IQ.Pilot Release Commit @ f2a861c

iqpilot/system/manager/helpers.py

@@ -0,0 +1,104 @@
+import errno
+import fcntl
+import os
+import sys
+import pathlib
+import shutil
+import signal
+import subprocess
+import tempfile
+import threading
+
+from iqpilot.common.basedir import BASEDIR
+from iqpilot.common.params import Params
+
+def unblock_stdout() -> None:
+  # get a non-blocking stdout
+  child_pid, child_pty = os.forkpty()
+  if child_pid != 0:  # parent
+
+    # child is in its own process group, manually pass kill signals
+    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)
+
+    while True:
+      try:
+        dat = os.read(child_pty, 4096)
+      except OSError as e:
+        if e.errno == errno.EIO:
+          break
+        continue
+
+      if not dat:
+        break
+
+      try:
+        sys.stdout.write(dat.decode('utf8'))
+      except (OSError, UnicodeDecodeError):
+        pass
+
+    # os.wait() returns a tuple with the pid and a 16 bit value
+    # whose low byte is the signal number and whose high byte is the exit status
+    exit_status = os.wait()[1] >> 8
+    os._exit(exit_status)
+
+
+def write_onroad_params(started, params):
+  params.put_bool("IsOnroad", started)
+  params.put_bool("IsOffroad", not started)
+
+
+def heal_param_perms():
+  """Self-heal for a boot-bricking failure mode: a stray root process occasionally
+  writes a param (seen with RouteCount/CurrentRoute) as root:root 0600, which manager
+  (comma) then can't read — crashing save_bootlog and any param read. Detect params we
+  don't own and chown them back + make them readable. Needs root to chown another user's
+  file, so it shells to passwordless sudo (device grants it); best-effort, never raises,
+  never blocks boot. No-op when everything is already ours (the common case: no sudo)."""
+  try:
+    param_path = Params().get_param_path()
+    uid, gid = os.getuid(), os.getgid()
+    stray = []
+    for name in os.listdir(param_path):
+      p = os.path.join(param_path, name)
+      try:
+        if os.stat(p).st_uid != uid:
+          stray.append(p)
+      except OSError:
+        pass
+    if stray:
+      subprocess.run(["sudo", "-n", "chown", f"{uid}:{gid}", *stray], check=False, timeout=15,
+                     stdout=subprocess.DEVNULL, stderr=subprocess.DEVNULL)
+      subprocess.run(["sudo", "-n", "chmod", "644", *stray], check=False, timeout=15,
+                     stdout=subprocess.DEVNULL, stderr=subprocess.DEVNULL)
+  except Exception:
+    pass
+
+
+def save_bootlog():
+  # copy current params
+  tmp = tempfile.mkdtemp()
+  params_dirname = pathlib.Path(Params().get_param_path()).name
+  params_dir = os.path.join(tmp, params_dirname)
+
+  # Params are rewritten atomically (unlink + rename) by other processes, so a
+  # value can vanish between copytree's listing and the copy; a param may also be
+  # unreadable (e.g. a root-owned RouteCount/CurrentRoute). Skip any file we can't
+  # copy instead of raising — the bootlog snapshot is best-effort and must NOT block boot.
+  def _copy_skip_missing(src, dst, *, follow_symlinks=True):
+    try:
+      shutil.copy2(src, dst, follow_symlinks=follow_symlinks)
+    except OSError:
+      pass
+  shutil.copytree(Params().get_param_path(), params_dir, dirs_exist_ok=True, copy_function=_copy_skip_missing)
+
+  def fn(tmpdir):
+    env = os.environ.copy()
+    env['PARAMS_COPY_PATH'] = tmpdir
+    subprocess.call("./bootlog", cwd=os.path.join(BASEDIR, "iqpilot/system/loggerd"), env=env)
+    shutil.rmtree(tmpdir)
+  t = threading.Thread(target=fn, args=(tmp, ))
+  t.daemon = True
+  t.start()