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43e43849ad
* Add AES encryption and utility methods This commit introduces a new AESCipher class that can be used for AES encryption with support for both AES-128 and AES-256. It also adds a set of utility functions, including methods for RSA to AES key derivation, file decryption and compression, and encryption and decompression. These changes provide fundamental cryptographic functionalities for data security within the system. * Revised backup management system with new structures This update introduces important revisions to the backup management system. A new struct named 'BackupManagerSP' has been integrated into the 'custom.capnp' file, replacing 'CustomReserved6'. This new struct includes several variables that help keep track of backup and restore status, progress and related messages. Additional code modifications were made in 'base.py' and 'api.py' to include a 'json' parameter in the 'api_get' method. Lastly, 'manager.py' has been updated with functions to manage device configuration backups to and from sunnylink. The changes promote better handling and management of data backup and restoration processes. The update is specifically designed to ensure that the backup information is well integrated into the system, with properly tracked status and progress. * Refactor `allKeys` to filter by parameter key type Updated the `allKeys` method to support filtering by `ParamKeyType`, allowing more specific key retrieval. Added a default value for backward compatibility and updated related bindings and keys to reflect this change. * Improve Backup and Restore mechanisms The commit refactors and improves several aspects of the backup and restore mechanisms in the `BackupManagerSP` class. These improvements include removing redundant status tracking variables and replacing them with unified ones, updating the messaging system to handle all changes correctly, and including an enumeration `OperationType` to keep track of the type of operation currently being processed. This commit also applies stricter conditions for restore operations, such that it only restores parameters that are currently marked as backupable, and skips those that are not. This is a preventive measure against potential issues when restoring parameters that are no longer relevant or could conflict with current versions. Also, the encryption and decryption methods were updated to use AES-256 for more security. These changes have increased the robustness and reliability of the backup and restoration processes. * copyright * Add backup_manager process to offroad sunnypilot tasks The backup_manager process is introduced to handle backups during offroad mode when SunnyLink is ready. This ensures proper backup management functionality integrated into the system. * Simplify backup endpoint construction in restore method Replaced conditional expression with a more concise and readable `or` operation for constructing the backup endpoint. This makes the code cleaner and easier to maintain while preserving functionality. * Added support for backing up and restoring sunnypilot settings An update to the sunnypilot functionality now provides two new features that allow users to backup and restore their sunnypilot settings. The changes include the addition of UI controls for initiating backup and restore operations, and the creation of a system-wide state management function for tracking these operations. This enhancement significantly improves the user experience by providing a safety net for user settings in case of software failures, bugs, or unintended changes. * Refactor type hints to use PEP 604 syntax for clarity Replaced `Optional` and `Dict` type hints with `|` and `dict` syntax for improved readability and compliance with Python 3.10+. Updated related imports and adjusted list comprehension for cleaner code. * Update import path for hardware module in utils.py Replaced the import path for the `Paths` module to align with the new directory structure under `openpilot`. This ensures compatibility with recent project reorganization and avoids import errors. * Improve RSA key handling and fix backup status comparison Added explicit RSA key type checks to handle invalid key formats. Enhanced type safety in `manager.py` by ensuring the backup status comparison returns a boolean. These changes improve robustness and error handling in backups. * format * more * Improve backup and restore flow with progress tracking and fixes Added proper progress tracking and cleanup logic during restore operations. Enhanced restore experience by resetting progress after completion and introducing confirmation dialogs for errors and completion. Updated API compatibility with a version query parameter for backups. * Enable backup button only when restore process is complete Previously, the backup button could be enabled during a restore operation, which might cause unintended behavior. This update introduces a check to ensure the backup button remains disabled while a restore process is active. This improves user experience and prevents potential conflicts. * Fix restore button state handling during restore process Ensure the restore button is disabled consistently when a restore is in progress. This prevents user interaction issues and aligns the button state with the restore operation status. * "Refactor restore logic and improve button state handling" Replaced `is_restoring` with `restore_request_pending` for clarity and better state management. Adjusted button behavior to immediately disable upon user action, ensuring improved UX and preventing repeat inputs. Refined restore completion flow for better consistency and reliability. * Refine restore process logic for SunnyLink settings. Introduced `restore_request_started` to improve handling of restore states and ensure accurate UI updates during the process. Adjusted case handling to enhance clarity and maintain proper behavior when restoring settings, especially during ongoing or completed requests. * revert * move around * fix enabled states for different statuses * add prompt to notify backup is complete * same states as restore * disable buttons if sunnylink is off * can use the same texts --------- Co-authored-by: Jason Wen <haibin.wen3@gmail.com>
167 lines
8.1 KiB
Python
167 lines
8.1 KiB
Python
import os
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import operator
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from cereal import car, custom
