mirror of
https://github.com/firestar5683/StarPilot.git
synced 2026-08-23 17:23:44 +08:00
Shane Smiskol
+7
-443
@@ -1,450 +1,14 @@
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#!/usr/bin/env python3
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import os
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import re
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import threading
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import time
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import urllib.request
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import urllib.error
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from urllib.parse import urlparse
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from enum import IntEnum
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import shutil
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import pyray as rl
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from cereal import log
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from openpilot.common.utils import run_cmd
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from openpilot.system.hardware import HARDWARE
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from openpilot.system.ui.lib.scroll_panel import GuiScrollPanel
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from openpilot.system.ui.lib.application import gui_app, FontWeight, FONT_SCALE
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from openpilot.system.ui.widgets import Widget
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from openpilot.system.ui.widgets.button import Button, ButtonStyle, ButtonRadio
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from openpilot.system.ui.widgets.keyboard import Keyboard
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from openpilot.system.ui.widgets.label import Label
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from openpilot.system.ui.widgets.network import WifiManagerUI, WifiManager
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NetworkType = log.DeviceState.NetworkType
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MARGIN = 50
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TITLE_FONT_SIZE = 90
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TITLE_FONT_WEIGHT = FontWeight.MEDIUM
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NEXT_BUTTON_WIDTH = 310
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BODY_FONT_SIZE = 80
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BUTTON_HEIGHT = 160
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BUTTON_SPACING = 50
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OPENPILOT_URL = "https://openpilot.comma.ai"
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USER_AGENT = f"AGNOSSetup-{HARDWARE.get_os_version()}"
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CONTINUE_PATH = "/data/continue.sh"
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TMP_CONTINUE_PATH = "/data/continue.sh.new"
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INSTALL_PATH = "/data/openpilot"
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VALID_CACHE_PATH = "/data/.openpilot_cache"
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INSTALLER_SOURCE_PATH = "/usr/comma/installer"
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INSTALLER_DESTINATION_PATH = "/tmp/installer"
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INSTALLER_URL_PATH = "/tmp/installer_url"
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CONTINUE = """#!/usr/bin/env bash
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cd /data/openpilot
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exec ./launch_openpilot.sh
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"""
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class SetupState(IntEnum):
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LOW_VOLTAGE = 0
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GETTING_STARTED = 1
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NETWORK_SETUP = 2
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SOFTWARE_SELECTION = 3
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CUSTOM_SOFTWARE = 4
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DOWNLOADING = 5
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DOWNLOAD_FAILED = 6
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CUSTOM_SOFTWARE_WARNING = 7
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class Setup(Widget):
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def __init__(self):
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super().__init__()
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self.state = SetupState.GETTING_STARTED
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self.network_check_thread = None
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self.network_connected = threading.Event()
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self.wifi_connected = threading.Event()
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self.stop_network_check_thread = threading.Event()
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self.failed_url = ""
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self.failed_reason = ""
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self.download_url = ""
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self.download_progress = 0
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self.download_thread = None
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self.wifi_ui = WifiManagerUI(WifiManager())
