openpilot v0.9.7 release

date: 2024-06-11T01:36:39
master commit: f8cb04e4a8

system/loggerd/README.md

@@ -0,0 +1,30 @@
+# loggerd
+
+openpilot records routes in one minute chunks called segments. A route starts on the rising edge of ignition and ends on the falling edge.
+
+Check out our [python library](https://github.com/commaai/openpilot/blob/master/tools/lib/logreader.py) for reading openpilot logs. Also checkout our [tools](https://github.com/commaai/openpilot/tree/master/tools) to replay and view your data. These are the same tools we use to debug and develop openpilot.
+
+## log types
+
+For each segment, openpilot records the following log types:
+
+## rlog.bz2
+
+rlogs contain all the messages passed amongst openpilot's processes. See [cereal/services.py](https://github.com/commaai/cereal/blob/master/services.py) for a list of all the logged services. They're a bzip2 archive of the serialized capnproto messages.
+
+## {f,e,d}camera.hevc
+
+Each camera stream is H.265 encoded and written to its respective file.
+* fcamera.hevc is the road camera
+* ecamera.hevc is the wide road camera
+* dcamera.hevc is the driver camera
+
+## qlog.bz2 & qcamera.ts
+
+qlogs are a decimated subset of the rlogs. Check out [cereal/services.py](https://github.com/commaai/cereal/blob/master/services.py) for the decimation.
+
+
+qcameras are H.264 encoded, lower res versions of the fcamera.hevc. The video shown in [comma connect](https://connect.comma.ai/) is from the qcameras.
+
+
+qlogs and qcameras are designed to be small enough to upload instantly on slow internet and store forever, yet useful enough for most analysis and debugging.

system/loggerd/SConscript

@@ -1,9 +1,8 @@
-Import('env', 'arch', 'cereal', 'messaging', 'common', 'visionipc')
+Import('env', 'arch', 'messaging', 'common', 'visionipc')
 
-libs = [common, cereal, messaging, visionipc,
-        'zmq', 'capnp', 'kj', 'z',
-        'avformat', 'avcodec', 'swscale', 'avutil',
-        'yuv', 'OpenCL', 'pthread']
+libs = [common, messaging, visionipc,
+        'z', 'avformat', 'avcodec', 'swscale',
+        'avutil', 'yuv', 'OpenCL', 'pthread']
 
 src = ['logger.cc', 'video_writer.cc', 'encoder/encoder.cc', 'encoder/v4l_encoder.cc']
 if arch != "larch64":

system/loggerd/deleter.py

@@ -2,7 +2,6 @@
 import os
 import shutil
 import threading
-from typing import List
 from openpilot.system.hardware.hw import Paths
 from openpilot.common.swaglog import cloudlog
 from openpilot.system.loggerd.config import get_available_bytes, get_available_percent
@@ -23,7 +22,7 @@ def has_preserve_xattr(d: str) -> bool:
   return getxattr(os.path.join(Paths.log_root(), d), PRESERVE_ATTR_NAME) == PRESERVE_ATTR_VALUE
 
 
-def get_preserved_segments(dirs_by_creation: List[str]) -> List[str]:
+def get_preserved_segments(dirs_by_creation: list[str]) -> list[str]:
   preserved = []
   for n, d in enumerate(filter(has_preserve_xattr, reversed(dirs_by_creation))):
     if n == PRESERVE_COUNT:

system/loggerd/encoder/encoder.cc

@@ -6,7 +6,12 @@ VideoEncoder::VideoEncoder(const EncoderInfo &encoder_info, int in_width, int in
   out_width = encoder_info.frame_width > 0 ? encoder_info.frame_width : in_width;
   out_height = encoder_info.frame_height > 0 ? encoder_info.frame_height : in_height;
 
-  pm.reset(new PubMaster({encoder_info.publish_name}));
+
+  std::vector pubs = {encoder_info.publish_name};
+  if (encoder_info.thumbnail_name != NULL) {
+    pubs.push_back(encoder_info.thumbnail_name);
+  }
+  pm.reset(new PubMaster(pubs));
 }
 
 void VideoEncoder::publisher_publish(VideoEncoder *e, int segment_num, uint32_t idx, VisionIpcBufExtra &extra,
@@ -40,4 +45,15 @@ void VideoEncoder::publisher_publish(VideoEncoder *e, int segment_num, uint32_t
   kj::ArrayOutputStream output_stream(kj::ArrayPtr<capnp::byte>(e->msg_cache.data(), bytes_size));
   capnp::writeMessage(output_stream, msg);
   e->pm->send(e->encoder_info.publish_name, e->msg_cache.data(), bytes_size);
-}
+
+  // Publish keyframe thumbnail
+  if ((flags & V4L2_BUF_FLAG_KEYFRAME) && e->encoder_info.thumbnail_name != NULL) {
+    MessageBuilder tm;
+    auto thumbnail = tm.initEvent().initThumbnail();
+    thumbnail.setFrameId(extra.frame_id);
+    thumbnail.setTimestampEof(extra.timestamp_eof);
+    thumbnail.setThumbnail(dat);
+    thumbnail.setEncoding(cereal::Thumbnail::Encoding::KEYFRAME);
+    pm->send(e->encoder_info.thumbnail_name, tm);
+  }
+}

system/loggerd/encoder/encoder.h

@@ -7,7 +7,7 @@
 #include <vector>
 
 #include "cereal/messaging/messaging.h"
-#include "cereal/visionipc/visionipc.h"
+#include "msgq/visionipc/visionipc.h"
 #include "common/queue.h"
 #include "system/camerad/cameras/camera_common.h"
 #include "system/loggerd/loggerd.h"
@@ -25,6 +25,8 @@ public:
   void publisher_publish(VideoEncoder *e, int segment_num, uint32_t idx, VisionIpcBufExtra &extra, unsigned int flags, kj::ArrayPtr<capnp::byte> header, kj::ArrayPtr<capnp::byte> dat);
 
 protected:
+  void publish_thumbnail(uint32_t frame_id, uint64_t timestamp_eof, kj::ArrayPtr<capnp::byte> dat);
+
   int in_width, in_height;
   int out_width, out_height;
   const EncoderInfo encoder_info;

system/loggerd/encoder/v4l_encoder.cc

@@ -16,7 +16,12 @@
 #define V4L2_QCOM_BUF_FLAG_CODECCONFIG 0x00020000
 #define V4L2_QCOM_BUF_FLAG_EOS 0x02000000
 
