mirror of
https://github.com/infiniteCable2/openpilot.git
synced 2026-09-11 02:33:41 +08:00
Daniel Koepping
67 lines
2.1 KiB
Python
67 lines
2.1 KiB
Python
import io
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import json
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import pickle
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import shutil
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import struct
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import tempfile
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from pathlib import Path
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from openpilot.common.file_chunker import get_manifest_path
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from openpilot.common.hardware.usb import CHESTNUT_USB_PRODUCT, USB_DEVICES_PATH, is_chestnut_usb_id
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MODELS_DIR = Path(__file__).resolve().parent / 'models'
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TG_INPUT_DEVICES_PATH = MODELS_DIR / 'tg_input_devices.json'
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CHESTNUT_POWERED_VOLTAGE = 5000
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CHESTNUT_PCIE_READY = 0x78
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def get_tg_input_devices(process_name: str, chestnut: bool):
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with open(TG_INPUT_DEVICES_PATH) as f:
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return json.load(f)[process_name]['default' if not chestnut else 'chestnut']
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def modeld_pkl_path(chestnut: bool):
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prefix = 'big_' if chestnut else ''
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return MODELS_DIR / f'{prefix}driving_tinygrad.pkl'
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def dump_oob(obj, f):
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with tempfile.TemporaryFile(dir=".") as tmp:
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def buffer_callback(pb: pickle.PickleBuffer):
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m = pb.raw()
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tmp.write(struct.pack('<q', m.nbytes))
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tmp.write(m)
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pb.release() # keep peak ram at ~1 buffer
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stream = io.BytesIO()
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pickle.Pickler(stream, protocol=5, buffer_callback=buffer_callback).dump(obj)
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opcodes = stream.getvalue()
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f.write(struct.pack('<q', len(opcodes)))
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f.write(opcodes)
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tmp.seek(0)
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shutil.copyfileobj(tmp, f)
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def load_oob(f):
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opcodes = f.read(struct.unpack('<q', f.read(8))[0])
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def buffers():
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while (h := f.read(8)):
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pb = pickle.PickleBuffer(bytearray(struct.unpack('<q', h)[0]))
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f.readinto(pb)
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yield pb
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return pickle.load(io.BytesIO(opcodes), buffers=buffers())
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def chestnut_present() -> bool:
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for d in USB_DEVICES_PATH.glob("*"):
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try:
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usb_id = (int((d / "idVendor").read_text(), 16), int((d / "idProduct").read_text(), 16))
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product = (d / "product").read_text().strip()
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if is_chestnut_usb_id(*usb_id) and product == CHESTNUT_USB_PRODUCT:
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return True
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except Exception:
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pass
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return False
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def chestnut_compiled() -> bool:
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return Path(get_manifest_path(modeld_pkl_path(chestnut=True))).is_file()
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def chestnut_ready(state) -> bool:
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return state.supplyVoltage >= CHESTNUT_POWERED_VOLTAGE and not state.supplyFault and state.pcieLtssm == CHESTNUT_PCIE_READY
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