clearpilot/selfdrive/manager/manager.py

#!/usr/bin/env python3
import datetime
import os
import signal
import subprocess
import sys
import threading
import time
import traceback

from cereal import log
import cereal.messaging as messaging
import openpilot.selfdrive.sentry as sentry
from openpilot.common.params import Params, ParamKeyType
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, 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
from openpilot.system.version import is_dirty, get_commit, get_version, get_origin, get_short_branch, \
                           get_normalized_origin, terms_version, training_version, \
                           is_tested_branch, is_release_branch, get_commit_date

from openpilot.selfdrive.frogpilot.controls.lib.frogpilot_functions import FrogPilotFunctions
from openpilot.selfdrive.frogpilot.controls.lib.model_manager import DEFAULT_MODEL, DEFAULT_MODEL_NAME, delete_deprecated_models


def frogpilot_boot_functions(frogpilot_functions):
  try:
    delete_deprecated_models()

    while not system_time_valid():
      print("Waiting for system time to become valid...")
      time.sleep(1)

    try:
      frogpilot_functions.backup_frogpilot()
    except subprocess.CalledProcessError as e:
      print(f"Failed to backup FrogPilot. Error: {e}")
      return

    try:
      frogpilot_functions.backup_toggles()
    except subprocess.CalledProcessError as e:
      print(f"Failed to backup toggles. Error: {e}")
      return

  except Exception as e:
    print(f"An unexpected error occurred: {e}")

def cleanup_old_logs(max_age_days=30):
  """CLEARPILOT: delete session log directories older than max_age_days."""
  import shutil
  log_base = "/data/log2"
  if not os.path.exists(log_base):
    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:
        try:
          shutil.rmtree(path)
        except OSError:
          pass


def manager_init(frogpilot_functions) -> None:
  init_log_dir()
  cleanup_old_logs()

  frogpilot_boot = threading.Thread(target=frogpilot_boot_functions, args=(frogpilot_functions,))
  frogpilot_boot.start()

  save_bootlog()

  params = Params()
  params_storage = Params("/persist/params")
  params.clear_all(ParamKeyType.CLEAR_ON_MANAGER_START)

  # CLEARPILOT: always start with telemetry disabled, VPN enabled
  params.put("TelemetryEnabled", "0")
  params.put("VpnEnabled", "1")
  params.clear_all(ParamKeyType.CLEAR_ON_ONROAD_TRANSITION)
  params.clear_all(ParamKeyType.CLEAR_ON_OFFROAD_TRANSITION)
  if is_release_branch():
    params.clear_all(ParamKeyType.DEVELOPMENT_ONLY)

  default_params: list[tuple[str, str | bytes]] = [
    ("CarParamsPersistent", ""),
    ("CompletedTrainingVersion", "0"),
    ("DisengageOnAccelerator", "0"),
    ("ExperimentalLongitudinalEnabled", "1"),
    ("GsmMetered", "1"),
    ("HasAcceptedTerms", "0"),
    ("IsLdwEnabled", "0"),
    ("IsMetric", "0"),
    ("LanguageSetting", "main_en"),
    ("NavSettingLeftSide", "0"),
    ("NavSettingTime24h", "0"),
    ("OpenpilotEnabledToggle", "1"),
    ("RecordFront", "0"),
    ("LongitudinalPersonality", str(log.LongitudinalPersonality.standard)),

