openpilot_comma/selfdrive/loggerd/uploader.py

#!/usr/bin/env python
import os
import time
import stat
import json
import random
import ctypes
import inspect
import requests
import traceback
import threading
import subprocess

from collections import Counter
from selfdrive.swaglog import cloudlog
from selfdrive.loggerd.config import ROOT

from common.params import Params
from common.api import api_get

fake_upload = os.getenv("FAKEUPLOAD") is not None

def raise_on_thread(t, exctype):
  for ctid, tobj in threading._active.items():
    if tobj is t:
      tid = ctid
      break
  else:
    raise Exception("Could not find thread")

  '''Raises an exception in the threads with id tid'''
  if not inspect.isclass(exctype):
    raise TypeError("Only types can be raised (not instances)")

  res = ctypes.pythonapi.PyThreadState_SetAsyncExc(ctypes.c_long(tid),
                                                   ctypes.py_object(exctype))
  if res == 0:
    raise ValueError("invalid thread id")
  elif res != 1:
    # "if it returns a number greater than one, you're in trouble,
    # and you should call it again with exc=NULL to revert the effect"
    ctypes.pythonapi.PyThreadState_SetAsyncExc(tid, 0)
    raise SystemError("PyThreadState_SetAsyncExc failed")

def listdir_with_creation_date(d):
  lst = os.listdir(d)
  for fn in lst:
    try:
      st = os.stat(os.path.join(d, fn))
      ctime = st[stat.ST_CTIME]
      yield (ctime, fn)
    except OSError:
      cloudlog.exception("listdir_with_creation_date: stat failed?")
      yield (None, fn)

def listdir_by_creation_date(d):
  times_and_paths = list(listdir_with_creation_date(d))
  return [path for _, path in sorted(times_and_paths)]

def clear_locks(root):
  for logname in os.listdir(root):
    path = os.path.join(root, logname)
    try:
      for fname in os.listdir(path):
        if fname.endswith(".lock"):
          os.unlink(os.path.join(path, fname))
    except OSError:
      cloudlog.exception("clear_locks failed")

def is_on_wifi():
  # ConnectivityManager.getActiveNetworkInfo()
  try:
    result = subprocess.check_output(["service", "call", "connectivity", "2"]).strip().split("\n")
  except subprocess.CalledProcessError:
    return False

  data = ''.join(''.join(w.decode("hex")[::-1] for w in l[14:49].split()) for l in result[1:])

  return "\x00".join("WIFI") in data


class Uploader(object):
  def __init__(self, dongle_id, access_token, root):
    self.dongle_id = dongle_id
    self.access_token = access_token
    self.root = root

    self.upload_thread = None

    self.last_resp = None
    self.last_exc = None

  def clean_dirs(self):
    try:
      for logname in os.listdir(self.root):
        path = os.path.join(self.root, logname)
        # remove empty directories
        if not os.listdir(path):
          os.rmdir(path)
    except OSError:
      cloudlog.exception("clean_dirs failed")

  def gen_upload_files(self):
    if not os.path.isdir(self.root):
      return
    for logname in listdir_by_creation_date(self.root):
      path = os.path.join(self.root, logname)
      names = os.listdir(path)
      if any(name.endswith(".lock") for name in names):
        continue

      for name in names:
        key = os.path.join(logname, name)
        fn = os.path.join(path, name)

        yield (name, key, fn)

  def get_data_stats(self):
    name_counts = Counter()
    total_size = 0
    for name, key, fn in self.gen_upload_files():
      name_counts[name] += 1
      total_size += os.stat(fn).st_size
    return dict(name_counts), total_size

  def next_file_to_upload(self, with_video):
    # try to upload log files first
    for name, key, fn in self.gen_upload_files():
      if name in ["rlog", "rlog.bz2"]:
        return (key, fn, 0)

    if with_video:
      # then upload compressed rear and front camera files
      for name, key, fn in self.gen_upload_files():
        if name == "fcamera.hevc":
          return (key, fn, 1)
        elif name == "dcamera.hevc":
          return (key, fn, 2)

