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remove wrappers

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pull/35003/head
deanlee 1 month ago
parent e6742151aa
commit 900564fecc
5 changed files with 74 additions and 162 deletions
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  1. 52
      common/spinner.py
  2. 63
      common/text_window.py
  3. 68
      system/athena/registration.py
  4. 48
      system/manager/build.py
  5. 5
      system/manager/manager.py

52
common/spinner.py
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@ -1,52 +0,0 @@
import os
import subprocess
from openpilot.common.basedir import BASEDIR
class Spinner:
def __init__(self):
try:
self.spinner_proc = subprocess.Popen(["./spinner.py"],
stdin=subprocess.PIPE,
cwd=os.path.join(BASEDIR, "system", "ui"),
close_fds=True)
except OSError:
self.spinner_proc = None
def __enter__(self):
return self
def update(self, spinner_text: str):
if self.spinner_proc is not None:
self.spinner_proc.stdin.write(spinner_text.encode('utf8') + b"\n")
try:
self.spinner_proc.stdin.flush()
except BrokenPipeError:
pass
def update_progress(self, cur: float, total: float):
self.update(str(round(100 * cur / total)))
def close(self):
if self.spinner_proc is not None:
self.spinner_proc.kill()
try:
self.spinner_proc.communicate(timeout=2.)
except subprocess.TimeoutExpired:
print("WARNING: failed to kill spinner")
self.spinner_proc = None
def __del__(self):
self.close()
def __exit__(self, exc_type, exc_value, traceback):
self.close()
if __name__ == "__main__":
import time
with Spinner() as s:
s.update("Spinner text")
time.sleep(5.0)
print("gone")
time.sleep(5.0)

63
common/text_window.py
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@ -1,63 +0,0 @@
#!/usr/bin/env python3
import os
import time
import subprocess
from openpilot.common.basedir import BASEDIR
class TextWindow:
def __init__(self, text):
try:
self.text_proc = subprocess.Popen(["./text.py", text],
stdin=subprocess.PIPE,
cwd=os.path.join(BASEDIR, "system", "ui"),
close_fds=True)
except OSError:
self.text_proc = None
def get_status(self):
if self.text_proc is not None:
self.text_proc.poll()
return self.text_proc.returncode
return None
def __enter__(self):
return self
def close(self):
if self.text_proc is not None:
self.text_proc.terminate()
self.text_proc = None
def wait_for_exit(self):
if self.text_proc is not None:
while True:
if self.get_status() == 1:
return
time.sleep(0.1)
def __del__(self):
self.close()
def __exit__(self, exc_type, exc_value, traceback):
self.close()
if __name__ == "__main__":
text = """Traceback (most recent call last):
File "./controlsd.py", line 608, in <module>
main()
File "./controlsd.py", line 604, in main
controlsd_thread(sm, pm, logcan)
File "./controlsd.py", line 455, in controlsd_thread
1/0
ZeroDivisionError: division by zero"""
print(text)
with TextWindow(text) as s:
for _ in range(100):
if s.get_status() == 1:
print("Got exit button")
break
time.sleep(0.1)
print("gone")

