openpilot v0.9.6 release

date: 2024-01-12T10:13:37
master commit: ba792d576a49a0899b88a753fa1c52956bedf9e6

selfdrive/ui/installer/installer.cc

@@ -0,0 +1,221 @@
+#include <time.h>
+#include <unistd.h>
+
+#include <cstdlib>
+#include <fstream>
+#include <map>
+#include <string>
+
+#include <QDebug>
+#include <QDir>
+#include <QTimer>
+#include <QVBoxLayout>
+
+#include "selfdrive/ui/installer/installer.h"
+#include "selfdrive/ui/qt/util.h"
+#include "selfdrive/ui/qt/qt_window.h"
+
+std::string get_str(std::string const s) {
+  std::string::size_type pos = s.find('?');
+  assert(pos != std::string::npos);
+  return s.substr(0, pos);
+}
+
+// Leave some extra space for the fork installer
+const std::string GIT_URL = get_str("https://github.com/commaai/openpilot.git" "?                                                                ");
+const std::string BRANCH_STR = get_str(BRANCH "?                                                                ");
+
+#define GIT_SSH_URL "git@github.com:commaai/openpilot.git"
+#define CONTINUE_PATH "/data/continue.sh"
+
+const QString CACHE_PATH = "/data/openpilot.cache";
+
+#define INSTALL_PATH "/data/openpilot"
+#define TMP_INSTALL_PATH "/data/tmppilot"
+
+extern const uint8_t str_continue[] asm("_binary_selfdrive_ui_installer_continue_" BRAND "_sh_start");
+extern const uint8_t str_continue_end[] asm("_binary_selfdrive_ui_installer_continue_" BRAND "_sh_end");
+
+bool time_valid() {
+  time_t rawtime;
+  time(&rawtime);
+
+  struct tm * sys_time = gmtime(&rawtime);
+  return (1900 + sys_time->tm_year) >= 2020;
+}
+
+void run(const char* cmd) {
+  int err = std::system(cmd);
+  assert(err == 0);
+}
+
+Installer::Installer(QWidget *parent) : QWidget(parent) {
+  QVBoxLayout *layout = new QVBoxLayout(this);
+  layout->setContentsMargins(150, 290, 150, 150);
+  layout->setSpacing(0);
+
+  QLabel *title = new QLabel(tr("Installing..."));
+  title->setStyleSheet("font-size: 90px; font-weight: 600;");
+  layout->addWidget(title, 0, Qt::AlignTop);
+
+  layout->addSpacing(170);
+
+  bar = new QProgressBar();
+  bar->setRange(0, 100);
+  bar->setTextVisible(false);
+  bar->setFixedHeight(72);
+  layout->addWidget(bar, 0, Qt::AlignTop);
+
+  layout->addSpacing(30);
+
+  val = new QLabel("0%");
+  val->setStyleSheet("font-size: 70px; font-weight: 300;");
+  layout->addWidget(val, 0, Qt::AlignTop);
+
+  layout->addStretch();
+
+  QObject::connect(&proc, QOverload<int, QProcess::ExitStatus>::of(&QProcess::finished), this, &Installer::cloneFinished);
+  QObject::connect(&proc, &QProcess::readyReadStandardError, this, &Installer::readProgress);
+
+  QTimer::singleShot(100, this, &Installer::doInstall);
+
+  setStyleSheet(R"(
+    * {
+      font-family: Inter;
+      color: white;
+      background-color: black;
+    }
+    QProgressBar {
+      border: none;
+      background-color: #292929;
+    }
+    QProgressBar::chunk {
+      background-color: #364DEF;
+    }
+  )");
+}
+
+void Installer::updateProgress(int percent) {
+  bar->setValue(percent);
+  val->setText(QString("%1%").arg(percent));
+  update();
+}
+
+void Installer::doInstall() {
+  // wait for valid time
+  while (!time_valid()) {
+    usleep(500 * 1000);
+    qDebug() << "Waiting for valid time";
+  }
+
+  // cleanup previous install attempts
+  run("rm -rf " TMP_INSTALL_PATH " " INSTALL_PATH);
+
+  // do the install
+  if (QDir(CACHE_PATH).exists()) {
+    cachedFetch(CACHE_PATH);
+  } else {
+    freshClone();
+  }
+}
+
+void Installer::freshClone() {
