Linux tombstones: add stacktrace and upload (#19737)

* Add stacktrace to tombstones

* make sentry output prettier

* Refactor

* Generate upload filename

* Actually move file

* Fix spaces

* copy and upload

* dont delete just yet

Co-authored-by: Comma Device <device@comma.ai>
old-commit-hash: f3db94a0c4

selfdrive/loggerd/uploader.py

@@ -58,6 +58,7 @@ class Uploader():
     self.last_resp = None
     self.last_exc = None
 
+    self.immediate_folders = ["crash/"]
     self.immediate_priority = {"qlog.bz2": 0, "qcamera.ts": 1}
     self.high_priority = {"rlog.bz2": 0, "fcamera.hevc": 1, "dcamera.hevc": 2, "ecamera.hevc": 3}
 
@@ -98,7 +99,7 @@ class Uploader():
 
     # try to upload qlog files first
     for name, key, fn in upload_files:
-      if name in self.immediate_priority:
+      if name in self.immediate_priority or any(f in fn for f in self.immediate_folders):
         return (key, fn)
 
     if with_raw:

selfdrive/tombstoned.py

@@ -1,23 +1,70 @@
 #!/usr/bin/env python3
+import datetime
 import os
+import re
+import shutil
+import signal
+import subprocess
 import time
+import glob
 
 from raven import Client
 from raven.transport.http import HTTPTransport
 
+from common.file_helpers import mkdirs_exists_ok
 from selfdrive.hardware import TICI
+from selfdrive.loggerd.config import ROOT
 from selfdrive.swaglog import cloudlog
-from selfdrive.version import version, origin, branch, dirty
+from selfdrive.version import branch, commit, dirty, origin, version
 
 MAX_SIZE = 100000 * 10  # Normal size is 40-100k, allow up to 1M
 if TICI:
-  MAX_SIZE = MAX_SIZE * 10  # Allow larger size for tici
+  MAX_SIZE = MAX_SIZE * 100  # Allow larger size for tici since files contain coredump
+MAX_TOMBSTONE_FN_LEN = 85
+
+TOMBSTONE_DIR = "/data/tombstones/"
+APPORT_DIR = "/var/crash/"
+
+
+def safe_fn(s):
+  extra = ['_']
+  return "".join(c for c in s if c.isalnum() or c in extra).rstrip()
+
+
+def sentry_report(client, fn, message, contents):
+  cloudlog.error({'tombstone': message})
+  client.captureMessage(
+    message=message,
+    sdk={'name': 'tombstoned', 'version': '0'},
+    extra={
+      'tombstone_fn': fn,
+      'tombstone': contents
+    },
+  )
+
+def clear_apport_folder():
+  for f in glob.glob(APPORT_DIR + '*'):
+    try:
+      os.remove(f)
+    except Exception:
+      pass
+
+
+def get_apport_stacktrace(fn):
+  try:
+    cmd = f'apport-retrace -s <(cat <(echo "Package: openpilot") "{fn}")'
+    return subprocess.check_output(cmd, shell=True, encoding='utf8', timeout=30, executable='/bin/bash')  # pylint: disable=unexpected-keyword-arg
+  except subprocess.CalledProcessError:
+    return "Error getting stacktrace"
+  except subprocess.TimeoutExpired:
+    return "Timeout getting stacktrace"
+
 
 def get_tombstones():
   """Returns list of (filename, ctime) for all tombstones in /data/tombstones
   and apport crashlogs in /var/crash"""
   files = []
-  for folder in ["/data/tombstones/", "/var/crash/"]:
+  for folder in [TOMBSTONE_DIR, APPORT_DIR]:
     if os.path.exists(folder):
       with os.scandir(folder) as d:
 
@@ -30,7 +77,7 @@ def get_tombstones():
   return files
 
 
-def report_tombstone(fn, client):
+def report_tombstone_android(fn, client):
   f_size = os.path.getsize(fn)
   if f_size > MAX_SIZE:
     cloudlog.error(f"Tombstone {fn} too big, {f_size}. Skipping...")
@@ -39,41 +86,99 @@ def report_tombstone(fn, client):
   with open(fn, encoding='ISO-8859-1') as f:
     contents = f.read()
 
-  # Get summary for sentry title
+  message = " ".join(contents.split('\n')[5:7])
-  if fn.endswith(".crash"):
-    lines = contents.split('\n')
-    message = lines[6]
 
-    status_idx = contents.find('ProcStatus')
+  # Cut off pid/tid, since that varies per run
-    if status_idx >= 0:
+  name_idx = message.find('name')
-      lines = contents[status_idx:].split('\n')
+  if name_idx >= 0:
-      message += " " + lines[1]
+    message = message[name_idx:]
-  else:
-    message = " ".join(contents.split('\n')[5:7])
 
