replay: replace HttpRequest with libcurl for accessing comma API (#33851)

Replay: Replace HttpRequest with libcurl for accessing comma api

tools/replay/SConscript

@@ -10,7 +10,7 @@ else:
   base_libs.append('OpenCL')
 
 replay_lib_src = ["replay.cc", "consoleui.cc", "camera.cc", "filereader.cc", "logreader.cc", "framereader.cc",
-                  "route.cc", "util.cc", "timeline.cc"]
+                  "route.cc", "util.cc", "timeline.cc", "api.cc"]
 replay_lib = qt_env.Library("qt_replay", replay_lib_src, LIBS=base_libs, FRAMEWORKS=base_frameworks)
 Export('replay_lib')
 replay_libs = [replay_lib, 'avutil', 'avcodec', 'avformat', 'bz2', 'zstd', 'curl', 'yuv', 'ncurses'] + base_libs

tools/replay/api.cc

@@ -0,0 +1,162 @@
+
+#include "tools/replay/api.h"
+
+#include <openssl/pem.h>
+#include <openssl/rsa.h>
+#include <openssl/evp.h>
+#include <openssl/sha.h>
+
+#include <cassert>
+#include <chrono>
+#include <iostream>
+
+#include "common/params.h"
+#include "common/version.h"
+#include "system/hardware/hw.h"
+
+namespace CommaApi2 {
+
+// Base64 URL-safe character set (uses '-' and '_' instead of '+' and '/')
+static const std::string base64url_chars =
+    "ABCDEFGHIJKLMNOPQRSTUVWXYZ"
+    "abcdefghijklmnopqrstuvwxyz"
+    "0123456789-_";
+
+std::string base64url_encode(const std::string &in) {
+  std::string out;
+  int val = 0, valb = -6;
+  for (unsigned char c : in) {
+    val = (val << 8) + c;
+    valb += 8;
+    while (valb >= 0) {
+      out.push_back(base64url_chars[(val >> valb) & 0x3F]);
+      valb -= 6;
+    }
+  }
+  if (valb > -6) {
+    out.push_back(base64url_chars[((val << 8) >> (valb + 8)) & 0x3F]);
+  }
+
+  return out;
+}
+
+EVP_PKEY *get_rsa_private_key() {
+  static std::unique_ptr<EVP_PKEY, decltype(&EVP_PKEY_free)> rsa_private(nullptr, EVP_PKEY_free);
+  if (!rsa_private) {
+    FILE *fp = fopen(Path::rsa_file().c_str(), "rb");
+    if (!fp) {
+      std::cerr << "No RSA private key found, please run manager.py or registration.py" << std::endl;
+      return nullptr;
+    }
+    rsa_private.reset(PEM_read_PrivateKey(fp, NULL, NULL, NULL));
+    fclose(fp);
+  }
+  return rsa_private.get();
+}
+
+std::string rsa_sign(const std::string &data) {
+  EVP_PKEY *private_key = get_rsa_private_key();
+  if (!private_key) return {};
+
+  EVP_MD_CTX *mdctx = EVP_MD_CTX_new();
+  assert(mdctx != nullptr);
+
+  std::vector<uint8_t> sig(EVP_PKEY_size(private_key));
+  uint32_t sig_len;
+
+  EVP_SignInit(mdctx, EVP_sha256());
+  EVP_SignUpdate(mdctx, data.data(), data.size());
+  int ret = EVP_SignFinal(mdctx, sig.data(), &sig_len, private_key);
+
+  EVP_MD_CTX_free(mdctx);
+
+  assert(ret == 1);
+  assert(sig.size() == sig_len);
+  return std::string(sig.begin(), sig.begin() + sig_len);
+}
+
+std::string create_jwt(const json11::Json &extra, int exp_time) {
+  int now = std::chrono::seconds(std::time(nullptr)).count();
+  std::string dongle_id = Params().get("DongleId");
+
+  // Create header and payload
+  json11::Json header = json11::Json::object{{"alg", "RS256"}};
+  auto payload = json11::Json::object{
+      {"identity", dongle_id},
+      {"iat", now},
+      {"nbf", now},