-// echo 0x7fffffff > /sys/kernel/debug/msm_vidc/debug_level
+/*
+  kernel debugging:
+  echo 0xff > /sys/module/videobuf2_core/parameters/debug
+  echo 0x7fffffff > /sys/kernel/debug/msm_vidc/debug_level
+  echo 0xff > /sys/devices/platform/soc/aa00000.qcom,vidc/video4linux/video33/dev_debug
+*/
 const int env_debug_encoder = (getenv("DEBUG_ENCODER") != NULL) ? atoi(getenv("DEBUG_ENCODER")) : 0;
 
 static void checked_ioctl(int fd, unsigned long request, void *argp) {

system/loggerd/logger.cc

@@ -89,15 +89,6 @@ kj::Array<capnp::word> logger_build_init_data() {
   return capnp::messageToFlatArray(msg);
 }
 
-std::string logger_get_route_name() {
-  char route_name[64] = {'\0'};
-  time_t rawtime = time(NULL);
-  struct tm timeinfo;
-  localtime_r(&rawtime, &timeinfo);
-  strftime(route_name, sizeof(route_name), "%Y-%m-%d--%H-%M-%S", &timeinfo);
-  return route_name;
-}
-
 std::string logger_get_identifier(std::string key) {
   // a log identifier is a 32 bit counter, plus a 10 character unique ID.
   // e.g. 000001a3--c20ba54385
@@ -105,7 +96,7 @@ std::string logger_get_identifier(std::string key) {
   Params params;
   uint32_t cnt;
   try {
-    cnt = std::stol(params.get(key));
+    cnt = std::stoul(params.get(key));
   } catch (std::exception &e) {
     cnt = 0;
   }
@@ -122,16 +113,16 @@ std::string logger_get_identifier(std::string key) {
   return util::string_format("%08x--%s", cnt, ss.str().c_str());
 }
 
-static void log_sentinel(LoggerState *log, SentinelType type, int eixt_signal = 0) {
+static void log_sentinel(LoggerState *log, SentinelType type, int exit_signal = 0) {
   MessageBuilder msg;
   auto sen = msg.initEvent().initSentinel();
   sen.setType(type);
-  sen.setSignal(eixt_signal);
+  sen.setSignal(exit_signal);
   log->write(msg.toBytes(), true);
 }
 
 LoggerState::LoggerState(const std::string &log_root) {
-  route_name = logger_get_route_name();
+  route_name = logger_get_identifier("RouteCount");
   route_path = log_root + "/" + route_name;
   init_data = logger_build_init_data();
 }

system/loggerd/logger.h

@@ -52,5 +52,4 @@ protected:
 };
 
 kj::Array<capnp::word> logger_build_init_data();
-std::string logger_get_route_name();
 std::string logger_get_identifier(std::string key);

system/loggerd/loggerd.cc

@@ -215,7 +215,7 @@ void loggerd_thread() {
     const bool encoder = util::ends_with(it.name, "EncodeData");
     const bool livestream_encoder = util::starts_with(it.name, "livestream");
     if (!it.should_log && (!encoder || livestream_encoder)) continue;
-    LOGD("logging %s (on port %d)", it.name.c_str(), it.port);
+    LOGD("logging %s", it.name.c_str());
 
     SubSocket * sock = SubSocket::create(ctx.get(), it.name);
     assert(sock != NULL);

system/loggerd/loggerd.h

@@ -4,7 +4,7 @@
 
 #include "cereal/messaging/messaging.h"
 #include "cereal/services.h"
-#include "cereal/visionipc/visionipc_client.h"
+#include "msgq/visionipc/visionipc_client.h"
 #include "system/camerad/cameras/camera_common.h"
 #include "system/hardware/hw.h"
 #include "common/params.h"
@@ -33,6 +33,7 @@ constexpr char PRESERVE_ATTR_VALUE = '1';
 class EncoderInfo {
 public:
   const char *publish_name;
+  const char *thumbnail_name = NULL;
   const char *filename = NULL;
   bool record = true;
   int frame_width = -1;
@@ -76,6 +77,7 @@ const EncoderInfo main_driver_encoder_info = {
 
 const EncoderInfo stream_road_encoder_info = {
   .publish_name = "livestreamRoadEncodeData",
+  //.thumbnail_name = "thumbnail",
   .encode_type = cereal::EncodeIndex::Type::QCAMERA_H264,
   .record = false,
   .bitrate = LIVESTREAM_BITRATE,

system/loggerd/tests/loggerd_tests_common.py

@@ -0,0 +1,90 @@
+import os
+import random
+from pathlib import Path
+
+
+import openpilot.system.loggerd.deleter as deleter
+import openpilot.system.loggerd.uploader as uploader
+from openpilot.common.params import Params
+from openpilot.system.hardware.hw import Paths
+from openpilot.system.loggerd.xattr_cache import setxattr
+
+
+def create_random_file(file_path: Path, size_mb: float, lock: bool = False, upload_xattr: bytes = None) -> None:
+  file_path.parent.mkdir(parents=True, exist_ok=True)
+
+  if lock:
+    lock_path = str(file_path) + ".lock"
+    os.close(os.open(lock_path, os.O_CREAT | os.O_EXCL))
+
+  chunks = 128
+  chunk_bytes = int(size_mb * 1024 * 1024 / chunks)
+  data = os.urandom(chunk_bytes)
+
+  with open(file_path, "wb") as f:
+    for _ in range(chunks):
+      f.write(data)
+
+  if upload_xattr is not None:
+    setxattr(str(file_path), uploader.UPLOAD_ATTR_NAME, upload_xattr)
+
+class MockResponse:
+  def __init__(self, text, status_code):
+    self.text = text
+    self.status_code = status_code
+
+class MockApi:
+  def __init__(self, dongle_id):
+    pass
+
+  def get(self, *args, **kwargs):
+    return MockResponse('{"url": "http://localhost/does/not/exist", "headers": {}}', 200)
+
+  def get_token(self):
+    return "fake-token"
+
+class MockApiIgnore:
+  def __init__(self, dongle_id):
+    pass
+
+  def get(self, *args, **kwargs):
+    return MockResponse('', 412)
+
+  def get_token(self):
+    return "fake-token"
+
+class UploaderTestCase:
+  f_type = "UNKNOWN"
+
+  root: Path
+  seg_num: int
+  seg_format: str
+  seg_format2: str
+  seg_dir: str
+
+  def set_ignore(self):
+    uploader.Api = MockApiIgnore
+
+  def setup_method(self):
+    uploader.Api = MockApi
+    uploader.fake_upload = True
+    uploader.force_wifi = True
+    uploader.allow_sleep = False
+    self.seg_num = random.randint(1, 300)
+    self.seg_format = "00000004--0ac3964c96--{}"
+    self.seg_format2 = "00000005--4c4e99b08b--{}"
+    self.seg_dir = self.seg_format.format(self.seg_num)
+
+    self.params = Params()
+    self.params.put("IsOffroad", "1")
+    self.params.put("DongleId", "0000000000000000")
+
+  def make_file_with_data(self, f_dir: str, fn: str, size_mb: float = .1, lock: bool = False,
+                          upload_xattr: bytes = None, preserve_xattr: bytes = None) -> Path:
+    file_path = Path(Paths.log_root()) / f_dir / fn
+    create_random_file(file_path, size_mb, lock, upload_xattr)
+
+    if preserve_xattr is not None:
+      setxattr(str(file_path.parent), deleter.PRESERVE_ATTR_NAME, preserve_xattr)
+
+    return file_path

