openpilot v0.9.6 release
date: 2024-02-21T23:02:42 master commit: 0b4d08fab8e35a264bc7383e878538f8083c33e5
This commit is contained in:
FrogAi
353
common/params.cc
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353
common/params.cc
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#include "common/params.h"
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#include <dirent.h>
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#include <sys/file.h>
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#include <algorithm>
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#include <cassert>
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#include <csignal>
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#include <unordered_map>
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#include "common/queue.h"
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#include "common/swaglog.h"
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#include "common/util.h"
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#include "system/hardware/hw.h"
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namespace {
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volatile sig_atomic_t params_do_exit = 0;
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void params_sig_handler(int signal) {
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params_do_exit = 1;
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}
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int fsync_dir(const std::string &path) {
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int result = -1;
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int fd = HANDLE_EINTR(open(path.c_str(), O_RDONLY, 0755));
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if (fd >= 0) {
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result = fsync(fd);
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close(fd);
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}
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return result;
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}
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bool create_params_path(const std::string ¶m_path, const std::string &key_path) {
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// Make sure params path exists
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if (!util::file_exists(param_path) && !util::create_directories(param_path, 0775)) {
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return false;
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}
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// See if the symlink exists, otherwise create it
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if (!util::file_exists(key_path)) {
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// 1) Create temp folder
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// 2) Symlink it to temp link
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// 3) Move symlink to <params>/d
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std::string tmp_path = param_path + "/.tmp_XXXXXX";
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// this should be OK since mkdtemp just replaces characters in place
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char *tmp_dir = mkdtemp((char *)tmp_path.c_str());
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if (tmp_dir == NULL) {
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return false;
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}
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std::string link_path = std::string(tmp_dir) + ".link";
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if (symlink(tmp_dir, link_path.c_str()) != 0) {
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return false;
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}
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// don't return false if it has been created by other
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if (rename(link_path.c_str(), key_path.c_str()) != 0 && errno != EEXIST) {
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return false;
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}
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}
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return true;
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}
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std::string ensure_params_path(const std::string &prefix, const std::string &path = {}) {
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std::string params_path = path.empty() ? Path::params() : path;
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if (!create_params_path(params_path, params_path + prefix)) {
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throw std::runtime_error(util::string_format(
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"Failed to ensure params path, errno=%d, path=%s, param_prefix=%s",
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errno, params_path.c_str(), prefix.c_str()));
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}
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return params_path;
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}
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class FileLock {
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public:
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FileLock(const std::string &fn) {
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fd_ = HANDLE_EINTR(open(fn.c_str(), O_CREAT, 0775));
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if (fd_ < 0 || HANDLE_EINTR(flock(fd_, LOCK_EX)) < 0) {
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LOGE("Failed to lock file %s, errno=%d", fn.c_str(), errno);
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}
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}
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~FileLock() { close(fd_); }
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private:
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int fd_ = -1;
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};
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std::unordered_map<std::string, uint32_t> keys = {
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{"AccessToken", CLEAR_ON_MANAGER_START | DONT_LOG},
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{"ApiCache_Device", PERSISTENT},
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{"ApiCache_NavDestinations", PERSISTENT},
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{"AssistNowToken", PERSISTENT},
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{"AthenadPid", PERSISTENT},
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{"AthenadUploadQueue", PERSISTENT},
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{"AthenadRecentlyViewedRoutes", PERSISTENT},
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{"BootCount", PERSISTENT},
