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