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params.cc
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params.cc
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#include "selfdrive/common/params.h"
#include <dirent.h>
#include <sys/file.h>
#include <csignal>
#include <unordered_map>
#include "selfdrive/common/swaglog.h"
#include "selfdrive/common/util.h"
#include "selfdrive/hardware/hw.h"
namespace {
volatile sig_atomic_t params_do_exit = 0;
void params_sig_handler(int signal) {
params_do_exit = 1;
}
int fsync_dir(const std::string &path) {
int result = -1;
int fd = HANDLE_EINTR(open(path.c_str(), O_RDONLY, 0755));
if (fd >= 0) {
result = fsync(fd);
close(fd);
}
return result;
}
bool create_params_path(const std::string ¶m_path, const std::string &key_path) {
// Make sure params path exists
if (!util::file_exists(param_path) && !util::create_directories(param_path, 0775)) {
return false;
}
// See if the symlink exists, otherwise create it
if (!util::file_exists(key_path)) {
// 1) Create temp folder
// 2) Symlink it to temp link
// 3) Move symlink to <params>/d
std::string tmp_path = param_path + "/.tmp_XXXXXX";
// this should be OK since mkdtemp just replaces characters in place
char *tmp_dir = mkdtemp((char *)tmp_path.c_str());
if (tmp_dir == NULL) {
return false;
}
std::string link_path = std::string(tmp_dir) + ".link";
if (symlink(tmp_dir, link_path.c_str()) != 0) {
return false;
}
// don't return false if it has been created by other
if (rename(link_path.c_str(), key_path.c_str()) != 0 && errno != EEXIST) {
return false;
}
}
return true;
}
std::string ensure_params_path(const std::string &path = {}) {
std::string params_path = path.empty() ? Path::params() : path;
if (!create_params_path(params_path, params_path + "/d")) {
throw std::runtime_error(util::string_format("Failed to ensure params path, errno=%d", errno));
}
return params_path;
}
class FileLock {
public:
FileLock(const std::string &fn) {
fd_ = HANDLE_EINTR(open(fn.c_str(), O_CREAT, 0775));
if (fd_ < 0 || HANDLE_EINTR(flock(fd_, LOCK_EX)) < 0) {
LOGE("Failed to lock file %s, errno=%d", fn.c_str(), errno);
}
}
~FileLock() { close(fd_); }
private:
int fd_ = -1;
};
std::unordered_map<std::string, uint32_t> keys = {
{"AccessToken", CLEAR_ON_MANAGER_START | DONT_LOG},
{"AthenadPid", PERSISTENT},
{"AthenadUploadQueue", PERSISTENT},
{"CalibrationParams", PERSISTENT},
{"CarBatteryCapacity", PERSISTENT},
{"CarParams", CLEAR_ON_MANAGER_START | CLEAR_ON_IGNITION_ON},
{"CarParamsCache", CLEAR_ON_MANAGER_START},
{"CarVin", CLEAR_ON_MANAGER_START | CLEAR_ON_IGNITION_ON},
{"CompletedTrainingVersion", PERSISTENT},
{"ControlsReady", CLEAR_ON_MANAGER_START | CLEAR_ON_IGNITION_ON},
{"CurrentRoute", CLEAR_ON_MANAGER_START | CLEAR_ON_IGNITION_ON},
{"DisablePowerDown", PERSISTENT},
{"DisableRadar_Allow", PERSISTENT},
{"DisableRadar", PERSISTENT}, // WARNING: THIS DISABLES AEB
{"DisableUpdates", PERSISTENT},
{"DongleId", PERSISTENT},
{"DoReboot", CLEAR_ON_MANAGER_START},
{"DoShutdown", CLEAR_ON_MANAGER_START},
{"DoUninstall", CLEAR_ON_MANAGER_START},
{"EnableWideCamera", CLEAR_ON_MANAGER_START},
{"EndToEndToggle", PERSISTENT},
{"ForcePowerDown", CLEAR_ON_MANAGER_START},
{"GitBranch", PERSISTENT},
{"GitCommit", PERSISTENT},
{"GitDiff", PERSISTENT},
{"GithubSshKeys", PERSISTENT},
{"GithubUsername", PERSISTENT},
{"GitRemote", PERSISTENT},
{"GsmApn", PERSISTENT},
{"GsmRoaming", PERSISTENT},
{"HardwareSerial", PERSISTENT},
{"HasAcceptedTerms", PERSISTENT},
{"IMEI", PERSISTENT},
{"InstallDate", PERSISTENT},
{"IsDriverViewEnabled", CLEAR_ON_MANAGER_START},
{"IsEngaged", PERSISTENT},
{"IsLdwEnabled", PERSISTENT},
{"IsMetric", PERSISTENT},
{"IsOffroad", CLEAR_ON_MANAGER_START},
{"IsOnroad", PERSISTENT},
{"IsRHD", PERSISTENT},
{"IsTakingSnapshot", CLEAR_ON_MANAGER_START},
{"IsUpdateAvailable", CLEAR_ON_MANAGER_START},
{"JoystickDebugMode", CLEAR_ON_MANAGER_START | CLEAR_ON_IGNITION_OFF},
{"LastAthenaPingTime", CLEAR_ON_MANAGER_START},
{"LastGPSPosition", PERSISTENT},
{"LastManagerExitReason", CLEAR_ON_MANAGER_START},
{"LastPeripheralPandaType", PERSISTENT},
{"LastPowerDropDetected", CLEAR_ON_MANAGER_START},
{"LastSystemShutdown", CLEAR_ON_MANAGER_START},
{"LastUpdateException", PERSISTENT},
{"LastUpdateTime", PERSISTENT},
{"LiveParameters", PERSISTENT},
