Konik.ai server support

Co-Authored-By: MoreTorque <104254025+moretore@users.noreply.github.com>

common/api.py

@@ -5,7 +5,9 @@ from datetime import datetime, timedelta, UTC
 from openpilot.system.hardware.hw import Paths
 from openpilot.system.version import get_version
 
-API_HOST = os.getenv('API_HOST', 'https://api.commadotai.com')
+from openpilot.frogpilot.common.frogpilot_utilities import use_konik_server
+
+API_HOST = os.getenv('API_HOST', f'https://api.{'konik.ai' if use_konik_server() else 'commadotai.com'}')
 
 # name: jwt signature algorithm
 KEYS = {"id_rsa": "RS256",

frogpilot/common/frogpilot_functions.py

@@ -9,13 +9,14 @@ from pathlib import Path
 from openpilot.common.basedir import BASEDIR
 from openpilot.common.params import Params
 from openpilot.common.time_helpers import system_time_valid
+from openpilot.system.athena.registration import register
 from openpilot.system.hardware import HARDWARE
 
 from openpilot.frogpilot.assets.theme_manager import ThemeManager
 from openpilot.frogpilot.common.frogpilot_backups import backup_frogpilot
-from openpilot.frogpilot.common.frogpilot_utilities import is_FrogsGoMoo, run_cmd
+from openpilot.frogpilot.common.frogpilot_utilities import is_FrogsGoMoo, run_cmd, use_konik_server
 from openpilot.frogpilot.common.frogpilot_variables import (
-  ERROR_LOGS_PATH, FROGS_GO_MOO_PATH, HD_LOGS_PATH, THEME_SAVE_PATH,
+  ERROR_LOGS_PATH, FROGS_GO_MOO_PATH, HD_LOGS_PATH, KONIK_LOGS_PATH, THEME_SAVE_PATH,
   FrogPilotVariables, get_frogpilot_toggles
 )
 
@@ -26,6 +27,15 @@ def frogpilot_boot_functions(build_metadata, params):
   FrogPilotVariables()
   ThemeManager(params, params_memory, boot_run=True).update_active_theme(time_validated=system_time_valid(), frogpilot_toggles=get_frogpilot_toggles(), boot_run=True)
 
+  if use_konik_server():
+    if params.get("KonikDongleId") is not None:
+      params.put("DongleId", params.get("KonikDongleId"))
+    else:
+      params.put("KonikDongleId", register(show_spinner=True, register_konik=True))
+      params.put("DongleId", params.get("KonikDongleId"))
+  elif params.get("DongleId") == params.get("KonikDongleId"):
+    params.put("DongleId", params.get("StockDongleId"))
+
   def boot_thread():
     while not system_time_valid():
       print("Waiting for system time to become valid...")
@@ -40,6 +50,7 @@ def install_frogpilot(build_metadata, params):
   paths = [
     ERROR_LOGS_PATH,
     HD_LOGS_PATH,
+    KONIK_LOGS_PATH,
     THEME_SAVE_PATH
   ]
   for path in paths:

frogpilot/common/frogpilot_utilities.py

@@ -9,6 +9,7 @@ import threading
 import time
 import zipfile
 
+from functools import cache
 from pathlib import Path
 
 import openpilot.system.sentry as sentry
@@ -17,7 +18,7 @@ from cereal import log, messaging
 from openpilot.common.realtime import DT_DMON, DT_HW
 from panda import Panda
 
-from openpilot.frogpilot.common.frogpilot_variables import EARTH_RADIUS, FROGS_GO_MOO_PATH
+from openpilot.frogpilot.common.frogpilot_variables import EARTH_RADIUS, FROGS_GO_MOO_PATH, KONIK_PATH
 
 class ThreadManager:
   def __init__(self):
@@ -211,6 +212,11 @@ def update_json_file(path, data):
   os.replace(temp_path, path)
 
 
+@cache
+def use_konik_server():
+  return KONIK_PATH.is_file()
+
+
 def wait_for_no_driver(params, sm, time_threshold=60):
   while sm["deviceState"].screenBrightnessPercent != 0 or any(proc.name == "dmonitoringd" and proc.running for proc in sm["managerState"].processes):
     sm.update()

frogpilot/common/frogpilot_variables.py

@@ -67,6 +67,9 @@ FROGS_GO_MOO_PATH = Path("/persist/frogsgomoo.py")
 HD_LOGS_PATH = Path("/data/media/0/realdata_HD")
 HD_PATH = Path("/cache/use_HD")
 
