add back the dirinvg model even if dupped. it's not responisibility of this mr

add back the dirinvg model even if dupped. it's not responisibility of this mr

Refactor Sunnylink's operation and default state handling

This update refines the operation and handling of the Sunnylink feature, focusing on its management within the launch script and the logic for its default state.

Starting with the default state, the 'SunnylinkEnabled' parameter is no longer hard-coded to 0. Instead, it now depends on the presence of a release_channel or release_sp_channel. Furthermore, Sunnylink is set to be active in all non-release builds by default.

Regarding the launch script, obsolete invocations of Sunnylink are avoided. This procedure actively checks for Sunnylink registration status before initiating the related processes, effectively conserving system resources. Also, this modifies the launching order of the mapd installer and manager.

As for the functionality of Sunnylink, crucial improvements are brought into effect:
- The status display post Sunnylink registration is made more accurate and informative, with the inclusion of a progress color.
- The handling of Sunnylink capability is overhauled, ensuring that if Sunnylink feature is disabled, a clear warning is logged and the daemon process shuts down correctly.
- System exit conditions now accommodate the Sunnylink registration status to ensure clean termination.
- The start of Sunnylink Uploader is now strictly dependent on the validation of Sunnylink registration.
- This optimization is also incorporated into the 'manage_athenad' method which now gracefully handles any potential null values for Sunnylink Dongle ID.

This comprehensive update aims to enhance the transparency, functionality, and efficient operation of the Sunnylink feature.

launch_chffrplus.sh

@@ -87,7 +87,7 @@ function launch {
     ./build.py
   fi
 
-  ./sunnylink.py; ./mapd_installer.py; ./manager.py
+  ./mapd_installer.py; ./manager.py
 
   # if broken, keep on screen error
   while true; do sleep 1; done

selfdrive/ui/qt/offroad/sunnypilot/sunnylink_settings.cc

@@ -45,10 +45,6 @@ SunnylinkPanel::SunnylinkPanel(QWidget* parent) : QFrame(parent) {
       sunnylinkEnabledBtn->setDescription(shame_description);
     }
 
-    auto dialog_text = tr("A reboot is required to") + " " + (enabled ? tr("start") : tr("stop")) +" "+ tr("all connections and processes from sunnylink.") + "<br/><small>"+ tr("If that's not a problem for you, you can ignore this.")+ "</small>";
-    if (ConfirmationDialog::confirm(dialog_text, tr("Reboot Now!"), this)) {
-      Hardware::reboot();
-    }
     updateLabels();
   });
 

selfdrive/ui/qt/sidebar.cc

@@ -155,6 +155,7 @@ void Sidebar::updateState(const UIState &s) {
   setProperty("pandaStatus", QVariant::fromValue(pandaStatus));
   
   ItemStatus sunnylinkStatus;
+  auto sl_dongle_id = getSunnylinkDongleId();
   auto last_sunnylink_ping_str = params.get("LastSunnylinkPingTime");
   auto last_sunnylink_ping = std::stoull(last_sunnylink_ping_str.empty() ? "0" : last_sunnylink_ping_str);
   auto current_nanos = nanos_since_boot();
@@ -162,6 +163,8 @@ void Sidebar::updateState(const UIState &s) {
   auto sunnylink_enabled = params.getBool("SunnylinkEnabled");
   if (!sunnylink_enabled) {
     sunnylinkStatus = ItemStatus{{tr("SUNNYLINK"), tr("DISABLED")}, disabled_color};
+  } else if(!sl_dongle_id.has_value()) {
+    sunnylinkStatus = ItemStatus{{tr("SUNNYLINK"), tr("REGIST...")}, progress_color};
   } else if (last_sunnylink_ping == 0) {
     sunnylinkStatus = ItemStatus{{tr("SUNNYLINK"), tr("OFFLINE")}, warning_color};
   } else {

