248 lines
8.0 KiB
Python
Executable File
248 lines
8.0 KiB
Python
Executable File
import importlib
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import os
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import signal
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import struct
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import time
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import subprocess
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from collections.abc import Callable, ValuesView
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from abc import ABC, abstractmethod
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from multiprocessing import Process
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from setproctitle import setproctitle
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from cereal import car, log
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import cereal.messaging as messaging
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import openpilot.selfdrive.sentry as sentry
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from openpilot.common.basedir import BASEDIR
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from openpilot.common.params import Params
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from openpilot.common.swaglog import cloudlog
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WATCHDOG_FN = "/dev/shm/wd_"
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ENABLE_WATCHDOG = os.getenv("NO_WATCHDOG") is None
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_log_dir = ""
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def nativelauncher(pargs: list[str], cwd: str, name: str, log_path: str) -> None:
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os.environ['MANAGER_DAEMON'] = name
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with open(log_path, 'a') as log_file:
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os.chdir(cwd)
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proc = subprocess.Popen(pargs, stdout=subprocess.PIPE, stderr=subprocess.STDOUT, bufsize=1, universal_newlines=True)
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for line in proc.stdout:
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print(line, end='')
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log_file.write(line)
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proc.wait()
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def launcher(proc: str, name: str, log_path: str) -> None:
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try:
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mod = importlib.import_module(proc)
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setproctitle(proc)
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messaging.context = messaging.Context()
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cloudlog.bind(daemon=name)
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sentry.set_tag("daemon", name)
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with open(log_path, 'a') as log_file, subprocess.Popen(['python', '-m', proc], stdout=subprocess.PIPE, stderr=subprocess.STDOUT, bufsize=1, universal_newlines=True) as proc:
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for line in proc.stdout:
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print(line, end='')
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log_file.write(line)
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proc.wait()
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except Exception:
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sentry.capture_exception()
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raise
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def join_process(process: Process, timeout: float) -> None:
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t = time.monotonic()
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while time.monotonic() - t < timeout and process.exitcode is None:
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time.sleep(0.001)
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class ManagerProcess(ABC):
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daemon = False
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sigkill = False
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should_run: Callable[[bool, Params, car.CarParams], bool]
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proc: Process | None = None
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enabled = True
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name = ""
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last_watchdog_time = 0
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watchdog_max_dt: int | None = None
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watchdog_seen = False
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shutting_down = False
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@abstractmethod
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def prepare(self) -> None:
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pass
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@abstractmethod
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def start(self) -> None:
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pass
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def restart(self) -> None:
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if self.proc is not None and self.proc.exitcode is not None:
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self.stop(sig=signal.SIGKILL, block=False)
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self.start()
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def check_watchdog(self, started: bool) -> None:
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if self.watchdog_max_dt is None or self.proc is None:
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return
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try:
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fn = WATCHDOG_FN + str(self.proc.pid)
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with open(fn, "rb") as f:
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self.last_watchdog_time = struct.unpack('Q', f.read())[0]
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except Exception:
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pass
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dt = time.monotonic() - self.last_watchdog_time / 1e9
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if dt > self.watchdog_max_dt:
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if (self.watchdog_seen or self.always_watchdog and self.proc.exitcode is not None) and ENABLE_WATCHDOG:
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cloudlog.error(f"Watchdog timeout for {self.name} (exitcode {self.proc.exitcode}) restarting ({started=})")
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self.restart()
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else:
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self.watchdog_seen = True
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def stop(self, retry: bool = True, block: bool = True, sig: signal.Signals = None) -> int | None:
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if self.proc is None:
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return None
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if self.proc.exitcode is None:
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if not self.shutting_down:
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cloudlog.info(f"killing {self.name}")
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if sig is None:
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sig = signal.SIGKILL if self.sigkill else signal.SIGINT
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self.signal(sig)
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self.shutting_down = True
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if not block:
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return None
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join_process(self.proc, 5)
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if self.proc.exitcode is None and retry:
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cloudlog.info(f"killing {self.name} with SIGKILL")
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self.signal(signal.SIGKILL)
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self.proc.join()
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ret = self.proc.exitcode
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cloudlog.info(f"{self.name} is dead with {ret}")
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if self.proc.exitcode is not None:
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self.shutting_down = False
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self.proc = None
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return ret
