sunnypilot v2026.002.000
version: sunnypilot v2026.002.000 (staging) date: 2026-07-21T07:44:02 master commit: 2c334ede443d7391d27575af8c854a095ba702a8
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@@ -0,0 +1,16 @@
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import os
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from typing import cast
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from openpilot.common.hardware.base import HardwareBase
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from openpilot.common.hardware.tici.hardware import Tici
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from openpilot.common.hardware.pc.hardware import Pc
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TICI = os.path.isfile('/TICI')
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AGNOS = os.path.isfile('/AGNOS')
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PC = not TICI
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if TICI:
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HARDWARE = cast(HardwareBase, Tici())
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else:
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HARDWARE = cast(HardwareBase, Pc())
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@@ -0,0 +1,25 @@
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#pragma once
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#include <cstdlib>
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#include <fstream>
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#include <map>
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#include <string>
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#include "openpilot/cereal/gen/cpp/log.capnp.h"
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// no-op base hw class
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class HardwareNone {
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public:
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static std::string get_name() { return ""; }
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static cereal::InitData::DeviceType get_device_type() { return cereal::InitData::DeviceType::UNKNOWN; }
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static std::string get_serial() { return "cccccc"; }
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static std::map<std::string, std::string> get_init_logs() {
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return {};
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}
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static void set_ir_power(int percentage) {}
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static bool PC() { return false; }
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};
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@@ -0,0 +1,161 @@
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import os
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from abc import abstractmethod, ABC
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from dataclasses import dataclass, fields
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from openpilot.cereal import log
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from openpilot.common.esim.base import LPABase
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NetworkType = log.DeviceState.NetworkType
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NetworkStrength = log.DeviceState.NetworkStrength
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@dataclass
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class ThermalZone:
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# a zone from /sys/class/thermal/thermal_zone*
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name: str # a.k.a type
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scale: float = 1000. # scale to get degrees in C
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zone_number = -1
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def read(self) -> float:
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if self.zone_number < 0:
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for n in os.listdir("/sys/devices/virtual/thermal"):
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if not n.startswith("thermal_zone"):
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continue
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with open(os.path.join("/sys/devices/virtual/thermal", n, "type")) as f:
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if f.read().strip() == self.name:
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self.zone_number = int(n.removeprefix("thermal_zone"))
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break
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try:
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with open(f"/sys/devices/virtual/thermal/thermal_zone{self.zone_number}/temp") as f:
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return int(f.read()) / self.scale
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except FileNotFoundError:
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return 0
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@dataclass
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class ThermalConfig:
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cpu: list[ThermalZone] | None = None
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gpu: list[ThermalZone] | None = None
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dsp: ThermalZone | None = None
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pmic: list[ThermalZone] | None = None
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memory: ThermalZone | None = None
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intake: ThermalZone | None = None
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exhaust: ThermalZone | None = None
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gnss: ThermalZone | None = None
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bottomSoc: ThermalZone | None = None
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def get_msg(self):
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ret = {}
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for f in fields(ThermalConfig):
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v = getattr(self, f.name)
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if v is not None:
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if isinstance(v, list):
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ret[f.name + "TempC"] = [x.read() for x in v]
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else:
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ret[f.name + "TempC"] = v.read()
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return ret
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class HardwareBase(ABC):
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@staticmethod
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def get_cmdline() -> dict[str, str]:
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with open('/proc/cmdline') as f:
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cmdline = f.read()
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return {kv[0]: kv[1] for kv in [s.split('=') for s in cmdline.split(' ')] if len(kv) == 2}
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@staticmethod
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def read_param_file(path, parser, default=0):
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try:
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with open(path) as f:
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return parser(f.read())
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except Exception:
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return default
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def booted(self) -> bool:
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return True
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def reboot(self, reason=None):
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print("REBOOT!")
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def uninstall(self):
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print("uninstall")
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def get_os_version(self):
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return None
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@abstractmethod
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def get_device_type(self):
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pass
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def get_imei(self) -> str:
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return ""
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def get_serial(self):
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return ""
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def get_network_info(self):
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return None
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def get_network_type(self):
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return NetworkType.none
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def get_sim_info(self):
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return {
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'sim_id': '',
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'mcc_mnc': None,
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'network_type': ["Unknown"],
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'sim_state': ["ABSENT"],
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'data_connected': False
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}
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def get_sim_lpa(self) -> LPABase:
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raise NotImplementedError("SIM LPA not available")
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def get_network_strength(self, network_type):
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return NetworkStrength.unknown
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def get_network_metered(self, network_type) -> bool:
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return network_type not in (NetworkType.none, NetworkType.wifi, NetworkType.ethernet)
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def get_current_power_draw(self):
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return 0
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def get_som_power_draw(self):
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return 0
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def shutdown(self):
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print("SHUTDOWN!")
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def get_thermal_config(self):
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return ThermalConfig()
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def set_display_power(self, on: bool):
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pass
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def set_screen_brightness(self, percentage):
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pass
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def get_screen_brightness(self):
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return 0
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def set_power_save(self, powersave_enabled):
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pass
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def get_gpu_usage_percent(self):
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return 0
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def get_modem_temperatures(self):
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return []
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def initialize_hardware(self):
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pass
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def reset_internal_panda(self):
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pass
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def recover_internal_panda(self):
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pass
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def get_modem_data_usage(self):
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return -1, -1
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def set_ir_power(self, percent: int):
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pass
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@@ -0,0 +1,62 @@
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#pragma once
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#include <string>
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#include "common/hardware/base.h"
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#include "common/util.h"
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#if __TICI__
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#include "common/hardware/tici/hardware.h"
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#define Hardware HardwareTici
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#else
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#include "common/hardware/pc/hardware.h"
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#define Hardware HardwarePC
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#endif
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namespace Path {
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inline std::string openpilot_prefix() {
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return util::getenv("OPENPILOT_PREFIX", "");
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}
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inline std::string comma_home() {
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return util::getenv("HOME") + "/.comma" + Path::openpilot_prefix();
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}
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inline std::string log_root() {
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if (const char *env = getenv("LOG_ROOT")) {
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return env;
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}
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return Hardware::PC() ? Path::comma_home() + "/media/0/realdata" : "/data/media/0/realdata";
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}
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inline std::string params() {
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return util::getenv("PARAMS_ROOT", Hardware::PC() ? (Path::comma_home() + "/params") : "/data/params");
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}
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inline std::string rsa_file() {
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return Hardware::PC() ? Path::comma_home() + "/persist/comma/id_rsa" : "/persist/comma/id_rsa";
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}
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inline std::string swaglog_ipc() {
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return "ipc:///tmp/logmessage" + Path::openpilot_prefix();
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}
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inline std::string download_cache_root() {
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if (const char *env = getenv("COMMA_CACHE")) {
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return env;
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}
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return "/tmp/comma_download_cache" + Path::openpilot_prefix() + "/";
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}
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inline std::string shm_path() {
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#ifdef __APPLE__
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return"/tmp";
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#else
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return "/dev/shm";
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#endif
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}
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inline std::string model_root() {
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return Hardware::PC() ? Path::comma_home() + "/media/0/models" : "/data/media/0/models";
