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@ -1,35 +1,21 @@ |
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#!/usr/bin/env python3 |
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#!/usr/bin/env python3 |
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import os |
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import os |
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import re |
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from pathlib import Path |
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import datetime |
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import datetime |
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import subprocess |
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import subprocess |
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import psutil |
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import psutil |
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import shutil |
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import signal |
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import signal |
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import fcntl |
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import fcntl |
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import time |
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import threading |
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import threading |
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from collections import defaultdict |
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from pathlib import Path |
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from markdown_it import MarkdownIt |
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from openpilot.common.basedir import BASEDIR |
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from openpilot.common.params import Params |
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from openpilot.common.params import Params |
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from openpilot.common.time import system_time_valid |
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from openpilot.common.time import system_time_valid |
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from openpilot.selfdrive.updated.common import LOCK_FILE, STAGING_ROOT, UpdateStrategy, run, set_consistent_flag |
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from openpilot.system.hardware import AGNOS, HARDWARE |
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from openpilot.system.hardware import AGNOS, HARDWARE |
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from openpilot.common.swaglog import cloudlog |
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from openpilot.common.swaglog import cloudlog |
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from openpilot.selfdrive.controls.lib.alertmanager import set_offroad_alert |
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from openpilot.selfdrive.controls.lib.alertmanager import set_offroad_alert |
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from openpilot.system.version import is_tested_branch |
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from openpilot.system.version import is_tested_branch |
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from openpilot.selfdrive.updated.git import GitUpdateStrategy |
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LOCK_FILE = os.getenv("UPDATER_LOCK_FILE", "/tmp/safe_staging_overlay.lock") |
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STAGING_ROOT = os.getenv("UPDATER_STAGING_ROOT", "/data/safe_staging") |
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OVERLAY_UPPER = os.path.join(STAGING_ROOT, "upper") |
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OVERLAY_METADATA = os.path.join(STAGING_ROOT, "metadata") |
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OVERLAY_MERGED = os.path.join(STAGING_ROOT, "merged") |
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FINALIZED = os.path.join(STAGING_ROOT, "finalized") |
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OVERLAY_INIT = Path(os.path.join(BASEDIR, ".overlay_init")) |
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DAYS_NO_CONNECTIVITY_MAX = 14 # do not allow to engage after this many days |
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DAYS_NO_CONNECTIVITY_MAX = 14 # do not allow to engage after this many days |
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DAYS_NO_CONNECTIVITY_PROMPT = 10 # send an offroad prompt after this many days |
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DAYS_NO_CONNECTIVITY_PROMPT = 10 # send an offroad prompt after this many days |
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@ -71,147 +57,13 @@ def read_time_from_param(params, param) -> datetime.datetime | None: |
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pass |
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pass |
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return None |
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return None |
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def run(cmd: list[str], cwd: str = None) -> str: |
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return subprocess.check_output(cmd, cwd=cwd, stderr=subprocess.STDOUT, encoding='utf8') |
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def set_consistent_flag(consistent: bool) -> None: |
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os.sync() |
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consistent_file = Path(os.path.join(FINALIZED, ".overlay_consistent")) |
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if consistent: |
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consistent_file.touch() |
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elif not consistent: |
