455 lines
15 KiB
Python
Executable File
455 lines
15 KiB
Python
Executable File
#!/usr/bin/env python3
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import datetime
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import time
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import os
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import signal
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import subprocess
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import sys
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import traceback
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from typing import List, Tuple, Union
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from cereal import log
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import cereal.messaging as messaging
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import openpilot.selfdrive.sentry as sentry
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from openpilot.common.basedir import BASEDIR
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from openpilot.common.params import Params, ParamKeyType
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from openpilot.common.text_window import TextWindow
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from openpilot.selfdrive.boardd.set_time import set_time
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from openpilot.system.hardware import HARDWARE, PC
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from openpilot.selfdrive.manager.helpers import unblock_stdout, write_onroad_params
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from openpilot.selfdrive.manager.process import ensure_running
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from openpilot.selfdrive.manager.process_config import managed_processes
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from openpilot.selfdrive.athena.registration import register, UNREGISTERED_DONGLE_ID
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from openpilot.common.swaglog import cloudlog
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from openpilot.system.version import is_dirty, get_commit, get_version, get_origin, get_short_branch, \
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get_normalized_origin, terms_version, training_version, \
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is_tested_branch, is_release_branch, get_commit_date
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import json
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from openpilot.selfdrive.car.fingerprints import all_known_cars, all_legacy_fingerprint_cars
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def manager_init() -> None:
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# update system time from panda
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set_time(cloudlog)
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# save boot log
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subprocess.call("./bootlog", cwd=os.path.join(BASEDIR, "selfdrive/loggerd"))
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params = Params()
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params.clear_all(ParamKeyType.CLEAR_ON_MANAGER_START)
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params.clear_all(ParamKeyType.CLEAR_ON_ONROAD_TRANSITION)
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params.clear_all(ParamKeyType.CLEAR_ON_OFFROAD_TRANSITION)
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if is_release_branch():
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params.clear_all(ParamKeyType.DEVELOPMENT_ONLY)
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default_params: List[Tuple[str, Union[str, bytes]]] = [
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("CompletedTrainingVersion", "0"),
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("DisengageOnAccelerator", "0"),
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("GsmMetered", "1"),
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("HasAcceptedTerms", "0"),
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("LanguageSetting", "main_en"),
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("OpenpilotEnabledToggle", "1"),
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("LastValidTime", "0"), # 添加最后有效时间参数
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("LongitudinalPersonality", str(log.LongitudinalPersonality.standard)),
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("DisableUpdates", "1"),
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("DPTimeZone", "Asia/Shanghai"),
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("DPDEVMODE", "0"),
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("IsMetric", "1"),
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("dp_no_gps_ctrl", "0"),
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("dp_no_fan_ctrl", "1"),
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("dp_logging", "0"),
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("dp_0813", "1"),
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("dp_lat_controller", "0"), # Lateral Controller
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# dp addition
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("dp_alka", "0"),
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("dp_mapd", "0"),
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("dp_lat_lane_priority_mode", "0"),
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("dp_device_auto_shutdown", "0"),
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("dp_device_auto_shutdown_in", "30"),
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("dp_toyota_sng", "0"),
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("dp_toyota_enhanced_bsm", "0"),
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("dp_toyota_auto_lock", "0"),
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("dp_toyota_auto_unlock", "0"),
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("dp_device_audible_alert_mode", "0"),
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("dp_device_disable_temp_check", "0"),
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("dp_car_dashcam_mode_removal", "0"),
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("dp_device_enable_comma_registration", "0"),
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("dp_long_accel_profile", "0"),
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("dp_long_use_df_tune", "0"),
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("dp_long_de2e", "0"),
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("dp_mapd_vision_turn_control", "0"),
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("dp_hkg_min_steer_speed_bypass", "0"),
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("dp_lat_lane_priority_mode_speed_based", "0"),
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("dp_long_use_krkeegen_tune", "0"),
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("dp_toyota_zss", "0"),
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("dp_long_accel_btn", "0"),
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("dp_long_personality_btn", "0"),
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("dp_lat_lane_change_assist_speed", "30"),
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("dp_vag_timebomb_bypass", "0"),
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("dp_otisserv", "0"),
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("dp_long_missing_lead_warning", "0"),
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("dp_on_road_dashcam", "0"),
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("dp_lateral_road_edge_detected", "0"),
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("dp_use_nnff", "0"),
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("dp_use_nnff_lite", "0"),
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("NNFFModelName", ""),
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("dp_log_level", "0"), # 添加日志级别默认参数
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("dp_device_mode", "1"), # 设备运行模式: 0-节能 1-普通 2-性能
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("dp_show_date_time", "1"), # 是否显示时间: 0-不显示 1-显示
