6427b1380e
Logging for my Sentry server that tracks the values of the serial number, car fingerprint, user set parameters, and the date and time for when FrogPilot was installed and last updated for debugging and support.
522 lines
18 KiB
C++
522 lines
18 KiB
C++
#include "common/params.h"
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#include <dirent.h>
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#include <sys/file.h>
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#include <algorithm>
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#include <cassert>
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#include <csignal>
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#include <unordered_map>
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#include "common/queue.h"
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#include "common/swaglog.h"
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#include "common/util.h"
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#include "system/hardware/hw.h"
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namespace {
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volatile sig_atomic_t params_do_exit = 0;
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void params_sig_handler(int signal) {
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params_do_exit = 1;
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}
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int fsync_dir(const std::string &path) {
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int result = -1;
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int fd = HANDLE_EINTR(open(path.c_str(), O_RDONLY, 0755));
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if (fd >= 0) {
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result = fsync(fd);
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close(fd);
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}
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return result;
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}
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bool create_params_path(const std::string ¶m_path, const std::string &key_path) {
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// Make sure params path exists
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if (!util::file_exists(param_path) && !util::create_directories(param_path, 0775)) {
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return false;
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}
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// See if the symlink exists, otherwise create it
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if (!util::file_exists(key_path)) {
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// 1) Create temp folder
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// 2) Symlink it to temp link
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// 3) Move symlink to <params>/d
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std::string tmp_path = param_path + "/.tmp_XXXXXX";
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// this should be OK since mkdtemp just replaces characters in place
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char *tmp_dir = mkdtemp((char *)tmp_path.c_str());
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if (tmp_dir == NULL) {
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return false;
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}
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std::string link_path = std::string(tmp_dir) + ".link";
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if (symlink(tmp_dir, link_path.c_str()) != 0) {
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return false;
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}
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// don't return false if it has been created by other
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if (rename(link_path.c_str(), key_path.c_str()) != 0 && errno != EEXIST) {
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return false;
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}
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}
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return true;
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}
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std::string ensure_params_path(const std::string &prefix, const std::string &path = {}) {
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std::string params_path = path.empty() ? Path::params() : path;
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if (!create_params_path(params_path, params_path + prefix)) {
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throw std::runtime_error(util::string_format(
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"Failed to ensure params path, errno=%d, path=%s, param_prefix=%s",
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errno, params_path.c_str(), prefix.c_str()));
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}
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return params_path;
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}
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class FileLock {
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public:
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FileLock(const std::string &fn) {
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fd_ = HANDLE_EINTR(open(fn.c_str(), O_CREAT, 0775));
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if (fd_ < 0 || HANDLE_EINTR(flock(fd_, LOCK_EX)) < 0) {
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LOGE("Failed to lock file %s, errno=%d", fn.c_str(), errno);
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}
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}
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~FileLock() { close(fd_); }
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private:
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int fd_ = -1;
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};
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std::unordered_map<std::string, uint32_t> keys = {
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{"AccessToken", CLEAR_ON_MANAGER_START | DONT_LOG},
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{"ApiCache_Device", PERSISTENT},
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{"ApiCache_NavDestinations", PERSISTENT},
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{"AssistNowToken", PERSISTENT},
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{"AthenadPid", PERSISTENT},
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{"AthenadUploadQueue", PERSISTENT},
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{"AthenadRecentlyViewedRoutes", PERSISTENT},
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{"BootCount", PERSISTENT},