+      {"exp", now + exp_time},
+  };
+  // Merge extra payload
+  for (const auto &item : extra.object_items()) {
+    payload[item.first] = item.second;
+  }
+
+  // JWT construction
+  std::string jwt = base64url_encode(header.dump()) + '.' +
+                    base64url_encode(json11::Json(payload).dump());
+
+  // Hash and sign
+  std::string hash(SHA256_DIGEST_LENGTH, '\0');
+  SHA256((uint8_t *)jwt.data(), jwt.size(), (uint8_t *)hash.data());
+  std::string signature = rsa_sign(hash);
+
+  return jwt + "." + base64url_encode(signature);
+}
+
+std::string create_token(bool use_jwt, const json11::Json &payloads, int expiry) {
+  if (use_jwt) {
+    return create_jwt(payloads, expiry);
+  }
+
+  std::string token_json = util::read_file(util::getenv("HOME") + "/.comma/auth.json");
+  std::string err;
+  auto json = json11::Json::parse(token_json, err);
+  if (!err.empty()) {
+    std::cerr << "Error parsing auth.json " << err << std::endl;
+    return "";
+  }
+  return json["access_token"].string_value();
+}
+
+std::string httpGet(const std::string &url, long *response_code) {
+  CURL *curl = curl_easy_init();
+  assert(curl);
+
+  std::string readBuffer;
+  const std::string token = CommaApi2::create_token(!Hardware::PC());
+
+  // Set up the lambda for the write callback
+  // The '+' makes the lambda non-capturing, allowing it to be used as a C function pointer
+  auto writeCallback = +[](char *contents, size_t size, size_t nmemb, std::string *userp) ->size_t{
+    size_t totalSize = size * nmemb;
+    userp->append((char *)contents, totalSize);
+    return totalSize;
+  };
+
+  curl_easy_setopt(curl, CURLOPT_URL, url.c_str());
+  curl_easy_setopt(curl, CURLOPT_WRITEFUNCTION, writeCallback);
+  curl_easy_setopt(curl, CURLOPT_WRITEDATA, &readBuffer);
+  curl_easy_setopt(curl, CURLOPT_FOLLOWLOCATION, 1L);
+
+  // Handle headers
+  struct curl_slist *headers = nullptr;
+  headers = curl_slist_append(headers, "User-Agent: openpilot-" COMMA_VERSION);
+  if (!token.empty()) {
+    headers = curl_slist_append(headers, ("Authorization: JWT " + token).c_str());
+  }
+  curl_easy_setopt(curl, CURLOPT_HTTPHEADER, headers);
+
+  CURLcode res = curl_easy_perform(curl);
+
+  if (response_code) {
+    curl_easy_getinfo(curl, CURLINFO_RESPONSE_CODE, response_code);
+  }
+
+  curl_slist_free_all(headers);
+  curl_easy_cleanup(curl);
+
+  return res == CURLE_OK ? readBuffer : std::string{};
+}
+
+}  // namespace CommaApi

tools/replay/api.h

@@ -0,0 +1,15 @@
+#pragma once
+
+#include <curl/curl.h>
+#include <string>
+
+#include "common/util.h"
+#include "third_party/json11/json11.hpp"
+
+namespace CommaApi2 {
+
+const std::string BASE_URL = util::getenv("API_HOST", "https://api.commadotai.com").c_str();
+std::string create_token(bool use_jwt, const json11::Json& payloads = {}, int expiry = 3600);
+std::string httpGet(const std::string &url, long *response_code = nullptr);
+
+}  // namespace CommaApi2

tools/replay/route.cc

@@ -1,14 +1,12 @@
 #include "tools/replay/route.h"
 
-#include <QEventLoop>
-#include <QJsonArray>
-#include <QJsonDocument>
 #include <array>
 #include <filesystem>
 #include <regex>
 
