firestar5683
399 lines
11 KiB
Python
399 lines
11 KiB
Python
import importlib
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import os
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import signal
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import struct
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import time
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import subprocess
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from pathlib import Path
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from collections.abc import Callable, ValuesView
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from abc import ABC, abstractmethod
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from multiprocessing import Process
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from types import SimpleNamespace
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from setproctitle import setproctitle
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from cereal import car, log
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import cereal.messaging as messaging
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import openpilot.system.sentry as sentry
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from openpilot.common.basedir import BASEDIR
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from openpilot.common.params import Params
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from openpilot.common.swaglog import cloudlog
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from openpilot.common.watchdog import WATCHDOG_FN
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ENABLE_WATCHDOG = os.getenv("NO_WATCHDOG") is None
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def _debug_dump_dir() -> Path:
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for candidate in (Path("/data/log"), Path("/tmp")):
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if candidate.is_dir() and os.access(candidate, os.W_OK):
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return candidate
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return Path.cwd()
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def _read_text_file(path: Path, max_bytes: int = 16384) -> str:
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try:
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data = path.read_bytes()
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except OSError as e:
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return f"<read failed: {e}>"
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if len(data) > max_bytes:
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data = data[:max_bytes] + b"\n<truncated>\n"
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return data.decode("utf-8", errors="replace")
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def launcher(proc: str, name: str, nice: int | None = None) -> None:
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try:
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if nice is not None:
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os.nice(nice)
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# import the process
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mod = importlib.import_module(proc)
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# rename the process
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setproctitle(proc)
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# create new context since we forked
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messaging.reset_context()
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# add daemon name tag to logs
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cloudlog.bind(daemon=name)
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sentry.set_tag("daemon", name)
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# exec the process
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mod.main()
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except KeyboardInterrupt:
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cloudlog.warning(f"child {proc} got SIGINT")
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except Exception:
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# can't install the crash handler because sys.excepthook doesn't play nice
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# with threads, so catch it here.
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sentry.capture_exception()
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raise
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def nativelauncher(pargs: list[str], cwd: str, name: str, nice: int | None = None) -> None:
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if nice is not None:
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os.nice(nice)
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os.environ['MANAGER_DAEMON'] = name
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# exec the process
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os.chdir(cwd)
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os.execvp(pargs[0], pargs)
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def join_process(process: Process, timeout: float) -> None:
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# Process().join(timeout) will hang due to a python 3 bug: https://bugs.python.org/issue28382
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# We have to poll the exitcode instead
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t = time.monotonic()
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while time.monotonic() - t < timeout and process.exitcode is None:
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time.sleep(0.001)
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class ManagerProcess(ABC):
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daemon = False
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sigkill = False
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should_run: Callable[[bool, Params, car.CarParams, SimpleNamespace], bool]
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proc: Process | None = None
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enabled = True
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name = ""
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last_watchdog_time = 0
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watchdog_max_dt: int | None = None
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watchdog_seen = False
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shutting_down = False
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@abstractmethod
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def prepare(self) -> None:
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pass
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@abstractmethod
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def start(self) -> None:
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pass
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def restart(self) -> None:
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self.stop(sig=signal.SIGKILL)
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self.start()
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def capture_watchdog_debug_dump(self, reason: str, dt: float) -> None:
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if self.proc is None or self.proc.pid is None:
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return
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pid = self.proc.pid
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proc_dir = Path(f"/proc/{pid}")
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if not proc_dir.exists():
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cloudlog.error(f"watchdog debug dump skipped for {self.name}: /proc/{pid} no longer exists")
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return
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dump_path = _debug_dump_dir() / f"{self.name}_watchdog_dump_{pid}_{time.monotonic_ns()}.log"
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lines = [
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f"name={self.name}",
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f"pid={pid}",
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f"dt={dt:.3f}",
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f"reason={reason}",
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f"wall_time={time.strftime('%Y-%m-%dT%H:%M:%S%z')}",
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f"watchdog_file={WATCHDOG_FN}{pid}",
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"",
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"== /proc/status ==",
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_read_text_file(proc_dir / "status"),