{"NavDestination", CLEAR_ON_MANAGER_START | CLEAR_ON_IGNITION_OFF},
{"NavSettingTime24h", PERSISTENT},
{"NavdRender", PERSISTENT},
{"OpenpilotEnabledToggle", PERSISTENT},
{"PandaHeartbeatLost", CLEAR_ON_MANAGER_START | CLEAR_ON_IGNITION_OFF},
{"PandaSignatures", CLEAR_ON_MANAGER_START},
{"Passive", PERSISTENT},
{"PrimeRedirected", PERSISTENT},
{"PrimeType", PERSISTENT},
{"RecordFront", PERSISTENT},
{"RecordFrontLock", PERSISTENT}, // for the internal fleet
{"ReleaseNotes", PERSISTENT},
{"ShouldDoUpdate", CLEAR_ON_MANAGER_START},
{"SnoozeUpdate", CLEAR_ON_MANAGER_START | CLEAR_ON_IGNITION_OFF},
{"SshEnabled", PERSISTENT},
{"SubscriberInfo", PERSISTENT},
{"TermsVersion", PERSISTENT},
{"Timezone", PERSISTENT},
{"TrainingVersion", PERSISTENT},
{"UpdateAvailable", CLEAR_ON_MANAGER_START},
{"UpdateFailedCount", CLEAR_ON_MANAGER_START},
{"Version", PERSISTENT},
{"VisionRadarToggle", PERSISTENT},
{"ApiCache_Device", PERSISTENT},
{"ApiCache_DriveStats", PERSISTENT},
{"ApiCache_NavDestinations", PERSISTENT},
{"ApiCache_Owner", PERSISTENT},
{"Offroad_CarUnrecognized", CLEAR_ON_MANAGER_START | CLEAR_ON_IGNITION_ON},
{"Offroad_ChargeDisabled", CLEAR_ON_MANAGER_START },
{"Offroad_ConnectivityNeeded", CLEAR_ON_MANAGER_START},
{"Offroad_ConnectivityNeededPrompt", CLEAR_ON_MANAGER_START},
{"Offroad_InvalidTime", CLEAR_ON_MANAGER_START},
{"Offroad_IsTakingSnapshot", CLEAR_ON_MANAGER_START},
{"Offroad_NeosUpdate", CLEAR_ON_MANAGER_START},
{"Offroad_NoFirmware", CLEAR_ON_MANAGER_START | CLEAR_ON_IGNITION_ON},
{"Offroad_StorageMissing", CLEAR_ON_MANAGER_START},
{"Offroad_TemperatureTooHigh", CLEAR_ON_MANAGER_START},
{"Offroad_UnofficialHardware", CLEAR_ON_MANAGER_START},
{"Offroad_UpdateFailed", CLEAR_ON_MANAGER_START},
};
} // namespace
Params::Params(const std::string &path) {
static std::string default_param_path = ensure_params_path();
params_path = path.empty() ? default_param_path : ensure_params_path(path);
}
bool Params::checkKey(const std::string &key) {
return keys.find(key) != keys.end();
}
ParamKeyType Params::getKeyType(const std::string &key) {
return static_cast<ParamKeyType>(keys[key]);
}
int Params::put(const char* key, const char* value, size_t value_size) {
// Information about safely and atomically writing a file: https://lwn.net/Articles/457667/
// 1) Create temp file
// 2) Write data to temp file
// 3) fsync() the temp file
// 4) rename the temp file to the real name
// 5) fsync() the containing directory
std::string tmp_path = params_path + "/.tmp_value_XXXXXX";
int tmp_fd = mkstemp((char*)tmp_path.c_str());
if (tmp_fd < 0) return -1;
int result = -1;
do {
// Write value to temp.
ssize_t bytes_written = HANDLE_EINTR(write(tmp_fd, value, value_size));
if (bytes_written < 0 || (size_t)bytes_written != value_size) {
result = -20;
break;
}
// fsync to force persist the changes.
if ((result = fsync(tmp_fd)) < 0) break;
FileLock file_lock(params_path + "/.lock");
// Move temp into place.
if ((result = rename(tmp_path.c_str(), getParamPath(key).c_str())) < 0) break;
// fsync parent directory
result = fsync_dir(getParamPath());
} while (false);
close(tmp_fd);
::unlink(tmp_path.c_str());
return result;
}
int Params::remove(const std::string &key) {
FileLock file_lock(params_path + "/.lock");
int result = unlink(getParamPath(key).c_str());
if (result != 0) {
return result;
}
return fsync_dir(getParamPath());
}
std::string Params::get(const std::string &key, bool block) {
if (!block) {
return util::read_file(getParamPath(key));
} else {
// blocking read until successful
params_do_exit = 0;
void (*prev_handler_sigint)(int) = std::signal(SIGINT, params_sig_handler);
void (*prev_handler_sigterm)(int) = std::signal(SIGTERM, params_sig_handler);
std::string value;
while (!params_do_exit) {
if (value = util::read_file(getParamPath(key)); !value.empty()) {
break;
}
util::sleep_for(100); // 0.1 s
}
std::signal(SIGINT, prev_handler_sigint);
std::signal(SIGTERM, prev_handler_sigterm);
return value;
}
}
std::map<std::string, std::string> Params::readAll() {
FileLock file_lock(params_path + "/.lock");
return util::read_files_in_dir(getParamPath());
}
void Params::clearAll(ParamKeyType key_type) {
FileLock file_lock(params_path + "/.lock");
std::string path;
for (auto &[key, type] : keys) {
if (type & key_type) {
unlink(getParamPath(key).c_str());
}
}
fsync_dir(getParamPath());
}