mirror of
https://github.com/sunnypilot/sunnypilot.git
synced 2026-06-13 05:45:51 +08:00
640 lines
23 KiB
Python
Executable File
640 lines
23 KiB
Python
Executable File
#!/usr/bin/env python3
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import os
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import re
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import threading
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import time
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import urllib.request
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import urllib.error
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from urllib.parse import urlparse
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import shutil
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from collections.abc import Callable
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import pyray as rl
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from cereal import log
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from openpilot.common.filter_simple import FirstOrderFilter
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from openpilot.system.hardware import HARDWARE, TICI
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from openpilot.common.realtime import config_realtime_process, set_core_affinity
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from openpilot.common.swaglog import cloudlog
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from openpilot.common.utils import run_cmd
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from openpilot.system.ui.lib.application import gui_app, FontWeight
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from openpilot.system.ui.lib.wifi_manager import WifiManager
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from openpilot.system.ui.widgets import Widget
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from openpilot.system.ui.widgets.nav_widget import NavWidget
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from openpilot.system.ui.widgets.button import SmallButton
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from openpilot.system.ui.widgets.label import UnifiedLabel
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from openpilot.system.ui.widgets.scroller import Scroller, NavScroller, ITEM_SPACING
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from openpilot.system.ui.widgets.slider import LargerSlider, SmallSlider
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from openpilot.selfdrive.ui.mici.layouts.settings.network import WifiNetworkButton
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from openpilot.selfdrive.ui.mici.layouts.settings.network.wifi_ui import WifiUIMici
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from openpilot.selfdrive.ui.mici.widgets.dialog import BigInputDialog
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from openpilot.selfdrive.ui.mici.widgets.button import BigButton
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NetworkType = log.DeviceState.NetworkType
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OPENPILOT_URL = "https://openpilot.comma.ai"
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USER_AGENT = f"AGNOSSetup-{HARDWARE.get_os_version()}"
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CONTINUE_PATH = "/data/continue.sh"
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TMP_CONTINUE_PATH = "/data/continue.sh.new"
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INSTALL_PATH = "/data/openpilot"
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VALID_CACHE_PATH = "/data/.openpilot_cache"
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INSTALLER_SOURCE_PATH = "/usr/comma/installer"
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INSTALLER_DESTINATION_PATH = "/tmp/installer"
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INSTALLER_URL_PATH = "/tmp/installer_url"
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CONTINUE = """#!/usr/bin/env bash
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cd /data/openpilot
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exec ./launch_openpilot.sh
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"""
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class NetworkConnectivityMonitor:
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def __init__(self, should_check: Callable[[], bool] | None = None):
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self.network_connected = threading.Event()
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self.wifi_connected = threading.Event()
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self._should_check = should_check or (lambda: True)
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self._stop_event = threading.Event()
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self._thread: threading.Thread | None = None
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def start(self):
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self._stop_event.clear()
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if self._thread is None or not self._thread.is_alive():
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self._thread = threading.Thread(target=self._run, daemon=True)
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self._thread.start()
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def stop(self):
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if self._thread is not None:
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self._stop_event.set()
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self._thread.join()
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self._thread = None
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def reset(self):
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self.network_connected.clear()
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self.wifi_connected.clear()
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def _run(self):
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while not self._stop_event.is_set():
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if self._should_check():
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try:
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request = urllib.request.Request(OPENPILOT_URL, method="HEAD")
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urllib.request.urlopen(request, timeout=2.0)
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self.network_connected.set()
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if HARDWARE.get_network_type() == NetworkType.wifi:
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self.wifi_connected.set()