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"",
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"== /proc/wchan ==",
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_read_text_file(proc_dir / "wchan", 1024),
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"",
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"== /proc/syscall ==",
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_read_text_file(proc_dir / "syscall", 2048),
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"",
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]
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task_dir = proc_dir / "task"
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try:
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task_entries = sorted(task_dir.iterdir(), key=lambda p: int(p.name))
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except OSError as e:
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task_entries = []
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lines.extend([
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"== /proc/task ==",
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f"<read failed: {e}>",
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"",
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])
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for entry in task_entries:
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lines.extend([
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f"== thread {entry.name} ==",
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"-- comm --",
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_read_text_file(entry / "comm", 1024),
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"",
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"-- wchan --",
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_read_text_file(entry / "wchan", 1024),
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"",
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"-- syscall --",
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_read_text_file(entry / "syscall", 2048),
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"",
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"-- status --",
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_read_text_file(entry / "status"),
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"",
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"-- stack --",
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_read_text_file(entry / "stack"),
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"",
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])
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try:
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dump_path.write_text("\n".join(lines))
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cloudlog.error(f"Wrote watchdog debug dump for {self.name} to {dump_path}")
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except OSError as e:
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cloudlog.error(f"failed to write watchdog debug dump for {self.name} to {dump_path}: {e}")
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def check_watchdog(self, started: bool) -> None:
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if self.watchdog_max_dt is None or self.proc is None:
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return
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try:
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fn = WATCHDOG_FN + str(self.proc.pid)
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with open(fn, "rb") as f:
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self.last_watchdog_time = struct.unpack('Q', f.read())[0]
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self.watchdog_seen = True
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except Exception:
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if not self.watchdog_seen:
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return
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dt = time.monotonic() - self.last_watchdog_time / 1e9
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if dt > self.watchdog_max_dt and ENABLE_WATCHDOG:
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self.capture_watchdog_debug_dump(f"watchdog_timeout started={started}", dt)
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cloudlog.error(f"Watchdog timeout for {self.name} (exitcode {self.proc.exitcode}) restarting ({started=})")
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self.restart()
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def stop(self, retry: bool = True, block: bool = True, sig: signal.Signals = None) -> int | None:
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if self.proc is None:
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return None
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if self.proc.exitcode is None:
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if not self.shutting_down:
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cloudlog.info(f"killing {self.name}")
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if sig is None:
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sig = signal.SIGKILL if self.sigkill else signal.SIGINT
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self.signal(sig)
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self.shutting_down = True
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if not block:
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return None
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join_process(self.proc, 5)
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# If process failed to die send SIGKILL
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if self.proc.exitcode is None and retry:
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cloudlog.info(f"killing {self.name} with SIGKILL")
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self.signal(signal.SIGKILL)
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self.proc.join()
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ret = self.proc.exitcode
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cloudlog.info(f"{self.name} is dead with {ret}")
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if self.proc.exitcode is not None:
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self.shutting_down = False
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self.proc = None
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return ret
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def signal(self, sig: int) -> None:
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if self.proc is None:
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return
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# Don't signal if already exited
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if self.proc.exitcode is not None and self.proc.pid is not None:
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return
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# Can't signal if we don't have a pid
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if self.proc.pid is None:
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return
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cloudlog.info(f"sending signal {sig} to {self.name}")
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os.kill(self.proc.pid, sig)
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def get_process_state_msg(self):
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state = log.ManagerState.ProcessState.new_message()
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state.name = self.name
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if self.proc:
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state.running = self.proc.is_alive()
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state.shouldBeRunning = self.proc is not None and not self.shutting_down
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state.pid = self.proc.pid or 0
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state.exitCode = self.proc.exitcode or 0
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return state
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class NativeProcess(ManagerProcess):
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def __init__(self, name, cwd, cmdline, should_run, enabled=True, sigkill=False, watchdog_max_dt=None, nice=None):
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self.name = name
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self.cwd = cwd
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self.cmdline = cmdline
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self.should_run = should_run
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self.enabled = enabled
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self.sigkill = sigkill
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self.watchdog_max_dt = watchdog_max_dt
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self.nice = nice
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self.launcher = nativelauncher
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def prepare(self) -> None:
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pass
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def start(self) -> None:
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# In case we only tried a non blocking stop we need to stop it before restarting
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if self.shutting_down:
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self.stop()
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if self.proc is not None:
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return
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cwd = os.path.join(BASEDIR, self.cwd)
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cloudlog.info(f"starting process {self.name}")
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self.proc = Process(name=self.name, target=self.launcher, args=(self.cmdline, cwd, self.name, self.nice))
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self.proc.start()
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self.last_watchdog_time = 0
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self.watchdog_seen = False
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self.shutting_down = False
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class PythonProcess(ManagerProcess):
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def __init__(self, name, module, should_run, enabled=True, sigkill=False, watchdog_max_dt=None, nice=None):
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self.name = name
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self.module = module
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self.should_run = should_run
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self.enabled = enabled
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self.sigkill = sigkill
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self.watchdog_max_dt = watchdog_max_dt
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self.nice = nice
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self.launcher = launcher
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def prepare(self) -> None:
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if self.enabled:
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cloudlog.info(f"preimporting {self.module}")
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importlib.import_module(self.module)
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def start(self) -> None:
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# In case we only tried a non blocking stop we need to stop it before restarting
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if self.shutting_down:
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self.stop()
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if self.proc is not None:
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return
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# TODO: this is just a workaround for this tinygrad check:
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# https://github.com/tinygrad/tinygrad/blob/ac9c96dae1656dc220ee4acc39cef4dd449aa850/tinygrad/device.py#L26
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name = self.name if "modeld" not in self.name else "MainProcess"
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cloudlog.info(f"starting python {self.module}")
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self.proc = Process(name=name, target=self.launcher, args=(self.module, self.name, self.nice))
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self.proc.start()
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self.last_watchdog_time = 0
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self.watchdog_seen = False
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self.shutting_down = False
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class DaemonProcess(ManagerProcess):
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"""Python process that has to stay running across manager restart.
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This is used for athena so you don't lose SSH access when restarting manager."""
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def __init__(self, name, module, param_name, enabled=True):
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self.name = name
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self.module = module
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self.param_name = param_name
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self.enabled = enabled
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self.params = None
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@staticmethod
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def should_run(started, params, CP, starpilot_toggles):
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return True
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def prepare(self) -> None:
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pass
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def start(self) -> None:
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if self.params is None:
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self.params = Params()
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pid = self.params.get(self.param_name)
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if pid is not None:
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try:
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os.kill(int(pid), 0)
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with open(f'/proc/{pid}/cmdline') as f:
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if self.module in f.read():
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# daemon is running
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return
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except (OSError, FileNotFoundError):
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# process is dead
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pass
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cloudlog.info(f"starting daemon {self.name}")
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proc = subprocess.Popen(['python', '-m', self.module],
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stdin=open('/dev/null'),
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stdout=open('/dev/null', 'w'),
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stderr=open('/dev/null', 'w'),
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preexec_fn=os.setpgrp)
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self.params.put(self.param_name, proc.pid)
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def stop(self, retry=True, block=True, sig=None) -> None:
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pass
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def ensure_running(procs: ValuesView[ManagerProcess], started: bool, params=None, CP: car.CarParams=None,
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not_run: list[str] | None=None, starpilot_toggles: SimpleNamespace=None) -> list[ManagerProcess]:
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if not_run is None:
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not_run = []
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running = []
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for p in procs:
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# Reap crashed processes so they can be cleanly restarted below.
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if p.proc is not None and p.proc.exitcode is not None and not p.shutting_down:
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cloudlog.error(f"Process {p.name} crashed with exitcode {p.proc.exitcode}, restarting")
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p.stop(retry=False)
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if p.enabled and p.name not in not_run and p.should_run(started, params, CP, starpilot_toggles):
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running.append(p)
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else:
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p.stop(block=False)
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p.check_watchdog(started)
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for p in running:
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p.start()
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return running
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