openpilot v0.9.5 release

date: 2023-11-17T23:53:40
master commit: d3aad9ca46

system/hardware/__init__.py

@@ -1,9 +1,9 @@
 import os
 from typing import cast
 
-from system.hardware.base import HardwareBase
-from system.hardware.tici.hardware import Tici
-from system.hardware.pc.hardware import Pc
+from openpilot.system.hardware.base import HardwareBase
+from openpilot.system.hardware.tici.hardware import Tici
+from openpilot.system.hardware.pc.hardware import Pc
 
 TICI = os.path.isfile('/TICI')
 AGNOS = os.path.isfile('/AGNOS')

system/hardware/base.h

@@ -2,6 +2,9 @@
 
 #include <cstdlib>
 #include <fstream>
+#include <map>
+#include <string>
+
 #include "cereal/messaging/messaging.h"
 
 // no-op base hw class
@@ -11,10 +14,10 @@ public:
   static constexpr float MIN_VOLUME = 0.2;
 
   static std::string get_os_version() { return ""; }
-  static std::string get_name() { return ""; };
-  static cereal::InitData::DeviceType get_device_type() { return cereal::InitData::DeviceType::UNKNOWN; };
-  static int get_voltage() { return 0; };
-  static int get_current() { return 0; };
+  static std::string get_name() { return ""; }
+  static cereal::InitData::DeviceType get_device_type() { return cereal::InitData::DeviceType::UNKNOWN; }
+  static int get_voltage() { return 0; }
+  static int get_current() { return 0; }
 
   static std::string get_serial() { return "cccccc"; }
 
@@ -31,6 +34,8 @@ public:
   static bool get_ssh_enabled() { return false; }
   static void set_ssh_enabled(bool enabled) {}
 
+  static void config_cpu_rendering();
+
   static bool PC() { return false; }
   static bool TICI() { return false; }
   static bool AGNOS() { return false; }

system/hardware/hw.h

@@ -1,5 +1,7 @@
 #pragma once
 
+#include <string>
+
 #include "system/hardware/base.h"
 #include "common/util.h"
 
@@ -12,16 +14,37 @@
 #endif
 
 namespace Path {
-inline std::string log_root() {
-  if (const char *env = getenv("LOG_ROOT")) {
-    return env;
+  inline std::string openpilot_prefix() {
+    return util::getenv("OPENPILOT_PREFIX", "");
+  }
+
+  inline std::string comma_home() {
+    return util::getenv("HOME") + "/.comma" + Path::openpilot_prefix();
+  }
+
+  inline std::string log_root() {
+    if (const char *env = getenv("LOG_ROOT")) {
+      return env;
+    }
+    return Hardware::PC() ? Path::comma_home() + "/media/0/realdata" : "/data/media/0/realdata";
+  }
+
+  inline std::string params() {
+    return Hardware::PC() ? util::getenv("PARAMS_ROOT", Path::comma_home() + "/params") : "/data/params";
+  }
+
+  inline std::string rsa_file() {
+    return Hardware::PC() ? Path::comma_home() + "/persist/comma/id_rsa" : "/persist/comma/id_rsa";
+  }
+  
+  inline std::string swaglog_ipc() {
+    return "ipc:///tmp/logmessage" + Path::openpilot_prefix();
+  }
+
+  inline std::string download_cache_root() {
+    if (const char *env = getenv("COMMA_CACHE")) {
+      return env;
+    }
+    return "/tmp/comma_download_cache" + Path::openpilot_prefix() + "/";
   }
-  return Hardware::PC() ? util::getenv("HOME") + "/.comma/media/0/realdata" : "/data/media/0/realdata";
-}
-inline std::string params() {
-  return Hardware::PC() ? util::getenv("PARAMS_ROOT", util::getenv("HOME") + "/.comma/params") : "/data/params";
-}
-inline std::string rsa_file() {
-  return Hardware::PC() ? util::getenv("HOME") + "/.comma/persist/comma/id_rsa" : "/persist/comma/id_rsa";
-}
 }  // namespace Path

