555
This commit is contained in:
1okko
Executable
+462
@@ -0,0 +1,462 @@
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#!/usr/bin/env python3
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# -*- coding: utf-8 -*-
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"""
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C3 Client — 部署到 C3 设备上
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与 C3 Director 服务端通信
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支持远程指令执行、tmux 故障诊断、心跳保活
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通过 openpilot 的 PythonProcess 自动启动：
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PythonProcess("c3-client", "selfdrive.c3_client", always_run),
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零外部依赖（内嵌纯 Python 版 WebSocket 客户端，纯标准库实现）
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"""
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import asyncio
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import base64
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import json
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import os
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import random
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import struct
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import subprocess
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import sys
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import traceback
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import urllib.parse
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from datetime import datetime
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# openpilot 基础模块
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from openpilot.system.hardware import HARDWARE, PC
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from openpilot.common.params import Params
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from openpilot.common.swaglog import cloudlog
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# ================= 内嵌 WebSocket 客户端（纯标准库） =================
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class _WebSocketError(Exception):
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pass
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class _WebSocketClient:
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"""异步 WebSocket 客户端（RFC 6455），仅依赖 Python 标准库"""
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def __init__(self, url, ping_interval=20, ping_timeout=15):
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parsed = urllib.parse.urlparse(url)
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if parsed.scheme not in ("ws",):
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raise ValueError(f"不支持的协议: {parsed.scheme}")
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self.host = parsed.hostname
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self.port = parsed.port or 80
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self.path = parsed.path or "/"
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if parsed.query:
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self.path += "?" + parsed.query
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self.ping_interval = ping_interval
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self.ping_timeout = ping_timeout
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self._reader = None
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self._writer = None
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self._closed = False
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self._recv_queue = asyncio.Queue()
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self._pong_event = asyncio.Event()
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async def connect(self):
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"""建立 TCP + WebSocket 握手"""
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try:
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self._reader, self._writer = await asyncio.wait_for(
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asyncio.open_connection(self.host, self.port), timeout=10
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)
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# 生成 Sec-WebSocket-Key
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rand_bytes = bytes(random.randint(0, 255) for _ in range(16))
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ws_key = base64.b64encode(rand_bytes).decode()
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request = (
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f"GET {self.path} HTTP/1.1\r\n"
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f"Host: {self.host}:{self.port}\r\n"
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f"Upgrade: websocket\r\n"
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f"Connection: Upgrade\r\n"
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f"Sec-WebSocket-Key: {ws_key}\r\n"
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f"Sec-WebSocket-Version: 13\r\n"
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f"\r\n"
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)
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self._writer.write(request.encode())
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await self._writer.drain()
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# 读取响应头
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response = b""
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while b"\r\n\r\n" not in response:
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chunk = await asyncio.wait_for(self._reader.read(4096), timeout=10)
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if not chunk:
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raise _WebSocketError("连接关闭")
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response += chunk
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header_text = response.decode("utf-8", errors="replace")
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status_line = header_text.split("\r\n")[0]
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if "101" not in status_line:
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raise _WebSocketError(f"握手失败: {status_line}")
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self._recv_task = asyncio.create_task(self._recv_loop())
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self._ping_task = asyncio.create_task(self._ping_loop())
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except asyncio.TimeoutError:
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raise _WebSocketError("连接或握手超时")
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async def _recv_loop(self):
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"""持续读取 WebSocket 帧"""
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try:
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while not self._closed:
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frame = await self._read_frame()
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if frame is None:
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break
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opcode = frame[0] & 0x0F
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payload = frame[1]
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if opcode in (0x0, 0x1): # 继续帧 / 文本帧
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await self._recv_queue.put(("text", payload.decode("utf-8", errors="replace")))
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elif opcode == 0x8: # 关闭帧
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await self._send_close()
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self._closed = True
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break
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elif opcode == 0x9: # Ping → 自动 Pong
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await self._send_frame(0xA, payload)
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elif opcode == 0xA: # Pong
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self._pong_event.set()
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except (asyncio.CancelledError, ConnectionError):
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pass
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except Exception as e:
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print(f"[C3] WebSocket 接收异常: {e}")
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finally:
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self._closed = True
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async def _read_frame(self):
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"""读取一个 WebSocket 帧"""
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header = await self._read_exact(2)
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if not header:
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return None
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first_byte = header[0]
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second_byte = header[1]
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length = second_byte & 0x7F
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if length == 126:
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ext = await self._read_exact(2)
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length = struct.unpack("!H", ext)[0]
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elif length == 127:
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ext = await self._read_exact(8)
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length = struct.unpack("!Q", ext)[0]
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mask_key = await self._read_exact(4) if (second_byte & 0x80) else None
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payload = await self._read_exact(length)
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if mask_key:
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payload = bytes(b ^ mask_key[i % 4] for i, b in enumerate(payload))
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return (first_byte, payload)
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async def _read_exact(self, n):
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"""精确读取 n 字节"""
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data = b""
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while len(data) < n:
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chunk = await self._reader.read(n - len(data))