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self.keyboard = Keyboard()
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self.selected_radio = None
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self.warning = gui_app.texture("icons/warning.png", 150, 150)
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self.checkmark = gui_app.texture("icons/circled_check.png", 100, 100)
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self._low_voltage_title_label = Label("WARNING: Low Voltage", TITLE_FONT_SIZE, FontWeight.MEDIUM, rl.GuiTextAlignment.TEXT_ALIGN_LEFT,
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text_color=rl.Color(255, 89, 79, 255), text_padding=20)
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self._low_voltage_body_label = Label("Power your device in a car with a harness or proceed at your own risk.", BODY_FONT_SIZE,
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text_alignment=rl.GuiTextAlignment.TEXT_ALIGN_LEFT, text_padding=20)
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self._low_voltage_continue_button = Button("Continue", self._low_voltage_continue_button_callback)
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self._low_voltage_poweroff_button = Button("Power Off", HARDWARE.shutdown)
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self._getting_started_button = Button("", self._getting_started_button_callback, button_style=ButtonStyle.PRIMARY, border_radius=0)
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self._getting_started_title_label = Label("Getting Started", TITLE_FONT_SIZE, FontWeight.BOLD, rl.GuiTextAlignment.TEXT_ALIGN_LEFT, text_padding=20)
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self._getting_started_body_label = Label("Before we get on the road, let's finish installation and cover some details.",
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BODY_FONT_SIZE, text_alignment=rl.GuiTextAlignment.TEXT_ALIGN_LEFT, text_padding=20)
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self._software_selection_openpilot_button = ButtonRadio("openpilot", self.checkmark, font_size=BODY_FONT_SIZE, text_padding=80)
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self._software_selection_custom_software_button = ButtonRadio("Custom Software", self.checkmark, font_size=BODY_FONT_SIZE, text_padding=80)
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self._software_selection_continue_button = Button("Continue", self._software_selection_continue_button_callback,
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button_style=ButtonStyle.PRIMARY)
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self._software_selection_continue_button.set_enabled(False)
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self._software_selection_back_button = Button("Back", self._software_selection_back_button_callback)
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self._software_selection_title_label = Label("Choose Software to Use", TITLE_FONT_SIZE, FontWeight.BOLD, rl.GuiTextAlignment.TEXT_ALIGN_LEFT,
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text_padding=20)
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self._download_failed_reboot_button = Button("Reboot device", HARDWARE.reboot)
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self._download_failed_startover_button = Button("Start over", self._download_failed_startover_button_callback, button_style=ButtonStyle.PRIMARY)
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self._download_failed_title_label = Label("Download Failed", TITLE_FONT_SIZE, FontWeight.BOLD, rl.GuiTextAlignment.TEXT_ALIGN_LEFT, text_padding=20)
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self._download_failed_url_label = Label("", 52, FontWeight.NORMAL, rl.GuiTextAlignment.TEXT_ALIGN_LEFT, text_padding=20)
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self._download_failed_body_label = Label("", BODY_FONT_SIZE, text_alignment=rl.GuiTextAlignment.TEXT_ALIGN_LEFT, text_padding=20)
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self._network_setup_back_button = Button("Back", self._network_setup_back_button_callback)
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self._network_setup_continue_button = Button("Waiting for internet", self._network_setup_continue_button_callback,
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button_style=ButtonStyle.PRIMARY)
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self._network_setup_continue_button.set_enabled(False)
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self._network_setup_title_label = Label("Connect to Wi-Fi", TITLE_FONT_SIZE, FontWeight.BOLD, rl.GuiTextAlignment.TEXT_ALIGN_LEFT, text_padding=20)
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self._custom_software_warning_continue_button = Button("Scroll to continue", self._custom_software_warning_continue_button_callback,
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button_style=ButtonStyle.PRIMARY)
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self._custom_software_warning_continue_button.set_enabled(False)
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self._custom_software_warning_back_button = Button("Back", self._custom_software_warning_back_button_callback)
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self._custom_software_warning_title_label = Label("WARNING: Custom Software", 81, FontWeight.BOLD, rl.GuiTextAlignment.TEXT_ALIGN_LEFT,
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text_color=rl.Color(255, 89, 79, 255),
