various: run usercode as unpriviliged user

Cargo.toml

@@ -25,7 +25,8 @@ clap = { version = "4.6.1", features = ["derive"] }
 fs_extra = "1.3.0"
 futures = "0.3.32"
 futures-util = "0.3.32"
-hopper = { git = "https://github.com/systemetric/hopper", rev = "v0.1.3", version = "0.1.3" }
+hopper = { git = "https://github.com/systemetric/hopper", rev = "v0.1.5", version = "0.1.5" }
+nix = { version = "0.31.3", features=["fs", "user"] }
 rumqttc = { version = "0.25.1", default-features = false }
 serde = { version = "1.0.228", features = ["derive"] }
 serde_json = "1.0.149"
@@ -39,4 +40,5 @@ tower-http = { version = "0.6.8", features = ["fs", "trace"] }
 tower-service = "0.3.3"
 tracing = "0.1.44"
 tracing-subscriber = "0.3.23"
+walkdir = "2.5.0"
 zip = "8.5.1"

crates/shepherd-app/src/patch.rs

@@ -6,10 +6,10 @@ use axum::{
     http::StatusCode,
     routing::post,
 };
-use shepherd_common::config::Config;
+use shepherd_common::{Mode, Zone, config::Config};
 use shepherd_mqtt::{
     MqttAsyncClient,
-    messages::{PatchStatus, PatchStatusMessage},
+    messages::{ControlMessage, ControlMessageType},
 };
 use tracing::info;
 use zip::ZipArchive;
@@ -20,7 +20,7 @@ use crate::error::{ShepherdError, ShepherdResult};
 struct PatchState {
     patch_dir: PathBuf,
     mqttc: MqttAsyncClient,
-    patch_status: String,
+    robot_control: String,
 }
 
 async fn process_zip(state: PatchState, mut field: Field<'_>) -> ShepherdResult<()> {
@@ -55,11 +55,13 @@ async fn process_zip(state: PatchState, mut field: Field<'_>) -> ShepherdResult<
     state
         .mqttc
         .publish(
-            &state.patch_status,
-            PatchStatusMessage {
-                status: PatchStatus::Apply,
+            &state.robot_control,
+            ControlMessage {
+                _type: ControlMessageType::Patch,
+                mode: Mode::Dev,
+                zone: Zone::Red,
             },
-            true,
+            false,
         )
         .await
         .map_err(|e| ShepherdError(StatusCode::INTERNAL_SERVER_ERROR, e.to_string()))?;
@@ -68,18 +70,6 @@ async fn process_zip(state: PatchState, mut field: Field<'_>) -> ShepherdResult<
 }
 
 async fn upload(State(state): State<PatchState>, mut multipart: Multipart) -> ShepherdResult<()> {
-    state
-        .mqttc
-        .publish(
-            &state.patch_status,
-            PatchStatusMessage {
-                status: PatchStatus::Receive,
-            },
-            true,
-        )
-        .await
-        .map_err(|e| ShepherdError(StatusCode::INTERNAL_SERVER_ERROR, e.to_string()))?;
-
     while let Some(field) = multipart
         .next_field()
         .await
@@ -110,6 +100,6 @@ pub fn router(config: &Config, mqttc: MqttAsyncClient) -> Router {
         .with_state(PatchState {
             patch_dir: config.app.patch_dir.clone(),
             mqttc,
-            patch_status: config.channel.patch_status.clone(),
+            robot_control: config.channel.robot_control.clone(),
         })
 }

crates/shepherd-common/src/config.rs

@@ -24,6 +24,10 @@ pub struct Config {
     pub channel: ChannelConfig,
     #[serde(default)]
     pub path: PathConfig,
+    #[serde(default)]
+    pub patch: PatchConfig,
+    #[serde(default)]
+    pub hopper: HopperConfig,
 }
 
 #[derive(Debug, Serialize, Deserialize, Clone)]
@@ -250,8 +254,6 @@ pub struct ChannelConfig {
     pub user_state: String,
     #[serde(default = "default_status")]
     pub status: String,
-    #[serde(default = "default_patch_status")]
-    pub patch_status: String,
 }
 
 fn default_channel_robot_control() -> String {
@@ -269,9 +271,6 @@ fn default_user_status() -> String {
 fn default_status() -> String {
     "status".to_string()
 }
-fn default_patch_status() -> String {
-    "patch/status".to_string()
-}
 
 impl Default for ChannelConfig {
     fn default() -> Self {
@@ -281,7 +280,6 @@ impl Default for ChannelConfig {
             camera: default_channel_camera(),
             user_state: default_user_status(),
             status: default_status(),
-            patch_status: default_patch_status(),
         }
     }
 }
@@ -340,6 +338,54 @@ impl Default for PathConfig {
     }
 }
 