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from openpilot.common.params import Params
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from openpilot.system.hardware import PC, TICI
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from openpilot.system.manager.process import PythonProcess, NativeProcess, DaemonProcess
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from sunnypilot.models.helpers import get_active_model_runner
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from sunnypilot.sunnylink.utils import sunnylink_need_register, sunnylink_ready, use_sunnylink_uploader
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WEBCAM = os.getenv("USE_WEBCAM") is not None
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def driverview(started: bool, params: Params, CP: car.CarParams) -> bool:
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return started or params.get_bool("IsDriverViewEnabled")
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def notcar(started: bool, params: Params, CP: car.CarParams) -> bool:
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return started and CP.notCar
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def iscar(started: bool, params: Params, CP: car.CarParams) -> bool:
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return started and not CP.notCar
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def logging(started: bool, params: Params, CP: car.CarParams) -> bool:
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run = (not CP.notCar) or not params.get_bool("DisableLogging")
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return started and run
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def ublox_available() -> bool:
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return os.path.exists('/dev/ttyHS0') and not os.path.exists('/persist/comma/use-quectel-gps')
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def ublox(started: bool, params: Params, CP: car.CarParams) -> bool:
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use_ublox = ublox_available()
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if use_ublox != params.get_bool("UbloxAvailable"):
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params.put_bool("UbloxAvailable", use_ublox)
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return started and use_ublox
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def joystick(started: bool, params: Params, CP: car.CarParams) -> bool:
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return started and params.get_bool("JoystickDebugMode")
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def not_joystick(started: bool, params: Params, CP: car.CarParams) -> bool:
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return started and not params.get_bool("JoystickDebugMode")
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def long_maneuver(started: bool, params: Params, CP: car.CarParams) -> bool:
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return started and params.get_bool("LongitudinalManeuverMode")
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def not_long_maneuver(started: bool, params: Params, CP: car.CarParams) -> bool:
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return started and not params.get_bool("LongitudinalManeuverMode")
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def qcomgps(started: bool, params: Params, CP: car.CarParams) -> bool:
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return started and not ublox_available()
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def always_run(started: bool, params: Params, CP: car.CarParams) -> bool:
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return True
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def only_onroad(started: bool, params: Params, CP: car.CarParams) -> bool:
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return started
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def only_offroad(started: bool, params: Params, CP: car.CarParams) -> bool:
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return not started
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def use_github_runner(started, params, CP: car.CarParams) -> bool:
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return not PC and params.get_bool("EnableGithubRunner") and not params.get_bool("NetworkMetered")
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def sunnylink_ready_shim(started, params, CP: car.CarParams) -> bool:
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"""Shim for sunnylink_ready to match the process manager signature."""
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return sunnylink_ready(params)
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def sunnylink_need_register_shim(started, params, CP: car.CarParams) -> bool:
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"""Shim for sunnylink_need_register to match the process manager signature."""
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return sunnylink_need_register(params)
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def use_sunnylink_uploader_shim(started, params, CP: car.CarParams) -> bool:
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"""Shim for use_sunnylink_uploader to match the process manager signature."""
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return use_sunnylink_uploader(params)
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def is_snpe_model(started, params, CP: car.CarParams) -> bool:
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"""Check if the active model runner is SNPE."""
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return bool(get_active_model_runner(params, not started) == custom.ModelManagerSP.Runner.snpe)
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def is_tinygrad_model(started, params, CP: car.CarParams) -> bool:
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"""Check if the active model runner is SNPE."""
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return bool(get_active_model_runner(params, not started) == custom.ModelManagerSP.Runner.tinygrad)
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def is_stock_model(started, params, CP: car.CarParams) -> bool:
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"""Check if the active model runner is stock."""
