openpilot v0.9.6 release

date: 2024-02-21T23:02:42
master commit: 0b4d08fab8e35a264bc7383e878538f8083c33e5

common/swaglog.py

@@ -0,0 +1,135 @@
+import logging
+import os
+import time
+import warnings
+from pathlib import Path
+from logging.handlers import BaseRotatingHandler
+
+import zmq
+
+from openpilot.common.logging_extra import SwagLogger, SwagFormatter, SwagLogFileFormatter
+from openpilot.system.hardware.hw import Paths
+
+
+def get_file_handler():
+  Path(Paths.swaglog_root()).mkdir(parents=True, exist_ok=True)
+  base_filename = os.path.join(Paths.swaglog_root(), "swaglog")
+  handler = SwaglogRotatingFileHandler(base_filename)
+  return handler
+
+class SwaglogRotatingFileHandler(BaseRotatingHandler):
+  def __init__(self, base_filename, interval=60, max_bytes=1024*256, backup_count=2500, encoding=None):
+    super().__init__(base_filename, mode="a", encoding=encoding, delay=True)
+    self.base_filename = base_filename
+    self.interval = interval # seconds
+    self.max_bytes = max_bytes
+    self.backup_count = backup_count
+    self.log_files = self.get_existing_logfiles()
+    log_indexes = [f.split(".")[-1] for f in self.log_files]
+    self.last_file_idx = max([int(i) for i in log_indexes if i.isdigit()] or [-1])
+    self.last_rollover = None
+    self.doRollover()
+
+  def _open(self):
+    self.last_rollover = time.monotonic()
+    self.last_file_idx += 1
+    next_filename = f"{self.base_filename}.{self.last_file_idx:010}"
+    stream = open(next_filename, self.mode, encoding=self.encoding)
+    self.log_files.insert(0, next_filename)
+    return stream
+
+  def get_existing_logfiles(self):
+    log_files = list()
+    base_dir = os.path.dirname(self.base_filename)
+    for fn in os.listdir(base_dir):
+      fp = os.path.join(base_dir, fn)
+      if fp.startswith(self.base_filename) and os.path.isfile(fp):
+        log_files.append(fp)
+    return sorted(log_files)
+
+  def shouldRollover(self, record):
+    size_exceeded = self.max_bytes > 0 and self.stream.tell() >= self.max_bytes
+    time_exceeded = self.interval > 0 and self.last_rollover + self.interval <= time.monotonic()
+    return size_exceeded or time_exceeded
+
+  def doRollover(self):
+    if self.stream:
+      self.stream.close()
+    self.stream = self._open()
+
+    if self.backup_count > 0:
+      while len(self.log_files) > self.backup_count:
+        to_delete = self.log_files.pop()
+        if os.path.exists(to_delete): # just being safe, should always exist
+          os.remove(to_delete)
+
+class UnixDomainSocketHandler(logging.Handler):
+  def __init__(self, formatter):
+    logging.Handler.__init__(self)
+    self.setFormatter(formatter)
+    self.pid = None
+
+    self.zctx = None
+    self.sock = None
+
+  def __del__(self):
+    self.close()
+
+  def close(self):
+    if self.sock is not None:
+      self.sock.close()
+    if self.zctx is not None:
+      self.zctx.term()
+
+  def connect(self):
+    self.zctx = zmq.Context()
+    self.sock = self.zctx.socket(zmq.PUSH)
+    self.sock.setsockopt(zmq.LINGER, 10)
+    self.sock.connect(Paths.swaglog_ipc())
+    self.pid = os.getpid()
+
+  def emit(self, record):
+    if os.getpid() != self.pid:
+      # TODO suppresses warning about forking proc with zmq socket, fix root cause
+      warnings.filterwarnings("ignore", category=ResourceWarning, message="unclosed.*<zmq.*>")
+      self.connect()
+
+    msg = self.format(record).rstrip('\n')
+    # print("SEND".format(repr(msg)))
+    try:
+      s = chr(record.levelno)+msg
+      self.sock.send(s.encode('utf8'), zmq.NOBLOCK)
+    except zmq.error.Again:
+      # drop :/
+      pass
+
+
+def add_file_handler(log):
+  """
+  Function to add the file log handler to swaglog.
+  This can be used to store logs when logmessaged is not running.
+  """
+  handler = get_file_handler()
+  handler.setFormatter(SwagLogFileFormatter(log))
+  log.addHandler(handler)
+
+
+cloudlog = log = SwagLogger()
+log.setLevel(logging.DEBUG)
+
+
+outhandler = logging.StreamHandler()
+
+print_level = os.environ.get('LOGPRINT', 'warning')
+if print_level == 'debug':
+  outhandler.setLevel(logging.DEBUG)
+elif print_level == 'info':
+  outhandler.setLevel(logging.INFO)
+elif print_level == 'warning':
+  outhandler.setLevel(logging.WARNING)
+
+ipchandler = UnixDomainSocketHandler(SwagFormatter(log))
+
+log.addHandler(outhandler)
+# logs are sent through IPC before writing to disk to prevent disk I/O blocking
+log.addHandler(ipchandler)