Start migration over to Python for emu command wrapper (#21)

* readme * test starting emu_utils.py from emu command * fixs * test * test * pass all! * test * test * functionality for Emu python class * functionality for Emu python class * fixup for DEBUG mode * test colors! * add formatting * add update function * make sure update.sh is executable * use update path * temp * does this fix it? * make executable * debug * debug * that works! use oh_my_comma_path for git pull * test * use subprocess * debug * fix * better * update using emu-utils.sh * fix * use python * test * test * test * debug * debug * only source if running first-install * updates to install.sh * add pandaflash2 * Add run and get_next_arg functions * debug * should fix it * should fix it * add newline * simplify newline * move newline * add newline * test * test * test * test * whoops * whoops * test * test * test * test * test * work on debug command * add controlsd * test * debug * debug * debug * debug * debug * debug * debug * test uploader * test logmessaged with call * write to file * debug * debug * debug * debug * debug * debug * debug * debug * without shell * test check_call * debug * weird, that worked. how about this? * test * test * ? * test killing updated * debug * debug * fix * test more * debug * debug * debug * debug * debug * clean up controlsd func, add warning * use prompt * add orange * add better warning * detect if python script failed * cause an error * will this work? * debug * debug * now cause error * change * test * add comment * add comment * add comment * now fix update! * fix name * use openpilot method of starting processes * test * test * test * test * use old method, add backup of openpilot's process method in case this doesn't work out * only attempt update if user tried to update and failed * add additional message * simplify * add color to success message * installfork command support * move static methods to emu_utils.py, verify fork URl and clone to temp fork folder and move once complete * use .bak instead of .old * catch ctrl+c * add end arg * debug * debug * fix * fix * fix * add flags to each command * change to flag * much better flag implementation lol * don't need to specify arg * add flags to help * test help interface * test help interface * try blue * test different colors * this looks good * formatting for list * add test flag * colors * colors * add branch alias * print commands in help * final updates before click * backup emu.py * test click * test click * test click * test click * test click * test click * test click * test click * test click * fix old/emu.py so it at least works. flags do not * add old emu.py back * use click * move * move * move * add 🐼's * add more * more emoji * change clone url back * temporarily change branch * Master cli updates patch1 (#22) * use prettier * allow for easier local dev? * more consistent use of env variables * prettier * warn about update source * easier local debug? * add encoding to colors * Update README.md * Update README.md * Update README.md * add sexy ascii * Update install.sh * Set theme jekyll-theme-slate * Update README.md * use error_msg arg of print_commands for all Co-authored-by: Shane <[email protected]> * remove old from emu-utils.sh * clean ups for emu.py * add base and fork commands * fixes for install.sh * emu_utils updates * remove space * move main to base * add update function to new format * test * fix for commands with no subcommands * rename to CommandBase, add more emoji! * switch emoji * add emoji to commands * fix emoji * move * add panda command * add better emoji for panda to match fork's format * add better emoji for panda to match fork's format * fix for panda cmd * remove an extra line from art, update longest command length * automatically format based on longest command * add debug to new command format, clean up imports, switch around panda messages * remove old * test * test * remove since it inherits the function * emu.py is only 49 lines! clean up imports * remove commented * update aliases * fix * add log file flag to debug * fix * debug * fix * debug * debug * debug * debug * test required * debug * add flag's description to the argparser * fix * add final functionality for using user-supplied output file path * display version * display version * remove old * debug the wait time * debug the wait time * debug the wait time * debug the wait time * debug the wait time * debug the wait time * debug the wait time * debug the wait time * debug the wait time * i couldn't figure it out... :( * test showing flags * debug * debug * fix * test * test * test * test * test * test * don't show flags if main * better * add leading * add leading * just a test of the new menu format * just a test of the new menu format * test no leading * test no leading * remove * add todo * add todo Co-authored-by: Comma Device <[email protected]> Co-authored-by: AskAlice <[email protected]> Co-authored-by: Alice Knag <[email protected]>
emu-sh · Jun 18, 2020 · 9eaa44e · 9eaa44e
1 parent b590892
commit 9eaa44e
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Showing 12 changed files with 476 additions and 103 deletions.