system/loggerd/tests/test_deleter.py

@@ -0,0 +1,117 @@
+import time
+import threading
+from collections import namedtuple
+from pathlib import Path
+from collections.abc import Sequence
+
+import openpilot.system.loggerd.deleter as deleter
+from openpilot.common.timeout import Timeout, TimeoutException
+from openpilot.system.loggerd.tests.loggerd_tests_common import UploaderTestCase
+
+Stats = namedtuple("Stats", ['f_bavail', 'f_blocks', 'f_frsize'])
+
+
+class TestDeleter(UploaderTestCase):
+  def fake_statvfs(self, d):
+    return self.fake_stats
+
+  def setup_method(self):
+    self.f_type = "fcamera.hevc"
+    super().setup_method()
+    self.fake_stats = Stats(f_bavail=0, f_blocks=10, f_frsize=4096)
+    deleter.os.statvfs = self.fake_statvfs
+
+  def start_thread(self):
+    self.end_event = threading.Event()
+    self.del_thread = threading.Thread(target=deleter.deleter_thread, args=[self.end_event])
+    self.del_thread.daemon = True
+    self.del_thread.start()
+
+  def join_thread(self):
+    self.end_event.set()
+    self.del_thread.join()
+
+  def test_delete(self):
+    f_path = self.make_file_with_data(self.seg_dir, self.f_type, 1)
+
+    self.start_thread()
+
+    try:
+      with Timeout(2, "Timeout waiting for file to be deleted"):
+        while f_path.exists():
+          time.sleep(0.01)
+    finally:
+      self.join_thread()
+
+  def assertDeleteOrder(self, f_paths: Sequence[Path], timeout: int = 5) -> None:
+    deleted_order = []
+
+    self.start_thread()
+    try:
+      with Timeout(timeout, "Timeout waiting for files to be deleted"):
+        while True:
+          for f in f_paths:
+            if not f.exists() and f not in deleted_order:
+              deleted_order.append(f)
+          if len(deleted_order) == len(f_paths):
+            break
+          time.sleep(0.01)
+    except TimeoutException:
+      print("Not deleted:", [f for f in f_paths if f not in deleted_order])
+      raise
+    finally:
+      self.join_thread()
+
+    assert deleted_order == f_paths, "Files not deleted in expected order"
+
+  def test_delete_order(self):
+    self.assertDeleteOrder([
+      self.make_file_with_data(self.seg_format.format(0), self.f_type),
+      self.make_file_with_data(self.seg_format.format(1), self.f_type),
+      self.make_file_with_data(self.seg_format2.format(0), self.f_type),
+    ])
+
+  def test_delete_many_preserved(self):
+    self.assertDeleteOrder([
+      self.make_file_with_data(self.seg_format.format(0), self.f_type),
+      self.make_file_with_data(self.seg_format.format(1), self.f_type, preserve_xattr=deleter.PRESERVE_ATTR_VALUE),
+      self.make_file_with_data(self.seg_format.format(2), self.f_type),
+    ] + [
+      self.make_file_with_data(self.seg_format2.format(i), self.f_type, preserve_xattr=deleter.PRESERVE_ATTR_VALUE)
+      for i in range(5)
+    ])
+
+  def test_delete_last(self):
+    self.assertDeleteOrder([
+      self.make_file_with_data(self.seg_format.format(1), self.f_type),
+      self.make_file_with_data(self.seg_format2.format(0), self.f_type),
+      self.make_file_with_data(self.seg_format.format(0), self.f_type, preserve_xattr=deleter.PRESERVE_ATTR_VALUE),
+      self.make_file_with_data("boot", self.seg_format[:-4]),
+      self.make_file_with_data("crash", self.seg_format2[:-4]),
+    ])
+
+  def test_no_delete_when_available_space(self):
+    f_path = self.make_file_with_data(self.seg_dir, self.f_type)
+
+    block_size = 4096
+    available = (10 * 1024 * 1024 * 1024) / block_size  # 10GB free
+    self.fake_stats = Stats(f_bavail=available, f_blocks=10, f_frsize=block_size)
+
+    self.start_thread()
+    start_time = time.monotonic()
+    while f_path.exists() and time.monotonic() - start_time < 2:
+      time.sleep(0.01)
+    self.join_thread()
+
+    assert f_path.exists(), "File deleted with available space"
+
+  def test_no_delete_with_lock_file(self):
+    f_path = self.make_file_with_data(self.seg_dir, self.f_type, lock=True)
+
+    self.start_thread()
+    start_time = time.monotonic()
+    while f_path.exists() and time.monotonic() - start_time < 2:
+      time.sleep(0.01)
+    self.join_thread()
+
+    assert f_path.exists(), "File deleted when locked"

