import json
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 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'
NM_DEV = NM + '.Device'
NM_DEV_WL = NM + '.Device.Wireless'
NM_DEV_STATS = NM + '.Device.Statistics'
NM_AP = NM + '.AccessPoint'
DBUS_PROPS = 'org.freedesktop.DBus.Properties'
MM = 'org.freedesktop.ModemManager1'
MM_MODEM = MM + ".Modem"
MM_MODEM_SIMPLE = MM + ".Modem.Simple"
MM_SIM = MM + ".Sim"
[docs]
class MM_MODEM_STATE(IntEnum):
FAILED = -1
UNKNOWN = 0
INITIALIZING = 1
LOCKED = 2
DISABLED = 3
DISABLING = 4
ENABLING = 5
ENABLED = 6
SEARCHING = 7
REGISTERED = 8
DISCONNECTING = 9
CONNECTING = 10
CONNECTED = 11
[docs]
class NMMetered(IntEnum):
NM_METERED_UNKNOWN = 0
NM_METERED_YES = 1
NM_METERED_NO = 2
NM_METERED_GUESS_YES = 3
NM_METERED_GUESS_NO = 4
TIMEOUT = 0.1
REFRESH_RATE_MS = 1000
NetworkType = log.DeviceState.NetworkType
NetworkStrength = log.DeviceState.NetworkStrength
# https://developer.gnome.org/ModemManager/unstable/ModemManager-Flags-and-Enumerations.html#MMModemAccessTechnology
MM_MODEM_ACCESS_TECHNOLOGY_UMTS = 1 << 5
MM_MODEM_ACCESS_TECHNOLOGY_LTE = 1 << 14
[docs]
def sudo_write(val, path):
try:
with open(path, 'w') as f:
f.write(str(val))
except PermissionError:
os.system(f"sudo chmod a+w {path}")
try:
with open(path, 'w') as f:
f.write(str(val))
except PermissionError:
# fallback for debugfs files
os.system(f"sudo su -c 'echo {val} > {path}'")
[docs]
def sudo_read(path: str) -> str:
try:
return subprocess.check_output(f"sudo cat {path}", shell=True, encoding='utf8')
except Exception:
return ""
[docs]
def affine_irq(val, action):
irqs = get_irqs_for_action(action)
if len(irqs) == 0:
print(f"No IRQs found for '{action}'")
return
for i in irqs:
sudo_write(str(val), f"/proc/irq/{i}/smp_affinity_list")
[docs]
@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')
return model.split('comma ')[-1]
[docs]
class Tici(HardwareBase):
@cached_property
def bus(self):
import dbus
return dbus.SystemBus()
@cached_property
def nm(self):
return self.bus.get_object(NM, '/org/freedesktop/NetworkManager')
@property # this should not be cached, in case the modemmanager restarts
def mm(self):
return self.bus.get_object(MM, '/org/freedesktop/ModemManager1')
@cached_property
def amplifier(self):
if self.get_device_type() == "mici":
return None
return Amplifier()
[docs]
def get_os_version(self):
with open("/VERSION") as f:
return f.read().strip()
[docs]
def get_device_type(self):
return get_device_type()
[docs]
def get_sound_card_online(self):
if os.path.isfile('/proc/asound/card0/state'):
with open('/proc/asound/card0/state') as f:
return f.read().strip() == 'ONLINE'
return False
[docs]
def reboot(self, reason=None):
subprocess.check_output(["sudo", "reboot"])
[docs]
def uninstall(self):
Path("/data/__system_reset__").touch()
os.sync()
self.reboot()
[docs]
def get_serial(self):
return self.get_cmdline()['androidboot.serialno']
[docs]
def get_network_type(self):
try:
primary_connection = self.nm.Get(NM, 'PrimaryConnection', dbus_interface=DBUS_PROPS, timeout=TIMEOUT)
primary_connection = self.bus.get_object(NM, primary_connection)
primary_type = primary_connection.Get(NM_CON_ACT, 'Type', dbus_interface=DBUS_PROPS, timeout=TIMEOUT)
if primary_type == '802-3-ethernet':
return NetworkType.ethernet
elif primary_type == '802-11-wireless':
return NetworkType.wifi
else:
active_connections = self.nm.Get(NM, 'ActiveConnections', dbus_interface=DBUS_PROPS, timeout=TIMEOUT)
for conn in active_connections:
c = self.bus.get_object(NM, conn)
tp = c.Get(NM_CON_ACT, 'Type', dbus_interface=DBUS_PROPS, timeout=TIMEOUT)
if tp == 'gsm':
modem = self.get_modem()
access_t = modem.Get(MM_MODEM, 'AccessTechnologies', dbus_interface=DBUS_PROPS, timeout=TIMEOUT)
