Boot fix stage 2

.hooks/pre-push

@@ -48,6 +48,10 @@ for arg in "$@"; do
   esac
 done
 
+cd install
+TESTING=true pipenv run ./test.sh
+cd -
+
 echo "Running pre push hook!"
 repository_path=$(git rev-parse --show-toplevel)
 tag_name=$(git tag --points-at=HEAD | head -n 1)

core/tools/blueos_startup_update/blueos_startup_update

@@ -1,13 +1,19 @@
 #!/usr/bin/env python
-import appdirs
 import copy
-import os
+import datetime
 import json
+import logging
+import os
 import re
+import subprocess
 import sys
 import time
-from typing import Tuple, List
+from typing import List, Tuple
+
+import appdirs
 
+is_testing_environment = os.getenv("TESTING")
+SUDO = "" if is_testing_environment else "sudo"
 # Any change made in this DELTA_JSON dict should be also made
 # into /bootstrap/startup.json.default too!
 DELTA_JSON = {
@@ -57,8 +63,34 @@ DELTA_JSON = {
 # However, it is important to note that conflicting configurations can happen, potentially impacting the kernel's loading process or causing harm to BlueOS.
 CONFIG_USER_PROTECTION_WORD = 'custom'
 
-import collections
-from commonwealth.utils.commands import run_command
+
+if not is_testing_environment:
+    from commonwealth.utils.commands import run_command
+
+else:
+    def run_command(command, check=True):
+        logging.info(command)
+        return subprocess.run(
+            command,
+            check=check,
+            text=True,
+            shell=True,
+            stdout=subprocess.PIPE,
+            stderr=subprocess.PIPE,
+        )
+
+# let's do some logging so we know what happened in previous boots...
+now = datetime.datetime.now()
+
+LOG_PATH = "./" if is_testing_environment else "/var/logs/blueos/services/blueos_startup_update"
+
+if not os.path.exists(LOG_PATH):
+    os.makedirs(LOG_PATH)
+
+log_filename = f"{LOG_PATH}/blueos_startup_update_{now.strftime('%Y%m%d_%H%M%S')}.log"
+
+logging.basicConfig(filename=log_filename, level=logging.INFO, format='%(asctime)s - %(levelname)s - %(message)s')
+logging.info('Starting the script')
 
 # Copyright 2016-2022 Paul Durivage
 # Licensed under the Apache License, Version 2.0 (the "License");
@@ -71,11 +103,14 @@ def dict_merge(dct, merge_dct):
             dct[k] = merge_dct[k]
 
 def update_startup() -> bool:
+    if os.getenv('PYTEST'):
+        logging.info("Testing enviroment dectect, skipping startup.json update")
+        return False
     startup_path = os.path.join(appdirs.user_config_dir('bootstrap'), 'startup.json')
     config = {}
 
     if not os.path.isfile(startup_path):
-        print(f"File: {startup_path}, does not exist, aborting.")
+        logging.info(f"File: {startup_path}, does not exist, aborting.")
         return False
 
     with open(startup_path, mode="r", encoding="utf-8") as startup_file:
@@ -161,27 +196,27 @@ def boot_config_filter_conflicting_configuration_at_session(config_content: List
 def load_file(file_name) -> str:
     command = f'cat "{file_name}"'
     output = run_command(command, False)
-    print(output)
+    logging.info(output)
     return output.stdout
 
 def save_file(file_name: str, file_content: str, backup_identifier: str) -> None:
-    command = f'sudo cp "{file_name}" "{file_name}.{backup_identifier}.bak"'
-    print(run_command(command, False))
+    command = f'{SUDO} cp "{file_name}" "{file_name}.{backup_identifier}.bak"'
+    logging.info(run_command(command, False))
 
-    command = f'echo "{file_content}" | sudo tee "{file_name}"'
-    print(run_command(command, False))
+    command = f'echo "{file_content}" | {SUDO} tee "{file_name}"'
+    logging.info(run_command(command, False))
 
 def hardlink_exists(file_name: str) -> bool:
     command = f"[ -f '{file_name}' ] && [ $(stat -c '%h' '{file_name}') -gt 1 ]"
     output = run_command(command, False)
-    print(output)
+    logging.info(output)
     return output.returncode == 0
 
 
 def create_hard_link(source_file_name: str, destination_file_name: str) -> bool:
-    command = f"sudo rm -rf {destination_file_name}; sudo ln {source_file_name} {destination_file_name}"
+    command = f"{SUDO} rm -rf {destination_file_name}; {SUDO} ln {source_file_name} {destination_file_name}"
     output = run_command(command, False)
-    print(output)
+    logging.info(output)
     return output.returncode == 0
 
 
@@ -242,10 +277,10 @@ def boot_cmdfile_add_config(cmdline_content: List[str], config_key: str, config_
         cmdline_content.append(config_line)
 
 def update_cgroups() -> bool:
-    print("Running cgroup update..")
+    logging.info("Running cgroup update..")
 