+  qDebug() << "Doing fresh clone";
+  proc.start("git", {"clone", "--progress", GIT_URL.c_str(), "-b", BRANCH_STR.c_str(),
+                     "--depth=1", "--recurse-submodules", TMP_INSTALL_PATH});
+}
+
+void Installer::cachedFetch(const QString &cache) {
+  qDebug() << "Fetching with cache: " << cache;
+
+  run(QString("cp -rp %1 %2").arg(cache, TMP_INSTALL_PATH).toStdString().c_str());
+  int err = chdir(TMP_INSTALL_PATH);
+  assert(err == 0);
+  run(("git remote set-branches --add origin " + BRANCH_STR).c_str());
+
+  updateProgress(10);
+
+  proc.setWorkingDirectory(TMP_INSTALL_PATH);
+  proc.start("git", {"fetch", "--progress", "origin", BRANCH_STR.c_str()});
+}
+
+void Installer::readProgress() {
+  const QVector<QPair<QString, int>> stages = {
+    // prefix, weight in percentage
+    {"Receiving objects: ", 91},
+    {"Resolving deltas: ", 2},
+    {"Updating files: ", 7},
+  };
+
+  auto line = QString(proc.readAllStandardError());
+
+  int base = 0;
+  for (const QPair kv : stages) {
+    if (line.startsWith(kv.first)) {
+      auto perc = line.split(kv.first)[1].split("%")[0];
+      int p = base + int(perc.toFloat() / 100. * kv.second);
+      updateProgress(p);
+      break;
+    }
+    base += kv.second;
+  }
+}
+
+void Installer::cloneFinished(int exitCode, QProcess::ExitStatus exitStatus) {
+  qDebug() << "git finished with " << exitCode;
+  assert(exitCode == 0);
+
+  updateProgress(100);
+
+  // ensure correct branch is checked out
+  int err = chdir(TMP_INSTALL_PATH);
+  assert(err == 0);
+  run(("git checkout " + BRANCH_STR).c_str());
+  run(("git reset --hard origin/" + BRANCH_STR).c_str());
+  run("git submodule update --init");
+
+  // move into place
+  run("mv " TMP_INSTALL_PATH " " INSTALL_PATH);
+
+#ifdef INTERNAL
+  run("mkdir -p /data/params/d/");
+
+  std::map<std::string, std::string> params = {
+    {"SshEnabled", "1"},
+    {"RecordFrontLock", "1"},
+    {"GithubSshKeys", SSH_KEYS},
+  };
+  for (const auto& [key, value] : params) {
+    std::ofstream param;
+    param.open("/data/params/d/" + key);
+    param << value;
+    param.close();
+  }
+  run("cd " INSTALL_PATH " && "
+      "git remote set-url origin --push " GIT_SSH_URL " && "
+      "git config --replace-all remote.origin.fetch \"+refs/heads/*:refs/remotes/origin/*\"");
+#endif
+
+  // write continue.sh
+  FILE *of = fopen("/data/continue.sh.new", "wb");
+  assert(of != NULL);
+
+  size_t num = str_continue_end - str_continue;
+  size_t num_written = fwrite(str_continue, 1, num, of);
+  assert(num == num_written);
+  fclose(of);
+
+  run("chmod +x /data/continue.sh.new");
+  run("mv /data/continue.sh.new " CONTINUE_PATH);
+
+  // wait for the installed software's UI to take over
+  QTimer::singleShot(60 * 1000, &QCoreApplication::quit);
+}
+
+int main(int argc, char *argv[]) {
+  initApp(argc, argv);
+  QApplication a(argc, argv);
+  Installer installer;
+  setMainWindow(&installer);
+  return a.exec();
+}

selfdrive/ui/installer/installer.h

@@ -0,0 +1,28 @@
+#pragma once
+
+#include <QLabel>
+#include <QProcess>
+#include <QProgressBar>
+#include <QWidget>
+
+class Installer : public QWidget {
+  Q_OBJECT
+
+public:
+  explicit Installer(QWidget *parent = 0);
+
+private slots:
+  void updateProgress(int percent);
+
+  void readProgress();
+  void cloneFinished(int exitCode, QProcess::ExitStatus exitStatus);
+
+private:
+  QLabel *val;
+  QProgressBar *bar;
+  QProcess proc;
+
+  void doInstall();
+  void freshClone();
+  void cachedFetch(const QString &cache);
+};