#!/usr/bin/env python3
import datetime
import os
import signal
import sys
import traceback
from cereal import log
import cereal.messaging as messaging
import openpilot.selfdrive.sentry as sentry
from openpilot.common.params import Params, ParamKeyType
from openpilot.common.text_window import TextWindow
from openpilot.system.hardware import HARDWARE, PC
from openpilot.selfdrive.manager.helpers import unblock_stdout, write_onroad_params, save_bootlog
from openpilot.selfdrive.manager.process import ensure_running
from openpilot.selfdrive.manager.process_config import managed_processes
from openpilot.selfdrive.athena.registration import register, UNREGISTERED_DONGLE_ID
from openpilot.common.swaglog import cloudlog, add_file_handler
from openpilot.system.version import get_build_metadata, terms_version, training_version
[docs]
def manager_init() -> None:
save_bootlog()
build_metadata = get_build_metadata()
params = Params()
params.clear_all(ParamKeyType.CLEAR_ON_MANAGER_START)
params.clear_all(ParamKeyType.CLEAR_ON_ONROAD_TRANSITION)
params.clear_all(ParamKeyType.CLEAR_ON_OFFROAD_TRANSITION)
if build_metadata.release_channel:
params.clear_all(ParamKeyType.DEVELOPMENT_ONLY)
default_params: list[tuple[str, str | bytes]] = [
("CompletedTrainingVersion", "0"),
("DisengageOnAccelerator", "0"),
("GsmMetered", "1"),
("HasAcceptedTerms", "0"),
("LanguageSetting", "main_en"),
("OpenpilotEnabledToggle", "1"),
("LongitudinalPersonality", str(log.LongitudinalPersonality.standard)),
]
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)
# 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", build_metadata.openpilot.version)
params.put("TermsVersion", terms_version)
params.put("TrainingVersion", training_version)
params.put("GitCommit", build_metadata.openpilot.git_commit)
params.put("GitCommitDate", build_metadata.openpilot.git_commit_date)
params.put("GitBranch", build_metadata.channel)
params.put("GitRemote", build_metadata.openpilot.git_origin)
params.put_bool("IsTestedBranch", build_metadata.tested_channel)
params.put_bool("IsReleaseBranch", build_metadata.release_channel)
# 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
os.environ['GIT_ORIGIN'] = build_metadata.openpilot.git_normalized_origin # Needed for swaglog
os.environ['GIT_BRANCH'] = build_metadata.channel # Needed for swaglog
os.environ['GIT_COMMIT'] = build_metadata.openpilot.git_commit # Needed for swaglog
if not build_metadata.openpilot.is_dirty:
os.environ['CLEAN'] = '1'
# init logging
sentry.init(sentry.SentryProject.SELFDRIVE)
cloudlog.bind_global(dongle_id=dongle_id,
version=build_metadata.openpilot.version,
origin=build_metadata.openpilot.git_normalized_origin,
branch=build_metadata.channel,
commit=build_metadata.openpilot.git_commit,
dirty=build_metadata.openpilot.is_dirty,
device=HARDWARE.get_device_type())
# preimport all processes
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'])
write_onroad_params(False, params)
ensure_running(managed_processes.values(), False, params=params, CP=sm['carParams'], not_run=ignore)
started_prev = False
while True:
sm.update(1000)
started = sm['deviceState'].started
if started and not started_prev:
params.clear_all(ParamKeyType.CLEAR_ON_ONROAD_TRANSITION)
elif not started and started_prev:
params.clear_all(ParamKeyType.CLEAR_ON_OFFROAD_TRANSITION)
# update onroad params, which drives boardd's safety setter thread
if started != started_prev:
write_onroad_params(started, params)
started_prev = started
ensure_running(managed_processes.values(), started, params=params, CP=sm['carParams'], not_run=ignore)
running = ' '.join("{}{}\u001b[0m".format("\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', valid=True)
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", f"{param} {datetime.datetime.now()}")
cloudlog.warning(f"Shutting down manager - {param} set")
if shutdown:
break
[docs]
def main() -> None:
manager_init()
if os.getenv("PREPAREONLY") is not None:
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 KeyboardInterrupt:
print("got CTRL-C, exiting")
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)