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}
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} // namespace Path
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@@ -0,0 +1,97 @@
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import os
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import platform
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from pathlib import Path
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from openpilot.common.hardware import PC
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DEFAULT_DOWNLOAD_CACHE_ROOT = "/tmp/comma_download_cache"
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class Paths:
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@staticmethod
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def comma_home() -> str:
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return os.path.join(str(Path.home()), ".comma" + os.environ.get("OPENPILOT_PREFIX", ""))
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@staticmethod
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def log_root() -> str:
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if os.environ.get('LOG_ROOT', False):
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return os.environ['LOG_ROOT']
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elif PC:
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return str(Path(Paths.comma_home()) / "media" / "0" / "realdata")
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else:
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return '/data/media/0/realdata/'
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@staticmethod
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def log_root_external() -> str:
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return '/mnt/external_realdata/'
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@staticmethod
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def swaglog_root() -> str:
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if PC:
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return os.path.join(Paths.comma_home(), "log")
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else:
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return "/data/log/"
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@staticmethod
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def swaglog_ipc() -> str:
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return "ipc:///tmp/logmessage" + os.environ.get("OPENPILOT_PREFIX", "")
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@staticmethod
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def download_cache_root() -> str:
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if os.environ.get('COMMA_CACHE', False):
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return os.environ['COMMA_CACHE'] + "/"
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return DEFAULT_DOWNLOAD_CACHE_ROOT + os.environ.get("OPENPILOT_PREFIX", "") + "/"
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@staticmethod
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def persist_root() -> str:
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if PC:
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return os.path.join(Paths.comma_home(), "persist")
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else:
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return "/persist/"
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@staticmethod
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def stats_root() -> str:
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if PC:
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return str(Path(Paths.comma_home()) / "stats")
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else:
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return "/data/stats/"
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@staticmethod
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def stats_sp_root() -> str:
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if PC:
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return str(Path(Paths.comma_home()) / "stats")
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else:
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return "/data/stats_sp/"
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@staticmethod
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def config_root() -> str:
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if PC:
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return Paths.comma_home()
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else:
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return "/tmp/.comma"
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@staticmethod
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def shm_path() -> str:
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if PC and platform.system() == "Darwin":
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return "/tmp" # This is not really shared memory on macOS, but it's the closest we can get
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return "/dev/shm"
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@staticmethod
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def model_root() -> str:
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if PC:
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return str(Path(Paths.comma_home()) / "media" / "0" / "models")
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else:
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return "/data/media/0/models"
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@staticmethod
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def crash_log_root() -> str:
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if PC:
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return str(Path(Paths.comma_home()) / "community" / "crashes")
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else:
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return "/data/community/crashes"
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@staticmethod
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def mapd_root() -> str:
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if PC:
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||||
return str(Path(Paths.comma_home()) / "media" / "0" / "osm")
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||||
else:
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return "/data/media/0/osm"
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Whitespace-only changes.
@@ -0,0 +1,12 @@
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#pragma once
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||||
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||||
#include <string>
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||||
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||||
#include "common/hardware/base.h"
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||||
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class HardwarePC : public HardwareNone {
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||||
public:
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||||
static std::string get_name() { return "pc"; }
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||||
static cereal::InitData::DeviceType get_device_type() { return cereal::InitData::DeviceType::PC; }
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||||
static bool PC() { return true; }
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||||
};
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@@ -0,0 +1,10 @@
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||||
from openpilot.cereal import log
|
||||
from openpilot.common.hardware.base import HardwareBase
|
||||
|
||||
class Pc(HardwareBase):
|
||||
def get_device_type(self):
|
||||
return "pc"
|
||||
|
||||
def get_network_type(self):
|
||||
# some stuff is gated on wifi, so just assume for now
|
||||
return log.DeviceState.NetworkType.wifi
|
||||
@@ -0,0 +1 @@
|
||||
|
||||
@@ -0,0 +1,84 @@
|
||||
[
|
||||
{
|
||||
"name": "xbl",
|
||||
"url": "https://commadist.azureedge.net/agnosupdate/xbl-e8acf2a9cc7f0ce84cb803bfea9477f765c0d7b4daf26048e59651b9e6a7bfbb.img.xz",
|
||||
"hash": "e8acf2a9cc7f0ce84cb803bfea9477f765c0d7b4daf26048e59651b9e6a7bfbb",
|
||||
"hash_raw": "e8acf2a9cc7f0ce84cb803bfea9477f765c0d7b4daf26048e59651b9e6a7bfbb",
|
||||
"size": 3282256,
|
||||
"sparse": false,
|
||||
"full_check": true,
|
||||
"has_ab": true,
|
||||
"ondevice_hash": "bea7f1a24428c3ededf672fa4fc78baf180cfbd8aafb77c974655b38517283e3"
|
||||
},
|
||||
{
|
||||
"name": "xbl_config",
|
||||
"url": "https://commadist.azureedge.net/agnosupdate/xbl_config-758552ecf92b5569677197783bf0ccb73d7f961685308e45d3276ac9dd974f85.img.xz",
|
||||
"hash": "758552ecf92b5569677197783bf0ccb73d7f961685308e45d3276ac9dd974f85",
|
||||
"hash_raw": "758552ecf92b5569677197783bf0ccb73d7f961685308e45d3276ac9dd974f85",
|
||||
"size": 98124,
|
||||
"sparse": false,
|
||||
"full_check": true,
|
||||
"has_ab": true,
|
||||
"ondevice_hash": "fb18cde08a98a168961ecd357e92474823046752b94e112f59fe51a6acd7197d"
|
||||
},
|
||||
{
|
||||
"name": "abl",
|
||||
"url": "https://commadist.azureedge.net/agnosupdate/abl-b6fba807b9bcd66a31f2afb0eba5163ec239693ad32e2e4200f6c356adfe098c.img.xz",
|
||||
"hash": "b6fba807b9bcd66a31f2afb0eba5163ec239693ad32e2e4200f6c356adfe098c",
|
||||
"hash_raw": "b6fba807b9bcd66a31f2afb0eba5163ec239693ad32e2e4200f6c356adfe098c",
|
||||
"size": 274432,
|
||||
"sparse": false,
|
||||
"full_check": true,
|
||||
"has_ab": true,
|
||||
"ondevice_hash": "b6fba807b9bcd66a31f2afb0eba5163ec239693ad32e2e4200f6c356adfe098c"
|
||||
},
|
||||
{
|
||||
"name": "aop",
|
||||
"url": "https://commadist.azureedge.net/agnosupdate/aop-78b2287ca219a0811b3004c523fa0f4749e4d1fd92be3aba61699305b7943ad1.img.xz",
|
||||
"hash": "78b2287ca219a0811b3004c523fa0f4749e4d1fd92be3aba61699305b7943ad1",
|
||||
"hash_raw": "78b2287ca219a0811b3004c523fa0f4749e4d1fd92be3aba61699305b7943ad1",
|
||||
"size": 184364,
|
||||
"sparse": false,
|
||||
"full_check": true,
|
||||
"has_ab": true,
|
||||
"ondevice_hash": "6c9135446bd3fc075fcee59b887a12e49029ab1f98ed8d6d1e32c73569d47de3"
|
||||
},
|
||||
{
|
||||
"name": "devcfg",
|
||||
"url": "https://commadist.azureedge.net/agnosupdate/devcfg-f71df3a86958c093ba3969254c4db025187eef9385427f1ade946742939b43cc.img.xz",
|
||||
"hash": "f71df3a86958c093ba3969254c4db025187eef9385427f1ade946742939b43cc",
|
||||
"hash_raw": "f71df3a86958c093ba3969254c4db025187eef9385427f1ade946742939b43cc",
|
||||
"size": 40336,
|
||||
"sparse": false,
|
||||
"full_check": true,
|
||||
"has_ab": true,
|
||||
"ondevice_hash": "2a67971602012c1b43544964709da13c322786b456a8e78568b117e8b1540ce3"
|
||||
},
|
||||
{
|
||||
"name": "boot",
|
||||
"url": "https://commadist.azureedge.net/agnosupdate/boot-8806802b195a5b1396a3ae8dd92a8b7711dc522f6aceafd820e871bae5c8a6d8.img.xz",
|
||||
"hash": "8806802b195a5b1396a3ae8dd92a8b7711dc522f6aceafd820e871bae5c8a6d8",
|
||||
"hash_raw": "8806802b195a5b1396a3ae8dd92a8b7711dc522f6aceafd820e871bae5c8a6d8",
|
||||
"size": 17487872,
|
||||
"sparse": false,
|
||||
"full_check": true,
|
||||
"has_ab": true,
|
||||
"ondevice_hash": "edca8bee1531e66953d107eeceeed2dc7b3ca46417e49d55508f94e58bf95db8"
|
||||
},
|
||||
{
|
||||
"name": "system",
|
||||
"url": "https://commadist.azureedge.net/agnosupdate/system-ef0d879302cb29e72110e9c8d3f947c830fd7d37c8192744fc9dbea1af78501f.img.xz",
|
||||
"hash": "78acfe16a7b62a3a91fc7a81f40a693e4468cec1c69df7d0b1e550aacc646113",
|
||||
"hash_raw": "ef0d879302cb29e72110e9c8d3f947c830fd7d37c8192744fc9dbea1af78501f",
|
||||
"size": 4718592000,
|
||||
"sparse": true,
|
||||
"full_check": false,
|
||||
"has_ab": true,
|
||||
"ondevice_hash": "743142c5a898f27b2a1029cca42c8a5d5d1fc0096414422b850fe84c8d0b8342",
|
||||
"alt": {
|
||||
"hash": "ef0d879302cb29e72110e9c8d3f947c830fd7d37c8192744fc9dbea1af78501f",
|
||||
"url": "https://commadist.azureedge.net/agnosupdate/system-ef0d879302cb29e72110e9c8d3f947c830fd7d37c8192744fc9dbea1af78501f.img",
|
||||
"size": 4718592000
|
||||
}
|
||||
}
|
||||
]
|
||||
Executable
+287
@@ -0,0 +1,287 @@
|
||||
#!/usr/bin/env python3
|
||||
import hashlib
|
||||
import json
|
||||
import lzma
|
||||
import os
|
||||
import struct
|
||||
import subprocess
|
||||
import time
|
||||
from collections.abc import Generator
|
||||
|
||||
import requests
|
||||
|
||||
SPARSE_CHUNK_FMT = struct.Struct('H2xI4x')
|
||||
|
||||
AGNOS_MANIFEST_FILE = "openpilot/system/hardware/tici/agnos.json"
|
||||
|
||||
|
||||
class StreamingDecompressor:
|
||||
def __init__(self, url: str) -> None:
|
||||
self.buf = b""
|
||||
|
||||
self.req = requests.get(url, stream=True, headers={'Accept-Encoding': None}, timeout=60)
|
||||
self.it = self.req.iter_content(chunk_size=1024 * 1024)
|
||||
self.decompressor = lzma.LZMADecompressor(format=lzma.FORMAT_AUTO)
|
||||
self.eof = False
|
||||
self.sha256 = hashlib.sha256()
|
||||
|
||||
def read(self, length: int) -> bytes:
|
||||
while len(self.buf) < length and not self.eof:
|
||||
if self.decompressor.needs_input:
|
||||
self.req.raise_for_status()
|
||||
|
||||
try:
|
||||
compressed = next(self.it)
|
||||
except StopIteration:
|
||||
self.eof = True
|
||||
break
|
||||
else:
|
||||
compressed = b''
|
||||
|
||||
self.buf += self.decompressor.decompress(compressed, max_length=length)
|
||||
|
||||
if self.decompressor.eof:
|
||||
self.eof = True
|
||||
break
|
||||
|
||||
result = self.buf[:length]
|
||||
self.buf = self.buf[length:]
|
||||
|
||||
self.sha256.update(result)
|
||||
return result
|
||||
|
||||
|
||||
def unsparsify(f: StreamingDecompressor) -> Generator[bytes, None, None]:
|
||||
# https://source.android.com/devices/bootloader/images#sparse-format
|
||||
magic = struct.unpack("I", f.read(4))[0]
|
||||
assert(magic == 0xed26ff3a)
|
||||
|
||||
# Version
|
||||
major = struct.unpack("H", f.read(2))[0]
|
||||
minor = struct.unpack("H", f.read(2))[0]
|
||||
assert(major == 1 and minor == 0)
|
||||
|
||||
f.read(2) # file header size
|
||||
f.read(2) # chunk header size
|
||||
|
||||
block_sz = struct.unpack("I", f.read(4))[0]
|
||||
f.read(4) # total blocks
|
||||
num_chunks = struct.unpack("I", f.read(4))[0]
|
||||
f.read(4) # crc checksum
|
||||
|
||||
for _ in range(num_chunks):
|
||||
chunk_type, out_blocks = SPARSE_CHUNK_FMT.unpack(f.read(12))
|
||||
|
||||
if chunk_type == 0xcac1: # Raw
|
||||
# TODO: yield in smaller chunks. Yielding only block_sz is too slow. Largest observed data chunk is 252 MB.
|
||||
yield f.read(out_blocks * block_sz)
|
||||
elif chunk_type == 0xcac2: # Fill
|
||||
filler = f.read(4) * (block_sz // 4)
|
||||
for _ in range(out_blocks):
|
||||
yield filler
|
||||
elif chunk_type == 0xcac3: # Don't care
|
||||
yield b""
|
||||
else:
|
||||
raise Exception("Unhandled sparse chunk type")
|
||||
|
||||
|
||||
# noop wrapper with same API as unsparsify() for non sparse images
|
||||
def noop(f: StreamingDecompressor) -> Generator[bytes, None, None]:
|
||||
while len(chunk := f.read(1024 * 1024)) > 0:
|
||||
yield chunk
|
||||
|
||||
|
||||
def get_target_slot_number() -> int:
|
||||
current_slot = subprocess.check_output(["abctl", "--boot_slot"], encoding='utf-8').strip()
|
||||
return 1 if current_slot == "_a" else 0
|
||||
|
||||
|
||||
def slot_number_to_suffix(slot_number: int) -> str:
|
||||
assert slot_number in (0, 1)
|
||||
return '_a' if slot_number == 0 else '_b'
|
||||
|
||||
|
||||
def get_partition_path(target_slot_number: int, partition: dict) -> str:
|
||||
path = f"/dev/disk/by-partlabel/{partition['name']}"
|
||||
|
||||
if partition.get('has_ab', True):
|
||||
path += slot_number_to_suffix(target_slot_number)
|
||||
|
||||
return path
|
||||
|
||||
|
||||
def get_raw_hash(path: str, partition_size: int) -> str:
|
||||
raw_hash = hashlib.sha256()
|
||||
pos, chunk_size = 0, 1024 * 1024
|
||||
|
||||
with open(path, 'rb+') as out:
|
||||
while pos < partition_size:
|
||||
n = min(chunk_size, partition_size - pos)
|
||||
raw_hash.update(out.read(n))
|
||||
pos += n
|
||||
|
||||
return raw_hash.hexdigest().lower()
|
||||
|
||||
|
||||
def verify_partition(target_slot_number: int, partition: dict[str, str | int], force_full_check: bool = False) -> bool:
|
||||
full_check = partition['full_check'] or force_full_check
|
||||
path = get_partition_path(target_slot_number, partition)
|
||||
|
||||
if not isinstance(partition['size'], int):
|
||||
return False
|
||||
|
||||
partition_size: int = partition['size']
|
||||
|
||||
if not isinstance(partition['hash_raw'], str):
|
||||
return False
|
||||