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# 行车记录仪相关参数
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("dp_dashcam_quality", "1"), # 视频质量：0=低 1=中 2=高
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("dp_dashcam_duration", "180"), # 单个视频时长（秒）
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("dp_dashcam_kept_hours", "15"), # 视频保留时长（小时）
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("dp_torqued_override", "0"),
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("dp_torque_lat_accel_factor", "140"),#1.4
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("dp_torque_friction", "220"),#0.22
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("dp_gpxd", "0"),
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("dp_fleet_fileserv", "0"),
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("dp_dev_ui_info", "0"),
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("dp_upload_on", "0"),
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("dp_device_display_off_mode", "0"),
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# 添加换道中止检查参数
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("dp_lat_lane_change_abort_check", "0"),
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("dp_lateral_camera_offset", "-6"),#单位厘米
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("dp_lateral_path_offset", "0"),#单位厘米
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("dp_lateral_torque_kp", "100"), # 1.0
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("dp_lateral_torque_ki", "10"), # 0.1
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("dp_disable_gps", "0"),
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("dp_device_go_off_road", "0"), # 添加离线模式参数
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# Added for new
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("BydModifiedStockLong", "1"),
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("BydUseRadar", "0"),
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("BydAutoTuning", "0"),
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("BydLatUseSiglin", "1"),
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("BydBsdType2", "0"),
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("KeepLkasPassive", "0"),
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("CustomSR", "0"),
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("SteerRatioRate", "90"),
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("CustomSteerMax", "0"),
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("CustomSteerDeltaUp", "0"),
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("CustomSteerDeltaDown", "0"),
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("UseSteerRateLimiter", "1"),
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("SteerRateLimLoSpd", "132"),
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("SteerRateLimHiSpd", "64"),
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("BydMpcTsr", "0"),
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("BydLowSpdLong", "1"),
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("BydHandsOffCorrect", "0"),
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("SpeedCorrect30", "0"),
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("SpeedCorrect60", "0"),
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("SpeedCorrect90", "0"),
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("SpeedCorrect120", "0"),
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("LateralAngleSpdUp0", "500"),
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("LateralAngleSpdDn0", "500"),
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("LateralAngleSpdBp1", "30"),
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("LateralAngleSpdUp1", "80"),
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("LateralAngleSpdDn1", "350"),
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("LateralAngleSpdBp2", "70"),
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("LateralAngleSpdUp2", "15"),
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("LateralAngleSpdDn2", "40"),
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("LateralAngleTorqMax", "30"),
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("LateralAngleTorqCut", "10"),
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]
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if not PC:
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default_params.append(("LastUpdateTime", datetime.datetime.utcnow().isoformat().encode('utf8')))
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params.put("dp_car_list", get_support_car_list())
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if params.get_bool("RecordFrontLock"):
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params.put_bool("RecordFront", True)
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# set unset params
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for k, v in default_params:
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if params.get(k) is None:
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params.put(k, v)
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# Create folders needed for msgq
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try:
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os.mkdir("/dev/shm")
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except FileExistsError:
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pass
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except PermissionError:
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print("WARNING: failed to make /dev/shm")
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# set version params
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serial = HARDWARE.get_serial()
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params.put("Version", get_version())
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params.put("TermsVersion", terms_version)
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params.put("TrainingVersion", training_version)
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params.put("GitCommit", get_commit())
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params.put("GitCommitDate", get_commit_date())
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params.put("GitBranch", get_short_branch())
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params.put("GitRemote", get_origin())
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params.put_bool("IsTestedBranch", is_tested_branch())
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params.put_bool("IsReleaseBranch", is_release_branch())
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params.put("HardwareSerial", serial)
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# set dongle id
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reg_res = register(show_spinner=True)
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if reg_res:
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dongle_id = reg_res
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else:
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raise Exception(f"Registration failed for device {serial}")
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os.environ['DONGLE_ID'] = dongle_id # Needed for swaglog
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os.environ['GIT_ORIGIN'] = get_normalized_origin() # Needed for swaglog
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os.environ['GIT_BRANCH'] = get_short_branch() # Needed for swaglog
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os.environ['GIT_COMMIT'] = get_commit() # Needed for swaglog
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if not is_dirty():
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os.environ['CLEAN'] = '1'
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# init logging
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sentry.init(sentry.SentryProject.SELFDRIVE)
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cloudlog.bind_global(dongle_id=dongle_id,
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version=get_version(),
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origin=get_normalized_origin(),