    # Default FrogPilot parameters
    ("AccelerationPath", "1"),
    ("AccelerationProfile", "2"),
    ("AdjacentPath", "0"),
    ("AdjacentPathMetrics", "0"),
    ("AggressiveAcceleration", "1"),
    ("AggressiveFollow", "1.25"),
    ("AggressiveJerk", "0.5"),
    ("AlertVolumeControl", "0"),
    ("AlwaysOnLateral", "1"),
    ("AlwaysOnLateralMain", "0"),
    ("AMapKey1", ""),
    ("AMapKey2", ""),
    ("AutomaticUpdates", "0"),
    ("BlindSpotPath", "1"),
    ("CameraView", "2"),
    ("CarMake", ""),
    ("CarModel", ""),
    ("CECurves", "1"),
    ("CENavigation", "1"),
    ("CENavigationIntersections", "1"),
    ("CENavigationLead", "1"),
    ("CENavigationTurns", "1"),
    ("CESignal", "1"),
    ("CESlowerLead", "1"),
    ("CESpeed", "0"),
    ("CESpeedLead", "0"),
    ("CEStopLights", "1"),
    ("CEStopLightsLead", "0"),
    ("Compass", "1"),
    ("ConditionalExperimental", "1"),
    ("CrosstrekTorque", "1"),
    ("CurveSensitivity", "100"),
    ("CustomAlerts", "1"),
    ("CustomColors", "1"),
    ("CustomCruise", "1"),
    ("CustomCruiseLong", "5"),
    ("CustomIcons", "1"),
    ("CustomPaths", "1"),
    ("CustomPersonalities", "1"),
    ("CustomSignals", "1"),
    ("CustomSounds", "1"),
    ("CustomTheme", "1"),
    ("CustomUI", "1"),
    ("CydiaTune", "0"),
    ("DecelerationProfile", "1"),
    ("DeveloperUI", "0"),
    ("DeviceManagement", "1"),
    ("DeviceShutdown", "9"),
    ("DisableMTSCSmoothing", "0"),
    ("DisableOnroadUploads", "0"),
    ("DisableOpenpilotLongitudinal", "0"),
    ("DisableVTSCSmoothing", "0"),
    ("DisengageVolume", "100"),
    ("DashcamDebug", "1"),
    ("TelemetryEnabled", "0"),
    ("DragonPilotTune", "0"),
    ("DriverCamera", "0"),
    ("DynamicPathWidth", "0"),
    ("EngageVolume", "100"),
    ("EVTable", "1"),
    ("ExperimentalModeActivation", "1"),
    ("ExperimentalModeViaDistance", "1"),
    ("ExperimentalModeViaLKAS", "1"),
    ("ExperimentalModeViaTap", "0"),
    ("Fahrenheit", "0"),
    ("ForceAutoTune", "1"),
    ("ForceFingerprint", "0"),
    ("ForceMPHDashboard", "0"),
    ("FPSCounter", "0"),
    ("FrogPilotDrives", "0"),
    ("FrogPilotKilometers", "0"),
    ("FrogPilotMinutes", "0"),
    ("FrogsGoMooTune", "1"),
    ("FullMap", "0"),
    ("GasRegenCmd", "0"),
    ("GMapKey", ""),
    ("GoatScream", "1"),
    ("GreenLightAlert", "0"),
    ("HideAlerts", "0"),
    ("HideAOLStatusBar", "0"),
    ("HideCEMStatusBar", "0"),
    ("HideLeadMarker", "0"),
    ("HideMapIcon", "0"),
    ("HideMaxSpeed", "0"),
    ("HideSpeed", "0"),
    ("HideSpeedUI", "0"),
    ("HideUIElements", "0"),
    ("HigherBitrate", "0"),
    ("HolidayThemes", "1"),
    ("IncreaseThermalLimits", "0"),
    ("LaneChangeTime", "0"),
    ("LaneDetectionWidth", "60"),
    ("LaneLinesWidth", "4"),
    ("LateralTune", "1"),
    ("LeadDepartingAlert", "0"),
    ("LeadDetectionThreshold", "35"),
    ("LeadInfo", "0"),
    ("LockDoors", "1"),
    ("LongitudinalTune", "1"),
    ("LongPitch", "1"),
    ("LoudBlindspotAlert", "0"),
    ("LowVoltageShutdown", "11.8"),