-#include "selfdrive/ui/qt/api.h"
+#include "third_party/json11/json11.hpp"
 #include "system/hardware/hw.h"
+#include "tools/replay/api.h"
 #include "tools/replay/replay.h"
 #include "tools/replay/util.h"
 
@@ -72,42 +70,48 @@ bool Route::load() {
 }
 
 bool Route::loadFromServer(int retries) {
+  const std::string url = CommaApi2::BASE_URL + "/v1/route/" + route_.str + "/files";
   for (int i = 1; i <= retries; ++i) {
-    QString result;
+    long response_code = 0;
-    QEventLoop loop;
+    std::string result = CommaApi2::httpGet(url, &response_code);
-    HttpRequest http(nullptr, !Hardware::PC());
+    if (response_code == 200) {
-    QObject::connect(&http, &HttpRequest::requestDone, [&loop, &result](const QString &json, bool success, QNetworkReply::NetworkError err) {
-      result = json;
-      loop.exit((int)err);
-    });
-    http.sendRequest(CommaApi::BASE_URL + "/v1/route/" + QString::fromStdString(route_.str) + "/files");
-    auto err = (QNetworkReply::NetworkError)loop.exec();
-    if (err == QNetworkReply::NoError) {
       return loadFromJson(result);
-    } else if (err == QNetworkReply::ContentAccessDenied || err == QNetworkReply::AuthenticationRequiredError) {
+    }
+
+    if (response_code == 401 || response_code == 403) {
       rWarning(">> Unauthorized. Authenticate with tools/lib/auth.py <<");
-      err_ = RouteLoadError::AccessDenied;
+      err_ = RouteLoadError::Unauthorized;
-      return false;
+      break;
-    } else if (err == QNetworkReply::ContentNotFoundError) {
+    }
+    if (response_code == 404) {
       rWarning("The specified route could not be found on the server.");
       err_ = RouteLoadError::FileNotFound;
-      return false;
+      break;
-    } else {
-      err_ = RouteLoadError::NetworkError;
     }
+
+    err_ = RouteLoadError::NetworkError;
     rWarning("Retrying %d/%d", i, retries);
     util::sleep_for(3000);
   }
+
   return false;
 }
 
-bool Route::loadFromJson(const QString &json) {
+bool Route::loadFromJson(const std::string &json) {
-  QRegExp rx(R"(\/(\d+)\/)");
+  const static std::regex rx(R"(\/(\d+)\/)");
-  for (const auto &value : QJsonDocument::fromJson(json.trimmed().toUtf8()).object()) {
+  std::string err;
-    for (const auto &url : value.toArray()) {
+  auto jsonData = json11::Json::parse(json, err);
-      QString url_str = url.toString();
+  if (!err.empty()) {
-      if (rx.indexIn(url_str) != -1) {
+    rWarning("JSON parsing error: %s", err.c_str());
-        addFileToSegment(rx.cap(1).toInt(), url_str.toStdString());
+    return false;
+  }
+  for (const auto &value : jsonData.object_items()) {
+    const auto &urlArray = value.second.array_items();
+    for (const auto &url : urlArray) {
+      std::string url_str = url.string_value();
+      std::smatch match;
+      if (std::regex_search(url_str, match, rx)) {
+        addFileToSegment(std::stoi(match[1]), url_str);
       }
     }
   }

tools/replay/route.h

@@ -7,14 +7,13 @@
 #include <thread>
 #include <vector>
 
-#include <QString>
-
 #include "tools/replay/framereader.h"
 #include "tools/replay/logreader.h"
 #include "tools/replay/util.h"
 
 enum class RouteLoadError {
   None,
+  Unauthorized,
   AccessDenied,
   NetworkError,
   FileNotFound,
@@ -54,7 +53,7 @@ public:
 protected:
   bool loadFromLocal();
   bool loadFromServer(int retries = 3);
-  bool loadFromJson(const QString &json);
+  bool loadFromJson(const std::string &json);
   void addFileToSegment(int seg_num, const std::string &file);
   RouteIdentifier route_ = {};
   std::string data_dir_;