     # Retrieve the cmdline file
-    cmdline_file = '/boot/cmdline.txt'
+    cmdline_file = os.getenv('CMDLINE_FILE') or '/boot/cmdline.txt'
     cmdline_content = load_file(cmdline_file).replace('\n','').split(' ')
     unpatched_cmdline_content = cmdline_content.copy()
 
@@ -271,10 +306,10 @@ def update_cgroups() -> bool:
     return True
 
 def update_dwc2() -> bool:
-    print("Running dwc2 update..")
+    logging.info("Running dwc2 update..")
 
     # Retrieve the config file
-    config_file = '/boot/config.txt'
+    config_file = os.getenv('CONFIG_FILE') or '/boot/config.txt'
     config_content = load_file(config_file).splitlines()
     unpatched_config_content = config_content.copy()
 
@@ -294,7 +329,7 @@ def update_dwc2() -> bool:
         save_file(config_file, config_content_str, backup_identifier)
 
     # Retrieve the cmdline file
-    cmdline_file = '/boot/cmdline.txt'
+    cmdline_file = os.getenv('CMDLINE_FILE') or '/boot/cmdline.txt'
     cmdline_content = load_file(cmdline_file).replace('\n','').split(' ')
     unpatched_cmdline_content = cmdline_content.copy()
 
@@ -313,10 +348,10 @@ def update_dwc2() -> bool:
     return True
 
 def update_navigator_overlays() -> bool:
-    print("Running Nagivator overlays update..")
+    logging.info("Running Nagivator overlays update..")
 
     # Retrieve the config file
-    config_file = '/boot/config.txt'
+    config_file = os.getenv('CONFIG_FILE') or '/boot/config.txt'
     config_content = load_file(config_file).splitlines()
     unpatched_config_content = config_content.copy()
 
@@ -372,7 +407,7 @@ def create_dns_conf_host_link() -> bool:
 
     # Creates a static reoslv conf to allow docker binds
     if not create_hard_link(original_resolv_conf_file, resolv_conf_file_host_link):
-        print("Failed to apply patch")
+        logging.warning("Failed to apply patch")
         return False
 
     # Patch applied and system needs to be restarted for it to take effect
@@ -381,29 +416,29 @@ def create_dns_conf_host_link() -> bool:
 
 def ensure_nginx_permissions() -> bool:
     # ensure nginx can read the userdata directory
-    command = "sudo chown -R www-data:www-data /usr/blueos/userdata"
-    print(run_command(command, False))
+    command = "{SUDO} chown -R www-data:www-data /usr/blueos/userdata"
+    logging.info(run_command(command, False))
 
     # This patch doesn't require restart to take effect
     return False
 
 def ensure_user_data_structure_is_in_place() -> bool:
     # ensures we have all base folders in userdata
     commands = [
-        "sudo mkdir -p /usr/blueos/userdata/images/vehicle",
-        "sudo mkdir -p /usr/blueos/userdata/images/logo",
-        "sudo mkdir -p /usr/blueos/userdata/styles",
+        "{SUDO} mkdir -p /usr/blueos/userdata/images/vehicle",
+        "{SUDO} mkdir -p /usr/blueos/userdata/images/logo",
+        "{SUDO} mkdir -p /usr/blueos/userdata/styles",
     ]
     for command in commands:
-        print(run_command(command, False))
+        logging.info(run_command(command, False))
 
     # This patch doesn't require restart to take effect
     return False
 
 def run_command_is_working():
     output = run_command("uname -a", check=False)
     if output.returncode != 0:
-        print(output)
+        logging.info(output)
         return False
 
     return True
@@ -413,11 +448,11 @@ def main() -> int:
     current_git_version = os.getenv('GIT_DESCRIBE_TAGS')
     match = re.match(r'(?P<tag>.*)-(?P<commit_number>\d+)-(?P<commit_hash>[a-z0-9]+)', current_git_version)
     tag, commit_number, commit_hash = match['tag'], match['commit_number'], match['commit_hash']
-    print(f"Running BlueOS: {tag=}, {commit_number=}, {commit_hash=}")
+    logging.info(f"Running BlueOS: {tag=}, {commit_number=}, {commit_hash=}")
 
     if not run_command_is_working():
-        print("Critical error: Something is wrong with the host computer, run_command is not working.")
-        print("Ignoring host computer configuration for now.")
+        logging.info("Critical error: Something is wrong with the host computer, run_command is not working.")
+        logging.info("Ignoring host computer configuration for now.")
         return 0
 