diff --git a/aliases.sh b/aliases.sh
@@ -1,3 +1,3 @@
 alias ll="ls -lhA"
-alias pf="emu pandaflash"
-alias controlsd="emu debug controls"
+alias pf="emu panda flash"
+alias controlsd="emu debug controlsd"
diff --git a/emu-utils.sh b/emu-utils.sh
@@ -1,93 +1,29 @@
 #!/bin/bash
 SYSTEM_BASHRC_PATH=/home/.bashrc
 export COMMUNITY_PATH=/data/community
-export COMMUNITY_BASHRC_PATH=/data/community/.bashrc
+export COMMUNITY_BASHRC_PATH=${COMMUNITY_PATH}/.bashrc
 export OH_MY_COMMA_PATH="$( cd "$( dirname "${BASH_SOURCE[0]}" )" >/dev/null 2>&1 && pwd )"
 
 source ${OH_MY_COMMA_PATH}/powerline.sh
-
 source ${OH_MY_COMMA_PATH}/aliases.sh
 
-commands="
-  - update: updates this tool, requires restart of ssh session
-  - pandaflash: flashes panda
-  - pandaflash2: flashes panda without make recover
-  - debug: debugging tools
-  - installfork: Specify the fork URL after. Moves openpilot to openpilot.old"
-debugging_commands="
-  - controls: logs controlsd to /data/output.log"
-
-function _pandaflash() {
-  cd /data/openpilot/panda/board && make recover
-}
-
-function _pandaflash2() {
-  cd /data/openpilot/panda; pkill -f boardd; PYTHONPATH=..; python -c "from panda import Panda; Panda().flash()"
-}
-
-function _controlsdebug(){
-  pkill -f controlsd ; PYTHONPATH=/data/openpilot python /data/openpilot/selfdrive/controls/controlsd.py 2>&1 | tee /data/output.log
-}
-
-function _installfork(){
-  if [ $# -lt 1 ]; then
-    echo "You must specify a fork URL to clone!"
-    return 1
-  fi
-
-  old_dir="/data/openpilot.old"
-  old_count=0
-  if [ -d $old_dir ]; then
-    while [ -d "/data/openpilot.old.${old_count}" ]; do
-      old_count=$((old_count+1))  # counts until we find an unused dir name
-    done
-    old_dir="${old_dir}.${old_count}"
-  fi
-
-  echo "Moving current openpilot installation to ${old_dir}"
-  mv /data/openpilot ${old_dir}
-  echo "Fork will be installed to /data/openpilot"
-  git clone $1 /data/openpilot
-}
-
-function _debug(){
-  if [ $# -lt 1 ]; then  # verify at least two arguments
-    printf "You must specify a command for emu debug. Some options are:"
-    printf '%s\n' "$debugging_commands"
-    return 1
-  fi
-
-  if [ $1 = "controls" ]; then
-    _controlsdebug
-  else
-    printf "Unsupported debugging command! Try one of these:"
-    printf '%s\n' "$debugging_commands"
-  fi
-}
-
-function _updateohmycomma(){
-  source /data/community/.oh-my-comma/update.sh
+function _updateohmycomma(){  # good to keep a backup in case python CLI is broken
+  source ${OH_MY_COMMA_PATH}/update.sh
+  source ${OH_MY_COMMA_PATH}/emu-utils.sh
 }
 
 function emu(){  # main wrapper function
-  if [ $# -lt 1 ]; then
-    printf "You must specify a command for emu. Some options are:"
-    printf '%s\n' "$commands"
-    return 1
+  if $(python -c 'import sys; print(".".join(map(str, sys.version_info[:3])))' | grep -q -e '^2')
+  then
+    python3 ${OH_MY_COMMA_PATH}/emu.py "$@"
+  else
+    python ${OH_MY_COMMA_PATH}/emu.py "$@"
   fi
 
-  if [ $1 = "update" ]; then
+  if [ $? = 1 ] && [ "$1" = "update" ]; then  # fallback to updating immediately if CLI crashed updating
