diff --git a/selfdrive/c3_client.py b/selfdrive/c3_client.py index 03856f42..be213a93 100755 --- a/selfdrive/c3_client.py +++ b/selfdrive/c3_client.py @@ -361,6 +361,162 @@ async def execute_tmux(): return {"status": "ok", "output": f"⚠️ 无法捕获 tmux 输出\n{sessions_result.get('output', '')}"} +# ================= 错误查询 ================= +# ================= Messaging 数据采集 ================= +async def execute_messaging(): + """获取 messaging 实时数据：进程状态、设备状态、车辆状态、控制状态 + 使用 subprocess 独立进程执行同步 SubMaster 操作，避免在 async 协程中阻塞事件循环""" + try: + script = r'''import sys, json +sys.path.insert(0, "/data/openpilot") +from cereal.messaging import SubMaster, pub_sock, recv_one_or_none +from cereal import log +import time + +# 分别订阅每个 topic 并单独等待，避免一次 update 等不全 +topics = {"managerState": None, "deviceState": None, "carState": None, "controlsState": None} +for t in topics: + sm = SubMaster([t]) + for _ in range(5): # 最多尝试 5 轮，每轮 1 秒 + sm.update(1000) + if sm.updated[t]: + topics[t] = sm[t] + break + +ms = topics["managerState"] +ds = topics["deviceState"] +cs = topics["carState"] +cts = topics["controlsState"] + +# 辅助函数：从 capnp 对象安全取值 +def _get(obj, attr, default=0): + return getattr(obj, attr, default) if obj is not None else default + +def _get_str(obj, attr, default="--"): + return str(getattr(obj, attr, default)) if obj is not None else default + +def _round(obj, attr, precision=2): + return round(getattr(obj, attr, 0), precision) if obj is not None else 0 + +def _list(obj, attr): + return list(getattr(obj, attr, [])) if obj is not None else [] + +# 1. 进程状态 +key_names = ["selfdrived","modeld","modeld_v2","updated","ui","sensord","camerad", + "boardd","pandad","athenad","c3_client","mapd_nav"] +processes = [] +for p in _get(ms, "processes", []): + if p.name in key_names: + processes.append({"name": p.name, "running": p.running, "shouldBeRunning": p.shouldBeRunning, "pid": p.pid}) + +# 2. 设备状态 +device_state = { + "deviceType": _get_str(ds, "deviceType"), + "started": _get(ds, "started", False), + "thermalStatus": _get_str(ds, "thermalStatus"), + "networkType": _get_str(ds, "networkType"), + "networkStrength": _get_str(ds, "networkStrength"), + "cpuUsagePercent": _list(ds, "cpuUsagePercent"), + "gpuUsagePercent": _get(ds, "gpuUsagePercent"), + "memoryUsagePercent": _get(ds, "memoryUsagePercent"), + "freeSpacePercent": _round(ds, "freeSpacePercent", 1), + "powerDrawW": _round(ds, "powerDrawW", 1), + "fanSpeedPercentDesired": _get(ds, "fanSpeedPercentDesired"), + "screenBrightnessPercent": _get(ds, "screenBrightnessPercent"), + "carBatteryCapacityUwh": _get(ds, "carBatteryCapacityUwh"), + "cpuTempC": _list(ds, "cpuTempC"), + "gpuTempC": _list(ds, "gpuTempC"), + "memoryTempC": _round(ds, "memoryTempC", 1), + "maxTempC": _round(ds, "maxTempC", 1), + "dspTempC": _round(ds, "dspTempC", 1) if _get(ds, "dspTempC") else 0, +} + +# 3. 