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Compile FrogPilot

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This commit is contained in:
FrogAi
2024-03-10 20:59:55 -07:00
parent 69e7feaf01
commit f1acd339d7
1485 changed files with 426154 additions and 398339 deletions
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42
system/hardware/base.h
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@@ -1,42 +0,0 @@
#pragma once
#include <cstdlib>
#include <fstream>
#include <map>
#include <string>
#include "cereal/messaging/messaging.h"
// no-op base hw class
class HardwareNone {
public:
static constexpr float MAX_VOLUME = 0.7;
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_serial() { return "cccccc"; }
static std::map<std::string, std::string> get_init_logs() {
return {};
}
static void reboot() {}
static void soft_reboot() {}
static void poweroff() {}
static void set_brightness(int percent) {}
static void set_display_power(bool on) {}
static bool get_ssh_enabled() { return false; }
static void set_ssh_enabled(bool enabled) {}
static void config_cpu_rendering(bool offscreen);
static bool PC() { return false; }
static bool TICI() { return false; }
static bool AGNOS() { return false; }
};

4
system/hardware/base.py
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@@ -30,10 +30,6 @@ class HardwareBase(ABC):
def reboot(self, reason=None):
pass
@abstractmethod
def soft_reboot(self):
pass
@abstractmethod
def uninstall(self):
pass

50
system/hardware/hw.h
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@@ -1,50 +0,0 @@
#pragma once
#include <string>
#include "system/hardware/base.h"
#include "common/util.h"
#if QCOM2
#include "system/hardware/tici/hardware.h"
#define Hardware HardwareTici
#else
#include "system/hardware/pc/hardware.h"
#define Hardware HardwarePC
#endif
namespace Path {
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 util::getenv("PARAMS_ROOT", Hardware::PC() ? (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() + "/";
}
} // namespace Path

23
system/hardware/pc/hardware.h
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@@ -1,23 +0,0 @@
#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 bool PC() { return true; }
static bool TICI() { return util::getenv("TICI", 0) == 1; }
static bool AGNOS() { return util::getenv("TICI", 0) == 1; }
static void config_cpu_rendering(bool offscreen) {
if (offscreen) {
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
}
};

3
system/hardware/pc/hardware.py
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@@ -19,9 +19,6 @@ class Pc(HardwareBase):
def reboot(self, reason=None):
print("REBOOT!")
def soft_reboot(self):
print("SOFT REBOOT!")
def uninstall(self):
print("uninstall")

113
system/hardware/tici/hardware.h
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@@ -1,113 +0,0 @@
#pragma once
#include <cstdlib>
#include <fstream>
#include <map>
#include <string>
#include "common/params.h"
#include "common/util.h"
#include "system/hardware/base.h"
class HardwareTici : public HardwareNone {
public:
static constexpr float MAX_VOLUME = 0.9;
static constexpr float MIN_VOLUME = 0.1;
static bool TICI() { return true; }
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 std::string get_serial() {
static std::string serial("");
if (serial.empty()) {
std::ifstream stream("/proc/cmdline");
std::string cmdline;
std::getline(stream, cmdline);
auto start = cmdline.find("serialno=");
if (start == std::string::npos) {
serial = "cccccc";
} else {
auto end = cmdline.find(" ", start + 9);
serial = cmdline.substr(start + 9, end - start - 9);
}
}
return serial;
}
static void reboot() { std::system("sudo reboot"); }
static void soft_reboot() {
std::system("echo 894000.i2c | sudo tee /sys/bus/platform/drivers/i2c_geni/unbind");
std::this_thread::sleep_for(std::chrono::milliseconds(500));
std::system("echo 894000.i2c | sudo tee /sys/bus/platform/drivers/i2c_geni/bind");
std::this_thread::sleep_for(std::chrono::milliseconds(500));
std::system("sudo systemctl restart comma");
}
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");
std::ofstream brightness_control("/sys/class/backlight/panel0-backlight/brightness");
if (brightness_control.is_open()) {
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 std::map<std::string, std::string> get_init_logs() {
std::map<std::string, std::string> ret = {
{"/BUILD", util::read_file("/BUILD")},
{"lsblk", util::check_output("lsblk -o NAME,SIZE,STATE,VENDOR,MODEL,REV,SERIAL")},
{"SOM ID", util::read_file("/sys/devices/platform/vendor/vendor:gpio-som-id/som_id")},
};
std::string bs = util::check_output("abctl --boot_slot");
ret["boot slot"] = bs.substr(0, bs.find_first_of("\n"));
std::string temp = util::read_file("/dev/disk/by-partlabel/ssd");
temp.erase(temp.find_last_not_of(std::string("\0\r\n", 3))+1);
ret["boot temp"] = temp;
// TODO: log something from system and boot
for (std::string part : {"xbl", "abl", "aop", "devcfg", "xbl_config"}) {
for (std::string slot : {"a", "b"}) {
std::string partition = part + "_" + slot;
std::string hash = util::check_output("sha256sum /dev/disk/by-partlabel/" + partition);
ret[partition] = hash.substr(0, hash.find_first_of(" "));
}
}
return ret;
}
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(bool offscreen) {
if (offscreen) {
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
}
};

8
system/hardware/tici/hardware.py
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@@ -134,14 +134,6 @@ class Tici(HardwareBase):
def reboot(self, reason=None):
subprocess.check_output(["sudo", "reboot"])
def soft_reboot(self):
# Reload the touchscreen driver to reset touch_count and avoid triggering a system reset prompt
sudo_write("894000.i2c", "/sys/bus/platform/drivers/i2c_geni/unbind")
time.sleep(0.5)
sudo_write("894000.i2c", "/sys/bus/platform/drivers/i2c_geni/bind")
time.sleep(0.5)
os.system("sudo systemctl restart comma")
def uninstall(self):
Path("/data/__system_reset__").touch()
os.sync()