wip

selfdrive/manager/manager.py

@@ -52,6 +52,10 @@ 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()
 
@@ -354,6 +358,8 @@ def manager_init(frogpilot_functions) -> None:
   for p in managed_processes.values():
     p.prepare()
 
+  return log_dir
+
 
 def manager_cleanup() -> None:
   # send signals to kill all procs
@@ -368,7 +374,7 @@ def manager_cleanup() -> None:
 
 last_running = ""
 
-def manager_thread(frogpilot_functions) -> None:
+def manager_thread(frogpilot_functions, log_dir) -> None:
   global last_running
 
   cloudlog.bind(daemon="manager")
@@ -389,7 +395,7 @@ def manager_thread(frogpilot_functions) -> None:
   pm = messaging.PubMaster(['managerState'])
 
   write_onroad_params(False, params)
-  ensure_running(managed_processes.values(), False, params=params, CP=sm['carParams'], not_run=ignore)
+  ensure_running(managed_processes.values(), False, params=params, CP=sm['carParams'], not_run=ignore, log_dir=log_dir)
 
   started_prev = False
 
@@ -418,7 +424,7 @@ def manager_thread(frogpilot_functions) -> None:
 
     started_prev = started
 
-    ensure_running(managed_processes.values(), started, params=params, CP=sm['carParams'], not_run=ignore)
+    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)

selfdrive/manager/process.py

@@ -20,41 +20,35 @@ from openpilot.common.swaglog import cloudlog
 WATCHDOG_FN = "/dev/shm/wd_"
 ENABLE_WATCHDOG = os.getenv("NO_WATCHDOG") is None
 
+def modified_nativelauncher(pargs: list[str], cwd: str, name: str, log_path: str) -> None:
+    os.environ['MANAGER_DAEMON'] = name
+    log_file_path = os.path.join(log_path, f"{name}.log")
+    with open(log_file_path, 'a') as log_file:
+        os.chdir(cwd)
+        proc = subprocess.Popen(pargs, stdout=subprocess.PIPE, stderr=subprocess.STDOUT, bufsize=1, universal_newlines=True)
+        for line in proc.stdout:
+            print(line, end='')
+            log_file.write(line)
+        proc.wait()
 
-def launcher(proc: str, name: str) -> None:
+def modified_launcher(proc: str, name: str, log_path: str) -> None:
     try:
-    # import the process
         mod = importlib.import_module(proc)
-
-    # rename the process
         setproctitle(proc)
-
-    # create new context since we forked
         messaging.context = messaging.Context()
-
-    # add daemon name tag to logs
         cloudlog.bind(daemon=name)
         sentry.set_tag("daemon", name)
-
+        log_file_path = os.path.join(log_path, f"{name}.log")
-    # exec the process
+        with open(log_file_path, 'a') as log_file, subprocess.Popen(['python', '-m', proc], stdout=subprocess.PIPE, stderr=subprocess.STDOUT, bufsize=1, universal_newlines=True) as proc:
-    mod.main()
+            for line in proc.stdout:
-  except KeyboardInterrupt:
+                print(line, end='')
-    cloudlog.warning(f"child {proc} got SIGINT")
+                log_file.write(line)
+            proc.wait()
     except Exception:
-    # can't install the crash handler because sys.excepthook doesn't play nice
-    # with threads, so catch it here.
         sentry.capture_exception()
         raise
 
 
-def nativelauncher(pargs: list[str], cwd: str, name: str) -> None:
-  os.environ['MANAGER_DAEMON'] = name
-
-  # exec the process
-  os.chdir(cwd)
-  os.execvp(pargs[0], pargs)
-
-
 def join_process(process: Process, timeout: float) -> None:
   # Process().join(timeout) will hang due to a python 3 bug: https://bugs.python.org/issue28382
   # We have to poll the exitcode instead
@@ -182,21 +176,11 @@ class NativeProcess(ManagerProcess):
   def prepare(self) -> None:
     pass
 
-  def start(self) -> None:
+  def start(self, log_path: str) -> None:
-    # In case we only tried a non blocking stop we need to stop it before restarting
+    if self.shutting_down or self.proc is not None:
-    if self.shutting_down:
-      self.stop()
-
-    if self.proc is not None:
        return
-
+    self.proc = Process(target=modified_nativelauncher, args=(self.cmdline, os.path.join(BASEDIR, self.cwd), self.name, log_path))
-    cwd = os.path.join(BASEDIR, self.cwd)
-    cloudlog.info(f"starting process {self.name}")
-    self.proc = Process(name=self.name, target=self.launcher, args=(self.cmdline, cwd, self.name))
     self.proc.start()
-    self.watchdog_seen = False
-    self.shutting_down = False
-
 
 class PythonProcess(ManagerProcess):
   def __init__(self, name, module, should_run, enabled=True, sigkill=False, watchdog_max_dt=None):
@@ -213,21 +197,14 @@ class PythonProcess(ManagerProcess):
       cloudlog.info(f"preimporting {self.module}")
       importlib.import_module(self.module)
 
-  def start(self) -> None:
+  def start(self, log_path: str) -> None:
-    # In case we only tried a non blocking stop we need to stop it before restarting
+    if self.shutting_down or self.proc is not None:
-    if self.shutting_down:
-      self.stop()
-
-    if self.proc is not None:
       return
-
+    self.proc = Process(name=self.name, target=modified_launcher, args=(self.module, self.name, log_path))
-    cloudlog.info(f"starting python {self.module}")
-    self.proc = Process(name=self.name, target=self.launcher, args=(self.module, self.name))
     self.proc.start()
     self.watchdog_seen = False
     self.shutting_down = False
 
-
 class DaemonProcess(ManagerProcess):
   """Python process that has to stay running across manager restart.
   This is used for athena so you don't lose SSH access when restarting manager."""
@@ -245,7 +222,7 @@ class DaemonProcess(ManagerProcess):
   def prepare(self) -> None:
     pass
 
-  def start(self) -> None:
+  def start(self, log_path: str) -> None:
         if self.params is None:
             self.params = Params()
 
@@ -253,42 +230,35 @@ class DaemonProcess(ManagerProcess):
         if pid is not None:
             try:
                 os.kill(int(pid), 0)
-        with open(f'/proc/{pid}/cmdline') as f:
+                return  # Process is already running
-          if self.module in f.read():
+            except OSError:
-            # daemon is running
+                pass  # Process not running, continue to start it
-            return
-      except (OSError, FileNotFoundError):
-        # process is dead
-        pass
 
+        log_file_path = os.path.join(log_path, f"{self.name}.log")
+        self.params.put(self.param_name, str(self.proc.pid))
         cloudlog.info(f"starting daemon {self.name}")
-    proc = subprocess.Popen(['python', '-m', self.module],
+        self.proc = subprocess.Popen(['python', '-m', self.module],
                                      stdin=open('/dev/null'),
-                               stdout=open('/dev/null', 'w'),
+                                     stdout=open(log_file_path, 'a'),
-                               stderr=open('/dev/null', 'w'),
+                                     stderr=subprocess.STDOUT,
                                      preexec_fn=os.setpgrp)
 
-    self.params.put(self.param_name, str(proc.pid))
-
   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]:
-def ensure_running(procs: ValuesView[ManagerProcess], started: bool, params=None, CP: car.CarParams=None,
-                   not_run: list[str] | None=None) -> list[ManagerProcess]:
     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):
+            p.start(log_path)
             running.append(p)
         else:
             p.stop(block=False)
 
         p.check_watchdog(started)
 
-  for p in running:
-    p.start()
-
     return running