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306 lines
8.6 KiB
306 lines
8.6 KiB
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 typing import Optional, List, 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 # pylint: disable=no-name-in-module
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import cereal.messaging as messaging
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import selfdrive.sentry as sentry
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from common.basedir import BASEDIR
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from common.params import Params
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from common.realtime import sec_since_boot
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from selfdrive.swaglog import cloudlog
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from selfdrive.hardware import HARDWARE
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from cereal import log
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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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def launcher(proc: str, name: str) -> None:
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try:
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# import the process
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mod = importlib.import_module(proc)
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# rename the process
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setproctitle(proc)
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# create new context since we forked
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messaging.context = messaging.Context()
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# add daemon name tag to logs
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cloudlog.bind(daemon=name)
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sentry.set_tag("daemon", name)
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# exec the process
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getattr(mod, 'main')()
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except KeyboardInterrupt:
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cloudlog.warning(f"child {proc} got SIGINT")
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except Exception:
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# can't install the crash handler because sys.excepthook doesn't play nice
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# with threads, so catch it here.
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sentry.capture_exception()
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raise
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def nativelauncher(pargs: List[str], cwd: str, name: str) -> None:
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os.environ['MANAGER_DAEMON'] = name
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# exec the process
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os.chdir(cwd)
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os.execvp(pargs[0], pargs)
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def join_process(process: Process, timeout: float) -> None:
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# Process().join(timeout) will hang due to a python 3 bug: https://bugs.python.org/issue28382
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# We have to poll the exitcode instead
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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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unkillable = False
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daemon = False
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sigkill = False
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persistent = False
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driverview = False
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proc: Optional[Process] = 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 = 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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self.stop()
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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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# TODO: why can't pylint find struct.unpack?
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self.last_watchdog_time = struct.unpack('Q', open(fn, "rb").read())[0] # pylint: disable=no-member
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except Exception:
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pass
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dt = sec_since_boot() - self.last_watchdog_time / 1e9
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if dt > self.watchdog_max_dt:
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# Only restart while offroad for now
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if self.watchdog_seen 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) -> Optional[int]:
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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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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 process failed to die send SIGKILL or reboot
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if self.proc.exitcode is None and retry:
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if self.unkillable:
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cloudlog.critical(f"unkillable process {self.name} failed to exit! rebooting in 15 if it doesn't die")
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join_process(self.proc, 15)
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if self.proc.exitcode is None:
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cloudlog.critical(f"unkillable process {self.name} failed to die!")
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os.system("date >> /data/unkillable_reboot")
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os.sync()
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HARDWARE.reboot()
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raise RuntimeError
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else:
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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:
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return
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# Don't signal if already exited
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if self.proc.exitcode is not None and self.proc.pid is not None:
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return
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# Can't signal if we don't have a pid
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if 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, enabled=True, persistent=False, driverview=False, unkillable=False, sigkill=False, watchdog_max_dt=None):
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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.enabled = enabled
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self.persistent = persistent
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self.driverview = driverview
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self.unkillable = unkillable
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self.sigkill = sigkill
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self.watchdog_max_dt = watchdog_max_dt
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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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# In case we only tried a non blocking stop we need to stop it before restarting
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if self.shutting_down:
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self.stop()
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if self.proc is not None:
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return
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cwd = os.path.join(BASEDIR, self.cwd)
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cloudlog.info(f"starting process {self.name}")
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self.proc = Process(name=self.name, target=nativelauncher, args=(self.cmdline, cwd, self.name))
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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 PythonProcess(ManagerProcess):
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def __init__(self, name, module, enabled=True, persistent=False, driverview=False, unkillable=False, 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.enabled = enabled
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self.persistent = persistent
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self.driverview = driverview
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self.unkillable = unkillable
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self.sigkill = sigkill
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self.watchdog_max_dt = watchdog_max_dt
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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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# In case we only tried a non blocking stop we need to stop it before restarting
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if self.shutting_down:
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self.stop()
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if self.proc is not None:
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return
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cloudlog.info(f"starting python {self.module}")
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self.proc = Process(name=self.name, target=launcher, args=(self.module, self.name))
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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.persistent = 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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params = Params()
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pid = 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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with open(f'/proc/{pid}/cmdline') as f:
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if self.module in f.read():
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# daemon is running
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return
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except (OSError, FileNotFoundError):
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# process is dead
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pass
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cloudlog.info(f"starting daemon {self.name}")
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proc = subprocess.Popen(['python', '-m', self.module], # pylint: disable=subprocess-popen-preexec-fn
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stdin=open('/dev/null'),
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stdout=open('/dev/null', 'w'),
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stderr=open('/dev/null', 'w'),
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preexec_fn=os.setpgrp)
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params.put(self.param_name, str(proc.pid))
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def stop(self, retry=True, block=True) -> None:
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pass
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def ensure_running(procs: ValuesView[ManagerProcess], started: bool, driverview: bool=False, not_run: Optional[List[str]]=None) -> None:
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if not_run is None:
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not_run = []
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for p in procs:
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if p.name in not_run:
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p.stop(block=False)
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elif not p.enabled:
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p.stop(block=False)
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elif p.persistent:
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p.start()
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elif p.driverview and driverview:
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p.start()
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elif started:
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p.start()
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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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