      # then upload other files
      for name, key, fn in self.gen_upload_files():
        if not name.endswith('.lock') and not name.endswith(".tmp"):
          return (key, fn, 3)

    return None


  def do_upload(self, key, fn):
    try:
      url_resp = api_get("v1.2/"+self.dongle_id+"/upload_url/", timeout=2, path=key, access_token=self.access_token)
      url_resp_json = json.loads(url_resp.text)
      url = url_resp_json['url']
      headers = url_resp_json['headers']
      cloudlog.info("upload_url v1.2 %s %s", url, str(headers))

      if fake_upload:
        cloudlog.info("*** WARNING, THIS IS A FAKE UPLOAD TO %s ***" % url)
        class FakeResponse(object):
          def __init__(self):
            self.status_code = 200
        self.last_resp = FakeResponse()
      else:
        with open(fn, "rb") as f:
          self.last_resp = requests.put(url, data=f, headers=headers, timeout=10)
    except Exception as e:
      self.last_exc = (e, traceback.format_exc())
      raise

  def normal_upload(self, key, fn):
    self.last_resp = None
    self.last_exc = None

    try:
      self.do_upload(key, fn)
    except Exception:
      pass

    return self.last_resp

  def killable_upload(self, key, fn):
      self.last_resp = None
      self.last_exc = None

      self.upload_thread = threading.Thread(target=lambda: self.do_upload(key, fn))
      self.upload_thread.start()
      self.upload_thread.join()
      self.upload_thread = None

      return self.last_resp

  def abort_upload(self):
    thread = self.upload_thread
    if thread is None:
      return
    if not thread.is_alive():
      return
    raise_on_thread(thread, SystemExit)
    thread.join()

  def upload(self, key, fn):
    # write out the bz2 compress
    if fn.endswith("log"):
      ext = ".bz2"
      cloudlog.info("compressing %r to %r", fn, fn+ext)
      if os.system("nice -n 19 bzip2 -c %s > %s.tmp && mv %s.tmp %s%s && rm %s" % (fn, fn, fn, fn, ext, fn)) != 0:
        cloudlog.exception("upload: bzip2 compression failed")
        return False

      # assuming file is named properly
      key += ext
      fn += ext

    try:
      sz = os.path.getsize(fn)
    except OSError:
      cloudlog.exception("upload: getsize failed")
      return False

    cloudlog.event("upload", key=key, fn=fn, sz=sz)

    cloudlog.info("checking %r with size %r", key, sz)

    if sz == 0:
      # can't upload files of 0 size
      os.unlink(fn) # delete the file
      success = True
    else:
      cloudlog.info("uploading %r", fn)
      # stat = self.killable_upload(key, fn)
      stat = self.normal_upload(key, fn)
      if stat is not None and stat.status_code in (200, 201):
        cloudlog.event("upload_success", key=key, fn=fn, sz=sz)
        os.unlink(fn) # delete the file
        success = True
      else:
        cloudlog.event("upload_failed", stat=stat, exc=self.last_exc, key=key, fn=fn, sz=sz)
        success = False

    self.clean_dirs()

    return success



def uploader_fn(exit_event):
  cloudlog.info("uploader_fn")

  params = Params()
  dongle_id, access_token = params.get("DongleId"), params.get("AccessToken")

  if dongle_id is None or access_token is None:
    cloudlog.info("uploader MISSING DONGLE_ID or ACCESS_TOKEN")
    raise Exception("uploader can't start without dongle id and access token")

  uploader = Uploader(dongle_id, access_token, ROOT)

  backoff = 0.1
  while True:

    should_upload = (params.get("IsUploadVideoOverCellularEnabled") != "0") or is_on_wifi()

    if exit_event.is_set():
      return

    if not should_upload:
      time.sleep(5)
      continue

    d = uploader.next_file_to_upload(with_video=True)
    if d is None:
      time.sleep(5)
      continue

    key, fn, _ = d

    cloudlog.info("to upload %r", d)
    success = uploader.upload(key, fn)
    if success:
      backoff = 0.1
    else:
      cloudlog.info("backoff %r", backoff)
      time.sleep(backoff + random.uniform(0, backoff))
      backoff = min(backoff*2, 120)
    cloudlog.info("upload done, success=%r", success)

def main(gctx=None):
  uploader_fn(threading.Event())

if __name__ == "__main__":
  main()