wip

selfdrive/manager/process.py

@@ -20,6 +20,8 @@ from openpilot.common.swaglog import cloudlog
 WATCHDOG_FN = "/dev/shm/wd_"
 ENABLE_WATCHDOG = os.getenv("NO_WATCHDOG") is None
 
+_log_dir = ""
+
 def nativelauncher(pargs: list[str], cwd: str, name: str, log_path: str) -> None:
     os.environ['MANAGER_DAEMON'] = name
     with open(log_path, 'a') as log_file:
@@ -71,7 +73,6 @@ class ManagerProcess(ABC):
   def start(self) -> None:
     pass
 
-  
   def restart(self) -> None:
     if self.proc is not None and self.proc.exitcode is not None:
       self.stop(sig=signal.SIGKILL, block=False)
@@ -150,7 +151,9 @@ class NativeProcess(ManagerProcess):
   def prepare(self) -> None:
     pass
 
-  def start(self, log_path: str) -> None:
+  def start(self) -> None:
+    global _log_dir
+    log_path = _log_dir+"/"+self.name+".log"
     if self.shutting_down or self.proc is not None:
        return
     self.proc = Process(target=nativelauncher, args=(self.cmdline, os.path.join(BASEDIR, self.cwd), self.name, log_path))
@@ -171,7 +174,9 @@ class PythonProcess(ManagerProcess):
       cloudlog.info(f"preimporting {self.module}")
       importlib.import_module(self.module)
 
-  def start(self, log_path: str) -> None:
+  def start(self) -> None:
+    global _log_dir
+    log_path = _log_dir+"/"+self.name+".log"
     if self.shutting_down or self.proc is not None:
       return
     self.proc = Process(name=self.name, target=launcher, args=(self.module, self.name, log_path))
@@ -196,41 +201,44 @@ class DaemonProcess(ManagerProcess):
   def prepare(self) -> None:
     pass
 
-  def start(self, log_path: str) -> None:
+  def start(self) -> None:
-        if self.params is None:
+    global _log_dir
-            self.params = Params()
+    log_path = _log_dir+"/"+self.name+".log"
+    if self.params is None:
+        self.params = Params()
 
-        pid = self.params.get(self.param_name, encoding='utf-8')
+    pid = self.params.get(self.param_name, encoding='utf-8')
-        if pid is not None:
+    if pid is not None:
-            try:
+        try:
-                os.kill(int(pid), 0)
+            os.kill(int(pid), 0)
-                return  # Process is already running
+            return  # Process is already running
-            except OSError:
+        except OSError:
-                pass  # Process not running, continue to start it
+            pass  # Process not running, continue to start it
 
-        log_file_path = os.path.join(log_path, f"{self.name}.log")
+    log_file_path = os.path.join(log_path, f"{self.name}.log")
-        self.params.put(self.param_name, str(self.proc.pid))
+    self.params.put(self.param_name, str(self.proc.pid))
-        cloudlog.info(f"starting daemon {self.name}")
+    cloudlog.info(f"starting daemon {self.name}")
-        self.proc = subprocess.Popen(['python', '-m', self.module],
+    self.proc = subprocess.Popen(['python', '-m', self.module],
-                                     stdin=open('/dev/null'),
+                                  stdin=open('/dev/null'),
-                                     stdout=open(log_file_path, 'a'),
+                                  stdout=open(log_file_path, 'a'),
-                                     stderr=subprocess.STDOUT,
+                                  stderr=subprocess.STDOUT,
-                                     preexec_fn=os.setpgrp)
+                                  preexec_fn=os.setpgrp)
 
   def stop(self, retry=True, block=True, sig=None) -> None:
     pass
 
 
 def ensure_running(procs: ValuesView[ManagerProcess], started: bool, params=None, CP: car.CarParams=None, not_run: list[str] | None=None, log_dir: str = None) -> list[ManagerProcess]:
+    global _log_dir
+    _log_dir = log_dir
     if not_run is None:
         not_run = []
 
     running = []
     for p in procs:
-        log_path = log_dir+"/"+p.name+".log"
         if p.enabled and p.name not in not_run and p.should_run(started, params, CP):
             if p.proc is None or p.proc.exitcode is not None:
-                p.start(log_path)
+                p.start()
             running.append(p)
         else:
             p.stop(block=False)