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except Exception:
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self.reset()
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else:
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self.reset()
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if self._stop_event.wait(timeout=1.0):
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break
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class StartPage(Widget):
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def __init__(self):
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super().__init__()
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self._title = UnifiedLabel("start", 64, text_color=rl.Color(255, 255, 255, int(255 * 0.9)),
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font_weight=FontWeight.DISPLAY, alignment=rl.GuiTextAlignment.TEXT_ALIGN_CENTER,
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alignment_vertical=rl.GuiTextAlignmentVertical.TEXT_ALIGN_MIDDLE)
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self._start_bg_txt = gui_app.texture("icons_mici/setup/start_button.png", 500, 224, keep_aspect_ratio=False)
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self._start_bg_pressed_txt = gui_app.texture("icons_mici/setup/start_button_pressed.png", 500, 224, keep_aspect_ratio=False)
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self._scale_filter = FirstOrderFilter(1.0, 0.1, 1 / gui_app.target_fps)
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self._click_delay = 0.075
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def _render(self, rect: rl.Rectangle):
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scale = self._scale_filter.update(1.07 if self.is_pressed else 1.0)
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base_draw_x = rect.x + (rect.width - self._start_bg_txt.width) / 2
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base_draw_y = rect.y + (rect.height - self._start_bg_txt.height) / 2
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draw_x = base_draw_x + (self._start_bg_txt.width * (1 - scale)) / 2
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draw_y = base_draw_y + (self._start_bg_txt.height * (1 - scale)) / 2
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texture = self._start_bg_pressed_txt if self.is_pressed else self._start_bg_txt
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rl.draw_texture_ex(texture, (draw_x, draw_y), 0, scale, rl.WHITE)
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self._title.render(rl.Rectangle(rect.x, rect.y + (draw_y - base_draw_y), rect.width, rect.height))
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class SoftwareSelectionPage(NavWidget):
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def __init__(self, use_openpilot_callback: Callable,
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use_custom_software_callback: Callable):
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super().__init__()
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self._openpilot_slider = LargerSlider("slide to install\nopenpilot", use_openpilot_callback)
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self._openpilot_slider.set_enabled(lambda: self.enabled and not self.is_dismissing)
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self._custom_software_slider = LargerSlider("slide to install\nother software", use_custom_software_callback, green=False)
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self._custom_software_slider.set_enabled(lambda: self.enabled and not self.is_dismissing)
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def show_event(self):
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super().show_event()
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self._nav_bar._alpha = 0.0
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def _update_state(self):
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super()._update_state()
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if self.is_dismissing:
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self.reset()
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def reset(self):
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self._openpilot_slider.reset()
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self._custom_software_slider.reset()
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def _render(self, rect: rl.Rectangle):
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self._openpilot_slider.set_opacity(1.0 - self._custom_software_slider.slider_percentage)
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self._custom_software_slider.set_opacity(1.0 - self._openpilot_slider.slider_percentage)
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openpilot_rect = rl.Rectangle(
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rect.x + (rect.width - self._openpilot_slider.rect.width) / 2,
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rect.y,
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self._openpilot_slider.rect.width,
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rect.height / 2,
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)
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self._openpilot_slider.render(openpilot_rect)
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custom_software_rect = rl.Rectangle(
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rect.x + (rect.width - self._custom_software_slider.rect.width) / 2,
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rect.y + rect.height / 2,
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self._custom_software_slider.rect.width,
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rect.height / 2,
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)
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self._custom_software_slider.render(custom_software_rect)
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class CustomSoftwareWarningPage(NavScroller):
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def __init__(self, continue_callback: Callable, back_callback: Callable):
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super().__init__()
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self.set_back_callback(back_callback)
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self._continue_button = BigPillButton("next")
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self._continue_button.set_click_callback(continue_callback)
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self._scroller.add_widgets([
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GreyBigButton("use caution", "when installing\n3rd party software",