|
||||
partition_hash: str = partition['hash_raw']
|
||||
|
||||
if full_check:
|
||||
return get_raw_hash(path, partition_size) == partition_hash.lower()
|
||||
else:
|
||||
with open(path, 'rb+') as out:
|
||||
out.seek(partition_size)
|
||||
return out.read(64) == partition_hash.lower().encode()
|
||||
|
||||
|
||||
def clear_partition_hash(target_slot_number: int, partition: dict) -> None:
|
||||
path = get_partition_path(target_slot_number, partition)
|
||||
with open(path, 'wb+') as out:
|
||||
partition_size = partition['size']
|
||||
|
||||
out.seek(partition_size)
|
||||
out.write(b"\x00" * 64)
|
||||
os.sync()
|
||||
|
||||
|
||||
def extract_compressed_image(target_slot_number: int, partition: dict, cloudlog):
|
||||
path = get_partition_path(target_slot_number, partition)
|
||||
downloader = StreamingDecompressor(partition['url'])
|
||||
|
||||
with open(path, 'wb+') as out:
|
||||
# Flash partition
|
||||
last_p = 0
|
||||
raw_hash = hashlib.sha256()
|
||||
f = unsparsify if partition['sparse'] else noop
|
||||
for chunk in f(downloader):
|
||||
raw_hash.update(chunk)
|
||||
out.write(chunk)
|
||||
p = int(out.tell() / partition['size'] * 100)
|
||||
if p != last_p:
|
||||
last_p = p
|
||||
print(f"Installing {partition['name']}: {p}", flush=True)
|
||||
|
||||
if raw_hash.hexdigest().lower() != partition['hash_raw'].lower():
|
||||
raise Exception(f"Raw hash mismatch '{raw_hash.hexdigest().lower()}'")
|
||||
|
||||
if downloader.sha256.hexdigest().lower() != partition['hash'].lower():
|
||||
raise Exception("Uncompressed hash mismatch")
|
||||
|
||||
if out.tell() != partition['size']:
|
||||
raise Exception("Uncompressed size mismatch")
|
||||
|
||||
os.sync()
|
||||
|
||||
|
||||
def flash_partition(target_slot_number: int, partition: dict, cloudlog, standalone=False):
|
||||
cloudlog.info(f"Downloading and writing {partition['name']}")
|
||||
|
||||
if verify_partition(target_slot_number, partition):
|
||||
cloudlog.info(f"Already flashed {partition['name']}")
|
||||
return
|
||||
|
||||
# Clear hash before flashing in case we get interrupted
|
||||
full_check = partition['full_check']
|
||||
if not full_check:
|
||||
clear_partition_hash(target_slot_number, partition)
|
||||
|
||||
path = get_partition_path(target_slot_number, partition)
|
||||
|
||||
extract_compressed_image(target_slot_number, partition, cloudlog)
|
||||
|
||||
# Write hash after successful flash
|
||||
if not full_check:
|
||||
with open(path, 'wb+') as out:
|
||||
out.seek(partition['size'])
|
||||
out.write(partition['hash_raw'].lower().encode())
|
||||
|
||||
|
||||
def swap(manifest_path: str, target_slot_number: int, cloudlog) -> None:
|
||||
update = json.load(open(manifest_path))
|
||||
for partition in update:
|
||||
if not partition.get('full_check', False):
|
||||
clear_partition_hash(target_slot_number, partition)
|
||||
|
||||
while True:
|
||||
out = subprocess.check_output(f"abctl --set_active {target_slot_number}", shell=True, stderr=subprocess.STDOUT, encoding='utf8')
|
||||
if ("No such file or directory" not in out) and ("lun as boot lun" in out):
|
||||
cloudlog.info(f"Swap successful {out}")
|
||||
break
|
||||
else:
|
||||
cloudlog.error(f"Swap failed {out}")
|
||||
|
||||
|
||||
def flash_agnos_update(manifest_path: str, target_slot_number: int, cloudlog, standalone=False) -> None:
|
||||
update = json.load(open(manifest_path))
|
||||
|
||||
cloudlog.info(f"Target slot {target_slot_number}")
|
||||
|
||||
# set target slot as unbootable
|
||||
subprocess.run(f"abctl --set_unbootable {target_slot_number}", shell=True)
|
||||
|
||||
for partition in update:
|
||||
success = False
|
||||
|
||||
for retries in range(10):
|
||||
try:
|
||||
flash_partition(target_slot_number, partition, cloudlog, standalone)
|
||||
success = True
|
||||
break
|
||||
|
||||
except requests.exceptions.RequestException:
|
||||
cloudlog.exception("Failed")
|
||||
cloudlog.info(f"Failed to download {partition['name']}, retrying ({retries})")
|
||||
time.sleep(10)
|
||||
|
||||
if not success:
|
||||
cloudlog.info(f"Failed to flash {partition['name']}, aborting")
|
||||
raise Exception("Maximum retries exceeded")
|
||||
|
||||
cloudlog.info(f"AGNOS ready on slot {target_slot_number}")
|
||||
|
||||
|
||||
def verify_agnos_update(manifest_path: str, target_slot_number: int) -> bool:
|
||||
update = json.load(open(manifest_path))
|
||||
return all(verify_partition(target_slot_number, partition) for partition in update)
|
||||
|
||||
|
||||
if __name__ == "__main__":
|
||||
import argparse
|
||||
import logging
|
||||
|
||||
parser = argparse.ArgumentParser(description="Flash and verify AGNOS update",
|
||||
formatter_class=argparse.ArgumentDefaultsHelpFormatter)
|
||||
|
||||
parser.add_argument("--verify", action="store_true", help="Verify and perform swap if update ready")
|
||||
parser.add_argument("--swap", action="store_true", help="Verify and perform swap, downloads if necessary")
|
||||
parser.add_argument("manifest", help="Manifest json")
|
||||
args = parser.parse_args()
|
||||
|
||||
logging.basicConfig(level=logging.INFO)
|
||||
|
||||
target_slot_number = get_target_slot_number()
|
||||
if args.verify:
|
||||
if verify_agnos_update(args.manifest, target_slot_number):
|
||||
swap(args.manifest, target_slot_number, logging)
|
||||
exit(0)
|
||||
exit(1)
|
||||
elif args.swap:
|
||||
while not verify_agnos_update(args.manifest, target_slot_number):
|
||||
logging.error("Verification failed. Flashing AGNOS")
|
||||
flash_agnos_update(args.manifest, target_slot_number, logging, standalone=True)
|
||||
|
||||
logging.warning(f"Verification succeeded. Swapping to slot {target_slot_number}")
|
||||
swap(args.manifest, target_slot_number, logging)
|
||||
else:
|
||||
flash_agnos_update(args.manifest, target_slot_number, logging, standalone=True)
|
||||
@@ -0,0 +1,389 @@
|
||||
[
|
||||
{
|
||||
"name": "gpt_main_0",
|
||||
"url": "https://commadist.azureedge.net/agnosupdate/gpt_main_0-8928a31fd9ee20f8703649f89833eba9b55e84b6415e67799c777b163c95a0bd.img.xz",
|
||||
"hash": "8928a31fd9ee20f8703649f89833eba9b55e84b6415e67799c777b163c95a0bd",
|
||||
"hash_raw": "8928a31fd9ee20f8703649f89833eba9b55e84b6415e67799c777b163c95a0bd",
|
||||
"size": 24576,
|
||||
"sparse": false,
|
||||
"full_check": true,
|
||||
"has_ab": false,
|
||||
"ondevice_hash": "8928a31fd9ee20f8703649f89833eba9b55e84b6415e67799c777b163c95a0bd",
|
||||
"gpt": {
|
||||
"lun": 0,
|
||||
"start_sector": 0,
|
||||
"num_sectors": 6
|
||||
}
|
||||
},
|
||||
{
|
||||
"name": "gpt_main_1",
|
||||
"url": "https://commadist.azureedge.net/agnosupdate/gpt_main_1-fe8ef7653db588d7420a625920ca06927dfcb0ed8aff3e3a1c74a52a24398ba6.img.xz",
|
||||
"hash": "fe8ef7653db588d7420a625920ca06927dfcb0ed8aff3e3a1c74a52a24398ba6",
|
||||
"hash_raw": "fe8ef7653db588d7420a625920ca06927dfcb0ed8aff3e3a1c74a52a24398ba6",
|
||||
"size": 24576,
|
||||
"sparse": false,
|
||||
"full_check": true,
|
||||
"has_ab": false,
|
||||
"ondevice_hash": "fe8ef7653db588d7420a625920ca06927dfcb0ed8aff3e3a1c74a52a24398ba6",
|
||||
"gpt": {
|
||||
"lun": 1,
|
||||
"start_sector": 0,
|
||||
"num_sectors": 6
|
||||
}
|
||||
},
|
||||
{
|
||||
"name": "gpt_main_2",
|
||||
"url": "https://commadist.azureedge.net/agnosupdate/gpt_main_2-5ccfc7240c8cbfa2f1a018a2e376cf274a6baf858c9bfe71951d8e28cab53c21.img.xz",
|
||||
"hash": "5ccfc7240c8cbfa2f1a018a2e376cf274a6baf858c9bfe71951d8e28cab53c21",
|
||||
"hash_raw": "5ccfc7240c8cbfa2f1a018a2e376cf274a6baf858c9bfe71951d8e28cab53c21",
|
||||
"size": 24576,
|
||||
"sparse": false,
|
||||
"full_check": true,
|
||||
"has_ab": false,
|
||||
"ondevice_hash": "5ccfc7240c8cbfa2f1a018a2e376cf274a6baf858c9bfe71951d8e28cab53c21",
|
||||
"gpt": {
|
||||
"lun": 2,
|
||||
"start_sector": 0,
|
||||
"num_sectors": 6
|
||||
}
|
||||
},
|
||||
{
|
||||
"name": "gpt_main_3",
|
||||
"url": "https://commadist.azureedge.net/agnosupdate/gpt_main_3-c707979fa21e89519328f4f30c2b21c9c453401ca8303f914c1873d410a95159.img.xz",
|
||||
"hash": "c707979fa21e89519328f4f30c2b21c9c453401ca8303f914c1873d410a95159",
|
||||
"hash_raw": "c707979fa21e89519328f4f30c2b21c9c453401ca8303f914c1873d410a95159",
|
||||
"size": 24576,
|
||||
"sparse": false,
|
||||
"full_check": true,
|
||||
"has_ab": false,
|
||||
"ondevice_hash": "c707979fa21e89519328f4f30c2b21c9c453401ca8303f914c1873d410a95159",
|
||||
"gpt": {
|
||||
"lun": 3,
|
||||
"start_sector": 0,
|
||||
"num_sectors": 6
|
||||
}
|
||||
},
|
||||
{
|
||||
"name": "gpt_main_4",
|
||||
"url": "https://commadist.azureedge.net/agnosupdate/gpt_main_4-e9405dcd785dbe79412184e1894a9c51ab7deb33bb612166c4c42a3d2bf42a0e.img.xz",
|
||||
"hash": "e9405dcd785dbe79412184e1894a9c51ab7deb33bb612166c4c42a3d2bf42a0e",
|
||||
"hash_raw": "e9405dcd785dbe79412184e1894a9c51ab7deb33bb612166c4c42a3d2bf42a0e",
|
||||
"size": 24576,
|
||||
"sparse": false,
|
||||
"full_check": true,
|
||||
"has_ab": false,
|
||||
"ondevice_hash": "e9405dcd785dbe79412184e1894a9c51ab7deb33bb612166c4c42a3d2bf42a0e",
|
||||
"gpt": {
|
||||
"lun": 4,
|
||||
"start_sector": 0,
|
||||
"num_sectors": 6
|
||||
}
|
||||
},
|
||||
{
|
||||
"name": "gpt_main_5",
|
||||
"url": "https://commadist.azureedge.net/agnosupdate/gpt_main_5-21ae965f05b2fa8d02e04f1eb74718f9779864f6eacdeb859757d6435e8ccce3.img.xz",
|
||||
"hash": "21ae965f05b2fa8d02e04f1eb74718f9779864f6eacdeb859757d6435e8ccce3",
|
||||
"hash_raw": "21ae965f05b2fa8d02e04f1eb74718f9779864f6eacdeb859757d6435e8ccce3",
|
||||
"size": 24576,
|
||||
"sparse": false,
|
||||
"full_check": true,
|
||||
"has_ab": false,
|
||||
"ondevice_hash": "21ae965f05b2fa8d02e04f1eb74718f9779864f6eacdeb859757d6435e8ccce3",
|
||||
"gpt": {
|
||||
"lun": 5,
|
||||
"start_sector": 0,
|
||||
"num_sectors": 6
|
||||
}
|
||||
},
|
||||
{
|
||||
"name": "persist",
|
||||
"url": "https://commadist.azureedge.net/agnosupdate/persist-d6af4ec18df180c7417353b52a9e05e43a6480b29425f087874136436cefe786.img.xz",
|
||||
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||||
{
|
||||
"name": "userdata_90",
|
||||
"url": "https://commadist.azureedge.net/agnosupdate/userdata_90-14a3fc6e9bd148b9deebf6ae9df2f1b3b759e629b337e41b6895864cdd51f630.img.xz",
|
||||
"hash": "52160dd01b30b3dc572226e8d549a034b03bc328e80f1f4cd6a857b6dd447687",
|
||||
"hash_raw": "14a3fc6e9bd148b9deebf6ae9df2f1b3b759e629b337e41b6895864cdd51f630",
|
||||
"size": 96636764160,
|
||||
"sparse": true,
|
||||
"full_check": true,
|
||||
"has_ab": false,
|
||||
"ondevice_hash": "3bbc052c7793087946b0cd668c1778f930084f6b00896aeebd193dfce53fa518"
|
||||
},
|
||||
{
|
||||
"name": "userdata_89",
|
||||
"url": "https://commadist.azureedge.net/agnosupdate/userdata_89-425c69d021f4ee2f767963bf7b991d1a492485fa465c5f5d001e1cf7de3d62a0.img.xz",
|
||||
"hash": "02a8c5512754d7781d930d242be3fad01fbce652297c69dfe8722dc92b18dc09",
|
||||
"hash_raw": "425c69d021f4ee2f767963bf7b991d1a492485fa465c5f5d001e1cf7de3d62a0",
|
||||
"size": 95563022336,
|
||||
"sparse": true,
|
||||
"full_check": true,
|
||||
"has_ab": false,
|
||||
"ondevice_hash": "3667d500f91b08a4671d7c09623eb6ae8fc905d9273893b50689e214005c7fa6"
|
||||
}
|
||||
]
|
||||
Executable
+123
@@ -0,0 +1,123 @@
|
||||
#!/usr/bin/env python3
|
||||
import time
|
||||
from collections import namedtuple
|
||||
|
||||
from openpilot.common.i2c import SMBus
|
||||
|
||||
# https://datasheets.maximintegrated.com/en/ds/MAX98089.pdf
|
||||
|
||||
AmpConfig = namedtuple('AmpConfig', ['name', 'value', 'register', 'offset', 'mask'])
|
||||
|
||||
CONFIG = [
|
||||
AmpConfig("MCLK prescaler", 0b01, 0x10, 4, 0b00110000),
|
||||
AmpConfig("PM: enable speakers", 0b11, 0x4D, 4, 0b00110000),
|
||||
AmpConfig("PM: enable DACs", 0b11, 0x4D, 0, 0b00000011),
|
||||
AmpConfig("Enable PLL1", 0b1, 0x12, 7, 0b10000000),
|
||||
AmpConfig("Enable PLL2", 0b1, 0x1A, 7, 0b10000000),
|
||||
AmpConfig("DAI1: I2S mode", 0b00100, 0x14, 2, 0b01111100),
|
||||
AmpConfig("DAI2: I2S mode", 0b00100, 0x1C, 2, 0b01111100),
|
||||
AmpConfig("DAI1 Passband filtering: music mode", 0b1, 0x18, 7, 0b10000000),
|
||||
AmpConfig("DAI1 voice mode gain (DV1G)", 0b00, 0x2F, 4, 0b00110000),
|
||||
AmpConfig("DAI1 attenuation (DV1)", 0x0, 0x2F, 0, 0b00001111),
|
||||
AmpConfig("DAI2 attenuation (DV2)", 0x0, 0x31, 0, 0b00001111),
|
||||
AmpConfig("DAI2: DC blocking", 0b1, 0x20, 0, 0b00000001),
|
||||
AmpConfig("DAI2: High sample rate", 0b0, 0x20, 3, 0b00001000),
|
||||
AmpConfig("ALC enable", 0b1, 0x43, 7, 0b10000000),
|
||||
AmpConfig("ALC/excursion limiter release time", 0b101, 0x43, 4, 0b01110000),
|
||||
AmpConfig("ALC multiband enable", 0b1, 0x43, 3, 0b00001000),
|
||||
AmpConfig("DAI1 EQ enable", 0b0, 0x49, 0, 0b00000001),
|
||||
AmpConfig("DAI2 EQ clip detection disabled", 0b1, 0x32, 4, 0b00010000),
|
||||
AmpConfig("DAI2 EQ attenuation", 0x5, 0x32, 0, 0b00001111),
|
||||
AmpConfig("Excursion limiter upper corner freq", 0b100, 0x41, 4, 0b01110000),
|
||||
AmpConfig("Excursion limiter lower corner freq", 0b00, 0x41, 0, 0b00000011),
|
||||
AmpConfig("Excursion limiter threshold", 0b000, 0x42, 0, 0b00001111),
|
||||
AmpConfig("Distortion limit (THDCLP)", 0x6, 0x46, 4, 0b11110000),
|
||||
AmpConfig("Distortion limiter release time constant", 0b0, 0x46, 0, 0b00000001),
|
||||
AmpConfig("Right DAC input mixer: DAI1 left", 0b0, 0x22, 3, 0b00001000),
|
||||
AmpConfig("Right DAC input mixer: DAI1 right", 0b0, 0x22, 2, 0b00000100),
|
||||
AmpConfig("Right DAC input mixer: DAI2 left", 0b1, 0x22, 1, 0b00000010),
|
||||
AmpConfig("Right DAC input mixer: DAI2 right", 0b0, 0x22, 0, 0b00000001),
|
||||
AmpConfig("DAI1 audio port selector", 0b10, 0x16, 6, 0b11000000),
|
||||
AmpConfig("DAI2 audio port selector", 0b01, 0x1E, 6, 0b11000000),
|
||||
AmpConfig("Enable left digital microphone", 0b1, 0x48, 5, 0b00100000),
|
||||
AmpConfig("Enable right digital microphone", 0b1, 0x48, 4, 0b00010000),
|
||||
AmpConfig("Enhanced volume smoothing disabled", 0b0, 0x49, 7, 0b10000000),
|
||||
AmpConfig("Volume adjustment smoothing disabled", 0b0, 0x49, 6, 0b01000000),
|
||||
AmpConfig("Zero-crossing detection disabled", 0b0, 0x49, 5, 0b00100000),
|
||||
|
||||
AmpConfig("Left speaker output from left DAC", 0b1, 0x2B, 0, 0b11111111),
|
||||
AmpConfig("Right speaker output from right DAC", 0b1, 0x2C, 0, 0b11111111),
|
||||
AmpConfig("Left Speaker Mixer Gain", 0b00, 0x2D, 0, 0b00000011),
|
||||
AmpConfig("Right Speaker Mixer Gain", 0b00, 0x2D, 2, 0b00001100),
|
||||
AmpConfig("Left speaker output volume", 0x17, 0x3D, 0, 0b00011111),
|
||||
AmpConfig("Right speaker output volume", 0x17, 0x3E, 0, 0b00011111),
|
||||
|
||||
AmpConfig("DAI2 EQ enable", 0b0, 0x49, 1, 0b00000010),
|
||||
AmpConfig("DAI2: DC blocking", 0b0, 0x20, 0, 0b00000001),
|
||||
AmpConfig("ALC enable", 0b0, 0x43, 7, 0b10000000),
|
||||
AmpConfig("DAI2 EQ attenuation", 0x2, 0x32, 0, 0b00001111),
|
||||
AmpConfig("Excursion limiter upper corner freq", 0b001, 0x41, 4, 0b01110000),
|
||||
AmpConfig("Excursion limiter threshold", 0b100, 0x42, 0, 0b00001111),
|
||||
AmpConfig("Distortion limit (THDCLP)", 0x0, 0x46, 4, 0b11110000),
|
||||
AmpConfig("Distortion limiter release time constant", 0b1, 0x46, 0, 0b00000001),
|
||||
AmpConfig("Left DAC input mixer: DAI1 left", 0b0, 0x22, 7, 0b10000000),
|
||||
AmpConfig("Left DAC input mixer: DAI1 right", 0b0, 0x22, 6, 0b01000000),
|
||||
AmpConfig("Left DAC input mixer: DAI2 left", 0b1, 0x22, 5, 0b00100000),
|
||||
AmpConfig("Left DAC input mixer: DAI2 right", 0b0, 0x22, 4, 0b00010000),
|
||||
AmpConfig("Right DAC input mixer: DAI2 left", 0b0, 0x22, 1, 0b00000010),
|
||||
AmpConfig("Right DAC input mixer: DAI2 right", 0b1, 0x22, 0, 0b00000001),
|
||||
AmpConfig("Volume adjustment smoothing disabled", 0b1, 0x49, 6, 0b01000000),
|
||||
]
|
||||
|
||||
class Amplifier:
|
||||
AMP_I2C_BUS = 0
|
||||
AMP_ADDRESS = 0x10
|
||||
|
||||
def __init__(self, debug=False):
|
||||
self.debug = debug
|
||||
|
||||
def _get_shutdown_config(self, amp_disabled: bool) -> AmpConfig:
|
||||
return AmpConfig("Global shutdown", 0b0 if amp_disabled else 0b1, 0x51, 7, 0b10000000)
|
||||
|
||||
def _set_configs(self, configs: list[AmpConfig]) -> None:
|
||||
with SMBus(self.AMP_I2C_BUS) as bus:
|
||||
for config in configs:
|
||||
if self.debug:
|
||||
print(f"Setting \"{config.name}\" to {config.value}:")
|
||||
|
||||
old_value = bus.read_byte_data(self.AMP_ADDRESS, config.register, force=True)
|
||||
new_value = (old_value & (~config.mask)) | ((config.value << config.offset) & config.mask)
|
||||
bus.write_byte_data(self.AMP_ADDRESS, config.register, new_value, force=True)
|
||||
|
||||
if self.debug:
|
||||
print(f" Changed {hex(config.register)}: {hex(old_value)} -> {hex(new_value)}")
|
||||
|
||||
def set_configs(self, configs: list[AmpConfig]) -> bool:
|
||||
# retry in case panda is using the amp
|
||||
tries = 15
|
||||
backoff = 0.
