ui: external storage

* mapd: ignore in plannerd health check

* more

launch_openpilot.sh

@@ -1,20 +1,3 @@
 #!/usr/bin/env bash
-set -euo pipefail
-IFS=$'\n\t'
-
-# On any failure, run the fallback launcher
-trap 'exec ./launch_chffrplus.sh' ERR
-C3_LAUNCH_SH="./openpilot/sunnypilot/system/hardware/c3/launch_chffrplus.sh"
-
-MODEL="$(tr -d '\0' < "/sys/firmware/devicetree/base/model")"
-export MODEL
-
-if [ "$MODEL" = "comma tici" ]; then
-  # Force a failure if the launcher doesn't exist
-  [ -x "$C3_LAUNCH_SH" ] || false
-
-  # If it exists, run it
-  exec "$C3_LAUNCH_SH"
-fi
 
 exec ./launch_chffrplus.sh

openpilot/selfdrive/controls/plannerd.py

@@ -23,13 +23,14 @@ def main():
   cloudlog.info("plannerd got CarParamsSP")
 
   gps_location_service = get_gps_location_service(params)
+  ignore_services = ["liveMapDataSP", gps_location_service]
 
   ldw = LaneDepartureWarning()
   longitudinal_planner = LongitudinalPlanner(CP, CP_SP)
   pm = messaging.PubMaster(['longitudinalPlan', 'driverAssistance', 'longitudinalPlanSP'])
   sm = messaging.SubMaster(['carControl', 'carState', 'controlsState', 'liveParameters', 'radarState', 'modelV2', 'selfdriveState',
                             'liveMapDataSP', 'carStateSP', gps_location_service],
-                           poll='carState')
+                           poll='carState', ignore_alive=ignore_services, ignore_avg_freq=ignore_services, ignore_valid=ignore_services)
 
   while True:
     sm.update()

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

@@ -20,6 +20,7 @@ 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"
 
@@ -52,7 +53,11 @@ 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.items: list = [self.show_advanced_controls, self.enable_github_runner_toggle, self.enable_copyparty_toggle, self.prebuilt_toggle, self.error_log_btn,]
+    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,]
 
   @staticmethod
   def _on_prebuilt_toggled(state):

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

@@ -0,0 +1,261 @@
+"""
+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.common.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()
+  )

openpilot/sunnypilot/system/hardware/c3/README.md

@@ -1,3 +0,0 @@
-# C3 specific hardware code
-
-`c3` is known as `tici` and comma three by comma. Not to confuse it with `c3x` which is known as `tizi`.