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gui_app.texture("icons_mici/setup/warning.png", 64, 58)),
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GreyBigButton("", "• It has not been tested by comma"),
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GreyBigButton("", "• It may not comply with relevant safety standards."),
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GreyBigButton("", "• It may cause damage to your device and/or vehicle."),
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GreyBigButton("how to restore to a\nfactory state later", "https://flash.comma.ai",
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gui_app.texture("icons_mici/setup/restore.png", 64, 64)),
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self._continue_button,
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])
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class DownloadingPage(Widget):
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def __init__(self):
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super().__init__()
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self._title_label = UnifiedLabel("downloading...", 64, text_color=rl.Color(255, 255, 255, int(255 * 0.9)),
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font_weight=FontWeight.DISPLAY)
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self._progress_label = UnifiedLabel("", 132, text_color=rl.Color(255, 255, 255, int(255 * 0.9 * 0.65)),
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font_weight=FontWeight.ROMAN, alignment_vertical=rl.GuiTextAlignmentVertical.TEXT_ALIGN_BOTTOM)
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self._progress = 0
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def show_event(self):
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super().show_event()
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self.set_progress(0)
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def set_progress(self, progress: int):
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self._progress = progress
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self._progress_label.set_text(f"{progress}%")
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def _render(self, rect: rl.Rectangle):
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rl.draw_rectangle_rec(rect, rl.BLACK)
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self._title_label.render(rl.Rectangle(
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rect.x + 12,
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rect.y + 2,
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rect.width,
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64,
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))
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self._progress_label.render(rl.Rectangle(
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rect.x + 12,
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rect.y + 18,
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rect.width,
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rect.height,
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))
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class FailedPageBase(Widget):
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def __init__(self, reboot_callback: Callable, retry_callback: Callable, title: str = "download failed"):
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super().__init__()
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self._title_label = UnifiedLabel(title, 64, text_color=rl.Color(255, 255, 255, int(255 * 0.9)),
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font_weight=FontWeight.DISPLAY)
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self._reason_label = UnifiedLabel("", 36, text_color=rl.Color(255, 255, 255, int(255 * 0.9 * 0.65)),
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font_weight=FontWeight.ROMAN)
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self._reboot_slider = SmallSlider("reboot", reboot_callback)
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self._reboot_slider.set_enabled(lambda: self.enabled) # for nav stack
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self._retry_button = SmallButton("retry")
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self._retry_button.set_click_callback(retry_callback)
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self._retry_button.set_enabled(lambda: self.enabled) # for nav stack
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def set_reason(self, reason: str):
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self._reason_label.set_text(reason)
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def show_event(self):
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super().show_event()
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self._reboot_slider.reset()
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def _render(self, rect: rl.Rectangle):
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self._title_label.render(rl.Rectangle(
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rect.x + 8,
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rect.y + 10,
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rect.width,
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64,
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))
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self._reason_label.render(rl.Rectangle(
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rect.x + 8,
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rect.y + 10 + 64,
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rect.width,
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36,
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))
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self._retry_button.set_opacity(1 - self._reboot_slider.slider_percentage)
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self._retry_button.render(rl.Rectangle(
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self._rect.x + 8,
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self._rect.y + self._rect.height - self._retry_button.rect.height,
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self._retry_button.rect.width,
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self._retry_button.rect.height,
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))
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self._reboot_slider.render(rl.Rectangle(
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self._rect.x + self._rect.width - self._reboot_slider.rect.width,