     # TODO: parse tag as semver and check before applying patches
@@ -426,22 +461,30 @@ def main() -> int:
         update_cgroups,
         update_dwc2,
         update_navigator_overlays,
-        ensure_user_data_structure_is_in_place,
-        ensure_nginx_permissions,
-        create_dns_conf_host_link,
     ]
+    # only run the next paches on deployment environment
+    if not is_testing_environment:
+        patches_to_apply.extend([
+            create_dns_conf_host_link,
+            ensure_nginx_permissions,
+            ensure_user_data_structure_is_in_place,
+        ])
 
-    print("The following patches will be applied if needed:", [patch_to_apply.__name__ for patch_to_apply in patches_to_apply])
+    logging.info("The following patches will be applied if needed:")
+    logging.info([patch_to_apply.__name__ for patch_to_apply in patches_to_apply])
 
     patches_requiring_restart = [patch.__name__ for patch in patches_to_apply if patch()]
-    if patches_requiring_restart:
-        print("The system will restart in 10 seconds because the following applied patches required restart:", patches_requiring_restart)
-        time.sleep(10)
-        run_command('sudo reboot', False)
-        time.sleep(600) # we are already rebooting anyway. but we don't want the other services to come up
 
-    print(f"All patches applied successfully in { time.time() - start} seconds")
-    return 0
+    logging.info(f"All patches applied successfully in { time.time() - start} seconds")
+    if patches_requiring_restart:
+        logging.warning("The system will now restart in 10 seconds because the following applied patches required restart:")
+        logging.warning(patches_requiring_restart)
+        if not is_testing_environment:
+            time.sleep(10)
+            run_command('{SUDO} reboot', False)
+            time.sleep(600)
+    return len(patches_requiring_restart)
 
 if __name__ == "__main__":
-    main()
+    # will return with non-zero if any patch requires reboot
+    exit(main())

install/boards/bcm_27xx.sh

@@ -6,8 +6,8 @@ VERSION="${VERSION:-master}"
 GITHUB_REPOSITORY=${GITHUB_REPOSITORY:-bluerobotics/blueos-docker}
 REMOTE="${REMOTE:-https://raw.githubusercontent.com/${GITHUB_REPOSITORY}}"
 ROOT="$REMOTE/$VERSION"
-CMDLINE_FILE=/boot/cmdline.txt
-CONFIG_FILE=/boot/config.txt
+CMDLINE_FILE="${CMDLINE_FILE:-/boot/cmdline.txt}"
+CONFIG_FILE="${CONFIG_FILE:-/boot/config.txt}"
 alias curl="curl --retry 6 --max-time 15 --retry-all-errors"
 
 # Download, compile, and install spi0 mosi-only device tree overlay for
@@ -64,24 +64,45 @@ for STRING in \
     sed -i "$line_number r /dev/stdin" $CONFIG_FILE <<< "$STRING"
 done
 
-# Check for valid modules file to load kernel modules
-if [ -f "/etc/modules" ]; then
-    MODULES_FILE="/etc/modules"
-else
-    MODULES_FILE="/etc/modules-load.d/blueos.conf"
-    touch "$MODULES_FILE" || true # Create if it does not exist
-fi
+# Do not run these in CI
+if [ -z "$TESTING" ]; then
+    # Check for valid modules file to load kernel modules
+    if [ -f "/etc/modules" ]; then
+        MODULES_FILE="/etc/modules"
+    else
+        MODULES_FILE="/etc/modules-load.d/blueos.conf"
+        touch "$MODULES_FILE" || true # Create if it does not exist
+    fi
 
