openpilot v0.9.6 release
date: 2024-02-21T23:02:42 master commit: 0b4d08fab8e35a264bc7383e878538f8083c33e5
This commit is contained in:
FrogAi
578
system/hardware/tici/hardware.py
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578
system/hardware/tici/hardware.py
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@@ -0,0 +1,578 @@
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import json
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import math
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import os
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import subprocess
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import time
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import tempfile
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from enum import IntEnum
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from functools import cached_property, lru_cache
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from pathlib import Path
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from cereal import log
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from openpilot.common.gpio import gpio_set, gpio_init, get_irqs_for_action
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from openpilot.system.hardware.base import HardwareBase, ThermalConfig
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from openpilot.system.hardware.tici import iwlist
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from openpilot.system.hardware.tici.pins import GPIO
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from openpilot.system.hardware.tici.amplifier import Amplifier
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NM = 'org.freedesktop.NetworkManager'
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NM_CON_ACT = NM + '.Connection.Active'
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NM_DEV = NM + '.Device'
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NM_DEV_WL = NM + '.Device.Wireless'
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NM_DEV_STATS = NM + '.Device.Statistics'
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NM_AP = NM + '.AccessPoint'
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DBUS_PROPS = 'org.freedesktop.DBus.Properties'
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MM = 'org.freedesktop.ModemManager1'
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MM_MODEM = MM + ".Modem"
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MM_MODEM_SIMPLE = MM + ".Modem.Simple"
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MM_SIM = MM + ".Sim"
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class MM_MODEM_STATE(IntEnum):
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FAILED = -1
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UNKNOWN = 0
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INITIALIZING = 1
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LOCKED = 2
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DISABLED = 3
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DISABLING = 4
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ENABLING = 5
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ENABLED = 6
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SEARCHING = 7
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REGISTERED = 8
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DISCONNECTING = 9
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CONNECTING = 10
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CONNECTED = 11
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class NMMetered(IntEnum):
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NM_METERED_UNKNOWN = 0
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NM_METERED_YES = 1
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NM_METERED_NO = 2
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NM_METERED_GUESS_YES = 3
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NM_METERED_GUESS_NO = 4
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TIMEOUT = 0.1
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REFRESH_RATE_MS = 1000
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NetworkType = log.DeviceState.NetworkType
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NetworkStrength = log.DeviceState.NetworkStrength
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# https://developer.gnome.org/ModemManager/unstable/ModemManager-Flags-and-Enumerations.html#MMModemAccessTechnology
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MM_MODEM_ACCESS_TECHNOLOGY_UMTS = 1 << 5
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MM_MODEM_ACCESS_TECHNOLOGY_LTE = 1 << 14
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def sudo_write(val, path):
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try:
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with open(path, 'w') as f:
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f.write(str(val))
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except PermissionError:
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os.system(f"sudo chmod a+w {path}")
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try:
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with open(path, 'w') as f:
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f.write(str(val))
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except PermissionError:
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# fallback for debugfs files
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os.system(f"sudo su -c 'echo {val} > {path}'")
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def sudo_read(path: str) -> str:
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try:
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return subprocess.check_output(f"sudo cat {path}", shell=True, encoding='utf8')
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except Exception:
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return ""
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def affine_irq(val, action):
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irqs = get_irqs_for_action(action)
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if len(irqs) == 0:
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print(f"No IRQs found for '{action}'")
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return
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for i in irqs:
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sudo_write(str(val), f"/proc/irq/{i}/smp_affinity_list")
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@lru_cache
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def get_device_type():
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# lru_cache and cache can cause memory leaks when used in classes
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with open("/sys/firmware/devicetree/base/model") as f:
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model = f.read().strip('\x00')
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model = model.split('comma ')[-1]
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# TODO: remove this with AGNOS 7+