+KONIK_LOGS_PATH = Path("/data/media/0/realdata_konik")
+KONIK_PATH = Path("/cache/use_konik")
+
 MAPD_PATH = Path("/data/media/0/osm/mapd")
 MAPS_PATH = Path("/data/media/0/osm/offline")
 
@@ -225,6 +228,17 @@ class FrogPilotVariables:
       HD_PATH.unlink()
       HARDWARE.reboot()
 
+    toggle.use_konik_server = device_management
+    toggle.use_konik_server &= self.get_value("UseKonikServer")
+    toggle.use_konik_server |= Path("/data/openpilot/not_vetted").is_file()
+
+    if not KONIK_PATH.is_file() and toggle.use_konik_server:
+      KONIK_PATH.touch()
+      HARDWARE.reboot()
+    elif KONIK_PATH.is_file() and not toggle.use_konik_server:
+      KONIK_PATH.unlink()
+      HARDWARE.reboot()
+
     stock_colors_json = (STOCK_THEME_PATH / "colors/colors.json")
     self.stock_colors = json.loads(stock_colors_json.read_text()) if stock_colors_json.is_file() else {}
 

frogpilot/ui/qt/offroad/device_settings.cc

@@ -29,6 +29,7 @@ FrogPilotDevicePanel::FrogPilotDevicePanel(FrogPilotSettingsWindow *parent, bool
     {"HigherBitrate", tr("High-Quality Recording"), tr("<b>Save drive footage in higher video quality.</b>"), ""},
     {"LowVoltageShutdown", tr("Low-Voltage Cutoff"), tr("<b>While parked, if the battery voltage falls below the set level, the device shuts down</b> to prevent excessive battery drain."), ""},
     {"IncreaseThermalLimits", tr("Raise Temperature Limits"), QString("<b>%1</b><br><br>%2").arg(tr("WARNING: Running at higher temperatures may damage your device!")).arg(tr("<b>Allow the device to run at higher temperatures</b> before throttling or shutting down. Use only if you understand the risks!")), ""},
+    {"UseKonikServer", tr("Use Konik Server"), tr("<b>Upload driving data to \"stable.konik.ai\" instead of \"connect.comma.ai\".</b>"), ""},
 
     {"ScreenManagement", tr("Screen Settings"), tr("<b>Settings that control screen brightness, screen recording, and timeout duration.</b>"), "../../frogpilot/assets/toggle_icons/icon_light.png"},
     {"ScreenBrightness", tr("Screen Brightness (Offroad)"), tr("<b>The screen brightness while not driving.</b>"), ""},
@@ -136,12 +137,14 @@ FrogPilotDevicePanel::FrogPilotDevicePanel(FrogPilotSettingsWindow *parent, bool
     QObject::connect(static_cast<ToggleControl*>(toggles[key]), &ToggleControl::toggleFlipped, this, &FrogPilotDevicePanel::updateToggles);
   }
 
-  QSet<QString> rebootKeys = {"HigherBitrate"};
+  QSet<QString> rebootKeys = {"HigherBitrate", "UseKonikServer"};
   for (const QString &key : rebootKeys) {
     QObject::connect(static_cast<ToggleControl*>(toggles[key]), &ToggleControl::toggleFlipped, [key, this](bool state) {
       QString filePath;
       if (key == "HigherBitrate") {
         filePath = "/cache/use_HD";
+      } else if (key == "UseKonikServer") {
+        filePath = "/cache/use_konik";
       }
 
       if (!filePath.isEmpty()) {
@@ -203,6 +206,10 @@ void FrogPilotDevicePanel::updateToggles() {
       setVisible &= params.getBool("DeviceManagement") && params.getBool("NoUploads") && !params.getBool("DisableOnroadUploads");
     }
 
+    else if (key == "UseKonikServer" && QFile("/data/not_vetted").exists()) {
+      static_cast<ToggleControl*>(toggle)->forceOn(true);
+    }
+
     toggle->setVisible(setVisible);
 
     if (setVisible) {

frogpilot/ui/qt/offroad/device_settings.h

@@ -23,7 +23,7 @@ private:
 
   std::map<QString, AbstractControl*> toggles;
 
-  QSet<QString> deviceManagementKeys = {"DeviceShutdown", "HigherBitrate", "IncreaseThermalLimits", "LowVoltageShutdown", "NoLogging", "NoUploads"};
+  QSet<QString> deviceManagementKeys = {"DeviceShutdown", "HigherBitrate", "IncreaseThermalLimits", "LowVoltageShutdown", "NoLogging", "NoUploads", "UseKonikServer"};
   QSet<QString> screenKeys = {"ScreenBrightness", "ScreenBrightnessOnroad", "ScreenRecorder", "ScreenTimeout", "ScreenTimeoutOnroad", "StandbyMode"};
 
