agnos updater UI (#21776)

* start agnos updater UI

* wifi

* progress

* sometimes things fail

* fix wifi

* in launch script

* fwd

* fwd stderr

* update that

* release files

Co-authored-by: Comma Device <device@comma.ai>
old-commit-hash: 14d26d6d891865ca14a5242edce4b14f0912854e

launch_chffrplus.sh

@@ -109,10 +109,7 @@ function tici_init {
   # Check if AGNOS update is required
   if [ $(< /VERSION) != "$AGNOS_VERSION" ]; then
     MANIFEST="$DIR/selfdrive/hardware/tici/agnos.json"
-    $DIR/selfdrive/hardware/tici/agnos.py --swap $MANIFEST
-
-    sleep 1
-    sudo reboot
+    $DIR/selfdrive/hardware/tici/updater $DIR/selfdrive/hardware/tici/agnos.py $MANIFEST
   fi
 }
 

release/files_tici

@@ -19,6 +19,7 @@ selfdrive/hardware/tici/pins.py
 selfdrive/hardware/tici/agnos.py
 selfdrive/hardware/tici/agnos.json
 selfdrive/hardware/tici/amplifier.py
+selfdrive/hardware/tici/updater
 
 selfdrive/ui/qt/spinner_larch64
 selfdrive/ui/qt/text_larch64

selfdrive/hardware/tici/agnos.py

@@ -5,10 +5,9 @@ import hashlib
 import requests
 import struct
 import subprocess
+import sys
 import os
-from typing import Generator, Optional
-
-from common.spinner import Spinner
+from typing import Generator
 
 SPARSE_CHUNK_FMT = struct.Struct('H2xI4x')
 
@@ -127,7 +126,7 @@ def clear_partition_hash(target_slot_number: int, partition: dict) -> None:
     os.sync()
 
 
-def flash_partition(target_slot_number: int, partition: dict, cloudlog, spinner: Optional[Spinner] = None):
+def flash_partition(target_slot_number: int, partition: dict, cloudlog):
   cloudlog.info(f"Downloading and writing {partition['name']}")
 
   if verify_partition(target_slot_number, partition):
@@ -151,9 +150,7 @@ def flash_partition(target_slot_number: int, partition: dict, cloudlog, spinner:
       for chunk in unsparsify(downloader):
         raw_hash.update(chunk)
         out.write(chunk)
-
-        if spinner is not None:
-          spinner.update_progress(out.tell(), partition_size)
+        print(f"Installing {partition['name']}: {out.tell() / partition_size * 100}", file=sys.stderr)
 
       if raw_hash.hexdigest().lower() != partition['hash_raw'].lower():
         raise Exception(f"Unsparse hash mismatch '{raw_hash.hexdigest().lower()}'")
@@ -161,9 +158,6 @@ def flash_partition(target_slot_number: int, partition: dict, cloudlog, spinner:
       while not downloader.eof:
         out.write(downloader.read(1024 * 1024))
 
-        if spinner is not None:
-          spinner.update_progress(out.tell(), partition_size)
-
     if downloader.sha256.hexdigest().lower() != partition['hash'].lower():
       raise Exception("Uncompressed hash mismatch")
 
@@ -191,7 +185,7 @@ def swap(manifest_path: str, target_slot_number: int, cloudlog) -> None:
       cloudlog.error(f"Swap failed {out}")
 
 
-def flash_agnos_update(manifest_path: str, target_slot_number: int, cloudlog, spinner: Optional[Spinner] = None) -> None:
+def flash_agnos_update(manifest_path: str, target_slot_number: int, cloudlog) -> None:
   update = json.load(open(manifest_path))
 
   cloudlog.info(f"Target slot {target_slot_number}")
@@ -204,14 +198,12 @@ def flash_agnos_update(manifest_path: str, target_slot_number: int, cloudlog, sp
 
     for retries in range(10):
       try:
-        flash_partition(target_slot_number, partition, cloudlog, spinner)
+        flash_partition(target_slot_number, partition, cloudlog)
         success = True
         break
 
       except requests.exceptions.RequestException:
         cloudlog.exception("Failed")
-        if spinner is not None:
-          spinner.update("Waiting for internet...")
         cloudlog.info(f"Failed to download {partition['name']}, retrying ({retries})")
         time.sleep(10)
 
@@ -239,19 +231,15 @@ if __name__ == "__main__":
   parser.add_argument("manifest", help="Manifest json")
   args = parser.parse_args()
 