system/hardware/hw.py

@@ -0,0 +1,35 @@
+import os
+from pathlib import Path
+
+from openpilot.system.hardware import PC
+
+class Paths:
+  @staticmethod
+  def comma_home() -> str:
+    return os.path.join(str(Path.home()), ".comma" + os.environ.get("OPENPILOT_PREFIX", ""))
+
+  @staticmethod
+  def log_root() -> str:
+    if os.environ.get('LOG_ROOT', False):
+      return os.environ['LOG_ROOT']
+    elif PC:
+      return str(Path(Paths.comma_home()) / "media" / "0" / "realdata")
+    else:
+      return '/data/media/0/realdata/'
+
+  @staticmethod
+  def swaglog_root() -> str:
+    if PC:
+      return os.path.join(Paths.comma_home(), "log")
+    else:
+      return "/data/log/"
+
+  @staticmethod
+  def swaglog_ipc() -> str:
+    return "ipc:///tmp/logmessage" + os.environ.get("OPENPILOT_PREFIX", "")
+
+  @staticmethod
+  def download_cache_root() -> str:
+    if os.environ.get('COMMA_CACHE', False):
+      return os.environ['COMMA_CACHE']
+    return "/tmp/comma_download_cache" + os.environ.get("OPENPILOT_PREFIX", "") + "/"

system/hardware/pc/hardware.h

@@ -1,12 +1,14 @@
 #pragma once
 
+#include <string>
+
 #include "system/hardware/base.h"
 
 class HardwarePC : public HardwareNone {
 public:
   static std::string get_os_version() { return "openpilot for PC"; }
-  static std::string get_name() { return "pc"; };
-  static cereal::InitData::DeviceType get_device_type() { return cereal::InitData::DeviceType::PC; };
+  static std::string get_name() { return "pc"; }
+  static cereal::InitData::DeviceType get_device_type() { return cereal::InitData::DeviceType::PC; }
   static bool PC() { return true; }
   static bool TICI() { return util::getenv("TICI", 0) == 1; }
   static bool AGNOS() { return util::getenv("TICI", 0) == 1; }
@@ -18,4 +20,10 @@ public:
     snprintf(volume_str, sizeof(volume_str), "%.3f", volume);
     std::system(("pactl set-sink-volume @DEFAULT_SINK@ " + std::string(volume_str)).c_str());
   }
+
+  static void config_cpu_rendering() {
+    setenv("QT_QPA_PLATFORM", "offscreen", 1);
+    setenv("__GLX_VENDOR_LIBRARY_NAME", "mesa", 1);
+    setenv("LP_NUM_THREADS", "0", 1); // disable threading so we stay on our assigned CPU
+  }
 };

system/hardware/pc/hardware.py

@@ -1,7 +1,7 @@
 import random
 
 from cereal import log
-from system.hardware.base import HardwareBase, ThermalConfig
+from openpilot.system.hardware.base import HardwareBase, ThermalConfig
 
 NetworkType = log.DeviceState.NetworkType
 NetworkStrength = log.DeviceState.NetworkStrength

system/hardware/tici/agnos.json

@@ -67,6 +67,10 @@
     "size": 10737418240,
     "sparse": true,
     "full_check": false,
-    "has_ab": true
+    "has_ab": true,
+    "alt": {
+      "hash": "256442a55fcb9e8f72969f003a4db91598dee1136f8dda85b553a557d36b93d8",
+      "url": "https://commadist.azureedge.net/agnosupdate/system-skip-chunks-e1fa3018bce9bad01c6967e5e21f1141cf5c8f02d2edfaed51c738f74a32a432.img.xz"
+    }
   }
 ]

system/hardware/tici/agnos.py

@@ -10,7 +10,7 @@ from typing import Dict, Generator, List, Tuple, Union
 
 import requests
 
-import system.hardware.tici.casync as casync
+import openpilot.system.hardware.tici.casync as casync
 
