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Your Name
2024-06-17 12:14:25 -05:00
parent a2cf02ea37
commit 5e80ad8d05
2 changed files with 543 additions and 42 deletions
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62
selfdrive/manager/manager.py
View File

@@ -52,10 +52,6 @@ def frogpilot_boot_functions(frogpilot_functions):
print(f"An unexpected error occurred: {e}")
def manager_init(frogpilot_functions) -> None:
timestamp = datetime.datetime.now().strftime("%Y-%m-%d-%H-%M-%S")
log_dir = f"/data/log2/{timestamp}"
os.makedirs(log_dir, exist_ok=True)
frogpilot_boot = threading.Thread(target=frogpilot_boot_functions, args=(frogpilot_functions,))
frogpilot_boot.start()
@@ -69,6 +65,10 @@ def manager_init(frogpilot_functions) -> None:
if is_release_branch():
params.clear_all(ParamKeyType.DEVELOPMENT_ONLY)
if not params.get_bool("CameraViewReset"):
params.remove("CameraView")
params.put_bool("CameraViewReset", True)
default_params: list[tuple[str, str | bytes]] = [
("CarParamsPersistent", ""),
("CompletedTrainingVersion", "0"),
@@ -153,6 +153,9 @@ def manager_init(frogpilot_functions) -> None:
("ForceFingerprint", "0"),
("ForceMPHDashboard", "0"),
("FPSCounter", "0"),
("FrogPilotDrives", "0"),
("FrogPilotKilometers", "0"),
("FrogPilotMinutes", "0"),
("FrogsGoMooTune", "1"),
("FullMap", "0"),
("GasRegenCmd", "0"),
@@ -173,7 +176,7 @@ def manager_init(frogpilot_functions) -> None:
("IncreaseThermalLimits", "0"),
("LaneChangeTime", "0"),
("LaneDetectionWidth", "60"),
("LaneLinesWidth", "2"),
("LaneLinesWidth", "4"),
("LateralTune", "1"),
("LeadDepartingAlert", "0"),
("LeadDetectionThreshold", "35"),
@@ -183,14 +186,6 @@ def manager_init(frogpilot_functions) -> None:
("LongPitch", "1"),
("LoudBlindspotAlert", "0"),
("LowVoltageShutdown", "11.8"),
("kiV1", "0.60"),
("kiV2", "0.45"),
("kiV3", "0.30"),
("kiV4", "0.15"),
("kpV1", "1.50"),
("kpV2", "1.00"),
("kpV3", "0.75"),
("kpV4", "0.50"),
("MapsSelected", ""),
("MapboxPublicKey", ""),
("MapboxSecretKey", ""),
@@ -281,7 +276,6 @@ def manager_init(frogpilot_functions) -> None:
("TrafficFollow", "0.5"),
("TrafficJerk", "1"),
("TrafficMode", "0"),
("Tuning", "1"),
("TurnAggressiveness", "100"),
("TurnDesires", "0"),
("UnlimitedLength", "1"),
@@ -345,21 +339,19 @@ def manager_init(frogpilot_functions) -> None:
os.environ['CLEAN'] = '1'
# init logging
# sentry.init(sentry.SentryProject.SELFDRIVE)
# cloudlog.bind_global(dongle_id=dongle_id,
# version=get_version(),
# origin=get_normalized_origin(),
# branch=get_short_branch(),
# commit=get_commit(),
# dirty=is_dirty(),
# device=HARDWARE.get_device_type())
sentry.init(sentry.SentryProject.SELFDRIVE)
cloudlog.bind_global(dongle_id=dongle_id,
version=get_version(),
origin=get_normalized_origin(),
branch=get_short_branch(),
commit=get_commit(),
dirty=is_dirty(),
device=HARDWARE.get_device_type())
# preimport all processes
for p in managed_processes.values():
p.prepare()
return log_dir
def manager_cleanup() -> None:
# send signals to kill all procs
@@ -372,11 +364,8 @@ def manager_cleanup() -> None:
cloudlog.info("everything is dead")
last_running = ""
def manager_thread(frogpilot_functions, log_dir) -> None:
global last_running
def manager_thread(frogpilot_functions) -> None:
cloudlog.bind(daemon="manager")
cloudlog.info("manager start")
cloudlog.info({"environ": os.environ})
@@ -395,7 +384,7 @@ def manager_thread(frogpilot_functions, log_dir) -> None:
pm = messaging.PubMaster(['managerState'])
write_onroad_params(False, params)
ensure_running(managed_processes.values(), False, params=params, CP=sm['carParams'], not_run=ignore, log_dir=log_dir)
ensure_running(managed_processes.values(), False, params=params, CP=sm['carParams'], not_run=ignore)
started_prev = False
@@ -424,16 +413,12 @@ def manager_thread(frogpilot_functions, log_dir) -> None:
started_prev = started
ensure_running(managed_processes.values(), started, params=params, CP=sm['carParams'], not_run=ignore, log_dir=log_dir)
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)
# clearpilot
if (running != last_running):
print(running)
cloudlog.debug(running)
last_running = running
# send managerState
msg = messaging.new_message('managerState', valid=True)
@@ -442,7 +427,7 @@ def manager_thread(frogpilot_functions, log_dir) -> None:
# Exit main loop when uninstall/shutdown/reboot is needed
shutdown = False
for param in ("DoUninstall", "DoShutdown", "DoReboot", "DoSoftReboot"):
for param in ("DoUninstall", "DoShutdown", "DoReboot"):
if params.get_bool(param):
shutdown = True
params.put("LastManagerExitReason", f"{param} {datetime.datetime.now()}")
@@ -461,7 +446,7 @@ def main() -> None:
print(f"Failed to setup FrogPilot. Error: {e}")
return
log_dir = manager_init(frogpilot_functions)
manager_init(frogpilot_functions)
if os.getenv("PREPAREONLY") is not None:
return
@@ -469,7 +454,7 @@ def main() -> None:
signal.signal(signal.SIGTERM, lambda signum, frame: sys.exit(1))
try:
manager_thread(frogpilot_functions, log_dir)
manager_thread(frogpilot_functions)
except Exception:
traceback.print_exc()
sentry.capture_exception()
@@ -483,9 +468,6 @@ def main() -> None:
elif params.get_bool("DoReboot"):
cloudlog.warning("reboot")
HARDWARE.reboot()
elif params.get_bool("DoSoftReboot"):
cloudlog.warning("softreboot")
HARDWARE.soft_reboot()
elif params.get_bool("DoShutdown"):
cloudlog.warning("shutdown")
HARDWARE.shutdown()

519
selfdrive/manager/manager_wip.txt Normal file
View File

@@ -0,0 +1,519 @@
#!/usr/bin/env python3
import datetime
import os
import signal
import subprocess
import sys
import threading
import time
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.common.time import system_time_valid
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 is_dirty, get_commit, get_version, get_origin, get_short_branch, \
get_normalized_origin, terms_version, training_version, \
is_tested_branch, is_release_branch, get_commit_date
from openpilot.selfdrive.frogpilot.controls.lib.frogpilot_functions import FrogPilotFunctions
from openpilot.selfdrive.frogpilot.controls.lib.model_manager import DEFAULT_MODEL, DEFAULT_MODEL_NAME, delete_deprecated_models
def frogpilot_boot_functions(frogpilot_functions):
try:
delete_deprecated_models()
while not system_time_valid():
print("Waiting for system time to become valid...")