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{"CalibrationParams", PERSISTENT},
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{"CameraDebugExpGain", CLEAR_ON_MANAGER_START},
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{"CameraDebugExpTime", CLEAR_ON_MANAGER_START},
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{"CarBatteryCapacity", PERSISTENT},
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{"CarParams", CLEAR_ON_MANAGER_START | CLEAR_ON_ONROAD_TRANSITION},
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{"CarParamsCache", CLEAR_ON_MANAGER_START},
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{"CarParamsPersistent", PERSISTENT},
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{"CarParamsPrevRoute", PERSISTENT},
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{"CarVin", CLEAR_ON_MANAGER_START | CLEAR_ON_ONROAD_TRANSITION},
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{"CompletedTrainingVersion", PERSISTENT},
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{"ControlsReady", CLEAR_ON_MANAGER_START | CLEAR_ON_ONROAD_TRANSITION},
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{"CurrentBootlog", PERSISTENT},
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{"CurrentRoute", CLEAR_ON_MANAGER_START | CLEAR_ON_ONROAD_TRANSITION},
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{"DisableLogging", CLEAR_ON_MANAGER_START | CLEAR_ON_ONROAD_TRANSITION},
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{"DisablePowerDown", PERSISTENT},
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{"DisableUpdates", PERSISTENT},
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{"DisengageOnAccelerator", PERSISTENT},
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{"DmModelInitialized", CLEAR_ON_ONROAD_TRANSITION},
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{"DongleId", PERSISTENT},
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{"DoReboot", CLEAR_ON_MANAGER_START},
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{"DoShutdown", CLEAR_ON_MANAGER_START},
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{"DoUninstall", CLEAR_ON_MANAGER_START},
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{"ExperimentalLongitudinalEnabled", PERSISTENT | DEVELOPMENT_ONLY},
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{"ExperimentalMode", PERSISTENT},
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{"ExperimentalModeConfirmed", PERSISTENT},
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{"FirmwareQueryDone", CLEAR_ON_MANAGER_START | CLEAR_ON_ONROAD_TRANSITION},
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{"ForcePowerDown", PERSISTENT},
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{"GitBranch", PERSISTENT},
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{"GitCommit", PERSISTENT},
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{"GitCommitDate", PERSISTENT},
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{"GitDiff", PERSISTENT},
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{"GithubSshKeys", PERSISTENT},
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{"GithubUsername", PERSISTENT},
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{"GitRemote", PERSISTENT},
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{"GsmApn", PERSISTENT},
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{"GsmMetered", PERSISTENT},
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{"GsmRoaming", PERSISTENT},
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{"HardwareSerial", PERSISTENT},
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{"HasAcceptedTerms", PERSISTENT},
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{"IMEI", PERSISTENT},
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{"InstallDate", PERSISTENT},
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{"IsDriverViewEnabled", CLEAR_ON_MANAGER_START},
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{"IsEngaged", PERSISTENT},
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{"IsLdwEnabled", PERSISTENT},
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{"IsMetric", PERSISTENT},
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{"IsOffroad", CLEAR_ON_MANAGER_START},
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{"IsOnroad", PERSISTENT},
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{"IsRhdDetected", PERSISTENT},
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{"IsReleaseBranch", CLEAR_ON_MANAGER_START},
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{"IsTakingSnapshot", CLEAR_ON_MANAGER_START},
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{"IsTestedBranch", CLEAR_ON_MANAGER_START},
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{"JoystickDebugMode", CLEAR_ON_MANAGER_START | CLEAR_ON_OFFROAD_TRANSITION},
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{"LanguageSetting", PERSISTENT},
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{"LastAthenaPingTime", CLEAR_ON_MANAGER_START},
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{"LastGPSPosition", PERSISTENT},
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{"LastManagerExitReason", CLEAR_ON_MANAGER_START},
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{"LastOffroadStatusPacket", CLEAR_ON_MANAGER_START | CLEAR_ON_OFFROAD_TRANSITION},
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{"LastPowerDropDetected", CLEAR_ON_MANAGER_START},
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{"LastUpdateException", CLEAR_ON_MANAGER_START},
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{"LastUpdateTime", PERSISTENT},
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{"LiveParameters", PERSISTENT},
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{"LiveTorqueParameters", PERSISTENT | DONT_LOG},
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{"LongitudinalPersonality", PERSISTENT},
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{"NavDestination", CLEAR_ON_MANAGER_START | CLEAR_ON_OFFROAD_TRANSITION},
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{"NavDestinationWaypoints", CLEAR_ON_MANAGER_START | CLEAR_ON_OFFROAD_TRANSITION},
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{"NavPastDestinations", PERSISTENT},
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{"NavSettingLeftSide", PERSISTENT},
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{"NavSettingTime24h", PERSISTENT},
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{"NetworkMetered", PERSISTENT},
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{"ObdMultiplexingChanged", CLEAR_ON_MANAGER_START | CLEAR_ON_ONROAD_TRANSITION},
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{"ObdMultiplexingEnabled", CLEAR_ON_MANAGER_START | CLEAR_ON_ONROAD_TRANSITION},
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{"Offroad_BadNvme", CLEAR_ON_MANAGER_START},
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{"Offroad_CarUnrecognized", CLEAR_ON_MANAGER_START | CLEAR_ON_ONROAD_TRANSITION},