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{"CalibrationParams", PERSISTENT},
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{"CameraDebugExpGain", CLEAR_ON_MANAGER_START},
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{"CameraDebugExpTime", CLEAR_ON_MANAGER_START},
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{"CarBatteryCapacity", PERSISTENT},
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{"CarParams", CLEAR_ON_MANAGER_START | CLEAR_ON_ONROAD_TRANSITION},
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{"CarParamsCache", CLEAR_ON_MANAGER_START},
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{"CarParamsPersistent", PERSISTENT},
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{"CarParamsPrevRoute", PERSISTENT},
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{"CarVin", CLEAR_ON_MANAGER_START | CLEAR_ON_ONROAD_TRANSITION},
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{"CompletedTrainingVersion", PERSISTENT},
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{"ControlsReady", CLEAR_ON_MANAGER_START | CLEAR_ON_ONROAD_TRANSITION},
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{"CurrentBootlog", PERSISTENT},
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{"CurrentRoute", CLEAR_ON_MANAGER_START | CLEAR_ON_ONROAD_TRANSITION},
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{"DisableLogging", CLEAR_ON_MANAGER_START | CLEAR_ON_ONROAD_TRANSITION},
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{"DisablePowerDown", PERSISTENT},
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{"DisableUpdates", PERSISTENT},
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{"DisengageOnAccelerator", PERSISTENT},
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{"DmModelInitialized", CLEAR_ON_ONROAD_TRANSITION},
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{"DongleId", PERSISTENT},
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{"DoReboot", CLEAR_ON_MANAGER_START},
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{"DoShutdown", CLEAR_ON_MANAGER_START},
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{"DoUninstall", CLEAR_ON_MANAGER_START},
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{"ExperimentalLongitudinalEnabled", PERSISTENT | DEVELOPMENT_ONLY},
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{"ExperimentalMode", PERSISTENT},
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{"ExperimentalModeConfirmed", PERSISTENT},
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{"FirmwareQueryDone", CLEAR_ON_MANAGER_START | CLEAR_ON_ONROAD_TRANSITION},
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{"ForcePowerDown", PERSISTENT},
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{"GitBranch", PERSISTENT},
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{"GitCommit", PERSISTENT},
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{"GitCommitDate", PERSISTENT},
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{"GitDiff", PERSISTENT},
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{"GithubSshKeys", PERSISTENT},
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{"GithubUsername", PERSISTENT},
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{"GitRemote", PERSISTENT},
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{"GsmApn", PERSISTENT},
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{"GsmMetered", PERSISTENT},
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{"GsmRoaming", PERSISTENT},
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{"HardwareSerial", PERSISTENT},
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{"HasAcceptedTerms", PERSISTENT},
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{"IMEI", PERSISTENT},
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{"InstallDate", PERSISTENT},
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{"IsDriverViewEnabled", CLEAR_ON_MANAGER_START},
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{"IsEngaged", PERSISTENT},
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{"IsLdwEnabled", PERSISTENT},
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{"IsMetric", PERSISTENT},
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{"IsOffroad", CLEAR_ON_MANAGER_START},
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{"IsOnroad", PERSISTENT},
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{"IsRhdDetected", PERSISTENT},
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{"IsReleaseBranch", CLEAR_ON_MANAGER_START},
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{"IsTakingSnapshot", CLEAR_ON_MANAGER_START},
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{"IsTestedBranch", CLEAR_ON_MANAGER_START},
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{"JoystickDebugMode", CLEAR_ON_MANAGER_START | CLEAR_ON_OFFROAD_TRANSITION},
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{"LanguageSetting", PERSISTENT},
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{"LastAthenaPingTime", CLEAR_ON_MANAGER_START},
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{"LastGPSPosition", PERSISTENT},
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{"LastManagerExitReason", CLEAR_ON_MANAGER_START},
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{"LastOffroadStatusPacket", CLEAR_ON_MANAGER_START | CLEAR_ON_OFFROAD_TRANSITION},
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{"LastPowerDropDetected", CLEAR_ON_MANAGER_START},
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{"LastUpdateException", CLEAR_ON_MANAGER_START},
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{"LastUpdateTime", PERSISTENT},
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{"LiveParameters", PERSISTENT},
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{"LiveTorqueParameters", PERSISTENT | DONT_LOG},
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{"LongitudinalPersonality", PERSISTENT},
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{"NavDestination", CLEAR_ON_MANAGER_START | CLEAR_ON_OFFROAD_TRANSITION},
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{"NavDestinationWaypoints", CLEAR_ON_MANAGER_START | CLEAR_ON_OFFROAD_TRANSITION},
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{"NavPastDestinations", PERSISTENT},
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{"NavSettingLeftSide", PERSISTENT},
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{"NavSettingTime24h", PERSISTENT},
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{"NetworkMetered", PERSISTENT},
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{"ObdMultiplexingChanged", CLEAR_ON_MANAGER_START | CLEAR_ON_ONROAD_TRANSITION},
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{"ObdMultiplexingEnabled", CLEAR_ON_MANAGER_START | CLEAR_ON_ONROAD_TRANSITION},
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{"Offroad_BadNvme", CLEAR_ON_MANAGER_START},
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{"Offroad_CarUnrecognized", CLEAR_ON_MANAGER_START | CLEAR_ON_ONROAD_TRANSITION},