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self._rect.y + self._rect.height - self._reboot_slider.rect.height,
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self._reboot_slider.rect.width,
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self._reboot_slider.rect.height,
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))
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class FailedPage(FailedPageBase, NavWidget):
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def __init__(self, reboot_callback: Callable, retry_callback: Callable, title: str = "download failed"):
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super().__init__(reboot_callback, retry_callback, title)
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self.set_back_callback(retry_callback)
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class GreyBigButton(BigButton):
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"""Users should manage newlines with this class themselves"""
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LABEL_HORIZONTAL_PADDING = 30
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def __init__(self, *args, **kwargs):
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super().__init__(*args, **kwargs)
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self.set_touch_valid_callback(lambda: False)
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self._rect.width = 476
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self._label.set_font_size(36)
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self._label.set_font_weight(FontWeight.BOLD)
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self._label.set_line_height(1.0)
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self._sub_label.set_font_size(36)
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self._sub_label.set_text_color(rl.Color(255, 255, 255, int(255 * 0.9)))
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self._sub_label.set_font_weight(FontWeight.DISPLAY_REGULAR)
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self._sub_label.set_alignment_vertical(rl.GuiTextAlignmentVertical.TEXT_ALIGN_MIDDLE if not self._label.text else
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rl.GuiTextAlignmentVertical.TEXT_ALIGN_BOTTOM)
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self._sub_label.set_line_height(0.95)
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@property
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def LABEL_VERTICAL_PADDING(self):
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return BigButton.LABEL_VERTICAL_PADDING if self._label.text else 18
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def _width_hint(self) -> int:
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return int(self._rect.width - self.LABEL_HORIZONTAL_PADDING * 2)
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def _render(self, _):
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rl.draw_rectangle_rounded(self._rect, 0.4, 10, rl.Color(255, 255, 255, int(255 * 0.15)))
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self._draw_content(self._rect.y)
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class BigPillButton(BigButton):
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def __init__(self, *args, green: bool = False, disabled_background: bool = False, **kwargs):
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self._green = green
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self._disabled_background = disabled_background
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super().__init__(*args, **kwargs)
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self._label.set_font_size(48)
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self._label.set_alignment(rl.GuiTextAlignment.TEXT_ALIGN_CENTER)
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self._label.set_alignment_vertical(rl.GuiTextAlignmentVertical.TEXT_ALIGN_MIDDLE)
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def _load_images(self):
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if self._green:
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self._txt_default_bg = gui_app.texture("icons_mici/setup/start_button.png", 402, 180)
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self._txt_pressed_bg = gui_app.texture("icons_mici/setup/start_button_pressed.png", 402, 180)
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else:
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self._txt_default_bg = gui_app.texture("icons_mici/setup/continue.png", 402, 180)
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self._txt_pressed_bg = gui_app.texture("icons_mici/setup/continue_pressed.png", 402, 180)
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self._txt_disabled_bg = gui_app.texture("icons_mici/setup/continue_disabled.png", 402, 180)
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def set_green(self, green: bool):
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if self._green != green:
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self._green = green
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self._load_images()
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def _update_label_layout(self):
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# Don't change label text size
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pass
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def _handle_background(self) -> tuple[rl.Texture, float, float, float]:
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txt_bg, btn_x, btn_y, scale = super()._handle_background()
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if self._disabled_background:
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txt_bg = self._txt_disabled_bg
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return txt_bg, btn_x, btn_y, scale
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class NetworkSetupPageBase(Scroller):
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def __init__(self, network_monitor: NetworkConnectivityMonitor, continue_callback: Callable[[bool], None],
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disable_connect_hint: bool = False):
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super().__init__()
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self._wifi_manager = WifiManager()
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self._wifi_manager.set_active(True)
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self._network_monitor = network_monitor
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self._custom_software = False
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self._prev_has_internet = False