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consistent_file.unlink(missing_ok=True) |
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os.sync() |
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def parse_release_notes(basedir: str) -> bytes: |
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try: |
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with open(os.path.join(basedir, "RELEASES.md"), "rb") as f: |
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r = f.read().split(b'\n\n', 1)[0] # Slice latest release notes |
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try: |
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return bytes(MarkdownIt().render(r.decode("utf-8")), encoding="utf-8") |
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except Exception: |
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return r + b"\n" |
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except FileNotFoundError: |
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pass |
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except Exception: |
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cloudlog.exception("failed to parse release notes") |
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return b"" |
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def setup_git_options(cwd: str) -> None: |
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# We sync FS object atimes (which NEOS doesn't use) and mtimes, but ctimes |
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# are outside user control. Make sure Git is set up to ignore system ctimes, |
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# because they change when we make hard links during finalize. Otherwise, |
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# there is a lot of unnecessary churn. This appears to be a common need on |
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# OSX as well: https://www.git-tower.com/blog/make-git-rebase-safe-on-osx/ |
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# We are using copytree to copy the directory, which also changes |
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# inode numbers. Ignore those changes too. |
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# Set protocol to the new version (default after git 2.26) to reduce data |
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# usage on git fetch --dry-run from about 400KB to 18KB. |
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git_cfg = [ |
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("core.trustctime", "false"), |
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("core.checkStat", "minimal"), |
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("protocol.version", "2"), |
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("gc.auto", "0"), |
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("gc.autoDetach", "false"), |
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] |
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for option, value in git_cfg: |
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run(["git", "config", option, value], cwd) |
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def dismount_overlay() -> None: |
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if os.path.ismount(OVERLAY_MERGED): |
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cloudlog.info("unmounting existing overlay") |
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run(["sudo", "umount", "-l", OVERLAY_MERGED]) |
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def init_overlay() -> None: |
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# Re-create the overlay if BASEDIR/.git has changed since we created the overlay |
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if OVERLAY_INIT.is_file() and os.path.ismount(OVERLAY_MERGED): |
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git_dir_path = os.path.join(BASEDIR, ".git") |
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new_files = run(["find", git_dir_path, "-newer", str(OVERLAY_INIT)]) |
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if not len(new_files.splitlines()): |
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# A valid overlay already exists |
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return |
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else: |
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cloudlog.info(".git directory changed, recreating overlay") |
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cloudlog.info("preparing new safe staging area") |
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params = Params() |
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params.put_bool("UpdateAvailable", False) |
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set_consistent_flag(False) |
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dismount_overlay() |
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run(["sudo", "rm", "-rf", STAGING_ROOT]) |
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if os.path.isdir(STAGING_ROOT): |
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shutil.rmtree(STAGING_ROOT) |
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for dirname in [STAGING_ROOT, OVERLAY_UPPER, OVERLAY_METADATA, OVERLAY_MERGED]: |
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os.mkdir(dirname, 0o755) |
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if os.lstat(BASEDIR).st_dev != os.lstat(OVERLAY_MERGED).st_dev: |
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raise RuntimeError("base and overlay merge directories are on different filesystems; not valid for overlay FS!") |
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# Leave a timestamped canary in BASEDIR to check at startup. The device clock |