-  spinner = Spinner()
-  spinner.update("Updating AGNOS")
-  time.sleep(5)
-
   logging.basicConfig(level=logging.INFO)
 
   target_slot_number = get_target_slot_number()
   if args.swap:
     while not verify_agnos_update(args.manifest, target_slot_number):
       logging.error("Verification failed. Flashing AGNOS")
-      flash_agnos_update(args.manifest, target_slot_number, logging, spinner)
+      flash_agnos_update(args.manifest, target_slot_number, logging)
 
     logging.warning(f"Verification succeeded. Swapping to slot {target_slot_number}")
     swap(args.manifest, target_slot_number, logging)
   else:
-    flash_agnos_update(args.manifest, target_slot_number, logging, spinner)
+    flash_agnos_update(args.manifest, target_slot_number, logging)

selfdrive/hardware/tici/updater

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a242a48497a398be53dee2cbe7f1f11f37c0b3ad28c5bee51b5ab16ef0de1019
+size 7820552

selfdrive/ui/.gitignore

@@ -7,4 +7,5 @@ qt/spinner
 qt/setup/setup
 qt/setup/reset
 qt/setup/wifi
+qt/setup/updater
 qt/setup/installer_*

selfdrive/ui/SConscript

@@ -54,15 +54,18 @@ qt_env.Program("_ui", qt_src, LIBS=qt_libs)
 
 # setup, factory resetter, and installer
 if arch != 'aarch64' and GetOption('setup'):
-  qt_env.Program("qt/setup/reset", ["qt/setup/reset.cc"], LIBS=qt_libs)
-  qt_env.Program("qt/setup/wifi", ["qt/setup/wifi.cc"], LIBS=qt_libs + ['common', 'json11'])
 
   # TODO: do this for all resources once NEOS has rcc
   assets = "#selfdrive/assets/assets.cc"
   assets_src = "#selfdrive/assets/assets.qrc"
   qt_env.Command(assets, assets_src, f"rcc $SOURCES -o $TARGET")
   qt_env.Depends(assets, Glob('#selfdrive/assets/*', exclude=[assets, assets_src, "#selfdrive/assets/assets.o"]))
-  qt_env.Program("qt/setup/setup", ["qt/setup/setup.cc", assets],
+  asset_obj = qt_env.Object("assets", assets)
+
+  qt_env.Program("qt/setup/reset", ["qt/setup/reset.cc"], LIBS=qt_libs)
+  qt_env.Program("qt/setup/wifi", ["qt/setup/wifi.cc"], LIBS=qt_libs + ['common', 'json11'])
+  qt_env.Program("qt/setup/updater", ["qt/setup/updater.cc", asset_obj], LIBS=qt_libs)
+  qt_env.Program("qt/setup/setup", ["qt/setup/setup.cc", asset_obj],
                  LIBS=qt_libs + ['curl', 'common', 'json11'])
 
   senv = qt_env.Clone()

