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GPS fix + log directory redesign + dashcamd binary

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GPS: fix AT response parsing (strip mmcli `response: '...'` wrapper),
fix capnp field names (horizontalAccuracy, hasFix), set system clock
directly from first GPS fix when time is invalid, kill system gpsd on
startup.

Logging: replace module-level log dir creation with init_log_dir()
called from manager_init(). Active session always at /data/log2/current
(real dir until time resolves, then symlink to timestamped dir). Add
LogDirInitialized param. Redirect both stdout+stderr for all processes.

Also: thorough process cleanup in launch scripts, dashcamd binary,
CLAUDE.md updates for GPS/telemetry/bench/logging docs.

Co-Authored-By: Claude Opus 4.6 (1M context) <noreply@anthropic.com>
This commit is contained in:
Brian Hanson
2026-04-13 04:51:33 +00:00
parent f969214a3d
commit 4f16a8953a
11 changed files with 324 additions and 48 deletions
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5
selfdrive/manager/manager.py
View File

@@ -16,7 +16,7 @@ from openpilot.common.text_window import TextWindow
from openpilot.common.time import system_time_valid
from openpilot.system.hardware import HARDWARE, PC
from openpilot.selfdrive.manager.helpers import unblock_stdout, write_onroad_params, save_bootlog
from openpilot.selfdrive.manager.process import ensure_running, update_log_dir_timestamp, session_log
from openpilot.selfdrive.manager.process import ensure_running, init_log_dir, update_log_dir_timestamp, session_log
from openpilot.selfdrive.manager.process_config import managed_processes
from openpilot.selfdrive.athena.registration import register, UNREGISTERED_DONGLE_ID
from openpilot.common.swaglog import cloudlog, add_file_handler
@@ -59,6 +59,8 @@ def cleanup_old_logs(max_age_days=30):
return
cutoff = time.time() - (max_age_days * 86400)
for entry in os.listdir(log_base):
if entry == "current":
continue
path = os.path.join(log_base, entry)
if os.path.isdir(path):
if os.path.getmtime(path) < cutoff:
@@ -69,6 +71,7 @@ def cleanup_old_logs(max_age_days=30):
def manager_init(frogpilot_functions) -> None:
init_log_dir()
cleanup_old_logs()
frogpilot_boot = threading.Thread(target=frogpilot_boot_functions, args=(frogpilot_functions,))