+#[derive(Debug, Serialize, Deserialize, Clone)]
+pub struct PatchConfig {
+    #[serde(default = "default_patch_uid")]
+    pub uid: u32,
+    #[serde(default = "default_patch_gid")]
+    pub gid: u32,
+    #[serde(default = "default_patch_working_dir")]
+    pub working_dir: PathBuf,
+}
+
+fn default_patch_uid() -> u32 {
+    0u32
+}
+fn default_patch_gid() -> u32 {
+    0u32
+}
+fn default_patch_working_dir() -> PathBuf {
+    PathBuf::from("/")
+}
+
+impl Default for PatchConfig {
+    fn default() -> Self {
+        Self {
+            uid: default_patch_uid(),
+            gid: default_patch_gid(),
+            working_dir: default_patch_working_dir(),
+        }
+    }
+}
+
+#[derive(Debug, Serialize, Deserialize, Clone)]
+pub struct HopperConfig {
+    #[serde(default = "default_hopper_gid")]
+    pub gid: Option<u32>,
+}
+
+fn default_hopper_gid() -> Option<u32> {
+    None
+}
+
+impl Default for HopperConfig {
+    fn default() -> Self {
+        Self {
+            gid: default_hopper_gid(),
+        }
+    }
+}
+
 impl Config {
     pub fn from_file(path: Option<&Path>) -> Result<Self> {
         let path = path.unwrap_or(Path::new(DEFAULT_CONFIG_PATH));
@@ -375,7 +421,6 @@ impl Config {
         }
 
         _create_dir(&self.path.root);
-        _create_dir(&self.path.hopper);
         _create_dir(&self.path.user_cur_dir);
 
         _create_dir(&self.app.static_dir);

crates/shepherd-mqtt/src/messages.rs

@@ -9,6 +9,7 @@ pub enum ControlMessageType {
     Start,
     Stop,
     Reset,
+    Patch,
 }
 
 #[derive(Debug, Serialize, Deserialize)]
@@ -41,16 +42,3 @@ pub struct StatusMessage {
 pub struct StatusSummary {
     pub statuses: Vec<StatusMessage>,
 }
-
-#[derive(Clone, Debug, Serialize, Deserialize)]
-#[serde(rename_all = "lowercase")]
-pub enum PatchStatus {
-    Receive,
-    Apply,
-    Failed,
-}
-
-#[derive(Clone, Debug, Serialize, Deserialize)]
-pub struct PatchStatusMessage {
-    pub status: PatchStatus,
-}

crates/shepherd-run/Cargo.toml

@@ -9,10 +9,12 @@ license.workspace = true
 anyhow.workspace = true
 base64.workspace = true
 hopper.workspace = true
+nix.workspace = true
 serde.workspace = true
 serde_json.workspace = true
 shepherd-common = { path = "../shepherd-common" }
 shepherd-mqtt = { path = "../shepherd-mqtt" }
 tokio.workspace = true
 tokio-gpiod.workspace = true
 tracing.workspace = true
+walkdir.workspace = true

crates/shepherd-run/src/runner.rs

@@ -21,6 +21,7 @@ use crate::usercode::{Usercode, UsercodeHandle};
 pub enum StateEvent {
     Transition(RunState, Option<RunState>),
     SetTarget(Mode, Zone),
+    SpawnPatch,
 }
 
 pub struct Runner {
@@ -209,6 +210,24 @@ impl Runner {
 
                     info!("update (mode, zone) to ({:?}, {:?})", mode, zone);
                 }
+                StateEvent::SpawnPatch => {
+                    if self.state != RunState::PostRun {
+                        warn!(
+                            "cannot spawn patch, requires {:?}, got {:?}",
+                            RunState::PostRun,
+                            self.state
+                        );
+                        continue;
+                    }
+
+                    if let Some(uh) = &self.usercode_handle {
+                        uh.start_patch()?;
+                    } else {
+                        return Err(anyhow!(
+                            "tried to start patch, but usercode handle was not set?"
+                        ));
+                    }
+                }
             }
         }
 
@@ -232,6 +251,11 @@ impl Runner {
             ControlMessageType::Reset => {
                 sender.send(StateEvent::Transition(RunState::Ready, None))?
             }
+            ControlMessageType::Patch => {
+                // patch should overrides user code
+                sender.send(StateEvent::Transition(RunState::PostRun, None))?;
+                sender.send(StateEvent::SpawnPatch)?;
+            }
         }
         Ok(())
     }
@@ -284,6 +308,7 @@ impl Runner {
             &self.config.run.service_id,
             &self.config.channel.camera,
             Some(&self.config.path.hopper),
+            self.config.hopper.gid,
         )?;
         image_pipe.open()?;
         self.image_pipe = Some(Arc::new(image_pipe));