selfdrive/ui/qt/setup/updater.cc

@@ -0,0 +1,175 @@
+#include <QDebug>
+#include <QTimer>
+#include <QVBoxLayout>
+
+#include "selfdrive/hardware/hw.h"
+#include "selfdrive/ui/qt/util.h"
+#include "selfdrive/ui/qt/qt_window.h"
+#include "selfdrive/ui/qt/offroad/networking.h"
+#include "selfdrive/ui/qt/setup/updater.h"
+
+
+Updater::Updater(const QString &updater_path, const QString &manifest_path, QWidget *parent)
+  : updater(updater_path), manifest(manifest_path), QStackedWidget(parent) {
+
+  assert(updater.size());
+  assert(manifest.size());
+
+  // initial prompt screen
+  prompt = new QWidget;
+  {
+    QVBoxLayout *layout = new QVBoxLayout(prompt);
+    layout->setContentsMargins(100, 250, 100, 100);
+
+    QLabel *title = new QLabel("Update Required");
+    title->setStyleSheet("font-size: 80px; font-weight: bold;");
+    layout->addWidget(title);
+
+    layout->addSpacing(75);
+
+    QLabel *desc = new QLabel("An operating system update is required. Connect your device to WiFi for the fastest update experience. The download size is approximately 1GB.");
+    desc->setWordWrap(true);
+    desc->setStyleSheet("font-size: 65px;");
+    layout->addWidget(desc);
+
+    layout->addStretch();
+
+    QHBoxLayout *hlayout = new QHBoxLayout;
+    hlayout->setSpacing(30);
+    layout->addLayout(hlayout);
+
+    QPushButton *connect = new QPushButton("Connect to WiFi");
+    connect->setObjectName("navBtn");
+    QObject::connect(connect, &QPushButton::clicked, [=]() {
+      setCurrentWidget(wifi);
+    });
+    hlayout->addWidget(connect);
+
+    QPushButton *install = new QPushButton("Install");
+    install->setObjectName("navBtn");
+    install->setStyleSheet("background-color: #465BEA;");
+    QObject::connect(install, &QPushButton::clicked, this, &Updater::installUpdate);
+    hlayout->addWidget(install);
+  }
+
+  // wifi connection screen
+  wifi = new QWidget;
+  {
+    QVBoxLayout *layout = new QVBoxLayout(wifi);
+    layout->setContentsMargins(100, 100, 100, 100);
+
+    Networking *networking = new Networking(this, false);
+    networking->setStyleSheet("Networking { background-color: #292929; border-radius: 13px; }");
+    layout->addWidget(networking, 1);
+
+    QPushButton *back = new QPushButton("Back");
+    back->setObjectName("navBtn");
+    back->setStyleSheet("padding-left: 60px; padding-right: 60px;");
+    QObject::connect(back, &QPushButton::clicked, [=]() {
+      setCurrentWidget(prompt);
+    });
+    layout->addWidget(back, 0, Qt::AlignLeft);
+  }
+
+  // progress screen
+  progress = new QWidget;
+  {
+    QVBoxLayout *layout = new QVBoxLayout(progress);
+    layout->setContentsMargins(150, 330, 150, 150);
+    layout->setSpacing(0);
+
+    text = new QLabel("Installing...");
+    text->setStyleSheet("font-size: 90px; font-weight: 600;");
+    layout->addWidget(text, 0, Qt::AlignTop);
+
+    layout->addSpacing(100);
+
+    bar = new QProgressBar();
+    bar->setRange(0, 100);
+    bar->setTextVisible(false);
+    bar->setFixedHeight(72);
+    layout->addWidget(bar, 0, Qt::AlignTop);
+
+    layout->addStretch();
+
+    reboot = new QPushButton("Reboot");
+    reboot->setObjectName("navBtn");
+    reboot->setStyleSheet("padding-left: 60px; padding-right: 60px;");
+    QObject::connect(reboot, &QPushButton::clicked, [=]() {
+      Hardware::reboot();
+    });
+    layout->addWidget(reboot, 0, Qt::AlignLeft);
+    reboot->hide();
+
+    layout->addStretch();
+  }
+
+  addWidget(prompt);
+  addWidget(wifi);
+  addWidget(progress);
+
+  setStyleSheet(R"(
+    * {
+      color: white;
+      font-family: Inter;
+    }
+    Updater {
+      color: white;
+      background-color: black;
+    }
+    QPushButton#navBtn {
+      height: 160;
+      font-size: 55px;
+      font-weight: 400;
+      border-radius: 10px;
+      background-color: #333333;
+    }
+    QProgressBar {
+      border: none;
+      background-color: #292929;
+    }
+    QProgressBar::chunk {
+      background-color: #364DEF;
+    }
+  )");
+}
+
+void Updater::installUpdate() {
+  setCurrentWidget(progress);
+  QObject::connect(&proc, &QProcess::readyReadStandardError, this, &Updater::readProgress);
+  QObject::connect(&proc, QOverload<int, QProcess::ExitStatus>::of(&QProcess::finished), this, &Updater::updateFinished);
+  proc.setProcessChannelMode(QProcess::ForwardedOutputChannel);
+  proc.start(updater, {"--swap", manifest});
+}
+
+void Updater::readProgress() {
+  auto lines = QString(proc.readAllStandardError());
+  for (const QString &line : lines.trimmed().split("\n")) {
+    auto parts = line.split(":");
+    if (parts.size() == 2) {
+      text->setText(parts[0]);
+      bar->setValue((int)parts[1].toDouble());
+      repaint();
+    } else {
+      qDebug() << line;
+    }
+  }
+}
+
+void Updater::updateFinished(int exitCode, QProcess::ExitStatus exitStatus) {
+  qDebug() << "finished with " << exitCode;
+  if (exitCode == 0) {
+    Hardware::reboot();
+  } else {
+    text->setText("Update failed");
+    reboot->show();
+  }
+}
+
+int main(int argc, char *argv[]) {
+  initApp();
+  QApplication a(argc, argv);
+  Updater updater(argv[1], argv[2]);
+  setMainWindow(&updater);
+  return a.exec();
+}

selfdrive/ui/qt/setup/updater.h

@@ -0,0 +1,30 @@
+#pragma once
+
+#include <QLabel>
+#include <QProcess>
+#include <QPushButton>
+#include <QProgressBar>
+#include <QStackedWidget>
+#include <QWidget>
+
+class Updater : public QStackedWidget {
+  Q_OBJECT
+
+public:
+  explicit Updater(const QString &updater_path, const QString &manifest_path, QWidget *parent = 0);
+
+private slots:
+  void installUpdate();
+  void readProgress();
+  void updateFinished(int exitCode, QProcess::ExitStatus exitStatus);
+
+private:
+  QString updater, manifest;
+
+  QLabel *text;
+  QProgressBar *bar;
+  QPushButton *reboot;
+  QProcess proc;
+
+  QWidget *prompt, *wifi, *progress;
+};