openpilot_comma/selfdrive/manager/process.py

import importlib
import os
import signal
import struct
import time
import subprocess
from abc import ABC, abstractmethod
from multiprocessing import Process

from setproctitle import setproctitle  # pylint: disable=no-name-in-module

import cereal.messaging as messaging
import selfdrive.crash as crash
from common.basedir import BASEDIR
from common.params import Params
from common.realtime import sec_since_boot
from selfdrive.swaglog import cloudlog
from selfdrive.hardware import HARDWARE
from cereal import log

WATCHDOG_FN = "/dev/shm/wd_"
ENABLE_WATCHDOG = os.getenv("NO_WATCHDOG") is None


def launcher(proc):
  try:
    # import the process
    mod = importlib.import_module(proc)

    # rename the process
    setproctitle(proc)

    # create new context since we forked
    messaging.context = messaging.Context()

    # exec the process
    mod.main()
  except KeyboardInterrupt:
    cloudlog.warning("child %s got SIGINT" % proc)
  except Exception:
    # can't install the crash handler because sys.excepthook doesn't play nice
    # with threads, so catch it here.
    crash.capture_exception()
    raise


def nativelauncher(pargs, cwd):
  # exec the process
  os.chdir(cwd)
  os.execvp(pargs[0], pargs)


def join_process(process, timeout):
  # Process().join(timeout) will hang due to a python 3 bug: https://bugs.python.org/issue28382
  # We have to poll the exitcode instead
  t = time.monotonic()
  while time.monotonic() - t < timeout and process.exitcode is None:
    time.sleep(0.001)


class ManagerProcess(ABC):
  unkillable = False
  daemon = False
  sigkill = False
  proc = None
  enabled = True
  name = ""

  last_watchdog_time = 0
  watchdog_max_dt = None
  watchdog_seen = False
  shutting_down = False

  @abstractmethod
  def prepare(self):
    pass

  @abstractmethod
  def start(self):
    pass

  def restart(self):
    self.stop()
    self.start()

  def check_watchdog(self, started):
    if self.watchdog_max_dt is None or self.proc is None:
      return

    try:
      fn = WATCHDOG_FN + str(self.proc.pid)
      self.last_watchdog_time = struct.unpack('Q', open(fn, "rb").read())[0]
    except Exception:
      pass

    dt = sec_since_boot() - self.last_watchdog_time / 1e9

    if dt > self.watchdog_max_dt:
      # Only restart while offroad for now
      if self.watchdog_seen and ENABLE_WATCHDOG:
        cloudlog.error(f"Watchdog timeout for {self.name} (exitcode {self.proc.exitcode}) restarting ({started=})")
        self.restart()
    else:
      self.watchdog_seen = True

  def stop(self, retry=True, block=True):
    if self.proc is None:
      return

    if self.proc.exitcode is None:
      if not self.shutting_down:
        cloudlog.info(f"killing {self.name}")
        sig = signal.SIGKILL if self.sigkill else signal.SIGINT
        self.signal(sig)
        self.shutting_down = True

        if not block:
          return

      join_process(self.proc, 5)

      # If process failed to die send SIGKILL or reboot
      if self.proc.exitcode is None and retry:
        if self.unkillable:
          cloudlog.critical(f"unkillable process {self.name} failed to exit! rebooting in 15 if it doesn't die")
          join_process(self.proc, 15)

          if self.proc.exitcode is None:
            cloudlog.critical(f"unkillable process {self.name} failed to die!")
            os.system("date >> /data/unkillable_reboot")
            os.sync()
            HARDWARE.reboot()
            raise RuntimeError
        else:
          cloudlog.info(f"killing {self.name} with SIGKILL")
          self.signal(signal.SIGKILL)
          self.proc.join()

    ret = self.proc.exitcode
    cloudlog.info(f"{self.name} is dead with {ret}")

    if self.proc.exitcode is not None:
      self.shutting_down = False
      self.proc = None