    ("MapsSelected", ""),
    ("MapboxPublicKey", ""),
    ("MapboxSecretKey", ""),
    ("MapStyle", "0"),
    ("MTSCAggressiveness", "100"),
    ("MTSCCurvatureCheck", "0"),
    ("Model", DEFAULT_MODEL),
    ("ModelName", DEFAULT_MODEL_NAME),
    ("ModelSelector", "1"),
    ("ModelUI", "1"),
    ("MTSCEnabled", "1"),
    ("NNFF", "1"),
    ("NNFFLite", "1"),
    ("NoLogging", "0"),
    ("NoUploads", "0"),
    ("NudgelessLaneChange", "1"),
    ("NumericalTemp", "0"),
    ("OfflineMode", "1"),
    ("Offset1", "5"),
    ("Offset2", "5"),
    ("Offset3", "5"),
    ("Offset4", "10"),
    ("OneLaneChange", "1"),
    ("OnroadDistanceButton", "0"),
    ("PathEdgeWidth", "20"),
    ("PathWidth", "61"),
    ("PauseAOLOnBrake", "0"),
    ("PauseLateralOnSignal", "0"),
    ("PedalsOnUI", "1"),
    ("PreferredSchedule", "0"),
    ("PromptVolume", "100"),
    ("PromptDistractedVolume", "100"),
    ("QOLControls", "1"),
    ("QOLVisuals", "1"),
    ("RandomEvents", "0"),
    ("RefuseVolume", "100"),
    ("RelaxedFollow", "1.75"),
    ("RelaxedJerk", "1.0"),
    ("ReverseCruise", "0"),
    ("ReverseCruiseUI", "1"),
    ("RoadEdgesWidth", "2"),
    ("RoadNameUI", "1"),
    ("RotatingWheel", "1"),
    ("ScreenBrightness", "101"),
    ("ScreenBrightnessOnroad", "101"),
    ("ScreenManagement", "1"),
    ("ScreenRecorder", "1"),
    ("ScreenRecorderDebug", "1"),
    ("ScreenTimeout", "30"),
    ("ScreenTimeoutOnroad", "30"),
    ("SearchInput", "0"),
    ("SetSpeedLimit", "0"),
    ("SetSpeedOffset", "0"),
    ("ShowCPU", "0"),
    ("ShowGPU", "0"),
    ("ShowIP", "0"),
    ("ShowJerk", "1"),
    ("ShowMemoryUsage", "0"),
    ("ShowSLCOffset", "1"),
    ("ShowSLCOffsetUI", "1"),
    ("ShowStorageLeft", "0"),
    ("ShowStorageUsed", "0"),
    ("ShowTuning", "1"),
    ("Sidebar", "0"),
    ("SLCConfirmation", "1"),
    ("SLCConfirmationLower", "1"),
    ("SLCConfirmationHigher", "1"),
    ("SLCFallback", "2"),
    ("SLCLookaheadHigher", "5"),
    ("SLCLookaheadLower", "5"),
    ("SLCOverride", "1"),
    ("SLCPriority1", "Dashboard"),
    ("SLCPriority2", "Offline Maps"),
    ("SLCPriority3", "Navigation"),
    ("SmoothBraking", "1"),
    ("SmoothBrakingFarLead", "0"),
    ("SmoothBrakingJerk", "0"),
    ("SNGHack", "1"),
    ("SpeedLimitChangedAlert", "1"),
    ("SpeedLimitController", "1"),
    ("StandardFollow", "1.45"),
    ("StandardJerk", "1.0"),
    ("StandbyMode", "0"),
    ("SteerRatio", "0"),
    ("StockTune", "0"),
    ("StoppingDistance", "0"),
    ("TacoTune", "1"),
    ("ToyotaDoors", "0"),
    ("TrafficFollow", "0.5"),
    ("TrafficJerk", "1"),
    ("TrafficMode", "0"),
    ("TurnAggressiveness", "100"),
    ("TurnDesires", "0"),
    ("UnlimitedLength", "1"),
    ("UnlockDoors", "1"),
    ("UseSI", "1"),
    ("UseVienna", "0"),
    ("VisionTurnControl", "1"),
    ("WarningSoftVolume", "100"),
    ("WarningImmediateVolume", "100"),
    ("WheelIcon", "3"),
    ("WheelSpeed", "0")
  ]
  if not PC:
    default_params.append(("LastUpdateTime", datetime.datetime.utcnow().isoformat().encode('utf8')))

