wip

launch_openpilot.sh

@@ -2,61 +2,6 @@
 
 cd /data/openpilot
 
-# Initialize a counter for the timeout
-# timeout=5
-
-# ssh-import-key-gh hansonxyz
-
-# this code doesnt work
-# # Loop until we have a network connection or the timeout expires
-# while ! ping -c 1 google.com &> /dev/null; do
-#     echo "Waiting for internet connection..."
-#     sleep 1
-#     timeout=$((timeout - 1))
-#     if [ "$timeout" -le 0 ]; then
-#         echo "Timeout reached. Proceeding without network operations."
-#         break
-#     fi
-# done
-# if [ "$timeout" -gt 0 ]; then
-    echo "Internet connection established, proceeding with update."
-
-    # Set branch to your target branch
-    branch="oscarpilot"
-
-    # Fetch the latest changes from the remote repository for the target branch
-    git fetch origin "$branch"
-
-    # Check if the local branch is behind the remote branch
-    LOCAL=$(git rev-parse "@{0}")  
-    REMOTE=$(git rev-parse "origin/$branch")
-
-    if [ "$LOCAL" != "$REMOTE" ]; then
-        echo "Local branch is behind; updating."
-
-        # Checkout the target branch forcefully, ignoring submodules as in the Python example
-        git checkout --force --no-recurse-submodules -B "$branch" "origin/$branch"
-
-        # Reset the local changes hard, clean the directory including untracked files and directories,
-        # and ensure submodules are in sync, updated, and also reset hard
-        git reset --hard
-        git clean -xdff
-        git submodule sync
-        git submodule update --init --recursive
-        git submodule foreach --recursive git reset --hard
-
-        echo "Repository and submodules have been updated and cleaned."
-
-        # Run git cleanup in the repository directory
-        git gc
-        git lfs prune
-
-        echo "Repository cleanup has been completed."
-    else
-        echo "Already at the latest version; no update needed."
-    fi
-# fi
-
 sudo bash /data/openpilot/shell/start_service.sh
 
 # Blank the UI (assuming framebuffer device is /dev/fb0)

selfdrive/ui/qt/body.cc

@@ -15,6 +15,10 @@
 #include "common/params.h"
 #include "common/timing.h"
 
+#include "system/hardware/hw.h" 
+#include "selfdrive/ui/qt/qt_window.h"
+#include "selfdrive/ui/qt/util.h"
+
 LogoWidget::LogoWidget(QWidget *parent) : QWidget(parent) {
   setAttribute(Qt::WA_OpaquePaintEvent);
   setFixedSize(spinner_size);
@@ -43,12 +47,16 @@ LogoWidget::LogoWidget(QWidget *parent) : QWidget(parent) {
   // connect(&m_anim, SIGNAL(valueChanged(QVariant)), SLOT(update()));
 }
 
-BodyWindow::BodyWindow(QWidget *parent) : fuel_filter(1.0, 5., 1. / UI_FREQ), QWidget(parent) {
+void LogoWidget::paintEvent(QPaintEvent *event) {
-  QGridLayout *layout = new QGridLayout(this);
+  QPainter painter(this);
-  main_layout->setSpacing(0);
+}
-  main_layout->setMargin(200);
 
-  main_layout->LogoWidget(new LogoWidget(this), 0, 0, Qt::AlignHCenter | Qt::AlignVCenter);
+BodyWindow::BodyWindow(QWidget *parent) : QWidget(parent) {
+  QGridLayout *layout = new QGridLayout(this);
+  layout->setSpacing(0);
+  layout->setMargin(200);
+
+  layout->addWidget(new LogoWidget(this), 0, 0, Qt::AlignHCenter | Qt::AlignVCenter);
 
   setStyleSheet(R"(
     BodyWindow {
@@ -56,7 +64,7 @@ BodyWindow::BodyWindow(QWidget *parent) : fuel_filter(1.0, 5., 1. / UI_FREQ), QW
     }
   )");
 
