Hardware abstraction class (#2080)

* hardware abstraction class

* De Morgan

* Rename pc hardware class

* Fix sound card in controlsd

* Pc get sim info

* fix hardware in test

* two more

* No more random imei on android

* no randomness on android

* Need to return something that looks like imei for registration to work

* Return proper network strength

* Unused import

* Bug fixes + gpsd is only android
old-commit-hash: c7152d5419

common/android.py

@@ -1,78 +1,32 @@
-import os
 import binascii
 import itertools
+import os
 import re
 import struct
 import subprocess
-import random
+
 from cereal import log
+from common.hardware_base import HardwareBase
 
 NetworkType = log.ThermalData.NetworkType
 NetworkStrength = log.ThermalData.NetworkStrength
 
-ANDROID = os.path.isfile('/EON')
-
-def get_sound_card_online():
-  return (os.path.isfile('/proc/asound/card0/state') and
-          open('/proc/asound/card0/state').read().strip() == 'ONLINE')
-
-def getprop(key):
-  if not ANDROID:
-    return ""
-  return subprocess.check_output(["getprop", key], encoding='utf8').strip()
-
-def get_imei(slot):
-  slot = str(slot)
-  if slot not in ("0", "1"):
-    raise ValueError("SIM slot must be 0 or 1")
-
-  ret = parse_service_call_string(service_call(["iphonesubinfo", "3" , "i32", str(slot)]))
-  if not ret:
-    # allow non android to be identified differently
-    ret = "%015d" % random.randint(0, 1 << 32)
-  return ret
-
-def get_serial():
-  ret = getprop("ro.serialno")
-  if ret == "":
-    ret = "cccccccc"
-  return ret
-
-def get_subscriber_info():
-  ret = parse_service_call_string(service_call(["iphonesubinfo", "7"]))
-  if ret is None or len(ret) < 8:
-    return ""
-  return ret
-
-def reboot(reason=None):
-  if reason is None:
-    reason_args = ["null"]
-  else:
-    reason_args = ["s16", reason]
-
-  subprocess.check_output([
-    "service", "call", "power", "16",  # IPowerManager.reboot
-    "i32", "0",  # no confirmation,
-    *reason_args,
-    "i32", "1"  # wait
-  ])
 
 def service_call(call):
-  if not ANDROID:
-    return None
-
   ret = subprocess.check_output(["service", "call", *call], encoding='utf8').strip()
   if 'Parcel' not in ret:
     return None
 
   return parse_service_call_bytes(ret)
 
+
 def parse_service_call_unpack(r, fmt):
   try:
     return struct.unpack(fmt, r)[0]
   except Exception:
     return None
 
+
 def parse_service_call_string(r):
   try:
     r = r[8:]  # Cut off length field
@@ -89,6 +43,7 @@ def parse_service_call_string(r):
   except Exception:
     return None
 
+
 def parse_service_call_bytes(ret):
   try:
     r = b""
@@ -98,10 +53,69 @@ def parse_service_call_bytes(ret):
   except Exception:
     return None
 
-def get_network_type():
-  if not ANDROID:
-    return NetworkType.none
 
+def getprop(key):
+  return subprocess.check_output(["getprop", key], encoding='utf8').strip()
+
+
+class Android(HardwareBase):
+  def get_sound_card_online(self):
+    return (os.path.isfile('/proc/asound/card0/state') and
+            open('/proc/asound/card0/state').read().strip() == 'ONLINE')
+
+  def get_imei(self, slot):
+    slot = str(slot)
+    if slot not in ("0", "1"):
+      raise ValueError("SIM slot must be 0 or 1")
+
+    return parse_service_call_string(service_call(["iphonesubinfo", "3", "i32", str(slot)]))
+
+  def get_serial(self):
+    ret = getprop("ro.serialno")
+    if ret == "":
+      ret = "cccccccc"
+    return ret
+
+  def get_subscriber_info(self):
+    ret = parse_service_call_string(service_call(["iphonesubinfo", "7"]))
+    if ret is None or len(ret) < 8:
+      return ""
+    return ret
+
+  def reboot(self, reason=None):
+    # e.g. reason="recovery" to go into recover mode
+    if reason is None:
+      reason_args = ["null"]
+    else:
+      reason_args = ["s16", reason]
+
+    subprocess.check_output([
+      "service", "call", "power", "16",  # IPowerManager.reboot
+      "i32", "0",  # no confirmation,
+      *reason_args,
+      "i32", "1"  # wait
+    ])
+
+  def get_sim_info(self):
+    # Used for athena
+    # TODO: build using methods from this class
+    sim_state = getprop("gsm.sim.state").split(",")
+    network_type = getprop("gsm.network.type").split(',')
+    mcc_mnc = getprop("gsm.sim.operator.numeric") or None
+
+    sim_id = parse_service_call_string(service_call(['iphonesubinfo', '11']))
+    cell_data_state = parse_service_call_unpack(service_call(['phone', '46']), ">q")
+    cell_data_connected = (cell_data_state == 2)
+
+    return {
+      'sim_id': sim_id,
+      'mcc_mnc': mcc_mnc,
+      'network_type': network_type,
+      'sim_state': sim_state,
+      'data_connected': cell_data_connected
+    }
+
+  def get_network_type(self):
     wifi_check = parse_service_call_string(service_call(["connectivity", "2"]))
     if wifi_check is None:
       return NetworkType.none
@@ -134,7 +148,7 @@ def get_network_type():
       }
       return cell_networks.get(cell_check, NetworkType.none)
 
-def get_network_strength(network_type):
+  def get_network_strength(self, network_type):
     network_strength = NetworkStrength.unknown
 
     # from SignalStrength.java

common/basedir.py

@@ -1,10 +1,10 @@
 import os
 BASEDIR = os.path.abspath(os.path.join(os.path.dirname(os.path.realpath(__file__)), "../"))
 
-from common.android import ANDROID
-if ANDROID:
-  PERSIST = "/persist"
-  PARAMS = "/data/params"
-else:
+from common.hardware import PC
+if PC:
   PERSIST = os.path.join(BASEDIR, "persist")
   PARAMS = os.path.join(BASEDIR, "persist", "params")
+else:
+  PERSIST = "/persist"
+  PARAMS = "/data/params"

common/hardware.py

@@ -1,4 +1,54 @@
 import os
+import random
+from typing import cast
+
+from cereal import log
+from common.android import Android
+from common.hardware_base import HardwareBase
 
 EON = os.path.isfile('/EON')
 TICI = os.path.isfile('/TICI')
+PC = not (EON or TICI)
+ANDROID = EON
+
+
+NetworkType = log.ThermalData.NetworkType
+NetworkStrength = log.ThermalData.NetworkStrength
+
+
+class Pc(HardwareBase):
+  def get_sound_card_online(self):
+    return True
+
+  def get_imei(self, slot):
+    return "%015d" % random.randint(0, 1 << 32)
+
+  def get_serial(self):
+    return "cccccccc"
+
+  def get_subscriber_info(self):
+    return ""
+
+  def reboot(self, reason=None):
+    print("REBOOT!")
+
+  def get_network_type(self):
+    return NetworkType.none
+
+  def get_sim_info(self):
+    return {
+      'sim_id': '',
+      'mcc_mnc': None,
+      'network_type': ["Unknown"],
+      'sim_state': ["ABSENT"],
+      'data_connected': False
+    }
+
+  def get_network_strength(self, network_type):
+    return NetworkStrength.unknown
+
+
+if EON:
+  HARDWARE = cast(HardwareBase, Android())
+else:
+  HARDWARE = cast(HardwareBase, Pc())

common/hardware_base.py

@@ -0,0 +1,34 @@
+from abc import abstractmethod
+
+class HardwareBase:
+  @abstractmethod
+  def get_sound_card_online(self):
+    pass
+
+  @abstractmethod
+  def get_imei(self, slot):
+    pass
+
+  @abstractmethod
+  def get_serial(self):
+    pass
+
+  @abstractmethod
+  def get_subscriber_info(self):
+    pass
+
+  @abstractmethod
+  def reboot(self, reason=None):
+    pass
+
+  @abstractmethod
+  def get_network_type(self):
+    pass
+
+  @abstractmethod
+  def get_sim_info(self):
+    pass
+
+  @abstractmethod
+  def get_network_strength(self, network_type):
+    pass

common/realtime.py

@@ -6,7 +6,7 @@ import subprocess
 import multiprocessing
 from cffi import FFI
 
-from common.android import ANDROID
+from common.hardware import ANDROID
 from common.common_pyx import sec_since_boot  # pylint: disable=no-name-in-module, import-error
 
 

release/files_common

@@ -19,6 +19,7 @@ common/.gitignore
 common/__init__.py
 common/android.py
 common/hardware.py
+common/hardware_base.py
 common/gpio.py
 common/realtime.py
 common/clock.pyx

selfdrive/athena/athenad.py

@@ -20,7 +20,7 @@ from websocket import ABNF, WebSocketTimeoutException, create_connection
 
 import cereal.messaging as messaging
 from cereal.services import service_list
-from common import android
+from common.hardware import HARDWARE
 from common.api import Api
 from common.basedir import PERSIST
 from common.params import Params
@@ -132,7 +132,7 @@ def reboot():
 
   def do_reboot():
     time.sleep(2)
-    android.reboot()
+    HARDWARE.reboot()
 
   threading.Thread(target=do_reboot).start()
 
@@ -218,21 +218,7 @@ def getSshAuthorizedKeys():
 
 @dispatcher.add_method
 def getSimInfo():
-  sim_state = android.getprop("gsm.sim.state").split(",")
-  network_type = android.getprop("gsm.network.type").split(',')
-  mcc_mnc = android.getprop("gsm.sim.operator.numeric") or None
-
-  sim_id = android.parse_service_call_string(android.service_call(['iphonesubinfo', '11']))
-  cell_data_state = android.parse_service_call_unpack(android.service_call(['phone', '46']), ">q")
-  cell_data_connected = (cell_data_state == 2)
-
-  return {
-    'sim_id': sim_id,
-    'mcc_mnc': mcc_mnc,
-    'network_type': network_type,
-    'sim_state': sim_state,
-    'data_connected': cell_data_connected
-  }
+  return HARDWARE.get_sim_info()
 
 
 @dispatcher.add_method

selfdrive/boardd/tests/test_boardd_loopback.py

@@ -8,7 +8,7 @@ from functools import wraps
 import cereal.messaging as messaging
 from cereal import car
 from common.basedir import PARAMS
-from common.android import ANDROID
+from common.hardware import ANDROID
 from common.params import Params
 from common.spinner import Spinner
 from panda import Panda

selfdrive/controls/controlsd.py

@@ -2,7 +2,7 @@
 import os
 import gc
 from cereal import car, log
-from common.android import ANDROID, get_sound_card_online
+from common.hardware import HARDWARE
 from common.numpy_fast import clip
 from common.realtime import sec_since_boot, set_realtime_priority, set_core_affinity, Ratekeeper, DT_CTRL
 from common.profiler import Profiler
@@ -79,7 +79,7 @@ class Controls:
               internet_needed or not openpilot_enabled_toggle
 
     # detect sound card presence and ensure successful init
-    sounds_available = not ANDROID or get_sound_card_online()
+    sounds_available = HARDWARE.get_sound_card_online()
 
     car_recognized = self.CP.carName != 'mock'
     # If stock camera is disconnected, we loaded car controls and it's not dashcam mode

selfdrive/crash.py

@@ -6,9 +6,9 @@ import capnp
 from selfdrive.version import version, dirty
 
 from selfdrive.swaglog import cloudlog
-from common.android import ANDROID
+from common.hardware import PC
 
-if os.getenv("NOLOG") or os.getenv("NOCRASH") or not ANDROID:
+if os.getenv("NOLOG") or os.getenv("NOCRASH") or PC:
   def capture_exception(*args, **kwargs):
     pass
 

selfdrive/loggerd/uploader.py

@@ -1,24 +1,26 @@
 #!/usr/bin/env python3
+import ctypes
+import inspect
+import json
 import os
+import random
 import re
+import subprocess
+import threading
 import time
-import json
-import random
-import ctypes
-import inspect
-import requests
 import traceback
-import threading
-import subprocess
 
-from selfdrive.swaglog import cloudlog
-from selfdrive.loggerd.config import ROOT
+import requests
 
-from common import android
-from common.params import Params
+from cereal import log
+from common.hardware import HARDWARE
 from common.api import Api
+from common.params import Params
 from common.xattr import getxattr, setxattr
+from selfdrive.loggerd.config import ROOT
+from selfdrive.swaglog import cloudlog
 
+NetworkType = log.ThermalData.NetworkType
 UPLOAD_ATTR_NAME = 'user.upload'
 UPLOAD_ATTR_VALUE = b'1'
 
@@ -69,13 +71,8 @@ def clear_locks(root):
       cloudlog.exception("clear_locks failed")
 
 def is_on_wifi():
-  # ConnectivityManager.getActiveNetworkInfo()
   try:
-    # TODO: figure out why the android service call sometimes dies with SIGUSR2 (signal from MSGQ)
-    result = android.parse_service_call_string(android.service_call(["connectivity", "2"]))
-    if result is None:
-      return True
-    return 'WIFI' in result
+    return HARDWARE.get_network_type() == NetworkType.wifi
   except Exception:
     cloudlog.exception("is_on_wifi failed")
     return False

selfdrive/manager.py

@@ -14,7 +14,7 @@ from selfdrive.swaglog import cloudlog, add_logentries_handler
 
 
 from common.basedir import BASEDIR, PARAMS
-from common.android import ANDROID
+from common.hardware import HARDWARE, ANDROID, PC
 WEBCAM = os.getenv("WEBCAM") is not None
 sys.path.append(os.path.join(BASEDIR, "pyextra"))
 os.environ['BASEDIR'] = BASEDIR
@@ -156,7 +156,6 @@ from selfdrive.registration import register
 from selfdrive.version import version, dirty
 from selfdrive.loggerd.config import ROOT
 from selfdrive.launcher import launcher
-from common import android
 from common.apk import update_apks, pm_apply_packages, start_offroad
 
 ThermalStatus = cereal.log.ThermalData.ThermalStatus
@@ -253,13 +252,18 @@ if WEBCAM:
     'dmonitoringmodeld',
   ]
 
-if ANDROID:
+if not PC:
   car_started_processes += [
     'sensord',
-    'gpsd',
     'dmonitoringmodeld',
   ]
 
+if ANDROID:
+  car_started_processes += [
+    'gpsd',
+  ]
+
+
 def register_managed_process(name, desc, car_started=False):
   global managed_processes, car_started_processes, persistent_processes
   print("registering %s" % name)
@@ -365,6 +369,7 @@ def kill_managed_process(name):
         join_process(running[name], 15)
         if running[name].exitcode is None:
           cloudlog.critical("unkillable process %s failed to die!" % name)
+          # TODO: Use method from HARDWARE
           if ANDROID:
             cloudlog.critical("FORCE REBOOTING PHONE!")
             os.system("date >> /sdcard/unkillable_reboot")
@@ -536,7 +541,7 @@ def uninstall():
   with open('/cache/recovery/command', 'w') as f:
     f.write('--wipe_data\n')
   # IPowerManager.reboot(confirm=false, reason="recovery", wait=true)
-  android.reboot(reason="recovery")
+  HARDWARE.reboot(reason="recovery")
 
 def main():
   os.environ['PARAMS_PATH'] = PARAMS

selfdrive/registration.py

@@ -4,12 +4,13 @@ import json
 from datetime import datetime, timedelta
 from selfdrive.swaglog import cloudlog
 from selfdrive.version import version, terms_version, training_version, get_git_commit, get_git_branch, get_git_remote
-from common.android import get_imei, get_serial, get_subscriber_info
+from common.hardware import HARDWARE
 from common.api import api_get
 from common.params import Params
 from common.file_helpers import mkdirs_exists_ok
 from common.basedir import PERSIST
 
+
 def register():
   params = Params()
   params.put("Version", version)
@@ -19,7 +20,7 @@ def register():
   params.put("GitCommit", get_git_commit(default=""))
   params.put("GitBranch", get_git_branch(default=""))
   params.put("GitRemote", get_git_remote(default=""))
-  params.put("SubscriberInfo", get_subscriber_info())
+  params.put("SubscriberInfo", HARDWARE.get_subscriber_info())
 
   # create a key for auth
   # your private key is kept on your device persist partition and never sent to our servers
@@ -50,7 +51,7 @@ def register():
   try:
     cloudlog.info("getting pilotauth")
     resp = api_get("v2/pilotauth/", method='POST', timeout=15,
-                   imei=get_imei(0), imei2=get_imei(1), serial=get_serial(), public_key=public_key, register_token=register_token)
+                   imei=HARDWARE.get_imei(0), imei2=HARDWARE.get_imei(1), serial=HARDWARE.get_serial(), public_key=public_key, register_token=register_token)
     dongleauth = json.loads(resp.text)
     dongle_id = dongleauth["dongle_id"]
 

selfdrive/test/helpers.py

@@ -3,7 +3,7 @@ import subprocess
 from functools import wraps
 from nose.tools import nottest
 
-from common.android import ANDROID
+from common.hardware import PC
 from common.apk import update_apks, start_offroad, pm_apply_packages, android_packages
 from common.params import Params
 from selfdrive.version import training_version, terms_version
@@ -19,10 +19,10 @@ def set_params_enabled():
   params.put("CompletedTrainingVersion", training_version)
 
 def phone_only(x):
-  if ANDROID:
-    return x
-  else:
+  if PC:
     return nottest(x)
+  else:
+    return x
 
 def with_processes(processes, init_time=0):
   def wrapper(func):
@@ -68,4 +68,3 @@ def with_apks():
           assert apk_is_not_running, package
     return wrap
   return wrapper
-

selfdrive/test/process_replay/camera_replay.py

@@ -5,7 +5,7 @@ import time
 from typing import Any
 from tqdm import tqdm
 
-from common.android import ANDROID
+from common.hardware import ANDROID
 os.environ['CI'] = "1"
 if ANDROID:
   os.environ['QCOM_REPLAY'] = "1"
@@ -101,4 +101,3 @@ if __name__ == "__main__":
       f.write(diff2)
 
     sys.exit(int(failed))
-

selfdrive/test/test_sounds.py

@@ -5,7 +5,7 @@ import subprocess
 from cereal import log, car
 import cereal.messaging as messaging
 from selfdrive.test.helpers import phone_only, with_processes
-from common.android import get_sound_card_online
+from common.hardware import HARDWARE
 from common.realtime import DT_CTRL
 
 AudibleAlert = car.CarControl.HUDControl.AudibleAlert
@@ -30,7 +30,7 @@ def get_total_writes():
 
 @phone_only
 def test_sound_card_init():
-  assert get_sound_card_online()
+  assert HARDWARE.get_sound_card_online()
 
 
 @phone_only

selfdrive/thermald/thermald.py

@@ -9,9 +9,8 @@ from smbus2 import SMBus
 
 import cereal.messaging as messaging
 from cereal import log
-from common.android import get_network_strength, get_network_type
 from common.filter_simple import FirstOrderFilter
-from common.hardware import EON, TICI
+from common.hardware import EON, HARDWARE, TICI
 from common.numpy_fast import clip, interp
 from common.params import Params, put_nonblocking
 from common.realtime import DT_TRML, sec_since_boot
@@ -241,8 +240,8 @@ def thermald_thread():
     # get_network_type is an expensive call. update every 10s
     if (count % int(10. / DT_TRML)) == 0:
       try:
-        network_type = get_network_type()
-        network_strength = get_network_strength(network_type)
+        network_type = HARDWARE.get_network_type()
+        network_strength = HARDWARE.get_network_strength(network_type)
       except Exception:
         cloudlog.exception("Error getting network status")
 

tools/lib/auth_config.py

@@ -1,17 +1,21 @@
 import json
 import os
-from common.android import ANDROID
+from common.hardware import PC
 from common.file_helpers import mkdirs_exists_ok
 
+
 class MissingAuthConfigError(Exception):
   pass
 
-if ANDROID:
-  CONFIG_DIR = "/tmp/.comma"
-else:
+
+if PC:
   CONFIG_DIR = os.path.expanduser('~/.comma')
+else:
+  CONFIG_DIR = "/tmp/.comma"
+
 mkdirs_exists_ok(CONFIG_DIR)
 
+
 def get_token():
   try:
     with open(os.path.join(CONFIG_DIR, 'auth.json')) as f:
@@ -20,9 +24,11 @@ def get_token():
   except Exception:
     raise MissingAuthConfigError('Authenticate with tools/lib/auth.py')
 
+
 def set_token(token):
   with open(os.path.join(CONFIG_DIR, 'auth.json'), 'w') as f:
     json.dump({'access_token': token}, f)
 
+
 def clear_token():
   os.unlink(os.path.join(CONFIG_DIR, 'auth.json'))