  if params.get_bool("RecordFrontLock"):
    params.put_bool("RecordFront", True)

  # set unset params
  for k, v in default_params:
    if params.get(k) is None:
      if params_storage.get(k) is None:
        params.put(k, v)
      else:
        params.put(k, params_storage.get(k))
    else:
      params_storage.put(k, params.get(k))

  # Create folders needed for msgq
  try:
    os.mkdir("/dev/shm")
  except FileExistsError:
    pass
  except PermissionError:
    print("WARNING: failed to make /dev/shm")

  # set version params
  params.put("Version", get_version())
  params.put("TermsVersion", terms_version)
  params.put("TrainingVersion", training_version)
  params.put("GitCommit", get_commit())
  params.put("GitCommitDate", get_commit_date())
  params.put("GitBranch", get_short_branch())
  params.put("GitRemote", get_origin())
  params.put_bool("IsTestedBranch", is_tested_branch())
  params.put_bool("IsReleaseBranch", is_release_branch())

  # set dongle id
  reg_res = register(show_spinner=True)
  if reg_res:
    dongle_id = reg_res
  else:
    serial = params.get("HardwareSerial")
    raise Exception(f"Registration failed for device {serial}")
  os.environ['DONGLE_ID'] = dongle_id  # Needed for swaglog
  os.environ['GIT_ORIGIN'] = get_normalized_origin() # Needed for swaglog
  os.environ['GIT_BRANCH'] = get_short_branch() # Needed for swaglog
  os.environ['GIT_COMMIT'] = get_commit() # Needed for swaglog

  if not is_dirty():
    os.environ['CLEAN'] = '1'

  # init logging
  sentry.init(sentry.SentryProject.SELFDRIVE)
  cloudlog.bind_global(dongle_id=dongle_id,
                       version=get_version(),
                       origin=get_normalized_origin(),
                       branch=get_short_branch(),
                       commit=get_commit(),
                       dirty=is_dirty(),
                       device=HARDWARE.get_device_type())

  # preimport all processes
  for p in managed_processes.values():
    p.prepare()


def manager_cleanup() -> None:
  # send signals to kill all procs
  for p in managed_processes.values():
    p.stop(block=False)

  # ensure all are killed
  for p in managed_processes.values():
    p.stop(block=True)

  cloudlog.info("everything is dead")


def manager_thread(frogpilot_functions) -> None:
  cloudlog.bind(daemon="manager")
  cloudlog.info("manager start")
  cloudlog.info({"environ": os.environ})
  session_log.info("manager starting")

  params = Params()
  params_memory = Params("/dev/shm/params")

  ignore: list[str] = []
  if params.get("DongleId", encoding='utf8') in (None, UNREGISTERED_DONGLE_ID):
    ignore += ["manage_athenad", "uploader"]
  if os.getenv("NOBOARD") is not None:
    ignore.append("pandad")
  # CLEARPILOT: bench mode — disable real car processes, enable bench simulator
  if os.getenv("BENCH_MODE") is not None:
    ignore += ["pandad", "controlsd", "radard", "plannerd",
               "calibrationd", "torqued", "paramsd", "locationd", "sensord",
               "ubloxd", "pigeond", "dmonitoringmodeld", "dmonitoringd",
               "modeld", "soundd", "loggerd", "micd",
               "dashcamd"]
    session_log.info("bench mode enabled")
  ignore += [x for x in os.getenv("BLOCK", "").split(",") if len(x) > 0]