selfdrive/ui/qt/sidebar.h

@@ -52,6 +52,7 @@ protected:
   const QRect home_btn = QRect(60, 860, 180, 180);
   const QRect settings_btn = QRect(50, 35, 200, 117);
   const QColor good_color = QColor(255, 255, 255);
+  const QColor progress_color = QColor(3, 132, 252);
   const QColor warning_color = QColor(218, 202, 37);
   const QColor danger_color = QColor(201, 34, 49);
   const QColor disabled_color = QColor(128, 128, 128);

system/athena/manage_athenad.py

@@ -18,7 +18,7 @@ def main():
 
 def manage_athenad(dongle_id_param, pid_param, process_name, target):
   params = Params()
-  dongle_id = params.get(dongle_id_param).decode('utf-8')
+  dongle_id = params.get(dongle_id_param, encoding='utf-8')
   build_metadata = get_build_metadata()
 
   cloudlog.bind_global(dongle_id=dongle_id,

system/athena/sunnylinkd.py

@@ -8,6 +8,7 @@ import os
 import threading
 import time
 
+from openpilot.common.api.sunnylink import UNREGISTERED_SUNNYLINK_DONGLE_ID
 from openpilot.system.athena.athenad import ws_send, jsonrpc_handler, \
   recv_queue, UploadQueueCache, upload_queue, cur_upload_items, backoff, ws_manage, log_handler
 from jsonrpc import dispatcher
@@ -52,6 +53,10 @@ def handle_long_poll(ws: WebSocket, exit_event: threading.Event | None) -> None:
     thread.start()
   try:
     while not end_event.wait(0.1):
+      if not params.get_bool("SunnylinkEnabled"):
+        cloudlog.warning("Exiting sunnylinkd.handle_long_poll as SunnylinkEnabled is False")
+        break
+
       sm.update(0)
       if exit_event is not None and exit_event.is_set():
         end_event.set()
@@ -185,12 +190,16 @@ def main(exit_event: threading.Event = None):
   except Exception:
     cloudlog.exception("failed to set core affinity")
 
+  while params.get_bool("SunnylinkEnabled") and not params.get("SunnylinkDongleId", encoding='utf-8') not in (None, UNREGISTERED_SUNNYLINK_DONGLE_ID):
+    cloudlog.info("Waiting for sunnylink registration to complete")
+    time.sleep(10)
+
   UploadQueueCache.initialize(upload_queue)
 
   ws_uri = SUNNYLINK_ATHENA_HOST
   conn_start = None
   conn_retries = 0
-  while exit_event is None or not exit_event.is_set():
+  while (exit_event is None or not exit_event.is_set()) and params.get_bool("SunnylinkEnabled"):
     try:
       if conn_start is None:
         conn_start = time.monotonic()
@@ -221,6 +230,10 @@ def main(exit_event: threading.Event = None):
 
     time.sleep(backoff(conn_retries))
 
+  if not params.get_bool("SunnylinkEnabled"):
+    cloudlog.debug("Reached end of sunnylinkd.main while SunnylinkEnabled is False so will wait for 60 seconds before exiting")
+    time.sleep(60)
+
 
 if __name__ == "__main__":
   main()

system/manager/manager.py

@@ -8,6 +8,7 @@ import traceback
 from cereal import custom
 import cereal.messaging as messaging
 import openpilot.system.sentry as sentry
+from openpilot.common.api.sunnylink import UNREGISTERED_SUNNYLINK_DONGLE_ID
 from openpilot.common.params import Params, ParamKeyType
 from openpilot.common.text_window import TextWindow
 from openpilot.system.hardware import HARDWARE, PC
@@ -105,7 +106,8 @@ def manager_init() -> None:
     ("OsmDownloadedDate", "0"),
     ("OSMDownloadProgress", "{}"),
     ("SidebarTemperatureOptions", "0"),
-    ("SunnylinkEnabled", "0"),
+    ("SunnylinkEnabled", "0" if (build_metadata.release_channel or build_metadata.release_sp_channel) else "1"),
+    ("SunnylinkDongleId", f"{UNREGISTERED_SUNNYLINK_DONGLE_ID}"),
     ("CustomDrivingModel", "0"),
     ("DrivingModelGeneration", "4"),
     ("LastSunnylinkPingTime", "0"),

system/manager/process_config.py

@@ -1,6 +1,7 @@
 import os
 
 from cereal import car
+from openpilot.common.api.sunnylink import UNREGISTERED_SUNNYLINK_DONGLE_ID
 from openpilot.common.params import Params
 from openpilot.system.hardware import PC, TICI
 from openpilot.selfdrive.sunnypilot import get_model_generation
@@ -47,6 +48,17 @@ def model_use_nav(started, params, CP: car.CarParams) -> bool:
   custom_model, model_gen = get_model_generation(params)
   return started and custom_model and model_gen not in (0, 4)
 