openpilot/sunnypilot/system/hardware/c3/agnos.json

@@ -1,84 +0,0 @@
-[
-  {
-    "name": "xbl",
-    "url": "https://commadist.azureedge.net/agnosupdate/xbl-effa23294138e2297b85a5b482a885184c437b5ab25d74f2a62d4fce4e68f63b.img.xz",
-    "hash": "effa23294138e2297b85a5b482a885184c437b5ab25d74f2a62d4fce4e68f63b",
-    "hash_raw": "effa23294138e2297b85a5b482a885184c437b5ab25d74f2a62d4fce4e68f63b",
-    "size": 3282256,
-    "sparse": false,
-    "full_check": true,
-    "has_ab": true,
-    "ondevice_hash": "ed61a650bea0c56652dd0fc68465d8fc722a4e6489dc8f257630c42c6adcdc89"
-  },
-  {
-    "name": "xbl_config",
-    "url": "https://commadist.azureedge.net/agnosupdate/xbl_config-63d019efed684601f145ef37628e62c8da73f5053a8e51d7de09e72b8b11f97c.img.xz",
-    "hash": "63d019efed684601f145ef37628e62c8da73f5053a8e51d7de09e72b8b11f97c",
-    "hash_raw": "63d019efed684601f145ef37628e62c8da73f5053a8e51d7de09e72b8b11f97c",
-    "size": 98124,
-    "sparse": false,
-    "full_check": true,
-    "has_ab": true,
-    "ondevice_hash": "b12801ffaa81e58e3cef914488d3b447e35483ba549b28c6cd9deb4814c3265f"
-  },
-  {
-    "name": "abl",
-    "url": "https://commadist.azureedge.net/agnosupdate/abl-32a2174b5f764e95dfc54cf358ba01752943b1b3b90e626149c3da7d5f1830b6.img.xz",
-    "hash": "32a2174b5f764e95dfc54cf358ba01752943b1b3b90e626149c3da7d5f1830b6",
-    "hash_raw": "32a2174b5f764e95dfc54cf358ba01752943b1b3b90e626149c3da7d5f1830b6",
-    "size": 274432,
-    "sparse": false,
-    "full_check": true,
-    "has_ab": true,
-    "ondevice_hash": "32a2174b5f764e95dfc54cf358ba01752943b1b3b90e626149c3da7d5f1830b6"
-  },
-  {
-    "name": "aop",
-    "url": "https://commadist.azureedge.net/agnosupdate/aop-21370172e590bd4ea907a558bcd6df20dc7a6c7d38b8e62fdde18f4a512ba9e9.img.xz",
-    "hash": "21370172e590bd4ea907a558bcd6df20dc7a6c7d38b8e62fdde18f4a512ba9e9",
-    "hash_raw": "21370172e590bd4ea907a558bcd6df20dc7a6c7d38b8e62fdde18f4a512ba9e9",
-    "size": 184364,
-    "sparse": false,
-    "full_check": true,
-    "has_ab": true,
-    "ondevice_hash": "c1be2f4aac5b3af49b904b027faec418d05efd7bd5144eb4fdfcba602bcf2180"
-  },
-  {
-    "name": "devcfg",
-    "url": "https://commadist.azureedge.net/agnosupdate/devcfg-d7d7e52963bbedbbf8a7e66847579ca106a0a729ce2cf60f4b8d8ea4b535d620.img.xz",
-    "hash": "d7d7e52963bbedbbf8a7e66847579ca106a0a729ce2cf60f4b8d8ea4b535d620",
-    "hash_raw": "d7d7e52963bbedbbf8a7e66847579ca106a0a729ce2cf60f4b8d8ea4b535d620",
-    "size": 40336,
-    "sparse": false,
-    "full_check": true,
-    "has_ab": true,
-    "ondevice_hash": "17b229668b20305ff8fa3cd5f94716a3aaa1e5bf9d1c24117eff7f2f81ae719f"
-  },
-  {
-    "name": "boot",
-    "url": "https://commadist.azureedge.net/agnosupdate/boot-0191529aa97d90d1fa04b472d80230b777606459e1e1e9e2323c9519839827b4.img.xz",
-    "hash": "0191529aa97d90d1fa04b472d80230b777606459e1e1e9e2323c9519839827b4",
-    "hash_raw": "0191529aa97d90d1fa04b472d80230b777606459e1e1e9e2323c9519839827b4",
-    "size": 18515968,
-    "sparse": false,
-    "full_check": true,
-    "has_ab": true,
-    "ondevice_hash": "492ae27f569e8db457c79d0e358a7a6297d1a1c685c2b1ae6deba7315d3a6cb0"
-  },
-  {
-    "name": "system",
-    "url": "https://commadist.azureedge.net/agnosupdate/system-e0007afa5d1026671c1943d44bb7f7ad26259f673392dd00a03073a2870df087.img.xz",
-    "hash": "1468d50b7ad0fda0f04074755d21e786e3b1b6ca5dd5b17eb2608202025e6126",
-    "hash_raw": "e0007afa5d1026671c1943d44bb7f7ad26259f673392dd00a03073a2870df087",
-    "size": 5368709120,
-    "sparse": true,
-    "full_check": false,
-    "has_ab": true,
-    "ondevice_hash": "242aa5adad1c04e1398e00e2440d1babf962022eb12b89adf2e60ee3068946e7",
-    "alt": {
-      "hash": "e0007afa5d1026671c1943d44bb7f7ad26259f673392dd00a03073a2870df087",
-      "url": "https://commadist.azureedge.net/agnosupdate/system-e0007afa5d1026671c1943d44bb7f7ad26259f673392dd00a03073a2870df087.img",
-      "size": 5368709120
-    }
-  }
-]