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{"Offroad_ConnectivityNeeded", CLEAR_ON_MANAGER_START},
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{"Offroad_ConnectivityNeededPrompt", CLEAR_ON_MANAGER_START},
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{"Offroad_InvalidTime", CLEAR_ON_MANAGER_START},
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{"Offroad_IsTakingSnapshot", CLEAR_ON_MANAGER_START},
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{"Offroad_NeosUpdate", CLEAR_ON_MANAGER_START},
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{"Offroad_NoFirmware", CLEAR_ON_MANAGER_START | CLEAR_ON_ONROAD_TRANSITION},
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{"Offroad_Recalibration", CLEAR_ON_MANAGER_START | CLEAR_ON_ONROAD_TRANSITION},
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{"Offroad_StorageMissing", CLEAR_ON_MANAGER_START},
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{"Offroad_TemperatureTooHigh", CLEAR_ON_MANAGER_START},
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{"Offroad_UnofficialHardware", CLEAR_ON_MANAGER_START},
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{"Offroad_UpdateFailed", CLEAR_ON_MANAGER_START},
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{"OpenpilotEnabledToggle", PERSISTENT},
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{"PandaHeartbeatLost", CLEAR_ON_MANAGER_START | CLEAR_ON_OFFROAD_TRANSITION},
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{"PandaSomResetTriggered", CLEAR_ON_MANAGER_START | CLEAR_ON_OFFROAD_TRANSITION},
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{"PandaSignatures", CLEAR_ON_MANAGER_START},
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{"PrimeType", PERSISTENT},
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{"RecordFront", PERSISTENT},
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{"RecordFrontLock", PERSISTENT}, // for the internal fleet
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{"ReplayControlsState", CLEAR_ON_MANAGER_START | CLEAR_ON_ONROAD_TRANSITION},
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{"SnoozeUpdate", CLEAR_ON_MANAGER_START | CLEAR_ON_OFFROAD_TRANSITION},
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{"SshEnabled", PERSISTENT},
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{"TermsVersion", PERSISTENT},
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{"Timezone", PERSISTENT},
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{"TrainingVersion", PERSISTENT},
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{"UbloxAvailable", PERSISTENT},
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{"UpdateAvailable", CLEAR_ON_MANAGER_START | CLEAR_ON_ONROAD_TRANSITION},
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{"UpdateFailedCount", CLEAR_ON_MANAGER_START},
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{"UpdaterAvailableBranches", PERSISTENT},
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{"UpdaterCurrentDescription", CLEAR_ON_MANAGER_START},
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{"UpdaterCurrentReleaseNotes", CLEAR_ON_MANAGER_START},
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{"UpdaterFetchAvailable", CLEAR_ON_MANAGER_START},
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{"UpdaterNewDescription", CLEAR_ON_MANAGER_START},
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{"UpdaterNewReleaseNotes", CLEAR_ON_MANAGER_START},
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{"UpdaterState", CLEAR_ON_MANAGER_START},
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{"UpdaterTargetBranch", CLEAR_ON_MANAGER_START},
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{"UpdaterLastFetchTime", PERSISTENT},
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{"Version", PERSISTENT},
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{"VisionRadarToggle", PERSISTENT},
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};
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} // namespace
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Params::Params(const std::string &path) {
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params_prefix = "/" + util::getenv("OPENPILOT_PREFIX", "d");
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params_path = ensure_params_path(params_prefix, path);
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}
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Params::~Params() {
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if (future.valid()) {
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future.wait();
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}
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assert(queue.empty());
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}
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std::vector<std::string> Params::allKeys() const {
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std::vector<std::string> ret;
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for (auto &p : keys) {
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ret.push_back(p.first);
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}
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return ret;
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}
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bool Params::checkKey(const std::string &key) {
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return keys.find(key) != keys.end();
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}
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ParamKeyType Params::getKeyType(const std::string &key) {
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return static_cast<ParamKeyType>(keys[key]);
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}
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int Params::put(const char* key, const char* value, size_t value_size) {
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// Information about safely and atomically writing a file: https://lwn.net/Articles/457667/
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// 1) Create temp file
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// 2) Write data to temp file
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// 3) fsync() the temp file
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// 4) rename the temp file to the real name
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// 5) fsync() the containing directory
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std::string tmp_path = params_path + "/.tmp_value_XXXXXX";
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int tmp_fd = mkstemp((char*)tmp_path.c_str());
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if (tmp_fd < 0) return -1;
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int result = -1;
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do {
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// Write value to temp.