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{"Offroad_ConnectivityNeeded", CLEAR_ON_MANAGER_START},
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{"Offroad_ConnectivityNeededPrompt", CLEAR_ON_MANAGER_START},
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{"Offroad_InvalidTime", CLEAR_ON_MANAGER_START},
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{"Offroad_IsTakingSnapshot", CLEAR_ON_MANAGER_START},
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{"Offroad_NeosUpdate", CLEAR_ON_MANAGER_START},
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{"Offroad_NoFirmware", CLEAR_ON_MANAGER_START | CLEAR_ON_ONROAD_TRANSITION},
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{"Offroad_Recalibration", CLEAR_ON_MANAGER_START | CLEAR_ON_ONROAD_TRANSITION},
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{"Offroad_StorageMissing", CLEAR_ON_MANAGER_START},
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{"Offroad_TemperatureTooHigh", CLEAR_ON_MANAGER_START},
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{"Offroad_UnofficialHardware", CLEAR_ON_MANAGER_START},
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{"Offroad_UpdateFailed", CLEAR_ON_MANAGER_START},
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{"OpenpilotEnabledToggle", PERSISTENT},
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{"PandaHeartbeatLost", CLEAR_ON_MANAGER_START | CLEAR_ON_OFFROAD_TRANSITION},
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{"PandaSomResetTriggered", CLEAR_ON_MANAGER_START | CLEAR_ON_OFFROAD_TRANSITION},
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{"PandaSignatures", CLEAR_ON_MANAGER_START},
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{"PrimeType", PERSISTENT},
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{"RecordFront", PERSISTENT},
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{"RecordFrontLock", PERSISTENT}, // for the internal fleet
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{"ReplayControlsState", CLEAR_ON_MANAGER_START | CLEAR_ON_ONROAD_TRANSITION},
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{"SnoozeUpdate", CLEAR_ON_MANAGER_START | CLEAR_ON_OFFROAD_TRANSITION},
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{"SshEnabled", PERSISTENT},
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{"TermsVersion", PERSISTENT},
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{"Timezone", PERSISTENT},
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{"TrainingVersion", PERSISTENT},
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{"UbloxAvailable", PERSISTENT},
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{"UpdateAvailable", CLEAR_ON_MANAGER_START | CLEAR_ON_ONROAD_TRANSITION},
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{"UpdateFailedCount", CLEAR_ON_MANAGER_START},
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{"UpdaterAvailableBranches", PERSISTENT},
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{"UpdaterCurrentDescription", CLEAR_ON_MANAGER_START},
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{"UpdaterCurrentReleaseNotes", CLEAR_ON_MANAGER_START},
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{"UpdaterFetchAvailable", CLEAR_ON_MANAGER_START},
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{"UpdaterNewDescription", CLEAR_ON_MANAGER_START},
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{"UpdaterNewReleaseNotes", CLEAR_ON_MANAGER_START},
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{"UpdaterState", CLEAR_ON_MANAGER_START},
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{"UpdaterTargetBranch", CLEAR_ON_MANAGER_START},
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{"UpdaterLastFetchTime", PERSISTENT},
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{"Version", PERSISTENT},
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{"VisionRadarToggle", PERSISTENT},
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// FrogPilot parameters
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{"AccelerationPath", PERSISTENT},
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{"AccelerationProfile", PERSISTENT},
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{"AdjacentPath", PERSISTENT},
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{"AdjacentPathMetrics", PERSISTENT},
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{"AggressiveAcceleration", PERSISTENT},
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{"AggressiveFollow", PERSISTENT},
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{"AggressiveJerk", PERSISTENT},
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{"AlertVolumeControl", PERSISTENT},
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{"AlwaysOnLateral", PERSISTENT},
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{"AlwaysOnLateralMain", PERSISTENT},
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{"AMapKey1", PERSISTENT},
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{"AMapKey2", PERSISTENT},
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{"ApiCache_DriveStats", PERSISTENT},
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{"BlindSpotPath", PERSISTENT},
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{"CameraFPS", PERSISTENT},
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{"CameraView", PERSISTENT},
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{"CarMake", PERSISTENT},
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{"CarModel", PERSISTENT},
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{"CECurves", PERSISTENT},
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{"CECurvesLead", PERSISTENT},
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{"CENavigation", PERSISTENT},
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{"CENavigationIntersections", PERSISTENT},
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{"CENavigationLead", PERSISTENT},
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{"CENavigationTurns", PERSISTENT},
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{"CESignal", PERSISTENT},
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{"CESlowerLead", PERSISTENT},
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{"CESpeed", PERSISTENT},
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{"CESpeedLead", PERSISTENT},
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{"CEStatus", PERSISTENT},
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{"CEStopLights", PERSISTENT},
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{"CEStopLightsLead", PERSISTENT},
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{"Compass", PERSISTENT},
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{"ConditionalExperimental", PERSISTENT},
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{"CurrentHolidayTheme", PERSISTENT},
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{"CustomAlerts", PERSISTENT},
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{"CustomColors", PERSISTENT},
