cleanup

selfdrive/pandad/pandad.py

@@ -32,8 +32,7 @@ def flash_panda(panda_serial: str) -> Panda:
     raise
 
   # skip flashing if the detected panda is not supported
-  supported_panda = check_panda_support(panda)
-  if not supported_panda:
+  if panda.get_type() not in Panda.SUPPORTED_DEVICES:
     cloudlog.warning(f"Panda {panda_serial} is not supported (hw_type: {panda.get_type()}), skipping flash...")
     return panda
 
@@ -69,10 +68,19 @@ def flash_panda(panda_serial: str) -> Panda:
   return panda
 
 
-def check_panda_support(panda) -> bool:
-  hw_type = panda.get_type()
-  if hw_type in Panda.SUPPORTED_DEVICES:
-    return True
+def check_panda_support(panda_serials: list[str]) -> bool:
+  unsupported = []
+  for serial in panda_serials:
+    panda = Panda(serial)
+    hw_type = panda.get_type()
+    panda.close()
+    if hw_type in Panda.SUPPORTED_DEVICES:
+      return True
+
+    unsupported.append((serial, hw_type))
+
+  for serial, hw_type in unsupported:
+    cloudlog.warning(f"Panda {serial} is not supported (hw_type: {hw_type}), skipping...")
 
   return False
 
@@ -126,13 +134,17 @@ def main() -> None:
 
       cloudlog.info(f"{len(panda_serials)} panda(s) found, connecting - {panda_serials}")
 
+      # custom flasher for xnor's Rivian Longitudinal Upgrade Kit
+      flash_rivian_long(panda_serials)
+
+      # skip flashing and health check if no supported panda is detected
+      if not check_panda_support(panda_serials):
+        continue
+
       # Flash the first panda
       panda_serial = panda_serials[0]
       panda = flash_panda(panda_serial)
 
-      # flash Rivian longitudinal upgrade panda
-      flash_rivian_long(panda)
-
       # Ensure internal panda is present if expected
       if HARDWARE.has_internal_panda() and not panda.is_internal():
         cloudlog.error("Internal panda is missing, trying again")
@@ -143,12 +155,6 @@ def main() -> None:
       # log panda fw version
       params.put("PandaSignatures", panda.get_signature())
 
-      # skip health check if the detected panda is not supported
-      supported_panda = check_panda_support(panda)
-      if not supported_panda:
-        cloudlog.warning(f"Panda {panda.get_usb_serial()} is not supported (hw_type: {panda.get_type()}), skipping health check...")
-        continue
-
       # check health for lost heartbeat
       health = panda.health()
       if health["heartbeat_lost"]:

selfdrive/ui/sunnypilot/layouts/settings/developer.py

@@ -20,7 +20,6 @@ from openpilot.system.ui.widgets.list_view import button_item
 
 from openpilot.system.ui.sunnypilot.widgets.html_render import HtmlModalSP
 from openpilot.system.ui.sunnypilot.widgets.list_view import toggle_item_sp
-from openpilot.selfdrive.ui.sunnypilot.layouts.settings.external_storage import external_storage_item
 
 PREBUILT_PATH = os.path.join(Paths.comma_home(), "prebuilt") if PC else "/data/openpilot/prebuilt"
 
@@ -53,11 +52,7 @@ class DeveloperLayoutSP(DeveloperLayout):
 
     self.error_log_btn = button_item(tr("Error Log"), tr("VIEW"), tr("View the error log for sunnypilot crashes."), callback=self._on_error_log_clicked)
 
-    self.external_storage = external_storage_item(tr("External Storage"), description=tr("Extend your comma device's storage by inserting a USB drive " +
-                                                                                         "into the aux port."))
-
-    self.items: list = [self.show_advanced_controls, self.enable_github_runner_toggle, self.enable_copyparty_toggle, self.prebuilt_toggle,
-                        self.external_storage, self.error_log_btn,]
+    self.items: list = [self.show_advanced_controls, self.enable_github_runner_toggle, self.enable_copyparty_toggle, self.prebuilt_toggle, self.error_log_btn,]
 
   @staticmethod
   def _on_prebuilt_toggled(state):