if access_t >= MM_MODEM_ACCESS_TECHNOLOGY_LTE:
return NetworkType.cell4G
elif access_t >= MM_MODEM_ACCESS_TECHNOLOGY_UMTS:
return NetworkType.cell3G
else:
return NetworkType.cell2G
except Exception:
pass
return NetworkType.none
[docs]
def get_modem(self):
objects = self.mm.GetManagedObjects(dbus_interface="org.freedesktop.DBus.ObjectManager", timeout=TIMEOUT)
modem_path = list(objects.keys())[0]
return self.bus.get_object(MM, modem_path)
[docs]
def get_wlan(self):
wlan_path = self.nm.GetDeviceByIpIface('wlan0', dbus_interface=NM, timeout=TIMEOUT)
return self.bus.get_object(NM, wlan_path)
[docs]
def get_wwan(self):
wwan_path = self.nm.GetDeviceByIpIface('wwan0', dbus_interface=NM, timeout=TIMEOUT)
return self.bus.get_object(NM, wwan_path)
[docs]
def get_sim_info(self):
modem = self.get_modem()
sim_path = modem.Get(MM_MODEM, 'Sim', dbus_interface=DBUS_PROPS, timeout=TIMEOUT)
if sim_path == "/":
return {
'sim_id': '',
'mcc_mnc': None,
'network_type': ["Unknown"],
'sim_state': ["ABSENT"],
'data_connected': False
}
else:
sim = self.bus.get_object(MM, sim_path)
return {
'sim_id': str(sim.Get(MM_SIM, 'SimIdentifier', dbus_interface=DBUS_PROPS, timeout=TIMEOUT)),
'mcc_mnc': str(sim.Get(MM_SIM, 'OperatorIdentifier', dbus_interface=DBUS_PROPS, timeout=TIMEOUT)),
'network_type': ["Unknown"],
'sim_state': ["READY"],
'data_connected': modem.Get(MM_MODEM, 'State', dbus_interface=DBUS_PROPS, timeout=TIMEOUT) == MM_MODEM_STATE.CONNECTED,
}
[docs]
def get_imei(self, slot):
if slot != 0:
return ""
return str(self.get_modem().Get(MM_MODEM, 'EquipmentIdentifier', dbus_interface=DBUS_PROPS, timeout=TIMEOUT))
[docs]
def get_network_info(self):
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)
except Exception:
return None
if info and info.startswith('+QNWINFO: '):
info = info.replace('+QNWINFO: ', '').replace('"', '').split(',')
extra = "" if extra is None else extra.replace('+QENG: "servingcell",', '').replace('"', '')
state = "" if state is None else MM_MODEM_STATE(state).name
if len(info) != 4:
return None
technology, operator, band, channel = info
return({
'technology': technology,
'operator': operator,
'band': band,
'channel': int(channel),
'extra': extra,
'state': state,
})
else:
return None
[docs]
def parse_strength(self, percentage):
if percentage < 25:
return NetworkStrength.poor
elif percentage < 50:
return NetworkStrength.moderate
elif percentage < 75:
return NetworkStrength.good
else:
return NetworkStrength.great
[docs]
def get_network_strength(self, network_type):
network_strength = NetworkStrength.unknown
try:
if network_type == NetworkType.none:
pass
elif network_type == NetworkType.wifi:
wlan = self.get_wlan()
active_ap_path = wlan.Get(NM_DEV_WL, 'ActiveAccessPoint', dbus_interface=DBUS_PROPS, timeout=TIMEOUT)
if active_ap_path != "/":
active_ap = self.bus.get_object(NM, active_ap_path)
strength = int(active_ap.Get(NM_AP, 'Strength', dbus_interface=DBUS_PROPS, timeout=TIMEOUT))
network_strength = self.parse_strength(strength)
else: # Cellular
modem = self.get_modem()
strength = int(modem.Get(MM_MODEM, 'SignalQuality', dbus_interface=DBUS_PROPS, timeout=TIMEOUT)[0])
network_strength = self.parse_strength(strength)
except Exception:
pass
return network_strength
[docs]
def get_network_metered(self, network_type) -> bool:
try:
primary_connection = self.nm.Get(NM, 'PrimaryConnection', dbus_interface=DBUS_PROPS, timeout=TIMEOUT)
primary_connection = self.bus.get_object(NM, primary_connection)
primary_devices = primary_connection.Get(NM_CON_ACT, 'Devices', dbus_interface=DBUS_PROPS, timeout=TIMEOUT)
for dev in primary_devices:
dev_obj = self.bus.get_object(NM, str(dev))
metered_prop = dev_obj.Get(NM_DEV, 'Metered', dbus_interface=DBUS_PROPS, timeout=TIMEOUT)
if network_type == NetworkType.wifi:
if metered_prop in [NMMetered.NM_METERED_YES, NMMetered.NM_METERED_GUESS_YES]:
return True
elif network_type in [NetworkType.cell2G, NetworkType.cell3G, NetworkType.cell4G, NetworkType.cell5G]:
if metered_prop == NMMetered.NM_METERED_NO:
return False
except Exception:
pass
return super().get_network_metered(network_type)
[docs]
def get_modem_version(self):
try:
modem = self.get_modem()
return modem.Get(MM_MODEM, 'Revision', dbus_interface=DBUS_PROPS, timeout=TIMEOUT)
except Exception:
return None
[docs]
def get_modem_nv(self):
timeout = 0.2 # Default timeout is too short
files = (
'/nv/item_files/modem/mmode/ue_usage_setting',
'/nv/item_files/ims/IMS_enable',
'/nv/item_files/modem/mmode/sms_only',
)
try:
modem = self.get_modem()
return { fn: str(modem.Command(f'AT+QNVFR="{fn}"', math.ceil(timeout), dbus_interface=MM_MODEM, timeout=timeout)) for fn in files}
except Exception:
return None
[docs]
def get_modem_temperatures(self):
timeout = 0.2 # Default timeout is too short
try:
modem = self.get_modem()
temps = modem.Command("AT+QTEMP", math.ceil(timeout), dbus_interface=MM_MODEM, timeout=timeout)
return list(map(int, temps.split(' ')[1].split(',')))
except Exception:
return []
[docs]
def get_nvme_temperatures(self):
ret = []
try:
out = subprocess.check_output("sudo smartctl -aj /dev/nvme0", shell=True)
dat = json.loads(out)
ret = list(map(int, dat["nvme_smart_health_information_log"]["temperature_sensors"]))
except Exception:
pass
return ret
[docs]
def get_current_power_draw(self):
return (self.read_param_file("/sys/class/hwmon/hwmon1/power1_input", int) / 1e6)
[docs]
def get_som_power_draw(self):
return (self.read_param_file("/sys/class/power_supply/bms/voltage_now", int) * self.read_param_file("/sys/class/power_supply/bms/current_now", int) / 1e12)
[docs]
def shutdown(self):
os.system("sudo poweroff")
[docs]
def get_thermal_config(self):
return ThermalConfig(cpu=(["cpu%d-silver-usr" % i for i in range(4)] +
["cpu%d-gold-usr" % i for i in range(4)], 1000),
gpu=(("gpu0-usr", "gpu1-usr"), 1000),
mem=("ddr-usr", 1000),
bat=(None, 1),
pmic=(("pm8998_tz", "pm8005_tz"), 1000))
[docs]
def set_screen_brightness(self, percentage):
try:
with open("/sys/class/backlight/panel0-backlight/max_brightness") as f:
max_brightness = float(f.read().strip())
val = int(percentage * (max_brightness / 100.))
with open("/sys/class/backlight/panel0-backlight/brightness", "w") as f:
f.write(str(val))
except Exception:
pass
[docs]
def get_screen_brightness(self):
try:
with open("/sys/class/backlight/panel0-backlight/max_brightness") as f:
max_brightness = float(f.read().strip())
with open("/sys/class/backlight/panel0-backlight/brightness") as f:
return int(float(f.read()) / (max_brightness / 100.))
except Exception:
return 0
[docs]
def set_power_save(self, powersave_enabled):
# amplifier, 100mW at idle
if self.amplifier is not None:
self.amplifier.set_global_shutdown(amp_disabled=powersave_enabled)
if not powersave_enabled:
self.amplifier.initialize_configuration(self.get_device_type())
# *** CPU config ***
# offline big cluster, leave core 4 online for boardd
for i in range(5, 8):
val = '0' if powersave_enabled else '1'
sudo_write(val, f'/sys/devices/system/cpu/cpu{i}/online')
for n in ('0', '4'):
gov = 'ondemand' if powersave_enabled else 'performance'
sudo_write(gov, f'/sys/devices/system/cpu/cpufreq/policy{n}/scaling_governor')
# *** IRQ config ***
# boardd core
affine_irq(4, "spi_geni") # SPI
affine_irq(4, "xhci-hcd:usb3") # aux panda USB (or potentially anything else on USB)
if "tici" in self.get_device_type():
affine_irq(4, "xhci-hcd:usb1") # internal panda USB (also modem)
# GPU
affine_irq(5, "kgsl-3d0")
# camerad core
camera_irqs = ("cci", "cpas_camnoc", "cpas-cdm", "csid", "ife", "csid-lite", "ife-lite")