|
||||
for i in range(tries):
|
||||
try:
|
||||
self._set_configs(configs)
|
||||
return True
|
||||
except OSError:
|
||||
backoff += 0.1
|
||||
time.sleep(backoff)
|
||||
print(f"Failed to set amp config, {tries - i - 1} retries left")
|
||||
return False
|
||||
|
||||
def set_global_shutdown(self, amp_disabled: bool) -> bool:
|
||||
return self.set_configs([self._get_shutdown_config(amp_disabled), ])
|
||||
|
||||
def initialize_configuration(self) -> bool:
|
||||
cfgs = [
|
||||
self._get_shutdown_config(True),
|
||||
*CONFIG,
|
||||
self._get_shutdown_config(False),
|
||||
]
|
||||
return self.set_configs(cfgs)
|
||||
|
||||
|
||||
if __name__ == "__main__":
|
||||
amp = Amplifier()
|
||||
amp.initialize_configuration()
|
||||
@@ -0,0 +1,87 @@
|
||||
#pragma once
|
||||
|
||||
#include <cassert>
|
||||
#include <fstream>
|
||||
#include <map>
|
||||
#include <string>
|
||||
#include <algorithm> // for std::clamp
|
||||
|
||||
#include "common/util.h"
|
||||
#include "common/hardware/base.h"
|
||||
|
||||
class HardwareTici : public HardwareNone {
|
||||
public:
|
||||
static std::string get_name() {
|
||||
static const std::string name = []() {
|
||||
std::string model = util::read_file("/sys/firmware/devicetree/base/model");
|
||||
return util::strip(model.substr(std::string("comma ").size()));
|
||||
}();
|
||||
return name;
|
||||
}
|
||||
|
||||
static cereal::InitData::DeviceType get_device_type() {
|
||||
static const std::map<std::string, cereal::InitData::DeviceType> device_map = {
|
||||
{"tizi", cereal::InitData::DeviceType::TIZI},
|
||||
{"mici", cereal::InitData::DeviceType::MICI}
|
||||
};
|
||||
static const auto it = device_map.find(get_name());
|
||||
assert(it != device_map.end());
|
||||
return it->second;
|
||||
}
|
||||
|
||||
static std::string get_serial() {
|
||||
static std::string serial("");
|
||||
if (serial.empty()) {
|
||||
std::ifstream stream("/proc/cmdline");
|
||||
std::string cmdline;
|
||||
std::getline(stream, cmdline);
|
||||
|
||||
auto start = cmdline.find("serialno=");
|
||||
if (start == std::string::npos) {
|
||||
serial = "cccccc";
|
||||
} else {
|
||||
auto end = cmdline.find(" ", start + 9);
|
||||
serial = cmdline.substr(start + 9, end - start - 9);
|
||||
}
|
||||
}
|
||||
return serial;
|
||||
}
|
||||
|
||||
static void set_ir_power(int percent) {
|
||||
auto device = get_device_type();
|
||||
if (device == cereal::InitData::DeviceType::TIZI) {
|
||||
return;
|
||||
}
|
||||
|
||||
int value = util::map_val(std::clamp(percent, 0, 100), 0, 100, 0, 300);
|
||||
std::ofstream("/sys/class/leds/led:switch_2/brightness") << 0 << "\n";
|
||||
std::ofstream("/sys/class/leds/led:torch_2/brightness") << value << "\n";
|
||||
std::ofstream("/sys/class/leds/led:switch_2/brightness") << value << "\n";
|
||||
}
|
||||
|
||||
static std::map<std::string, std::string> get_init_logs() {
|
||||
std::map<std::string, std::string> ret = {
|
||||
{"/BUILD", util::read_file("/BUILD")},
|
||||
{"lsblk", util::check_output("lsblk -o NAME,SIZE,STATE,VENDOR,MODEL,REV,SERIAL")},
|
||||
{"SOM ID", util::read_file("/sys/devices/platform/vendor/vendor:gpio-som-id/som_id")},
|
||||
};
|
||||
|
||||
std::string bs = util::check_output("abctl --boot_slot");
|
||||
ret["boot slot"] = bs.substr(0, bs.find_first_of("\n"));
|
||||
|
||||
std::string temp = util::read_file("/dev/disk/by-partlabel/ssd");
|
||||
temp.erase(temp.find_last_not_of(std::string("\0\r\n", 3))+1);
|
||||
ret["boot temp"] = temp;
|
||||
|
||||
// TODO: log something from system and boot
|
||||
for (std::string part : {"xbl", "abl", "aop", "devcfg", "xbl_config"}) {
|
||||
for (std::string slot : {"a", "b"}) {
|
||||
std::string partition = part + "_" + slot;
|
||||
std::string hash = util::check_output("sha256sum /dev/disk/by-partlabel/" + partition);
|
||||
ret[partition] = hash.substr(0, hash.find_first_of(" "));
|
||||
}
|
||||
}
|
||||
|
||||
return ret;
|
||||
}
|
||||
};
|
||||
@@ -0,0 +1,419 @@
|
||||
import configparser
|
||||
import json
|
||||
import os
|
||||
import socket
|
||||
import subprocess
|
||||
import time
|
||||
from functools import cached_property, lru_cache
|
||||
from pathlib import Path
|
||||
|
||||
from openpilot.cereal import log
|
||||
from openpilot.common.utils import sudo_read, sudo_write
|
||||
from openpilot.common.gpio import gpio_set, gpio_init, get_irqs_for_action
|
||||
from openpilot.common.esim.base import LPABase
|
||||
from openpilot.common.hardware.base import HardwareBase, ThermalConfig, ThermalZone
|
||||
from openpilot.common.esim.lpa import TiciLPA
|
||||
from openpilot.common.hardware.tici.pins import GPIO
|
||||
from openpilot.common.hardware.tici.amplifier import Amplifier
|
||||
|
||||
MODEM_STATE_PATH = "/dev/shm/modem"
|
||||
|
||||
NetworkType = log.DeviceState.NetworkType
|
||||
NetworkStrength = log.DeviceState.NetworkStrength
|
||||
|
||||
|
||||
def affine_irq(val, action):
|
||||
irqs = get_irqs_for_action(action)
|
||||
if len(irqs) == 0:
|
||||
print(f"No IRQs found for '{action}'")
|
||||
return
|
||||
|
||||
for i in irqs:
|
||||
sudo_write(str(val), f"/proc/irq/{i}/smp_affinity_list")
|
||||
|
||||
@lru_cache
|
||||
def get_device_type():
|
||||
# lru_cache and cache can cause memory leaks when used in classes
|
||||
with open("/sys/firmware/devicetree/base/model") as f:
|
||||
model = f.read().strip('\x00')
|
||||
return model.split('comma ')[-1]
|
||||
|
||||
def wpa_supplicant_cmd(cmd: str, timeout: float = 0.2) -> dict[str, str]:
|
||||
with socket.socket(socket.AF_UNIX, socket.SOCK_DGRAM) as sock:
|
||||
sock.settimeout(timeout)
|
||||
sock.bind(f"\0openpilot-wpa-{os.getpid()}-{time.monotonic_ns()}")
|
||||
sock.connect("/run/wpa_supplicant/wlan0")
|
||||
sock.send(cmd.encode())
|
||||
|
||||
while True:
|
||||
out = sock.recv(8192).decode("utf-8", "replace")
|
||||
if out.startswith("<"):
|
||||
continue
|
||||
if out.startswith("FAIL"):
|
||||
return {}
|
||||
return dict(l.split("=", 1) for l in out.splitlines() if "=" in l)
|
||||
|
||||
def get_default_route_iface():
|
||||
with open("/proc/net/route") as f:
|
||||
routes = [(int(route[6]), route[0]) for line in f.readlines()[1:] if (route := line.split())[1] == "00000000" and int(route[3], 16) & 0x1]
|
||||
return min(routes)[1] if routes else None
|
||||
|
||||
class Tici(HardwareBase):
|
||||
@cached_property
|
||||
def amplifier(self):
|
||||
if self.get_device_type() == "mici":
|
||||
return None
|
||||
return Amplifier()
|
||||
|
||||
def get_modem_state(self) -> dict:
|
||||
try:
|
||||
with open(MODEM_STATE_PATH) as f:
|
||||
return json.load(f)
|
||||
except (FileNotFoundError, json.JSONDecodeError):
|
||||
return {}
|
||||
|
||||
def get_os_version(self):
|
||||
with open("/VERSION") as f:
|
||||
return f.read().strip()
|
||||
|
||||
def get_device_type(self):
|
||||
return get_device_type()
|
||||
|
||||
def reboot(self, reason=None):
|
||||
subprocess.check_output(["sudo", "reboot"])
|
||||
|
||||
def uninstall(self):
|
||||
Path("/data/__system_reset__").touch()
|
||||
os.sync()
|
||||
self.reboot()
|
||||
|
||||
def get_serial(self):
|
||||
return self.get_cmdline()['androidboot.serialno']
|
||||
|
||||
def get_voltage(self):
|
||||
with open("/sys/class/hwmon/hwmon1/in1_input") as f:
|
||||
return int(f.read())
|
||||
|
||||
def get_current(self):
|
||||
with open("/sys/class/hwmon/hwmon1/curr1_input") as f:
|
||||
return int(f.read())
|
||||
|
||||
def set_ir_power(self, percent: int):
|
||||
if self.get_device_type() == "tizi":
|
||||
return
|
||||
|
||||
value = int((percent / 100) * 300)
|
||||
with open("/sys/class/leds/led:switch_2/brightness", "w") as f:
|
||||
f.write("0\n")
|
||||
with open("/sys/class/leds/led:torch_2/brightness", "w") as f:
|
||||
f.write(f"{value}\n")
|
||||
with open("/sys/class/leds/led:switch_2/brightness", "w") as f:
|
||||
f.write(f"{value}\n")
|
||||
|
||||
def get_network_type(self):
|
||||
try:
|
||||
if (iface := get_default_route_iface()):
|
||||
if iface.startswith('wlan'):
|
||||
return NetworkType.wifi
|
||||
if iface.startswith('eth'):
|
||||
return NetworkType.ethernet
|
||||
except Exception:
|
||||
pass
|
||||
|
||||
ms = self.get_modem_state()
|
||||
if ms.get('connected'):
|
||||
nt = ms.get('network_type', '')
|
||||
if nt == 'nr':
|
||||
return NetworkType.cell5G
|
||||
elif nt == 'lte':
|
||||
return NetworkType.cell4G
|
||||
elif nt in ('utran', 'umts'):
|
||||
return NetworkType.cell3G
|
||||
elif nt == 'gsm':
|
||||
return NetworkType.cell2G
|
||||
return NetworkType.none
|
||||
|
||||
def get_sim_info(self):
|
||||
ms = self.get_modem_state()
|
||||
sim_id = ms.get('iccid', '')
|
||||
return {
|
||||
'sim_id': sim_id,
|
||||
'mcc_mnc': ms.get('mcc_mnc') or None,
|
||||
'network_type': ["Unknown"],
|
||||
'sim_state': ["ABSENT"] if not sim_id else ["READY"],
|
||||
'data_connected': ms.get('connected', False),
|
||||
}
|
||||
|
||||
def get_sim_lpa(self) -> LPABase:
|
||||
return TiciLPA()
|
||||
|
||||
def get_imei(self):
|
||||
return self.get_modem_state().get('imei', '')
|
||||
|
||||
def get_network_info(self):
|
||||
if self.get_device_type() == "mici":
|
||||
return None
|
||||
|
||||
ms = self.get_modem_state()
|
||||
return {
|
||||
'technology': ms.get('network_type', '').upper() if ms.get('network_type') else '',
|
||||
'operator': ms.get('operator', ''),
|
||||
'band': ms.get('band', ''),
|
||||
'channel': ms.get('channel', 0),
|
||||
'extra': ms.get('extra', ''),
|
||||
'state': ms.get('state', 'UNKNOWN'),
|
||||
}
|
||||
|
||||
def parse_strength(self, percentage):
|
||||
if percentage < 25:
|
||||
return NetworkStrength.poor
|
||||
elif percentage < 50:
|
||||
return NetworkStrength.moderate
|
||||
elif percentage < 75:
|
||||
return NetworkStrength.good
|
||||
else:
|
||||
return NetworkStrength.great
|
