openpilot is an open source driver assistance system. openpilot performs the functions of Automated Lane Centering and Adaptive Cruise Control for over 200 supported car makes and models.
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import os
import sys
import time
import subprocess
import threading
from itertools import chain
from werkzeug._internal import _log
from werkzeug._compat import PY2, iteritems, text_type
def _iter_module_files():
"""This iterates over all relevant Python files. It goes through all
loaded files from modules, all files in folders of already loaded modules
as well as all files reachable through a package.
"""
# The list call is necessary on Python 3 in case the module
# dictionary modifies during iteration.
for module in list(sys.modules.values()):
if module is None:
continue
filename = getattr(module, '__file__', None)
if filename:
if os.path.isdir(filename) and \
os.path.exists(os.path.join(filename, "__init__.py")):
filename = os.path.join(filename, "__init__.py")
old = None
while not os.path.isfile(filename):
old = filename
filename = os.path.dirname(filename)
if filename == old:
break
else:
if filename[-4:] in ('.pyc', '.pyo'):
filename = filename[:-1]
yield filename
def _find_observable_paths(extra_files=None):
"""Finds all paths that should be observed."""
rv = set(os.path.dirname(os.path.abspath(x))
if os.path.isfile(x) else os.path.abspath(x)
for x in sys.path)
for filename in extra_files or ():
rv.add(os.path.dirname(os.path.abspath(filename)))
for module in list(sys.modules.values()):
fn = getattr(module, '__file__', None)
if fn is None:
continue
fn = os.path.abspath(fn)
rv.add(os.path.dirname(fn))
return _find_common_roots(rv)
def _get_args_for_reloading():
"""Returns the executable. This contains a workaround for windows
if the executable is incorrectly reported to not have the .exe
extension which can cause bugs on reloading.
"""
rv = [sys.executable]
py_script = sys.argv[0]
if os.name == 'nt' and not os.path.exists(py_script) and \
os.path.exists(py_script + '.exe'):
py_script += '.exe'
if os.path.splitext(rv[0])[1] == '.exe' and os.path.splitext(py_script)[1] == '.exe':
rv.pop(0)
rv.append(py_script)
rv.extend(sys.argv[1:])
return rv
def _find_common_roots(paths):
"""Out of some paths it finds the common roots that need monitoring."""
paths = [x.split(os.path.sep) for x in paths]
root = {}
for chunks in sorted(paths, key=len, reverse=True):
node = root
for chunk in chunks:
node = node.setdefault(chunk, {})
node.clear()
rv = set()
def _walk(node, path):
for prefix, child in iteritems(node):
_walk(child, path + (prefix,))
if not node:
rv.add('/'.join(path))
_walk(root, ())
return rv
class ReloaderLoop(object):
name = None
# monkeypatched by testsuite. wrapping with `staticmethod` is required in
# case time.sleep has been replaced by a non-c function (e.g. by
# `eventlet.monkey_patch`) before we get here
_sleep = staticmethod(time.sleep)
def __init__(self, extra_files=None, interval=1):
self.extra_files = set(os.path.abspath(x)
for x in extra_files or ())
self.interval = interval
def run(self):
pass
def restart_with_reloader(self):
"""Spawn a new Python interpreter with the same arguments as this one,
but running the reloader thread.
"""
while 1:
_log('info', ' * Restarting with %s' % self.name)
args = _get_args_for_reloading()
new_environ = os.environ.copy()
new_environ['WERKZEUG_RUN_MAIN'] = 'true'
# a weird bug on windows. sometimes unicode strings end up in the
# environment and subprocess.call does not like this, encode them
# to latin1 and continue.
if os.name == 'nt' and PY2:
for key, value in iteritems(new_environ):
if isinstance(value, text_type):
new_environ[key] = value.encode('iso-8859-1')
exit_code = subprocess.call(args, env=new_environ,
close_fds=False)
if exit_code != 3:
return exit_code
def trigger_reload(self, filename):
self.log_reload(filename)
sys.exit(3)
def log_reload(self, filename):
filename = os.path.abspath(filename)
_log('info', ' * Detected change in %r, reloading' % filename)
class StatReloaderLoop(ReloaderLoop):
name = 'stat'
def run(self):
mtimes = {}
while 1:
for filename in chain(_iter_module_files(),
self.extra_files):
try:
mtime = os.stat(filename).st_mtime
except OSError:
continue
old_time = mtimes.get(filename)
if old_time is None:
mtimes[filename] = mtime
continue
elif mtime > old_time:
self.trigger_reload(filename)
self._sleep(self.interval)
class WatchdogReloaderLoop(ReloaderLoop):
def __init__(self, *args, **kwargs):
ReloaderLoop.__init__(self, *args, **kwargs)
from watchdog.observers import Observer
from watchdog.events import FileSystemEventHandler
self.observable_paths = set()
def _check_modification(filename):
if filename in self.extra_files:
self.trigger_reload(filename)
dirname = os.path.dirname(filename)
if dirname.startswith(tuple(self.observable_paths)):
if filename.endswith(('.pyc', '.pyo', '.py')):
self.trigger_reload(filename)
class _CustomHandler(FileSystemEventHandler):
def on_created(self, event):
_check_modification(event.src_path)
def on_modified(self, event):
_check_modification(event.src_path)
def on_moved(self, event):
_check_modification(event.src_path)
_check_modification(event.dest_path)
def on_deleted(self, event):
_check_modification(event.src_path)
reloader_name = Observer.__name__.lower()
if reloader_name.endswith('observer'):
reloader_name = reloader_name[:-8]
reloader_name += ' reloader'
self.name = reloader_name
self.observer_class = Observer
self.event_handler = _CustomHandler()
self.should_reload = False
def trigger_reload(self, filename):
# This is called inside an event handler, which means throwing
# SystemExit has no effect.
# https://github.com/gorakhargosh/watchdog/issues/294
self.should_reload = True
self.log_reload(filename)
def run(self):
watches = {}
observer = self.observer_class()
observer.start()
try:
while not self.should_reload:
to_delete = set(watches)
paths = _find_observable_paths(self.extra_files)
for path in paths:
if path not in watches:
try:
watches[path] = observer.schedule(
self.event_handler, path, recursive=True)
except OSError:
# Clear this path from list of watches We don't want
# the same error message showing again in the next
# iteration.
watches[path] = None
to_delete.discard(path)
for path in to_delete:
watch = watches.pop(path, None)
if watch is not None:
observer.unschedule(watch)
self.observable_paths = paths
self._sleep(self.interval)
finally:
observer.stop()
observer.join()
sys.exit(3)
reloader_loops = {
'stat': StatReloaderLoop,
'watchdog': WatchdogReloaderLoop,
}
try:
__import__('watchdog.observers')
except ImportError:
reloader_loops['auto'] = reloader_loops['stat']
else:
reloader_loops['auto'] = reloader_loops['watchdog']
def run_with_reloader(main_func, extra_files=None, interval=1,
reloader_type='auto'):
"""Run the given function in an independent python interpreter."""
import signal
reloader = reloader_loops[reloader_type](extra_files, interval)
signal.signal(signal.SIGTERM, lambda *args: sys.exit(0))
try:
if os.environ.get('WERKZEUG_RUN_MAIN') == 'true':
t = threading.Thread(target=main_func, args=())
t.setDaemon(True)
t.start()
reloader.run()
else:
sys.exit(reloader.restart_with_reloader())
except KeyboardInterrupt:
pass