import subprocess import threading import pyray as rl from enum import IntEnum from collections.abc import Callable from openpilot.common.time_helpers import system_time_valid from openpilot.selfdrive.ui.mici.layouts.settings.device.device_layout import EngagedConfirmationButton from openpilot.selfdrive.ui.mici.widgets.info import InfoLayoutMici from openpilot.selfdrive.ui.mici.widgets.button import BigButton from openpilot.selfdrive.ui.mici.widgets.dialog import BigDialog from openpilot.selfdrive.ui.ui_state import ui_state from openpilot.system.ui.lib.application import gui_app, MousePos from openpilot.system.ui.lib.multilang import tr from openpilot.system.ui.widgets.scroller import NavScroller UPDATER_TIMEOUT = 10.0 # seconds to wait for updater to respond def _split_description(desc: str) -> tuple[str, str, str, str] | None: # UpdaterCurrentDescription/UpdaterNewDescription format: "version / branch / commit / date" parts = [p.strip() for p in desc.split(" / ")] if len(parts) != 4: return None version, branch, commit, date = parts return version, branch, commit, date class UpdaterState(IntEnum): IDLE = 0 WAITING_FOR_UPDATER = 1 UPDATER_RESPONDING = 2 class SoftwareInfoLayoutMici(InfoLayoutMici): def __init__(self): super().__init__("version", "", "branch", "") def _update_state(self): super()._update_state() desc = _split_description(ui_state.params.get("UpdaterCurrentDescription") or "") if desc is not None: version, branch, commit, date = desc self.subtext1.set_text(f"{version} ({date})") self.subtext2.set_text(f"{branch} ({commit})") else: self.subtext1.set_text(ui_state.params.get("Version") or "N/A") self.subtext2.set_text(ui_state.params.get("GitBranch") or "N/A") class CheckUpdateButton(BigButton): UPDATER_PROC = "openpilot.system.updated.updated" CHECK_FOR_UPDATE = "SIGUSR1" DOWNLOAD_UPDATE = "SIGHUP" def __init__(self): self._txt_update_icon = gui_app.texture("icons_mici/settings/device/update.png", 64, 75) self._txt_up_to_date_icon = gui_app.texture("icons_mici/settings/device/up_to_date.png", 64, 64) super().__init__("check for update", "", self._txt_update_icon) self._waiting_for_updater_t: float | None = None self._hide_value_t: float | None = None self._state: UpdaterState = UpdaterState.IDLE ui_state.add_offroad_transition_callback(self.offroad_transition) def offroad_transition(self): if ui_state.is_offroad(): self.set_enabled(True) def _handle_mouse_release(self, mouse_pos: MousePos): super()._handle_mouse_release(mouse_pos) if not system_time_valid(): dlg = BigDialog("", tr("Please connect to Wi-Fi to update.")) gui_app.push_widget(dlg) return self._signal_updater(self.DOWNLOAD_UPDATE if self.get_value() == "download update" else self.CHECK_FOR_UPDATE) def check_for_update(self): self._signal_updater(self.CHECK_FOR_UPDATE) def _signal_updater(self, sig: str): self.set_enabled(False) self._state = UpdaterState.WAITING_FOR_UPDATER self._hide_value_t = None self.set_value("") self.set_icon(self._txt_update_icon) def run(): subprocess.run(f"pkill -{sig} -f {self.UPDATER_PROC}", shell=True) threading.Thread(target=run, daemon=True).start() def set_value(self, value: str): super().set_value(value) if value: self.set_text("") else: self.set_text("check for update") def _update_state(self): super()._update_state() if ui_state.started: self.set_enabled(False) return updater_state = ui_state.params.get("UpdaterState") or "" failed_count = ui_state.params.get("UpdateFailedCount") or 0 failed = int(failed_count) > 0 if self._state == UpdaterState.WAITING_FOR_UPDATER: self.set_rotate_icon(True) if updater_state != "idle": self._state = UpdaterState.UPDATER_RESPONDING # Recover from updater not responding (time invalid shortly after boot) if self._waiting_for_updater_t is None: self._waiting_for_updater_t = rl.get_time() if self._waiting_for_updater_t is not None and rl.get_time() - self._waiting_for_updater_t > UPDATER_TIMEOUT: self.set_rotate_icon(False) self.set_value("updater failed\nto respond") self._state = UpdaterState.IDLE self._hide_value_t = rl.get_time() elif self._state == UpdaterState.UPDATER_RESPONDING: if updater_state == "idle": self.set_rotate_icon(False) self._state = UpdaterState.IDLE self._hide_value_t = rl.get_time() else: if self.get_value() != updater_state: self.set_value(updater_state) elif self._state == UpdaterState.IDLE: self.set_rotate_icon(False) if failed: self.set_enabled(True) # allow retry when failure came from updater param if self.get_value() != "failed to update": self.set_value("failed to update") elif ui_state.params.get_bool("UpdaterFetchAvailable"): self.set_enabled(True) if self.get_value() != "download update": self.set_value("download update") elif self._hide_value_t is not None: self.set_enabled(True) if self.get_value() == "checking...": self.set_value("up to date") self.set_icon(self._txt_up_to_date_icon) # Hide previous text after short amount of time (up to date or failed) if rl.get_time() - self._hide_value_t > 3.0: self._hide_value_t = None self.set_value("") self.set_icon(self._txt_update_icon) else: if self.get_value() != "": self.set_value("") if self._state != UpdaterState.WAITING_FOR_UPDATER: self._waiting_for_updater_t = None class InstallUpdateButton(BigButton): def __init__(self): super().