 SPARSE_CHUNK_FMT = struct.Struct('H2xI4x')
 CAIBX_URL = "https://commadist.azureedge.net/agnosupdate/"

system/hardware/tici/amplifier.py

@@ -1,3 +1,4 @@
+#!/usr/bin/env python3
 import time
 from smbus2 import SMBus
 from collections import namedtuple

system/hardware/tici/esim.nmconnection

@@ -0,0 +1,30 @@
+[connection]
+id=esim
+uuid=fff6553c-3284-4707-a6b1-acc021caaafb
+type=gsm
+permissions=
+autoconnect=true
+autoconnect-retries=100
+autoconnect-priority=2
+metered=1
+
+[gsm]
+apn=
+home-only=false
+auto-config=true
+sim-id=
+
+[ipv4]
+route-metric=1000
+dns-priority=1000
+dns-search=
+method=auto
+
+[ipv6]
+ddr-gen-mode=stable-privacy
+dns-search=
+route-metric=1000
+dns-priority=1000
+method=auto
+
+[proxy]

system/hardware/tici/hardware.h

@@ -2,6 +2,8 @@
 
 #include <cstdlib>
 #include <fstream>
+#include <map>
+#include <string>
 
 #include "common/params.h"
 #include "common/util.h"
@@ -15,19 +17,19 @@ public:
   static bool AGNOS() { return true; }
   static std::string get_os_version() {
     return "AGNOS " + util::read_file("/VERSION");
-  };
+  }
 
   static std::string get_name() {
     std::string devicetree_model = util::read_file("/sys/firmware/devicetree/base/model");
     return (devicetree_model.find("tizi") != std::string::npos) ? "tizi" : "tici";
-  };
+  }
 
   static cereal::InitData::DeviceType get_device_type() {
     return (get_name() == "tizi") ? cereal::InitData::DeviceType::TIZI : cereal::InitData::DeviceType::TICI;
-  };
+  }
 
-  static int get_voltage() { return std::atoi(util::read_file("/sys/class/hwmon/hwmon1/in1_input").c_str()); };
-  static int get_current() { return std::atoi(util::read_file("/sys/class/hwmon/hwmon1/curr1_input").c_str()); };
+  static int get_voltage() { return std::atoi(util::read_file("/sys/class/hwmon/hwmon1/in1_input").c_str()); }
+  static int get_current() { return std::atoi(util::read_file("/sys/class/hwmon/hwmon1/curr1_input").c_str()); }
 
   static std::string get_serial() {
     static std::string serial("");
@@ -47,8 +49,8 @@ public:
     return serial;
   }
 
-  static void reboot() { std::system("sudo reboot"); };
-  static void poweroff() { std::system("sudo poweroff"); };
+  static void reboot() { std::system("sudo reboot"); }
+  static void poweroff() { std::system("sudo poweroff"); }
   static void set_brightness(int percent) {
     std::string max = util::read_file("/sys/class/backlight/panel0-backlight/max_brightness");
 
@@ -57,14 +59,14 @@ public:
       brightness_control << (int)(percent * (std::stof(max)/100.)) << "\n";
       brightness_control.close();
     }
-  };
+  }
   static void set_display_power(bool on) {
     std::ofstream bl_power_control("/sys/class/backlight/panel0-backlight/bl_power");
     if (bl_power_control.is_open()) {
       bl_power_control << (on ? "0" : "4") << "\n";
       bl_power_control.close();
     }
-  };
+  }
   static void set_volume(float volume) {
     volume = util::map_val(volume, 0.f, 1.f, MIN_VOLUME, MAX_VOLUME);
 