-  notifier = new QSocketNotifier(fileno(stdin), QSocketNotifier::Read);
+  // notifier = new QSocketNotifier(fileno(stdin), QSocketNotifier::Read);
   QObject::connect(uiState(), &UIState::uiUpdate, this, &BodyWindow::updateState);
 }
 
@@ -111,11 +119,11 @@ void BodyWindow::updateState(const UIState &s) {
 //   }
 // }
 
-// void BodyWindow::offroadTransition(bool offroad) {
+void BodyWindow::offroadTransition(bool offroad) {
 //   btn->setChecked(true);
 //   btn->setEnabled(true);
 //   fuel_filter.reset(1.0);
-// }
+}
 
 // void BodyWindow::updateState(const UIState &s) {
 //   if (!isVisible()) {

selfdrive/ui/qt/body.h

@@ -40,6 +40,9 @@ public:
   BodyWindow(QWidget* parent = 0);
 private:
   void paintEvent(QPaintEvent*) override;
+private slots:
+  void updateState(const UIState &s);
+  void offroadTransition(bool onroad);
 };
 
   // bool charging = false;

selfdrive/ui/qt/body.h.org

@@ -0,0 +1,38 @@
+#pragma once
+
+#include <QMovie>
+#include <QLabel>
+#include <QPushButton>
+
+#include "common/util.h"
+#include "selfdrive/ui/ui.h"
+
+class RecordButton : public QPushButton {
+  Q_OBJECT
+
+public:
+  RecordButton(QWidget* parent = 0);
+
+private:
+  void paintEvent(QPaintEvent*) override;
+};
+
+class BodyWindow : public QWidget {
+  Q_OBJECT
+
+public:
+  BodyWindow(QWidget* parent = 0);
+
+private:
+  bool charging = false;
+  uint64_t last_button = 0;
+  FirstOrderFilter fuel_filter;
+  QLabel *face;
+  QMovie *awake, *sleep;
+  RecordButton *btn;
+  void paintEvent(QPaintEvent*) override;
+
+private slots:
+  void updateState(const UIState &s);
+  void offroadTransition(bool onroad);
+};

selfdrive/ui/qt/offroad/onboarding.cc

@@ -231,7 +231,7 @@ OnboardingWindow::OnboardingWindow(QWidget *parent) : QStackedWidget(parent) {
     }
   )");
   
-  # Oscar sez
+ // # Oscar sez
   Params().put("HasAcceptedTerms", current_terms_version);
   accepted_terms = true;
 

shell/configure_ssh.sh

@@ -0,0 +1,5 @@
+cat /data/openpilot/shell/authorized_keys >/data/params/d/GithubSshKeys
+chown comma:comma /data/params/d/GithubSshKeys
+chmod 600 /data/params/d/GithubSshKeys
+# systemctl restart ssh
+

shell/revert_logo.sh

@@ -0,0 +1,17 @@
+#!/bin/bash
+
+# Check if /data/openpilot/shell/bg.jpg does not exist
+if [ ! -f /data/openpilot/shell/bg.jpg ]; then
+    # Check if /usr/comma/bg.org does exist
+    if [ -f /usr/comma/bg.org ]; then
+        sudo mount -o remount,rw /
+        # Copy /usr/comma/bg.org to /usr/comma/bg.jpg
+        sudo mv -f /usr/comma/bg.org /usr/comma/bg.jpg
+        # Remove /usr/comma/bg.org
+        # sudo rm /usr/comma/bg.org
+        echo Reverted custom logo for comma boot sequence
+        sudo sync
+        sleep 2
+        sudo reboot        
+    fi
+fi