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ssize_t bytes_written = HANDLE_EINTR(write(tmp_fd, value, value_size));
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if (bytes_written < 0 || (size_t)bytes_written != value_size) {
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result = -20;
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break;
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}
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// fsync to force persist the changes.
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if ((result = fsync(tmp_fd)) < 0) break;
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FileLock file_lock(params_path + "/.lock");
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// Move temp into place.
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if ((result = rename(tmp_path.c_str(), getParamPath(key).c_str())) < 0) break;
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// fsync parent directory
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result = fsync_dir(getParamPath());
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} while (false);
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close(tmp_fd);
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::unlink(tmp_path.c_str());
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return result;
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}
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int Params::remove(const std::string &key) {
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FileLock file_lock(params_path + "/.lock");
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int result = unlink(getParamPath(key).c_str());
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if (result != 0) {
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return result;
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}
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return fsync_dir(getParamPath());
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}
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std::string Params::get(const std::string &key, bool block) {
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if (!block) {
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return util::read_file(getParamPath(key));
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} else {
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// blocking read until successful
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params_do_exit = 0;
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void (*prev_handler_sigint)(int) = std::signal(SIGINT, params_sig_handler);
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void (*prev_handler_sigterm)(int) = std::signal(SIGTERM, params_sig_handler);
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std::string value;
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while (!params_do_exit) {
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if (value = util::read_file(getParamPath(key)); !value.empty()) {
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break;
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}
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util::sleep_for(100); // 0.1 s
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}
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std::signal(SIGINT, prev_handler_sigint);
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std::signal(SIGTERM, prev_handler_sigterm);
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return value;
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}
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}
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std::map<std::string, std::string> Params::readAll() {
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FileLock file_lock(params_path + "/.lock");
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return util::read_files_in_dir(getParamPath());
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}
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void Params::clearAll(ParamKeyType key_type) {
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FileLock file_lock(params_path + "/.lock");
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// 1) delete params of key_type
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// 2) delete files that are not defined in the keys.
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if (DIR *d = opendir(getParamPath().c_str())) {
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struct dirent *de = NULL;
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while ((de = readdir(d))) {
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if (de->d_type != DT_DIR) {
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auto it = keys.find(de->d_name);
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if (it == keys.end() || (it->second & key_type)) {
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unlink(getParamPath(de->d_name).c_str());
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}
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}
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}
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closedir(d);
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}
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fsync_dir(getParamPath());
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}
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void Params::putNonBlocking(const std::string &key, const std::string &val) {
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queue.push(std::make_pair(key, val));
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// start thread on demand
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if (!future.valid() || future.wait_for(std::chrono::milliseconds(0)) == std::future_status::ready) {
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future = std::async(std::launch::async, &Params::asyncWriteThread, this);
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}
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}
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void Params::asyncWriteThread() {
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// TODO: write the latest one if a key has multiple values in the queue.
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std::pair<std::string, std::string> p;
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while (queue.try_pop(p, 0)) {
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// Params::put is Thread-Safe
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put(p.first, p.second);
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}
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}
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Block a user