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branch=get_short_branch(),
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commit=get_commit(),
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dirty=is_dirty(),
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device=HARDWARE.get_device_type())
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# preimport all processes
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for p in managed_processes.values():
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p.prepare()
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def manager_cleanup() -> None:
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# send signals to kill all procs
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for p in managed_processes.values():
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p.stop(block=False)
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# ensure all are killed
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for p in managed_processes.values():
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p.stop(block=True)
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cloudlog.info("everything is dead")
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def manager_thread() -> None:
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cloudlog.bind(daemon="manager")
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cloudlog.info("manager start")
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# 系统环境信息
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cloudlog.info(f"系统环境 PATH: {os.environ.get('PATH', '')}")
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cloudlog.info(f"系统环境 PYTHONPATH: {os.environ.get('PYTHONPATH', '')}")
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cloudlog.info(f"系统环境 BASEDIR: {os.environ.get('BASEDIR', '')}")
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# 设备信息
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cloudlog.info(f"设备信息 DONGLE_ID: {os.environ.get('DONGLE_ID', '')}")
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cloudlog.info(f"设备信息 DEVICE: {os.environ.get('DEVICE', '')}")
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# 版本信息
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cloudlog.info(f"版本信息 GIT_ORIGIN: {os.environ.get('GIT_ORIGIN', '')}")
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cloudlog.info(f"版本信息 GIT_BRANCH: {os.environ.get('GIT_BRANCH', '')}")
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cloudlog.info(f"版本信息 GIT_COMMIT: {os.environ.get('GIT_COMMIT', '')}")
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cloudlog.info(f"版本信息 CLEAN: {os.environ.get('CLEAN', '0')}")
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params = Params()
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ignore: List[str] = []
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if params.get("DongleId", encoding='utf8') in (None, UNREGISTERED_DONGLE_ID):
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ignore += ["manage_athenad", "uploader"]
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if os.getenv("NOBOARD") is not None:
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ignore.append("pandad")
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if not params.get_bool("dp_logging"):
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ignore += ["logcatd", "proclogd", "loggerd"]
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ignore += [x for x in os.getenv("BLOCK", "").split(",") if len(x) > 0]
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if not params.get_bool("dp_mapd"):
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ignore += ["mapd", "gpxd"]
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if not params.get_bool("dp_gpxd"):
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ignore += ["gpxd"]
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if params.get_bool("dp_no_gps_ctrl"):
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ignore += ["ubloxd", "gpx_uploader", "gpxd", "mapd"]
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if params.get_bool("dp_disable_gps"):
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ignore += ["ubloxd", "gpx_uploader", "gpxd", "mapd"]
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if not params.get_bool("dp_fleet_fileserv"):
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ignore += ["fleet_manager"]
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if not params.get_bool("dp_otisserv"):
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ignore += ["otisserv"]
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if not params.get_bool("dp_on_road_dashcam"):
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ignore += ["systemd"]
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if not params.get_bool("dp_upload_on"):
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ignore += ["uploader"]
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# 如果禁用更新，则不启动updated进程
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if params.get_bool("DisableUpdates"):
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ignore += ["updated"]
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#add by nana
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ignore += ["manage_athenad"]
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sm = messaging.SubMaster(['deviceState', 'carParams'], poll=['deviceState'])
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pm = messaging.PubMaster(['managerState'])
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last_network_type = log.DeviceState.NetworkType.none
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write_onroad_params(False, params)
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ensure_running(managed_processes.values(), False, params=params, CP=sm['carParams'], not_run=ignore)
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started_prev = False
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last_time_save = 0 # 添加时间保存计数器
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while True:
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sm.update()
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started = sm['deviceState'].started
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current_time = int(time.time())
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# 检查网络状态变化时更新时间
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if sm.updated['deviceState']:
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current_network = sm['deviceState'].networkType
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if current_network != last_network_type and current_network != log.DeviceState.NetworkType.none:
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set_time(cloudlog)
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last_network_type = current_network
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# 在以下情况保存时间：
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# 1. 每5分钟保存一次基础时间
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# 2. 网络连接成功时
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# 3. 进入或退出行驶状态时
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if (current_time - last_time_save >= 300 or # 5分钟
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(sm.updated['deviceState'] and sm['deviceState'].networkType != last_network_type) or
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started != started_prev):
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try:
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params.put("LastValidTime", str(current_time))
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last_time_save = current_time
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except Exception as e:
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cloudlog.warning(f"保存系统时间失败: {str(e)}")
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# 添加进程状态监控
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process_states = {}
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for p in managed_processes.values():
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if p.proc is not None:
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process_states[p.name] = {
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'alive': p.proc.is_alive(),
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'exitcode': p.proc.exitcode if not p.proc.is_alive() else None,
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'restart_count': getattr(p, 'restart_count', 0)
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}
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# 记录异常进程状态
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for name, state in process_states.items():
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if not state['alive']:
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cloudlog.error(f"Process {name} died with exitcode {state['exitcode']}")
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if state['restart_count'] > 3:
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cloudlog.error(f"Process {name} restarted too many times")
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if started and not started_prev:
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params.clear_all(ParamKeyType.CLEAR_ON_ONROAD_TRANSITION)
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elif not started and started_prev:
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params.clear_all(ParamKeyType.CLEAR_ON_OFFROAD_TRANSITION)
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# update onroad params, which drives boardd's safety setter thread
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if started != started_prev:
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write_onroad_params(started, params)
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started_prev = started
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ensure_running(managed_processes.values(), started, params=params, CP=sm['carParams'], not_run=ignore)
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running = ' '.join("{}{}\u001b[0m".format("\u001b[32m" if p.proc.is_alive() else "\u001b[31m", p.name)
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for p in managed_processes.values() if p.proc)
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last_print_time = 0
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PRINT_INTERVAL = 6 # 每6秒打印一次
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# 添加时间间隔检查
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current_time = time.time()
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if current_time - last_print_time >= PRINT_INTERVAL:
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print(f"[{datetime.datetime.now().strftime('%Y-%m-%d %H:%M:%S')}] {running}")
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last_print_time = current_time
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#cloudlog.debug(running)
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# send managerState
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msg = messaging.new_message('managerState')
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msg.managerState.processes = [p.get_process_state_msg() for p in managed_processes.values()]
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pm.send('managerState', msg)
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# Exit main loop when uninstall/shutdown/reboot is needed
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shutdown = False
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for param in ("DoUninstall", "DoShutdown", "DoReboot", "dp_reset_conf"):
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if params.get_bool(param):
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if param == "dp_reset_conf":
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os.system("rm -fr /data/params/d/dp_*")
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shutdown = True
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params.put("LastManagerExitReason", f"{param} {datetime.datetime.now()}")
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cloudlog.warning(f"Shutting down manager - {param} set")
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if shutdown:
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break
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def main() -> None:
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manager_init()
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if os.getenv("PREPAREONLY") is not None:
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return
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# SystemExit on sigterm
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signal.signal(signal.SIGTERM, lambda signum, frame: sys.exit(1))
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try:
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manager_thread()
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except Exception:
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traceback.print_exc()
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sentry.capture_exception()
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finally:
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manager_cleanup()
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params = Params()
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if params.get_bool("DoUninstall"):
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cloudlog.warning("uninstalling")
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HARDWARE.uninstall()
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elif params.get_bool("DoReboot"):
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cloudlog.warning("reboot")
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HARDWARE.reboot()
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elif params.get_bool("DoShutdown"):
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cloudlog.warning("shutdown")
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HARDWARE.shutdown()
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def get_support_car_list():
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cars = dict({"cars": []})
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list = []
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for car in all_known_cars():
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list.append(str(car))
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for car in all_legacy_fingerprint_cars():
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name = str(car)
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if name not in list:
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list.append(name)
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cars["cars"] = sorted(list)
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return json.dumps(cars)
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if __name__ == "__main__":
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unblock_stdout()
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try:
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main()
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except KeyboardInterrupt:
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print("got CTRL-C, exiting")
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except Exception:
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cloudlog.exception("Manager failed to start")
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try:
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managed_processes['ui'].stop()
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except Exception:
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pass
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# Show last 3 lines of traceback
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error = traceback.format_exc(-3)
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error = "Manager failed to start\n\n" + error
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with TextWindow(error) as t:
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||
t.wait_for_exit()
|
||
|
||
raise
|
||
|
||
# manual exit because we are forked
|
||
sys.exit(0)
|