system/loggerd/tests/test_encoder.py

@@ -0,0 +1,150 @@
+import math
+import os
+import pytest
+import random
+import shutil
+import subprocess
+import time
+from pathlib import Path
+
+from parameterized import parameterized
+from tqdm import trange
+
+from openpilot.common.params import Params
+from openpilot.common.timeout import Timeout
+from openpilot.system.hardware import TICI
+from openpilot.system.manager.process_config import managed_processes
+from openpilot.tools.lib.logreader import LogReader
+from openpilot.system.hardware.hw import Paths
+
+SEGMENT_LENGTH = 2
+FULL_SIZE = 2507572
+CAMERAS = [
+  ("fcamera.hevc", 20, FULL_SIZE, "roadEncodeIdx"),
+  ("dcamera.hevc", 20, FULL_SIZE, "driverEncodeIdx"),
+  ("ecamera.hevc", 20, FULL_SIZE, "wideRoadEncodeIdx"),
+  ("qcamera.ts", 20, 130000, None),
+]
+
+# we check frame count, so we don't have to be too strict on size
+FILE_SIZE_TOLERANCE = 0.7
+
+
+@pytest.mark.tici # TODO: all of loggerd should work on PC
+class TestEncoder:
+
+  def setup_method(self):
+    self._clear_logs()
+    os.environ["LOGGERD_TEST"] = "1"
+    os.environ["LOGGERD_SEGMENT_LENGTH"] = str(SEGMENT_LENGTH)
+
+  def teardown_method(self):
+    self._clear_logs()
+
+  def _clear_logs(self):
+    if os.path.exists(Paths.log_root()):
+      shutil.rmtree(Paths.log_root())
+
+  def _get_latest_segment_path(self):
+    last_route = sorted(Path(Paths.log_root()).iterdir())[-1]
+    return os.path.join(Paths.log_root(), last_route)
+
+  # TODO: this should run faster than real time
+  @parameterized.expand([(True, ), (False, )])
+  def test_log_rotation(self, record_front):
+    Params().put_bool("RecordFront", record_front)
+
+    managed_processes['sensord'].start()
+    managed_processes['loggerd'].start()
+    managed_processes['encoderd'].start()
+
+    time.sleep(1.0)
+    managed_processes['camerad'].start()
+
+    num_segments = int(os.getenv("SEGMENTS", random.randint(10, 15)))
+
+    # wait for loggerd to make the dir for first segment
+    route_prefix_path = None
+    with Timeout(int(SEGMENT_LENGTH*3)):
+      while route_prefix_path is None:
+        try:
+          route_prefix_path = self._get_latest_segment_path().rsplit("--", 1)[0]
+        except Exception:
+          time.sleep(0.1)
+
+    def check_seg(i):
+      # check each camera file size
+      counts = []
+      first_frames = []
+      for camera, fps, size, encode_idx_name in CAMERAS:
+        if not record_front and "dcamera" in camera:
+          continue
+
+        file_path = f"{route_prefix_path}--{i}/{camera}"
+
+        # check file exists
+        assert os.path.exists(file_path), f"segment #{i}: '{file_path}' missing"
+
+        # TODO: this ffprobe call is really slow
+        # check frame count
+        cmd = f"ffprobe -v error -select_streams v:0 -count_packets -show_entries stream=nb_read_packets -of csv=p=0 {file_path}"
+        if TICI:
+          cmd = "LD_LIBRARY_PATH=/usr/local/lib " + cmd
+
+        expected_frames = fps * SEGMENT_LENGTH
+        probe = subprocess.check_output(cmd, shell=True, encoding='utf8')
+        frame_count = int(probe.split('\n')[0].strip())
+        counts.append(frame_count)
+
+        assert frame_count == expected_frames, \
+                         f"segment #{i}: {camera} failed frame count check: expected {expected_frames}, got {frame_count}"
+
+        # sanity check file size
+        file_size = os.path.getsize(file_path)
+        assert math.isclose(file_size, size, rel_tol=FILE_SIZE_TOLERANCE), \
+                        f"{file_path} size {file_size} isn't close to target size {size}"
+
+        # Check encodeIdx
+        if encode_idx_name is not None:
+          rlog_path = f"{route_prefix_path}--{i}/rlog"
+          msgs = [m for m in LogReader(rlog_path) if m.which() == encode_idx_name]
+          encode_msgs = [getattr(m, encode_idx_name) for m in msgs]
+
+          valid = [m.valid for m in msgs]
+          segment_idxs = [m.segmentId for m in encode_msgs]
+          encode_idxs = [m.encodeId for m in encode_msgs]
+          frame_idxs = [m.frameId for m in encode_msgs]
+
+          # Check frame count
+          assert frame_count == len(segment_idxs)
+          assert frame_count == len(encode_idxs)
+
+          # Check for duplicates or skips
+          assert 0 == segment_idxs[0]
+          assert len(set(segment_idxs)) == len(segment_idxs)
+
+          assert all(valid)
+
+          assert expected_frames * i == encode_idxs[0]
+          first_frames.append(frame_idxs[0])
+          assert len(set(encode_idxs)) == len(encode_idxs)
+
+      assert 1 == len(set(first_frames))
+
+      if TICI:
+        expected_frames = fps * SEGMENT_LENGTH
+        assert min(counts) == expected_frames
+      shutil.rmtree(f"{route_prefix_path}--{i}")
+
+    try:
+      for i in trange(num_segments):
+        # poll for next segment
+        with Timeout(int(SEGMENT_LENGTH*10), error_msg=f"timed out waiting for segment {i}"):
+          while Path(f"{route_prefix_path}--{i+1}") not in Path(Paths.log_root()).iterdir():
+            time.sleep(0.1)
+        check_seg(i)
+    finally:
+      managed_processes['loggerd'].stop()
+      managed_processes['encoderd'].stop()
+      managed_processes['camerad'].stop()
+      managed_processes['sensord'].stop()

