openpilot v0.9.6 release

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

selfdrive/manager/helpers.py

@@ -0,0 +1,67 @@
+import errno
+import fcntl
+import os
+import sys
+import pathlib
+import shutil
+import signal
+import subprocess
+import tempfile
+import threading
+
+from openpilot.common.basedir import BASEDIR
+from openpilot.common.params import Params
+
+def unblock_stdout() -> None:
+  # get a non-blocking stdout
+  child_pid, child_pty = os.forkpty()
+  if child_pid != 0:  # parent
+
+    # child is in its own process group, manually pass kill signals
+    signal.signal(signal.SIGINT, lambda signum, frame: os.kill(child_pid, signal.SIGINT))
+    signal.signal(signal.SIGTERM, lambda signum, frame: os.kill(child_pid, signal.SIGTERM))
+
+    fcntl.fcntl(sys.stdout, fcntl.F_SETFL, fcntl.fcntl(sys.stdout, fcntl.F_GETFL) | os.O_NONBLOCK)
+
+    while True:
+      try:
+        dat = os.read(child_pty, 4096)
+      except OSError as e:
+        if e.errno == errno.EIO:
+          break
+        continue
+
+      if not dat:
+        break
+
+      try:
+        sys.stdout.write(dat.decode('utf8'))
+      except (OSError, UnicodeDecodeError):
+        pass
+
+    # os.wait() returns a tuple with the pid and a 16 bit value
+    # whose low byte is the signal number and whose high byte is the exit status
+    exit_status = os.wait()[1] >> 8
+    os._exit(exit_status)
+
+
+def write_onroad_params(started, params):
+  params.put_bool("IsOnroad", started)
+  params.put_bool("IsOffroad", not started)
+
+
+def save_bootlog():
+  # copy current params
+  tmp = tempfile.mkdtemp()
+  params_dirname = pathlib.Path(Params().get_param_path()).name
+  params_dir = os.path.join(tmp, params_dirname)
+  shutil.copytree(Params().get_param_path(), params_dir, dirs_exist_ok=True)
+
+  def fn(tmpdir):
+    env = os.environ.copy()
+    env['PARAMS_COPY_PATH'] = tmpdir
+    subprocess.call("./bootlog", cwd=os.path.join(BASEDIR, "system/loggerd"), env=env)
+    shutil.rmtree(tmpdir)
+  t = threading.Thread(target=fn, args=(tmp, ))
+  t.daemon = True
+  t.start()