openpilot_comma/system/athena/registration.py

#!/usr/bin/env python3
import time
import json
import jwt
from pathlib import Path
import threading
import pyray as rl

from datetime import datetime, timedelta, UTC
from openpilot.common.api import api_get
from openpilot.common.params import Params
from openpilot.selfdrive.selfdrived.alertmanager import set_offroad_alert
from openpilot.system.hardware import HARDWARE, PC
from openpilot.system.hardware.hw import Paths
from openpilot.common.swaglog import cloudlog
from openpilot.system.ui.spinner import Spinner
from openpilot.system.ui.lib.application import gui_app

UNREGISTERED_DONGLE_ID = "UnregisteredDevice"

spinner: Spinner | None = None

def is_registered_device() -> bool:
  dongle = Params().get("DongleId", encoding='utf-8')
  return dongle not in (None, UNREGISTERED_DONGLE_ID)

def _show_spinner_window(end_evt: threading.Event):
  global spinner
  gui_app.init_window("registering device")
  spinner = Spinner()
  while not end_evt.is_set():
    rl.begin_drawing()
    rl.clear_background(rl.BLACK)
    spinner.render()
    rl.end_drawing()
  gui_app.close()

def register(show_spinner=False) -> str | None:
  """
  All devices built since March 2024 come with all
  info stored in /persist/. This is kept around
  only for devices built before then.

  With a backend update to take serial number instead
  of dongle ID to some endpoints, this can be removed
  entirely.
  """
  params = Params()

  dongle_id: str | None = params.get("DongleId", encoding='utf8')
  if dongle_id is None and Path(Paths.persist_root()+"/comma/dongle_id").is_file():
    # not all devices will have this; added early in comma 3X production (2/28/24)
    with open(Paths.persist_root()+"/comma/dongle_id") as f:
      dongle_id = f.read().strip()

  pubkey = Path(Paths.persist_root()+"/comma/id_rsa.pub")
  if not pubkey.is_file():
    dongle_id = UNREGISTERED_DONGLE_ID
    cloudlog.warning(f"missing public key: {pubkey}")
  elif dongle_id is None:
    global spinner
    spinner_thread = None
    if show_spinner:
      end_evt = threading.Event()
      spinner_thread = threading.Thread(target=_show_spinner_window, args=(end_evt,))
      spinner_thread.start()

    # Create registration token, in the future, this key will make JWTs directly
    with open(Paths.persist_root()+"/comma/id_rsa.pub") as f1, open(Paths.persist_root()+"/comma/id_rsa") as f2:
      public_key = f1.read()
      private_key = f2.read()

    # Block until we get the imei
    serial = HARDWARE.get_serial()
    start_time = time.monotonic()
    imei1: str | None = None
    imei2: str | None = None
    while imei1 is None and imei2 is None:
      try:
        imei1, imei2 = HARDWARE.get_imei(0), HARDWARE.get_imei(1)
      except Exception:
        cloudlog.exception("Error getting imei, trying again...")
        time.sleep(1)

      if time.monotonic() - start_time > 60 and spinner:
        spinner.set_text(f"registering device - serial: {serial}, IMEI: ({imei1}, {imei2})")

    backoff = 0
    start_time = time.monotonic()
    while True:
      try:
        register_token = jwt.encode({'register': True, 'exp': datetime.now(UTC).replace(tzinfo=None) + timedelta(hours=1)}, private_key, algorithm='RS256')
        cloudlog.info("getting pilotauth")
        resp = api_get("v2/pilotauth/", method='POST', timeout=15,
                       imei=imei1, imei2=imei2, serial=serial, public_key=public_key, register_token=register_token)

        if resp.status_code in (402, 403):
          cloudlog.info(f"Unable to register device, got {resp.status_code}")
          dongle_id = UNREGISTERED_DONGLE_ID
        else:
          dongleauth = json.loads(resp.text)
          dongle_id = dongleauth["dongle_id"]
        break
      except Exception:
        cloudlog.exception("failed to authenticate")
        backoff = min(backoff + 1, 15)
        time.sleep(backoff)

      if time.monotonic() - start_time > 60 and spinner:
        spinner.set_text(f"registering device - serial: {serial}, IMEI: ({imei1}, {imei2})")

    if spinner_thread:
      end_evt.set()
      spinner_thread.join()

  if dongle_id:
    params.put("DongleId", dongle_id)
    set_offroad_alert("Offroad_UnofficialHardware", (dongle_id == UNREGISTERED_DONGLE_ID) and not PC)
  return dongle_id


if __name__ == "__main__":
  print(register())