   QSet<QString> parentKeys;

frogpilot/ui/qt/widgets/drive_stats.cc

@@ -10,12 +10,13 @@ static QLabel *newLabel(const QString &text, const QString &type) {
 
 DriveStats::DriveStats(QWidget *parent) : QFrame(parent) {
   isMetric = params.getBool("IsMetric");
+  konik = useKonikServer();
 
   QVBoxLayout *main_layout = new QVBoxLayout(this);
   main_layout->setContentsMargins(50, 25, 50, 20);
 
-  addStatsLayouts(tr("ALL TIME"), all);
-  addStatsLayouts(tr("PAST WEEK"), week);
+  addStatsLayouts(konik ? tr("ALL TIME (KONIK)") : tr("ALL TIME"), all);
+  addStatsLayouts(konik ? tr("PAST WEEK (KONIK)") : tr("PAST WEEK"), week);
   addStatsLayouts(tr("FROGPILOT"), frogPilot, true);
 
   std::optional<QString> dongleId = getDongleId();
@@ -103,5 +104,5 @@ void DriveStats::updateStats() {
   updateStatsForLabel(json["week"].toObject(), week);
   updateFrogPilotStatsForLabel(frogPilot);
 
-  params.putIntNonBlocking("openpilotMinutes", json["all"].toObject()["minutes"].toDouble());
+  params.putIntNonBlocking(konik ? "KonikMinutes" : "openpilotMinutes", json["all"].toObject()["minutes"].toDouble());
 }

frogpilot/ui/qt/widgets/drive_stats.h

@@ -23,6 +23,7 @@ private:
   void updateStatsForLabel(const QJsonObject &obj, StatsLabels &labels);
 
   bool isMetric;
+  bool konik;
 
   Params params;
 

frogpilot/ui/qt/widgets/frogpilot_controls.cc

@@ -17,6 +17,11 @@ bool isFrogsGoMoo() {
   return is_FrogsGoMoo;
 }
 
+bool useKonikServer() {
+  static bool use_konik = QFile::exists("/cache/use_konik");
+  return use_konik;
+}
+
 void clearMovie(QSharedPointer<QMovie> &movie, QWidget *parent) {
   if (!movie) {
     return;

frogpilot/ui/qt/widgets/frogpilot_controls.h

@@ -16,6 +16,7 @@
 #include "selfdrive/ui/qt/widgets/controls.h"
 
 bool isFrogsGoMoo();
+bool useKonikServer();
 
 void loadGif(const QString &gifPath, QSharedPointer<QMovie> &movie, const QSize &size, QWidget *parent);
 void loadImage(const QString &basePath, QPixmap &pixmap, QSharedPointer<QMovie> &movie, const QSize &size, QWidget *parent);

selfdrive/ui/qt/api.h

@@ -7,9 +7,11 @@
 
 #include "common/util.h"
 
+#include "frogpilot/ui/qt/widgets/frogpilot_controls.h"
+
 namespace CommaApi {
 
-const QString BASE_URL = util::getenv("API_HOST", "https://api.commadotai.com").c_str();
+const QString BASE_URL = util::getenv("API_HOST", useKonikServer() ? "https://api.konik.ai" : "https://api.commadotai.com").c_str();
 QByteArray rsa_sign(const QByteArray &data);
 QString create_jwt(const QJsonObject &payloads = {}, int expiry = 3600);
 

selfdrive/ui/qt/offroad/settings.cc

@@ -229,7 +229,7 @@ DevicePanel::DevicePanel(SettingsWindow *parent) : ListWidget(parent) {
   addItem(new LabelControl(tr("Serial"), params.get("HardwareSerial").c_str()));
 
   pair_device = new ButtonControl(tr("Pair Device"), tr("PAIR"),
-                                  tr("Pair your device with comma connect (connect.comma.ai) and claim your comma prime offer."));
+                                  useKonikServer() ? tr("Pair your device with Konik connect (stable.konik.ai).") : tr("Pair your device with comma connect (connect.comma.ai) and claim your comma prime offer."));
   connect(pair_device, &ButtonControl::clicked, [=]() {
     PairingPopup popup(this);
     popup.exec();
@@ -577,7 +577,7 @@ SettingsWindow::SettingsWindow(QWidget *parent) : QFrame(parent) {
 
