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manager cleanup (#2634)

Browse Source 
* start cleanup

* add uninstall to hw abstraction layer

* cleanup

* litte more

* don't build at import time

* fix tests

* don't build by default

* sync
old-commit-hash: 220853730d
commatwo_master
Adeeb Shihadeh 4 years ago committed by GitHub
parent 34e98ac4d7
commit c4bff3f93b
6 changed files with 82 additions and 86 deletions
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  1. 4
      Jenkinsfile
  2. 12
      selfdrive/hardware/base.py
  3. 6
      selfdrive/hardware/eon/hardware.py
  4. 9
      selfdrive/hardware/pc/hardware.py
  5. 10
      selfdrive/hardware/tici/hardware.py
  6. 121
      selfdrive/manager.py

4
Jenkinsfile vendored
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@ -124,7 +124,7 @@ pipeline {
stage('Replay Tests') {
steps {
phone_steps("eon2", [
["camerad/modeld replay", "cd selfdrive/test/process_replay && ./camera_replay.py"],
["camerad/modeld replay", "QCOM_REPLAY=1 scons -j4 && cd selfdrive/test/process_replay && ./camera_replay.py"],
])
}
}
@ -132,7 +132,7 @@ pipeline {
stage('HW + Unit Tests') {
steps {
phone_steps("eon", [
["build cereal", "SCONS_CACHE=1 scons -j4 cereal/"],
["build", "SCONS_CACHE=1 scons -j4"],
["test sounds", "nosetests -s selfdrive/test/test_sounds.py"],
["test boardd loopback", "nosetests -s selfdrive/boardd/tests/test_boardd_loopback.py"],
["test loggerd", "CI=1 python selfdrive/loggerd/tests/test_loggerd.py"],

12
selfdrive/hardware/base.py
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@ -16,6 +16,14 @@ class HardwareBase:
except Exception:
return default
@abstractmethod
def reboot(self, reason=None):
pass
@abstractmethod
def uninstall(self):
pass
@abstractmethod
def get_sound_card_online(self):
pass
@ -32,10 +40,6 @@ class HardwareBase:
def get_subscriber_info(self):
pass
@abstractmethod
def reboot(self, reason=None):
pass
@abstractmethod
def get_network_type(self):
pass

6
selfdrive/hardware/eon/hardware.py
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@ -98,6 +98,12 @@ class Android(HardwareBase):
"i32", "1" # wait
])
def uninstall(self):
with open('/cache/recovery/command', 'w') as f:
f.write('--wipe_data\n')
# IPowerManager.reboot(confirm=false, reason="recovery", wait=true)
self.reboot(reason="recovery")
def get_sim_info(self):
# Used for athena
# TODO: build using methods from this class

9
selfdrive/hardware/pc/hardware.py
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@ -11,6 +11,12 @@ class Pc(HardwareBase):
def get_sound_card_online(self):
return True
def reboot(self, reason=None):
print("REBOOT!")
def uninstall(self):
print("uninstall")
def get_imei(self, slot):
return "%015d" % random.randint(0, 1 << 32)
@ -20,9 +26,6 @@ class Pc(HardwareBase):
def get_subscriber_info(self):
return ""
def reboot(self, reason=None):
print("REBOOT!")
def get_network_type(self):
return NetworkType.wifi

10
selfdrive/hardware/tici/hardware.py
Unescape View File

@ -35,12 +35,16 @@ class Tici(HardwareBase):
def get_sound_card_online(self):
return True
def get_serial(self):
return self.get_cmdline()['androidboot.serialno']
def reboot(self, reason=None):
subprocess.check_output(["sudo", "reboot"])
def uninstall(self):
# TODO: implement uninstall. reboot to factory reset?
pass
def get_serial(self):
return self.get_cmdline()['androidboot.serialno']
def get_network_type(self):
primary_connection = self.nm.Get(NM, 'PrimaryConnection', dbus_interface=DBUS_PROPS)
primary_connection = self.bus.get_object(NM, primary_connection)