+    printf "\033[91mAn error occurred in the Python CLI, attempting to manually update .oh-my-comma...\n"
+    printf "Press Ctrl+C to cancel!\033[0m\n"
+    sleep 5
     _updateohmycomma
-  elif [ $1 = "pandaflash" ]; then
-    _pandaflash
-  elif [ $1 = "pandaflash2" ]; then
-    _pandaflash2
-  elif [ $1 = "installfork" ]; then
-    _installfork $2
-  elif [ $1 = "debug" ]; then
-    _debug $2
-  else
-    printf "Unsupported command! Try one of these:"
-    printf '%s\n' "$commands"
   fi
 }
diff --git a/emu.py b/emu.py
@@ -0,0 +1,48 @@
+#!/usr/bin/python
+# -*- coding: utf-8 -*-
+import sys
+if __package__ is None:
+  import sys
+  from os import path
+  sys.path.append(path.abspath(path.join(path.dirname(__file__), 'py_utils')))
+  sys.path.append(path.abspath(path.join(path.dirname(__file__), 'emu_commands')))
+
+  from py_utils.emu_utils import BaseFunctions
+  from py_utils.emu_utils import OPENPILOT_PATH
+  from emu_commands.fork import Fork
+  from emu_commands.update import Update
+  from emu_commands.panda import Panda
+  from emu_commands.debug import Debug
+
+sys.path.append(OPENPILOT_PATH)  # for importlib
+DEBUG = not path.exists('/data/params/d')
+
+class Emu(BaseFunctions):
+  def __init__(self, args):
+    self.args = args
+    self.commands = {'fork': Fork('🍴 control installed forks, or clone a new one'),
+                     'update': Update('🎉 updates this tool, recommended to restart ssh session'),
+                     'panda': Panda('🐼 panda interfacing tools'),
+                     'debug': Debug('de-🐛-ing tools')}
+    self.parse()
+
+  def parse(self):
+    cmd = self.next_arg()
+
+    if cmd is None:
+      self.print_commands(error_msg='You must specify a command for emu. Some options are:', ascii_art=True)
+      return
+    if cmd not in self.commands:
+      self.print_commands(error_msg='Unknown command! Try one of these:')
+      return
+
+    self.commands[cmd].main(self.args, cmd)
+
+
+if __name__ == "__main__":
+  args = sys.argv[1:]
+  if DEBUG:
+    args = input().split(' ')
+    if '' in args:
+      args.remove('')
+  emu = Emu(args)
diff --git a/emu_commands/base.py b/emu_commands/base.py
@@ -0,0 +1,78 @@
+from py_utils.colors import COLORS
+from py_utils.emu_utils import ArgumentParser, BaseFunctions, warning, success
+
+class CommandBase(BaseFunctions):
+  def __init__(self, description):
+    self.description = description
+    self.commands = {}
+
+  def main(self, args, cmd_name):
+    self.args = args
+    cmd = self.next_arg()
+    if len(self.commands) > 0:
+      if cmd is None:
+        self.print_commands(error_msg='You must specify a command for emu {}. Some options are:'.format(cmd_name))
+        return
+      if cmd not in self.commands:
+        self.print_commands(error_msg='Unknown command! Try one of these:')
+        return
+      self.start_function_from_str(cmd)
+    else:
+      self.start_function_from_str(cmd_name)
+
+  def start_function_from_str(self, cmd):
+    cmd = '_' + cmd
+    if not hasattr(self, cmd):
+      print('Command has not been implemented yet, please try updating.')