time.sleep(1)
try:
frogpilot_functions.backup_frogpilot()
except subprocess.CalledProcessError as e:
print(f"Failed to backup FrogPilot. Error: {e}")
return
try:
frogpilot_functions.backup_toggles()
except subprocess.CalledProcessError as e:
print(f"Failed to backup toggles. Error: {e}")
return
except Exception as e:
print(f"An unexpected error occurred: {e}")
def manager_init(frogpilot_functions) -> None:
timestamp = datetime.datetime.now().strftime("%Y-%m-%d-%H-%M-%S")
log_dir = f"/data/log2/{timestamp}"
os.makedirs(log_dir, exist_ok=True)
frogpilot_boot = threading.Thread(target=frogpilot_boot_functions, args=(frogpilot_functions,))
frogpilot_boot.start()
save_bootlog()
params = Params()
params_storage = Params("/persist/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 is_release_branch():
params.clear_all(ParamKeyType.DEVELOPMENT_ONLY)
default_params: list[tuple[str, str | bytes]] = [
("CarParamsPersistent", ""),
("CompletedTrainingVersion", "0"),
("DisengageOnAccelerator", "0"),
("ExperimentalLongitudinalEnabled", "1"),
("GsmMetered", "1"),
("HasAcceptedTerms", "0"),
("IsLdwEnabled", "0"),
("IsMetric", "0"),
("LanguageSetting", "main_en"),
("NavSettingLeftSide", "0"),
("NavSettingTime24h", "0"),
("OpenpilotEnabledToggle", "1"),
("RecordFront", "0"),
("LongitudinalPersonality", str(log.LongitudinalPersonality.standard)),
# Default FrogPilot parameters
("AccelerationPath", "1"),
("AccelerationProfile", "2"),
("AdjacentPath", "0"),
("AdjacentPathMetrics", "0"),
("AggressiveAcceleration", "1"),
("AggressiveFollow", "1.25"),
("AggressiveJerk", "0.5"),
("AlertVolumeControl", "0"),
("AlwaysOnLateral", "1"),
("AlwaysOnLateralMain", "0"),
("AMapKey1", ""),
("AMapKey2", ""),
("AutomaticUpdates", "0"),
("BlindSpotPath", "1"),
("CameraView", "2"),
("CarMake", ""),
("CarModel", ""),
("CECurves", "1"),
("CENavigation", "1"),
("CENavigationIntersections", "1"),
("CENavigationLead", "1"),
("CENavigationTurns", "1"),
("CESignal", "1"),
("CESlowerLead", "1"),
("CESpeed", "0"),
("CESpeedLead", "0"),
("CEStopLights", "1"),
("CEStopLightsLead", "0"),
("Compass", "1"),
("ConditionalExperimental", "1"),
("CrosstrekTorque", "1"),
("CurveSensitivity", "100"),
("CustomAlerts", "1"),
("CustomColors", "1"),
("CustomCruise", "1"),
("CustomCruiseLong", "5"),
("CustomIcons", "1"),
("CustomPaths", "1"),
("CustomPersonalities", "1"),
("CustomSignals", "1"),
("CustomSounds", "1"),
("CustomTheme", "1"),
("CustomUI", "1"),
("CydiaTune", "0"),
("DecelerationProfile", "1"),
("DeveloperUI", "0"),
("DeviceManagement", "1"),
("DeviceShutdown", "9"),
("DisableMTSCSmoothing", "0"),
("DisableOnroadUploads", "0"),
("DisableOpenpilotLongitudinal", "0"),
("DisableVTSCSmoothing", "0"),
("DisengageVolume", "100"),
("DragonPilotTune", "0"),
("DriverCamera", "0"),
("DynamicPathWidth", "0"),
("EngageVolume", "100"),
("EVTable", "1"),
("ExperimentalModeActivation", "1"),
("ExperimentalModeViaDistance", "1"),
("ExperimentalModeViaLKAS", "1"),
("ExperimentalModeViaTap", "0"),
("Fahrenheit", "0"),
("ForceAutoTune", "1"),
("ForceFingerprint", "0"),
("ForceMPHDashboard", "0"),
("FPSCounter", "0"),
("FrogsGoMooTune", "1"),
("FullMap", "0"),
("GasRegenCmd", "0"),
("GMapKey", ""),
("GoatScream", "1"),
("GreenLightAlert", "0"),
("HideAlerts", "0"),
("HideAOLStatusBar", "0"),