@@ -99,6 +101,11 @@ public:
     return ret;
   }
 
-  static bool get_ssh_enabled() { return Params().getBool("SshEnabled"); };
-  static void set_ssh_enabled(bool enabled) { Params().putBool("SshEnabled", enabled); };
+  static bool get_ssh_enabled() { return Params().getBool("SshEnabled"); }
+  static void set_ssh_enabled(bool enabled) { Params().putBool("SshEnabled", enabled); }
+
+  static void config_cpu_rendering() {
+    setenv("QT_QPA_PLATFORM", "eglfs", 1); // offscreen doesn't work with EGL/GLES
+    setenv("LP_NUM_THREADS", "0", 1); // disable threading so we stay on our assigned CPU
+  }
 };

system/hardware/tici/hardware.py

@@ -3,16 +3,17 @@ import math
 import os
 import subprocess
 import time
+import tempfile
 from enum import IntEnum
 from functools import cached_property, lru_cache
 from pathlib import Path
 
 from cereal import log
-from common.gpio import gpio_set, gpio_init, get_irqs_for_action
-from system.hardware.base import HardwareBase, ThermalConfig
-from system.hardware.tici import iwlist
-from system.hardware.tici.pins import GPIO
-from system.hardware.tici.amplifier import Amplifier
+from openpilot.common.gpio import gpio_set, gpio_init, get_irqs_for_action
+from openpilot.system.hardware.base import HardwareBase, ThermalConfig
+from openpilot.system.hardware.tici import iwlist
+from openpilot.system.hardware.tici.pins import GPIO
+from openpilot.system.hardware.tici.amplifier import Amplifier
 
 NM = 'org.freedesktop.NetworkManager'
 NM_CON_ACT = NM + '.Connection.Active'
@@ -83,17 +84,28 @@ def affine_irq(val, action):
   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')
+  model = model.split('comma ')[-1]
+  # TODO: remove this with AGNOS 7+
+  if model.startswith('Qualcomm'):
+    model = 'tici'
+  return model
+
 class Tici(HardwareBase):
   @cached_property
   def bus(self):
-    import dbus  # pylint: disable=import-error
+    import dbus
     return dbus.SystemBus()
 
   @cached_property
   def nm(self):
     return self.bus.get_object(NM, '/org/freedesktop/NetworkManager')
 
-  @cached_property
+  @property # this should not be cached, in case the modemmanager restarts
   def mm(self):
     return self.bus.get_object(MM, '/org/freedesktop/ModemManager1')
 
@@ -105,15 +117,8 @@ class Tici(HardwareBase):
     with open("/VERSION") as f:
       return f.read().strip()
 
-  @lru_cache
   def get_device_type(self):
-    with open("/sys/firmware/devicetree/base/model") as f:
-      model = f.read().strip('\x00')
-    model = model.split('comma ')[-1]
-    # TODO: remove this with AGNOS 7+
-    if model.startswith('Qualcomm'):
-      model = 'tici'
-    return model
+    return get_device_type()
 
   def get_sound_card_online(self):
     if os.path.isfile('/proc/asound/card0/state'):
@@ -206,8 +211,8 @@ class Tici(HardwareBase):
     return str(self.get_modem().Get(MM_MODEM, 'EquipmentIdentifier', dbus_interface=DBUS_PROPS, timeout=TIMEOUT))
 
   def get_network_info(self):
-    modem = self.get_modem()
     try:
+      modem = self.get_modem()
       info = modem.Command("AT+QNWINFO", math.ceil(TIMEOUT), dbus_interface=MM_MODEM, timeout=TIMEOUT)
       extra = modem.Command('AT+QENG="servingcell"', math.ceil(TIMEOUT), dbus_interface=MM_MODEM, timeout=TIMEOUT)
       state = modem.Get(MM_MODEM, 'State', dbus_interface=DBUS_PROPS, timeout=TIMEOUT)
@@ -319,7 +324,8 @@ class Tici(HardwareBase):
       (True, tc + ["class", "add", "dev", adapter, "parent", "1:", "classid", "1:20", "htb", "rate", f"{upload_speed_kbps}kbit"]),
 
       # Create universal 32 bit filter on adapter that sends all outbound ip traffic through the class
-      (True, tc + ["filter", "add", "dev", adapter, "parent", "1:", "protocol", "ip", "prio", "10", "u32", "match", "ip", "dst", "0.0.0.0/0", "flowid", "1:20"]),
+      (True, tc + ["filter", "add", "dev", adapter, "parent", "1:", "protocol", "ip", "prio", \
+                   "10", "u32", "match", "ip", "dst", "0.0.0.0/0", "flowid", "1:20"]),
     ]
 
     download = [
@@ -328,7 +334,8 @@ class Tici(HardwareBase):
 