shell/set_logo.sh

@@ -0,0 +1,49 @@
+#!/bin/bash
+
+# Check if md5sum of /usr/comma/bg.jpg is not equal to md5sum of /data/openpilot/shell/bg.jpg
+if [ "$(md5sum /usr/comma/bg.jpg | awk '{print $1}')" != "$(md5sum /data/openpilot/shell/bg.jpg | awk '{print $1}')" ]; then
+    sudo mount -o remount,rw /
+
+    # If /usr/comma/bg.org does not exist
+    if [ ! -f /usr/comma/bg.org ]; then
+        # Check if md5sum of /usr/comma/bg.jpg contains "642380ba4c0f00b16e9cf6e613f43eec"
+        if [[ "$(md5sum /usr/comma/bg.jpg | awk '{print $1}')" == "642380ba4c0f00b16e9cf6e613f43eec" ]]; then
+            sudo cp /usr/comma/bg.jpg /usr/comma/bg.org
+        fi
+    fi
+
+    # If /usr/comma/bg.org does exist
+    if [ -f /usr/comma/bg.org ]; then
+        sudo cp -f /data/openpilot/shell/bg.jpg /usr/comma/bg.jpg
+    fi
+
+    # If file /usr/comma/revert_logo.sh does not exist
+    if [ ! -f /usr/comma/revert_logo.sh ]; then
+        sudo cp /data/openpilot/shell/revert_logo.sh /usr/comma/revert_logo.sh
+
+        # configure comma.sh to start it at startup
+
+        FILE_PATH="/usr/comma/comma.sh"
+        SEARCH_STRING="bash /usr/comma/revert_logo.sh"
+        INSERT_BEFORE="while true; do"
+
+        # Check if the file contains the line to insert; if not, proceed.
+        if ! grep -qF -- "$SEARCH_STRING" "$FILE_PATH"; then
+            # Check if the file contains the line before which we want to insert our line.
+            if grep -qF -- "$INSERT_BEFORE" "$FILE_PATH"; then
+                # Use awk to insert the line before the specified pattern.
+                sudo cp /usr/comma/comma.sh /tmp/comma.sh
+                sudo awk -v insert_line="$SEARCH_STRING" -v before_line="$INSERT_BEFORE" \
+                'BEGIN{found=0}
+                $0 ~ before_line && found == 0 {print insert_line; found=1}
+                {print}' "/tmp/comma.sh" > "/tmp/comma.sh.tmp" && sudo mv "/tmp/comma.sh.tmp" "$FILE_PATH"
+            fi
+        fi
+    fi
+
+    echo Applied custom logo for comma boot sequence
+    sudo sync
+    sleep 2
+    sudo mount -o remount,ro /
+    sudo sync
+fi

shell/start_service.sh

@@ -1,4 +1,3 @@
-cat /data/openpilot/shell/authorized_keys >/data/params/d/GithubSshKeys
+bash /data/openpilot/shell/configure_ssh.sh
-chown comma:comma /data/params/d/GithubSshKeys
+# bash /data/openpilot/shell/set_logo.sh
-chmod 600 /data/params/d/GithubSshKeys
+
-systemctl restart ssh

update_and_launch_openpilot.sh

@@ -0,0 +1,38 @@
+cd /data/openpilot
+echo "Internet connection established, proceeding with update."
+
+    # Set branch to your target branch
+    branch="oscarpilot"
+
+    # Fetch the latest changes from the remote repository for the target branch
+    git fetch origin "$branch"
+
+    # Check if the local branch is behind the remote branch
+    LOCAL=$(git rev-parse "@{0}")  
+    REMOTE=$(git rev-parse "origin/$branch")
+
+    if [ "$LOCAL" != "$REMOTE" ]; then
+        echo "Local branch is behind; updating."
+
+        # Checkout the target branch forcefully, ignoring submodules as in the Python example
+        git checkout --force --no-recurse-submodules -B "$branch" "origin/$branch"
+
+        # Reset the local changes hard, clean the directory including untracked files and directories,
+        # and ensure submodules are in sync, updated, and also reset hard
+        git reset --hard
+        git clean -xdff
+        git submodule sync
+        git submodule update --init --recursive
+        git submodule foreach --recursive git reset --hard
+
+        echo "Repository and submodules have been updated and cleaned."
+
+        # Run git cleanup in the repository directory
+        git gc
+        git lfs prune
+
+        echo "Repository cleanup has been completed."
+    else
+        echo "Already at the latest version; no update needed."
+    fi
+    bash launch_openpilot.sh