dragonpilot - 基於 openpilot 的開源駕駛輔助系統
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#!/usr/bin/env python3
from tinygrad.runtime.support.system import System
import argparse, glob, os, re, time, subprocess, sys
def scan_devs_based_on_lock(prefix:str, args) -> list[str]:
target_dev = args.pci_bus if 'pci_bus' in args.__dir__() else ""
devs = []
for dev in glob.glob(f'/tmp/{prefix}_*.lock'):
dev_id = dev[8:-5]
if os.path.exists(f"/sys/bus/pci/devices/{dev_id}") and dev_id.startswith(target_dev): devs.append(dev_id)
return devs
def _do_reset_device(pci_bus): System.pci_reset(pci_bus)
def _is_module_loaded(name: str) -> bool: return os.path.isdir(f"/sys/module/{name}")
def cmd_remove_module(args):
modules = ["nvidia_drm", "nvidia_modeset", "nvidia_uvm", "nvidia", "ast"] if args.backend == "nv" else ["amdgpu"]
to_unload = [m for m in modules if _is_module_loaded(m)]
if not to_unload: print("Kernel modules are not loaded")
else:
print("Removing kernel modules:", ", ".join(to_unload))
try: subprocess.run(["sudo", "modprobe", "-r", *to_unload], check=True)
except subprocess.CalledProcessError as e:
print("Failed to unload all modules — they may be in use.", file=sys.stderr)
sys.exit(e.returncode)
def cmd_insert_module(args):
cmd_remove_module(args)
cmd_reset_devices(args)
module = "nvidia" if args.backend == "nv" else "amdgpu"
if _is_module_loaded(module):
print(f"{module} kernel module already loaded")
return
print(f"Inserting kernel module: {module}")
if args.backend == "nv":
subprocess.run(["nvidia-smi"], check=True)
elif args.backend == "amd":
subprocess.run(["sudo", "modprobe", "amdgpu"], check=True)
def cmd_reset_devices(args):
devs = scan_devs_based_on_lock({"amd":"am", "nv":"nv"}[args.backend], args)
for dev in devs:
print(f"Resetting device {dev}")
if args.backend != "amd": _do_reset_device(dev)
time.sleep(0.2)
def cmd_show_pids(args):
devs = scan_devs_based_on_lock(prefix:={"amd":"am", "nv":"nv"}[args.backend], args)
for dev in devs:
try:
pid = subprocess.check_output(['sudo', 'lsof', f'/tmp/{prefix}_{dev}.lock']).decode('utf-8').strip().split('\n')[1].split()[1]
print(f"{dev}: {pid}")
except subprocess.CalledProcessError: print(f"{dev}: No processes found using this device")
def cmd_kill_pids(args):
devs = scan_devs_based_on_lock(prefix:={"amd":"am", "nv":"nv"}[args.backend], args)
for dev in devs:
try:
pid = subprocess.check_output(['sudo', 'lsof', f'/tmp/{prefix}_{dev}.lock']).decode('utf-8').strip().split('\n')[1].split()[1]
print(f"{dev}: {pid}")
except subprocess.CalledProcessError: print(f"{dev}: No processes found using this device")
def cmd_kill_pids(args):
devs = scan_devs_based_on_lock(prefix:={"amd":"am", "nv":"nv"}[args.backend], args)
for dev in devs:
for i in range(128):
if i > 0: time.sleep(0.2)
try:
try: pid = subprocess.check_output(['sudo', 'lsof', f'/tmp/{prefix}_{dev}.lock']).decode('utf-8').strip().split('\n')[1].split()[1]
except subprocess.CalledProcessError: break
print(f"Killing process {pid} (which uses {dev})")
subprocess.run(['sudo', 'kill', '-9', pid], check=True)
except subprocess.CalledProcessError as e:
print(f"Failed to kill process for device {dev}: {e}", file=sys.stderr)
def add_common_commands(parent_subparsers):
p_insmod = parent_subparsers.add_parser("insmod", help="Insert a kernel module")
p_insmod.set_defaults(func=cmd_insert_module)
p_rmmod = parent_subparsers.add_parser("rmmod", help="Remove a kernel module")
p_rmmod.set_defaults(func=cmd_remove_module)
p_reset = parent_subparsers.add_parser("reset", help="Reset a device")
p_reset.add_argument("--pci_bus", default="", help="PCI bus ID of the device to reset")
p_reset.set_defaults(func=cmd_reset_devices)
p_reset = parent_subparsers.add_parser("pids", help="Show pids of processes using the device")
p_reset.add_argument("--pci_bus", default="", help="PCI bus ID of the device")
p_reset.set_defaults(func=cmd_show_pids)
p_reset = parent_subparsers.add_parser("kill_pids", help="Kill pids of processes using the device")
p_reset.add_argument("--pci_bus", default="", help="PCI bus ID of the device")
p_reset.set_defaults(func=cmd_kill_pids)
if __name__ == "__main__":
parser = argparse.ArgumentParser()
backend_subparsers = parser.add_subparsers(dest="backend", required=True, metavar="{nv,amd}", help="Hardware backend to target")
nv_parser = backend_subparsers.add_parser("nv", help="NVIDIA GPUs")
nv_commands = nv_parser.add_subparsers(dest="command", required=True)
add_common_commands(nv_commands)
amd_parser = backend_subparsers.add_parser("amd", help="AMD GPUs")
amd_commands = amd_parser.add_subparsers(dest="command", required=True)
add_common_commands(amd_commands)
args = parser.parse_args()
if args.command is None:
parser.print_help(sys.stderr)
sys.exit(1)
args.func(args)