IQ.Pilot Prebuilt Release @ 27f668a

iqpilot/system/android/androidd.py

@@ -0,0 +1,200 @@
+# Copyright © IQ.Lvbs, apart of Project Teal Lvbs, All Rights Reserved, licensed under https://konn3kt.com/tos
+from __future__ import annotations
+
+import json
+import os
+import socket
+import subprocess
+import time
+
+from iqpilot.cereal import messaging
+from iqpilot.common.params import Params
+from iqpilot.common.realtime import Ratekeeper
+from iqpilot.common.swaglog import cloudlog
+
+ANDROID_ROOT = "/data/android"
+HEADLESS = f"{ANDROID_ROOT}/waydroid_headless.sh"
+TRIM = f"{ANDROID_ROOT}/android_trim.sh"
+GUARD = f"{ANDROID_ROOT}/android_guard.sh"
+LXC_ATTACH = f"{ANDROID_ROOT}/root/usr/bin/lxc-attach"
+LD = f"{ANDROID_ROOT}/root/usr/lib/aarch64-linux-gnu"
+
+# Waze's launcher is FreeMapAppActivity; there is no com.waze.MainActivity, and asking for
+# one fails with "Activity class does not exist" rather than anything that names the problem.
+NAV_APPS = {
+  "waze": ("com.waze", "com.waze/.FreeMapAppActivity"),
+  "maps": ("com.google.android.apps.maps", "com.google.android.apps.maps/com.google.android.maps.MapsActivity"),
+}
+BRIDGE_HOST = "192.168.240.112"
+BRIDGE_PORT = 8099
+GPS_SOURCES = ["iqLiveLocation", "liveLocationKalman", "gpsLocationExternal", "gpsLocation"]
+PROVIDERS = ("gps", "fused", "network")
+GPS_INTERVAL_S = 0.5
+
+
+def attach(*args: str, timeout: float = 10.0) -> subprocess.CompletedProcess:
+  cmd = ["sudo", "-n", "env", f"LD_LIBRARY_PATH={LD}", LXC_ATTACH,
+         "-P", "/var/lib/waydroid/lxc", "-n", "waydroid", "--", *args]
+  return subprocess.run(cmd, capture_output=True, text=True, timeout=timeout, check=False)
+
+
+def container_booted() -> bool:
+  try:
+    return attach("/system/bin/getprop", "sys.boot_completed", timeout=8).stdout.strip() == "1"
+  except (subprocess.SubprocessError, OSError):
+    return False
+
+
+def bring_up() -> None:
+  # AGNOS mounts / read-only, so no unit file can be installed; a transient unit is the only
+  # way the compositor and lxc-start survive this process exiting.
+  subprocess.run(["sudo", "-n", "systemd-run", "--unit=iq-android", "--service-type=oneshot",
+                  "--remain-after-exit", HEADLESS, "up"],
+                 capture_output=True, text=True, timeout=120, check=False)
+
+
+def start_guard() -> None:
+  subprocess.run(["sudo", "-n", "systemd-run", "--unit=iq-android-guard", GUARD],
+                 capture_output=True, text=True, timeout=30, check=False)
+
+
+def trim(nav_app: str) -> None:
+  subprocess.run(["sudo", "-n", "env", f"ANDROID_NAV_APP={nav_app}", TRIM],
+                 capture_output=True, timeout=240, check=False)
+
+
+def enable_mock_location() -> None:
+  # Wiped by every container restart, and the package form does not cover uid 0: without the
+  # --uid form every injection fails with SecurityException and the apps just say "no GPS".
+  attach("/system/bin/cmd", "appops", "set", "--uid", "0", "android:mock_location", "allow")
+  for p in PROVIDERS:
+    attach("/system/bin/cmd", "location", "providers", "add-test-provider", p)
+    attach("/system/bin/cmd", "location", "providers", "set-test-provider-enabled", p, "true")
+  # The a11y tree is only updated while the display is awake; asleep it emits nothing at all.