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if not chunk:
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raise _WebSocketError("连接断开")
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data += chunk
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return data
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async def send(self, text):
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"""发送文本消息"""
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payload = text.encode("utf-8") if isinstance(text, str) else text
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await self._send_frame(0x1, payload)
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async def _send_frame(self, opcode, payload):
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"""发送 WebSocket 帧（客户端必须 mask）"""
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header = bytearray()
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header.append(0x80 | opcode) # FIN + opcode
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length = len(payload)
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if length < 126:
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header.append(0x80 | length)
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elif length < 65536:
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header.append(0x80 | 126)
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header.extend(struct.pack("!H", length))
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else:
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header.append(0x80 | 127)
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header.extend(struct.pack("!Q", length))
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mask_key = bytes(random.randint(0, 255) for _ in range(4))
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header.extend(mask_key)
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header.extend(bytes(b ^ mask_key[i % 4] for i, b in enumerate(payload)))
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self._writer.write(bytes(header))
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await self._writer.drain()
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async def _send_close(self):
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try:
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self._writer.write(bytes([0x88, 0x00]))
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await self._writer.drain()
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except Exception:
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pass
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async def _ping_loop(self):
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try:
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while not self._closed:
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await asyncio.sleep(self.ping_interval)
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self._pong_event.clear()
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await self._send_frame(0x9, b"")
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try:
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await asyncio.wait_for(self._pong_event.wait(), timeout=self.ping_timeout)
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except asyncio.TimeoutError:
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print("[C3] Ping 超时")
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break
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except asyncio.CancelledError:
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pass
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except Exception as e:
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print(f"[C3] Ping 循环异常: {e}")
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finally:
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self._closed = True
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async def recv(self):
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"""接收一条消息"""
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while not self._closed:
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msg_type, text = await self._recv_queue.get()
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if msg_type == "text":
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return text
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raise ConnectionError("连接已关闭")
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def __aiter__(self):
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return self._async_iterator()
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async def _async_iterator(self):
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while not self._closed:
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try:
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yield await self.recv()
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except ConnectionError:
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break
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async def close(self):
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self._closed = True
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if self._writer:
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await self._send_close()
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try:
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self._writer.close()
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await self._writer.wait_closed()
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except Exception:
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pass
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for attr in ("_recv_task", "_ping_task"):
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if hasattr(self, attr):
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getattr(self, attr).cancel()
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async def __aenter__(self):
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await self.connect()
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return self
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async def __aexit__(self, *args):
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await self.close()
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# ================= 配置 =================
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SERVER_URL = "ws://1.15.136.221:8500"
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HEARTBEAT_INTERVAL = 15
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RECONNECT_DELAY = 5
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# ================= 设备标识 =================
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_params = Params()
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def get_serial():
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try:
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return HARDWARE.get_serial()
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except Exception:
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return os.uname().nodename
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def get_dongle_id():
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try:
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dongle = _params.get("DongleId")
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return dongle if dongle else ""
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except Exception:
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return ""
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def get_device_type():
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try:
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if hasattr(HARDWARE, 'get_device_type'):
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dt = HARDWARE.get_device_type()
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return dt if dt else ""
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return ""
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except Exception:
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return ""
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def get_git_branch():
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try:
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result = subprocess.run(
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["git", "rev-parse", "--abbrev-ref", "HEAD"],
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capture_output=True, text=True, timeout=5,
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cwd=os.path.dirname(os.path.dirname(os.path.abspath(__file__)))
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)
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return result.stdout.strip() if result.returncode == 0 else ""
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except Exception:
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return ""
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def get_car_platform():
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try:
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bundle = _params.get("CarPlatformBundle")
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if bundle:
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if isinstance(bundle, dict):
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return bundle.get("name", "")
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import json
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return json.loads(bundle).get("name", "")
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return ""
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except Exception:
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return ""
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# ================= 指令执行 =================
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async def execute_cmd(command, timeout=30):
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try:
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result = await asyncio.wait_for(
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asyncio.create_subprocess_shell(
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command,
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stdout=subprocess.PIPE,
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stderr=subprocess.STDOUT
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),
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timeout=timeout
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)