("HideCEMStatusBar", "0"),
("HideLeadMarker", "0"),
("HideMapIcon", "0"),
("HideMaxSpeed", "0"),
("HideSpeed", "0"),
("HideSpeedUI", "0"),
("HideUIElements", "0"),
("HigherBitrate", "0"),
("HolidayThemes", "1"),
("IncreaseThermalLimits", "0"),
("LaneChangeTime", "0"),
("LaneDetectionWidth", "60"),
("LaneLinesWidth", "2"),
("LateralTune", "1"),
("LeadDepartingAlert", "0"),
("LeadDetectionThreshold", "35"),
("LeadInfo", "0"),
("LockDoors", "1"),
("LongitudinalTune", "1"),
("LongPitch", "1"),
("LoudBlindspotAlert", "0"),
("LowVoltageShutdown", "11.8"),
("kiV1", "0.60"),
("kiV2", "0.45"),
("kiV3", "0.30"),
("kiV4", "0.15"),
("kpV1", "1.50"),
("kpV2", "1.00"),
("kpV3", "0.75"),
("kpV4", "0.50"),
("MapsSelected", ""),
("MapboxPublicKey", ""),
("MapboxSecretKey", ""),
("MapStyle", "0"),
("MTSCAggressiveness", "100"),
("MTSCCurvatureCheck", "0"),
("Model", DEFAULT_MODEL),
("ModelName", DEFAULT_MODEL_NAME),
("ModelSelector", "1"),
("ModelUI", "1"),
("MTSCEnabled", "1"),
("NNFF", "1"),
("NNFFLite", "1"),
("NoLogging", "0"),
("NoUploads", "0"),
("NudgelessLaneChange", "1"),
("NumericalTemp", "0"),
("OfflineMode", "1"),
("Offset1", "5"),
("Offset2", "5"),
("Offset3", "5"),
("Offset4", "10"),
("OneLaneChange", "1"),
("OnroadDistanceButton", "0"),
("PathEdgeWidth", "20"),
("PathWidth", "61"),
("PauseAOLOnBrake", "0"),
("PauseLateralOnSignal", "0"),
("PedalsOnUI", "1"),
("PreferredSchedule", "0"),
("PromptVolume", "100"),
("PromptDistractedVolume", "100"),
("QOLControls", "1"),
("QOLVisuals", "1"),
("RandomEvents", "0"),
("RefuseVolume", "100"),
("RelaxedFollow", "1.75"),
("RelaxedJerk", "1.0"),
("ReverseCruise", "0"),
("ReverseCruiseUI", "1"),
("RoadEdgesWidth", "2"),
("RoadNameUI", "1"),
("RotatingWheel", "1"),
("ScreenBrightness", "101"),
("ScreenBrightnessOnroad", "101"),
("ScreenManagement", "1"),
("ScreenRecorder", "1"),
("ScreenTimeout", "30"),
("ScreenTimeoutOnroad", "30"),
("SearchInput", "0"),
("SetSpeedLimit", "0"),
("SetSpeedOffset", "0"),
("ShowCPU", "0"),
("ShowGPU", "0"),
("ShowIP", "0"),
("ShowJerk", "1"),
("ShowMemoryUsage", "0"),
("ShowSLCOffset", "1"),
("ShowSLCOffsetUI", "1"),
("ShowStorageLeft", "0"),
("ShowStorageUsed", "0"),
("ShowTuning", "1"),
("Sidebar", "0"),
("SLCConfirmation", "1"),
("SLCConfirmationLower", "1"),
("SLCConfirmationHigher", "1"),
("SLCFallback", "2"),
("SLCLookaheadHigher", "5"),
("SLCLookaheadLower", "5"),
("SLCOverride", "1"),
("SLCPriority1", "Dashboard"),
("SLCPriority2", "Offline Maps"),
("SLCPriority3", "Navigation"),
("SmoothBraking", "1"),
("SmoothBrakingFarLead", "0"),
("SmoothBrakingJerk", "0"),
("SNGHack", "1"),
("SpeedLimitChangedAlert", "1"),
("SpeedLimitController", "1"),
("StandardFollow", "1.45"),
("StandardJerk", "1.0"),
("StandbyMode", "0"),
("SteerRatio", "0"),
("StockTune", "0"),
("StoppingDistance", "0"),
("TacoTune", "1"),
("ToyotaDoors", "0"),
("TrafficFollow", "0.5"),
("TrafficJerk", "1"),
("TrafficMode", "0"),
("Tuning", "1"),
("TurnAggressiveness", "100"),
("TurnDesires", "0"),
("UnlimitedLength", "1"),
("UnlockDoors", "1"),
("UseSI", "1"),
("UseVienna", "0"),
("VisionTurnControl", "1"),
("WarningSoftVolume", "100"),
("WarningImmediateVolume", "100"),
("WheelIcon", "3"),
("WheelSpeed", "0")
]
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:
if params_storage.get(k) is None:
params.put(k, v)
else:
params.put(k, params_storage.get(k))
else:
params_storage.put(k, params.get(k))
# 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", get_version())
params.put("TermsVersion", terms_version)
params.put("TrainingVersion", training_version)
params.put("GitCommit", get_commit())
params.put("GitCommitDate", get_commit_date())
params.put("GitBranch", get_short_branch())
params.put("GitRemote", get_origin())
params.put_bool("IsTestedBranch", is_tested_branch())
params.put_bool("IsReleaseBranch", is_release_branch())
# 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'] = get_normalized_origin() # Needed for swaglog
os.environ['GIT_BRANCH'] = get_short_branch() # Needed for swaglog
os.environ['GIT_COMMIT'] = get_commit() # Needed for swaglog
if not is_dirty():
os.environ['CLEAN'] = '1'
# init logging
# sentry.init(sentry.SentryProject.SELFDRIVE)
# cloudlog.bind_global(dongle_id=dongle_id,
# version=get_version(),
# origin=get_normalized_origin(),
# branch=get_short_branch(),
# commit=get_commit(),
# dirty=is_dirty(),
# device=HARDWARE.get_device_type())
# preimport all processes
for p in managed_processes.values():
p.prepare()
return log_dir
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")
last_running = ""
def manager_thread(frogpilot_functions, log_dir) -> None:
global last_running
cloudlog.bind(daemon="manager")
cloudlog.info("manager start")
cloudlog.info({"environ": os.environ})
params = Params()
params_memory = Params("/dev/shm/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, log_dir=log_dir)
started_prev = False
while True:
sm.update(1000)
openpilot_crashed = os.path.isfile(os.path.join(sentry.CRASHES_DIR, 'error.txt'))
if openpilot_crashed:
frogpilot_functions.delete_logs()
started = sm['deviceState'].started
if started and not started_prev:
params.clear_all(ParamKeyType.CLEAR_ON_ONROAD_TRANSITION)
if openpilot_crashed:
os.remove(os.path.join(sentry.CRASHES_DIR, 'error.txt'))
elif not started and started_prev:
params.clear_all(ParamKeyType.CLEAR_ON_OFFROAD_TRANSITION)
params_memory.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, log_dir=log_dir)
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)
# clearpilot
if (running != last_running):
print(running)
cloudlog.debug(running)
last_running = 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", "DoSoftReboot"):
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
def main() -> None:
frogpilot_functions = FrogPilotFunctions()
try:
frogpilot_functions.setup_frogpilot()
except subprocess.CalledProcessError as e:
print(f"Failed to setup FrogPilot. Error: {e}")
return
log_dir = manager_init(frogpilot_functions)
if os.getenv("PREPAREONLY") is not None:
return
# SystemExit on sigterm
signal.signal(signal.SIGTERM, lambda signum, frame: sys.exit(1))
try:
manager_thread(frogpilot_functions, log_dir)
except Exception:
traceback.print_exc()
sentry.capture_exception()
finally:
manager_cleanup()
params = Params()
if params.get_bool("DoUninstall"):
cloudlog.warning("uninstalling")
frogpilot_functions.uninstall_frogpilot()
elif params.get_bool("DoReboot"):
cloudlog.warning("reboot")
HARDWARE.reboot()
elif params.get_bool("DoSoftReboot"):
cloudlog.warning("softreboot")
HARDWARE.soft_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)