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text_padding=60)
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self._custom_software_warning_body_label = Label("Use caution when installing third-party software.\n\n"
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+ "⚠️ It has not been tested by comma.\n\n"
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+ "⚠️ It may not comply with relevant safety standards.\n\n"
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+ "⚠️ It may cause damage to your device and/or vehicle.\n\n"
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+ "If you'd like to proceed, use https://flash.comma.ai "
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+ "to restore your device to a factory state later.",
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68, text_alignment=rl.GuiTextAlignment.TEXT_ALIGN_LEFT, text_padding=60)
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self._custom_software_warning_body_scroll_panel = GuiScrollPanel()
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self._downloading_body_label = Label("Downloading...", TITLE_FONT_SIZE, FontWeight.MEDIUM, text_padding=20)
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try:
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with open("/sys/class/hwmon/hwmon1/in1_input") as f:
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voltage = float(f.read().strip()) / 1000.0
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if voltage < 7:
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self.state = SetupState.LOW_VOLTAGE
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except (FileNotFoundError, ValueError):
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self.state = SetupState.LOW_VOLTAGE
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def _render(self, rect: rl.Rectangle):
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if self.state == SetupState.LOW_VOLTAGE:
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self.render_low_voltage(rect)
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elif self.state == SetupState.GETTING_STARTED:
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self.render_getting_started(rect)
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elif self.state == SetupState.NETWORK_SETUP:
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self.render_network_setup(rect)
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elif self.state == SetupState.SOFTWARE_SELECTION:
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self.render_software_selection(rect)
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elif self.state == SetupState.CUSTOM_SOFTWARE_WARNING:
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self.render_custom_software_warning(rect)
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elif self.state == SetupState.CUSTOM_SOFTWARE:
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self.render_custom_software()
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elif self.state == SetupState.DOWNLOADING:
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self.render_downloading(rect)
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elif self.state == SetupState.DOWNLOAD_FAILED:
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self.render_download_failed(rect)
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def _low_voltage_continue_button_callback(self):
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self.state = SetupState.GETTING_STARTED
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def _custom_software_warning_back_button_callback(self):
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self.state = SetupState.SOFTWARE_SELECTION
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def _custom_software_warning_continue_button_callback(self):
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self.state = SetupState.NETWORK_SETUP
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self.stop_network_check_thread.clear()
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self.start_network_check()
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def _getting_started_button_callback(self):
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self.state = SetupState.SOFTWARE_SELECTION
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def _software_selection_back_button_callback(self):
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self.state = SetupState.GETTING_STARTED
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def _software_selection_continue_button_callback(self):
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if self._software_selection_openpilot_button.selected:
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self.use_openpilot()
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else:
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self.state = SetupState.CUSTOM_SOFTWARE_WARNING
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def _download_failed_startover_button_callback(self):
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self.state = SetupState.GETTING_STARTED
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def _network_setup_back_button_callback(self):
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self.state = SetupState.SOFTWARE_SELECTION
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def _network_setup_continue_button_callback(self):
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self.stop_network_check_thread.set()
