dragonpilot mod for 0.8.5-4

selfdrive/hardware/__init__.py

@@ -5,15 +5,19 @@ from selfdrive.hardware.base import HardwareBase
 from selfdrive.hardware.eon.hardware import Android
 from selfdrive.hardware.tici.hardware import Tici
 from selfdrive.hardware.pc.hardware import Pc
+from selfdrive.hardware.jetson.hardware import Jetson
 
 EON = os.path.isfile('/EON')
 TICI = os.path.isfile('/TICI')
-PC = not (EON or TICI)
+JETSON = os.path.isfile('/JETSON')
+PC = not (EON or TICI or JETSON)
 
 
 if EON:
   HARDWARE = cast(HardwareBase, Android())
 elif TICI:
   HARDWARE = cast(HardwareBase, Tici())
+elif JETSON:
+  HARDWARE = cast(HardwareBase, Jetson())
 else:
   HARDWARE = cast(HardwareBase, Pc())

selfdrive/hardware/base.h

@@ -22,4 +22,5 @@ public:
   static bool PC() { return false; }
   static bool EON() { return false; }
   static bool TICI() { return false; }
+  static bool JETSON() { return false; }
 };

selfdrive/hardware/hw.h

@@ -8,6 +8,9 @@
 #elif QCOM2
 #include "selfdrive/hardware/tici/hardware.h"
 #define Hardware HardwareTici
+#elif XNX
+#include "selfdrive/hardware/jetson/hardware.h"
+#define Hardware HardwareJetson
 #else
 class HardwarePC : public HardwareNone {
 public:

selfdrive/hardware/jetson/hardware.h

@@ -0,0 +1,15 @@
+#pragma once
+
+#include <cstdlib>
+
+#include "selfdrive/common/util.h"
+#include "selfdrive/hardware/base.h"
+
+class HardwareJetson : public HardwareNone {
+public:
+
+  static bool JETSON() { return true; }
+
+  static void reboot() { std::system("sudo reboot"); };
+  static void poweroff() { std::system("sudo poweroff"); };
+};

selfdrive/hardware/jetson/hardware.py

@@ -0,0 +1,91 @@
+import random
+import os
+
+from cereal import log
+from selfdrive.hardware.base import HardwareBase, ThermalConfig
+
+NetworkType = log.DeviceState.NetworkType
+NetworkStrength = log.DeviceState.NetworkStrength
+
+
+class Jetson(HardwareBase):
+
+
+  def get_os_version(self):
+    return None
+
+  def get_device_type(self):
+    return "jetson"
+
+  def get_sound_card_online(self):
+    return True
+
+  def reboot(self, reason=None):
+    os.system("sudo reboot")
+
+  def uninstall(self):
+    print("uninstall")
+
+  def get_imei(self, slot):
+    return "%015d" % random.randint(0, 1 << 32)
+
+  def get_serial(self):
+    return "cccccccc"
+
+  def get_subscriber_info(self):
+    return ""
+
+  def get_network_type(self):
+    return NetworkType.wifi
+
+  def get_sim_info(self):
+    return {
+      'sim_id': '',
+      'mcc_mnc': None,
+      'network_type': ["Unknown"],
+      'sim_state': ["ABSENT"],
+      'data_connected': False
+    }
+
+  def get_network_strength(self, network_type):
+    return NetworkStrength.unknown
+
+  def get_battery_capacity(self):
+    return 100
+
+  def get_battery_status(self):
+    return ""
+
+  def get_battery_current(self):
+    return 0
+
+  def get_battery_voltage(self):
+    return 0
+
+  def get_battery_charging(self):
+    return True
+
+  def set_battery_charging(self, on):
+    pass
+
+  def get_usb_present(self):
+    return False
+
+  def get_current_power_draw(self):
+    return 0
+
+  def shutdown(self):
+    os.system("sudo poweroff")
+
+  def get_thermal_config(self):
+    return ThermalConfig(cpu=((None,), 1), gpu=((None,), 1), mem=(None, 1), bat=(None, 1), ambient=(None, 1))
+
+  def set_screen_brightness(self, percentage):
+    pass
+
+  def set_power_save(self, enabled):
+    if enabled:
+      os.system("sudo nvpmodel -m 3")
+    else:
+      os.system("sudo echo 5000 > /sys/devices/c250000.i2c/i2c-7/7-0040/iio:device0/crit_current_limit_0")
+      os.system("sudo nvpmodel -m 2 && sudo jetson_clocks")