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{"CustomIcons", PERSISTENT},
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{"CustomPersonalities", PERSISTENT},
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{"CustomUI", PERSISTENT},
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{"CustomSignals", PERSISTENT},
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{"CustomSounds", PERSISTENT},
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{"CustomTheme", PERSISTENT},
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{"CydiaTune", PERSISTENT},
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{"DecelerationProfile", PERSISTENT},
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{"DeviceShutdown", PERSISTENT},
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{"DisableMTSCSmoothing", PERSISTENT},
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{"DisableOnroadUploads", PERSISTENT},
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{"DisableOpenpilotLongitudinal", PERSISTENT},
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{"DisengageVolume", PERSISTENT},
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{"DragonPilotTune", PERSISTENT},
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{"DriverCamera", PERSISTENT},
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{"DriveStats", PERSISTENT},
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{"DynamicPathWidth", PERSISTENT},
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{"EngageVolume", PERSISTENT},
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{"ExperimentalModeActivation", PERSISTENT},
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{"ExperimentalModeViaDistance", PERSISTENT},
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{"ExperimentalModeViaLKAS", PERSISTENT},
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{"ExperimentalModeViaScreen", PERSISTENT},
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{"Fahrenheit", PERSISTENT},
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{"FireTheBabysitter", PERSISTENT},
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{"ForceAutoTune", PERSISTENT},
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{"ForceFingerprint", PERSISTENT},
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{"FPSCounter", PERSISTENT},
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{"FrogPilotTogglesUpdated", PERSISTENT},
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{"FrogsGoMoo", PERSISTENT},
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{"FrogsGoMooTune", PERSISTENT},
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{"FullMap", PERSISTENT},
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{"GasRegenCmd", PERSISTENT},
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{"GMapKey", PERSISTENT},
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{"GoatScream", PERSISTENT},
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{"GreenLightAlert", PERSISTENT},
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{"HideAlerts", PERSISTENT},
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{"HideAOLStatusBar", PERSISTENT},
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{"HideCEMStatusBar", PERSISTENT},
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{"HideLeadMarker", PERSISTENT},
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{"HideMapIcon", PERSISTENT},
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{"HideMaxSpeed", PERSISTENT},
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{"HideSpeed", PERSISTENT},
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{"HideSpeedUI", PERSISTENT},
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{"HideUIElements", PERSISTENT},
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{"HigherBitrate", PERSISTENT},
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{"HolidayThemes", PERSISTENT},
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{"LaneChangeTime", PERSISTENT},
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{"LaneDetection", PERSISTENT},
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{"LaneDetectionWidth", PERSISTENT},
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{"LaneLinesWidth", PERSISTENT},
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{"LastMapsUpdate", PERSISTENT},
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{"LateralTune", PERSISTENT},
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{"LeadDepartingAlert", PERSISTENT},
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{"LeadInfo", PERSISTENT},
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{"LockDoors", PERSISTENT},
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{"LongitudinalTune", PERSISTENT},
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{"LongPitch", PERSISTENT},
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{"LoudBlindspotAlert", PERSISTENT},
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{"LowerVolt", PERSISTENT},
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{"ManualUpdateInitiated", CLEAR_ON_MANAGER_START},
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{"MapboxPublicKey", PERSISTENT},
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{"MapboxSecretKey", PERSISTENT},
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{"MapsSelected", PERSISTENT},
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{"MapTargetLatA", PERSISTENT},
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{"MapTargetVelocities", PERSISTENT},
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{"Model", PERSISTENT},
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{"ModelUI", PERSISTENT},
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{"MTSCAggressiveness", PERSISTENT},
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{"MTSCCurvatureCheck", PERSISTENT},
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{"MTSCEnabled", PERSISTENT},
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{"MTSCLimit", PERSISTENT},
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{"MuteOverheated", PERSISTENT},
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{"NavChill", PERSISTENT},
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{"NavEnable", PERSISTENT},
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{"NNFF", PERSISTENT},
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{"NNFFModelFuzzyMatch", PERSISTENT},
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{"NNFFModelName", PERSISTENT},
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{"NoLogging", PERSISTENT},
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{"NoUploads", PERSISTENT},
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{"NudgelessLaneChange", PERSISTENT},
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{"NumericalTemp", PERSISTENT},
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{"OfflineMode", PERSISTENT},
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{"OneLaneChange", PERSISTENT},