selfdrive/ui/sunnypilot/layouts/settings/external_storage.py

@@ -1,261 +0,0 @@
-"""
-Copyright (c) 2021-, Haibin Wen, sunnypilot, and a number of other contributors.
-
-This file is part of sunnypilot and is licensed under the MIT License.
-See the LICENSE.md file in the root directory for more details.
-"""
-import pyray as rl
-import threading
-import subprocess
-import copy
-from enum import Enum
-from collections.abc import Callable
-
-from openpilot.common.params import Params
-from openpilot.system.hardware import PC
-from openpilot.system.ui.lib.application import gui_app, FontWeight
-from openpilot.system.ui.lib.text_measure import measure_text_cached
-from openpilot.system.ui.lib.multilang import tr, tr_noop
-from openpilot.system.ui.widgets import DialogResult
-from openpilot.system.ui.widgets.button import Button, ButtonStyle
-from openpilot.system.ui.widgets.confirm_dialog import alert_dialog, ConfirmDialog
-from openpilot.system.ui.widgets.list_view import (
-  ItemAction,
-  ListItem,
-  BUTTON_HEIGHT,
-  BUTTON_BORDER_RADIUS,
-  BUTTON_FONT_SIZE,
-  BUTTON_WIDTH,
-)
-
-VALUE_FONT_SIZE = 48
-
-
-class ExternalStorageState(Enum):
-  DISABLED = tr_noop("DISABLED")
-  LOADING = tr_noop("LOADING")
-  CHECK = tr_noop("CHECK")
-  MOUNT = tr_noop("MOUNT")
-  UNMOUNT = tr_noop("UNMOUNT")
-  FORMAT = tr_noop("FORMAT")
-
-
-class ExternalStorageAction(ItemAction):
-  MAX_WIDTH = 500
-
-  def __init__(self):
-    super().__init__(self.MAX_WIDTH, True)
-
-    self._params = Params()
-    self._error_message = ""
-    self._text_font = gui_app.font(FontWeight.NORMAL)
-
-    self._button = Button(
-      "",
-      click_callback=self._handle_button_click,
-      button_style=ButtonStyle.LIST_ACTION,
-      border_radius=BUTTON_BORDER_RADIUS,
-      font_size=BUTTON_FONT_SIZE,
-    )
-
-    self._value_text = ""
-    self._formatting = False
-    self._refresh_pending = False
-
-    self._state = ExternalStorageState.CHECK
-    self._refresh_state()
-    self.refresh()
-
-  def set_touch_valid_callback(self, callback):
-    def wrapped():
-      if self._state == ExternalStorageState.DISABLED:
-        return False
-      return callback()
-    super().set_touch_valid_callback(wrapped)
-    self._button.set_touch_valid_callback(wrapped)
-
-  def _run(self, cmd: str) -> bool:
-    return subprocess.call(["sh", "-c", cmd]) == 0
-
-  def _run_output(self, cmd: str) -> str:
-    try:
-      out = subprocess.check_output(["sh", "-c", cmd], universal_newlines=True)
-      return out.strip()
-    except Exception:
-      return ""
-
-  def _render(self, rect: rl.Rectangle) -> bool:
-    if self._error_message:
-      msg = copy.copy(self._error_message)
-      gui_app.set_modal_overlay(alert_dialog(msg))
-      self._error_message = ""
-
-    if self._value_text:
-      text_size = measure_text_cached(self._text_font, self._value_text, VALUE_FONT_SIZE)
-      rl.draw_text_ex(
-        self._text_font,
-        self._value_text,
-        (rect.x + rect.width - BUTTON_WIDTH - text_size.x - 30,
-         rect.y + (rect.height - text_size.y) / 2),
-        VALUE_FONT_SIZE,
-        1.0,
-        rl.Color(170, 170, 170, 255),
-      )
-
-    button_rect = rl.Rectangle(
-      rect.x + rect.width - BUTTON_WIDTH,
-      rect.y + (rect.height - BUTTON_HEIGHT) / 2,
-      BUTTON_WIDTH,
-      BUTTON_HEIGHT
-    )
-    self._button.set_rect(button_rect)
-    self._button.set_text(tr(self._state.value))
-    self._button.set_enabled(self._state not in (ExternalStorageState.LOADING,
-                                                 ExternalStorageState.DISABLED))
-    self._button.render(button_rect)
-    return False
-
-  def _refresh_state(self):
-    if PC:
-      self._state = ExternalStorageState.DISABLED
-      self._button.set_enabled(False)
-      self._value_text = ""
-
-  def debounced_refresh(self):
-    if self._refresh_pending:
-      return
-    self._refresh_pending = True
-
-    def _timer():
-      import time
-      time.sleep(0.25)
-      self._refresh_pending = False
-      self.refresh()
-
-    threading.Thread(target=_timer, daemon=True).start()
-
-  def refresh(self):
-    def _work():
-      is_mounted = self._run("findmnt -n /mnt/external_realdata")
-      has_drive = self._run("lsblk -f /dev/sdg")
-      has_fs = self._run("lsblk -f /dev/sdg1 | grep -q ext4")
-      has_label = self._run("blkid /dev/sdg1 | grep -q 'LABEL=\"openpilot\"'")
-
-      info = ""
-      if is_mounted and has_label:
-        info = self._run_output(
-          "df -h /mnt/external_realdata | awk 'NR==2 {print $3 \"/\" $2}'"
-        )
-
-      def apply():
-        if self._formatting:
-          self._value_text = tr("formatting")
-          self._state = ExternalStorageState.FORMAT
-          return
-
-        if not has_drive:
-          self._value_text = tr("insert drive")
-          self._state = ExternalStorageState.CHECK
-
-        elif not has_fs or not has_label:
-          self._value_text = tr("needs format")
-          self._state = ExternalStorageState.FORMAT
-
-        elif is_mounted:
-          self._value_text = info
-          self._state = ExternalStorageState.UNMOUNT
-
-        else:
-          self._value_text = tr("drive detected")
-          self._state = ExternalStorageState.MOUNT
-
-      apply()
-
-    threading.Thread(target=_work, daemon=True).start()
-
-  def _handle_button_click(self):
-    st = self._state
-
-    if st == ExternalStorageState.DISABLED:
-      return
-
-    if st in (ExternalStorageState.CHECK, ExternalStorageState.MOUNT):
-      self.mount_storage()
-
-    elif st == ExternalStorageState.UNMOUNT:
-      self.unmount_storage()
-
-    elif st == ExternalStorageState.FORMAT:
-      dialog = ConfirmDialog(
-          tr("Are you sure you want to format this drive? This will erase all data."),
-          confirm_text=tr("Format"),
-          cancel_text=tr("Cancel"),
-        )
-      gui_app.set_modal_overlay(dialog, callback=self._confirm_format)
-
-  def _confirm_format(self, result: DialogResult):
-    if result == DialogResult.CONFIRM:
-      self.format_storage()
-
-  def mount_storage(self):
-    self._value_text = tr("mounting")
-    self._state = ExternalStorageState.LOADING
-
-    def _work():
-      cmd = """
-        sudo mount -o remount,rw / &&
-        sudo mkdir -p /mnt/external_realdata &&
-        (grep -q '/dev/sdg1 /mnt/external_realdata' /etc/fstab ||
-         echo '/dev/sdg1 /mnt/external_realdata ext4 defaults,nofail 0 2' >> /etc/fstab) &&
-        sudo systemctl daemon-reexec &&
-        sudo mount /mnt/external_realdata &&
-        sudo chown -R comma:comma /mnt/external_realdata &&
-        sudo chmod -R 775 /mnt/external_realdata &&
-        sudo mount -o remount,ro /
-      """
-      subprocess.call(["sh", "-c", cmd])
-      self.debounced_refresh()
-
-    threading.Thread(target=_work, daemon=True).start()
-
-  def unmount_storage(self):
-    self._value_text = tr("unmounting")
-    self._state = ExternalStorageState.LOADING
-
-    def _work():
-      subprocess.call(["sh", "-c", "sudo umount /mnt/external_realdata"])
-      self.debounced_refresh()
-
-    threading.Thread(target=_work, daemon=True).start()
-
-  def format_storage(self):
-    self._formatting = True
-    self._value_text = tr("formatting")
-    self._state = ExternalStorageState.LOADING
-
-    def _work():
-      cmd = """
-        sudo wipefs -a /dev/sdg &&
-        sudo parted -s /dev/sdg mklabel gpt mkpart primary ext4 0% 100% &&
-        sudo mkfs.ext4 -F -L openpilot /dev/sdg1
-      """
-      exitcode = subprocess.call(["sh", "-c", cmd])
-
-      def apply():
-        self._formatting = False
-        if exitcode == 0:
-          self.mount_storage()
-        else:
-          self._value_text = tr("needs format")
-          self._state = ExternalStorageState.FORMAT
-
-      apply()
-
-    threading.Thread(target=_work, daemon=True).start()
-
-def external_storage_item(title: str | Callable[[], str], description: str | Callable[[], str]) -> ListItem:
-  return ListItem(
-    title=title,
-    description=description,
-    action_item=ExternalStorageAction()
-  )