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return bool(get_active_model_runner(params, not started) == custom.ModelManagerSP.Runner.stock)
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def or_(*fns):
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return lambda *args: operator.or_(*(fn(*args) for fn in fns))
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def and_(*fns):
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return lambda *args: operator.and_(*(fn(*args) for fn in fns))
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procs = [
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DaemonProcess("manage_athenad", "system.athena.manage_athenad", "AthenadPid"),
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NativeProcess("loggerd", "system/loggerd", ["./loggerd"], logging),
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NativeProcess("encoderd", "system/loggerd", ["./encoderd"], only_onroad),
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NativeProcess("stream_encoderd", "system/loggerd", ["./encoderd", "--stream"], notcar),
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PythonProcess("logmessaged", "system.logmessaged", always_run),
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NativeProcess("camerad", "system/camerad", ["./camerad"], driverview, enabled=not WEBCAM),
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PythonProcess("webcamerad", "tools.webcam.camerad", driverview, enabled=WEBCAM),
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NativeProcess("logcatd", "system/logcatd", ["./logcatd"], only_onroad),
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NativeProcess("proclogd", "system/proclogd", ["./proclogd"], only_onroad),
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PythonProcess("micd", "system.micd", iscar),
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PythonProcess("timed", "system.timed", always_run, enabled=not PC),
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PythonProcess("modeld", "selfdrive.modeld.modeld", and_(only_onroad, is_stock_model)),
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PythonProcess("dmonitoringmodeld", "selfdrive.modeld.dmonitoringmodeld", driverview, enabled=(WEBCAM or not PC)),
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NativeProcess("sensord", "system/sensord", ["./sensord"], only_onroad, enabled=not PC),
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NativeProcess("ui", "selfdrive/ui", ["./ui"], always_run, watchdog_max_dt=(5 if not PC else None)),
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PythonProcess("soundd", "selfdrive.ui.soundd", only_onroad),
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PythonProcess("locationd", "selfdrive.locationd.locationd", only_onroad),
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NativeProcess("_pandad", "selfdrive/pandad", ["./pandad"], always_run, enabled=False),
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PythonProcess("calibrationd", "selfdrive.locationd.calibrationd", only_onroad),
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PythonProcess("torqued", "selfdrive.locationd.torqued", only_onroad),
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PythonProcess("controlsd", "selfdrive.controls.controlsd", and_(not_joystick, iscar)),
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PythonProcess("joystickd", "tools.joystick.joystickd", or_(joystick, notcar)),
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PythonProcess("selfdrived", "selfdrive.selfdrived.selfdrived", only_onroad),
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PythonProcess("card", "selfdrive.car.card", only_onroad),
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PythonProcess("deleter", "system.loggerd.deleter", always_run),
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PythonProcess("dmonitoringd", "selfdrive.monitoring.dmonitoringd", driverview, enabled=(WEBCAM or not PC)),
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PythonProcess("qcomgpsd", "system.qcomgpsd.qcomgpsd", qcomgps, enabled=TICI),
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PythonProcess("pandad", "selfdrive.pandad.pandad", always_run),
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PythonProcess("paramsd", "selfdrive.locationd.paramsd", only_onroad),
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NativeProcess("ubloxd", "system/ubloxd", ["./ubloxd"], ublox, enabled=TICI),
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PythonProcess("pigeond", "system.ubloxd.pigeond", ublox, enabled=TICI),
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PythonProcess("plannerd", "selfdrive.controls.plannerd", not_long_maneuver),
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PythonProcess("maneuversd", "tools.longitudinal_maneuvers.maneuversd", long_maneuver),
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PythonProcess("radard", "selfdrive.controls.radard", only_onroad),
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PythonProcess("hardwared", "system.hardware.hardwared", always_run),
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PythonProcess("tombstoned", "system.tombstoned", always_run, enabled=not PC),
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PythonProcess("updated", "system.updated.updated", only_offroad, enabled=not PC),
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PythonProcess("uploader", "system.loggerd.uploader", always_run),
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PythonProcess("statsd", "system.statsd", always_run),
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# debug procs
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NativeProcess("bridge", "cereal/messaging", ["./bridge"], notcar),
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PythonProcess("webrtcd", "system.webrtc.webrtcd", notcar),
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PythonProcess("webjoystick", "tools.bodyteleop.web", notcar),
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PythonProcess("joystick", "tools.joystick.joystick_control", and_(joystick, iscar)),
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# sunnylink <3
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DaemonProcess("manage_sunnylinkd", "sunnypilot.sunnylink.athena.manage_sunnylinkd", "SunnylinkdPid"),
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PythonProcess("sunnylink_registration_manager", "sunnypilot.sunnylink.registration_manager", sunnylink_need_register_shim),
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]
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# sunnypilot
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procs += [
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# Models
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PythonProcess("models_manager", "sunnypilot.models.manager", only_offroad),
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NativeProcess("modeld_snpe", "sunnypilot/modeld", ["./modeld"], and_(only_onroad, is_snpe_model)),
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NativeProcess("modeld_tinygrad", "sunnypilot/modeld_v2", ["./modeld"], and_(only_onroad, is_tinygrad_model)),
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# Backup
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PythonProcess("backup_manager", "sunnypilot.sunnylink.backups.manager", and_(only_offroad, sunnylink_ready_shim)),
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]
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if os.path.exists("./github_runner.sh"):
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procs += [NativeProcess("github_runner_start", "system/manager", ["./github_runner.sh", "start"], and_(only_offroad, use_github_runner), sigkill=False)]
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if os.path.exists("../sunnypilot/sunnylink/uploader.py"):
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procs += [PythonProcess("sunnylink_uploader", "sunnypilot.sunnylink.uploader", use_sunnylink_uploader_shim)]
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managed_processes = {p.name: p for p in procs}
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