车辆状态 +cs_obj = _get(cs, "cruiseState") +ws_obj = _get(cs, "wheelSpeeds") +car_state = { + "vEgo": _round(cs, "vEgo"), + "vEgoRaw": _round(cs, "vEgoRaw"), + "vCruise": _round(cs, "vCruise"), + "vCruiseCluster": _round(cs, "vCruiseCluster"), + "steeringAngleDeg": _round(cs, "steeringAngleDeg", 1), + "steeringRateDeg": _round(cs, "steeringRateDeg", 1), + "steeringTorque": _get(cs, "steeringTorque"), + "steeringTorqueEps": _round(cs, "steeringTorqueEps", 1), + "steeringPressed": _get(cs, "steeringPressed", False), + "steerFaultPermanent": _get(cs, "steerFaultPermanent", False), + "steerFaultTemporary": _get(cs, "steerFaultTemporary", False), + "gasPressed": _get(cs, "gasPressed", False), + "brakePressed": _get(cs, "brakePressed", False), + "brakeHoldActive": _get(cs, "brakeHoldActive", False), + "standstill": _get(cs, "standstill", False), + "seatbeltUnlatched": _get(cs, "seatbeltUnlatched", False), + "doorOpen": _get(cs, "doorOpen", False), + "parkingBrake": _get(cs, "parkingBrake", False), + "gearShifter": _get_str(cs, "gearShifter"), + "leftBlinker": _get(cs, "leftBlinker", False), + "rightBlinker": _get(cs, "rightBlinker", False), + "leftBlindspot": _get(cs, "leftBlindspot", False), + "rightBlindspot": _get(cs, "rightBlindspot", False), + "canValid": _get(cs, "canValid", False), + "canTimeout": _get(cs, "canTimeout", False), + "accFaulted": _get(cs, "accFaulted", False), + "aEgo": _round(cs, "aEgo", 4), + "yawRate": _round(cs, "yawRate", 4), + "cruiseState": { + "enabled": _get(cs_obj, "enabled", False), + "available": _get(cs_obj, "available", False), + "speed": _round(cs_obj, "speed"), + "speedCluster": _round(cs_obj, "speedCluster"), + }, + "wheelSpeeds": { + "fl": _round(ws_obj, "fl"), + "fr": _round(ws_obj, "fr"), + "rl": _round(ws_obj, "rl"), + "rr": _round(ws_obj, "rr"), + }, +} + +# 4. 控制状态 +controls_state = { + "longControlState": _get_str(cts, "longControlState"), + "lateralControlState": _get_str(cts, "lateralControlState"), + "curvature": _round(cts, "curvature", 6), + "desiredCurvature": _round(cts, "desiredCurvature", 6), + "ufAccelCmd": _round(cts, "ufAccelCmd", 4), + "uiAccelCmd": _round(cts, "uiAccelCmd", 4), + "upAccelCmd": _round(cts, "upAccelCmd", 4), + "forceDecel": _get(cts, "forceDecel", False), +} + +print(json.dumps({ + "processes": processes, + "deviceState": device_state, + "carState": car_state, + "controlsState": controls_state, +})) +''' + result = await asyncio.wait_for( + asyncio.create_subprocess_exec( + "python3", "-c", script, + stdout=subprocess.PIPE, + stderr=subprocess.PIPE + ), timeout=15 + ) + stdout, stderr = await result.communicate() + if result.returncode != 0: + return {"status": "error", "output": f"子进程错误: {stderr.decode(errors='replace')[:500]}"} + output = stdout.decode(errors="replace").strip() + # 验证是否为合法JSON + json.loads(output) + return {"status": "ok", "output": output} + except asyncio.TimeoutError: + return {"status": "error", "output": "获取 messaging 数据超时(15s)"} + except json.JSONDecodeError: + return {"status": "error", "output": f"数据解析失败: {output[:300]}"} + except Exception as e: + return {"status": "error", "output": f"获取 messaging 数据失败: {e}\n{traceback.format_exc()}"} + # ================= 更新辅助 ================= async def execute_update_oneclick(): """一键更新：直接发送 SIGHUP 信号触发 updated 进程执行完整检查+下载 @@ -398,6 +554,8 @@ async def handle_message(data, ws): result = {"status": "ok", "output": "pong"} elif msg_type == "update": result = await execute_update_oneclick() + elif msg_type == "msgq": + result = await execute_messaging() else: result = {"status": "error", "output": f"未知指令类型: {msg_type}"}