sunnypilot/selfdrive/pandad/rivian_long_flasher.py

@@ -74,7 +74,7 @@ def _flash_panda(panda: Panda) -> None:
   panda.reconnect()
 
 
-def flash_rivian_long(panda: Panda) -> None:
+def flash_rivian_long(panda_serials: list[str]) -> None:
   if not os.path.isfile(FW_PATH):
     cloudlog.error(f"Rivian longitudinal upgrade firmware not found at {FW_PATH}")
     return
@@ -83,13 +83,19 @@ def flash_rivian_long(panda: Panda) -> None:
     cloudlog.info("Not a Rivian, skipping longitudinal upgrade...")
     return
 
-  # only flash external black pandas (HW_TYPE_BLACK = 0x03)
-  if panda.get_type() == b'\x03' and not panda.is_internal():
-    try:
-      _flash_panda(panda)
-    except Exception:
-      cloudlog.exception(f"Failed to flash F4 panda {panda.get_usb_serial()}")
+  for serial in panda_serials:
+    panda = Panda(serial)
+    # only flash external black pandas (HW_TYPE_BLACK = 0x03)
+    if panda.get_type() == b'\x03' and not panda.is_internal():
+      try:
+        _flash_panda(panda)
+        cloudlog.info(f"Successfully flashed xnor's Rivian Longitudinal Upgrade Kit: {serial}")
+      except Exception:
+        cloudlog.exception(f"Failed to flash xnor's Rivian Longitudinal Upgrade Kit: {serial}")
+    panda.close()
+
+  return
 
 
 if __name__ == '__main__':
-  flash_rivian_long(Panda())
+  flash_rivian_long(Panda.list())