openpilot v0.8.8 release

selfdrive/hardware/eon/androidd.py

@@ -0,0 +1,78 @@
+#!/usr/bin/env python3
+import os
+import time
+import psutil
+from typing import Optional
+
+from common.realtime import set_core_affinity, set_realtime_priority
+from selfdrive.swaglog import cloudlog
+
+
+MAX_MODEM_CRASHES = 3
+MODEM_PATH = "/sys/devices/soc/2080000.qcom,mss/subsys5"
+WATCHED_PROCS = ["zygote", "zygote64", "/system/bin/servicemanager", "/system/bin/surfaceflinger"]
+
+
+def get_modem_crash_count() -> Optional[int]:
+  try:
+    with open(os.path.join(MODEM_PATH, "crash_count")) as f:
+      return int(f.read())
+  except Exception:
+    cloudlog.exception("Error reading modem crash count")
+  return None
+
+def get_modem_state() -> str:
+  try:
+    with open(os.path.join(MODEM_PATH, "state")) as f:
+      return f.read().strip()
+  except Exception:
+    cloudlog.exception("Error reading modem state")
+  return ""
+
+def main():
+  set_core_affinity(1)
+  set_realtime_priority(1)
+
+  procs = {}
+  crash_count = 0
+  modem_killed = False
+  modem_state = "ONLINE"
+  while True:
+    # check critical android services
+    if any(p is None or not p.is_running() for p in procs.values()) or not len(procs):
+      cur = {p: None for p in WATCHED_PROCS}
+      for p in psutil.process_iter(attrs=['cmdline']):
+        cmdline = None if not len(p.info['cmdline']) else p.info['cmdline'][0]
+        if cmdline in WATCHED_PROCS:
+          cur[cmdline] = p
+
+      if len(procs):
+        for p in WATCHED_PROCS:
+          if cur[p] != procs[p]:
+            cloudlog.event("android service pid changed", proc=p, cur=cur[p], prev=procs[p])
+      procs.update(cur)
+
+    # check modem state
+    state = get_modem_state()
+    if state != modem_state and not modem_killed:
+      cloudlog.event("modem state changed", state=state)
+    modem_state = state
+
+    # check modem crashes
+    cnt = get_modem_crash_count()
+    if cnt is not None:
+      if cnt > crash_count:
+        cloudlog.event("modem crash", count=cnt)
+      crash_count = cnt
+
+    # handle excessive modem crashes
+    if crash_count > MAX_MODEM_CRASHES and not modem_killed:
+      cloudlog.event("killing modem")
+      with open("/sys/kernel/debug/msm_subsys/modem", "w") as f:
+        f.write("put")
+      modem_killed = True
+
+    time.sleep(1)
+
+if __name__ == "__main__":
+  main()

selfdrive/hardware/hw.h

@@ -1,6 +1,7 @@
 #pragma once
 
 #include "selfdrive/hardware/base.h"
+#include "selfdrive/common/util.h"
 
 #ifdef QCOM
 #include "selfdrive/hardware/eon/hardware.h"
@@ -16,3 +17,19 @@ public:
 };
 #define Hardware HardwarePC
 #endif
+
+namespace Path {
+inline static std::string HOME = util::getenv("HOME");
+inline std::string log_root() {
+  if (const char *env = getenv("LOG_ROOT")) {
+    return env;
+  }
+  return Hardware::PC() ? HOME + "/.comma/media/0/realdata" : "/data/media/0/realdata";
+}
+inline std::string params() {
+  return Hardware::PC() ? HOME + "/.comma/params" : "/data/params";
+}
+inline std::string rsa_file() {
+  return Hardware::PC() ? HOME + "/.comma/persist/comma/id_rsa" : "/persist/comma/id_rsa";
+}
+}  // namespace Path

selfdrive/hardware/tici/agnos.json

@@ -1,10 +1,10 @@
 [
   {
     "name": "boot",
-    "url": "https://commadist.azureedge.net/agnosupdate/boot-54fc7edceeabff713b51dd4d4931eb920344aa3f8f8e0f153baad1fb5a15ef19.img.xz",
-    "hash": "54fc7edceeabff713b51dd4d4931eb920344aa3f8f8e0f153baad1fb5a15ef19",
-    "hash_raw": "54fc7edceeabff713b51dd4d4931eb920344aa3f8f8e0f153baad1fb5a15ef19",
-    "size": 14772224,
+    "url": "https://commadist.azureedge.net/agnosupdate/boot-6a5ac08b5c458e24e810dd950185ee69b7c5f3556f9f43b323f1dba4e14f8d44.img.xz",
+    "hash": "6a5ac08b5c458e24e810dd950185ee69b7c5f3556f9f43b323f1dba4e14f8d44",
+    "hash_raw": "6a5ac08b5c458e24e810dd950185ee69b7c5f3556f9f43b323f1dba4e14f8d44",
+    "size": 14776320,
     "sparse": false,
     "full_check": true,
     "has_ab": true
@@ -41,9 +41,9 @@
   },
   {
     "name": "system",
-    "url": "https://commadist.azureedge.net/agnosupdate/system-5208f2d72b6d99bbee7dc038b3c95eccabc0bcabc5c718419e06bc7f897a675a.img.xz",
-    "hash": "68a3d0bb892c7b8347ce8b6d5a733a3f15d622af11febaeb3d6595308f15e738",
-    "hash_raw": "5208f2d72b6d99bbee7dc038b3c95eccabc0bcabc5c718419e06bc7f897a675a",
+    "url": "https://commadist.azureedge.net/agnosupdate/system-9056640f926b2612be503a9fec621091ae8a86ec3b2eeb15503db39490a6d2f4.img.xz",
+    "hash": "94445bb5db56bb2d462fa3831d3501cb8ffedafed9bf2e57128ffd71f454a4bd",
+    "hash_raw": "9056640f926b2612be503a9fec621091ae8a86ec3b2eeb15503db39490a6d2f4",
     "size": 10737418240,
     "sparse": true,
     "full_check": false,

selfdrive/hardware/tici/hardware.py

@@ -266,6 +266,8 @@ class Tici(HardwareBase):
   def set_power_save(self, powersave_enabled):
     # amplifier, 100mW at idle
     self.amplifier.set_global_shutdown(amp_disabled=powersave_enabled)
+    if not powersave_enabled:
+      self.amplifier.initialize_configuration()
 
     # offline big cluster, leave core 4 online for boardd
     for i in range(5, 8):