108
selfdrive/manager/process.py
View File

@@ -23,44 +23,98 @@ from openpilot.common.time import system_time_valid
WATCHDOG_FN = "/dev/shm/wd_"
ENABLE_WATCHDOG = os.getenv("NO_WATCHDOG") is None
# CLEARPILOT: time-safe log directory — use temporary name if clock is invalid (1970),
# rename to real timestamp once GPS/NTP resolves the time
if system_time_valid():
_log_dir = f"/data/log2/{datetime.datetime.now().strftime('%Y-%m-%d-%H-%M-%S')}"
_time_resolved = True
else:
_log_dir = f"/data/log2/boot-{int(time.monotonic())}"
_time_resolved = False
os.makedirs(_log_dir, exist_ok=True)
# CLEARPILOT: aggregate session log for major events
# CLEARPILOT: logging directory and session log
# init_log_dir() must be called once from manager_init() before any process starts.
# Until then, _log_dir and session_log are usable but write to a NullHandler.
import logging
_log_dir = "/data/log2/current"
_time_resolved = False
_session_handler = None
session_log = logging.getLogger("clearpilot.session")
session_log.setLevel(logging.DEBUG)
_session_handler = logging.FileHandler(os.path.join(_log_dir, "session.log"))
_session_handler.setFormatter(logging.Formatter("%(asctime)s %(levelname)s %(message)s"))
session_log.addHandler(_session_handler)
session_log.addHandler(logging.NullHandler())
def init_log_dir():
"""Create /data/log2/current as a real directory for this session.
Called once from manager_init(). Previous current (if a real dir) is
renamed to a timestamp or boot-monotonic name before we create a fresh one."""
global _log_dir, _time_resolved, _session_handler
log_base = "/data/log2"
current = os.path.join(log_base, "current")
os.makedirs(log_base, exist_ok=True)
# If 'current' is a symlink, just remove the symlink
if os.path.islink(current):
os.unlink(current)
# If 'current' is a real directory (leftover from previous session that
# never got time-resolved), rename it out of the way
elif os.path.isdir(current):
# Use mtime of session.log (or the dir itself) for the rename
session_file = os.path.join(current, "session.log")
mtime = os.path.getmtime(session_file) if os.path.exists(session_file) else os.path.getmtime(current)
ts = datetime.datetime.fromtimestamp(mtime).strftime('%Y-%m-%d-%H-%M-%S')
dest = os.path.join(log_base, ts)
# Avoid collision
if os.path.exists(dest):
dest = dest + f"-{int(time.monotonic())}"
try:
os.rename(current, dest)
except OSError:
pass
os.makedirs(current, exist_ok=True)
_log_dir = current
_time_resolved = False
# Set up session log file handler
_session_handler = logging.FileHandler(os.path.join(_log_dir, "session.log"))
_session_handler.setFormatter(logging.Formatter("%(asctime)s %(levelname)s %(message)s"))
# Remove NullHandler and add file handler
session_log.handlers.clear()
session_log.addHandler(_session_handler)
session_log.info("session started, log dir: %s", _log_dir)
def update_log_dir_timestamp():
"""Rename boot-xxx log dir to real timestamp once system time is valid."""
"""Rename /data/log2/current to a real timestamp and replace with a symlink
once system time is valid."""
global _log_dir, _time_resolved, _session_handler
if _time_resolved:
return
if not system_time_valid():
return
new_dir = f"/data/log2/{datetime.datetime.now().strftime('%Y-%m-%d-%H-%M-%S')}"
log_base = "/data/log2"
current = os.path.join(log_base, "current")
ts_name = datetime.datetime.now().strftime('%Y-%m-%d-%H-%M-%S')
new_dir = os.path.join(log_base, ts_name)
try:
os.rename(_log_dir, new_dir)
os.rename(current, new_dir)
# Create symlink: current -> YYYY-MM-DD-HH-MM-SS
os.symlink(ts_name, current)
_log_dir = new_dir
_time_resolved = True
# Re-point session log handler to renamed directory
# Re-point session log handler (open files follow the inode, but
# new opens should go through the symlink — update handler for clarity)
session_log.removeHandler(_session_handler)
_session_handler.close()
_session_handler = logging.FileHandler(os.path.join(_log_dir, "session.log"))
_session_handler.setFormatter(logging.Formatter("%(asctime)s %(levelname)s %(message)s"))
session_log.addHandler(_session_handler)
session_log.info("log directory renamed to %s", _log_dir)
# Signal via param that the directory has been time-resolved
try:
from openpilot.common.params import Params
Params().put("LogDirInitialized", "1")
except Exception:
pass
except OSError:
pass
@@ -71,8 +125,9 @@ def launcher(proc: str, name: str, log_path: str) -> None:
try:
log_file = open(log_path, 'a')
os.dup2(log_file.fileno(), sys.stderr.fileno())
except Exception:
pass
os.dup2(log_file.fileno(), sys.stdout.fileno())
except Exception as e:
print(f"CLEARPILOT: stderr redirect failed for {name}: {e}", file=sys.stderr)
try:
# import the process
@@ -102,12 +157,13 @@ def launcher(proc: str, name: str, log_path: str) -> None:
def nativelauncher(pargs: list[str], cwd: str, name: str, log_path: str) -> None:
os.environ['MANAGER_DAEMON'] = name
# CLEARPILOT: redirect stderr to per-process log file
# CLEARPILOT: redirect stderr and stdout to per-process log file
try:
log_file = open(log_path, 'a')
os.dup2(log_file.fileno(), sys.stderr.fileno())
except Exception:
pass
os.dup2(log_file.fileno(), sys.stdout.fileno())
except Exception as e:
print(f"CLEARPILOT: stderr redirect failed for {name}: {e}", file=sys.stderr)
# exec the process
os.chdir(cwd)
@@ -256,6 +312,9 @@ class NativeProcess(ManagerProcess):
global _log_dir
log_path = _log_dir+"/"+self.name+".log"
# CLEARPILOT: ensure log file exists even if child redirect fails
open(log_path, 'a').close()
cwd = os.path.join(BASEDIR, self.cwd)
cloudlog.info(f"starting process {self.name}")
session_log.info("starting %s", self.name)
@@ -290,6 +349,9 @@ class PythonProcess(ManagerProcess):
global _log_dir
log_path = _log_dir+"/"+self.name+".log"
# CLEARPILOT: ensure log file exists even if child redirect fails
open(log_path, 'a').close()
cloudlog.info(f"starting python {self.module}")
session_log.info("starting %s", self.name)
self.proc = Process(name=self.name, target=self.launcher, args=(self.module, self.name, log_path))

3
selfdrive/manager/process_config.py
View File

@@ -84,7 +84,8 @@ procs = [
PythonProcess("controlsd", "selfdrive.controls.controlsd", only_onroad),
PythonProcess("deleter", "system.loggerd.deleter", always_run),
PythonProcess("dmonitoringd", "selfdrive.monitoring.dmonitoringd", driverview, enabled=(not PC or WEBCAM)),
PythonProcess("qcomgpsd", "system.qcomgpsd.qcomgpsd", qcomgps, enabled=TICI),
# PythonProcess("qcomgpsd", "system.qcomgpsd.qcomgpsd", qcomgps, enabled=TICI),
PythonProcess("gpsd", "system.clearpilot.gpsd", qcomgps, enabled=TICI),
# PythonProcess("ugpsd", "system.ugpsd", only_onroad, enabled=TICI),
#PythonProcess("navd", "selfdrive.navd.navd", only_onroad),
PythonProcess("pandad", "selfdrive.boardd.pandad", always_run),