Source code for selfdrive.manager.manager

#!/usr/bin/env python3
import datetime
import os
import signal
import subprocess
import sys
import traceback
from typing import List, Tuple, Union

import cereal.messaging as messaging
import selfdrive.sentry as sentry
from common.basedir import BASEDIR
from common.params import Params, ParamKeyType
from common.text_window import TextWindow
from selfdrive.boardd.set_time import set_time
from system.hardware import HARDWARE, PC
from selfdrive.manager.helpers import unblock_stdout
from selfdrive.manager.process import ensure_running
from selfdrive.manager.process_config import managed_processes
from selfdrive.athena.registration import register, UNREGISTERED_DONGLE_ID
from system.swaglog import cloudlog, add_file_handler
from system.version import is_dirty, get_commit, get_version, get_origin, get_short_branch, \
                              terms_version, training_version, is_tested_branch


sys.path.append(os.path.join(BASEDIR, "pyextra"))


[docs]def manager_init() -> None: # update system time from panda set_time(cloudlog) # save boot log subprocess.call("./bootlog", cwd=os.path.join(BASEDIR, "selfdrive/loggerd")) params = Params() params.clear_all(ParamKeyType.CLEAR_ON_MANAGER_START) default_params: List[Tuple[str, Union[str, bytes]]] = [ ("CompletedTrainingVersion", "0"), ("DisengageOnAccelerator", "1"), ("GsmMetered", "1"), ("HasAcceptedTerms", "0"), ("LanguageSetting", "main_en"), ("OpenpilotEnabledToggle", "1"), ] if not PC: default_params.append(("LastUpdateTime", datetime.datetime.utcnow().isoformat().encode('utf8'))) if params.get_bool("RecordFrontLock"): params.put_bool("RecordFront", True) # set unset params for k, v in default_params: if params.get(k) is None: params.put(k, v) # is this dashcam? if os.getenv("PASSIVE") is not None: params.put_bool("Passive", bool(int(os.getenv("PASSIVE", "0")))) if params.get("Passive") is None: raise Exception("Passive must be set to continue") # Create folders needed for msgq try: os.mkdir("/dev/shm") except FileExistsError: pass except PermissionError: print("WARNING: failed to make /dev/shm") # set version params params.put("Version", get_version()) params.put("TermsVersion", terms_version) params.put("TrainingVersion", training_version) params.put("GitCommit", get_commit(default="")) params.put("GitBranch", get_short_branch(default="")) params.put("GitRemote", get_origin(default="")) params.put_bool("IsTestedBranch", is_tested_branch()) # set dongle id reg_res = register(show_spinner=True) if reg_res: dongle_id = reg_res else: serial = params.get("HardwareSerial") raise Exception(f"Registration failed for device {serial}") os.environ['DONGLE_ID'] = dongle_id # Needed for swaglog if not is_dirty(): os.environ['CLEAN'] = '1' # init logging sentry.init(sentry.SentryProject.SELFDRIVE) cloudlog.bind_global(dongle_id=dongle_id, version=get_version(), dirty=is_dirty(), device=HARDWARE.get_device_type())
[docs]def manager_prepare() -> None: for p in managed_processes.values(): p.prepare()
[docs]def manager_cleanup() -> None: # send signals to kill all procs for p in managed_processes.values(): p.stop(block=False) # ensure all are killed for p in managed_processes.values(): p.stop(block=True) cloudlog.info("everything is dead")
[docs]def manager_thread() -> None: cloudlog.bind(daemon="manager") cloudlog.info("manager start") cloudlog.info({"environ": os.environ}) params = Params() ignore: List[str] = [] if params.get("DongleId", encoding='utf8') in (None, UNREGISTERED_DONGLE_ID): ignore += ["manage_athenad", "uploader"] if os.getenv("NOBOARD") is not None: ignore.append("pandad") ignore += [x for x in os.getenv("BLOCK", "").split(",") if len(x) > 0] sm = messaging.SubMaster(['deviceState', 'carParams'], poll=['deviceState']) pm = messaging.PubMaster(['managerState']) ensure_running(managed_processes.values(), False, params=params, CP=sm['carParams'], not_run=ignore) while True: sm.update() started = sm['deviceState'].started ensure_running(managed_processes.values(), started, params=params, CP=sm['carParams'], not_run=ignore) running = ' '.join("%s%s\u001b[0m" % ("\u001b[32m" if p.proc.is_alive() else "\u001b[31m", p.name) for p in managed_processes.values() if p.proc) print(running) cloudlog.debug(running) # send managerState msg = messaging.new_message('managerState') msg.managerState.processes = [p.get_process_state_msg() for p in managed_processes.values()] pm.send('managerState', msg) # Exit main loop when uninstall/shutdown/reboot is needed shutdown = False for param in ("DoUninstall", "DoShutdown", "DoReboot"): if params.get_bool(param): shutdown = True params.put("LastManagerExitReason", param) cloudlog.warning(f"Shutting down manager - {param} set") if shutdown: break
[docs]def main() -> None: prepare_only = os.getenv("PREPAREONLY") is not None manager_init() # Start UI early so prepare can happen in the background if not prepare_only: managed_processes['ui'].start() manager_prepare() if prepare_only: return # SystemExit on sigterm signal.signal(signal.SIGTERM, lambda signum, frame: sys.exit(1)) try: manager_thread() except Exception: traceback.print_exc() sentry.capture_exception() finally: manager_cleanup() params = Params() if params.get_bool("DoUninstall"): cloudlog.warning("uninstalling") HARDWARE.uninstall() elif params.get_bool("DoReboot"): cloudlog.warning("reboot") HARDWARE.reboot() elif params.get_bool("DoShutdown"): cloudlog.warning("shutdown") HARDWARE.shutdown()
if __name__ == "__main__": unblock_stdout() try: main() except Exception: add_file_handler(cloudlog) cloudlog.exception("Manager failed to start") try: managed_processes['ui'].stop() except Exception: pass # Show last 3 lines of traceback error = traceback.format_exc(-3) error = "Manager failed to start\n\n" + error with TextWindow(error) as t: t.wait_for_exit() raise # manual exit because we are forked sys.exit(0)