-    # Cut off pid/tid, since that varies per run
+  # Cut off fault addr
-    name_idx = message.find('name')
+  fault_idx = message.find(', fault addr')
-    if name_idx >= 0:
+  if fault_idx >= 0:
-      message = message[name_idx:]
+    message = message[:fault_idx]
 
-    # Cut off fault addr
+  sentry_report(client, fn, message, contents)
-    fault_idx = message.find(', fault addr')
-    if fault_idx >= 0:
-      message = message[:fault_idx]
 
 
-  cloudlog.error({'tombstone': message})
+def report_tombstone_apport(fn, client):
-  client.captureMessage(
+  f_size = os.path.getsize(fn)
-    message=message,
+  if f_size > MAX_SIZE:
-    sdk={'name': 'tombstoned', 'version': '0'},
+    cloudlog.error(f"Tombstone {fn} too big, {f_size}. Skipping...")
-    extra={
+    return
-      'tombstone_fn': fn,
+
-      'tombstone': contents
+  message = ""  # One line description of the crash
-    },
+  contents = ""  # Full file contents without coredump
-  )
+  path = ""  # File path relative to openpilot directory
+
+  proc_maps = False
+
+  with open(fn) as f:
+    for line in f:
+      if "CoreDump" in line:
+        break
+      elif "ProcMaps" in line:
+        proc_maps = True
+      elif "ProcStatus" in line:
+        proc_maps = False
+
+      if not proc_maps:
+        contents += line
+
+      if "ExecutablePath" in line:
+        path = line.strip().split(': ')[-1]
+        path = path.replace('/data/openpilot/', '')
+        message += path
+      elif "Signal" in line:
+        message += " - " + line.strip()
+
+        try:
+          sig_num = int(line.strip().split(': ')[-1])
+          message += " (" + signal.Signals(sig_num).name + ")"  # pylint: disable=no-member
+        except ValueError:
+          pass
+
+  stacktrace = get_apport_stacktrace(fn)
+  stacktrace_s = stacktrace.split('\n')
+  crash_function = "No stacktrace"
+
+  if len(stacktrace_s) > 2:
+    found = False
+
+    # Try to find first entry in openpilot, fall back to first line
+    for line in stacktrace_s:
+      if "at selfdrive/" in line:
+          crash_function = line
+          found = True
+          break
+
+    if not found:
+      crash_function = stacktrace_s[1]
+
+    # Remove arguments that can contain pointers to make sentry one-liner unique
+    crash_function = re.sub(r'\(.*?\)', '', crash_function)
+
+  contents = stacktrace + "\n\n" + contents
+  message = message + " - " + crash_function
+  sentry_report(client, fn, message, contents)
+
+  # Copy crashlog to upload folder
+  clean_path = path.replace('/', '_')
+  date = datetime.datetime.now().strftime("%Y-%m-%d--%H-%M-%S")
+
+  new_fn = f"{date}_{commit[:8]}_{safe_fn(clean_path)}"[:MAX_TOMBSTONE_FN_LEN]
+
+  crashlog_dir = os.path.join(ROOT, "crash")
+  mkdirs_exists_ok(crashlog_dir)
+
+  # Files could be on different filesystems, copy, then delete
+  shutil.copy(fn, os.path.join(crashlog_dir, new_fn))
+  os.remove(fn)
 
 
 def main():
+  # TODO: turn on when all tombstones are recovered
+  # clear_apport_folder()  # Clear apport folder on start, otherwise duplicate crashes won't register
   initial_tombstones = set(get_tombstones())
 
   tags = {
@@ -91,7 +196,10 @@ def main():
     for fn, _ in (now_tombstones - initial_tombstones):
       try:
         cloudlog.info(f"reporting new tombstone {fn}")
-        report_tombstone(fn, client)
+        if fn.endswith(".crash"):
+          report_tombstone_apport(fn, client)
+        else:
+          report_tombstone_android(fn, client)
       except Exception:
         cloudlog.exception(f"Error reporting tombstone {fn}")
 

selfdrive/version.py

@@ -52,6 +52,7 @@ comma_remote: bool = False
 tested_branch: bool = False
 origin = get_git_remote()
 branch = get_git_full_branchname()
+commit = get_git_commit()
 
 if (origin is not None) and (branch is not None):
   try:
@@ -74,7 +75,7 @@ if (origin is not None) and (branch is not None):
         try:
           dirty_files = run_cmd(["git", "diff-index", branch, "--"])
           cloudlog.event("dirty comma branch", version=version, dirty=dirty, origin=origin, branch=branch,
-                         dirty_files=dirty_files, commit=get_git_commit(), origin_commit=get_git_commit(branch))
+                         dirty_files=dirty_files, commit=commit, origin_commit=get_git_commit(branch))
         except subprocess.CalledProcessError:
           pass