes.append(name)
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# ****************** process management functions ******************
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def launcher(proc):
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try:
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# import the process
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mod = importlib.import_module(proc)
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# rename the process
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setproctitle(proc)
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# create now context since we forked
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messaging.context = messaging.Context()
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# exec the process
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mod.main()
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except KeyboardInterrupt:
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cloudlog.warning("child %s got SIGINT" % proc)
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except Exception:
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# can't install the crash handler becuase sys.excepthook doesn't play nice
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# with threads, so catch it here.
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crash.capture_exception()
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raise
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def nativelauncher(pargs, cwd):
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# exec the process
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os.chdir(cwd)
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@@ -188,7 +221,8 @@ def start_managed_process(name):
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running[name] = Process(name=name, target=nativelauncher, args=(pargs, cwd))
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running[name].start()
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def start_daemon_process(name, params):
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def start_daemon_process(name):
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params = Params()
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proc, pid_param = daemon_processes[name]
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pid = params.get(pid_param)
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@@ -203,7 +237,7 @@ def start_daemon_process(name, params):
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cloudlog.info("starting daemon %s" % name)
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proc = subprocess.Popen(['python', '-m', proc],
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cwd='/',
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stdin=open('/dev/null', 'r'),
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stdout=open('/dev/null', 'w'),
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stderr=open('/dev/null', 'w'),
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preexec_fn=os.setpgrp)
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@@ -216,7 +250,7 @@ def prepare_managed_process(p):
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# import this python
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cloudlog.info("preimporting %s" % proc)
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importlib.import_module(proc)
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else:
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elif os.path.isfile(os.path.join(BASEDIR, proc[0], "Makefile")):
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# build this process
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cloudlog.info("building %s" % (proc,))
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try:
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@@ -265,9 +299,6 @@ def kill_managed_process(name):
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cloudlog.info("%s is dead with %d" % (name, running[name].exitcode))
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del running[name]
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def pm_apply_packages(cmd):
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for p in android_packages:
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system("pm %s %s" % (cmd, p))
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def cleanup_all_processes(signal, frame):
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cloudlog.info("caught ctrl-c %s %s" % (signal, frame))
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@@ -278,7 +309,6 @@ def cleanup_all_processes(signal, frame):
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kill_managed_process(name)
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cloudlog.info("everything is dead")
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# ****************** run loop ******************
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def manager_init(should_register=True):
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@@ -309,16 +339,10 @@ def manager_init(should_register=True):
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except OSError:
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pass
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def system(cmd):
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try:
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cloudlog.info("running %s" % cmd)
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subprocess.check_output(cmd, stderr=subprocess.STDOUT, shell=True)
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except subprocess.CalledProcessError as e:
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cloudlog.event("running failed",
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cmd=e.cmd,
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output=e.output[-1024:],
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returncode=e.returncode)
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# ensure shared libraries are readable by apks
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os.chmod(BASEDIR, 0o755)
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os.chmod(os.path.join(BASEDIR, "cereal"), 0o755)
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os.chmod(os.path.join(BASEDIR, "cereal", "libmessaging_shared.so"), 0o755)
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def manager_thread():
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# now loop
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@@ -334,7 +358,7 @@ def manager_thread():
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# start daemon processes
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for p in daemon_processes:
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start_daemon_process(p, params)
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start_daemon_process(p)
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# start persistent processes
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for p in persistent_processes:
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@@ -342,8 +366,7 @@ def manager_thread():
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# start frame
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pm_apply_packages('enable')
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system("LD_LIBRARY_PATH= appops set ai.comma.plus.offroad SU allow")
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system("am start -n ai.comma.plus.frame/.MainActivity")
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start_frame()
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if os.getenv("NOBOARD") is None:
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start_managed_process("pandad")
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@@ -370,88 +393,27 @@ def manager_thread():
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start_managed_process(p)
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else:
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logger_dead = False
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for p in car_started_processes:
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for p in reversed(car_started_processes):
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kill_managed_process(p)
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# check the status of all processes, did any of them die?