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if self._software_selection_openpilot_button.selected:
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self.download(OPENPILOT_URL)
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else:
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self.state = SetupState.CUSTOM_SOFTWARE
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def render_low_voltage(self, rect: rl.Rectangle):
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rl.draw_texture(self.warning, int(rect.x + 150), int(rect.y + 110), rl.WHITE)
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self._low_voltage_title_label.render(rl.Rectangle(rect.x + 150, rect.y + 110 + 150 + 100, rect.width - 500 - 150, TITLE_FONT_SIZE * FONT_SCALE))
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self._low_voltage_body_label.render(rl.Rectangle(rect.x + 150, rect.y + 110 + 150 + 150, rect.width - 500, BODY_FONT_SIZE * FONT_SCALE * 3))
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button_width = (rect.width - MARGIN * 3) / 2
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button_y = rect.height - MARGIN - BUTTON_HEIGHT
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self._low_voltage_poweroff_button.render(rl.Rectangle(rect.x + MARGIN, button_y, button_width, BUTTON_HEIGHT))
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self._low_voltage_continue_button.render(rl.Rectangle(rect.x + MARGIN * 2 + button_width, button_y, button_width, BUTTON_HEIGHT))
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def render_getting_started(self, rect: rl.Rectangle):
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self._getting_started_title_label.render(rl.Rectangle(rect.x + 165, rect.y + 280, rect.width - 265, TITLE_FONT_SIZE * FONT_SCALE))
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self._getting_started_body_label.render(rl.Rectangle(rect.x + 165, rect.y + 280 + TITLE_FONT_SIZE * FONT_SCALE, rect.width - 500,
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BODY_FONT_SIZE * FONT_SCALE * 3))
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btn_rect = rl.Rectangle(rect.width - NEXT_BUTTON_WIDTH, 0, NEXT_BUTTON_WIDTH, rect.height)
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self._getting_started_button.render(btn_rect)
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triangle = gui_app.texture("images/button_continue_triangle.png", 54, int(btn_rect.height))
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rl.draw_texture_v(triangle, rl.Vector2(btn_rect.x + btn_rect.width / 2 - triangle.width / 2, btn_rect.height / 2 - triangle.height / 2), rl.WHITE)
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def check_network_connectivity(self):
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while not self.stop_network_check_thread.is_set():
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if self.state == SetupState.NETWORK_SETUP:
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try:
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urllib.request.urlopen(OPENPILOT_URL, timeout=2)
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self.network_connected.set()
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if HARDWARE.get_network_type() == NetworkType.wifi:
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self.wifi_connected.set()
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else:
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self.wifi_connected.clear()
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except Exception:
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self.network_connected.clear()
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time.sleep(1)
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def start_network_check(self):
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if self.network_check_thread is None or not self.network_check_thread.is_alive():
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self.network_check_thread = threading.Thread(target=self.check_network_connectivity, daemon=True)
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self.network_check_thread.start()
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def close(self):
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if self.network_check_thread is not None:
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self.stop_network_check_thread.set()
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self.network_check_thread.join()
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def render_network_setup(self, rect: rl.Rectangle):
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self._network_setup_title_label.render(rl.Rectangle(rect.x + MARGIN, rect.y + MARGIN, rect.width - MARGIN * 2, TITLE_FONT_SIZE * FONT_SCALE))
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wifi_rect = rl.Rectangle(rect.x + MARGIN, rect.y + TITLE_FONT_SIZE * FONT_SCALE + MARGIN + 25, rect.width - MARGIN * 2,
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rect.height - TITLE_FONT_SIZE * FONT_SCALE - 25 - BUTTON_HEIGHT - MARGIN * 3)
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rl.draw_rectangle_rounded(wifi_rect, 0.05, 10, rl.Color(51, 51, 51, 255))
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wifi_content_rect = rl.Rectangle(wifi_rect.x + MARGIN, wifi_rect.y, wifi_rect.width - MARGIN * 2, wifi_rect.height)
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self.wifi_ui.render(wifi_content_rect)
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button_width = (rect.width - BUTTON_SPACING - MARGIN * 2) / 2