+
+def use_sunnylink(started, params, CP: car.CarParams) -> bool:
+  is_sunnylink_enabled = params.get_bool("SunnylinkEnabled")
+  is_registered = params.get("SunnylinkDongleId", encoding='utf-8') not in (None, UNREGISTERED_SUNNYLINK_DONGLE_ID)
+  return is_sunnylink_enabled and is_registered
+
+def sunnylink_need_register(started, params, CP: car.CarParams) -> bool:
+  is_sunnylink_enabled = params.get_bool("SunnylinkEnabled")
+  is_registered = params.get("SunnylinkDongleId", encoding='utf-8') not in (None, UNREGISTERED_SUNNYLINK_DONGLE_ID)
+  return is_sunnylink_enabled and not is_registered
+
 procs = [
   DaemonProcess("manage_athenad", "system.athena.manage_athenad", "AthenadPid"),
 
@@ -102,17 +114,16 @@ procs = [
   NativeProcess("bridge", "cereal/messaging", ["./bridge"], notcar),
   PythonProcess("webrtcd", "system.webrtc.webrtcd", notcar),
   PythonProcess("webjoystick", "tools.bodyteleop.web", notcar),
+
+  # Sunnylink <3
+  DaemonProcess("manage_sunnylinkd", "system.athena.manage_sunnylinkd", "SunnylinkdPid"),
+  PythonProcess("sunnylink_registration", "system.manager.sunnylink", sunnylink_need_register),
 ]
 
-if Params().get_bool("SunnylinkEnabled"):
-  if os.path.exists("../athena/manage_sunnylinkd.py"):
-    procs += [
-      DaemonProcess("manage_sunnylinkd", "system.athena.manage_sunnylinkd", "SunnylinkdPid"),
-    ]
-  if os.path.exists("../loggerd/sunnylink_uploader.py"):
-    procs += [
-      PythonProcess("sunnylink_uploader", "system.loggerd.sunnylink_uploader", always_run),
-    ]
+if os.path.exists("../loggerd/sunnylink_uploader.py"):
+  procs += [
+    PythonProcess("sunnylink_uploader", "system.loggerd.sunnylink_uploader", use_sunnylink),
+  ]
 
 if os.path.exists("./gitlab_runner.sh") and not PC:
   # Only devs!

system/manager/sunnylink.py

@@ -2,17 +2,15 @@
 
 from openpilot.common.api.sunnylink import SunnylinkApi
 from openpilot.common.params import Params
-from openpilot.common.spinner import Spinner
 from openpilot.system.version import is_prebuilt
+import time
 
 
-if __name__ == "__main__":
-  spinner = Spinner()
+def main():
   extra_args = {}
 
   if not Params().get_bool("SunnylinkEnabled"):
     print("Sunnylink is not enabled. Exiting.")
-    spinner.close()
     exit(0)
 
   if not is_prebuilt():
@@ -21,6 +19,13 @@ if __name__ == "__main__":
       "timeout": 60
     }
 
-  sunnylink_id = SunnylinkApi(None).register_device(spinner, **extra_args)
+  sunnylink_id = SunnylinkApi(None).register_device(None, **extra_args)
   print(f"SunnyLinkId: {sunnylink_id}")
-  spinner.close()
+
+  # Set the last ping time to the current time since we just registered
+  last_ping = int(time.monotonic() * 1e9)
+  Params().put("LastSunnylinkPingTime", str(last_ping))
+
+
+if __name__ == "__main__":
+  main()