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if model.startswith('Qualcomm'):
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model = 'tici'
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return model
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class Tici(HardwareBase):
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@cached_property
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def bus(self):
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import dbus
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return dbus.SystemBus()
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@cached_property
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def nm(self):
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return self.bus.get_object(NM, '/org/freedesktop/NetworkManager')
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@property # this should not be cached, in case the modemmanager restarts
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def mm(self):
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return self.bus.get_object(MM, '/org/freedesktop/ModemManager1')
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@cached_property
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def amplifier(self):
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return Amplifier()
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def get_os_version(self):
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with open("/VERSION") as f:
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return f.read().strip()
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def get_device_type(self):
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return get_device_type()
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def get_sound_card_online(self):
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if os.path.isfile('/proc/asound/card0/state'):
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with open('/proc/asound/card0/state') as f:
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return f.read().strip() == 'ONLINE'
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return False
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def reboot(self, reason=None):
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subprocess.check_output(["sudo", "reboot"])
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def uninstall(self):
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Path("/data/__system_reset__").touch()
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os.sync()
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self.reboot()
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def get_serial(self):
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return self.get_cmdline()['androidboot.serialno']
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def get_network_type(self):
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try:
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primary_connection = self.nm.Get(NM, 'PrimaryConnection', dbus_interface=DBUS_PROPS, timeout=TIMEOUT)
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primary_connection = self.bus.get_object(NM, primary_connection)
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primary_type = primary_connection.Get(NM_CON_ACT, 'Type', dbus_interface=DBUS_PROPS, timeout=TIMEOUT)
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if primary_type == '802-3-ethernet':
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return NetworkType.ethernet
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elif primary_type == '802-11-wireless':
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return NetworkType.wifi
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else:
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active_connections = self.nm.Get(NM, 'ActiveConnections', dbus_interface=DBUS_PROPS, timeout=TIMEOUT)
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for conn in active_connections:
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c = self.bus.get_object(NM, conn)
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tp = c.Get(NM_CON_ACT, 'Type', dbus_interface=DBUS_PROPS, timeout=TIMEOUT)
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if tp == 'gsm':
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modem = self.get_modem()
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access_t = modem.Get(MM_MODEM, 'AccessTechnologies', dbus_interface=DBUS_PROPS, timeout=TIMEOUT)
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if access_t >= MM_MODEM_ACCESS_TECHNOLOGY_LTE:
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return NetworkType.cell4G
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elif access_t >= MM_MODEM_ACCESS_TECHNOLOGY_UMTS:
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return NetworkType.cell3G
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else:
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return NetworkType.cell2G
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except Exception:
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pass
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return NetworkType.none
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def get_modem(self):
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objects = self.mm.GetManagedObjects(dbus_interface="org.freedesktop.DBus.ObjectManager", timeout=TIMEOUT)
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modem_path = list(objects.keys())[0]
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return self.bus.get_object(MM, modem_path)
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def get_wlan(self):
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wlan_path = self.nm.GetDeviceByIpIface('wlan0', dbus_interface=NM, timeout=TIMEOUT)
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return self.bus.get_object(NM, wlan_path)
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def get_wwan(self):
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wwan_path = self.nm.GetDeviceByIpIface('wwan0', dbus_interface=NM, timeout=TIMEOUT)
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return self.bus.get_object(NM, wwan_path)
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def get_sim_info(self):
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modem = self.get_modem()
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sim_path = modem.Get(MM_MODEM, 'Sim', dbus_interface=DBUS_PROPS, timeout=TIMEOUT)
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if sim_path == "/":
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return {
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'sim_id': '',
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'mcc_mnc': None,
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'network_type': ["Unknown"],
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'sim_state': ["ABSENT"],
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'data_connected': False
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}
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else:
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sim = self.bus.get_object(MM, sim_path)
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return {
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'sim_id': str(sim.Get(MM_SIM, 'SimIdentifier', dbus_interface=DBUS_PROPS, timeout=TIMEOUT)),
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'mcc_mnc': str(sim.Get(MM_SIM, 'OperatorIdentifier', dbus_interface=DBUS_PROPS, timeout=TIMEOUT)),
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'network_type': ["Unknown"],
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'sim_state': ["READY"],
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'data_connected': modem.Get(MM_MODEM, 'State', dbus_interface=DBUS_PROPS, timeout=TIMEOUT) == MM_MODEM_STATE.CONNECTED,
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}
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def get_imei(self, slot):
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if slot != 0:
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return ""
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return str(self.get_modem().Get(MM_MODEM, 'EquipmentIdentifier', dbus_interface=DBUS_PROPS, timeout=TIMEOUT))
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def get_network_info(self):
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try:
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modem = self.get_modem()
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info = modem.Command("AT+QNWINFO", math.ceil(TIMEOUT), dbus_interface=MM_MODEM, timeout=TIMEOUT)
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extra = modem.Command('AT+QENG="servingcell"', math.ceil(TIMEOUT), dbus_interface=MM_MODEM, timeout=TIMEOUT)
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state = modem.Get(MM_MODEM, 'State', dbus_interface=DBUS_PROPS, timeout=TIMEOUT)
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except Exception:
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return None
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if info and info.startswith('+QNWINFO: '):
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info = info.replace('+QNWINFO: ', '').replace('"', '').split(',')
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extra = "" if extra is None else extra.replace('+QENG: "servingcell",', '').replace('"', '')
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state = "" if state is None else MM_MODEM_STATE(state).name
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if len(info) != 4:
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return None
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technology, operator, band, channel = info
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return({
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'technology': technology,
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'operator': operator,
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'band': band,
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'channel': int(channel),
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'extra': extra,
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'state': state,
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})
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else:
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return None
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def parse_strength(self, percentage):
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if percentage < 25:
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return NetworkStrength.poor
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elif percentage < 50:
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return NetworkStrength.moderate
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elif percentage < 75:
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return NetworkStrength.good
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else:
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return NetworkStrength.great
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def get_network_strength(self, network_type):
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network_strength = NetworkStrength.unknown
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try:
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if network_type == NetworkType.none:
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pass
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elif network_type == NetworkType.wifi:
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wlan = self.get_wlan()
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active_ap_path = wlan.Get(NM_DEV_WL, 'ActiveAccessPoint', dbus_interface=DBUS_PROPS, timeout=TIMEOUT)
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if active_ap_path != "/":
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active_ap = self.bus.get_object(NM, active_ap_path)
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strength = int(active_ap.Get(NM_AP, 'Strength', dbus_interface=DBUS_PROPS, timeout=TIMEOUT))
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network_strength = self.parse_strength(strength)
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else: # Cellular
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modem = self.get_modem()
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strength = int(modem.Get(MM_MODEM, 'SignalQuality', dbus_interface=DBUS_PROPS, timeout=TIMEOUT)[0])
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network_strength = self.parse_strength(strength)
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except Exception:
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pass
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return network_strength
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def get_network_metered(self, network_type) -> bool:
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try:
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primary_connection = self.nm.Get(NM, 'PrimaryConnection', dbus_interface=DBUS_PROPS, timeout=TIMEOUT)
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primary_connection = self.bus.get_object(NM, primary_connection)
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primary_devices = primary_connection.Get(NM_CON_ACT, 'Devices', dbus_interface=DBUS_PROPS, timeout=TIMEOUT)
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for dev in primary_devices:
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dev_obj = self.bus.get_object(NM, str(dev))
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metered_prop = dev_obj.Get(NM_DEV, 'Metered', dbus_interface=DBUS_PROPS, timeout=TIMEOUT)
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if network_type == NetworkType.wifi:
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if metered_prop in [NMMetered.NM_METERED_YES, NMMetered.NM_METERED_GUESS_YES]:
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return True
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elif network_type in [NetworkType.cell2G, NetworkType.cell3G, NetworkType.cell4G, NetworkType.cell5G]:
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if metered_prop == NMMetered.NM_METERED_NO:
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return False
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except Exception:
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pass
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return super().get_network_metered(network_type)
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def get_modem_version(self):
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try:
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modem = self.get_modem()
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return modem.Get(MM_MODEM, 'Revision', dbus_interface=DBUS_PROPS, timeout=TIMEOUT)
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except Exception:
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return None
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def get_modem_nv(self):
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timeout = 0.2 # Default timeout is too short
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files = (
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'/nv/item_files/modem/mmode/ue_usage_setting',
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'/nv/item_files/ims/IMS_enable',
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'/nv/item_files/modem/mmode/sms_only',
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)
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try:
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modem = self.get_modem()
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return { fn: str(modem.Command(f'AT+QNVFR="{fn}"', math.ceil(timeout), dbus_interface=MM_MODEM, timeout=timeout)) for fn in files}
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except Exception:
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return None
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def get_modem_temperatures(self):
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timeout = 0.2 # Default timeout is too short
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try:
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modem = self.get_modem()
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temps = modem.Command("AT+QTEMP", math.ceil(timeout), dbus_interface=MM_MODEM, timeout=timeout)
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return list(map(int, temps.split(' ')[1].split(',')))
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except Exception:
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return []
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def get_nvme_temperatures(self):
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ret = []
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try:
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out = subprocess.check_output("sudo smartctl -aj /dev/nvme0", shell=True)
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dat = json.loads(out)
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ret = list(map(int, dat["nvme_smart_health_information_log"]["temperature_sensors"]))
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except Exception:
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pass
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return ret
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def get_current_power_draw(self):
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return (self.read_param_file("/sys/class/hwmon/hwmon1/power1_input", int) / 1e6)
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def get_som_power_draw(self):
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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)
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def shutdown(self):
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os.system("sudo poweroff")
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def get_thermal_config(self):
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return ThermalConfig(cpu=(["cpu%d-silver-usr" % i for i in range(4)] +
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["cpu%d-gold-usr" % i for i in range(4)], 1000),
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||||
gpu=(("gpu0-usr", "gpu1-usr"), 1000),
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||||
mem=("ddr-usr", 1000),
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||||
bat=(None, 1),
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||||
pmic=(("pm8998_tz", "pm8005_tz"), 1000))
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||||
|
||||
def set_screen_brightness(self, percentage):
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||||
try:
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||||
with open("/sys/class/backlight/panel0-backlight/max_brightness") as f:
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max_brightness = float(f.read().strip())
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||||
|
||||
val = int(percentage * (max_brightness / 100.))
|
||||
with open("/sys/class/backlight/panel0-backlight/brightness", "w") as f:
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||||
f.write(str(val))
|
||||
except Exception:
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||||
pass
|
||||
|
||||
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
|
||||
|
||||
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(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)
|
||||
|
||||
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
|
||||
|
||||
def initialize_hardware(self):
|
||||
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")
|
||||
|
||||
def configure_modem(self):
|
||||
sim_id = self.get_sim_info().get('sim_id', '')
|
||||
|
||||
modem = self.get_modem()
|
||||
try:
|
||||
manufacturer = str(modem.Get(MM_MODEM, 'Manufacturer', dbus_interface=DBUS_PROPS, timeout=TIMEOUT))
|
||||
except Exception:
|
||||
manufacturer = None
|
||||
|
||||
cmds = []
|
||||
if manufacturer == 'Cavli Inc.':
|
||||
cmds += [
|
||||
# use sim slot
|
||||
'AT^SIMSWAP=1',
|
||||
|
||||
# configure ECM mode
|
||||
'AT$QCPCFG=usbNet,1'
|
||||
]
|
||||
else:
|
||||
cmds += [
|
||||
# configure modem as data-centric
|
||||
'AT+QNVW=5280,0,"0102000000000000"',
|
||||
'AT+QNVFW="/nv/item_files/ims/IMS_enable",00',
|
||||
'AT+QNVFW="/nv/item_files/modem/mmode/ue_usage_setting",01',
|
||||
]
|
||||
|
||||
# clear out old blue prime initial APN
|
||||
os.system('mmcli -m any --3gpp-set-initial-eps-bearer-settings="apn="')
|
||||
for cmd in cmds:
|
||||
try:
|
||||
modem.Command(cmd, math.ceil(TIMEOUT), dbus_interface=MM_MODEM, timeout=TIMEOUT)
|
||||
except Exception:
|
||||
pass
|
||||
|
||||
# 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 = {}
|
||||
|
||||
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
|
||||
|
||||
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
|
||||
|
||||
def has_internal_panda(self):
|
||||
return True
|
||||
|
||||
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)
|
||||
|
||||
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)
|
||||
|
||||
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)
|
||||
Reference in New Issue
Block a user