         if (!tuningLevelConfirmed) {
           int frogpilotHours = QJsonDocument::fromJson(QString::fromStdString(params.get("FrogPilotStats")).toUtf8()).object().value("FrogPilotSeconds").toInt() / (60 * 60);
-          int openpilotHours = params.getInt("openpilotMinutes") / 60;
+          int openpilotHours = params.getInt("KonikMinutes") / 60 + params.getInt("openpilotMinutes") / 60;
 
           if (frogpilotHours < 1 && openpilotHours < 100) {
             if (openpilotHours < 10) {

selfdrive/ui/qt/widgets/prime.cc

@@ -36,7 +36,7 @@ void PairingQRWidget::hideEvent(QHideEvent *event) {
 
 void PairingQRWidget::refresh() {
   QString pairToken = CommaApi::create_jwt({{"pair", true}});
-  QString qrString = "https://connect.comma.ai/?pair=" + pairToken;
+  QString qrString = (useKonikServer() ? "https://stable.konik.ai/?pair=" : "https://connect.comma.ai/?pair=") + pairToken;
   this->updateQrCode(qrString);
   update();
 }
@@ -89,7 +89,7 @@ PairingPopup::PairingPopup(QWidget *parent) : DialogBase(parent) {
 
     vlayout->addSpacing(30);
 
-    QLabel *title = new QLabel(tr("Pair your device to your comma account"), this);
+    QLabel *title = new QLabel(tr("Pair your device to your %1 account").arg(useKonikServer() ? "Konik" : "comma"), this);
     title->setStyleSheet("font-size: 75px; color: black;");
     title->setWordWrap(true);
     vlayout->addWidget(title);
@@ -100,9 +100,9 @@ PairingPopup::PairingPopup(QWidget *parent) : DialogBase(parent) {
         <li style='margin-bottom: 50px;'>%2</li>
         <li style='margin-bottom: 50px;'>%3</li>
       </ol>
-    )").arg(tr("Go to https://connect.comma.ai on your phone"))
+    )").arg(tr("Go to https://%1 on your phone").arg(useKonikServer() ? "stable.konik.ai" : "connect.comma.ai"))
     .arg(tr("Click \"add new device\" and scan the QR code on the right"))
-    .arg(tr("Bookmark connect.comma.ai to your home screen to use it like an app")), this);
+    .arg(tr("Bookmark %1 to your home screen to use it like an app").arg(useKonikServer() ? "stable.konik.ai" : "connect.comma.ai")), this);
 
     instructions->setStyleSheet("font-size: 47px; font-weight: bold; color: black;");
     instructions->setWordWrap(true);
@@ -196,7 +196,7 @@ SetupWidget::SetupWidget(QWidget* parent) : QFrame(parent) {
   registrationTitle->setStyleSheet("font-size: 75px; font-weight: bold;");
   finishRegistrationLayout->addWidget(registrationTitle);
 
-  QLabel* registrationDescription = new QLabel(tr("Pair your device with comma connect (connect.comma.ai) and claim your comma prime offer."));
+  QLabel* registrationDescription = new QLabel(useKonikServer() ? tr("Pair your device with Konik connect (stable.konik.ai).") : tr("Pair your device with comma connect (connect.comma.ai) and claim your comma prime offer."));
   registrationDescription->setWordWrap(true);
   registrationDescription->setStyleSheet("font-size: 50px; font-weight: light;");
   finishRegistrationLayout->addWidget(registrationDescription);

system/athena/athenad.py

@@ -40,8 +40,10 @@ from openpilot.common.swaglog import cloudlog
 from openpilot.system.version import get_build_metadata
 from openpilot.system.hardware.hw import Paths
 
+from openpilot.frogpilot.common.frogpilot_utilities import use_konik_server
 
-ATHENA_HOST = os.getenv('ATHENA_HOST', 'wss://athena.comma.ai')
+
+ATHENA_HOST = os.getenv('ATHENA_HOST', f"wss://athena.{'konik.ai' if use_konik_server() else 'comma.ai'}")
 HANDLER_THREADS = int(os.getenv('HANDLER_THREADS', "4"))
 LOCAL_PORT_WHITELIST = {22, }  # SSH
 

system/athena/registration.py

@@ -24,7 +24,7 @@ def is_registered_device() -> bool:
   return dongle not in (None, UNREGISTERED_DONGLE_ID)
 