       # Redirect ingress (incoming) to egress ifb0
       (True, tc + ["qdisc", "add", "dev", adapter, "handle", "ffff:", "ingress"]),
-      (True, tc + ["filter", "add", "dev", adapter, "parent", "ffff:", "protocol", "ip", "u32", "match", "u32", "0", "0", "action", "mirred", "egress", "redirect", "dev", ifb]),
+      (True, tc + ["filter", "add", "dev", adapter, "parent", "ffff:", "protocol", "ip", "u32", \
+                   "match", "u32", "0", "0", "action", "mirred", "egress", "redirect", "dev", ifb]),
 
       # Add class and rules for virtual interface
       (True, tc + ["qdisc", "add", "dev", ifb, "root", "handle", "2:", "htb"]),
@@ -499,7 +506,7 @@ class Tici(HardwareBase):
     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("596", "/sys/class/kgsl/kgsl-3d0/max_clock_mhz")
+    sudo_write("710", "/sys/class/kgsl/kgsl-3d0/max_clock_mhz")
 
     # setup governors
     sudo_write("performance", "/sys/class/devfreq/soc:qcom,cpubw/governor")
@@ -526,9 +533,23 @@ class Tici(HardwareBase):
       except Exception:
         pass
 
-    # blue prime config
-    if sim_id.startswith('8901410'):
-      os.system('mmcli -m any --3gpp-set-initial-eps-bearer-settings="apn=Broadband"')
+    # blue prime
+    blue_prime = sim_id.startswith('8901410')
+    initial_apn = "Broadband" if blue_prime else ""
+    os.system(f'mmcli -m any --3gpp-set-initial-eps-bearer-settings="apn={initial_apn}"')
+
+    # eSIM prime
+    if sim_id.startswith('8985235'):
+      dest = "/etc/NetworkManager/system-connections/esim.nmconnection"
+      with open(Path(__file__).parent/'esim.nmconnection') as f, tempfile.NamedTemporaryFile(mode='w') as tf:
+        dat = f.read()
+        dat = dat.replace("sim-id=", f"sim-id={sim_id}")
+        tf.write(dat)
+        tf.flush()
+
+        # needs to be root
+        os.system(f"sudo cp {tf.name} {dest}")
+      os.system(f"sudo nmcli con load {dest}")
 
   def get_networks(self):
     r = {}
@@ -580,7 +601,7 @@ class Tici(HardwareBase):
     gpio_init(GPIO.STM_RST_N, True)
 
     gpio_set(GPIO.STM_RST_N, 1)
-    time.sleep(2)
+    time.sleep(1)
     gpio_set(GPIO.STM_RST_N, 0)
 
   def recover_internal_panda(self):
@@ -589,13 +610,14 @@ class Tici(HardwareBase):
 
     gpio_set(GPIO.STM_RST_N, 1)
     gpio_set(GPIO.STM_BOOT0, 1)
-    time.sleep(1)
+    time.sleep(0.5)
     gpio_set(GPIO.STM_RST_N, 0)
-    time.sleep(1)
+    time.sleep(0.5)
     gpio_set(GPIO.STM_BOOT0, 0)
 
 
 if __name__ == "__main__":
   t = Tici()
+  t.configure_modem()
   t.initialize_hardware()
   t.set_power_save(False)

system/hardware/tici/pins.py

@@ -6,7 +6,7 @@ class GPIO:
   HUB_RST_N = 30
   UBLOX_RST_N = 32
   UBLOX_SAFEBOOT_N = 33
-  UBLOX_PWR_EN = 34
+  GNSS_PWR_EN = 34 # SCHEMATIC LABEL: GPIO_UBLOX_PWR_EN
   STM_RST_N = 124
   STM_BOOT0 = 134