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# should be correct by the time we get here. If the init file disappears, or |
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# critical mtimes in BASEDIR are newer than .overlay_init, continue.sh can |
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# assume that BASEDIR has used for local development or otherwise modified, |
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# and skips the update activation attempt. |
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consistent_file = Path(os.path.join(BASEDIR, ".overlay_consistent")) |
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if consistent_file.is_file(): |
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consistent_file.unlink() |
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OVERLAY_INIT.touch() |
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os.sync() |
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overlay_opts = f"lowerdir={BASEDIR},upperdir={OVERLAY_UPPER},workdir={OVERLAY_METADATA}" |
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mount_cmd = ["mount", "-t", "overlay", "-o", overlay_opts, "none", OVERLAY_MERGED] |
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run(["sudo"] + mount_cmd) |
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run(["sudo", "chmod", "755", os.path.join(OVERLAY_METADATA, "work")]) |
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git_diff = run(["git", "diff"], OVERLAY_MERGED) |
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params.put("GitDiff", git_diff) |
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cloudlog.info(f"git diff output:\n{git_diff}") |
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def finalize_update() -> None: |
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"""Take the current OverlayFS merged view and finalize a copy outside of |
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OverlayFS, ready to be swapped-in at BASEDIR. Copy using shutil.copytree""" |
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# Remove the update ready flag and any old updates |
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cloudlog.info("creating finalized version of the overlay") |
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set_consistent_flag(False) |
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# Copy the merged overlay view and set the update ready flag |
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if os.path.exists(FINALIZED): |
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shutil.rmtree(FINALIZED) |
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shutil.copytree(OVERLAY_MERGED, FINALIZED, symlinks=True) |
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run(["git", "reset", "--hard"], FINALIZED) |
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run(["git", "submodule", "foreach", "--recursive", "git", "reset", "--hard"], FINALIZED) |
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cloudlog.info("Starting git cleanup in finalized update") |
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t = time.monotonic() |
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try: |
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run(["git", "gc"], FINALIZED) |
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run(["git", "lfs", "prune"], FINALIZED) |
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cloudlog.event("Done git cleanup", duration=time.monotonic() - t) |
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except subprocess.CalledProcessError: |
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cloudlog.exception(f"Failed git cleanup, took {time.monotonic() - t:.3f} s") |
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set_consistent_flag(True) |
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cloudlog.info("done finalizing overlay") |
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def handle_agnos_update() -> None: |
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def handle_agnos_update(fetched_path) -> None: |
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from openpilot.system.hardware.tici.agnos import flash_agnos_update, get_target_slot_number |
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from openpilot.system.hardware.tici.agnos import flash_agnos_update, get_target_slot_number |
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cur_version = HARDWARE.get_os_version() |
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cur_version = HARDWARE.get_os_version() |
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updated_version = run(["bash", "-c", r"unset AGNOS_VERSION && source launch_env.sh && \ |
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updated_version = run(["bash", "-c", r"unset AGNOS_VERSION && source launch_env.sh && \ |
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echo -n $AGNOS_VERSION"], OVERLAY_MERGED).strip() |
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echo -n $AGNOS_VERSION"], fetched_path).strip() |
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cloudlog.info(f"AGNOS version check: {cur_version} vs {updated_version}") |
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cloudlog.info(f"AGNOS version check: {cur_version} vs {updated_version}") |
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if cur_version == updated_version: |
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if cur_version == updated_version: |
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@ -223,61 +75,44 @@ def handle_agnos_update() -> None: |
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cloudlog.info(f"Beginning background installation for AGNOS {updated_version}") |
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cloudlog.info(f"Beginning background installation for AGNOS {updated_version}") |
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set_offroad_alert("Offroad_NeosUpdate", True) |
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set_offroad_alert("Offroad_NeosUpdate", True) |
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manifest_path = os.path.join(OVERLAY_MERGED, "system/hardware/tici/agnos.json") |
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manifest_path = os.path.join(fetched_path, "system/hardware/tici/agnos.json") |
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target_slot_number = get_target_slot_number() |
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target_slot_number = get_target_slot_number() |
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flash_agnos_update(manifest_path, target_slot_number, cloudlog) |
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flash_agnos_update(manifest_path, target_slot_number, cloudlog) |
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set_offroad_alert("Offroad_NeosUpdate", False) |
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set_offroad_alert("Offroad_NeosUpdate", False) |
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STRATEGY = { |
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"git": GitUpdateStrategy, |
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} |
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class Updater: |
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class Updater: |
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def __init__(self): |
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def __init__(self): |
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self.params = Params() |
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self.params = Params() |
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self.branches = defaultdict(str) |
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self._has_internet: bool = False |
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self._has_internet: bool = False |
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self.strategy: UpdateStrategy = STRATEGY[os.environ.get("UPDATER_STRATEGY", "git")]() |
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@property |
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@property |
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def has_internet(self) -> bool: |
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def has_internet(self) -> bool: |
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return self._has_internet |
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return self._has_internet |
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@property |
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def init(self): |
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def target_branch(self) -> str: |
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self.strategy.init() |
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b: str | None = self.params.get("UpdaterTargetBranch", encoding='utf-8') |
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if b is None: |
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b = self.get_branch(BASEDIR) |
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return b |
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@property |
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def update_ready(self) -> bool: |
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consistent_file = Path(os.path.join(FINALIZED, ".overlay_consistent")) |
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if consistent_file.is_file(): |
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hash_mismatch = self.get_commit_hash(BASEDIR) != self.branches[self.target_branch] |
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branch_mismatch = self.get_branch(BASEDIR) != self.target_branch |
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on_target_branch = self.get_branch(FINALIZED) == self.target_branch |
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return ((hash_mismatch or branch_mismatch) and on_target_branch) |
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return False |
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@property |
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def cleanup(self): |
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def update_available(self) -> bool: |
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self.strategy.cleanup() |
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if os.path.isdir(OVERLAY_MERGED) and len(self.branches) > 0: |
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hash_mismatch = self.get_commit_hash(OVERLAY_MERGED) != self.branches[self.target_branch] |
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branch_mismatch = self.get_branch(OVERLAY_MERGED) != self.target_branch |
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return hash_mismatch or branch_mismatch |
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return False |
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def get_branch(self, path: str) -> str: |
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return run(["git", "rev-parse", "--abbrev-ref", "HEAD"], path).rstrip() |
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def get_commit_hash(self, path: str = OVERLAY_MERGED) -> str: |
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return run(["git", "rev-parse", "HEAD"], path).rstrip() |
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def set_params(self, update_success: bool, failed_count: int, exception: str | None) -> None: |
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def set_params(self, update_success: bool, failed_count: int, exception: str | None) -> None: |
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self.params.put("UpdateFailedCount", str(failed_count)) |
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self.params.put("UpdateFailedCount", str(failed_count)) |
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self.params.put("UpdaterTargetBranch", self.target_branch) |
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self.params.put_bool("UpdaterFetchAvailable", self.update_available) |
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if self.params.get("UpdaterTargetBranch") is None: |
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if len(self.branches): |
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self.params.put("UpdaterTargetBranch", self.strategy.current_channel()) |
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self.params.put("UpdaterAvailableBranches", ','.join(self.branches.keys())) |
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self.params.put_bool("UpdaterFetchAvailable", self.strategy.update_available()) |
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available_channels = self.strategy.get_available_channels() |
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self.params.put("UpdaterAvailableBranches", ','.join(available_channels)) |
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last_update = datetime.datetime.utcnow() |
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last_update = datetime.datetime.utcnow() |
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if update_success: |
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if update_success: |
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@ -292,32 +127,14 @@ class Updater: |
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else: |
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else: |
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self.params.put("LastUpdateException", exception) |
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self.params.put("LastUpdateException", exception) |
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# Write out current and new version info |
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description_current, release_notes_current = self.strategy.describe_current_channel() |
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def get_description(basedir: str) -> str: |
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description_ready, release_notes_ready = self.strategy.describe_ready_channel() |
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if not os.path.exists(basedir): |
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return "" |
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version = "" |
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self.params.put("UpdaterCurrentDescription", description_current) |
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branch = "" |
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self.params.put("UpdaterCurrentReleaseNotes", release_notes_current) |
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commit = "" |
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self.params.put("UpdaterNewDescription", description_ready) |
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commit_date = "" |
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self.params.put("UpdaterNewReleaseNotes", release_notes_ready) |
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try: |
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self.params.put_bool("UpdateAvailable", self.strategy.update_ready()) |
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branch = self.get_branch(basedir) |
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commit = self.get_commit_hash(basedir)[:7] |
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with open(os.path.join(basedir, "common", "version.h")) as f: |
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version = f.read().split('"')[1] |
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commit_unix_ts = run(["git", "show", "-s", "--format=%ct", "HEAD"], basedir).rstrip() |
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dt = datetime.datetime.fromtimestamp(int(commit_unix_ts)) |
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commit_date = dt.strftime("%b %d") |
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except Exception: |
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cloudlog.exception("updater.get_description") |
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return f"{version} / {branch} / {commit} / {commit_date}" |
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self.params.put("UpdaterCurrentDescription", get_description(BASEDIR)) |
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self.params.put("UpdaterCurrentReleaseNotes", parse_release_notes(BASEDIR)) |
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self.params.put("UpdaterNewDescription", get_description(FINALIZED)) |
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self.params.put("UpdaterNewReleaseNotes", parse_release_notes(FINALIZED)) |
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self.params.put_bool("UpdateAvailable", self.update_ready) |
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# Handle user prompt |
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# Handle user prompt |
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|
|
for alert in ("Offroad_UpdateFailed", "Offroad_ConnectivityNeeded", "Offroad_ConnectivityNeededPrompt"): |
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|
for alert in ("Offroad_UpdateFailed", "Offroad_ConnectivityNeeded", "Offroad_ConnectivityNeededPrompt"): |
|
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|
@ -341,67 +158,24 @@ class Updater: |
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|
def check_for_update(self) -> None: |
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|
def check_for_update(self) -> None: |
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|
|
