setup: new flow (#35960)

* start

* remove

* path

* fix

* prepare

* url

* format

* better

* better

* consist

* check

* not real

* ref

* simpler

* fix

* fix

* more

* more

* path

* clean

* line

* progress

* fast

* no

* ori

* flag

* remove

* install

* line

* wait time

* wait install

* Revert "wait time"

This reverts commit 14f750971c3d19b93e4609e9344cb3a8ce9175f4.

* move

* fix

* install

* universal service resources

* fix

* safer

* this is stupid

* time

* cleaner

* comment

selfdrive/ui/installer/installer.cc

@@ -24,11 +24,13 @@ 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 std::string CACHE_PATH = "/data/openpilot.cache";
+const std::string INSTALL_PATH = "/data/openpilot";
+const std::string VALID_CACHE_PATH = "/data/.openpilot_cache";
 
-#define INSTALL_PATH "/data/openpilot"
 #define TMP_INSTALL_PATH "/data/tmppilot"
 
+const int FONT_SIZE = 120;
+
 extern const uint8_t str_continue[] asm("_binary_selfdrive_ui_installer_continue_openpilot_sh_start");
 extern const uint8_t str_continue_end[] asm("_binary_selfdrive_ui_installer_continue_openpilot_sh_end");
 extern const uint8_t inter_ttf[] asm("_binary_selfdrive_ui_installer_inter_ascii_ttf_start");
@@ -41,6 +43,16 @@ void run(const char* cmd) {
   assert(err == 0);
 }
 
+void finishInstall() {
+  BeginDrawing();
+    ClearBackground(BLACK);
+    const char *m = "Finishing install...";
+    int text_width = MeasureText(m, FONT_SIZE);
+    DrawTextEx(font, m, (Vector2){(float)(GetScreenWidth() - text_width)/2 + FONT_SIZE, (float)(GetScreenHeight() - FONT_SIZE)/2}, FONT_SIZE, 0, WHITE);
+  EndDrawing();
+  util::sleep_for(60 * 1000);
+}
+
 void renderProgress(int progress) {
   BeginDrawing();
     ClearBackground(BLACK);
@@ -62,11 +74,11 @@ int doInstall() {
   }
 
   // cleanup previous install attempts
-  run("rm -rf " TMP_INSTALL_PATH " " INSTALL_PATH);
+  run("rm -rf " TMP_INSTALL_PATH);
 
   // do the install
-  if (util::file_exists(CACHE_PATH)) {
-    return cachedFetch(CACHE_PATH);
+  if (util::file_exists(INSTALL_PATH) && util::file_exists(VALID_CACHE_PATH)) {
+    return cachedFetch(INSTALL_PATH);
   } else {
     return freshClone();
   }
@@ -135,7 +147,9 @@ void cloneFinished(int exitCode) {
   run("git submodule update --init");
 
   // move into place
-  run("mv " TMP_INSTALL_PATH " " INSTALL_PATH);
+  run(("rm -f " + VALID_CACHE_PATH).c_str());
+  run(("rm -rf " + INSTALL_PATH).c_str());
+  run(util::string_format("mv %s %s", TMP_INSTALL_PATH, INSTALL_PATH.c_str()).c_str());
 
 #ifdef INTERNAL
   run("mkdir -p /data/params/d/");
@@ -153,9 +167,9 @@ void cloneFinished(int exitCode) {
     param << value;
     param.close();
   }
-  run("cd " INSTALL_PATH " && "
+  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/*\"");
+      "git config --replace-all remote.origin.fetch \"+refs/heads/*:refs/remotes/origin/*\"").c_str());
 #endif
 
   // write continue.sh
@@ -171,16 +185,22 @@ void cloneFinished(int exitCode) {
   run("mv /data/continue.sh.new " CONTINUE_PATH);
 
   // wait for the installed software's UI to take over
-  util::sleep_for(60 * 1000);
+  finishInstall();
 }
 
 int main(int argc, char *argv[]) {
   InitWindow(2160, 1080, "Installer");
-  font = LoadFontFromMemory(".ttf", inter_ttf, inter_ttf_end - inter_ttf, 120, NULL, 0);
+  font = LoadFontFromMemory(".ttf", inter_ttf, inter_ttf_end - inter_ttf, FONT_SIZE, NULL, 0);
   SetTextureFilter(font.texture, TEXTURE_FILTER_BILINEAR);
-  renderProgress(0);
-  int result = doInstall();
-  cloneFinished(result);
+
+  if (util::file_exists(CONTINUE_PATH)) {
+    finishInstall();
+  } else {
+    renderProgress(0);
+    int result = doInstall();
+    cloneFinished(result);
+  }
+
   CloseWindow();
   UnloadFont(font);
   return 0;