121
selfdrive/manager.py
Unescape View File

@ -1,37 +1,33 @@
#!/usr/bin/env python3
import datetime
import importlib
import os
import time
import sys
import fcntl
import errno
import signal
import shutil
import subprocess
import datetime
import textwrap
from typing import Dict, List
from selfdrive.swaglog import cloudlog, add_logentries_handler
import time
import traceback
from multiprocessing import Process
from typing import Dict, List
from common.basedir import BASEDIR
from common.spinner import Spinner
from common.text_window import TextWindow
from selfdrive.hardware import HARDWARE, EON, PC
WEBCAM = os.getenv("WEBCAM") is not None
sys.path.append(os.path.join(BASEDIR, "pyextra"))
from selfdrive.swaglog import cloudlog, add_logentries_handler
os.environ['BASEDIR'] = BASEDIR
sys.path.append(os.path.join(BASEDIR, "pyextra"))
TOTAL_SCONS_NODES = 1040
prebuilt = os.path.exists(os.path.join(BASEDIR, 'prebuilt'))
# Create folders needed for msgq
try:
os.mkdir("/dev/shm")
except FileExistsError:
pass
except PermissionError:
print("WARNING: failed to make /dev/shm")
WEBCAM = os.getenv("WEBCAM") is not None
PREBUILT = os.path.exists(os.path.join(BASEDIR, 'prebuilt'))
if EON:
os.chmod("/dev/shm", 0o777)
def unblock_stdout():
# get a non-blocking stdout
@ -42,8 +38,7 @@ def unblock_stdout():
signal.signal(signal.SIGINT, lambda signum, frame: os.kill(child_pid, signal.SIGINT))
signal.signal(signal.SIGTERM, lambda signum, frame: os.kill(child_pid, signal.SIGTERM))
fcntl.fcntl(sys.stdout, fcntl.F_SETFL,
fcntl.fcntl(sys.stdout, fcntl.F_GETFL) | os.O_NONBLOCK)
fcntl.fcntl(sys.stdout, fcntl.F_SETFL, fcntl.fcntl(sys.stdout, fcntl.F_GETFL) | os.O_NONBLOCK)
while True:
try:
@ -70,12 +65,6 @@ def unblock_stdout():
if __name__ == "__main__":
unblock_stdout()
from common.spinner import Spinner
from common.text_window import TextWindow
import importlib
import traceback
from multiprocessing import Process
# Run scons
spinner = Spinner()
@ -83,7 +72,7 @@ spinner.update("0")
if __name__ != "__main__":
spinner.close()
if not prebuilt:
def build():
for retry in [True, False]:
# run scons
env = os.environ.copy()
@ -91,7 +80,7 @@ if not prebuilt:
env['SCONS_CACHE'] = "1"
nproc = os.cpu_count()
j_flag = "" if nproc is None else "-j%d" % (nproc - 1)
j_flag = "" if nproc is None else f"-j{nproc - 1}"
scons = subprocess.Popen(["scons", j_flag], cwd=BASEDIR, env=env, stderr=subprocess.PIPE)
compile_output = []
@ -148,7 +137,9 @@ if not prebuilt:
else:
break
import cereal
if __name__ == "__main__" and not PREBUILT:
build()
import cereal.messaging as messaging
from common.params import Params
@ -159,7 +150,6 @@ from selfdrive.loggerd.config import ROOT
from selfdrive.launcher import launcher
from selfdrive.hardware.eon.apk import update_apks, pm_apply_packages, start_offroad
ThermalStatus = cereal.log.ThermalData.ThermalStatus
# comment out anything you don't want to run
managed_processes = {
@ -245,13 +235,7 @@ driver_view_processes = [
'dmonitoringmodeld'
]
if WEBCAM:
car_started_processes += [
'dmonitoringd',
'dmonitoringmodeld',
]
if not PC:
if not PC or WEBCAM:
car_started_processes += [
'ubloxd',
'dmonitoringd',
@ -267,7 +251,6 @@ if EON:
def register_managed_process(name, desc, car_started=False):
global managed_processes, car_started_processes, persistent_processes
print("registering %s" % name)
managed_processes[name] = desc
if car_started:
car_started_processes.append(name)
@ -323,22 +306,22 @@ def start_daemon_process(name):
params.put(pid_param, str(proc.pid))
def prepare_managed_process(p):
def prepare_managed_process(p, build=False):
proc = managed_processes[p]
if isinstance(proc, str):
# import this python
cloudlog.info("preimporting %s" % proc)
importlib.import_module(proc)
elif os.path.isfile(os.path.join(BASEDIR, proc[0], "Makefile")):
elif os.path.isfile(os.path.join(BASEDIR, proc[0], "SConscript")) and build:
# build this process
cloudlog.info("building %s" % (proc,))
try:
subprocess.check_call(["make", "-j4"], cwd=os.path.join(BASEDIR, proc[0]))
subprocess.check_call(["scons", "u", "-j4", "."], cwd=os.path.join(BASEDIR, proc[0]))
except subprocess.CalledProcessError:
# make clean if the build failed
cloudlog.warning("building %s failed, make clean" % (proc, ))
subprocess.check_call(["make", "clean"], cwd=os.path.join(BASEDIR, proc[0]))
subprocess.check_call(["make", "-j4"], cwd=os.path.join(BASEDIR, proc[0]))
# clean and retry if the build failed
cloudlog.warning("building %s failed, cleaning and retrying" % (proc, ))
subprocess.check_call(["scons", "-u", "-c", "."], cwd=os.path.join(BASEDIR, proc[0]))
subprocess.check_call(["scons", "-u", "-j4", "."], cwd=os.path.join(BASEDIR, proc[0]))
def join_process(process, timeout):
@ -404,21 +387,23 @@ def send_managed_process_signal(name, sig):
# ****************** run loop ******************
def manager_init(should_register=True):
if should_register:
def manager_init():
# Create folders needed for msgq
try:
os.mkdir("/dev/shm")
except FileExistsError:
pass
except PermissionError:
print("WARNING: failed to make /dev/shm")
# set dongle id
reg_res = register()
if reg_res:
dongle_id = reg_res
else:
raise Exception("server registration failed")
else:
dongle_id = "c"*16
# set dongle id
cloudlog.info("dongle id is " + dongle_id)
os.environ['DONGLE_ID'] = dongle_id
cloudlog.info("dirty is %d" % dirty)
if not dirty:
os.environ['CLEAN'] = '1'
@ -435,12 +420,11 @@ def manager_init(should_register=True):
# ensure shared libraries are readable by apks
if EON:
os.chmod(BASEDIR, 0o755)
os.chmod("/dev/shm", 0o777)
os.chmod(os.path.join(BASEDIR, "cereal"), 0o755)
os.chmod(os.path.join(BASEDIR, "cereal", "libmessaging_shared.so"), 0o755)
def manager_thread():
# now loop
thermal_sock = messaging.sub_sock('thermal')
cloudlog.info("manager start")
cloudlog.info({"environ": os.environ})
@ -448,8 +432,6 @@ def manager_thread():
# save boot log
subprocess.call(["./loggerd", "--bootlog"], cwd=os.path.join(BASEDIR, "selfdrive/loggerd"))
params = Params()
# start daemon processes
for p in daemon_processes:
start_daemon_process(p)
@ -472,6 +454,8 @@ def manager_thread():
started_prev = False
logger_dead = False
params = Params()
thermal_sock = messaging.sub_sock('thermal')
while 1:
msg = messaging.recv_sock(thermal_sock, wait=True)
@ -502,6 +486,7 @@ def manager_thread():
# trigger an update after going offroad
if started_prev:
os.sync()
send_managed_process_signal("updated", signal.SIGHUP)
started_prev = msg.thermal.started
@ -514,25 +499,18 @@ def manager_thread():
if params.get("DoUninstall", encoding='utf8') == "1":
break
def manager_prepare(spinner=None):
def manager_prepare():
# build all processes
os.chdir(os.path.dirname(os.path.abspath(__file__)))
# Spinner has to start from 70 here
total = 100.0 if prebuilt else 30.0
total = 100.0 if PREBUILT else 30.0
for i, p in enumerate(managed_processes):
if spinner is not None:
spinner.update("%d" % ((100.0 - total) + total * (i + 1) / len(managed_processes),))
perc = (100.0 - total) + total * (i + 1) / len(managed_processes)
spinner.update(str(int(perc)))
prepare_managed_process(p)
def uninstall():
cloudlog.warning("uninstalling")
with open('/cache/recovery/command', 'w') as f:
f.write('--wipe_data\n')
# IPowerManager.reboot(confirm=false, reason="recovery", wait=true)
HARDWARE.reboot(reason="recovery")
def main():
params = Params()
params.manager_start()
@ -558,7 +536,7 @@ def main():
if params.get(k) is None:
params.put(k, v)
# is this chffrplus?
# is this dashcam?
if os.getenv("PASSIVE") is not None:
params.put("Passive", str(int(os.getenv("PASSIVE"))))
@ -568,7 +546,7 @@ def main():
if EON:
update_apks()
manager_init()
manager_prepare(spinner)
manager_prepare()
spinner.close()
if os.getenv("PREPAREONLY") is not None:
@ -586,7 +564,8 @@ def main():
cleanup_all_processes(None, None)
if params.get("DoUninstall", encoding='utf8') == "1":
uninstall()
cloudlog.warning("uninstalling")
HARDWARE.uninstall()
if __name__ == "__main__":
@ -598,7 +577,7 @@ if __name__ == "__main__":
# Show last 3 lines of traceback
error = traceback.format_exc(-3)
error = "Manager failed to start\n \n" + error
error = "Manager failed to start\n\n" + error
spinner.close()
with TextWindow(error) as t:
t.wait_for_exit()

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