From af3cacae5345e1a0f5eb3ad1a78b6f422937da38 Mon Sep 17 00:00:00 2001
From: Your Name <you@example.com>
Date: Mon, 17 Jun 2024 12:33:20 -0500
Subject: [PATCH] wip

---
 selfdrive/manager/manager.py |  6 +++++-
 selfdrive/manager/process.py | 26 ++++++++++++++++++++------
 2 files changed, 25 insertions(+), 7 deletions(-)

diff --git a/selfdrive/manager/manager.py b/selfdrive/manager/manager.py
index b1901dc..8244ef4 100755
--- a/selfdrive/manager/manager.py
+++ b/selfdrive/manager/manager.py
@@ -366,6 +366,10 @@ def manager_thread(frogpilot_functions) -> None:
   cloudlog.info("manager start")
   cloudlog.info({"environ": os.environ})
 
+  timestamp = datetime.datetime.now().strftime("%Y-%m-%d-%H-%M-%S")
+  log_dir = f"/data/log2/{timestamp}"
+  os.makedirs(log_dir, exist_ok=True)
+
   params = Params()
   params_memory = Params("/dev/shm/params")
 
@@ -380,7 +384,7 @@ 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
 
diff --git a/selfdrive/manager/process.py b/selfdrive/manager/process.py
index 607d3d0..93ffc98 100755
--- a/selfdrive/manager/process.py
+++ b/selfdrive/manager/process.py
@@ -20,8 +20,9 @@ from openpilot.common.swaglog import cloudlog
 WATCHDOG_FN = "/dev/shm/wd_"
 ENABLE_WATCHDOG = os.getenv("NO_WATCHDOG") is None
 
+_log_dir = None
 
-def launcher(proc: str, name: str) -> None:
+def launcher(proc: str, name: str, log_path: str) -> None:
   try:
     # import the process
     mod = importlib.import_module(proc)
@@ -40,9 +41,10 @@ def launcher(proc: str, name: str) -> None:
     mod.main()
   except KeyboardInterrupt:
     cloudlog.warning(f"child {proc} got SIGINT")
-  except Exception:
+  except Exception as e:
     # can't install the crash handler because sys.excepthook doesn't play nice
     # with threads, so catch it here.
+    with open(log_path, 'a') as file: file.write(e+"\n")
     sentry.capture_exception()
     raise
 
@@ -189,6 +191,9 @@ class NativeProcess(ManagerProcess):
 
     if self.proc is not None:
       return
+    
+    global _log_dir
+    log_path = _log_dir+"/"+self.name+".log"
 
     cwd = os.path.join(BASEDIR, self.cwd)
     cloudlog.info(f"starting process {self.name}")
@@ -221,8 +226,10 @@ class PythonProcess(ManagerProcess):
     if self.proc is not None:
       return
 
+    global _log_dir
+    log_path = _log_dir+"/"+self.name+".log"
     cloudlog.info(f"starting python {self.module}")
-    self.proc = Process(name=self.name, target=self.launcher, args=(self.module, self.name))
+    self.proc = Process(name=self.name, target=self.launcher, args=(self.module, self.name, log_path))
     self.proc.start()
     self.watchdog_seen = False
     self.shutting_down = False
@@ -238,6 +245,7 @@ class DaemonProcess(ManagerProcess):
     self.enabled = enabled
     self.params = None
 
+
   @staticmethod
   def should_run(started, params, CP):
     return True
@@ -249,6 +257,9 @@ class DaemonProcess(ManagerProcess):
     if self.params is None:
       self.params = Params()
 
+    global _log_dir
+    log_path = _log_dir+"/"+self.name+".log"
+
     pid = self.params.get(self.param_name, encoding='utf-8')
     if pid is not None:
       try:
@@ -264,8 +275,8 @@ class DaemonProcess(ManagerProcess):
     cloudlog.info(f"starting daemon {self.name}")
     proc = subprocess.Popen(['python', '-m', self.module],
                                stdin=open('/dev/null'),
-                               stdout=open('/dev/null', 'w'),
-                               stderr=open('/dev/null', 'w'),
+                               stdout=open(log_path, 'a'),
+                               stderr=subprocess.STDOUT,
                                preexec_fn=os.setpgrp)
 
     self.params.put(self.param_name, str(proc.pid))
@@ -275,7 +286,10 @@ class DaemonProcess(ManagerProcess):
 
 
 def ensure_running(procs: ValuesView[ManagerProcess], started: bool, params=None, CP: car.CarParams=None,
-                   not_run: list[str] | None=None) -> list[ManagerProcess]:
+                   not_run: list[str] | None=None,  log_dir: str = None) -> list[ManagerProcess]:
+  global _log_dir
+  _log_dir = log_dir
+
   if not_run is None:
     not_run = []