68
system/athena/registration.py
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@ -2,15 +2,18 @@
import time
import json
import jwt
import pyray as rl
from pathlib import Path
from concurrent.futures import ThreadPoolExecutor
from datetime import datetime, timedelta, UTC
from openpilot.common.api import api_get
from openpilot.common.params import Params
from openpilot.common.spinner import Spinner
from openpilot.selfdrive.selfdrived.alertmanager import set_offroad_alert
from openpilot.system.hardware import HARDWARE, PC
from openpilot.system.hardware.hw import Paths
from openpilot.system.ui.lib.application import gui_app
from openpilot.system.ui.spinner import Spinner
from openpilot.common.swaglog import cloudlog
@ -20,20 +23,8 @@ def is_registered_device() -> bool:
dongle = Params().get("DongleId", encoding='utf-8')
return dongle not in (None, UNREGISTERED_DONGLE_ID)
def register(show_spinner=False) -> str | None:
"""
All devices built since March 2024 come with all
info stored in /persist/. This is kept around
only for devices built before then.
With a backend update to take serial number instead
of dongle ID to some endpoints, this can be removed
entirely.
"""
params = Params()
dongle_id: str | None = params.get("DongleId", encoding='utf8')
def _get_dongle_id() -> str | None:
dongle_id: str | None = Params().get("DongleId", encoding='utf8')
if dongle_id is None and Path(Paths.persist_root()+"/comma/dongle_id").is_file():
# not all devices will have this; added early in comma 3X production (2/28/24)
with open(Paths.persist_root()+"/comma/dongle_id") as f:
@ -43,11 +34,19 @@ def register(show_spinner=False) -> str | None:
if not pubkey.is_file():
dongle_id = UNREGISTERED_DONGLE_ID
cloudlog.warning(f"missing public key: {pubkey}")
elif dongle_id is None:
if show_spinner:
spinner = Spinner()
spinner.update("registering device")
return dongle_id
def do_register(spinner = None, done_event=None) -> str | None:
"""
All devices built since March 2024 come with all
info stored in /persist/. This is kept around
only for devices built before then.
With a backend update to take serial number instead
of dongle ID to some endpoints, this can be removed
entirely.
"""
# Create registration token, in the future, this key will make JWTs directly
with open(Paths.persist_root()+"/comma/id_rsa.pub") as f1, open(Paths.persist_root()+"/comma/id_rsa") as f2:
public_key = f1.read()
@ -65,9 +64,10 @@ def register(show_spinner=False) -> str | None:
cloudlog.exception("Error getting imei, trying again...")
time.sleep(1)
if time.monotonic() - start_time > 60 and show_spinner:
spinner.update(f"registering device - serial: {serial}, IMEI: ({imei1}, {imei2})")
if time.monotonic() - start_time > 60 and spinner:
spinner.set_text(f"registering device - serial: {serial}, IMEI: ({imei1}, {imei2})")
dongle_id = None
backoff = 0
start_time = time.monotonic()
while True:
@ -89,14 +89,32 @@ def register(show_spinner=False) -> str | None:
backoff = min(backoff + 1, 15)
time.sleep(backoff)
if time.monotonic() - start_time > 60 and show_spinner:
spinner.update(f"registering device - serial: {serial}, IMEI: ({imei1}, {imei2})")
if time.monotonic() - start_time > 60 and spinner:
spinner.set_text(f"registering device - serial: {serial}, IMEI: ({imei1}, {imei2})")
return dongle_id
def register(show_spinner=False) -> str | None:
dongle_id = _get_dongle_id()
if not dongle_id:
if show_spinner:
spinner.close()
with ThreadPoolExecutor(max_workers=1) as executor:
gui_app.init_window("Register")
spinner = Spinner()
spinner.set_text("registering device")
future = executor.submit(do_register, spinner)
while not future.done():
rl.begin_drawing()
rl.clear_background(rl.BLACK)
spinner.render()
rl.end_drawing()
gui_app.close()
dongle_id = future.result()
else:
dongle_id = do_register()
if dongle_id:
params.put("DongleId", dongle_id)
Params().put("DongleId", dongle_id)
set_offroad_alert("Offroad_UnofficialHardware", (dongle_id == UNREGISTERED_DONGLE_ID) and not PC)
return dongle_id