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def signal(self, sig: int) -> None:
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if self.proc is None or self.proc.exitcode is not None or self.proc.pid is None:
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return
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cloudlog.info(f"sending signal {sig} to {self.name}")
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os.kill(self.proc.pid, sig)
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def get_process_state_msg(self):
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state = log.ManagerState.ProcessState.new_message()
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state.name = self.name
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if self.proc:
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state.running = self.proc.is_alive()
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state.shouldBeRunning = self.proc is not None and not self.shutting_down
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state.pid = self.proc.pid or 0
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state.exitCode = self.proc.exitcode or 0
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return state
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class NativeProcess(ManagerProcess):
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def __init__(self, name, cwd, cmdline, should_run, enabled=True, sigkill=False, watchdog_max_dt=None, always_watchdog=False):
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self.name = name
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self.cwd = cwd
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self.cmdline = cmdline
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self.should_run = should_run
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self.enabled = enabled
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self.sigkill = sigkill
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self.watchdog_max_dt = watchdog_max_dt
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self.launcher = nativelauncher
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self.always_watchdog = always_watchdog
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def prepare(self) -> None:
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pass
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def start(self) -> None:
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global _log_dir
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log_path = _log_dir+"/"+self.name+".log"
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if self.shutting_down or self.proc is not None:
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return
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self.proc = Process(target=nativelauncher, args=(self.cmdline, os.path.join(BASEDIR, self.cwd), self.name, log_path))
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self.proc.start()
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class PythonProcess(ManagerProcess):
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def __init__(self, name, module, should_run, enabled=True, sigkill=False, watchdog_max_dt=None):
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self.name = name
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self.module = module
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self.should_run = should_run
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self.enabled = enabled
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self.sigkill = sigkill
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self.watchdog_max_dt = watchdog_max_dt
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self.launcher = launcher
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def prepare(self) -> None:
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if self.enabled:
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cloudlog.info(f"preimporting {self.module}")
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importlib.import_module(self.module)
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def start(self) -> None:
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global _log_dir
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log_path = _log_dir+"/"+self.name+".log"
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if self.shutting_down or self.proc is not None:
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return
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self.proc = Process(name=self.name, target=launcher, args=(self.module, self.name, log_path))
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self.proc.start()
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self.watchdog_seen = False
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self.shutting_down = False
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class DaemonProcess(ManagerProcess):
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"""Python process that has to stay running across manager restart.
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This is used for athena so you don't lose SSH access when restarting manager."""
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def __init__(self, name, module, param_name, enabled=True):
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self.name = name
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self.module = module
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self.param_name = param_name
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self.enabled = enabled
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self.params = None
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@staticmethod
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def should_run(started, params, CP):
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return True
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def prepare(self) -> None:
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pass
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def start(self) -> None:
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global _log_dir
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log_path = _log_dir+"/"+self.name+".log"
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if self.params is None:
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self.params = Params()
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pid = self.params.get(self.param_name, encoding='utf-8')
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if pid is not None:
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try:
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os.kill(int(pid), 0)
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return # Process is already running
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except OSError:
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pass # Process not running, continue to start it
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log_file_path = os.path.join(log_path, f"{self.name}.log")
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self.params.put(self.param_name, str(self.proc.pid))
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cloudlog.info(f"starting daemon {self.name}")
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self.proc = subprocess.Popen(['python', '-m', self.module],
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stdin=open('/dev/null'),
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stdout=open(log_file_path, 'a'),
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stderr=subprocess.STDOUT,
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preexec_fn=os.setpgrp)
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def stop(self, retry=True, block=True, sig=None) -> None:
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pass
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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]:
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global _log_dir
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_log_dir = log_dir
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if not_run is None:
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not_run = []
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running = []
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for p in procs:
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if p.enabled and p.name not in not_run and p.should_run(started, params, CP):
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if p.proc is None or p.proc.exitcode is not None:
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p.start()
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running.append(p)
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else:
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p.stop(block=False)
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p.check_watchdog(started)
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return running |