||||
|
||||
def get_network_strength(self, network_type):
|
||||
network_strength = NetworkStrength.unknown
|
||||
|
||||
try:
|
||||
if network_type == NetworkType.none:
|
||||
pass
|
||||
elif network_type == NetworkType.ethernet:
|
||||
network_strength = NetworkStrength.great
|
||||
elif network_type == NetworkType.wifi:
|
||||
rssi = wpa_supplicant_cmd("SIGNAL_POLL").get("RSSI")
|
||||
if rssi is not None:
|
||||
dbm = int(rssi)
|
||||
if -100 < dbm <= 0:
|
||||
network_strength = self.parse_strength(120 + max(-100, min(-20, dbm)))
|
||||
else: # Cellular
|
||||
network_strength = self.parse_strength(self.get_modem_state().get('signal_quality', 0))
|
||||
except Exception:
|
||||
pass
|
||||
|
||||
return network_strength
|
||||
|
||||
def get_network_metered(self, network_type) -> bool:
|
||||
if network_type in (NetworkType.cell2G, NetworkType.cell3G, NetworkType.cell4G, NetworkType.cell5G):
|
||||
from openpilot.common.params import Params
|
||||
return Params().get_bool("GsmMetered")
|
||||
try:
|
||||
if network_type == NetworkType.wifi:
|
||||
ssid = wpa_supplicant_cmd("STATUS").get("ssid", "")
|
||||
if ssid:
|
||||
# wpa_supplicant escapes non-printable bytes as \xNN; NM keyfile stores ASCII SSIDs as a literal and others as a byte;byte; list
|
||||
ssid_bytes = ssid.encode().decode('unicode_escape').encode('latin-1')
|
||||
ssid_keyfile_list = ';'.join(str(b) for b in ssid_bytes) + ';'
|
||||
|
||||
nm_dirs = ("/run/NetworkManager/system-connections", "/data/etc/NetworkManager/system-connections")
|
||||
for fpath in (p for d in nm_dirs for p in Path(d).glob("*.nmconnection")):
|
||||
raw = sudo_read(str(fpath))
|
||||
if not raw:
|
||||
continue
|
||||
cp = configparser.ConfigParser(interpolation=None)
|
||||
try:
|
||||
cp.read_string(raw)
|
||||
keyfile_ssid = cp.get("wifi", "ssid", fallback="")
|
||||
if keyfile_ssid != ssid and keyfile_ssid != ssid_keyfile_list:
|
||||
continue
|
||||
metered = cp.getint("connection", "metered", fallback=0)
|
||||
except (configparser.Error, ValueError):
|
||||
continue
|
||||
if metered == 1: # NM_METERED_YES
|
||||
return True
|
||||
if metered == 2: # NM_METERED_NO
|
||||
return False
|
||||
break
|
||||
except Exception:
|
||||
pass
|
||||
|
||||
return super().get_network_metered(network_type)
|
||||
|
||||
def get_modem_temperatures(self):
|
||||
return self.get_modem_state().get('temperatures', [])
|
||||
|
||||
def get_current_power_draw(self):
|
||||
return (self.read_param_file("/sys/class/hwmon/hwmon1/power1_input", int) / 1e6)
|
||||
|
||||
def get_som_power_draw(self):
|
||||
return (self.read_param_file("/sys/class/power_supply/bms/voltage_now", int) * self.read_param_file("/sys/class/power_supply/bms/current_now", int) / 1e12)
|
||||
|
||||
def shutdown(self):
|
||||
subprocess.run("sudo poweroff", shell=True)
|
||||
|
||||
def get_thermal_config(self):
|
||||
intake, exhaust, gnss, bottomSoc = None, None, None, None
|
||||
if self.get_device_type() == "mici":
|
||||
gnss = ThermalZone("gnss")
|
||||
intake = ThermalZone("intake")
|
||||
exhaust = ThermalZone("exhaust")
|
||||
bottomSoc = ThermalZone("bottom_soc")
|
||||
return ThermalConfig(cpu=[ThermalZone(f"cpu{i}-silver-usr") for i in range(4)] +
|
||||
[ThermalZone(f"cpu{i}-gold-usr") for i in range(4)],
|
||||
gpu=[ThermalZone("gpu0-usr"), ThermalZone("gpu1-usr")],
|
||||
dsp=ThermalZone("compute-hvx-usr"),
|
||||
memory=ThermalZone("ddr-usr"),
|
||||
pmic=[ThermalZone("pm8998_tz"), ThermalZone("pm8005_tz")],
|
||||
intake=intake,
|
||||
exhaust=exhaust,
|
||||
gnss=gnss,
|
||||
bottomSoc=bottomSoc)
|
||||
|
||||
def set_display_power(self, on):
|
||||
try:
|
||||
with open("/sys/class/backlight/panel0-backlight/bl_power", "w") as f:
|
||||
f.write("0" if on else "4")
|
||||
except Exception:
|
||||
pass
|
||||
|
||||
def set_screen_brightness(self, percentage):
|
||||
try:
|
||||
with open("/sys/class/backlight/panel0-backlight/max_brightness") as f:
|
||||
max_brightness = float(f.read().strip())
|
||||
|
||||
val = int(percentage * (max_brightness / 100.))
|
||||
with open("/sys/class/backlight/panel0-backlight/brightness", "w") as f:
|
||||
f.write(str(val))
|
||||
except Exception:
|
||||
pass
|
||||
|
||||
def get_screen_brightness(self):
|
||||
try:
|
||||
with open("/sys/class/backlight/panel0-backlight/max_brightness") as f:
|
||||
max_brightness = float(f.read().strip())
|
||||
|
||||
with open("/sys/class/backlight/panel0-backlight/brightness") as f:
|
||||
return int(float(f.read()) / (max_brightness / 100.))
|
||||
except Exception:
|
||||
return 0
|
||||
|
||||
def set_power_save(self, powersave_enabled):
|
||||
# amplifier, 100mW at idle
|
||||
if self.amplifier is not None:
|
||||
self.amplifier.set_global_shutdown(amp_disabled=powersave_enabled)
|
||||
if not powersave_enabled:
|
||||
self.amplifier.initialize_configuration()
|
||||
|
||||
# *** CPU config ***
|
||||
|
||||
# offline big cluster
|
||||
for i in range(4, 8):
|
||||
val = '0' if powersave_enabled else '1'
|
||||
sudo_write(val, f'/sys/devices/system/cpu/cpu{i}/online')
|
||||
|
||||
for n in ('0', '4'):
|
||||
if powersave_enabled and n == '4':
|
||||
continue
|
||||
gov = 'ondemand' if powersave_enabled else 'performance'
|
||||
sudo_write(gov, f'/sys/devices/system/cpu/cpufreq/policy{n}/scaling_governor')
|
||||
if not powersave_enabled:
|
||||
# cap max core freq to 1689 Mhz
|
||||
sudo_write('1689600', f'/sys/devices/system/cpu/cpufreq/policy{n}/scaling_max_freq')
|
||||
|
||||
# *** IRQ config ***
|
||||
|
||||
# GPU, modeld core
|
||||
affine_irq(7, "kgsl-3d0")
|
||||
|
||||
# camerad core
|
||||
camera_irqs = ("a5", "cci", "cpas_camnoc", "cpas-cdm", "csid", "ife", "csid-lite", "ife-lite")
|
||||
for n in camera_irqs:
|
||||
affine_irq(6, n)
|
||||
|
||||
def get_gpu_usage_percent(self):
|
||||
try:
|
||||
with open('/sys/class/kgsl/kgsl-3d0/gpubusy') as f:
|
||||
used, total = f.read().strip().split()
|
||||
return 100.0 * int(used) / int(total)
|
||||
except Exception:
|
||||
return 0
|
||||
|
||||
def initialize_hardware(self):
|
||||
if self.amplifier is not None:
|
||||
self.amplifier.initialize_configuration()
|
||||
|
||||
# Allow hardwared to write engagement status to kmsg
|
||||
subprocess.run("sudo chmod a+w /dev/kmsg", shell=True)
|
||||
|
||||
# Ensure fan gpio is enabled so fan runs until shutdown, also turned on at boot by the ABL
|
||||
gpio_init(GPIO.SOM_ST_IO, True)
|
||||
gpio_set(GPIO.SOM_ST_IO, 1)
|
||||
|
||||
# *** IRQ config ***
|
||||
|
||||
# mask off big cluster from default affinity
|
||||
sudo_write("f", "/proc/irq/default_smp_affinity")
|
||||
|
||||
# move these off the default core
|
||||
affine_irq(1, "msm_vidc") # encoders
|
||||
affine_irq(1, "i2c_geni") # sensors
|
||||
|
||||
# *** GPU config ***
|
||||
# https://github.com/commaai/agnos-kernel-sdm845/blob/master/arch/arm64/boot/dts/qcom/sdm845-gpu.dtsi#L216
|
||||
affine_irq(5, "fts_ts") # touch
|
||||
affine_irq(5, "msm_drm") # display
|
||||
sudo_write("1", "/sys/class/kgsl/kgsl-3d0/min_pwrlevel")
|
||||
sudo_write("1", "/sys/class/kgsl/kgsl-3d0/max_pwrlevel")
|
||||
sudo_write("1", "/sys/class/kgsl/kgsl-3d0/force_bus_on")
|
||||
sudo_write("1", "/sys/class/kgsl/kgsl-3d0/force_clk_on")
|
||||
sudo_write("1", "/sys/class/kgsl/kgsl-3d0/force_rail_on")
|
||||
sudo_write("1000", "/sys/class/kgsl/kgsl-3d0/idle_timer")
|
||||
sudo_write("performance", "/sys/class/kgsl/kgsl-3d0/devfreq/governor")
|
||||
sudo_write("710", "/sys/class/kgsl/kgsl-3d0/max_clock_mhz")
|
||||
|
||||
# setup governors
|
||||
sudo_write("performance", "/sys/class/devfreq/soc:qcom,cpubw/governor")
|
||||
sudo_write("performance", "/sys/class/devfreq/soc:qcom,memlat-cpu0/governor")
|
||||
sudo_write("performance", "/sys/class/devfreq/soc:qcom,memlat-cpu4/governor")
|
||||
|
||||
# *** VIDC (encoder) config ***
|
||||
sudo_write("N", "/sys/kernel/debug/msm_vidc/clock_scaling")
|
||||
sudo_write("Y", "/sys/kernel/debug/msm_vidc/disable_thermal_mitigation")
|
||||
|
||||
# pandad core
|
||||
affine_irq(3, "spi_geni") # SPI
|
||||
try:
|
||||
pid = subprocess.check_output(["pgrep", "-f", "spi0"], encoding='utf8').strip()
|
||||
subprocess.call(["sudo", "chrt", "-f", "-p", "1", pid])
|
||||
subprocess.call(["sudo", "taskset", "-pc", "3", pid])
|
||||
except subprocess.CalledProcessError as e:
|
||||
print(str(e))
|
||||
|
||||
def get_modem_data_usage(self):
|
||||
ms = self.get_modem_state()
|
||||
return ms.get('tx_bytes', -1), ms.get('rx_bytes', -1)
|
||||
|
||||
def reset_internal_panda(self):
|
||||
gpio_init(GPIO.STM_RST_N, True)
|
||||
gpio_init(GPIO.STM_BOOT0, True)
|
||||
|
||||
gpio_set(GPIO.STM_RST_N, 1)
|
||||
gpio_set(GPIO.STM_BOOT0, 0)
|
||||
time.sleep(0.01)
|
||||
gpio_set(GPIO.STM_RST_N, 0)
|
||||
|
||||
def recover_internal_panda(self):
|
||||
gpio_init(GPIO.STM_RST_N, True)
|
||||
gpio_init(GPIO.STM_BOOT0, True)
|
||||
|
||||
gpio_set(GPIO.STM_RST_N, 1)
|
||||
gpio_set(GPIO.STM_BOOT0, 1)
|
||||
time.sleep(0.01)
|
||||
gpio_set(GPIO.STM_RST_N, 0)
|
||||
time.sleep(0.01)
|
||||
gpio_set(GPIO.STM_BOOT0, 0)
|
||||
|
||||
def booted(self):
|
||||
# this normally boots within 8s, but on rare occasions takes 30+s
|
||||
encoder_state = sudo_read("/sys/kernel/debug/msm_vidc/core0/info")
|
||||
if "Core state: 0" in encoder_state and (time.monotonic() < 60*2):
|
||||
return False
|
||||
return True
|
||||
|
||||
if __name__ == "__main__":
|
||||
t = Tici()
|
||||
t.initialize_hardware()
|
||||
t.set_power_save(False)
|
||||
print(t.get_sim_info())
|
||||
@@ -0,0 +1,28 @@
|
||||
-----BEGIN RSA PRIVATE KEY-----
|
||||
MIIEvAIBADANBgkqhkiG9w0BAQEFAASCBKYwggSiAgEAAoIBAQC+iXXq30Tq+J5N
|
||||
Kat3KWHCzcmwZ55nGh6WggAqECa5CasBlM9VeROpVu3beA+5h0MibRgbD4DMtVXB
|
||||
t6gEvZ8nd04E7eLA9LTZyFDZ7SkSOVj4oXOQsT0GnJmKrASW5KslTWqVzTfo2XCt
|
||||