    return ret

  def signal(self, sig):
    if self.proc is None:
      return

    # Don't signal if already exited
    if self.proc.exitcode is not None and self.proc.pid is not None:
      return

    cloudlog.info(f"sending signal {sig} to {self.name}")
    os.kill(self.proc.pid, sig)

  def get_process_state_msg(self):
    state = log.ManagerState.ProcessState.new_message()
    state.name = self.name
    if self.proc:
      state.running = self.proc.is_alive()
      state.shouldBeRunning = self.proc is not None and not self.shutting_down
      state.pid = self.proc.pid or 0
      state.exitCode = self.proc.exitcode or 0
    return state


class NativeProcess(ManagerProcess):
  def __init__(self, name, cwd, cmdline, enabled=True, persistent=False, driverview=False, unkillable=False, sigkill=False, watchdog_max_dt=None):
    self.name = name
    self.cwd = cwd
    self.cmdline = cmdline
    self.enabled = enabled
    self.persistent = persistent
    self.driverview = driverview
    self.unkillable = unkillable
    self.sigkill = sigkill
    self.watchdog_max_dt = watchdog_max_dt

  def prepare(self):
    pass

  def start(self):
    # In case we only tried a non blocking stop we need to stop it before restarting
    if self.shutting_down:
        self.stop()

    if self.proc is not None:
      return

    cwd = os.path.join(BASEDIR, self.cwd)
    cloudlog.info("starting process %s" % self.name)
    self.proc = Process(name=self.name, target=nativelauncher, args=(self.cmdline, cwd))
    self.proc.start()
    self.watchdog_seen = False
    self.shutting_down = False


class PythonProcess(ManagerProcess):
  def __init__(self, name, module, enabled=True, persistent=False, driverview=False, unkillable=False, sigkill=False, watchdog_max_dt=None):
    self.name = name
    self.module = module
    self.enabled = enabled
    self.persistent = persistent
    self.driverview = driverview
    self.unkillable = unkillable
    self.sigkill = sigkill
    self.watchdog_max_dt = watchdog_max_dt

  def prepare(self):
    if self.enabled:
      cloudlog.info("preimporting %s" % self.module)
      importlib.import_module(self.module)

  def start(self):
    # In case we only tried a non blocking stop we need to stop it before restarting
    if self.shutting_down:
        self.stop()

    if self.proc is not None:
      return

    cloudlog.info("starting python %s" % self.module)
    self.proc = Process(name=self.name, target=launcher, args=(self.module,))
    self.proc.start()
    self.watchdog_seen = False
    self.shutting_down = False


class DaemonProcess(ManagerProcess):
  """Python process that has to stay running across manager restart.
  This is used for athena so you don't lose SSH access when restarting manager."""
  def __init__(self, name, module, param_name, enabled=True):
    self.name = name
    self.module = module
    self.param_name = param_name
    self.enabled = enabled
    self.persistent = True

  def prepare(self):
    pass

  def start(self):
    params = Params()
    pid = params.get(self.param_name, encoding='utf-8')

    if pid is not None:
      try:
        os.kill(int(pid), 0)
        with open(f'/proc/{pid}/cmdline') as f:
          if self.module in f.read():
            # daemon is running
            return
      except (OSError, FileNotFoundError):
        # process is dead
        pass

    cloudlog.info("starting daemon %s" % self.name)
    proc = subprocess.Popen(['python', '-m', self.module],  # pylint: disable=subprocess-popen-preexec-fn
                               stdin=open('/dev/null', 'r'),
                               stdout=open('/dev/null', 'w'),
                               stderr=open('/dev/null', 'w'),
                               preexec_fn=os.setpgrp)

    params.put(self.param_name, str(proc.pid))

  def stop(self, retry=True, block=True):
    pass


def ensure_running(procs, started, driverview=False, not_run=None):
  if not_run is None:
    not_run = []

  for p in procs:
    if p.name in not_run:
      p.stop(block=False)
    elif not p.enabled:
      p.stop(block=False)
    elif p.persistent:
      p.start()
    elif p.driverview and driverview:
      p.start()
    elif started:
      p.start()
    else:
      p.stop(block=False)

    p.check_watchdog(started)