Merge branch 'devel' of https://github.com/commaai/openpilot into devel-en

common/android.py

@@ -1,20 +1,32 @@
+import os
 import binascii
 import itertools
 import re
 import struct
 import subprocess
 
+ANDROID = os.path.isfile('/EON')
+
 def getprop(key):
+  if not ANDROID:
+    return ""
   return subprocess.check_output(["getprop", key], encoding='utf8').strip()
 
-def get_imei():
-  ret = getprop("oem.device.imeicache")
-  if ret == "":
+def get_imei(slot):
+  slot = str(slot)
+  if slot not in ("0", "1"):
+    raise ValueError("SIM slot must be 0 or 1")
+
+  ret = parse_service_call_string(["iphonesubinfo", "3" ,"i32", str(slot)])
+  if not ret:
     ret = "000000000000000"
   return ret
 
 def get_serial():
-  return getprop("ro.serialno")
+  ret = getprop("ro.serialno")
+  if ret == "":
+    ret = "cccccccc"
+  return ret
 
 def get_subscriber_info():
   ret = parse_service_call_string(["iphonesubinfo", "7"])
@@ -60,6 +72,8 @@ def parse_service_call_string(call):
     return None
 
 def parse_service_call_bytes(call):
+  if not ANDROID:
+    return None
   ret = subprocess.check_output(["service", "call", *call], encoding='utf8').strip()
   if 'Parcel' not in ret:
     return None

common/logging_extra.py

@@ -78,28 +78,6 @@ class SwagLogger(logging.Logger):
     self.log_local = local()
     self.log_local.ctx = {}
 
-  def findCaller(self, stack_info=None):
-    """
-      Find the stack frame of the caller so that we can note the source
-      file name, line number and function name.
-      """
-    # f = currentframe()
-    f = sys._getframe(3)
-    #On some versions of IronPython, currentframe() returns None if
-    #IronPython isn't run with -X:Frames.
-    if f is not None:
-      f = f.f_back
-    rv = "(unknown file)", 0, "(unknown function)"
-    while hasattr(f, "f_code"):
-      co = f.f_code
-      filename = os.path.normcase(co.co_filename)
-      if filename in (logging._srcfile, _srcfile):
-        f = f.f_back
-        continue
-      rv = (co.co_filename, f.f_lineno, co.co_name)
-      break
-    return rv
-
   def local_ctx(self):
     try:
       return self.log_local.ctx

common/params.py

@@ -69,9 +69,10 @@ keys = {
   "IsLdwEnabled": [TxType.PERSISTENT],
   "IsGeofenceEnabled": [TxType.PERSISTENT],
   "IsMetric": [TxType.PERSISTENT],
+  "IsOffroad": [TxType.CLEAR_ON_MANAGER_START],
   "IsRHD": [TxType.PERSISTENT],
   "IsTakingSnapshot": [TxType.CLEAR_ON_MANAGER_START],
-  "IsUpdateAvailable": [TxType.PERSISTENT],
+  "IsUpdateAvailable": [TxType.CLEAR_ON_MANAGER_START],
   "IsUploadRawEnabled": [TxType.PERSISTENT],
   "LastUpdateTime": [TxType.PERSISTENT],
   "LimitSetSpeed": [TxType.PERSISTENT],
@@ -80,6 +81,7 @@ keys = {
   "LongitudinalControl": [TxType.PERSISTENT],
   "OpenpilotEnabledToggle": [TxType.PERSISTENT],
   "PandaFirmware": [TxType.CLEAR_ON_MANAGER_START, TxType.CLEAR_ON_PANDA_DISCONNECT],
+  "PandaFirmwareHex": [TxType.CLEAR_ON_MANAGER_START, TxType.CLEAR_ON_PANDA_DISCONNECT],
   "PandaDongleId": [TxType.CLEAR_ON_MANAGER_START, TxType.CLEAR_ON_PANDA_DISCONNECT],
   "Passive": [TxType.PERSISTENT],
   "RecordFront": [TxType.PERSISTENT],

common/spinner.py

@@ -5,21 +5,31 @@ from common.basedir import BASEDIR
 
 class Spinner():
   def __init__(self):
-    self.spinner_proc = subprocess.Popen(["./spinner"],
-                                         stdin=subprocess.PIPE,
-                                         cwd=os.path.join(BASEDIR, "selfdrive", "ui", "spinner"),
-                                         close_fds=True)
+    try:
+      self.spinner_proc = subprocess.Popen(["./spinner"],
+                                           stdin=subprocess.PIPE,
+                                           cwd=os.path.join(BASEDIR, "selfdrive", "ui", "spinner"),
+                                           close_fds=True)
+    except OSError:
+      self.spinner_proc = None
 
   def __enter__(self):
     return self
 
   def update(self, spinner_text):
-    self.spinner_proc.stdin.write(spinner_text.encode('utf8') + b"\n")
-    self.spinner_proc.stdin.flush()
+    if self.spinner_proc is not None:
+      self.spinner_proc.stdin.write(spinner_text.encode('utf8') + b"\n")
+      try:
+        self.spinner_proc.stdin.flush()
+      except BrokenPipeError:
+        pass
 
   def close(self):
     if self.spinner_proc is not None:
-      self.spinner_proc.stdin.close()
+      try:
+        self.spinner_proc.stdin.close()
+      except BrokenPipeError:
+        pass
       self.spinner_proc.terminate()
       self.spinner_proc = None
 

common/transformations/camera.py

@@ -44,6 +44,7 @@ def get_calib_from_vp(vp):
   roll_calib = 0
   return roll_calib, pitch_calib, yaw_calib
 
+
 # aka 'extrinsic_matrix'
 # road : x->forward, y -> left, z->up
 def get_view_frame_from_road_frame(roll, pitch, yaw, height):
@@ -61,6 +62,13 @@ def vp_from_ke(m):
   """
   return (m[0, 0]/m[2,0], m[1,0]/m[2,0])
 
+
+def vp_from_rpy(rpy):
+  e = get_view_frame_from_road_frame(rpy[0], rpy[1], rpy[2], 1.22)
+  ke = np.dot(eon_intrinsics, e)
+  return vp_from_ke(ke)
+
+
 def roll_from_ke(m):
   # note: different from calibration.h/RollAnglefromKE: i think that one's just wrong
   return np.arctan2(-(m[1, 0] - m[1, 1] * m[2, 0] / m[2, 1]),