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button_y = rect.height - BUTTON_HEIGHT - MARGIN
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self._network_setup_back_button.render(rl.Rectangle(rect.x + MARGIN, button_y, button_width, BUTTON_HEIGHT))
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# Check network connectivity status
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continue_enabled = self.network_connected.is_set()
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self._network_setup_continue_button.set_enabled(continue_enabled)
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continue_text = ("Continue" if self.wifi_connected.is_set() else "Continue without Wi-Fi") if continue_enabled else "Waiting for internet"
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self._network_setup_continue_button.set_text(continue_text)
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self._network_setup_continue_button.render(rl.Rectangle(rect.x + MARGIN + button_width + BUTTON_SPACING, button_y, button_width, BUTTON_HEIGHT))
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def render_software_selection(self, rect: rl.Rectangle):
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self._software_selection_title_label.render(rl.Rectangle(rect.x + MARGIN, rect.y + MARGIN, rect.width - MARGIN * 2, TITLE_FONT_SIZE * FONT_SCALE))
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radio_height = 230
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radio_spacing = 30
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self._software_selection_continue_button.set_enabled(False)
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openpilot_rect = rl.Rectangle(rect.x + MARGIN, rect.y + TITLE_FONT_SIZE * FONT_SCALE + MARGIN * 2, rect.width - MARGIN * 2, radio_height)
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self._software_selection_openpilot_button.render(openpilot_rect)
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if self._software_selection_openpilot_button.selected:
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self._software_selection_continue_button.set_enabled(True)
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self._software_selection_custom_software_button.selected = False
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custom_rect = rl.Rectangle(rect.x + MARGIN, rect.y + TITLE_FONT_SIZE * FONT_SCALE + MARGIN * 2 + radio_height + radio_spacing, rect.width - MARGIN * 2,
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radio_height)
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self._software_selection_custom_software_button.render(custom_rect)
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if self._software_selection_custom_software_button.selected:
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self._software_selection_continue_button.set_enabled(True)
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self._software_selection_openpilot_button.selected = False
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button_width = (rect.width - BUTTON_SPACING - MARGIN * 2) / 2
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button_y = rect.height - BUTTON_HEIGHT - MARGIN
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self._software_selection_back_button.render(rl.Rectangle(rect.x + MARGIN, button_y, button_width, BUTTON_HEIGHT))
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self._software_selection_continue_button.render(rl.Rectangle(rect.x + MARGIN + button_width + BUTTON_SPACING, button_y, button_width, BUTTON_HEIGHT))
|
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|
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def render_downloading(self, rect: rl.Rectangle):
|
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self._downloading_body_label.render(rl.Rectangle(rect.x, rect.y + rect.height / 2 - TITLE_FONT_SIZE * FONT_SCALE / 2, rect.width,
|
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TITLE_FONT_SIZE * FONT_SCALE))
|
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|
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def render_download_failed(self, rect: rl.Rectangle):
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self._download_failed_title_label.render(rl.Rectangle(rect.x + 117, rect.y + 185, rect.width - 117, TITLE_FONT_SIZE * FONT_SCALE))
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self._download_failed_url_label.set_text(self.failed_url)
|
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self._download_failed_url_label.render(rl.Rectangle(rect.x + 117, rect.y + 185 + TITLE_FONT_SIZE * FONT_SCALE + 67, rect.width - 117 - 100, 64))
|
||||
|
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self._download_failed_body_label.set_text(self.failed_reason)
|
||||
self._download_failed_body_label.render(rl.Rectangle(rect.x + 117, rect.y, rect.width - 117 - 100, rect.height))
|
||||
|
||||
button_width = (rect.width - BUTTON_SPACING - MARGIN * 2) / 2
|
||||
button_y = rect.height - BUTTON_HEIGHT - MARGIN
|
||||
self._download_failed_reboot_button.render(rl.Rectangle(rect.x + MARGIN, button_y, button_width, BUTTON_HEIGHT))
|
||||
self._download_failed_startover_button.render(rl.Rectangle(rect.x + MARGIN + button_width + BUTTON_SPACING, button_y, button_width, BUTTON_HEIGHT))
|
||||
|
||||
def render_custom_software_warning(self, rect: rl.Rectangle):
|
||||
warn_rect = rl.Rectangle(rect.x, rect.y, rect.width, 1500)
|
||||
offset = self._custom_software_warning_body_scroll_panel.update(rect, warn_rect)
|