Z+004ikLxmyFeBO8NOcErW1pa8gFdQDToH9FrA7kgysic/XVESTOoe7XlzRoe/eZ
|
||||
acEQ+jtnmFd21A4aEADkk00Ahjr0uKaJiLUAPatxs2icIXWpgYtfqqtaKF23wSt6
|
||||
1OTu6cAwXbOWr3m+IUSRUO0IRzEIQS3z1jfd1svgzSgSSwZ1Lhj4AoKxIEAIc8qJ
|
||||
rO4uymCJAgMBAAECggEBAISFevxHGdoL3Z5xkw6oO5SQKO2GxEeVhRzNgmu/HA+q
|
||||
x8OryqD6O1CWY4037kft6iWxlwiLOdwna2P25ueVM3LxqdQH2KS4DmlCx+kq6FwC
|
||||
gv063fQPMhC9LpWimvaQSPEC7VUPjQlo4tPY6sTTYBUOh0A1ihRm/x7juKuQCWix
|
||||
Cq8C/DVnB1X4mGj+W3nJc5TwVJtgJbbiBrq6PWrhvB/3qmkxHRL7dU2SBb2iNRF1
|
||||
LLY30dJx/cD73UDKNHrlrsjk3UJc29Mp4/MladKvUkRqNwlYxSuAtJV0nZ3+iFkL
|
||||
s3adSTHdJpClQer45R51rFDlVsDz2ZBpb/hRNRoGDuECgYEA6A1EixLq7QYOh3cb
|
||||
Xhyh3W4kpVvA/FPfKH1OMy3ONOD/Y9Oa+M/wthW1wSoRL2n+uuIW5OAhTIvIEivj
|
||||
6bAZsTT3twrvOrvYu9rx9aln4p8BhyvdjeW4kS7T8FP5ol6LoOt2sTP3T1LOuJPO
|
||||
uQvOjlKPKIMh3c3RFNWTnGzMPa0CgYEA0jNiPLxP3A2nrX0keKDI+VHuvOY88gdh
|
||||
0W5BuLMLovOIDk9aQFIbBbMuW1OTjHKv9NK+Lrw+YbCFqOGf1dU/UN5gSyE8lX/Q
|
||||
FsUGUqUZx574nJZnOIcy3ONOnQLcvHAQToLFAGUd7PWgP3CtHkt9hEv2koUwL4vo
|
||||
ikTP1u9Gkc0CgYEA2apoWxPZrY963XLKBxNQecYxNbLFaWq67t3rFnKm9E8BAICi
|
||||
4zUaE5J1tMVi7Vi9iks9Ml9SnNyZRQJKfQ+kaebHXbkyAaPmfv+26rqHKboA0uxA
|
||||
nDOZVwXX45zBkp6g1sdHxJx8JLoGEnkC9eyvSi0C//tRLx86OhLErXwYcNkCf1it
|
||||
VMRKrWYoXJTUNo6tRhvodM88UnnIo3u3CALjhgU4uC1RTMHV4ZCGBwiAOb8GozSl
|
||||
s5YD1E1iKwEULloHnK6BIh6P5v8q7J6uf/xdqoKMjlWBHgq6/roxKvkSPA1DOZ3l
|
||||
jTadcgKFnRUmc+JT9p/ZbCxkA/ALFg8++G+0ghECgYA8vG3M/utweLvq4RI7l7U7
|
||||
b+i2BajfK2OmzNi/xugfeLjY6k2tfQGRuv6ppTjehtji2uvgDWkgjJUgPfZpir3I
|
||||
RsVMUiFgloWGHETOy0Qvc5AwtqTJFLTD1Wza2uBilSVIEsg6Y83Gickh+ejOmEsY
|
||||
6co17RFaAZHwGfCFFjO76Q==
|
||||
-----END RSA PRIVATE KEY-----
|
||||
Executable
+592
@@ -0,0 +1,592 @@
|
||||
#!/usr/bin/env python3
|
||||
import fcntl
|
||||
import json
|
||||
import logging
|
||||
import os
|
||||
import signal
|
||||
import subprocess
|
||||
import tempfile
|
||||
import time
|
||||
|
||||
from ipaddress import IPv4Address, AddressValueError
|
||||
|
||||
from enum import Enum
|
||||
|
||||
from openpilot.common.serial import Serial
|
||||
|
||||
logging.basicConfig(
|
||||
level=logging.INFO,
|
||||
format="%(asctime)s.%(msecs)03d %(levelname)-7s modem: %(message)s",
|
||||
datefmt="%H:%M:%S",
|
||||
)
|
||||
|
||||
AT_PORT = "/dev/modem_at0"
|
||||
PPP_PORT = "/dev/modem_at1"
|
||||
STATE_PATH = "/dev/shm/modem"
|
||||
AT_LOCK = "/dev/shm/modem.lock" # shared with LPA
|
||||
AT_INIT = [
|
||||
"ATE0", # disable command echo
|
||||
"ATV1", # verbose result codes (CONNECT/BUSY/NO CARRIER, not numeric)
|
||||
"AT+CMEE=1", # numeric +CME ERROR codes on failures (per 3GPP 27.007)
|
||||
"ATX4", # extended result codes: busy + dial tone detection, line speed in CONNECT
|
||||
"AT&C1", # DCD pin follows carrier state (V.250 default)
|
||||
"AT+CREG=2", # registration URCs include location info
|
||||
"AT+CGREG=2", # GPRS registration URCs include location info
|
||||
]
|
||||
CREG = {0: "not_registered", 1: "home", 2: "searching", 3: "denied", 4: "unknown", 5: "roaming"}
|
||||
# 3GPP TS 27.007 +COPS <AcT> -> network type
|
||||
NETWORK_TYPE = {0: "gsm", 1: "gsm", 3: "gsm", 8: "gsm",
|
||||
2: "utran", 4: "utran", 5: "utran", 6: "utran",
|
||||
7: "lte", 9: "lte", 10: "lte",
|
||||
11: "nr", 12: "nr", 13: "nr"}
|
||||
|
||||
DIAL_CID = 1
|
||||
WEBBING_ICCID_PREFIX = "8985235"
|
||||
|
||||
PPPD_CMD = [
|
||||
"sudo", "pppd", PPP_PORT, "460800", "noauth", "nodetach", "noipdefault", "usepeerdns",
|
||||
"nodefaultroute", "connect",
|
||||
"/usr/sbin/chat -v ABORT 'NO CARRIER' ABORT 'NO DIALTONE' ABORT 'BUSY' " +
|
||||
f"ABORT 'NO ANSWER' ABORT 'ERROR' TIMEOUT 5 '' AT OK ATD*99***{DIAL_CID}# CONNECT ''",
|
||||
"lcp-echo-interval", "30", "lcp-echo-failure", "4", "mtu", "1500", "mru", "1500",
|
||||
"novj", "novjccomp", "ipcp-accept-local", "ipcp-accept-remote", "nomagic",
|
||||
"user", '""', "password", '""',
|
||||
]
|
||||
INITIAL_STATE = {
|
||||
"seconds_since_boot": 0,
|
||||
"state": "INITIALIZING",
|
||||
"connected": False, "ip_address": "",
|
||||
"iccid": "", "mcc_mnc": "", "imei": "", "modem_version": "",
|
||||
"signal_strength": 0, "signal_quality": 0,
|
||||
"network_type": "unknown", "operator": "", "band": "", "channel": 0,
|
||||
"registration": "unknown", "temperatures": [], "extra": "",
|
||||
"tx_bytes": 0, "rx_bytes": 0,
|
||||
}
|
||||
|
||||
|
||||
class State(Enum):
|
||||
INITIALIZING = "INITIALIZING"
|
||||
SEARCHING = "SEARCHING"
|
||||
CONNECTING = "CONNECTING"
|
||||
CONNECTED = "CONNECTED"
|
||||
DISCONNECTING = "DISCONNECTING"
|
||||
|
||||
|
||||
STATE_WAIT = 1.0 # seconds to wait after each state handler returns
|
||||
|
||||
|
||||
class PPPSession:
|
||||
"""Owns pppd lifecycle, fail tracking, and PPP routing."""
|
||||
MAX_FAILS = 3
|
||||
|
||||
def __init__(self):
|
||||
self._proc: subprocess.Popen | None = None
|
||||
self._fails = 0
|
||||
self._peer = ""
|
||||
|
||||
def start(self):
|
||||
self._proc = subprocess.Popen(PPPD_CMD, stdout=subprocess.DEVNULL, stderr=subprocess.DEVNULL)
|
||||
self._peer = ""
|
||||
logging.info(f"PPP dialing CID {DIAL_CID}")
|
||||
|
||||
def kill(self):
|
||||
subprocess.run(["sudo", "killall", "-9", "pppd"], capture_output=True)
|
||||
self._peer = ""
|
||||
|
||||
@staticmethod
|
||||
def reset_data_port():
|
||||
"""Drop DTR on PPP_PORT so the modem terminates any stuck PPP session."""
|
||||
try:
|
||||
with Serial(PPP_PORT, baudrate=460800, timeout=1) as s:
|
||||
s.dtr = False
|
||||
time.sleep(0.2)
|
||||
s.dtr = True
|
||||
except Exception as e:
|
||||
logging.warning(f"data port reset failed: {e}")
|
||||
|
||||
def has_exited(self) -> bool:
|
||||
return self._proc is not None and self._proc.poll() is not None
|
||||
|
||||
def reset_fail_counter(self):
|
||||
self._fails = 0
|
||||
|
||||
def record_fail(self) -> bool:
|
||||
"""Bump fail counter; return True if at the give-up limit."""
|
||||
self._fails += 1
|
||||
return self._fails >= self.MAX_FAILS
|
||||
|
||||
@property
|
||||
def fails(self) -> int:
|
||||
return self._fails
|
||||
|
||||
def maybe_install_routes(self, ip: str, peer: str) -> bool:
|
||||
"""Install routes if peer changed; kill the session on failure so the state machine reconnects."""
|
||||
if not peer or peer == self._peer:
|
||||
return False
|
||||
try:
|
||||
IPv4Address(ip)
|
||||
IPv4Address(peer)
|
||||
except AddressValueError:
|
||||
logging.warning(f"refusing route install with non-IPv4 ip={ip!r} peer={peer!r}")
|
||||
self.kill()
|
||||
return False
|
||||
self.cleanup_routes()
|
||||
cmds = [
|
||||
["sudo", "ip", "route", "add", "default", "via", peer, "dev", "ppp0", "metric", "1000"],
|
||||
["sudo", "ip", "route", "add", "default", "via", peer, "dev", "ppp0", "table", "1000"],
|
||||
["sudo", "ip", "rule", "add", "from", ip, "table", "1000"],
|
||||
]
|
||||
for cmd in cmds:
|
||||
r = subprocess.run(cmd, capture_output=True, text=True)
|
||||
if r.returncode != 0:
|
||||
logging.warning(f"route install failed ({' '.join(cmd[1:])}): {r.stderr.strip()}")
|
||||
self.cleanup_routes()
|
||||
self.kill()
|
||||
return False
|
||||
logging.info(f"route set up for {ip} via {peer}")
|
||||
self._peer = peer
|
||||
return True
|
||||
|
||||
def maybe_install_dns(self, dns_servers: list[str]) -> bool:
|
||||
"""Register DNS servers with systemd-resolved; kill the session on failure to force a retry."""
|
||||
if not dns_servers:
|
||||
return False
|
||||
for cmd in (["sudo", "resolvectl", "dns", "ppp0", *dns_servers],
|
||||
["sudo", "resolvectl", "default-route", "ppp0", "yes"]):
|
||||
r = subprocess.run(cmd, capture_output=True, text=True)
|
||||
if r.returncode != 0:
|
||||
logging.warning(f"resolvectl failed ({' '.join(cmd[1:])}): {r.stderr.strip()}")
|
||||
self.kill()
|
||||
return False
|
||||
logging.info(f"resolvectl: ppp0 DNS = {dns_servers}")
|
||||
return True
|
||||
|
||||
@staticmethod
|
||||
def cleanup_routes():
|
||||
subprocess.run(["sudo", "ip", "route", "del", "default", "dev", "ppp0"], capture_output=True)
|
||||
subprocess.run(["sudo", "ip", "route", "flush", "table", "1000"], capture_output=True)
|
||||
# rules don't have a flush; delete until none remain
|
||||
while subprocess.run(["sudo", "ip", "rule", "del", "table", "1000"], capture_output=True).returncode == 0:
|
||||
pass
|
||||
subprocess.run(["sudo", "resolvectl", "revert", "ppp0"], capture_output=True)
|
||||
|
||||
|
||||
class Modem:
|
||||
def __init__(self):
|
||||
self._ppp = PPPSession()
|
||||
self._sim_change = False
|
||||
self._apn = "" # blank = network-provided via PCO
|
||||
self._roaming_allowed = True
|
||||
self.running = True
|
||||
self.S = INITIAL_STATE.copy()
|
||||
|
||||
@staticmethod
|
||||
def _read_param(key):
|
||||
try:
|
||||
with open(f"/data/params/d/{key}") as f:
|
||||
return f.read().strip()
|
||||
except FileNotFoundError:
|
||||
return ""
|
||||
|
||||
@staticmethod
|
||||
def _parse_reg(v: str) -> str:
|
||||
try:
|
||||
return CREG.get(int(v.split(",")[1].strip('"')), "unknown")
|
||||
except (ValueError, IndexError):
|
||||
return "unknown"
|
||||
|
||||
@staticmethod
|
||||
def _has_modem_manager() -> bool:
|
||||
return os.path.isfile("/lib/systemd/system/ModemManager.service")
|
||||
|
||||
def _is_roaming_allowed(self) -> bool:
|
||||
if self.S["iccid"].startswith(WEBBING_ICCID_PREFIX):
|
||||
return True
|
||||
return self._read_param("GsmRoaming") == "1"
|
||||
|
||||
def _publish_state(self, **kwargs):
|
||||
self.S.update(kwargs)
|
||||
self.S["seconds_since_boot"] = time.monotonic()
|
||||
with tempfile.NamedTemporaryFile(mode="w", dir="/dev/shm", delete=False) as f:
|
||||
json.dump(self.S, f, indent=2)
|
||||
os.chmod(f.name, 0o644)
|
||||
os.replace(f.name, STATE_PATH)
|
||||
|
||||
def _at(self, cmd):
|
||||
"""Send AT command, return response lines. [] on error or if LPA holds port."""