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self._wifi_ui = WifiUIMici(self._wifi_manager)
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self._connect_button = GreyBigButton("connect to\ninternet", "swipe down to go back",
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gui_app.texture("icons_mici/setup/small_slider/slider_arrow.png", 64, 56, flip_x=True))
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self._connect_button.set_visible(not disable_connect_hint)
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self._wifi_button = WifiNetworkButton(self._wifi_manager)
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self._wifi_button.set_click_callback(lambda: gui_app.push_widget(self._wifi_ui))
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self._show_time = 0.0
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self._pending_has_internet_scroll = False
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self._pending_continue_grow_animation = False
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self._pending_wifi_grow_animation = False
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def on_waiting_click():
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offset = (self._wifi_button.rect.x + self._wifi_button.rect.width / 2) - (self._rect.x + self._rect.width / 2)
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self._scroller.scroll_to(offset, smooth=True, block_interaction=True)
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# trigger grow when wifi button in view
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self._pending_wifi_grow_animation = True
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self._waiting_button = BigPillButton("waiting for\ninternet...", disabled_background=True)
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self._waiting_button.set_click_callback(on_waiting_click)
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self._continue_button = BigPillButton("install openpilot", green=True)
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self._continue_button.set_click_callback(lambda: continue_callback(self._custom_software))
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self._scroller.add_widgets([
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self._connect_button,
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self._wifi_button,
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self._continue_button,
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self._waiting_button,
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])
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gui_app.add_nav_stack_tick(self._nav_stack_tick)
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def show_event(self):
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super().show_event()
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self._show_time = rl.get_time()
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self._prev_has_internet = False
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self._pending_has_internet_scroll = False
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self._pending_continue_grow_animation = False
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self._pending_wifi_grow_animation = False
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def _nav_stack_tick(self):
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self._wifi_manager.process_callbacks()
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has_internet = self._network_monitor.network_connected.is_set()
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if has_internet and not self._prev_has_internet:
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self._pending_has_internet_scroll = True
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self._prev_has_internet = has_internet
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if self._pending_has_internet_scroll:
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# Scrolls over to continue button, then grows once in view
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elapsed = rl.get_time() - self._show_time
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if elapsed > 0.5:
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self._pending_has_internet_scroll = False
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def scroll_to_download():
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self._scroller._layout()
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end_offset = -(self._scroller.content_size - self._rect.width)
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remaining = self._scroller.scroll_panel.get_offset() - end_offset
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self._scroller.scroll_to(remaining, smooth=True, block_interaction=True)
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self._pending_continue_grow_animation = True
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# Animate WifiUi down first before scroll
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gui_app.pop_widgets_to(self, scroll_to_download)
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def set_custom_software(self, custom_software: bool):
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self._custom_software = custom_software
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self._continue_button.set_text("install openpilot" if not custom_software else "choose software")
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self._continue_button.set_green(not custom_software)
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def set_is_updater(self):
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self._continue_button.set_text("download\n& install")
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self._continue_button.set_green(False)
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def _update_state(self):
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super()._update_state()
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if self._pending_continue_grow_animation:
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btn_right = self._continue_button.rect.x + self._continue_button.rect.width
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visible_right = self._rect.x + self._rect.width
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if btn_right < visible_right + 50:
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self._pending_continue_grow_animation = False
|
|
self._continue_button.trigger_grow_animation()
|
|
|
|
if self._pending_wifi_grow_animation and abs(self._wifi_button.rect.x - ITEM_SPACING) < 50:
|
|
self._pending_wifi_grow_animation = False
|
|
self._wifi_button.trigger_grow_animation()