||||
|
||||
button_width = (rect.width - MARGIN * 3) / 2
|
||||
button_y = rect.height - MARGIN - BUTTON_HEIGHT
|
||||
|
||||
rl.begin_scissor_mode(int(rect.x), int(rect.y), int(rect.width), int(button_y - BODY_FONT_SIZE * FONT_SCALE))
|
||||
y_offset = rect.y + offset
|
||||
self._custom_software_warning_title_label.render(rl.Rectangle(rect.x + 50, y_offset + 150, rect.width - 265, TITLE_FONT_SIZE * FONT_SCALE))
|
||||
self._custom_software_warning_body_label.render(rl.Rectangle(rect.x + 50, y_offset + 200, rect.width - 50, BODY_FONT_SIZE * FONT_SCALE * 3))
|
||||
rl.end_scissor_mode()
|
||||
|
||||
self._custom_software_warning_back_button.render(rl.Rectangle(rect.x + MARGIN, button_y, button_width, BUTTON_HEIGHT))
|
||||
self._custom_software_warning_continue_button.render(rl.Rectangle(rect.x + MARGIN * 2 + button_width, button_y, button_width, BUTTON_HEIGHT))
|
||||
if offset < (rect.height - warn_rect.height):
|
||||
self._custom_software_warning_continue_button.set_enabled(True)
|
||||
self._custom_software_warning_continue_button.set_text("Continue")
|
||||
|
||||
def render_custom_software(self):
|
||||
def handle_keyboard_result(result):
|
||||
# Enter pressed
|
||||
if result == 1:
|
||||
url = self.keyboard.text
|
||||
self.keyboard.clear()
|
||||
if url:
|
||||
self.download(url)
|
||||
|
||||
# Cancel pressed
|
||||
elif result == 0:
|
||||
self.state = SetupState.SOFTWARE_SELECTION
|
||||
|
||||
self.keyboard.reset(min_text_size=1)
|
||||
self.keyboard.set_title("Enter URL", "for Custom Software")
|
||||
gui_app.set_modal_overlay(self.keyboard, callback=handle_keyboard_result)
|
||||
|
||||
def use_openpilot(self):
|
||||
if os.path.isdir(INSTALL_PATH) and os.path.isfile(VALID_CACHE_PATH):
|
||||
os.remove(VALID_CACHE_PATH)
|
||||
with open(TMP_CONTINUE_PATH, "w") as f:
|
||||
f.write(CONTINUE)
|
||||
run_cmd(["chmod", "+x", TMP_CONTINUE_PATH])
|
||||
shutil.move(TMP_CONTINUE_PATH, CONTINUE_PATH)
|
||||
shutil.copyfile(INSTALLER_SOURCE_PATH, INSTALLER_DESTINATION_PATH)
|
||||
|
||||
# give time for installer UI to take over
|
||||
time.sleep(0.1)
|
||||
gui_app.request_close()
|
||||
else:
|
||||
self.state = SetupState.NETWORK_SETUP
|
||||
self.stop_network_check_thread.clear()
|
||||
self.start_network_check()
|
||||
|
||||
def download(self, url: str):
|
||||
# autocomplete incomplete URLs
|
||||
if re.match("^([^/.]+)/([^/]+)$", url):
|
||||
url = f"https://installer.comma.ai/{url}"
|
||||
|
||||
parsed = urlparse(url, scheme='https')
|
||||
self.download_url = (urlparse(f"https://{url}") if not parsed.netloc else parsed).geturl()
|
||||
|
||||
self.state = SetupState.DOWNLOADING
|
||||
|
||||
self.download_thread = threading.Thread(target=self._download_thread, daemon=True)
|
||||
self.download_thread.start()
|
||||
|
||||
def _download_thread(self):
|
||||
try:
|
||||
import tempfile
|
||||
|
||||
fd, tmpfile = tempfile.mkstemp(prefix="installer_")
|
||||
|
||||
headers = {"User-Agent": USER_AGENT,
|
||||
"X-openpilot-serial": HARDWARE.get_serial(),
|
||||
"X-openpilot-device-type": HARDWARE.get_device_type()}
|
||||
req = urllib.request.Request(self.download_url, headers=headers)
|
||||
|
||||
with open(tmpfile, 'wb') as f, urllib.request.urlopen(req, timeout=30) as response:
|
||||
total_size = int(response.headers.get('content-length', 0))
|
||||
downloaded = 0
|
||||
block_size = 8192
|
||||
|
||||
while True:
|
||||
buffer = response.read(block_size)
|
||||
if not buffer:
|
||||
break
|
||||
|
||||
downloaded += len(buffer)
|
||||
f.write(buffer)
|
||||
|
||||
if total_size:
|
||||
self.download_progress = int(downloaded * 100 / total_size)
|
||||
|
||||
is_elf = False
|
||||
with open(tmpfile, 'rb') as f:
|
||||
header = f.read(4)
|
||||
is_elf = header == b'\x7fELF'
|
||||
|
||||
if not is_elf:
|
||||
self.download_failed(self.download_url, "No custom software found at this URL.")
|
||||
return
|
||||
|
||||
# AGNOS might try to execute the installer before this process exits.
|
||||
# Therefore, important to close the fd before renaming the installer.
|
||||
os.close(fd)
|
||||
os.rename(tmpfile, INSTALLER_DESTINATION_PATH)
|
||||
|
||||
with open(INSTALLER_URL_PATH, "w") as f:
|
||||
f.write(self.download_url)
|
||||
|
||||
# give time for installer UI to take over
|
||||
time.sleep(0.1)
|
||||
gui_app.request_close()
|
||||
|
||||
except urllib.error.HTTPError as e:
|
||||
if e.code == 409:
|
||||
error_msg = e.read().decode("utf-8")
|
||||
self.download_failed(self.download_url, error_msg)
|
||||
except Exception:
|
||||
error_msg = "Ensure the entered URL is valid, and the device's internet connection is good."
|
||||
self.download_failed(self.download_url, error_msg)
|
||||
|
||||
def download_failed(self, url: str, reason: str):
|
||||
self.failed_url = url
|
||||
self.failed_reason = reason
|
||||
self.state = SetupState.DOWNLOAD_FAILED
|
||||
from openpilot.system.ui.lib.application import gui_app
|
||||
import openpilot.system.ui.tici_setup as tici_setup
|
||||
import openpilot.system.ui.mici_setup as mici_setup
|
||||
|
||||
|
||||
def main():
|
||||
try:
|
||||
gui_app.init_window("Setup", 20)
|
||||
setup = Setup()
|
||||
for should_render in gui_app.render():
|
||||
if should_render:
|
||||
setup.render(rl.Rectangle(0, 0, gui_app.width, gui_app.height))
|
||||
setup.close()
|
||||
except Exception as e:
|
||||
print(f"Setup error: {e}")
|
||||
finally:
|
||||
gui_app.close()
|
||||
if gui_app.big_ui():
|
||||
tici_setup.main()
|
||||
else:
|
||||
mici_setup.main()
|
||||
|
||||
|
||||
if __name__ == "__main__":
|
||||
|
||||
Reference in New Issue
Block a user