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stdout, _ = await result.communicate()
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return {
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"status": "ok",
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"output": stdout.decode(errors="replace"),
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"returncode": result.returncode
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}
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except asyncio.TimeoutError:
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return {"status": "error", "output": "命令执行超时"}
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except Exception as e:
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return {"status": "error", "output": str(e)}
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async def execute_tmux():
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tmux_check = await execute_cmd("ps aux | grep tmux | grep -v grep", timeout=3)
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if not tmux_check.get("output", "").strip():
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return {"status": "ok", "output": "⚠️ 设备上未检测到 tmux 进程运行"}
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sessions_result = await execute_cmd("tmux list-sessions 2>&1", timeout=3)
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if "error" in sessions_result.get("output", ""):
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return {"status": "ok", "output": f"⚠️ 无法获取 tmux 会话\n{sessions_result['output']}"}
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result = await execute_cmd(
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"tmux capture-pane -t $(tmux list-sessions -F '#{session_name}' 2>/dev/null | head -1) -p -S -200 2>/dev/null",
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timeout=5
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)
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if result["status"] == "ok" and result.get("output", "").strip():
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session_info = await execute_cmd("tmux list-sessions 2>&1", timeout=3)
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output = f"--- tmux sessions ---\n{session_info.get('output', '')}\n\n--- capture output ---\n{result['output']}"
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return {"status": "ok", "output": output}
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else:
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return {"status": "ok", "output": f"⚠️ 无法捕获 tmux 输出\n{sessions_result.get('output', '')}"}
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# ================= 消息处理 =================
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async def handle_message(data, ws):
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msg_type = data.get("type")
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msg_id = data.get("id")
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content = data.get("content", "")
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timeout = data.get("timeout", 15)
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if msg_type == "cmd":
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result = await execute_cmd(content, timeout)
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elif msg_type == "tmux":
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result = await execute_tmux()
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elif msg_type == "ping":
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result = {"status": "ok", "output": "pong"}
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else:
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result = {"status": "error", "output": f"未知指令类型: {msg_type}"}
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response = {
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"type": "result",
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"id": msg_id,
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"status": result["status"],
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"output": result.get("output", "")
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}
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try:
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await ws.send(json.dumps(response))
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except Exception as e:
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print(f"[C3] 发送响应失败: {e}")
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# ================= 主循环 =================
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async def run():
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serial = get_serial()
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dongle_id = get_dongle_id()
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git_branch = get_git_branch()
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car_platform = get_car_platform()
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device_type = get_device_type()
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print(f"[C3 Director Client] 启动 serial={serial} branch={git_branch} platform={car_platform}")
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while True:
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try:
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async with _WebSocketClient(
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SERVER_URL,
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ping_interval=20,
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ping_timeout=15
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) as ws:
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print(f"[C3] ✅ 已连接服务器")
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register_msg = json.dumps({
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"type": "register",
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"serial": serial,
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"dongle_id": dongle_id,
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"git_branch": git_branch,
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"car_platform": car_platform,
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"device_type": device_type
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})
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await ws.send(register_msg)
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print(f"[C3] 已注册: {serial} branch={git_branch} type={device_type}")
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async def heartbeat():
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while True:
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await asyncio.sleep(HEARTBEAT_INTERVAL)
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try:
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await ws.send(json.dumps({"type": "heartbeat"}))
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except Exception:
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break
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async def receiver():
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async for message in ws:
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try:
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data = json.loads(message)
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await handle_message(data, ws)
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except json.JSONDecodeError:
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pass
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except Exception as e:
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print(f"[C3] 处理消息出错: {e}")
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traceback.print_exc()
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await asyncio.wait_for(asyncio.gather(heartbeat(), receiver()), timeout=65)
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except (ConnectionError, OSError, _WebSocketError):
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print(f"[C3] 连接断开")
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except ConnectionRefusedError:
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print(f"[C3] 服务器拒绝连接")
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except OSError as e:
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print(f"[C3] 网络错误: {e}")
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except asyncio.TimeoutError:
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print(f"[C3] 连接超时")
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except Exception as e:
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print(f"[C3] 异常: {e}")
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traceback.print_exc()
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print(f"[C3] {RECONNECT_DELAY} 秒后重连...")
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await asyncio.sleep(RECONNECT_DELAY)
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# ================= 入口 =================
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def main():
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try:
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asyncio.run(run())
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except KeyboardInterrupt:
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print("[C3] 客户端已停止")
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except Exception as e:
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print(f"[C3] 致命错误: {e}")
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traceback.print_exc()
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if __name__ == "__main__":
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main()
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@@ -155,6 +155,7 @@ procs = [
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PythonProcess("statsd", "system.statsd", always_run),
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PythonProcess("beep", "selfdrive.selfdrived.beep", always_run),
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PythonProcess("feedbackd", "selfdrive.ui.feedback.feedbackd", only_onroad),
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PythonProcess("c3-client", "selfdrive.c3_client", always_run),
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# debug procs
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NativeProcess("bridge", "cereal/messaging", ["./bridge"], notcar),
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Reference in New Issue
Block a user