+      return
+    getattr(self, cmd)()  # call command's function
+
+  def parse_flags(self, parser):
+    try:
+      return parser.parse_args(self.args), None
+    except Exception as e:
+      return None, e
+
+  def _help(self, cmd, show_description=True, leading=''):
+    description = self.commands[cmd].description
+    if show_description:
+      print('{}>>  Description 📚: {}{}'.format(COLORS.CYAN, description, COLORS.ENDC))
+
+    flags = self.commands[cmd].flags
+
+    flags_to_print = []
+    if flags is not None and len(flags) > 0:
+      print(leading + '{}>>  Flags 🎌:{}'.format(COLORS.WARNING, COLORS.ENDC))
+      for flag in flags:
+        aliases = COLORS.SUCCESS + ', '.join(flag.aliases) + COLORS.WARNING
+        flags_to_print.append(leading + COLORS.WARNING + '  - {}: {}'.format(aliases, flag.description) + COLORS.ENDC)
+      print('\n'.join(flags_to_print))
+
+    commands = self.commands[cmd].commands
+    cmds_to_print = []
+    if commands is not None and len(commands) > 0:
+      print(leading + '{}>>  Commands 💻:{}'.format(COLORS.OKGREEN, COLORS.ENDC))
+      for cmd in commands:
+        cmds_to_print.append(leading + COLORS.FAIL + '  - {}: {}'.format(cmd, success(commands[cmd].description, ret=True)) + COLORS.ENDC)
+      print('\n'.join(cmds_to_print))
+
+class Flag:
+  def __init__(self, aliases, description, has_value=False):
+    self.aliases = aliases
+    self.description = description
+    self.has_value = has_value
+
+class Command:
+  def __init__(self, description=None, commands=None, flags=None):
+    self.parser = ArgumentParser()
+    self.description = description
+    self.commands = commands
+    self.has_flags = False
+    self.flags = flags
+    if flags is not None:
+      self.has_flags = True
+      for flag in flags:
+        # for each flag, add it as argument with aliases.
+        # if flag.has_value, parse value as string, if not, assume flag is boolean
+        action = 'store_true' if not flag.has_value else None
+        self.parser.add_argument(*flag.aliases, help=flag.description, action=action)
diff --git a/emu_commands/debug.py b/emu_commands/debug.py
@@ -0,0 +1,25 @@
+from emu_commands.base import CommandBase, Command, Flag
+from py_utils.emu_utils import run, kill, warning, error
+from py_utils.emu_utils import OPENPILOT_PATH
+
+class Debug(CommandBase):
+  def __init__(self, description):
+    super().__init__(description)
+    self.commands = {'controlsd': Command(description='🔬 logs controlsd to /data/output.log by default',
+                                          flags=[Flag(['-o', '--output'], 'Name of file to save log to', has_value=True)])}
+    self.default_path = '/data/output.log'
+
+  def _controlsd(self):
+    flags, e = self.parse_flags(self.commands['controlsd'].parser)
+    if e is not None:
+      error(e)
+      return
+
+    out_file = self.default_path
+    if flags.output is not None:
+      out_file = flags.output
+    # r = run('pkill -f controlsd')  # terminates file for some reason  # todo: remove me if not needed
+    r = kill('selfdrive.controls.controlsd')  # seems to work, some process names are weird
+    if r is None:
+      warning('controlsd is already dead! (continuing...)')
+    run('python {}/selfdrive/controls/controlsd.py'.format(OPENPILOT_PATH), out_file=out_file)
diff --git a/emu_commands/fork.py b/emu_commands/fork.py
@@ -0,0 +1,78 @@
+import shutil
+from os import path
+from emu_commands.base import CommandBase, Command, Flag
+from py_utils.emu_utils import run, error, warning, success, verify_fork_url, is_affirmative
+from py_utils.emu_utils import OPENPILOT_PATH
+
+class Fork(CommandBase):
+  def __init__(self, description):
+    super().__init__(description)
+    self.commands = {'install': Command(description='🦉 Whoooose fork do you wanna install?',
+                                        flags=[Flag(['clone_url'], '🍴 URL of fork to clone', has_value=True),
+                                               Flag(['-l', '--lite'], '💡 Clones only the default branch with all commits flattened for quick cloning'),
+                                               Flag(['-b', '--branch'], '🌿 Specify the branch to clone after this flag', has_value=True)])}
+
+  def _install(self):
+    if self.next_arg(ingest=False) is None:
+      error('You must supply command arguments!')