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running_list = [" running %s %s" % (p, running[p]) for p in running]
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cloudlog.debug('\n'.join(running_list))
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running_list = ["%s%s\u001b[0m" % ("\u001b[32m" if running[p].is_alive() else "\u001b[31m", p) for p in running]
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cloudlog.debug(' '.join(running_list))
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# Exit main loop when uninstall is needed
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if params.get("DoUninstall", encoding='utf8') == "1":
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break
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def get_installed_apks():
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dat = subprocess.check_output(["pm", "list", "packages", "-f"], encoding='utf8').strip().split("\n") # pylint: disable=unexpected-keyword-arg
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ret = {}
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for x in dat:
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if x.startswith("package:"):
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v,k = x.split("package:")[1].split("=")
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ret[k] = v
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return ret
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def install_apk(path):
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# can only install from world readable path
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install_path = "/sdcard/%s" % os.path.basename(path)
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shutil.copyfile(path, install_path)
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ret = subprocess.call(["pm", "install", "-r", install_path])
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os.remove(install_path)
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return ret == 0
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def update_apks():
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# install apks
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installed = get_installed_apks()
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install_apks = glob.glob(os.path.join(BASEDIR, "apk/*.apk"))
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for apk in install_apks:
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app = os.path.basename(apk)[:-4]
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if app not in installed:
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installed[app] = None
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cloudlog.info("installed apks %s" % (str(installed), ))
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for app in installed.keys():
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apk_path = os.path.join(BASEDIR, "apk/"+app+".apk")
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if not os.path.exists(apk_path):
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continue
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h1 = hashlib.sha1(open(apk_path, 'rb').read()).hexdigest()
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h2 = None
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if installed[app] is not None:
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h2 = hashlib.sha1(open(installed[app], 'rb').read()).hexdigest()
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cloudlog.info("comparing version of %s %s vs %s" % (app, h1, h2))
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if h2 is None or h1 != h2:
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cloudlog.info("installing %s" % app)
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success = install_apk(apk_path)
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if not success:
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cloudlog.info("needing to uninstall %s" % app)
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system("pm uninstall %s" % app)
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success = install_apk(apk_path)
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assert success
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def manager_update():
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update_apks()
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uninstall = [app for app in get_installed_apks().keys() if app in ("com.spotify.music", "com.waze")]
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for app in uninstall:
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cloudlog.info("uninstalling %s" % app)
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os.system("pm uninstall % s" % app)
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def manager_prepare(spinner=None):
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# build cereal first
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subprocess.check_call(["make", "-j4"], cwd=os.path.join(BASEDIR, "cereal"))
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# build all processes
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os.chdir(os.path.dirname(os.path.abspath(__file__)))
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# Spinner has to start from 70 here
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total = 100.0 if prebuilt else 50.0
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for i, p in enumerate(managed_processes):
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if spinner is not None:
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spinner.update("%d" % (100.0 * (i + 1) / len(managed_processes),))
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spinner.update("%d" % ((100.0 - total) + total * (i + 1) / len(managed_processes),))
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prepare_managed_process(p)
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def uninstall():
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@@ -459,7 +421,7 @@ def uninstall():
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with open('/cache/recovery/command', 'w') as f:
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f.write('--wipe_data\n')
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# IPowerManager.reboot(confirm=false, reason="recovery", wait=true)
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os.system("service call power 16 i32 0 s16 recovery i32 1")
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android.reboot(reason="recovery")
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def main():
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# the flippening!
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@@ -468,29 +430,10 @@ def main():
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# disable bluetooth
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os.system('service call bluetooth_manager 8')
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if os.getenv("NOLOG") is not None:
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del managed_processes['loggerd']
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del managed_processes['tombstoned']
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if os.getenv("NOUPLOAD") is not None:
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del managed_processes['uploader']
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if os.getenv("NOVISION") is not None:
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del managed_processes['visiond']
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if os.getenv("LEAN") is not None:
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del managed_processes['uploader']
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del managed_processes['loggerd']
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del managed_processes['logmessaged']
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del managed_processes['logcatd']
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del managed_processes['tombstoned']
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del managed_processes['proclogd']
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if os.getenv("NOCONTROL") is not None:
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del managed_processes['controlsd']
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del managed_processes['plannerd']
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del managed_processes['radard']
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# support additional internal only extensions
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try:
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import selfdrive.manager_extensions
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selfdrive.manager_extensions.register(register_managed_process) # pylint: disable=no-member
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selfdrive.manager_extensions.register(register_managed_process) # pylint: disable=no-member
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except ImportError:
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pass
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@@ -498,6 +441,8 @@ def main():
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params.manager_start()
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# set unset params
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if params.get("CommunityFeaturesToggle") is None:
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params.put("CommunityFeaturesToggle", "0")
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if params.get("CompletedTrainingVersion") is None:
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params.put("CompletedTrainingVersion", "0")
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if params.get("IsMetric") is None:
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@@ -510,8 +455,8 @@ def main():
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params.put("HasCompletedSetup", "0")
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if params.get("IsUploadRawEnabled") is None:
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params.put("IsUploadRawEnabled", "1")
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if params.get("IsUploadVideoOverCellularEnabled") is None:
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params.put("IsUploadVideoOverCellularEnabled", "1")
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if params.get("IsLdwEnabled") is None:
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params.put("IsLdwEnabled", "1")
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if params.get("IsGeofenceEnabled") is None:
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params.put("IsGeofenceEnabled", "-1")
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if params.get("SpeedLimitOffset") is None:
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@@ -535,11 +480,10 @@ def main():
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if params.get("Passive") is None:
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raise Exception("Passive must be set to continue")
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with Spinner() as spinner:
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spinner.update("0") # Show progress bar
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manager_update()
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manager_init()
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manager_prepare(spinner)
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update_apks()
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manager_init()
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manager_prepare(spinner)
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spinner.close()
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if os.getenv("PREPAREONLY") is not None:
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return
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Block a user