for n in camera_irqs:
affine_irq(5, n)
[docs]
def get_gpu_usage_percent(self):
try:
with open('/sys/class/kgsl/kgsl-3d0/gpubusy') as f:
used, total = f.read().strip().split()
return 100.0 * int(used) / int(total)
except Exception:
return 0
[docs]
def initialize_hardware(self):
if self.amplifier is not None:
self.amplifier.initialize_configuration(self.get_device_type())
# Allow thermald to write engagement status to kmsg
os.system("sudo chmod a+w /dev/kmsg")
# Ensure fan gpio is enabled so fan runs until shutdown, also turned on at boot by the ABL
gpio_init(GPIO.SOM_ST_IO, True)
gpio_set(GPIO.SOM_ST_IO, 1)
# *** IRQ config ***
# mask off big cluster from default affinity
sudo_write("f", "/proc/irq/default_smp_affinity")
# move these off the default core
affine_irq(1, "msm_drm") # display
affine_irq(1, "msm_vidc") # encoders
affine_irq(1, "i2c_geni") # sensors
# *** GPU config ***
# https://github.com/commaai/agnos-kernel-sdm845/blob/master/arch/arm64/boot/dts/qcom/sdm845-gpu.dtsi#L216
sudo_write("1", "/sys/class/kgsl/kgsl-3d0/min_pwrlevel")
sudo_write("1", "/sys/class/kgsl/kgsl-3d0/max_pwrlevel")
sudo_write("1", "/sys/class/kgsl/kgsl-3d0/force_bus_on")
sudo_write("1", "/sys/class/kgsl/kgsl-3d0/force_clk_on")
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("710", "/sys/class/kgsl/kgsl-3d0/max_clock_mhz")
# setup governors
sudo_write("performance", "/sys/class/devfreq/soc:qcom,cpubw/governor")
sudo_write("performance", "/sys/class/devfreq/soc:qcom,memlat-cpu0/governor")
sudo_write("performance", "/sys/class/devfreq/soc:qcom,memlat-cpu4/governor")
# *** VIDC (encoder) config ***
sudo_write("N", "/sys/kernel/debug/msm_vidc/clock_scaling")
sudo_write("Y", "/sys/kernel/debug/msm_vidc/disable_thermal_mitigation")
[docs]
def get_networks(self):
r = {}
wlan = iwlist.scan()
if wlan is not None:
r['wlan'] = wlan
lte_info = self.get_network_info()
if lte_info is not None:
extra = lte_info['extra']
# <state>,"LTE",<is_tdd>,<mcc>,<mnc>,<cellid>,<pcid>,<earfcn>,<freq_band_ind>,
# <ul_bandwidth>,<dl_bandwidth>,<tac>,<rsrp>,<rsrq>,<rssi>,<sinr>,<srxlev>
if 'LTE' in extra:
extra = extra.split(',')
try:
r['lte'] = [{
"mcc": int(extra[3]),
"mnc": int(extra[4]),
"cid": int(extra[5], 16),
"nmr": [{"pci": int(extra[6]), "earfcn": int(extra[7])}],
}]
except (ValueError, IndexError):
pass
return r
[docs]
def get_modem_data_usage(self):
try:
wwan = self.get_wwan()
# Ensure refresh rate is set so values don't go stale
refresh_rate = wwan.Get(NM_DEV_STATS, 'RefreshRateMs', dbus_interface=DBUS_PROPS, timeout=TIMEOUT)
if refresh_rate != REFRESH_RATE_MS:
u = type(refresh_rate)
wwan.Set(NM_DEV_STATS, 'RefreshRateMs', u(REFRESH_RATE_MS), dbus_interface=DBUS_PROPS, timeout=TIMEOUT)
tx = wwan.Get(NM_DEV_STATS, 'TxBytes', dbus_interface=DBUS_PROPS, timeout=TIMEOUT)
rx = wwan.Get(NM_DEV_STATS, 'RxBytes', dbus_interface=DBUS_PROPS, timeout=TIMEOUT)
return int(tx), int(rx)
except Exception:
return -1, -1
[docs]
def has_internal_panda(self):
return True
[docs]
def reset_internal_panda(self):
gpio_init(GPIO.STM_RST_N, True)
gpio_set(GPIO.STM_RST_N, 1)
time.sleep(1)
gpio_set(GPIO.STM_RST_N, 0)
[docs]
def recover_internal_panda(self):
gpio_init(GPIO.STM_RST_N, True)
gpio_init(GPIO.STM_BOOT0, True)
gpio_set(GPIO.STM_RST_N, 1)
gpio_set(GPIO.STM_BOOT0, 1)
time.sleep(0.5)
gpio_set(GPIO.STM_RST_N, 0)
time.sleep(0.5)
gpio_set(GPIO.STM_BOOT0, 0)
[docs]
def booted(self):
# this normally boots within 8s, but on rare occasions takes 30+s
encoder_state = sudo_read("/sys/kernel/debug/msm_vidc/core0/info")
if "Core state: 0" in encoder_state and (time.monotonic() < 60*2):
return False
return True
if __name__ == "__main__":
t = Tici()
t.configure_modem()
t.initialize_hardware()
t.set_power_save(False)