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{"OSMDownloadLocations", PERSISTENT},
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{"OSMDownloadProgress", CLEAR_ON_MANAGER_START},
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{"PathEdgeWidth", PERSISTENT},
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{"PathWidth", PERSISTENT},
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{"PauseLateralOnSignal", PERSISTENT},
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{"PedalsOnUI", PERSISTENT},
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{"PreferredSchedule", PERSISTENT},
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{"PromptVolume", PERSISTENT},
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{"PromptDistractedVolume", PERSISTENT},
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{"QOLControls", PERSISTENT},
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{"QOLVisuals", PERSISTENT},
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{"RefuseVolume", PERSISTENT},
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{"RelaxedFollow", PERSISTENT},
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{"RelaxedJerk", PERSISTENT},
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{"ReverseCruise", PERSISTENT},
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{"ReverseCruiseUI", PERSISTENT},
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{"RoadEdgesWidth", PERSISTENT},
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{"RoadName", PERSISTENT},
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{"RoadNameUI", PERSISTENT},
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{"RotatingWheel", PERSISTENT},
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{"SchedulePending", PERSISTENT},
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{"ScreenBrightness", PERSISTENT},
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{"ScreenBrightnessOnroad", PERSISTENT},
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{"ScreenManagement", PERSISTENT},
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{"ScreenRecorder", PERSISTENT},
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{"ScreenTimeout", PERSISTENT},
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{"ScreenTimeoutOnroad", PERSISTENT},
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{"SearchInput", PERSISTENT},
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{"SilentMode", PERSISTENT},
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{"ShowCPU", PERSISTENT},
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{"ShowGPU", PERSISTENT},
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{"ShowMemoryUsage", PERSISTENT},
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{"ShowStorageLeft", PERSISTENT},
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{"ShowStorageUsed", PERSISTENT},
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{"StandardFollow", PERSISTENT},
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{"StandardJerk", PERSISTENT},
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{"StandbyMode", PERSISTENT},
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{"StockTune", PERSISTENT},
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{"StoppingDistance", PERSISTENT},
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{"TetheringEnabled", PERSISTENT},
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{"UnlimitedLength", PERSISTENT},
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{"Updated", PERSISTENT},
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{"UpdateSchedule", PERSISTENT},
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{"UpdateTime", PERSISTENT},
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{"UseSI", PERSISTENT},
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{"WarningSoftVolume", PERSISTENT},
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{"WarningImmediateVolume", PERSISTENT},
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};
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} // namespace
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Params::Params(const std::string &path) {
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params_prefix = "/" + util::getenv("OPENPILOT_PREFIX", "d");
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params_path = ensure_params_path(params_prefix, path);
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}
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Params::~Params() {
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if (future.valid()) {
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future.wait();
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}
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assert(queue.empty());
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}
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std::vector<std::string> Params::allKeys() const {
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std::vector<std::string> ret;
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for (auto &p : keys) {
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ret.push_back(p.first);
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}
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return ret;
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}
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bool Params::checkKey(const std::string &key) {
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return keys.find(key) != keys.end();
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}
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ParamKeyType Params::getKeyType(const std::string &key) {
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return static_cast<ParamKeyType>(keys[key]);
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}
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int Params::put(const char* key, const char* value, size_t value_size) {
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// Information about safely and atomically writing a file: https://lwn.net/Articles/457667/
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// 1) Create temp file
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// 2) Write data to temp file
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// 3) fsync() the temp file
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// 4) rename the temp file to the real name
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// 5) fsync() the containing directory
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std::string tmp_path = params_path + "/.tmp_value_XXXXXX";
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int tmp_fd = mkstemp((char*)tmp_path.c_str());
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if (tmp_fd < 0) return -1;
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|
int result = -1;
|
|
do {
|
|
// Write value to temp.