+      self._help('install')
+      return
+
+    flags, e = self.parse_flags(self.commands['install'].parser)
+    if e is not None:
+      error(e)
+      return
+
+    if flags.clone_url is None:
+      error('You must specify a fork URL to clone!')
+      return
+    if not verify_fork_url(flags.clone_url):  # verify we can clone before moving folder!
+      error('The specified fork URL is not valid!')
+      return
+
+    OPENPILOT_TEMP_PATH = '{}.temp'.format(OPENPILOT_PATH)
+    if path.exists(OPENPILOT_TEMP_PATH):
+      warning('{} already exists, should it be deleted to continue?'.format(OPENPILOT_TEMP_PATH))
+      if is_affirmative():
+        shutil.rmtree(OPENPILOT_TEMP_PATH)
+      else:
+        error('Exiting...')
+        return
+
+    # Clone fork to temp folder
+    warning('Fork will be installed to {}'.format(OPENPILOT_PATH))
+    clone_flags = []
+    if flags.lite:
+      warning('- Performing a lite clone! (--depth 1)')
+      clone_flags.append('--depth 1')
+    if flags.branch is not None:
+      warning('- Only cloning branch: {}'.format(flags.branch))
+      clone_flags.append('-b {} --single-branch'.format(flags.branch))
+    if len(clone_flags):
+      clone_flags.append('')
+    try:  # catch ctrl+c and clean up after
+      r = run('git clone {}{} {}'.format(' '.join(clone_flags), flags.clone_url, OPENPILOT_TEMP_PATH))  # clone to temp folder
+    except:
+      r = False
+
+    # If openpilot.bak exists, determine a good non-exiting path
+    # todo: make a folder that holds all installed forks and provide an interface of switching between them
+    bak_dir = '{}.bak'.format(OPENPILOT_PATH)
+    bak_count = 0
+    while path.exists(bak_dir):
+      bak_count += 1
+      bak_dir = '{}.{}'.format(bak_dir, bak_count)
+
+    if r:
+      success('Cloned successfully! Installing fork...')
+      if path.exists(OPENPILOT_PATH):
+        shutil.move(OPENPILOT_PATH, bak_dir)  # move current installation to old dir
+      shutil.move(OPENPILOT_TEMP_PATH, OPENPILOT_PATH)  # move new clone temp folder to main installation dir
+      success("Installed! Don't forget to restart your device")
+    else:
+      error('\nError cloning specified fork URL!', end='')
+      if path.exists(OPENPILOT_TEMP_PATH):  # git usually does this for us
+        error(' Cleaning up...')
+        shutil.rmtree(OPENPILOT_TEMP_PATH)
+      else:
+        print()
diff --git a/emu_commands/panda.py b/emu_commands/panda.py
@@ -0,0 +1,20 @@
+import importlib
+from emu_commands.base import CommandBase, Command
+from py_utils.emu_utils import run, error
+from py_utils.emu_utils import OPENPILOT_PATH
+
+class Panda(CommandBase):
+  def __init__(self, description):
+    super().__init__(description)
+    self.commands = {'flash': Command(description='🐼 flashes panda with make recover (usually works with the C2)'),
+                     'flash2': Command(description='🎍 flashes panda using Panda module (usually works with the EON)')}
+
+  def _flash(self):
+    r = run('make -C {}/panda/board recover'.format(OPENPILOT_PATH))
+    if not r:
+      error('Error running make command!')
+
+  def _flash2(self):
+    if not run('pkill -f boardd'):
+      error('Error killing boardd! Is it running? (continuing...)')
+    importlib.import_module('panda', 'Panda').Panda().flash()
diff --git a/emu_commands/update.py b/emu_commands/update.py
@@ -0,0 +1,11 @@
+from emu_commands.base import CommandBase
+from py_utils.emu_utils import run, error
+from py_utils.emu_utils import UPDATE_PATH
+
+class Update(CommandBase):
+  def __init__(self, description):
+    super().__init__(description)
+
+  def _update(self):
+    if not run(['sh', UPDATE_PATH]):
+      error('Error updating!')