+  attach("/system/bin/svc", "power", "stayon", "true")
+
+
+def inject(lat: float, lon: float) -> None:
+  for p in PROVIDERS:
+    attach("/system/bin/cmd", "location", "providers", "set-test-provider-location", p,
+           "--location", f"{lat:.6f},{lon:.6f}", "--accuracy", "4", timeout=6)
+
+
+def read_position(sm: messaging.SubMaster) -> tuple[float, float] | None:
+  for src in GPS_SOURCES:
+    if src not in sm.data or not sm.valid.get(src, False):
+      continue
+    msg = sm[src]
+    for lat_a, lon_a in (("latitude", "longitude"), ("lat", "lon")):
+      lat = getattr(msg, lat_a, None)
+      lon = getattr(msg, lon_a, None)
+      if lat is not None and lon is not None and (lat or lon):
+        return float(lat), float(lon)
+  return None
+
+
+class AndroidNavDaemon:
+  def __init__(self) -> None:
+    self.params = Params()
+    self.sources = [s for s in GPS_SOURCES if s in messaging.SERVICE_LIST]
+    self.sm = messaging.SubMaster(self.sources) if self.sources else None
+    self.last_inject = 0.0
+    self.up = False
+
+  def status(self, text: str) -> None:
+    self.params.put("IQAndroidNavStatus", text)
+
+  def sign_in(self) -> None:
+    email = self.params.get("IQAndroidNavEmail", encoding="utf8")
+    password = self.params.get("IQAndroidNavPassword", encoding="utf8")
+    if not email or not password:
+      return
+    try:
+      with socket.create_connection((BRIDGE_HOST, BRIDGE_PORT), timeout=10) as s:
+        s.sendall(json.dumps({"cmd": "signin", "email": email, "password": password}).encode() + b"\n")
+      self.status("sign-in requested")
+    except OSError:
+      cloudlog.exception("androidd: sign-in request failed")
+      self.status("sign-in failed")
+    finally:
+      # Never let the credential outlive the one use it was handed over for.
+      self.params.remove("IQAndroidNavEmail")
+      self.params.remove("IQAndroidNavPassword")
+
+  def nav_app(self) -> str:
+    value = self.params.get("IQAndroidNavApp", encoding="utf8") or "waze"
+    return value if value in NAV_APPS else "waze"
+
+  def enforce_single_app(self, nav_app: str) -> None:
+    for name, (pkg, _) in NAV_APPS.items():
+      if name != nav_app:
+        attach("/system/bin/am", "force-stop", pkg)
+
+  def ensure_app_running(self, nav_app: str) -> None:
+    pkg, component = NAV_APPS[nav_app]
+    if attach("/system/bin/pidof", pkg, timeout=8).stdout.strip():
+      return
+    attach("/system/bin/am", "start", "-n", component, timeout=20)
+
+  def ensure_up(self) -> None:
+    if container_booted():
+      if not self.up:
+        nav_app = self.nav_app()
+        enable_mock_location()
+        trim(nav_app)
+        self.enforce_single_app(nav_app)
+        start_guard()
+        self.status(f"running:{nav_app}")
+        self.up = True
+      return
+    self.up = False
+    self.status("starting")
+    bring_up()
+
+  def step(self) -> None:
+    if not self.params.get_bool("IQAndroidNav"):
+      if self.up:
+        subprocess.run(["sudo", "-n", "systemctl", "stop", "iq-android", "iq-android-guard"],
+                       capture_output=True, timeout=60, check=False)
+        self.up = False
+        self.status("disabled")
+      return
+
+    self.ensure_up()
+    if not self.up:
+      return
+
+    self.sign_in()
+    self.ensure_app_running(self.nav_app())
+
+    if self.sm is None:
+      return
+    self.sm.update(0)
+    now = time.monotonic()
+    if now - self.last_inject < GPS_INTERVAL_S:
+      return
+    position = read_position(self.sm)
+    if position is not None:
+      self.last_inject = now
+      try:
+        inject(*position)
+      except subprocess.SubprocessError:
+        cloudlog.exception("androidd: location inject failed")
+
+
+def main() -> None:
+  if not os.path.exists(HEADLESS):
+    cloudlog.warning("androidd: android stack not staged, exiting")
+    return
+  daemon = AndroidNavDaemon()
+  rk = Ratekeeper(2.0, print_delay_threshold=None)
+  while True:
+    try:
+      daemon.step()
+    except Exception:
+      cloudlog.exception("androidd: step failed")
+    rk.keep_time()
+
+
+if __name__ == "__main__":
+  main()