-echo "- Set up kernel modules."
-# Remove any configuration or commented part related to the i2c drive
-for STRING in "bcm2835-v4l2" "i2c-bcm2835" "i2c-dev"; do
-    sudo sed -i "/$STRING/d" "$MODULES_FILE"
-    echo "$STRING" | sudo tee -a "$MODULES_FILE"
-done
+    echo "- Set up kernel modules."
+    # Remove any configuration or commented part related to the i2c drive
+    for STRING in "bcm2835-v4l2" "i2c-bcm2835" "i2c-dev"; do
+        sed -i "/$STRING/d" "$MODULES_FILE"
+        echo "$STRING" | tee -a "$MODULES_FILE"
+    done
+
+    # Update raspberry pi firmware
+    # this is required to avoid 'i2c transfer timed out' kernel errors
+    # on older firmware versions
+    if grep -q ID=raspbian < /etc/os-release; then
+        RPI_FIRMWARE_VERSION=1340be4
+        if JUST_CHECK=1 rpi-update $RPI_FIRMWARE_VERSION | grep "Firmware update required"; then
+            echo "- Run rpi update."
+            SKIP_WARNING=1 rpi-update $RPI_FIRMWARE_VERSION
+        else
+            echo "- Firmware is up to date."
+        fi
+    fi
+
+    # Force update of bootloader and VL085 firmware on the first boot
+    echo "- Force update of VL085 and bootloader on first boot."
+    SYSTEMD_EEPROM_UPDATE_FILE="/lib/systemd/system/rpi-eeprom-update.service"
+    sed -i '/^ExecStart=\/usr\/bin\/rpi-eeprom-update -s -a$/c\ExecStart=/bin/bash -c "/usr/bin/rpi-eeprom-update -a -d | (grep \\\"reboot to apply\\\" && echo \\\"Rebooting..\\\" && reboot || exit 0)"' $SYSTEMD_EEPROM_UPDATE_FILE
+fi
 
 # Remove any console serial configuration
 echo "- Configure serial."
-sudo sed -e 's/console=serial[0-9],[0-9]*\ //' -i $CMDLINE_FILE
+sed -e 's/console=serial[0-9],[0-9]*\ //' -i $CMDLINE_FILE
 
 # Set cgroup, necessary for docker access to memory information
 echo "- Enable cgroup with memory and cpu"
@@ -95,21 +116,3 @@ grep -q dwc2 $CMDLINE_FILE || (
     # Append cgroups on the first line
     sed -i '1 s/$/ modules-load=dwc2,g_ether/' $CMDLINE_FILE
 )
-
-# Update raspberry pi firmware
-# this is required to avoid 'i2c transfer timed out' kernel errors
-# on older firmware versions
-if grep -q ID=raspbian < /etc/os-release; then
-    RPI_FIRMWARE_VERSION=1340be4
-    if sudo JUST_CHECK=1 rpi-update $RPI_FIRMWARE_VERSION | grep "Firmware update required"; then
-        echo "- Run rpi update."
-        sudo SKIP_WARNING=1 rpi-update $RPI_FIRMWARE_VERSION
-    else
-        echo "- Firmware is up to date."
-    fi
-fi
-
-# Force update of bootloader and VL085 firmware on the first boot
-echo "- Force update of VL085 and bootloader on first boot."
-SYSTEMD_EEPROM_UPDATE_FILE="/lib/systemd/system/rpi-eeprom-update.service"
-sudo sed -i '/^ExecStart=\/usr\/bin\/rpi-eeprom-update -s -a$/c\ExecStart=/bin/bash -c "/usr/bin/rpi-eeprom-update -a -d | (grep \\\"reboot to apply\\\" && echo \\\"Rebooting..\\\" && reboot || exit 0)"' $SYSTEMD_EEPROM_UPDATE_FILE

install/test.sh

@@ -0,0 +1,30 @@
+#!/bin/sh
+
+export TESTING=true
+export CONFIG_FILE=tests/bullseye/config.txt
+export CMDLINE_FILE=tests/bullseye/cmdline.txt
+export GIT_DESCRIBE_TAGS=1.2.0-79-gf5280f32
+
+
+reset_files() {
+  git checkout $CONFIG_FILE
+  git checkout $CMDLINE_FILE
+}
+
+
+reset_files
+# this is expected to return a non-zero exit code and change both files
+if python ../core/tools/blueos_startup_update/blueos_startup_update; then
+  echo "Error: blueos_startup_update was expected to return a non-zero exit code."
+  exit 1
+fi
+
+reset_files
+
+# this is expected to return a zero exit code and change both files
+./boards/bcm_27xx.sh
+
+# this is expected to return a zero exit code and NOT change any files
+GIT_DESCRIBE_TAGS=1.2.0-79-gf5280f32 python ../core/tools/blueos_startup_update/blueos_startup_update
+
+reset_files