|
||||
fd = os.open(AT_LOCK, os.O_CREAT | os.O_RDWR, 0o666)
|
||||
try:
|
||||
fcntl.flock(fd, fcntl.LOCK_EX | fcntl.LOCK_NB)
|
||||
except OSError:
|
||||
os.close(fd)
|
||||
return []
|
||||
try:
|
||||
with Serial(AT_PORT, baudrate=9600, timeout=5) as ser:
|
||||
ser.reset_input_buffer()
|
||||
ser.write((cmd + "\r").encode())
|
||||
lines = []
|
||||
while True:
|
||||
raw = ser.readline()
|
||||
if not raw:
|
||||
raise TimeoutError("AT timeout")
|
||||
line = raw.decode(errors="ignore").strip()
|
||||
if not line:
|
||||
continue
|
||||
if line == "OK":
|
||||
break
|
||||
if line == "ERROR" or line.startswith("+CME ERROR"):
|
||||
raise RuntimeError(line)
|
||||
lines.append(line)
|
||||
return lines
|
||||
except (RuntimeError, TimeoutError, OSError) as e:
|
||||
logging.info(f"AT {cmd} failed: {e}")
|
||||
return []
|
||||
finally:
|
||||
fcntl.flock(fd, fcntl.LOCK_UN)
|
||||
os.close(fd)
|
||||
|
||||
def _atv(self, cmd, pfx):
|
||||
for line in self._at(cmd):
|
||||
if pfx in line and ":" in line:
|
||||
return line.split(":", 1)[1].strip()
|
||||
return None
|
||||
|
||||
def _init_at_channel(self) -> bool:
|
||||
"""Run AT_INIT and confirm ATE0 took effect. Returns False if echo is still on."""
|
||||
for c in AT_INIT:
|
||||
self._at(c)
|
||||
r = self._at("AT+CGMI")
|
||||
return bool(r) and not r[0].startswith("AT")
|
||||
|
||||
def _configure_modem(self, modem_version: str):
|
||||
if not modem_version.startswith("EG25"):
|
||||
return
|
||||
cmds = [
|
||||
# clear initial EPS bearer APN (some carriers reject the default)
|
||||
'AT+CGDCONT=0,"IP",""',
|
||||
|
||||
# SIM hot swap
|
||||
'AT+QSIMDET=1,0',
|
||||
'AT+QSIMSTAT=1',
|
||||
|
||||
# configure modem as data-centric
|
||||
'AT+QNVW=5280,0,"0102000000000000"',
|
||||
'AT+QNVFW="/nv/item_files/ims/IMS_enable",00',
|
||||
'AT+QNVFW="/nv/item_files/modem/mmode/ue_usage_setting",01',
|
||||
]
|
||||
for c in cmds:
|
||||
self._at(c)
|
||||
|
||||
def _do_initializing(self):
|
||||
if not os.path.exists(AT_PORT):
|
||||
return State.INITIALIZING
|
||||
logging.info("port found, initializing")
|
||||
self._ppp.kill()
|
||||
self._ppp.cleanup_routes()
|
||||
|
||||
if not self._init_at_channel():
|
||||
logging.warning("AT echo still on, retrying")
|
||||
return State.INITIALIZING
|
||||
|
||||
identity = self._read_identity()
|
||||
if not identity["iccid"] or not identity["imei"]:
|
||||
logging.warning(f"identity read incomplete: {identity}, retrying")
|
||||
return State.INITIALIZING
|
||||
|
||||
self._configure_modem(identity["modem_version"])
|
||||
|
||||
self.S.update(identity)
|
||||
self._apn = self._read_param("GsmApn")
|
||||
self._roaming_allowed = self._is_roaming_allowed()
|
||||
# blank APN lets the carrier supply one via PCO
|
||||
self._at(f'AT+CGDCONT={DIAL_CID},"IP","{self._apn}"')
|
||||
logging.info(f"APN '{self._apn or '(network-provided)'}' written to CID {DIAL_CID}, roaming={'on' if self._roaming_allowed else 'off'}")
|
||||
|
||||
self._sim_change = False # clear since we just re-read identity with the new SIM
|
||||
self._publish_state(**identity)
|
||||
return State.SEARCHING
|
||||
|
||||
def _read_identity(self):
|
||||
def first_line(cmd):
|
||||
r = self._at(cmd)
|
||||
return r[0].strip() if r else ""
|
||||
|
||||
imei = first_line("AT+CGSN")
|
||||
if not (imei.isdigit() and 14 <= len(imei) <= 17): # 3GPP TS 23.003
|
||||
imei = ""
|
||||
|
||||
iccid = (self._atv("AT+QCCID", "+QCCID:") or "").rstrip("F")
|
||||
if not iccid.isdigit():
|
||||
iccid = ""
|
||||
|
||||
imsi = first_line("AT+CIMI")
|
||||
mcc_mnc = imsi[:6] if imsi.isdigit() and len(imsi) >= 6 else ""
|
||||
|
||||
modem_version = first_line("AT+GMR")
|
||||
|
||||
logging.info(f"imei={imei} iccid={iccid} mcc_mnc={mcc_mnc} ver={modem_version}")
|
||||
return {"imei": imei, "iccid": iccid, "mcc_mnc": mcc_mnc, "modem_version": modem_version}
|
||||
|
||||
def _do_searching(self):
|
||||
new_roaming = self._is_roaming_allowed()
|
||||
if new_roaming != self._roaming_allowed:
|
||||
logging.info(f"roaming changed: {self._roaming_allowed} -> {new_roaming}")
|
||||
self._roaming_allowed = new_roaming
|
||||
|
||||
v = self._atv("AT+CREG?", "+CREG:")
|
||||
if not v:
|
||||
return self._searching_idle()
|
||||
|
||||
reg = self._parse_reg(v)
|
||||
greg = self._parse_reg(self._atv("AT+CGREG?", "+CGREG:") or "")
|
||||
logging.debug(f"creg={reg} cgreg={greg} roaming_allowed={self._roaming_allowed}")
|
||||
|
||||
if reg == "roaming" and not self._roaming_allowed:
|
||||
self._publish_state(registration=reg)
|
||||
return State.SEARCHING
|
||||
|
||||
if reg in ("home", "roaming") and greg in ("home", "roaming"):
|
||||
self._publish_state(registration=reg)
|
||||
return State.CONNECTING
|
||||
|
||||
if reg != self.S.get("registration"):
|
||||
self._publish_state(registration=reg)
|
||||
return self._searching_idle()
|
||||
|
||||
def _searching_idle(self):
|
||||
if self._sim_change or not os.path.exists(AT_PORT):
|
||||
logging.info(f"-> reconnecting (sim_change={self._sim_change} port={os.path.exists(AT_PORT)})")
|
||||
return State.DISCONNECTING
|
||||
return State.SEARCHING
|
||||
|
||||
def _do_connecting(self):
|
||||
logging.info("starting pppd")
|
||||
self._ppp.reset_fail_counter()
|
||||
self._sim_change = False
|
||||
self._ppp.start()
|
||||
return State.CONNECTED
|
||||
|
||||
def _handle_pppd_exit(self):
|
||||
if self._sim_change or not os.path.exists(AT_PORT):
|
||||
return State.DISCONNECTING
|
||||
give_up = self._ppp.record_fail()
|
||||
if give_up:
|
||||
logging.warning(f"PPP fail {self._ppp.fails}/{self._ppp.MAX_FAILS}, reconnecting")
|
||||
return State.DISCONNECTING
|
||||
logging.warning(f"PPP fail {self._ppp.fails}/{self._ppp.MAX_FAILS}, retrying")
|
||||
self._ppp.reset_data_port()
|
||||
if not os.path.exists(AT_PORT):
|
||||
return State.DISCONNECTING
|
||||
self._ppp.start()
|
||||
return State.CONNECTED
|
||||
|
||||
def _params_changed(self) -> bool:
|
||||
new_apn = self._read_param("GsmApn")
|
||||
if new_apn != self._apn:
|
||||
logging.info(f"GsmApn changed: '{self._apn}' -> '{new_apn}'")
|
||||
return True
|
||||
new_roaming = self._is_roaming_allowed()
|
||||
if new_roaming != self._roaming_allowed:
|
||||
logging.info(f"roaming changed: {self._roaming_allowed} -> {new_roaming}")
|
||||
return True
|
||||
return False
|
||||
|
||||
def _check_iccid(self, state):
|
||||
if state in (State.INITIALIZING, State.DISCONNECTING) or not self.S["iccid"]:
|
||||
return
|
||||
iccid = (self._atv("AT+QCCID", "+QCCID:") or "").rstrip("F")
|
||||
if iccid and iccid != self.S["iccid"]:
|
||||
logging.warning(f"iccid changed: {self.S['iccid']} -> {iccid}")
|
||||
self._sim_change = True
|
||||
|
||||
def _do_connected(self):
|
||||
if self._ppp.has_exited():
|
||||
return self._handle_pppd_exit()
|
||||
|
||||
if self._sim_change or not os.path.exists(AT_PORT) or self._params_changed():
|
||||
return State.DISCONNECTING
|
||||
|
||||
self._poll()
|
||||
return State.CONNECTED
|
||||
|
||||
def _do_disconnecting(self):
|
||||
logging.warning("reconnecting")
|
||||
self._publish_state(**INITIAL_STATE)
|
||||
self._ppp.kill()
|
||||
self._ppp.cleanup_routes()
|
||||
self._ppp.reset_data_port()
|
||||
self._sim_change = False
|
||||
return State.INITIALIZING
|
||||
|
||||
def _poll_signal(self) -> dict:
|
||||
v = self._atv("AT+CSQ", "+CSQ:")
|
||||
if not v:
|
||||
return {}
|
||||
try:
|
||||
rssi = int(v.split(",")[0])
|
||||
if rssi == 99:
|
||||
return {}
|
||||
return {"signal_strength": rssi, "signal_quality": min(100, int(rssi / 31 * 100))}
|
||||
except (ValueError, IndexError):
|
||||
return {}
|
||||
|
||||
def _poll_operator(self) -> dict:
|
||||
v = self._atv("AT+COPS?", "+COPS:")
|
||||
if not v:
|
||||
return {}
|
||||
p = v.split(",")
|
||||
out: dict = {}
|
||||
try:
|
||||
if len(p) >= 3:
|
||||
out["operator"] = p[2].strip('"')
|
||||
if len(p) >= 4:
|
||||
out["network_type"] = NETWORK_TYPE.get(int(p[3]), "unknown")
|
||||
except (ValueError, IndexError):
|
||||
pass
|
||||
return out
|
||||
|
||||
def _poll_band(self) -> dict:
|
||||
v = self._atv("AT+QNWINFO", "+QNWINFO:")
|
||||
if not v:
|
||||
return {}
|
||||
info = v.replace('"', '').split(",")
|
||||
try:
|
||||
if len(info) >= 4:
|
||||
return {"band": info[2], "channel": int(info[3])}
|
||||
except ValueError:
|
||||
pass
|
||||
return {}
|
||||
|
||||
def _poll_extra(self) -> dict:
|
||||
v = self._atv('AT+QENG="servingcell"', "+QENG:")
|
||||
return {"extra": v.replace('"', '')} if v else {}
|
||||
|
||||
def _poll_temps(self) -> dict:
|
||||
v = self._atv("AT+QTEMP", "+QTEMP:")
|
||||
if not v:
|
||||
return {}
|
||||
try:
|
||||
return {"temperatures": [t for t in (int(x) for x in v.split(",") if x.strip()) if t != 255]}
|
||||
except (ValueError, IndexError):
|
||||
return {}
|
||||
|
||||
def _poll_iface(self) -> dict:
|
||||
try:
|
||||
r = subprocess.run(["ip", "-4", "addr", "show", "ppp0"], capture_output=True, text=True, timeout=2)
|
||||
ip, peer = "", ""
|
||||
for line in r.stdout.splitlines():
|
||||
# `inet 10.x.x.x peer 10.64.64.64/32 ...`
|
||||
parts = line.strip().split()
|
||||
if "inet" in parts:
|
||||
i = parts.index("inet")
|
||||
ip = parts[i + 1].split("/")[0]
|
||||
if "peer" in parts:
|
||||
peer = parts[parts.index("peer") + 1].split("/")[0]
|
||||
break
|
||||
if ip:
|
||||
if self._ppp.maybe_install_routes(ip, peer):
|
||||
self._ppp.maybe_install_dns(self._read_cellular_dns())
|
||||
return {"ip_address": ip, "connected": True}
|
||||
if self.S["connected"]:
|
||||
return {"connected": False, "ip_address": ""}
|
||||
except Exception:
|
||||
pass
|
||||
return {}
|
||||
|
||||
def _read_cellular_dns(self) -> list[str]:
|
||||
v = self._atv(f"AT+CGCONTRDP={DIAL_CID}", "+CGCONTRDP:")
|
||||
if not v:
|
||||
return []