|
|
ssize_t bytes_written = HANDLE_EINTR(write(tmp_fd, value, value_size));
|
|
if (bytes_written < 0 || (size_t)bytes_written != value_size) {
|
|
result = -20;
|
|
break;
|
|
}
|
|
|
|
// fsync to force persist the changes.
|
|
if ((result = fsync(tmp_fd)) < 0) break;
|
|
|
|
FileLock file_lock(params_path + "/.lock");
|
|
|
|
// Move temp into place.
|
|
if ((result = rename(tmp_path.c_str(), getParamPath(key).c_str())) < 0) break;
|
|
|
|
// fsync parent directory
|
|
result = fsync_dir(getParamPath());
|
|
} while (false);
|
|
|
|
close(tmp_fd);
|
|
::unlink(tmp_path.c_str());
|
|
return result;
|
|
}
|
|
|
|
int Params::remove(const std::string &key) {
|
|
FileLock file_lock(params_path + "/.lock");
|
|
int result = unlink(getParamPath(key).c_str());
|
|
if (result != 0) {
|
|
return result;
|
|
}
|
|
return fsync_dir(getParamPath());
|
|
}
|
|
|
|
std::string Params::get(const std::string &key, bool block) {
|
|
if (!block) {
|
|
return util::read_file(getParamPath(key));
|
|
} else {
|
|
// blocking read until successful
|
|
params_do_exit = 0;
|
|
void (*prev_handler_sigint)(int) = std::signal(SIGINT, params_sig_handler);
|
|
void (*prev_handler_sigterm)(int) = std::signal(SIGTERM, params_sig_handler);
|
|
|
|
std::string value;
|
|
while (!params_do_exit) {
|
|
if (value = util::read_file(getParamPath(key)); !value.empty()) {
|
|
break;
|
|
}
|
|
util::sleep_for(100); // 0.1 s
|
|
}
|
|
|
|
std::signal(SIGINT, prev_handler_sigint);
|
|
std::signal(SIGTERM, prev_handler_sigterm);
|
|
return value;
|
|
}
|
|
}
|
|
|
|
std::map<std::string, std::string> Params::readAll() {
|
|
FileLock file_lock(params_path + "/.lock");
|
|
return util::read_files_in_dir(getParamPath());
|
|
}
|
|
|
|
void Params::clearAll(ParamKeyType key_type) {
|
|
FileLock file_lock(params_path + "/.lock");
|
|
|
|
// 1) delete params of key_type
|
|
// 2) delete files that are not defined in the keys.
|
|
if (DIR *d = opendir(getParamPath().c_str())) {
|
|
struct dirent *de = NULL;
|
|
while ((de = readdir(d))) {
|
|
if (de->d_type != DT_DIR) {
|
|
auto it = keys.find(de->d_name);
|
|
if (it == keys.end() || (it->second & key_type)) {
|
|
unlink(getParamPath(de->d_name).c_str());
|
|
}
|
|
}
|
|
}
|
|
closedir(d);
|
|
}
|
|
|
|
fsync_dir(getParamPath());
|
|
}
|
|
|
|
void Params::putNonBlocking(const std::string &key, const std::string &val) {
|
|
queue.push(std::make_pair(key, val));
|
|
// start thread on demand
|
|
if (!future.valid() || future.wait_for(std::chrono::milliseconds(0)) == std::future_status::ready) {
|
|
future = std::async(std::launch::async, &Params::asyncWriteThread, this);
|
|
}
|
|
}
|
|
|
|
void Params::asyncWriteThread() {
|
|
// TODO: write the latest one if a key has multiple values in the queue.
|
|
std::pair<std::string, std::string> p;
|
|
while (queue.try_pop(p, 0)) {
|
|
// Params::put is Thread-Safe
|
|
put(p.first, p.second);
|
|
}
|
|
}
|