system/ui/setup.py

@@ -6,9 +6,12 @@ import time
 import urllib.request
 from urllib.parse import urlparse
 from enum import IntEnum
+import shutil
+
 import pyray as rl
 
 from cereal import log
+from openpilot.common.run import run_cmd
 from openpilot.system.hardware import HARDWARE
 from openpilot.system.ui.lib.application import gui_app, FontWeight
 from openpilot.system.ui.widgets import Widget
@@ -30,6 +33,19 @@ BUTTON_SPACING = 50
 OPENPILOT_URL = "https://openpilot.comma.ai"
 USER_AGENT = f"AGNOSSetup-{HARDWARE.get_os_version()}"
 
+CONTINUE_PATH = "/data/continue.sh"
+TMP_CONTINUE_PATH = "/data/continue.sh.new"
+INSTALL_PATH = "/data/openpilot"
+VALID_CACHE_PATH = "/data/.openpilot_cache"
+INSTALLER_SOURCE_PATH = "/usr/comma/installer"
+INSTALLER_DESTINATION_PATH = "/tmp/installer"
+INSTALLER_URL_PATH = "/tmp/installer_url"
+
+CONTINUE = """#!/usr/bin/env bash
+
+cd /data/openpilot
+exec ./launch_openpilot.sh
+"""
 
 class SetupState(IntEnum):
   LOW_VOLTAGE = 0
@@ -136,21 +152,19 @@ class Setup(Widget):
     self.state = SetupState.SOFTWARE_SELECTION
 
   def _custom_software_warning_continue_button_callback(self):
-    self.state = SetupState.CUSTOM_SOFTWARE
+    self.state = SetupState.NETWORK_SETUP
+    self.stop_network_check_thread.clear()
+    self.start_network_check()
 
   def _getting_started_button_callback(self):
-    self.state = SetupState.NETWORK_SETUP
-    self.stop_network_check_thread.clear()
-    self.start_network_check()
+    self.state = SetupState.SOFTWARE_SELECTION
 
   def _software_selection_back_button_callback(self):
-    self.state = SetupState.NETWORK_SETUP
-    self.stop_network_check_thread.clear()
-    self.start_network_check()
+    self.state = SetupState.GETTING_STARTED
 
   def _software_selection_continue_button_callback(self):
     if self._software_selection_openpilot_button.selected:
-      self.download(OPENPILOT_URL)
+      self.use_openpilot()
     else:
       self.state = SetupState.CUSTOM_SOFTWARE_WARNING
 
@@ -158,11 +172,14 @@ class Setup(Widget):
     self.state = SetupState.GETTING_STARTED
 
   def _network_setup_back_button_callback(self):
-    self.state = SetupState.GETTING_STARTED
+    self.state = SetupState.SOFTWARE_SELECTION
 
   def _network_setup_continue_button_callback(self):
-    self.state = SetupState.SOFTWARE_SELECTION
     self.stop_network_check_thread.set()
+    if self._software_selection_openpilot_button.selected:
+      self.download(OPENPILOT_URL)
+    else:
+      self.state = SetupState.CUSTOM_SOFTWARE
 
   def render_low_voltage(self, rect: rl.Rectangle):
     rl.draw_texture(self.warning, int(rect.x + 150), int(rect.y + 110), rl.WHITE)
@@ -299,6 +316,23 @@ class Setup(Widget):
     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(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):
@@ -316,7 +350,7 @@ class Setup(Widget):
     try:
       import tempfile
 
-      _, tmpfile = tempfile.mkstemp(prefix="installer_")
+      fd, tmpfile = tempfile.mkstemp(prefix="installer_")
 
       headers = {"User-Agent": USER_AGENT, "X-openpilot-serial": HARDWARE.get_serial()}
       req = urllib.request.Request(self.download_url, headers=headers)
@@ -346,12 +380,16 @@ class Setup(Widget):
         self.download_failed(self.download_url, "No custom software found at this URL.")
         return
 
-      os.rename(tmpfile, "/tmp/installer")
-      os.chmod("/tmp/installer", 0o755)
+      # 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("/tmp/installer_url", "w") as f:
+      with open(INSTALLER_URL_PATH, "w") as f:
         f.write(self.download_url)
 
+      # give time for installer UI to take over
+      time.sleep(5)
       gui_app.request_close()
 
     except Exception: