1okko
667 lines
21 KiB
Python
667 lines
21 KiB
Python
#!/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 = 5
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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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# 如果没有强制指定车型，从 CarParams 读取实际车型
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try:
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cp = _params.get("CarParamsPersistent")
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if cp:
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import json as _j
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cp_data = _j.loads(cp if isinstance(cp, str) else cp.decode())
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return cp_data.get("carName", "") or cp_data.get("car_platform", "") or ""
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except Exception:
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pass
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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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# ================= 错误查询 =================
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# ================= Messaging 数据采集 =================
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async def execute_messaging():
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"""获取 messaging 实时数据：进程状态、设备状态、车辆状态、控制状态
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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"""
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try:
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script = r'''import sys, json
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sys.path.insert(0, "/data/openpilot")
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from cereal.messaging import SubMaster, pub_sock, recv_one_or_none
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from cereal import log
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import time
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# 分别订阅每个 topic 并单独等待，避免一次 update 等不全
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topics = {"managerState": None, "deviceState": None, "carState": None, "controlsState": None}
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for t in topics:
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sm = SubMaster([t])
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for _ in range(5): # 最多尝试 5 轮，每轮 1 秒
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sm.update(1000)
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if sm.updated[t]:
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topics[t] = sm[t]
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break
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ms = topics["managerState"]
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ds = topics["deviceState"]
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cs = topics["carState"]
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cts = topics["controlsState"]
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# 辅助函数：从 capnp 对象安全取值
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def _get(obj, attr, default=0):
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return getattr(obj, attr, default) if obj is not None else default
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def _get_str(obj, attr, default="--"):
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return str(getattr(obj, attr, default)) if obj is not None else default
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def _round(obj, attr, precision=2):
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return round(getattr(obj, attr, 0), precision) if obj is not None else 0
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def _list(obj, attr):
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return list(getattr(obj, attr, [])) if obj is not None else []
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# 1. 进程状态
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key_names = ["selfdrived","modeld","modeld_v2","updated","ui","sensord","camerad",
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"boardd","pandad","athenad","c3_client","mapd_nav"]
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processes = []
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for p in _get(ms, "processes", []):
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if p.name in key_names:
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processes.append({"name": p.name, "running": p.running, "shouldBeRunning": p.shouldBeRunning, "pid": p.pid})
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# 2. 设备状态
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device_state = {
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"deviceType": _get_str(ds, "deviceType"),
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"started": _get(ds, "started", False),
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"thermalStatus": _get_str(ds, "thermalStatus"),
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"networkType": _get_str(ds, "networkType"),
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"networkStrength": _get_str(ds, "networkStrength"),
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"cpuUsagePercent": _list(ds, "cpuUsagePercent"),
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"gpuUsagePercent": _get(ds, "gpuUsagePercent"),
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"memoryUsagePercent": _get(ds, "memoryUsagePercent"),
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"freeSpacePercent": _round(ds, "freeSpacePercent", 1),
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"powerDrawW": _round(ds, "powerDrawW", 1),
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"fanSpeedPercentDesired": _get(ds, "fanSpeedPercentDesired"),
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"screenBrightnessPercent": _get(ds, "screenBrightnessPercent"),
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"carBatteryCapacityUwh": _get(ds, "carBatteryCapacityUwh"),
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"cpuTempC": _list(ds, "cpuTempC"),
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"gpuTempC": _list(ds, "gpuTempC"),
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"memoryTempC": _round(ds, "memoryTempC", 1),
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"maxTempC": _round(ds, "maxTempC", 1),
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"dspTempC": _round(ds, "dspTempC", 1) if _get(ds, "dspTempC") else 0,
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}
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# 3. 车辆状态
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cs_obj = _get(cs, "cruiseState")
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ws_obj = _get(cs, "wheelSpeeds")
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car_state = {
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"vEgo": _round(cs, "vEgo"),
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"vEgoRaw": _round(cs, "vEgoRaw"),
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"vCruise": _round(cs, "vCruise"),
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"vCruiseCluster": _round(cs, "vCruiseCluster"),
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"steeringAngleDeg": _round(cs, "steeringAngleDeg", 1),
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"steeringRateDeg": _round(cs, "steeringRateDeg", 1),
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"steeringTorque": _get(cs, "steeringTorque"),
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"steeringTorqueEps": _round(cs, "steeringTorqueEps", 1),
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"steeringPressed": _get(cs, "steeringPressed", False),
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"steerFaultPermanent": _get(cs, "steerFaultPermanent", False),
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"steerFaultTemporary": _get(cs, "steerFaultTemporary", False),
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"gasPressed": _get(cs, "gasPressed", False),
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"brakePressed": _get(cs, "brakePressed", False),
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"brakeHoldActive": _get(cs, "brakeHoldActive", False),
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"standstill": _get(cs, "standstill", False),
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"seatbeltUnlatched": _get(cs, "seatbeltUnlatched", False),
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"doorOpen": _get(cs, "doorOpen", False),
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"parkingBrake": _get(cs, "parkingBrake", False),
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"gearShifter": _get_str(cs, "gearShifter"),
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"leftBlinker": _get(cs, "leftBlinker", False),
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"rightBlinker": _get(cs, "rightBlinker", False),
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"leftBlindspot": _get(cs, "leftBlindspot", False),
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"rightBlindspot": _get(cs, "rightBlindspot", False),
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"canValid": _get(cs, "canValid", False),
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"canTimeout": _get(cs, "canTimeout", False),
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"accFaulted": _get(cs, "accFaulted", False),
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"aEgo": _round(cs, "aEgo", 4),
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"yawRate": _round(cs, "yawRate", 4),
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"cruiseState": {
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"enabled": _get(cs_obj, "enabled", False),
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"available": _get(cs_obj, "available", False),
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"speed": _round(cs_obj, "speed"),
|
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"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
|
||
只发 SIGHUP 即可（内部先 check_for_update 再 fetch_update）
|
||
避免先发 SIGUSR1 再发 SIGHUP 导致的时序竞争（user_request 在 sleep 前被清空）"""
|
||
try:
|
||
# 检查 updated 进程是否在运行
|
||
check = await execute_cmd("pgrep -f 'system.updated.updated'", timeout=3)
|
||
if not check.get("output", "").strip():
|
||
return {"status": "error", "output": "设备不在 offroad 状态，updated 进程未运行"}
|
||
|
||
# 只发 SIGHUP（内部先检查再下载，一步到位）
|
||
subprocess.run(
|
||
["sudo", "-u", "comma", "pkill", "-SIGHUP", "-f", "system.updated.updated"],
|
||
timeout=5, capture_output=True
|
||
)
|
||
|
||
return {"status": "ok", "output": "一键更新已触发"}
|
||
except Exception as e:
|
||
return {"status": "error", "output": f"一键更新失败: {e}"}
|
||
|
||
|
||
# ================= 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"}
|
||
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}"}
|
||
|
||
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:
|
||
# 通过 modeld_tinygrad 进程判断 onroad/offroad
|
||
offroad = True # 默认 offroad
|
||
try:
|
||
import subprocess
|
||
result = subprocess.run(
|
||
"ps aux | grep -v grep | grep -q modeld_tinygrad && echo 0 || echo 1",
|
||
shell=True, capture_output=True, text=True, timeout=5
|
||
)
|
||
if result.returncode == 0:
|
||
offroad = result.stdout.strip() == "1"
|
||
except Exception:
|
||
offroad = True
|
||
await ws.send(json.dumps({"type": "heartbeat", "offroad": offroad, "car_platform": get_car_platform()}))
|
||
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()
|