cloudlog.info("checking for updates") |
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|
|
cloudlog.info("checking for updates") |
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|
|
excluded_branches = ('release2', 'release2-staging') |
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|
|
self.strategy.update_available() |
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|
|
try: |
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|
run(["git", "ls-remote", "origin", "HEAD"], OVERLAY_MERGED) |
|
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|
|
self._has_internet = True |
|
|
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|
|
except subprocess.CalledProcessError: |
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|
|
self._has_internet = False |
|
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|
|
setup_git_options(OVERLAY_MERGED) |
|
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|
|
output = run(["git", "ls-remote", "--heads"], OVERLAY_MERGED) |
|
|
|
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|
|
|
|
|
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|
|
self.branches = defaultdict(lambda: None) |
|
|
|
|
|
|
|
for line in output.split('\n'): |
|
|
|
|
|
|
|
ls_remotes_re = r'(?P<commit_sha>\b[0-9a-f]{5,40}\b)(\s+)(refs\/heads\/)(?P<branch_name>.*$)' |
|
|
|
|
|
|
|
x = re.fullmatch(ls_remotes_re, line.strip()) |
|
|
|
|
|
|
|
if x is not None and x.group('branch_name') not in excluded_branches: |
|
|
|
|
|
|
|
self.branches[x.group('branch_name')] = x.group('commit_sha') |
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
cur_branch = self.get_branch(OVERLAY_MERGED) |
|
|
|
|
|
|
|
cur_commit = self.get_commit_hash(OVERLAY_MERGED) |
|
|
|
|
|
|
|
new_branch = self.target_branch |
|
|
|
|
|
|
|
new_commit = self.branches[new_branch] |
|
|
|
|
|
|
|
if (cur_branch, cur_commit) != (new_branch, new_commit): |
|
|
|
|
|
|
|
cloudlog.info(f"update available, {cur_branch} ({str(cur_commit)[:7]}) -> {new_branch} ({str(new_commit)[:7]})") |
|
|
|
|
|
|
|
else: |
|
|
|
|
|
|
|
cloudlog.info(f"up to date on {cur_branch} ({str(cur_commit)[:7]})") |
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
def fetch_update(self) -> None: |
|
|
|
def fetch_update(self) -> None: |
|
|
|
cloudlog.info("attempting git fetch inside staging overlay") |
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
self.params.put("UpdaterState", "downloading...") |
|
|
|
self.params.put("UpdaterState", "downloading...") |
|
|
|
|
|
|
|
|
|
|
|
# TODO: cleanly interrupt this and invalidate old update |
|
|
|
# TODO: cleanly interrupt this and invalidate old update |
|
|
|
set_consistent_flag(False) |
|
|
|
set_consistent_flag(False) |
|
|
|
self.params.put_bool("UpdateAvailable", False) |
|
|
|
self.params.put_bool("UpdateAvailable", False) |
|
|
|
|
|
|
|
|
|
|
|
setup_git_options(OVERLAY_MERGED) |
|
|
|
self.strategy.fetch_update() |
|
|
|
|
|
|
|
|
|
|
|
branch = self.target_branch |
|
|
|
|
|
|
|
git_fetch_output = run(["git", "fetch", "origin", branch], OVERLAY_MERGED) |
|
|
|
|
|
|
|
cloudlog.info("git fetch success: %s", git_fetch_output) |
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
cloudlog.info("git reset in progress") |
|
|
|
|
|
|
|
cmds = [ |
|
|
|
|
|
|
|
["git", "checkout", "--force", "--no-recurse-submodules", "-B", branch, "FETCH_HEAD"], |
|
|
|
|
|
|
|
["git", "reset", "--hard"], |
|
|
|
|
|
|
|
["git", "clean", "-xdff"], |
|
|
|
|
|
|
|
["git", "submodule", "sync"], |
|
|
|
|
|
|
|
["git", "submodule", "update", "--init", "--recursive"], |
|
|
|
|
|
|
|
["git", "submodule", "foreach", "--recursive", "git", "reset", "--hard"], |
|
|
|
|
|
|
|
] |
|
|
|
|
|
|
|
r = [run(cmd, OVERLAY_MERGED) for cmd in cmds] |
|
|
|
|
|
|
|
cloudlog.info("git reset success: %s", '\n'.join(r)) |
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
# TODO: show agnos download progress |
|
|
|
# TODO: show agnos download progress |
|
|
|
if AGNOS: |
|
|
|
if AGNOS: |
|
|
|
handle_agnos_update() |
|
|
|
handle_agnos_update(self.strategy.fetched_path()) |
|
|
|
|
|
|
|
|
|
|
|
# Create the finalized, ready-to-swap update |
|
|
|
# Create the finalized, ready-to-swap update |
|
|
|
self.params.put("UpdaterState", "finalizing update...") |
|
|
|
self.params.put("UpdaterState", "finalizing update...") |
|
|
|
finalize_update() |
|
|
|
self.strategy.finalize_update() |
|
|
|
cloudlog.info("finalize success!") |
|
|
|
cloudlog.info("finalize success!") |
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
@ -450,7 +224,7 @@ def main() -> None: |
|
|
|
exception = None |
|
|
|
exception = None |
|
|
|
try: |
|
|
|
try: |
|
|
|
# TODO: reuse overlay from previous updated instance if it looks clean |
|
|
|
# TODO: reuse overlay from previous updated instance if it looks clean |
|
|
|
init_overlay() |
|
|
|
updater.init() |
|
|
|
|
|
|
|
|
|
|
|
# ensure we have some params written soon after startup |
|
|
|
# ensure we have some params written soon after startup |
|
|
|
updater.set_params(False, update_failed_count, exception) |
|
|
|
updater.set_params(False, update_failed_count, exception) |
|
|
|
@ -486,11 +260,11 @@ def main() -> None: |
|
|
|
returncode=e.returncode |
|
|
|
returncode=e.returncode |
|
|
|
) |
|
|
|
) |
|
|
|
exception = f"command failed: {e.cmd}\n{e.output}" |
|
|
|
exception = f"command failed: {e.cmd}\n{e.output}" |
|
|
|
OVERLAY_INIT.unlink(missing_ok=True) |
|
|
|
updater.cleanup() |
|
|
|
except Exception as e: |
|
|
|
except Exception as e: |
|
|
|
cloudlog.exception("uncaught updated exception, shouldn't happen") |
|
|
|
cloudlog.exception("uncaught updated exception, shouldn't happen") |
|
|
|
exception = str(e) |
|
|
|
exception = str(e) |
|
|
|
OVERLAY_INIT.unlink(missing_ok=True) |
|
|
|
updater.cleanup() |
|
|
|
|
|
|
|
|
|
|
|
try: |
|
|
|
try: |
|
|
|
params.put("UpdaterState", "idle") |
|
|
|
params.put("UpdaterState", "idle") |
|
|
|
|
Cameron Clough
1 year ago