|
||||
# +CGCONTRDP: <cid>,<bearer_id>,<apn>,<local_addr>,<gw_addr>,<dns_prim>,<dns_sec>,...
|
||||
fields = [f.strip().strip('"') for f in v.split(",")]
|
||||
dns_servers = []
|
||||
for d in fields[5:7]:
|
||||
try:
|
||||
dns_servers.append(str(IPv4Address(d)))
|
||||
except (AddressValueError, ValueError):
|
||||
pass
|
||||
if not dns_servers:
|
||||
dns_servers = [
|
||||
"8.8.8.8", # Google
|
||||
"1.1.1.1", # Cloudflare
|
||||
]
|
||||
logging.warning(f"no cellular DNS servers reported by modem: {v!r}; using fallback {dns_servers}")
|
||||
return dns_servers
|
||||
|
||||
def _poll_byte_counters(self) -> dict:
|
||||
try:
|
||||
with open("/sys/class/net/ppp0/statistics/tx_bytes") as f:
|
||||
tx = int(f.read().strip())
|
||||
with open("/sys/class/net/ppp0/statistics/rx_bytes") as f:
|
||||
rx = int(f.read().strip())
|
||||
except Exception:
|
||||
return {}
|
||||
return {"tx_bytes": tx, "rx_bytes": rx}
|
||||
|
||||
def _poll(self):
|
||||
s: dict = {}
|
||||
for fn in (self._poll_signal, self._poll_operator, self._poll_band,
|
||||
self._poll_extra, self._poll_temps, self._poll_iface,
|
||||
self._poll_byte_counters):
|
||||
s.update(fn())
|
||||
if s:
|
||||
self._publish_state(**s)
|
||||
|
||||
def run(self):
|
||||
logging.info("starting")
|
||||
self._publish_state(state=State.INITIALIZING.value)
|
||||
if self._has_modem_manager():
|
||||
subprocess.run(["sudo", "systemctl", "mask", "--runtime", "ModemManager"], capture_output=True)
|
||||
subprocess.run(["sudo", "systemctl", "stop", "ModemManager"], capture_output=True)
|
||||
self._ppp.kill()
|
||||
|
||||
state = State.INITIALIZING
|
||||
|
||||
handlers = {
|
||||
State.INITIALIZING: self._do_initializing,
|
||||
State.SEARCHING: self._do_searching,
|
||||
State.CONNECTING: self._do_connecting,
|
||||
State.CONNECTED: self._do_connected,
|
||||
State.DISCONNECTING: self._do_disconnecting,
|
||||
}
|
||||
|
||||
while self.running:
|
||||
try:
|
||||
self._check_iccid(state)
|
||||
prev = state
|
||||
state = handlers[state]()
|
||||
if state != prev:
|
||||
self._publish_state(state=state.value)
|
||||
logging.info(f"{prev.value} -> {state.value}")
|
||||
except Exception:
|
||||
logging.exception(f"error in {state.value}")
|
||||
state = State.DISCONNECTING
|
||||
time.sleep(STATE_WAIT)
|
||||
|
||||
def stop(self):
|
||||
self.running = False
|
||||
self._ppp.kill()
|
||||
self._ppp.cleanup_routes()
|
||||
try:
|
||||
os.remove(STATE_PATH)
|
||||
except FileNotFoundError:
|
||||
pass
|
||||
if self._has_modem_manager():
|
||||
subprocess.run(["sudo", "systemctl", "unmask", "--runtime", "ModemManager"], capture_output=True)
|
||||
subprocess.run(["sudo", "systemctl", "start", "ModemManager"], capture_output=True)
|
||||
|
||||
|
||||
def main():
|
||||
m = Modem()
|
||||
|
||||
def _sig(*_):
|
||||
m.running = False
|
||||
|
||||
signal.signal(signal.SIGINT, _sig)
|
||||
signal.signal(signal.SIGTERM, _sig)
|
||||
m.run()
|
||||
m.stop()
|
||||
|
||||
|
||||
if __name__ == "__main__":
|
||||
main()
|
||||
@@ -0,0 +1,27 @@
|
||||
# GPIO pin definitions
|
||||
class GPIO:
|
||||
# both GPIO_STM_RST_N and GPIO_LTE_RST_N are misnamed, they are high to reset
|
||||
HUB_RST_N = 30
|
||||
UBLOX_RST_N = 32
|
||||
UBLOX_SAFEBOOT_N = 33
|
||||
GNSS_PWR_EN = 34 # SCHEMATIC LABEL: GPIO_UBLOX_PWR_EN
|
||||
|
||||
STM_RST_N = 124
|
||||
STM_BOOT0 = 134
|
||||
STM_PWR_EN_N = 41 # because STM32H7 RST doesn't generate a full power-on-reset
|
||||
|
||||
SIREN = 42
|
||||
SOM_ST_IO = 49
|
||||
|
||||
LTE_RST_N = 50
|
||||
LTE_PWRKEY = 116
|
||||
LTE_BOOT = 52
|
||||
|
||||
# GPIO_CAM0_DVDD_EN = /sys/kernel/debug/regulator/camera_rear_ldo
|
||||
CAM0_AVDD_EN = 8
|
||||
CAM0_RSTN = 9
|
||||
CAM1_RSTN = 7
|
||||
CAM2_RSTN = 12
|
||||
|
||||
# Sensor interrupts
|
||||
LSM_INT = 84
|
||||
+66
@@ -0,0 +1,66 @@
|
||||
#!/usr/bin/env python3
|
||||
import sys
|
||||
import time
|
||||
import datetime
|
||||
import numpy as np
|
||||
from collections import deque
|
||||
|
||||
from openpilot.common.realtime import Ratekeeper
|
||||
from openpilot.common.filter_simple import FirstOrderFilter
|
||||
|
||||
|
||||
def read_power():
|
||||
with open("/sys/bus/i2c/devices/0-0040/hwmon/hwmon1/power1_input") as f:
|
||||
return int(f.read()) / 1e6
|
||||
|
||||
def sample_power(seconds=5) -> list[float]:
|
||||
rate = 123
|
||||
rk = Ratekeeper(rate, print_delay_threshold=None)
|
||||
|
||||
pwrs = []
|
||||
for _ in range(rate*seconds):
|
||||
pwrs.append(read_power())
|
||||
rk.keep_time()
|
||||
return pwrs
|
||||
|
||||
def get_power(seconds=5):
|
||||
pwrs = sample_power(seconds)
|
||||
return np.mean(pwrs)
|
||||
|
||||
def wait_for_power(min_pwr, max_pwr, min_secs_in_range, timeout):
|
||||
start_time = time.monotonic()
|
||||
pwrs = deque([min_pwr - 1.]*min_secs_in_range, maxlen=min_secs_in_range)
|
||||
while (time.monotonic() - start_time < timeout):
|
||||
pwrs.append(get_power(1))
|
||||
if all(min_pwr <= p <= max_pwr for p in pwrs):
|
||||
break
|
||||
return np.mean(pwrs)
|
||||
|
||||
|
||||
if __name__ == "__main__":
|
||||
duration = None
|
||||
if len(sys.argv) > 1:
|
||||
duration = int(sys.argv[1])
|
||||
|
||||
rate = 23
|
||||
rk = Ratekeeper(rate, print_delay_threshold=None)
|
||||
fltr = FirstOrderFilter(0, 5, 1. / rate, initialized=False)
|
||||
|
||||
measurements = []
|
||||
start_time = time.monotonic()
|
||||
|
||||
try:
|
||||
while duration is None or time.monotonic() - start_time < duration:
|
||||
fltr.update(read_power())
|
||||
if rk.frame % rate == 0:
|
||||
measurements.append(fltr.x)
|
||||
t = datetime.timedelta(seconds=time.monotonic() - start_time)
|
||||
avg = sum(measurements) / len(measurements)
|
||||
print(f"Now: {fltr.x:.2f} W, Avg: {avg:.2f} W over {t}")
|
||||
rk.keep_time()
|
||||
except KeyboardInterrupt:
|
||||
pass
|
||||
|
||||
t = datetime.timedelta(seconds=time.monotonic() - start_time)
|
||||
avg = sum(measurements) / len(measurements)
|
||||
print(f"\nAverage power: {avg:.2f}W over {t}")
|
||||
@@ -0,0 +1 @@
|
||||
|
||||
@@ -0,0 +1,20 @@
|
||||
import json
|
||||
import os
|
||||
import requests
|
||||
|
||||
TEST_DIR = os.path.join(os.path.dirname(os.path.abspath(__file__)))
|
||||
MANIFEST = os.path.join(TEST_DIR, "../agnos.json")
|
||||
|
||||
|
||||
class TestAgnosUpdater:
|
||||
|
||||
def test_manifest(self):
|
||||
with open(MANIFEST) as f:
|
||||
m = json.load(f)
|
||||
|
||||
for img in m:
|
||||
r = requests.head(img['url'], timeout=10)
|
||||
r.raise_for_status()
|
||||
assert r.headers['Content-Type'] == "application/x-xz"
|
||||
if not img['sparse']:
|
||||
assert img['hash'] == img['hash_raw']
|
||||
@@ -0,0 +1,68 @@
|
||||
import pytest
|
||||
import time
|
||||
import subprocess
|
||||
|
||||
from panda import Panda
|
||||
from openpilot.common.hardware import TICI, HARDWARE
|
||||
from openpilot.common.hardware.tici.amplifier import Amplifier
|
||||
|
||||
|
||||
class TestAmplifier:
|
||||
|
||||
@classmethod
|
||||
def setup_class(cls):
|
||||
if not TICI:
|
||||
pytest.skip()
|
||||
|
||||
def setup_method(self):
|
||||
# clear dmesg
|
||||
subprocess.check_call("sudo dmesg -C", shell=True)
|
||||
|
||||
HARDWARE.reset_internal_panda()
|
||||
Panda.wait_for_panda(None, 30)
|
||||
self.panda = Panda()
|
||||
|
||||
def teardown_method(self):
|
||||
HARDWARE.reset_internal_panda()
|
||||
|
||||
def _check_for_i2c_errors(self, expected):
|
||||
dmesg = subprocess.check_output("dmesg", shell=True, encoding='utf8')
|
||||
i2c_lines = [l for l in dmesg.strip().splitlines() if 'i2c_geni a88000.i2c' in l]
|
||||
i2c_str = '\n'.join(i2c_lines)
|
||||
|
||||
if not expected:
|
||||
return len(i2c_lines) == 0
|
||||
else:
|
||||
return "i2c error :-107" in i2c_str or "Bus arbitration lost" in i2c_str
|
||||
|
||||
def test_init(self):
|
||||
amp = Amplifier(debug=True)
|
||||
r = amp.initialize_configuration()
|
||||
assert r
|
||||
assert self._check_for_i2c_errors(False)
|
||||
|
||||
def test_shutdown(self):
|
||||
amp = Amplifier(debug=True)
|
||||
for _ in range(10):
|
||||
r = amp.set_global_shutdown(True)
|
||||
r = amp.set_global_shutdown(False)
|
||||
# amp config should be successful, with no i2c errors
|
||||
assert r
|
||||
assert self._check_for_i2c_errors(False)
|
||||
|
||||
def test_init_while_siren_play(self):
|
||||
for _ in range(10):
|
||||
self.panda.set_siren(False)
|
||||
time.sleep(0.1)
|
||||
|
||||
self.panda.set_siren(True)
|
||||
time.sleep(0.1)
|
||||
|
||||
amp = Amplifier(debug=True)
|
||||
r = amp.initialize_configuration()
|
||||
assert r
|
||||
|
||||
if self._check_for_i2c_errors(True):
|
||||
break
|
||||
else:
|
||||
pytest.fail("didn't hit any i2c errors")
|
||||
Executable
BIN
Binary file not shown.
@@ -0,0 +1,73 @@
|
||||
from pathlib import Path
|
||||
|
||||
CHESTNUT_VENDOR_ID = 0xADD1
|
||||
CHESTNUT_PRODUCT_ID = 0x0001
|
||||
USB_DEVICES_PATH = Path("/sys/bus/usb/devices")
|
||||
|
||||
|
||||
def read(path: Path) -> str | None:
|
||||
try:
|
||||
return path.read_text().strip()
|
||||
except OSError:
|
||||
return None
|
||||
|
||||
|
||||
def read_int(path: Path, base: int = 10) -> int:
|
||||
try:
|
||||
return int(path.read_text(), base)
|
||||
except (OSError, ValueError):
|
||||
return 0
|
||||
|
||||
|
||||
def usb_devices() -> list[Path]:
|
||||
try:
|
||||
devices = (d for d in USB_DEVICES_PATH.glob("*") if (d / "idVendor").exists())
|
||||
return sorted(devices, key=lambda p: p.name)
|
||||
except OSError:
|
||||
return []
|
||||
|
||||
|
||||
def controller(device: Path) -> Path | None:
|
||||
try:
|
||||
return next((parent for parent in device.resolve().parents if parent.name.endswith(".ssusb")), None)
|
||||
except OSError:
|
||||
return None
|
||||
|
||||
|
||||
def get_usb_state() -> list[dict]:
|
||||
devices = []
|
||||
for device in usb_devices():
|
||||
vendor_id = read_int(device / "idVendor", 16)
|
||||
product_id = read_int(device / "idProduct", 16)
|
||||
ctrl = controller(device)
|
||||
devices.append({
|
||||
"busnum": read_int(device / "busnum"),
|
||||
"devnum": read_int(device / "devnum"),
|
||||
"vendorId": vendor_id,
|
||||
"productId": product_id,
|
||||
"speedMbps": read_int(device / "speed"),
|
||||
"manufacturer": read(device / "manufacturer") or "",
|
||||
"product": read(device / "product") or "",
|
||||
"linkErrorCount": read_int(ctrl / "portli", 0) & 0xFFFF if ctrl is not None else 0,
|
||||
})
|
||||
return devices
|
||||
|
||||
|
||||
def set_usb_state(device_state, devices: list[dict]) -> None:
|
||||
entries = device_state.usbState.init('devices', len(devices))
|
||||
|
||||
chestnut_present = False
|
||||
for entry, device in zip(entries, devices, strict=True):
|
||||
entry.busnum = device["busnum"]
|
||||
entry.devnum = device["devnum"]
|
||||
entry.vendorId = device["vendorId"]
|
||||
entry.productId = device["productId"]
|
||||
entry.speedMbps = device["speedMbps"]
|
||||
entry.manufacturer = device["manufacturer"]
|
||||
entry.product = device["product"]
|
||||
entry.linkErrorCount = device["linkErrorCount"]
|
||||
|
||||
if (entry.vendorId, entry.productId) == (CHESTNUT_VENDOR_ID, CHESTNUT_PRODUCT_ID):
|
||||
chestnut_present = True
|
||||
|
||||
device_state.chestnutPresent = chestnut_present
|
||||
Reference in new issue
Block a user