openpilot/sunnypilot/system/hardware/c3/launch_chffrplus.sh

@@ -1,100 +0,0 @@
-#!/usr/bin/env bash
-
-SP_C3_DIR="$( cd "$( dirname "${BASH_SOURCE[0]}" )" >/dev/null && pwd )"
-DIR="$( cd "$SP_C3_DIR/../../../../.." >/dev/null 2>&1 && pwd )"
-
-source "$SP_C3_DIR/launch_env.sh"
-
-function agnos_init {
-  # TODO: move this to agnos
-  sudo rm -f /data/etc/NetworkManager/system-connections/*.nmmeta
-
-  # set success flag for current boot slot
-  sudo abctl --set_success
-
-  # TODO: do this without udev in AGNOS
-  # udev does this, but sometimes we startup faster
-  sudo chgrp gpu /dev/adsprpc-smd /dev/ion /dev/kgsl-3d0
-  sudo chmod 660 /dev/adsprpc-smd /dev/ion /dev/kgsl-3d0
-
-
-  if [ $(< /VERSION) != "$AGNOS_VERSION" ]; then
-    AGNOS_PY="$DIR/openpilot/common/hardware/tici/agnos.py"
-    MANIFEST="$SP_C3_DIR/agnos.json"
-    if $AGNOS_PY --verify $MANIFEST; then
-      sudo reboot
-    fi
-    $DIR/openpilot/common/hardware/tici/updater $AGNOS_PY $MANIFEST
-  fi
-}
-
-function launch {
-  # Remove orphaned git lock if it exists on boot
-  [ -f "$DIR/.git/index.lock" ] && rm -f $DIR/.git/index.lock
-
-  # Check to see if there's a valid overlay-based update available. Conditions
-  # are as follows:
-  #
-  # 1. The DIR init file has to exist, with a newer modtime than anything in
-  #    the DIR Git repo. This checks for local development work or the user
-  #    switching branches/forks, which should not be overwritten.
-  # 2. The FINALIZED consistent file has to exist, indicating there's an update
-  #    that completed successfully and synced to disk.
-
-  if [ -f "${DIR}/.overlay_init" ]; then
-    find ${DIR}/.git -newer ${DIR}/.overlay_init | grep -q '.' 2> /dev/null
-    if [ $? -eq 0 ]; then
-      echo "${DIR} has been modified, skipping overlay update installation"
-    else
-      if [ -f "${STAGING_ROOT}/finalized/.overlay_consistent" ]; then
-        if [ ! -d /data/safe_staging/old_openpilot ]; then
-          echo "Valid overlay update found, installing"
-          LAUNCHER_LOCATION="${BASH_SOURCE[0]}"
-
-          mv $DIR /data/safe_staging/old_openpilot
-          mv "${STAGING_ROOT}/finalized" $DIR
-          cd $DIR
-
-          echo "Restarting launch script ${LAUNCHER_LOCATION}"
-          unset AGNOS_VERSION
-          exec "${LAUNCHER_LOCATION}"
-        else
-          echo "openpilot backup found, not updating"
-          # TODO: restore backup? This means the updater didn't start after swapping
-        fi
-      fi
-    fi
-  fi
-
-  # handle pythonpath
-  ln -sfn $(pwd) /data/pythonpath
-  export PYTHONPATH="$PWD"
-
-  # submodule package symlinks for PYTHONPATH imports on device.
-  # on PC these come from editable installs via pyproject.toml / uv.
-  ln -sfn msgq_repo/msgq msgq
-  ln -sfn opendbc_repo/opendbc opendbc
-  ln -sfn rednose_repo/rednose rednose
-  ln -sfn teleoprtc_repo/teleoprtc teleoprtc
-  ln -sfn tinygrad_repo/tinygrad tinygrad
-
-  # hardware specific init
-  if [ -f /AGNOS ]; then
-    agnos_init
-  fi
-
-  # write tmux scrollback to a file
-  tmux capture-pane -pq -S-1000 > /tmp/launch_log
-
-  # start manager
-  cd $DIR/openpilot/system/manager
-  if [ ! -f $DIR/prebuilt ]; then
-    ./build.py
-  fi
-  ./manager.py
-
-  # if broken, keep on screen error
-  while true; do sleep 1; done
-}
-
-launch

openpilot/sunnypilot/system/hardware/c3/launch_env.sh

@@ -1,13 +0,0 @@
-#!/usr/bin/env bash
-
-export OMP_NUM_THREADS=1
-export MKL_NUM_THREADS=1
-export NUMEXPR_NUM_THREADS=1
-export OPENBLAS_NUM_THREADS=1
-export VECLIB_MAXIMUM_THREADS=1
-
-if [ -z "$AGNOS_VERSION" ]; then
-  export AGNOS_VERSION="12.8"
-fi
-
-export STAGING_ROOT="/data/safe_staging"