|
|
|
|
if self._network_monitor.network_connected.is_set():
|
|
self._continue_button.set_visible(True)
|
|
self._waiting_button.set_visible(False)
|
|
else:
|
|
self._continue_button.set_visible(False)
|
|
self._waiting_button.set_visible(True)
|
|
|
|
|
|
class NetworkSetupPage(NetworkSetupPageBase, NavScroller):
|
|
def __init__(self, network_monitor: NetworkConnectivityMonitor, continue_callback: Callable[[bool], None],
|
|
back_callback: Callable[[], None] | None):
|
|
super().__init__(network_monitor, continue_callback)
|
|
self.set_back_callback(back_callback)
|
|
|
|
|
|
class Setup(Widget):
|
|
def __init__(self):
|
|
super().__init__()
|
|
self.download_url = ""
|
|
self.download_progress = 0
|
|
self.download_thread = None
|
|
self._download_failed_reason: str | None = None
|
|
|
|
self._network_monitor = NetworkConnectivityMonitor()
|
|
self._network_monitor.start()
|
|
|
|
def getting_started_button_callback():
|
|
self._software_selection_page.reset()
|
|
gui_app.push_widget(self._software_selection_page)
|
|
|
|
self._start_page = StartPage()
|
|
self._start_page.set_click_callback(getting_started_button_callback)
|
|
self._start_page.set_enabled(lambda: self.enabled) # for nav stack
|
|
|
|
self._network_setup_page = NetworkSetupPage(self._network_monitor, self._network_setup_continue_callback, self._pop_to_software_selection)
|
|
|
|
self._software_selection_page = SoftwareSelectionPage(self._use_openpilot, lambda: gui_app.push_widget(self._custom_software_warning_page))
|
|
|
|
self._download_failed_page = FailedPage(HARDWARE.reboot, self._pop_to_software_selection)
|
|
|
|
self._custom_software_warning_page = CustomSoftwareWarningPage(lambda: self._push_network_setup(True), self._pop_to_software_selection)
|
|
|
|
self._downloading_page = DownloadingPage()
|
|
|
|
gui_app.add_nav_stack_tick(self._nav_stack_tick)
|
|
|
|
def _nav_stack_tick(self):
|
|
self._downloading_page.set_progress(self.download_progress)
|
|
|
|
if self._download_failed_reason is not None:
|
|
reason = self._download_failed_reason
|
|
self._download_failed_reason = None
|
|
self._download_failed_page.set_reason(reason)
|
|
gui_app.pop_widgets_to(self._software_selection_page, instant=True) # don't reset sliders
|
|
gui_app.push_widget(self._download_failed_page)
|
|
|
|
def _render(self, rect: rl.Rectangle):
|
|
self._start_page.render(rect)
|
|
|
|
def close(self):
|
|
self._network_monitor.stop()
|
|
|
|
def _pop_to_software_selection(self):
|
|
# reset sliders after dismiss completes
|
|
gui_app.pop_widgets_to(self._software_selection_page, self._software_selection_page.reset)
|
|
|
|
def _use_openpilot(self):
|
|
if os.path.isdir(INSTALL_PATH) and os.path.isfile(VALID_CACHE_PATH):
|
|
os.remove(VALID_CACHE_PATH)
|
|
with open(TMP_CONTINUE_PATH, "w") as f:
|
|
f.write(CONTINUE)
|
|
run_cmd(["chmod", "+x", TMP_CONTINUE_PATH])
|
|
shutil.move(TMP_CONTINUE_PATH, CONTINUE_PATH)
|
|
shutil.copyfile(INSTALLER_SOURCE_PATH, INSTALLER_DESTINATION_PATH)
|
|
|
|
# give time for installer UI to take over
|
|
time.sleep(0.1)
|
|
gui_app.request_close()
|
|
else:
|
|
self._push_network_setup()
|
|
|
|
def _push_network_setup(self, custom_software: bool = False):
|
|
# to fire the correct continue callback later
|
|
self._network_setup_page.set_custom_software(custom_software)
|
|
gui_app.pop_widgets_to(self._software_selection_page, lambda: gui_app.push_widget(self._network_setup_page))
|
|
|
|
def _network_setup_continue_callback(self, custom_software: bool):
|
|
if not custom_software:
|
|
gui_app.pop_widgets_to(self._software_selection_page, instant=True) # don't reset sliders
|
|
self._download(OPENPILOT_URL)
|
|
else:
|
|
def handle_keyboard_result(text):
|
|
url = text.strip()
|
|
if url:
|
|
gui_app.pop_widgets_to(self._software_selection_page, instant=True) # don't reset sliders
|
|
self._download(url)
|
|
|
|
keyboard = BigInputDialog("custom software URL...", confirm_callback=handle_keyboard_result, auto_return_to_letters="./")
|
|
gui_app.push_widget(keyboard)
|
|
|
|
def _download(self, url: str):
|
|
# autocomplete incomplete URLs
|
|
if re.match("^([^/.]+)/([^/]+)$", url):
|
|
url = f"https://installer.comma.ai/{url}"
|
|
|
|
parsed = urlparse(url, scheme='https')
|
|
self.download_url = (urlparse(f"https://{url}") if not parsed.netloc else parsed).geturl()
|
|
self.download_progress = 0
|
|
|
|
gui_app.push_widget(self._downloading_page)
|
|
|
|
self.download_thread = threading.Thread(target=self._download_thread, daemon=True)
|
|
self.download_thread.start()
|
|
|
|
def _download_thread(self):
|
|
try:
|
|
import tempfile
|
|
|
|
fd, tmpfile = tempfile.mkstemp(prefix="installer_")
|
|
|
|
headers = {"User-Agent": USER_AGENT,
|
|
"X-openpilot-serial": HARDWARE.get_serial(),
|
|
"X-openpilot-device-type": HARDWARE.get_device_type()}
|
|
req = urllib.request.Request(self.download_url, headers=headers)
|
|
|
|
with open(tmpfile, 'wb') as f, urllib.request.urlopen(req, timeout=30) as response:
|
|
total_size = int(response.headers.get('content-length', 0))
|
|
downloaded = 0
|
|
block_size = 8192
|
|
|
|
while True:
|
|
buffer = response.read(block_size)
|
|
if not buffer:
|
|
break
|
|
|
|
downloaded += len(buffer)
|
|
f.write(buffer)
|
|
|
|
if total_size:
|
|
self.download_progress = int(downloaded * 100 / total_size)
|
|
|
|
is_elf = False
|
|
with open(tmpfile, 'rb') as f:
|
|
header = f.read(4)
|
|
is_elf = header == b'\x7fELF'
|
|
|
|
if not is_elf:
|
|
self._download_failed_reason = "No custom software found at this URL."
|
|
return
|
|
|
|
# AGNOS might try to execute the installer before this process exits.
|
|
# Therefore, important to close the fd before renaming the installer.
|
|
os.close(fd)
|
|
os.rename(tmpfile, INSTALLER_DESTINATION_PATH)
|
|
|
|
with open(INSTALLER_URL_PATH, "w") as f:
|
|
f.write(self.download_url)
|
|
|
|
# give time for installer UI to take over
|
|
time.sleep(0.1)
|
|
gui_app.request_close()
|
|
|
|
except urllib.error.HTTPError as e:
|
|
if e.code == 409:
|
|
self._download_failed_reason = "Incompatible sunnypilot version"
|
|
except Exception:
|
|
self._download_failed_reason = "Invalid URL"
|
|
|
|
|
|
def main():
|
|
config_realtime_process(0, 51)
|
|
# attempt to affine. AGNOS will start setup with all cores, should only fail when manually launching with screen off
|
|
if TICI:
|
|
try:
|
|
set_core_affinity([5])
|
|
except OSError:
|
|
cloudlog.exception("Failed to set core affinity for setup process")
|
|
|
|
try:
|
|
gui_app.init_window("Setup")
|
|
setup = Setup()
|
|
gui_app.push_widget(setup)
|
|
for _ in gui_app.render():
|
|
pass
|
|
setup.close()
|
|
except Exception as e:
|
|
print(f"Setup error: {e}")
|
|
finally:
|
|
gui_app.close()
|
|
|
|
|
|
if __name__ == "__main__":
|
|
main()
|