system/loggerd/tests/test_logger.cc

@@ -0,0 +1,74 @@
+#include "catch2/catch.hpp"
+#include "system/loggerd/logger.h"
+
+typedef cereal::Sentinel::SentinelType SentinelType;
+
+void verify_segment(const std::string &route_path, int segment, int max_segment, int required_event_cnt) {
+  const std::string segment_path = route_path + "--" + std::to_string(segment);
+  SentinelType begin_sentinel = segment == 0 ? SentinelType::START_OF_ROUTE : SentinelType::START_OF_SEGMENT;
+  SentinelType end_sentinel = segment == max_segment - 1 ? SentinelType::END_OF_ROUTE : SentinelType::END_OF_SEGMENT;
+
+  REQUIRE(!util::file_exists(segment_path + "/rlog.lock"));
+  for (const char *fn : {"/rlog", "/qlog"}) {
+    const std::string log_file = segment_path + fn;
+    std::string log = util::read_file(log_file);
+    REQUIRE(!log.empty());
+    int event_cnt = 0, i = 0;
+    kj::ArrayPtr<const capnp::word> words((capnp::word *)log.data(), log.size() / sizeof(capnp::word));
+    while (words.size() > 0) {
+      try {
+        capnp::FlatArrayMessageReader reader(words);
+        auto event = reader.getRoot<cereal::Event>();
+        words = kj::arrayPtr(reader.getEnd(), words.end());
+        if (i == 0) {
+          REQUIRE(event.which() == cereal::Event::INIT_DATA);
+        } else if (i == 1) {
+          REQUIRE(event.which() == cereal::Event::SENTINEL);
+          REQUIRE(event.getSentinel().getType() == begin_sentinel);
+          REQUIRE(event.getSentinel().getSignal() == 0);
+        } else if (words.size() > 0) {
+          REQUIRE(event.which() == cereal::Event::CLOCKS);
+          ++event_cnt;
+        } else {
+          // the last event must be SENTINEL
+          REQUIRE(event.which() == cereal::Event::SENTINEL);
+          REQUIRE(event.getSentinel().getType() == end_sentinel);
+          REQUIRE(event.getSentinel().getSignal() == (end_sentinel == SentinelType::END_OF_ROUTE ? 1 : 0));
+        }
+        ++i;
+      } catch (const kj::Exception &ex) {
+        INFO("failed parse " << i << " exception :" << ex.getDescription());
+        REQUIRE(0);
+        break;
+      }
+    }
+    REQUIRE(event_cnt == required_event_cnt);
+  }
+}
+
+void write_msg(LoggerState *logger) {
+  MessageBuilder msg;
+  msg.initEvent().initClocks();
+  logger->write(msg.toBytes(), true);
+}
+
+TEST_CASE("logger") {
+  const int segment_cnt = 100;
+  const std::string log_root = "/tmp/test_logger";
+  system(("rm " + log_root + " -rf").c_str());
+  std::string route_name;
+  {
+    LoggerState logger(log_root);
+    route_name = logger.routeName();
+    for (int i = 0; i < segment_cnt; ++i) {
+      REQUIRE(logger.next());
+      REQUIRE(util::file_exists(logger.segmentPath() + "/rlog.lock"));
+      REQUIRE(logger.segment() == i);
+      write_msg(&logger);
+    }
+    logger.setExitSignal(1);
+  }
+  for (int i = 0; i < segment_cnt; ++i) {
+    verify_segment(log_root + "/" + route_name, i, segment_cnt, 1);
+  }
+}