48
system/manager/build.py
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@ -1,15 +1,18 @@
#!/usr/bin/env python3
import os
import subprocess
import select
from pathlib import Path
import pyray as rl
# NOTE: Do NOT import anything here that needs be built (e.g. params)
from openpilot.common.basedir import BASEDIR
from openpilot.common.spinner import Spinner
from openpilot.common.text_window import TextWindow
from openpilot.system.hardware import HARDWARE, AGNOS
from openpilot.common.swaglog import cloudlog, add_file_handler
from openpilot.system.version import get_build_metadata
from openpilot.system.ui.lib.application import gui_app
from openpilot.system.ui.spinner import Spinner
from openpilot.system.ui.text import TextWindow
MAX_CACHE_SIZE = 4e9 if "CI" in os.environ else 2e9
CACHE_DIR = Path("/data/scons_cache" if AGNOS else "/tmp/scons_cache")
@ -17,39 +20,45 @@ CACHE_DIR = Path("/data/scons_cache" if AGNOS else "/tmp/scons_cache")
TOTAL_SCONS_NODES = 3130
MAX_BUILD_PROGRESS = 100
def build(spinner: Spinner, dirty: bool = False, minimal: bool = False) -> None:
def build(dirty: bool = False, minimal: bool = False) -> None:
env = os.environ.copy()
env['SCONS_PROGRESS'] = "1"
nproc = os.cpu_count()
if nproc is None:
nproc = 2
nproc = os.cpu_count() or 2
extra_args = ["--minimal"] if minimal else []
if AGNOS:
HARDWARE.set_power_save(False)
os.sched_setaffinity(0, range(8)) # ensure we can use the isolcpus cores
# building with all cores can result in using too
# much memory, so retry with less parallelism
gui_app.init_window("Spinner")
spinner = Spinner()
compile_output: list[bytes] = []
for n in (nproc, nproc/2, 1):
compile_output.clear()
scons: subprocess.Popen = subprocess.Popen(["scons", f"-j{int(n)}", "--cache-populate", *extra_args], cwd=BASEDIR, env=env, stderr=subprocess.PIPE)
assert scons.stderr is not None
os.set_blocking(scons.stderr.fileno(), False) # Non-blocking reads
# Read progress from stderr and update spinner
spinner.set_text("0")
while scons.poll() is None:
try:
line = scons.stderr.readline()
if line is None:
continue
rl.begin_drawing()
rl.clear_background(rl.BLACK)
spinner.render()
rl.end_drawing()
if scons.stderr in select.select([scons.stderr], [], [], 0.02)[0]:
line = scons.stderr.readline()
if not line:
continue
line = line.rstrip()
prefix = b'progress: '
if line.startswith(prefix):
i = int(line[len(prefix):])
spinner.update_progress(MAX_BUILD_PROGRESS * min(1., i / TOTAL_SCONS_NODES), 100.)
spinner.set_text(str(int(MAX_BUILD_PROGRESS * min(1., i / TOTAL_SCONS_NODES))))
elif len(line):
compile_output.append(line)
print(line.decode('utf8', 'replace'))
@ -62,7 +71,7 @@ def build(spinner: Spinner, dirty: bool = False, minimal: bool = False) -> None:
if scons.returncode != 0:
# Read remaining output
if scons.stderr is not None:
compile_output += scons.stderr.read().split(b'\n')
compile_output += [line for line in scons.stderr.read().split(b'\n') if not line.startswith(b'progress')]
# Build failed log errors
error_s = b"\n".join(compile_output).decode('utf8', 'replace')
@ -70,10 +79,13 @@ def build(spinner: Spinner, dirty: bool = False, minimal: bool = False) -> None:
cloudlog.error("scons build failed\n" + error_s)
# Show TextWindow
spinner.close()
if not os.getenv("CI"):
with TextWindow("openpilot failed to build\n \n" + error_s) as t:
t.wait_for_exit()
text_window = TextWindow("openpilot failed to build\n \n" + error_s)
while True:
rl.begin_drawing()
rl.clear_background(rl.BLACK)
text_window.render()
rl.end_drawing()
exit(1)
# enforce max cache size
@ -88,7 +100,5 @@ def build(spinner: Spinner, dirty: bool = False, minimal: bool = False) -> None:
if __name__ == "__main__":
spinner = Spinner()
spinner.update_progress(0, 100)
build_metadata = get_build_metadata()
build(spinner, build_metadata.openpilot.is_dirty, minimal = AGNOS)
build(build_metadata.openpilot.is_dirty, minimal = AGNOS)

5
system/manager/manager.py
Unescape View File

@ -9,7 +9,6 @@ from cereal import log
import cereal.messaging as messaging
import openpilot.system.sentry as sentry
from openpilot.common.params import Params, ParamKeyType
from openpilot.common.text_window import TextWindow
from openpilot.system.hardware import HARDWARE
from openpilot.system.manager.helpers import unblock_stdout, write_onroad_params, save_bootlog
from openpilot.system.manager.process import ensure_running
@ -18,6 +17,7 @@ from openpilot.system.athena.registration import register, UNREGISTERED_DONGLE_I
from openpilot.common.swaglog import cloudlog, add_file_handler
from openpilot.system.version import get_build_metadata, terms_version, training_version
from openpilot.system.hardware.hw import Paths
from openpilot.system.ui.text import show_text_in_window
def manager_init() -> None:
@ -221,8 +221,7 @@ if __name__ == "__main__":
# Show last 3 lines of traceback
error = traceback.format_exc(-3)
error = "Manager failed to start\n\n" + error
with TextWindow(error) as t:
t.wait_for_exit()
show_text_in_window(error)
raise

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