 
-def register(show_spinner=False) -> str | None:
+def register(show_spinner=False, register_konik=False) -> str | None:
   """
   All devices built since March 2024 come with all
   info stored in /persist/. This is kept around
@@ -45,10 +45,10 @@ def register(show_spinner=False) -> str | None:
   # Create registration token, in the future, this key will make JWTs directly
   jwt_algo, private_key, public_key = get_key_pair()
 
-  if not public_key:
+  if not public_key and not register_konik:
     dongle_id = UNREGISTERED_DONGLE_ID
     cloudlog.warning("missing public key")
-  elif dongle_id is None:
+  elif dongle_id is None or register_konik:
     if show_spinner:
       spinner = Spinner()
       spinner.update("registering device")
@@ -96,8 +96,9 @@ def register(show_spinner=False) -> str | None:
     if show_spinner:
       spinner.close()
 
-  if dongle_id:
+  if not register_konik and dongle_id != params.get("KonikDongleId"):
     params.put("DongleId", dongle_id)
+    params.put("StockDongleId", dongle_id)
     set_offroad_alert("Offroad_UnregisteredHardware", (dongle_id == UNREGISTERED_DONGLE_ID) and not PC)
   return dongle_id
 

system/hardware/hw.h

@@ -37,6 +37,10 @@ namespace Path {
       return "/data/media/0/realdata_HD/";
     }
 
+    if (std::filesystem::exists("/cache/use_konik")) {
+      return "/data/media/0/realdata_konik/";
+    }
+
     return "/data/media/0/realdata";
   }
 

system/hardware/hw.py

@@ -19,6 +19,8 @@ class Paths:
       return str(Path(Paths.comma_home()) / "media" / "0" / "realdata")
     elif Path("/cache/use_HD").is_file():
       return '/data/media/0/realdata_HD/'
+    elif Path("/cache/use_konik").is_file():
+      return '/data/media/0/realdata_konik/'
     else:
       return '/data/media/0/realdata/'
 

tools/lib/api.py

@@ -1,6 +1,9 @@
 import os
 import requests
-API_HOST = os.getenv('API_HOST', 'https://api.commadotai.com')
+
+from openpilot.frogpilot.common.frogpilot_utilities import use_konik_server
+
+API_HOST = os.getenv('API_HOST', f'https://api.{'konik.ai' if use_konik_server() else 'commadotai.com'}')
 
 # TODO: this should be merged into common.api
 

tools/lib/auth.py

@@ -22,6 +22,7 @@ Examples::
 """
 
 import argparse
+import os
 import sys
 import pprint
 import webbrowser
@@ -32,6 +33,9 @@ from urllib.parse import parse_qs, urlencode
 from openpilot.tools.lib.api import APIError, CommaApi, UnauthorizedError
 from openpilot.tools.lib.auth_config import set_token, get_token
 
+from openpilot.frogpilot.common.frogpilot_utilities import use_konik_server
+
+API_HOST = os.getenv('API_HOST', f'https://api.{'konik' if use_konik_server() else 'comma'}.ai')
 PORT = 3000
 
 
@@ -66,7 +70,7 @@ def auth_redirect_link(method):
   }[method]
 
   params = {
-    'redirect_uri': f"https://api.comma.ai/v2/auth/{provider_id}/redirect/",
+    'redirect_uri': f"{API_HOST}/v2/auth/{provider_id}/redirect/",
     'state': f'service,localhost:{PORT}',
   }
 

tools/scripts/fetch_image_from_route.py

@@ -1,6 +1,8 @@
 #!/usr/bin/env python3
 import sys
 
+from openpilot.frogpilot.common.frogpilot_utilities import use_konik_server
+
 if len(sys.argv) < 4:
   print(f"{sys.argv[0]} <route> <segment> <frame number> [front|wide|driver]")
   print('example: ./fetch_image_from_route.py "02c45f73a2e5c6e9|2020-06-01--18-03-08" 3 500 driver')
@@ -24,7 +26,7 @@ segment = int(sys.argv[2])
 frame = int(sys.argv[3])
 camera = cameras[sys.argv[4]] if len(sys.argv) > 4 and sys.argv[4] in cameras else "cameras"
 
-url = f'https://api.commadotai.com/v1/route/{route}/files'
+url = f'https://api.{'konik.ai' if use_konik_server() else 'commadotai.com'}/v1/route/{route}/files'
 r = requests.get(url, headers={"Authorization": f"JWT {jwt}"}, timeout=10)
 assert r.status_code == 200
 print("got api response")