  sm = messaging.SubMaster(['deviceState', 'carParams'], poll='deviceState')
  pm = messaging.PubMaster(['managerState'])

  write_onroad_params(False, params)
  ensure_running(managed_processes.values(), False, params=params, CP=sm['carParams'], not_run=ignore)

  started_prev = False

  while True:
    sm.update(1000)

    openpilot_crashed = os.path.isfile(os.path.join(sentry.CRASHES_DIR, 'error.txt'))
    if openpilot_crashed:
      frogpilot_functions.delete_logs()

    started = sm['deviceState'].started

    if started and not started_prev:
      params.clear_all(ParamKeyType.CLEAR_ON_ONROAD_TRANSITION)
      session_log.info("onroad transition")

      if openpilot_crashed:
        os.remove(os.path.join(sentry.CRASHES_DIR, 'error.txt'))

    elif not started and started_prev:
      params.clear_all(ParamKeyType.CLEAR_ON_OFFROAD_TRANSITION)
      params_memory.clear_all(ParamKeyType.CLEAR_ON_OFFROAD_TRANSITION)
      session_log.info("offroad transition")

    # update onroad params, which drives boardd's safety setter thread
    if started != started_prev:
      write_onroad_params(started, params)

    started_prev = started

    ensure_running(managed_processes.values(), started, params=params, CP=sm['carParams'], not_run=ignore)

    # CLEARPILOT: rename log directory once system time is valid
    update_log_dir_timestamp()

    running = ' '.join("{}{}\u001b[0m".format("\u001b[32m" if p.proc.is_alive() else "\u001b[31m", p.name)
                       for p in managed_processes.values() if p.proc)
    print(running)
    cloudlog.debug(running)

    # send managerState
    msg = messaging.new_message('managerState', valid=True)
    msg.managerState.processes = [p.get_process_state_msg() for p in managed_processes.values()]
    pm.send('managerState', msg)

    # Exit main loop when uninstall/shutdown/reboot is needed
    shutdown = False
    for param in ("DoUninstall", "DoShutdown", "DoReboot"):
      if params.get_bool(param):
        shutdown = True
        params.put("LastManagerExitReason", f"{param} {datetime.datetime.now()}")
        cloudlog.warning(f"Shutting down manager - {param} set")
        session_log.info("manager shutting down: %s", param)

    if shutdown:
      break


def main() -> None:
  frogpilot_functions = FrogPilotFunctions()

  try:
    frogpilot_functions.setup_frogpilot()
  except subprocess.CalledProcessError as e:
    print(f"Failed to setup FrogPilot. Error: {e}")
    return

  manager_init(frogpilot_functions)
  if os.getenv("PREPAREONLY") is not None:
    return

  # SystemExit on sigterm
  signal.signal(signal.SIGTERM, lambda signum, frame: sys.exit(1))

  try:
    manager_thread(frogpilot_functions)
  except Exception:
    traceback.print_exc()
    sentry.capture_exception()
  finally:
    manager_cleanup()

  params = Params()
  if params.get_bool("DoUninstall"):
    cloudlog.warning("uninstalling")
    frogpilot_functions.uninstall_frogpilot()
  elif params.get_bool("DoReboot"):
    cloudlog.warning("reboot")
    HARDWARE.reboot()
  elif params.get_bool("DoShutdown"):
    cloudlog.warning("shutdown")
    HARDWARE.shutdown()


if __name__ == "__main__":
  unblock_stdout()

  try:
    main()
  except KeyboardInterrupt:
    print("got CTRL-C, exiting")
  except Exception:
    add_file_handler(cloudlog)
    cloudlog.exception("Manager failed to start")
    session_log.critical("manager failed to start: %s", traceback.format_exc())

    try:
      managed_processes['ui'].stop()
    except Exception:
      pass

    # 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()

    raise

  # manual exit because we are forked
  sys.exit(0)