__init__("install now", "", gui_app.texture("icons_mici/settings/device/reboot.png", 64, 70)) self.set_visible(lambda: ui_state.is_offroad() and ui_state.params.get_bool("UpdateAvailable")) def _update_state(self): super()._update_state() desc = _split_description(ui_state.params.get("UpdaterNewDescription") or "") value = f"{desc[0]} ({desc[1]})" if desc is not None else "" if self.get_value() != value: self.set_value(value) def _handle_mouse_release(self, mouse_pos: MousePos): super()._handle_mouse_release(mouse_pos) self.set_enabled(False) def run(): ui_state.params.put_bool("DoReboot", True, block=True) threading.Thread(target=run, daemon=True).start() class BranchSelectPage(NavScroller): def __init__(self, on_select: Callable[[str], None]): super().__init__() params = ui_state.params current_git_branch = params.get("GitBranch") or "" branches_str = params.get("UpdaterAvailableBranches") or "" branches = [b for b in branches_str.split(",") if b] for b in [current_git_branch, "devel-staging", "devel", "nightly", "nightly-dev", "master"]: if b in branches: branches.remove(b) branches.insert(0, b) current_target = params.get("UpdaterTargetBranch") or "" check_icon = gui_app.texture("icons_mici/settings/device/up_to_date.png", 64, 64) buttons = [] for branch in branches: btn = BigButton(branch, "", check_icon if branch == current_target else None, scroll=True) btn.set_click_callback(lambda b=branch: self.dismiss(lambda: on_select(b))) buttons.append(btn) self._scroller.add_widgets(buttons) class TargetBranchButton(BigButton): def __init__(self, check_update_btn: CheckUpdateButton): super().__init__("target branch", ui_state.params.get("UpdaterTargetBranch") or "", description="Select the software branch to download on the next update check.") self._check_update_btn = check_update_btn self.set_click_callback(self._on_click) self.set_visible(not ui_state.params.get_bool("IsTestedBranch")) self.set_enabled(lambda: ui_state.is_offroad()) def _update_state(self): super()._update_state() target = ui_state.params.get("UpdaterTargetBranch") or "" if self.get_value() != target: self.set_value(target) def _on_click(self): if not ui_state.params.get("UpdaterAvailableBranches"): gui_app.push_widget(BigDialog("", tr("Failed to get available branches. Ensure you're connected to the internet and try again."))) return gui_app.push_widget(BranchSelectPage(self._on_select)) def _on_select(self, branch: str): ui_state.params.put("UpdaterTargetBranch", branch, block=True) self.set_value(branch) self._check_update_btn.check_for_update() class DirectUpdateButton(EngagedConfirmationButton): def __init__(self, owner, action): self.owner, self.action = owner, action title = "restore previous version" if action == "rollback" else "fast update selected branch" super().__init__(title, title, gui_app.texture("icons_mici/settings/device/update.png", 64, 75), lambda: owner.submit(action), exit_on_confirm=False) def _update_state(self): super()._update_state() self.owner.refresh() self.set_enabled(self.owner.available(self.action)) self.set_visible(ui_state.is_offroad()) self.set_value(self.owner.detail()) class SoftwareLayoutMici(NavScroller): def __init__(self): super().__init__() def uninstall_openpilot_callback(): ui_state.params.put_bool("DoUninstall", True, block=True) uninstall_openpilot_btn = EngagedConfirmationButton("uninstall openpilot", "uninstall", gui_app.texture("icons_mici/settings/device/uninstall.png", 64, 64), uninstall_openpilot_callback, exit_on_confirm=False, description="Remove openpilot from this device.", description_icon=gui_app.texture("icons_mici/setup/factory_reset.png", 64, 64)) from openpilot.starpilot.ui.software_update import NativeSoftwareUpdate direct_update = NativeSoftwareUpdate(ui_state.is_offroad) check_update_btn = CheckUpdateButton() self._scroller.add_widgets([ SoftwareInfoLayoutMici(), check_update_btn, DirectUpdateButton(direct_update, "fast"), DirectUpdateButton(direct_update, "rollback"), InstallUpdateButton(), TargetBranchButton(check_update_btn), uninstall_openpilot_btn, ])