openpilot v0.9.6 release

date: 2024-01-12T10:13:37
master commit: ba792d576a49a0899b88a753fa1c52956bedf9e6

system/hardware/tici/hardware.h

@@ -0,0 +1,105 @@
+#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 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")},
+    };
+
+    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
+  }
+};