system/loggerd/tests/test_loggerd.py

@@ -0,0 +1,284 @@
+import numpy as np
+import os
+import re
+import random
+import string
+import subprocess
+import time
+from collections import defaultdict
+from pathlib import Path
+from flaky import flaky
+
+import cereal.messaging as messaging
+from cereal import log
+from cereal.services import SERVICE_LIST
+from openpilot.common.basedir import BASEDIR
+from openpilot.common.params import Params
+from openpilot.common.timeout import Timeout
+from openpilot.system.hardware.hw import Paths
+from openpilot.system.loggerd.xattr_cache import getxattr
+from openpilot.system.loggerd.deleter import PRESERVE_ATTR_NAME, PRESERVE_ATTR_VALUE
+from openpilot.system.manager.process_config import managed_processes
+from openpilot.system.version import get_version
+from openpilot.tools.lib.helpers import RE
+from openpilot.tools.lib.logreader import LogReader
+from msgq.visionipc import VisionIpcServer, VisionStreamType
+from openpilot.common.transformations.camera import DEVICE_CAMERAS
+
+SentinelType = log.Sentinel.SentinelType
+
+CEREAL_SERVICES = [f for f in log.Event.schema.union_fields if f in SERVICE_LIST
+                   and SERVICE_LIST[f].should_log and "encode" not in f.lower()]
+
+
+class TestLoggerd:
+  def _get_latest_log_dir(self):
+    log_dirs = sorted(Path(Paths.log_root()).iterdir(), key=lambda f: f.stat().st_mtime)
+    return log_dirs[-1]
+
+  def _get_log_dir(self, x):
+    for l in x.splitlines():
+      for p in l.split(' '):
+        path = Path(p.strip())
+        if path.is_dir():
+          return path
+    return None
+
+  def _get_log_fn(self, x):
+    for l in x.splitlines():
+      for p in l.split(' '):
+        path = Path(p.strip())
+        if path.is_file():
+          return path
+    return None
+
+  def _gen_bootlog(self):
+    with Timeout(5):
+      out = subprocess.check_output("./bootlog", cwd=os.path.join(BASEDIR, "system/loggerd"), encoding='utf-8')
+
+    log_fn = self._get_log_fn(out)
+
+    # check existence
+    assert log_fn is not None
+
+    return log_fn
+
+  def _check_init_data(self, msgs):
+    msg = msgs[0]
+    assert msg.which() == 'initData'
+
+  def _check_sentinel(self, msgs, route):
+    start_type = SentinelType.startOfRoute if route else SentinelType.startOfSegment
+    assert msgs[1].sentinel.type == start_type
+
+    end_type = SentinelType.endOfRoute if route else SentinelType.endOfSegment
+    assert msgs[-1].sentinel.type == end_type
+
+  def _publish_random_messages(self, services: list[str]) -> dict[str, list]:
+    pm = messaging.PubMaster(services)
+
+    managed_processes["loggerd"].start()
+    for s in services:
+      assert pm.wait_for_readers_to_update(s, timeout=5)
+
+    sent_msgs = defaultdict(list)
+    for _ in range(random.randint(2, 10) * 100):
+      for s in services:
+        try:
+          m = messaging.new_message(s)
+        except Exception:
+          m = messaging.new_message(s, random.randint(2, 10))
+        pm.send(s, m)
+        sent_msgs[s].append(m)
+
+    for s in services:
+      assert pm.wait_for_readers_to_update(s, timeout=5)
+    managed_processes["loggerd"].stop()
+
+    return sent_msgs
+
+  def test_init_data_values(self):
+    os.environ["CLEAN"] = random.choice(["0", "1"])
+
+    dongle  = ''.join(random.choice(string.printable) for n in range(random.randint(1, 100)))
+    fake_params = [
+      # param, initData field, value
+      ("DongleId", "dongleId", dongle),
+      ("GitCommit", "gitCommit", "commit"),
+      ("GitCommitDate", "gitCommitDate", "date"),
+      ("GitBranch", "gitBranch", "branch"),
+      ("GitRemote", "gitRemote", "remote"),
+    ]
+    params = Params()
+    for k, _, v in fake_params:
+      params.put(k, v)
+    params.put("AccessToken", "abc")
+
+    lr = list(LogReader(str(self._gen_bootlog())))
+    initData = lr[0].initData
+
+    assert initData.dirty != bool(os.environ["CLEAN"])
+    assert initData.version == get_version()
+
+    if os.path.isfile("/proc/cmdline"):
+      with open("/proc/cmdline") as f:
+        assert list(initData.kernelArgs) == f.read().strip().split(" ")
+
+      with open("/proc/version") as f:
+        assert initData.kernelVersion == f.read()
+
+    # check params
+    logged_params = {entry.key: entry.value for entry in initData.params.entries}
+    expected_params = {k for k, _, __ in fake_params} | {'AccessToken', 'BootCount'}
+    assert set(logged_params.keys()) == expected_params, set(logged_params.keys()) ^ expected_params
+    assert logged_params['AccessToken'] == b'', f"DONT_LOG param value was logged: {repr(logged_params['AccessToken'])}"
+    for param_key, initData_key, v in fake_params:
+      assert getattr(initData, initData_key) == v
+      assert logged_params[param_key].decode() == v
+
+  @flaky(max_runs=3)
+  def test_rotation(self):
+    os.environ["LOGGERD_TEST"] = "1"
+    Params().put("RecordFront", "1")
+
+    d = DEVICE_CAMERAS[("tici", "ar0231")]
+    expected_files = {"rlog", "qlog", "qcamera.ts", "fcamera.hevc", "dcamera.hevc", "ecamera.hevc"}
+    streams = [(VisionStreamType.VISION_STREAM_ROAD, (d.fcam.width, d.fcam.height, 2048*2346, 2048, 2048*1216), "roadCameraState"),
+               (VisionStreamType.VISION_STREAM_DRIVER, (d.dcam.width, d.dcam.height, 2048*2346, 2048, 2048*1216), "driverCameraState"),
+               (VisionStreamType.VISION_STREAM_WIDE_ROAD, (d.ecam.width, d.ecam.height, 2048*2346, 2048, 2048*1216), "wideRoadCameraState")]
+
+    pm = messaging.PubMaster(["roadCameraState", "driverCameraState", "wideRoadCameraState"])
+    vipc_server = VisionIpcServer("camerad")
+    for stream_type, frame_spec, _ in streams:
+      vipc_server.create_buffers_with_sizes(stream_type, 40, False, *(frame_spec))
+    vipc_server.start_listener()
+
+    num_segs = random.randint(2, 5)
+    length = random.randint(1, 3)
+    os.environ["LOGGERD_SEGMENT_LENGTH"] = str(length)
+    managed_processes["loggerd"].start()
+    managed_processes["encoderd"].start()
+    assert pm.wait_for_readers_to_update("roadCameraState", timeout=5)
+
+    fps = 20.0
+    for n in range(1, int(num_segs*length*fps)+1):
+      for stream_type, frame_spec, state in streams:
+        dat = np.empty(frame_spec[2], dtype=np.uint8)
+        vipc_server.send(stream_type, dat[:].flatten().tobytes(), n, n/fps, n/fps)
+
+        camera_state = messaging.new_message(state)
+        frame = getattr(camera_state, state)
+        frame.frameId = n
+        pm.send(state, camera_state)
+
+      for _, _, state in streams:
+        assert pm.wait_for_readers_to_update(state, timeout=5, dt=0.001)
+
+    managed_processes["loggerd"].stop()
+    managed_processes["encoderd"].stop()
+
+    route_path = str(self._get_latest_log_dir()).rsplit("--", 1)[0]
+    for n in range(num_segs):
+      p = Path(f"{route_path}--{n}")
+      logged = {f.name for f in p.iterdir() if f.is_file()}
+      diff = logged ^ expected_files
+      assert len(diff) == 0, f"didn't get all expected files. run={_} seg={n} {route_path=}, {diff=}\n{logged=} {expected_files=}"
+
+  def test_bootlog(self):
+    # generate bootlog with fake launch log
+    launch_log = ''.join(str(random.choice(string.printable)) for _ in range(100))
+    with open("/tmp/launch_log", "w") as f:
+      f.write(launch_log)
+
+    bootlog_path = self._gen_bootlog()
+    lr = list(LogReader(str(bootlog_path)))
+
+    # check length
+    assert len(lr) == 2  # boot + initData
+
+    self._check_init_data(lr)
+
+    # check msgs
+    bootlog_msgs = [m for m in lr if m.which() == 'boot']
+    assert len(bootlog_msgs) == 1
+
+    # sanity check values
+    boot = bootlog_msgs.pop().boot
+    assert abs(boot.wallTimeNanos - time.time_ns()) < 5*1e9 # within 5s
+    assert boot.launchLog == launch_log
+
+    for fn in ["console-ramoops", "pmsg-ramoops-0"]:
+      path = Path(os.path.join("/sys/fs/pstore/", fn))
+      if path.is_file():
+        with open(path, "rb") as f:
+          expected_val = f.read()
+        bootlog_val = [e.value for e in boot.pstore.entries if e.key == fn][0]
+        assert expected_val == bootlog_val
+
+    # next one should increment by one
+    bl1 = re.match(RE.LOG_ID_V2, bootlog_path.name)
+    bl2 = re.match(RE.LOG_ID_V2, self._gen_bootlog().name)
+    assert bl1.group('uid') != bl2.group('uid')
+    assert int(bl1.group('count')) == 0 and int(bl2.group('count')) == 1
+
+  def test_qlog(self):
+    qlog_services = [s for s in CEREAL_SERVICES if SERVICE_LIST[s].decimation is not None]
+    no_qlog_services = [s for s in CEREAL_SERVICES if SERVICE_LIST[s].decimation is None]
+
+    services = random.sample(qlog_services, random.randint(2, min(10, len(qlog_services)))) + \
+               random.sample(no_qlog_services, random.randint(2, min(10, len(no_qlog_services))))
+    sent_msgs = self._publish_random_messages(services)
+
+    qlog_path = os.path.join(self._get_latest_log_dir(), "qlog")
+    lr = list(LogReader(qlog_path))
+
+    # check initData and sentinel
+    self._check_init_data(lr)
+    self._check_sentinel(lr, True)
+
+    recv_msgs = defaultdict(list)
+    for m in lr:
+      recv_msgs[m.which()].append(m)
+
+    for s, msgs in sent_msgs.items():
+      recv_cnt = len(recv_msgs[s])
+
+      if s in no_qlog_services:
+        # check services with no specific decimation aren't in qlog
+        assert recv_cnt == 0, f"got {recv_cnt} {s} msgs in qlog"
+      else:
+        # check logged message count matches decimation
+        expected_cnt = (len(msgs) - 1) // SERVICE_LIST[s].decimation + 1
+        assert recv_cnt == expected_cnt, f"expected {expected_cnt} msgs for {s}, got {recv_cnt}"
+
+  def test_rlog(self):
+    services = random.sample(CEREAL_SERVICES, random.randint(5, 10))
+    sent_msgs = self._publish_random_messages(services)
+
+    lr = list(LogReader(os.path.join(self._get_latest_log_dir(), "rlog")))
+
+    # check initData and sentinel
+    self._check_init_data(lr)
+    self._check_sentinel(lr, True)
+
+    # check all messages were logged and in order
+    lr = lr[2:-1] # slice off initData and both sentinels
+    for m in lr:
+      sent = sent_msgs[m.which()].pop(0)
+      sent.clear_write_flag()
+      assert sent.to_bytes() == m.as_builder().to_bytes()
+
+  def test_preserving_flagged_segments(self):
+    services = set(random.sample(CEREAL_SERVICES, random.randint(5, 10))) | {"userFlag"}
+    self._publish_random_messages(services)
+
+    segment_dir = self._get_latest_log_dir()
+    assert getxattr(segment_dir, PRESERVE_ATTR_NAME) == PRESERVE_ATTR_VALUE
+
+  def test_not_preserving_unflagged_segments(self):
+    services = set(random.sample(CEREAL_SERVICES, random.randint(5, 10))) - {"userFlag"}
+    self._publish_random_messages(services)
+
+    segment_dir = self._get_latest_log_dir()
+    assert getxattr(segment_dir, PRESERVE_ATTR_NAME) is None
+

system/loggerd/tests/test_runner.cc

@@ -0,0 +1,2 @@
+#define CATCH_CONFIG_MAIN
+#include "catch2/catch.hpp"

system/loggerd/tests/test_uploader.py

@@ -0,0 +1,184 @@
+import os
+import time
+import threading
+import logging
+import json
+from pathlib import Path
+from openpilot.system.hardware.hw import Paths
+
+from openpilot.common.swaglog import cloudlog
+from openpilot.system.loggerd.uploader import main, UPLOAD_ATTR_NAME, UPLOAD_ATTR_VALUE
+
+from openpilot.system.loggerd.tests.loggerd_tests_common import UploaderTestCase
+
+
+class FakeLogHandler(logging.Handler):
+  def __init__(self):
+    logging.Handler.__init__(self)
+    self.reset()
+
+  def reset(self):
+    self.upload_order = list()
+    self.upload_ignored = list()
+
+  def emit(self, record):
+    try:
+      j = json.loads(record.getMessage())
+      if j["event"] == "upload_success":
+        self.upload_order.append(j["key"])
+      if j["event"] == "upload_ignored":
+        self.upload_ignored.append(j["key"])
+    except Exception:
+      pass
+
+log_handler = FakeLogHandler()
+cloudlog.addHandler(log_handler)
+
+
+class TestUploader(UploaderTestCase):
+  def setup_method(self):
+    super().setup_method()
+    log_handler.reset()
+
+  def start_thread(self):
+    self.end_event = threading.Event()
+    self.up_thread = threading.Thread(target=main, args=[self.end_event])
+    self.up_thread.daemon = True
+    self.up_thread.start()
+
+  def join_thread(self):
+    self.end_event.set()
+    self.up_thread.join()
+
+  def gen_files(self, lock=False, xattr: bytes = None, boot=True) -> list[Path]:
+    f_paths = []
+    for t in ["qlog", "rlog", "dcamera.hevc", "fcamera.hevc"]:
+      f_paths.append(self.make_file_with_data(self.seg_dir, t, 1, lock=lock, upload_xattr=xattr))
+
+    if boot:
+      f_paths.append(self.make_file_with_data("boot", f"{self.seg_dir}", 1, lock=lock, upload_xattr=xattr))
+    return f_paths
+
+  def gen_order(self, seg1: list[int], seg2: list[int], boot=True) -> list[str]:
+    keys = []
+    if boot:
+      keys += [f"boot/{self.seg_format.format(i)}.bz2" for i in seg1]
+      keys += [f"boot/{self.seg_format2.format(i)}.bz2" for i in seg2]
+    keys += [f"{self.seg_format.format(i)}/qlog.bz2" for i in seg1]
+    keys += [f"{self.seg_format2.format(i)}/qlog.bz2" for i in seg2]
+    return keys
+
+  def test_upload(self):
+    self.gen_files(lock=False)
+
+    self.start_thread()
+    # allow enough time that files could upload twice if there is a bug in the logic
+    time.sleep(5)
+    self.join_thread()
+
+    exp_order = self.gen_order([self.seg_num], [])
+
+    assert len(log_handler.upload_ignored) == 0, "Some files were ignored"
+    assert not len(log_handler.upload_order) < len(exp_order), "Some files failed to upload"
+    assert not len(log_handler.upload_order) > len(exp_order), "Some files were uploaded twice"
+    for f_path in exp_order:
+      assert os.getxattr((Path(Paths.log_root()) / f_path).with_suffix(""), UPLOAD_ATTR_NAME) == UPLOAD_ATTR_VALUE, "All files not uploaded"
+
+    assert log_handler.upload_order == exp_order, "Files uploaded in wrong order"
+
+  def test_upload_with_wrong_xattr(self):
+    self.gen_files(lock=False, xattr=b'0')
+
+    self.start_thread()
+    # allow enough time that files could upload twice if there is a bug in the logic
+    time.sleep(5)
+    self.join_thread()
+
+    exp_order = self.gen_order([self.seg_num], [])
+
+    assert len(log_handler.upload_ignored) == 0, "Some files were ignored"
+    assert not len(log_handler.upload_order) < len(exp_order), "Some files failed to upload"
+    assert not len(log_handler.upload_order) > len(exp_order), "Some files were uploaded twice"
+    for f_path in exp_order:
+      assert os.getxattr((Path(Paths.log_root()) / f_path).with_suffix(""), UPLOAD_ATTR_NAME) == UPLOAD_ATTR_VALUE, "All files not uploaded"
+
+    assert log_handler.upload_order == exp_order, "Files uploaded in wrong order"
+
+  def test_upload_ignored(self):
+    self.set_ignore()
+    self.gen_files(lock=False)
+
+    self.start_thread()
+    # allow enough time that files could upload twice if there is a bug in the logic
+    time.sleep(5)
+    self.join_thread()
+
+    exp_order = self.gen_order([self.seg_num], [])
+
+    assert len(log_handler.upload_order) == 0, "Some files were not ignored"
+    assert not len(log_handler.upload_ignored) < len(exp_order), "Some files failed to ignore"
+    assert not len(log_handler.upload_ignored) > len(exp_order), "Some files were ignored twice"
+    for f_path in exp_order:
+      assert os.getxattr((Path(Paths.log_root()) / f_path).with_suffix(""), UPLOAD_ATTR_NAME) == UPLOAD_ATTR_VALUE, "All files not ignored"
+
+    assert log_handler.upload_ignored == exp_order, "Files ignored in wrong order"
+
+  def test_upload_files_in_create_order(self):
+    seg1_nums = [0, 1, 2, 10, 20]
+    for i in seg1_nums:
+      self.seg_dir = self.seg_format.format(i)
+      self.gen_files(boot=False)
+    seg2_nums = [5, 50, 51]
+    for i in seg2_nums:
+      self.seg_dir = self.seg_format2.format(i)
+      self.gen_files(boot=False)
+
+    exp_order = self.gen_order(seg1_nums, seg2_nums, boot=False)
+
+    self.start_thread()
+    # allow enough time that files could upload twice if there is a bug in the logic
+    time.sleep(5)
+    self.join_thread()
+
+    assert len(log_handler.upload_ignored) == 0, "Some files were ignored"
+    assert not len(log_handler.upload_order) < len(exp_order), "Some files failed to upload"
+    assert not len(log_handler.upload_order) > len(exp_order), "Some files were uploaded twice"
+    for f_path in exp_order:
+      assert os.getxattr((Path(Paths.log_root()) / f_path).with_suffix(""), UPLOAD_ATTR_NAME) == UPLOAD_ATTR_VALUE, "All files not uploaded"
+
+    assert log_handler.upload_order == exp_order, "Files uploaded in wrong order"
+
+  def test_no_upload_with_lock_file(self):
+    self.start_thread()
+
+    time.sleep(0.25)
+    f_paths = self.gen_files(lock=True, boot=False)
+
+    # allow enough time that files should have been uploaded if they would be uploaded
+    time.sleep(5)
+    self.join_thread()
+
+    for f_path in f_paths:
+      fn = f_path.with_suffix(f_path.suffix.replace(".bz2", ""))
+      uploaded = UPLOAD_ATTR_NAME in os.listxattr(fn) and os.getxattr(fn, UPLOAD_ATTR_NAME) == UPLOAD_ATTR_VALUE
+      assert not uploaded, "File upload when locked"
+
+  def test_no_upload_with_xattr(self):
+    self.gen_files(lock=False, xattr=UPLOAD_ATTR_VALUE)
+
+    self.start_thread()
+    # allow enough time that files could upload twice if there is a bug in the logic
+    time.sleep(5)
+    self.join_thread()
+
+    assert len(log_handler.upload_order) == 0, "File uploaded again"
+
+  def test_clear_locks_on_startup(self):
+    f_paths = self.gen_files(lock=True, boot=False)
+    self.start_thread()
+    time.sleep(1)
+    self.join_thread()
+
+    for f_path in f_paths:
+      lock_path = f_path.with_suffix(f_path.suffix + ".lock")
+      assert not lock_path.is_file(), "File lock not cleared on startup"

system/loggerd/uploader.py

@@ -9,7 +9,8 @@ import threading
 import time
 import traceback
 import datetime
-from typing import BinaryIO, Iterator, List, Optional, Tuple
+from typing import BinaryIO
+from collections.abc import Iterator
 
 from cereal import log
 import cereal.messaging as messaging
@@ -42,10 +43,12 @@ class FakeResponse:
     self.request = FakeRequest()
 
 
-def get_directory_sort(d: str) -> List[str]:
-  return [s.rjust(10, '0') for s in d.rsplit('--', 1)]
+def get_directory_sort(d: str) -> list[str]:
+  # ensure old format is sorted sooner
+  o = ["0", ] if d.startswith("2024-") else ["1", ]
+  return o + [s.rjust(10, '0') for s in d.rsplit('--', 1)]
 
-def listdir_by_creation(d: str) -> List[str]:
+def listdir_by_creation(d: str) -> list[str]:
   if not os.path.isdir(d):
     return []
 
@@ -82,7 +85,7 @@ class Uploader:
     self.immediate_folders = ["crash/", "boot/"]
     self.immediate_priority = {"qlog": 0, "qlog.bz2": 0, "qcamera.ts": 1}
 
-  def list_upload_files(self, metered: bool) -> Iterator[Tuple[str, str, str]]:
+  def list_upload_files(self, metered: bool) -> Iterator[tuple[str, str, str]]:
     r = self.params.get("AthenadRecentlyViewedRoutes", encoding="utf8")
     requested_routes = [] if r is None else r.split(",")
 
@@ -121,7 +124,7 @@ class Uploader:
 
         yield name, key, fn
 
-  def next_file_to_upload(self, metered: bool) -> Optional[Tuple[str, str, str]]:
+  def next_file_to_upload(self, metered: bool) -> tuple[str, str, str] | None:
     upload_files = list(self.list_upload_files(metered))
 
     for name, key, fn in upload_files:
@@ -207,7 +210,7 @@ class Uploader:
     return success
 
 
-  def step(self, network_type: int, metered: bool) -> Optional[bool]:
+  def step(self, network_type: int, metered: bool) -> bool | None:
     d = self.next_file_to_upload(metered)
     if d is None:
       return None
@@ -221,7 +224,7 @@ class Uploader:
     return self.upload(name, key, fn, network_type, metered)
 
 
-def main(exit_event: Optional[threading.Event] = None) -> None:
+def main(exit_event: threading.Event = None) -> None:
   if exit_event is None:
     exit_event = threading.Event()
 

system/loggerd/xattr_cache.py

@@ -1,10 +1,9 @@
 import os
 import errno
-from typing import Dict, Optional, Tuple
 
-_cached_attributes: Dict[Tuple, Optional[bytes]] = {}
+_cached_attributes: dict[tuple, bytes | None] = {}
 
-def getxattr(path: str, attr_name: str) -> Optional[bytes]:
+def getxattr(path: str, attr_name: str) -> bytes | None:
   key = (path, attr_name)
   if key not in _cached_attributes:
     try: